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Autopilot™ Product Offering Updates
2013 Platforms Autopilot steering system– Tractors
2013 Platforms Autopilot steering system - Harvesters •
2013 Released Platforms Autopilot steering system - Sprayers • • Miller Nitro 5000 AGR Miller Nitro 5000 full installation New Holland Guardian Sprayers Apache Sprayers
Three Types of Autoguidance Systems 1. Trimble Autopilot After Market Kit With or without hydraulics. Platform kit required 2. Trimble Autopilot Hybrid kit Installation onto CNH Factory ready vehicles 3. Trimble Ready Vehicles
Trimble Autopilot™ – After Market kit Ag 25 Display Nav Controller II Auto. Sense Steering Sensor Hydraulic Valve / Manifold
Example #1 – After Market kit § Pre 2011 Models supported Wheeled (W) and tracked (T) – – – 5000 W 6000 W 7000 W 8000 W & T 8000 WR & TR 9000 W & T Both Autotrac (Atrac) and non-autotrac ready systems are supported. Look for the decal and valve!
Example 2 – After Market kit § 2011 on - Models supported Auto. Trac (CAN) Ready R Models 54035 -42 § Supported vehicle models § Wheeled • 6000 R • 7000 R • 8000 R • 9000 R Tracked • 8000 R • 9000 R
Trimble Autopilot™ Hybrid Kit Display Ag 25 Operator Seat Switch Nav Controller II Factory installed Steering Sensor Factory installed Hydraulic Valve / Manifold
Trimble Ready – – When you see this label look for plug and play capability Manufacturers advertising their machines are ready Hydraulics and Wiring all pre installed. Opening new sales channels and often blocking out competition at the same time. § Integrated Headland management systems § Can. Bus integration
Support platforms list
Support platforms list
Ag. GPS® Autopilot™ - Full Installation Display AG 25 Auto. Sense™Steering Angle Sensor Nav Controller II Electro-Hydraulic Valve 15
Auto. Guidance Control System Key components Nav Controller II Hydraulics Auto. Sense
Auto. Guidance Control System Inside the Nav II Controller Power Supply Electronics 6 Axis Inertial Measuring Unit T 3 Valve Drive Electronics • Power for entire system • On off switch for entire system • Roll/Pitch/Yaw Correction at 50 HZ • Vehicle Direction Autosense • Pulse Width Modulation Output CPU and Memory • Stores calibration information Communication Electronics • Two way communication with GPS, Display, CAN Bus. • Input from Autosense • Output to Valve
Nav Controller II § All AP Processing done in controller – Brings in GPS data – Combines with Yaw, Pitch, Roll (T 3™ Technology) – Outputs Steering Guidance – Operates at 50 hz – Sealed, Waterproof, Dustproof – Voltage Spike Resistant § Mount in multiple orientations
Autopilot™ – T 3™ technology § Incorporates gyroscopes and accelerometers § Measure Yaw, Pitch and Roll and the speed at which they change – Corrects for errors from terrain and how fast they occur – Corrects for both hilly ground and rough conditions
Auto. Sense Steering Sensor • Vehicle profile with Autosense support required • Config mounting location in Autopilot Toolbox/Fm. X • Mounted on left or right side with the label up or down • No left/right/center calibration • Relative (Autosense) versus absolute (Potentiometer) type sensor • Drive for at least 1 minute before Automated Deadzone Calibration to clear heading • Mount within 10 degrees of horizontal • Must move 1: 1 with steering spindle
Steering Rotary Potentiometer § § 0 - 5 VDC analog output 128 degrees of electrical movement 180 degrees of mechanical movement Minimum of 64 degrees to calibrate or 2. 6 volt range
Importance of Hydraulics § If steering hydraulics are slow (slew times too long) performance will suffer § The tractor will not be able to smoothly correct for large cross track errors § It will not be able to achieve the desired steering angle fast enough to acquire the line smoothly § The tractor may even go unstable at higher speeds since the XTE will get worse before it gets better
General Tractor Setup
Roll / Antenna Compensation Antenna Height Above Ground Antenna Height
Roll/Antenna Compensation Roll Correction Uncorrected position Corrected position
Antenna Compensation Antenna Distance from Fixed Axle 4 WD – Antenna over the Front Axle MFWD - Distance forward from rear axle (positive value)
Essential Service Tools Cable Identification Wire Schematics Software Utilities Firmware
Auto. Pilot System Harness Schematics
Cabling Guide for both CFX-750 & Fm. X
CFX-750 Display – Full Auto. Pilot Harness
CFX-750 Display – CNH Guidance Ready
Fm. X Display – Full Auto. Pilot Harness
Fm. X Display – CNH Guidance Ready
Laptop Checklist § AP Configuration: Support Notes § Laptop with Serial Port Autopilot Toolbox II (v 2. 92), Flash. Loader 200 (v 3. 19). Latest FW version for – Nav. Controller. II – Fm. X – CFX-750 – EZ-Guide 500 – Ex Vehicle Database 5. 26 7. 2 4. 0 5. 1 4. 3
Flashloader 200 Software Utility Software utility program which is required to update or reload firmware on the Ag. GPS® 262, 252 / 332 GPS receiver, Auto. Pilot™ Nav Controller II, and the Ag. GPS® Ag 900 RTK radio (radio installed under the 252/262 receiver)
Flashloader 200 Software Utility To update firmware: Check the Upload firmware box.
Flashloader 200 Software Utility Now select the location on your computer where you saved the firmware file. Then choose “Open. ”
Flashloader 200 Software Utility On some computers you might find it necessary to use low speed connection option, if the upload process fails initially.
Flashloader 200 Software Utility Once you have selected the proper firmware file and checked the Settings button, then click on the Proceed button. You should then see the Establishing Communications window that displays the progress information.
Configuring the system § Loading a Vehicle Profile
Checking the Configuration Settings Controller Orientation X Y X X Y Y
Calibrating the Autoguidance system § Steering Sensor § If autosense installed no calibration screen appears
Steering Sensor - Autosense If you are using Auto. Sense™ steering sensor, then you must tell the system how it is installed.
Steering Sensor - Autosense § Calibration Tip: § When Autosense is installed, make sure to drive the vehicle straight for at least 1 minute to get the correct heading info before starting the automatic deadzone calibration. § When doing the deadzone make sure that you drive straight for at least 5 seconds before pressing either turn left or turn right. § Wrong Procedure: § If you are driving in circles for 1 minute, then the Auto deadzone calibration will come up with the wrong estimated value.
Deadzone Calibration § Critical for a good AP calibration § Oil working conditions temperature § Autosense properly initialized § In flat and smooth field
Proportional steering gain calibration TIPS: § Slew times should be 15002500 ms § Test at max operation speed XTE should +/- 2. 5 cm § Vehicle aggressiveness depending on soil conditions: – Hard solid/road 70% – Smooth field 100% – Smooth with implement 130%
Proportional steering gain calibration (continued) § If the tractor is Lazy and is wandering over the line with a XTrack error above + or – 2. 5 cm, you must increase the P Gain.
Proportional steering gain calibration (continued) § If is shaking over the line decrease PGain. § Do not increase PGain if tractor hold line properly at 15 kph § Usual P Gain Values are between 3 and 20.
Roll Calibration § Always mark center-line from drawbar straight down (plumb-bob preferable) Not Calibrated When properly calibrated, the tractor then should be able to drive in the same tire tracks, opposite direction. If you still see wide / narrow guess rows, then look at Implement Offset or implement drift due to terrain.
Roll / Antenna Compensation A Implement Offset B
Line Acquisition aggressiveness TIPS § Test engage at 4 -5 kph while driving parallel to AB line with 1 m XTE § Adjust to get a smooth and stable front wheels behavior when converging to the line
Engage aggressiveness § Configurable speed dependent engage smoothness setting § Adjust if necessary the Engage Aggressiveness setting to get a smooth behavior just after engage. § High speed vehicles
Saving the Configuration § The configuration (CFG) file holds both the data from the Vehicle Profile and the Calibration data which are unique for each vehicle § Swap config when moving Nav. II from one vehicle to another § CFG file can be restored into the controller from the Display or from a laptop
Steering Aggressiveness § § “Operator adjustment” Always calibrate at 100% Range 50 to 150% Will not fix poorly calibrated hydraulics Increase Aggressiveness: – To improve online performance – For faster corrections § Decrease Aggressiveness: – To smooth steering correction – Slow line convergence (higher speeds, sprayers etc. )