ComNav Commander P2 User manual

Installation & Operation Manual



Commander P2
&
P2VS 


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

ComNav Commander P2 & P2VS Installation & Operation Table of Contents, Lists of Figures & Tables
Document PN 29010074 V4.1 - 9 -
All Compass Types ....................................................................................................................................101
Magnetic Sensor ........................................................................................................................................102
Compass Setup – Final Steps............................................................................................................................102
Sea Trials...............................................................................................................................................................103
Sea Trial Procedure ...........................................................................................................................................103
Adjust Rudder Gain & Counter Rudder for Hi Speed .....................................................................................103
Adjust Turn Rate for Hi Speed ...................................................................................................................105
Adjust Seastate for Hi Speed .....................................................................................................................105
Adjust Rudder Gain, Counter Rudder, Turn Rate and Seastate for Lo Speed ...........................................105
Adjust Speed Trip Point..............................................................................................................................105
Adjusting for Rougher Sea Conditions ...........................................................................................................106
Basic Operations__________________________________________________________________ 110
The Control Head’s LCD Screen & Buttons ...........................................................................................................110
Operating the System ............................................................................................................................................112
Operating Modes – Overview.............................................................................................................................112
Mode Menus ......................................................................................................................................................112
Rudder Angle Indicator (RAI) .............................................................................................................................114
Alarm Clear ........................................................................................................................................................114
Power On ...........................................................................................................................................................115
Power Off ...........................................................................................................................................................115
STANDBY Mode ....................................................................................................................................................116
Standby Menu ....................................................................................................................................................117
Station Lock ...................................................................................................................................................117
Default Turn ...................................................................................................................................................117
Compass Source............................................................................................................................................117
Compass Cal (Compass Calibration).............................................................................................................118
NMEA Hdg Type (NMEA Heading Type) .......................................................................................................118
Backlight Level...............................................................................................................................................118
Contrast (monochrome Head only) ................................................................................................................118
Graphics (monochrome Head) or Display (colour Head) ...............................................................................119
Watch Alarm...................................................................................................................................................120
Fishzag Time..................................................................................................................................................120
Battery............................................................................................................................................................120
POWER STEER Mode...........................................................................................................................................121
Power Steer Menu .............................................................................................................................................122
P.Str Limits (Power Steer Rudder Limits).......................................................................................................122
Auto/Nav Limits..............................................................................................................................................122
RAI Offset.......................................................................................................................................................122
AUTO Mode ...........................................................................................................................................................123
Notes on AUTO Mode....................................................................................................................................123
Auto Menu..........................................................................................................................................................124
Rudder Gain...................................................................................................................................................124
Hi & Lo Speed Rudder Gain.......................................................................................................................125
Counter Rudder..............................................................................................................................................125
Hi & Lo Speed Counter Rudder..................................................................................................................125
Seastate.........................................................................................................................................................126
Turn Rate .......................................................................................................................................................126
Parameter Set................................................................................................................................................126
Speed Trip Pt (Speed Trip Point) ...................................................................................................................127
Speed Source ................................................................................................................................................127

ComNav Commander P2 & P2VS Installation & Operation Table of Contents, Lists of Figures & Tables
Document PN 29010074 V4.1 - 10 -
ALC (Automatic Leeway Correction) ..............................................................................................................127
Thruster Assist ...............................................................................................................................................127
Thruster Gain .................................................................................................................................................127
Helm Delay.....................................................................................................................................................128
NAV Mode..............................................................................................................................................................129
NAV Highway Display ........................................................................................................................................130
Notes on NAV Mode...........................................................................................................................................130
Understanding NAV Mode..................................................................................................................................131
Checking the Navigation Data........................................................................................................................131
Correction Methods........................................................................................................................................132
CTS – Steering a Direct Bearing ................................................................................................................133
XTE – Steering Quickly Back to a Track ....................................................................................................134
Both – Steering Smoothly Back to a Track.................................................................................................136
An example of NAV Mode in Operation......................................................................................................137
Nav Menu...........................................................................................................................................................138
Nav Source.....................................................................................................................................................138
XTE Limit (Cross-Track Error Limit) ...............................................................................................................138
Waypoint Arrival .............................................................................................................................................138
Correction.......................................................................................................................................................139
XTE Sense (Cross-Track Error Sense) ..........................................................................................................139
Max Correction...............................................................................................................................................139
Dodge Turns ..........................................................................................................................................................140
Dodge Centre.....................................................................................................................................................141
Jog Steering Turns.................................................................................................................................................142
Commander P2VS Operations...............................................................................................................................143
Cautions .............................................................................................................................................................143
P2-Equivalent Operation ....................................................................................................................................145
Advanced Operations ______________________________________________________________ 149
WORK Mode ..........................................................................................................................................................149
Automatic WORK Mode .....................................................................................................................................149
Manual WORK Mode .........................................................................................................................................150
Work Menu.........................................................................................................................................................151
Rudder Bias....................................................................................................................................................151
Autotrim..........................................................................................................................................................151
Work Trip Pt. (Work Trip Point) ......................................................................................................................151
Rudder Scale (Rudder Scale Factor) .............................................................................................................151
Work Mode State............................................................................................................................................151
WIND Mode............................................................................................................................................................152
Changing Wind Angle.....................................................................................................................................153
Tack & Gybe Inhibit........................................................................................................................................153
Low Wind Speeds ..........................................................................................................................................153
WIND-Points Mode.............................................................................................................................................154
Changing Point of Sail....................................................................................................................................154
Tack & Gybe Inhibit........................................................................................................................................154
Boundaries of the Points of Sail .....................................................................................................................156
Tacking...............................................................................................................................................................157
Gybing................................................................................................................................................................159
Wind Menu .........................................................................................................................................................161
Wind Source...................................................................................................................................................161
Wind Shift (Wind Shift Alarm).........................................................................................................................162

ComNav Commander P2 & P2VS Installation & Operation Table of Contents, Lists of Figures & Tables
Document PN 29010074 V4.1 - 11 -
Wind Shift Delay.............................................................................................................................................162
Preset Tack Angle..........................................................................................................................................162
Close Haul Def (Close Haul Definition) ..........................................................................................................162
Close Reach Def (Close Reach Definition) ....................................................................................................162
Beam Reach Def (Beam Reach Definition)....................................................................................................162
Broad Reach Def (Broad Reach Definition)....................................................................................................162
Gybe Hold Point (Gybe Hold Point Definition)................................................................................................162
Special Turns .........................................................................................................................................................163
U-Turn................................................................................................................................................................164
Circle Turn .........................................................................................................................................................165
M.O.B. – Man Over-Board .................................................................................................................................166
Fishzag ..............................................................................................................................................................167
Pretack (Preset-Tack) ........................................................................................................................................168
Multiple Control Heads & Auxiliary Controllers.......................................................................................................169
Station Lock/Unlock ...........................................................................................................................................169
Watch Alarm & External Alarm...............................................................................................................................170
Configuring the Watch Alarm .............................................................................................................................170
Configuring the External Alarm ..........................................................................................................................170
Using the Watch Alarm ......................................................................................................................................171
Changing the Password .....................................................................................................................................172
Entering the Password .......................................................................................................................................173
Care & Maintenance _______________________________________________________________ 177
Cleaning and Appearance......................................................................................................................................177
Periodic Checks .....................................................................................................................................................177
Electrical & Mechanical Checks .........................................................................................................................177
Hydraulic Checks ...............................................................................................................................................177
Manual Steering Operation ............................................................................................................................177
Air Trapped in the Hydraulic System..............................................................................................................177
Fuse Replacement.................................................................................................................................................178
Appendix 1 _______________________________________________________________________ 181
Interfacing to a PC .................................................................................................................................................181
PC COM Ports ...................................................................................................................................................181
DE9 Connection.............................................................................................................................................182
DB25 Connection...........................................................................................................................................182
D Connector Pinouts ......................................................................................................................................183
Appendix 2 _______________________________________________________________________ 185
NMEA 0183 Sentences Accepted and Transmitted by the Autopilot......................................................................185
Sentences Accepted ..........................................................................................................................................185
Sentence & Data Priority................................................................................................................................186
Sentences Transmitted ......................................................................................................................................188
Heading & Status ...........................................................................................................................................188
Heading Output ..........................................................................................................................................188
Status Output .............................................................................................................................................189
Configuration Save & Restore............................................................................................................................190
Appendix 3 _______________________________________________________________________ 195
Error Messages......................................................................................................................................................195
Critical Errors .....................................................................................................................................................195
Severe Errors.....................................................................................................................................................196
Warnings............................................................................................................................................................197

ComNav Commander P2 & P2VS Installation & Operation Table of Contents, Lists of Figures & Tables
Document PN 29010074 V4.1 - 12 -
Appendix 4 _______________________________________________________________________ 199
Auxiliary Head / Remote Power On........................................................................................................................199
Appendix 5 _______________________________________________________________________ 201
Diagnostic LEDs.....................................................................................................................................................201
Appendix 6 _______________________________________________________________________ 203
Upgrading Firmware...............................................................................................................................................203
Transferring the System Configuration & Parameters........................................................................................203
Appendix 7 _______________________________________________________________________ 205
General Specifications ...........................................................................................................................................205
Compass Safe Distances.......................................................................................................................................206
Warranty Information ______________________________________________________________ 207
Index ____________________________________________________________________________ 213
Settings & Notes __________________________________________________________________ 219
Default & User Settings..........................................................................................................................................219
Notes......................................................................................................................................................................222

ComNav Commander P2 & P2VS Installation & Operation Table of Contents, Lists of Figures & Tables
Document PN 29010074 V4.1 - 13 -
List of Figures
Figure 1 – Basic Autopilot System ....................................................................................................................................19
Figure 2 – Heading Change in AUTO Mode .....................................................................................................................21
Figure 3 – Commander P2 System Block Diagram...........................................................................................................26
Figure 4 – Control Heads..................................................................................................................................................27
Figure 5 – The Commander P2 SPU (with Wiring Cover Removed).................................................................................28
Figure 6 – Vector G2 GPS Compass ................................................................................................................................29
Figure 7 – Navigator G2 Display Head..............................................................................................................................30
Figure 8 – Navigator G2 Distribution Unit..........................................................................................................................30
Figure 9 – Fluxgate Compass ...........................................................................................................................................31
Figure 10 – Heading Rate Stabilizer .................................................................................................................................32
Figure 11 – Magnetic Compass Sensor............................................................................................................................33
Figure 12 – Externally Gimballed Magnetic Compass with Binnacle.................................................................................33
Figure 13 – 45°Compass Transducer ..............................................................................................................................34
Figure 14 – Tri-Axis Rate Gyro Compass ...........................................................................................................................34
Figure 15 – Standard Rotary RFU.....................................................................................................................................35
Figure 16 – Heavy Duty Rotary RFU.................................................................................................................................35
Figure 17 – Linear RFU.....................................................................................................................................................36
Figure 18 – Twin-Fin Wind Transducer.............................................................................................................................36
Figure 19 – CR-203 Handheld Remote.............................................................................................................................37
Figure 20 – TS-203 Fixed Remote....................................................................................................................................38
Figure 21 – NFU Jog Steering Control..............................................................................................................................39
Figure 22 – External Rudder Angle Indicator (76 mm Model) ...........................................................................................39
Figure 23 – Control Head Mounts & Cover .......................................................................................................................40
Figure 24 – CT7 Interface .................................................................................................................................................41
Figure 25 – Drive Boxes to meet all needs .......................................................................................................................42
Figure 26 – Hydraulic Pump & Solenoid Value .................................................................................................................43
Figure 27 – Cable Drives ..................................................................................................................................................43
Figure 28 – Fluxgate Compass Mounting .........................................................................................................................51
Figure 29 – RFU Linkage Geometry .................................................................................................................................55
Figure 30 – Typical Arrangement of Linear RFU on an Outboard’s Steering Cylinder......................................................56
Figure 31 – Band Clamp and Plastic Brackets..................................................................................................................57
Figure 32 – Installed Arrangement of Brackets .................................................................................................................57
Figure 33 – Fasteners, Stainless Bracket Arrangement....................................................................................................58
Figure 34 – Removal of the SPU Wiring Cover.................................................................................................................60
Figure 35 – SPU Connector Wiring Label .........................................................................................................................60
Figure 36 – Typical Power Connection to SPU .................................................................................................................62
Figure 37 – Reducing Supply Voltage Losses ..................................................................................................................63
Figure 38 – Typical Battery Connection to Drive Boxes....................................................................................................63
Figure 39 – Wiring Connections for Control Head, Handheld Remotes, and Fixed Remotes ...........................................64
Figure 40 – Wiring Connections for Jog Controls..............................................................................................................65
Figure 41 – Wiring Connections for Magnetic Sensor, Fluxgate Compass or HRS...........................................................66
Figure 42 – Wiring Connections for 45°Compass Transducer .........................................................................................67
Figure 43 – Wiring Connections for Tri-Axis Rate Gyro Compass ......................................................................................67
Figure 44 – Wiring Connections for Twin-Fin Wind Transducer........................................................................................68
Figure 45 – Wind Transducer with NX2 Wind Data Instrument.........................................................................................69
Figure 46 – Wind Transducer with Classic Nexus or NX2 Network Server.......................................................................69
Figure 47 – Wiring Connections for RFUs.........................................................................................................................70
Figure 48 – Wiring Connections for Rudder Angle Indicators ...........................................................................................70
Figure 49 – Wiring Connections for Reversing DC Motors................................................................................................71
Figure 50 – Wiring Connections for Linear Actuators or Mechanical Rotary Drives..........................................................71
Figure 51 – Wiring Connections for Shunt Field Reversing Motors...................................................................................72
Figure 52 – Wiring Connections for Standard Four-Way Solenoid Valves........................................................................72

ComNav Commander P2 & P2VS Installation & Operation Table of Contents, Lists of Figures & Tables
Document PN 29010074 V4.1 - 14 -
Figure 53 – Wiring Connections for Constant Running Electric Pump. .............................................................................73
Figure 54 – Wiring Connections for Two-Speed Solenoid Valves .....................................................................................73
Figure 55 – Wiring Connections for A.C. Solenoids ..........................................................................................................74
Figure 56 – Wiring Connections for Proportional Solenoid Valves....................................................................................74
Figure 57 – Wiring Connections for Isolation Amplifiers....................................................................................................75
Figure 58 – External Alarm, using SW'D B- Output...........................................................................................................76
Figure 59 – External Alarm, using SW'D B+ Output..........................................................................................................76
Figure 60 – External Alarm, SW'D B- Output with Power Fail Option................................................................................77
Figure 61 – External Alarm, SW'D B+ Output with Power Fail Option...............................................................................77
Figure 62 – Typical NMEA 0183 Connections...................................................................................................................79
Figure 63 – Typical RS-422 Signals..................................................................................................................................81
Figure 64 – Entering Dockside Setup................................................................................................................................86
Figure 65 – Dockside Setup menu ....................................................................................................................................87
Figure 66 – Set Vessel type ..............................................................................................................................................90
Figure 67 – Set Compass Type in Compass Configuration menu.....................................................................................93
Figure 68 – Using the Control Head................................................................................................................................110
Figure 69 – A Typical Menu ............................................................................................................................................113
Figure 70 – Power On Sequence ....................................................................................................................................115
Figure 71 – Power Off Sequence ....................................................................................................................................115
Figure 72 – Typical STANDBY Mode Screen..................................................................................................................116
Figure 73 – Standby Menu..............................................................................................................................................117
Figure 74 – Monochrome LCD: Normal & Reversed Display ..........................................................................................119
Figure 75 – Colour LCD: B & C Colour Schemes............................................................................................................119
Figure 76 – Typical POWER STEER Mode Screen ........................................................................................................121
Figure 77 – Power Steer Menu .......................................................................................................................................122
Figure 78 – Typical AUTO Mode Screen.........................................................................................................................123
Figure 79 – Auto Menu....................................................................................................................................................124
Figure 80 – Guidelines for setting Rudder Gain ..............................................................................................................125
Figure 81 – Guidelines for setting Counter Rudder .........................................................................................................125
Figure 82 – Hi (AUTO) and Lo Speed Indicators (to left of the Rudder Angle Indicator) ................................................126
Figure 83 – Typical AUTO Mode Screen.........................................................................................................................127
Figure 84 – Typical NAV Mode Screen (Normal Display)................................................................................................129
Figure 85 – Typical NAV Mode Highway Screen ............................................................................................................130
Figure 86 – Steering with Correction set to CTS.............................................................................................................133
Figure 87 – Steering with Correction set to XTE .............................................................................................................134
Figure 88 – Response of Boat to a Large Cross-Track Error ..........................................................................................135
Figure 89 – Steering with Correction set to Both.............................................................................................................136
Figure 90 – Nav Menu.....................................................................................................................................................138
Figure 91 – A Dodge in Progress (in AUTO Mode) .........................................................................................................140
Figure 92 – Boat Track During a Dodge Manoeuvre in AUTO Mode ..............................................................................140
Figure 93 – Holding at a Heading Part-way Through a Dodge Turn ...............................................................................141
Figure 94 – Typical Jog Control Activated Screen ..........................................................................................................142
Figure 95 – Typical WORK Mode Screen (Engaged)......................................................................................................149
Figure 96 – WORK Mode Menu ......................................................................................................................................151
Figure 97 – Typical WIND Mode Screen (Normal Display) .............................................................................................152
Figure 98 – Typical WIND-Points Mode Screen..............................................................................................................154
Figure 99 – Commanded Wind Angle of 90°...................................................................................................................155
Figure 100 – Outline Arrow shows the Commanded Point of Sail...................................................................................155
Figure 101 – Points of Sail ..............................................................................................................................................156
Figure 102 – Starting a Tack in WIND (left) and WIND-Points (right) Modes..................................................................157
Figure 103 – Wind Angle Limits to Start a Tack ..............................................................................................................157
Figure 104 – Wind Angle Limits for Tacking....................................................................................................................158
Figure 105 – Starting a Gybe in WIND (left) and WIND-Points (right) Modes .................................................................159
Figure 106 – Wind Angle Limits to Start a Gybe .............................................................................................................159

ComNav Commander P2 & P2VS Installation & Operation Table of Contents, Lists of Figures & Tables
Document PN 29010074 V4.1 - 15 -
Figure 107 – Wind Angle Limits for Gybing.....................................................................................................................160
Figure 108 – Wind Menu.................................................................................................................................................161
Figure 109 – Typical Special Turn Query........................................................................................................................163
Figure 110 – U-Turn Query.............................................................................................................................................164
Figure 111 – U-Turn Boat Path .......................................................................................................................................164
Figure 112 – Circle Turn Query.......................................................................................................................................165
Figure 113 – Circle Turn Boat Path.................................................................................................................................165
Figure 114 – M.O.B. Turn Query.....................................................................................................................................166
Figure 115 – M.O.B. Turn Boat Path...............................................................................................................................166
Figure 116 – Fishzag Turn Query ...................................................................................................................................167
Figure 117 – Fishzag Turn ..............................................................................................................................................167
Figure 118 – PreTack Turn Query...................................................................................................................................168
Figure 119 – Station Lock Icon on In-Command (left) and Repeater Auxiliary Control Head (right) ...............................169
Figure 120 – External Alarm Configuration .....................................................................................................................170
Figure 121 – External Alarm Type Configuration ............................................................................................................171
Figure 122 – New Password Pop-Up Window ................................................................................................................172
Figure 123 – Password Query Pop-Up Window..............................................................................................................173
Figure 124 – Connection to a PC with a DE9-S Connector.............................................................................................182
Figure 125 – Connection to a PC with a DB25-S Connector...........................................................................................182
Figure 126 – DE9 & DB25 Pin Numbering......................................................................................................................183
Figure 127 – JP12 & JP13 in Factory Default Position (left) and After Moving Shunts (right).........................................199
List of Tables
Table 1 – SPU Connector Ratings ....................................................................................................................................61
Table 2 – Recommended Minimum Wire Gauges.............................................................................................................61
Table 3 – Speed Mode & Timing Outputs .........................................................................................................................78
Table 4 – NMEA Signal Translation Guide........................................................................................................................80
Table 5 – Vessel types......................................................................................................................................................88
Table 6 – Compass types .................................................................................................................................................97
Table 7 – NAV Mode Correction Methods.......................................................................................................................132
Table 8 – Boundaries Between Points of Sail .................................................................................................................156
Table 9 – Wind Source Selection....................................................................................................................................161
Table 10 – Fuse Replacement Guide..............................................................................................................................178
Table 11 – NMEA 0183 Sentences Accepted by the Commander P2 ............................................................................185
Table 12 - NMEA Sentence Priority ................................................................................................................................187
Table 13 – Configuration Save & Restore Sentences.....................................................................................................193
Table 14 – Critical Error Messages.................................................................................................................................195
Table 15 – Severe Error Messages.................................................................................................................................196
Table 16 – Warning Messages........................................................................................................................................197
Table 17 – Diagnostic LEDs............................................................................................................................................201
Table 18 – General Specifications ..................................................................................................................................205
Table 19 – Compass Safe Distances..............................................................................................................................206
Table 20 – Default & User Settings.................................................................................................................................221

ComNav Commander P2 & P2VS Installation & Operation
Document PN 29010074 V4.1 - 16 -
Introduction

ComNav Commander P2 & P2VS Installation & Operation
Document PN 29010074 V4.1 - 17 -

ComNav Commander P2 & P2VS Installation & Operation How Autopilots Work
Document PN 29010074 V4.1 - 18 -
How Autopilots Work
The purpose of this introductory section is to describe briefly what an autopilot does, and
some of the things you should expect when using an autopilot with your boat.
Manual Steering
Every boat has unique design dynamics, which depend on its shape and dimensions, and on
current speed, loading, and sea conditions. The net result is that every boat (or rather, every
unique boat design) “steers” in a unique way.
To understand what an autopilot does when it is steering your boat, it is helpful to think for a
moment about steering the boat by hand.
• When you are holding the boat on some Heading, you know, from instinct &
experience, how much rudder to apply, and how fast to apply it, to keep the boat
on-course. Corrections are usually just a small, quick movement of the helm to one
side, then back to the dead-ahead position.
• You won’t always try to correct when the boat rolls or accelerates off a wave,
especially in heavy seas – because when the boat rolls back the other direction, it will
usually come right back on-course.
Instead, your experience lets you allow the boat to yaw those necessary degrees on
either side of the Heading, to reduce the fight.
• To turn the boat to a new Heading, instinct & experience again tell you how much
rudder to use, and how fast, to get the boat turning at your normal rate of turn.
If the boat is not turning as rapidly as you want (for example, with a cross-wind or
cross-current holding back the bow), you increase the amount of rudder a bit.
On the other hand, if the boat is turning too fast, you reduce the applied rudder a bit.
You then gradually reduce the applied rudder, as the boat approaches the desired
Heading.
You might even put the helm over opposite for a moment, to stop the boat swing
more quickly – in order to come to the desired Heading without overshoot.
The single most basic purpose of an autopilot is to do the same as you would … let the boat
“work with the seas”, yet still maintain as straight a Track as possible in the current sea
conditions, on the desired Heading or Course.
The P Series Autopilot Systems use the latest generation of ComNav’s carefully-designed,
well-proven steering control algorithms
1
, which are based on our many years of designing &
manufacturing autopilots.
There are a number of parameters used in the steering algorithms, collectively referred to as
“the Steering Parameters”. The Commander P2 & P2VS have been tested on a wide variety
of boats, of different types and sizes. The default settings for the Steering Parameters are
average values derived from that testing, and provide a good starting place for most boats.
During Sea Trials, and later on normal operation, you may want to adjust some of those
values, so that they better match your boat’s unique design dynamics.
1
… however, the information in this section can be applied in general to any ComNav autopilot, and is
not necessarily specific to the P Series.