AgGPS Autopilot Toolbox II Software User Guide
Contents
1. Message Error Manual Override Detected Meaning Manual override was detected before the calibration cycle could be completed Retry Error Vehicle Moving Too Slow The vehicle was moving too slowly for the calibration cycle to successfully finish Make sure the vehicle is moving at least 0 8 kph 0 5 mph during each calibration cycle Error Steering Close To End Stops 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 Error Valve Connectors Could Be Swapped Error No GPS 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 are swapped or the steering sensor calibration was performed incorrectly A GPS receiver must be connected and outputting positions in order to run the calibration procedure Error No Steering Response Detected 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 Error Unable To Determine DZ Try Again A problem occurred when trying to compute de2. Em OK Cancel Help Figure 3 5 GPS screen At initialization the Autopilot system firmware version 4 0 and later automatically detects which AgGPS receiver is connected to the system Ensure that the Receiver Type list shows the correct receiver When the Auto configure receiver on startup checkbox is selected this list will be grayed out and the Receiver Type list will be shown for verification only For systems running earlier firmware or when the auto configure feature is not enabled the Receiver Type list can be used to manually select the AgGPS receiver model If the auto configure feature is enabled the GPS Correction Type list will contain the valid correction sources for the AgGPS receiver in use Use this list to select among the options provided If the auto configure feature is not enabled all possible choices are listed Note If the Auto configure feature is not enabled any changes in the GPS Correction Type list will not be transmitted to the AgGPS receiver in use so the AgGPS receiver will not switch correction modes 16 AgGPS Autopilot Toolbox Il Software User Guide New Installation Wizard 3 Lightbar screen Use the Lightbar screen to edit the lightbar configuration Lightbar Lightbar Configuration Lightbar Mode Look Ahead Time Show Corection 0 e C Show Error Inner LED Spacing in End LED Distance 34 00 in linear y LED Brightness Dark Bright Text Message Swath Numbe
3. 3 2 Roll Offset Table Average Offset Distance inches Average Offset Distance inches ro porno via a fe uso equi 03 03 03 oz 02 02 02 02 02 05 os os os os or Por or or AA ti ni fro Pro fio to to fio os os 05 E Te is is is is is is pra E E w w oof o 9 gt gt o Ww O Cc Fi N N Aj w w w e s ml o N CO N El N o w w io w co a o w n co co co pol pol pol po o ola s gt o w o x BR gt w wj Co w w N N N N gt gt o colo s a o x gt to pss as ss s as 58 ar 35 35 35 25 34 te ae as 44 45 2 42 41 40 39 39 38 38 27 36 ras 130 182 134 188 188 140 142 164 196 148 180 152 154 2 ea oa oa oa oa os a a o os oa os o 04 e oror foros os 08 os os 08 08 pos os 08 08 os pos posos es os osos 08 0a 0a 08 08 07 SN N O OS O CO DCO RC DC NC CI RC RC ACC ROSE IN ISI A repre SEEN a a Ts e A a pa A pasas raras isis 15 18 GENES GENES pr pps pps pj ps arar arar aa arpa Do 20 191919 rs aaa papas pepe e parar par aa apra 25 27 RE SEE EEA AA EI ae pao ps 29292928 25 es 33313 3 3327353131130 30 AgGPS Autopilot Toolbox Il Software User Guide 3 29 3 New Installation Wizard Manual override sensitivity N WARNING This calibration adjustment should only be made by qualified personnel Incorrect adjustme
4. CASE MX285 y Refresh Select Cancel Apply Help 14 AgGPS Autopilot Toolbox Il Software User Guide New Installation Wizard 3 Choose the correct model of vehicle from the list and then click the Select button to store the vehicle on the controller A confirmation dialog appears A Select Vehicle Model Now Yes No Click Yes to continue A dialog appears to alert you that the system will reset A The system will be reset to allow the changes to take effect Display screen Use the Display screen to select the language and units of measure Display Displayed Units and Language Language English Displayed Units a y lt Back Next gt Exit Cancel ppi Help Figure 3 4 Display screen Choose the options you require from the lists The language and displayed units selections affect the NT300D and lightbar user interfaces AgGPS Autopilot Toolbox Il Software User Guide 15 3 New Installation Wizard When you change either of these options the software asks to confirm that the changes should be saved and then the controller resets GPS screen The GPS screen allows you to choose the receiver that is connected to the system and the DGPS correction source that will be used for automatic guidance GPS GPS Receiver Configuration Receiver Type AgGPS 252 v GPS Correction Type RTK v W Auto configure receiver on startup r GPS Receiver Firmware Version y
5. If you have a problem and cannot find the information you need in the product documentation contact Trimble technical support 1 Goto the Trimble website www trimble com 2 Click the Support button at the top of the screen The Support A Z list of products appears Scroll to the bottom of the list 4 Click the submit an inquiry link A form appears 5 Complete the form and then click Send Your Comments Your feedback about the supporting documentation helps us to improve it with each revision E mail your comments to ReaderFeedback trimble com 2 AgGPsS Autopilot Toolbox Il Software User Guide CHAPTER Getting Started In this chapter Autopilot Toolbox Il Software Features Autopilot Toolbox Il Software Requirements Starting the Autopilot Toolbox Il Software Enabling Demonstration Mode Closing the Autopilot Toolbox Il Software This chapter describes how to start and exit the Autopilot Toolbox II software AgGPS Autopilot Toolbox Il Software User Guide 3 2 Getting Started Autopilot Toolbox Il Software Features The Autopilot Toolbox II software can be used to perform the following Autopilot setup and maintenance tasks Full calibration and configuration for a new installation Edit an existing Autopilot system setup Save and restore an Autopilot system setup Display serial number and firmware version information Basic diagnostics on the main sensor connections The Autopilot Toolbox II software also i
6. OR IMPLIED WARRANTY OF ANY KIND BY EITHER TRIMBLE NAVIGATION LIMITED OR ANYONE WHO HAS BEEN INVOLVED IN ITS CREATION PRODUCTION INSTALLATION OR DISTRIBUTION INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE TITLE AND NONINFRINGEMENT THE STATED EXPRESS WARRANTIES ARE IN LIEU OF ALL OBLIGATIONS OR LIABILITIES ON THE PART OF TRIMBLE ARISING OUT OF OR IN CONNECTION WITH ANY PRODUCTS OR SOFTWARE SOME STATES AND JURISDICTIONS DO NOT ALLOW LIMITATIONS ON DURATION OR THE EXCLUSION OF AN IMPLIED WARRANTY SO THE ABOVE LIMITATION MAY NOT APPLY TO YOU TRIMBLE NAVIGATION LIMITED IS NOT RESPONSIBLE FOR THE OPERATION OR FAILURE OF OPERATION OF GPS SATELLITES OR THE AVAILABILITY OF GPS SATELLITE SIGNALS Limitation of Liability TRIMBLE S ENTIRE LIABILITY UNDER ANY PROVISION HEREIN SHALL BE LIMITED TO THE AMOUNT PAID BY YOU FOR THE PRODUCT OR SOFTWARE LICENSE TO THE MAXIMUM EXTENT PERMITTED BY APPLICABLE LAW IN NO EVENT SHALL TRIMBLE OR ITS SUPPLIERS BE LIABLE FOR ANY INDIRECT SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES WHATSOEVER UNDER ANY CIRCUMSTANCE OR LEGAL THEORY RELATING IN ANY WAY TO THE PRODUCTS SOFTWARE AND ACCOMPANYING DOCUMENTATION AND MATERIALS INCLUDING WITHOUT LIMITATION DAMAGES FOR LOSS OF BUSINESS PROFITS BUSINESS INTERRUPTION LOSS OF BUSINESS INFORMATION OR ANY OTHER PECUNIARY LOSS REGARDLESS WHETHER TRIMBLE HAS BEEN ADVISED OF THE POSSIBILITY OF AN
7. Pump Response Calibration 3 The rise time of both pumps should be between 80 150ms and the overshoot less than 5 Repeat several times Left Right Gain 2 Saved Gain psi i Rise Time o Overshoot joo foo Perform Response Test Figure 3 17 Pump Response calibration screen 48 AgGPS Autopilot Toolbox Il Software User Guide New Installation Wizard 3 Steering pump knees This calibration procedure determines the compensation for deadband in the steering pumps Pump Knee Steering Pump Knee Calibration 1 Make sure the tractor is stopped Press Next Left Right Pump Knee 58 58 Saved Knee 58 58 lt Back Next gt Exit OK Cancel pl Help Figure 3 18 Pump Knee calibration screen CAUTION This test requires the vehicle to be in motion The instructions for this calibration test span several pages Follow the instructions presented on each page AgGPS Autopilot Toolbox Il Software User Guide 49 3 New Installation Wizard Fly by wire tracked tractor calibration Note This group of vehicles includes the John Deere 8xxxT 9xxxT series and the CAT AGCO MT7xx 8xx series tractors Calibrating the manual override This simple calibration enables the controller to calibrate the sensor threshold for detection of user input through the steering wheel Manual Override Manual Override Sensitivity High Low O RR 1 0 Warning This calibration adjustment should
8. circuit different from that to which the receiver is connected Consult the dealer or an experienced radio TV technician for help Changes and modifications not expressly approved by the manufacturer or registrant of this equipment can void your authority to operate this equipment under Federal Communications Commission rules Contents 1 Introduction sda o sd o Sd ot e id i 1 Technical Assistance mulas la que a al DO a Vl a ae a e 2 Your Comments ek a i ba bee eb a wee es ee cae eee S 2 2 Getting Started sou sos a aei Sek he SW Boe i os n ee wR A 3 Autopilot Toolbox II Software Features 4 Autopilot Toolbox II Software Requirements e 4 Starting the Autopilot Toolbox II Software 2 o o e e 4 Enabling Demonstration Mode ee 7 Closing the Autopilot Toolbox II Software 2 o o o 9 3 NewInstallationWizard 00002 eee eee ees 11 Using the Autopilot Toolbox II Software 2 2 a 12 Configuring the System a 14 Vehicle Model screen so pe dso aoee n 14 Display Screen ni e e a BR era Bee 15 GPS Screen toe aes See ee a eee oe es e 16 Taghtbar AAN 17 Operation screen 2 1 ee 19 DENSOLS SCES N fs ek a a ar Re e ca a 20 NL gt ii ees be Be Pe Bee a ee A a ee eee da 21 Calibration 4 5 0 84 44 444440 64426 3 6408 deo di bo844444664 8 om 22 Calibrating all types of vehicles LL 22 Calibrating front wheel steered and articulat
9. the diagnostics information AgGPS Autopilot Toolbox Il Software User Guide 53 4 Editing Setup and Running Diagnostics Using the Edit Setup Diagnostics screen To edit the system setup or view the diagnostics information click the Edit Setup Diagnostics icon TI Autopilot Toolbox II Tools Setup Help New Installation Edit Setup Wizard Diagnostic n Save Restore Setup Figure 4 1 Main screen of the Autopilot Toolbox Il software N CAUTION This section is designed for advanced users only 54 AgGPS Autopilot Toolbox Il Software User Guide Editing Setup and Running Diagnostics 4 Editing the Setup When you click the Edit Setup Diagnostics icon the Autopilot Toolbox Setup screen appears This screen allows you to access all of the calibration and configuration screens that appeared during the Installation Wizard For more information see Chapter 3 New Installation Wizard The five tabs along the top select between the Configuration Calibration Diagnostics Faults and Information tabs as shown in Figure 4 2 Autopilot Toolbox Setup Configuration Calibration Diagnostics Faults Information Autopilot Configuration Select a page and press Edit Vehicle Model Displayed Units and Language GPS Configuration Lightbar Configuration Operational Parameters Sensors Configuration Radio Network ID Figure 4 2 Autopilot Toolbox Setup screen AgGPS Autopilot Toolbox Il Software User Gu
10. value to cause the warning to appear earlier This can be advantageous if the operator is likely to be distracted for example by monitoring other equipment during operation Operator Alert Timeout In order to verify the presence of the operator a warning periodically appears The warning requires you to acknowledge it in order to remain in normal automatic mode This setting controls the frequency of the warning Note The Operator Alert Timeout cannot be disabled AgGPS Autopilot Toolbox Il Software User Guide 19 3 New Installation Wizard Swath Changeover At When turning at the end of a row the Autopilot system determines the closest swath to the vehicle This setting selects the point on the vehicle from which the calculation is made Set the field to Tractor Nose for vehicles where the GPS antenna is behind you Alternatively if the GPS antenna is at the front of the cab ahead of you then select GPS Antenna Sensors screen Use the Sensors screen to enable or disable sensors Sensors Sensors Configuration When the box is checked the corresponding sensor input is used by the system If the box is not checked the sensor input is ignored and other algorithms are used instead lt Back Next gt Exit Cancel Help Figure 3 8 Sensors screen Two sensors can be enabled or disabled from this screen To enable a sensor select the appropriate checkbox To disable a sensor clear the checkbox Note
11. 2 Gone E Slew Time 0 ms Overshoot o Turn Left Turn Right lt Back nes gt D Exit OK Cancel Apply Help AgGPS Autopilot Toolbox Il Software User Guide 45 3 New Installation Wizard Tracked tractor calibration Track Spacing screen This is the distance from halfway across the width of the left track to halfway across the width of the right track Track Spacing Track Spacing Track Spacing lt Back Next gt Exit Cancel Figure 3 15 Track Spacing calibration screen 46 AgGPS Autopilot Toolbox Il Software User Guide New Installation Wizard 3 Hydraulically steered tracked tractors Note This group of vehicles includes the CAT AGCO Challenger Tracked family RPM Sensor screen The RPM Sensor screen verifies that the RPM sensor output is correct RPM Sensor RPM Sensor Calibration 3 Enter the current rpm and press Enter Engine RPM o lt Back Next gt Exit OK Cancel Apply Help Figure 3 16 RPM Sensor calibration screen If the Engine RPM value is not close to the actual engine RPM follow the onscreen instructions to adjust the sensor output AgGPS Autopilot Toolbox Il Software User Guide 47 3 New Installation Wizard Pump Response screen The Pump Response calibration screen verifies and optimizes the response of the hydraulic steering pumps Follow the onscreen instructions to perform this procedure Pump Response Steering
12. AgGPS Autopilot Toolbox II Software User Guide Version 2 5 Revision A August 2005 Trimble Agriculture Business Area Trimble Agriculture Division 7401 Church Ranch Blvd Westminster CO 80021 USA 800 865 7438 US toll free 1 913 495 2700 Phone 1 913 495 2750 Fax trimble_support trimble com www trimble com Copyright and Trademarks 1999 2005 Trimble Navigation Limited All rights reserved Trimble the Globe amp Triangle logo and AgGPS are trademarks of Trimble Navigation Limited registered in the United States Patent and Trademark Office and in other countries Autopilot is a trademark of Trimble Navigation Limited Microsoft and Windows are either registered trademarks or trademarks of Microsoft Corporation in the United States and or other countries All other trademarks are the property of their respective owners Release Notice This is the August 2005 release Revision A of the AgGPS Autopilot Toolbox II Software User Guide It applies to version 2 5 of the AgGPS Autopilot Toolbox II software The following limited warranties give you specific legal rights You may have others which vary from state jurisdiction to state jurisdiction Product Limited Warranty Trimble warrants that this Trimble product and its internal components the Product shall be free from defects in materials and workmanship and will substantially conform to Trimble s applicable published specifications for the
13. OK Cancel Apply Help Figure 3 10 Controller Orientation screen The top and bottom of the Autopilot controller are marked with T and B respectively The buttons circled in Figure 3 10 flip and rotate the image The Y P R button allows advanced users to manually enter the yaw pitch and roll values If the yaw pitch and roll values are changed directly the representation of the controller will update to reflect these new values Note If the Y P R values are not in 90 increments the pictorial view is not displayed AgGPS Autopilot Toolbox Il Software User Guide 23 3 New Installation Wizard Antenna Compensation screen The Antenna Compensation screen allows you to enter your Roll Offset value Antenna Compensation Antenna Position Compensation Antenna height above ground fi 27 5 in Roll Offset E deg Antenna distance from fixed axle o in lt Back Next gt Exit Figure 3 11 Antenna Compensation screen Note The Autopilot system must be completely set up the software properly configured and proper GPS reception enabled before the Antenna Compensation procedure can be performed Read and understand the complete documentation before attempting this procedure Ifmultiple GPS technologies will be used for example RTK and WAAS use the technology with the highest accuracy when performing roll correction 24 AgGPS Autopilot Toolbox Il Software User Gu
14. Product for a period of one 1 year starting from the earlier of i the date of installation or ii six 6 months from the date of product shipment from Trimble This warranty applies only to the Product if installed by Trimble or a distributor authorized by Trimble to perform Product installation services Software Components and Enhancements All Product software components sometimes hereinafter also referred to as Software are licensed and not sold Any Software accompanied by a separate End User License Agreement EULA shall be governed by the terms conditions restrictions and limited warranty terms of such EULA notwithstanding the preceding paragraph During the limited warranty period you will be entitled to receive at no additional charge such Fix Updates and Minor Updates to the Product software as Trimble may develop for general release subject to the procedures for delivery to purchasers of Trimble products generally If you have purchased the Product from an authorized Trimble distributor rather than from Trimble directly Trimble may at its option forward the software Fix Update or Minor Update to the Trimble distributor for final distribution to you Major Upgrades new products or substantially new software releases as identified by Trimble are expressly excused from this enhancement process and limited warranty Receipt of software updates shall not serve to extend the limited warranty period For purpose
15. The controller retains the state of each sensor through power cycles and firmware upgrades Wheel Speed Neutral Sense sensor When the Wheel Speed Neutral Sense sensor is disabled the software enters the low speed operation feature Gear Lever sensor When the Gear Lever sensor is disabled the software uses a vehicle direction estimator 20 AgGPS Autopilot Toolbox Il Software User Guide New Installation Wizard 3 Radio screen The Radio screen appears when the GPS correction mode requires a radio link for example when the correction type is RTK The software initially displays the current Network ID channel setting stored in the radio itself To change the Network ID channel select an option from the list and then click the OK button Radio Radio Configuration Network ID x Note The radio Network ID is only applicable if you are operating in RTK correction mode lt Back Next gt Exit Cancel pI Help Figure 3 9 Radio screen If communication with the radio is not possible an error message appears AgGPS Autopilot Toolbox Il Software User Guide 21 3 New Installation Wizard Calibration The following screens allow you to calibrate the Autopilot system Controller Orientation Steering Sensor Deadzone Compensation Proportional Gain Antenna Position Manual Override Sensitivity The actual calibration screens that appear depend on the vehicle model selected as each type of
16. Wheel Transmission speed Gear lever indication analog Manual Override Steering Angle Steering Angle Sensor Raw a 22869 volts Scaled fo deg Cancel Apply Help Figure 4 6 Steering Angle tab AgGPS Autopilot Toolbox Il Software User Guide 59 4 Editing Setup and Running Diagnostics System Fault Information The Faults tab lists the current system faults Autopilot Toolbox Setup Configuration Calibration Diagnostics Faults Information System Fault Information Select a fault and press View 040 Steering Undervolt 041 Man Ovrd Overvoltage View Clear Save To Disk Figure 4 7 Faults tab To view the details of a specific system fault select the fault from the list and then click the View button To clear a specific fault select the fault and then click the Clear button To store the entire fault list and the detailed information of each entry to a file click the Save To Disk button 60 AgGPS Autopilot Toolbox Il Software User Guide CHAPTER Save Restore Setup In this chapter m Save Restore Setup Screen m Save Setup Screen This chapter describes how to use the Autopilot Toolbox II software to save files AgGPS Autopilot Toolbox Il Software User Guide 61 5 Save Restore Setup Save Restore Setup Screen Use the Save Restore Setup screen Figure 5 1 to backup and restore the Autopilot system configuration to a file The Save to File icon creates a configurat
17. Y SUCH LOSS AND REGARDLESS OF THE COURSE OF DEALING WHICH DEVELOPS OR HAS DEVELOPED BETWEEN YOU AND TRIMBLE BECAUSE SOME STATES AND JURISDICTIONS DO NOT ALLOW THE EXCLUSION OR LIMITATION OF LIABILITY FOR CONSEQUENTIAL OR INCIDENTAL DAMAGES THE ABOVE LIMITATION MAY NOT APPLY TO YOU NOTE THE ABOVE LIMITED WARRANTY PROVISIONS MAY NOT APPLY TO PRODUCTS OR SOFTWARE PURCHASED IN THE EUROPEAN UNION PLEASE CONTACT YOUR TRIMBLE DEALER FOR APPLICABLE WARRANTY INFORMATION Notices Class B Statement Notice to Users This equipment has been tested and found to comply with the limits for a Class B digital device pursuant to Part 15 of the FCC rules These limits are designed to provide reasonable protection against harmful interference in a residential installation This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communication However there is no guarantee that interference will not occur in a particular installation If this equipment does cause harmful interference to radio or television reception which can be determined by turning the equipment off and on the user is encouraged to try to correct the interference by one or more of the following measures Reorient or relocate the receiving antenna Increase the separation between the equipment and the receiver Connect the equipment into an outlet on a
18. ad zone Retry and if the problem persists contact Technical Support Error Software Problem Detected An internal software anomaly occurred Retry and if the problem persists contact Technical Support Proportional steering gain calibration CAUTION The steering sensor calibration must be completed before attempting to perform the proportional gain calibration procedure and ONLY when the Autopilot system performance is less than satisfactory The PGain setting is a compromise between fast steering response and stability Modifications to PGain 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 e Overshoot The percentage by which the front wheels exceed the commanded angle before they settle on the correct value Altering these settings may correct slight variations in your vehicle due to valve current response friction and hydraulic fluid viscosity High PGain values decrease the slew time and increase the overshoot This provides rapid responses but can cause the steering to exhibit signs of instability like a tendency to excessively overshoot AgGPS Autopilot Toolbox Il Software User Guide 39 3 New Installation Wizard Low PGain values increase the slew time and decrease the overshoot This improve the stability but can introduce significant delays in the steering response and can cause the
19. agnostics Gi Save Restore Setup Figure 2 6 Closing the Autopilot Toolbox Il software AgGPS Autopilot Toolbox Il Software User Guide 9 2 Getting Started 10 AgGPS Autopilot Toolbox Il Software User Guide CHAPTER New Installation Wizard In this chapter m Using the Autopilot Toolbox Il Software m Configuring the System m Calibration This chapter describes how to use the New Installation wizard to perform the configuration and calibration tasks required for a new Autopilot system installation AgGPS Autopilot Toolbox Il Software User Guide 11 3 New Installation Wizard Using the Autopilot Toolbox Il Software To start the installation process 1 Click on the New Installation Wizard icon il Autopilot Toolbox Il ES Tools Setup Help Edit Setup Diagnostics Save Restore Setup Figure 3 1 New Installation Wizard icon Two information dialogs appear The following pages will lead you through a complete configuration of the Autopilot system Pressing the BACK and NEXT buttons at the bottom of each page allow you to navigate among each setup page Press OK to continue Some pages result in the rebooting of the Autopilot controller Be sure to press the Enter key on the Remote Keypad or Remote Data Logger to clear the initial warning text and to enter a swath width value Press OK to continue 2 Read the information and then click the OK button to continue 12 AgGPS Autopilot Toolbox Il Soft
20. be made Reset the Roll Offset value to 0 zero before performing the procedure 4 Create an AB Line The job file does not have to be stored To create a clean set of tire tracks in the field start a new pass away from the area where the AB Line was created Engage automatic steering mode when the system is stable and allow the Autopilot system to complete the pass 6 Atthe end of the pass turn the tractor around to return along the same pass from the opposite direction 7 Engage automated steering mode and allow the system to complete the pass 8 At the end of the return pass stop the tractor and confirm that its current position is directly on the AB line there is no cross track error AgGPS Autopilot Toolbox Il Software User Guide 25 3 New Installation Wizard 9 Park the tractor and exit the cab to evaluate the tire track pattern between the first and return paths 10 Measure the difference between the track passes and record the distance in inches Also note whether the return pass is to the left or the right of the original pass Record the results in the table in Table 3 1 on page 28 Note The offset should be consistently to the left or right 11 Repeat Steps 5 10 two more times for a total of three test runs Record the offset distance in inches and the left or right direction of offset for each test run in the table in Table 3 1 on page 28 Left Offset Shown 26 AgGPS Autopilot Tool
21. box Il Software User Guide New Installation Wizard 3 Roll correction procedure flag offset method 1 Remove any implement from the tractor for this test The tractor drawbar must be centered for this procedure Drive the tractor to a relatively flat area where you can makes passes that are at least 402 m 1320 ft in length Reset the Roll Offset value to O zero on the Rol Correction screen before performing the procedure Create an AB Line The job file does not have to be stored Start a new pass Engage automatic steering mode when the system is stable Stop the tractor midway through the pass Confirm that the current tractor position is directly on the AB Line there is no cross track error Park the vehicle and exit the cab Use the hitch pin hole in the drawbar as a guide to insert a flag in the ground to mark the tractor centerline for this pass Figure 3 12 Use the hitch pin hole in the drawbar as a guide for the flag Complete the pass with the tractor Turn the tractor around to return along the same pass from the opposite direction Engage automatic steering mode Stop the tractor midway down the pass with the drawbar pin location very close to the marker flag Confirm that the current tractor position is directly on the AB Line there is no cross track error Park the tractor and exit the cab Use the hitch pin hole in the drawbar as a guide to insert a second flag in the ground to mark the tractor center
22. cceptable under all conditions Be very careful not to choose a sensitivity setting that is either too sensitive or not sensitive enough In either case the manual override function may cease to function properly if misadjusted 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 Avoiding this case should be a top priority Calibrating front wheel steered and articulated tractors For front wheel steered and articulated vehicles three additional calibration pages appear e Steering sensor calibration required to convert the sensor output into commands for steering full left full right and any position in between e Steering dead zone calibration required to learn the dead zones where no steering results from system commands to the tractor hydraulics e PGain proportional steering gain not required unless system steering performance is unsatisfactory The steering sensor and dead zone are required The steering sensor calibration must be performed first Steering sensor The steering sensor calibration is required to convert the voltage output of the steering sensor into an equivalent steering angle measurement Note Complete this calibration before attempting to calibration the steering deadzone pgain or roll correction procedures AgGPS Autopilot Toolbox Il Software User Guide 31 3 New Installation Wizard When you run the ca
23. e Test OK Cancel Help Automated steering dead zone The Automated Dead Zone Calibration procedure runs a series of tests on the valve and steering hydraulics to determine the point at which steering actuation occurs During each repetition of the test one side of the steering system is calibrated independently by slowly opening and closing the valve while looking for wheel actuation Notes The steering sensor calibration must be performed before running this procedure To ensure good system performance the hydraulic fluid must be at nominal operating temperature while running this procedure On some vehicles with large reservoirs it may 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 Ifthe calibration is performed while the system is still cold re run both the Dead Zone and the Proportional gain calibration procedure again once the system is at operating temperature 36 AgGPS Autopilot Toolbox Il Software User Guide New Installation Wizard 3 The vehicle must be moving slowly in first gear with the engine RPMSs at the normal operating level of the vehicle or maximum Since the vehicle will turn to either the right or the left in an uncontrolled manner during the calibration perform the test in a large field that is fre
24. e of hazards To minimize the effect of ground conditions on the results the field should ideally consist of smooth soil that is loose but firm Follow the instructions presented on each page shown Each time either Turn Right or Turn Left is pressed the system engages and slowly opens and closes the side of the valve that corresponds to the button label The wheels will move slowly in the direction that they are commanded and stop It is not necessary for the wheels to cover a large angle for the calibration to be working The progress bar updates throughout each iteration Automated DZ cal Auto Deadzone Calibration 1 Only proceed if the steering sensor calibration has been performed Press Next Dead Zone Left 32 Dead Zone Right 32 lt Back Next gt Exit OK Cancel Help Because the measured results are affected by disturbances in the ground even on flat smooth surfaces the second phase of the calibration should be run at least three times or until the average dead zones displayed change by less than about 0 5 AgGPS Autopilot Toolbox Il Software User Guide 37 3 New Installation Wizard Click the Next button to continue Automated DZ cal Auto Deadzone Calibration 2 This calibration needs to be performed on a smooth flat surface The hydraulic fluid should be at normal operating temperature Press Next lt Back Next gt Exit OK Cancel Help During the automatic deadzone calibration proce
25. ed tractors 0 31 Tracked tractor calibration o ee ee 46 Hydraulically steered tracked tractors LL 47 Fly by wire tracked tractor calibration 22 50 4 Editing Setup and Running Diagnostics a aoaaa aaa 53 Using the Edit Setup Diagnostics screen LL 54 Editing Me Setups 4 ams e A E A ee O ae Bee 55 Selecting the Information Screen LL 56 Diagnostics SCISENSI 4 po o aa e ea a o a a a a 58 System Fault Information reeda dek ea a e a a 60 5 Save Restore Setup e cae noa gae SREP RPE DEER ES 61 Save Restore Setup Sereen o se erea reka a OE E E 62 Save Setup Screen eea aa 6 4 A e RE ER ea 63 AgGPS Autopilot Toolbox Il Software User Guide iii iv AgGPS Autopilot Toolbox Il Software User Guide CHAPTER Introduction In this chapter m Technical Assistance E Your Comments This manual describes the operation of the AgGPS Autopilot Toolbox II software version 2 5 Autopilot Toolbox II is a software program that offers additional features for the Autopilot automated steering system Even if you have used other Global Positioning System GPS products before Trimble recommends that you spend some time reading this manual to learn about the special features of this product If you are not familiar with GPS visit the Trimble website www trimble com for an interactive look at Trimble and GPS AgGPS Autopilot Toolbox Il Software User Guide 1 1 Introduction Technical Assistance
26. est various gain settings while monitoring tractor performance and the values in the Slew Time and Overshoot fields for Turn Right phase a Use the increment decrement controls to adjust the Gain field if desired b Tum the front wheels completely to the left to begin the test The test is for the stop to stop position c Click the Turn Right button Both tum buttons will be grayed out while the wheels slew Steering Proportional Gain Proportional Gain Calibration 4 By pressing Tum Left amp Right and adjusting the Gain determine the value that minimizes rise time while ensuring the overshoot is no more than about 5 Press Ok when completed n Saved Gain 12 Gain 12 Slew Time 0 ms Overshoot fo Turn Left SST lt Back Next gt Exit OK Cancel Help Note The optimum gain setting has short slew time short millisecond reading and low overshoot percentage less than 5 44 AgGPS Autopilot Toolbox Il Software User Guide New Installation Wizard 3 6 When the best gain value is located click the Next button to save the value in controller memory or click the Back button to restart the calibration procedure Steering Proportional Gain Proportional Gain Calibration 4 By pressing Tum Left amp Right and adjusting the Gain determine the value that minimizes rise time while ensuring the overshoot is no more than about 5 Press Ok when completed 3 a Saved Gain j
27. ide New Installation Wizard 3 Two different measurement methods are offered for calculating the roll offset e Tire track offset e Flag offset Choose the method which best matches the conditions Antenna height With the tractor on a flat level surface measure the distance from the ground to the base of the GPS receiver or antenna Enter this value into the Antenna Height Above Ground field Antenna forward With the tractor on a flat level surface measure the distance from the fixed axle to the center of the GPS receiver or antenna Enter this value into the Antenna Distance from Fixed Axle field Enter a negative value if the GPS receiver antenna is to the rear of the fixed axle The nose of the vehicle is considered the forward direction Roll correction procedure tire track offset method Tip Trimble recommends that you use a highly repeatable GPS correction mode for roll correction For best results use a RTK mode or Omnistar HP signal that has been converged for at least 20 minutes If you do a roll calibration with less accurate GPS correction modes repeat the measurements at least four times to ensure a more consistent result To use the tire track offset method to calculate roll correction 1 Remove any implement from the tractor for this test 2 Drive the tractor to a relatively flat field where soil conditions will make tire impressions visible and where passes of at least 402 m 1320 ft in length can
28. ide 55 4 Editing Setup and Running Diagnostics Selecting the Information Screen The Information screen displays the following information about the Autopilot controller e serial number e firmware version e firmware date e monitor version e monitor date e selected vehicle model e installed options Information Information Serial Number 0000000312 Application Version 4 02 T Application Date 2 25 2005 Monitor Version 2 02 Monitor Date 1 20 2005 Vehicle Model CASE MX285 Options Installed NT300D Display Logging IMU Figure 4 3 Information screen 56 AgGPS Autopilot Toolbox Il Software User Guide Editing Setup and Running Diagnostics 4 You can access the Information screen in two ways e On the main screen click on the Edit Setup Diagnostics icon and then select the Information tab On the main screen select Information from the Tools menu as shown in Figure 4 4 3 Autopilot Toolbox Il GA Setup Help New Installation Wizard Edit Setup Save Restore Setup Advanced Configuration Data Logging Exit Save Restore Setup Figure 4 4 Accessing the Information screen from the Tools menu AgGPS Autopilot Toolbox Il Software User Guide 57 4 Editing Setup and Running Diagnostics Diagnostics Screens Table 4 1 The Diagnostics screens monitor the main sensor inputs for the selected vehicle type The raw and scaled sensor data appears on each page The data is continuo
29. ile the Autopilot system tests the hydraulic response to its steering commands 3 Click the Next button to continue Steering Proportional Gain Proportional Gain Calibration 3 Caution the wheels will move abruptly during this test Press Next Gan HSE fi Slew Time Overshoot ie D lt Back Next gt Exit 42 AgGPS Autopilot Toolbox Il Software User Guide New Installation Wizard 3 4 Test various gain settings while you monitor the vehicle performance and the values in the Slew Time and Overshoot fields for Turn Left phase a Use the increment decrement controls to adjust the Gain field if desired b Tum the front wheels completely to the right to begin the test The test is for the stop to stop position c Click the Turn Left button Both turn buttons will be grayed out while the wheels slew Steering Proportional Gain Proportional Gain Calibration 4 By pressing Tum Left amp Right and adjusting the Gain determine the value that minimizes rise time while ensuring the overshoot is no more than about 5 Press Ok when completed gt a Saved Gain 12 Gain E Slew Time 0 ms Overshoot fo Turn Right lt Back Next gt Exit OK Cancel F Help Note The optimum gain setting has short slew time short millisecond reading and low overshoot percentage less than 5 AgGPS Autopilot Toolbox Il Software User Guide 43 3 New Installation Wizard 5 T
30. ion file from the current Autopilot settings which are stored on the Pocket PC The Restore from File icon is used to restore the settings of a previously generated file to the Autopilot controller Save Restore Setup Save to File a Restore From File Figure 5 1 Save Restore Setup screen 62 AgGPS Autopilot Toolbox Il Software User Guide Save Restore Setup 5 Save Setup Screen Use the Save Setup screen to save the system settings as a file on your computer This file can be used later to restore the system setup on the vehicle if the memory ever becomes corrupted or if a different controller is used on the vehicle Click on the Save to File icon to store the system setup as a file on your computer The software will prompt you to enter a path and filename for the file Save Setup Save Setup to File Press the icon below to save a copy of the setup to a file on the Pocket PC This step is optional Save to File a lt Back Nex Finished Figure 5 2 Save Setup screen Note Trimble recommends that you use this screen to make an external backup every time that you change the system setup AgGPS Autopilot Toolbox Il Software User Guide 63
31. ironment in which the lightbar will be used In full sunlight the brightest setting would make the lightbar LEDs the most visible At night with no lights in the vehicle cab the highest setting could be too bright for comfortable use Mounting dash or ceiling The Mount Lightbar upside down check box controls which way up the text is displayed on the lightbar If the lightbar is mounted on the ceiling of the cab select the check box If the lightbar is mounted on the dash or the top of the steering assembly leave the check box clear Optional swath number display when online The Text Message list controls what is displayed when the cross track error is less than the LED spacing setting Select this check box to display the current swath number in the lightbar text field whenever the cross track error drops below one LED spacing distance 18 AgGPS Autopilot Toolbox Il Software User Guide New Installation Wizard 3 Operation screen The Operation screen allows you to configure operational parameters Operation Operational Parameters End Of Row Alarm Distance 1200 in Operator Alert Timeout 5 min v Swath Changeover At Tractor Nose v lt Back Next gt Exit Cancel Help Figure 3 7 Operation screen The following parameters can be adjusted on this screen End of Row Alarm Distance This setting controls how far from the end of the swath the End of Row warning appears Increase this
32. libration ensure that e you perform this procedure on a hard level surface that is free of obstructions e you follow the instructions presented on each page e tractor speed exceeds 1 6 kph 1 mph e if you use the New Installation wizard you do not confuse the Next wizard key at the bottom of the page with the Next button for this calibration page e you watch the Sensor Angle field to ensure a symmetrical angle reading at the steering extremes while you manually steer the wheels to the full right and full left e you watch the Sensor Angle field to ensure that the angle reading is near zero while you manually steer the wheels straight ahead To run the steering sensor calibration 1 Click the Next button under the Sensor Angle field Steering Sensor Calibration 1 Move Tractor Forward Slowly and Press Next Sensor Volts 2 23 Sensor Angle 0 00 lt Back Next gt Exit The Sensor Volts field updates as you turn the steering wheel 32 AgGPS Autopilot Toolbox Il Software User Guide New Installation Wizard 3 Note The steering wheel must be at the full left turn position when you click the Next button 2 Click the Next button under the Sensor Volts field to continue Steering Sensor Steering Sensor Calibration 2 Steer Full Left and Press Next Sensor Volts 2 23 lt Back Next gt Exit OK Cancel F Help If the steering wheel is not turned to the full left position
33. line for this pass Note whether the second pass is to the left or the right of the first pass AgGPS Autopilot Toolbox Il Software User Guide 27 3 New Installation Wizard 10 Measure the difference between the flag markers for the two passes and record the distance in inches Also record whether the return pass is to the left or the right of the original pass Record the results in the table in Step 3 1 on page 28 Note The offset should be consistently to the left or right Right Offset Shown Figure 3 13 Measure the distance between the flags Repeat Steps 5 10 two more times for a total of three test runs Record the offset distance in inches and the left or right direction of offset for each test run in the table in Table 3 1 on page 28 Average the results of the three runs total the offset distances from the three passes and divide by 3 Table 3 1 Table for recording the roll correction results In 9 1st 3rd Aver age Offset Consult the Roll Offset Table below Locate your antenna mounting height in the column across the top of the table Locate your average offset distance in the column on the left of the table The value where the two columns intersect is your Roll Offset value 28 AgGPS Autopilot Toolbox Il Software User Guide New Installation Wizard If the value is a right offset enter the value as a negative If the value is a left offset enter the value as a positive Table
34. ncludes a demonstration mode where you can access many of the configuration and calibration pages without being connected to an Autopilot controller Autopilot Toolbox Il Software Requirements The application can be installed on either a StrongArm processor based handheld PC running Microsoft PocketPC 2002 or later or a desktop PC running Microsoft Windows 98 or later The Autopilot Toolbox II software is fully compatible with version 4 0 or later of the Autopilot controller firmware Starting the Autopilot Toolbox Il Software 1 Connect the Autopilot controller shown in Figure 2 1 to the serial port of one of the following PocketPC via the serial port adapter of the Pocket PC Desktop PC via a standard serial port cable 4 AgGPS Autopilot Toolbox Il Software User Guide Getting Started 2 2 Start the software On the Pocket PC select Autopilot Toolbox 2 4 from the menu On the desktop PC launch the Autopilot Toolbox II software from the desktop icon created during installation Autopilot controlle Pocket PC with serial adapter EN Figure 2 1 Pocket PC serial port connection N CAUTION When laptops are run off a power inverter and connected to the serial port of the Autopilot controller the performance of the Autopilot controller is impaired Therefore disconnect laptops from the power inverter when performing critical operations especially calibrati
35. nt of this calibration setting could result in the failure of this critical safety feature Read and understand the complete documentation before attempting this procedure Note The Manual Override Sensitivity calibration is only valid for those platforms employing a pressure transducer for the manual override function The AgGPS Autopilot Toolbox II software automatically detects whether or not the vehicle configuration includes this type of sensor and provides this option if required The Manual Override Sensitivity slider controls how quickly the manual steering override feature reacts if the driver turns the steering wheel Manual Override Manual Override Sensitivity High Oey a AA ee Warning This calibration adjustment should only be made by qualified personnel Mis adjustment of this calibration setting could result in the failure of this critical safety feature lt Back Next gt Exit Cancel Help Figure 3 14 Manual Override Sensitivity calibration screen The default sensitivity setting provides a balance between rapid activation of the override function and rejection of steering wheel motion due to incidental contact for example due to travel in a rough field To adjust the setting move the slider to the left increase sensitivity or right decrease sensitivity The value to the right of the slider shows the current setting The total range is 0 5 to 2 5 where 0 5 is the most sensitive setting and 2 5 i
36. on and run the laptop on battery power instead If no communication between the laptop and the controller is required disconnect the laptop from the serial port The power inverter can then be used without affecting the system A warning message appears When laptops are run from a power inverter and connected to the serial port of the Autopilot navigation controller the performance of the Autopilot controller will be impaired Therefore disconnect laptops from the power inverter during performance of critical operations especially calibration and run the laptop on battery power instead Press OK to continue Figure 2 2 Autopilot Toolbox Il software introductory warning message 3 Read the message and then press OK AgGPS Autopilot Toolbox Il Software User Guide 5 2 Getting Started The main screen appears as shown in Figure 2 3 The three icons provide access to the functions described in the following chapters 3 Autopilot Toolbox Il Tools Setup Help New Installation Edit Setup Wizard Diagnostics Save Restore Setup Figure 2 3 Autopilot Toolbox Il software main screen 6 AgGPS Autopilot Toolbox Il Software User Guide Getting Started 2 Enabling Demonstration Mode When you enable Demonstration Mode the Autopilot Toolbox II software behaves as though it is communicating with an Autopilot controller However in this mode the software does not communicate with a controller even if one is attached to
37. only be made by qualified personnel Mis adjustment of this calibration setting could result in the failure of this critical safety feature lt Back Next gt Exit Figure 3 19 Manual Override calibration screen Follow the onscreen instructions to run this procedure 50 AgGPS Autopilot Toolbox Il Software User Guide New Installation Wizard 3 Calibrating the steering center bias This Steering screen determines the center voltage which is necessary for controlling the electronic steering interface Steering Left Turn Rate Right Turn Rate 3 00 0 00 Turn Left Turn Right Steering Pot Centerpoint Bias Left 4 gt Right 2 35 Restore Saved OK Figure 3 20 Steering center bias calibration screen Successfully calibrating the center voltage setting ensures that the Autopilot steering is balanced for left and right steering commands CAUTION This test requires the vehicle to be in motion The instructions for this calibration test span several pages Follow the onscreen instructions AgGPS Autopilot Toolbox Il Software User Guide 51 3 New Installation Wizard 52 AgGPS Autopilot Toolbox Il Software User Guide CHAPTER Editing Setup and Running Diagnostics In this chapter Using the Edit Setup Diagnostics screen Editing the Setup Selecting the Information Screen Diagnostics Screens System Fault Information This chapter describes how to change the system setup or view
38. or if the steering sensor requires adjustment or replacement an error message appears The Sensor Volts field updates as you turn the steering wheel AgGPS Autopilot Toolbox Il Software User Guide 33 3 New Installation Wizard Note The steering wheel must be at the full right turn position when you click the Next button 3 Click the Next button under the Sensor Volts field to continue Steering Sensor Steering Sensor Calibration 3 Steer Full Right and Press Next Sensor Volts 0 00 lt Back Next gt Exit OK Cancel f Help If the steering wheel is not turned to the full right position or if the steering sensor requires adjustment or replacement an error message appears 34 AgGPS Autopilot Toolbox Il Software User Guide New Installation Wizard 3 4 Click the Next button under the Sensor Volts field to continue Steering Sensor Steering Sensor Calibration 4 Steer Straight and Press Next lt Back Next gt Exit OK Cancel amp ppl Help The Sensor Volts field updates as you turn the steering wheel AgGPS Autopilot Toolbox Il Software User Guide 35 3 New Installation Wizard Note The steering wheel must be at the center position when you click the Next button 5 Click the Next button to continue or click the Restart button to discard the last calibration and to retum to Step 1 Steering Sensor Steering Sensor Calibration 5 Press Restart to Repeat th
39. r v TT Mount lightbar upside down lt Back Next gt Exit Figure 3 6 Lightbar screen Note This screen appears regardless of whether a lightbar is actually attached If a lightbar is not part of the system click the Next button to skip this screen The following parameters can be adjusted on this screen Inner LED Spacing This setting controls how much cross track error each lightbar LED represents If the spacing is set to 1 inch each LED on the lightbar represents 1 inch of cross track error End LED Distance linear vs scaled Cross track error can be represented in two ways e Linear where each LED represents a set value e Scaled where the amount of cross track error per LED increases as the LEDs move out from the center The End LED Distance field allows you to select which mode you will use There are 17 LEDs on the lightbar so in linear mode the LED at the end will represent 17x the spacing value of cross track error For the scaled mode the end LED represents a cross track error value equal to half of the current implement width setting AgGPS Autopilot Toolbox Il Software User Guide 17 3 New Installation Wizard The linear mode is most useful when you use a high precision GPS source for example RTK The scaled mode is a better choice when you use a low precision GPS source LED Brightness The lightbar has five different brightness settings Adjust the brightness level appropriately for the env
40. s of this warranty the following definitions shall apply 1 Fix Update means an error correction or other update created to fix a previous software version that does not substantially conform to its published specifications 2 Minor Update occurs when enhancements are made to current features in a software program and 3 Major Upgrade occurs when significant new features are added to software or when a new product containing new features replaces the further development of a current product line Trimble reserves the right to determine in its sole discretion what constitutes a significant new feature and Major Upgrade Warranty Remedies Trimble s sole liability and your exclusive remedy under the warranties set forth above shall be at Trimble s option to repair or replace any Product that fails to conform to such warranty Nonconforming Product and or issue a cash refund up to the purchase price paid by you for any such Nonconforming Product excluding costs of installation upon your return of the Nonconforming Product to Trimble in accordance with Trimble s standard return material authorization process Such remedy may include reimbursement of the cost of repairs for damage to third party equipment onto which the Product is installed if such damage is found to be directly caused by the Product as reasonably determined by Trimble following a root cause analysis Warranty Exclusions and Disclaimer The
41. s the least sensitive If you change the slider setting the new setting is transmitted to the Autopilot controller when you click the OK button The simplest way to perform the calibration is 30 AgGPS Autopilot Toolbox Il Software User Guide New Installation Wizard 3 1 Setup the Autopilot system with a job loaded and tracking live satellites 2 With the vehicle not moving engage the system into automatic mode Tum the steering wheel and assess whether the manual override feature is at an acceptable level of sensitivity The criteria generally used includes evaluating how far and how rapidly the steering wheel needs to be turned before the manual override function causes the system to be disengaged If the steering wheel has to be turned too far or too rapidly use the calibration slider to increase the sensitivity of the function If the manual override function is activated even for incidental contact i e motion of the steering wheel use the slider to decrease the sensitivity Use the above method to re evaluate each new setting You can also evaluate the performance of the manual override feature under conditions of loading and or activities which may affect the pressure of the hydraulic system For example you can turn on the auxiliary hydraulics while you evaluate the manual override sensitivity Trimble strongly recommends that this calibration be performed only if it is determined that the default sensitivity is una
42. se warranties shall be applied only in the event and to the extent that i the Products and Software are properly and correctly installed configured interfaced maintained stored and operated in accordance with Trimble s relevant operator s manual and specifications and ii the Products and Software are not modified or misused The preceding warranties shall not apply to and Trimble shall not be responsible for defects or performance problems resulting from i the combination or utilization of the Product or Software with hardware or software products information data systems interfaces or devices not made supplied or specified by Trimble ii the operation of the Product or Software under any specification other than or in addition to Trimble s standard specifications for its products iii the unauthorized installation modification or use of the Product or Software iv damage caused by accident lightning or other electrical discharge fresh or salt water immersion or spray or v normal wear and tear on consumable parts e g batteries Trimble does not warrant or guarantee the results obtained through the use of the Product THE WARRANTIES ABOVE STATE TRIMBLE S ENTIRE LIABILITY AND YOUR EXCLUSIVE REMEDIES RELATING TO PERFORMANCE OF THE PRODUCTS AND SOFTWARE EXCEPT AS OTHERWISE EXPRESSLY PROVIDED HEREIN THE PRODUCTS SOFTWARE AND ACCOMPANYING DOCUMENTATION AND MATERIALS ARE PROVIDED AS IS AND WITHOUT EXPRESS
43. ss the Autopilot system steers the tractor for part of the procedure While this calibration occurs the Autopilot Toolbox software displays a progress indicator After each left or right phase of the calibration process the software prompts you before beginning the next phase The software also indicates whether the next phase will turn the vehicle left or right To minimize the total amount of space needed for the complete calibration you can reposition the tractor between the phases of the test Ifthe available flat smooth space is extremely limited re align the vehicle after each segment of the calibration To reposition the vehicle wait until the software prompts you that the next phase is ready to begin and then 1 Lookatthe screen to determine whether the next phase will require a left or right turn 2 Reposition the vehicle so that the turn will use the space that you have available Acknowledge the prompt to begin the next phase AN CAUTION If an obstacle makes it unsafe to continue a particular phase of the calibration abort the phase by stopping the tractor and disengage the system by turning the steering wheel You can then reposition the vehicle and continue from the current test phase 38 AgGPS Autopilot Toolbox Il Software User Guide New Installation Wizard 3 Automated Dead Zone error messages If for some reason a calibration cycle is unable to complete successfully one of the error messages below will appear
44. the serial port To enable Demonstration Mode 1 Select Demonstration Mode in the Setup list as shown in Figure 2 4 il Autopilot Toolbox Il EI Tools EAT Help Y Demonstration Mode Select COM port New Installation Edit Setup Wizard Diagnostics Save Restore Setup Figure 2 4 Selecting Demonstration Mode The Demonstration Mode Enabled warning appears Demonstration Mode Enabled A Autopilot Toolbox is now running in demonstration mode There is no communication with a controller in this mode and any changes made will he unsaved Some setup pages will report errors these can be safely ignored 2 Click OK to continue The software is now in Demonstration Mode AgGPS Autopilot Toolbox Il Software User Guide 7 2 Getting Started When the software is in Demonstration Mode the main screen displays DEMO in the upper right corner as shown in Figure 2 5 i Autopilot Toolbox Il Tools Setup Help emo New Installation Edit Setup Wizard Diagnostics Save Restore Setup Figure 2 5 Autopilot Toolbox Il software running in Demonstration Mode 8 AgGPS Autopilot Toolbox Il Software User Guide Getting Started 2 Closing the Autopilot Toolbox Il Software To close the software select one of the following options as shown in Figure 2 6 e Inthe Tools list select Exit e Click the cross in the top righthand corner il Autopilot Toolbox Il ES 5 SA New Installation Edit Setup Wizard Di
45. usly updated to allow real time evaluation of the connection The selected vehicle type determines which Diagnostics screens are available The following table lists which Diagnostics pages are provided for each vehicle type Diagnostic Pages by Vehicle Type Front Wheel Steered Hydraulic Tracked Electronic Fly By Wire Tracked Articulated Steered Sprayer Steering Sensor Manual Transmission Speed Override Gear Lever WA J Ni ff J Wheel J J Left Pump Pressure Right Pump Pressure Engine Speed Steering Module Status Voltage Output Balance J Neutral Sense or Wheel Speed Vehicle Direction Available when either the Wheel Speed Neutral Sense sensor or the Gear Lever sensor or both are disabled For more information see Sensors screen page 20 58 AgGPS Autopilot Toolbox Il Software User Guide Editing Setup and Running Diagnostics 4 Figure 4 5 is an example of the Diagnostics tab for the steering sensor Autopilot Toolbox Setup Configuration Calibration Diagnostics Faults Information Installation Diagnostics Select a page and press Edit Manual Override Steering Angle Wheel transmission speed Gear Lever analog Cancel Apply Help Figure 4 5 Diagnostics tab Figure 4 6 shows the Steering Angle tab on the Installation Diagnostics screen Installation Diagnostics
46. vehicle has different requirements Calibrating all types of vehicles Three calibration screens appear for all types of vehicle Controller orientation calibration required to properly associate the outputs of the controller s gyros with the direction of the vehicle Roll correction required to compensate for antenna height and static roll caused by minor variations in controller and GPS receiver mounting Manual steering override sensitivity only required for those platforms that employ a pressure transducer for the manual override function In addition this calibration parameter should only be adjusted from its default value if the operation of the manual function is unacceptable The Controller Orientation and the Roll Correction procedures are required For information on configuring Front wheeled and articulated steered tractors see page 31 Tracked tractors see page 46 Hydraulically steered tracked tractors see page 47 Fly by wire tracked tractors see page 50 22 AgGPS Autopilot Toolbox Il Software User Guide New Installation Wizard 3 Controller Orientation screen The Controller Orientation screen displays an image representing the current mounting orientation of the controller The image is shown as though you are looking down on the vehicle from above The top of the screen represents the direction of the nose of the vehicle Orientation Controller Orientation Ega lt Back Next gt Ext
47. vehicle to oscillate from side to side N CAUTION The Automatic Deadzone calibration must be performed immediately before you run the PGain calibration even if the Automatic Deadzone calibration has been performed in the past Notes This procedure should be performed on a hard level surface free of obstructions Vehicle speed should exceed 1 6 kph 1 mph while performing the calibration The proportional gain should be increased to the point just before any one of the following occurs e Slew times no longer decrease a low value is desired e Overshoot exceeds 5 8 depending on vehicle e Wheels noticeably shake near end stops Follow the instructions presented on each page 1 Click the Next button to continue Steering Proportional Gain Proportional Gain Calibration 1 Only proceed if the steering sensor calibration has been performed Press Next pee Slew Time Overshoot lt Back Next gt Exit Cancel Help 40 AgGPS Autopilot Toolbox Il Software User Guide New Installation Wizard 3 2 Click the Next button to continue Steering Proportional Gain Proportional Gain Calibration 2 Make sure the tractor is slowly moving forward Press Next can E Slew Time Overshoot D lt Back Next gt Exit AgGPS Autopilot Toolbox Il Software User Guide 41 3 New Installation Wizard N CAUTION The wheels can move abruptly during this procedure wh
48. ware User Guide New Installation Wizard 3 The Vehicle Model screen appears Vehicle Model Vehicle Model Select Vehicle Model CASE MX285 Refresh Select Cancel Apply Help Figure 3 2 Vehicle Model screen in the New Installation wizard There are three navigation buttons at the bottom of the screen as shown in Figure 3 2 The navigation buttons allow you to cycle through the various configuration and calibration screens or to exit the wizard at any time Once you are ready to advance to the next screen click Next or click Exit to leave the wizard and return to the main screen Note Ensure that all on screen steps have been completed before you click OK or Next If you modify any items a dialog appears to ask if you would like to save the changes A Select Vehicle Model Now Yes No Figure 3 3 save changes prompt AgGPS Autopilot Toolbox Il Software User Guide 13 3 New Installation Wizard Configuring the System The following screens are available to customize the behavior and appearance of the Autopilot system Vehicle Model e Display e GPS e Lightbar e Operation e Sensors e Radio Vehicle Model screen Use the Vehicle Model screen to select the vehicle model that the system is installed on All of the vehicle models that are currently available on your controller firmware will appear in the Select Vehicle Model list Vehicle Model Vehicle Model Select Vehicle Model
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