AgGPS Autopilot Automated Steering System Quick Reference Card

Transcription

1 GETTING STARTED This figure shows how to connect the Trimble AgGPS Autopilot automated steering system to the AgGPS EZ-Guide Plus lightbar guidance system. Optional antenna Navigation controller Sonalert Magnetic antenna mount J2 EZ-Guide Plus lightbar system Antenna cable Mount pad Mount bracket and bolts P/N P/N EZ-Guide Plus power cable P/N EZ-Guide Plus suction cup mount Optional remote control C Warning: Before you install the Autopilot automated steering system, read the safety information on the back page of this card. Installation Keypad Refer to the installation instructions provided with the platform kit. Three of the keys on the optional remote control have been redefined for the Autopilot system. If you have a version 1.0 EZ-Guide Plus keypad, apply the keypad overlay sticker supplied with the Autopilot system.

2 Autopilot Status icon The Autopilot Status icons are: Status Icon E H F G MAIN MAP VIEW Action icons ENGAGING To select an action icon, press u or D and then press o. The Autopilot Action icon functions are: Action Icon To engage the Autopilot system, you must first define an AB Line, and the vehicle must be within the engage limits. Then do one of the following: Select 6 on the main map screen and then press o. Press 6 on the optional remote control. DISENGAGING Function 1 Nudge left 3 Nudge right 6 Engage / disengage 0 Aggressiveness Description Cannot engage because outside engage limits Can engage Currently engaged Fault with Autopilot. For more information, refer to Configuration / Autopilot Faults. The Autopilot system automatically disengages when the vehicle is outside the engage limits or when the system detects a fault. To manually disengage the system, do one of the following: Select 6 on the main map screen and then press o. Turn the steering wheel. Press 6 on the optional remote control.

3 ENABLING AUTOPILOT The Data Port Settings screen in the EZ-Guide Plus menu allows you to select the Autopilot system and the GPS receiver type. To enable the system, use the following settings: Setting Selection Input Select Autopilot as the input device. GPS Select Internal if Autopilot uses the internal GPS receiver in the EZ-Guide Plus. Select External if you have added an optional external GPS receiver, and you need to override the internal receiver. Note If you have an EZ-Guide Plus system without internal GPS, the GPS field will default to External. SELECTING STORED AB LINES The EZ-Guide Plus lightbar guidance system automatically saves the last AB Line. The lightbar system saves up to 100 straight swaths or pivots, and up to 3 curve or headland swaths. When you save more than 100 straight swaths, the swaths that have not been used for the longest time are overwritten. To load an existing AB Line: 1. Select 9 to reset guidance. The Guidance Pattern screen appears. 2. Select Select Stored AB and then press o. The AB Line selection screen appears as shown. It displays the closest AB Lines to the vehicle position, which is shown as a dot. 3. Press u or D to select the correct AB Line and then press o to confirm. 3.5 km width The system then loads the line and prompts you to confirm the implement swath width. VEHICLE SETUP To save or restore vehicle configuration files from the Autopilot controller, select Autopilot / Vehicle Setup, press u or D to select the correct vehicle and then press o to confirm. Then select one of the following: Exit to return to the Autopilot menu Use to send the configuration file to the Autopilot controller Replace to replace the file you have selected on the lightbar with the file currently stored on the Autopilot controller If you select Use or Replace, the system prompts you to confirm your action.

4 AGGRESSIVENESS While the Autopilot system is engaged, you can adjust the steering aggressiveness to improve the performance. Select 0 to access the Aggressiveness screen and then press u or D to adjust the settings. To change the percentage by which aggressiveness is increased or decreased with each press, select Autopilot / Aggressiveness and then modify the increment field. The default aggressiveness increment is 10%. NUDGE To move the guidance line back to the correct path, use the nudge function to correct for: GPS position drift when you return to the field for guidance, for example after you pause or turn off the unit. GPS satellite constellation changes as you drive in the field. To nudge, select 1 or 3, or press the nudge buttons l or r on the optional remote control. Nudge is always applied to the guidance line relative to the vehicle heading. Each nudge moves the guidance line by the specified amount in the direction shown on the button. To change the nudge increment from the default value of 3 inches, select Autopilot / Nudge Increment and then modify the field. The allowable range is from 0" to 5. Note When the increment is set to 0, the 1 and 3 nudge keys (l and r on the remote control) are inactive. To display the total accumulated nudge perpendicular to the current vehicle heading, go to Lightbar / Status Text and configure Nudge to appear on a map view or status screen. The nudge distance is reset to 0 whenever guidance is reset or the system is powered off. OPERATOR TIMEOUT As a safety feature, the Autopilot system displays a warning at regular intervals. If you do not acknowledge the warning within 30 seconds, the Autopilot system disengages. The default interval is 10 minutes. To change this interval, select Autopilot / Operator Timeout and then modify the Alert field.

5 EXTERNAL NMEA The AgGPS Autopilot controller can be configured to output roll-corrected GPS positions to another device (for example, AgGPS EZ-Map, or a yield monitor). By default this feature is turned off. To enable output, select Autopilot / External NMEA and then select a frequency in the Output Rate field. To change the baud rate, select Autopilot / External NMEA and then modify the 8N1 field. To output different message formats: 1. Select Autopilot / External NMEA and then highlight Exit. 2. Press D to display NMEA Output and then press o. 3. The NMEA Messages screen appears. Turn on or off the messages as required. Note To send NMEA output at 5 Hz or higher, Trimble recommends that you change the baud rate to at least 9600 bps for best performance. DIAGNOSTICS To view the serial number and firmware version of the Autopilot controller, select Autopilot / Diagnostics. FAULTS The Autopilot system records the last four system faults. To view them, select Autopilot / Faults. The most recent fault appears first. If you cannot resolve a fault, write down the fault information before you contact your Autopilot reseller for help.

6 SAFETY NOTICES C THE AUTOPILOT AUTOMATED STEERING SYSTEM IS SOLELY INTENDED FOR AGRICULTURAL USE IN AN OPEN FIELD ENVIRONMENT WITH AGRICULTURAL VEHICLES APPROVED BY THE MANUFACTURER FOR USE WITH AUTOPILOT, AND SHOULD NOT BE USED WITH ANY OTHER TYPE OF VEHICLE OR FOR ANY OTHER PURPOSE. Before using the system: The operator must read and acknowlege safety warnings whenever the system is turned on. Press D to scroll through the text. At the end of the text, press o to acknowledge the warnings. While using the system: Keep alert for obstacles in the path of the vehicle the Autopilot system cannot identify or avoid these. Remain in the vehicle while the Autopilot system is engaged. Use only in open fields do not engage on any type of road. ADDITIONAL INFORMATION For more information on how to use the EZ-Guide Plus lightbar and other guidance features, refer to the EZ-Guide Plus Quick Reference Card and Getting Started Guide or visit For additional information on the Autopilot system, contact your local Autopilot reseller. To purchase any of the following accessories, contact your local Autopilot reseller: optional remote control optional AgGPS EZ-Map field feature and coverage mapping software Trimble Navigation Limited. All rights reserved. Trimble, the Globe and Triangle logo, AgGPS, and EZ-Guide are trademarks of Trimble Navigation Limited, registered in the United States Patent and Trademark Office and other countries. Autopilot is a trademark of Trimble Navigation Limited. PN ENG, Rev A. (January 2005). PN ENG, Rev A