A5 AutoSteer Closed Center Compact Valve Custom Hardware Installation Guidelines and Recommendations

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1 A5 AutoSteer Closed Center Compact Valve Custom Hardware Installation Guidelines and Recommendations THIS MANUAL IS FOR TRAINED AUTOFARM DEALERS ONLY AutoFarm GPS AutoSteer Hardware Installation Guide PN: Rev. A

2 LEGAL DISCLAIMER LEGAL DISCLAIMER Note: Read and follow ALL Instructions in this manual carefully before installing or operating the AutoFarm system. Note: Take careful note of the information in the Safety Information section and throughout this manual. AutoFarm disclaims any liability for damage or injury that results from failure to follow the instructions and warnings set forth herein. Please take special note of the following warnings: 1. There is NO obstacle avoidance system included in the AutoFarm product. Therefore, users must always have an operator on the equipment when the AutoFarm system is in use to look for any obstacles including people, animals, trees, ditches, buildings, etc. 2. During installation of the AutoFarm system and during the Calibration and Tuning processes the vehicle's wheels turn from side to side and the vehicle moves. Be sure that all people and obstacles are clear of the vehicle before installation, calibration and tuning, or use of the AutoFarm system. 3. Use of the AutoFarm system is NOT permitted while equipment is on roads or in public areas. Follow the instructions set forth below for ensuring that the system is OFF before driving on roads or in public areas. ii AutoFarm GPS AutoSteer

3 LEGAL DISCLAIMER Special Requirements Tools This list consists of special tools required to complete the installation. A complete set of common installation tools is assumed. A workshop may be required for fabricating special brackets as required to fit the AutoFarm system components on specific vehicle models. Hydraulic hoses must also be fabricated to connect the AutoFarm steering valve to the vehicle. Allen Hex Key ¼ 11/16 open wrench 16mm open wrench Allen Hex Key 3/16 5/8 open wrench 17mm open wrench Allen Key 5/32 9/16 open wrench (2x) 18mm open wrench Allen Hex Key 1/8 ½ open wrench 19mm open wrench 15/16 open wrench 7/16 open wrench 22mm open wrench 7/8 open wrench ½ 12 point ratcheting wrench 24mm open wrench 13/16 open wrench 15/16 socket wrench #1 Phillips Screwdriver ¾ open wrench 13mm open wrench #2 Phillips Screwdriver Torque wrench Hacksaw with steel cutting blade Portable Drill Tape measure (12ft minimum) Wire cutter small Cleaning rags Fiberglass Cable Puller Cleaning brush 5000 psi Pressure Gauge with a Short Hose and 1/8 Test Port Coupler that meets the SAE J1502 standard. Ten Foot Ladder Multimeter Hardware Installation Guide iii

4 LEGAL DISCLAIMER Safety Information Note: It is the responsibility of the installer to read and understand all safety alerts in this manual. Warning Alerts The Warning Alerts indicate potentially hazardous situations that if not avoided could result in death or serious injury. Warning Alerts may also identify unsafe installation practices. WARNING To avoid electrical shock hazards, remove the roof module from the vehicle before driving under low structures or low electrical power lines. WARNING Ensure that you are in a stable position on the tractor platform when installing or removing the roof module, so that you do not fall. WARNING To prevent the vehicle from running over a person, you must never leave the vehicle while the GPS steering system is engaged. Do not have people around the vehicle while the engine is running. WARNING High-Pressure Fluid Hazard Read the Owner s Manual before installation. Wear hand and eye protection while performing hydraulic system maintenance. Relieve hydraulic system pressure before servicing the hydraulic system. iv AutoFarm GPS AutoSteer

5 LEGAL DISCLAIMER WARNING To understand the potential hazards associated with the operation of AutoFarm equipment read the provided documentation before installing the GPS steering system on a vehicle. WARNING A5 User Terminal: To prevent the accidental engagement of GPS steering and loss of vehicle control while driving on roads, shut down the A5 user terminal (exit the program) and press down the blue Kill switch located on the top left corner of the terminal. Never drive on roads or in public areas with the GPS steering system turned on. WARNING FarmPRO User Terminal: To prevent the accidental engagement of GPS steering and loss of vehicle control while driving on roads, shut down the system using the on-screen power button or the blue Kill switch located on the bottom of the terminal. Never drive on roads or in public areas with the GPS steering system turned on. WARNING Do not stand close to the wheels and do not move the machine while you are adjusting the relief valve. Turn off the engine, put the transmission into park position and engage the parking brake before standing under or next to the machine. Hardware Installation Guide v

6 LEGAL DISCLAIMER Caution Alerts Caution Alerts indicate potentially hazardous situations that if not avoided may result in minor to moderate injury. Caution Alerts may also identify unsafe installation practices. CAUTION The roof module must be removed when transporting or driving the vehicle at speeds above 30 mph (50 km/h). The roof module can possibly detach due to wind loads at higher speeds. CAUTION The GPS steering system does not detect obstacles in the vehicle s path. The operator must observe the path being driven in order to avoid obstacles. CAUTION When engaged, the GPS steering system controls only the steering of the vehicle. The operator must control the speed of the vehicle. CAUTION The supplied roof module locking pin or a padlock must be in place whenever the vehicle is in operation to prevent the roof module from releasing from its bracket. vi AutoFarm GPS AutoSteer

7 Important Information Vehicle Requirements The vehicle steering system and hydraulic system must be in good working order before installing the AutoFarm system. Check for loose or worn parts. Drive the vehicle before installing the Autofarm system and confirm that it steers straight and the wheels can be turned from lock to lock. Check the steering system hydraulic hoses and connections to ensure there are no oil leaks. The vehicle electrical system and battery must be in good working order. We recommend that the vehicle be fully cleaned with a high pressure washer before installing the AutoFarm system. A clean vehicle will facilitate the overall installation and cable routing and will also reduce the chance for oil contamination when the hoses are opened. It is important to clean the area around the power beyond, front axle, frame, under the cab and behind the rear cab shields. Important Information Note: Tighten all screws, bolts, nuts, hose connections and cable connections after the final assembly of the AutoFarm Steering System on the vehicle. Follow the checklist at the end of this manual before returning the vehicle to service. Technical Support Contact your dealer for technical support. AutoFarm support can be reached at (U.S./Canada): Phone: Contact Information Novariant, Inc Northport Loop East Fremont, CA 94538, USA Phone: Fax: Web: Copyright 2009 Novariant, Inc. All Rights Reserved. Hardware Installation Guide vii

8 Contact Information viii AutoFarm GPS AutoSteer

9 Table of Contents LEGAL DISCLAIMER ii Special Requirements iii Tools iii Safety Information iv Warning Alerts iv Caution Alerts vi Vehicle Requirements vii Important Information vii Technical Support vii Contact Information vii Chapter 1 Installation Overview...1 Introduction Installation Guidelines Vehicle Requirements Installation Types Orbitrol Closed Center Installation Orbitrol Closed Center with Power Beyond Connections AutoFarm Installation Kit Overview Assemblies Installation Procedure Outline Cable Diagram Chapter 2 Theory of Operation...11 AutoSteer Valve Oil Supply Right and left Steering Circuit Manual Override Sensor Load Sense Plugs and Orifices Closed Center Valve Installations Overview Closed Center Load Sense Installation Closed Center Power Beyond Installation Wheel Angle Sensor Chapter 3 Steering Valve Installation...15 Steering Valve Overview Specifications Valve Hose Adapter Connections Valve Covers Mounting Hole Patterns Orifice Location and Configuration Steering Valve Bracket Installation Valve Installation Guidelines Bracket Mounting Examples Example Bracket Installation Procedure Steering Valve Installation Procedure Overview Hardware Installation Guide ix

10 Valve Type Installation Procedures Closed Center Load Sense Orbitrol Installation Closed Center Load Sense Power Beyond Installation Pressure Transducer Adjusting the AutoFarm Relief Valve Pre-Startup Hydraulic Installation Checklist Chapter 4 Wheel Angle Sensor (WAS) Installation...39 Wheel Angle Sensor Installation Guidelines Wheel Angle Sensor Installation Tasks Chapter 5 SA Module Installation...53 Chapter 6 Roof Module Installation...57 Safety Notes Roof Module Installation Tasks Chapter 7 User Terminal Installation...65 Introduction Installation Procedure Chapter 8 Main Cable Harness Installation...71 User Terminal Connection Roof Module Main Harness Connection Power Supply Connection Chapter 9 SA Module Cable Harness Installation...77 Attach the Cable to the SA Module Connect the SA Module Harness to the Hydraulic Valve Connect the SA Module Harness to the Wheel Angle Sensor (WAS) Attach SA Module Cable Harness to Main Cable Harness Install Warning Label Chapter 10 Calibration and Tuning Notes...85 Transducer Calibration Starting the Calibration Procedure Chapter 11 Final Hardware Installation Checklist...93 Chapter 12 Troubleshooting...95 Wheels do not turn in AutoSteer Mode Wheels do not turn in manual steering Wheels turn in opposite direction in AutoSteer Mode Steering is slow or sluggish in AutoSteer mode Wheels only turn in one direction in AutoSteer mode Pump remains stroked up too long or when not AutoSteering Pump pressure is always high 96 Valve is noisy or chatter occurs The wheels vibrate or steering is too twitchy in AutoSteer mode AutoSteer does not kick-out when driver turns the steering wheel AutoSteer kicks-out without turning the steering wheel Gear pump that supplies oil for steering system is damaged x AutoFarm GPS AutoSteer

11 Wheels are wandering or do not hold position Wheels keep turning only in one direction until they the hit the stops The hydraulic system is always noisy when the engine is running Hardware Installation Guide xi

12 xii AutoFarm GPS AutoSteer

13 1 Installation Overview This Installation Overview chapter contains part numbers, kit overview diagrams, cabling diagrams and the installation procedures for the Compact Valve Closed Center and Open Center Installations. Introduction Installation Guidelines Vehicle Requirements Installation Types Orbitrol Closed Center Installation Orbitrol Closed Center with Power Beyond Connections AutoFarm Installation Kit Overview Assemblies A5 Compact Valve Kit Components Bracket Kit Components Installation Procedure Outline Cable Diagram Introduction This manual provides information for completing an AutoSteer installation on wheeled farm vehicles that are not supported by Autofarm vehicle specific installation kits. A working AutoSteer installation requires brackets and hoses that correctly fit the vehicle. This manual provides guidelines, specifications and examples of typical AutoSteer installations with the purpose of helping AutoFarm dealers accomplish a working installation that will perform satisfactorily and be safe. This manual does not cover all possible types of vehicles or even nuances that exist between different brands and models of farm machinery so it is the responsibility of the installer to determine if the installation will correctly fit the vehicle and perform in a safe manner. Do not attempt this installation if you have not received training for the AutoFarm A5 product installation and if you have not completed at least ten standard AutoFarm kit installations. Do not attempt this installation if you do not have complete information and familiarity with the vehicle's steering system and hydraulic system. The installer assumes all responsibility for using good judgment and good fabrication practices when performing this installation. Installation Guidelines 1. Understand the type of steering system that is used on the vehicle where you will be installing the AutoFarm valve. Hardware Installation Guide 1

14 Introduction 2. Refer to the hydraulic schematic of the vehicle steering system (often found in the shop manual) to determine what type of steering is used on the machine. 3. Do not install the valve on steering systems that are not specifically covered in this manual. 4. Do not install the valve on highway vehicles. Only install the valve on slow speed off-road agricultural vehicles. 5. Install the valve in a position that is easy to access and service. 6. To complete the installation you will have to make at least six custom hoses. The hose lengths will be determined by where you install the valve on the machine. If possible, install the valve close to the connection points on the machine. 7. All hoses that connect to the AutoFarm valve must use O-Ring Face Seal (ORFS) type hose fittings. 8. All hoses that connect to the machine must have hose fittings that match the type of fitting used on the machine (ORFS, JIC, Metric etc.). 9. Use only high quality hydraulic hose rated for 3000psi or more. 10. Only use hoses and fittings from the same manufacturer. Do not mix hoses and fittings from different manufacturers. 11. All hoses must be crimped per the fitting manufacturer s recommendations using the recommended crimping tool. 12. Clean hoses inside after assembly using a blast of compressed air to eliminate all contamination. 13. Cover the hose ends to avoid contamination during the installation on the vehicle. 14. Confirm that all hoses are connected to the correct points at both ends before starting the engine. 15. Confirm that all hose fittings are tight before starting the engine. 16. Route hoses clear from moving parts or hot parts on the vehicle. Secure all hoses in a safe and protected position. 17. Use an oil pan or bucket to collect oil when hose connections are opened. Clean all oil spills immediately. 18. Follow all safety recommendations outlined in this manual and good shop practice. Vehicle Requirements A vehicle must meet the following requirements before it is considered for an AutoSteer installation per this manual: The vehicle must be a slow speed off road farm vehicle that does not exceed 30mph at top speed. The vehicle must be a wheeled vehicle that runs on three or more rubber tires. The vehicle must have a hydrostatic steering system comprised of a steering Orbitrol, one or more steering cylinders, and a hydraulic pump. The vehicle's steering system must be in good running order without excessive play or leaks. The steering system must be non-reactive (non-centering) The vehicle must have a 12Vdc power outlet in the cab or 12Vdc battery available. The vehicle must have only one steered axle The vehicle must offer a cab or structure for antenna mounting purposes Do not install the AutoSteer kit covered in this manual on the following types of vehicles: Highway vehicles or high speed vehicles such as cars, pickups or trucks. Vehicles with reactive steering (self centering) Vehicles with a secondary steered axle such as rear wheel auxiliary steering. Vehicles that run on tracks. 2 AutoFarm GPS AutoSteer

15 Installation Types Vehicles with sloppy steering systems or that are in poor mechanical condition. Vehicles with poor electrical systems Vehicles with unconventional steering systems We recommend the following Steps before considering a new vehicle for an AutoSteer installation: Obtain a copy of the vehicles hydraulic diagram to understand how the steering system and steering pump works. The hydraulic diagram is usually available in the vehicle's shop manual or may be purchased from the vehicle dealer. Determine if the steering system is Closed Center with Load Sense or Open Center. Inspect the vehicle and determine if the hydraulic setup matches the manufacturer's hydraulic diagram. Inspect the vehicle to confirm that it offers attachment points for the AutoFarm Monitor, GPS Roof Module, wheel angle sensor, valve and hydraulic hoses. Drive the vehicle in a small circle at slow speed and let go of the steering wheel to determine if it is non-reactive steering. Non reactive steering will maintain the steering wheel steady and the vehicle will continue in a circular path. Reactive steering will allow the wheels to slowly return to center position while the steering wheel turns slowly without input from the driver. The AutoSteer kit described in this manual must only be installed on vehicles with non-reactive steering systems. Drive the vehicle and check for sloppiness in the steering system and check if it pulls to one side. The vehicle must steer straight and the steering must be firm and responsive. Check if a 12V power outlet is available and plan ahead for alternative electrical power connection. Measure the voltage at the power outlet using a multimeter Installation Types This installation guide describes the installation of the AutoFarm AutoSteer systems using the AutoFarm compact steering valve assembly for the following hydraulic installation types: Orbitrol Closed Center Installation Orbitrol Closed Center with Power Beyond Connections Note: Do not attempt to install the valve on hydraulic systems that are not covered in this manual. Orbitrol Closed Center Installation Correct Installation Types Installation where the vehicle has a closed center non reacting Orbitrol with a Load Sense line. The closed center Orbitrol may get its oil supply from a variable displacement pump or a fixed displacement gear pump with a LS steering priority valve. Installations where the Orbitrol uses conventional Load Sense or Dynamic Load Sense. Incorrect Installation Types Vehicles with reactive (self centering) steering system. Very large vehicles that require a higher oil flow and a larger AutoSteer valve. Vehicles with an Open Center steering system. Pressure compensated steering systems without an Orbitrol Load Sense hose. Hardware Installation Guide 3

16 AutoFarm Installation Kit Overview Orbitrol Closed Center with Power Beyond Connections Correct Installation Types: Installations where the vehicle has a closed center non reacting Orbitrol with a Load Sense line and a power beyond system available. The power beyond system must have pressure, tank and LS ports available. The closed center Orbitrol may get its oil supply from a variable displacement flow and pressure compensated pump or a fixed displacement gear pump with a Load Sense steering priority valve. This installation is preferred and can be simpler to install when the tractor has a power beyond system available. Incorrect Installation Types: Vehicles with reactive (self centering) steering system. Very large vehicles that may require a higher oil flow and a larger AutoSteer valve. Vehicles with an Open Center steering system. Pressure compensated vehicles that do not have a LS hose on the Orbitrol. Vehicles that do not have power beyond available. Note: On some tractors with power beyond systems you can use this installation at your own discretion if a simpler Orbitrol hookup is not possible. AutoFarm Installation Kit Overview This manual refers to Closed Center installations only. If you are installing an Open Center steering system, contact your AutoFarm dealer to obtain information on the correct installation kit and instructions. Note: The vehicles with closed center steering supported in this manual share the same top-level Installation Kit PN: The AutoFarm Installation Kit includes these sub-assemblies. 4 AutoFarm GPS AutoSteer

17 AutoFarm Installation Kit Overview Figure 1-1 AutoFarm Closed Center Installation Kit Components (PN: ) Table 1-1 AutoFarm Closed Center Kit Components (PN: ) Item Component Part Number 1. A5 Compact Valve Kit Custom Bracket Kit Assemblies The AutoFarm vehicle installation kit contains the following components: A5 Compact Valve Kit Components Bracket Kit Components Hardware Installation Guide 5

18 AutoFarm Installation Kit Overview A5 Compact Valve Kit Components Figure 1-2 Installation Kit Sub-Assembly (PN: ) Table 1-2 Installation Kit Sub-Assembly Components (PN: ) Item Component Part Number 1. Wheel Angle Sensor Monitor Bracket Slider Assembly SA Module Assembly Main Harness - SAM AutoFarm GPS AutoSteer

19 AutoFarm Installation Kit Overview Item Component Part Number 5. SAM Harness Roof Module Bracket SA Module Bracket Valve Assembly Valve Bracket Kit Mounting Hardware Warning Labels Hardware Installation Guide 7

20 AutoFarm Installation Kit Overview Bracket Kit Components Figure 1-3 Bracket Kit Components (PN: ) Table 1-3 Bracket Kit Components (PN: ) Item Component Part Number 1. Universal Wheel Angle Sensor Bracket Monitor Bracket Roof Module Bracket Battery Adapter Cable Installation Guide AutoFarm GPS AutoSteer

21 Installation Procedure Outline Note: The bracket kit includes general purpose brackets and hardware that you may modify to fit your vehicle. You may choose to fabricate special brackets for improved implementation on your vehicle. Installation Procedure Outline Follow the installation process step order described below. Use the step-by-step installation instructions provided in this manual. 1. Verify shipped components. 2. Install the Hydraulic Valve Assembly. 3. Install the Hydraulic Hoses. 4. Install the Wheel Angle Sensor. 5. Install the SA Module. 6. Install the Roof module. 7. Install the User Terminal. 8. Install the Main Cable Harness. 9. Ensure all connectors are properly coupled. 10. Power ON the AutoFarm system. 11. Calibrate the tractor. 12. Tune the tractor. 13. Verify installation and system operation. Note: The system interconnect cable diagram in the Cable Diagram on page 10 section of this chapter shows the A5 AutoSteer electrical connections. Hardware Installation Guide 9

22 Installation Procedure Outline Cable Diagram 10 AutoFarm GPS AutoSteer

23 2 Theory of Operation This Theory of Operation chapter contains descriptions of AutoFarm component functional operations and their interactions when implemented in Compact Valve Closed Center installations. AutoSteer Valve Oil Supply Right and left Steering Circuit Manual Override Sensor Load Sense Plugs and Orifices Closed Center Valve Installations Overview Closed Center Load Sense Installation Closed Center Power Beyond Installation Wheel Angle Sensor AutoSteer Valve Oil Supply The steering valve receives high pressure oil from the pump at the PRESS port and returns low pressure oil back to tank through the TANK port. A Load Sense pilot signal is sent out through the LS OUT port for stroking up a pump or priority valve on machines that have variable flow pumps or a steering priority valve. A built-in Load Sense relief valve protects the pump from over-pressure by limiting the maximum LS pressure signal from the AutoFarm valve. Right and left Steering Circuit A 12 volt proportional valve directs oil to either the Right or Left valve port for steering the vehicle. To make a left turn, an electrical signal is sent to the left coil on the proportional valve. The spool inside the proportional valve then allows oil flow between the PRESS port and the LEFT port while also allowing return oil flow from the RIGHT port to the TANK port. To make a right turn, an electrical signal is sent to the right coil on the proportional valve. The proportional valve then allows oil flow between the PRESS port and the RIGHT port while also allowing return flow from the LEFT port to the TANK port. Steering speed is controlled by the voltage or PWM (pulse width modulation) signal sent to the proportional valve coils. Higher voltages or higher PWM signals result in more spool movement and a higher oil flow through the proportional valve and a faster steering speed. Pilot operated check valves are present at the right and left steer ports, holding the vehicle s steering cylinder in a fixed position between steering commands while also isolating the valve s LS circuit from the manual steering pressures while manually steering. Hardware Installation Guide 11

24 Closed Center Valve Installations Overview Manual Override Sensor A pressure transducer is installed on the valve s TRANS port to provide a manual override (kick-out) electrical signal when the driver turns the steering wheel while AutoSteering. The pressure transducer measures the pressure present on the LS OBITROL port. On closed center Load Sense systems, the pressure spike is measured on the Orbitrol s Load Sense line. Load Sense The Load Sense circuit is designed to handle most types of closed center Orbitrol Load Sense systems such as conventional Load Sense and Dynamic Load Sense. The LS circuit also handles Power Beyond installations. The LS ORBITROL port is connected by a hose to the LS port on the manual steering unit (Orbitrol) under the steering wheel. The LS OUT port sends out a LS signal to stroke the pump and is connected by a hose to the LS port on the steering priority valve or LS port on the tractor s power beyond system. The LS circuit allows LS oil flow across the valve in both directions as long as a plug is not installed in position 13B. A plug in position 13A can be replaced by an orifice when the vehicle s LS circuit requires a bleed-down to tank to de-stroke the pump when AutoSteer is not turning the wheels. Plugs and Orifices The valve is supplied with one extra blind plug and two extra orifices with a diameter of and These extra orifices enable several different configurations of the Load Sense circuit to handle the various kinds of Load Sense installations commonly found on tractors and farm machinery. Refer to the configuration tables in this manual to determine the correct orifice and plug configuration according to the type of steering system and hookup. Closed Center Valve Installations Overview Closed Center Load Sense Installation The AutoFarm pressure and tank hoses are teed into the Orbitrol pressure and tank lines and share the same oil supply that can come from either a variable displacement pump or a fixed displacement pump with a priority valve. The Orbitrol s LS hose is looped through the AutoFarm valve so that the Orbitrol and AutoFarm valve share the same LS circuit. The LS circuit inside the AutoFarm valve will handle oil flow in either direction and will therefore work with either static LS or dynamic LS systems. An LS relief valve inside the AutoFarm valve limits the maximum LS pressure and therefore limits the maximum pump pressure. A pressure sensor connected to the LS hose that goes to the Orbitrol detects a pressure spike when the steering wheel is turned and kicks-out AutoSteer. The AutoFarm right and left steering hoses are teed into the machines steering lines and sends oil directly to the steering cylinders. The non reactive Orbitrol keeps the steering wheel stationary while AutoSteering. In this type of installation a plug must be installed inside the AutoFarm valve to isolate the power beyond LS signal from the Orbitrol s LS signal. Closed Center Power Beyond Installation The AutoFarm pressure, tank and LS hoses are connected to the tractor power beyond system which is independent of the tractor steering system. A LS relief valve inside the AutoFarm valve limits the maximum LS pressure and therefore limits the maximum pump pressure for AutoSteering. A second LS hose is teed into the Orbitrol s LS hose for detecting a pressure spike when the driver turns the steering wheel. The transducer signal is used to kick-out AutoSteer when the driver turns the steering 12 AutoFarm GPS AutoSteer

25 Wheel Angle Sensor wheel. The AutoFarm right and left steering hoses are teed into the machines steering lines and sends oil directly to the steering cylinders. The non reactive Orbitrol keeps the steering wheel stationary while AutoSteering. Wheel Angle Sensor The AutoFarm wheel angle sensor measures the position of the steered wheels on the vehicle and provides wheel position feedback to the GPS steering controller. The sensor is a 3-wire potentiometer with an electrical rotation angle of 120 degrees and a mechanical rotation angle of 180 degrees. The wheel angle sensor should be installed and adjusted to rotate approximately 90 degrees when the wheels turn from lock to lock. The amount of rotation on the wheel angle sensor is determined by the length and geometry of the threaded linkage rods. Table 2-1 Potentiometer Resistance and Counts (typical values) Rotation (degrees) Resistance (Ohms) Encoder Counts SA Module The AutoFarm SA Module is an electronic enclosure that is permanently mounted to the machine and connects the AutoFarm GPS steering controller to all AutoFarm sensors and actuators. The SA Module receives sensor inputs from the wheel angle sensor and the AutoFarm steering valve pressure transducer and outputs electrical signals to the AutoFarm steering valve to steer the vehicle. The SA Module communicates with the AutoFarm display and the GPS roof module through a proprietary CAN bus. Hardware Installation Guide 13

26 Wheel Angle Sensor 14 AutoFarm GPS AutoSteer

27 3 Steering Valve Installation This Steering Valve Installation chapter information is provided in the following sections: Steering Valve Overview Specifications Valve Hose Adapter Connections Valve Covers Mounting Hole Patterns Steering Valve Bracket Installation Valve Installation Guidelines Bracket Mounting Examples Example Bracket Installation Procedure Steering Valve Installation Procedure Overview Valve Type Installation Procedures Closed Center Load Sense Orbitrol Installation Closed Center Load Sense Power Beyond Installation Pressure Transducer Adjusting the AutoFarm Relief Valve Pre-Startup Hydraulic Installation Checklist Steering Valve Overview The steering valve installation requires custom hoses to fit each type of vehicle. Use only high quality hydraulic hoses rated for 3000 psi or more. Do not mix hose fittings and hoses of different brands. Assemble hoses and crimp fittings following the hose manufacturer s recommendations. Use only steel hose adapters rated for 3000 psi or more. Use hose fittings that match the type of fittings found on the machine. Specifications Table 3-1 Function Description Steering Valve Specifications Data Valve Steering Part Number Application Manifold Id Wheeled vehicles with 12 volt electrical system requiring steering oil flow up to 5.8 GPM. 630AA00108A Hardware Installation Guide 15

28 Steering Valve Overview Function Rated Oil Flow Coil Voltage Weight Data 5.8 GPM 12 Vdc 15 lbs (6.8 kg) Valve Hose Adapter Connections Figure 3-1 Valve Hose Adapter Connections Table 3-2 Valve Functions and Fitting Sizes Hose Adapter PRESS = PUMP PRESSURE (Power Beyond) TANK = TANK / RETURN (Power Beyond) LS ORBITROL = LS FROM ORBITROL Fitting Type/Size -8 ORFS -6 ORFS -4 ORFS LS OUT = LS (Power Beyond) -4 ORFS LEFT = LEFT STEERING CYLINDER -6 ORFS RIGHT = RIGHT STEERING CYLINDER -6 ORFS GP = DIAGNOSTICS PORT 1/8 TRANS = PRESSURE TRANSDUCER -4 SAE ORB. 16 AutoFarm GPS AutoSteer

29 Steering Valve Overview Valve Covers Figure 3-2 Steering Valve Covers Note: The steering valve rear cover may remain installed on the valve during the installation. The front cover must be removed during the installation to enable the valve configuration procedure and the hydraulic hose connections. The front cover can be identified by the AutoFarm logo and Warning labels. Hardware Installation Guide 17

30 Steering Valve Overview Mounting Hole Patterns Note: The valve may be secured using four screws threaded into the valve back side or two longer screws using the two through holes. Figure 3-3 Steering Valve Four Screw Mounting Pattern Figure 3-4 Steering Valve Two Through Body Screw Mounting Pattern 18 AutoFarm GPS AutoSteer

31 Steering Valve Overview Orifice Location and Configuration The valve has two internal plugs and orifices that must be configured to handle different types of Load Sense systems before the valve is installed on the vehicle. Follow the table below to configure the correct plugs & orifices for your type of hydraulic installation. Figure 3-5 Orifice Location and Access Orifice 13A Orifice 13B Figure 3-6 Orifice Configuration 13A Plug and Orifice 13B Plug Hardware Installation Guide 19

32 Steering Valve Bracket Installation Table 3-3 Plug and Orifice Configurations Hydraulic Installation Type 13A 13B Factory Default Configuration (valve as-delivered) Plug Open Closed Center Orbitrol hookup Conventional Load Sense Plug Open Closed Center Orbitrol hookup Dynamic Load Sense Plug Open Closed Center Orbitrol with Power Beyond Orifice Plug Plug and Orifice Functions 13A = An orifice installed here will bleed LS pressure from the LS OUT port to tank to de-stroke the pump. 13B = A plug installed here will isolate the LS ORBITROL port from the LS OUT port. This plug must never be installed for Closed Center LS Orbitrol applications because it will block the flow of LS oil across the valve. 13C = This plug isolates the internal LS circuit from tank and must always be installed for all applications. Steering Valve Bracket Installation The AutoFarm kit includes two universal valve brackets and metric hardware to fit most vehicles using existing attachment points. The brackets offer holes and slot features to accommodate a variety of bolt spacings on the machine. See Figure 3-7. Figure 3-7 Steering Valve Bracket Kit (PN: ) Valve Installation Guidelines 1. Install the valve on the vehicle in a position that is protected from tall crops and debris. 2. Install the valve in a position that will allow good hose routing and short hoses to the hookup points on the vehicle. 3. Install the valve in a position that does not interfere with the normal operation of moving parts on the vehicle such as covers, removable shields, wheels, lift arms and implements. 20 AutoFarm GPS AutoSteer

33 Steering Valve Bracket Installation 4. Install the valve in a position that is easy to access for service and hose connections. Do not install the valve in a position that is difficult to reach. 5. Install the valve on a vehicle structure that provides sufficient strength to secure the valve weight plus the mounting bracket and hoses. 6. Secure the valve to the vehicle using existing bolts, threaded holes or through holes on the vehicle. The bracket kit includes a variety of short and long metric bolts and nuts in sizes M8, M10, M12, M16 & M20. Bracket Mounting Examples There are four basic methods for installing the steering valve brackets. Figure 3-8 through Figure 3-11 show the various installation methods using the L and S brackets. Figure 3-8 L Bracket Installation Hardware Installation Guide 21

34 Steering Valve Bracket Installation Figure 3-9 S Bracket Installation Figure 3-10 Bracket Installation on Square Frame Note: Use the two valve brackets plus the four long screws and locknuts to mount the valve to steel frames up to 4 x4 (100 x 100mm). 22 AutoFarm GPS AutoSteer

35 Steering Valve Bracket Installation Figure 3-11 Steel Pipe Bracket Installation Note: Use the S bracket and a pair of U-Bolts with locknuts to mount the valve on steel pipes up to 1.5 (38mm) diameter. Hardware Installation Guide 23

36 Steering Valve Bracket Installation Figure 3-12 L Bracket Completed Installation Example Figure 3-13 S Bracket Completed Installation Example 24 AutoFarm GPS AutoSteer

37 Steering Valve Bracket Installation Example Bracket Installation Procedure 1. Mount the bracket to the vehicle using the provided hardware. See Figure Note: The metric bolts provided in your kit fit many tractor models. Figure 3-14 Mounting the S Bracket 2. Slide the valve onto the bracket. See Figure Note: You may leave two mounting screws already threaded into the valve and they will slide into the U slots on the bracket. Hardware Installation Guide 25

38 Steering Valve Bracket Installation Figure 3-15 Slide Steering Valve On Bracket 3. Insert the two remaining hex screws to secure the valve to the bracket. 4. Tighten the four hex screws using a ratchet wrench. 5. Loosen the four Allen screws and remove the front cover to proceed with the hose installation. Figure 3-16 Removing Steering Valve Front Cover 26 AutoFarm GPS AutoSteer

39 Steering Valve Installation Procedure Overview Steering Valve Installation Procedure Overview 1. Configure the AutoFarm valve internal plug or orifice for your installation, as necessary. 2. Install the AutoFarm valve bracket and valve on the tractor. 3. Connect the hoses between the valve and the tractor. 4. Check for oil leaks. 5. Adjust the AutoFarm pressure relief valve. 6. Perform a functional test to confirm correct valve operation. WARNING High-Pressure Fluid Hazard Read the Owner s Manual before installation. Wear hand and eye protection while performing hydraulic system maintenance. Relieve hydraulic system pressure before servicing the hydraulic system. Valve Type Installation Procedures There are two distinct installation types for the AutoSteer compact valve as shown in the following sections: Closed Center Load Sense Orbitrol Installation Closed Center Load Sense Power Beyond Installation Closed Center Load Sense Orbitrol Installation Use this valve installation when the vehicle has a closed center non reacting Orbitrol with a Load Sense line. The closed center Orbitrol may get its oil supply from a variable displacement pump or a fixed displacement gear pump with a LS steering priority valve. The Orbitrol may use conventional LS or Dynamic LS. The AutoFarm pressure and tank hoses are teed into the Orbitrol pressure and tank lines and share the same oil supply that can come from either a variable displacement pump or a fixed displacement pump with a priority valve. The Orbitrol s LS hose is looped through the Autofarm valve so that the Orbitrol and AutoFarm valve share the same LS circuit. The LS circuit inside the AutoFarm valve will handle oil flow in either direction and will therefore work with either static LS or dynamic LS systems. A LS relief valve inside the AutoFarm valve limits the maximum LS pressure and therefore limits the maximum pump pressure. A pressure transducer connected to the LS hose that goes to the Orbitrol detects a pressure spike when the steering wheel is turned and kicks-out AutoSteer. The AutoFarm right and left steering hoses are teed into the machines steering lines and sends oil directly to the steering cylinders. The non reactive Orbitrol keeps the steering wheel stationary while AutoSteering. Note: Do not use this installation with the following vehicle types: Vehicles with reactive (self centering) steering system. Very large vehicles that require a higher oil flow and a larger AutoSteer valve. Hardware Installation Guide 27

40 Valve Type Installation Procedures Vehicles with an Open Center steering system. Pressure compensated steering systems without an Orbitrol Load Sense hose. Valve Configuration The AutoFarm valve has two internal plugs and orifices that must be configured to adjust the valve LS circuit for different types of installations. For this installation you may use the factory default configuration and no changes are necessary. The table below provides the recommended plug configuration for reference and troubleshooting purposes only. Table 3-4 AutoSteer Valve Plug and Orifice Configuration Type of Installation 13A 13B Factory Default Configuration (valve as-delivered) PLUG OPEN Closed Center Orbitrol Conventional Load Sense PLUG OPEN Closed Center Orbitrol Dynamic Load Sense PLUG OPEN 28 AutoFarm GPS AutoSteer

41 Valve Type Installation Procedures Installation Instructions WARNING High-Pressure Fluid Hazard Read the Owner s Manual before installation. Wear hand and eye protection while performing hydraulic system maintenance. Relieve hydraulic system pressure before servicing the hydraulic system. 1. Refer to Figure 3-17 for a detailed hose diagram and follow the instructions below. 2. Disconnect the pressure hose from the Orbitrol and install a Tee adapter. 3. Reconnect the pressure hose to the tee. 4. Connect a hose from the Press port on the AutoFarm steering valve to the Tee adapter installed on the Orbitrol s pressure port. This hose will provide oil pressure to the AutoFarm valve. 5. Disconnect the Orbitrol tank hose and install a Tee adapter. Reconnect the tank hose to the tee. 6. Connect a hose from the Tank port on the Autofarm steering valve to the Tee adapter installed on the Orbitrol Tank port. This hose will connect the AutoFarm valve to tank. 7. Disconnect the LS hose from the Orbitrol and connect it to the LS Out port on the AutoFarm steering valve. Use an extender hose as necessary to reach the AutoFarm valve. 8. Connect a hose between the LS Orbitrol port on the AutoFarm steering valve and the LS port on the Orbitrol. This hose will re-establish the LS connection between the Orbitrol and the priority valve, passing through the AutoFarm valve. 9. Connect a hose between the Right port on the Autofarm steering valve and the right steering hose on the Orbitrol. You may install the tee adapter anywhere along the right steering line in a convenient location. 10. Connect a hose between the Left port on the steering valve and the left steering hose on the Orbitrol. You may install the tee adapter anywhere along the left steering line in a convenient location. 11. Individually check each hose connection at both ends and confirm that it matches the hose diagram in Figure Wrong hose connections can cause immediate pump damage when the engine is started. 12. Confirm that the AutoFarm steering valve is configured internally for a Closed Center Load Sense Orbitrol installation with the correct orifices and/or plugs installed as shown in Table Adjust the relief valve. 14. Proceed to system calibration and tuning. Note: If access to the Orbitrol is difficult and does not enable the installation of run tees on the Pressure and Tank ports, you can install the run tees in another location along the hoses. Hardware Installation Guide 29

42 Valve Type Installation Procedures Installation Diagram Figure 3-17 Closed Center Load Sense Orbitrol Installation Diagram 30 AutoFarm GPS AutoSteer

43 Valve Type Installation Procedures Closed Center Load Sense Power Beyond Installation Use this valve installation when the vehicle has a closed center non reacting Orbitrol with a Load Sense line and a power beyond system available. Power beyond is typically only found on tractors and is used for powering hydraulically driven implements. The power beyond system must have pressure, tank and LS ports available. The closed center Orbitrol may get its oil supply from a variable displacement flow and pressure compensated pump or a fixed displacement gear pump with a LS steering priority valve. This installation is preferred and can be simpler to install when the tractor has a power beyond system available. The AutoFarm pressure, tank and LS hoses are connected to the tractor power beyond system which is independent of the tractor steering system. A LS relief valve inside the AutoFarm valve limits the maximum LS pressure and therefore limits the maximum pump pressure for AutoSteering. A second LS hose is teed into the Orbitrol s LS hose for detecting a pressure spike when the driver turns the steering wheel. The pressure transducer signal is used to kick-out AutoSteer when the driver turns the steering wheel. The AutoFarm right and left steering hoses are teed into the machine s steering lines and sends oil directly to the steering cylinders. The non reactive Orbitrol keeps the steering wheel stationary while AutoSteering. Note: Do not use this installation with the following vehicle types: Vehicles with reactive (self centering) steering system. Very large vehicles that may require a higher oil flow and a larger AutoSteer valve. Vehicles with an Open Center steering system. Pressure compensated vehicles that do not have a LS hose on the Orbitrol. Vehicles that do not have power beyond available. Vehicles that use separate oil reservoirs for steering and power beyond. Valve Configuration The AutoFarm valve has two internal plugs and orifices that must be configured to adjust the valve Load Sense circuit for different types of installations. For this Power Beyond installation you must replace a blind plug with an orifice and also install a blind plug as specified in the table below. Table 3-5 provides the recommended plug configuration also for reference and troubleshooting purposes. Table 3-5 AutoSteer Valve Plug and Orifice Configuration Type of Installation 13A 13B Factory Default Configuration (valve as-delivered) PLUG OPEN Closed Center Orbitrol + Power Beyond ORIFICE PLUG Note: The orifice recommended for position 13A is only required on tractors that do not have an internal LS bleed-down orifice on their power beyond system. Always install an orifice in position 13A on tractors that do not have a LS bleed-down. Failure to install this orifice will result in the power beyond pump remaining stroked up to a high pressure when AutoSteer is not turning the wheels. The Power Beyond pump pressure should drop immediately when the valve is not turning the wheels. Hardware Installation Guide 31

44 Valve Type Installation Procedures Installation Instructions WARNING High-Pressure Fluid Hazard Read the Owner s Manual before installation. Wear hand and eye protection while performing hydraulic system maintenance. Relieve hydraulic system pressure before servicing the hydraulic system. 1. Refer to Figure 3-18 for a detailed hose diagram and follow the instructions below. 2. Connect a hose from the Press port on the AutoFarm steering valve to the pressure port on the tractor power beyond system. Use a quick coupler or hose adapter that matches the power beyond port on the tractor. This hose will provide oil pressure to the AutoFarm valve on demand. 3. Connect a hose from the Tank port on the Autofarm steering valve to the tank port on the tractor power beyond system. Use a quick coupler or hose adapter that matches the power beyond port on the tractor. This hose will connect the AutoFarm valve to tank. 4. Connect a hose from the LS OUT port on the Autofarm steering valve to the LS port on the tractor power beyond system. Use a quick coupler or hose adapter that matches the power beyond port on the tractor. This hose will connect the Auto- Farm load sense to the tractor hydraulic system to stroke up the pump. 5. Disconnect the LS hose from the Orbitrol and install a Tee adapter. Reconnect the vehicle s LS hose to the tee adapter. 6. Connect a hose between the LS Orbitrol port on the AutoFarm steering valve and the tee adapter that was previously installed on the LS port on the Orbitrol. This hose will provide a pressure signal to the AutoFarm pressure transducer to allow AutoSteer kick-out when the driver turns the steering wheel. 7. Connect a hose between the Right port on the Autofarm steering valve and the right steering hose on the Orbitrol. You may install the tee adapter anywhere along the right steering line in a convenient location. 8. Connect a hose between the Left port on the steering valve and the left steering hose on the Orbitrol. You may install the tee adapter anywhere along the left steering line in a convenient location. 9. Individually check each hose connection at both ends and confirm that it matches the hose diagram in Figure Wrong hose connections can cause immediate pump damage when the engine is started. 10. Confirm that the AutoFarm steering valve is configured internally for a Closed Center power beyond installation with the correct orifices and/or plugs installed. 11. Adjust the relief valve. 12. Proceed to system calibration and tuning. 32 AutoFarm GPS AutoSteer

45 Valve Type Installation Procedures Installation Diagram Figure 3-18 Closed Center Power Beyond Hardware Installation Guide 33

46 Valve Type Installation Procedures Pressure Transducer Install the pressure transducer on the Steering Valve TRANS port. See Figure Tighten the pressure transducer with a ¾ wrench. Note: Do not overtighten the Pressure Transducer. Connect the short transducer harness to the transducer. See Figure Note: Loop the excess harness inside the rear valve cover and secure with a small cable tie on the two holes on the rear Steering Valve cover. Figure 3-19 Pressure Transducer Installation Pressure Transducer Installation Connect the 4-pin connector and 10-pin connector to the SAM harness. Note: Secure the transducer cable and connector with cable ties in a protected position. 34 AutoFarm GPS AutoSteer

47 Valve Type Installation Procedures Adjusting the AutoFarm Relief Valve The AutoFarm steering valve has a built-in Load Sense relief valve that limits the maximum pump pressure when AutoSteering. The relief valve must be adjusted after you have completed the hydraulic installation and before you turn on AutoSteer. The AutoFarm system must be fully installed and functional before you can adjust the relief valve. Note: The relief valve in Figure 3-20 is shown on a bench without the hydraulic hoses connected for ease of viewing the adjustment process. When you adjust the relief valve, it is done with the valve mounted on the vehicle and the hydraulic hoses connected. Figure 3-20 AutoFarm Relief Valve Adjustment WARNING To prevent the vehicle from running over a person, you must never leave the vehicle while the GPS steering system is engaged. Do not have people around the vehicle while the engine is running. Hardware Installation Guide 35

48 Valve Type Installation Procedures Follow the procedure below to adjust the relief valve: WARNING Do not stand close to the wheels and do not move the machine while you are adjusting the relief valve. Turn off the engine, put the transmission into park position and engage the parking brake before standing under or next to the machine. 1. Install a 5000 psi pressure gauge on the AutoFarm valve diagnostics port labeled as GP. Use a short extension hose on the pressure gauge if necessary for easier reading. See Figure Figure 3-21 Pressure Gauge (different vehicle shown) 2. Put transmission into park position and turn on the hand brake. 3. Start the engine and leave it at low idle. 4. Immediately check for oil leaks on all hose connections that were opened. 5. Turn the steering wheel full right and then full left and check for correct manuals steering response. Immediately check for oil leaks on all hose connections that were opened. Air in the hoses may cause a slight steering delay when the system is first powered up. 6. Observe the standby pump pressure shown on your pressure gauge. Standby pressure should be very low, or around 300psi. If standby pump pressure is zero or less than 100psi, you might have inverted the Pressure and Tank hoses. 7. Clear any bystanders from around the vehicle because you will be moving the front wheels in the next step. 8. Turn on the AutoFarm display and Press 100% Left or 100% Right from the Examine Steering screen. The front wheels will turn quickly towards the stops. Maximum pump pressure will be indicated on the pressure gauge when the wheels hit the stops. 36 AutoFarm GPS AutoSteer

49 Valve Type Installation Procedures 9. Adjust the AutoFarm relief valve so that the maximum pump pressure is approximately the same as the maximum manual steering pressure when the wheels hit the stops. Note: The maximum manual steering pressure value can be obtained from the vehicle s shop manual or measured by installing a pressure gauge on one of the hydraulic steer lines. 10. Tighten the jam nut on the relief valve once the correct pressure setting has been adjusted. 11. Remove your pressure gauge by sliding the sleeve on the quick coupler. Note: Turn off the engine before adjusting the relief valve. Turning the engine off will prevent possible vehicle movement or a high pressure fluid hazard. Do not adjust the relief valve with the engine running. 1. Install the front valve cover. See Figure Tighten the four Allen screws with a hex key. Figure 3-22 Replacing the Steering Valve Cover Allen Screws Hardware Installation Guide 37

50 Valve Type Installation Procedures Pre-Startup Hydraulic Installation Checklist 1. Valve bracket bolts are tight. 2. Mounting screws securing the valve are tight. 3. Pressure hose is connected to correct port on AutoFarm Valve and vehicle. 4. Tank hose is connected to correct port on AutoFarm valve and vehicle. 5. LS-OUT hose connected to correct port at both ends. 6. LS ORBITROL hose is connected correctly at both ends. 7. Right steer hose is connected correctly at both ends. 8. Left steer hose is connected correctly at both ends. 9. Pressure transducer installed and tight. 10. Check that all hose fittings are tight. 11. Check hose routing and ensure cable ties are on all hoses. 12. Ensure all hoses are clear of moving parts, such as the engine drive shaft and front axle shaft. 13. SAM harness is connected to the two valve connectors psi pressure gauge is installed on the valve test port. 38 AutoFarm GPS AutoSteer

51 4 Wheel Angle Sensor (WAS) Installation This Wheel Angle Sensor Installation chapter information is provided in the following sections: Wheel Angle Sensor Installation Guidelines Wheel Angle Sensor Installation Tasks Wheel Angle Sensor Installation Guidelines The following guidelines should be considered before beginning the Wheel Angle Sensor installation process: 1. Install the wheel angle sensor in a protected position to avoid damage from tall crops or debris. 2. Orient the wheel angle sensor so that the potentiometer is pointing upwards to avoid water intrusion. 3. The linkage arm should have enough clearance to rotate freely from a full left to a full right turn. 4. Adjust the length of the linkage arm until you get approximately 3000 counts during steering calibration. If you are doing an installation on a new machine, start off with longer linkage arm lengths and shorten as necessary to get approximately 3000 counts during steering calibration. 5. To avoid damage to the potentiometer, do not rotate beyond the travel stops (~180 degrees). 6. To make fine adjustments to the potentiometer angle, loosen the two screws securing the potentiometer and rotate the potentiometer. 7. The wheel angle sensor bracket must be well secured to the machine to avoid changes in position after the steering calibration has been completed. 8. Avoid installing the wheel angle sensor on parts that can move or rotate independently of the steering wheels, such as the steering cylinders and the tie rods with ball joints. 9. Repeat the steering calibration after any changes to the position of the wheel angle sensor or linkages. 10. Many tractors, combines and sprayers have custom designed brackets and linkages available from AutoFarm for the wheel angle sensor. On all other machines you must fabricate special mounting brackets according to available mounting points on the steering axle. 11. Route the sensor cable in a safe position away from moving parts or hot parts. 12. Secure the sensor cable with nylon cable ties. 13. Tighten all screws, bolts and nuts after the wheel angle sensor has been installed and tested. Hardware Installation Guide 39

52 Wheel Angle Sensor Installation Guidelines Wheel Angle Sensor Installation Tasks The general wheel angle sensor components are shown in Figure 4-1. Note: The components may require changes and new mounting holes depending on what model vehicle you are installing on. Some vehicles require making custom brackets. Figure 4-1 Wheel Angle Sensor Components Mounting Hardware Linkage Bracket Extender Coupling Nut Linkage Rod Wheel Angle Sensor Wheel Angle Sensor Bracket Linkage Arm Figure 4-2 through Figure 4-5 show examples of different custom Wheel Angle Sensor brackets made to fit different vehicles. Figure 4-2 Wheel Angle Sensor Mounting Bracket (example 1) 40 AutoFarm GPS AutoSteer

53 Wheel Angle Sensor Installation Guidelines Figure 4-3 Wheel Angle Sensor Mounting Bracket (example 2) Figure 4-4 Wheel Angle Sensor Mounting Bracket (example 3) Hardware Installation Guide 41

54 Wheel Angle Sensor Installation Guidelines Figure 4-5 Wheel Angle Sensor Mounting Bracket (example 4) Figure 4-6 through Figure 4-9 show examples of wheel angle sensor installations. Figure 4-6 Wheel Angle Sensor Installation (example 1) 42 AutoFarm GPS AutoSteer

55 Wheel Angle Sensor Installation Guidelines Figure 4-7 Wheel Angle Sensor Installation (example 2) Figure 4-8 Wheel Angle Sensor Installation (example 3) Hardware Installation Guide 43

56 Wheel Angle Sensor Installation Guidelines Figure 4-9 Wheel Angle Sensor Installation (example 4) The Wheel Angle Sensor is shown in Figure 4-10 through Figure Mount the linkage bracket to a moving part on the steering axle such as a tie rod, or wheel knuckle. Mount the angle sensor bracket to a part that doesn t move such as the axle. When the wheels are turned, the linkage bracket should move relative to the angle sensor bracket. The linkage arm and rod rotate the angle sensor when the wheels are turned. The standard linkage lengths are 12 but can be cut to a shorter length as necessary. Note: A coupling nut and jam nuts are provided to enable extending the threaded rods, if necessary. Figure 4-10 Linkage Bracket Mounting (front view) 44 AutoFarm GPS AutoSteer

57 Wheel Angle Sensor Installation Guidelines Figure 4-11 Linkage Bracket Mounting (side view) Figure 4-12 Wheel Angle Sensor Bracket Wheel Angle Sensor Bracket Adjust linkage arm length and/or linkage bracket position to obtain approximately 3000 counts. Turn the tractor all the way right and left to make sure the linkage arms can move without interference. Note: This step is done after final assembly during the calibration and tuning steps. Do not turn the steering until the installation is complete and the count is confirmed in the Examine Steering screen. Note: The threaded linkage rods must be cut to the correct lengths before final assembly. The linkage rods are shown assembled in Figure Hardware Installation Guide 45

58 Wheel Angle Sensor Installation Guidelines Figure 4-13 Assembled Wheel Angle Sensor Assembly Example Measure and mark the two rods for cutting, according to the required length. Note: Figure 4-14 shows the measurement points used to properly cut the linkage rods. Figure 4-14 Linkage Rod Cut Length Measurement Points Use a hack saw to cut the linkage rod to length while it is held in a bench vise. See Figure AutoFarm GPS AutoSteer

59 Wheel Angle Sensor Installation Guidelines Figure 4-15 Linkage Rod Cutting Note: Figure 4-16 shows the measurement points for the assembled linkage rods. Figure 4-16 Linkage Rod (Assembled) Measurement Points Rod A Measurement Rod B Measurement Hardware Installation Guide 47

60 Wheel Angle Sensor Installation Guidelines Note: The threaded rods must be cut to the correct lengths before final assembly. Install the short linkage arm on the wheel angle sensor shaft. See Figure Install the long threaded linkage on the moving component of the steering system. See Figure Figure 4-17 Linkage Rods Installed Tighten the screw and nut that secure the linkage arm to the angle sensor shaft. See Figure Tighten all linkage nuts and jam nuts after the linkage rod lengths have been adjusted. 48 AutoFarm GPS AutoSteer

61 Wheel Angle Sensor Installation Guidelines Figure 4-18 Linkage Rod Connections Tighten the bolt securing the two linkage rods together. See Figure Figure 4-19 Linkage Rod Ball Joint Bolt Tighten the two screws that secure the potentiometer on the wheel angle sensor, after final adjustments. Use a 5/32 hex key and a 3/8 wrench. See Figure Hardware Installation Guide 49

62 Wheel Angle Sensor Installation Guidelines Figure 4-20 Wheel Angle Sensor Potentiometer Note: Do not turn the front wheels or drive the tractor before the wheel angle sensor has been adjusted using the AutoFarm Calibration screens. The potentiometer can only rotate a maximum of 180 degrees and if it is rotated beyond its mechanical stops, it will be permanently damaged. Tighten the screw on the sensor shaft. Use a 1/8 hex key and a 3/8 wrench. See Figure AutoFarm GPS AutoSteer

63 Wheel Angle Sensor Installation Guidelines Figure 4-21 Wheel Angle Sensor Shaft Tightening Secure the cable along the bracket top using cable ties, after the SAM harness is installed. Note: The AutoSteer system must be fully functional before you can perform adjust the wheel angle sensor counts. Adjust the arm length until you get approximately 3000 counts from the wheel angle sensor. Note: If necessary, shorten Rod A to increase the wheel angle sensor counts. Tighten all jam nuts and fasteners. Figure 4-22 shows the completed Wheel Angle Sensor installation. Hardware Installation Guide 51

64 Wheel Angle Sensor Installation Guidelines Figure 4-22 Wheel Angle Sensor Installation Complete 52 AutoFarm GPS AutoSteer

65 5 SA Module Installation This SA Module Installation chapter contains information for mounting the SA Module bracket and installing the SA Module. Note: The components may require changes and new mounting holes depending on what model vehicle you are installing on. Some vehicles require making custom brackets. Figure 5-1 and Figure 5-2 show examples of SA Module installation locations on various vehicles. Figure 5-1 SA Module Location (example 1) Hardware Installation Guide 53

66 SA Module Installation Figure 5-2 SA Module Location (example 2) Note: AutoFarm recommends mounting the SA module in the positions shown below. Figure 5-3 Recommended SA Module Orientation 54 AutoFarm GPS AutoSteer

67 SA Module Installation Figure 5-4 Incorrect SA Module Orientation Mount the SA module bracket in a protected position using existing bolts if available. You can also drill holes on the machine to secure the SA Module, if necessary. See Figure 5-5. Figure 5-5 SA Module Bracket Installed Hex Bolt Mount the SA Module to the bracket and secure using four Phillips screws. See Figure 5-6. Hardware Installation Guide 55

68 SA Module Installation Figure 5-6 Mounting the SA Module to the Bracket Figure 5-7 shows an SA Module installation example. Figure 5-7 SA Module Mounted Note: The harness must be routed in a protected position to avoid damage from the moving parts. 56 AutoFarm GPS AutoSteer

69 6 Roof Module Installation This Roof Module Installation chapter contains information in the following sections: Safety Notes Roof Module Installation Tasks Safety Notes The AutoFarm system must be powered OFF when installing or removing the Roof Module. The supplied locking pin or a padlock must be in place whenever the vehicle is in operation. The Roof Module must be removed when transporting the vehicle at speeds above 30 mph. Ensure you are in a stable position on the tractor platform when removing the Roof Module, so that you do not fall or drop the Roof Module. Use a ladder to install the roof rail. To avoid collisions or electrical shock hazard, remove the AutoFarm roof module from the vehicle before driving under low structures or low electrical power lines. WARNING Ensure that you are in a stable position on the tractor platform when installing or removing the roof module, so that you do not fall. CAUTION The roof module must be removed when transporting or driving the vehicle at speeds above 30 mph (50 km/h). The roof module can possibly detach due to wind loads at higher speeds. Roof Module Installation Tasks The mounting rail supports the AutoFarm roof module and should be installed over the cab or in another high position with a clear view of the sky. The mounting rail has several holes and a long slot to accommodate the existing bolt spacing on the cab roof as shown Figure 6-1. Hardware Installation Guide 57

70 Roof Module Installation Tasks Figure 6-1 Mounting Rail You can mount the mounting rail directly on the cab roof using two existing bolts if the bolt spacing is between 30.5 and The two bolts must be at least 1/2 (12 mm) diameters and no larger than 5/8 (16mm) diameter. The two bolts must be threaded directly into the cab and have sufficient threads for a secure installation. Use longer bolts if necessary. Spacer washers can be used to elevate the mounting rail and clear the curvature found on some roofs. Below is a picture of a mounting rail bolted to a tractor cab roof. Note: The lettered holes and the dummy cable connector must be on the left side of the tractor. See Figure 6-2. Figure 6-2 Mounting Bolt Locations Mounting Bolts Lettered Holes f r o n t AutoFarm recommends using the two mounting brackets shown in Figure 6-3, if the cab roof does not have two strong bolts of at least 1/2 (12 mm) diameter. Secure the two brackets on the cab roof using two screws for each bracket. You can use smaller screws to secure these brackets, typically 1/4 (6.35 mm) or 5/16 (8mm). These brackets fit smaller screws found on some tractor cabs. The brackets have a series of holes plus one slotted hole to accommodate different screw spacings. 58 AutoFarm GPS AutoSteer

71 Roof Module Installation Tasks Figure 6-3 Rail Brackets Some vehicles do not have bolts or screws available on the cab roof and require custom brackets for mounting the mounting rail. Figure 6-4 and Figure 6-5 show examples of custom brackets. Figure 6-4 Custom Mounting Rail Brackets (example 1) Hardware Installation Guide 59

72 Roof Module Installation Tasks Figure 6-5 Custom Mounting Rail Brackets (example 2) Attach the radio modem antenna to the AutoFarm roof module. Note: The antenna should be attached hand tight. Do not use any tools to tighten the antenna. Your system may also contain a longer whip antenna. Figure 6-6 Radio Modem Antenna Mounted Radio Modem Antenna Slide the Roof Module on the rail until the spring latch locks. See Figure AutoFarm GPS AutoSteer

73 Roof Module Installation Tasks Figure 6-7 Roof Module Spring Lock. locked position Install the Clevis pin provided. See Figure 6-8. Figure 6-8 Roof Module Locking Pin Locking pin Hardware Installation Guide 61

74 Roof Module Installation Tasks Connect the Main Harness to the Roof Module connector. Rotate the connector sleeve clockwise to engage the connector. See Figure 6-9. CAUTION The GPS steering system must be powered OFF when installing or removing the roof module. CAUTION The supplied roof module locking pin or a padlock must be in place whenever the vehicle is in operation to prevent the roof module from releasing from its bracket. WARNING To avoid electrical shock hazards, remove the roof module from the vehicle before driving under low structures or low electrical power lines. Figure 6-9 Connecting the Main Harness to Roof Module 62 AutoFarm GPS AutoSteer

75 Roof Module Installation Tasks Route the main harness towards the back of the cab roof and secure using a cable clamp on existing roof screw. See Figure Route the cable down the right side of the cab. See Figure Figure 6-10 Routing the Main Cable Harness Hardware Installation Guide 63

76 Roof Module Installation Tasks 64 AutoFarm GPS AutoSteer

77 7 User Terminal Installation This User Terminal Installation chapter contains information for installing and adjusting the User Terminal in the following sections: Introduction Installation Procedure Introduction The general User Terminal components are shown in Figure 7-1 and Figure 7-2. Figure 7-1 User Terminal (front view) Terminal AutoSteer Kill Switch Terminal Arm Compact Flash Door Terminal Arm Bracket Slider Hardware Installation Guide 65

78 Installation Procedure Figure 7-2 User Terminal (rear view) User Terminal Mounting Plate (Vesa 100) Viewing Angle Adjustment Main Harness Cable Connection Mounting Bracket Installation Procedure Some tractors have existing threads on the cab post for securing accessories. The threads can be under plastic caps or behind plastic panels on some machines. Unscrew the threaded plastic hole covers from the cab post. See Figure AutoFarm GPS AutoSteer

79 Installation Procedure Figure 7-3 Remove Plastic Mounting Hole Covers Mounting Bracket Positions Mount the monitor bracket inside the cab using existing bolt threads if available. Some machines require drilling new holes and using different bolts. Never drill holes or weld to Roll Over Protective Structures (ROPS). The bracket should position the monitor at a convenient height for seeing the screen and touching the touch screen. The monitor should also be positioned so the driver/operator can easily reach the emergency stop bottom on top. It should never obstruct the driver s view of the road ahead. Install the User Terminal bracket using the two bolts provided. See Figure 7-4. Note: Many installations will require special custom brackets to mount the monitor in the cab. The monitor bracket should be sufficiently strong to avoid monitor vibration when driving over rough terrain. Brackets made from 1/4 (6.35mm) steel plate usually work best. Avoid using thin sheet metal for fabricating monitor brackets. Hardware Installation Guide 67

80 Installation Procedure Figure 7-4 Mounted User Terminal Bracket Bracket Bolts 1. Perform the following steps to complete the User Terminal Installation Procedure: a. Attach the mounting plate on the adjustable arm to the user terminal using four screws. b. Remove the travel stop on the bracket assembly. c. Slide the user terminal arm on to the bracket. d. Replace the travel stop. e. Tighten the arm onto the bracket. f. Remove adjustment bolt caps and adjust arm tightness. g. Replace adjustment bolt caps and adjust user terminal viewing angle. h. Replace the cab post plastic cover before final assembly. 68 AutoFarm GPS AutoSteer

81 Installation Procedure 2. The complete User Terminal installation is shown in Figure 7-5. Figure 7-5 User Terminal Installed Note: The User Terminal bracket is angled and can be mounted facing forward or backwards for mounting options. User preferences determine the bracket position used. Hardware Installation Guide 69

82 Installation Procedure 70 AutoFarm GPS AutoSteer

83 8 Main Cable Harness Installation This Main Cable Harness chapter contains information in the following sections: User Terminal Connection Roof Module Main Harness Connection Power Supply Connection Note: See the Cable Diagram section of the Installation Overview chapter for details regarding the Main Cable Harness electrical connections. User Terminal Connection Attach the Main Cable Harness to the User Terminal. See Figure 8-1. Rotate the connector sleeve clockwise to engage the connector. Figure 8-1 User Terminal Main Harness Connection Hardware Installation Guide 71

84 Roof Module Main Harness Connection Roof Module Main Harness Connection Attach the Main Cable Harness to the Roof Module. Route the cable out of the cab towards the roof module See Figure 8-2. Note: There are usually rubber plugs that can be removed to enable cables to be routed out of the cab. See Figure 8-2. Note: On cabs that do not provide cabling entry points, it may be necessary to drill a pass through to enable cables to get through the cab wall. Drill a 1.5 inch or 1.75 inch diameter hole using a hole saw. Install a rubber grommet protect the cable passing through the hole. Figure 8-2 Main Harness Exiting the Vehicle Cab Route the cable up the back of the cab, and attach the cable to the roof module. See Figure AutoFarm GPS AutoSteer

85 Roof Module Main Harness Connection Figure 8-3 Roof Module Main Cable Harness Connection Figure 8-4 Securing the Roof Module Cable Route the cable down the left side of the cab and secure with cable ties. See Figure 8-5. Hardware Installation Guide 73

86 Roof Module Main Harness Connection Figure 8-5 Routing the Cable Down the Cab Cable Tie 74 AutoFarm GPS AutoSteer

87 Roof Module Main Harness Connection Power Supply Connection 1. Locate the 12V power outlet in the cab. See Figure Attach the cable to the cab power outlet. See Figure 8-6. Figure 8-6 Cab 12V Power Outlet Cab Power Connection Note: This power cable installation is for vehicles in the United States. European installations require the Power Cable Adapter P/N: A. Connect the Power Cable Adapter P/N: A to the Main Cable Harness P/N: C, then plug the Power Cable Adapter to the cable 12V power outlet connector. See Figure 8-7. Hardware Installation Guide 75

88 Roof Module Main Harness Connection Figure 8-7 Power Cable Adapter 3. Route the cable out of the cab through an existing rubber plug under the right side of rear window. See Figure 8-8. Figure 8-8 Routing Cable Out of the Cab 76 AutoFarm GPS AutoSteer

89 9 SA Module Cable Harness Installation This SA Module Cable Harness Installation chapter contains information in the following sections: Attach the Cable to the SA Module Connect the SA Module Harness to the Hydraulic Valve Connect the SA Module Harness to the Wheel Angle Sensor (WAS) Attach SA Module Cable Harness to Main Cable Harness Install Warning Label Note: See the Cable Diagram section of the Installation Overview chapter for details regarding the SA Module Harness electrical connections. Attach the Cable to the SA Module Connect the SA Module cable harness to the SA Module. See Figure 9-1. Figure 9-1 Connecting SA Module Connector Bottom of SA module Cable connector Locking mechanism in open position (Latch) Close the cable connector locking mechanism as shown in Figure 9-2. Hardware Installation Guide 77

90 Attach the Cable to the SA Module Figure 9-2 SA Module Connector (closed). Locked position Note: To disconnect the cable from the SA module, the connector must first be unlocked as shown in Figure 9-3. Figure 9-3 Disconnecting the SA Module Connector pinch here pull upwards 78 AutoFarm GPS AutoSteer

91 Attach the Cable to the SA Module Connect the SA Module Harness to the Hydraulic Valve Route and secure the steering cable from the SA Module to the steering valve. Connect the two connectors shown in Figure 9-4 to the steering valve. Figure 9-4 SA Module Harness Connection to the Hydraulic Valve Route the SA Module cable into the cab through the rubber plug under the right side of rear window. See Figure 9-5. Hardware Installation Guide 79

92 Attach the Cable to the SA Module Figure 9-5 Routing Cable Out of the Cab 80 AutoFarm GPS AutoSteer

93 Attach the Cable to the SA Module Connect the SA Module Harness to the Wheel Angle Sensor (WAS) Route and secure the WAS cable from the SA Module beneath the cab to the Wheel Angle Sensor. Note: Use a cable puller to make routing the cable under the cab easier. Attach the SA Module cable harness cable to the Wheel Angle Sensor connector. See Figure 9-6. Figure 9-6 Wheel Angle Sensor Connection Wheel Angle Sensor Connector Hardware Installation Guide 81

94 Attach the Cable to the SA Module Attach SA Module Cable Harness to Main Cable Harness Route the SA Module cable into the cab through the rubber plug under the right side of rear window and attach both connectors to the main cable harness. See Figure 9-7 and Figure 9-8. Note: The two connectors on the main cable harness must exit the cab to connect to the SAM Module cable. Figure 9-7 Main Cable Rear Window Pass-Through 82 AutoFarm GPS AutoSteer

95 Install Warning Label Figure 9-8 SA Module Cable to Main Cable Harness Connections Install Warning Label Install the Warning label on the cab window in a position that is easy to read and does not obstruct the driver s view of the road or surrounding obstacles. See Figure 9-9. Note: Install the warning label with the language that best matches the operator s language. If necessary, install labels in multiple languages. Warning labels are provided in the following languages: English French German Spanish Hardware Installation Guide 83

96 Install Warning Label Figure 9-9 Autosteer Warning Label Note: The Warning Label must be immediately replaced if it becomes lost or damaged. You can order a replacement label from AutoFarm using the part number: WARNING A5 User Terminal: To prevent the accidental engagement of GPS steering and loss of vehicle control while driving on roads, shut down the A5 user terminal (exit the program) and press down the blue Kill switch located on the top left corner of the terminal. Never drive on roads or in public areas with the GPS steering system turned on. WARNING FarmPRO User Terminal: To prevent the accidental engagement of GPS steering and loss of vehicle control while driving on roads, shut down the system using the on-screen power button or the blue Kill switch located on the bottom of the terminal. Never drive on roads or in public areas with the GPS steering system turned on. 84 AutoFarm GPS AutoSteer

97 10 Calibration and Tuning Notes This Calibration and Tuning Notes chapter contains information for starting the Calibration and Tuning procedures in the following sections. Transducer Calibration Starting the Calibration Procedure Note: For optimal steering performance, the AutoSteer system must be fully calibrated before tuning. 1. For A5 AutoSteer systems we recommend using software versions V or latter because it offers improved performance for the 12 volt valve and improved pressure transducer calibration. Contact your AutoFarm dealer for information on software upgrades. 2. For closed center installations using A5 software V or earlier, we recommend changing the following two CPF parameters to reduce possible wheel vibration while AutoSteering: Change parameter D12_ACTIVE from 2 to 0. Change parameter D19_K from 1 to For all installations using FarmPro Phase 2 software or earlier versions, we recommend changing the following two CPF parameters to reduce possible wheel vibration while AutoSteering: Change parameter D12_ACTIVE from 2 to 0. Change parameter D19_K from 1 to 10. Note: System CPF parameters should only be changed by AutoFarm technicians and AutoFarm dealers who have received specific training for installing and servicing the AutoFarm product. Unauthorized changes to CPF parameters may severely degrade the system performance and will void the product warranty. Changes to CPF parameters are recorded in the system memory. Transducer Calibration The transducer calibration procedure for this installation is different to other AutoFarm installations because the transducer is measuring a low pressure Load Sense pressure signal. In order to provide good manual kick-out response, you must calibrate the pressure transducer HIGH number to be about 3000 counts above the LOW number. For example, if the LOW count number is 15,000 then you should adjust the HIGH number to approximately 18,000. To achieve this setting, gently turn the steering wheel in the second step of the transducer calibration procedure while looking at the counts being displayed on the User Terminal. Confirm that the pressure transducer calibration is correct by testing the manual kick-out feature while driving in AutoSteer mode. AutoSteer should disengage when you turn the steering wheel. If spontaneous kick-out occurs while in AutoSteer mode, recalibrate the pressure transducer and increase the HIGH value slightly. Repeat this procedure until you obtain good manual kick-out without spontaneous kick-out in AutoSteer mode. Hardware Installation Guide 85

98 Starting the Calibration Procedure On this installation, the steering wheel will turn freely and AutoSteer should kick-out when the driver turns the steering wheel while in AutoSteer mode. This result is the expected behavior for this installation and is different than other AutoFarm installations where the steering wheel cannot be turned while in AutoSteer mode. Starting the Calibration Procedure CAUTION The GPS steering system does not detect obstacles in the vehicle s path. The operator must observe the path being driven in order to avoid obstacles. CAUTION When engaged, the GPS steering system controls only the steering of the vehicle. The operator must control the speed of the vehicle. Follow the procedure shown in Table 10-1 each time you start the AutoFarm system. Note: Always start your tractor before powering ON the AutoFarm system. Note: You need a GPS correction signal to perform the calibration procedure. The GPS correction signal can be provided by the base station, OmniStar or WAAS and the A5 AutoSteer system must be in full working condition. (Roof Module plus the User Terminal) 86 AutoFarm GPS AutoSteer

99 Starting the Calibration Procedure Table 10-1 Starting the Calibration Procedure Step Screen Action 1. Turn the User Terminal on, and then press the Autosteer button. Note: If you only have the AutoSteer module activated on your user terminal, this step is skipped. 2. Select your language. To skip this step, set a default language. 3. Select your operation. Note: This step is skipped if you only have a single module activated. Hardware Installation Guide 87

100 Starting the Calibration Procedure Step Screen Action 4. Press the Accept button. If you do not meet the requirement listed on the screen, press the Don t Accept button and exit the system. 5. Press the Supervisor button. After setting up a field and job, you can switch back to Driver mode from the Settings menu. To skip this step, set a default user level. 6. Type the password, and then press Enter. The password is YES. This step is skipped if the default user level is set to Supervisor. 88 AutoFarm GPS AutoSteer

101 Starting the Calibration Procedure Step Screen Action 7. Press the Auto button to select your base station. This procedure selects an existing site that is not near other existing base station sites. 8. Stop the vehicle and press the Survey Position button. Note: Do not change vehicle position in any way including raising or lowering implements. 9. The green status bar indicates survey progress. In most geographical areas, a typical survey takes 4-15 minutes. When the survey is complete, the Main Menu appears. Press the Examine GPS button to get more information on GPS status. If your desired operation does not require GPS position (for example: if you are adding a new implement), press the Skip Survey button. Hardware Installation Guide 89

102 Starting the Calibration Procedure Step Screen Action 10. From the Main Menu screen, press the Service Menu button. 11. Type the Service Menu password, and then press the enter button. 12. Press the Calibration button from the Service Menu screen. Note: You must create a new vehicle prior to this step. The vehicle type should be wheeled Standard. 90 AutoFarm GPS AutoSteer

103 Starting the Calibration Procedure Step Screen Action 13. Select a field. 14. Choose a job. The calibration screen appears. Begin the calibration procedure. Hardware Installation Guide 91

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