Vector G2 & G2B GPS Compasses
Contents
1. 0850 date code second generation units were shipped with the factory default configuration described in revisions 1 4 through 1 6 of this manual However customers may if they wish change those earlier date code second generation units to the revised configuration and re wire the unit s installation as described in this Addendum Indeed ComNav recommends that customers using the Vector G2 amp G2Bs with any ComNav autopilot make these changes in configuration amp wiring since one significant result of the revisions is better steering performance by the autopilot Differences between Generations All Vector G2 amp G2B GPS Compasses are customised OEM versions of certain GPS Compasses made by Hemisphere GPS formerly CSI Wireless of Calgary Alberta Canada and Scoitsdale Arizona U S A www hemispheregps com e The first generation ComNav Vector G2 is based on Hemisphere s Vector GPS Compass while the ComNav Vector G2B is based on the Vector PRO All these models use Hemisphere s SLX GPS receiver technology e The 2007 second generation Vector G2 amp G2B are based on Hemisphere s initial MV100 series which uses their Crescent GPS custom receiver processor chip technology the G2 is based on the MV100 the G2B on the MV110 e The 2008 amp 2009 second generation Vector G2 amp G2B are based on Hemisphere s late 2007 revision of the MV100 series the G2 on the MV100 the G2B on the MV110 All ComNa2. ComNav Mua weo Luc Vector G2 amp G2B GPS Compasses Second Generation Installation amp Operation Manual Addendum 1 Revisions to Wiring amp Configuration ComNav LE COMPLIES WITH CE REGULATIONS ISO 9001 PN 29010078 V1 6 Addendum 1 gn ComNav Vector G2 amp G2B Installation amp Operation Introduction Introduction As a result of feedback from customers the factory default configuration of the Vector G2 amp G2B has been changed in order to provide improved out of the box operation of the units This document describes those changes and where the information in here should be used instead of the information in the supplied Installation amp Operation manual vir6 Note This Addendum applies only to the second generation of the Vector G2 amp G2Bs mainly to the early 2009 manufacturing runs date codes 0902 0907 amp possibly up to 0914 Vector Generations The generation of a Vector G2 amp G2B can be determined by the initial 4 digits of its serial number which are a date code identifying the year and week it was manufactured The serial number is on the label on the underside of the enclosure The first generation had date codes of 0721 or less For that generation please refer to revision 1 2 of this manual The second generation began with a date code of 0722 The second generation s date codes prior to the early 2009 builds reached 0850 All those 0722
3. bandwidth estimation calculation a simple MS Excel worksheet for the G2 You should use the lengths of the data in the example sentences in the figure in your own calculation to check that any changes you wish to make do not exceed the bandwidth at the Baud rate s the G2 is configured to If they do you will have to change the G2 s Baud rate accordingly or else set up a different lower bandwidth combination of enabled sentences amp update rates 14 if you change Port A s rate using HyperTerminal or PocketMAX you will have to change their Baud rates too right after the G2 s rate is changed The Navigator G2 automatically detects the G2 s Baud rate in contrast Document PN 29010078 V1 6 Addendum 1 28 Configuration ComNav Vector G2 G2B Installation amp Operation C WAN Apeay JI OH auudinba 18430 W014 sa soyewnsa WAPIMPUET Z9 JOVOA Hd 3 E H m OH 01 UD WAH pue 204 40 GI 424 21 e aueu euondo ueo 1OY S LAH OGH iii SE 20uajuas uo spu d p xew 440 0 ZH 0Z 40 OL e Z L Z O aq Ayensn ueo s32y ii YE ayes WELS ay aAey JSNW je OS UMOYS aOUanbas ay UI SaDUaJUaS ASO Ayeuwou ae aay j Tag paads buipeay suonipuo uoydacas jeubis uo spuadap sa6uo aq jybiw saouajuas 19470 S ASD 2 WSO ZE LL buneuiuuea 404 Z snjd aauajuas ajdwexe y ul SiajDeseYyd Jo Jaquunu si yjbua auajuag ra ice oer 028 008P Las pneg e upapueg jo juadied bi pt V
4. especially for 12 Volt systems The minimum supply voltage is specified as 11 Volts at the loose wire end of the G2 s cable On a 12 Volt battery system it is possible if the battery is weak or partially discharged and if there are other loads along the wiring from the battery to the end of the G2 s cable that the cable end voltage will drop below 11 Volts In such circumstances the G2 may exhibit erratic behaviour such as periodic resetting Document PN 29010078 V1 6 Addendum 1 4 ComNav Vector G2 amp G2B Installation amp Operation Wiring Data Connections Autopilot GPS Display Chartplotter PC etc There are a number of ways to make the data connections required between the Vector G2 and other equipment on the vessel See Figure 1 Figure 3 and Figure 4 for examples e The G2 is typically used with a ComNav Autopilot System e g Commander P2 Admiral P3 2001 5001 etc an optional ComNav Navigator G2 GPS Compass Display System and a generic Chartplotter or other type of Navigation System gt A PC can be used instead of the Navigator G2 Display to configure the Vector and or monitor its status APC can be used instead of a Chartplotter or other type of NMEA Navigation equipment to perform the Navigation display amp control functions setting waypoints etc Each of those connection schemes is described in more detail below Other schemes may also be possible on your vessel or in your
5. P2 P3 Caution You can NOT do the same for the Rx signal i e connect both the G2 s Tx signal and the P2 P3 s NAV OUT signal to the PC s Rx pin Doing so will damage either the G2 or the P2 P3 or both JE you encounter any problems with this wiring scheme use of an RS 232 lt RS 422 Convertor will then be required Using a PC for both Vector G2 Control Display amp a Navigation Program The PC can be used simultaneously for both display amp control of the G2 and for Navigation display amp control In this scheme two COM ports on the PC will be required or multiple USB to Serial adapters or a multi port USB adapter The wiring for this scheme typically will be the same as Figure 4 Two programs will need to be running on the PC e One program for Navigation display amp control e One program for controlling the G2 and displaying its output Selection of which COM port on the PC to assign for Navigation use and which port for Vector G2 use as well as Baud rates will depend on the programs used Document PN 29010078 V1 6 Addendum 1 13 ComNav Vector G2 G2B Installation amp Operation Configuration Normal Operation Once the Vector G2 has successfully acquired a sufficient number of GPS signals of high enough quality it begins to generate navigational data position heading speed and so on Its up to you what you do with that data of course The G2 is configured at the fa
6. RS 422 levels but only at RS 232 levels for example the COM port on a PC is always at RS 232 levels Such equipment often described as being NMEA compatible will require using one or both of the G2 s RS 232 outputs The G2 s Transmit Tx signal wire s must be connected to the Receive Rx pin s of the other device Inputs Both ports Receive inputs Rx wires are at RS 232 levels only The Receive inputs are used for controlling the G2 with commands sent to it on Port A to enable sentences set update rates set Baud rates etc and for firmware upgrades via the input of Port B Port B may also be used for receiving DGPS correction data RTCM SC 104 from an external source see the JDIFF command on page 22 If you are going to use the G2 s RS 232 input connections the Tx signal wire s from the other device must be connected to the Ax wire s of the G2 Signal Grounds Whether or not to connect the G2 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 e RS 422 per the NMEA 0183 Standard the Listener will have optically or galvanically isolated RS 422 inputs thus it is usually not strictly necessary and sometimes it is not even possible to connect the Grounds For example the Commander P2 s NAV1 2 inputs NMEA 0183 Listeners are op
7. an invalid state ComNav recommends that you use PocketMAX only on a fairly new PC with a fast CPU lots of RAM and standard COM ports Caution Please pay attention to the doing many things warning in the first section of the PocketWAX manual Also please note that PocketWMAX was designed to support all of Hemisphere GPS products and so some of its features do not apply to the G2 Updated versions of PocketMAX may be released in future please check on Hemisphere GPS s web site The current version when this manual was being written was 2 2 0 Document PN 29010078 V1 6 Addendum 1 18 ComNav Vector G2 G2B Installation amp Operation Configuration Some points to be aware of if you wish to use PocketMAX e It does not know about a few sentences that the G2 supports e g the GPHDM sentence thus it is not possible to control those sentences with PocketMAX e does not know the full range of Update rates that a few sentences can be set to eg GPGSA amp GPGSV can be set to 0 2 Hz e Each time you start it you must select Hemisphere Vector as the type of Receiver in use in the drop down selector box on the program s start up screen that is the closest type of Receiver to a G2 that PocketMAX can be set for Receiver Type e i i Hemisphere GPS Hemisphere Vector here Bluetooth a Figure 5 PocketMAX PC GPS Receiver Type Selection Generate Rep
8. application of the G2 All data communications from to the G2 is done with serial data signals there is also a separate Alarm signal from the G2 using the contacts of a relay Serial Ports The G2 has two serial ports denoted as Port A amp Port B The serial ports are full duplex they can transmit amp receive simultaneously Outputs The G2 can output an extensive set of standard and proprietary NMEA 0183 sentences on the serial ports geographic position amp vessel heading data status of the visible GPS satellites internal sensor data Beacon data amp status and so on The G2 is factory configured to output general Navigation data on Port A and Autopilot data on Port B You may change the configuration if you wish see page 18 for full details Each port s output Transmit is duplicated with one connection at the RS 422 electrical levels specified in the NMEA 0183 Standard and the other at the RS 232 levels typically used for computers Both of the outputs from a Port always have the same data signals amp timing irrespective of electrical level The choice of which electrical level s to use depends on the serial port type s supported by the other equipment you wish to connect to You may find that the other equipment needs one or the other type or a mixture of both RS 422 Most marine equipment will require using the G2 s RS 422 output s for example ComNav Commander P2 Admira
9. for the Standby Auto amp Nav menus in the P2 Installation amp Operation manual 5001 System The wiring for a 5001 is similar to that of a Commander P2 two RS 422 NAV input ports and one RS 422 output port the 5001 also has an RS 232 I O port but that should not be used with a Vector G2 All G2 wiring connections to a 5001 must be made at the 5001 s Processor Card see page 4 24 in the 5001 s Installation amp 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 G2 a Chartplotter etc see page 5 15 in the 5001 manual It may also be necessary to configure the 5001 s COMM port to transmit NMEA output signals if you need those see page 5 6 in the 5001 manual Other ComNav Autopilot Systems All other ComNav autopilots require the use of an optional ComNav Sine Cosine Interface Box PN 21010004 with matching interface cable PN 31110023 or 31110051 to use them with a Vector G2 See the instructions included with the Sine Cosine Box for wiring and setup information Note that the G2 s Port B RS 422 wires are the ones to be connected to the Convertor Interfacing to a ComNav Navigator G2 Display System See Figure 1 Wiring of the Navigator G2 is fully described in the Navigator G2 s Installation amp Operation manual Note that there is some flexibility in how the wiring between the Vector amp the Navigator can be arra
10. sentences please refer to the GPS Technical Reference NMEA like because these sentences follow the general syntax rules of NMEA 0183 although they are not part of that standard but rather have been defined by Hemisphere GPS These sentences are available only on their own GPS products and equipment based on those such as the Vector G2 Document PN 29010078 V1 6 Addendum 1 16 ComNav Vector G2 G2B Installation amp Operation Configuration Baud Rate All ComNav autopilots and all marine equipment which is compliant to the NMEA 0183 Standard communicate at 4800 Baud for both input amp output But although the NMEA Standard specifies 4800 Baud it is common for NMEA compatible equipment to be able to work at higher speeds especially at RS 232 levels Each of the Vector G2 s two output ports can be configured independent of each other to communicate at all conventional Baud rates from 4800 up to 38400 Baud e The factory default configuration of both Ports A amp B is 4800 Baud Note for operation with all ComNav autopilots the G2 s factory default Baud rate of 4800 must be used For operation with other equipment other Baud rates may be allowable depending on the equipment Electrical Interface Another factor in using the G2 is what type of the electrical interface i e signal levels rise fall times circuit impedances the other equipment uses for its Input Output navigation da
11. the Differential Age Timeout SJAGE age eage 6 to 8100 seconds JATT GYROAID NO YES Query or Enable Disable the Gyro Aid function Query or Set Heading Output Offset SJATT HBIAS hbias ehbias range is 180 to 180 Query or Set Level Mode Operation eT LEVELLNO NES e YES Tilt less than 10 JATT NEGTILT NO YES Query or Set the Pitch Roll sign convention e YES reverse sign Query or Set the Talker ID for heading sentences JATT NMEAHEJ 0 1 e 0 all sentences use GP el HEHDG HEHDT HCHDM Query or Set the Pitch Roll Offset eo Teel ol poids epbias range is 15 to 15 Query or Set the Pitch Roll function eee ROR NOES eNO Pitch YES Roll JATT SEARCH Force a new RTK Search JATT TILTAID NO YES Query or Enable Disable the Tilt Sensor Calibrate the Tilt Sensor WATT HCTGAL the G2 must be level when this command is issued Query or Set the Baud rate JBAUD rate OTHER erate 4800 9600 19200 38400 if the G2 s Baud rate is changed change the other device too Query or Set the DGPS source e NONE gt Operate in autonomous mode JDIFF source e WAAS gt SBAS corrections e OTHER RTCM SC 104 corrections input through Port B e BEACON Radiobeacon corrections G2B only JGEO Queries frequency and location of SBAS satellites JMASK angle Set a cut off elevation below which satellites will be ignored ang e Angle range is 0 to 60 Turn off all NMEA amp Proprietary data output e The PC
12. 2 ports to a PC serial port or to the DE9 P end of a USB to Serial adapter connect the wires to a DEY female connector a socket type aka DB9 S as follows ren WireColor G2Signai COM Port Signal Table 4 PC COM Port DEQ to G2 s RS 232 Port A or B DB25 Connectors If the PC has a DB25 COM port connector connect the wires from the G2 to a DB25 female connector aka DB25 S as follows een Wire Goor Spe GOM Port Signal 30 Black w Brown Stripe Port B Receive data Transmit Data Signal Ground Signal Ground Table 5 PC COM Port DB25 to G2 s RS 232 Port A or B Caution You can NOT wire both of the G2 s RS 232 ports to one PC COM port simultaneously You will probably only be using the G2 s RS 232 Port A when connecting to a PC However if you do wish to connect to both of the G2 s RS 232 ports simultaneously you will need to have two COM ports on the PC with each wired as listed above Be sure to wire the Signal Ground to BOTH COM ports Note none of the other RS 232 signals that are normally available on PC COM ports amp sometimes used by the ports amp or equipment connected to them such as the status amp flow control signals RTS CTS DSR DCD etc are available on nor used by the G2 s serial ports Document PN 29010078 V1 6 Addendum 1 10 ComNav Vector G2 amp G2B Installation amp Operation Wiring Using a PC for Vector G2 Control a
13. A and Port B may have different Baud rates See pages 17 amp 28 for more details Document PN 29010078 V1 6 Addendum 1 6 ComNav Vector G2 amp G2B Installation amp Operation Wiring Interfacing to a ComNav Autopilot Commander P2 or Admiral P3 Figure 1 shows the typical connections used with a ComNav Commander P2 Autopilot System an Admiral P3 would be wired identically a ComNav Navigator G2 GPS Compass Display System and a generic Chartplotter or other type of Navigation System Note this wiring information assumes that the G2 is in its factory default configuration Autopilot data on Port B and General Navigation data on Port A see pages 14 amp 15 The wiring from the G2 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 E ESCH iA etc Waypoints Position etc Note all prior amp current build P2 P3 SPUs have an error on this label the image below is correct sl Cd em SC EE Chartplotter Autopilot status OUT 1B user supplied RS 422 p tc Table 3 Commander P2 Connection Details These wires are supplied by the user thus colours are not specified here In addition to the above wiring the Commander P2 must be configured to look for both heading and speed data from its NAV1 input port and for Navigation data from NAV2 for details see the respective Source selection descriptions
14. But if you do wish to change any of the G2 s time constants the next table provides some formulae for figuring out an optimal value of each constant For further details please consult the GPS Technical Reference manual Time Constant Range seconds Formula COGTAU 0 0 to 60 max rate of change of course in sec e default 0 0 10 0 0 to 60 0 gyro ON e default 2 0 40 maxrate of turn in sec gyro OFF 20 max rate of turn in sec 0 0 to 60 sec max rate of rate of turn in sec e default 2 0 49 0 0 to 60 sec 10 e default 0 5 max rate of pitch in sec SPDTAU 0 0 to 60 sec e default 0 0 max rate of acceleration in metres sec 10 Table 15 Time Constant Formulae Speed conversions 1 Knot 0 51444 metres sec amp 1 Km H 0 53996 Knots Note the default value of 2 0 seconds for HTAU amp HRTAU is correct when the gyro is enabled If the gyro is disabled the equivalent default value of HTAU is 0 5 seconds But the HTAU constant is not automatically changed if the gyro is disabled and therefore must be changed manually CAUTION COG is computed using the Primary GPS receiver only and its accuracy is dependant upon the speed of the vessel noise in the COG measurement is inversely proportional to speed When the vessel is stationary the value of COG is invalid Document PN 29010078 V1 6 Addendum 1 27 ComNav Vector G2 G2B Installation amp Operation Con
15. Note the GPS Technical Reference manual describes many features and functions of the Hemisphere GPS Crescent technology that are not available in ComNav s G2 G2B products Some specific areas you should ignore are e All subscription e Dif L Dif amp OmniSTAR features and related commands e Ports C amp D e The JWCONF command e Binary outputs Bin 76 amp 93 Document PN 29010078 V1 6 Addendum 1 24 ComNav Vector G2 G2B Installation amp Operation Configuration Customising amp Fine tuning the Configuration There are a number of situations where you might want to change the Vector G2 s factory default configuration settings in ways other than simply enabling or disabling the specific sentences that your system requires or changing the update rates of the enabled sentence s Roll Alignment One common situation is if you have mounted the G2 athwartships In this case you must tell the G2 that it is mounted that way by sending it the following commands SJATT ROLL YES and JATT HBIAS 90 0 if you have mounted the G2 pointing to Port or JATT HBIAS 90 0 if you have mounted the G2 pointing to Starboard The ROLL command tells the G2 that it is pointing athwartships so that it will output its RTK based pitch roll measurement in the roll field of the PSAT HPR output sentence The HBIAS command you would send only one of the ones above tells the G2 which side of the vessel it is pointi
16. PC s RS 232 output and or vice versa For an example see the section describing NMEA connections to the Commander P2 SPU s NAV ports in the P2 s Installation amp Operation Manual This method usually works fine on the P2 amp also on the Admiral P3 at any rate But it depends largely on the electrical drive capabilities of the PC s COM port circuits As well in a technical sense it violates the rules of the NMEA 0183 Standard since the voltage levels signal rise fall times and circuit impedances of RS 232 and RS 422 are not the same It may also cause electrical noise problems RS 232 is single ended wiring whereas RS 422 is differential ue twisted pair wires and thus withstands RFI amp EMI electrical noise better For those reasons ComNav strongly recommends against mixing RS 232 amp RS 422 However if you wish to try it with a P2 or P3 SPU e Wire the G2 s Port A RS 232 Tx signal to the PC COM port s Rx signal and wire the RS 232 Signal Ground both as shown in Figure 4 e Wire the PC COM port s RS 232 Tx signal to the IN 2A pin of the P2 P3 SPU s J9 and the PC s RS 232 Signal Ground to the SPU s IN 2B pin e Ifthe PC has only one COM port but you need to run both Navigation amp G2 Control programs on the PC see below you can also connect the PC s Tx signal amp Ground to the G2 s Port A RS 232 Rx amp Signal Ground wires in parallel to connecting them to a
17. R JASC GPGSV rate OTHER JASC GPHDG rate OTHER JASC GPHDM rate OTHER JASC GPHDT rate OTHER JASC GPROT rate OTHER JASC GPRMC rate OTHER JASC GPRRE rate OTHER JASC GPVTG rate OTHER JASC GPZDA rate OT HER Rate Hz 0 02 1 5 10 or 20 GPZDA 0 0 2 1 50r 10 0 0 2 1 50r 10 Oor 1 Oor 1 Oor 1 0 0 2 1 5 10 or 20 0 0 2 1 5 10 or 20 0 0 2 1 5 10 or 20 0 0 2 1 50r 10 0 0 2 1 50r10 Oor 1 0 0 2 1 50r 10 0 0 2 1 50r 10 Table 8 Control Commands for NMEA Output Sentences Not approved by the IEC for Marine use commana Serene JASC D1 rate OTHER JASC GPGBS rate OTHER JASC HPR rate OTHER JASC INTLT rate OTHER JASC RTCM rate OT HER PCSI 1 rate PCSI 2 rate Rate Hz 0 0 2 1 5 or 10 RD1 eme ooansoio ES PCSI CS1 0 or 1 0 or 1 Table 9 Control Commands for Proprietary Output Sentences The RTCM output sentence is all binary data and so should be used with care RTCM data is only available when the G2 is configured to use SBAS correction data see the JDIFF command in Table 10 Document PN 29010078 V1 6 Addendum 1 91 ComNav Vector G2 G2B Installation amp Operation Configuration GPMSK parameters Tune the Beacon receiver e Enable GPGGA GPGSA GPVTG amp GPZDA at 1 Hz e Set both ports Baud rate to BAUD 4800 9600 19200 38400 e Do a USAVE see Table 11 Query or Set
18. SI Beacon status sentences must be turned off with JOFF OTHER a PCSI 0 0 and or PCSI 1 0 command e The RTCM output sentence must be turned off with a J4STRING BAUD OTHER JASC RTCM 0f OTHER command Specify an initial position to speed up re acquisition time JPOS latitude longitude e Latitude amp Longitude must be in decimal degrees example JPOS 49 2 123 1 Table 10 Control Commands for Other Features amp Functions Caution J4STRING does an automatic JSAVE after making the other changes listed above That SAVE will any include any other changes you may have made before sending the J4STRING command to the G2 Document PN 29010078 V1 6 Addendum 1 22 ComNav Vector G2 G2B Installation amp Operation Configuration GPCRQ MSK Query the Beacon receiver s operational status G2B only GPCRQ MSS Query the Beacon receiver s performance status G2B only Query Current Antenna Separation EE e should always return 0 500 0 010 metres JATT HELP Provide a short list of commands available Query or Set the antenna separation eo Moree e this must not be changed from the default of 0 5 metres JATT SUMMARY Query current settings of several parameters Table 11 Status Query amp Save Configuration Commands The JRESET command should NEVER be used It does not reset the G2 s configuration to the ComNav factory defaults as you might expect but instead to Hemisphere GPS s own fac
19. Settings Ports Parameter Range Default Yours Alignment 1 Fore Aftor Athwartships Tore po ROLL NOYES NO HBIAS 180 0 to180 0 00 f PBIAS 15 0 to 15 0 o0 f SIE NONE WAAS EXTERNAL G2 NONE G2B also BEACON G2B BEACON GYROAID NO YES YES TLTAID NOYES VES f NMEAHE Joti S LH COGTAU 0 0t0200 0 HI 1 0 0t036000 J 20 HRTAU 0 0t036000 20 IAU 0 0t036000 J 05 1 SPDTAU 0 0t02000 00 f SMOOTH SHORT LONG 15to 6000 900 Table 17 User Settings Alignment amp Operational Document PN 29010078 V1 6 Addendum 1 30 ComNav Vector G2 amp G2B Installation amp Operation User Notes Document PN 29010078 V1 6 Addendum 1 31
20. ariant of the Hemisphere Crescent product but they were added after PocketMAX was designed S Apple Macs amp other types of personal computers have similar programs and there are many similar freeware shareware amp commercial programs available for Windows PCs and for Macs None are discussed here but all will have similar characteristics and things to watch out for to HyperTerminal Document PN 29010078 V1 6 Addendum 1 19 ComNav Vector G2 G2B Installation amp Operation Configuration Configuration Commands The NMEA like input sentences in the following tables are commands that can be used to configure the Vector G2 These commands must be sent to the G2 on the RS 232 Receive signal wire of Port A All commands must end with an END OF LINE sequence i e ASCII lt CR gt lt LF gt codes Some of the commands have optional parameters shown in square brackets in the tables The optional parameters if used should be entered with the comma shown below but without the square brackets In many cases it is possible to query the current value or status of one of the G2 s operating parameters or sensors by sending the associated command without a value for the parameter e g send JATT HBIAS to query the Heading Bias value e Some of these commands enable or disable the G2 s NMEA Proprietary and Binary output sentences The G2 responds by beginning to output the specified sentence at the specified update r
21. at you make are temporary unless you send a JSAVE command to the G2 If you power cycle the G2 before doing that all your changes will be lost and the G2 will power up with the configuration that was last Saved On the other hand if you do send a JSAVE while the G2 has some changes in settings that you meant to be temporary for example shutting off all normal data output so you can query amp inspect status more easily then those changed settings will be the permanent power up settings until you change things again and do another JSAVE Caution You MUST wait until the G2 responds with a SAVE OK reply after sending a JSAVE before you power down the G2 12 unless you are sending the command on Port Bes Rx wire in which case the OTHER parameter means Port A To avoid confusion ComNav recommends that all command input to the G2 be done on Port A Document PN 29010078 V1 6 Addendum 1 20 ComNav Vector G2 G2B Installation amp Operation Configuration Caution Many of the commands in the tables below will affect the performance of the Vector G2 Improper settings may result in degradation of system output which can affect the overall safety of the vessel and personnel zm me JASC GPDTM rate OTHER JASC GPGGA rate OTHER JASC GPGLL rate OTHER JASC GPGNS rate OTHER JASC GPGRS rate OTHER JASC GPGSA rate OTHER JASC GPGST rate OTHE
22. ate on the specified port or by ceasing to output the sentence When an output sentence can be set to different update rates the range of valid update rates is shown in parentheses in the Description column A rate of 0 disables output of a sentence All rates are in Hz For output sentences which can only be enabled or disabled the control parameter is either 0 1 where 0 disables output of the sentence and 1 enables it or the specific words e g NO YES to be used For commands that control sentences that can be output on either of the G2 s ports the command affects the output of Port AT unless the optional final parameter OTHER is added which causes the command to be applied to Port B The units of the various value parameters depend on the affected function or setting in the G2 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 e Other commands control some aspect of the G2 s operation for example the Baud rate that the specified port will run at The G2 responds by making the specified change and in most cases outputs a reply e g gt Jaaa OK e Other commands request some specific information from the G2 The G2 responds with that information but it only does so one time i e the reply does not update on a repeated basis unlike the NMEA amp other outputs All changes th
23. bles or wires Commander P2 shown NMEA 0183 Port B RS 422 YELLOW X_X__ YELLOW Wu BLACK STRIPE eet P SERIES SPU a Y SRPEai Boa liars i tas GC 5 A AEPA sa lt 2 8 Heading Source NAV INT aa a es Speed Source NAV IN1 LA Navigation Source NAV IN2 Figure 4 Typical Wiring with a PC based Navigation Program Document PN 29010078 V1 6 Addendum 1 12 ComNav Vector G2 amp G2B Installation amp Operation Wiring The PC would typically be running a Navigation program e g programs from Fugawi Jeppesen Nobeltec Rose Point Navigation or similar replacing the Navigation control functions of or as an backup to the Chartplotter In this connection scheme the PC will need to be hooked to the G2 via the latter s RS 232 connections but it will also usually be necessary to connect the PC to the autopilot and or other NMEA 0183 equipment at the NMEA Standard s RS 422 signal levels Since very few PCs have built in RS 422 ports an RS 232 lt RS 422 Convertor will usually also be needed as shown in Figure 4 Alternatively if your PC has USB ports a USB to 422 adapter could be used for the PC to autopilot etc connection Contact your ComNav Dealer for ordering information Note it is sometimes possible to mix the RS 232 electrical levels of a PC s COM port with the NMEA 0183 Standard s RS 422 levels driving into an RS 422 input from the
24. ck coloured signal wires each carrying a different signal which can be very confusing To help prevent wiring errors caused by many black wires all the wires in this cable are twisted in pairs with each black wire paired with its respective non black coloured counterpart Each pair is also held together by a short piece of tubing just after they exit from the cable s overall jacket If you must cut type 051 0063 003 be sure to maintain the Signal wire pairings For all the other cable types the second colour listed in the table below is either repeated bands of the colour or a thin spiralling stripe of that colour The wires are twisted in pairs but without any pair retaining tubing Caution The coloured stripe is either repeated bands of the colour or a thin spiralling stripe The stripe can be very hard to see especially the Blue Green amp Brown stripes all on Black backgrounds please inspect the wires carefully under a good light to be sure you are using the right wires Note the Colour Code information in the wiring diagrams see Figure 1 Figure 3 amp Figure 4 shows only the colour codes of the cable types currently supplied with the Vector cable tyoe numbers 051 0157 002 amp 051 0158 0001 see the 37 column in Table 2 above For the earlier cable types listed in the 1 amp 2 columns of Table 2 please use the colours in either the 1 or 2 column whichever applies that match the signals
25. ctory with a specific set of output data settings enabled output data sentences update rates and Baud rates All those are described in this section The suggested standard wiring diagrams see Figure 1 Figure 3 and Figure 4 are based on that factory default output configuration But you may change the G2 s configuration as required and even wire it differently than shown in the standard diagrams Output Ports Typically the user of a G2 wants it to output certain navigational data updated at rates that are suitable for the other equipment connected to the G2 and for what the overall navigation system is Supposed to be doing As well the bit rate i e Baud rate at which the G2 s two output ports are transmitting data amp receiving data if necessary must match the device s to which each is connected The G2 s two output ports Port A and Port B allow for two different sets of navigation data to be output from the G2 Each port can be configured with its own combination of enabled output data sentences sentence update rates and Baud rate e For example when a ComNav autopilot is being used with the G2 heading and speed from the G2 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 All ComNav autopilots need heading to be updated at a rate of about 10 Hz or more any slower causes the autopilot s steering contr
26. dD 8 0 0 0 0 0 0 OL zs ag l 0 020 00 2 0 000 9 261 SUDdD JI 0 0 0 0 0 0 OL QL Gt h0E0 0S 9 L1 8 S FZ SO GM 0801S POET N SSEDE L t 00 9EEZ6l SNOdD 9 0 0 L Cp L L OL Cp VI VW 00 9 Z61 M 0801S POET NGC LLG Video G 0 0 0 08 L L OL 08 91 7060 OG WO ZL N S S Y Z SO 2 M 0801S POET N 8SEDE L LGH 00 9EEZEL VODdD F 0 0 0 0 0 0 OL 6t OPO 282 0 43 Y10100 0 S LSZ0000 OYYN NLOdO 308 18 0 Sen SIE 308 180 Sen y ee 5u 7 LGd EZLL 9002 AeW ZL 9Z9 2 uo Aeywog je papsoza eeng 0 JAS aq UBD IL S UO ay JO S Jdwex jeaidA K ui SIE ynegz qg ulajey ynejog xew a2 2u zu u u jndjnO gZ9 ZH Joen g Hod Y HOd KS eT SES GES WS Ga ToT el 008r 2 a OC a V 0 5 es ari Os o RS Se ni z a 6 euy x a dey joj uogsenb e adAL i Bac fo wo n BA EE E 0 EE EIERE 40d Sp deH wopu eeg at wy p suf ma WI ole SIE 1093A Apps S2701 29U97U S VIWN PIXI YOSIN FA Figure 6 Data Bandwidth Estimation 29 Document PN 29010078 V1 6 Addendum 1 ComNav Vector G2 amp G2B Installation amp Operation User Notes User Notes amp Settings User Settings Once your Vector G2 has been installed and configured correctly you can make a record of all the settings you have chosen in the tables below Sentences Range DCH RS rasrees looz tso o Ia Psar oot ill Fenn oot nl nl mm ue Lal Il 4800 4800 9600 19200 BAUD rate 38400 4800 Table 16 User
27. ding Source NAV IN1 Speed Source NAV IN1 Figure 1 Typical Wiring Diagram of a Vector G2 System with Autopilot amp Compass Display Document PN 29010078 V1 6 Addendum 1 8 ComNav Vector G2 amp G2B Installation amp Operation Wiring 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 Vector G2 is via the G2 s RS 232 signals Ifit 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 i e at RS 422 levels a signal level convertor will be required see page 13 PC COM ports typically use a DEQ male a pin type aka DE9 P connector some older PCs may use a DB25 aka DB25 P connector e Desktop PCs sometimes have 2 or more COM ports although newer models usually only have one COM port It is possible to add COM ports to most desktop PCs by adding a suitable COM Port Expander card e Laptop PCs usually have only one COM port e Many newer PCs desktops amp especially laptops do not have a real COM port Instead they only have one or more USB ports and use driver software to allow application programs to access the USB ports as virtual COM ports gt lf the PC only has USB ports an external USB to Serial adapt
28. e using plastic tie wraps as necessary Cables amp Extensions There are two standard cable lengths supplied with the Vector G2 15 metres amp 30 metres lf the standard length cable supplied with your kit is too long you may shorten it as required If the standard length cable is too short for your installation longer cables are available on special order contact your ComNav dealer for details Alternatively you can route the cable into a customized break out box with internal terminal strips to a simple set of strips mounted on a bulkhead or other surface or use good quality soldered or crimped marine grade wire to wire connection techniques Or if you are using the G2 with a Navigator G2 GPS Compass Display the latter s Distribution Unit has a terminal strip for connecting an extension cable But no matter which extension cable connection method you use e The cable should be similar to the standard cable shielded marine grade e The extension s serial data both RS 232 amp RS 422 amp alarm wires should be at least 20 AWG and the respective pairs of signals see Table 2 should be twisted in pairs gt The total length of RS 232 signal wires cable plus extension should be no longer than industry standards for such cables although the specific maximum length may depend on what equipment you are wiring them to for example PCs especially laptops often can not handle more than about 25 metres of RS 232 wiri
29. entence is enabled when the G2 is shipped from the factory it is set to a 1 Hz update rate on Port A All the others are disabled and so are indicated with an X Maximum output rates are shown in the far right column for convenience To make changes see page 20 D oti Enabled Max PCSI CSO Beacon Status Information G2B only PCSI CS1 Beacon Status Information G2B only PSAT HPR Time True Heading and RTK based Pitch or Roll 1 PSAT INTLT Tilt Pitch and Roll Sensor s Measurement X SBAS Diagnostic Information Table 7 Proprietary Output Sentences PSAT GBS GNSS Satellite Fault Detection Note none of the proprietary sentences are approved by the IEC for marine use For full details on the G2 s proprietary sentences please refer to the GPS Technical Reference Binary Output Sentences The G2 can be configured to output certain data in sentences that are in a binary format in contrast to the human readable ASCII format of the G2 s NMEA amp Proprietary output sentences None of the binary sentences are enabled in the G2 s factory default configuration settings Note none of the binary sentences are approved by the IEC for marine use Caution Binary sentences may be incompatible with some NMEA equipment and or with PCs and other non NMEA equipment The incompatibility may be such as to cause a PC amp or other equipment to lock up Use them with care For full details on the G2 s binary
30. er will be required since the G2 does not have a USB interface These adapters typically have a USB A size plug at one end and a DEY male connector at the other end Most brands of adapters should work fine A number of different ones have been tried at ComNav all with success in fact a USB to 4 Serial Ports adapter is used by our Production A Testing staff when working on G2s D Connector Pinouts The figure below shows the pin numbering scheme for a PC COM port s DEY A DB25 connectors This figure can be looked at in two ways e tis the view from the outside of the PC looking at the pins of the male connector in the PC typically located somewhere on the back panel of the PC e tis also the view of matching female connector aka a socket type a DE9 S ora DB25 S when looking at the back i e wire side of that connector on the cable that plugs into the PC s male connector DE9 P or DB25 P 12 3 4 5 14 15 16 17 18 19 20 24 22 23 24 25 Figure 2 DE9 amp DB25 Pin Numbering These connectors are often referred to as DB9 but that is technically incorrect The letters B amp E designate the shell sizes a B shell is much bigger than an E shell it can hold up to 25 pins compared to 9 or 15 pins in an E shell Document PN 29010078 V1 6 Addendum 1 9 ComNav Vector G2 amp G2B Installation amp Operation Wiring DE9 Connectors To connect either of the G2 s RS 23
31. figuration DGPS Source The factory default DGPS correction source in the Vector G2 is NONE the default source in the G2B is BEACON This may be changed using the JDIFF command see Table 10 on page 22 To select SBAS signals for the DGPS data use a JDIFF WAAS command However this should only be done in areas where the visible SBAS satellites are sending data that is valid for the area where the G2 or G2B is currently located e For example the WAAS correction data is provided by the FAA in the U S so it is thus only officially valid for the continental U S Alaska Hawaii amp Puerto Rico Unofficially it is valid for much of southern Canada in a strip along the 49 Parallel and northern Mexico See the GPS Technical Reference manual for a more detailed description of the capabilities and limitations of the SBAS technology Note although the parameter in the JDIFF command which enables the G2 to use SBAS DGPS corrections is the word WAAS that word in fact tells the G2 to use whatever valid source of SBAS signals is visible in the geographic location the G2 is currently at Thus in Europe WAAS means use EGNOS and similarly in other regions which may have SBAS service The Beacon receiver in the G2B is always running no matter which DGPS mode is in use The receiver is by default running in full automatic tuning mode it may be changed to manual tuning using the GPMSK command see the GPS Tec
32. from the Secondary to the Primary antenna JATT PBIAS 7 5 Note the PBIAS command only affects the RT K based pitch roll computation for the HPR sentence not the actual tilt measurement by the tilt sensor in the INTLT sentence Document PN 29010078 V1 6 Addendum 1 25 ComNav Vector G2 G2B Installation amp Operation Configuration Disabling the Tilt Sensor The Vector G2 s tilt sensor is enabled by default You can turn the tilt sensor off with a JATT TILTAID 0 command The only time you might need to do that is when troubleshooting to ensure the GPS receiver is working properly Re calibrating the Tilt Sensor The tilt sensor is pre calibrated at the factory However if you experience any large amount of tilt measurement error more than about 6 from actual tilt angle you can recalibrate the sensor by using the JATT TILTCAL command To do this power off the G2 shield it from all satellite signals check that it is as level as possible power it back on and then issue the recalibration command You can observe the actual tilt measurements from the sensor by sending the JASC INTLT rate OTHER command to the G2 Disabling the Gyro Sensor The G2 s internal gyro sensor is enabled by default The only time you might need to disable the gyro is when troubleshooting to ensure GPS the receiver is working properly You can turn the gyro off by sending a JATT GYROAID O command Smoothing Output Data wi
33. he NMEA sentences please refer to the NMEA 0183 Standard For details on the G2 s specific capabilities fields format etc in the NMEA 0183 sentences please refer to the Hemisphere s GPS Technical Reference available on their web site NMEA 0183 Output The following NMEA 0183 sentences are available on the G2 Sentences enabled by the 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 X Maximum output rates are shown in the far right column for convenience To make changes see page 20 Table 6 NMEA Output Sentences Not approved by the IEC for Marine use Note all of these sentences are approved by the IEC for marine use except for the ones noted Note the NMEA Talker ID for the three heading sentences above may be changed from GP to HE for HDG amp HDT and HC for HDM Doing so indicates per NMEA 0183 s syntax rules that they come from a North seeking gyro heading sensor The change can be made with the JATT NMEAHE command see Table 10 on page 22 Configuring the G2 to use the HE Talker ID is not recommended Document PN 29010078 V1 6 Addendum 1 15 ComNav Vector G2 G2B Installation amp Operation Configuration Proprietary Output The following NMEA like proprietary output sentences are available on the Vector G2 Only the HPR s
34. heme uses the G2 s Port A RS 232 output and input if the PC is also going to be used to control the G2 and the Port B RS 422 output _ neither is a Navigator G2 Display System see page 7 This program can be found on Hemisphere s web site Note that there is also a PDA version of PocketMAX which can be run on a PocketPC Use of that version and wiring a PDA to the G2 are not described in this manual Document PN 29010078 V1 6 Addendum 1 11 ComNav Vector G2 amp G2B Installation amp Operation Wiring Vector G2 or G2B PC for Navigation Control amp Display using suitable software Port A RS 232 PC COM Port n BLUE ee 12 SC BLACK w BLUE STRIPE Z ps N D Type 9 pin Px Female Connector user supplied GREY RS 232 Signal Ground Use one or the other wire pair G2 amp NMEA connections into the Convertor inputs NMEA 0183 RS 232 are user selected oP Convertor _ but MUST be different__ D orner ei PC COM Port n eran oe E Signal amp Pin E ORL Re 2 a ee E 4 jaaa NS D Type 9 pin pena i Tx x 3a 8 Female Connector rae ee ee 7 D user supplied a B SES Toother erter g NMEA equipment This connection is needed only if _ Ship s Battery aS Se a ee Ses See the Navigation program requires autopilot status information I s may not be needed depends on convertor User supplied Autopilot System ca
35. hnical Reference If neither SBAS nor Beacon corrections are available an external source of RTC SC 104 differential corrections may be selected S JDIFF OTHER Baud Rates amp Data Bandwidth If you are going to change the enabled sentences and or update rates that the G2 is outputting on one or both ports you may need to change the Baud rate with the JBAUD command The factory default Baud rate for both Ports A amp B in the G2 is 4800 Baud this complies with the NMEA 0183 Standard The G2 s serial data is always formatted 8 N 1 which means that there are 10 bits sent per byte and so the factory default transmit receive data bandwidth is 480 bytes second on each port In any serial communications system the total number of bytes sent per second must not exceed the data bandwidth A good rule of thumb when setting up serial communications systems is that the total bytes sec should be less than 90 of the bandwidth e The NMEA amp proprietary sentences enabled in the factory defaults fit within the data bandwidth of the factory default 4800 Baud 417 4 bytes sec on Port A and 445 bytes sec on Port B If the Baud rate is too low i e bandwidth less than the total bytes sec that the G2 is configured to transmit the data will be corrupted in random amp unpredictable ways The result will typically be Invalid Data errors on the equipment that is connected to the G2 On the next page is a screen shot of a
36. l P3 and 5001 Autopilots all require RS 422 levels on their Heading Speed amp NAV input ports The G2 s RS 422 ports are Talkers i e transmit only in accordance with the NMEA 0183 Standard version 3 01 and the matching international Standard IEC 61162 1 RS 422 uses a pair of balanced signals in paired wires with the A signal on one wire amp the complementary B signal on the other e tis necessary to maintain the correct signal polarity when connecting one of the G2 s RS 422 output wire pairs to an NMEA 0183 Listener gt The G2 output port s transmit data A signal wire must be connected to the receive data A input terminal of the other device similarly the G2 s B output wire must be connected to the B input terminal of the other device 1 All the G2 s RS 422 output signals are referenced to the G2 s RS 232 Signal Ground although it is usually not necessary to connect that Ground to the other device if using only the RS 422 outputs see page 6 _ the A connection is often labelled Positive or ve or just and the B is Negative or ve or Document PN 29010078 V1 6 Addendum 1 5 ComNav Vector G2 amp G2B Installation amp Operation Wiring RS 232 The only electrical standard specified in NMEA 0183 is RS 422 However it is common for non marine equipment to be able to accept NMEA formatted data not at
37. lack SE RS 422 A Port B Transmit White Black Black stripe RS 232 Gnd Signal Ground Yellow RS 422 B oort B Transmi Black Yellow Yellow RS 422 A Secondary Port A Tx Black stripe Black stripe i Black ENT n a HCMOS A timing output White stripe n a Not connected Alarm Output Pin Drain for RF Shielding Table 2 Colour Coding of All Standard Cables The Power Input amp Ground Red Black wires are 18 AWG other insulated wires are 24 AWG Some of the signal descriptions apply only to the Ze generation the alternate signal listed in parentheses in those cases is for the 17 generation only The RS 232 Port B on the 1 generation only had the TX signal The RS 232 Secondary Port A was useable only for indentify the cable since the ComNav Part Number does not appear on it Description 051 0098 001 051 0158 001 alternate signal Blue Black f Black White stripe Blue stripe RS 232 Rx Port A Receive Brown Black f Port B Receive AGK White stripe Reese Secondary Port A Rx Orange DEES 1 ce second ve White The Drain wire on the 30m cable is insulated with black heat shrink special purposes OOO Document PN 29010078 V1 6 Addendum 1 3 ComNav Vector G2 amp G2B Installation amp Operation Wiring Cable Usage All cables can potentially be used on all generations of the Vector G2 For the 15 metre cable supplied on the first generation G2s marking 051 0063 003 there are several bla
38. ly 38575870 jou Sel ai ayepdn ZH Je yoea pajqeua anoge saqualuas e On I S S J q e O L 0 0 0 0 0 0 L 09 LLLLLG PO JL 41 0 0 0 0 0 0 L O00ZH GIG 621 6ZZ9SL LOYS ge 0 0 0 0 0 0 L F AL 8 VGZ UNI LWSd SZ 0 0 0 6 L L OL GC ZEN SO Z ek 992 00 9EEZ6L UdH DNgd F 0 0 0 0 0 0 OL 89 69 1 91 82 02 l G70 68 LE 98 62 Ev 86 pZ 00 LEEZ6L SAD LVSd EZ 0 0 0 0 0 0 Lo LUoron LOZ 12 V 002 V 0 262 295 22 00 0 0 0d ISD ISOd e 0 0 0 0 0 0 L 99 gp 1 0 POE SZ 06 ZZ 12 V 002 W O OZE CG 00 0 0 0d 0SD ISOd L 0 0 0 i L L OL L4 iii DN UO LONdD OZ 002 Ol OL D L L D D iii 90 1 ek 997 LOHd9 6L 002 Ol Ol D L L D oz iii GO W S 8r2 NGHd9 84 0 0 0 EE L L D EE iii 96 4 26 1300 0 CG ge NGHdD IL 0 0 0 8E L L DL 8E 9900 00 800Z SO ZL O0 9EEZ6L VAZd9 OI Gy L Gt L L OL Gp HPZ 481 ONOL OW 08 EZZ LLL Lee OLAdS SH 0 0 0 0 0 0 OL 8 G 6 LO00 1000 000 ZE 000 Lee 000 22 0 000 GL OO rl SO 2000 EL 0 0 0 GEI To Z0 Ol 82 144036 Lb 80S0ZL LI LEE OL 0 M 0801S POET N SSE0E L LGH WOO IEEZ6LONYdO EL 0 0 0 Zh 70 CO L Lo i x Or OJI 19 ZE 6P 9G1 EZ LEYS S6O SE GE LLE ASOADS EL 0 0 0 CEL zo Z0 L 99 i x AZs Y8Z EL OZE SZZ SL 6L LE ZO LL 8E 6S0 E9 PL LL Z E ASOdO LE 0 0 0 vl CO 0 L CH is Als 1S0 0 ZL 67 oC LU gen rO en ZO PO GD LU UE ASDd9 OL 0 0 0 Z Ob zo Z0 L LS 06 6 V0 ll P6SE 701 S000 9EE261 1ISOdD 6 0 0 0 86 To Z0 L 6t DEE VSS ZE LE TEL PLE WVS9
39. mp Display Figure 3 shows the typical connections when using a PC instead of a Navigator G2 Display to configure the G2 and or monitor its status Note the PC is not necessary if the G2 s factory default configuration see page 15 meets your needs and if you do not wish to monitor any of the G2 s various status values This wiring scheme uses only the G2 s Port A RS 232 output and input Vector G2 or G2B PC for Vector G2 Control amp Display using PocketMAX PC or HyperTerminal PC COM Port Port A HS 292 Signal amp Pin EE BLACK w BLUE STRIPE gears e Pee z ere Rx e Tx 3 GREY RS 232 Signal Ground 5 D Type 9 pin Female Connector user supplied Figure 3 Typical Wiring with a PC for Vector G2 Control amp Display The PC would typically be running a dumb terminal program e g the Hyperterminal program that comes with Windows on PCs or Hemisphere s own GPS Control amp Display program PocketMAX DC More details on using Hyperterminal can be found at various Windows Help sources see the PocketWMAX User Manual for usage instructions on it Using a Vector G2 with a PC Navigation Program Figure 4 shows the typical connections when using a PC instead of a Chartplotter or some other type of NMEA Navigation equipment to perform Navigation display amp or control functions viewing the vessel s position on a chart setting waypoints and so on This wiring sc
40. ng gt The RS 422 signal wires can support much longer cable runs than the RS 232 wires since that standard provides for more immunity to noise and attenuation e The extension s power input wires should be at least 18 AWG to ensure that there is minimal additional voltage drop in the extension Document PN 29010078 V1 6 Addendum 1 2 ComNav Vector G2 amp G2B Installation amp Operation Wiring Standard Cables There have been five different standard cables supplied with ComNav Vector G2 amp G2B GPS Compasses across the two generations three 15 metre cables and two 30 metre cables The main difference between the various cables is in the colour coding of the wires The wire colour codes depend on the cable s marking number which is in fact the Hemisphere GPS part number on the cable s label However all cables of a given length have the same ComNav part number regardless of colour coding or marking Part Number 31110039 31110040 Length Marking 051 0063 003 051 0063 004 051 0157 002 051 0098 001 051 0158 001 Table 1 Cable Types The Marking is on a plastic sleeve located near the connector It is the only way to Port A Transmit Wire Colour Shipped On Vector Generation inital 2 051 0063 003 051 0063 004 051 0157 002 awe Red Power Input Black Black Black Blue RS 232 Tx Port A Transmit Green RS 422 B Green Black FE B
41. ng to When it is installed pointing to Port the G2 must add 90 to its RIK heading computations in order to get the vessel s correct heading alternatively when pointing to Starboard 90 must be subtracted from the computed heading Note the HBIAS command does not affect the RT K based pitch roll computation for the HPR sentence nor the actual tilt measurement by the tilt sensor in the INTLT sentence These values are always based on the tilt angle between the Primary amp Secondary antennae In order to tell the G2 that you have mounted it pointing at the bow JATT ROLL NO JATT HBIAS O Note this is the factory default You would only need to send these commands to the G2 if you have been using an athwartshios mounting and then have re mounted the G2 in a parallel to centreline orientation Biased Alignment s lf there is some bias in the alignment of the G2 s enclosure you will need to tell the G2 what that is Some examples e Ifthe enclosure is mounted pointed at the bow but at a slight angle say 5 5 to Port JATT HBIAS 5 5 For 5 5 to Starboard JATT HBIAS 5 5 e Ifthe enclosure is mounted athwartships but at an angle slightly less than abeam say 81 0 to Port JATT HBIAS 81 0 f pointed 81 0 to Starboard JATT HBIAS 81 0 e Ifthe enclosure is mounted with a slight tilt Say 7 5 from the Primary antenna to the Secondary antenna JATT PBIAS 7 5 If the tilt is
42. nged since part of the function of the Navigator s Distribution Unit is to be a simple convenient terminal strip for the G2 Document PN 29010078 V1 6 Addendum 1 7 ComNav Vector G2 amp G2B Installation amp Operation Vector G2 or G2B Power Switch a RED 18 AWG _ComNay SST BLACK 18 AWG Alarm Contacts na s F 7 y U See H U WHITE amp WHITE w RED STRIPE gt gt A gt AE Alarm System Cut off amp tape back Shield Drain wire Wiring Fuse or Breaker Ship s Battery 11 36 VDC Navigation System Controller or Display Chartplotter Radar etc NMEA 0183 Port A RS 422 Out GREEN lt A BLACK w GREEN STRIPE e GS FK Autopilot System User supplied Commander P2 shown cable or wires NMEA 0183 Port B RS 422 In 1 In 2 Out marai YELLOW X YELLOW w BLACK STRIPE e To Navigation System Controller WS am amp or other NMEA equipment ig A Navigator G2 shown Port A RS 232 BLUE a eae GD BLACK w BLUE STRIPE GREY RS 232 Signal Ground Port B RS 232 BROWN fo oe e BLACK w BROWN STRIPE ec EE GPS Compass Display System d ae HO Hs Ef rb H p H Ee pi a ER CEET ge em A a Je ria m i F Navigation Source NAV IN2 Hea
43. ol algorithm to respond too slowly to changes in the vessel s actual heading from wind waves current etc Speed is only needed at 1 Hz or less since it is not used in the steering algorithm but only to select which set of steering parameters is being used by the autopilot Baud rate is always 4800 e When used with other types of equipment e g a Chartplotter a Navigation program on a PC a Radar set typically there is other information needed position course over ground time amp date the GPS satellites status and so on Update rates required are usually slow 1 Hz or less As mentioned previously the G2 is configured at the factory for easy use in typical marine situations e On Port A is a set of sentences for general purpose marine Navigation use which collectively provides the following information Position course amp speed over ground time amp date True amp Magnetic heading rate of turn and GPS satellite status all at 1 Hz or less e On Port B are sentences for autopilot use True amp Magnetic heading at 10 Hz and speed at 1 Hz e Both ports are at 4800 Baud Document PN 29010078 V1 6 Addendum 1 14 ComNav Vector G2 G2B Installation amp Operation Configuration Output Data Formats There are three formats that the Vector G2 can output data in the NMEA 0183 Standard s format a proprietary format and a binary format For full details on t
44. ort Using HyperTerminal HyperTerminal available for free on all Windows PCs is an easy means to monitor the Vector G2 s operation and status But it is quite a bit harder to use it to control amp configure the G2 The main problem is that the G2 is constantly sending Navigation data as it s supposed to do which is displayed on HyperTerminal s active display screen in real time as it arrives character by character and line by line scrolling up in amp eventually off the display The result that it s hard to look at any one item or to see or edit while you type them in the commands you re trying to send to the G2 or see the G2 s responses to those commands Everything gets lost in the clutter of the continuously arriving Navigation data But despite these problems HyperTerminal is still useful and sometimes it s the only readily available means available to monitor amp control the G2 If your PC has two COM ports you can even run two instances of HyperTerminal simultaneously and thus monitor all output from the G2 s two serial ports The system must be wired as shown in Figure 3 or Figure 4 The G2 s Port A should be connected to the PC s first COM port if you want to monitor both of the G2 s ports Port B should be connected to the PC s second COM port 10 HDM A the other unknown sentences parameters were part of the customizations added in ComNav s v
45. s receiving data from the G2 would begin to be adversely affected For example an autopilot will begin to appear sluggish in its steering performance if the heading time constant is increased too far That s because the time lag on heading will become so large that the autopilot can not see small changes in heading quickly or perhaps even not at all 13 There will always be some residual jitter in computed heading data even with the G2 s sophisticated RTK algorithms It s an unavoidable effect of the physics amp underlying mathematics of the overall GPS system Document PN 29010078 V1 6 Addendum 1 26 ComNav Vector G2 G2B Installation amp Operation Configuration Time Course Over elt the vessel is resistant to quick Ground COGTAU GPVTG changes in its motion increase it Headin HTAU GPHDT HDG HDM elt vessel does not turn quickly increase it Rate Of Turn HRTAU GPROT e f vessel does not turn quickly increase it Pitch or Roll PTAU PSAT HPR elt vessel does not pitch roll quickly increase it Speed SPDTAU GPRMC VTG BIN 1 elf the vessel does not change speed quickly increase it Table 14 Smoothing Time Constants If your vessel is small and highly manoeuvrable or if you are unsure of how changing these values will affect your vessel and the other navigation equipment you have on board it is probably best to be conservative and leave the time constants at the default settings
46. ta connections All marine equipment which is fully compliant with the NMEA 0183 Standard e g ComNav autopilots uses RS 422 levels only Other on board NMEA compatible equipment e g PCs often uses RS 232 levels Each of the G2 s two output ports is available at both RS 232 amp RS 422 electrical levels the RS 232 and RS 422 output signals may be used simultaneously see Serial Ports on page 5 for more details Note on each port the sentences that the port is configured to output their update rates and the port s Baud rate will be the same for both the RS 232 and RS 422 signals from that port Alarm Output In addition to the data output on the G2 s two serial ports there is a separate Alarm output which indicates whether or not the G2 is providing valid heading output data An Alarm relay is located on the G2 s circuit board The relay s contacts are isolated from all circuitry in the G2 the G2 s internal processor controls the coil side of the relay but the contacts of the relay are connected only to two pins on the G2 s I O connector If the G2 is unpowered or if it is powered but is not able to compute valid heading data for example when it does not have good GPS signals at one of the two antennae the relay coil is de powered This causes the relay contacts to open which can then activate whatever system you wish to use to indicate a Loss of Heading condition When the G2 is po
47. teristics of the G2 s operation are done by means of a set of input commands in sentences that are similar to NMEA sentences These command sentences must be sent to the G2 from a suitable control device such as the Navigator G2 GPS Compass Display System or a PC via the Receive wire on the RS 232 side of the Primary Port A For an overview of how to configure the G2 s output sentences and tables of the G2 s available command sentences see 20 through 24 For a full description and explanation of all the G2 s command sentences please refer to the GPS Technical Reference manual Making Changes To make changes a suitable control device must be connected to the G2 e aComNav Navigator G2 GPS Compass Display e aPC running suitable software i e Hemisphere GPS PocketMAX PC program or HyperTerminal or some other dumb terminal program Using a Navigator G2 The Navigator G2 GPS Compass Display System is the easiest amp best way to monitor and control a G2 Full instructions are in the Navigator G2 Installation amp Operation Manual The system must be wired as shown in Figure 1 and in the G2 manual Using PocketMAX PC Full instructions are in the PocketMAX User Manual The system must be wired as shown in Figure 3 or Figure 4 Note PocketWMAX PC may not always run properly on some PCs It has been known to hang up and or crash the PC especially on an older slower PC and or leave the G2 in
48. th Time Constants The G2 incorporates user configurable time constants which can provide a degree of smoothing to the course over ground heading pitch rate of turn and speed outputs 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 G2 to smooth heading outputs with a filter that is 2 0 seconds in length Table 14 on the next page describes all the time constants Changing the Time Constants The G2 s default time constant settings are fine for most users But you can set the time constants to be a better match to the dynamics of your vessel if you like e For instance if the vessel is very large and is not able to turn quickly increasing the heading time constant HTAU might be useful The resulting heading values would have less apparent jitter and be more consistent both from moment to moment and over longer periods of time as the vessel moves with the vessel s real heading e On the other hand increasing a time constant also increases the G2 s time lag in responding to actual changes in the value being measured i e it takes longer for a real change in the value being measured to show up in the G2 s output data Worse increasing a time constant too far could create an unacceptable lag in the measurement to the point where the navigation equipment that i
49. tically isolated no Signal Ground pin for those inputs is provided In contrast for the P2 s NAV output which is an NMEA Talker there isa Ground pin but that is a current controlled AC coupled ground not the P2 s main Signal Ground e RS 232 the G2 s RS 232 Signal Ground MUST be connected to the other device s Signal Ground when using the RS 232 ports Caution The G2 s RF Shield wire the bare wire in the cable must not be connected at the other device no matter whether RS 422 or RS 232 signal wires or both are being used Cut it back near the end of the cable s outer jacket and insulate the stub with electrical tape e On the other hand it is sometimes better from the perspective of signal integrity and or electrical noise reduction to connect some or all of the Grounds in a system Consult your ComNav Dealer for help if you are unsure what will work best on your vessel Serial Port Settings Both ports use ordinary asynchronous serial data formatting as specified in the NMEA 0183 Standard the formatting is fixed and can not be changed e 1 Start Bit 8 Data bits No Parity Bit amp 1 Stop Bit commonly described as 8 N 1 The baud rates of the G2 s serial ports must be the same as the device s to which they are connected The factory default configuration is 4800 Baud on both ports per the NMEA 0183 Standard The baud rates can be changed if you need to also Port
50. tory defaults which are guite different including the Baud rates being 19200 If you happen to send this command by accident please call your ComNav Dealer for assistance in restoring normal operation of your G2 Action amp Time Constant Affected Range seconds oe eee Query or Set the Course Over Ground JTAU COG cogtau Constant JATT HTAU htau Query or Set the Heading Constant htau 0 0 to 3600 0 JATT HRTAU hrtau Query or Set the Rate of Turn Constant hrtau 0 0 to 3600 0 cogtau 0 0 to 200 0 JATT PTAU ptau Query or Set the Pitch or Roll Constant ptau 0 0 to 3600 0 JATT SPDTAU spdtau JTAU SPEED spdtau time SHORT gt 300 JSMOOTH time Query or Set the Carrier Smoothing Time time LONG 900 time 15 to 6000 Table 12 Control Commands for the Smoothing Time Constants Query or Set the Speed Constant spdtau 0 0 to 200 0 Note see Smoothing Output Data with Time Constants on page 26 for full details of the TAU time constants Document PN 29010078 V1 6 Addendum 1 23 ComNav Vector G2 G2B Installation amp Operation Configuration Table 13 Control Commands for Binary Output The commands in Table 8 through Table 13 above are all the ones typically used in marine applications of the G2 There are several other commands which can be used for special applications diagnostics or other purposes For full details on all commands please refer to the GPS Technical Reference manual
51. v Vectors have slight differences from the corresponding Hemisphere models in their operational specifications amp factory default configuration settings for details please refer to the respective ComNav amp Hemisphere models specifications Note ComNav Vectors do not support any of Hemisphere s various optional GPS DGPS receiver features or subscription applications e Dif OmniSTAR L Dif etc Document History o o ni rom 1R6 31 March 2009 DTO e first release Addendum 1 e valid for date codes 0902 0907 Document PN 29010078 V1 6 Addendum 1 ots ComNav Vector G2 amp G2B Installation amp Operation Wiring A single cable included with the Vector G2 supplies power to it and also carries NMEA 0183 data amp control signals from amp to it The G2 end of the cable is an environmentally sealed mechanically keyed locking connector the other end is un terminated and requires field stripping and tinning The cable should be wired to your vessel s autopilot and or other equipment of your choice that can use NMEA 0183 data Some typical examples are shown in Figure 1 Figure 3 and Figure 4 When choosing a route for the cable Keep the cable well away from rotating machinery Avoid running the cable in areas of excessive heat Keep the cable away from corrosive chemicals Do not run the cable through door or window jams Do not excessively bend or crimp the cable Secure the cable along the rout
52. wered and when its heading output data is valid the relay coil is powered by the G2 s processor which closes the relay contacts this indicates that the G2 is operating correctly Watchdog A watchdog timer is controlled by software in the G2 and is triggered when heading becomes invalid for whatever reason If the heading remains invalid for a long enough time the watchdog timer causes the Alarm relay s contacts to open The watchdog software is in compliance with IEC 60495 The Commander P2 and the Admiral P3 can optionally work at Baud rates up to 9600 Baud on their NAV2 Inputs although not with all generations of the G2 see page 1 A supplemental standard NMEA 0183 HS specifies operation at 38 400 Baud Document PN 29010078 V1 6 Addendum 1 17 ComNav Vector G2 G2B Installation amp Operation Configuration Changing the Configuration You may change the factory default configuration of the Vector G2 if you wish e Many other output sentences can be enabled and or the factory default ones disabled to suit the requirements of any specific installation e The output update rate of each enabled sentence may be changed as required f a given sentence is enabled on both ports the output rate on each port may the same or different if desired e The port Baud rates can be changed as required There may be different Baud rates on each port if desired These changes as well as numerous other charac
53. you are using instead of the colours shown in the Installation chapter Note because there are differences with respect to the outout data signals between the first and subsequent generations of the Vector the signals available on the cable depend on both the cable type and the Vector s generation Ifthe older cable types are used with a second generation Vector G2 amp G2B the Alarm output is not provided Power Input A 3 Amp fast blow fuse or circuit breaker not supplied should be installed in series with the Power Input wire An in line On Off switch not supplied capable of handling 3 Amps should also be installed if a breaker is installed it may be permissible at your locale to use it as the On Off switch The breaker fuse switch and all the power wiring must be done in accordance with the applicable electrical safety standards for low voltage DC wiring at your locale Please be sure to use adequate wire sizes for the expected maximum currents Caution The Vector G2 s power supply is protected against reverse polarity power input the G2 will not operate with reverse polarity however Note the G2 s power supply is isolated from all the data communication lines As well the plastic enclosure isolates the G2 s circuitry galvanically from the vessel which helps reduce hull electrolysis problems Itis strongly recommended that the G2 s power wiring be run directly from the power supply
Download Pdf Manuals
Related Search