unipilot Installation Manual Assisted Steering Kit Number

Transcription

1 unipilot Installation Manual Assisted Steering Kit Number

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3 Table of Contents PREPARATION 1 Components 1 Installation 6 Overview of the Assembly... 6 Six Simple Steps to Get Going!... 6 Assemble Mounting Bracket... 8 Configuration Options... 9 UniPilot ESM Assemble UniPilot ESM Disassemble UniPilot ESM Secure the Mounting Bracket Electronics Connections Connect SCM Harness Install the System Ready Switch Connect the Engage/Disengage Switch General Recommended Electronics Installation Configuration Using your Matrix Pro 14 AutoSteer Assisted/Auto Steering Unavailable Enable/Disable Assisted/Auto Steering Valve Setup Valve Type Valve Frequency Minimum/Maximum Duty Cycle Tests R2 iii

4 Steering Settings Coarse Steering Adjustment Fine Steering Adjustment Deadband Lookahead Valve Test Valve Diagnostics Options: Steering Wheel Sensor Tilt Tilt Correction Unavailable Enable/Disable Tilt Field Level Operation 31 Standby Position (Inactive) Operating Position (Active) Activate UniPilot ESM Begin Assisted Steering Deactivate UniPilot ESM Appendix 33 Specifications Operation and Storage Conditions Trouble Shooting Contact Pressure Replacement of Contact Wheel iv

5 Copyrights 2012 TeeJet Technologies. All rights reserved. No part of this document or the computer programs described in it may be reproduced, copied, photocopied, translated, or reduced in any form or by any means, electronic or machine readable, recording or otherwise, without prior written consent from TeeJet Technologies. Trademarks Unless otherwise noted, all other brand or product names are trademarks or registered trademarks of their respective companies or organizations. Limitation of Liability TEEJET TECHNOLOGIES PROVIDES THIS MATERIAL AS IS WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED. NO COPYRIGHT LIABILITY OR PATENT IS ASSUMED. IN NO EVENT SHALL TEEJET TECHNOLOGIES BE LIABLE FOR ANY LOSS OF BUSINESS, LOSS OF PROFIT, LOSS OF USE OR DATA, INTERRUPTION OF BUSINESS, OR FOR INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES OF ANY KIND, EVEN IF TEEJET TECHNOLOGIES HAS BEEN ADVISED OF SUCH DAMAGES ARISING FROM TEEJET TECHNOLOGIES SOFTWARE. Safety Information TeeJet Technologies is not responsible for damage or physical harm caused by failure to adhere to the following safety requirements. As the operator of the vehicle, you are responsible for its safe operation. The UniPilot is not designed to replace the vehicle's operator. Do not leave a vehicle while the UniPilot is engaged. Be sure that the area around the vehicle is clear of people and obstacles before and during engagement. The UniPilot is designed to support and improve efficiency while working in the field. The driver has full responsibility for the quality and work related results. Disengage and put the UniPilot ESM (Electric Steering Motor) in the standby position before operating on public roads. Put the UniPilot ESM in the standby position when not in use to prevent accidental engagement or loss of vehicle control R2 v

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7 PREPARATION Before beginning the installation, thoroughly clean the steering wheel and steering column area. Park the vehicle on a clean, level floor with adequate clearance to work around. Do not attempt to loosen or attach any fittings while the engine is running. Photos and illustrations may vary from the actual components provided. This may be due to different installation options, operation modes or production models. Always try to use original parts. Built to the highest standards of safety and reliability, TeeJet Technologies parts are to be used for this system as others might jeopardize the safety and function of the system. TeeJet is not responsible for any redesign or adaptations of the UniPilot ESM. Any changes to the UniPilot ESM voids the company warranty. TeeJet Technologies supplies a set of mounting brackets that combined can create a variation of options for your specific vehicle. Not all vehicles have been addressed with these parts and modifications or additions to these parts may be needed to fit your specific vehicle. Components Unpack the installation kit and identify the required parts for your installation. Part Number Description Quantity Switch, Engage/Disengage FieldPilot Switch, System Ready, UniPilot Cable, 3 Pos. Battery 12' w/15 Amp Fuses Cable, Power/CAN/RS232 Adapter to Conxall 8pg Harness, SCM Short Cable, SCM to UniPilot Electric Steering Motor (ESM) Terminator, CAN Male, WP as Shipped Steering Control Module (SCM), Pro Kit, UniPilot Assisted Steering System UniPilot Electric Steering Motor (ESM) (included in Kit) UniPilot Contact Wheel (included in Kit) Kit, UniPilot Universal Mounting Bracket (included in Kit) Kit, Cable Tie Bundle (15) Manual, Installation, UniPilot R2 1

8 SCM Short Harness UniPilot Part # Description Illustration Switch, Engage/Disengage FieldPilot Switch, System Ready, UniPilot System Ready Switch Cable, 3 Pos. Battery 12' w/15 Amp Fuses DC: xx/xx Connecto to (+12v) Cable, Power/CAN/RS232 Adapter to Conxall 8pg Power/DATA POWER IN CAN RS Harness, SCM Short GPS Power CAN Steering Wheel Sense Seat Sensor DC: xx/xx Remote Engage/Disengage COM Ports Fault Cable, SCM to UniPilot ESM Power SCM Power I/O DC: xx/xx Steering Actuator Terminator, CAN Male, WP as Shipped 2

9 Part # Description Illustration Steering Control Module (SCM), Pro Kit, UniPilot Assisted Steering System UniPilot Electric Steering Motor (ESM) (included in Kit) UniPilot Contact Wheel (included in Kit) R2 3

10 Part # Description Illustration Kit, UniPilot Universal Mounting Bracket (included in Kit) 4

11 Engage/Disengage UniPilot Figure 1-1: System Diagram to Matrix Guidance product 8 Pos. Power/DATA SCM Power In/Out Steering Control Module (SCM) to RS Power/CAN/Data Cable RS-232 SCM Power I/O DC: xx/xx SCM Harness TJ CAN (Terminated) CAN POWER IN Power 10A Fuse GPS Power CAN Steering Actuator Seat Sensor Com. Ports Fault CAN Terminator Remote Steering Wheel Sense System Ready Switch System Ready Switch Engage / Disengage DC: xx/xx UniPilot Assisted Steering System includes UniPilot Universal Mounting Bracket Kit Remote Engage/Disengage Switch Optional Footswitch Connecto to (+12v) DC: xx/xx Battery 12'/3.6m w/15amp Fuses R2 5

12 Installation If there are questions concerning the installation of the UniPilot system on a vehicle, or due to the changes in component specifications the parts supplied in the kit are not as presented in this document, please contact your dealer or TeeJet Customer service representative for clarification before installation. TeeJet Technologies is not responsible for misuse or incorrect installation of the system. NOTE: BE VERY CAREFUL TO ABSOLUTELY SECURE ALL CABLES SO THAT THEY DON T INTERFERE WITH THE MANY MOVING PARTS OF THE UNIPILOT! Overview of the Assembly The UniPilot will mount on the steering column of the machine. Installation of the mounting bracket does not require removing the steering wheel from the vehicle. Installation of the UniPilot does not prohibit movement of the steering wheel or a telescoping steering column. Six Simple Steps to Get Going! 1. Assemble Universal Mounting Bracket Kit on steering column so that it can be adjusted with the installation of the UniPilot ESM. See page 9 for recommendations for your specific steering column. 2. Install UniPilot ESM and check spacing. Attach the UniPilot ESM to the mounting bracket. The steering wheel should rotate freely around when the UniPilot ESM is in the Operating Position. When in the Standby Position, there should be 1.6 in. / 40 mm of space between the UniPilot contact wheel and the vehicle's steering wheel. 3. Secure or firmly tighten the mounting parts to Steering Column. 4. Connect Electronics. 5. Program Specific Settings on Guidance Console. 6. Activate & GO! NOTE: All references to left and right are stated as if the user is seated in the driver s seat. All references to front and back are stated in relationship to the front and back of the vehicle. Standby Position Operating Position 1.6 in. / 40 mm of space 6

13 Figure 1-2: Overview of the Machine Contact Wheel UniPilot ESM Steering Wheel System Ready Switch Mount Location Steering Column Mounting Bracket Connection Cable Assembly Base with Sliding Carriage R2 7

14 Assemble Mounting Bracket The purpose of the mounting bracket is to securely mount the UniPilot ESM (Electric Steering Motor) to the steering column and keep the UniPilot ESM from rotating around the steering wheel. Depending on the shape of your steering column, a different mounting bracket configuration may be needed. The following page illustrates a few examples of installation methods. If you do not see an example that illustrates your vehicle's requirements, please contact your dealer or TeeJet Customer service representative for clarification on your specific vehicle's installation. 1. Assemble Universal Mounting Bracket Kit on steering column so that it can be adjusted with the installation of the UniPilot ESM. The mounting bracket will be secured after the UniPilot ESM is assembled. Figure 1-3: Mounting Bracket Parts 8

15 Configuration Options Installation Option Metal Strap Use a metal strap to attach through the appropriate slots in the mounting bracket to steering wheel column and hand tighten loosely. Multiple slots have been made available to accommodate different steering column sizes. Type of Steering Column Round Square Example NOTE: The Mounting Bracket does NOT need to point up. U-Bolts Use two (2) u-bolts, washers and nuts to attach mounting bracket to steering wheel column and hand tighten loosely. Round, under 1.75" / 45 cm in diameter R2 9

16 UniPilot ESM Assemble UniPilot ESM 1. Slip the sliding carriage onto the assembly base. 2. Slip the steering column bracket between assembly base and sliding carriage. 3. With the UniPilot ESM in the standby position (see page 31), position the UniPilot ESM a distance of 1.6 in. / 40 mm from the steering wheel. 4. Tighten the sliding carriage black T-bolt. Figure 1-7: Positioning of UniPilot ESM 9.25" 235 mm 1.6" 40 mm Figure 1-4: Insert UniPilot ESM Into Sliding Carriage Assembly Base Sliding Carriage Figure 1-5: Slip UniPilot ESM Onto Mounting Bracket Steering Column Bracket Sliding Carriage Figure 1-8: Positioning of UniPilot ESM Figure 1-6: Tighten Sliding Carriage T-Bolt Disassemble UniPilot ESM The disassembly of the steering motor UniPilot ESM happens in the reverse order of the assembly. 10

17 Secure the Mounting Bracket Firmly tighten u-bolts, metal strap or other attachment Figure 1-9: Secure the Mounting Bracket device to the steering column to make sure that bracket(s) does not move when the steering wheel is rotated. Make sure steering wheel freely rotates when the UniPilot ESM is in the operating position (see page 31). HINT: Mark the ideal position of the UniPilot ESM on the steering wheel bracket to make the next vehicle change easier. Electronics Connections Connect SCM Harness Connect UniPilot ESM to the Steering Control Module (SCM) through the SCM harness using the Steering Actuator connection. Figure 1-10: Electronics Connection SCM Power In/Out Steering Actuator SCM Power I/O DC: xx/xx Power UniPilot Assisted Steering System Steering Control Module (SCM) R2 11

18 Install the System Ready Switch 1. Using a 3 mm allen wrench, remove the existing screw on either the top right or top left side of the UniPilot ESM. 2. Use the existing screw to mount the switch bracket using the small hole on the bracket. 3. Disassemble top nut and washer from System Ready Switch. 4. Slide detector button through large hole in bracket. 5. Hand tighten the washer and nut back on to the detector. Figure 1-11: System Ready Switch Assembly Connect the Engage/Disengage Switch Connect the Engage/Disengage Switch to the connector on the SCM harness labeled Remote Engage/Disengage. Install the push button in a location that is easily accessible during operation of the machine. This switch is not required if the optional foot switch is used. Figure 1-12: System Ready Switch Detail Nut Washer Bracket Nut Figure 1-13: System Ready Switch 12

19 General Recommended Electronics Installation The Steering Control Module (SCM) must be mounted securely flat to the floor of the cab with the arrow facing forward. The control console can be mounted to the operator s preference. The GPS antenna should be mounted as far forward as possible on top of the cab or hood (depending on vehicle) on a metal surface of at least 4 square. Figure 1-14: Recommended Electronics Installation Console SCM GPS R2 13

20 Configuration Using your Matrix Pro The Matrix Pro is used to configure the vehicle and its implements including assisted/auto steering and tilt. For recommendations and factory settings for the UniPilot setup values, see chart on page 30. To access Matrix Pro configuration options: 1. Press UNIT SETUP bottom tab. 2. Press CONFIGURATION side tab. 3. Select from: AutoSteer used to enable/disable assisted/auto steering as well as establish valve setup settings, steering settings and steering wheel sensor; and preform valve tests and valve diagnostics. Tilt used to enable/disable and calibrate the tilt function, allowing for tilt correction for application on hilly or sloped terrain. Figure 1-15: Configuration Options Configuration Vehicle Implement AutoSteer Tilt Lightbar GPS Video Figure 1-16: Configure AutoSteer and Configure Tilt Options Config-> AutoSteer Config-> Tilt Enabled Valve Setup On Steering Settings Enabled On Valve Test Valve Diagnostics Field Level Options 14

21 AutoSteer AutoSteer setup is used to Enable/Disable Assisted/Auto Steering and configure Valve Setup, Steering Settings, Valve Test and Valve Diagnostics. For recommendations and factory settings for the UniPilot setup values, see chart on page Press CONFIGURATION side tab. 2. Press AutoSteer. 3. Select if assisted/auto steering is On enabled Off disabled 4. Select from: Valve Setup used to configure Valve Type, Valve Frequency, Minimum Duty Cycle Left, Minimum Duty Cycle Right and Maximum Duty Cycle Steering Settings used to establish Coarse Adjustment, Fine Adjustment, Deadband and Lookahead Valve Test used to verify if steering is directed correctly Valve Diagnostics used to test the valves to see if they are connected properly Options: Steering Wheel Sensor used to select whether the sensor is magnetic or pressure based 5. Press RETURN arrow or CONFIGURATION side tab to return to the main Configuration screen. Figure 1-17: AutoSteer Configuration Config-> AutoSteer Vehicle Implement Enabled On AutoSteer Tilt Valve Setup Steering Settings Lightbar GPS Valve Test Valve Diagnostics Video Options R2 15

22 Assisted/Auto Steering Unavailable If a assisted/auto steering system is not installed, calibration options will not be available. Figure 1-18: Assisted/Auto Steering Not Detected Configuration Vehicle Implement AutoSteer Tilt Lightbar GPS Video Enable/Disable Assisted/Auto Steering Set assisted/auto steering to On or Off. 1. Press DOWN arrow to access the list of options. 2. Select: On Off If Enabled is set to Off, all Assisted/Auto Steering capabilities and setup functions will be disabled (options will be grayed out). Figure 1-19: Enabled and Disabled Assisted/Auto Steering Options Config-> AutoSteer Config-> AutoSteer Enabled On Enabled Off Valve Setup On Off Steering Settings Valve Setup Steering Settings Valve Test Valve Diagnostics Valve Test Valve Diagnostics Options Options 16

23 Valve Setup Valve Setup is used to configure Valve Type, Valve Frequency, Minimum Duty Cycle Left, Minimum Duty Cycle Right and Maximum Duty Cycle. For recommendations and factory settings for the UniPilot setup values, see chart on page Select Valve Setup. 2. Select from: Valve Type used to select the type of steering valve Frequency used to select the valve frequency used to drive the steering valve Minimum Duty Cycle Left and Right used to set the minimum amount of drive required to begin steering the vehicle left or right Maximum Duty Cycle used to select the maximum speed that the wheels will steer from lock to lock Figure 1-20: Valve Setup Config-> AutoSteer Config-> AutoSteer->Valve Setup Enabled On Valve Type Standard/PWM Valve Setup Steering Settings Frequency 100 Hz Valve Test Valve Diagnostics Min DC Left Min DC Right 30% 30% Options Max DC 100% Valve Type Valve type is used to set the type of steering valve. 1. Press DOWN arrow to access the list of options. 2. Select Standard/PWM. Figure 1-21: Valve Type Config-> AutoSteer->Valve Setup Valve Type Standard/PWM Frequency Standard/PWM 100 Hz Standard Voltage Min DC Left 20% Reverse Voltage Min DC Right One-Wire 20% PWM Max DC 100% R2 17

24 Valve Frequency Valve frequency is used to drive the steering valve. The type of valve being used determines the frequency. Range is Press the KEYPAD icon. 2. Use the entry screen to establish a valve frequency of 100 Hz. Figure 1-22: Valve Frequency Config-> AutoSteer->Valve Setup Valve Frequency (Hz) Valve Type Frequency Min DC Left Min DC Right Max DC Standard/PWM 100 Hz 30% 30% 100% Clear < /- 18

25 Minimum/Maximum Duty Cycle Tests Minimum Duty Cycle (Minimum DC Left + Right) sets the minimum amount of drive required to begin steering the vehicle left or right. Range is Default is 20%. Maximum Duty Cycle sets the maximum speed that the wheels will steer from left to right / right to left (lock to lock). Range is Default is 50%. NOTE: A GPS signal is required for these tests. RECOMMENDATION: Have a large area of clear space available to perform test cycles. Vehicle speed must be between 1.0 mph and 8.0 mph / km/hr ( m/s). WARNING: Pinch Point Hazard! To prevent serious injury or death, avoid unsafe practice while manually operating hydraulic steering circuits. Keep others away and stay clear of mechanical linkage. Minimum Duty Cycle Left Test Minimum Duty Cycle Left sets the minimum amount of drive required to begin steering the vehicle to the left. 1. Press the KEYPAD icon. 2. While the vehicle is moving in a slow forward straight line motion, press Test Left. 3. Press the engage/disengage switch or foot switch to activate the test. 4. Slowly increase the duty cycle number using the UP arrow until the vehicle begins to turn left. 5. Press the engage/disengage switch or foot switch to complete the test. Figure 1-23: Minimum Duty Cycle Test Config-> AutoSteer->Valve Setup Valve Type Frequency Min DC Left Min DC Right Max DC Standard/PWM 100 Hz 30% 30% 100% Config-> AutoSteer->Min Duty Cycle 10.3% 30% 10.3% 30% Test Left Note: Press foot switch to activate valve test. Config-> AutoSteer->Min Duty Cycle 10.3% 30.3% 10.3% 30% Test Left Test Right Test Right Note: Press foot switch to activate valve test R2 19

26 Minimum Duty Cycle Right Test Minimum Duty Cycle Right sets the minimum amount of drive required to begin steering the vehicle to the right. 1. Press the KEYPAD icon. 2. While the vehicle is moving in a slow forward straight line motion between, press Test Right. 3. Press the engage/disengage switch or foot switch to activate the test. 4. Slowly increase the duty cycle number using the UP arrow until the vehicle begins to turn right. 5. Press the engage/disengage switch or foot switch to complete the test. Figure 1-24: Minimum Duty Cycle Test Config-> AutoSteer->Valve Setup Valve Type Standard/PWM Frequency 100 Hz Min DC Left 30% Min DC Right 30% Max DC 100% Config-> AutoSteer->Min Duty Cycle 10.3% 30% 10.3% 30% Test Left Test Right Note: Press footswitch to activate valve test. Config-> AutoSteer->Min Duty Cycle 10.3% 30.3% 10.3% 30.3% Test Left Test Right Note: Press footswitch to activate valve test. 20

27 Maximum Duty Cycle Test Maximum Duty Cycle sets the maximum speed that the wheels will steer from lock to lock. 1. Press the KEYPAD icon. 2. While the vehicle is moving in a slow forward motion between 1.0 mph and 8.0 mph / km/hr ( m/s), turn the wheels all the way to the left (or right). 3. Press the RIGHT arrow (or LEFT arrow ). 4. Press the engage/disengage switch or foot switch to activate the test. This will start a timer as well as turn the vehicle to the right (or left). 5. When the wheels are all the way to the right (or left), stop the test by pressing the engage/ disengage switch or foot switch. The time displayed is the lock to lock time. 6. Repeat to perform procedure to the opposite side. 7. Compare the lock-to-lock time with the recommended time of 5-6 seconds. 8. Press the UP/DOWN arrows to adjust the value. Lock-to-lock time is too low (turning too fast) decrease the value Lock to lock time is higher (turning too slow) increase the value 9. Repeat until recommended lock time is achieved. NOTE: When traveling at speeds greater than 10 mph/16 kph, increase lock-to-lock time to 7-8 seconds. Figure 1-25: Calibrate Maximum Duty Cycle Config-> AutoSteer->Valve Setup Valve Type Standard/PWM Frequency 100 Hz Min DC Left 30% Min DC Right 30% Max DC 100% Configuration-> AutoSteer->Max Duty Cycle 100% 0 s Note: Press footswitch to activate valve test. Vehicle speed must be between 1.0 mph and 8.0 mph R2 21

28 Steering Settings Steering Settings is used to configure Coarse Adjustment, Fine Adjustment, Deadband and Lookahead settings. 1. Select Steering Settings. 2. Select from: Coarse Adjustment adjusts how aggressively the vehicle maintains a guideline in Straight AB Guidance mode. Range is Default is Fine Adjustment adjusts how aggressively the vehicle maintains a guideline in Curved AB Guidance mode. Range is Default is Deadband adjusts if steering is too choppy/ responsive or remains consistently off the guideline. As the value is increased, stability will increase but so will steady state error. Range is Default is 1. Lookahead used during Straight AB Guidance mode to adjust the vehicle s approach to the guideline. Fine tune the Lookahead by conducting several approaches to the guideline. Range is seconds. Default is 4.0 seconds. 22

29 Coarse Steering Adjustment 1. Press: UP arrow if the vehicle is drifting away from the guideline or not approaching it fast enough. DOWN arrow if the vehicle is oscillating rapidly or overshooting the guideline. Figure 1-26: Coarse Steering Adjustment Config-> AutoSteer Config-> AutoSteer->Steering Setting Enabled On Coarse Adjustment Deadband Valve Setup Steering Settings Valve Test Valve Diagnostics Fine Adjustment Lookahead Options s Fine Steering Adjustment 1. Press: UP arrow if the vehicle drives outside of corners. DOWN arrow if the vehicle cuts corners. Figure 1-27: Fine Steering Adjustment Config-> AutoSteer Config-> AutoSteer->Steering Setting Enabled On Coarse Adjustment Deadband Valve Setup Steering Settings Valve Test Valve Diagnostics Fine Adjustment Lookahead Options s R2 23

30 Deadband 1. Press: UP arrow if steering is too choppy or too responsive. DOWN arrow if the vehicle remains consistently off the guideline. Figure 1-28: Deadband Config-> AutoSteer Config-> AutoSteer->Steering Setting Enabled On Coarse Adjustment Deadband Valve Setup Steering Settings Valve Test Valve Diagnostics Fine Adjustment Lookahead Options s Lookahead 1. Press: UP arrow if the vehicle is overshooting the guideline when approaching. DOWN arrow if the vehicle takes too long to get to the guideline. Figure 1-29: Lookahead Config-> AutoSteer Config-> AutoSteer->Steering Setting Enabled On Coarse Adjustment Deadband Valve Setup Steering Settings Valve Test Valve Diagnostics Fine Adjustment Lookahead Options s 24

31 Valve Test The valve test verifies if steering is directed correctly and is typically used to fine tune/calibrate the amount of time to steer the wheels from full left to full right (lock to lock) for non-proportional valves. The UniPilot is not affected by this test. Figure 1-30: Valve Test Config-> AutoSteer Config-> AutoSteer->Valve Test Enabled On Valve Setup Steering Settings 0.0 s Valve Test Options Valve Diagnostics Note: Press foot switch to activate valve test. Vehicle speed must be between 1.0 mph and 8.0 mph Valve Diagnostics The valve diagnostic test verifies if the valve is operating correctly. This test is not necessary for UniPilot. Figure 1-31: Valve Diagnostics Config-> AutoSteer Config->AutoSteer->Valve Diagnostics Enabled Valve Setup On Steering Settings Master Valve Test Options Valve Diagnostics Note: Press and hold foot switch to activate valve test R2 25

32 Options: Steering Wheel Sensor Steering wheel sensor selects whether the sensor used to automatically disengage assisted/auto steering when the steering wheel is turned is magnetic or pressure based. The UniPilot is not affected by this setting. Figure 1-32: Options: Steering Wheel Sensor Config-> AutoSteer Config-> AutoSteer->Options Enabled On Steering Wheel Sensor Magnetic Valve Setup Steering Settings Magnetic Pressure Valve Test Valve Diagnostics Options 26

33 Tilt The Tilt function is used to calibrate the tilt, allowing for tilt correction for application on hilly or sloped terrain. 1. Press CONFIGURATION side tab. 2. Press Tilt. 3. Select from: Enabled used to set tilt correction to on or off Field Level used to calibrate tilt correction 4. Press RETURN arrow or CONFIGURATION side tab to return to the main Configuration screen. NOTE: If a UniPilot system is being used, a Tilt Gyro Module is built into the SCM. NOTE: Antenna Height must be entered prior to Tilt Calibration. Figure 1-33: Tilt Configuration Config-> Tilt Vehicle Implement AutoSteer Tilt Enabled On Lightbar Video GPS Field Level Tilt Correction Unavailable If a TGM or SCM is not connected, calibration options will not be available R2 27

34 Enable/Disable Tilt Set Tilt option to on or off. 1. Press DOWN arrow to access the list of options. 2. Select: On Off Figure 1-34: Tilt On/Off Config-> Tilt Enabled On On Off Field Level If Enabled is set to Off, field leveling capabilities will be disabled (option will be grayed out). Figure 1-35: Tilt Correction Off Config-> Tilt Enabled Off Field Level 28

35 Field Level Field level will calibrate the tilt gyro module s level surface value. 1. Select Field Level. 2. Position the vehicle on a level surface. Let vehicle sit/settle for at least 10 seconds. 3. Press OK. 4. Turn the vehicle 180 degrees and reposition the vehicle in the same location. Let vehicle sit/settle for at least 10 seconds. 5. Press OK. Figure 1-36: Field Level Config-> Tilt Config-> Tilt Level Tilt Position One Enabled Field Level On Enabled Note: Antenna Height On must be entered prior to Tilt Calibration. Position the vehicle on a level surface and press "OK" to advance to the next step, Field or "Cancel" Level to cancel. OK Cancel Config-> Tilt Config-> Tilt Level Tilt Position Two Enabled On Turn the vehicle 180 degrees and return to the same location. Press "OK" to record the level position. Field Level Enabled On Tilt Calibration Complete Field Level OK R2 29

36 AutoSteer Setup Settings Icon Description Factory Setting Range Autosteer On Recommended Setting User Setting Valve Type Standard PWM Standard PWM Valve Frequency 175 Hz Hz Hz Minimum Duty Cycle Left 20.0% % 30.0% Minimum Duty Cycle Right 20.0% % 30.0% Maximum Duty Cycle 50% % 100% Lock-to-Lock Time 0 seconds 5-6 seconds Coarse Steering Adjustment Fine Steering Adjustment Deadband Lookahead Steering Wheel Sensor Magnetic N/A 30

37 Operation If there are questions concerning the operation of the UniPilot system on this vehicle, or due to the changes in component specifications the parts supplied in the kit are not exactly as presented in this document, please contact your dealer or TeeJet Customer service representative for clarification before operation. TeeJet Technologies is not responsible for misuse or incorrect operation of the system. NOTE: BE VERY CAREFUL TO ABSOLUTELY SECURE ALL CABLES SO THAT THEY DON T INTERFERE WITH THE MANY MOVING PARTS OF THE UNIPILOT! WARNING! Disengage and put the UniPilot ESM in the standby position before operating on public roads. Standby Position (Inactive) To put the UniPilot ESM in the standby position, pull the contact wheel away from the steering wheel until the standby mechanism engages and the UniPilot ESM is not pulled in the direction to the steering wheel anymore. Figure 1-37: UniPilot ESM in Standby Position Operating Position (Active) To bring the UniPilot ESM into its operating position, pull/ push the contact wheel away from the steering wheel until the standby mechanism disengages and the UniPilot ESM is pulled in the direction to the steering wheel again. The UniPilot ESM is active and ready for action now. Figure 1-38: Pull UniPilot ESM to Operation Position R2 31

38 Activate UniPilot ESM With each power cycle of the Matrix Pro or guidance console, the UniPilot ESM will need to be activated. Figure 1-39: System Ready Switch 1. Make sure the guidance console is on and has completed the start-up process. 2. Press the System Ready Switch 3 to 4 times to acknowledge the UniPilot ESM is in the operating position and ready. Begin Assisted Steering To begin using the UniPilot to assist with steering: 1. Make sure the UniPilot ESM is in the operating position. 2. While the vehicle is moving in a forward motion, press the Remote Engage/Disengage Switch or Footswitch. NOTE: A guidance line must be established before the UniPilot can begin assist steering. Deactivate UniPilot ESM 1. Press the remote Engage/Disengage Switch or Footswitch. 32

39 Appendix Specifications Connections RS232 9 position (Male) Length Motor Nominal Voltage Nominal Torque Nominal Speed Nominal Current Maximal Current Starting Torque Encoder Supply voltage Impulses 1+2 Motor A 3+4 Motor B 5 n.c. 6 Encoder + 10V 7 Encoder GND 8 Encoder Channel A 9 Encoder Channel B 1.6 ft. / 0.5 m 12 V 0.5 Nm 390 rpm 2 A 4.5 A 2 Nm 4.5 V 26.5 V 16 Imp / rev (open collector) Dimensions / Mechanical Height 8.66 in. (10.24 in.) 215 mm (260 mm) (with mounting bracket) Width 3.75 in. / 90 mm Depth 4.53 in. (5.51 in.) 115 mm (145 mm) (with mounting bracket) Weight 102 oz. / 2900 g Environmental Storage temperature Operation temperature Protection rating Chemical contamination Inflammability Mechanical resistance Drop -40 F to 212 F -40 C to 90 C -40 F to 176 F -40 C to 80 C IP 30 Water and aqueous saline solution Dilute acids and bases, Aliphatic hydrocarbons Herbal and animal fats and oils Ethanol Diesel Perspiration Housing of low flammability according to UL 94 HB at d = 1,6 mm Rough handling on construction site (e.g. mortar, cement, lime, resistant against scratches and abrasion) 1.0 ft. / 0.3 m to all surfaces 2.3 ft. / 0.7 m to rubber mat in vehicle cabin Values are subject to change without prior notice R2 33

40 Operation and Storage Conditions Electronic components of the UniPilot ESM are designed for rough environmental conditions like agricultural applications. However it should always be installed in the operator's station of the vehicle. Warning! Never use a pressure washer to clean the UniPilot ESM. If needed wipe with a moist cloth. Warning! Always protect the UniPilot ESM from falling onto a hard surface, to prevent internal damage. Life expectance of the UniPilot ESM can be extended by storing it under optimal conditions. Keep all mounting screws and brackets together if the motor is not installed in a stored vehicle. Avoid locations with high humidity as well as high temperatures near generators, radiators or near windows in direct sunlight. Trouble Shooting Description Cause Troubleshooting UniPilot ESM does not No signals from SCM (steering unit) to Check steering system turn UniPilot ESM Contact wheel of UniPilot ESM slips on steering wheel Open wire between steering system and UniPilot ESM Open wire between power supply and UniPilot ESM, UniPilot ESM is not supplied with voltage Spring force of collapsible mechanism of UniPilot ESM is too low Contact wheel of UniPilot ESM is worn Check cable between steering system and UniPilot ESM Check power supply of UniPilot ESM Check distance from contact wheel and stand by position. Once verified then adjust contact pressure as stated below. Increase spring force of collapsible mechanism of UniPilot ESM (see page 35 for details) Replace contact wheel of UniPilot ESM (see page 36 for details) 34

41 Contact Pressure Should the contact wheel slip while activating the steering wheel, the contact pressure needs to be increased. Either slide the UniPilot ESM towards the steering wheel or increase the spring preload. To Increase / Decrease the Spring Preload: 1. Disassemble the UniPilot ESM. 2. Bring the motor to the normal operating position, so that the spring tension against the two mounting screws is at it s lowest. 3. Loosen the two mounting screws in the assembly base with a 2.5 mm allen wrench, if necessary hold the inside nut with a 8mm open end wrench. 4. To increase pressure move the two mounting screws with the spring ends in direction (1) To reduce pressure move the two mounting screws with the spring ends in direction (2). 5. Once you have the desired spring pressure tighten the two mounting screws. 6. Reassemble the UniPilot ESM to its mounting bracket on the steering column. Figure 1-40: Loosen Mounting Bracket Screws Figure 1-41: Increase/Decrease Spring Preload R2 35

42 Replacement of Contact Wheel The contact wheel is a wear part and has to be replaced when worn. To replace the contact wheel: 1. Put the UniPilot ESM in the standby position. 2. Unscrew the cover mounting screw with a 3 mm allen wrench. 3. Remove the cover from the contact wheel. 4. Pull the wheel from the 4 holding pins. 5. Slip the new contact wheel onto the four holding bolts and press it down. 6. Replace the cover and hand tighten the holding screw. Figure 1-42: Unscrew Cover Figure 1-43: Remove Top Cover Figure 1-44: Contact Wheel With Holding Pins 36

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44 unipilot Installation Manual Six Simple Steps to Get Going! 1. Assemble Universal Mounting Bracket Kit on steering column so that it can be adjusted with the installation of the UniPilot ESM. 2. Install UniPilot ESM and check spacing. Attach the UniPilot ESM to the mounting bracket. The steering wheel should rotate freely around when the UniPilot ESM is in the Operating Position. When in the Standby Position, there should be 1.6 in. / 40 mm of space between the UniPilot contact wheel and the vehicle's steering wheel. 3. Secure or firmly tighten the mounting parts to Steering Column. 4. Connect Electronics. 5. Program Specific Settings on Guidance Console. 6. Activate & GO! Standby Position 1.6 in. / 40 mm of space Operating Position 1801 Business Park Drive Springfield, Illinois USA Tel: (800) Fax: (800) R2 English TeeJet Technologies 2012