ComNav Commander P2 User manual

Installation & Operation Manual
Commander P2
Advanced Auto
p
ilot S
y
stem
COMPLIES WITH
CE REGULATIONS
PN 29010074

ComNav Commander P2 Installation & Operation Table of Contents, Lists of Figures & Tables
Document PN 29010074 V3.1 - 3 -
Welcome
Congratulations on your purchase of ComNav Marine’s Commander P2 Advanced
Autopilot System! 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 the ComNav Commander P2. Developed as a
result of ComNav’s many years of experience in autopilot design, the Commander P2
Advanced Autopilot System provides better performance and more features than any
other autopilot in its class.
ComNav Marine Ltd.
Warranty Notice
Prior to the installation and/or operation of the equipment, ensure that you read,
understand, and accept the conditions of the warranties as detailed in the
Warranty Information document that accompanies this manual.
Operator’s Warning
The Commander P2 Advanced Autopilot System will steer your vessel, however it is only
an aid to navigation. Its performance can be affected by many factors including
equipment failure, environmental conditions, and improper handling or use. The system
does not reduce your responsibility for the control of the vessel when underway. You
must always be in a position to monitor the course, supervise the autopilot, and resume
manual control if the need to do so arises.
Whenever underway, your vessel must be under the control of a qualified and alert
person.
General Notice
This document, ComNav part number 29010075 Version 3 Revision 1, is the approved
Installation and Operation Manual for use with ComNav’s Commander P2 Autopilot
System. Where versions of this manual exist in other languages, the English version
shall be considered authoritative.

ComNav Commander P2 Installation & Operation Table of Contents, Lists of Figures & Tables
Document PN 29010074 V3.1 - 4 -
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 Lever 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 is now in a separate document
3R1 14 December 2007 DTO - added Compass Safe Distance information, Table 15
- 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 40 & Figure 41
- deleted one MPN for fuse F1, Table 7
- updated Error Messages lists, Appendix 2
- updated dimensions, Appendix 6

ComNav Commander P2 Installation & Operation Table of Contents, Lists of Figures & Tables
Document PN 29010074 V3.1 - 5 -
Table of Contents
Welcome......................................................................................................................................................3
Document History ......................................................................................................................................4
Table of Contents.......................................................................................................................................5
List of Figures...........................................................................................................................................11
List of Tables............................................................................................................................................13
About this Manual....................................................................................................................................17
Typefaces, Common Phrases & Terms__________________________________________________________17
Manual Format ____________________________________________________________________________18
How Autopilots Work...............................................................................................................................19
Basic Autopilot System ______________________________________________________________________ 19
Autopilot Operation: Maintaining a Heading ______________________________________________________20
Wind and Current Effects ____________________________________________________________________ 21
Autopilot Operation: Following a Track – NAV Mode _______________________________________________22
Autopilot Operation: Following a Track – AUTO/ALC Mode __________________________________________ 23
Power Steer_______________________________________________________________________________23
System Overview......................................................................................................................................27
Control Head ______________________________________________________________________________28
Signal Processor Unit _______________________________________________________________________ 29
Compasses _______________________________________________________________________________30
Vector G2 and G2B GPS Compasses_________________________________________________________30
Fluxgate Compass________________________________________________________________________ 31
Magnetic Compass Sensor _________________________________________________________________ 31
Magnetic Compasses _____________________________________________________________________ 32
45° Compass Transducer __________________________________________________________________32
Heading Rate Stabilizer____________________________________________________________________ 33
Other Compasses ________________________________________________________________________ 33
Rudder Followers __________________________________________________________________________34
Standard Rotary Rudder Follower & Rudder Linkage_____________________________________________ 34
Heavy Duty Rotary Rudder Follower__________________________________________________________34
Linear Rudder Follower____________________________________________________________________35
Auxiliary Controllers_________________________________________________________________________ 36
CR-203 Remote__________________________________________________________________________ 36
TS-203 Remote__________________________________________________________________________37
Other Controls, Indicators & Sensors ___________________________________________________________38
Jog Levers______________________________________________________________________________38
Rudder Angle Indicator (RAI) – 3”____________________________________________________________38
Twin-Fin Wind Transducer _________________________________________________________________ 39
Rudder Drives and Interfaces _________________________________________________________________ 40
CT7 Thruster Interface ____________________________________________________________________40
Other Drive Boxes________________________________________________________________________41
Pumps & Drives__________________________________________________________________________42
Other Equipment ___________________________________________________________________________ 42

ComNav Commander P2 Installation & Operation Table of Contents, Lists of Figures & Tables
Document PN 29010074 V3.1 - 6 -
Installation ................................................................................................................................................45
Technical Requirements _____________________________________________________________________45
Steering System__________________________________________________________________________45
Power Supply____________________________________________________________________________45
Special Tools ____________________________________________________________________________45
Control Head ______________________________________________________________________________46
Mounting _____________________________________________________________________________46
Electrical Connection____________________________________________________________________46
Compasses _______________________________________________________________________________47
ComNav Fluxgate Compass ________________________________________________________________47
Mounting _____________________________________________________________________________47
Electrical Connection____________________________________________________________________47
Heading Rate Stabilizer____________________________________________________________________48
45° Compass Transducer __________________________________________________________________48
Mounting _____________________________________________________________________________48
Electrical Connection____________________________________________________________________48
Magnetic Compass and Sensor______________________________________________________________48
Mounting _____________________________________________________________________________49
Electrical Connection____________________________________________________________________49
Rudder Follower____________________________________________________________________________50
Rotary Rudder Follower____________________________________________________________________50
Mounting _____________________________________________________________________________50
Electrical Connection____________________________________________________________________51
Heavy Duty Rotary Rudder Follower __________________________________________________________51
Linear Rudder Follower ____________________________________________________________________52
Mounting _____________________________________________________________________________52
Electrical Connection____________________________________________________________________55
Other Equipment ___________________________________________________________________________55
Signal Processor Unit _______________________________________________________________________56
Mounting _____________________________________________________________________________56
Wiring the SPU - General ________________________________________________________________56
Connectors on the SPU__________________________________________________________________57
Wiring the System __________________________________________________________________________58
Power Supply____________________________________________________________________________58
Input & Output Connections_________________________________________________________________60
Control Head __________________________________________________________________________60
Auxiliary Controller(s)____________________________________________________________________60
Jog Levers ____________________________________________________________________________61
Four-Way Valves, Used with Jog Levers_____________________________________________________61
Compasses ___________________________________________________________________________62
Wind Transducer _______________________________________________________________________63
Rudder Follower________________________________________________________________________64
Rudder Angle Indicators _________________________________________________________________65

ComNav Commander P2 Installation & Operation Table of Contents, Lists of Figures & Tables
Document PN 29010074 V3.1 - 7 -
Drive Outputs____________________________________________________________________________ 66
Reversing DC Motor Hydraulic Systems _____________________________________________________ 66
Linear Actuators or Mechanical Rotary Drives ________________________________________________ 66
Shunt-Field Reversing Motors_____________________________________________________________ 67
Standard Four-Way Solenoid-Activated Hydraulic Valves________________________________________ 67
Two-Speed Solenoid Valves ______________________________________________________________68
A.C. Solenoids_________________________________________________________________________ 69
Proportional Solenoid Valves _____________________________________________________________ 69
Azimuth Drives, Surface Piercing Drives and Jet Drives_________________________________________ 70
External Alarm Output_____________________________________________________________________71
NMEA 0183 Input & Output_________________________________________________________________ 73
PC Input & Output ________________________________________________________________________ 74
Other Connections________________________________________________________________________ 75
Miscellaneous I/O ______________________________________________________________________75
Thruster Interface ______________________________________________________________________75
ComNav Network ______________________________________________________________________ 75
Post-Installation Checks _____________________________________________________________________ 76
Electrical Checks_________________________________________________________________________ 76
Hydraulic Checks_________________________________________________________________________ 77
Residual air in the steering system ___________________________________________________________77
Leaking fittings or equipment________________________________________________________________ 77
Getting Started .........................................................................................................................................81
Autopilot Operations ________________________________________________________________________ 81
Power On/Off____________________________________________________________________________81
Using the Control Head – LCD Screen & Buttons________________________________________________82
Operating Modes & Menus ___________________________________________________________________84
Alarm Clear _____________________________________________________________________________ 85
Dockside Setup Menu _____________________________________________________________________ 86
Reset________________________________________________________________________________87
Vessel Type___________________________________________________________________________ 87
An. Comp. Type (Analog Compass Type)____________________________________________________88
Compass Setup________________________________________________________________________89
Drive Setup ___________________________________________________________________________ 89
Exit__________________________________________________________________________________89
Alarm O/P (Alarm Output) ________________________________________________________________89
Thrust Type ___________________________________________________________________________ 91
Thrust MIN____________________________________________________________________________ 91
Thrust MAX ___________________________________________________________________________ 91
Language_____________________________________________________________________________91
Setup Procedures __________________________________________________________________________92
Vessel Type_____________________________________________________________________________92
Drive Setup _____________________________________________________________________________93
Bleeding a Hydraulic Steering System ______________________________________________________ 95
Drive Setup (continued)____________________________________________________________________ 97

ComNav Commander P2 Installation & Operation Table of Contents, Lists of Figures & Tables
Document PN 29010074 V3.1 - 8 -
Compass Setup – Dockside_________________________________________________________________98
Compass Setup – On the Water ____________________________________________________________100
Compass Compensation ________________________________________________________________100
Magnetic Compass Sensor ____________________________________________________________100
Heading Rate Stabilizer_______________________________________________________________101
Fluxgate Compass___________________________________________________________________102
45° Compass Transducer _____________________________________________________________103
Compass Calibration ___________________________________________________________________104
Sea Trials________________________________________________________________________________105
Adjust Rudder Gain & Counter Rudder for Low Speed ___________________________________________105
Adjust Seastate for Low Speed _____________________________________________________________106
Adjust Turn Rate for Low Speed ____________________________________________________________106
Adjust Rudder Gain & Counter Rudder for High Speed___________________________________________106
Adjust Seastate for High Speed_____________________________________________________________106
Adjust Turn Rate for High Speed____________________________________________________________106
Adjusting for Sea Conditions _________________________________________________________________107
Basic Operations....................................................................................................................................111
Standby Mode ____________________________________________________________________________111
Rudder Angle Indicator (RAI)_______________________________________________________________111
Standby Menu __________________________________________________________________________112
Station Lock__________________________________________________________________________112
Default Turn__________________________________________________________________________112
Compass Source ______________________________________________________________________112
Compass Cal (Compass Calibration)_______________________________________________________113
Backlight Level________________________________________________________________________113
Contrast (monochrome only) _____________________________________________________________113
Graphics (monochrome) Display (colour) ___________________________________________________113
Watch Alarm _________________________________________________________________________113
Fishzag Time _________________________________________________________________________113
Battery ______________________________________________________________________________113
Power Steer Mode_________________________________________________________________________114
Power Steer Menu_______________________________________________________________________115
Stdby/P.Str Limits (Power Steer Rudder Limits) ______________________________________________115
Auto/Nav Limits _______________________________________________________________________115
RAI Offset ___________________________________________________________________________115
Auto Mode _______________________________________________________________________________116
Auto Menu _____________________________________________________________________________117
Rudder Gain__________________________________________________________________________117
Counter Rudder _______________________________________________________________________118
Seastate_____________________________________________________________________________118
Turn Rate____________________________________________________________________________118
Parameter Set ________________________________________________________________________119
Speed Trip Pt (Speed Trip Point)__________________________________________________________119
Speed Source ________________________________________________________________________119
ALC (Automatic Leeway Correction) _______________________________________________________119
Thruster Assist________________________________________________________________________119
Thruster Gain_________________________________________________________________________119

ComNav Commander P2 Installation & Operation Table of Contents, Lists of Figures & Tables
Document PN 29010074 V3.1 - 9 -
NAV Mode_______________________________________________________________________________120
Nav Menu _____________________________________________________________________________ 121
Nav Source __________________________________________________________________________ 121
XTE Limit (Cross-Track Error Limit)________________________________________________________121
WayPt. Arrival (Waypoint Arrival) _________________________________________________________ 121
Correction ___________________________________________________________________________122
XTE Sense (Cross-Track Error Sense) _____________________________________________________ 122
Max Correction _______________________________________________________________________122
Commanded Heading Displayed____________________________________________________________ 123
Correction set to CTS – Steering a Direct Bearing____________________________________________123
Correction set to XTE – Cross-Track Error Steering __________________________________________ 124
Correction set to Both – Steering To/Along a Track ___________________________________________ 126
Alternate NAV Display____________________________________________________________________ 128
Dodge __________________________________________________________________________________ 129
Jog Lever Turns___________________________________________________________________________ 132
Advanced Operations............................................................................................................................135
WORK Mode _____________________________________________________________________________ 135
Automatic WORK Mode ________________________________________________________________ 135
Manual WORK Mode___________________________________________________________________ 136
Work Menu ____________________________________________________________________________ 137
Rudder Bias__________________________________________________________________________ 137
Autotrim_____________________________________________________________________________137
Work Trip Pt. (Work Trip Point) ___________________________________________________________137
Rudder Scale (Rudder Scale Factor) ______________________________________________________137
Work Mode State______________________________________________________________________ 137
WIND Mode______________________________________________________________________________ 138
Tacking _______________________________________________________________________________ 139
Gybing________________________________________________________________________________141
Alternate WIND Mode Display______________________________________________________________ 142
Wind Menu ______________________________________________________________________________ 144
Wind Source _________________________________________________________________________144
Wind Shift (Wind Shift Alarm) ____________________________________________________________ 145
Wind Shift Delay ______________________________________________________________________145
Preset Tack Angle_____________________________________________________________________ 145
Close Haul Def _______________________________________________________________________ 145
Close Reach Def ______________________________________________________________________145
Beam Reach Def______________________________________________________________________ 145
Broad Reach Def______________________________________________________________________145
Gybe Hold Point ______________________________________________________________________ 145
Port Tack Alarm_______________________________________________________________________ 145
Stbd. Tack Alarm______________________________________________________________________ 145
Special Turns_____________________________________________________________________________ 146
U-Turn ________________________________________________________________________________ 147
Circle Turn_____________________________________________________________________________ 148
M.O.B. – Man Over-Board_________________________________________________________________ 149
Fishzag _______________________________________________________________________________ 150
Pretack (Preset-Tack) ____________________________________________________________________ 151
Tack__________________________________________________________________________________152
Gybe _________________________________________________________________________________ 153

ComNav Commander P2 Installation & Operation Table of Contents, Lists of Figures & Tables
Document PN 29010074 V3.1 - 10 -
Multiple Control Heads & Auxiliary Controllers ___________________________________________________154
Station Lock/Unlock______________________________________________________________________154
Watch Alarm _____________________________________________________________________________155
Entering the Password____________________________________________________________________156
Changing the Password___________________________________________________________________157
Care & Maintenance...............................................................................................................................161
Cleaning and Appearance ___________________________________________________________________161
Protection of Wires and Cabling ______________________________________________________________161
Periodic Checks___________________________________________________________________________161
Fuse Replacement_________________________________________________________________________162
Appendices.............................................................................................................................................165
Appendix 1_______________________________________________________________________________165
NMEA 0183 Sentences Accepted and Transmitted by the Autopilot_________________________________165
Messages Accepted____________________________________________________________________165
Messages Transmitted__________________________________________________________________167
Appendix 2_______________________________________________________________________________169
Error Messages _________________________________________________________________________169
Appendix 3_______________________________________________________________________________173
Auxiliary Head / Remote Power On__________________________________________________________173
Appendix 4_______________________________________________________________________________175
Diagnostic LEDs ________________________________________________________________________175
Appendix 5_______________________________________________________________________________177
Upgrading Firmware _____________________________________________________________________177
Appendix 6_______________________________________________________________________________179
General Specifications____________________________________________________________________179
Compass Safe Distances__________________________________________________________________180
CE Compliance ___________________________________________________________________________181
Index........................................................................................................................................................185
User Notes & Settings............................................................................................................................191
User Settings _____________________________________________________________________________191