System 150 Auto Steer Setup Guide

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1 System 150 Auto Steer Setup Guide Part Number AGA3719 Rev 1.5 Copyright Topcon Precision Agriculture September, 2009 All contents in this manual are copyrighted by Topcon. All rights reserved. The information contained herein may not be used, accessed, copied, stored, displayed, sold, modified, published or distributed, or otherwise reproduced without express written consent from Topcon.

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3 Preface This manual has been developed to provide you with information necessary to operate and maintain this Topcon Precision Agriculture (TPA) product. Proper service and use is important for the safe and reliable operation of the product. The sections provided in this manual include information necessary for the safe and correct operation, care, and troubleshooting of this product. The benefits this product provides can be greatly influenced by your knowledge of the products described in this manual. NOTICE Terms and Conditions General NOTICE Please read these Terms and Conditions carefully. APPLICATION - You accept these Terms and Conditions by purchasing the product from Topcon Precision Agriculture (TPA) or from one TPA s product dealers. COPYRIGHT - All information contained in this manual is the intellectual property of, and copyrighted material of TPA. All rights are reserved. You may not use, access, copy, store, display, create derivative works of, sell, modify, publish, distribute, or allow any third parties access to, any graphics, content, information or data in this manual without TPA s express written consent and may only use such information for the care and operation of your product. The information and data in this manual are a valuable asset of TPA and are developed by the expenditure of considerable work, time and money, and are the result or original selection, coordination and arrangement by TPA.

4 TRADEMARKS ZYNX, PROSTEER, EAGLE, KEE Technologies, Topcon, Topcon Positioning Systems and Topcon Precision Agriculture are trademarks or registered trademarks of the Topcon Group of companies. Microsoft and Windows are trademarks or registered trademarks in the United States and/or other countries of Microsoft Corporation. Product and company names mentioned herein may be trademarks of their respective owners. WEBSITE and OTHER STATEMENTS - No statement contained at the website of TPA or any other Topcon Group company or in any other advertisements or TPA literature or made by an employee or independent contractor of TPA modifies these Terms and Conditions (Including the software licence, warranty and limitation of liability). IMPORTANT: SAFETY - Improper use of the product can lead to death or injury to persons, damage to property and/or malfunction of the product. The product should only be repaired by authorized TPA service centres. You should closely review the safety warnings and directions as to the proper use of the product in this manual and at all times comply with the same. Limited Warranty Electronic and Mechanical Components -TPA warrants that the electronic components manufactured by TPA shall be free of defects in materials and workmanship for a period of one year from the original date of shipment to the dealer. TPA warrants that all valves, hoses, cables and mechanical parts manufactured by TPA shall be free of defects in materials and workmanship for a period of 12 months from the date of sale. Return and Repair - During the respective warranty periods, any of the above items found defective may be shipped to TPA for repair. TPA will promptly repair the defective item at no charge, and ship it back to you. You must pay the shipping and

5 handling charges in respect of the same. Calibration or components, labour and travel expenses incurred for in-field removal and replacement of components are not covered in this warranty policy. Damage to components due to negligence, abuse or improper use, maintenance, modification or repair is NOT covered under this warranty. Warranty Disclaimer - Other than for the above warranties or warranties in an appendix or a warranty card accompanying the product, this manual and the product are provided as is. There are no other warranties and to the extent allowed by law TPA excludes all implied terms, conditions and warranties in respect of the manual and the product (including any implied warranty or merchantability or fitness for any particular use or purpose). Liability Limit and Indemnity - TPA and its dealers, agents and representatives shall not be liable for technical or editorial errors or omissions contained herein or for special, indirect, economic, incidental or consequential damages resulting from the furnishing, performance or use of this material or the product (including where TPA has been advised of the possibility of such damage). Such disclaimed damages include but are not limited to loss of time, loss or destruction of data, loss of profit, savings or revenue or loss of or damage to the product. In addition, TPA is not responsible or liable for damages or costs incurred in connection with obtaining substitute products or software, claims by others, inconvenience, or any other costs. In any event, TPA s liability to you or any other person for any claim, loss or damage (in contract, tort or on any other basis) will be limited (in TPA s option) to either (a) the replacement or repair of the product, or (b) payment of the cost of replacing or repairing the product. You indemnify and hold TPA harmless against any claim, action, damage, loss, liability or cost (including legal fees) which TPA incurs arising from (a) your operation, use and/ or maintenance of the product other that in accordance with the

6 terms set out in this manual, or (b) your negligence or wrongful act or omission in respect of the product. Other These Terms and Conditions may be amended, modified, superseded or cancelled, at any time by TPA. These Terms and Conditions will be governed by, and construed in accordance with: - the laws of South Australia if the product is sold and supplied to you in Australia (in which case the courts of South Australia or the Federal Court of Australia (Adelaide Registry) have exclusive jurisdiction in respect of any claim or dispute); or - the laws of the State of California if the product is sold and supplied to you outside of Australia. All information, illustrations, and applications contained herein are based on the latest available information at the time of publication. TPA reserves the right to make product changes at any time without notice. If any part of these Terms and Conditions would be unenforceable, the provision must be read down to the extent necessary to avoid that result, and if the provision cannot be read down to that extent, it must be severed without affecting the validity and enforceability of the remainder of these Terms and Conditions. Comments, suggestions, and questions about TPA products are welcomed. Contact your local TPA representative or a representative at our corporate facility. Topcon Precision Agriculture 14 Park Way Mawson Lakes, South Australia Phone: Fax:

7 Service Information Service assistance can be provided by contacting your local TPA Authorised Dealer or by calling the Topcon Precision Agriculture Service Centre. Phone: Fax: am to 5pm (Adelaide Local Time), Monday through Friday.

8 Manual Conventions This Manual uses the following conventions: File>Exit - Click/tap/press the File menu, then click/tap/press Exit. Enter - Click/tap/press the button or key labelled Enter. TIP Supplementary information that can help you configure, maintain, or set up a system. NOTICE Supplementary information that can have an effect on system operation, system performance, measurements & personal safety. CAUTION Notification that an action has the potential to adversely effect system operation, system performance, data integrity, or personal health. WARNING Notification that an action will result in systems damage, loss of data, loss of warranty, or personal injury. DANGER UNDER NO CIRCUMSTANCES SHOULD THIS ACTION BE PERFORMED.

9 Table of Contents 1 Getting Started Enabling Auto-Steering Access Code Creating a Steering Profile Recalling a Steering Profile Software Setup Steering Tuning On lineaggresiveness Approach Aggresiveness Sensitivity Deadband Return to Setup screen Maximum Turning Angle Field Tuning Wheel Angle Sensor Calibration Compass Calibration Mounting Bias Calibration Test Validation Operations Main Guidance screen Using Auto-Steering Step 1 - Approach the Guidance Path Step 2 - Adjust your approach Step 3 - Engage Auto-Steering De-activate Auto-Steering AGA3719 Rev 1.5 i

10 5 Additional Information Auto-steering limitations A Software Registration...A-1 Index ii

11 Getting Started This chapter with give you a brief explanation on how to enable Auto- Steering on your System 150 console. Enabling Auto-Steering 1 Figure 1-1. Setup Screen 1. Select (figure 1-1) Select (figure 1-2) Figure 1-2. Feature Selection Screen 3. Select to Enable Auto-Steer if Auto-Steer is disabled AGA3719 Rev

12 Access Code 1 Figure 1-3. Enter Access Code Screen You will require an Access Code to enter the Auto Steering Calibration options everytime you start your console. This code can be obtained from an authorized TPA dealer. Once you have your Access Code, use the numeric keypad to enter the 4 digit code. NOTICE NOTICE The Auto Calibration options should only be modified by personnel who are trained to calibrate the Auto- Steering settings. If your Auto-Steering system requires calibrating, please contact your nearest dealer to request assistance

13 Refer to Appendix A, page A-8 of the System-110/150 Operator s Manual (Part Number A3663) for information on using the Alphanumeric keypad. Figure 1-4. Invalid Access Code 2 1. Select the (figure 1-3) to confirm If the entered Access Code is incorrect, you will see the screen displayed in Figure Select to return to the Enter Access Code screen (figure 1-4) to try again or contact your authorized TPA dealer for assistance Figure 1-5. Auto-Steer Setup screen If the Access Code entered is correct, you will enter the Auto-Steer Setup screen (figure 1-5). From here you may setup and calibrate your Auto-Steering system. AGA3719 Rev

14 Creating a Steering Profile A Steering Profile allows you to save your setup and calibration parameters so that they may be reused. This section will explain how to create a Steering Profile. 1 Figure 1-6. Auto Steer Setup Screen 1. Select to enter the Select Steering Profile screen 2 5 Figure 1-7. Select Steering Profile screen 2. Select to select a steering profile template 1-4

15 3 4 Figure 1-8. Select a Template file 3. Use the up and down arrows to select the Template file that represents the tractor your console is currently mounted on 4. Select to accept the template file 4 Figure 1-9. Enter Steering Profile name You can enter a new steering profile file name or use the generated name. Refer to Appendix A, page A-8 of the System-110/150 Operator s Manual (Part Number AGA3663) for information on using the Numeric keypad. Select (figure 1-9) to confirm your selection. You will be returned to the Auto Steer Setup screen with your created profile 1-5

16 Recalling a Steering Profile A Steering Profile allows you to save your setup and calibration parameters so that they may be reused. This section will explain how to recall a previously created Steering Profile. 1 Figure Auto Steer Setup screen 1. Select to enter the Select Steering Profile screen 2 3 Figure Select Steering Profile screen 2. Use to up and down arrow buttons to select a profile 3. Select to confirm your selection. You will be returned to the Auto Steer Setup screen with your profile loaded 1-6

17 Software Setup This chapter will explain how to setup your Auto-Steer software for use. Steering Tuning There are two parts to Steering Tuning and these are On Line Aggressiveness and Approach Aggressiveness. Each of these are explained in their respective sections. Aggressiveness basically means the reactiveness of the hydraulics. The higher the value, the faster the steering wheels respond. The lower the number, the slower the wheels respond. The aim is to have the number as high as possible without the wheels oscillating. 1 Figure 2-1. Auto-Steer Setup screen 1. Select to enter the Steering Tuning screen AGA3719 Rev

18 On Line Aggressiveness On line aggressiveness determines how precisely the Auto-Steering system will attempt to follow a guidance path once it is on it. Set the on line aggressiveness high if you require your vehicle to follow a very precise path such as when performing between rows seeding. When on line aggressiveness set adequately, the vehicle will follow the line accurately without the wheels oscillating. 1 Figure 2-2. Steering Tuning screen 1. Select to edit on line aggressiveness 2 3 Figure 2-3. Edit On Line Aggressiveness Use the 2. up arrow button to increase on line aggressiveness and use the down arrow button to decrease on line aggressiveness 2-2

19 3. Select to confirm your selection or select to cancel. Either selection will return you to the Steering Tuning screen (figure 2-2). Approach Aggressiveness Approach aggressiveness determines how quickly the auto-steering system will attempt to move onto a guidance path If the approach aggressiveness is high, the auto-steering system will turn the vehicle harder and more sharply in order to move onto a nearby guidance path more quickly. If the approach aggressiveness is low, the auto-steer system will turn the vehicle easier and more slowly to move onto a nearby guidance path more gradually. Ideally you want the approach aggressiveness set so that your vehicle approaches the guidance path at a set speed to the best of its ability 1 Figure 2-4. Steering Tuning screen 1. Select to edit approach aggressiveness AGA3719 Rev

20 2 3 Figure 2-5. Edit Approach Aggressiveness 2. Use the up arrow button to increase approach aggressiveness and use the down arrow button to decrease approach aggressiveness 3. Select to confirm your selection or select to cancel. Either selection will return you to the Steering Tuning screen (figure 2-4) Sensitivity Sensitivity is an AES-25 electric steering specific tuning feature. The higher the sensitivity, the more the steering wheel reacts to wheel movement to keep the vehicle moving accurately along a guidance path. It is recommended that sensitivity be set at higher values when moving at high speeds and at a lower value when moving at low speeds. 1 Figure 2-6. Steering Tuning screen 2-4

21 1. Select to edit sensitivity 2 3 Figure 2-7. Edit Sensitivity 2. Use the up arrow button to increase sensitivity and use the down arrow button to decrease sensitivity 3. Select to confirm your selection or select to cancel. Either selection will return you to the Steering Tuning screen (figure 2-6) Deadband Deadband is an AES-25 electric steering specific tuning feature and allows you to adjust the minimum wheel reaction speed when it is controlling to adjust for steering freeplay. The electric steering wheel is said to be in steering freeplay when it is not reacting in order to maintain the vehicles position along a given path. It is recommended that the deadband be set at a low value initially and then increased gradually to suit your vehicle requirements. 1 Figure 2-8. Steering Tuning screen AGA3719 Rev

22 1. Select to edit the deadband 2 3 Figure 2-9. Edit Deadband 2. Use the up arrow button to increase deadband and use the down arrow button to decrease deadband 3. Select to confirm your selection or select to cancel. Either selection will return you to the Steering Tuning screen (figure 2-8) Return to Setup screen 1 Figure Steering Tuning screen 1. Once you are satisfied with your settings, select Auto-Steer Setup screen. to return to the 2-6

23 Maximum Turning Angle The maximum turning angle is the highest angle that the steering hydraulics are able to physically turn. This informs the auto-steering system of the vehicles steering limits so that it does not attempt to steer above this value. 1 Figure Auto-Steer Setup screen 1. Select to edit the maximum turning angle 2 3 Figure Enter Max Turning Angle 2. Use the Numeric keypad to enter the maximum turning angle. The maximum turning angle has to be an angle between -90 and 90 degrees. Refer to Appendix A, page A-8 of the System-110/150 Operator s AGA3719 Rev

24 Manual (Part Number AGA3663) for information on using the Numeric keypad. Select to confirm your selection or select to cancel. 3. Either selection will return you to the Steering Tuning screen (figure 2-11) 2-8

25 Field Tuning Once the software setup is complete, the vehicle must be individually tuned to achieve the best steering results. Wheel Angle Sensor Calibration 1 Figure 3-1. Auto Steer Setup screen 1. Select to enter the Wheel Angle Sensor Calibration screen 2. Follow the on screen prompts to perform the Wheel Angle Sensor Calibration AGA3719 Rev

26 Compass Calibration 1 Figure 3-2. Auto Steer Setup screen 1. Select Compass to enter the Compass Calibration screen Figure 3-3. Compass calibration screen 2 2. Follow the on screen prompt to perform the compas calibration. First you will be required to drive your vehicle to a level surface. Once you have done this, select the yellow arrow to go to the next step 3-2

27 Figure 3-4. Drive in a circle 3 3. Next you will be asked to drive in a circle for one and a half revolutions. Maintain a low speed while you are doing this. Select next once you have completed this step 4 Figure 3-5. Stop the vehicle 4. Stop the vehicle when prompted and select next. If the calibration is successful it will be stated on the screen 5. Select the green tick to return to to the Auto-steer Setup screen AGA3719 Rev

28 Mounting Bias Calibration 1 Figure 3-6. Auto Steer Setup screen 1. Select to enter the Mounting Bias Calibration screen 3 Figure 3-7. Mounting Bias Calibration 2. Follow the on-screen prompts to perform the mounting bias calibration Select the 3. Map Toggle icon to view the virtual map while performing your calibration 3-4

29 4 Figure 3-8. Set A Point The software will prompt you to set your A point. Once you have set the A point begin driving in a straight line at no faster than 2km/h NOTICE NOTICE The speed of your vehicle must not exceed 2km/h when performing the mounting bias calibration. If this speed is exceeded, your calibration will be unsuccessful and you will need to restart the calibration process Figure 3-9. B Point appears after 70m 6. Drive approximately 70m and your B point will be set automatically AGA3719 Rev

30 7 Figure Perform keyhole turn You will be prompted to perform a keyhole turn back to B After performing the keyhole turn, engage auto-steering drive back to point A NOTICE NOTICE Ensure that Auto-Steering is engaged when driving between the A and B points. Your vehicle must steer along the line accurately for the mounting bias calibration to be performed successfully Upon reaching point A, you may be prompted to perform another keyhole turn and drive back to point B. Continue following the on screen prompts until your calibration progress reaches 100%. NOTICE NOTICE It is recommended that a Mounting Bias calibration be redone if the AGI-3 Antenna is removed and mounted on a different tractor. This is to prevent any possible errors due to possible differences in the mounting position the AGI-3 Antenna 3-6

31 Test Validation - Straight Lines Perform the tests in this section to verify whether your Auto-steering system has been calibrated properly for straight line approaches. 1 Figure 3-11.Auto Steer Setup screen 1. Select to enter the Test Validation screen 2 Figure 3-12.Auto Steer Setup screen 2. Select to view the virtual map while performing the test validation AGA3719 Rev

32 3 6 Figure Auto Steer Setup screen 3. There are 4 test that you can perform from this screen. 5 Figure Parallel Test Select each test in turn to test the auto-steering capability in each scenario Select the test icon again to end the specific test 6. Select to exit the Test Validation screen If set correctly, your vehicle should be able to approach and steer to your guidance paths accurately, smoothly without wheel oscillations. If you find that your vehicle is veering away from the guidance path or is not sitting centered on the guidance path while auto-steering is engaged, you may need to recalibrate your auto-steering system

33 Test Validation - Curved Lines Perform the tests in this section to verify whether your Auto-steering system has been calibrated properly for curved line approaches. 1 Figure 3-15.Auto Steer Setup screen 1. Select to enter the Curved Line Test Validation screen 2 3 Figure 3-16.Auto Steer Setup screen 2. Select validation to view the virtual map while performing the test 3. Select to choose a guidance pattern before performing the test validation AGA3719 Rev

34 4 Figure Auto Steer Setup screen There are 2 test that you can perform from this screen. 5 6 Figure Parallel Test Select each test in turn to test the auto-steering capability in each scenario Select the test icon again to end the specific test 6. Select to exit the Test Validation screen 7. If set correctly, your vehicle should be able to approach and steer to your guidance paths accurately, smoothly without wheel oscillations. If you find that your vehicle is veering away from the guidance path or is not sitting centered on the guidance path while auto-steering is engaged, you may need to recalibrate your auto-steering system

35 Steering Controller Setup Use this section to setup the type of controller you will be using to perform auto steering. 1 Figure Auto Steer Setup screen 1. Select to enter the Steering Controller Setup screen 2 5 Figure Steering Controller Setup screen 2. Select to access Controller Selection AGA3719 Rev

36 3 4 Figure Select Controller 3. Use the up and down arrows to select a controller 4. Select to confirm your selection 6 7 Figure Steering Controller Setup screen 5. Select to access CAN Bus Selection 6. Use the up and down arrows to select the CAN Bus connection that your electric steering wheel is connected to. This is normally CAN 2 7. Select to confirm your selection

37 Operations Main Guidance screen Figure 4-1.Auto Steer inactive Steering Wheel button white when Auto-Steer is disengaged When Auto-Steering is inactive, the Steering Wheel button will be white and the Steering Wheel icon will be blue. Figure 4-2.Auto Steer active Steering Wheel button green when Auto-Steer is engaged When Auto-Steering is engaged, the Steering Wheel button and the Steering Wheel icon will turn green. AGA3719 Rev

38 Using Auto-Steering To use Auto-Steer is fairly straight forward. In order to use Auto-Steer, you need to have the following two items: Auto-Steering enabled (refer page 1-1) A loaded Guidance Path (Refer System 110/150 Guidance manual page) Follow the steps outlined in this section in order to use Auto-Steer on any guidance path. Step 1 - Approach the Guidance Path Nearest Guidance Path is visible We want to Auto- Steer to original path between point A and B located around here Figure 4-3. Approach Guidance Path In this example, the Guidance Path is an AB Line. When you engage Auto-Steering, the vehicle will begin to steer to the nearest available Guidance Path. This is usually the Guidance Path that is immediately visible on the Main Guidance screen (figure 4-3). Here we want the vehicle to steer to a path that runs through point A and point B. To do this, we need to drive the vehicle closer until the Guidance Path running through point A and B appears

39 The Guidance Path between point A and B has appeared Figure 4-4. Desired Guidance Path is visible As you approach your desired Guidance Path, it is best to slow down so that you do not overshoot the path. Step 2 - Adjust your approach The vehicle should be facing the direction you wish to auto-steer Figure 4-5. Adjust your approach Slowing down gives you the opportunity to adjust your approach so that it is more consistent with the Guidance Path you wish to follow. While it is not necessary to be exactly on the Guidance Path moving in the exact direction, it is good practice. It also makes it easier for the Auto-Steer system to quickly find its path to begin Auto-Steering. AGA3719 Rev

40 Step 3 - Engage Auto-Steering Auto-Steering is engaged and the vehicle finds its path 1 Figure 4-6. Auto-Steering is Active 1. Select the Steering Wheel button to engage Auto-Steering. The button will change from white to green, indicating that Auto- Steering is engaged. Disengage Auto-Steering There are two things you can do if you want to stop Auto-Steering: 1. Select the Steering Wheel button again (figure 4-6) 2. Manually turn the steering wheel Auto-steering is automatically disengaged when the steering wheel is turned manually. This is a safety feature and allows you to regain immediate control over your vehicle whenever you want to

41 Additional Information Auto-Steering limitations While the auto-steering system is robust, it does have limitations. Being aware of this is important for both your own safety and also for the longevity of your auto-steering system. The first limitation is the steering limitations. The auto-steering system cannot perform sharp turns. These include U-turns and 90 degree angle turns. Because of this, you will need to take manual control of your vehicle whenever you want to do a sharp turn. The second limitation is the speed limitation. While the auto-steering system can still follow a relatively straight line at high speeds, driving at high speed in general reduces the effectiveness of the auto-steering system. This is due to the physical limitations of both the hydraulic system and the AES-25 electric steering system. High speeds require the autosteering system to make faster steering adjustments and this may lead to oscillations in the wheels and poor adherence to the Guidance Path. The auto-steering system works best when the vehicle is moving at moderate to low speeds. Moderate speeds allow the system to make better adjustments and produce higher quality tracking of a given Guidance Path. AGA3719 Rev

42 Notes: 5-2

43 Appendix A - Software Registration The first time you attempt to enable Auto-Steering, you will be prompted to register your software. To register, you will require three registration numbers that are available from your authorized TPA dealer. 1. Enter the 3 registration numbers 2. Select the Green Tick to confirm 3. If the entered Registration Key is incorrect, select to return to the Enter Registration Key screen to try again or contact your authorized TPA dealer for assistance AGA3719 Rev 1.5 A-1

44 Notes: A-2

45 Index Index A AB Line 4-2 Access Code 1-2 AES Aggressiveness Approach 2-3 On Line 2-2, 2-4 Auto-Steering Disengage 4-4 Enabling 1-1 Engage 4-4 limitations 5-1 C Operations 4-1 S Sensitivity 2-4 Setup 2-1 Steering Profile Create 1-4 Recall 1-6 Steering Tuning 2-1 T Test Validation 3-7, 3-9 Calibration Compass 3-2 Mounting Bias 3-4 Wheel Angle Sensor 3-1 D Deadband 2-5 G Guidance screen 4-1 M Maximum Turning Angle 2-7 O AGA3719 Rev 1.5 Index

46 Notes: Index

47 Notes: AGA3719 Rev 1.5 Index

48 Notes: Index

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