Page 1     Commander P2 P2VS & Advanced Autopilot Systems Installation & Operation Manual PN 29010074 V4.1...
Page 3: Welcome
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.
Page 4 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.
Page 5: Document History
ComNav Commander P2 & P2VS Installation & Operation Document History Revision Date Description 27 April 2005 First Release 04 January 2006 Updated for new software release 29 August 2006 DC & DTO • corrected SPU ⇔ NEMA 0183 Connection Diagram to show correct order of NAV 1 &...
Page 6: 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.
Page 7 ComNav Commander P2 & P2VS Installation & Operation 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 &...
Page 8: Table Of Contents
ComNav Commander P2 & P2VS Installation & Operation Table of Contents, Lists of Figures & Tables 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 ................................
Page 9 ComNav Commander P2 & P2VS Installation & Operation Table of Contents, Lists of Figures & Tables Other Equipment ..............................43 Installation ________________________________________________________________________ 46 Basic Requirements ..............................46 Steering System ..............................46 Power Supply ............................... 46 Special Tools................................ 46 Fasteners ................................46 Control Head ................................
Page 10 ComNav Commander P2 & P2VS Installation & Operation Table of Contents, Lists of Figures & Tables 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 ............................
Page 11 ComNav Commander P2 & P2VS Installation & Operation Table of Contents, Lists of Figures & Tables All Compass Types ............................ 101 Magnetic Sensor ............................102 Compass Setup – Final Steps ..........................102 Sea Trials ................................103 Sea Trial Procedure ............................103 Adjust Rudder Gain &...
Page 12 ComNav Commander P2 & P2VS Installation & Operation Table of Contents, Lists of Figures & Tables 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............................
Page 13 ComNav Commander P2 & P2VS Installation & Operation Table of Contents, Lists of Figures & Tables 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) ....................
Page 14 ComNav Commander P2 & P2VS Installation & Operation Table of Contents, Lists of Figures & Tables Appendix 4 _______________________________________________________________________ 199 Auxiliary Head / Remote Power On ........................199 Appendix 5 _______________________________________________________________________ 201 Diagnostic LEDs ..............................201 Appendix 6 _______________________________________________________________________ 203 Upgrading Firmware ...............................
Page 15: List Of Figures
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 –...
Page 16 ComNav Commander P2 & P2VS Installation & Operation Table of Contents, Lists of Figures & Tables 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 –...
Page 17: List Of Tables
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 –...
Page 18 ComNav Commander P2 & P2VS Installation & Operation Introduction Document PN 29010074 V4.1 - 16 -...
Page 19 ComNav Commander P2 & P2VS Installation & Operation Document PN 29010074 V4.1 - 17 -...
Page 20: How Autopilots Work
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. … however, the information in this section can be applied in general to any ComNav autopilot, and is not necessarily specific to the P Series.
Page 21: An Autopilot System
ComNav Commander P2 & P2VS Installation & Operation How Autopilots Work An Autopilot System This is a block diagram of the major components of an autopilot system: NAVIGATION DEVICES CONTROL HEAD DISPLAYS STATUS AND HEADING [OPTIONAL] SUPPLY NAVIGATION INFORMATION FROM THE SPU, AND...
Page 22: Autopilot Operation
– and without coffee breaks or naps, either! ComNav Autopilots have an important safety feature: when you first enter AUTO mode, the autopilot will use the boat’s current Heading as the desired Heading, so there’s not a turn right away … until you order one, with the Control Head.
Page 23: Changing Heading
ComNav Commander P2 & P2VS Installation & Operation How Autopilots Work Changing Heading That’s easy, too! Let’s say, for example, that the autopilot is steering your boat Southwest, and you now wish to change direction to Southeast (see Figure 2, below).
Page 24: Wind And Current Effects
& data) – such as a chart plotter, or a Navigation program running on a PC. A source of position data is required, too; it may be built into the external Navigation System, or it may be another device or system: a GPS receiver (such as a ComNav Vector GPS Compass), a LORAN C receiver, etc.
Page 25: Following A Track: Auto/Alc Mode
AUTO/ALC mode is first engaged. Power Steer: “Drive by Wire” Most ComNav autopilots have a POWER STEER mode, which provides a way for the user to control the rudder directly. In effect, the autopilot acts as a sort of “electronic steering wheel”, allowing the operator to steer the boat manually, in a similar way as when using a standard manual steering wheel or tiller –...
Page 26 ComNav Commander P2 & P2VS Installation & Operation System Overview Document PN 29010074 V4.1 - 24 -...
Page 27 ComNav Commander P2 & P2VS Installation & Operation Document PN 29010074 V4.1 - 25 -...
Page 28: System Overview
This chapter gives a brief description of the major elements of the Commander P2 Advanced Autopilot System, their functions, and their relationships to each other. Below is a block diagram of a typical example of the Commander P2 system, showing the interconnections between the elements of the system: The Signal Processor Unit (SPU) •...
Page 29: Control Head
ComNav Commander P2 & P2VS Installation & Operation System Overview Control Head PN 20110002 (P2 Second Station Kit, monochrome) PN 20110003 (P2 Second Station Kit, colour) PN 20110010 (P2VS Second Station Kit, monochrome) PN 20110011 (P2VS Second Station Kit, colour)
Page 30: Signal Processor Unit
The P2 & P2VS SPUs are identical, except for firmware (they can only be distinguished by the part number on the serial number label – and in operation). Figure 5 – The Commander P2 SPU (with Wiring Cover Removed) Document PN 29010074 V4.1...
Page 31: Compasses
The Vector is connected to the Commander P2 at one of the SPU’s two NMEA Input ports. The standard cable lengths are 15 metres (50’) or 30 metres (100’); custom lengths are also available.
Page 32: Navigator G2 Gps Compasses Display
The Distribution Unit connects the Display Head(s) to a Vector G2/G2B, and has a convenient set of terminal strips for connecting power to the Vector, the signals to & from it, and the signals to the Commander P2’s SPU. It also has a connector for the cable to a PC’s COM port.
Page 33: Fluxgate Compasses
PN 20320003 – standard version (with plug: PN 20320007 ) PN 20320008 – with Heeling Coil (with plug: PN 20320004 ) Specifically designed for use with ComNav 14xx, SP-xx, 5001 & P Series autopilots, these ComNav Fluxgate Compasses directly sense the Earth’s magnetic field; they output the traditional “analog compass”...
Page 34: Heading Rate Stabilizer
Autopilot to perform more accurately and efficiently, in all Latitudes. The ComNav Heading Rate Stabilizer is designed to be used in combination with ComNav’s Fluxgate Compasses – either the Standard or the Heeling Coil model (PNs 20320003/8 connect directly to the HRS, PNs 20320004/7 require adapter PN 31110050).
Page 35: Magnetic Compass Sensor
Magnetic Compasses ComNav offers several high-quality externally gimballed Magnetic Compasses, of either 13 cm (5”) or 15 cm (6”) diameter, which are directly compatible with the ComNav Magnetic Compass Sensor. These compasses are available in either bracket mount or binnacle mount.
Page 36: 45° Compass Transducer
Note: the 45° Compass Transducer was discontinued early in 2008. There is no direct replacement available for it. However, the Commander P2 will continue to support it. A 35° Compass Transducer (PN 20640007) is still available; however, it does not always work properly with the P2 – depending on the vessel – and so such use is not recommended or supported.
Page 37: Rudder Follower Units & Wind Sensors
Standard Rotary Rudder Follower Unit & Rudder Linkage PN 20330008 (Follower Unit) & 20330007 (Linkage) ComNav Commander P2 system kits come with a ComNav Medium Duty Rotary Rudder Follower Unit. Note: P2VS kits do not include an RFU – although one may optionally be used.
Page 38: Linear Rudder Follower Unit
For use with sailboats, ComNav’s Twin-Fin Wind Transducer provides accurate wind speed and wind angle data to the Commander P2 SPU. This allows the boat to steer to a specific angle relative to the wind. An easy, snap-in attachment for mast mounting is included.
Page 39: Cr-203 Remote
ComNav Commander P2 & P2VS Installation & Operation System Overview CR-203 Remote PN 20310026 – 12m (40’) cable PN 20310028 – 18m (60’) cable The CR-203 Handheld Remote is specifically designed to operate with P Series autopilots. The CR-203 Remote is similar in operation to the P Series Control Head. It provides selection of STANDBY , TILLER , AUTO , and NAV modes, a Dodge/Turn switch &...
Page 40: Remote
TS-203. The kit’s ball & shaft are the same as used on ComNav’s NFU Jog Steering Control (see next page). The total ball-shaft length is 12 cm (5”), as compared to the TS-203’s standard handle-shaft length of 18 cm (7”).
Page 41: Other Controls & Indicators
Rudder Angle Indicator (RAI) PN 20360023 (metal backshell) The ComNav RAI is a backlit 76 mm (3”) diameter gauge that displays the actual position of the boat’s rudder. The RAI is flush mounted, with a corrosion-resistant metal backshell , and a water-resistant front face;...
Page 42: Control Head Mounting & Cover Kits
PN 30110022 – Flush Mount Bezel, P2VS PN 30110023 – Surface Mount Bezel, P2VS The Control Head (when shipped as part of a complete Commander P2 system) is a “core” module, and comes with accessory kits for three methods of mounting it: a snap-on bezel for flush mounting, a snap-on bezel for surface mounting, and a two-piece bracket for bracket mounting.
Page 43: Rudder Drives And Interfaces
Rudder Drives and Interfaces CT7 Thruster Interface PN 20350008 The optional CT7 Interface is highly recommended when the Commander P2 Autopilot System is being used on a boat equipped with Bow and/or Stern Thrusters, or when the boat is equipped with Azimuth Drives (as known as Z-Drives) of various types.
Page 44: Other Drive Boxes
The Commander P2 system is capable of directly operating steering systems utilizing reversing DC motors or single speed solenoids. ComNav also manufactures a complete line of Drive Boxes that will interface the steering outputs from the P2 system to almost any type of steering system.
Page 45: Pumps & Drives
ComNav Commander P2 & P2VS Installation & Operation System Overview Pumps & Drives ComNav offers several types of electric-motor Hydraulic Pumps, matching Solenoid Values & related equipment, as well as a number of high-quality Cable Drives and accessories. Each drive comes with its own Installation Manual.
Page 46 ComNav Commander P2 & P2VS Installation & Operation Installation Document PN 29010074 V4.1 - 44 -...
Page 47 ComNav Commander P2 & P2VS Installation & Operation Document PN 29010074 V4.1 - 45 -...
Page 48: Installation
In general, fasteners are not supplied with the system – since different surfaces need various types of fasteners. But, no matter which types are best suited to your boat, ComNav strongly recommends that you use non-corroding hardware to secure all equipment in the system.
Page 49: Control Head
ComNav Commander P2 & P2VS Installation & Operation Installation Control Head The P Series Control Head is normally mounted in the boat’s wheelhouse. It can also be mounted in more exposed locations, such as on a flying bridge, since it is fully splash-proof (but note that it is not submersible).
Page 50: Compasses
ComNav recommends that compass/HRS/sensor cables NOT be shortened (unless specifically stated otherwise, in the next sections). The ComNav Heading Rate Stabilizer (by itself), and the Vector G2 & G2B GPS Compasses, are not affected by Deviation. System packages with the 45º Compass (PN 20640006) were discontinued early in 2008.
Page 51 If a cable is too short, suitable lengths of compatible cable (PN 60110012) to extend it – using normal marine-grade splicing techniques – can be ordered from your ComNav Dealer; or, you may special-order the compass/HRS/sensor with the length of cable that you need.
Page 52: Magnetic Compass And Sensor
Installation Magnetic Compass and Sensor The ComNav Magnetic Sensor can be mounted to ComNav’s standard Magnetic Compasses, and also to a wide variety of other brands of externally-gimballed compasses. Caution! The Magnetic Sensor MUST NOT be attached to an internally gimballed compass (that is, where the compass card is gimballed and the bowl of the compass is not).
Page 53: Fluxgate Compass
ComNav Commander P2 & P2VS Installation & Operation Installation Fluxgate Compass Important! Always keep in mind that the compass is the single most vital part of an autopilot system. Locating a Fluxgate Compass properly, particularly on steel-hulled boats, is essential to ensure proper operation of the autopilot.
Page 54: Heading Rate Stabilizer
The HRS case has mounting holes identical to those of the Fluxgate Compass. Electrical Connection In Commander P2 systems ordered with a ComNav Fluxgate Compass & the Heading Rate Stabilizer option, the compass will be one of the plug-style versions (PN 20320007 for the standard compass, or 20320004 with a heeling coil).
Page 55: Electrical Connection
ComNav Commander P2 & P2VS Installation & Operation Installation Please check your compass manual (PN 29030051) for detailed instructions. Electrical Connection See Compasses on page 67 for further details on connecting the cable to the SPU. Document PN 29010074 V4.1...
Page 56: Rudder Follower Unit
Note: if you are connecting the Commander P2 to a mechanical Cable Drive (for boats that use cable steering instead of hydraulic steering), the RFU is built into the Cable Drive.
Page 57: Electrical Connection
If the length of cable supplied is too short to reach all the way to the SPU, obtain a terminal strip and sufficient additional cable from your ComNav Dealer. Mount the terminal strip in a convenient DRY location where it will not be subjected to moisture of any kind.
Page 58: Linear Rudder Follower Unit
ComNav Commander P2 & P2VS Installation & Operation Installation Linear Rudder Follower Unit Installations on boats with outboard motors will typically use a Linear RFU. 1) If the Linear Rudder Follower is to be mounted with the sliding rod facing towards the port side of the boat, turn the steering wheel so the motor is hard over to starboard.
Page 59: Figure 31 - Band Clamp And Plastic Brackets
ComNav Commander P2 & P2VS Installation & Operation Installation 3) The clamps and band should be positioned as far as possible towards the end of the Linear RFU which has the cable that goes to the autopilot (see Figure 30). Loosely place the stainless steel band clamp around the Linear RFU and the outboard’s steering...
Page 60: Electrical Connection
If the length of cable supplied is too short to reach all the way to the SPU, obtain a terminal strip and sufficient additional cable from your ComNav Dealer. Mount the terminal strip in a convenient DRY location where it will not be subjected to moisture of any kind.
Page 61: Other Equipment
ComNav Commander P2 & P2VS Installation & Operation Installation Other Equipment You should install the remaining components of your P Series system according to the installation instructions that come with that equipment: Auxiliary Controllers • Jog Steering Controls • Rudder Angle Indicators •...
Page 62: Wiring The System
Wiring the System Once everything is securely mounted, you can begin wiring the various components of the system, one at a time. ComNav strongly recommends that ABYC wiring standards, or the equivalent for your locale, be followed. Signal Processor Unit Start by removing the Wiring Cover from the SPU.
Page 63: Wire Sizes
Below are the recommended minimum gauges for the connections to the various elements of the system. All cables should use stranded wire, and have marine-grade insulation; only the ones so indicated must be shielded. If in doubt, contact your ComNav Dealer for help. Function / Use...
Page 64: Power Supply
ComNav Commander P2 & P2VS Installation & Operation Installation Power Supply The ComNav Commander P2 will operate on any voltage between about 11 VDC and 30 VDC. This allows operation with boat battery systems with nominal voltages of 12 to 24 VDC.
Page 65: Power Supply Extension
(see Drive Outputs on page 71). Drive Box Power Supply If your autopilot system utilizes one of ComNav’s CT Drive Boxes, it should be wired back to the breaker or fuse separately from the rest of the autopilot system.
Page 66: Input & Output Connections
All Control Heads, Handheld Remotes, and Fixed Remotes designed to work with the Commander P2 utilize the same wiring diagram as the Main Control Head (see Figure 39, above). The only difference is that these devices are plugged into the receptacles J12 - A...
Page 67: Nfu Jog Steering Controls
Any number of Non-Follow-Up (NFU) Jog Steering Controls can be connected to the Commander P2 SPU. They are simply wired in parallel to each other. Connect them to the terminal labelled J3 - JOG LEVER as per the following diagram Figure 40 –...
Page 68: Compasses
20320008), wire the flying-lead end of the compass’s cable into the eleven-position plug which mates with the J8 receptacle, as per the following diagram. If you ordered your Commander P2 system with the optional Heading Rate Stabilizer (PN 20320009), the compass will be one with a plug-end cable: either PN 20320007 (Standard), or 20320004 (Heeling coil).
Page 69: Figure 42 - Wiring Connections For 45° Compass Transducer
ComNav Commander P2 & P2VS Installation & Operation Installation If you have a 45° Compass Transducer, it is also connected to J8, as per the following diagram. Note: more than one wire (in the standard cables) will fit into the V+ and GD (Ground) connections, so you can connect a 45°...
Page 70: Wind Transducer
ComNav Commander P2 & P2VS Installation & Operation Installation Wind Transducer If you are connecting a ComNav Twin-Fin Wind Transducer to the Commander P2 SPU, it must also be connected to the eleven-position plug that fits into the J8 – C receptacle.
Page 71: Figure 45 - Wind Transducer With Nx2 Wind Data Instrument
ComNav Commander P2 & P2VS Installation & Operation Installation If your boat is equipped with a ComNav NX2 Wind Data Instrument (PN 20620050) or an Classic Nexus or NX2 Network System (various PNs), you can use the Wind transducer with both the Commander P2 and the Instrument or System, either individually or at the same time, by wiring it up as shown in one of the following diagrams.
Page 72: Rudder Follower Unit
Figure 47 – Wiring Connections for RFUs Rudder Angle Indicators The Commander P2 system will drive Rudder Angle Indicator (RAI) meters – such as those supplied by ComNav (PN 20360014 or 20360023). Mounting instructions are included with the meter. Wire the meter to the plug for the SPU receptacle labelled J5 – RAI O .
Page 73: Drive Outputs
ComNav Commander P2 & P2VS Installation & Operation Installation Drive Outputs The Commander P2’s SPU is capable of directly driving a variety of steering systems. Optional Drive Boxes are available for those systems not handled directly by the SPU. Contact your ComNav Dealer for more information.
Page 74: Standard Four-Way Solenoid-Activated Hydraulic Valves
ComNav Commander P2 & P2VS Installation & Operation Installation Figure 51 – Wiring Connections for Shunt Field Reversing Motors Standard Four-Way Solenoid-Activated Hydraulic Valves Connection to 12 VDC or 24 VDC solenoids should be made as per the following diagram.
Page 75: Two-Speed Solenoid Valves
Two-Speed Solenoid Valves ComNav’s CT5 Drive Box (PN 20350004) should be used to interface between the Commander P2 SPU and two-speed solenoid systems. Connect the CT5 to the SPU as per the instructions shipped with the CT5, and the following diagram: Figure 54 –...
Page 76: A.c. Solenoids
A.C. Solenoids ComNav’s CT4 Drive Box (PN 20350003) should be used to interface between the Commander P2 SPU and A.C. solenoid systems. Connect the CT4 to the SPU as per the instructions shipped with the CT4, and the following diagram: Figure 55 –...
Page 77: Azimuth Drives, Surface Piercing Drives And Jet Drives
Figure 57 – Wiring Connections for Isolation Amplifiers The ComNav CT7 Thruster Interface (see page 41) can also be used with some of these types of drives. See the CT7’s Installation & Operation Manual for wiring instructions. Document PN 29010074 V4.1...
Page 78: External Alarm Output
An Application Note is available which describes this potential problem in detail, with suggested remedies. If you are experiencing this problem, please ask your ComNav Dealer (or go to ComNav’s web site) for Application Note 2007-01. Document PN 29010074 V4.1...
Page 79: Figure 60 - External Alarm, Sw'd B- Output With Power Fail Option
ComNav Commander P2 & P2VS Installation & Operation Installation Some installations require separate monitoring for power failures. This can be accomplished with the following circuit, which utilizes two relays. The coil voltage of the relays should match the supply voltage for the autopilot. The Alarm Supply, which must be a separate, dedicated supply from the autopilot supply, should match the voltage of the alarm.
Page 80: Speed Mode & Timing Outputs
ComNav Commander P2 & P2VS Installation & Operation Installation Speed Mode & Timing Outputs The P Series SPU outputs two status signals on the J6 – M connector. The ISCELLANEOUS receptacle is supplied with a 10-pin mating plug. In addition, a one pulse per second timing signal is output on J6.
Page 81: Navigation Data
NMEA 0183. Two such devices can be connected directly to the Commander P2’s SPU, by wiring them into the plug mated to the receptacle labelled J9 – NAV I/O .
Page 82: Signal Names
It is necessary to maintain the correct signal polarity, when connecting one of the Commander P2 SPU’s RS-422 input or output wire pairs to another NMEA 0183 device: The P2 input port’s `A´ signal pin must be connected to the `A´ output terminal of the •...
Page 83: Typical Rs-422 Signals
The only way to troubleshoot problems with the RS-422 NMEA signals to & from the Commander P2 is with an oscilloscope; that’s because a multimeter is essentially useless for differential signals. The figure below is an example of a typical NMEA 0183 RS-422 transmission, captured on a dual-trace oscilloscope.
Page 84: Rs-232 Electrical Signals
Such equipment (often described as being “NMEA compatible”) can usually be connected directly to the Commander P2 – although there is some risk of reduced electrical noise immunity. See the section on PC COM Ports on page 181 in Appendix 1 for more details.
Page 85: Final Steps & Post-Installation Checks
Installation Final Steps & Post-Installation Checks Before using the Commander P2 or P2VS for the first time, please verify that the entire system & all its components are safely and securely mounted, and will not shake loose from the vibrations that can be expected in a marine boat.
Page 86 ComNav Commander P2 & P2VS Installation & Operation Setting Up the System Document PN 29010074 V4.1 - 84 -...
Page 87 ComNav Commander P2 & P2VS Installation & Operation Document PN 29010074 V4.1 - 85 -...
Page 88: Setting Up
Operations chapter. Dockside Setup Menu Almost all the steps involved in setting up your Commander P2 for use on your boat require using the Control Head’s Dockside Setup menu – so it will be described here first. Typically, the Dockside Setup menu is used only infrequently after initial setup.
Page 89: Reset
ComNav Commander P2 & P2VS Installation & Operation Setting Up Figure 65 – Dockside Setup menu Reset A full reset of all the P2’s operating parameters is done when the button is pressed; the word “Reset” changes to “RESET” to show that it has been done.
Page 90: Compass Setup
External Alarm on page 170 in the Advanced Operations chapter for full details. Thrust Type Thrust MIN Thrust MAX If the optional CT7 Thruster Interface is installed with your Commander P2 system, you will need to make adjustments to these settings. Complete instructions are included with the CT7 Thruster Interface. Language This parameter allows you to set the language used for almost all menus &...
Page 91: Configure Sys. (Configure System)
ComNav Commander P2 & P2VS Installation & Operation Setting Up Note: other languages may be added in future Firmware Upgrades. Configure Sys. (Configure System) This menu item allows you to save (or retrieve) the full set of operating parameters, from all menus &...
Page 92: Setup Procedures
Note: at this step in the setup process, all the various Vessel Types (Displacement, Stern, Sail, etc.) can be selected, for both the Commander P2 and P2VS. However, if there is no RFU detected on the P2VS during the Drive Setup procedure, the Vessel Type parameter will automatically change to “Stern”, since...
Page 93: Drive Setup
The procedure for setting up the autopilot to work properly with your boat’s steering system varies, depending on whether or not you have fitted a Rudder Follower Unit. For a Commander P2, or a P2VS which has an RFU fitted, the Rudder’s •...
Page 94 If this happens, but you still wish the autopilot to slow down the Rudder, you may have to re-route the wiring, and/or use better (possibly shielded) wiring, and/or take other typical “noise reduction” steps. Contact your ComNav Dealer for assistance.
Page 95: Compass Setup - Dockside
Once a compass is “found” during this procedure, the alarms should cease. Analog Compass An analog compass may be in the type of Magnetic, (ComNav) Fluxgate with or without HRS, Fluxgate with fixed reference, or float reference. If you don’t have an analog compass, leave Analog Compass to None and move to the next line.
Page 96: Digital Compass
ComNav Commander P2 & P2VS Installation & Operation Setting Up If the autopilot could not find a compass that matches with the type you have • selected in step 2), it will display a “not found” error message at this point.
Page 97: Bandwidth Of An Nmea Compass Connection
ComNav Commander P2 & P2VS Installation & Operation Setting Up 2) Whenever an NMEA compass is being used as the Heading source (see page 117), if valid Heading/Compass data sentences are not received for ~3 seconds, an INVALID HEADING alarm will occur.
Page 98 ComNav Commander P2 & P2VS Installation & Operation Setting Up However, since the Baud Rate of the SPU’s NAV2 input can be either 4800 or • 9600 , the max data rate is 960 bytes/sec … and so both HDT (or HDM) & HDG can be used into NAV2, at 10 Hz each.
Page 99: Table 6 - Compass Types
ComNav Commander P2 & P2VS Installation & Operation Setting Up Compass Setting Compass Type Comments Source Choose this setting if you have an externally gimballed magnetic compass fitted with a ComNav Magnetic Sensor, such as the one shown to the left.
Page 100: Compass Setup - On The Water
3 & 2 minutes. As well, it should be sufficient that you can steer smooth, steady turns in the current sea conditions. Magnetic Compass Sensor ComNav strongly recommends that a professional compass adjuster compensate Magnetic Compasses. The Sensor itself does not require compensation, only calibration.
Page 101: Heading Rate Stabilizer
Fn button. 5) You will see a “Reading Compass” screen, and then a “Turn Boat at 3° /s” screen. If “ComNav HRS Found” appears instead, the HRS has not entered its test mode. • Power off, back the HRS screw out another turn & re-try.
Page 102: Comnav Fluxgate Compass And Other Fluxgate Compasses
Fluxgate Compasses. Other NMEA Compasses Many NMEA compasses will not require compensation such as the ComNav Vector G1/G2/G2B GPS Compass. In all cases, you should refer to the instructions that came with your compass to determine whether compensation is needed and how to do it.
Page 103: Calibrating For Compass Offset
Standby menu. Select “Compass Source”, and set it to the correct value for the first of your compasses: “Analog” for a Magnetic Sensor, a ComNav Fluxgate Compass (with or without HRS), • or a non-ComNav Fixed or Floating Analog Compass “Digital”...
Page 104: Magnetic Sensor
ComNav Commander P2 & P2VS Installation & Operation Setting Up Magnetic Sensor There is an alternative calibration procedure, for Magnetic Sensors only: 1) Power up the autopilot in the Dockside Setup menu. 2) Select Compass Setup & press the button.
Page 105: Sea Trials
Note: before you begin Sea Trials, it is a good idea to review how you steer a boat by hand … and how that compares to what the Commander P2 does when steering the boat. Please re-read the How Autopilots Work chapter, page 18.
Page 106 ComNav Commander P2 & P2VS Installation & Operation Setting Up 10) On a P2, or P2VS with an RFU, make a medium Heading change, say 15° – 20° , with the knob. Observe how the boat responds, as it turns & settles onto the new Heading: If the boat stops turning before the new Heading is reached and then approaches it •...
Page 107: Adjust Turn Rate For Hi Speed
ComNav Commander P2 & P2VS Installation & Operation Setting Up Adjust Turn Rate for Hi Speed 1) Adjust the Turn Rate setting to the full comfortable rate (per step 6), above). 2) In AUTO mode, make a few course changes of 20° or more, to ensure that the rate of turn is indeed comfortable at normal cruising speed;...
Page 108: Adjusting For Rougher Sea Conditions
ComNav Commander P2 & P2VS Installation & Operation Setting Up Adjusting for Rougher Sea Conditions The primary desire of any autopilot user is that it steer the boat well, across all sea conditions. Adjusting the steering parameters in calm conditions – as you did during the initial part of the Sea Trials, above –...
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Page 112: Basic Operations
ComNav Commander P2 & P2VS Installation & Operation Basic Operations Basic Operations This chapter describes the basic modes of operation & features of a P Series system, and shows you how to use them. The Control Head’s LCD Screen & Buttons...
Page 113 ComNav Commander P2 & P2VS Installation & Operation Basic Operations button. Pressing and holding this button while in POWER STEER mode moves the rudder to Port – and it keeps moving for as long as the button is held. Pressing and holding this button while in AUTO , NAV , WORK or WIND modes allows you to avoid obstacles in the boat’s path, by turning to Port.
Page 114: Operating The System
ComNav Commander P2 & P2VS Installation & Operation Basic Operations Operating the System Operating Modes – Overview Your P Series autopilot system has four basic operating modes, known as STANDBY , POWER STEER , AUTO , and NAV mode. A fifth operating mode, known as WORK , is a sub-mode of AUTO & NAV modes; this •...
Page 115: Figure 69 - A Typical Menu
ComNav Commander P2 & P2VS Installation & Operation Basic Operations This icon indicates that the knob OURSE HANGE does not steer the boat while in a menu Highlit line indicates the Current Mode currently-selected parameter Use the knob OURSE HANGE...
Page 116: Rudder Angle Indicator (Rai)
RAI. Alarm Clear Whenever an alarm or error message occurs on the Commander P2, an audible alarm will sound, both at the SPU & at the Control Head, and a message will be displayed on the LCD.
Page 117: Power On
ComNav Commander P2 & P2VS Installation & Operation Basic Operations Power On The first step in using your P2 system is to turn it on … Press the Control Head’s button (referred to as the • button). Press & hold until the introductory display (see below) ⇒...
Page 118: Standby Mode
ComNav Commander P2 & P2VS Installation & Operation Basic Operations STANDBY Mode The autopilot always turns on in STANDBY mode. To switch to STANDBY mode from any other mode, press the button for approximately 1 second, until the large letter `S´ appears in the upper left corner of the screen.
Page 119: Standby Menu
Figure 73 – Standby Menu Station Lock The Commander P2 system can accommodate up to three Control Stations – one main Control Head, and any combination of Control Heads & Remotes on the two AUX ports. One of these Control Stations is always in control, and the others are simply repeater stations.
Page 120: Compass Cal (Compass Calibration)
ComNav Commander P2 & P2VS Installation & Operation Basic Operations Compass Cal (Compass Calibration) This line allows you to synchronize the Heading source the autopilot is currently using with an external reference – for example, some type of high-accuracy compass, or a navigation range which the boat is currently on, etc.
Page 121: Graphics (Monochrome Head) Or Display (Colour Head)
ComNav Commander P2 & P2VS Installation & Operation Basic Operations Graphics (monochrome Head) or Display (colour Head) For monochrome Control Heads, the options are “Norm” (normal) and “Rev” (reversed), which refers to the manner in which characters and icons are shown on the display.
Page 122: Watch Alarm
ComNav Commander P2 & P2VS Installation & Operation Basic Operations Watch Alarm The P Series autopilot has a built-in Watch Alarm. This menu line allows you to turn on the Watch Alarm, and set how much time is allowed to elapse before the alarm goes off. This menu line is “password protected”...
Page 123: Power Steer Mode
ComNav Commander P2 & P2VS Installation & Operation Basic Operations POWER STEER Mode In this mode, you can directly control the rudder. In effect, the autopilot is acting as an “electronic steering wheel”, allowing you to steer the boat manually – on any Heading you want, or into a turn.
Page 124: Power Steer Menu
ComNav Commander P2 & P2VS Installation & Operation Basic Operations Power Steer Menu The Power Steer menu contains the “mechanical” steering parameters (which are common to all modes). To access the Power Steer menu, double-press the button. Figure 77 – Power Steer Menu P.Str Limits (Power Steer Rudder Limits)
Page 125: Auto Mode
ComNav Commander P2 & P2VS Installation & Operation Basic Operations AUTO Mode In AUTO mode, the autopilot will steer the boat on your desired Heading. To enter AUTO mode, press and hold the button for about 1 second, until the large letter `A´...
Page 126: Auto Menu
ComNav Commander P2 & P2VS Installation & Operation Basic Operations Auto Menu The Auto menu contains all the autopilot’s Steering Parameters. To access the Auto menu, double-press the button. Figure 79 – Auto Menu Rudder Gain Rudder Gain controls the amount of corrective Rudder movement applied, in proportion to an error in Heading The parameter does not have any units.
Page 127: Hi & Lo Speed Rudder Gain
ComNav Commander P2 & P2VS Installation & Operation Basic Operations Hi & Lo Speed Rudder Gain There are two numbers shown for Rudder Gain in the Auto menu. The number on the left is the value used when the autopilot is operating in Lo speed. The number to the right is the value used when the autopilot is operating in Hi speed.
Page 128: Seastate
ComNav Commander P2 & P2VS Installation & Operation Basic Operations Seastate The Seastate parameter tells the autopilot how much deviation – also called Yaw – from the set Course to allow before taking corrective action. Seastate should be set according to sea conditions. As conditions worsen, the Seastate setting can be increased.
Page 129: Speed Trip Pt (Speed Trip Point)
Speed Mode & Timing Outputs on page 78). Speed Source The Commander P2 can obtain information about the boat’s speed from a variety of sources which provide NMEA 0183 data, at either the NAV1 or NAV2 inputs on connector J9 .
Page 130: Helm Delay
ComNav Commander P2 & P2VS Installation & Operation Basic Operations Helm Delay This parameter is only available when the Vessel Type is set to “Large”. When a Large vessel is slow on the Helm, this parameter can be used to “slow down” the autopilot’s IST steering processing responses to match.
Page 131: Nav Mode
ComNav Commander P2 & P2VS Installation & Operation Basic Operations NAV Mode In NAV mode, the P Series autopilot can use navigation data from an external NMEA 0183 Navigation System, to steer the boat directly to a specific destination, or along a route of waypoints leading to a destination.
Page 132: Nav Highway Display
ComNav Commander P2 & P2VS Installation & Operation Basic Operations NAV Highway Display An alternative “highway” display is available for NAV mode. To access this display, press & hold the button until the autopilot enters NAV mode. Then press the button again.
Page 133: Understanding Nav Mode
It may also be helpful to consult your ComNav Dealer. … although it depends on what the Navigation System is set up to do when the destination is reached.
Page 134: Correction Methods
ComNav Commander P2 & P2VS Installation & Operation Basic Operations Correction Methods There are three different methods that the autopilot can use to process data from the Navigation System, in order to update its Commanded Heading. Each has different effects on the path that the boat follows.
Page 135: Cts - Steering A Direct Bearing
ComNav Commander P2 & P2VS Installation & Operation Basic Operations CTS – Steering a Direct Bearing When Correction is set to “CTS”, the autopilot uses only the “steering” data (CTS or BPD) from the Navigation System – and therefore is always steering directly to the destination, or next waypoint, from the present position, as depicted in the following diagram.
Page 136: Xte - Steering Quickly Back To A Track
ComNav Commander P2 & P2VS Installation & Operation Basic Operations XTE – Steering Quickly Back to a Track Cross-Track Error is the perpendicular distance from the desired Track to the boat’s position. When using Cross-Track Error Steering (Correction set to “XTE”), the autopilot initially steers on the Heading that was current when you enter NAV mode, and also monitors the Cross-Track Error reported by the Navigation System.
Page 137: Figure 88 - Response Of Boat To A Large Cross-Track Error
ComNav Commander P2 & P2VS Installation & Operation Basic Operations There is one major drawback to XTE Correction, however. The course steered when Correction is set to “XTE” is usually not the most efficient in terms of overall distance traveled.
Page 138: Both - Steering Smoothly Back To A Track
ComNav Commander P2 & P2VS Installation & Operation Basic Operations Both – Steering Smoothly Back to a Track When Correction is set to “Both”, the autopilot will bring the boat onto the desired Track as smoothly and efficiently as possible.
Page 139: An Example Of Nav Mode In Operation
ComNav Commander P2 & P2VS Installation & Operation Basic Operations An example of NAV Mode in Operation Here’s an example of NAV mode in operation, to help make the real-world effects of all that math clearer! Let’s say that your boat is running on a waypoint-to-waypoint leg which has a charted bearing of 120°...
Page 140: Nav Menu
ComNav Commander P2 & P2VS Installation & Operation Basic Operations Nav Menu The Nav menu contains a number of parameters used when operating the autopilot in NAV mode. To access the Nav menu, double-press the button. Figure 90 – Nav Menu...
Page 141: Correction
ComNav Commander P2 & P2VS Installation & Operation Basic Operations Off (silent sequencing): Automatically turn the boat to the next waypoint in a route. • Caution! In “Off”, no waypoint arrival alarm will be displayed. Typically, you would choose this option if your Navigation System has its own waypoint arrival alarm that cannot be turned off, and you do not wish to acknowledge the same alarm on multiple devices.
Page 142: Dodge Turns
ComNav Commander P2 & P2VS Installation & Operation Basic Operations Dodge Turns When in AUTO , NAV or WORK modes, you can use the and/or buttons to avoid (“dodge around”) an obstacle in the water. Pressing & maintaining either the button will cause the autopilot to turn the boat in that direction.
Page 143: Dodge Centre
ComNav Commander P2 & P2VS Installation & Operation Basic Operations Caution! During a Dodge turn (i.e., while one of the buttons is maintained), the Autopilot will not limit the rate of turn of the boat. Once the button is released, the autopilot will begin to turn...
Page 144: Jog Steering Turns
ComNav Commander P2 & P2VS Installation & Operation Basic Operations Jog Steering Turns If a Jog Steering Control Lever is connected to the SPU terminal block J3 , you can directly change the boat’s heading with that Jog Control , while the autopilot is in POWER STEER , AUTO , NAV , or WORK or WIND modes.
Page 145: Commander P2Vs Operations
Basic Operations Commander P2VS Operations The P2VS is basically a Commander P2, but with extra features – most notably, the ability to operate without a Rudder Follower Unit, using Virtual Rudder Feedback (referred to as “ VRFU operation ”). From a hardware standpoint, it is identical to a P2 –...
Page 146 ComNav Commander P2 & P2VS Installation & Operation Basic Operations The Rudder Angle Indicator (the one shown on the Control Head, and any RAI • meters connected to the SPU) displays the estimated rudder angle. Usually, when the RAI’s rudder position bar is at the centre (& when the needle on an RAI meter is at the “0”...
Page 147: P2-Equivalent Operation
During the initial step of the Drive Setup procedure, if an RFU is detected, the P2VS changes into a state which is equivalent to a Commander P2; all menus, features, operational displays and available modes of operation will be the same as on a P2.
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Page 149 ComNav Commander P2 & P2VS Installation & Operation Advanced Operations Document PN 29010074 V4.1 - 147 -...
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Page 151: Advanced Operations
ComNav Commander P2 & P2VS Installation & Operation Advanced Operations Advanced Operations This chapter describes the advanced modes of operation & features of a P Series system, and shows you how to use them. WORK Mode WORK mode is special mode, for use under conditions that are different from normal autopilot operation;...
Page 152: Manual Work Mode
ComNav Commander P2 & P2VS Installation & Operation Advanced Operations When WORK mode is engaged, the Rudder Scale Factor changes the amount of corrective rudder movement which the steering algorithms calculate using the Rudder Gain setting. In WORK mode, that calculated amount (i.e., proportional to the course error) will also be multiplied by the Scale Factor, resulting in larger rudder movements for a given course error.
Page 153: Work Menu
ComNav Commander P2 & P2VS Installation & Operation Advanced Operations Work Menu The Work menu has all of the adjustable parameters that are involved with WORK mode. To access the Work menu, double-press the button. Figure 96 – WORK Mode Menu Rudder Bias This menu line only appears when WORK mode is active.
Page 154: Wind Mode
In order to use WIND mode, your autopilot must receive wind information (speed & angle) from a ComNav Twin-Fin Wind Transducer, or as NMEA 0183 data from some other wind sensor via one of the NAV data inputs. The “Wind Source” in the Wind menu must match what you are using.
Page 155: Changing Wind Angle
ComNav Commander P2 & P2VS Installation & Operation Advanced Operations Changing Wind Angle To change the Commanded Wind Angle, rotate the knob. The angle will change by 1° for every click of the knob. Important! Turning the knob, tells the autopilot to turn the boat in the direction you turn the knob.
Page 156: Wind-Points Mode
ComNav Commander P2 & P2VS Installation & Operation Advanced Operations WIND-Points Mode There is a variation of WIND mode, called WIND-Points mode. In this mode, the knob is used to command the autopilot to steer to specific predefined Points of Sail: Close Haul, Close Reach, Beam Reach, Broad Reach, or Gybe Hold .
Page 157: Figure 99 - Commanded Wind Angle Of 90
ComNav Commander P2 & P2VS Installation & Operation Advanced Operations Here’s an example of WIND-Points mode operation: Assume that you have defined a Close Reach as 060°, a Beam Reach as 090° , and a Broad Reach as 120° . You are in WIND mode, and the autopilot is steering to the wind at a Commanded –...
Page 158: Boundaries Of The Points Of Sail
ComNav Commander P2 & P2VS Installation & Operation Advanced Operations Boundaries of the Points of Sail The boundaries between the Points of Sail are used in deciding which Point to change the Commanded Wind Angle to, when making a turn. The Point chosen is the one between the boundaries that the actual wind angle falls in.
Page 159: Tacking
ComNav Commander P2 & P2VS Installation & Operation Advanced Operations Tacking Tacking should initially be tested out in moderate winds and calm seas, in order to understand how it works on your boat. Tacking is accomplished as follows (in WIND or WIND-Points mode).
Page 160: Figure 104 - Wind Angle Limits For Tacking
ComNav Commander P2 & P2VS Installation & Operation Advanced Operations 4) Push either the button, depending on which Tack you are on. Just like when changing the Commanded Wind Angle with the knob, the “turn direction” buttons tell the autopilot which way you want the boat to turn.
Page 161: Gybing
ComNav Commander P2 & P2VS Installation & Operation Advanced Operations Gybing Gybing should initially be tested out in moderate winds and calm seas, in order to understand how it works on your boat. Gybing is performed in almost the same way as a Tack – but with different wind angle limits to start &...
Page 162: Figure 107 - Wind Angle Limits For Gybing
ComNav Commander P2 & P2VS Installation & Operation Advanced Operations 4) Push either the button, depending on which Tack you are on. The “correct direction button” for a Gybe is the opposite of a Tack! A small “arrow” symbol, in the correct direction, appears in the “Gybe ?” prompt, as a reminder of which button to push.
Page 163: Wind Menu
Figure 108 – Wind Menu Wind Source Wind data may be received either directly from a ComNav Twin-Fin Wind Transducer, or from other devices that provide wind data in NMEA 0183 format. Select the appropriate value according to the table below.
Page 164: Wind Shift (Wind Shift Alarm)
ComNav Commander P2 & P2VS Installation & Operation Advanced Operations Wind Shift (Wind Shift Alarm) Wind Shift Delay The autopilot can warn you if the wind shifts significantly. For example, if the Wind Shift alarm is set to 10 and the Wind Shift Delay is set to 0.5, then if the wind shifts by more than 10 degrees for 0.5 minutes, the Wind Shift Alarm will sound.
Page 165: Special Turns
ComNav Commander P2 & P2VS Installation & Operation Advanced Operations Special Turns There are a number of Special Turns pre-programmed into the P Series system. The Special Turns described in this section can only be executed in AUTO & WORK modes.
Page 166: U-Turn
ComNav Commander P2 & P2VS Installation & Operation Advanced Operations U-Turn Figure 110 – U-Turn Query Figure 111 – U-Turn Boat Path The autopilot calculates a reciprocal course to the boat’s heading, and then turns the boat to that heading, in the appropriate direction, once the button is pressed.
Page 167: Circle Turn
ComNav Commander P2 & P2VS Installation & Operation Advanced Operations Circle Turn Figure 112 – Circle Turn Query Figure 113 – Circle Turn Boat Path The autopilot steers a never-ending circle in the appropriate direction once the button is pressed. The Turn Rate setting in the Auto menu governs the rate of turn.
Page 168: M.o.b. - Man Over-Board
ComNav Commander P2 & P2VS Installation & Operation Advanced Operations M.O.B. – Man Over-Board Figure 114 – M.O.B. Turn Query Figure 115 – M.O.B. Turn Boat Path The autopilot will perform a Williamson Man-Overboard turn, sometimes known as an Emergency or E-turn. This will bring the boat onto a reciprocal heading; typically right down the boat’s own wake.
Page 169: Fishzag
ComNav Commander P2 & P2VS Installation & Operation Advanced Operations Fishzag Figure 116 – Fishzag Turn Query Figure 117 – Fishzag Turn As its name implies, the Fishzag turn was developed specifically for fishing. When this Special Turn is executed, the autopilot maintains the present course for the time interval specified by the Fishzag Timer in the Standby menu.
Page 170: Pretack (Preset-Tack)
ComNav Commander P2 & P2VS Installation & Operation Advanced Operations Pretack (Preset-Tack) Figure 118 – PreTack Turn Query Preset-Tack Special Turns are only available in AUTO mode, and if the Vessel type in the Dockside Setup menu is set to Sail.
Page 171: Multiple Control Heads & Auxiliary Controllers
ComNav Commander P2 & P2VS Installation & Operation Advanced Operations Multiple Control Heads & Auxiliary Controllers Two additional Control Heads or Auxiliary Controllers may be added to the standard P Series system. These may be any combination of Control Heads, CR-203 Handheld Remotes, and TS-203 Fixed Remotes.
Page 172: Watch Alarm & External Alarm
ComNav Commander P2 & P2VS Installation & Operation Advanced Operations Watch Alarm & External Alarm The Watch Alarm is a special timer that is built into the P Series autopilot. It measures how long it has been since any of the buttons on the Control Head have been pressed.
Page 173: Using The Watch Alarm
ComNav Commander P2 & P2VS Installation & Operation Advanced Operations 2) Press the button. A new screen will appear. This is where you choose whether you want to activate the External Alarm Output for all alarms and error messages, or just when the Watch Alarm has not been answered.
Page 174: Changing The Password
ComNav Commander P2 & P2VS Installation & Operation Advanced Operations Changing the Password As mentioned above, the autopilot is shipped from the factory with a null password – which means that you would simply push the button, when prompted by the “Password?”...
Page 175: Entering The Password
ComNav Commander P2 & P2VS Installation & Operation Advanced Operations Entering the Password When you attempt to change the Watch Alarm timer, (highlight “Watch Alarm” in the Standby menu, then turn the COURSE KNOB in either direction), the Control Head responds by showing a special pop-up box on the LCD screen with the query “Password?”...
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Page 177 ComNav Commander P2 & P2VS Installation & Operation Care & Maintenance Document PN 29010074 V4.1 - 175 -...
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Page 179: Care & Maintenance
ComNav Commander P2 & P2VS Installation & Operation Care & Maintenance Care & Maintenance The Commander P2 and Commander P2VS Autopilot Systems have been designed to provide many years of reliable service. Periodic care and maintenance will help to ensure the longevity of your autopilot.
Page 180: Fuse Replacement
ComNav Commander P2 & P2VS Installation & Operation Care & Maintenance Fuse Replacement There are two fuses used on the SPU. Replace fuses only with the same type and rating, as per the table below. Should a fuse blow, determine the cause before replacing! To replace a fuse, the clear plastic cover over the SPU’s Diagnostic section must be...
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Page 183: Interfacing To A Pc
ComNav Commander P2 & P2VS Installation & Operation Appendices Appendix 1 Interfacing to a PC The P Series SPU can be connected to a desktop or laptop Personal Computer, for Navigation control & monitoring purposes, using the J9 – NAV I/O connector (see Navigation Data on page 79).
Page 184: De9 Connection
ComNav Commander P2 & P2VS Installation & Operation Appendices DE9 Connection To connect to a PC serial port (or to the DE9-P end of a USB-to-Serial adapter), connect the wires from J9 to a DE9 female connector (a “socket type”, aka DE9-S) as follows: Figure 124 –...
Page 185: D Connector Pinouts
ComNav Commander P2 & P2VS Installation & Operation Appendices D Connector Pinouts The figure below shows the pin-numbering scheme for a PC COM port’s DE9 & DB25 connectors. This figure can be looked at in two ways: It is the view from the outside of the PC, looking at the pins of the male connector •...
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Page 187: Nmea 0183 Sentences Accepted And Transmitted By The Autopilot
*XTE Cross-Track Error Cross-Track Error Table 11 – NMEA 0183 Sentences Accepted by the Commander P2 The `*´ in front of the sentences indicates that the Talker Identifier is always ignored. • All sentences can have checksums, or not. Sentences which have invalid •...
Page 188: Sentence & Data Priority
ComNav Commander P2 & P2VS Installation & Operation Appendices Sentence & Data Priority A number of the various data values used by the autopilot can be received in one or more different sentences. For example, Boat Speed can be received in VTG, VHW, VBW, RMA or RMC.
Page 189: Table 12 - Nmea Sentence Priority
ComNav Commander P2 & P2VS Installation & Operation Appendices Sentence Sentence Data Used Priority (higher to lower) *XTE Cross-Track Error *BOD Bearing Origin to Destination Magnetic & True, Waypoint ID *VBW Boat Speed *VHW Boat Speed *VTG Boat Speed *BWC Bearing Present to Destination Magnetic &...
Page 190: Sentences Transmitted
ComNav Commander P2 & P2VS Installation & Operation Appendices Sentences Transmitted Heading & Status In normal operation, the P Series SPU outputs NMEA 0183 formatted data at 4800 Baud, on the O A & B pins of the SPU’s J9 – NAV I/O connector. This data may be used by NMEA 0183 Listeners, or may be used to observe &...
Page 191: Status Output
$ is the symbol that starts all NMEA 0183 Proprietary sentences b) P identifies a proprietary sentence c) CMN is the Manufacturer Mnemonic assigned to ComNav Marine Ltd. d) S identifies this as a status sentence 2) Mode: SB ⇒ STANDBY mode, PS ⇒ POWER STEER mode, AP ⇒...
Page 192: Configuration Save & Restore
Rx begins the Restore process. Then, when you press the n button, a script will • guide you through the steps of sending ComNav configuration sentences to the SPU. Tx begins the Save process. When you then press the n button, output of the •...
Page 193 ComNav Commander P2 & P2VS Installation & Operation Appendices Field 1 Field 2 Description Notes CMPS NON, ANA, – Compass Source Required DIG, NV1, NV2, NM1, NM2 x.y (degrees) – Offset of the selected Required Compass Source This & the next 5 fields must follow the source field in the same order listed here.
Page 194 ComNav Commander P2 & P2VS Installation & Operation Appendices Field 1 Field 2 Description Notes 1 - 5 Default Turn 0 = Circle 1 = U-Turn 2 = M.O.B. 3 = Dodge (only valid for P3) 4 = Fishzag 5 = Pretack...
Page 195: Table 13 - Configuration Save & Restore Sentences
ComNav Commander P2 & P2VS Installation & Operation Appendices Field 1 Field 2 Description Notes NAV1[,T], Wind Source if `T´ is omitted, wind is NAV2[,T], VANE assumed to be Apparent WIND – Wind-tack points: x.y (degrees) – Tack x.y (degrees) –...
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Page 197: Error Messages
ComNav Commander P2 & P2VS Installation & Operation Appendices Appendix 3 Error Messages There are a number of different error messages in the P Series autopilot system. These messages are displayed on the Control Head screen, and are usually accompanied by an audible alarm.
Page 198: Severe Errors
ComNav Commander P2 & P2VS Installation & Operation Appendices Severe Errors The following messages are “severe” errors. Typically, these messages describe a condition that prevents normal operation in the current mode, but operation in other modes may still be possible.
Page 199: Warnings
ComNav Commander P2 & P2VS Installation & Operation Appendices Warnings The following errors are warnings. Operation of the autopilot continues normally. The error messages may be temporarily suppressed by pressing the button. Most are automatically cancelled when the condition that caused them is remedied.
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Page 201: Auxiliary Head / Remote Power On
ComNav Commander P2 & P2VS Installation & Operation Appendices Appendix 4 Auxiliary Head / Remote Power On The P Series SPU is shipped from the factory configured so that power can only be turned on or off from the main Control Head. The main Control Head is designated as that which is plugged into the SPU receptacle labelled "...
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Page 203: Diagnostic Leds
ComNav Commander P2 & P2VS Installation & Operation Appendices Appendix 5 Diagnostic LEDs The Signal Processor Unit is equipped with a number of Light-Emitting Diode (LED) lamps that can assist in trouble-shooting should a problem arise with the autopilot system. To observe the LEDs, remove the metal cover on the Diagnostic section.
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Page 205: Upgrading Firmware
From time to time, this can result in new features and benefits that can be incorporated into an existing system installation, in the field – by a ComNav Dealer, or even by you, if you have the requisite technical skills.
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Page 207: General Specifications
ComNav Commander P2 & P2VS Installation & Operation Appendices Appendix 7 General Specifications Parameter Specification Dimensions 257 x 184 x 78 mm (10.1 x 7.3 x 3.1”) Bracket Mount Head 157 x 118 x 73 mm (6.2 x 4.6 x 2.9”) @ 20° max tilt –...
Page 208: Compass Safe Distances
ComNav Commander P2 & P2VS Installation & Operation Appendices Compass Safe Distances The following Compass Safe Distances were determined using a UKAS calibrated 23 Axis Magnetometer, for both standard compasses and steering/emergency compasses. Standard Steering Compass Compass ComNav PN Description...
Page 209: Warranty Information
ComNav Dealer, and such installation has been inspected by an Authorized ComNav Dealer; the Limited Warranty Registration Card has been returned to ComNav within 14 days of the date of purchase of the Equipment by the Purchaser with Part I thereof having been completed by the Purchaser, and with the Extended Limited Warranty Card having been completed and signed by an authorized ComNav Dealer and returned to ComNav within 14 days of that inspection;...
Page 210 Reversing Pumps & Motors, Hydraulic Linear Actuators, Watch Alarms & Motor Control boxes which may comprise part of the Equipment are warranted by ComNav for a period of two (2) years under the Extended Limited Warranty described above. All Remote Controls, Remote Cables, Jog Switches, Analog meters (rudder angle indicators), Rudder Angle Indicator Systems &...
Page 211 Equipment be returned by a faster method, the costs incurred by the expedient delivery will be pre-paid by the Purchaser; No refund of the purchase price for the Equipment will be made to the Purchaser unless ComNav is unable to remedy the defect after having a reasonable number of opportunities to do so. Prior to the...
Page 212 PURCHASER MAY ALSO HAVE OTHERS WHICH VARY FROM STATE/JURISDICTION TO STATE/JURISDICTION. This Agreement is a legal contract between you (the “Purchaser”) and ComNav. By retaining the Equipment for more than thirty (30) days and/or installing and/or using the Equipment, the Purchaser agrees to be bound by the terms of this Agreement.
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Page 215: Index
ComNav Commander P2 & P2VS Installation & Operation Index Index Turn 4, 86, 113, 119, 155, 159, 160, 161, 162, – A – 165, 167, 169 Adjusting – C – Rudder Gain ........105, 107 Care & Maintenance ......177, 179 Seastate .............
Page 216 ComNav Commander P2 & P2VS Installation & Operation Index Proportional Solenoid Valves ...... 74 Power Steer ....... 123, 124, 125, 132 Reversing DC Motor Hydraulic Systems ..71 Standby ........118, 119, 221 Setup ..71, 87, 88, 90, 91, 92, 145, 146, 147, Wind ..
Page 217 ComNav Commander P2 & P2VS Installation & Operation Index Wind Source ..154, 155, 163, 195, 223 Rudder Angle Indicator (RAI) 39, 59, 61, 70, 91, 107, 116, 118, 123, 124, 128, 146, 147, 207, WIND-Points ..........156 210, 222 WORK .
Page 218 ComNav Commander P2 & P2VS Installation & Operation Index Turn Rate ..105, 107, 108, 125, 128, 146, 152, – U – 167, 194, 199, 222 Upgrading Firmware ........205 Turns User Settings ......... 221, 222, 223 Dodge .. 37, 124, 125, 132, 142, 143, 144, 146 Jog ..........
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Page 221: Settings & Notes
Settings & Notes Default & User Settings Once your Commander P2 system has been installed and set up correctly, make a record of all the settings for future reference, in the table below. ( Note: Default Value for P2VS is in bracket)
Page 222 ComNav Commander P2 & P2VS Installation & Operation Settings & Notes Parameter Range Default Value User Settings 1 User Settings 2 Power Steer Menu Off, or 5° up to physical limits P.Str Rudder Limits from Dockside Setup Auto/Nav Off, or 5° up to physical limits...
Page 223: Table 20 - Default & User Settings
ComNav Commander P2 & P2VS Installation & Operation Settings & Notes Parameter Range Default Value User Settings 1 User Settings 2 Work Menu Auto/Nav rudder limit Rudder Bias Set at Runtime or physical limit Autotrim Off, On Work Trip Pt.
Page 224: Notes
ComNav Commander P2 & P2VS Installation & Operation Settings & Notes Notes Document PN 29010074 V4.1 - 222 -...

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