1 AutoTrac Universal 200 Setting up the Steering Wheel Correctly

Transcription

1 When first installing the ATU steering unit or transferring it to a different machine (combine or another tractor), please note the following: 1) Enter the dimensions of the tractor / self propelled machine to the nearest centimeter (the dimensions will be permanently stored and can be accessed at any time if needed) in: Main Menu => GreenStar 3 => Equipment => Machine tab => Offsets 2) Enter the dimensions of the implement / header to the nearest centimeter (the dimensions so s will be permanently e stored soed and can be accessed at any time if needed) in: Main Menu => GreenStar 3 => Equipment => Implement 1 tab => Offsets Note: Make sure to include any lateral implement offsets that might not be visible initially. In many cases, it is worthwhile to take measurements with a tape measure. 3) Define implement width and track spacing for your machine in: Main Menu => GreenStar 3 => Equipment => Implement 1 tab => Change Widths Note: Please see the following definitions: Implement width: Used for Documentation (with area counter) or Coverage Map (painted in "blue"). Track Spacing: Used for automatic steering with. Physical Width (only required for itec Pro, which is not compatible with ATU. To avoid confusion, uncheck the check mark next to "itec Pro" on the display's Activations page, so the physical width will no longer be displayed). 4) Enter the correct StarFire receiver height to the nearest centimeter (measure from the ground to where the yellow receiver shroud begins) in the following 3 locations: In Main Menu => GreenStar 3 => Equipment => Machine tab => Change Offsets (also enter the remaining machine offsets accurately; see item 1 above) In Main Menu => GreenStar 3 => Guidance => ATU Steering Wheel icon => Page 3/3 In Main Menu => StarFire Receiver => Settings tab => Enter StarFire Height in bottom left corner 1

2 5) Enter the distance between the front wheels and the GPS receiver to the nearest centimeter in: Main Menu => GreenStar 3 => Guidance => Guidance Settings tab => General Settings (! Not required for combine / forage harvester; setting of 0 does not have to be changed.) 6) Park the machine on a level surface (e.g. vehicle scales or equivalent) and configure the StarFire receiver spirit level (TCM) in: Main Menu => StarFire Receiver => Settings tab => Press "CAL" in lower center area. 7) For combines / forage harvesters: In the ATU control unit select "Harvester" instead of "Row Crop Tractor" in the selection menu above as follows: Main Menu => GreenStar 3 => Guidance => Click on ATU Steering Wheel icon 8) Adjust the AutoTrac control unit settings for the operation to be performed and for the working conditions: Main Menu => GreenStar 3 => Guidance => Click on ATU Steering Wheel icon. Adjust ATU settings for the vehicle's inertia: For example, tractors with dual wheels and/or with an implement with unilateral pull (= more difficult to steer), should use lower settings than tractors with cultivation tires and/or with a light implement (= easier to steer). IMPORTANT: The main adjustment range for ALL values is from 80 to 120. All settings above or below this range have no significant effect on the system's response. 2

3 re 8) Only change one setting at a time (in increments of 5 10). Make sure that all settings match, i.e. they all should be either inert (low) or sensitive (high). Example: Acquisition 180, Tracking 90, Heading 95, Curve Track 90 Acquisition 105, Tracking 90, Heading 95, Curve Track 90 Acquisition 130, Tracking 160, Heading 120, Curve Track 110 = INCORRECT = CORRECT = CORRECT For tractors, start with the following initial values: Line Sensitivity, Tracking (ATU Settings Page 1): 90 Line Sensitivity, Heading (Page 1): 90 Acquisition sensitivity (Page 2): 90 Curve Sensitivity (Page 2): 90 9) Optimizing Steering Responsein Track (Track Sensing) Establish Track 0 (straight track) and drive it once in each direction, observing the steering/acquisition response, and note the distance between point of activation to first off track error < 10cm (green). Increase Acquire Sensitivity by an increment of 10 to 100; drive along the track again and observe the steering/acquisition response. The distance between point of activation to first off track error < 10cm (green) should now be less. Increase Acquire Sensitivity by an increment of 10 to 110 etc., until the result worsens again (nervous steering/oversteering), then reduce acquisition sensitivity by 10 and check again. The optimum acquisition response should now be reached (it cannot be improved any further). 3

4 10) Optimizing Steering Accuracy in Straight Track Observe off track error while driving in the track. It should always be less than 5cm (see red circle). If this is not the case, increase the setting for Line Sensitivity Tracking in increments of 10 and drive the track again. The steering response (accuracy) should improve at first, until it worsens again after another adjustment increment (becomes more nervous, deviates more than 10cm); then reduce setting by 20! (Example: change setting from 90 to 100, 110 and finally to 120 > becomes noticeably more nervous change back to100) Now increase setting for Line Sensitivity Heading in increments of 10 and drive along the track again. Observe the steering response (accuracy). If it worsens after this first input (more nervous, off track by more than 10cm), reduce setting by 10! (Example: change setting from 90 to 100, to 110 > if worse, change back to 100). 4

5 11) Optimizing Steering Accuracy for Adaptive Curves or AB Curves For curve sensitivity, select also an initial setting of 90. Increase this setting in increments of 10 as well, until the steering response worsens, then reduce by 10. Notes: If time permits, increments of 5 can be used for fine tuning, i.e. increase or decrease the setting in increments of 5, until optimum results are achieved. For low speed applications (growing vegetables) of under 5 km/h, the settings for Line Sensitivity Tracking and Heading have to be increased considerably (e.g. Tracking 180, Heading 140). Higher settings for Line Sensitivity Tracking and Heading are also required at times for combines/forage harvesters. Also check the GPS Accuracy indicator. The more the bar is filled in, the higher the accuracy from one track to the next. These Setup guidelines are no substitute for reading the operator's manual. Please follow the safety precautions in the operator's manual. 5