ComNav P4 Remotes Series User manual

ComNav P4 Autopilot
Advanced Autopilot Systems
Installation and Operation Manual
PN 29010100

ComNav P4 Installation and Operation Table of Contents, List of Figures and Tables
Document PN 29010100 V1r0 - 2 -
Welcome
Congratulations on your purchase of a ComNav Marine P4 Advanced Autopilot System.
Developed using ComNav’s many years of experience in autopilot design, the P4 Autopilot
provides superior performance and advanced features, meeting or exceeding any other products
in their class.
At ComNav, we are proud of our cutting-edge design and market-leading manufacture of marine
autopilot systems. Our dedication to performance and reliability will ensure your satisfaction with
your ComNav product for years to come.
ComNav Marine Ltd.
#15 – 13511 Crestwood Place Richmond, B.C. V6V 2G1 Canada
Tel: [phone] • Fax: [phone]
Web: www.ComNav.com
E-mail:[email protected] -[email protected]
Warranty
Prior to the installation and/or operation of any ComNav equipment, please take a moment to
read and accept all warranty conditions as detailed in the Warranty Information section of this
manual.
WARNING
This Autopilot is for navigation assistance only. Whenever underway, your
vessel must always be under the control of a qualified and alert person who
regularly and consistently ensures that the course and position of the
vessel is correct and that the operating area is safe. You must always be in
a position to resume manual control if the need to do so arises.
This equipment is not intended or designed to replace any person or
persons on watch. A qualified individual should always be in a position to
monitor the vessel’s heading, and to monitor navigational hazards. The
operator should always be prepared to revert to manual steering
immediately if:
an undesired change of heading occurs
the heading is not maintained within reasonable limits
you are navigating in a hazardous situation
The performance of the Autopilot can be affected by many factors, including
equipment failure, environmental conditions, and improper handling or use.
Never place magnets or magnetic material near compasses connected to
the autopilot system.
The Autopilot should never be used in areas where it is considered unsafe
due to obstacles, other marine traffic, poor weather, or any other condition
that could create a dangerous situation, or where it may be unlawful.

ComNav P4 Installation and Operation Table of Contents, List of Figures and Tables
Document PN 29010100 V1r0 - 3 -
General Notice
This document, ComNav part number 29010100 Version 1 Revision 1, is the approved
Installation and Operation Manual for use with the ComNav P4 Advanced Autopilot System.
Where versions of this manual exist in other languages, the English language version shall be
considered authoritative.
About this Manual
This manual provides essential information for the safe and reliable operation of the ComNav P4
Advanced Autopilot System.
You are urged to read this manual in its entirety before you use your autopilot for the first time,
and to keep it handy until you become thoroughly familiar with the operation of your autopilot.
Typefaces, Common Phrases and Terms
Throughout this manual, you will see a number of different typefaces used, and several
commonly-used words and phrases with very specific meanings, to describe concepts and
actions that are fundamental to the operation of the autopilot. Please take a moment to become
familiar with the following:
• System Component
Specific system components are capitalized. Example: the Control Head
• Modes of Operation
Specific “modes of operation” are placed in bold uppercase lettering. Example: POWER
STEER mode.
• LCD Display
Text that appears in the LCD display is in quotation marks. Example: “Waypoint Arrival”
• Button
Control Head buttons and the knob are in bold small-caps lettering. Example: the TURN
button
• Press or momentary press
Press and release the indicated button
• Double-press
Press and release the indicated button twice in rapid succession.
Although this sounds a little complicated, it is actually very easy to do. If you use a personal
computer, you will find that this is similar to a “double-click” when using a mouse.
• Press and hold
Press and hold the indicated button for approximately 1 second.
• Press and maintain
Press and hold the indicated button for as long as required to achieve a desired result.

ComNav P4 Installation and Operation Table of Contents, List of Figures and Tables
Document PN 29010100 V1r0 - 4 -
Manual Format
This manual has been formatted to be printed on both sides of the pages, and on standard
North American Letter-size paper (8.5” x 11”).
If you have obtained this manual as a soft-copy, please note that it is in Adobe® Portable
Document Format (“pdf”), and so may be viewed and printed with Adobe Reader®, or
compatible pdf-format viewers.
When printing this manual with Adobe Reader®, you should select “duplex printing” (or the
equivalent term used by your printer’s software), in order to print it double-sided on the paper.
If your printer does not have built-in duplexing capability, you can still print this manual
double-sided by following the instructions that came with your printer for doing “hand
duplexing”.
You should also select the Auto-Rotate and Centre option in the Print Dialog box, de-select
the Choose Paper Source by PDF page size option, and set Page Scaling to None (Adobe
Reader’s default setting is Shrink to Printable Area, which is printer-dependent, and usually
~97% – but no such shrinking is needed for this manual).
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16 August 2018
JL
First Release

ComNav P4 Installation and Operation Table of Contents, List of Figures and Tables
Document PN 29010100 V1r0 - 5 -
Document)History)
Revision:)
Date:)
By:)
Description:)
1R0!
November!2018!
First!Release!

ComNav P4 Installation and Operation Table of Contents, List of Figures and Tables
Document PN 29010100 V1r0 - 6 -
Table of Contents
Welcome ......................................................................................................................... 2
About this Manual .................................................................................................................................... 3
Typefaces, Common Phrases and Terms .............................................................................................. 3
Manual Format ........................................................................................................................................ 4
Document History .................................................................................................................................... 5
Table of Contents........................................................................................................... 6
List of Figures ........................................................................................................................................ 12
List of Tables ......................................................................................................................................... 14
How Autopilots Work................................................................................................... 18
Basic Autopilot System .......................................................................................................................... 19
Autopilot Operation: Maintaining a Heading and Current Effects .......................................................... 20
Power Steer ........................................................................................................................................... 25
System Overview ......................................................................................................... 26
Control Head .......................................................................................................................................... 29
Signal Processor Unit ............................................................................................................................ 30
Compasses ............................................................................................................................................ 31
G2 and G2B GPS Compasses .............................................................................................................. 31
Fluxgate Compass ................................................................................................................................. 33
Magnetic Compass Sensor .................................................................................................................... 34
Magnetic Compasses ............................................................................................................................ 34
Other Compasses .................................................................................................................................. 35
Rudder Followers ................................................................................................................................... 35
Standard Rotary Rudder Follower and Rudder Linkage ........................................................................ 35
Heavy Duty Rotary Rudder Follower ..................................................................................................... 35
Jog Levers ............................................................................................................................................. 36
Rudder Angle Indicator (RAI) – 3” ......................................................................................................... 36
Rudder Drives and Interfaces ................................................................................................................ 38
CT7 Thruster Interface .......................................................................................................................... 38
Other Drive Boxes ................................................................................................................................. 39
Pumps and Drives ................................................................................................................................. 40
Other Equipment .................................................................................................................................... 40

ComNav P4 Installation and Operation Table of Contents, List of Figures and Tables
Document PN 29010100 V1r0 - 7 -
Installation............................................................................................................................... 43
Basic Requirements ................................................................................................................................................ 43
Steering System ...................................................................................................................................................... 43
Power Supply .......................................................................................................................................................... 43
Special Tools ........................................................................................................................................................... 43
Fasteners ................................................................................................................................................................. 43
Control Head ........................................................................................................................................................... 44
Electrical Connection ............................................................................................................................................... 44
Signal Processor Unit .............................................................................................................................................. 44
Compasses .............................................................................................................................................................. 45
Electrical Connection ............................................................................................................................................... 45
Magnetic Compass and Sensor .............................................................................................................................. 46
Rudder Follower ...................................................................................................................................................... 47
Rotary Rudder Follower ........................................................................................................................................... 48
Heavy Duty Rotary Rudder Follower ....................................................................................................................... 49
Other Equipment ..................................................................................................................................................... 49
Signal Processor Unit .............................................................................................................................................. 50
Wiring the SPU – General ....................................................................................................................................... 50
Connectors on the SPU ........................................................................................................................................... 50
Wiring the System ................................................................................................................................................... 52
Power Supply .......................................................................................................................................................... 58
Input and Output Connections ................................................................................................................................. 55
Jog Levers ............................................................................................................................................................ 55
Compasses ........................................................................................................................................................... 57
Rudder Follower ................................................................................................................................................... 57
Rudder Angle Indicators ....................................................................................................................................... 58
Drive Outputs ........................................................................................................................................................... 58
Reversing DC Motor Hydraulic Systems ................................................................................................................. 58
Linear Actuators or Mechanical Rotary Drives ........................................................................................................ 59
Shunt-Field Reversing Motors ................................................................................................................................. 60
Standard Four-Way Solenoid-Activated Hydraulic Valves ...................................................................................... 60
A.C. Solenoids ......................................................................................................................................................... 61
Azimuth Drives, Surface Piercing Drives and Jet Drives ......................................................................................... 62
External Alarm Output ............................................................................................................................................. 62
Power Failures ......................................................................................................................................................... 64
Speed Mode and Timing Outputs ............................................................................................................................ 65
Navigation Data ....................................................................................................................................................... 66
Signal Names .......................................................................................................................................................... 67
RS-422 Electrical Interface ...................................................................................................................................... 67
Typical RS-422 Signals ........................................................................................................................................... 68
RS-232 Electrical Signals ........................................................................................................................................ 69
LED Status Indicators .............................................................................................................................................. 69
Other Connections ................................................................................................................................................... 69
Post-Installation Checks .......................................................................................................................................... 69

ComNav P4 Installation and Operation Table of Contents, List of Figures and Tables
Document PN 29010100 V1r0 - 8 -
Getting Started ....................................................................................................................... 72
Autopilot Operations ................................................................................................................................................ 73
Power On/Of ............................................................................................................................................................ 73
Using the Control Head – LCD Screen and Buttons ............................................................................................... 75
Operating Modes and Menus .................................................................................................................................. 76
Advanced Operations ............................................................................................................................................. 77
Alarm Clear ............................................................................................................................................................. 82
System Setup Menu ............................................................................................................................................. 82
To Repair and Reset ............................................................................................................................................... 87
Connect GNSS (N2K) Compass to System ............................................................................................................ 88
Connect Rotary Follower Unit to System ................................................................................................................. 89
Magnetic / Fluxgate Compass and Rotary Feedback Flollower .............................................................................. 89
Connect Fluxgate Compass to the SPU .................................................................................................................. 90
For Non-ComNav Devices ....................................................................................................................................... 91
Network System Information ................................................................................................................................... 95
AP Network .............................................................................................................................................................. 97
SPU Dockside Menu ............................................................................................................................................. 100
Reset ..................................................................................................................................................................... 101
Vessel Type ........................................................................................................................................................... 101
Compass Setup ..................................................................................................................................................... 102
Drive Setup ........................................................................................................................................................... 102
Exit ......................................................................................................................................................................... 102
Alarm O/P (Alarm Output) ..................................................................................................................................... 102
Thrust MAX ............................................................................................................................................................ 102
Language ............................................................................................................................................................... 102
Setup Procedures .................................................................................................................................................. 103
Vessel Type ........................................................................................................................................................... 103
Drive Setup ............................................................................................................................................................ 104
Compass Setup ..................................................................................................................................................... 107
Analog Compass ................................................................................................................................................... 108
NAV1 Port .............................................................................................................................................................. 108
NAV1 or NAV2 Port for General NMEA0183 Compass ........................................................................................ 109
Bandwith of a NMEA Compass Connection .......................................................................................................... 110
Compass Setup On The Water ............................................................................................................................. 113
Compensation for Magnetic Deviation ................................................................................................................... 113
Magnetic Compass Sensor ................................................................................................................................... 113
Fluxgate Compass ................................................................................................................................................. 114
Compass Calibration ............................................................................................................................................. 115
Sea Trials .............................................................................................................................................................. 117
Sea Trials Procedures and Adjustments ............................................................................................................... 117

ComNav P4 Installation and Operation Table of Contents, List of Figures and Tables
Document PN 29010100 V1r0 - 9 -
Basic Operations ................................................................................................................. 122
Control Head LCD Screen and Buttons ................................................................................................................. 123
Operating the System ............................................................................................................................................ 125
Mode Menus .......................................................................................................................................................... 125
Rudder Angle Indicator .......................................................................................................................................... 127
Power On ............................................................................................................................................................... 128
Power Off ............................................................................................................................................................... 128
Standby Menu ....................................................................................................................................................... 129
Auto Menu ............................................................................................................................................................. 131
NAV Menu ............................................................................................................................................................. 132
Work Menu ............................................................................................................................................................ 133
Standby Menu ....................................................................................................................................................... 134
Station Lock ........................................................................................................................................................... 134
Default Turn ........................................................................................................................................................... 134
Compass Source ................................................................................................................................................... 134
Compass Cal (Compass Calibration) .................................................................................................................... 134
Backlight Level ...................................................................................................................................................... 135
Watch Alarm .......................................................................................................................................................... 135
Fishzag Time ......................................................................................................................................................... 135
Battery ................................................................................................................................................................... 135
Power Steer Mode ................................................................................................................................................. 135
Power Steer Menu ................................................................................................................................................. 136
Stdby/P.Str Limits (Power Steer Rudder Limits) .................................................................................................... 136
Auto/Nav Limits ..................................................................................................................................................... 137
RAI Offset .............................................................................................................................................................. 137
Auto Mode ............................................................................................................................................................. 137
Rudder Gain .......................................................................................................................................................... 138
Turn Rate ............................................................................................................................................................... 139
Parameter Set ....................................................................................................................................................... 139
Speed Trip Pt (Speed Trip Point) .......................................................................................................................... 140
Speed Source ........................................................................................................................................................ 140
ALC (Automatic Leeway Correction) ..................................................................................................................... 140
Thruster Assist and Gain ....................................................................................................................................... 140
Nav Mode .............................................................................................................................................................. 140
Nav Menu .............................................................................................................................................................. 142
Nav Source ............................................................................................................................................................ 142
XTE Limit (Cross-Track Error Limit) ...................................................................................................................... 142
WayPt. Arrival (Waypoint Arrival) .......................................................................................................................... 142
Correction .............................................................................................................................................................. 143
XTE Sense (Cross-Track Error Sense) ................................................................................................................. 143
Max Correction ...................................................................................................................................................... 143
Commanded Heading Displayed ........................................................................................................................... 144
Correction set to CTS – Steering a Direct Bearing ............................................................................................... 144
Correction set to XTE – Cross-Track Error Steering ............................................................................................ 145
Correction set to Both – Steering To/Along a Track .............................................................................................. 146
Alternate NAV Display ........................................................................................................................................... 148
Dodge .................................................................................................................................................................... 148
Jog Lever Turns ..................................................................................................................................................... 150

ComNav P4 Installation and Operation Table of Contents, List of Figures and Tables
Document PN 29010100 V1r0 - 10 -
Advanced Operations ........................................................................................................ 152
WORK Mode ........................................................................................................................................................ 153
Work Menu ........................................................................................................................................................... 156
Rudder Bias ......................................................................................................................................................... 156
Autotrim ................................................................................................................................................................ 156
Work Trip Pt. (Work Trip Point) ............................................................................................................................ 156
Rudder Scale (Rudder Scale Factor) ................................................................................................................... 157
Work Mode State ................................................................................................................................................. 157
Special Turns ....................................................................................................................................................... 157
U-Turn .................................................................................................................................................................. 158
Circle Turn ........................................................................................................................................................... 159
M.O.B. – Man Over-Board ................................................................................................................................... 160
Fishzag ................................................................................................................................................................ 161
Multiple Control Heads and Auxiliary Controller .................................................................................................. 162
Station Lock/Unlock ............................................................................................................................................. 162
Watch Alarm ........................................................................................................................................................ 163
Entering the Password ......................................................................................................................................... 164
Changing the Password ....................................................................................................................................... 164
Care and Maintenance ....................................................................................................... 166
Cleaning and Appearance ................................................................................................................................... 167
Protection of Wires and Cabling .......................................................................................................................... 167
Periodic Checks ................................................................................................................................................... 167
Fuse Replacement ............................................................................................................................................... 168
Appendices .......................................................................................................................... 170
Appendix 1 _____________________________________________________________ 171
NMEA 0183 Sentences Accepted and Transmitted by the Autopilot ................................................................... 171
Messages Accepted171 ....................................................................................................................................... 171
Messages Transmitted174 ................................................................................................................................... 174
Appendix 2 _____________________________________________________________ 175
Error Messages175 .............................................................................................................................................. 175
Appendix 3 _____________________________________________________________ 178
Diagnostic LEDs .................................................................................................................................................. 178
Appendix 4 _____________________________________________________________ 179
Upgrading Firmware ............................................................................................................................................ 179
Appendix 5 _____________________________________________________________ 180
General Specifications ......................................................................................................................................... 180