ComNav G1 Installation & Operation Manual
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ComNav G1 Installation & Operation Manual

ComNav G1 Installation & Operation Manual

Satellite compass
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Installation & Operation Manual
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COMPLIES WITH
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Summary of Contents for ComNav G1

  • Page 1 G1Satellite Compass Installation & Operation Manual COMPLIES WITH CE REGULATIONS PN 29010094 V 1.4...

  • Page 3: Welcome

    Congratulations on your purchase of a ComNav Marine G1 Satellite Compass! At ComNav, we are dedicated to reliability & quality in all our products, these products are a good example of that. We promise to do our best to ensure your satisfaction with your new G1 Satellite Compass.

  • Page 4: Document History

    ComNav G1 Installation & Operation Document History Revision Date Description 24 February 2014 Initial revision as 29010094 13 November 2014 Correct a typo and add TSS1 information 23 January 2017 New installation instruction 7 September 2017 Correct Maximum baud rate in Appendix 1 September 2017 Document PN 29010094 V1.4...

  • Page 5: About This Manual

    This manual provides essential information for the safe and reliable operation of the ComNav’s G1 Satellite Compass. Read this manual in its entirety before using the G1 Satellite Compass for the first time. Keep the manual handy until you become thoroughly familiar with the operation of the compass.
  • Page 6 ComNav G1 Installation & Operation September 2017 Document PN 29010094 V1.4 - 4 -...

  • Page 7: Table Of Contents

    D Connector Pinouts ..........................30 DE9 Connectors ............................31 DB25 Connectors ............................. 31 Using a PC for G1 Control & Display ......................32 Using a G1 with a PC Navigation Program ....................32 Wiring for NMEA 2000 system ..........................34 Operation __________________________________________________________________________ 37 Understanding How the G1 Works ...........................
  • Page 8 System Interface .............................. 53 Power ................................54 Mechanical ............................... 55 Appendix 2 ................................56 ComNav Proprietary NMEA 0183 sentences descriptions ................... 56 Appendix 3 ................................57 NMEA 0183 Configuration Commands ........................ 57 COMNAV MARINE LTD. FIRMWARE LICENSE AGREEMENT _______________________________ 61 BEFORE USING LICENSED FIRMWARE, CAREFULLY READ THIS LICENSE AGREEMENT.
  • Page 9 ComNav G1 Installation & Operation Table of Contents Warranty Information ________________________________________________________________ 64 Index _____________________________________________________________________________ 70 User Notes & Settings _______________________________________________________________ 74 User Settings ................................74 Notes ..................................76 September 2017 Document PN 29010094 V1.4 - 7 -...

  • Page 10: List Of Figures

    Figure 10 – Assembly G1 with the Pole Base ......................23 Figure 11 – Long-sight Alignment..........................24 Figure 12 - Typical Wiring Diagram of a G1 System with Autopilot and Compass Display ..........29 Figure 13 – DE9 & DB25 Pin Numbering ........................30 Figure 14 –...

  • Page 11: List Of Tables

    Table 1 - Cable Colour Code ............................26 Table 2 – Commander P2 Connection Details ......................27 Table 3 – PC COM Port (DE9) to G1’s RS-232 Port A ....................31 Table 4 – PC COM Port (DB25) to G1’s RS-232 Port 1 ....................31 Table 5 –...
  • Page 12 ComNav G1 Installation & Operation September 2017 Document PN 29010094 V1.4 - 10 -...
  • Page 13 ComNav G1 Installation & Operation Introduction September 2017 Document PN 29010094 V1.4 - 11 -...
  • Page 14 ComNav G1 Installation & Operation September 2017 Document PN 29010094 V1.4 - 12 -...

  • Page 15: Overview

    The images below depict a typical installation of the NMEA 2000 G1 system (Figure 1) and NMEA 0183 (Figure Figure 1 – Typical NMEA 2000 G1 system setup September 2017 Document PN 29010094 V1.4...

  • Page 16: Figure 2 - Typical Nmea 0183 G1 System Setup

    The G1 has default settings for easy use in typical marine configurations, as illustrated in Figure . ComNav’s goal is to be able to use the G1 unit “right out of the box” for most marine applications, without a need to change system configuration settings.
  • Page 17 ComNav G1 Installation & Operation Installation September 2017 Document PN 29010094 V1.4 - 15 -...

  • Page 18: Installation

    Power Supply NMEA 2000 setup: G1 Satellite Compass is to be connected to the NMEA2000 network power. For a reliable operation, the network power must be capable to provide the current for the total LEN specified by all connected network devices. Refer to the specifications on page 65 for G1 power rating.

  • Page 19: Gnss Reception Considerations

    ⇒ If G1 cannot be mounted above all objects, mount it where it has a clear view of the sky ±85° from zenith.

  • Page 20: Location & Orientation

    – typically, Radar beam has a conical shape which extends outwards from the Radar emitter, and sweeps a full 360° horizontal circle. The G1 should be mounted as leveled as possible (ideally, when the boat is at rest in calm water – •...

  • Page 21: Figure 3 - Heading & Pitch Installation (Viewed From Above). Heading Bias Is 0° At This Orientation

    ComNav G1 Installation & Operation Figure 3 – Heading & Pitch Installation (viewed from above). Heading bias is 0° ° ° ° at this orientation September 2017 Document PN 29010094 V1.4 - 19 -...

  • Page 22: Figure 4 - Heading & Roll Installation (Viewed From Above). Heading Bias Is 90° At This Orientation

    ComNav G1 Installation & Operation ⇒ If you wish, you can instead install the G1 perpendicular to the vessel’s fore-aft centerline, i.e., on or parallel to the athwartships centerline. In this orientation, the G1 can output both the Heading and the Roll of the vessel.

  • Page 23: Mounting

    Mounting The G1 allows for 2 mounting options: Surface mount for mounting the G1 on a flat surface such as a cabin’s roof, a mounting plate on the mast, and so on. Pole mount option may be used when there is a location with limited clearance or flat space to accommodate the unit.

  • Page 24: Figure 7 - Surface Mount Bracket Assembly

    4) Push the cable through the center 1.5” hole of the mounting surface before placing the unit in its position 5) Place the G1 on the surface, aligning each drill hole with a respective bolt hole on the unit. Push the M8 bolts from the bottom through the surface and hand tighten all 8 bolts.

  • Page 25: Pole Mount

    – enough to allow you to move the connected cable a short ways out of the pole, for easier removal of the G1 from the pole &/or pole base, should that ever be necessary.

  • Page 26: Alignment

    Alignment Adjust the orientation of the G1 as necessary, and then secure it when complete: The top of the G1’s enclosure incorporates two small positioning posts and an alignment sight, to assist in aligning the unit’s orientation. Perform the following steps to align the unit: ⇒...

  • Page 27: Wiring For Nmea 0183 System

    ComNav G1 Installation & Operation heading and that of the other accurate heading device. To do so, enter the difference value in the G1’s heading bias parameter. A bias value can also be obtained by doing a traditional “box the compass”...

  • Page 28: Power Input

    Alarm signal from the G1, using the contacts of a relay. Signal Grounds Whether or not to connect the G1’s Signal Ground to the Signal Ground (or the Main or Power Ground, if there is no Signal Ground) of the other device or devices on your vessel depends on how your vessel, and any other equipment, is wired.

  • Page 29: Serial Port Settings

    Navigation data on Port 1 & 3 (see pages 40 & 42). The wiring from the G1 is to the P2’s J9 – NAV I/O connector, as follows (a small image of the connector’s label is shown to the left of the table): Note: some P2/P3 SPUs have an error on this label –...

  • Page 30: 5001 System

    RS-422 output port (the 5001 also has an RS-232 I/O port, but that should not be used with a G1). All G1 wiring connections to a 5001 must be made at the 5001’s Processor Card – see page 4-24 in the 5001’s Installation & Operation manual. You must then select the Compass, Speed, and NAV sources (from NAV1, NAV2, according to how you have done the wiring from the G1, a Chartplotter, etc.) –...

  • Page 31: Figure 12 - Typical Wiring Diagram Of A G1 System With Autopilot And Compass Display

    ComNav G1 Installation & Operation Figure 12 - Typical Wiring Diagram of a G1 System with Autopilot and Compass Display September 2017 Document PN 29010094 V1.4 - 29 -...

  • Page 32: Interfacing To A Pc

    PC COM Ports PC serial ports – commonly referred to as “COM ports” – always use RS-232 signal levels, and so the only possible direct connection to the G1 is via the G1’s RS-232 signals. If it is necessary to connect a PC to any RS-422 signals (for example, when the PC is being used to run a Navigation program, which sends steering commands to an NMEA 0183 autopilot –...

  • Page 33: De9 Connectors

    ComNav G1 Installation & Operation DE9 Connectors To connect the G1’s RS-232 port to a PC serial port (or to the DE9-P end of a USB-to-Serial adapter); connect the wires to a DE9 female connector (a “socket type”, aka DB9-S) as follows:...

  • Page 34: Using A Pc For G1 Control & Display

    – viewing the vessel’s position on a chart, setting waypoints and so on. This wiring scheme uses the G1’s Port 1 RS-232 output (and input, if the PC is also going to be used to control the G1), and the Port 3 RS-422 output.

  • Page 35: Figure 15 - Typical Wiring With A Pc Based Navigation Program

    ComNav G1 Installation & Operation Figure 15 – Typical wiring with a PC based Navigation Program September 2017 Document PN 29010094 V1.4 - 33 -...

  • Page 36: Wiring For Nmea 2000 System

    RS-422 Convertor will then be required. ⇔ Wiring for NMEA 2000 system When used in a NMEA 2000 network, the G1 is a “plug & play” device. See Figure 1 for a connection example. September 2017 Document PN 29010094 V1.4...
  • Page 37 ComNav G1 Installation & Operation Operation September 2017 Document PN 29010094 V1.4 - 35 -...
  • Page 38 ComNav G1 Installation & Operation September 2017 Document PN 29010094 V1.4 - 36 -...

  • Page 39: Operation

    So, in that sense, there’s really no need for an “Operating the G1” chapter in this manual. On the other hand, since the G1 really is a “Black Box” (despite the case being white …), there is no way to tell if it is working properly, or to control it, if it is not connected to at least one suitable external device …...

  • Page 40: Determining Position

    ComNav G1 Installation & Operation Thus, it is best to turn on the G1 and run it for a few minutes, before turning on your other equipment. Determining Position The Global Positioning Systems are essentially timing-based position trilateration systems. The G1’s GNSS receivers automatically and continuously try to receive RF signals from all GPS and GLONASS satellites that are visible in the sky.

  • Page 41: Moving Base Station Rtk

    In contrast, time & date are obtained from data carried on the RF signals from the satellites. As well, the G1 can output a wide variety of information on the status of the GPS satellites – e.g., how many are currently in view – and on its own status.

  • Page 42: Supplemental Sensors

    (& receiving data, if necessary) must match the device(s) to which each is connected. The G1’s 3 output ports – Port 1, 2 and 3 – allow for different sets of navigation data to be output from the G1. Each port can be configured with its own combination of enabled output data sentences, sentence update rates, and Baud rate.
  • Page 43 For example: when a ComNav autopilot is being used with the G1, heading and speed from the G1 are needed by the autopilot, in order for it to be able to steer the vessel safely on the course that the user wants to follow.

  • Page 44: Output Data Formats

    Many of the NMEA 0183 Standard’s “navigation & GPS data” sentences are available on the Of those, the sentences enabled in ComNav’s factory-default configuration are denoted like this, with the update rate shown in the corresponding column. Sentences not enabled in the factory-default configuration are indicated with an .

  • Page 45: Proprietary Output

    Other on-board “NMEA compatible” equipment – e.g., PCs – often uses RS-232 levels. Alarm Output In addition to the data output on the G1’s serial ports, there is a separate Alarm output, which indicates whether or not the G1 is providing valid heading output data, or if there is power fault.

  • Page 46: Operate In Nmea 2000 Environment

    Alarm pins on the G1’s I/O connector. If the G1 is unpowered, or if it is powered but is not able to compute valid heading data (for example, when it does not have good satellite signals at one of the two antennae), the relay coil is de-powered.

  • Page 47: Changing The Configuration

    Display System, or a PC, via the Receive wire on the RS-232 side of the Port 1, or through the CAN port. For an overview of how to configure the G1’s NMEA 0183 output sentences, and tables of the G1’s available command sentences, see section under Care & Maintenance Appendix 3.

  • Page 48: Using A Navigator G2

    Each time constant – called “something” TAU – is a value that sets the length of a simple averaging filter for that specific output. For example, the default value of HTAU tells the G1 to smooth heading outputs with a filter that is 2.0 seconds in length.

  • Page 49: Table 8 - Smoothing Time Constants

    But, if you do wish to change any of the G1’s time constants, the next table provides some formulae for figuring out an optimal value of each constant.

  • Page 50: Dgps Source

    4800 Baud: 417.4 bytes/sec on Port 1, 2, and 445 bytes/sec on Port 3. If the Baud rate is too low – i.e., bandwidth less than the total bytes/sec that the G1 is configured to transmit – the data will be corrupted, in random & unpredictable ways. The result will typically be “Invalid Data”...
  • Page 51 ComNav G1 Installation & Operation Care & Maintenance September 2017 Document PN 29010094 V1.4 - 49 -...
  • Page 52 ComNav G1 Installation & Operation September 2017 Document PN 29010094 V1.4 - 50 -...

  • Page 53: Care & Maintenance

    Many potential problems can be avoided by ensuring that cabling and wiring do not cause any strain on the connectors. Periodic Checks After the first six months of operation, a thorough examination of the entire G1 system MUST BE UNDERTAKEN. Verify that all electrical connections, cables, clamps, mounting brackets, and mechanical connections are secure.
  • Page 54 ComNav G1 Installation & Operation Appendices Appendices September 2017 Document PN 29010094 V1.4 - 52 -...

  • Page 55: Appendices

    ComNav G1 Installation & Operation Appendices Appendices Appendix 1 Specifications GPS Receiver Parameter Specification Receiver Type • L1, C/A code, with carrier phase smoothing Channels Two x 32 parallel tracking GPS, GLONASS, SBAS Update Rate • position: adjustable, 20 Hz max •...

  • Page 56: Power

    ComNav G1 Installation & Operation Appendices Data Input Protocol NMEA 0183 proprietary NMEA 2000 Heading warning I/O Open relay system indicates invalid heading Table 11 – System Interface Specifications Power Parameter Specification Main Supply Voltage 10 to 36 VDC Network Power...

  • Page 57: Mechanical

    ComNav G1 Installation & Operation Appendices Mechanical Parameter Specification Dimensions 43.6 cm x 17.4 cm x 7 cm (17.16 in. x 6.87 in. x 2.76 in.), not including mount Weight 1.1 Kg Enclosure Rating IP 67 Operating Temperature -30° C to +70° C Storage Temperature -40°...

  • Page 58: Comnav Proprietary Nmea 0183 Sentences Descriptions

    ComNav G1 Installation & Operation Appendices Appendix 2 ComNav Proprietary NMEA 0183 sentences descriptions September 2017 Document PN 29010094 V1.4 - 56 -...

  • Page 59: Nmea 0183 Configuration Commands

    The units of the various “value” parameters depend on the affected function or setting in the G1 (e.g., rates in Hz, time in seconds, angles in degrees, and so on). All the units are implicit, and are not required in the command.

  • Page 60: Table 14 - Commands For The Nmea Output Sentences

    ComNav G1 Installation & Operation Appendices Rate (Hz) Command Sentence Port ID $PCMNASC,GPDTM,rate,port_id GPDTM 0, 0.2, 1 1, 2, 3 $PCMNASC,GPGGA,rate, port_id GPGGA 0, 0.2, 1, 5, 10 or 20 1, 2, 3 $PCMNASC,GPGLL,rate, port_id GPGLL 0, 0.2, 1, 5, 10 or 20...

  • Page 61: Table 17 - Commands For Output Biases And Port Baud Rates

    • rate = 4800, 9600, 19200, 38400 for port_id=2, 3 $PCMNBAUD,rate,port_id • rate = 4800, 9600 for port_id = 1 (If you change the G1’s Baud rate, you must change the other device(s) to match!) Table 17 – Commands for Output Biases and port baud rates...
  • Page 62 ComNav G1 Installation & Operation CE Compliance Statement CE Compliance This product has been tested and is in compliance with the Navigation requirements of Marine Equipment Directive 96/98/EC and the last modification by Directive 2012/32/EU, and therefore bears the CE-marking.

  • Page 63: Comnav Marine Ltd. Firmware License Agreement

    In this Agreement, any ComNav Product that has Firmware embedded in it or included with it at the time of sale to the Licensee shall be referred to as the “Product”.
  • Page 64 16. INFRINGEMENT. If use of the Firmware may be enjoined due to a claim of infringement by a third party then, at its sole discretion and expense, ComNav may do one of the following: (a) negotiate a license or other agreement so that the Product is...
  • Page 65 ComNav shall refund the price paid by Licensee less an amount on account of amortization, calculated on a straight-line basis over a deemed useful life of three (3) years. The foregoing sets out the entire liability of ComNav and the sole obligations of ComNav to Licensee in respect of any claim that the Firmware or its use infringes any third party rights 17.

  • Page 66: Warranty Information

    Improper or inadequate ancillary or connected equipment. OTHER LIMITATIONS AND EXCLUSIONS 1. ComNav does not warrant or guarantee the precision or accuracy of positions, heading, or other GPS-based navigation data obtained when using the Equipment. The potential accuracy of the Equipment, as stated in the Manual, associated ComNav literature and/or...
  • Page 67 The Limited Warranty will not apply with respect to any defective Equipment unless written notice of such defect is given to ComNav, by mail to the address for ComNav set forth below, or by facsimile to ComNav at 604-207-8008, and unless that written notice is received by ComNav within ten (10) days of the date upon which the defect first became known to the Purchaser.
  • Page 68 Equipment, the place of purchase, the name and address of the installer, and the Purchaser’s name, address and telephone number, all to be sent, along with proof of purchase, to ComNav at the address set out below, and within the time limits set out above for Notice of Defect.
  • Page 69 ComNav G3/G3B Installation & Operation September 2017 Document PN 29010094 V1.4 - 67 -...
  • Page 70 ComNav G3/G3B Installation & Operation Index September 2017 Document PN 29010094 V1.4 - 68 -...
  • Page 71 ComNav G3/G3B Installation & Operation September 2017 Document PN 29010094 V1.4 - 69 -...

  • Page 72: Index

    ComNav Commander P2 Installation & Operation Index Index – A – – I – Alignment ..........24, 75 Installation ........1, 28, 34, 46 – B – – N – Baud rate ....27, 40, 41, 43, 45, 48, 57, 59 Navigator G2 ........
  • Page 73 ComNav G1 Installation & Operation September 2017 Document PN 29010094 V1.4 - 71 -...
  • Page 74 ComNav G1 Installation & Operation User Notes September 2017 Document PN 29010094 V1.4 - 72 -...
  • Page 75 ComNav G1 Installation & Operation September 2017 Document PN 29010094 V1.4 - 73 -...

  • Page 76: User Notes & Settings

    ComNav G1 Installation & Operation User Notes User Notes & Settings User Settings Once your G1 has been installed and configured correctly, you can make a record of all the settings you have chosen, in the tables below. Port 1 Port 2...

  • Page 77: Table 20 - User Settings (Alignment & Operational)

    ComNav G1 Installation & Operation User Notes Parameter Range Default Yours Alignment Fore-Aft or Athwart ships Fore-Aft ROLL NO, YES HBIAS -180.0° to 180.0° PBIAS -15.0° to 15.0° DIFF NONE, WAAS, EXTERNAL NONE NMEAHE 0, 1 COGTAU 0.0 to 200.0 HTAU 0.0 to 3600.0...

  • Page 78: Notes

    ComNav G1 Installation & Operation User Notes Notes September 2017 Document PN 29010094 V1.4 - 76 -...

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