Introduction... 3 Features... 3 Harness Connections... 4

Transcription

1 TABLE OF CONTENTS Safety Notices... 1 Introduction... 3 Features... 3 Harness Connections... 4 Basic Configuration... 5 Autopilot Main Screen... 5 GPS Settings Configuration... 6 Selecting a Correction Type... 6 Network ID... 7 AgGPS Autoseed Fast Restart Technology... 7 Vehicle Make and Model Configuration... 9 Managing Vehicle Configurations Store Configuration Files Recall Configuration Files Restore System Vehicle Defaults Recall Data Files Implement Configuration Vehicle Calibration Controller Orientation AutoSense Automated Steering Deadzone Proportional Steering Gain Preparation Restore Default Line Acquisition Aggressiveness (Optional) Manual Override (Optional) Antenna Position and Roll Offset Correction Tire Track Offset Method Flag Offset Method Roll Offset Calculation Changing Antenna Height Steering Navigation Starting a Field Swath Patterns Straight AB Line Straight A+ Line Identical Curve Pivot Headlands Managing Swath Patterns Load an Existing Swath Line Rename a Swath Line Delete a Swath Line Operator Setup Preferences Nudge Trim Operator Alert Timeout End of Row Alarm Distance Trimble AgGPS Autopilot Steering System i

2 TABLE OF CONTENTS Autopilot Work Screen Work Screen Features Enabling Automated Steering Adjusting Aggressiveness Pausing Guidance Shifting a Swath Autopilot Status on the IntelliAg Work Screen As Covered Mapping Diagnostics Vehicle Status Fault Codes GPS Status Restoring System Defaults Troubleshooting Steering Performance Deadzone Errors Fault Codes Fault Codes Appendix A Roll Pitch Yaw Readings Warranty ii Trimble AgGPS Autopilot Steering System

3 SAFETY NOTICES Safety notices are one of the primary ways to call attention to potential hazards. An absence of specific alerts does not mean that there are no safety risks involved. This Safety Alert Symbol identifies important safety messages in this manual. When you see this symbol, carefully read the message that follows. Be alert to the possibility of personal injury or death. Use of the word WARNING indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury. Use of the word CAUTION with the Safety Alert Symbol indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury. Use of the word CAUTION without the safety alert symbol indicates a potentially hazardous situation which, if not avoided, may result in equipment damage. SAFETY NOTICES / 1

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5 INTRODUCTION NOTE: Refer to Installation Instructions included with the Autopilot tractor kit for tractor and implement harness connections. The Trimble AgGPS Autopilot system is an automated steering enhancement that can be integrated with the IntelliAg system offering a complete, precision farming solution in a single cab display. Autopilot is a GPS-based control system that steers the tractor in a straight line at better than +/- 1 inch with minimal cumulative errors or drift when using RTK correction. Autopilot system components required to enable automated steering include: Autopilot Tractor Kit (navigation controller loaded with IntelliAg steering firmware, harness, GPS receiver) 10 virtual terminal with IntelliAg IntelliAg system power and tractor cab harness SD card TECU FEATURES Guidance to predefined field patterns at speed as low as 0.2 mph and as high as 22 mph Pass-to-pass accuracy measures accuracy in a 15 minute duration, commonly the length of time from one pass to the next in a given field Year-to-year accuracy provides +/- 1 inch repeatable accuracy from one year to the next Works with various types of GPS signals (RTK, WAAS, Omnistar) AutoSense steering sensor eliminates moving parts and linkages 5 choices of field pattern types Field and farm events saved to SD card Vehicle and implement configurations saved for repeated use Accuracy is maintained after system is calibrated Operator Alert Timeout steers the tractor in circles if not acknowledged by operator Moving the steering wheel disengages Autopilot Software updates with upgrades and changes in configuration are downloadable from website Pause feature aids in guiding back to field position where a job was stopped INTRODUCTION / 3

6 o o - OPERATOR S MANUAL HARNESS CONNECTIONS Figure 1 Cab Harness Connections IMPORTANT: For the IntelliAg system to communicate with the Navigation Controller, the power and display connections of the main harness must be connected to the DICKEY-john Autopilot harness. (Figure 1) illustrates the appropriate Autopilot connections when using an IntelliAg system. 1. Connect the Autopilot harness between the system power harness and the tractor cab harness A. 2. Connect the P2 power cable connection to the Autopilot harness connector. 3. Connect the P4 display cable connection to the Autopilot harness connector. 4. Refer to the AgGPS Autopilot Automated Steering System Installation Instructions included with the Autopilot kit for additional instructions on all other connections as shown below. Battery + Boom Switch or Row Shutoff Module (optional) System Power Harness Chassis Ground AutoPilot Harness Tractor Harness A CAN Terminator Virtual Terminal o Navigation Controller o GPS Receiver MAIN HARNESS P6 Steering Sensor AUXILIARY HARNESS To Implement CAN Harness R252 Cable P3 (Gray) Spare Sensor Insert wire from P6 into connector Display P4 (Gray) P13 (Black) Lightbar/ Spare P12 Not used (Gray) P7 Manual P5 Override (Gray) Tractor ECU S1 Power P2 Not used (Green) Laptop Status Connector Indicator Hydraulic Steering Valve Ignition Connect to switched +12VDC NOTE: This wire must be connected to switched +12VDC P9 Sonalert P8 RS232 GPS Master Switch S1 Radar Speed Sensor (If not connected to WSMT) 4 / INTRODUCTION

7 BASIC CONFIGURATION Virtual Terminal Setup button abcde abrdj abcde abrdj abcde abrdj abcde abrdj Application button Autopilot Steering button Upon entering the Autopilot screen, a series of safety screens must be acknowledged. It is important to read and understand the safety requirements prior to operating the Autopilot Automated Steering system. These safety warnings must be acknowledged after every power cycle and at initial entry into the Autopilot system. AUTOPILOT MAIN SCREEN The Autopilot Main screen identifies the selected vehicle type, implement, and GPS Receiver type. From this screen, all other Autopilot screens can be accessed and are located on the right side of the display. IMPORTANT: Before Autopilot settings can be configured, Task Controller must be enabled. If the Task Controller button does not appear on the Main screen, press the Virtual Terminal Setup button and then the Applications button to select Task Controller, refer to (Figure 3). To access the Autopilot Main screen: 1. Insert a data card into the Virtual Terminal (VT). A data card must be inserted for complete Autopilot functionality. The SD card is required to store swaths, vehicle calibrations, and implement settings. 2. Press the Autopilot Steering button to view the Autopilot Main screen. NOTE: Refer to the 10 Virtual Terminal manual for saving data to an SD card. Figure 2 Autopilot Main Screen Enabled IntelliAg Functions Autopilot buttons VT Task Controller : GPS Auto Steering IntelliAg BASIC CONFIGURATION / 5

8 Figure 3 Virtual Terminal Additional Applications screen GPS SETTINGS CONFIGURATION The Autopilot system automatically detects and displays the attached GPS receiver. Receiver F/W and S/N data will automatically populate with firmware and Serial # information relative to the GPS receiver. GPS Setup button SELECTING A CORRECTION TYPE A correction type must be selected to communicate with the GPS receiver. 1. From the GPS Setup screen, press the Select Correction Type input box. 2. Scroll through the available correction types and select the appropriate receiver: RTK (1 inch pass-to-pass accuracy) RTK is used with a reference receiver placed on a known reference point. This receiver then communicates over a radio signal to the roving receiver to determine position or navigation. RTK is a highly precise technique that results in one inch year-to-year accuracy. RTK GPS requires two specialized GPS receivers and two radios. One GPS receiver is set as a base station with a 6 mile radius of the field you are working so it can send the correction message to the roving receiver. Both receivers collect extra data from the GPS satellites, known as L2 Band, that enables better precision. AUTONOMOUS A stand-alone method with no additional correction information other than what is broadcast by the GPS system. 6 / BASIC CONFIGURATION

9 WAAS (6-8 inch accuracy) AND OMNISTAR HP (XP 3-5 inch pass-to-pass accuracy) HP (2-4 inch pass-to-pass accuracy) Waas and Omnistar services have many GPS receivers at known reference locations that send the correction messages to control stations that uplink the message to a geostationary satellite. The geostationary satellite (WAAS or OmniSTAR) then sends the correction message to the GPS antenna on the vehicle applying the correction. IMPORTANT: OmniSTAR correction types require paid subscription. For an AgGPS 252 or 332 receiver, select either OmniSTAR HP/XP or OmniSTAR HP/XP-VBS. Refer to Ag GPS Autoseed fast restart technology. NOTE: Autopilot and Task Controller functionality each require their own independent GPS setup. Figure 4 GPS Setup screen GPS Setup Screen GPS Receiver: AgGPS 252/332 Receiver F/W: ABC Receiver S/N: N/A Select Correction Type RTK Network ID: Radio Link: Not Present NETWORK ID A Network ID identifies the radio channel used by the GPS receiver to communicate with the base station when RTK is used. The appropriate channel must be entered so the system will communicate with the base station. If the Network ID is unknown, such as using an outside source base station, check with a local Trimble dealer to identify the appropriate Network ID. AGGPS AUTOSEED FAST RESTART TECHNOLOGY AgGPS Autoseed fast restart technology reduces the time required for OmniSTAR HP/XP/VBS convergence. When the OmniSTAR signal has initially converged, the receiver can be turned off. When turning the receiver on again, accuracy levels will be similar to those experienced before shutdown. BASIC CONFIGURATION / 7

10 To benefit from AgGPS Autoseed technology: must have an AgGPS 252 or 332 GPS receiver must use OmniSTAR HP or XP corrections receiver must be shut down vehicle must not be moved before the receiver is turned on again GPS receiver must have a clear view of the sky GPS Setup button IMPORTANT: Vehicle movement will result in unsatisfactory performance, including longer convergence times and positional offsets. To enable the AgGPS Autoseed technology: 1. Press the GPS Setup button to access the GPS Setup screen. Ensure that the AgGPS 252/332 is selected as the receiver. 2. Select Omnistar HP/XP as the correction type. 3. A VBS Backup input box will appear that controls whether OmniStar VBS is used as a backup correction source if the HP/XP signal is dropped. Select Enable or Disable. 4. Position Recall enables or disables the Autoseed functionality. Select the appropriate function. 5. Press the Back/Cancel button to return to the Autopilot Main screen. Figure 5 AgGPS Autoseed screen GPS Setup Screen GPS Receiver: AgGPS 252/332 Receiver F/W: ABC Receiver S/N: N/A Select Correction Type Omnistar HP/XP VBS Backup Enable Position Recall Enable 8 / BASIC CONFIGURATION

11 NOTE: The system is supplied with vehicle tractor profiles loaded on the Navigation Controller. However, the most current tractor profiles (.vdb files) MUST be downloaded from the DICKEY-john extranet by an authorized distributor for use with this system. VEHICLE MAKE AND MODEL CONFIGURATION The Autopilot Home screen identifies the current Vehicle Type and Implement selected, refer to (Figure 2). Ensure that the make and model displayed are correct. Vehicle Setup contains tractor profile information for: Control and guidance parameters Steering angles Wheel base To select a Vehicle Make and Model: 1. Press the System button to display the System screen. 2. Press the Vehicle Setup button to open the Vehicle Setup screen. The current model selected will display. 3. To select another model, press the Vehicle Selection button. When a vehicle make and model change, the previous calibration settings stored on the navigation controller will be lost if they are not saved. If the current vehicle settings will be used again, refer to the Managing Vehicle Configuration section. Figure 6 Vehicle Setup screen System button Vehicle Setup button Vehicle Selection button 4. Press inside the selection box and use the left and right arrows to scroll through available models refer to (Figure 7). IMPORTANT: The vehicle selection list that appears when selecting a vehicle model always begins at the top of the list and does not show the current selected model. BASIC CONFIGURATION / 9

12 5. Press the checkmark to select the desired model. 6. Press the OK button to accept the new model. Figure 7 Vehicle Selection screen After a vehicle model is selected, a calibration screen will appear for the selected vehicle. Refer to the Vehicle Calibration section to configure more advanced features for higher accuracy and better performance. 10 / BASIC CONFIGURATION

13 MANAGING VEHICLE CONFIGURATIONS STORE CONFIGURATION FILES Any configurations to the vehicle make and model that will be used again should be saved. Store Configuration button IMPORTANT: Configurations that are saved will overwrite the previous calibration settings. To save a new configuration: 1. At the Vehicle Setup screen, verify the appropriate model is selected. 2. Press the Store Configuration button to display the Store Vehicle Configuration File screen. 3. Press the OK button to accept the default file name or press inside the input box to display the virtual keypad and enter a new file name. 4. Acknowledge the file name to be stored as the vehicle configuration by pressing the Yes button. Figure 8 Store Vehicle Configuration File screen Store Vehicle Configuration Data DEMO_VEHICLE_SETTINGS.CFG ABC Are you sure that you want to store this vehicle s configuration to a file with this name on the SD card? Yes X No BASIC CONFIGURATION / 11

14 Recall Configuration button RECALL CONFIGURATION FILES Vehicle configuration files that are stored on an SD card can be sent to a different navigation controller eliminating the need to re-create vehicle configurations on another tractor. To recall a vehicle configuration: 1. At the Vehicle Setup screen, press the Recall Configuration button. 2. Select the appropriate vehicle configuration file and press the OK button. 3. Acknowledge the file by pressing the Yes button to begin loading the vehicle configuration file to the Navigation Controller. The Autopilot controller will reboot upon load completion and can take several minutes to resume normal operation. Figure 9 Recall Vehicle Configuration File screens Recall Vehicle Configuration File Select File: DEMO_VEHICLE_SETTINGS.CFG Recall Vehicle Configuration File DEMO_VEHICLE_SETTINGS.CFG ABC Are you sure that you want to load this vehicle configuration file? Yes The Autopilot controller will reboot upon load completion. X No RESTORE SYSTEM VEHICLE DEFAULTS To restore a vehicle configuration file stored on the navigation controller: 1. At the Vehicle Setup screen, select a different vehicle model than the model currently selected. 2. Press the OK button to accept. 3. At the Calibration screen, press the Back Cancel button to return to the Vehicle Setup screen. 4. Select the appropriate vehicle make and model. Performing this step will overwrite any user calibration data for that make and model and restore the vehicle default data. 12 / BASIC CONFIGURATION

15 Recall Data button RECALL DATA FILES The system is supplied with vehicle tractor profiles loaded on the Navigation Controller. However, the most current tractor profiles (.vdb files) MUST be downloaded from the DICKEY-john extranet by an authorized distributor for use with this system. BASIC CONFIGURATION / 13

16 IMPLEMENT CONFIGURATION Data Management button Edit Implement button Configuring an implement identifies the type of implement attached, how much area the implement covers, and any implement offset. To select an implement: 1. Press the Data Mgmt button to access the Implement Management screen. 2. To select an existing implement, press inside the Name input box. Use the right and left arrows to scroll implement choices. 3. Press the Checkmark to accept or the X to cancel. 4. Press the Back Cancel button to return to the Autopilot Home screen. Existing implements can be modified by pressing the Edit Implement button to change the Name, Width, or Offset. Any previously configured implements appear in the Implement Name field on the Implement Setup screen. If there is only one available implement, it is selected by default. Figure 10 Implement Setup screen New Implement button To create a new implement: 1. At the Implement Setup screen, press the New Implement button. 2. Press inside the Name input to display the virtual keypad and enter an implement name. 3. Enter an implement width and offset (distance from center of tractor to center of implement side-to-side) in inches. Implement offset to the left of center is entered as a positive number and implement offset to the right of center is entered as a negative number (Figure 11). 4. Press the OK button to save. 5. Press the Back Cancel button to return to the Autopilot home screen. 14 / BASIC CONFIGURATION

17 Figure 11 Implement Offset Implement Center Implement Center Offset -140 Offset left of center entered as a negative number Offset right of center entered as a positive number Offset 0 Delete Implement button To delete an implement: An implement can be deleted by pressing the Delete Implement button. The name of the implement that appears on the Implement Setup screen will be deleted by selecting the Yes button. To remove all implements stored on the SD card, press the Delete All button. A Delete Implement screen will display to verify that all implement records should be deleted. Deleted files cannot be restored. Delete All button BASIC CONFIGURATION / 15

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19 VEHICLE CALIBRATION System button Calibrating the Autopilot system for a specific vehicle will record additional details about that vehicle and allow the system to steer the vehicle more accurately. Vehicle calibration screens contain tools for calibrating the vehicle. After a vehicle make and model are selected, the Calibration screen will automatically display. Four calibrations appear for all vehicle types. 1. Controller Orientation (optional) 2. Roll Correction (required) 3. Line Acquisition (optional) 4. Manual Override (optional) Articulated and front-wheel steered vehicles have three additional calibrations. 1. Steering Sensor (required, if applicable) 2. Automated Steering Deadzone (required) 3. Proportional Steering Gain (required) NOTE: A calibration is NOT required if the Autopilot system is installed on a Cat MT 700/800 series equipped with the ISO option. IMPORTANT: A vehicle make and model must be selected first before any calibration can be performed. To view the Calibration screen: 1. At the Autopilot main screen, press the System button. 2. At the System screen, press the Vehicle Setup button. 3. If the correct vehicle make is selected, press the Calibration button. To select a different vehicle make, press the Vehicle Selection button and refer to the Vehicle Make and Model Configuration section for selecting a vehicle. Vehicle Setup button Figure 12 Calibration screen Calibration button Vehicle Selection button VEHICLE CALIBRATION / 17

20 CONTROLLER ORIENTATION Navigation Controller orientation properly associates the outputs of the Autopilot controller sensors with the direction of the vehicle. This data will automatically populate based on the vehicle make and model selected and the recommended navigation controller mounting position for the vehicle. If the navigation controller is mounted in a different position, roll, pitch, and yaw data must be entered. Orientation button IMPORTANT: Ensure that the data that has automatically populated matches the position the navigation controller is mounted in the cab. If the navigation controller is mounted differently, an error message will display and the orientation must be changed to match the actual mounting position. Actual navigation control mounting should be viewed: sitting in the tractor seat facing forward looking down on the controller and locating the matching diagram to enter the appropriate Yaw, Pitch, and Roll readings located in Appendix A To configure navigation controller orientation: 1. From the Calibration screen, press the Orientation button. 2. Press inside the selection box, and enter the Roll, Pitch, and Yaw in degrees. Refer to Appendix A for orientation and readings. 3. After entering the data, press the OK button to accept the orientation or Back Cancel to exit. 4. Cycle system power. Figure 13 Navigation Controller Orientation screen 18 / VEHICLE CALIBRATION

21 AutoSense button AUTOSENSE The AutoSense button will appear for only those vehicle profiles that use an AutoSense device as the steering angle sensor. IMPORTANT: Only vehicles that use AutoSense, not potentiometer sensors, are supported. If the Auto Sense button does not appear as a button on the Calibration screen, contact a Trimble distributor for support. 1. From the Calibration screen, press the AutoSense button. 2. At the AutoSense sensor screen, verify that AutoSense sensor is populated into the Installed Steering Angle Sensor input box. If not, press the input box and select AutoSense sensor. On certain vehicle models, an input box will appear and should be selected if the sensor is mounted upside down. On certain vehicle models, left or right wheel mounting location should be selected to indicate position. 3. Press the checkmark to accept or X to cancel. Figure 14 Selecting a AutoSense Sensor AutoSense Sensor Installed Steering Angle Sensor AutoSense sensor Input boxes only appear for AutoSense Mounting Options } selected models Right Wheel Box Mounted Upside Down (Label Down, Box Lid Up) The selected vehicle profile supports either a Potentiometer or an AutoSense steering angle sensor. Not Supported VEHICLE CALIBRATION / 19

22 NOTE: The Steering Angle Sensor calibration must be performed first before calibrating the Automated Deadzone. AUTOMATED STEERING DEADZONE Required for Articulated and Front-Wheel Steered Vehicles Only The Automated Steering Deadzone calibration determines the amount of pressure that the system must apply to the hydraulics before the wheels begin to turn. Performing this calibration runs a series of tests on the valve and steering hydraulics independently opening and closing each side of the steering system. To ensure optimal system performance, the hydraulic fluid must be at normal operating temperature when running this procedure. Some vehicles with large reservoirs can take several hours for the fluid to reach operating level, especially if the implement circuit is lightly loaded. Consult the vehicle documentation to determine if the hydraulic fluid temperature can be displayed on a vehicle console. If the calibration is performed while the system is cold, repeat both the Deadzone and the Proportional Gain Calibration procedures once the system is at operating temperature. During the Automated Deadzone calibration, the system moves the vehicle wheels. To avoid injury, be prepared for sudden vehicle movement. Automated Deadzone button Test Right button Left Test Left button To configure the automated steering deadzone: 1. Place the vehicle in a large field that is hazard free. To minimize the effect of the ground conditions, the field should have smooth soil that is loose but firm. 2. When Autosense is installed, it is important to drive the vehicle straight for at least 1 minute to get the correct heading information before starting the automatic deadzone calibration. 3. At the Calibration screen, press the Automated Deadzone button. Only proceed if the steering sensor calibration has been performed. 4. Press the Next button. Ensure that the hydraulic fluid is at normal operating temperature. 5. Press the Next button to proceed. 6. Press the Next button to proceed. During the calibration be prepared for the vehicle to move in an unpredictable manner turning to the right or the left. 7. Center the steering on the tractor and start moving forward in first gear at maximum RPM. 8. Follow the onscreen instructions. 9. Press the Test Right and Test Left buttons to perform the Deadzone calibration. Wait until the system prompts that the next phase is ready to begin. As ground conditions affect the results, the calibration should be performed three times or until the average deadzones displayed changes by less than about 0.5. To minimize the total amount of space needed for the complete calibration, reposition the vehicle between the phases of the test. If 20 / VEHICLE CALIBRATION

23 the available flat, smooth space is limited, re-align the vehicle after each segment of the calibration. Figure 15 Automated Deadzone Calibration Obstacles in the field can increase the possibility of collisions which can cause injury to persons and/or vehicle damage. If an obstacle in the field makes it unsafe to continue a particular phase of the Automated Deadzone calibration, stop the vehicle to abort the phase and turn the steering wheel to disengage the system. Reposition the vehicle and continue from the current test phase. VEHICLE CALIBRATION / 21

24 Figure 16 Automated Deadzone Calibration Save button 10. Press the Save button to store new deadzone calibration. 11. Press the Done button to return to the main Calibration screen. Done button 22 / VEHICLE CALIBRATION

25 PROPORTIONAL STEERING GAIN Articulated and Front-Wheel Steered Vehicles Only The proportional steering gain (PGain) setting allows for a compromise between rapid steering response and stability. Modifications to the PGain setting affect two steering characteristics: Slew Time: The amount of time the front wheels take to move from the far left to the far right position and vice versa. Overshoot: The percentage by which the front wheels exceed the commanded angle before they settle on the correct value. Slight variations can be caused by valve current response, friction, and hydraulic fluid viscosity. To correct High PGain value: Decrease the slew time and increase the overshoot. This provides rapid responses but can cause the steering to exhibit signs of instability (for example, a tendency to excessively overshoot). To correct Low PGain value: Increase the slew time and decrease the overshoot. This improves the stability but can introduce significant delays in the steering response and can cause the vehicle to oscillate from side to side. PGain button PROPORTIONAL STEERING GAIN PREPARATION Perform the Automatic Deadzone calibration immediately before running the PGain calibration, even if the Automatic Deadzone calibration has been performed in the past. Perform the calibration on a hard, level surface, free of obstructions. Maintain a vehicle speed above 1 mph (1.6 kph) while performing the calibration. Increase the proportional gain up to the point just before any one of the following occurs: Slew times no longer decrease (a low value is desired) Overshoot exceeds 5-8% (dependent of vehicle) Wheels noticeably shake near end stops NOTE: The Steering Sensor Calibration should be performed before starting the proportional gain calibration. To calibrate the proportional steering gain: 1. At the Calibration screen, press the PGain button to display the PGain Calibration screen. The current gain will display in the Saved Gain input box. VEHICLE CALIBRATION / 23

26 Back Cancel button To manually enter a gain: 1. Press inside the Saved Gain input box and enter a number. If steering performance is too slow, increase the gain from the default value. If steering performance is too aggressive or the wheels jitter/ oscillate, reduce the gain from the default value. 2. The new PGain will be saved when the Back Cancel button is pressed. Figure 17 Proportional Steering Gain screen 24 / VEHICLE CALIBRATION

27 Slew Test button To perform a PGain test: 1. Press the Slew Test button. 2. Acknowledge this screen by pressing the Next button only if the Steering Sensor calibration has been performed. Figure 18 Proportional Steering Gain screen Next button 3. Begin moving the tractor slowly forward and press the Next button. The wheels can move abruptly during the Proportional Steering Gain procedure while the Autopilot system tests the hydraulic response to the steering commands. These sudden movements can cause collisions with nearby obstacles or cause injury to occupants of the vehicle. Be prepared for sudden wheel movements. VEHICLE CALIBRATION / 25

28 Figure 19 Proportional Gain screen Turn Left button 4. Test various gain settings while monitoring the vehicle performance and the values in the Slew Time and Overshoot fields for the Turn Left phase. Adjust the New Gain field, if desired. Turn the front wheels completely to the right to begin the test. This test is for the stop-to-stop position. Press the Turn Left button. Both turn buttons are unavailable while the wheels slew. 26 / VEHICLE CALIBRATION

29 Figure 20 Proportional Gain Calibration screen Save button Done button IMPORTANT: The optimum gain setting has short slew time (short millisecond reading) and low overshoot percentage (less than 7%). 5. Press Save to accept the new gain. 6. Press Done to return to the main Calibration screen. RESTORE DEFAULT To restore the P-Gain default setting, press the Restore Default button. Restore Default button VEHICLE CALIBRATION / 27

30 LINE ACQUISITION AGGRESSIVENESS (OPTIONAL) Line Acquisition Aggressiveness determines how aggressively the vehicle approaches the guidance line. An AGGR button on the Navigation Work screen allows adjustment based on the number entered at this screen. High Line Acquisition aggressiveness allows the vehicle to come online very quick, but at high engagement speeds the vehicle might become unstable. It is recommended to check operation at the suggested speed. Figure 21 Line Acquisition Aggressiveness screen Slower approach Faster approach System Ready Line Acquisition button To calibrate line acquisition aggressiveness: 1. At the Calibration screen, press the Line Acquisition button. 2. Adjust the line acquisition aggressiveness slider. The slider controls how aggressively the vehicle approaches the guidance line using a scale from 50% to 150%. The optimal value for each profile is not necessarily 100% and varies for different vehicle profiles. 3. Press the Left Arrow button for a slower approach to the guidance line and the Right Arrow button for a faster approach. When adjusting the slider, check vehicle stability at the speed shown on the screen or at the maximum engage speed. MANUAL OVERRIDE (OPTIONAL) Manual Override sensitivity calibration is only valid for platforms that employ a pressure transducer for the manual override function. The system automatically detects whether or not the vehicle configuration includes this type of sensor and provides this option if required. 28 / VEHICLE CALIBRATION

31 One way to disengage the Autopilot system is to turn the steering wheel. The manual override detects this movement and stops steering the vehicle. However, during steering navigation it is common for there to be a small amount of steering wheel movement that you do not want to cause override, such as driving on rough ground. The manual override sensitivity setting is the measure of how much steering wheel movement is required to trigger the manual override. Incorrect adjustment of the Manual Override Sensitivity calibration setting could cause this critical safety feature to fail resulting in personal injury or damage to the vehicle. Any adjustment to this setting should only be made by an experienced user. This calibration should ONLY be performed if the default sensitivity is unacceptable under ALL conditions. IMPORTANT: Be very careful not to choose a sensitivity setting that is either too sensitive or not sensitive enough. In either instance, the manual override function may cease to function properly. On some platforms, it may be possible to set the sensitivity so low that the manual override function will not detect any steering wheel motion. To check manual override: 1. At the Calibration screen, press the Manual Override button to display the Manual Override Calibration screen. Manual Ovrd Figure 22 Manual Override Calibration screen Manual Override button Current Sensitivity Setting Increase Sensitivity Decrease Sensitivity System Ready 2. Turn the steering wheel to test the current manual override setting. VEHICLE CALIBRATION / 29

32 NOTE: Changing the antenna height after performing a Roll Offset will affect cross track error. Refer to the Changing Antenna Height section for further instruction. 3. With the system active, assess whether the manual override feature is at an acceptable level of sensitivity for: Speed of steering wheel turn Distance of steering wheel turn To adjust the manual override sensitivity setting: 1. Press the Left Arrow button to increase sensitivity and trigger manual override more easily. 2. Press the Right Arrow button to decrease sensitivity and trigger manual override less easily. The value between the sensitivity bar and Left and Right Arrow buttons indicate the current setting. The total range is 0.5 to 2.5 (where 0.5 is the most sensitive setting and 2.5 is the least sensitive). 3. To try the new setting, press the OK button to return to the Calibration screen. 4. Press the Manual Override button to redisplay the Autopilot Manual Override Calibration screen again. 5. Repeat steps to test new setting. 6. Press the OK button to accept the new setting or Cancel to exit. The performance of the manual override feature can also be evaluated under conditions of loading and/or activities which can affect the pressure of the hydraulic system, such as turning on the auxiliary hydraulics while evaluating the manual override sensitivity. ANTENNA POSITION AND ROLL OFFSET CORRECTION Roll Correction is a required input that must be performed for the Autopilot system to perform properly. This calibration compensates for antenna height and static roll caused by minor variations in the Autopilot controller and the GPS receiver mounting left or right of the vehicle center line. Before configuring the antenna compensation ensure that the: Autopilot system has been completely setup Autopilot software has been properly configured Correct GPS corrections are enabled IMPORTANT: If multiple GPS technologies are used, such as RTK and WAAS, use the technology with the highest accuracy to perform the Roll Correction calibration. To set antenna height above ground: 1. Place the tractor on a flat, level surface. 2. Measure the distance from the ground to the base of the GPS receiver. 3. At the Calibration screen, press the Roll Correction button to display the Roll Correction screen. 4. Enter the value in inches in the Antenna Height Above Ground input box. Roll Correction button 30 / VEHICLE CALIBRATION

33 Figure 23 Antenna Height Above Ground Antenna Height To set antenna distance to fixed axle: 1. Place the tractor on a flat, level surface. 2. Measure the distance from the fixed axle to the center of the GPS receiver. 3. Enter the value in inches into the Antenna Distance from Rear (Fixed) Axle input box. Enter a negative value if the GPS receiver antenna is behind the fixed axle. The nose of the vehicle is considered the forward direction. IMPORTANT: Measure from the center of the GPS antenna to the fixed axle. Figure 24 Antenna Measurement from Fixed Axle Distance rearward from front axle (negative value) Distance forward from rear axle (positive value) Articulated 4 Wheel Drive Front Wheel Drive VEHICLE CALIBRATION / 31

34 To set roll offset: 1. Choose the Tire Track Offset or Flag Offset method to determine roll offset based on which method best matches conditions. 2. Enter the value in degrees based on the Roll Offset calculation. Figure 25 Roll Correction screen in Antenna Dist. to Rear Axle: 0.0 in System Ready TIRE TRACK OFFSET METHOD When performing the Tire Track Offset method, it is recommended that a highly repeatable GPS correction mode be used. For best results, use an RTK mode or OmniSTAR HP signal that has been converged for at least twenty minutes. A roll calibration performed with less accurate GPS correction modes should repeat the measurements at least four times to ensure a more consistent result. 1. Remove any implement from the vehicle. 2. Drive the tractor to a relatively flat field where tire impressions are visible and where complete passes of at least 1,320 ft (402 m) in length can be made. 3. Reset the roll offset value to zero. 4. Create an AB Line. This does not have to be stored in the job file. 5. Create a clean set of tire tracks in the field. To do this, start a new pass away from the area where the AB Line was created. 32 / VEHICLE CALIBRATION

35 Figure 26 Performing Test Runs B AutoPilot Run all tests from this line. A Create AB Line in Manual mode 6. When the system is stable, engage automatic steering mode and allow the Autopilot system to complete the pass. 7. At the end of the pass, turn the tractor around to return along the same pass from the opposite direction. 8. Engage automated steering mode and allow the system to complete the pass. 9. At the end of the return pass, stop the tractor and confirm that the current position is directly on the AB Line. When properly calibrated, the tractor should be able to drive in the same tire tracks, opposite direction. Figure 27 Calibrated and Noncalibrated Examples Calibrated Not Calibrated 10. Park the tractor and exit the cab. 11. Evaluate the tire track pattern between the first and return paths. 12. Measure the difference between the track passes and record the distance in inches. Also note whether the turn pass is to the left or right of the original pass. The offset should be consistently to the left or right. 13. Record the results as shown in (Figure 31). 14. Repeat steps 5 to 12 two more times for a total of three test runs. 15. Average the results of the three runs. Total the offset distances from the three passes and divide by three. VEHICLE CALIBRATION / 33

36 16. This calculation will be used to determine roll offset in degrees to be entered on the Roll Correction screen. Figure 28 Right and Left Offset Left Offset First Pass Return Pass FLAG OFFSET METHOD 1. Remove any implement from the vehicle. The vehicle drawbar must be centered. 2. Drive the vehicle to a relatively flat area where complete passes of at least 1,320 ft (402 m) in length can be made. 3. Reset the Roll Offset value to zero on the Roll Correction screen. 4. Create an AB Line. This does not have to be stored in the job file. 5. Start a new pass. Engage automatic steering mode when the system is stable. 6. Stop the tractor midway through the pass and confirm that there is no cross track error. The current vehicle position should be directly on the AB Line. 7. Park the vehicle and exit the cab. 8. Use the hitch pin hole in the drawbar as a guide to insert a flag in the ground to mark the vehicle centerline for this pass. Figure 29 Drawbar Hitch Pin Hole Insert Flag 9. Complete the pass. Turn the vehicle around to return along the same pass from the opposite direction. 10. Engage automatic steering mode. 34 / VEHICLE CALIBRATION

37 11. Stop the vehicle midway down the pass with the drawbar pin location very close to the marker flag and confirm that there is no cross track error. 12. The current vehicle position should be directly on the AB Line. Park the vehicle and exit the cab. 13. Use the hitch pin hole in the drawbar as a guide to insert a second flag in the ground to mark the tractor centerline for this pass. Note whether the second pass is to the left or the right of the first pass. 14. Measure the difference between the flags for the two passes and record the distances in inches in (Figure 31) Table. 15. Also record whether the return pass is to the left or the right of the original pass. The offset should be consistently to the left or right. Figure 30 Right Offset First Pass Return Pass Right Offset: Measure Distance Between Flags 16. Repeat steps 5 to 16 two more times for a total of three test runs. 17. Record the offset distance in inches and the left or right direction of offset for each test run in the Table. 18. Average the results of the three runs. Total the offset distances from the three passes and divide by three. 19. This calculation will be used to determine roll offset in degrees to be entered on the Roll Correction screen. VEHICLE CALIBRATION / 35

38 ROLL OFFSET CALCULATION To calculate roll offset: Take the average offset value from the test run divide by 2 and multiply that distance by 0.5. (- ) degrees move left (+) degrees move right Figure 31 Calculating Roll Offset Test Run Offset Distance (inches) Offset Direction Total = 12 Total/3 = 4 (Average offset value) Left Left Left 4 / 2 x 0.5 = - 1 (-1 degree to move left) CHANGING ANTENNA HEIGHT Changing the antenna height after performing a Roll Offset will affect cross track error. With every 0.5 degrees of change to roll calibration with an antenna height of: 10 ft. (3 m) moves the tractor - 1 inch (2.5 cm) on the ground 12 ft. (3.7 m) moves the tractor inch (3.1 cm) on the ground 14 ft. (4.3 m) moves the tractor inch (3.7 cm) on the ground To adjust, either perform another roll offset or modify calculation based on the above. 36 / VEHICLE CALIBRATION

39 STEERING NAVIGATION The following items should be configured or performed before creating a field: GPS settings vehicle make and model implement setup operator setup vehicle calibration Field Setup button STARTING A FIELD 1. Press the Field Setup button. The Field Setup screen appears. 2. Select one of the following options: Create a new field Select an existing field Figure 32 Field Setup screen System Ready NOTE: All caps must be enabled to use the virtual keyboard. To create a new field: 1. At the Field Setup screen, press the New Field button. 2. Press the Client selection box to select an existing client or create a new client name by pressing the New Client button. New Field button STEERING NAVIGATION / 37

40 Figure 33 New Field screen New Client button Selection box New Farm button New Field button New Event button OK button System Ready 3. Select or create a farm, field, or event name using their respective buttons in the same manner as selecting or creating a client. 4. When all fields are complete, press the OK button to accept and display the Add Swath screen. IMPORTANT: If the Back Cancel button is pressed before completing the Field, swath settings will be lost. When multiple clients exist, only farms for the selected client will display. Figure 34 Enter a New Field and Event BROWN TEST FARM EAST PLANT 38 / STEERING NAVIGATION

41 Select Field button OK button To select an existing field: 1. At the Field Setup screen, press the Select Field button, refer to (Figure 32). 2. Press the Client selection box and use the virtual keypad to select the appropriate client. For those clients with multiple farms, fields, and events, press on their respective selection boxes. 3. Press the OK button to accept. The field data will load and display the field information on the Field Setup screen. 4. An existing swath pattern can be selected or a new swath created. Figure 35 Selecting a Field System Ready STEERING NAVIGATION / 39

42 SWATH PATTERNS New Swath button Five swath pattern types are available to provide guidance based on field type: Straight AB Line Straight A+ Identical Curve Pivot Headlands To create a new swath: 1. At the Field Setup screen, press the New Swath button. 2. A pattern is selected by pressing the appropriate pattern icon. The pattern selected is highlighted in yellow. Figure 36 Add Swath screen Straight AB Straight A+ Identical Curve Pivot Headlands System Ready Straight AB Line Set A button STRAIGHT AB LINE 1. At the Add Swath screen, select the Straight AB line pattern icon. 2. Press the OK button to accept and display the Set Point A screen. 3. To create the start point of the line, press the Set A button. 4. Drive to the end of the line. The end (B) point must be at least 160 feet (50 m) from the A point. IMPORTANT: A minimum of 160 feet (50 m) is required to create an AB line. However, a more accurate representation of the field is obtained when the Set B point is pressed closer to the end of field. 5. Press the Set B button. 6. All consecutive working swaths will be based on the AB point set. Set B button 40 / STEERING NAVIGATION

43 Figure 37 Straight AB Line Set Points System Ready System Ready Figure 38 AB Line Driving Pattern Drive a minimum of 160 ft. to set AB line. Set B Set A STEERING NAVIGATION / 41

44 Straight A+ Line STRAIGHT A+ LINE A Straight A+ Line is created by selecting one point and the angle. This driving pattern is typically used for driving on an angle in the field during tillage operations. 1. At the Add Swath screen, press the Straight A+ Line pattern icon. 2. In the AB Heading input box, enter the desired line direction in degrees to lay out the field. Figure 39 Straight A+ Line (Desired Angle) Straight A+ Set A button 3. Press the OK button to accept and display the Set Point A screen. Refer to (Figure 37). 4. Drive to a point on the line and then press the Set A button. 5. The Autopilot Navigation Operate screen appears and all consecutive working swaths will be based on the A+ line drive pattern. Figure 40 A+ Line Driving Pattern Set A 42 / STEERING NAVIGATION

45 Identical Curve IDENTICAL CURVE 1. At the Add Swath screen, press the Identical Curve pattern icon. 2. Press the OK button to accept and display the Set Point A screen. 3. Drive to the start point of the curve and then press the Set A button. 4. Drive the curve until the end point is reached and then press the Set B button. 5. All consecutive working swaths will be based on the AB point set. Figure 41 Identical Curve screen Set A button Set B button IMPORTANT: A minimum of 160 feet (50 m) is required to create an AB line. However, a more accurate representation of the field is obtained when the Set B point is pressed closer to the end of field. Figure 42 Identical Curve Driving Pattern Set B Drive a minimum of 160 ft. to create AB line. Set A STEERING NAVIGATION / 43

46 Pivot PIVOT 1. At the Add Swath screen, press the Pivot pattern icon. 2. Press the OK button to accept and display the Set Point A screen. 3. Drive to a point on the outermost rut of the pivot and then press the Set A button. 4. Follow the pivot rut around to the end and then press the Set B button. 5. All consecutive working swaths will be based on the AB point set. Figure 43 Pivot screen Set A button Set B button IMPORTANT: A minimum of 160 feet (50 m) is required to create an AB line. However, a more accurate representation of the field is obtained when the Set B point is pressed closer to the end of field. Figure 44 Pivot Driving Pattern Set A Set B 44 / STEERING NAVIGATION

47 Headlands OK button HEADLANDS A Headland pattern is created by driving the perimeter of the field. 1. At the Add Swath screen, press the Headlands pattern icon. 2. In the Num Headlands input box, enter the number of headlands desired. If there are more than 1 headland, the inner headlands are copied from the original outside headland. 3. Press the OK button to accept and display the Start Headland screen. Figure 45 Headlands screen Start button Set A button Set B button End button 4. Drive to the point where the headland will begin. 5. Begin driving the circuit of the outermost headland and press the Start Headland button. 6. Press the Set A button to set the A point of the infield guidance line. 7. Press the Set B button to set the B point of the infield guidance line. 8. To complete the headland, continue driving the perimeter of the field and press the End button. All other defined headlands (entered in step 2) will be based on the outermost headland and are identified as (H001, H002, etc). STEERING NAVIGATION / 45

48 IMPORTANT: If you return to the start of the headland before an AB guidance line is defined, the headland will not complete. Figure 46 Headlands Driving Pattern Headland (H001) Set B Headland (H001) Headland (H002) B Set B H0 Line H0 Line End Headland Start Headland Headland (H001) (1 Headland) Set A Headland (H002) Headland (H001) (2 Headlands) A Set A Multiple headlands note: Any deviations that occur in the first headland path will occur in any additional headlands created. However, infield swaths will drive a straight path to the AB point set. Figure 47 Deviations in Headland Pattern Headland (H001) Headland (H002) B Set B H0 Line Headland (H002) Headland (H001) (2 Headlands) A Set A 46 / STEERING NAVIGATION

49 MANAGING SWATH PATTERNS Field Setup button LOAD AN EXISTING SWATH LINE To load a line that has been previously created in a field: 1. Press the Field Setup button to display the Field Setup screen. A field must be selected to load an existing swath. NOTE: If a line is loaded over 63 miles (100 km) away, a message will appear indicating position is too far from the field to work. Figure 48 Field Setup screen BROWN TEST FARM WEST PLANT IMP 720 Swath Swath button 2. Press the Swath button. 3. Press the Swath selection box and select the appropriate swath. 4. Press the OK button to load the swath and display the Navigation Work screen. Figure 49 Loading an Existing Swath screen Select Swath OK button Swath: AB Line 1 PLOW System Ready STEERING NAVIGATION / 47

50 Data Management button Field Management button RENAME A SWATH LINE A swath line is saved with a default file name based on swath pattern type (AB Line 1, AB Curve 1, etc.). This default file name can be renamed. To rename a swath AB Line: 1. Press the Data Management button. 2. Press the Field Management button. 3. Press the Edit Field button. 4. At the Edit Field Data screen, press the Edit Swath button. Figure 50 Edit Field Data Screen Edit Field button Edit Swath button 5. Select the desired swath name to change and press the Rename Swath button. Rename Swath button For fields with multiple swaths, press inside the Swath selection box to select the name to change. 48 / STEERING NAVIGATION

51 Figure 51 Edit Swath Data screen 6. At the Rename Swath screen, press inside the New Swath Name input box and type in the desired swath file name. 7. Press the OK button to accept or Back Cancel to return to the previous screen. Figure 52 Rename Swath screen 8. Acknowledge the renamed swath by pressing the Yes button or select the No button to return to the previous screen, refer to (Figure 53). STEERING NAVIGATION / 49

52 Figure 53 Rename Swath Confirmation screen System Ready Data Management button Field Management button Edit Field button DELETE A SWATH LINE A swath line can be deleted from the system entirely. A confirmation screen must be acknowledged before a swath is removed from the system. A deleted swath cannot be retrieved. To delete a swath: 1. Press the Data Management button. 2. Press the Field Management button. 3. Press the Edit Field button. 4. At the Edit Field Data screen, press the Edit Swath button. 5. At the Edit Swath Data screen, press the Delete Swath button. 6. Press Yes to delete the swath, press No to return to the previous screen. Figure 54 Delete a Swath Delete Swath button 50 / STEERING NAVIGATION

53 OPERATOR SETUP PREFERENCES Operator Setup configures the Autopilot system settings to ensure maximum possible accuracy with automated steering guidance and sets driving alarms to operator preferences. NUDGE Nudge will move the AB line to the right or left of the original line in one inch increments. The guidance line can move off target as a result of: GPS position drift when returning to the field for guidance, such as pausing or turning off the system GPS satellite constellation changes while driving in the field Nudge does not create new AB lines, cannot be saved, and cannot be used with RTK. TRIM Trim is used for offset implements that can drift off center and steer offline as a result of: Uneven drag on a vehicle from an unbalanced implement Uneven drag on a vehicle from soil conditions Trim can only be used with RTK. OPERATOR ALERT TIMEOUT Operator alert timeout sets a time that the tractor will begin to drive in a tight loop if the operator does not manually steer the tractor. Operator Setup button END OF ROW ALARM DISTANCE End of Row Alarm defines the distance the alarm sounds when reaching the end of the field and notifies the operator to manually steer the tractor. To modify Operator Setup: 1. At any of the Field Setup screens, press the Operator Setup button. The Operator Setup screen displays. 2. Enter a value in the Nudge/Trim Distance input box. Use this increment to set the amount that the Nudge buttons move the line back to the correct path or by which the Trim buttons move the vehicle position. 3. If necessary, change the Operator Alert Timeout value. The alert appears when the operator has not responded for the defined period of time. If the operator fails to respond, the vehicle will begin to drive in a tight loop. 4. If necessary, change the distance associated with the End of Row warning. Longer vehicles that take longer to turn will need an earlier warning and a greater distance. STEERING NAVIGATION / 51

54 Figure 55 Operator Setup screen System Ready 52 / STEERING NAVIGATION

55 AUTOPILOT WORK SCREEN Autopilot can be engaged at any time after an AB line is created. When engaged, Autopilot automatically steers to the nearest swath. The Autopilot Navigation Work screen displays current field position of the tractor in relation to the AB line. AB0 indicates the initial line (in red) that was created. As each pass in the field is made, the screen indicates left or right position as it relates to the AB0 line. IMPORTANT: A field must be selected first before the Navigation Work screen will open. WORK SCREEN FEATURES Tractor Symbol Moves in relation to the tractor s steering direction to the swath Age of Correction indicates the quality of RTK signal: Normal 3.0 and > RTK signal loss or approaching border line where auto steer will disengage and manual steering is required. Driving Table provides current driving and GPS status X err displays crosstrack direction and magnitude of error. A number < 0 indicates position right of the line. A number > 0 indicates position left of the line. If the cross track error is too high, the auto steering will not engage. Material Target and Actual applied rates Provides material application rate status. Vertical Red Bar Indicator Indicates % complete to end of row. Green Light Bar Indicates the correction needed to return to the swath line. The bar points in the direction that the tractor needs to move to align with the swath line. On/Off Button Enables or disables the Master Switch to start and stop material application. Auto/Manual Button Enables or disables the Autopilot system. Line Aggressiveness Button Determines how strongly the system makes steering changes. Nudge/Trim Buttons Allows for steering corrections caused by uneven drag or GPS position drift. Autopilot System Status Displays the current status of the Autopilot system, refer to (Figure 56). AUTOPILOT WORK SCREEN / 53

56 Figure 56 Autopilot System Status System Ready Autopilot Fault Guidance is Paused Automatic Enabled Low GPS Signal Accuracy Manual Override Autopilot can be engaged. System errors have occurred and must be cleared before Autopilot can be engaged. Refer to the Diagnostics section. Guidance has been paused. Press the Resume button to engage. Autopilot is currently engaged. Navigation controller not receiving a quality signal to initiate auto steering or system ready status. GPS signal quality or RTK signal dropout causing system to disengage from auto steering. Figure 57 Navigation Work screen Age of Correction Light Bar indicates direction to turn to re-align with the swath Compass (direction heading) GPS - # of satellites locked HDG - Degree heading X err-distance (inches) off line Speed - MPH calculated by GPS Receiver Material Application Status Master Switch Autopilot System Status 1.2 End of Row Indicator Steering Aggressiveness button Trim/Nudge button Swath Number Autopilot Enable/ Disable 54 / AUTOPILOT WORK SCREEN

57 ENABLING AUTOMATED STEERING When a swath is created, the Autopilot can be engaged to drive it. NOTE: At every powerup, manual override must be engaged before Autopilot will engage on a swath. Close Field button System button Diagnostic button Clear button The AutoPilot Enable button has three states: Red When pressed, the system will operate in Manual mode. Gray The system is disabled and cannot be engaged. Green When pressed, the system will operate in Autopilot mode. To enable: Press the Auto button. When the system is operating in Autopilot, the button turns red and changes to a Manual mode button. To disable: Turn the steering wheel to trigger the manual override. When manual mode engages, the Manual Mode button turns green and changes to an Auto button or Press the Enable button. The Autopilot system disengages and the Enable button turns gray. If a field is open, close the field before turning the system off by pressing the Close Field button. IMPORTANT: Autopilot faults that occur while Autopilot is enabled will trigger full screen alarms. An Autopilot fault that occurs while in the configuration mode will appear at screen bottom on the Autopilot Status line. All system failures MUST be cleared before the Autopilot system will engage. Autopilot fault codes only appear on Autopilot screens and are not viewable on other system screens, i.e. IntelliAg. To clear fault codes: 1. At the Autopilot Main screen, press the System button. 2. At the System screen, press the Diagnostic button. 3. At the Diagnostics screen, press the Clear button. 4. Press the Back Cancel button to return to the previous screen. Refer to the Diagnostics section for additional Autopilot failure information. ADJUSTING AGGRESSIVENESS Aggressiveness is the measure of how strong the system makes steering changes. A high aggressiveness setting will bring the vehicle back online faster, but can cause tight oscillations about the line. A lower aggressiveness setting will be slower to bring the vehicle back online, but can avoid overshoot. The default aggressiveness setting is 100%. To adjust the aggressiveness setting: 1. At the Operate screen, press the AGGR button. 2. Press the Up arrow to increase the setting or the Down arrow to decrease the setting. 3. Press the AGGR button to accept the setting. AUTOPILOT WORK SCREEN / 55

58 Pause button Resume button PAUSING GUIDANCE The Pause feature allows you to leave a row midswath, such as to refuel or return to the field later, and navigate back to the Pause location to resume swathing as before. When a position is paused, it is saved to a file on the SD card. The field can be closed and the VT turned off. Distance to the Pause location is indicated in feet. To pause position: 1. At the Operate screen, press the Pause button. A message will appear indicating guidance is paused. 2. Press the OK button to accept. 3. The Pause button will change to a Resume button on the Operate screen. When returned to the former position, press the Resume button. Figure 58 Pausing Guidance Pause feature Resume Auto Guidance Shift button SHIFTING A SWATH An existing swath can be shifted to move the AB line to the right or left and then saved with a different file name. All following passes will be based off of the shifted AB line. The original swath will be not overwritten. 1. At the Operate screen, press the Shift button to display the Shift Swath screen. 2. Press inside the Shift Distance input box and enter the value for the shift in inches using the virtual number pad. 3. Press the Left or Right Arrow button to select the direction for the shift. 4. To save the adjustment, press the Save button. The new shifted swath will be saved as a new swath in the opened field. 56 / AUTOPILOT WORK SCREEN

59 5. To only adjust the swath during the current operation and is not required for future runs, press the OK button to return to the Operate screen. The swath shifts relative to the AB Line. Therefore if facing from point B to point A on the swath, the line will appear to shift in the wrong direction. Figure 59 Shift Swath screen System Ready AUTOPILOT STATUS ON THE INTELLIAG WORK SCREEN NOTE: IntelliAg button Refer to the IntelliAg Operator s manual for further instruction on Operate Screen Configuration and selecting Data Items. Work Screen Configuration button AutoPilot Navigation can be selected as an IntelliAg Data Item so that AutoPilot status will appear on the IntelliAg Work screen. AutoPilot will display on the IntelliAg Work screen showing: AB line position % swath complete End-of-row bar graph Cross track error AutoPilot navigation engagement and disengagement To select Autopilot as an IntelliAg Data Item: 1. Press the IntelliAg button to display the IntelliAg Work screen. 2. Press the Work Screen Configuration button. The Data Items screen displays. 3. Press inside one of the highlighted outline boxes and use the virtual keypad to scroll to the Guidance Status selection, refer to (Figure 60). 4. Press the checkmark to save. 5. Press the Work Screen Configuration button to return to the IntelliAg Main work screen. The Guidance Status data item should now appear on the Work screen. AUTOPILOT WORK SCREEN / 57

60 Figure 60 Selecting a Data Item AutoPilot can be enabled and disabled by pressing the Auto/Manual button on the IntelliAg Work screen. Figure 61 IntelliAg Work Screen 58 / AUTOPILOT WORK SCREEN

61 NOTE: Refer to the 10 Virtual Terminal Operator s manual for specific instructions on operating Task Controller. AS COVERED MAPPING A coverage map indicates the area that has been covered in the field while running a task. Coverage mapping can be viewed by pressing the Task Controller button to display the Task Controller Operate screen. Figure 62 As Covered Mapping Task Controller button As Covered Map AUTOPILOT WORK SCREEN / 59

62 60 / AUTOPILOT WORK SCREEN

63 DIAGNOSTICS VEHICLE STATUS Steering Angle Shows the actual steering angle where the system calculates the wheels are pointing. Steering Angle Raw Voltage The raw voltage and scaled angle of the steering sensor. Manual Override The raw voltage and current state of the manual override sensor. Vehicle and Path Heading Shows the difference between vehicle heading and path heading. Vehicle Direction The current vehicle direction - forward, backward, or stopped. Remote Engage The raw voltage and current state of the remote engage switch. FAULT CODES Fault codes identify any active faults that have occurred relating to the Autopilot system. Autopilot Fault will appear on the Autopilot Status line at screen bottom when a system fault occurs. Full screen alarms may also occur during initial powerup or while Autopilot is enabled. Figure 63 Vehicle Diagnostics screen Fault Code Autopilot Status Line Any fault codes that occur relating to the Autopilot system MUST be cleared before the Autopilot system will engage. Autopilot fault codes only appear on Autopilot screens and are not viewable on other system screens, i.e. IntelliAg. DIAGNOSTICS / 61

64 System button Diagnostic button Clear button Back Cancel button To clear fault codes: 1. At the Autopilot Main screen, press the System button. 2. At the System screen, press the Diagnostic button. 3. At the Diagnostics screen, press the Clear button. All fault codes should clear on the screen. 4. Press the Back Cancel button to return to the previous screen. Refer to the Troubleshooting section for additional information on fault codes. GPS STATUS The GPS Status screen provides information on the current GPS data from the GPS receiver. Use this screen to check that the GPS receiver is outputting the expected data. To view GPS status: 1. At the Autopilot Main screen, press the Status button. Figure 64 GPS Status Diagnostics screen Status button RESTORING SYSTEM DEFAULTS To restore system default settings, change the selected vehicle model to a different model, and then change back to the originally selected model. This will overwrite any user calibration data with default data for the vehicle. 62 / DIAGNOSTICS

65 TROUBLESHOOTING STEERING PERFORMANCE Issue System not holding line. Fast weaving across line System not holding line. Lazy or slow weaving Cannot acquire line. Takes too long to acquire line. Manual Override will not disengage. Manual Override disengages when lowering implement. Resolution DEADZONE ERRORS Message Deadzone Error-Manual Override detected Deadzone Error-Vehicle Moving Too Slow Deadzone Error-Steering Close to End Stops Deadzone Error-Valve connectors could be swapped Deadzone Error-No GPS Deadzone Error-No Steering Response Detected Deadzone Error-Unable to Determine DZ: Try Again Deadzone Error-Software Problem Detected 1) Lower steering aggressiveness below 100%. If low limit (50%) is reached on this adjustment, Proportional Gain may be too high. 2) Lower Proportional Gain Setting. 3) Check steering sensor calibration. Left and right angle reading should be the same but opposite value. If difference is greater than 1, then recalibrate. 1) Raise steering aggressiveness above 100%. If high limit (150%) is reached on this adjustment, P Gain may be too low. 2) Raise Proportional Gain Setting. 1) Slow down. If response is still sluggish or slow: 2) Engage a hydraulic remote function and adjust this remote to provide a constant flow. 3) Return steering aggressiveness to 100%. 4) If system performance does not improve, a possible hydraulic issue might exist. Contact DICKEY-john Technical Support at ) Increase steering aggressiveness setting. If high limit is reached and system is not satisfactory, check steering sensor. 1) Manual override setting is too high. Lower Manual Override setting. 1) Manual override setting is too low. Raise Manual Override setting. Meaning Manual override was detected before the calibration cycle could complete. Retry. The vehicle was moving too slow for the calibration cycle to successfully finish. Ensure the vehicle is moving at least 0.5 mph (0.8 kph) during each calibration cycle. Before the calibration cycle could complete, the measured steering angle approached the end stops. Retry, and if the problem persists, instead of centering the steering at the start of each cycle, try turning the steering in the opposite direction to that which is being tested so that the calibration procedure has a greater range to test over. The calibration test sensed the steering turning in the opposite direction to what was expected. Retry, and if the problem persists, either the valve connectors have been accidentally swapped or the steering sensor calibration was performed incorrectly. A GPS receiver must be connected and outputting the positions before the software can run the calibration procedure. During the calibration cycle, insufficient movement was sensed in order for the calibration to complete. If the problem persists, the hydraulic installation could be faulty. A problem occurred when trying to complete deadzone. Retry and if the problem persists, contact Technical Support at The software was unable to complete the calibration due to insufficient movement of the vehicle. If the problem persists, contact Technical Support at TROUBLESHOOTING / 63

66 System button Diagnostic button Clear button Back Cancel button FAULT CODES Fault codes identify any active faults that have occurred relating to the Autopilot system. When a fault code displays, a critical Autopilot system fault has occurred. The fault condition must be cleared to resume Autopilot system operation. Contact a Trimble distributor or DICKEY-john Technical Support for assistance in troubleshooting fault codes. Perform the following before calling for technical assistance: Record the fault code number found on the Vehicle Diagnostics screen. Check the controller firmware version at the Status screen. To clear fault codes: 1. At the Autopilot Main screen, press the System button. 2. At the System screen, press the Diagnostic button. 3. Record fault codes for reference. 4. Press the Clear button. All fault codes should clear on the screen. 5. Press the Back Cancel button to return to the previous screen. Fault Code Fault Code 1 FE Send Message Fault Code 2 FE Task Init. Fault Code 3 FE Go Trap Fault Code 4 A/D Scan Timeout Fault Code 5 A/D Scan Overrun Fault Code 6 A/D Data Not Ready Fault Code 7 A/D Chan Overrun Fault Code 8 Vpp Jumpered Fault Code 9 Battery Bad Fault Code 11 SP Open Failed Fault Code 12 Matrix Inv. Failed Fault Code 13 MATHERR Exception Fault Code 14 MATHERRF Exception Fault Code 15 Fatal Error Reboot Fault Code 16 App Undefined ISR Fault Code 17 TPU Undefined ISR Fault Code 18 MIOS1 Undefined ISR Probable Cause/Failure Modes Inter-task message queue becomes filled for a specific task. This can happen primarily through excessive throughput loading on the processor or through a firmware defect. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. Task initialization fails for a specific task. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. Operating system startup fails. This can happen primarily through excessive throughput loading on the processor or through a firmware defect. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. Data sampling task failure when the high precision ADC scan (used to sample IMU) fails to complete on time. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. Data sampling task failure when the prior high precision ADC scan fails to complete before the next one begins. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. Data sampling task failure when some portion of the data acquisition sequence fails to complete on time. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. Data sampling task failure when a high precision ADC interrupt occurs after all channels have been scanned. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. Manufacturing error during assembly. Internal NVRAM backup battery status indicates a low voltage. If this is an intermittent problem, use the display to clear the controller fault and continue to operate. A serial port initialization fails. Note: If this is an intermittent problem, use the display to clear the controller fault and continue to operate. A math library failure that occurs when a matrix inversion attempt fails. Note: If this is an intermittent problem, use the display to clear the controller fault and continue to operate. Math library failure that occurs when a double precision floating point operation or function fails. Note: If this is an intermittent problem, use the display to clear the controller fault and continue to operate. Math library failure that occurs when a single precision floating point operation or function fails. Note: If this is an intermittent problem, use the display to clear the controller fault and continue to operate. Controller suffers a fatal error and performs a reboot, such as a brief interruption of electrical power to the controller. Note: If this is an intermittent problem, use the display to clear the controller fault and continue to operate. An uninitialized CPU interrupt is detected. Note: If this is an intermittent problem, use the display to clear the controller fault and continue to operate. An uninitialized TPU module interrupt is detected. Note: If this is an intermittent problem, use the display to clear the controller fault and continue to operate. An uninitialized MIOS1 module interrupt is detected. Note: If this is an intermittent problem, use the display to clear the controller fault and continue to operate. 64 / TROUBLESHOOTING

67 FAULT CODES Fault Code Fault Code 19 QADC Undefined ISR Fault Code 21 Uninit. App Assert Fault Code 22 Acc X Overvoltage Fault Code 24 Acc Y Overvoltage Fault Code 26 Acc Z Overvoltage Fault Code 28 Gyro X Overvoltage Fault Code 30 Gyro Y Overvoltage Fault Code 32 Gyro Z Overvoltage Fault Code 23 Acc X Undervoltage Fault Code 25 Acc Y Undervoltage Fault Code 27 Acc Z Undervoltage Fault Code 29 Gyro X Undervoltage Fault Code 31 Gyro Y Undervoltage Fault Code 33 Gyro Z Undervoltage Fault Code 34 Heater Overvoltage Fault Code 35 Heater Undervoltage Fault Code 36 VRef Overvoltage Fault Code 37 VRef Undervoltage Fault Code 39 Steering Overvolt Fault Code 40 Steering Undervolt Fault Code 41 Man Ovrd Overvolt Fault Code 42 Man Ovrd Undervolt Fault Code 43 Gear Lev overvolt Fault Code 44 Gear Lev Undervolt Fault Code 45 RPM too Low Fault Code 46 Valve Coil Short Fault Code 47 Valve Coil Imax Probable Cause/Failure Modes An uninitialized QADC64 module interrupt is detected. Note: If this is an intermittent problem, use the display to clear the controller fault and continue to operate. An application assert is called with an unregistered error type. Note: If this is an intermittent problem, use the display to clear the controller fault and continue to operate. Voltage from the X, Y, or Z axis accelerometer is sampled at a value greater than volts. Note: If this is an intermittent problem, use the display to clear the controller fault and continue to operate. Voltage from the X, Y, or Z axis accelerometer is sampled at a value less than volts. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. Voltage from the IMU thermistor is sampled at a value greater than volts. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. Voltage from the IMU thermistor is sampled at a value less than volts. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. Voltage from the IMU precision voltage reference is sampled at a value greater than volts. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. Voltage from the IMU precision voltage reference is sampled at a value less than volts. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. Voltage from the steering sensor is sampled at a value greater than 4.85 volts. Check steering sensor connection and operation. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. Voltage from the steering sensor is sampled at a value less than 0.15 volts. Check steering sensor connection and operation. Voltage from the manual override sensor is sampled at a value greater than 4.5 volts. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. Voltage from the manual override sensor is sampled at a value less than 0.3 volts. This can be caused by a faulty cable, a defective manual override sensor, or an incorrect vehicle profile. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. Voltage from the gear level sensor is sampled at a value greater than volts. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. Voltage from the gear level sensor is sampled at a value less than 0.15 volts. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. The measured engine RPM frequency falls below the minimum expected for a tracked vehicle. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. A hardware over-current detection has occurred. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. Check for a damaged steering valve cable harness or steering valve coil failure. A hardware over-current detection occurred. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. TROUBLESHOOTING / 65

68 FAULT CODES Fault Code Fault Code 48 MOSFET Short Fault Code 49 Coil Short to GND Fault Code 50 Coil Shorted Fault Code 51 Valve Pressure Fault Fault Code 52 Sum Pressure Max Fault Code 53 Sum Pressure Min Fault Code 54 SafeMCU Prog. Error Fault Code 55 Safe MCU No Stack Fault Code 56 SafeMCU Msg Timeout Fault Code 57 Angle Out of Bounds Fault Code 58 Steering Unsafe Fault Code 59 MCU2 Vel. Unsafe Fault Code 62 Missing 1PPS Fault Code 64 Output Balance Bad Fault Code 65 Output Bal. OverVol Fault Code 66 Output Bal. UnderV Fault Code 67 Steering In Fault Fault Code 70 Test Build Expired Fault Code 71 Top FET Sense Err Fault Code 72 Left Pressure OvrVt Fault Code 73 Left Pressure UndVt Fault Code 74 Right Pressure OverV Fault Code 75 Right Pressure UndV Fault Code 76 VT Assert Failure Fault Code 77 VT Object Pool Buffer Overflow Fault Code 78 VT Comms Error Fault Code 79 VT Watchdog Timeout Fault Code 80 PP Task Assert Failure Probable Cause/Failure Modes The sum of the sampled current through the electro-hydraulic solenoids is greater than 3.0 Amps. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. The sum of the sampled current through the electro-hydraulic solenoids falls below the expected minimum for automatic mode operation. The minimum value is 0.12 Amps. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. A sampled current through one of the electro-hydraulic solenoids is greater than 5.0 Amps. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. Sampled pressure from one of the electro-hydraulic solenoids is larger than the expected maximum. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. Sum of the sampled pressure from both of the electro-hydraulic solenoids is larger than the expected maximum. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. Sum of the sampled pressures from both of the electro-hydraulic solenoids is less than the expected minimum. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. A failure in the Safety MCU programming process has occurred. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. A failure in the Safety MCU reports that it is out of stack space. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. The safety MCU reports that the main MCU communication has had a timeout. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. The safety MCU reports that the steering angle sensor indicates that the wheel position exceeds the specified maximum angle. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. The safety MCU reports some condition which is unsafe for automatic operation. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. The safety MCU reports that the wheel speed sensor frequency is too low for automatic operation. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. There is no PPS (pulse per second) signal from the receiver. Output balance voltage from the ELC steering interface is outside the stated voltage. This steering interface is used on many CAT and John Deere tracked tractors. The box and cables connect the Autopilot NavController to the fly-by-wire system on the tracked tractor. The fault may be caused by poor ground connection on the vehicle, defective or failed steering interface box, or an incorrect vehicle profile. Output balance voltage from the ELC steering interface is too close to the +5v rail. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. Output balance voltage from the ELC steering interface is too close to the 0v rail. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. ELC steering interface indicates a fault has occurred. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. The expiration date of the currently loaded controller firmware has been reached. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. The sum of the sampled current through the electro-hydraulic solenoids is larger than the expected minimum for manual mode operation. The threshold is 0.12 Amps. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. Voltage from the left pump pressure sensor is sampled at a value too close to the +5v rail. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. Voltage from the left pump pressure sensor is sampled at a value too close to the 0v rail. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. Voltage from the right pump pressure sensor is sampled at a value too close to the +5v rail. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. Voltage from the right pump pressure sensor is sampled at a value too close to the +5v rail. Note: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate. This is a firmware error and occurs when a fault is detected in the display object pool management section. This is a firmware error and occurs when the object pool message buffer overflows. A communication error is detected between the controller and display. Update controller and display firmware revisions. Remove any recently added CAN bus ECUs (implements). Display Manager detects a timeout on a command sent to the display or on a wait for a message from the display. The system detects a fault in the Path Planning task section and could be caused by a corrupted AB Line file, a corrupted data card, poor communication between the NavController and the Autopilot display, the distance of the vehicle from the field or job (more than 1024 swaths), a firmware error. 66 / TROUBLESHOOTING

69 FAULT CODES Fault Code Fault Code 81 CAN-VT Assert Failure Fault Code 82 CN Task Assert Failure Fault Code 83 Steering Fault Overvoltage Fault Code 84 Steering Vault Undervoltage Fault Code 85 Coil Short Slew Detected Fault Code 86 Battery Voltage Low Fault Code 87 Battery Voltage High Fault Code 88 Temperature High Fault Code 89 Temperature Low Fault Code 90 Fet or coil open Fault Code 91 Valve Wiring Fault Fault Code 96 Low Side Short to Battery Fault Code 97 Coil overcurrent Fault Code 98 Internal Fault Hi Side Fault Code 99 Internal Measurement Fault Fault Code 106 Internal Fault Low Side Fault Code 107 FE SendMsg Too Big Fault Code 108 CAN Sensor OPS Message Timeout Fault Code 109 CAN Sensor OPS Message Error Fault Code 110 CAN Autoguidance Message Timeout Fault Code 111 CAN Autoguidance Message Error (Vehicle Direction) Fault Code 112 CAN Autoguidance Message Error (Isolation Valve Invalid) Fault Code 113 CAN Autoguidance Message Error (Isolation Valve Inconsistent) Probable Cause/Failure Modes This is a firmware error and occurs when a fault is detected in the display CAN layer section. This is a firmware error and occurs when a fault is detected in the CAN task section. Occurs when the voltage from the steering fault indicator on the fly-by-wire interface unit is sampled at a value too close to the +5v rail. Voltage from the steering fault indicator on the fly-by-wire interface unit is sampled at a value too close to the 0v rail. Coil shorted detection logic detects steering angle movement that is opposite to the commanded direction. V Battery to controller is detected at less than 10 Volts or there is a poor power or ground connection. V Battery to controller is detected at greater than 16 Volts. The Navigation controller temperature is detected at above 85 C. The Navigation controller temperature is detected at below -40 C. The system does not detect a valve coil circuit. Check for a damaged steering valve cable harness or steering valve coil failure. The system detects a short to ground in the valve coil circuit. Check for a damaged steering valve cable harness or steering valve coil failure. System detects the low side of the coil being shorted to battery. Check for a damaged steering valve cable harness or steering valve coil failure. The system detects either a short across the coil or low side shorted to battery. Check for a damaged steering valve cable harness or steering valve coil failure. A short is detected in one of the FETS. An internal current measurement fault is detected. A short is detected in one of the FETS. An attempt was made to send an inter-task message that was larger than the maximum allowed message size. The CAN Auto-guidance message is not received within the specified interval. Error reported by tractor Armrest Unit ECU. CAN Autoguidance message is not received within the specified interval and happens only if the Autopilot system is connected to a Case AccuGuide or New Holland Intelli Steer Ready vehicle. The fault can be caused by an incorrect vehicle profile or CAN system failure. Estimate of vehicle direction is unknown. An invalid or faulted state for the Isolation Valve Status. Valve cannot be controlled. CAN Autoguidance message indicates that the Isolation Valve state is inconsistent with that being commanded by the navigation controller. Either the isolation valve indicates manual mode when automatic has been commanded or automatic mode when manual has been commanded by the navigation controller. Possible failure modes CAN bus hardware problem (noise), ETC ECU failure, or controller firmware defect. TROUBLESHOOTING / 67

70 FAULT CODES Fault Code 114 AutoTrac Quadrature Steering Override not Detected Fault Code 115 IMU Orientation Wrong Fault Code 116 Wheel Speed Sensor Input is Not Detected Fault Code 117 AutoTrac Quadrature Steering Backup Not Detected Fault Code 118 Steering Status Report Packet Not Detected Fault Code 119 Steering Override Parameter Error Fault Code 120 Steering Override Parameter Not Available Fault Code 121 Gear Lever Parameter Error Fault Code 122 Gear Lever Parameter Not Available Fault Code 123 Gear Lever Parameter Unknown Fault Code 124 Road Lockout Switch Parameter Error Fault Code 125 Gear Lever Parameter Not Available Fault Code 126 Steering Command Reset Required Parameter Error Fault Code 127 Steering Command Reset Required Parameter Not Available Fault Code 128 Steering Subsystem Ready Parameter Error Fault Code 129 Steering Subsystem Ready Parameter Not Available Fault Code 130 CAN Communication Status Parameter Error Fault Code 131 CAN Communication Status Parameter Not Available The navigation controller did not detect the main steering override quadrature encoder used by John Deere AutoTrac systems. Controller orientation with respect to the vehicle local level has been determined to be inconsistent with the calibrated alignment angles. This check is performed only once per power cycle. Possible failure modes include the controller installed incorrectly, vehicle may be powered up while on a steep incline (>20 degrees), the IMU sensors may be defective, or the controller firmware is defective. The tractor is seen to be traveling above 2.0 m/s and no wheel speed sensor input has been detected. This check is performed only once per power cycle. Possible failure modes include damaged cable harness (wheel speed sensor disconnected), wheel speed sensor failed, or controller hardware failed. Navigation controller does not detect the backup steering override quadrature encoder used by John Deere AutoTrac systems. Navigation Controller must be Revision D or later to support a John Deere AutoTrac Ready Autopilot installation. The Steering Status Report Packet sent by the CAT MT steering sub system is not detected. This is a liability warning that automatic control of steering and implement valves will occur. The warning must be acknowledged every time the tractor is started. To ensure the packet is received by the Autopilot controller: 1) Turn off the Autopilot system power switch, 2) Start the tractor, 3) Acknowledge the ISO Class 2 enabled message on the armrest console, 4) Turn on the Autopilot system power switch. Possible causes are incorrect version of CAN translator installed, Class 3 Mode not enabled, incorrect vehicle profile selected, cabling issues, or tractor steering issues. Error reported by the MT steering control module. The Steering Override parameter sent by the CAT MT steering system has value 2 (error). Error reported by the MT steering control module. The Steering Override parameter sent by the CAT MT steering system has value 3 (unavailable). Error reported by the MT steering control module. The Gear Lever parameter sent by the CAT MT steering system has value 14 (error). Error reported by the MT steering control module. The Gear Lever parameter sent by the CAT MT steering system has value 15 (Not available). Error reported by the MT steering control module. The Gear Lever parameter sent by the CAT MT system has value 4-13 (unknown state). Error reported by MT steering control module. The Road Lockout Switch parameter sent by the CAT MT system has value 2 (error). Error reported by the MT steering control module. The Road Lockout Switch parameter sent by the CAT MT system has value 3 (unavailable). Error reported by the MT steering control module. The Steering Command Reset Required parameter sent by the CAT MT system has value 2 (error). Error reported by the MT steering control module. The Steering Command Reset Required parameter sent by the CAT MT steering system has value 3 (unavailable). Error reported by the MT steering control module. The Steering Subsystem Ready parameter sent by the CAT MT system has value 2 (error). Error reported by the MT steering control module. The Steering Subsystem Ready parameter sent by the CAT MT system has value 3 (unavailable). Error reported by the MT steering control module. The CAN Communication Status parameter sent by the CAT MT system has value 2 (error). Error reported by MT steering control module. The CAN Communication Status parameter sent by the CAT MT system has value 3 (unavailable). 68 / TROUBLESHOOTING

71 FAULT CODES Fault Code 151 Inching Pedal Depressed Parameter Error Fault Code 152 Inching Pedal Depressed Parameter Not Available Fault Code 156 Noisy 1 PPS Signal Fault Code 157 TAP Bounds Check Failed Fault Code 158 JD xx30t Engaged Status Incorrect Fault Code 160 Software Diagnostics Assertion Fault Code 161 CAN File Server Command Error Error reported by MT steering control module. The Inching Pedal Depressed parameter sent by the CAT MT steering system has value 2 (error). Error reported by MT steering control module. The Inching Pedal Depressed parameter sent by the CAT MT steering system has value 3 (unavailable). Excess electrical noise in the PPS line is causing the NavController to interpret as a 1PPS signal. If the system receives more than the expected number of 1PPS messages from the receiver in a given time interval, the system returns a fault. The fault can be caused by a faulty cable, electrical interference, a faulty receiver, or having a laptop connected to the NavController. The vehicle profile file is corrupt or when the value entered is out of bounds. The John Deere xx30t steering interface box indicates manual mode after the software application initiates the engage command. The fault could be caused by the steering interface box incorrectly connected to the vehicle steering system and/or to the Autopilot controller, a wrong (older) steering interface box used for the xx30 vehicle, or a steering interface box failure. The Autopilot controller software application detects an incorrect or out of range value when running diagnostic checks. The fault could be caused by an incorrect vehicle configuration selected, malfunctioning vehicle sensors, or a software defect. A command sent to the IntelliAg display s CAN file server times out or if the command results in a failure. The fault could be caused by an incorrect CAN file server firmware on the IntelliAg display, intermittent or noisy CAN communication between the Autopilot controller and the IntelliAg display, or a software defect. FAULT CODES / 69

72 70 / FAULT CODES

73 APPENDIX A ROLL PITCH YAW READINGS ROLL PITCH YAW ROLL PITCH YAW ROLL PITCH YAW ROLL PITCH YAW ROLL PITCH YAW ROLL PITCH YAW ROLL PITCH YAW ROLL PITCH YAW ROLL PITCH YAW ROLL PITCH YAW ROLL PITCH YAW ROLL PITCH YAW ROLL PITCH YAW ROLL PITCH YAW ROLL PITCH YAW ROLL PITCH YAW APPENDIX A / 71

74 ROLL PITCH YAW READINGS ROLL PITCH YAW ROLL PITCH YAW ROLL PITCH YAW ROLL PITCH YAW ROLL PITCH YAW ROLL PITCH YAW ROLL PITCH YAW ROLL PITCH YAW / APPENDIX A

75 Dealers have the responsibility of calling to the attention of their customers the following warranty prior to acceptance of an order from their customer for any DICKEY-john product. DICKEY-john WARRANTY DICKEY-john warrants to the original purchaser for use that, if any part of the product proves to be defective in material or workmanship within one year from date of original installation, and is returned to DICKEY-john within 30 days after such defect is discovered, DICKEY-john will (at our option) either replace or repair said part. This warranty does not apply to damage resulting from misuse, neglect, accident, or improper installation or maintenance; any expenses or liability for repairs made by outside parties without DICKEY-john s written consent; damage to any associated equipment; or lost profits or special damages. Said part will not be considered defective if it substantially fulfills the performance expectations. THE FOREGOING WARRANTY IS EXCLUSIVE AND IN LIEU OF ALL OTHER WARRANTIES OF MERCHANTABILITY, FITNESS FOR PURPOSE, AND OF ANY OTHER TYPE, WHETHER EXPRESS OR IMPLIED. DICKEY-john neither assumes nor authorizes anyone to assume for it any other obligation or liability in connection with said part and will not be liable for consequential damages. Purchaser accepts these terms and warranty limitations unless the product is returned within fifteen days for full refund of purchase price. For DICKEY- john Service Department, call in either the U.S.A. or Canada Headquarters: 5200 Dickey-john Road, Auburn, IL USA TEL: , FAX: , WEB: Europe: DICKEY-john Europe S.A.S, 165, boulevard de Valmy, Colombes France TEL: 33 (0) , FAX: 33 (0) WEB: Copyright 2009 DICKEY-john Corporation Specifications subject to change without notice.