Installation Manual AutoSteer Gleaner Combine AutoGuide 2 Steer Ready Supported Models A66 A76 R66 R76 S67 S77 PN: 602-0312-01-A
LEGAL DISCLAIMER Note: Read and follow ALL Instructions in this manual carefully before installing or operating the AutoSteer system. Note: Take careful note of the information in the Safety Information section and throughout this manual. The manufacturer 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 manufacturer s product. Therefore, users must always have an operator on the equipment when the AutoSteer system is in use to look for any obstacles including people, animals, trees, ditches, buildings, etc. 2. During installation of the AutoSteer 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 AutoSteer system. 3. Use of the AutoSteer 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 GPS AutoSteer System
Special Requirements Tools This list consists of special tools required to complete the installation. The installer should have a complete set of common installation tools. 15/16 open wrench Wire cutter Silicone sealant ½ open wrench Cleaning rags Portable power drill 15/16 socket Cleaning brush 3/16 nut driver for drill #2 Philips screwdriver Ladder 10ft (3.5m) 3/16 hex nut driver #3 Phillips screwdriver Tape measure 12ft (3.7m) minimum. 9/64 open wrench Hardware Installation Guide iii
Safety Information Warning Alerts The AutoSteer system installer and manufacturer disclaim any responsibility for damage or physical harm caused by failure to adhere to the following safety requirements: As the operator of the vehicle, you are responsible for its safe operation. The GPS steering system is not designed to replace the vehicle s operator. Tighten all screws, bolts, nuts and cable connections after the final assembly of the GPS steering system on the vehicle. WARNING To avoid electrical shock hazards, remove the Roof Module from the vehicle before driving under low structures or low electrical power lines. WARNING To avoid a potential fire hazard and severe damage to equipment, disconnect the negative terminal from the battery before servicing the battery or power connections. Follow standard safety procedures for electrical installations and do not attempt this installation if you are not trained and qualified to service vehicle electrical systems. WARNING Always shut down the vehicle when working around the steering axle and checking and adjusting the Wheel Angle Sensor rod lengths. The steering axle could move suddenly and cause severe injury or death. WARNING To prevent injury from falling, ensure you are in a stable position on the vehicle when installing or removing the Roof Rail and Roof Module. If the vehicle does not provide a safe platform, use a ladder to safely access the vehicle roof while installing or removing the Roof Rail and Roof Module. iv GPS AutoSteer System
WARNING To prevent the vehicle from running over a person, you must never leave the vehicle while the GPS steering system is engaged. WARNING To understand the potential hazards associated with the operation of AutoSteer equipment read the provided documentation before installing the GPS steering system on a vehicle. WARNING To prevent the accidental engagement of GPS steering and loss of vehicle control while driving on roads, shut down the AutoSteer system (exit the program). 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 AutoSteer Relief Valve. Turn off the engine and engage the parking brake before standing under or next to the machine. Hardware Installation Guide v
Caution Alerts The AutoSteer system installer and manufacturer disclaim any responsibility for damage or physical harm caused by failure to adhere to the following safety requirements: 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 GPS steering system must be powered OFF when installing or removing the Roof Module. CAUTION The supplied Roof Module locking pin must be in place whenever the vehicle is in operation to prevent the Roof Module from releasing from its bracket. vi GPS AutoSteer System
Vehicle Requirements The vehicle steering system and hydraulic system must be in good working order before installing the AutoSteer system. Check for loose or worn parts. Drive the vehicle before installing the AutoSteer 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 AutoSteer system. A clean vehicle will facilitate the overall installation and cable routing. The installation kit supports the vehicles listed on the front cover of this manual. Confirm that the vehicle is fully steer-ready for AutoGuide 2 with the factory steering valve and the round GPS connector on top of the cab roof. Contact your machine dealer if necessary to confirm that it is steer-ready and calibrated for AutoSteer. Hardware Installation Guide vii
Important Information Note: Tighten all screws, bolts, nuts and cable connections after the final assembly of the Steering System on the vehicle. Technical Support Refer to your Display user's manual for technical support information. Contact Information Refer to your Display user's manual for contact information. Copyright 2012 All Rights Reserved. viii GPS AutoSteer System
Table of Contents Chapter 1 Installation Overview... 1 Vehicle Inspection........................................................... 1 Installation Procedure Outline.................................................. 2 Kit Overview............................................................... 3 Cable Diagram............................................................. 4 Chapter 2 Roof Module Installation... 5 Safety Notes................................................................ 5 Installation Procedure........................................................ 6 Chapter 3 Display Installation... 19 Chapter 4 Connecting System Cables... 21 Ethernet Cable............................................................. 21 Route Ethernet Cable Into the Cab........................................... 22 Route the Ethernet Cable to the Roof Module................................... 25 Connect the Agco AutoGuide Adapter Cable Harness.............................. 27 Display Connection....................................................... 29 Power Supply Connection.................................................... 29 Install Warning Label....................................................... 31 Chapter 5 Post-Installation Procedures and Information... 33 Verify the Vehicle is Ready for AutoSteer....................................... 33 Create New Vehicle......................................................... 33 Calibration and Tuning Notes................................................. 33 Chapter 6 Final Hardware Installation Checklist... 35 Hardware Installation Manual ix
x GPS AutoSteer System
1 Installation Overview This Installation Overview chapter contains part numbers, kit overview diagram, cabling diagram and the installation procedure for the Gleaner Combine AutoSteer Kit. Vehicle Inspection Installation Procedure Outline Kit Overview Cable Diagram This installation guide describes the AutoSteer system installation on several models of combines shown on the front cover. The AutoSteer installation kit PN: 188-0082-01 is used on these vehicle series. Vehicle Inspection The vehicle steering system must be in good working condition prior to the installation of the AutoSteer system. Verify the existing steering system is operating correctly by performing the tests listed below in a wide open area. Note: The steering system test requires a relatively large area. Ensure you have enough room to perform the test before beginning. 1. Drive the vehicle in a low gear and slowly turn the steering wheel all the way to the left. The vehicle should steer to the left at a steadily increasing rate until it is making a sharp left turn. 2. Drive the vehicle in a low gear and slowly turn the steering wheel all the way to the right. The vehicle should steer to the right at a steadily increasing rate until it is making a sharp right turn. Note: The change in steering speed should mirror the speed and angle when turning left or right. 3. On flat terrain, drive the vehicle in a straight line in a low gear and release the steering wheel. The vehicle should continue to drive fairly straight without pulling hard left or right. 4. Ask the vehicle driver or owner if they have experienced any vehicle steering problems. The operator should report no steering problems. If the vehicle passes the four tests, proceed with the AutoSteer system installation. If the vehicle fails one or more of the tests, the steering system must be evaluated by a dealer and repaired if necessary. Possible causes of steering problems: Worn joints in steering cylinders and tie rods Hydraulic problem Hardware Installation Manual 1
Installation Procedure Outline Installation Procedure Outline 1. Verify shipped components. 2. Install Roof Rail on the Combine. 3. Install the Roof Module. 4. Install the Display using a RAM Mount Ball. 5. Install the system cables. 6. Ensure all connectors are properly coupled. 7. Power ON the AutoSteer system. 8. Calibrate the vehicle. 9. Tune the vehicle. 10. Verify installation and proper system operation. 2 GPS AutoSteer System
Kit Overview Kit Overview Figure 1-1 Installation Kit Components (PN: 188-0082-01) Table 1-1 Installation Kit Components (PN: 188-0082-01) Item Component Part Number 1. Cable Routing Hardware CAT-35-45-55 200-0121-01 2. Roof Bracket Assembly, Gleaner, RX5,RX6 200-0588-01 3. Hardware Installation Guide, Gleaner S-77 602-0312-01 4. RAM Base Assembly, 6.25"X2" 200-0684-01 5. Agco AutoGuide Harness 201-0479-01 6. Main Cable Harness, IND PLUG, STD RJ45, 5 M 201-0497-01 9. Quick Release Rail Assembly 200-0515-01 10. Dummy Connector Assembly 200-0520-01 11. Attention Switch Off Label 603-0074-01 Hardware Installation Manual 3
Cable Diagram Cable Diagram 4 GPS AutoSteer System
2 Roof Module Installation This Roof Module Installation chapter contains information in the following sections: Safety Notes Installation Procedure Safety Notes The AutoSteer system must be powered OFF when installing or removing the Roof Module. The Roof Module must always be firmly secured to the Roof Rail using the hardware whenever the vehicle is in operation to prevent the Roof Module from releasing from its bracket and falling. The Roof Module must be removed when transporting the vehicle at speeds above 30 mph (50 kmph). Ensure you are in a stable position on the combine platform when removing the Roof Module, so that you do not fall or drop the Roof Module. Two people may be required for installing the Roof Rail support brackets to roof. WARNING To prevent injury from falling, ensure you are in a stable position on the vehicle when installing or removing the Roof Rail and Roof Module. If the vehicle does not provide a safe platform, use a ladder to safely access the vehicle roof while installing or removing the Roof Rail and Roof Module. Hardware Installation Manual 5
Installation Procedure Installation Procedure 1. Place the ladder as close as possible to the cab front. Note: A ladder is necessary to install the Roof Rail and Roof Module. 2. Locate the four roof cab bolts. See Figure 2-1. Figure 2-1 Mounting Bolt Locations Right Support Mounting Bolt Center Support Mounting Bolts Left Support Mounting Bolt 3. Locate the four headlights requiring removal to gain access to previously located roof bolt nuts. See Figure 2-2. Figure 2-2 Headlight Location Remove Headlights 6 AutoSteer System
Installation Procedure 4. Remove Headlights by removing the two screws either side of the Headlight using a #2 Phillips screwdriver. See Figure 2-3. Figure 2-3 Remove Headlight Remove Screws Note: Two people may be required to install the Roof Rail support brackets to roof. 5. Through the outer Headlight hole, place 1/2 wrench on nut to stop turning while bolt is being removed. See Figure 2-4. Figure 2-4 Headlight Mount Nut Hold Nut with Wrench Hardware Installation Manual 7
Installation Procedure 6. Remove the bolt using a 1/2 wrench. Discard the bolt. See Figure 2-5. Figure 2-5 Removing Bolt from Cab Top 7. Leave the existing rubber washer and steel washer in place. See Figure 2-6. Figure 2-6 Existing Washers Existing Washers 8 AutoSteer System
Installation Procedure 8. Mount the Roof Rail L bracket using the kit provided 5/16 x 1 bolt, flat washer and existing nut. 9. Tighten the bolt using 1/2 wrenches. See Figure 2-7. 10. Repeat process on the cab opposite side. Figure 2-7 Mounting the Roof Rail L Bracket Note: Two people may be required to install the Roof Rail support brackets to the roof. 11. Through the inner Headlight hole, place a 1/2 wrench to hold the nut while bolt is being removed. See Figure 2-8. Figure 2-8 Hold Nuts to Remove Bolts Headlight Mounting Nuts Hardware Installation Manual 9
Installation Procedure 12. Remove the bolts using a 1/2 wrench. Discard the bolts. See Figure 2-9. Figure 2-9 Remove Bolts 13. Keep the existing rubber and steel washer in place. See Figure 2-10. Figure 2-10 Existing Washers 10 AutoSteer System
Installation Procedure 14. Mount the center mounting bracket using the kit provided 5/16 x 1-1/4 bolts and flat washers. See Figure 2-11. Figure 2-11 Center Mounting Bracket Towards Combine Bolts 15. Place an M8 fender washers over bolts and replace the existing nut. 16. Tighten the nuts using two 1/2 wrenches. See Figure 2-12. Figure 2-12 Center Mounting Bracket Fender Washers Fender Washers Hardware Installation Manual 11
Installation Procedure 17. Reinstall the previously removed headlights. 18. Install the Outer Support Brackets to the L Brackets using the kit provided 5/8 x 1-1/2 bolts, washers and nuts. 19. Tighten the bolts using a 15/16 socket, ratchet and wrench. See Figure 2-13. Figure 2-13 Outer Support Bracket Bolt, Washer and Nut 20. Mount the center mount upright bracket in front of the center mount bracket. 21. Secure the mount using the kit provided 5/16 x 1 bolts, washers and nuts. 22. Tighten the bolts using two 1/2 wrenches. See Figure 2-14. Figure 2-14 Installing Centre Mount Upright Center Mounting Upright Bracket 5/16 x 1 bolts, Washers and Nuts Center Mounting Bracket 12 AutoSteer System
Installation Procedure Note: The support bracket holes should be aligned with the center mounting upright bracket holes. 23. The mounting brackets are now assembled ready for Roof Rail mounting. See Figure 2-15. Figure 2-15 Assembled Mounting Brackets Aligned Holes Note: A dummy connector (parking connector) is provided for protecting the cable connectors when the roof module is not installed on the vehicle. Install the dummy connector on the left end of the rail per the instructions provided with the part. Hardware Installation Manual 13
Installation Procedure 24. Center and mount the Roof Rail over the brackets. See Figure 2-16. 25. Secure the Roof Rail using the kit provided 5/8 x 1-1/2 bolts, nuts and washers. 26. Tighten the bolts securely with a 15/16 socket, ratchet and 15/16 wrench. Figure 2-16 Installing the Roof Rail 27. The Roof Rail is now installed. See Figure 2-17. Figure 2-17 Installed Roof Rail 14 AutoSteer System
Installation Procedure 28. Attach the three antennas to the Roof Module antenna connections. See Figure 2-18. Note: Your installation may not require all three antennas. Hand tighten the antenna connections. Do not over tighten. Figure 2-18 Attach the Antennas RTK Radio Modem Antenna Cell Modem Antenna WiFi Antenna Hardware Installation Manual 15
Installation Procedure 29. Remove the locking pin from the Roof Rail. See Figure 2-19. Note: Press the handle end release button to enable locking pin removal. Figure 2-19 Remove Locking Pin Locking Pin 30. Mount the Roof Module on the Roof Rail. See Figure 2-20. Figure 2-20 Mounting the Roof Module 16 AutoSteer System
Installation Procedure 31. Insert the locking pin into the Roof Rail. See Figure 2-21. Note: The Locking Pin can be inserted from either Roof Rail side. Figure 2-21 Reinserting the Locking Pin Locking Pin 32. The Roof Module is now installed. See Figure 2-22. Figure 2-22 Completed Roof Module Installation Hardware Installation Manual 17
Installation Procedure 18 AutoSteer System
3 Display Installation This Display Installation chapter contains information for installing the Display. 1. Locate the Display bracket mounting position on the front right pillar in the cab. Figure 3-1 Display Bracket Mounting Position Mounting Position Hardware Installation Manual 19
Display Installation 2. Secure the RAM base to the pillar using four self drilling and self tapping screws. Use a portable power drill with the appropriate hex nut driver. If necessary, drill 0.175 (4.5mm) pilot holes before inserting the self tapping screws. See Figure 3-2. CAUTION To prevent eye injury, wear eye protection when drilling, tapping or using power tools on the vehicle or other hardware. Figure 3-2 Mount the RAM Base Assembly 3. The RAM Base is now installed. Refer to the Display User Manual for the remaining Display specific installation instructions. 20 GPS AutoSteer System
4 Connecting System Cables This Connecting System Cables chapter provides information for connecting the cable harnesses in the following sections: Ethernet Cable Route Ethernet Cable Into the Cab Route the Ethernet Cable to the Roof Module Connect the Agco AutoGuide Adapter Cable Harness. Display Connection Power Supply Connection Install Warning Label Ethernet Cable This Ethernet Cable section contains the following sub-sections: Route Ethernet Cable Into the Cab Route the Ethernet Cable to the Roof Module Display Connection Hardware Installation Manual 21
Route Ethernet Cable Into the Cab Route Ethernet Cable Into the Cab Note: The cable routing information is provided for reference. The exact cable routing may vary depending on the exact vehicle model. 1. Locate the Ethernet Cable cab entry point on the cab floor right hand side. See Figure 4-1. Figure 4-1 Ethernet Cable Cab Entry Location Entry Point 2. Remove the rubber mat from the plastic cover. See Figure 4-2. Figure 4-2 Rubber Mat Removal Rubber Mat 22 GPS AutoSteer System
Route Ethernet Cable Into the Cab 3. Remove the three screws holding plastic cover in place using a #2 Phillips screwdriver. See Figure 4-3. Figure 4-3 Removing Plastic Cover Screws Screws 4. Removing the Plastic Cover. See Figure 4-4. Figure 4-4 Removing Plastic Covert Hardware Installation Manual 23
Route Ethernet Cable Into the Cab 5. Feed the Ethernet Cable into the cab through the cab floor hole. See Figure 4-5. Note: Leave the bulk of unused Ethernet Cable outside the cab. Figure 4-5 Ethernet Cable Through the Cab Floor Ethernet Cable Into Cab 24 GPS AutoSteer System
Route the Ethernet Cable to the Roof Module Route the Ethernet Cable to the Roof Module 1. Route the Ethernet Cable up to the back right corner of the cab. See Figure 4-6. Figure 4-6 Routing Cable Up the Cab Right Hand Corner Cable Route 2. Secure the Ethernet Cable to Roof using P clamps and the existing bolts along the cab roof rear using a 7/16 wrench. See Figure 4-7. Figure 4-7 Roof Module Ethernet Cable Routing P Clamp Hardware Installation Manual 25
Route the Ethernet Cable to the Roof Module 3. Route Ethernet Cable along the Roof Module bracket to the Roof Module, and connect the Ethernet Cable to the Ethernet connector. Slide the cable connector into the receiver and rotate the plastic bayonet sleeve clockwise to lock the connector. See Figure 4-8. Figure 4-8 Roof Module Ethernet Connection Ethernet Connection 26 GPS AutoSteer System
Connect the Agco AutoGuide Adapter Cable Harness. Connect the Agco AutoGuide Adapter Cable Harness. 1. Connect the Agco AutoGuide Adapter Cable Harness to the existing factory CAN adapter. Figure 4-9 Adapter Harness CAN Connection CAN Connection Note: On some vehicle models, the factory AutoGuide 2 bulkhead connector is mounted to a small fixed housing on the cab roof. Hardware Installation Manual 27
Connect the Agco AutoGuide Adapter Cable Harness. 2. Connect the 12-pin connector on the Agco AutoGuide Adapter Cable Harness to the Roof Module. Orient the 12-pin connector so the word TOP on the cable connector is pointing upwards (towards the sky). See Figure 4-10. Insert the cable connector into the Roof Module. Push the connector in until it clicks and locks in place. Note: To remove the connector, grasp the connector to compress the two side latches and then pull away from the Roof Module. Figure 4-10 Connecting the Adapter Harness to Roof Module Adapter Harness Connection Figure 4-11 Roof Module Ethernet Connection Ethernet Connection 28 GPS AutoSteer System
Display Connection Display Connection 1. Attach the Main Cable Harness to your Display. Note: Refer to your Display Owners manual for details on connecting the Display harness. Power Supply Connection Note: Refer to your Display user manual for electrical connection information before attempting to connect the AutoSteer system to vehicle power. The Display must be connected to 12V vehicle power according to the wiring diagram provided with your Display user manual. See Figure 4-12 and Figure 4-13 for Power Connection locations. When a direct battery connection is recommended for the display, you must run the power cables to the battery or alternatively you can connect the power cable to the power terminal located under the cab as shown in Figure 4-12. To avoid a fire hazard, always disconnect the battery before servicing any power connections. Figure 4-12 Power Connection Location Hardware Installation Manual 29
Power Supply Connection Figure 4-13 Power Connection Location Detail 30 GPS AutoSteer System
Install Warning Label 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 4-14. 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 and Spanish. Figure 4-14 Autosteer Warning Label Hardware Installation Manual 31
Install Warning Label 32 GPS AutoSteer System
5 Post-Installation Procedures and Information This Post-Installation Procedures and Information chapter contains information on procedures and processes that should be completed after the installation process is complete. The information for this chapter is contained in the following sections: Verify the Vehicle is Ready for AutoSteer Create New Vehicle Calibration and Tuning Notes Verify the Vehicle is Ready for AutoSteer 1. Ensure all connectors are properly coupled. 2. Power ON the AutoSteer system. 3. Verify installation and system operation. Once the entire AutoSteer system, including the Display and Display Harnesses, have been installed on the vehicle, the procedures and notes provided in this chapter must be followed to complete the installation and prepare the vehicle for full AutoSteer capabilities. Create New Vehicle Once the entire system has been installed, the operator must first create a new vehicle profile. This configures the system so the User display can properly communicate with the various sensors and components on the vehicle. Follow the procedure below to create a new vehicle. 1. Make sure the User display is not powered ON. 2. Start the vehicle and take it to a clear area (such as an open field) where it can be calibrated. 3. Power up the AutoSteer system. 4. Follow the instructions provided in the Display user manual to create a new vehicle. Calibration and Tuning Notes Note: For optimal steering performance, the AutoSteer system must be fully calibrated and then tuned. Select the appropriate combine model when setting up your vehicle on the AutoSteer system Display. Hardware Installation Manual 33
Calibration and Tuning Notes 34 GPS AutoSteer System
6 Final Hardware Installation Checklist This Final Checklist chapter contains the verifications steps necessary after the installation of the AutoSteer system. Note: The Final Hardware Installation Checklist is on the back of this page. You should keep a copy of this checklist and this manual for future reference when servicing the vehicle. Vehicle Model: Year: Serial #: Customer Name: Location/Address: AutoSteer Installation Kit Part Number: NOTES Name of Installer: Date: Hardware Installation Manual 35
Final Hardware Installation Checklist System Installation Checklist 1. Monitor Bracket Installed and all fasteners are tight. 2. Roof Rail is installed and all fasteners are tight. 3. All cable ends are connected. 4. All cables are secured with cable ties. 5. Roof Module locking pin is installed. AutoSteer Performance Checklist 1. Complete AutoSteer system calibration. 2. Complete AutoSteer system tuning. 3. Line acquisition is satisfactory. 4. On-line steering is satisfactory. 5. Manual override (kick-out) is working. 6. Manual steering speed from lock-to-lock is satisfactory. Value Sec. 7. Autosteering speed from right lock to left lock is satisfactory. Value 8. Autosteering speed from left lock to right lock is satisfactory. Value 36 AutoSteer System