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ComNav Commander P2 manuals available for free PDF download: Installation & Operation Manual, Quick Reference Manual
ComNav Commander P2 Installation & Operation Manual (224 pages)
Advanced Autopilot Systems
Brand:
ComNav
| Category:
Marine Equipment
| Size: 11 MB
Table of Contents
Welcome
3
Warranty Notice
3
Document History
5
About this Manual
6
Table of Contents
8
List of Figures
15
List of Tables
17
How Autopilots Work
20
Manual Steering
20
An Autopilot System
21
Figure 1 - Basic Autopilot System
21
Autopilot Operation
22
Maintaining a Heading: AUTO Mode
22
Changing Heading
23
Figure 2 - Heading Change in AUTO Mode
23
Wind and Current Effects
24
Following a Track: NAV Mode
24
Following a Track: AUTO/ALC Mode
25
Power Steer: "Drive by Wire
25
More Information (for the Technically Inquisitive)
25
Figure 3 - Commander P2 System Block Diagram
28
Control Head
29
Figure 4 - Control Heads
29
Figure 5 - the Commander P2 SPU (with Wiring Cover Removed)
30
Signal Processor Unit
30
Compasses
31
Vector G2 and G2B GPS Compasses
31
Figure 6 - Vector G2 GPS Compass
31
Navigator G2 GPS Compasses Display
32
Figure 7 - Navigator G2 Display Head
32
Figure 8 - Navigator G2 Distribution Unit
32
Fluxgate Compasses
33
Figure 9 - Fluxgate Compass
33
Heading Rate Stabilizer
34
Figure 10 - Heading Rate Stabilizer
34
Magnetic Compass Sensor
35
Magnetic Compasses
35
Figure 11 - Magnetic Compass Sensor
35
Figure 12 - Externally Gimballed Magnetic Compass with Binnacle
35
45° Compass Transducer
36
Tri-Axis Rate Gyro Compass
36
Other Compasses
36
Figure 13 - 45° Compass Transducer
36
Figure 14 - Tri-Axis Rate Gyro Compass
36
Rudder Follower Units & Wind Sensors
37
Standard Rotary Rudder Follower Unit & Rudder Linkage
37
Heavy Duty Rotary Rudder Follower Unit
37
Figure 15 - Standard Rotary RFU
37
Figure 16 - Heavy Duty Rotary RFU
37
Linear Rudder Follower Unit
38
Twin-Fin Wind Transducer
38
Auxiliary Controllers
38
Figure 17 - Linear RFU
38
Figure 18 - Twin-Fin Wind Transducer
38
CR-203 Remote
39
Figure 19 - CR-203 Handheld Remote
39
Figure 20 - TS-203 Fixed Remote
40
Remote
40
Other Controls & Indicators
41
NFU Jog Steering Control
41
Rudder Angle Indicator (RAI)
41
Figure 21 - NFU Jog Steering Control
41
Figure 22 - External Rudder Angle Indicator (76 MM Model)
41
Control Head Mounting & Cover Kits
42
Figure 23 - Control Head Mounts & Cover
42
Rudder Drives and Interfaces
43
CT7 Thruster Interface
43
Figure 24 - CT7 Interface
43
Other Drive Boxes
44
Figure 25 - Drive Boxes to Meet All Needs
44
Pumps & Drives
45
Figure 26 - Hydraulic Pump & Solenoid Value
45
Figure 27 - Cable Drives
45
Other Equipment
45
System Overview
28
Installation
48
Basic Requirements
48
Steering System
48
Power Supply
48
Special Tools
48
Fasteners
48
Control Head
49
Electrical Connection
49
Signal Processor Unit
49
Compasses
50
Compass Deviation
50
Common Installation Considerations
50
Magnetic Compass and Sensor
52
Electrical Connection
52
Fluxgate Compass
53
Electrical Connection
53
Figure 28 - Fluxgate Compass Mounting
53
Heading Rate Stabilizer
54
Electrical Connection
54
45° Compass Transducer
54
Tri-Axis Rate Gyro Compass
54
Electrical Connection
55
Rudder Follower Unit
56
Rotary Rudder Follower Unit
56
Electrical Connection
57
Heavy Duty Rotary Rudder Follower Unit
57
Figure 29 - RFU Linkage Geometry
57
Linear Rudder Follower Unit
58
Figure 30 - Typical Arrangement of Linear RFU on an Outboard's Steering Cylinder
58
Figure 31 - Band Clamp and Plastic Brackets
59
Figure 32 - Installed Arrangement of Brackets
59
Electrical Connection
60
Figure 33 - Fasteners, Stainless Bracket Arrangement
60
Other Equipment
61
Wiring the System
62
Signal Processor Unit
62
Connectors on the SPU
62
Figure 34 - Removal of the SPU Wiring Cover
62
Figure 35 - SPU Connector Wiring Label
62
Table 1 - SPU Connector Ratings
63
Table 2 - Recommended Minimum Wire Gauges
63
Wire Sizes
63
Power Supply
64
Figure 36 - Typical Power Connection to SPU
64
Drive Box Power Supply
65
Figure 37 - Reducing Supply Voltage Losses
65
Figure 38 - Typical Battery Connection to Drive Boxes
65
Power Supply Extension
65
Input & Output Connections
66
Auxiliary Controller(S)
66
Control Head
66
Figure 39 - Wiring Connections for Control Head, Handheld Remotes, and Fixed Remotes
66
Figure 40 - Wiring Connections for Jog Controls
67
NFU Jog Steering Controls
67
Compasses
68
Figure 41 - Wiring Connections for Magnetic Sensor, Fluxgate Compass or HRS
68
Figure 42 - Wiring Connections for 45° Compass Transducer
69
Figure 43 - Wiring Connections for Tri-Axis Rate Gyro Compass
69
Figure 44 - Wiring Connections for Twin-Fin Wind Transducer
70
Wind Transducer
70
Figure 45 - Wind Transducer with NX2 Wind Data Instrument
71
Figure 46 - Wind Transducer with Classic Nexus or NX2 Network Server
71
Figure 47 - Wiring Connections for Rfus
72
Figure 48 - Wiring Connections for Rudder Angle Indicators
72
Rudder Angle Indicators
72
Rudder Follower Unit
72
Drive Outputs
73
Figure 49 - Wiring Connections for Reversing DC Motors
73
Figure 50 - Wiring Connections for Linear Actuators or Mechanical Rotary Drives
73
Linear Actuators or Mechanical Rotary Drives
73
Reversing DC Motor Hydraulic Systems
73
Shunt-Field Reversing Motors
73
Figure 51 - Wiring Connections for Shunt Field Reversing Motors
74
Figure 52 - Wiring Connections for Standard Four-Way Solenoid Valves
74
Standard Four-Way Solenoid-Activated Hydraulic Valves
74
Figure 53 - Wiring Connections for Constant Running Electric Pump
75
Figure 54 - Wiring Connections for Two-Speed Solenoid Valves
75
Two-Speed Solenoid Valves
75
A.C. Solenoids
76
Figure 55 - Wiring Connections for A.C. Solenoids
76
Figure 56 - Wiring Connections for Proportional Solenoid Valves
76
Proportional Solenoid Valves
76
Azimuth Drives, Surface Piercing Drives and Jet Drives
77
Figure 57 - Wiring Connections for Isolation Amplifiers
77
External Alarm Output
78
Figure 58 - External Alarm, Using SW'D B- Output
78
Figure 59 - External Alarm, Using SW'D B+ Output
78
Figure 60 - External Alarm, SW'D B- Output with Power Fail Option
79
Figure 61 - External Alarm, SW'D B+ Output with Power Fail Option
79
Speed Mode & Timing Outputs
80
Table 3 - Speed Mode & Timing Outputs
80
Navigation Data
81
Figure 62 - Typical NMEA 0183 Connections
81
RS-422 Electrical Interface
82
Signal Names
82
Table 4 - NMEA Signal Translation Guide
82
Figure 63 - Typical RS-422 Signals
83
Typical RS-422 Signals
83
RS-232 Electrical Signals
84
Status Leds
84
Other Connections
84
Comnav Network
84
Thruster Interface
84
Final Steps & Post-Installation Checks
85
Electrical Checks
85
Completing the Wiring
85
Setting up
88
Dockside Setup Menu
88
Figure 64 - Entering Dockside Setup
88
Figure 65 - Dockside Setup Menu
89
Reset
89
Vessel Type
89
Alarm O/P (Alarm Output)
90
Compass Setup
90
Drive Setup
90
Exit
90
Language
90
Table 5 - Vessel Types
90
Thrust MAX
90
Thrust MIN
90
Thrust Type
90
Configure Sys. (Configure System)
91
Setup Procedures
92
Vessel Type
92
Figure 66 - Set Vessel Type
92
Drive Setup
93
Compass Setup - Dockside
95
Analog Compass
95
Figure 67 - Set Compass Type in Compass Configuration Menu
95
Digital Compass
96
NAV 1 Port
96
NAV1 or NAV2 Port for General NMEA Compass
96
Bandwidth of an NMEA Compass Connection
97
Table 6 - Compass Types
99
Compass Setup - on the Water
100
Compensation for Magnetic Deviation
100
Magnetic Compass Sensor
100
Heading Rate Stabilizer
101
45° Compass
102
Comnav Fluxgate Compass and Other Fluxgate Compasses
102
Other NMEA Compasses
102
Tri-Axis Rate Gyro Compass
102
All Compass Types
103
Calibrating for Compass Offset
103
Magnetic Sensor
104
Compass Setup - Final Steps
104
Sea Trials
105
Sea Trial Procedure
105
Adjust Rudder Gain & Counter Rudder for Hi Speed
105
Adjust Rudder Gain, Counter Rudder, Turn Rate and Seastate for lo Speed
107
Adjust Seastate for Hi Speed
107
Adjust Speed Trip Point
107
Adjust Turn Rate for Hi Speed
107
Adjusting for Rougher Sea Conditions
108
Basic Operations
112
The Control Head's LCD Screen & Buttons
112
Figure 68 - Using the Control Head
112
Operating the System
114
Operating Modes - Overview
114
Mode Menus
114
Figure 69 - a Typical Menu
115
Rudder Angle Indicator (RAI)
116
Alarm Clear
116
Power on
117
Power off
117
Figure 70 - Power on Sequence
117
Figure 71 - Power off Sequence
117
STANDBY Mode
118
Figure 72 - Typical STANDBY Mode Screen
118
Standby Menu
119
Compass Source
119
Default Turn
119
Figure 73 - Standby Menu
119
Station Lock
119
Backlight Level
120
Compass Cal (Compass Calibration)
120
Contrast (Monochrome Head Only)
120
NMEA Hdg Type (NMEA Heading Type)
120
Figure 74 - Monochrome LCD: Normal & Reversed Display
121
Figure 75 - Colour LCD: B & C Colour Schemes
121
Graphics (Monochrome Head) or Display (Colour Head)
121
Battery
122
Fishzag Time
122
Watch Alarm
122
POWER STEER Mode
123
Figure 76 - Typical POWER STEER Mode Screen
123
Power Steer Menu
124
Auto/Nav Limits
124
Figure 77 - Power Steer Menu
124
P.str Limits (Power Steer Rudder Limits)
124
RAI Offset
124
AUTO Mode
125
Notes on AUTO Mode
125
Figure 78 - Typical AUTO Mode Screen
125
Auto Menu
126
Figure 79 - Auto Menu
126
Rudder Gain
126
Counter Rudder
127
Figure 80 - Guidelines for Setting Rudder Gain
127
Figure 81 - Guidelines for Setting Counter Rudder
127
Hi & lo Speed Counter Rudder
127
Hi & lo Speed Rudder Gain
127
Figure 82 - Hi (AUTO) and lo Speed Indicators (to Left of the Rudder Angle Indicator)
128
Parameter Set
128
Seastate
128
Turn Rate
128
ALC (Automatic Leeway Correction)
129
Figure 83 - Typical AUTO Mode Screen
129
Speed Source
129
Speed Trip Pt (Speed Trip Point)
129
Thruster Assist
129
Thruster Gain
129
Helm Delay
130
NAV Mode
131
Figure 84 - Typical NAV Mode Screen (Normal Display)
131
Figure 85 - Typical NAV Mode Highway Screen
132
NAV Highway Display
132
Notes on NAV Mode
132
Understanding NAV Mode
133
Checking the Navigation Data
133
Correction Methods
134
Table 7 - NAV Mode Correction Methods
134
CTS - Steering a Direct Bearing
135
Figure 86 - Steering with Correction Set to CTS
135
Figure 87 - Steering with Correction Set to XTE
136
XTE - Steering Quickly Back to a Track
136
Figure 88 - Response of Boat to a Large Cross-Track Error
137
Both - Steering Smoothly Back to a Track
138
Figure 89 - Steering with Correction Set to both
138
An Example of NAV Mode in Operation
139
Nav Menu
140
Figure 90 - Nav Menu
140
Nav Source
140
Waypoint Arrival
140
XTE Limit (Cross-Track Error Limit)
140
Correction
141
Max Correction
141
XTE Sense (Cross-Track Error Sense)
141
Dodge Turns
142
Figure 91 - a Dodge in Progress (in AUTO Mode)
142
Figure 92 - Boat Track During a Dodge Manoeuvre in AUTO Mode
142
Dodge Centre
143
Figure 93 - Holding at a Heading Part-Way through a Dodge Turn
143
Jog Steering Turns
144
Figure 94 - Typical Jog Control Activated Screen
144
Commander P2VS Operations
145
Cautions
145
P2-Equivalent Operation
147
Advanced Operations
151
WORK Mode
151
Automatic WORK Mode
151
Figure 95 - Typical WORK Mode Screen (Engaged)
151
Manual WORK Mode
152
Work Menu
153
Autotrim
153
Figure 96 - WORK Mode Menu
153
Rudder Bias
153
Rudder Scale (Rudder Scale Factor)
153
Work Mode State
153
Work Trip Pt. (Work Trip Point)
153
WIND Mode
154
Figure 97 - Typical WIND Mode Screen (Normal Display)
154
Changing Wind Angle
155
Low Wind Speeds
155
Tack & Gybe Inhibit
155
WIND-Points Mode
156
Changing Point of Sail
156
Figure 98 - Typical WIND-Points Mode Screen
156
Tack & Gybe Inhibit
156
Figure 100 - Outline Arrow Shows the Commanded Point of Sail
157
Figure 99 - Commanded Wind Angle of 90
157
Boundaries of the Points of Sail
158
Figure 101 - Points of Sail
158
Table 8 - Boundaries between Points of Sail
158
Figure 102 - Starting a Tack in WIND (Left) and WIND-Points (Right) Modes
159
Figure 103 - Wind Angle Limits to Start a Tack
159
Tacking
159
Figure 104 - Wind Angle Limits for Tacking
160
Figure 105 - Starting a Gybe in WIND (Left) and WIND-Points (Right) Modes
161
Figure 106 - Wind Angle Limits to Start a Gybe
161
Gybing
161
Figure 107 - Wind Angle Limits for Gybing
162
Wind Menu
163
Figure 108 - Wind Menu
163
Table 9 - Wind Source Selection
163
Wind Source
163
Beam Reach Def (Beam Reach Definition)
164
Broad Reach Def (Broad Reach Definition)
164
Close Haul Def (Close Haul Definition)
164
Close Reach Def (Close Reach Definition)
164
Gybe Hold Point (Gybe Hold Point Definition)
164
Preset Tack Angle
164
Wind Shift (Wind Shift Alarm)
164
Wind Shift Delay
164
Special Turns
165
Figure 109 - Typical Special Turn Query
165
Figure 110 - U-Turn Query
166
Figure 111 - U-Turn Boat Path
166
U-Turn
166
Circle Turn
167
Figure 112 - Circle Turn Query
167
Figure 113 - Circle Turn Boat Path
167
Figure 114 - M.O.B. Turn Query
168
Figure 115 - M.O.B. Turn Boat Path
168
M.O.B. - man Over-Board
168
Figure 116 - Fishzag Turn Query
169
Figure 117 - Fishzag Turn
169
Fishzag
169
Figure 118 - Pretack Turn Query
170
Pretack (Preset-Tack)
170
Multiple Control Heads & Auxiliary Controllers
171
Station Lock/Unlock
171
Figure 119 - Station Lock Icon on In-Command (Left) and Repeater Auxiliary Control Head (Right)
171
Watch Alarm & External Alarm
172
Configuring the Watch Alarm
172
Configuring the External Alarm
172
Figure 120 - External Alarm Configuration
172
Using the Watch Alarm
173
Figure 121 - External Alarm Type Configuration
173
Changing the Password
174
Figure 122 - New Password Pop-Up Window
174
Entering the Password
175
Figure 123 - Password Query Pop-Up Window
175
Care & Maintenance
179
Cleaning and Appearance
179
Periodic Checks
179
Electrical & Mechanical Checks
179
Hydraulic Checks
179
Air Trapped in the Hydraulic System
179
Manual Steering Operation
179
Fuse Replacement
180
Table 10 - Fuse Replacement Guide
180
Appendix 1 _______________________________________________________________________ 181 Interfacing to a PC
183
PC COM Ports
183
DB25 Connection
184
DE9 Connection
184
Figure 124 - Connection to a PC with a DE9-S Connector
184
Figure 125 - Connection to a PC with a DB25-S Connector
184
D Connector Pinouts
185
Figure 126 - DE9 & DB25 Pin Numbering
185
Appendix 2 _______________________________________________________________________ 185 NMEA 0183 Sentences Accepted and Transmitted by the Autopilot
187
Sentences Accepted
187
Table 11 - NMEA 0183 Sentences Accepted by the Commander P2
187
Sentence & Data Priority
188
Table 12 - NMEA Sentence Priority
189
Sentences Transmitted
190
Heading & Status
190
Heading Output
190
Status Output
191
Configuration Save & Restore
192
Table 13 - Configuration Save & Restore Sentences
195
Appendix 3 _______________________________________________________________________ 195 Error Messages
197
Critical Errors
197
Table 14 - Critical Error Messages
197
Severe Errors
198
Table 15 - Severe Error Messages
198
Table 16 - Warning Messages
199
Warnings
199
Appendix 4 _______________________________________________________________________ 199
201
Auxiliary Head / Remote Power on
201
Figure 127 - JP12 & JP13 in Factory Default Position (Left) and after Moving Shunts (Right)
201
Appendix 5 _______________________________________________________________________ 201
203
Diagnostic Leds
203
Table 17 - Diagnostic Leds
203
Appendix 6 _______________________________________________________________________ 203 Upgrading Firmware
205
Transferring the System Configuration & Parameters
205
Appendix 7 _______________________________________________________________________ 205
207
General Specifications
207
Table 18 - General Specifications
207
Compass Safe Distances
208
Table 19 - Compass Safe Distances
208
Warranty Information
209
Index
215
Settings & Notes
221
Default & User Settings
221
Table 20 - Default & User Settings
223
Notes
224
Advertisement
ComNav Commander P2 Installation & Operation Manual (194 pages)
Advanced Autopilot System
Brand:
ComNav
| Category:
Marine Equipment
| Size: 3 MB
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
Figure 1 - Basic Autopilot System
19
Autopilot Operation: Maintaining a Heading
20
Wind and Current Effects
21
Figure 2 - Heading Change in AUTO Mode
21
Autopilot Operation: Following a Track - NAV Mode
22
Autopilot Operation: Following a Track - AUTO/ALC Mode
23
Power Steer
23
System Overview
27
Figure 3 - Commander P2 System Block Diagram
27
Control Head
28
Figure 4 - Control Head
28
Signal Processor Unit
29
Figure 5 - the Commander P2 SPU with Wiring & Diagnostic Covers Removed
29
Compasses
30
Figure 6 - Vector G2 GPS Compass
30
Vector G2 and G2B GPS Compasses
30
Figure 7 - Fluxgate Compass
31
Figure 8 - Magnetic Compass Sensor
31
Fluxgate Compass
31
Magnetic Compass Sensor
31
45° Compass Transducer
32
Figure 10 - 45° Compass Transducer
32
Figure 9 - Externally Gimballed Magnetic Compass with Binnacle
32
Magnetic Compasses
32
Figure 11 - Heading Rate Stabilizer
33
Heading Rate Stabilizer
33
Other Compasses
33
Rudder Followers
34
Figure 12 - Rotary Rudder Follower
34
Figure 13 - Heavy Duty Rotary Rudder Follower
34
Heavy Duty Rotary Rudder Follower
34
Standard Rotary Rudder Follower & Rudder Linkage
34
Figure 14 - Linear Rudder Follower
35
Linear Rudder Follower
35
Auxiliary Controllers
36
CR-203 Remote
36
Figure 15 - CR-203 Handheld Remote
36
Figure 16 - TS-203 Fixed Remote
37
Remote
37
Other Controls, Indicators & Sensors
38
Figure 17 - Jog Lever
38
Figure 18 - External Rudder Angle Indicator - 3" Model
38
Jog Levers
38
Rudder Angle Indicator (RAI) - 3
38
Figure 19 - Twin-Fin Wind Transducer
39
Twin-Fin Wind Transducer
39
Rudder Drives and Interfaces
40
CT7 Thruster Interface
40
Figure 20 - CT7 Interface
40
Figure 21 - Drive Boxes to Meet All Needs
41
Other Drive Boxes
41
Pumps & Drives
42
Other Equipment
42
Figure 22 - Hydraulic Pump & Solenoid Value
42
Figure 23 - Cable Drives
42
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
Electrical Connection
47
Mounting
47
Heading Rate Stabilizer
48
45° Compass Transducer
48
Electrical Connection
48
Mounting
48
Magnetic Compass and Sensor
48
Electrical Connection
49
Mounting
49
Rudder Follower
50
Rotary Rudder Follower
50
Mounting
50
Electrical Connection
51
Heavy Duty Rotary Rudder Follower
51
Figure 24 - Rudder Follower Linkage Geometry
51
Linear Rudder Follower
52
Figure 25 - Typical Arrangement of Linear Rudder Follower on an Outboard's Steering Cylinder
52
Mounting
52
Figure 26 - Band Clamp and Plastic Brackets
53
Figure 27 - Installed Arrangement of Brackets
53
Figure 28 - Fasteners, Stainless Bracket Arrangement
54
Electrical Connection
55
Other Equipment
55
Signal Processor Unit
56
Mounting
56
Wiring the SPU - General
56
Table 1 - Minimum Recommended Wire Gauges
56
Connectors on the SPU
57
Figure 29 - Removal of SPU Wiring Cover
57
Figure 30 - SPU Connector Wiring Label
57
Wiring the System
58
Power Supply
58
Figure 31 - Typical Battery Connection to SPU
58
Figure 32 - Typical Battery Connection to Drive Boxes
59
Figure 33 - Reducing Supply Voltage Losses
59
Input & Output Connections
60
Auxiliary Controller(S)
60
Control Head
60
Figure 34 - Wiring Connections for Control Head, Handheld Remotes, and Fixed Remotes
60
Figure 35 - Wiring Connections for Jog Levers
61
Figure 36 - Wiring Connections for Four-Way Valves with Jog Levers
61
Four-Way Valves, Used with Jog Levers
61
Jog Levers
61
Compasses
62
Figure 37 - Wiring Connections for Analog Compasses
62
Figure 38 - Wiring Connections for 45° Compass Transducer
62
Figure 39 - Wiring Connections for Twin-Fin Wind Transducer
63
Figure 40 - Wind Transducer with NX2 Wind Data Instrument
63
Wind Transducer
63
Figure 41 - Wind Transducer with Classic Nexus or NX2 Network Server
64
Figure 42 - Wiring Connections for Rudder Followers
64
Rudder Follower
64
Figure 43 - Wiring Connections for Rudder Angle Indicators
65
Rudder Angle Indicators
65
Drive Outputs
66
Figure 44 - Wiring Connections for Reversing DC Motors
66
Figure 45 - Wiring Connections for Linear Actuators or Mechanical Rotary Drives
66
Linear Actuators or Mechanical Rotary Drives
66
Reversing DC Motor Hydraulic Systems
66
Figure 46 - Wiring Connections for Shunt Field Reversing Motors
67
Figure 47 - Wiring Connections for Standard Four-Way Solenoid Valves
67
Shunt-Field Reversing Motors
67
Standard Four-Way Solenoid-Activated Hydraulic Valves
67
Figure 48 - Wiring Connections for Constant Running Electric Pump
68
Figure 49 - Wiring Connections for Two-Speed Solenoid Valves
68
Two-Speed Solenoid Valves
68
A.C. Solenoids
69
Figure 50 - Wiring Connections for A.C. Solenoids
69
Figure 51 - Wiring Connections for Proportional Solenoid Valves
69
Proportional Solenoid Valves
69
Azimuth Drives, Surface Piercing Drives and Jet Drives
70
Figure 52 - Wiring Connections for Isolation Amplifiers
70
External Alarm Output
71
Figure 53 - External Alarm, Using SW'D B- Output
71
Figure 54 - External Alarm, Using SW'D B+ Output
71
Figure 55 - External Alarm, SW'D B- Output - with Power Fail Option
72
Figure 56 - External Alarm, SW'D B+ Output - with Power Fail Option
72
NMEA 0183 Input & Output
73
Figure 57 - Typical NMEA 0183 Connections
73
PC Input & Output
74
Figure 58 - Connection to a PC with a DE-9 Connector
74
Figure 59 - Connection to a PC with a DB-25 Connector
74
Table 2 - NMEA Signal Translation Guide
74
Other Connections
75
Comnav Network
75
Miscellaneous I/O
75
Thruster Interface
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
Figure 60 - Power off Sequence
81
Using the Control Head - LCD Screen & Buttons
82
Figure 61 - Using the Control Head
82
Operating Modes & Menus
84
Figure 62 - a Typical Menu
84
Alarm Clear
85
Dockside Setup Menu
86
Figure 63 - Entering Dockside Setup
86
Figure 64 - Dockside Setup Menu
87
Reset
87
Table 3 - Vessel Types
87
Vessel Type
87
An. Comp. Type (Analog Compass Type)
88
Table 4 - Analog Compass Types
88
Alarm O/P (Alarm Output)
89
Compass Setup
89
Drive Setup
89
Exit
89
Figure 65 - Dockside Setup Menu
89
Figure 66 - External Alarm Configuration
90
Figure 67 - External Alarm Type Configuration
90
Language
91
Thrust MAX
91
Thrust MIN
91
Thrust Type
91
Setup Procedures
92
Vessel Type
92
Figure 68 - Set Vessel Type
92
Drive Setup
93
Figure 69 - Move Rudder to Starboard
93
Figure 70 - Move Rudder to Port
94
Figure 71 - Center the Rudder
94
Bleeding a Hydraulic Steering System
95
Figure 72 - Adding Fluid Capacity
95
Figure 73 - Bleeding Cylinder, Rod Moving Left
96
Figure 74 - Bleeding Cylinder, Rod Moving Right
96
Drive Setup (Continued)
97
Figure 75 - Drive Test OK
97
Compass Setup - Dockside
98
Figure 76 - Set Compass Type
98
Figure 77 - Compass Verification (Mag Sensor Shown)
99
Figure 78 - Compass Verification Failed
99
Compass Setup - on the Water
100
Compass Compensation
100
Magnetic Compass Sensor
100
Heading Rate Stabilizer
101
Figure 79 - Fluxgate Compass Verification & Compensation
102
Fluxgate Compass
102
45° Compass Transducer
103
Figure 80 - Compensation Failed
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
Figure 81 - Typical Standby Mode Screen
111
Standby Menu
112
Compass Source
112
Default Turn
112
Figure 82 - Standby Menu (Pages 1 & 2)
112
Station Lock
112
Backlight Level
113
Battery
113
Compass Cal (Compass Calibration)
113
Contrast (Monochrome Only)
113
Fishzag Time
113
Graphics (Monochrome) Display (Colour)
113
Watch Alarm
113
Power Steer Mode
114
Figure 83 - Typical Power Steer Mode Screen
114
Power Steer Menu
115
Auto/Nav Limits
115
Figure 84 - Power Steer Menu
115
RAI Offset
115
Stdby/P.str Limits (Power Steer Rudder Limits)
115
Auto Mode
116
Figure 85 - Typical Auto Mode Screen
116
Auto Menu
117
Figure 86 - Auto Menu, Pages 1 & 2
117
Figure 87 - Guidelines for Setting Rudder Gain
117
Rudder Gain
117
Counter Rudder
118
Figure 88 - Guidelines for Setting Counter Rudder
118
Seastate
118
Turn Rate
118
ALC (Automatic Leeway Correction)
119
Figure 89 - HI and lo Speed Icons (Left of Rudder Angle Indicator)
119
Parameter Set
119
Speed Source
119
Speed Trip Pt (Speed Trip Point)
119
Thruster Assist
119
Thruster Gain
119
NAV Mode
120
Figure 90 - Typical NAV Mode Screen (Normal Display)
120
Nav Menu
121
Figure 91 - Nav Menu, Pages 1 & 2
121
Nav Source
121
Waypt. Arrival (Waypoint Arrival)
121
XTE Limit (Cross-Track Error Limit)
121
Correction
122
Max Correction
122
Table 5 - NAV Mode Correction
122
XTE Sense (Cross-Track Error Sense)
122
Commanded Heading Displayed
123
Correction Set to CTS - Steering a Direct Bearing
123
Figure 92 - Steering with Correction Set to CTS
123
Correction Set to XTE - Cross-Track Error Steering
124
Figure 93 - Steering with Correction Set to XTE
124
Figure 94 - Response of Vessel to a Large Cross-Track Error
125
Correction Set to both - Steering To/Along a Track
126
Figure 95 - Steering with Correction Set to both
126
Alternate NAV Display
128
Figure 96 - Typical NAV Mode Screen (Alternate Display)
128
Dodge
129
Figure 97 - a Dodge in Progress (in AUTO Mode)
129
Figure 98 - Vessel Track During a Dodge Manoeuvre in AUTO Mode
130
Figure 99 - Holding at a Heading Part-Way through a Dodge Turn
131
Jog Lever Turns
132
Figure 100 - Typical Jog Lever Activated Screen
132
Advanced Operations
135
WORK Mode
135
Automatic WORK Mode
135
Figure 101 - Typical WORK Mode Screen (Engaged)
135
Manual WORK Mode
136
Work Menu
137
Autotrim
137
Figure 102 - WORK Mode Menu
137
Rudder Bias
137
Rudder Scale (Rudder Scale Factor)
137
Work Mode State
137
Work Trip Pt. (Work Trip Point)
137
WIND Mode
138
Figure 103 - Typical WIND Mode Screen (Normal Display)
138
Figure 104 - WIND Mode Tack Query
139
Tacking
139
Figure 105 - Tack Response for Various Points of Sail
140
Figure 106 - Gybe Response for Various Points of Sail
141
Gybing
141
Alternate WIND Mode Display
142
Figure 107 - Typical ALTERNATE WIND Mode Screen
142
Figure 108 - Commanded Wind Angle Changed to 90
143
Figure 109 - Arrow Outline Shows Commanded Wind Angle
143
Wind Menu
144
Wind Source
144
Figure 110 - Wind Menu, Pages 1 & 2
144
Table 6 - Wind Source Selection
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
Figure 111 - Typical Special Turn Query
146
Figure 112 - U-Turn Query
147
Figure 113 - U-Turn Vessel Path
147
U-Turn
147
Circle Turn
148
Figure 114 - Circle Turn Query
148
Figure 115 - Circle Turn Vessel Path
148
Figure 116 - M.O.B. Turn Query
149
Figure 117 - M.O.B. Turn Vessel Path
149
M.O.B. - man Over-Board
149
Figure 118 - Fishzag Turn Query
150
Figure 119 - Fishzag Turn
150
Fishzag
150
Figure 120 - Pretack Turn Query
151
Pretack (Preset-Tack)
151
Figure 121 - Tack Query in Regular (Left) and Alternate (Right) AUTO-WIND Modes
152
Tack
152
Figure 122 - Gybe Query in Regular (Left) and Alternate (Right) AUTO-WIND Modes
153
Gybe
153
Multiple Control Heads & Auxiliary Controllers
154
Station Lock/Unlock
154
Figure 123 - Station Lock Icons on Main (Left) and Aux. Control Head, When In-Command (Right)
154
Watch Alarm
155
Entering the Password
156
Figure 124 - Password Query Pop-Up Window
156
Changing the Password
157
Figure 125 - New Password Pop-Up Window
157
Care & Maintenance
161
Cleaning and Appearance
161
Protection of Wires and Cabling
161
Periodic Checks
161
Fuse Replacement
162
Table 7 - Fuse Replacement Guide
162
Appendix 1 _______________________________________________________________________________ 165 NMEA 0183 Sentences Accepted and Transmitted by the Autopilot
165
Messages Accepted
165
Table 8 - NMEA 0183 Sentences Accepted by the Commander P2
165
Table 9 - NMEA Sentence Priority
166
Messages Transmitted
167
Appendices
165
Appendix 2 _______________________________________________________________________________
169
Error Messages
169
Table 10 - Warning Messages
169
Table 11 - Error Messages
170
Table 12 - Critical Error Messages
171
Appendix 3 _______________________________________________________________________________
173
Auxiliary Head / Remote Power on
173
Figure 126 - JP12 & JP13 in Factory Default Position (Left) and after Moving Shunts (Right)
173
Appendix 4 _______________________________________________________________________________
175
Diagnostic Leds
175
Table 13 - Diagnostic Leds
175
Appendix 5 _______________________________________________________________________________
177
Upgrading Firmware
177
Appendix 6 _______________________________________________________________________________
179
General Specifications
179
Table 14 - General Specifications
179
Compass Safe Distances
180
Table 15 - Compass Safe Distances
180
CE Compliance
181
Index
185
User Notes & Settings
191
User Settings 1
191
Table 16 - User Settings
193
ComNav Commander P2 Quick Reference Manual (2 pages)
Brand:
ComNav
| Category:
Marine Equipment
| Size: 0 MB
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