ComNav Commander P2 User manual

Installation & Operation Manual
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Commander P2
&
P2VS 
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
Advanced Autopilot Systems
PN
29010074
V
4
.
1

ComNav Commander P2 & P2VS Installation & Operation
Document PN 29010074 V4.1 - 1 -
Welcome
Congratulations on your purchase of a ComNav Marine P Series Commander Advanced
Autopilot System!
Developed using ComNav’s many years of experience in autopilot design, the Commander
P2 & P2VS autopilots provide superior performance and advanced features, when compared
to other products in their class.
At ComNav, we are proud of our prominence as a leader in the design and manufacture of
marine autopilot systems. Our dedication to performance and reliability will ensure your
satisfaction with your new autopilot.
ComNav Marine Ltd.
#15 – 13511 Crestwood Place
Richmond, B.C. V6V 2G1
Canada
Tel: [phone] • Fax: [phone]
Web: www.ComNav.com • E-mail: [e-mail] • [e-mail]
Warranty Notice
Prior to the installation and/or operation of the equipment, please take a moment to read and
accept the conditions of the warranties as detailed in the Warranty Information section of
this manual.
W
W
A
AR RN NI IN NG G
This Autopilot is only an aid to navigation. 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.
The performance of the Autopilot can be affected by many factors,
including equipment failure, environmental conditions, and improper
handling or use.
The Autopilot does not reduce your responsibility for the control of the
boat when underway. Additionally, the Autopilot should never be used
in areas where it is considered unsafe due to obstacles, other marine
traffic, poor weather or sea conditions, or any other condition that could
create a dangerous situation or where it may be unlawful.
Never place Magnetic material or equipment near magnetic or fluxgate
compasses connected to the autopilot system.
Do not use WIND mode when wind conditions are strong or gusting
over 25 knots. This may cause the vessel rudder to become
overpowered and the vessel could broach or create other dangerous
situations. Prior to commencing the gybe manoeuvre, you must ensure
that the boom is properly centered and controlled. Take all necessary
precautions to ensure that the boom does not strike any persons or
objects since it may result in serious injury or damage.

ComNav Commander P2 & P2VS Installation & Operation
Document PN 29010074 V4.1 - 2 -
General Notice
This document, ComNav part number 29010074 Version 4 Revision 1, is the approved
Installation and Operation Manual for use with the ComNav Commander P2 and Commander
P2VS Advanced Autopilot Systems.
Where versions of this manual exist in other languages, the English language version shall
be considered authoritative.
Special Note
This manual applies ONLY to Commander P2 systems running firmware version numbers 4.0
and later, and Commander P2VS systems with version 1.0 or later.
For Commander P2 systems with earlier firmware versions (which have numerous
differences from firmware version 4.0), please refer to version 3.1 of this manual.
.

ComNav Commander P2 & P2VS Installation & Operation
Document PN 29010074 V4.1 - 3 -
Document History
Revision Date By Description
1R1 27 April 2005 DC First Release
2R0 04 January 2006 DC Updated for new software release
2R1 29 August 2006 DC & DTO •corrected SPU ⇔NEMA 0183 Connection Diagram to show
correct order of NAV 1 & 2 input pins
•corrected SPU ⇔PC Connection Diagrams to show use of
NAV #1 input pins instead of NAV #2
•added Document History table (this table)
2R2 07 September 2006 DTO •revised Control Head Connection description text, and
associated Wiring Connections Diagram, to include the new
alternative colour-coding of the cable
3R0 27 September 2007 DTO •brand name change
•added info on Vector GPS compasses
•updated compass installation & setup procedures
•updated General Specifications
•revised external Jog Control connection information
•updated information on SPU connectors & wiring
•Head menu figures are now easier-to-read “screen shots”
•Firmware Upgrade info now in separate kit
•Warranty statement is now in a separate document
3R1 14 December 2007 DTO •added Compass Safe Distance information, Table 19
•re-organized “modes & menus” information for easier use
•moved all “using the Head” information into one area
•added Wind Vane with NX2 Instrument/Server wiring info,
Figure 45 & Figure 46
•deleted one MPN for fuse F1, Table 10
•updated Error Messages lists, Appendix 3
•updated dimensions, Appendix 7
08 January 2009 DTO •edited & re-organized numerous sections, to improve
readability & clarity
•added information on new & changed features & functions in
the P2 firmware version 4.00
•added information on the P2VS version 1.00
•restored the Standard Autopilot Warranty statement
4R0 26 January 2011 JLU •added information on new compass setup procedure
•added Large vessel configuration
4R1 28 July 2011 FW •Revised Figure 35, Figure 43, Figure 62, Figure 124 & Figure
125 to “J9 OUT-A” above “J9 OUT-B”

ComNav Commander P2 & P2VS Installation & Operation
Document PN 29010074 V4.1 - 4 -
About this Manual
This manual provides essential information for the safe and reliable operation of the
Commander P2 and Commander P2VS Autopilot Systems.
Note: all references to “Commander P2”, “P2”, “P Series” or “autopilot” in this
manual should be taken as applying to either model, unless specified otherwise.
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 & Terms
Throughout this manual, you will see a number of different typefaces used, and several
commonly-used words & phrases with very specific meanings, to describe concepts & 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 & the knob are in bold small-caps lettering.
Example: the T TU UR RN Nbutton
• 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” of the mouse
buttons.
• 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 Commander P2 & P2VS Installation & Operation
Document PN 29010074 V4.1 - 5 -
Manual Format
This manual has been formatted to be printed on both sides of the pages of the manual, 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 & printed with Adobe Reader®, or
compatible pdf-format viewers.
When printing this manual with Reader, you should select “duplex printing” (or the equivalent
term used by your printer’s software driver), 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 (Reader’s
default setting is Shrink to Printable Area, which is printer-dependant, and usually ~97% – but
no such shrinking is needed for this manual).

ComNav Commander P2 & P2VS Installation & Operation Table of Contents, Lists of Figures & Tables
Document PN 29010074 V4.1 - 6 -
Table of Contents
Welcome ___________________________________________________________________________ 1
Warranty Notice .........................................................................................................................................................1
Document History.......................................................................................................................................................3
About this Manual.......................................................................................................................................................4
Table of Contents ___________________________________________________________________ 6
List of Figures...........................................................................................................................................................13
List of Tables............................................................................................................................................................15
How Autopilots Work _______________________________________________________________ 18
Manual Steering .......................................................................................................................................................18
An Autopilot System.................................................................................................................................................19
Autopilot Operation...................................................................................................................................................20
Maintaining a Heading: AUTO Mode....................................................................................................................20
Changing Heading............................................................................................................................................21
Wind and Current Effects .................................................................................................................................22
Following a Track: NAV Mode..............................................................................................................................22
Following a Track: AUTO/ALC Mode ...................................................................................................................23
Power Steer: “Drive by Wire”................................................................................................................................23
More Information (for the Technically Inquisitive).................................................................................................23
System Overview ___________________________________________________________________ 26
Control Head............................................................................................................................................................27
Signal Processor Unit...............................................................................................................................................28
Compasses ..............................................................................................................................................................29
Vector G2 and G2B GPS Compasses..................................................................................................................29
Navigator G2 GPS Compasses Display ...............................................................................................................30
Fluxgate Compasses............................................................................................................................................31
Heading Rate Stabilizer........................................................................................................................................32
Magnetic Compass Sensor ..................................................................................................................................33
Magnetic Compasses...........................................................................................................................................33
45°Compass Transducer.....................................................................................................................................34
Tri-Axis Rate Gyro Compass................................................................................................................................34
Other Compasses ................................................................................................................................................34
Rudder Follower Units & Wind Sensors ...................................................................................................................35
Standard Rotary Rudder Follower Unit & Rudder Linkage ...................................................................................35
Heavy Duty Rotary Rudder Follower Unit.............................................................................................................35
Linear Rudder Follower Unit.................................................................................................................................36
Twin-Fin Wind Transducer ...................................................................................................................................36
Auxiliary Controllers .................................................................................................................................................36
CR-203 Remote ...................................................................................................................................................37
TS-203 Remote....................................................................................................................................................38
Other Controls & Indicators......................................................................................................................................39
NFU Jog Steering Control ....................................................................................................................................39
Rudder Angle Indicator (RAI) ...............................................................................................................................39
Control Head Mounting & Cover Kits........................................................................................................................40
Rudder Drives and Interfaces...................................................................................................................................41
CT7 Thruster Interface .........................................................................................................................................41
Other Drive Boxes................................................................................................................................................42
Pumps & Drives ...................................................................................................................................................43

ComNav Commander P2 & P2VS Installation & Operation Table of Contents, Lists of Figures & Tables
Document PN 29010074 V4.1 - 7 -
Other Equipment......................................................................................................................................................43
Installation ________________________________________________________________________ 46
Basic Requirements.................................................................................................................................................46
Steering System...................................................................................................................................................46
Power Supply.......................................................................................................................................................46
Special Tools........................................................................................................................................................46
Fasteners .............................................................................................................................................................46
Control Head............................................................................................................................................................47
Electrical Connection .......................................................................................................................................47
Signal Processor Unit...............................................................................................................................................47
Electrical Connection .......................................................................................................................................47
Compasses ..............................................................................................................................................................48
Compass Deviation ..............................................................................................................................................48
Common Installation Considerations....................................................................................................................48
Magnetic Compass and Sensor ...........................................................................................................................50
Electrical Connection .......................................................................................................................................50
Fluxgate Compass ...............................................................................................................................................51
Electrical Connection .......................................................................................................................................51
Heading Rate Stabilizer .......................................................................................................................................52
Electrical Connection .......................................................................................................................................52
45°Compass Transducer ....................................................................................................................................52
Electrical Connection .......................................................................................................................................52
Tri-Axis Rate Gyro Compass................................................................................................................................52
Electrical Connection .......................................................................................................................................53
Rudder Follower Unit ...............................................................................................................................................54
Rotary Rudder Follower Unit................................................................................................................................54
Electrical Connection .......................................................................................................................................55
Heavy Duty Rotary Rudder Follower Unit ............................................................................................................55
Linear Rudder Follower Unit ................................................................................................................................56
Electrical Connection .......................................................................................................................................58
Other Equipment......................................................................................................................................................59
Wiring the System....................................................................................................................................................60
Signal Processor Unit...........................................................................................................................................60
Connectors on the SPU....................................................................................................................................60
Wire Sizes........................................................................................................................................................61
Power Supply.......................................................................................................................................................62
Power Supply Extension ..................................................................................................................................63
Drive Box Power Supply...................................................................................................................................63
Input & Output Connections .................................................................................................................................64
Control Head....................................................................................................................................................64
Auxiliary Controller(s).......................................................................................................................................64
NFU Jog Steering Controls ..............................................................................................................................65
Compasses ......................................................................................................................................................66
Wind Transducer..............................................................................................................................................68
Rudder Follower Unit........................................................................................................................................70
Rudder Angle Indicators...................................................................................................................................70
Drive Outputs .......................................................................................................................................................71
Reversing DC Motor Hydraulic Systems ..........................................................................................................71
Linear Actuators or Mechanical Rotary Drives .................................................................................................71
Shunt-Field Reversing Motors..........................................................................................................................71

ComNav Commander P2 & P2VS Installation & Operation Table of Contents, Lists of Figures & Tables
Document PN 29010074 V4.1 - 8 -
Standard Four-Way Solenoid-Activated Hydraulic Valves................................................................................72
Two-Speed Solenoid Valves ............................................................................................................................73
A.C. Solenoids..................................................................................................................................................74
Proportional Solenoid Valves ...........................................................................................................................74
Azimuth Drives, Surface Piercing Drives and Jet Drives..................................................................................75
External Alarm Output..........................................................................................................................................76
Speed Mode & Timing Outputs ............................................................................................................................78
Navigation Data....................................................................................................................................................79
Signal Names...................................................................................................................................................80
RS-422 Electrical Interface...............................................................................................................................80
Typical RS-422 Signals ................................................................................................................................81
RS-232 Electrical Signals.................................................................................................................................82
Status LEDs .....................................................................................................................................................82
Other Connections ...............................................................................................................................................82
Thruster Interface.............................................................................................................................................82
ComNav Network .............................................................................................................................................82
Final Steps & Post-Installation Checks.....................................................................................................................83
Electrical Checks..................................................................................................................................................83
Completing the Wiring..........................................................................................................................................83
Setting Up_________________________________________________________________________ 86
Dockside Setup Menu ..........................................................................................................................................86
Reset................................................................................................................................................................87
Vessel Type......................................................................................................................................................87
Compass Setup................................................................................................................................................88
Drive Setup.......................................................................................................................................................88
Exit ...................................................................................................................................................................88
Alarm O/P (Alarm Output) ................................................................................................................................88
Thrust Type ......................................................................................................................................................88
Thrust MIN........................................................................................................................................................88
Thrust MAX ......................................................................................................................................................88
Language .........................................................................................................................................................88
Configure Sys. (Configure System)..................................................................................................................89
Setup Procedures.....................................................................................................................................................90
Vessel Type .........................................................................................................................................................90
Drive Setup ..........................................................................................................................................................91
Compass Setup – Dockside .................................................................................................................................93
Analog Compass..............................................................................................................................................93
Digital Compass ...............................................................................................................................................94
NAV 1 Port .......................................................................................................................................................94
NAV1 or NAV2 Port for general NMEA Compass ............................................................................................94
Bandwidth of an NMEA Compass Connection .............................................................................................95
Compass Setup – On the Water ..........................................................................................................................98
Compensation for Magnetic Deviation..............................................................................................................98
Magnetic Compass Sensor ..........................................................................................................................98
Heading Rate Stabilizer................................................................................................................................99
ComNav Fluxgate Compass and other fluxgate compasses......................................................................100
45°Compass..............................................................................................................................................100
Tri-Axis Rate Gyro Compass......................................................................................................................100
Other NMEA Compasses ...........................................................................................................................100
Calibrating for Compass Offset ......................................................................................................................101