HARDI AutoSlant. Instruction book - SW 7(x) Version 1.00 GB Original

Transcription

1 HARDI AutoSlant Original Instruction book - SW 7(x) Version 1.00 GB

2 We congratulate you for choosing a HARDI plant protection product. The reliability and efficiency of this product depend upon your care. The first step is to carefully read and pay attention to this instruction book. It contains essential information for the efficient use and long life of this quality product. Acknowledgements: UC4+ and Roll Control are trademarks of NORAC Systems International Inc., Canada NORAC is a registered trademark of NORAC Systems International Inc., Canada The original instruction book is approved and published in English. All other languages are translations of the original. In the event of any conflicts, inaccuracies or deviations between the English original and other languages the English version shall prevail. Illustrations, technical information and data in this book are to the best of our belief correct at the time of printing. As it is HARDI INTERNATIONAL A/S policy permanently to improve our products, we reserve the right to make changes in design, features, accessories, specifications and maintenance instructions at any time and without notice. HARDI INTERNATIONAL A/S is without any obligation in relation to implements purchased before or after such changes. HARDI INTERNATIONAL A/S cannot undertake any responsibility for possible omissions or inaccuracies in this publication, although everything possible has been done to make it complete and correct. As this instruction book covers more models and features or equipment, which are available in certain countries only, please pay attention to paragraphs dealing with precisely your model. Published and printed by HARDI INTERNATIONAL A/S

3 Table of Contents 1 - Declaration This page is intentionally left blank Safety notes Operator safety...7 Precautions Description General info...9 Introduction... 9 Key features... 9 General description Software Hardware components Understanding Your AutoSlant System...13 Understanding Performance Issues Sensitivity (Sensi) Setting Boom Reaction Time AutoSlant over Ditches, Waterways and Outside Rounds Driving Through Ditches and Over Terraces Sensor Capabilities Understanding Crop Mode And Soil Mode Areas of "No Crop" in CROP Mode Thin Crop Sensing Further Ahead of the Boom AutoSlant Sensor Capabilities and Limitations Menu Structure Full Menu Structure Glossary System setup System preparation...19 General info Automatic System Setup Retune Manual System Setup Setting Up Hydraulic Valves Quick Install Options...30 HeadlandAssist Operation System operation...33 General info Power Up Sequence Typical Operation...34 Basic operation Run screen Press & Hold Functions Changing between AUTOMATIC or MANUAL Mode Adjusting the Target Height (Setpoint) Viewing the Actual Boom Height Sprayer switches Changing the Sensitivity of the System Changing Between SOIL and CROP Mode Changing the units Options...38 HeadlandAssist Remote Switches

4 Table of Contents Crop filter toggle Minimum Height Mode Operational Messages Maintenance Service info...41 General info Before each day of operation Sensor preparation and maintenance At the end of a season Lubrication of the sprayer Fault finding Operational problems...43 General info General operation Setup Messages Sensor Related Issues Different cases of Sensor related issues are discussed below: Sensor Swapping Sensor Alignment Hydraulic Related Issues Boom Stability Technical specifications Specifications...47 Sprayer types Index Index

5 1 - Declaration This page is intentionally left blank 5

6 1 - Declaration 6

7 2 - Safety notes Operator safety ± μ This symbol means DANGER. Be very alert as your safety is involved! This symbol means WARNING. Be alert as your safety can be involved! This symbol means ATTENTION. This guides to better, easier and more safe operation of your sprayer! This symbol means NOTE. Precautions Note the following recommended precautions and safe operating practices before using the sprayer and AutoSlant system. General info Note the following recommended precautions and safe operating practices. Read and understand this instruction book before using the equipment. It is equally important that other operators of this equipment read and understand this book. Keep children away from the equipment. If any portion of this instruction book remains unclear after reading it, contact your HARDI dealer for further explanation before using the equipment. Turn electrical power off before connecting and disconnecting the display and transducers, servicing or using a battery charger. If an arc welder is used on the equipment or anything connected to the equipment, disconnect power leads before welding. Test sprayer with clean water prior to filling with chemicals. Do not use a high pressure cleaner to clean the electronic components. Operating AutoSlant ± ± ± WARNING! Always ensure that the AutoSlant system is powered down or in MANUAL mode: Before leaving the operator's seat While the machine is not moving When transporting the machine WARNING! Under no circumstances should any service work be performed on the machinery while the AutoSlant system is in the AUTOMATIC mode. WARNING! Before working on any part of the booms: Set the AutoSlant system to MANUAL mode Turn the sprayer engine off 7

8 2 - Safety notes μ ATTENTION! Do not operate this system before: Reading and understanding the Operator s Manual Thoroughly understanding your machine operation NOTE! The AutoSlant system will greatly improve your spraying height accuracy and protect the boom against damage in a wide variety of field conditions. However, under some circumstances performance may be limited. The OPERATOR of the sprayer must remain ALERT at all times and override the automatic control when necessary. 8

9 3 - Description General info Introduction Congratulations on your purchase of the HARDI AutoSlant system (UC4+ version). The system is manufactured with top quality components and is engineered using the latest technology to provide operating features and reliability unmatched for years to come. When properly used, the AutoSlant system can provide protection from sprayer boom damage, improve sprayer efficiency, and ensure chemicals are applied correctly. This manual is intended to be used in conjunction with the: AutoSlant Installation Manual Sprayer Instruction Book The manual provides a general description of the spray height control system, a section regarding system operation, and discussion related to understanding performance issues. Also provided are instructions for the use of the control panel, information regarding system setup, regular maintenance and troubleshooting. Please take the time to read the complete instruction book before attempting to use the system. Although the AutoSlant system has been designed for easy set-up and use, a thorough understanding of the information provided will ensure that you receive the maximum benefit from the system. Key features The key features of the HARDI AutoSlant is: Non-contact Sensing Sensing is done using ultrasonic sensors which means no parts of the HARDI AutoSlant system come in contact with the ground. Using a non-contact system means there will be no additional forces put on the boom, which could cause damage to the sprayer boom. Automatic Software Setup The system completes an automatic system setup, which calibrates the software specifically for the sprayer. This provides the maximum performance for the height control system. Smart Sensor Technology All sensors are designed specifically for the agricultural industry. 9

10 3 - Description General description Figure 1 - System Components and General Location A. Control Panel B. Power Cable C. Extension and Trunk Cables D. Left Sensor E. Right Sensor F. Optional sensor μ For more information on each component, please refer to the AutoSlant Installation Manual. Software The information in this manual applies to systems with Version 7 AutoSlant panel software. When the panel is turned on, the software version and revision will be displayed for a few seconds as described in Power Up Sequence on page 33. All AutoSlant panels can have their software upgraded. It is recommended that all panels with earlier software are updated to the current software version. Contact your local dealer or HARDI for more information. 10

11 3 - Description Hardware components The components of the HARDI AutoSlant are: Cables The system will function properly with a power supply between 12 and 28 volts and may draw up to 10 amperes during normal operation. The AutoSlant panel contains intelligent valve drive circuitry that helps to protect the sprayer's system against short circuits and other wiring problems. However, it is still recommended to connect the AutoSlant power cable to a fused supply that turns on and off with the ignition key of the sprayer/tractor. For more information on cables, please see the AutoSlant Installation Manual. Sensors Two sensors are provided with your AutoSlant boom control kit. The sensors use an ultrasonic signal to measure the distance to the ground, or the top of the crop. Two sensors are mounted on the outer sections of each wing (Figure 2). These sensors maintain each wing at the set target height independently. The ultrasonic sensors are designed to work best in the brackets provided (Figure 2). If you decide to use a different style of sensor mount, you may limit the performance of the sensor and/or void your warranty. Further, it is important to follow the guidelines in the AutoSlant Installation Manual for mounting the sensors. The sensors should be at least 25 cm above and 25 cm in front of the spray nozzles. Figure 2 - AutoSlant Sensor and Mounting Bracket Right and left sensors are used to adjust the main slant angle of the entire boom. Figure 4 - Slant Control of the Main Frame 11

12 3 - Description Control Panel The AutoSlant panel (Figure 5) is the main component of the AutoSlant system. The control panel uses the readings from the ultrasonic sensors to control solenoid operated valves that in turn adjust the boom height. The control panel will: Indicate when the system is in AUTOMATIC or MANUAL mode. Indicate any hydraulic action which is underway. Accept input to adjust all control system settings. Control panel functions are: A. Power Switch B. Sensor Display/Setup Switch (No) C. +/- Switch (Up/Down) D. Auto/Manual Switch (Yes) E. LCD Screen Figure 5 - AutoSlant Panel 12

13 3 - Description Understanding Your AutoSlant System Understanding Performance Issues Your AutoSlant will work well in most situations. However, as with any equipment, it is important that the operator remains alert at all times. There may be some field and terrain situations where performance is diminished. In these situations the operator must resume height control of the booms manually. A discussion of performance issues is given below to help clarify these situations. Sensitivity (Sensi) Setting The AutoSlant system is configured to work well in most conditions, with warm hydraulic oil, at a sensitivity (Sensi) setting of five. When you first begin operation at the start of a day, it may be necessary to operate at a higher sensitivity until the oil has reached normal temperature. After warmup, keep decreasing the Sensi setting until the performance is optimized, to avoid overheating of the hydraulic oil. Different types of terrain may require different Sensi settings. The Sensi setting controls more than just response time. It also determines how accurately the AutoSlant system will try to correct for height errors. The higher the sensitivity the higher the accuracy. At low sensitivity, a few cm of error will be tolerated. At high sensitivity, virtually no error will be tolerated. Therefore, the system will be much more active at high sensitivity than at low sensitivity. NOTE! Running AutoSlant at high sensitivity will increase heat build-up of the oil. Specially when AutoSlant system is used with tractors that have an open centre system without load sensing, it may require lower sensitivity settings to avoid overheating of hydraulic oil. See Hydraulic hook-up on page 19. NOTE! Field conditions and operator preferences determine the appropriate Sensi setting. Boom Reaction Time There are two key factors that determine how quickly your boom can react to changes in terrain. The first factor is the available hydraulic speed. The maximum hydraulic speed of your boom was designed by the sprayer manufacturer and is not improved or diminished with the addition of the AutoSlant height control system. The second factor is the mechanical design of the sprayer. The Sensi setting does affect the reaction time of your boom - the higher the number the quicker the response. However, how high you can run the Sensi setting is determined to a large extent by mechanical issues related to the boom and sprayer. Important design issues include the style of boom mount (for example, centre pivot or nonparallel links), the amount of mechanical damping and spring centring on the boom lift mount, and whether a boom slant system is available on the sprayer. All of these factors together determine the maximum Sensi setting you can run on your AutoSlant system. This, in turn, will set the reaction time of the boom in a given situation. The AutoSlant electronics are rarely the limiting factor in determining overall automatic height control performance. AutoSlant over Ditches, Waterways and Outside Rounds Many situations exist where one sensor may be reading over terrain that does not accurately reflect the situation for the rest of the boom. For example, if you are spraying along a waterway, it may be necessary to run the boom sensor out into the waterway itself. In this example, the sensor will bring the boom lower than desired and may put the mid-point of the boom at risk. Outside rounds adjacent to very weedy areas or tall thick grass are examples of the opposite situation. In these situations the operator must remain alert and override AUTO mode when necessary. ± WARNING! In most countries spraying over ditches and waterways is strictly prohibited! Always follow local legislation! 13

14 3 - Description Driving Through Ditches and Over Terraces Changes in terrain that include driving over terraces or through ditches are special performance cases. This type of terrain can cause the sprayer to pitch and roll significantly. Sprayer operation at speeds of km/h in severe terrain may result in rapid changes in boom tip height. In these situations, typical sprayer hydraulic systems are not capable of tip speeds high enough to correct for the induced error. The solution is for the operator to recognize these situations before they occur and manually raise the boom section(s) to a safe height. To return to AUTO mode, use the "AUTO (YES)" switch. Sensor Capabilities In order for the AutoSlant system to work at its maximum level of performance, the AutoSlant sensors must be returning accurate height readings at the designed frequency. Under typical conditions, the sensors can provide accurate height readings from 0.2 to over 3.0 m and return many height readings in one second. The target in SOIL mode can be identified through stubble, young crops, row crops, and normal trash. The target in CROP mode can be identified over cereal grains, specialty crops, and row crops. See the next section for more information on CROP and SOIL mode guidelines. There are two main steps to ensure sensor performance. The first step is proper mounting. See Hardware components on page 11 for more information on sensor mounting. The second step is to ensure that the protective foam covers on the sensors are kept clean, and that the ultrasonic transducer behind the foam does not become corroded or excessively dirty. Extra foam pieces are shipped with your kit. The transducer is a maintenance item and can be replaced at HARDI service locations. Transducers can last up to ten years, depending on conditions. Refer to 6 - Maintenance on page 41 for more maintenance information. If the mouth of the sensor becomes wet, it is normal for the sensor to return error messages until the transducer has dried off. This could include rain or excessive overspray. Material can build up on the transducer if the sensor is mounted too close to the spray nozzles. This is the reason that the sensor must be mounted at least 25 cm in front of the nozzles. It keeps the sensor housing out of the normal region of overspray. In the sprayer boom application, the sensors ignore any target that is closer than 25 cm from the bottom of the sensor housing. This region is called the blanking range. Operating the sensor at heights near the blanking range is dangerous and will affect performance because height readings can be very intermittent. This is the reason that each sensor must be mounted at least 25 cm above the spray nozzles. Understanding Crop Mode And Soil Mode A unique feature of AutoSlant sensors is their ability to operate in CROP mode. In this mode the sensor will track the first available sonic target. That is, when positioned over standing crop, the sensor will return the average height of the heads in a circular area below the sensor. In the same situation in SOIL mode, the sensor will track the last available sonic target. That is, signals from the heads, leaves, and trash will be ignored in favor of the ground. It is important to note that the targets must be available and of sufficient strength for the sensor to "see" them. There may be some crop and terrain situations that do not work well for CROP mode or SOIL mode. In these situations the operator must resume height control of the booms manually. In general, the addition of the severe terrain kit will improve performance in CROP mode. All of the situations discussed below are lessened by the addition of the extra sensors on the wings. 14

15 3 - Description Areas of "No Crop" in CROP Mode If, while operating in CROP mode, the sensor encounters an area where there is no crop, the system will behave as follows. The sensor will track the soil (A) because only one target is available. The boom will lower (B) as no crop is detected. Areas like this may include missed areas during seeding, alkaline areas, and so on. When the problem area ends (C), it may not be possible for the sensor to see the crop again unless the operator raises the boom manually. The sensor may be closer than required 25 cm from heads of the crop (D), thus blanking out the desired target. Figure 8 - Area of "No Crop" When Operating CROP Mode Thin Crop The AutoSlant ultrasonic sensors operate by bouncing sound waves off the desired target. A minimum signal level is required from the crop in order to use it for control purposes. This is no different than the fact that your radio must be at a certain minimum volume level before you can physically hear it. Different types of crop and crops at different stages of development return varying levels of sound. The following are some general guidelines. Crops in growing stages are relatively good sonic targets. Bearded crops are relatively poor sonic targets. In row crops, the sensor must be positioned over the row to use the crop signal, or between the rows to use the ground signal. The desired target must cover roughly 60 percent of the area to be tracked consistently. That is, when looking at the ground, the heads should cover about 60 percent of the ground. Otherwise, you can use SOIL mode. If the sensor runs too close to the heads, they may not return enough signal to be seen, or they may be blanked out. The nozzles must be at least 55 cm from the crop. Slightly higher target height settings will work better in thin crop. Sensing Further Ahead of the Boom A common misconception is moving the sensor further ahead of the boom will increase performance. Moving the sensor further ahead of the boom increases the distance between the nozzle and sensor. This puts the sensor at a different location within the field than the nozzles, which introduces a height error at the nozzles. In severe terrain this height error can bring the nozzles close to the ground as the sensor reads over the crest of the hill or down a ditch. Similarly, aiming the sensors ahead (rather than pointing straight down) will reduce sensor performance by providing inaccurate height readings. AutoSlant Sensor Capabilities and Limitations The AutoSlant sensors are designed and built specifically for agricultural purposes. However, the ultrasonic transducer must be clean and dry for optimal performance. The foam disc fitted into the bottom of the sensor protects the transducer from dust. If the protective foams become wet (from rain, drift from the spray nozzles etc.) the sensors may have trouble reading. The height sensors will provide height readings from 22 to 300 cm, under typical conditions. In order to optimize sensor performance, the AutoSlant sensor has a minimum distance that it will read (also known as the blanking range). As a result, the AutoSlant sensor is designed to ignore targets closer than 20 cm from the bottom of the sensor housing. 15

16 3 - Description Menu Structure Navigating past the end of the menu will return the control panel to the run screen More? Toggle the "AUTO (YES)" switch to edit or view more sensor settings. Tips ON Tips ON/OFF selection. 55 Displays the current right boom height, in the selected unit. 55 Displays the current left boom height, in the selected unit. M 55 M SENSOR DISPLAY Menu SENSOR DISPLAY / SETUP (NO) Switch SETUP Menu The run screen is usually displayed. If no switch is toggled for 30 seconds, the LCD will revert to this screen. Also, from any menu prompt, if you toggle and hold the "SETUP (NO)" switch for two seconds, the control panel will return to this screen. The heights are adjusted for the offset between the sensor and nozzles. Sensi 5 Displays the current control sensitivity (Sensi) setting. A higher number results in a quicker response. Range is from 1 to 10. Soil ON Use the "+/-" switch to set the sensor target to SOIL or CROP mode. ReTune? The ReTune will optimize your system for the best performance possible. This will take from one to three minutes. (Section 6.2). The menu retunes Dead Zone (DZ) and Valve Gain (KP) - not for sensor problems. More? Toggle the "AUTO (YES) " switch to edit or view more control settings. Navigating past the end of the menu will return the control panel to the run screen Table 1 - Main Menu Structure 16

17 3 - Description Full Menu Structure Other? Roll? Main? Right? Left? LI OFF LOht31 LO Setting Up Sensors on page 24 RI OFF ROht 32 RO Setting Up Sensors on page 24 ML off Setting Up Sensors on page 24 IF off BF 2080 MHM SP MHS 18 MHC 25 Units cm Adjusting the Target Height (Setpoint) on page 35 More? Tips ON 55 Viewing the Actual Boom Height on page M 55 M Power Up Sequence on page 33 Sensi 5 Changing the Sensitivity of the System on page 36 Soil On Changing Between SOIL and CROP Mode on page 36 ReTune Retune on page 23 More? Main On DZ 10 KP 50 DZ 5 KP 50 Setting Up Hydraulic Valves on page 25 Rght On -DZ 103 -KP 49 -DZ 99 -KP 35 Setting Up Hydraulic Valves on page 25 Left On DZ- 100 KP- 50 DZ- 105 KP- 37 Setting Up Hydraulic Valves on page 25 Main? Roll? Other? Table 2 17

18 3 - Description Glossary The following is a list of abbreviations used in the HARDI AutoSlant. Some abbreviations are combined in different display views. Abbreviation A Absent Alrm AT BF Dfalting DZ h = ht IF KP LEV LftDft LI LO M MHC MHM MHS ML MlfDet Mot n Dly NC NoRdg = NR Rems RF Rght RI RO Sensi SN SNR SP Stp Explanation Automatic Failure message Alarm Air Temperature Boom Frame Resetting the panel Valve Dead Zone Height Intermediate Frame Valve Gain Levelling Left Detection Left Inner (sensor) Left Outer (sensor) Manual Minimum Height Crop Mode Minimum Height Mode Minimum Height Soil Mode Boom Lift sensor (Main Lift sensor) Boom lift Detection Motion Delay No Communication No Reading Remote Switches Reference Frame Right Right Inner (sensor) Right Outer (sensor) Sensitivity Serial Number Sensor Set Point Step 18

19 4 - System setup System preparation General info Before the AutoSlant boom height control system will function properly, some information about the sprayer, tractor and connected sensors is necessary. Hydraulic hook-up Tractors vary in design regarding the hydraulic system - either constant flow (open centre) systems or variable flow (closed centre) systems. The open centre hydraulics block needs to be set for the system the tractor uses, whether open centre hydraulics or closed centre variable system with load sensing will be used. NOTE! It is strongly recommended to use a tractor with a closed center or load sensing variable hydraulic system in combination with the AutoSlant boom height control system, as an open centre system without load sensing may heat the oil excessively. NOTE! Running AutoSlant at high sensitivity will increase heat build-up of the oil. Specially when AutoSlant system is used with tractors that has an open centre system without load sensing, it may require lower sensitivity settings to avoid overheating of hydraulic oil. The valve (1) on the side of the block is factory set for open centre hydraulics, but if closed centre hydraulics will be used (also in combination with load sensing) then screw in the valve. Certain tractor models are able to use Load Sensing without connecting an external sensing line. But if optimal sensing control pressure cannot be obtained, an external sensing line needs to be mounted (3). Please consult your tractor dealer for correct setup and correct connection. Before operating the hydraulics, the valve should be adjusted according to the specific tractor model. If you are unsure of the type of hydraulic system of your tractor, please consult your tractor dealer. Schedule with combinations of settings for flow element and circuit value: Valve no (LS port) Open centre Out Out Not connected Closed centre In In Not connected Load sensing (LS) In Out* Connected *if tractor requires pressure relief, contact your tractor dealer for further advice. ± ± WARNING! Always be sure to fully extract or retract the open/closed centre selection valve (1). Failure to do so may cause damage to vital pump parts. WARNING! It is of essential importance that connectors on the sensing line are kept totally clean. Failure to do so may result in impurities entering the pump and thereby causing damage to vital pump parts. Control panel When the control panel is turned on for the first time, the AutoSlant panel guides the operator through the Automatic System Setup (This is normally done by your HARDI dealer). This procedure is described in Automatic System Setup on page 20. Normally the AutoSlant system will automatically configure and calibrate itself to the sprayer. If this process does not produce the desired results, perform Manual System Setup described in Manual System Setup on page 24. (From time to time it may be necessary to ReTune the AutoSlant electronics to your sprayer's hydraulics. This procedure is described in Retune on page 23.) 19

20 4 - System setup Automatic System Setup The first time the AutoSlant system is powered up, it will guide you through the Automatic System Setup to customize the AutoSlant settings to your sprayer (This is normally done by your HARDI dealer). The entire procedure should take approximately two to seven minutes. At any point during the setup procedure, you can exit by toggling the "SETUP (NO)" switch. However, if you exit without completing the System Setup, you may not be able to use the AutoSlant in AUTO mode. If you wish to restart/rerun this procedure after an initial setup has been completed, navigate to the "Install?" prompt in the SETUP menu and confirm the action with the "AUTO (YES)" switch. ± DANGER! At points during the system setup (retune) all boom sections need to move. Personnel and equipment must be clear of all boom sections, and unless instructed, do NOT leave the tractor s seat while performing a system setup. Keep an eye to the control panel and prepare to toggle the "SETUP (NO)" switch to stop setup procedure, if persons get into of the boom! WARNING! Make sure all booms have room to lift fully and are clear of power lines. NOTE! If you confirm the "Install?" menu prompt by accident, you can exit by toggling "SETUP (NO)" before confirming a sprayer type. No settings will be lost. However, if you confirm a sprayer type and the "Dfalting" message (STEP 4 in STEP 5: Select the Sprayer Type on page 21) appears, all previous system settings will be lost. You may need to perform Automatic System Setup again. STEP 1: Prepare the Equipment Unfold the sprayer in a location that is relatively level, and where the sensors are over bare soil or gravel. NOTE! Do not conduct the System Setup or ReTune procedure over standing crop or tall weeds/grass. Avoid concrete or asphalt surfaces. STEP 2: Prepare the Equipment Properly tuned suspension systems will optimize AutoSlant performance. Ensure all hydraulic boom functions are operating properly: All fold functions. Main lift function. Wing tilt function. Slant function. Ensure the boom guide-rods are set to the tapered position, i.e. more stable. Check the pads between the sprayer boom and the boom carrier frame to ensure no friction because of wear. Use grease or other lubricants, if necessary. This is important and will increase the AutoSlant system performance significantly. Ensure boom suspension is critically damped, which is illustrated as tip height (H) movement over time (T) when doing following: A. Unlock the pendulum, and push boom tip down approximately 75 cm. B. Hold the boom steady for a moment, and release. C. Ensure the boom returns to its relaxed state as quickly as possible, with little to no overshoot. Adjust the boom damper accordingly. STEP 3: Prepare the Equipment Start the tractor hydraulic oil supply and run the sprayer's engine at a normal working RPM for the entire setup. Make sure that you can manually adjust the height of your boom. If your manual controls do not work normally, check the AutoSlant Installation Manual that came with your kit for troubleshooting information. 20

21 4 - System setup μ ATTENTION! For best results, the hydraulic system should be under a normal load and at a normal working temperature. An effective way to warm the oil is to cycle all boom sections up and down manually for 5 minutes. Longer warm up times may be required in cold weather. Ensure any hydraulic flow controls are adjusted for normal field operation. NOTE! Changing the flow controls during or after System Setup will affect AutoSlant operation. STEP 4: Turn On the AutoSlant Panel If this is the first setup for the panel, this process will begin automatically. If the panel was previously setup, you need to select "Install?" from the SETUP menu to initiate Automatic System Setup. NOTE! If other messages appear on the LCD screen during the following steps, refer to Retune on page 23 for more information. STEP 5: Select the Sprayer Type Use the "+/-" switch to toggle through a list of available sprayer types. The types are listed in Specifications on page 47. Select Type +/- When the desired type is shown, confirm the selection with the "AUTO (YES)" switch. If you wish to exit the install now before changing any settings, toggle the "SETUP (NO)" switch. The control panel is loading all the settings for your sprayer. HD5? Dfalting STEP 6: Sensor Detect The control panel reads the serial numbers of all connected sensors. Number of sensors found is displayed. This should match the number of sensors on your system. If it does not, turn off the control panel and ensure that all sensors are plugged in and operating. 2 Sensrs Level booms at 90 cm height Proceed? Position the boom such that the nozzles are 90 cm from the ground. NOTE! If you cannot get the boom set to exactly 90 cm, you can adjust the sensor height after you have finished the install. Refer to Calibrating the Sensor's Height Reading (Zero Height) on page 25 for more details. Toggle "AUTO (YES)" to continue. Hold AUTO until Done Hold the "AUTO (YES)" switch to continue the hydraulic tuning. If "AUTO (YES)" is released before "Done" is displayed, simply toggle and hold again to continue the procedure. The panel will display various messages as it is working. The messages are displayed for informational purposes only. Release the "AUTO (YES)" switch, the system setup is complete. Done 21

22 4 - System setup STEP 9: Control System Test Run screen shown. It shows the system in manual mode with an average height reading of 84 cm. M 84 M ± μ WARNING! In the following procedure, switch the control panel to manual mode immediately if the boom movements are erratic. Toggle "AUTO (YES)" to start AUTO mode. Observe the behaviour of the booms while correcting to the target height. The operating screen shows the system is in AUTO mode and the target height is 115 cm. A 115 A ATTENTION! The boom movements should be smooth and stable. Boom corrections should stop after a few seconds, under normal conditions (excessive wind may cause small corrections to continue). Toggle the "MANUAL" switch to return to MANUAL mode. If the boom corrections are done in an acceptable manner, your system is ready to use. Automatic System Setup Complete! 22

23 4 - System setup Retune From time to time it may be necessary to recalibrate (Retune) the AutoSlant electronics to your sprayer's hydraulics. Examples of such times are: When a hydraulic solenoid valve is changed When the hydraulic pump is changed or adjusted A different tractor has been connected to the sprayer. The tractor s hydraulic flow control has been adjusted. If you are running a pull type sprayer and use different tractors to operate the sprayer, you should run the Retune procedure each time the tractor is changed. If you have a flow control for the boom hydraulics, set it prior to tuning. If you change the flow setting by more than 20 percent, you should Retune. Follow Section STEP 1: Prepare the Equipment on page 20 to STEP 3: Prepare the Equipment on page 20 (level booms, working RPM, etc.) before beginning the Retune. Navigate to the "ReTune?" menu prompt in the SETUP menu and confirm with the "AUTO (YES)" switch. The procedure described in the Automatic System Setup, starting at STEP 6: Sensor Detect on page 21, will begin. NOTE! The booms are to be levelled at a normal working height when Retune starts - it is not necessary to set them to 90 cm. The 90 cm height is only required during the Automatic/Manual System Setup. 23

24 4 - System setup Manual System Setup The AutoSlant system will not operate in automatic mode until the system has been completely configured by either the Automatic System Setup or Manual System Setup. It is recommended that the Automatic System Setup be used, but if necessary a manual system setup may be used. The manual system setup involves setting up each sensor (programming serial numbers and sensor locations) as well as tuning the hydraulic parameters manually. Setting Up Sensors Before beginning, it is necessary to know the serial number (A/B) and location for each of the sensors. The sensor serial number is located on the bottom of the sensor housing, beside the foam disc. NOTE! The location of serial numbers may differ from sensor to sensor. Some sensors have the serial number located at position (A), and others at position (B). A B It is recommended that you record the serial numbers according to sensor locations in the figure because this information may be required during troubleshooting. Sensor position Sensor serial number A B The left channel menu prompts are described in Table 3. For the other channels, the basic structure and behaviour of the prompts are the same. Navigate with Sensor display/setup switch. Table 3 - Left Channel SENSOR DISPLAY Menus Navigating past the end of the menu will return the panel to the Sensor "More" Menu LI OFF Left inner (LI) sensor does not appear with AutoSlant. LOht 115 Current height reading of the LO sensor is 115 cm. LO Serial number is installed as the left outer (LO) sensor. Navigating past the end of the menu will return the panel to the Sensor "More" Menu Entering Sensor Serial Numbers To enter a sensor serial number in one of the boom locations: 1. Ensure the AutoSlant panel is in MANUAL mode, at the run screen. 2. Navigate to the "More?" menu prompt in the SENSOR DISPLAY menu. Toggle "AUTO (YES)" to confirm. 3. Navigate to the boom section you put the sensor on, for example, "Left?", if the sensor is mounted on the left hand boom. Toggle "AUTO (YES)" switch. 4. Navigate to the boom location you mounted the sensor on, for example, "LO" for the left outer sensor. This screen will show the previously installed sensor serial number (if any) as shown in Table Toggle the "+" switch once to search for all the connected sensors. 24

25 4 - System setup 6. Use the "+" switch to toggle through a list of available sensor serial numbers. Sensor height reading is shown beside the serial number. 7. When the desired serial number is shown, toggle "AUTO (YES)" switch to confirm. 8. Proceed to "LOht" menu prompt to check/calibrate the sensor's height reading (see next section). 9. Toggle and hold "SETUP (NO)" or SENSOR DISPLAY switch for two seconds to return to the run screen. Calibrating the Sensor's Height Reading (Zero Height) 1. Ensure the sprayer boom is unfolded and the sensors are located over bare soil or gravel. Position the boom at a normal working height. Do not conduct this procedure over standing crop or tall grass/weedy areas. 2. Using a tape measure, measure the distance from the bottom of the spray nozzle closest to the sensor to the ground. Round this measurement to the nearest cm. 3. Ensure the AutoSlant control panel is in manual mode, at the run screen. 4. Navigate to the boom section you put the sensor on, for example, "Left?", if the sensor is mounted on the left boom. Toggle "AUTO (YES)" switch. 5. Navigate to the location you measured, for example, "LOht" for the left outer sensor menu prompt as described in Table 3 - Left Channel SENSOR DISPLAY Menus on page If the currently displayed height reading is not correct, adjust it using the "+/-" switch. The " + " switch will increase the reading, the " - " switch will decrease the reading. 7. To return to the run screen, toggle and hold "SETUP (NO)" or SENSOR DISPLAY switch for two seconds. NOTE! To view the absolute height reading from the sensor to the ground, press and hold the AUTO (YES) switch from the LOht menu. This height reading can be useful for troubleshooting purposes. Setting Up Hydraulic Valves Each valve must be tuned correctly for optimum performance from the AutoSlant system. When setting up the valves, the sprayer booms must have room to move in their full range of motion. Make sure there are no obstructions, such as power lines, that the booms may come into contact with. Before setting up the valves manually, it is recommended you attempt the automatic install. Starting the automatic install will load the default valve settings, which will make the manual valve setup much simpler. At any time the automatic install can be cancelled and the default settings are still stored. Each valve has two settings; dead zone and gain. The dead zone relates to the smallest amount of movement the valve can produce. The maximum boom speed is dependent on the gain. A dead zone and gain parameter exists for each valve. Each valve may be tuned: Automatically (as part of the automatic install or retune). Automatically (one valve at a time). Manually. NOTE! You do not need to run both the AUTO and Manual tests. The tests are entirely independent. The left channel menu prompts are shown below. For other channels, the basic structure and behavior of the prompts are the same. 25

26 4 - System setup Table 4 - Main Channel SETUP Menus Navigating past the end of the menu will return the panel to the Setup "More" Menu Main On Left valve channel is ON. To change the status to OFF, use the "+/-" switch (Section 6.3.5). DZ 100 KP 53 Left up DeadZone setting is 100. To adjust the reading use the "+/-" switch. Left up GAIN setting is 53. To adjust the reading use the "+/-" switch. DZ 100 Left down DeadZone setting is 100. To adjust the reading use the "+/-" switch. KP 42 Left down GAIN setting is 42. To adjust the reading use the "+/-" switch. Navigating past the end of the menu will return the panel to the Setup "More" Menu These settings will be determined during the Automatic System Setup ( Automatic System Setup on page 20) and "ReTune?" ( Retune on page 23) sequences automatically. However, it is possible to check and adjust these settings manually as described below. Automatic DeadZone Calibration 1. Follow the steps, STEP 1: Prepare the Equipment on page 20 to STEP 3: Prepare the Equipment on page 20 (level booms, working RPM, etc.), before proceeding. 2. Ensure the AutoSlant panel is in MANUAL mode, at the run screen. 3. Navigate to the "More?" menu prompt in the SETUP menu. Toggle the "AUTO (YES)" switch to confirm. 4. Navigate to the boom section you wish to set up, for example, "Main?" to adjust the main up and/or the main down settings. Toggle the "AUTO (YES)" switch to confirm. 5. Toggle the "SETUP (NO)" switch to access the next menu prompt. Choose the dead zone up or down setting - see Table 4 - Main Channel SETUP Menus on page Toggle and hold the "AUTO (YES)" switch. 7. When the "Done" message is displayed, release the "AUTO (YES)" switch to view the new setting. Manual DeadZone Calibration 1. Follow the steps, STEP 1: Prepare the Equipment on page 20 to STEP 3: Prepare the Equipment on page 20 (level booms, working RPM, etc.), before proceeding. 2. Ensure the AutoSlant panel is in MANUAL mode, at the run screen. 3. Navigate to the "More?" menu prompt in the SETUP menu. Toggle the "AUTO (YES)" switch to confirm. 4. Navigate to the boom section you wish to set up, for example, "Main?" to adjust the main up and/or the main down settings. Toggle the "AUTO (YES)" switch to confirm. 5. Toggle the "SETUP (NO)" switch to access the next menu prompt. Choose the dead zone up or down setting - see Table 4 - Main Channel SETUP Menus on page Toggle and hold the "MANUAL" switch. 7. The valve will turn on at the indicated setting for exactly one second. The screen will show the actual change in height. 8. The change in height reading is live as long as you hold the "MANUAL" switch. Wait until the height reading has settled to a stable value and record this reading. 9. Average your three readings. The acceptable average change in height should be from 13 to 38 mm (ideal would be 25 mm exactly). 10. If the average is less, increase the DZ setting with the "+/-" switch. If the average is more, decrease the DZ setting with the "+/-" switch. 11. Repeat the Manual Dead Zone Test until the average falls into the acceptable range. 26

27 4 - System setup Automatic Gain Calibration Before tuning the gain setting, the dead zone for that function must be tuned. If the dead zone tuning has not been completed, follow the instructions for tuning a dead zone. 1. Follow the, STEP 1: Prepare the Equipment on page 20 to STEP 3: Prepare the Equipment on page 20 (level booms, working RPM, etc.), before proceeding. 2. Ensure the AutoSlant panel is in MANUAL mode, at the run screen. 3. Navigate to the "More?" menu prompt in the SETUP menu. Toggle the "AUTO (YES)" switch to confirm. 4. Navigate to the boom section you wish to set up, for example "Main?" to adjust the left up and/or the left down settings. Toggle the "AUTO (YES)" switch to confirm. 5. Toggle the "SETUP (NO)" switch to access the next menu prompt. Choose the gain up or down setting - see Table 4 - Main Channel SETUP Menus on page Toggle and hold the "AUTO (YES)" switch. 7. When the "Done" message is displayed, release the "AUTO (YES)" switch to view the new setting. Manual Gain Calibration ± WARNING! This test will drive the boom at full speed in the selected direction for one second. Make sure the boom has full range of movement, and if driving the boom down, make sure it is not close to the ground. The purpose of this test is to determine the sprayer boom speeds. It is recommended that you perform each test three times and average your readings. 1. From the speed measurements taken, use Table 5 - Main Boom on page 28 to determine the appropriate gain values to use for each function. This test will provide approximate results for gain values. Proper gain values rely on more than just boom speed so it is highly recommended to use the automatic gain setup, if possible. 2. Follow the, STEP 1: Prepare the Equipment on page 20 to STEP 3: Prepare the Equipment on page 20 (level booms, working RPM, etc.), before proceeding. 3. Ensure the AutoSlant panel is in MANUAL mode, at the run screen. 4. Navigate to the "More?" menu prompt in the SETUP menu. Toggle the "AUTO (YES)" switch to confirm. 5. Navigate to the boom section you wish to set up, for example "Main?" to adjust the left up and/or the left down settings. Toggle the "AUTO (YES)" switch to confirm. 6. Toggle the "SETUP (NO)" switch to access the next menu prompt. Choose the gain up or down setting - see Table 4 - Main Channel SETUP Menus on page Toggle and hold the "MANUAL" switch. 8. The valve will turn on at 100 percent speed for exactly one second. The screen will show the actual change in height. 9. The change in height reading is live as long as you hold the "MANUAL" switch. Wait until the height reading has settled to a stable value and record this reading. This is your boom speed in mm per second (cm/s). 10. Repeat the Manual Gain Test three times, repositioning the boom as necessary. 11. Average your three readings. Typical values are between 40 and 130 cm/sec. 12. Set the Gain value using the "+/-" switch using the tables below as a guideline. Right and left Gain settings are polarized for direction as shown in Table 5 - Main Boom on page 28. NOTE! Gain values depend on many more factors than just speed and therefore are best set automatically or by an experienced operator. NOTE! Test the response at a sensitivity (Sensi) of five, because the Sensi setting will scale the Gain settings ( Sensitivity (Sensi) Setting on page 13). If the booms are not reacting quickly enough, a higher Gain setting will make the boom respond faster. If the booms are too jerky or unstable, you must lower the Gain setting or improve the boom's mechanical damping. 27

28 4 - System setup Table 5 - Main Boom Function Boom Speed (cm/s) Up Gain Setting ( KP) Down Gain Setting ( KP) Main (on / off ) Main (on / off ) Main (on / off ) Main (on / off ) Roll Roll Roll Roll Table 6 - Main (Centre) Boom Boom Speed Gain Setting (cm/s) (KP) Table 7 - Roll Section Boom Speed Gain Setting (cm/s) (KP) < > Turning main and slant OFF or ON You can turn AutoSlant automatic height control and slant off. In AUTO mode, a "D" to the left indicates main sectionis turned off will not automatically adjust and a "D" to the right indicates slant is disabled. D 88D Left: main boom is turned OFF ("D = disabled). Right: slant is turned OFF ("D = disabled). It can be turned off or on in the SETUP menu. Refer to the menu structure shown in Table 4 - Main Channel SETUP Menus on page 26. Locate the menu prompts named below. This may be useful if you are mounting the boom lift sensor directly behind a sprayer tire which can impair the main lift control when operating in crop mode. Height readings from crop that is flattened by the sprayer wheel do not provide an accurate measurement of canopy height, resulting in poor performance. By turning off the main section you can disable the main section s automatic control; however, manual height readings from this section will still be available. The sprayer s wing booms will still be controlled automatically. 1. Ensure the AutoSlant panel is in MANUAL mode, at the run screen. 2. Navigate to the "More?" menu prompt in the SETUP menu. Toggle the "AUTO (YES)" switch to confirm. 3. Navigate to the main section you wish to turn off or on, i.e. "Main?". Toggle the "AUTO (YES)" switch to confirm. 4. At the "Main On" menu prompt toggle the "+/-" switch to change the status. 5. Toggle and hold the "SETUP" switch for two seconds to return to the Normal Operational Screen. 28

29 4 - System setup Quick Install The Quick Install feature of the AutoSlant system is designed to help diagnose problems that cannot be identified during the Automatic Setup. It will instantly set up the system with typical values for valve calibration and sprayer geometry, based on the sprayer type selected. Perform the following procedure for a Quick Install: 1. Verify the sensors are installed with the lowest serial number on the left side increasing to the highest serial number on the right side (Refer to the AutoSlant Installation Manual). 2. Level the boom at 90 cm height. 3. Navigate in the SETUP menu to the "Install?" screen and toggle the "AUTO (YES)" switch. Install? 4. At the "Select" "Type +/-" menu prompt, select the appropriate type for your sprayer (e.g. HD5). Sprayer types are listed in Specifications on page Toggle and hold "AUTO (YES)" for 5 seconds. 6. When the word "Sensor" is displayed, release the switch. Your system will be configured with the standard settings based on the type you have selected and the number of sensors present. 7. Perform a ReTune ( Retune on page 23). Select HD5? Sensor Type +/- 29

30 4 - System setup Options HeadlandAssist The DIP switches on the DAH interface09 circuit board needs to be set up for the selected behavior of HeadlandAssist. The DAH interface09 circuit is located in the JobCom box, on sprayers without JobCom the DAH interface09 circuit is located in the black armature junction box near the distribution valves. DIP switch settings The DAH interface09 circuit board uses a set of DIP switches to configure: the valve block type used on the sprayer, and which hydraulic functions of the sprayer will trigger manual mode on the AutoSlant system. DIP # Name ON function OFF function 1 DH/DAH Use for DH valve block Use for DAH valve block 2 FOLD I Fold Inner activates manual Fold Inner has no effect 3 FOLD O Fold Outer activates manual Fold Outer has no effect 4 FOLD SENS Fold Sense activates manual mode Fold Sense has no effect 5 TILT Any tilt function causes manual override (On Autoheight) L& R V.G. override is independent from one another 6 SLANT Slant function causes manual override Slant function has no effect 7 BOOM LIFT Boom Lift function causes manual override Boom Lift function has no effect 9 P.LOCK Pendulum Lock causes manual override Pendulum Lock setting has no effect Switch 1 The position of switch 1 will depend on which block is used on the sprayer. If this is not configured properly, the boom slant function of the AutoSlant will not function properly. DAH hydraulic block: For sprayers using the DAH block, the switch should be OFF. DH hydraulic block: For sprayers using the DH block, the switch should be ON 30

31 Switch 2-8 For AutoSlant the recommended DIP switch settings are as illustrated. With the switches set as illustrated all hydraulic functions will trigger manual override with the exception of boom lift: Boom lift (DIP 7) is switched off because switch sensing is performed on the boom lift/lower switch. Manual override will still occur after an extended switch press. A short switch press will not trigger manual mode; however when HM2 is used a short switch press is used to trigger headland mode. 4 - System setup If this switch is left ON any manual boom lift function will trigger manual mode. This switch must be OFF for HM2 to function properly. 31

32 4 - System setup 32

33 5 - Operation System operation General info This section outlines the AutoSlant system's features and controls during field operation. Before you can operate your AutoSlant system in AUTO mode, it needs to be configured either automatically or manually. If your control panel shows the power up sequence below and will allow AUTO mode, it has been configured. If your panel shows different messages after being powered up or will not allow AUTO mode, it will attempt to begin or resume Automatic System Setup. Refer to System preparation on page 19 for System Setup instructions. Power Up Sequence Upon power-up a sequence of messages are temporarily displayed on the control panel LCD screen. The system will always power up in manual mode. The system is ready for use once the run screen is displayed. NOTE! To access either the "SENSOR DISPLAY" or "SETUP" menus, ensure you are at the run screen. Table 9 - Power Up Screens LCD Display Description UC4 + AutoSlant Panel. V. 7A Version 7A software. Type HD5 Sprayer Type: HD5. See Sprayer types on page 47 for a list of types. METRIC The panel is set up to display height in centimeters. This can be changed to display inches. * Roll The control panel is looking for connected sensors. 2 Height Two height sensors are connected. Allocate The control panel is preparing to set up each sensor. Setup LO The control panel is setting up the Left outer (LO) sensor, followed by the other sensors (RO, RF). Ready The control panel is ready to begin operation. M 75 M The run screen. This screen is shown until input is received from the operator. ( To access either the "SENSOR DISPLAY" or "SETUP" menus, ensure you are at the run screen. on page 34) 33

34 5 - Operation Typical Operation Basic operation To access either the "SENSOR DISPLAY" or "SETUP" menus, ensure you are at the run screen. Possible ways to edit: Toggle toward the menu you wish to access. Adjust the menu settings using the "+/-" switch while the prompt is displayed. After 30 seconds menu prompts will return to the run screen. To return to the run screen press and hold "SETUP" for two seconds. New settings take effect once the run screen is displayed. Using the Toggle Switches All functions on the AutoSlant panel are activated using its three toggle switches. To access either the SENSOR DISPLAY or SETUP menus, make sure you are at the run screen. To adjust the setting of individual menu items, use the "+/-" switch while the item is displayed. NOTE! New settings take effect once the run screen is displayed Menu items will time out and return to the run screen after 30 seconds. If you wish to return to the run screen sooner, toggle and hold the "SETUP (NO)" switch for two seconds. Any new settings will take effect once the run screen is displayed. If you wish to lock the sensor height readings on the screen indefinitely, toggle the " + " switch once while viewing the desired sensors. Figure 6 - Run screen Run screen Upon power-up, a sequence of messages is temporarily displayed on the control panel LCD screen. The system is ready for use once the run screen is displayed. To access either the "SENSOR DISPLAY" or "SETUP" menus, ensure you are at the run screen: Toggle toward the menu you wish to access. Adjust the menu settings using the "+/-" switch while the prompt is displayed. After 30 seconds menu prompts will return to the run screen. To return to the run screen press and hold "SETUP" for two seconds. New settings take effect once the run screen is displayed. A 55 A Roll boom arrow Auto/Manual (Right wing) Target height Auto/Manual (Left wing) or Boom Lift arrow Center boom arrow Figure 7 - Run screen When the AutoSlant system is in automatic mode, indicated by an "A" in the control mode portion of the screen, the AutoSlant panel shows the target boom height. The arrows indicate the AutoSlant system is making a correction to the boom in the displayed direction. Often the correction will be very small and there may not be a noticeable change in boom position. In MANUAL mode, indicated by an "M" in the control mode portion of the screen, the AutoSlant panel shows the average boom height reading. Figure 7 shows a typical run screen. 34

35 5 - Operation Changing to Automatic or Manual Mode From the run screen, toggle the control panel "AUTO" switch to put the system into automatic mode. The run screen will show an "A" for each side of the boom to indicate the system is in auto. Toggling the "MANUAL" switch or a sprayer joystick function will put the system into manual mode. The run screen will show an "M" to indicate the system is in manual mode. Viewing the Sensor or Target Height When in manual mode the run screen shows the average of the sensor heights. In automatic mode the number shown on the run screen is the target height. Toggle "SENSOR DISPLAY" to view the actual sensor heights. The left and right sensor heights are each displayed on a separate screen. The sensor heights are shown in either centimeters or inches depending on the sprayer type. The height displayed is measured from the spray nozzles to the soil (soil mode) or crop canopy (crop mode). To lock the currently viewed sensor heights on the screen indefinitely, toggle the "+" switch once. Sensor height menus can be viewed in both automatic and manual mode. Press & Hold Functions Table 12 - Press & Hold Menu Structure Alrm On M 55 M AT 53 Pressing and holding SENSOR DISPLAY will enable/disable the Alarm. If enabled, the alarm will sound if an ultrasonic sensor has lost a reading. The alarm is defaulted OFF. Press & Hold SENSOR DISPLAY / SETUP (NO) Switch Press & Hold run screen Pressing and holding SETUP will display the Air temperature (AT). If your panel is set up as metric (height in cm), the temperature units are in Celsius. If your panel is set up as imperial (height in inches), the temperature units are in Fahrenheit. Changing between AUTOMATIC or MANUAL Mode You can change between MANUAL and AUTO with the "AUTO (YES) / MANUAL" toggle switch. Ensure you are at the run screen when selecting AUTO. AUTOMATIC MANUAL The run screen will show an "A" for each side of the boom to indicate the system is in auto. When the AutoSlant is in AUTO mode, operating the sprayer's left or right boom control switches will immediately cause that boom to revert to MANUAL mode. The sprayer (handgrip) switches will override automatic boom height control on either the left or right side. The "AUTO (YES)" switch must be activated to return that boom wing to AUTO mode. The run screen will show an "M" for each boom to indicate the system is in manual mode. When the AutoSlant is in MANUAL mode, the boom may be controlled as usual with the boom control switches on the sprayer's multifunction handgrip. Adjusting the Target Height (Setpoint) Adjust the target height setting with the "+/-" switch while in AUTO mode. The smallest target height setting allowed is called the minimum height override. The default minimum height settings are programmed before shipped from the factory. NOTE! The minimum height settings are adjustable. If you wish to adjust them, please contact HARDI for details. You can also adjust your boom lift target height by pressing the sprayer's boom lift control switches. Each press of the up switch will increase the target height by one unit. Each press of the down switch will decrease the target height by one unit. 35

36 5 - Operation Viewing the Actual Boom Height When in manual mode the run screen shows the average of all the sensor heights. In automatic mode the number shown on the run screen is the target height. Sensor height menus can be viewed in both automatic and manual mode. Toggle "SENSOR DISPLAY" to view the actual sensor heights. The left and right sensor heights are each displayed on a separate screen. Both sensor heights will be displayed on the same screen. To lock the currently viewed sensor heights on the screen indefinitely, toggle the "+" switch once. μ ATTENTION! The sensor heights are shown in either centimeters or inches depending on the sprayer type. The height displayed is measured from the spray nozzles to the soil (soil mode) or crop canopy (crop mode). Sprayer switches When a sprayer switch is pressed, an arrow will be displayed on the screen showing which function is being activated. For example, if the left up switch is pressed, an arrow will be shown on the left side pointing up. Slant Switch While in automatic mode, if either left or right tilt switches are pressed, the corresponding boom section will go into manual mode. The corresponding "A" on the display will change to an "M" to indicate that boom is in manual mode. To return boom to automatic mode, toggle the "AUTO (YES)" switch. Main Lift Switch While in automatic mode, if the boom lift up or down switch is momentarily pressed, the target height is incrementally adjusted up or down. Pressing and holding the boom lift switch will always put the system into manual mode. Changing the Sensitivity of the System The Sensitivity (Sensi) setting ( Sensitivity (Sensi) Setting on page 13) can be adjusted in both MANUAL and AUTO modes. Toggle the "SETUP (NO)" switch to view the current Sensi setting. While viewing this menu, toggle the "+/-" switch to adjust the value. Decreasing number will reduce the system sensitivity and dampen the system. Increasing the number will speed up the response and improve the boom stability. Five is the normal setting. At the start of operation, before the sprayer is warmed up, a lower Sensi setting may be required for stable control. As the sprayer warms up, increase the Sensi setting up until the performance reaches an optimum level. NOTE! Running AutoSlant at high sensitivity will increase heat build-up of the oil. Specially when AutoSlant system is used with tractors that have an open centre system without load sensing, it may require lower sensitivity settings to avoid overheating of hydraulic oil. See Hydraulic hook-up on page 19. Changing Between SOIL and CROP Mode The SOIL or CROP mode setting can be adjusted in both MANUAL and AUTO modes. Toggle the "SETUP (NO)" switch twice to view the current setting. While viewing this menu, use the "+/-" switch to change between SOIL and CROP mode. See more in Understanding Crop Mode And Soil Mode on page 14. Height sensors use smart sensor technology, which takes measurements from both the top of the crop canopy and from the soil surface. This allows the user to select either Crop or Soil mode. In Soil mode the target height is measured from the soil to the sprayer nozzle. In Crop mode the target height is measured from the crop canopy to the sprayer nozzle. Crop mode is usually used when operating in mature cereal grains, row crops or specialty crops. Soil mode is generally used to follow the ground through young crops, stubble or normal trash. Generally, if 60 percent of the ground is covered, crop mode should be used. Sometimes either mode may be used, depending on the crop. In row-crops, crop mode will work best with the sensor placed directly above a row. Soil mode will work best with the sensor placed between two rows. Crops in growing stages are relatively good targets for crop mode. Bearded crops are relatively poor targets for crop mode as they are a poor reflector of sound. 36

37 5 - Operation Some crops will produce a more varying canopy than others. In these situations, the severe terrain option will provide more representative measurements when in crop mode and better performance. When operating in crop mode when the crop is lodged, or where there is no crop, the sensor will follow the target down and begin to track the soil. However, when the crop resumes, the sensor may be beneath the crop canopy, therefore preventing the sensor from making proper measurements. This situation may require the operator to manually raise the boom. Changing the units The panel can be changed to display either centimeters or inches. 1. Toggle the "SENSOR DISPLAY" switch until the LCD screen says "MORE?". Toggle the "YES" switch once. 2. Toggle the "SENSOR DISPLAY" switch until the LCD screen displays "OTHER?". Toggle the "YES" switch. 3. Use the "+/-" switch to change between CM (centimeters) and IN (inches) mode. 37

38 5 - Operation Options HeadlandAssist HeadlandAssist is used to raise the wings only or the entire boom at the end of the field for turning. This feature operates when the system is in automatic mode. This feature is enabled for certain sprayer types. The headland mode height can be changed. While the boom is in HeadlandAssist mode, the operator can change the height by simply adjusting the target height ( Adjusting the Target Height (Setpoint) on page 35). Navigating the HeadlandAssist & Remote Switch Menu 1. Ensure the AutoSlant control panel is in manual mode and at the run screen. 2. Navigate to the "More?" menu prompt in the SETUP menu. Toggle "AUTO (YES)" to confirm. 3. Toggle "SETUP (NO)" until the display says "Other?". Toggle "AUTO (YES)" to confirm. 4. At this point you are in the HeadlandAssist menu. Use the "+/-" switch to navigate the menu. 5. The setting is selected when you leave the HeadlandAssist menu by pressing and holding "SETUP (NO)" / "SENSOR DISPLAY" or just toggling the "SETUP (NO)" / "SENSOR DISPLAY" switch. Setting Remote Switches Boom Lift Trigger HeadlandAssist HeadlandAssist Mode Rems Off Disabled Disabled Disabled Disabled Rems On Enabled Disabled Disabled Disabled HM1 Disabled Main Up / Down Enabled Main Lift HM2 Enabled Main Up / Down Enabled Main Lift HM3 Enabled Remote Auto Enabled Main Lift Table 13 - HeadlandAssist & Remote Switch Settings Main Lift Trigger If the main lift switch is enabled as the trigger, the HeadlandAssist will be triggered when the operator toggles the main up switch while in automatic mode. By toggling the main down switch the boom will return to automatic mode. When in manual mode the main lift switch will operate the normal boom lift function. NOTE! If the boom lift switch is enabled as the trigger, the set point increment / decrement feature is disabled for the main lift switch. Remote Auto Trigger Enabling remote auto as the trigger will allow a separate switch to trigger the HeadlandAssist. This switch must not be a momentary type switch. Remote auto is an input line normally located in the wiring harness in the cab. Refer to Remote Switches on page 38 for the location of the remote switch inputs. When +12 V DC is applied to the remote auto line the system will change to automatic mode from either manual mode or headland mode. When 0 V DC is applied to the line the system will change to headland mode from automatic mode. If the system is put into automatic from the display, then the voltage on the remote auto line will dictate what mode (auto or headland) the system will start in. Remote Switches When remote switches are enabled, the AutoSlant can be put into automatic or manual mode using a remote switch connected to the remote auto and manual input lines. This feature can still be used in conjunction with the remote auto line as the trigger in headland mode. The remote auto and manual input lines are located on pin 1 and pin 6 of connector P16B on cables and Please refer to the AutoSlant Installation Manual for detailed schematics of these cables. To activate automatic mode To activate manual mode Apply +12 VDC to the remote auto line. The voltage must always be applied after the display has been powered up. The AutoHeight will not go into automatic mode if voltage is applied to the remote auto input line before the system is powered up. Apply +12 VDC to the remote manual line. The remote manual function always has priority over the automatic function. 38

39 5 - Operation Crop filter toggle Enabling this feature will tend to reject electrical and sonic noise and keep the sensor locked on to stronger targets. The Crop Filter option is normally defaulted to on for most sprayer types. To access this feature: 1. Press and hold "AUTO (YES)" from the run screen. 2. While holding the "AUTO (YES)" switch, toggle the "+/-" switch to turn the feature on or off. "CropF n" means the crop filter is OFF, "CropF y" means the crop filter is set to ON. There are two main reasons why you might want this feature enabled. If a main lift sensor is having difficulty reading properly in crop mode. If the wings seem excessively jumpy in crop mode. There are two main reasons why you might want this feature disabled. The sensor may track the canopy in thin crop better. Disabling this feature may also produce less "No Data" messages flashing in place of the sensor height readings. Minimum Height Mode Minimum height mode is normally used only for systems with five sensors (severe terrain kit). Since the five sensor system has two wing sensors that average the height, it is possible to have a boom tip close to the ground while still maintaining an acceptable average height. The minimum height defines the lowest height in which a single sensor on the wings is allowed to go. The relative "Rel" setting defines the number as the distance below the target height. The fixed "Fixd" setting defines the number as the distance above the ground. 1. To access the minimum height mode settings, toggle "SENSOR DISPLAY" from the run screen until you see "More?". Toggle "AUTO (YES)" to accept. 2. Toggle "SENSOR DISPLAY" again until you see "Other?". Toggle "AUTO (YES)" to accept. 3. Use the "+/-" switch to change the settings. MHM Rel MHS 50 MHC 50 Units cm Minimum Height Mode Minimum Height Soil mode Minimum Height Crop mode Units (cm or inches) 39

40 5 - Operation Operational Messages The following messages are non-critical messages that appear on the LCD screen when scrolling through the SENSOR DISPLAY menu from the run screen. Scrolling through the height display screens is a good place to start when troubleshooting because sensor errors will be displayed here. These error messages usually require some simple adjustment or setting changes. Table 14 - Operational Messages Problem(s) Possible Cause(s) Suggested Solution(s) NR or NoRdg This indicates the sensor is not receiving a good reading. It is normal to see this message occasionally, however, if the message is constantly displayed, there may be a problem with a sensor. Refer to Section 11.2 for more information. Minimum Overide This message is displayed when the target height is lower than allowed (minimum height override). Disabled Access to the system setup features (Automatic Install, ReTune) has been disabled by the installer to avoid unintentional system changes. 1 Absent One of the configured sensors was not found during power up. >>>>>>>> The control panel is busy with a task that may take a few seconds. Refer to Section 11.2 for more information. Wait for the arrows to disappear before activating any control panel switches. 40

41 6 - Maintenance Service info General info The AutoSlant system requires very little maintenance. However, some minor procedures will help ensure that your system operates properly for many years. Before each day of operation Check the following: Peak performance requires low friction on the boom slant mechanism. Used to hold the boom stable, friction pads are often prone to high amounts of friction when dry. Grease as necessary. Ensure breakaway brackets are well lubricated and function properly. Clear any obstructions between the sensor and the ground. Any object within an 18 cm diameter circle directly below the sensor could cause improper height readings. Check to ensure hydraulic hoses, sensor cables, or debris are clear of the sensor. Inspect the foam shield insert in each sensor. HARDI recommends to fit clean foam shields before spraying. Sensor preparation and maintenance Fitted into the bottom of the sensor is a foam shield (Figure 9) that can become clogged with dust and dirt. Remove the foam from the sensor, blow it out with an air compressor, if available, and reinsert. μ μ μ ATTENTION! HARDI recommends to clean the foam shield in mild soap water and allow it to dry before reuse. ATTENTION! Bring extra clean protective shields in the tractor cabin while spraying, for easy replacement in the field if a shield gets dirty. ATTENTION! Do not blow out the foam shield while it is still installed in the sensor. Sensor damage may result. Always remove the foam shield for cleaning. Figure 9 - Protective Foam Shield μ ATTENTION! Do NOT spray without the foam shields installed - chemicals will damage the transducer surface! At the end of a season Remove the height sensors from the sprayer and store inside. Use Setting Up Sensors on page 24 and record the sensor serial numbers to ensure each height sensor is returned to its original location at the start of the next season. If necessary, contact your HARDI dealer to have the sensors recalibrated or repaired. Over time, performance of the inexpensive transducer element may become degraded from airborne contamination. A typical sensor can operate up to ten years without requiring attention. Contact HARDI for information. 41

42 6 - Maintenance Lubrication of the sprayer As the AutoSlant system continously adjusts the sprayer boom, extra attention needs to be paid for the boom to be well lubricated. Shown below are the specific sprayer boom parts with respective lubrication points that need extra attention. NOTE! For further information on lubricating the sprayer, please refer to the sprayer s instruction book. DELTA boom (LPZ): FORCE and TWIN FORCE booms (HPZ/HAZ): TWIN FORCE metre boom (HAZ): 42

43 7 - Fault finding Operational problems General info This section discusses common symptoms and suggested solutions when the AutoSlant system is being installed or operated. General operation Different cases of general operational issues are discussed below: Problem(s) Possible Cause(s) Suggested Solution(s) Boom does not appear to be level after system setup. The sensitivity setting may be too low. Check the sensor height readings; if they differ from the target height, try turning up the sensitivity. NOTE: The default tolerance distance is ±6 cm at Sensi setting of 5. The dead zone may be calibrated incorrectly. If the dead zone is set too low, the system cannot make small corrections. Recalibrate the dead zones as described in Setting Up Hydraulic Valves on page 25. The sensor offset heights may be incorrect. Refer to Setting Up Sensors on page 24. The system will not go into automatic mode. Ensure the system has completed an automatic install. If you have started and not finished an automatic install, you will need to manually tune at least one hydraulic function ( Setting Up Hydraulic Valves on page 25) before the system will allow you to go into automatic mode. The system resets when a valve is turned on. Check the power supply. The sprayer s power supply voltage must be more than 12 V DC. Damaged or defective power supply cable. Check the power cable for a good connection to the supply. The system randomly switches between auto and manual mode. Damaged or defective interface cable. Electrical noise on the sprayer s DC system. Ensure all cables are connected correctly. The connections should be tight and free of corrosion. Add a power line filter or freewheeling diodes on one or more of the sprayer s solenoid valves. 43

44 7 - Fault finding Setup Messages During an Install or ReTune, if any of the following messages appear on the LCD screen, the system will halt any valve action and wait for operator acknowledgement. Some of these messages appear after the operator is prompted to "Release" "Switch" while holding "AUTO (YES)". Release the switch and correct the problem using the table below. Exit the procedure by toggling the "SETUP (NO)" switch. Problem(s) Possible Cause(s) Suggested Solution(s) Timeout This message may occur if the system is trying to move a boom but does not see any change in the sensor heights. If the cylinder is fully extended or retracted, manually reposition the boom into the middle of the stroke and resume the setup by holding the AUTO (YES) switch. For left and right booms that do not adjust below the level of the centre section, ensure that the centre section is within 125 cm above the ground before attempting an Install or ReTune. Ensure there is enough hydraulic pressure to move the boom. SN=0 det Too Many Bakwards TooHigh! or TooLow! This may be shown if there is at least one sensor Replace the sensor. connected which is not properly configured from the factory. The system has detected too many sensors connected. This message will be shown if the boom moves in the wrong direction of what is expected by the AutoSlant system. This may be caused by a wiring or hydraulic problem. An extremely underdamped boom or high wind conditions may also cause this message to appear. Remove the additional sensors or setup the system manually. Ensure cable connections and plumbing are correct. Add mechanical damping to the boom and/or consult HARDI. The boom is positioned higher than 150 cm or lower Restart the setup with the boom positioned at 90 cm. than 80 cm. The system setup was most likely started with the boom too high or too low. 44

45 7 - Fault finding Sensor Related Issues Different cases of Sensor related issues are discussed below: Problem(s) Possible Cause(s) Suggested Solution(s) Height sensor appear not to work (displays "NC" or "No Comm"). Invalid height sensor measurement (displays "NR" or "NoRdg"). "NC" or "No Comm" refers to no communication. May be caused by a damaged or defective CAN-bus cable. "NR" and "NoRdg" refers to no reading. The protective foam shield may be contaminated. The sensor may have moisture in it. The sensor transducer may be damaged. Display stuck at "Mot n Dly" or "KP Stp 9". The sensor may be reading off the boom. Target may be too weak. The sensor may be out range. Ensure all cables are connected correctly. The connections should be tight and free of corrosion. Ensure the correct serial numbers are entered for each of the sensors ( Setting Up Sensors on page 24). If the cables check out ok, the sensor may be damaged. Try swapping sensors to see if the problem follows the sensor. It is normal to see this message occasionally. If you see this message all the time, the sensor may be having difficulty obtaining a proper reading. Ensure the sensor is not out of range. Check the sensor alignment. The sensor should point almost perpendicular to the ground and there should be no obstructions between the sensor and the ground. Inspect and clean the foam shield. If it is severely worn or dirty, replace the foam shield. This can be common for sprayers which fold the wing tips up, thus pointing the sensors into the air. If rain or moisture collects in the sensor, remove the protective foam disc and allow the water to drain out. If you leave the sensor running, it will dry out on its own and start working again. Remove the foam shield and check if you can hear the sensor ticking. If you cannot hear the ticking sound or if it is very faint, the transducer may be damaged and the sensor would need repairing. Try moving the sensor to a better location. Move the sprayer to a better location with either dirt or gravel on the ground. Ensure there is no grass or other plants under the sprayer boom. Release the AUTO (YES) switch and manually adjust the entire boom to approximately 90 cm above the ground. Press and hold AUTO (YES) to continue with the install or retune. Sensor Swapping Swapping Sensors is a useful procedure for determining whether a sensor error message (e.g. "LO NC") is due to the sensor or the wiring to the sensor. NOTE! A sensor may have power and emit a ticking sound, but have broken communication wire(s), which would cause this error. Performing Sensor Swapping would help determine the cause. The procedure is as follows: 1. Exchange the affected sensor with one that is reporting correctly (e.g. "LO" and "RO"). 2. Swap (input) their respective location serial numbers into the control panel ( Setting Up Sensors on page 24). 3. If the problem still exists in the same location, the wiring from that branch may have a fault. 4. If the error appears in the new location, the sensor may not be functioning properly. 45

46 7 - Fault finding Sensor Alignment Proper sensor alignment is critical for proper AutoSlant performance. The majority of problems reported by operators in the field are due to improper sensor mounting. 1. When the boom is at its lowest position, the sensor mouth must be 25 cm or more above the spray nozzles. 2. The bottom of the sensor must be at least 25 cm in front of the nozzles. 3. The sensor must be approximately vertical at normal operating heights. 4. Ensure that there are no obstructions within a 30 cm diameter circle projected directly below the sensor. 5. When mounting or relocating sensor brackets, ensure they do not interfere with boom folding operation. 6. When mounting to the top part of the boom (as shown in Figure 10), check that the sensor cannot read off the bottom part of the boom. This is most common in CROP mode. Figure 10 - Sensor Reading off the Boom Hydraulic Related Issues When diagnosing hydraulic problems you should first determine if the electrical system is ok. Check all cable connections and ensure they are tight and free of corrosion. NOTE! For fault finding on hydraulic components, please refer to the sprayer instruction book. Boom Stability Different cases of boom instability and boom lift issues are discussed below: Problem(s) Possible Cause(s) Suggested Solution(s) The boom is unstable in automatic mode. If the suspension sticks or is too loose, the boom will Ensure the sprayer s boom suspension is operating be unstable. correctly and moving freely. If the boom is unstable in manual mode, the height control system will not make it more stable. Dry friction pads. If there are friction pads on the boom, ensure they are well greased. Wear in boom damper shocks Check the boom damper shocks and replace them if they are worn. If the hydraulic settings are not calibrated correctly, Perform a retune and redo the push test. the boom may be unstable. Improper sensor alignment. Ensure the height sensors are reading properly and consistently. The sensors must be aligned and mounted correctly. The sensor should point almost perpendicular to the ground, and there should be no obstructions between the sensor and the ground. The boom(s) move all the way to the top in crop mode. The sensors are most likely reading off of the boom in crop mode. Ensure the sensors are aligned and mounted correctly. The sensor should point almost perpendicular to the ground, and there should be no obstructions between the sensor and the ground. 46

47 8 - Technical specifications Specifications Sprayer types Abbreviations for sprayer types supported by AutoSlant. Type HD5 Sprayer Models Hardi AutoSlant 47

48 8 - Technical specifications 48

49 9 - Index Index A Actual Boom Height, 36 Agroparts, 51 AUTOMATIC or MANUAL Mode, 35 Automatic System Setup, 20 B Boom Instability, 46 Boom Reaction Time, 13 Boom Stability in Crop, 15 C Calibrating the Sensor's Height Reading, 25 Control Panel, 12 Control System Test, 22 CROP Mode, 15 Crop Mode And Soil Mode, 14 E End of a season, 41 G General description, 10 General operation, 43 Glossary, 18 H Hydraulic Related Issues, 46 L Load Sensing, 19 Lubricating the sprayer, 42 M Main Boom Sensor in Wheel Track, 15 Main Menu Overview, 35 Maintenance, 41 Manual System Setup, 24 Menu Structure, 16 N Normal Operating Screen, 34 O Operational Messages, 40 Operational problems, 43 Operator safety, 7 P Performance Issues, 13 Power Up Sequence, 33 Prepare the Equipment, 20 Press & Hold Functions, 35 Q Quick Install, 29 R ReTune, 23 S Select the Sprayer Type, 21 Sensing Further Ahead of the Boom, 14 Sensitivity of the System, 36 Sensitivity Setting, 13 Sensor Capabilities, 14 Sensor preparation, 41 Sensor Serial Numbers, 24 Sensor Swapping, 45 Sensors, 11 Setting Up Hydraulic Valves, 25 Setting Up Sensors, 24 Setup Messages, 29 Software, 10 SOIL and CROP Mode, 36 Spare parts, 51 Specifications, 47 T Target Height, 35 Thin Crop, 15 Toggle Switches, 34 Turning Booms OFF or ON, 28 Typical Operation, 34 V Valve DeadZone Test, 26 W Wiring Test, 21 49

50 9 - Index 50

51 Spare parts To see updated spare part information visit the website Here all parts information can be accessed when free registration has been made.