AFS Manual Completo e Código de Erros

Version 3.00 Revision AMay 2006

AgGPS® Autopilot™

Automated Steering SystemTroubleshooting Guide

Agriculture Contact InformationTrimble Agriculture Division10355 Westmoor DrSuite #100Westminster, CO 80021USA800-865-7438 (US toll free)+1-913-495-2700 Phone+1-913-495-2750 [email protected]

Copyright and Trademarks© 1999–2006, Trimble Navigation Limited. All rights reserved. Trimble, the Globe & Triangle logo, AgGPS, and EZ-Guide are trademarks of Trimble Navigation Limited, registered in the United States Patent and Trademark Office and in other countries. Autopilot, AutoSense, and FieldManager are trademarks of Trimble Navigation Limited.All other trademarks are the property of their respective owners.

Release NoticeThis is the May 2006 release (Revision A) of the AgGPS Autopilot Automated Steering System Troubleshooting Guide. It applies to version 3.00 of the AgGPS Autopilot automated steering system.

The following limited warranties give you specific legal rights. You may have others, which vary from state/jurisdiction to state/jurisdiction.

Product Limited WarrantyTrimble warrants that this Trimble product and its internal components (the “Product”) shall be free from defects in materials and workmanship and will substantially conform to Trimble’s applicable published specifications for the Product for a period of one (1) year, starting from the earlier of (i) the date of installation, or (ii) six (6) months from the date of product shipment from Trimble. This warranty applies only to the Product if installed by Trimble or a distributor authorized by Trimble to perform Product installation services.

Software Components and Enhancements All Product software components (sometimes hereinafter also referred to as “Software”) are licensed and not sold. Any Software accompanied by a separate End User License Agreement (“EULA”) shall be governed by the terms, conditions, restrictions and limited warranty terms of such EULA notwithstanding the preceding paragraph. During the limited warranty period you will be entitled to receive, at no additional charge, such Fix Updates and Minor Updates to the Product software as Trimble may develop for general release, subject to the procedures for delivery to purchasers of Trimble products generally. If you have purchased the Product from an authorized Trimble distributor rather than from Trimble directly, Trimble may, at its option, forward the software Fix Update or Minor Update to the Trimble distributor for final distribution to you. Major Upgrades, new products, or substantially new software releases, as identified by Trimble are expressly excused from this enhancement process and limited warranty. Receipt of software updates shall not serve to extend the limited warranty period.For purposes of this warranty the following definitions shall apply: (1) “Fix Update” means an error correction or other update created to fix a previous software version that does not substantially conform to its published specifications; (2) “Minor Update” occurs when enhancements are made to current features in a software program; and (3) “Major Upgrade” occurs when significant new features are added to software, or when a new product containing new features replaces the further development of a current product line. Trimble reserves the right to determine, in its sole discretion, what constitutes a significant new feature and Major Upgrade.

Warranty RemediesTrimble’s sole liability and your exclusive remedy under the warranties set forth above shall be, at Trimble’s option, to repair or replace any Product that fails to conform to such warranty (“Nonconforming Product”), and/or issue a cash refund up to the purchase price paid by you for any such Nonconforming Product, excluding costs of installation, upon your return of the Nonconforming Product to Trimble in accordance with Trimble’s standard return material authorization process. Such remedy may include reimbursement of the cost of repairs for damage to third-party equipment onto which the Product is installed, if such damage is found to be directly caused by the Product as reasonably determined by Trimble following a root cause analysis.

Warranty Exclusions and DisclaimerThese warranties shall be applied only in the event and to the extent that (i) the Products and Software are properly and correctly installed, configured, interfaced, maintained, stored, and operated in accordance with Trimble's relevant operator's manual and specifications, and; (ii) the Products and Software are not modified or misused. The preceding warranties shall not apply to, and Trimble shall not be responsible for defects or performance problems resulting from (i) the combination or utilization of the Product or Software with hardware or software products, information, data, systems, interfaces or devices not made, supplied or specified by Trimble; (ii) the operation of the Product or Software under any specification other than, or in addition to, Trimble's standard specifications for its products; (iii) the unauthorized,

installation, modification, or use of the Product or Software; (iv) damage caused by accident, lightning or other electrical discharge, fresh or salt water immersion or spray; or (v) normal wear and tear on consumable parts (e.g., batteries). Trimble does not warrant or guarantee the results obtained through the use of the Product.

THE WARRANTIES ABOVE STATE TRIMBLE'S ENTIRE LIABILITY, AND YOUR EXCLUSIVE REMEDIES, RELATING TO PERFORMANCE OF THE PRODUCTS AND SOFTWARE. EXCEPT AS OTHERWISE EXPRESSLY PROVIDED HEREIN, THE PRODUCTS, SOFTWARE, AND ACCOMPANYING DOCUMENTATION AND MATERIALS ARE PROVIDED “AS-IS” AND WITHOUT EXPRESS OR IMPLIED WARRANTY OF ANY KIND BY EITHER TRIMBLE NAVIGATION LIMITED OR ANYONE WHO HAS BEEN INVOLVED IN ITS CREATION, PRODUCTION, INSTALLATION, OR DISTRIBUTION INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE, TITLE, AND NONINFRINGEMENT. THE STATED EXPRESS WARRANTIES ARE IN LIEU OF ALL OBLIGATIONS OR LIABILITIES ON THE PART OF TRIMBLE ARISING OUT OF, OR IN CONNECTION WITH, ANY PRODUCTS OR SOFTWARE. SOME STATES AND JURISDICTIONS DO NOT ALLOW LIMITATIONS ON DURATION OR THE EXCLUSION OF AN IMPLIED WARRANTY, SO THE ABOVE LIMITATION MAY NOT APPLY TO YOU.

TRIMBLE NAVIGATION LIMITED IS NOT RESPONSIBLE FOR THE OPERATION OR FAILURE OF OPERATION OF GPS SATELLITES OR THE AVAILABILITY OF GPS SATELLITE SIGNALS.

Limitation of LiabilityTRIMBLE’S ENTIRE LIABILITY UNDER ANY PROVISION HEREIN SHALL BE LIMITED TO THE AMOUNT PAID BY YOU FOR THE PRODUCT OR SOFTWARE LICENSE. TO THE MAXIMUM EXTENT PERMITTED BY APPLICABLE LAW, IN NO EVENT SHALL TRIMBLE OR ITS SUPPLIERS BE LIABLE FOR ANY INDIRECT, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES WHATSOEVER UNDER ANY CIRCUMSTANCE OR LEGAL THEORY RELATING IN ANY WAY TO THE PRODUCTS, SOFTWARE AND ACCOMPANYING DOCUMENTATION AND MATERIALS, (INCLUDING, WITHOUT LIMITATION, DAMAGES FOR LOSS OF BUSINESS PROFITS, BUSINESS INTERRUPTION, LOSS OF BUSINESS INFORMATION, OR ANY OTHER PECUNIARY LOSS), REGARDLESS WHETHER TRIMBLE HAS BEEN ADVISED OF THE POSSIBILITY OF ANY SUCH LOSS AND REGARDLESS OF THE COURSE OF DEALING WHICH DEVELOPS OR HAS DEVELOPED BETWEEN YOU AND TRIMBLE. BECAUSE SOME STATES AND JURISDICTIONS DO NOT ALLOW THE EXCLUSION OR LIMITATION OF LIABILITY FOR CONSEQUENTIAL OR INCIDENTAL DAMAGES, THE ABOVE LIMITATION MAY NOT APPLY TO YOU.

NOTE: THE ABOVE LIMITED WARRANTY PROVISIONS MAY NOT APPLY TO PRODUCTS OR SOFTWARE PURCHASED IN THE EUROPEAN UNION. PLEASE CONTACT YOUR TRIMBLE DEALER FOR APPLICABLE WARRANTY INFORMATION.

NoticesClass B Statement – Notice to Users. This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to Part 15 of the FCC rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communication. However, there is no guarantee that interference will not occur in a particular installation. If this equipment does cause harmful interference to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one or more of the following measures:– Reorient or relocate the receiving antenna.– Increase the separation between the equipment and the receiver.– Connect the equipment into an outlet on a circuit different from that

to which the receiver is connected.– Consult the dealer or an experienced radio/TV technician for help.

Changes and modifications not expressly approved by the manufacturer or registrant of this equipment can void your authority to operate this equipment under Federal Communications Commission rules.

Notice to Our European Union CustomersFor product recycling instructions and more information, please go to:www.trimble.com/ev.shtmlRecycling in Europe: To recycle Trimble WEEE, Call+31 497 53 2430, and ask for the "WEEE Associate"OrMail a request for recycling instructions to:Trimble Europe BVc/o Menlo Worldwide LogisticsMeerheide 455521 DZ Eersel, NL

mailto:[email protected]

Contents ii

1 AgGPS Autopilot System Tools. . . . . . . . . . . . . . . . . . . . . . . . . . . . 1Cable service kit for the AgGPS NavController II navigation controller . . . . . . . . . . . . . . . . . . . 2

Hydraulic test kit for the AgGPS Autopilot system. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

2 AgGPS Autopilot System Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . 9LED states . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Autopilot system fault code 1 "FE Send Message" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Autopilot system fault code 2 "FE Task Init." . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Autopilot system fault code 3 "FE Go Trap" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Autopilot system fault code 4 "A/D Scan Timeout" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Autopilot system fault code 5 "A/D Scan Overrun". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Autopilot system fault code 6 "A/D Data Not Ready" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Autopilot system fault code 7 "A/D Chan Overrun" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Autopilot system fault code 8 "Vpp Jumpered" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Autopilot system fault code 9 "Battery Bad" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Autopilot system fault code 11 "SP Open Failed" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Autopilot system fault code 12 "Matrix Inv. Failed" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Autopilot system fault code 13 "MATHERR Exception". . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Autopilot system fault code 14 "MATHERRF Exception" . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Autopilot system fault code 15 "Fatal Error Reboot". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Autopilot system fault code 16 "App Undefined ISR" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Autopilot system fault code 17 "TPU Undefined ISR" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Autopilot system fault code 18 "MIOS1 Undefined ISR" . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Autopilot system fault code 19 "QADC Undefined ISR". . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Autopilot system fault code 21 "Uninit. App Assert". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Autopilot system fault code 22 "Acc X Overvoltage" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Autopilot system fault code 23 "Acc X Undervoltage" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Autopilot system fault code 24 "Acc Y Overvoltage" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Autopilot system fault code 25 "Acc Y Undervoltage" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Autopilot system fault code 26 "Acc Z Overvoltage" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Autopilot system fault code 27 "Acc Z Undervoltage" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Autopilot system fault code 28 "Gyro X Overvoltage" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Autopilot system fault code 29 "Gyro X Undervoltage" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Autopilot system fault code 30 "Gyro Y Overvoltage" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Autopilot system fault code 31 "Gyro Y Undervoltage" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Autopilot system fault code 32 "Gyro Z Overvoltage" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Autopilot system fault code 33 "Gyro Z Undervoltage" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Autopilot system fault code 34 "Heater Overvoltage" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Autopilot system fault code 35 "Heater Undervoltage" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Autopilot system fault code 36 "VRef Overvoltage" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

AgGPS Autopilot Automated Steering System Troubleshooting Guide iii

Autopilot system fault code 37 "VRef Undervoltage" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Autopilot system fault code 39 "Steering Overvolt" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Autopilot system fault code 40 "Steering Undervolt" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Autopilot system fault code 41 "Man Ovrd Overvolt" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Autopilot system fault code 42 "Man Ovrd Undervolt" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Autopilot system fault code 43 "Gear Lev Overvolt" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Autopilot system fault code 44 "Gear Lev Undervolt" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Autopilot system fault code 45 "RPM Too Low" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Autopilot system fault code 46 "Valve Coil Short" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Autopilot system fault code 47 "Valve Coil Imax" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Autopilot system fault code 48 "MOSFET Short" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Autopilot system fault code 49 "Coil Short to GND". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Autopilot system fault code 50 "Coil Shorted" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Autopilot system fault code 51 "Valve Pressure Fault" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Autopilot system fault code 52 "Sum Pressure Max" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Autopilot system fault code 53 "Sum Pressure Min" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

Autopilot system fault code 54 "SafeMCU Prog. Error" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Autopilot system fault code 55 "SafeMCU No Stack" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

Autopilot system fault code 56 "SafeMCU Msg Timeout" . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Autopilot system fault code 57 "Angle Out of Bounds" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Autopilot system fault code 58 "Steering Unsafe" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

Autopilot system fault code 59 "MCU2 Vel. Unsafe" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Autopilot system fault code 62 “Missing 1PPS” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Autopilot system fault code 64 "Output Balance Bad" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

Autopilot system fault code 65 "Output Bal. OverVol" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

Autopilot system fault code 66 "Output Bal. UnderV". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

Autopilot system fault code 67 "Steering In Fault" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

Autopilot system fault code 70 "Test Build Expired". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

Autopilot system fault code 71 "Top FET Sense Err". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Autopilot system fault code 72 "Left Pressure OvrVt" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

Autopilot system fault code 73 "Left Pressure UndVt" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

Autopilot system fault code 74 "Right Pressure OvrV" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

Autopilot system fault code 75 "Right Pressure UndV" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

Autopilot system fault code 76 "VT Assert Failure" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

Autopilot system fault code 77 "VT Object Pool Buffer Overflow" . . . . . . . . . . . . . . . . . . . . . . 85

Autopilot system fault code 78 "VT Comms Error" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

Autopilot system fault code 79 "VT Watchdog Timeout" . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

Autopilot system fault code 80 "PP Task Assert Failure" . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

Autopilot system fault code 81 "CAN-VT Assert Failure". . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

Autopilot system fault code 82 "CN Task Assert Failure" . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

Autopilot system fault code 83 "Steering Fault Overvoltage" . . . . . . . . . . . . . . . . . . . . . . . . . 91

Autopilot system fault code 84 "Steering Fault Undervoltage" . . . . . . . . . . . . . . . . . . . . . . . . 92

Autopilot system fault code 85 "Coil Short Slew Detected" . . . . . . . . . . . . . . . . . . . . . . . . . . 93

iv AgGPS Autopilot Automated Steering System Troubleshooting Guide

Autopilot system fault code 86 "Battery Voltage Low" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

Autopilot system fault code 87 "Battery Voltage High" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Autopilot system fault code 88 "Temperature High" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

Autopilot system fault code 89 "Temperature Low" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

Autopilot system fault code 90 "Fet or coil open". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

Autopilot system fault code 91 "Valve Wiring Fault". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

Autopilot system fault code 96 "Low side short to battery" . . . . . . . . . . . . . . . . . . . . . . . . . 100

Autopilot system fault code 97 "Coil overcurrent" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

Autopilot system fault code 98 "Internal Fault Hi Side" . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

Autopilot system fault code 99 "Internal Measurement Fault" . . . . . . . . . . . . . . . . . . . . . . . 103

Autopilot system fault code 106 "Internal Fault Low Side". . . . . . . . . . . . . . . . . . . . . . . . . . 104

Autopilot system fault code 107 "FE SendMsg Too Big" . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

Autopilot system fault code 108 "CAN Sensor OPS Message Timeout" . . . . . . . . . . . . . . . . . . 106

Autopilot system fault code 109 "CAN Sensor OPS Message Error" . . . . . . . . . . . . . . . . . . . . 107

Autopilot system fault code 110 "CAN Autoguidance Message Timeout" . . . . . . . . . . . . . . . . 108

Autopilot system fault code 111 "CAN Autoguidance Message Error (Vehicle Direction)" . . . . . . 109

Autopilot system fault code 112 "CAN Autoguidance Message Error (Isolation Valve Invalid)". . . 110

Autopilot system fault code 113 "CAN Autoguidance Message Error

(Isolation Valve Inconsistent)" . . . . . . . . . . . . . . . . . . . . . . . 111

Autopilot system fault code 114 "AutoTrac Quadrature Steering Override Not Detected" . . . . . . 112

Autopilot system fault code 115 "IMU Orientation Wrong" . . . . . . . . . . . . . . . . . . . . . . . . . 113

Autopilot system fault code 116 "Wheel Speed Sensor Input Is Not Detected" . . . . . . . . . . . . . 114

Autopilot system fault code 117 "AutoTrac Quadrature Steering Backup Not Detected" . . . . . . . 115

Autopilot system fault code 118 "Steering Status Report Packet Not Detected" . . . . . . . . . . . . 116

Autopilot system fault code 119 "Steering Override Parameter Error" . . . . . . . . . . . . . . . . . . 117

Autopilot system fault code 120 "Steering Override Parameter Not Available". . . . . . . . . . . . . 118

Autopilot system fault code 121 "Gear Lever Parameter Error" . . . . . . . . . . . . . . . . . . . . . . . 119

Autopilot system fault code 122 "Gear Lever Parameter Not Available" . . . . . . . . . . . . . . . . . 120

Autopilot system fault code 123 "Gear Lever Parameter Unknown" . . . . . . . . . . . . . . . . . . . . 121

Autopilot system fault code 124 "Road Lockout Switch Parameter Error" . . . . . . . . . . . . . . . . 122

Autopilot system fault code 125 "Gear Lever Parameter Not Available" . . . . . . . . . . . . . . . . . 123

Autopilot system fault code 126 "Steering Command Reset Required Parameter Error" . . . . . . . 124

Autopilot system fault code 127 "Steering Command Reset Required Parameter Not Available". . 125

Autopilot system fault code 128 "Steering Subsystem Ready Parameter Error" . . . . . . . . . . . . . 126

Autopilot system fault code 129 "Steering Subsystem Ready Parameter Not Available" . . . . . . . 127

Autopilot system fault code 130 "CAN Communication Status Parameter Error" . . . . . . . . . . . 128

Autopilot system fault code 131 "CAN Communication Status Parameter Not Available" . . . . . . 129

Autopilot system fault code 151 "Inching Pedal Depressed Parameter Error" . . . . . . . . . . . . . . 130

Autopilot system fault code 152 "Inching Pedal Depressed Parameter Not Available" . . . . . . . . 131

Autopilot system fault code 156 "Noisy 1PPS Signal" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132

Autopilot system fault code 157 "TAP Bounds Check Failed" . . . . . . . . . . . . . . . . . . . . . . . . 133

AgGPS Autopilot Automated Steering System Troubleshooting Guide v

3 AgGPS Autopilot System Harness Schematics . . . . . . . . . . . . . . . . . . 135Autopilot system cable architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136

Main harness: P/N 54601 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

Auxiliary harness: P/N 54602 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

SPX/STX/FLX power harness: P/N 54603 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

Challenger steering interface harness: P/N 54605 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

MX/TG power harness: P/N 54607 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

AgGPS 252 receiver harness: P/N 54608 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

21A secondary display harness: P/N 54609 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143

AgGPS 110/114/132 receiver harness: P/N 54610 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144

AgGPS 170 Field Computer harness: P/N 54611 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

EZ-Guide Plus Lightbar: P/N 54612 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146

LBO harness: P/N 54614 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147

Generic interface harness: P/N 54615. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148

Steering angle sensor harness: P/N 54616 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

Electro hydraulic valve harness: P/N 54617 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150

Pressure transducer harness: P/N 54618 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151

John Deere 8000 series interface harness: P/N 54619 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

Common interface harness: P/N 54620. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153

MX Magnum interface harness: P/N 54621 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

TG interface harness: P/N 54622. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

STX/TJ interface harness: P/N 54623 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

John Deere tracked interface harness: P/N 54624 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157

SPX interface harness: P/N 54625 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158

John Deere 47xx interface harness: P/N 54628 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

Terra-Gator interface harness: P/N 54629 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160

John Deere/Cat MT power interface harness: P/N 54630 . . . . . . . . . . . . . . . . . . . . . . . . . . 161

Gear lever interface harness: P/N 54632 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162

Challenger MT interface harness: P/N 54636 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163

SPX Power Adapter: P/N 54947 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164

AgGPS 252 data harness: P/N 55224. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165

Case IH 2388 interface harness: P/N 55650 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166

John Deere combine interface harness: P/N 55651 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167

Challenger 35-55 interface harness: P/N 55654 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168

John Deere 8020 AutoTrac interface harness: P/N 56133. . . . . . . . . . . . . . . . . . . . . . . . . . . 169

Challenger 65-95 Interface Cable: P/N 56190 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170

Hybrid interface harness: P/N 56694 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171

Challenger MT ISO interface harness: P/N 56850 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172

Remote engage harness: P/N 57260 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173

Challenger 35–55 engine interface harness: P/N 57313. . . . . . . . . . . . . . . . . . . . . . . . . . . . 174

Challenger 65–95 engine interface harness: P/N 57314. . . . . . . . . . . . . . . . . . . . . . . . . . . . 175

John Deere AutoTrac manual override harness: P/N 57535 . . . . . . . . . . . . . . . . . . . . . . . . . 176

John Deere AutoTrac valve harness: P/N 57536 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177

vi AgGPS Autopilot Automated Steering System Troubleshooting Guide

John Deere AutoTrac steering jumper harness: P/N 57541 . . . . . . . . . . . . . . . . . . . . . . . . . 178

AutoSense device harness: P/N 57560 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179

AutoSense vehicle harness: P/N 57885 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180

AgGPS FieldManager™ Display harness (Autopilot): P/N 58187 . . . . . . . . . . . . . . . . . . . . . . 181

AgGPS Autopilot Automated Steering System Troubleshooting Guide vii

viii AgGPS Autopilot Automated Steering System Troubleshooting Guide

C H A P T E R

1

AgGPS Autopilot System Tools 1

This chapter describes tools that are required for servicing the Trimble® AgGPS®

Autopilot™ automated steering system.

AgGPS Autopilot Automated Steering System Troubleshooting Guide 1

1 AgGPS Autopilot System Tools

1.1 Cable service kit for the AgGPS NavController II navigation controller

The Deutsch DTM Service kit is now available through Ladd Industries. This kit will support the repair or modification of cable connectors on the Trimble AgGPSNavController II navigation controller.

11.1 Part number availability

The kits come with pins and sockets for stamped and solid contacts. Because most cables are 16–20 gauge wire, use the DTT-20-00 crimping tool and corresponding stamped contacts.

However, if you currently use the HDT-48-00 crimping tool you can use the solid contacts with your crimper for 18 gauge wire, but the 16 gauge wire will not fit in the solid contact unless you trim the wire first.

Name Part number Image

Trimble Deutsch DTM service kit

7005-107

Crimping tool for size 20 pin 16-20 gauge wire and stamped contacts

DTT-20-00

Crimping tool for size 20 pin 18-24 gauge wire and solid contacts

HDT-48-00(TPN 5401-1568)

2 AgGPS Autopilot Automated Steering System Troubleshooting Guide


11.2 Ordering information

To place an order please contact:

Tina J. Sloan

Account Manager

LADD Industries

Tel: 800-223-1236

E-mail: [email protected]

On the order please include the:

• Shipping address

• Billing account information or credit card details (type of card, expiry date, and name on card)

• Telephone number

Please state that you are a Trimble Dealer to ensure you get preferential Trimble pricing.

Note – This offer is only available in the United States, and Ladd has a minimum order of

$50 when re-ordering.



1.2 Hydraulic test kit for the AgGPS Autopilot systemThis section describes how to build a kit to test the Autopilot system hydraulics. You can obtain a test kit by buying:

• individual components from third-party companies

• a pre-assembled kit from TIFCO Industries

12.1 Building a basic test kit

Include the following components in a basic test kit:

Name Quantity Part number Example

Hydraulic adaptor 1 4-4 LOHL6GP5TP





Hydraulic adaptor 1 4-4 XHX6G5TP







Hydraulic adaptor 6 PD331

Hydraulic adaptor 4 PD242

18"–24" hydraulic hose 1 PDH-19

Hypro pressure gauge:2-1/2 LF SS 1/4 BM 5000 PSI

1 (Hypro part number):GG5000

Hypro pressure gauge:2-1/2 LF SS 1/4 BM 3000 PSI

1 (Hypro part number):GG3000

Hypro pressure gauge:

2-1/2 LF SS 1/4 BM 600 PSI

2 (Hypro part number):

GG600

Hypro pressure gauge:

2-1/2 LF SS 1/4 BM 200 PSI

2 (Hypro part number):

GG200




Building a complete test kit

To create a complete test kit, include the following additional components:

12.2 Valve cartridges

For a complete test kit, add the following valve cartridges:

For use with H2


Digital pressure gauge 2 SCM-050-0-PD

Flow meter alum 3500 psi, 2–2.0 GPM, 1/4 NPTF

1 (Hedland part number):H201A-020

Flow meter alum 3500 psi, 5–5.0 GPM, 1/2 SAE


Flow meter alum 3500 psi, 3–30 GPM, 3/4 SAE


Description Part number

Eaton bipass 160 psi – Hybrid 56922

Eaton bipass 40 psi – Hybrid 59119

Eaton P-comp 160 psi – Hybrid 56910

Eaton P-comp 40 psi – Hybrid 56909

Eaton P-comp plug – Hybrid 56907

Eaton PTS 160 – Hybrid 56905



Basic SUN cartridges for PSV4 and Counterbalance manifold

Ordering information

12.3 Alternative options

TIFCO Industries sells a pre-assembled kit that is designed for the agricultural market. Go to http://www.tifco.com/Page_26x.html.

Description Part number Part number

SUN Counter Balance cartridge in counterbalance valve 47284 CBCA-LHN

SUN 50 psi PressureComp cartridge in PSV4 55147 LPDC-XDN

SUN 150 psi Pressure Comp cartridge in PSV4 2523–2018 LPDC-XGN

Company Web address

Parker Diagnostics http://www.parker.com/catalogs/catalog.asp?nav=1&type=1&id=9

Hypro Gauges http://www.hypropumps.com/Agriculture/Liquid_Gauges.cfm?bums=Agriculture

Hedland Flow Meters http://www.hedland.com


http://www.parker.com/catalogs/catalog.asp?nav=1&type=1&id=9

http://www.hypropumps.com/Agriculture/Liquid_Gauges.cfm?bums=Agriculture

http://www.hedland.com



C H A P T E R

2

AgGPS Autopilot System Fault Codes 2

This chapter describes the controller LED states and the error codes that can occur on the AgGPS Autopilot automated steering system. It then explains how to correct the faults.


2 AgGPS Autopilot System Fault Codes

2.1 LED statesThere are four LED states that indicate the status of the NavController II navigation controller:

LED state Controller status Solution

Solid on MCU not working Autopilot function not available

Slow blinking at 0.5 Hz Fail-safe monitor mode Autopilot function not available. Need to reflash firmware.

Medium blinking at 1 Hz Monitor mode (usually when connected to Flashloader software)

Autopilot function not available

Rapid blinking at 12 Hz Application mode Normal operation



2.2 Autopilot system fault code 1 "FE Send Message"

22.1 Cause

A critical Autopilot system fault has occurred. The fault condition must be explicitly cleared to resume Autopilot system operation.

22.2 Possible failure modes

This is an operating system fault. It occurs when the inter-task message queue becomes filled for a specific task. This can happen primarily through excessive throughput loading on the processor or through a firmware defect.

Note – If this is a very intermittent problem, use the display to clear the controller fault

and continue to operate.

22.3 Solution

STEP 1: Clear the fault code

a. On the display, check the fault detail.

b. Record the fault code. Now select OK.

STEP 2: Check version of controller firmware (EZ-Guide® Plus lightbar)

a. On the display, check the software version.

b. From the Configuration screen, select AUTOPILOT and then select DIAGNOSTIC.

c. Review the application version and date.

d. Update controller firmware to latest revision if available.

e. If the fault code is a continuous problem, contact technical support.

STEP 2: Check version of controller firmware (AgGPS 170 field computer)


b. From the main menu, select EQUIPMENT and then select AgGPS AUTOPILOT.






2.3 Autopilot system fault code 2 "FE Task Init."

23.1 Cause



This is an operating system fault. It occurs when task initialization fails for a specific task.



23.3 Solution




STEP 2: Check version of controller firmware (EZ-Guide Plus lightbar)














2.4 Autopilot system fault code 3 "FE Go Trap"

24.1 Cause



This is an operating system fault. It occurs when the operating system startup fails. This can happen primarily through excessive throughput loading on the processor, or through a firmware defect.



24.3 Solution


















2.5 Autopilot system fault code 4 "A/D Scan Timeout"

25.1 Cause



This is an operating system fault due to data sampling task failure. It occurs when the high precision ADC scan (used to sample IMU) fails to complete on time.



25.3 Solution


















2.6 Autopilot system fault code 5 "A/D Scan Overrun"

26.1 Cause



This is an operating system fault due to data sampling task failure. It occurs when the prior high precision ADC scan fails to complete before the next one begins.



26.3 Solution


















2.7 Autopilot system fault code 6 "A/D Data Not Ready"

27.1 Cause



This is an operating system fault due to data sampling task failure. It occurs when some portion of the data acquisition sequence fails to complete on time.



27.3 Solution


















2.8 Autopilot system fault code 7 "A/D Chan Overrun"

28.1 Cause



This is an operating system fault due to data sampling task failure. It occurs when a high precision ADC interrupt occurs after all channels have been scanned.



28.3 Solution


















2.9 Autopilot system fault code 8 "Vpp Jumpered"

29.1 Cause

This is an internal flash programming error during assembly.


This fault occurs when the internal flash programming voltage jumper is detected as being attached. This jumper should only be applied during the programming of the boot-monitor. This is a manufacturing error during assembly.

29.3 Solution




c. If fault code 8 "Vpp Jumpered" reappears, contact technical support.



2.10Autopilot system fault code 9 "Battery Bad"

210.1 Cause

This fault occurs when the internal NVRAM backup battery status indicates a low voltage.


If this is a very intermittent problem, use the display to clear the controller fault and continue to operate.

210.3 Solution














STEP 3:a. This indicates possible controller hardware failure. Replace controller.



2.11Autopilot system fault code 11 "SP Open Failed"

211.1 Cause

A critical Autopilot system fault has occurred. This error occurs when a serial port initialization fails. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when a serial port initialization fails.



211.3 Solution


















2.12Autopilot system fault code 12 "Matrix Inv. Failed"

212.1 Cause

A critical Autopilot system fault has occurred. This is an operating system error. The fault condition must be explicitly cleared to resume Autopilot system operation.


This fault is a math library failure. It occurs when a matrix inversion attempt fails.



212.3 Solution


















2.13Autopilot system fault code 13 "MATHERR Exception"

213.1 Cause



This fault is a math library failure. It occurs when a double precision floating point operation or function fails.



213.3 Solution


















2.14Autopilot system fault code 14 "MATHERRF Exception"

214.1 Cause



This fault is a math library failure. It occurs when a single precision floating point operation or function fails.



214.3 Solution


















2.15Autopilot system fault code 15 "Fatal Error Reboot"

215.1 Cause

A critical Autopilot system fault has occurred. This error occurs when the controller suffers a fatal error and performs a reboot.


This fault occurs when the controller suffers a fatal error and performs a reboot. A classic example is a brief interruption of electrical power to the controller.



215.3 Solution


















2.16Autopilot system fault code 16 "App Undefined ISR"

216.1 Cause

A critical Autopilot system fault has occurred. This error occurs when an uninitialized CPU interrupt is detected. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when an uninitialized CPU interrupt is detected.



216.3 Solution


















2.17Autopilot system fault code 17 "TPU Undefined ISR"

217.1 Cause

A critical Autopilot system fault has occurred. This error occurs when an uninitialized TPU module interrupt is detected. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when an uninitialized TPU module interrupt is detected.



217.3 Solution




STEP 2: Check version of controller firmware (EZ-Guide Plus)














2.18Autopilot system fault code 18 "MIOS1 Undefined ISR"

218.1 Cause

A critical Autopilot system fault has occurred. This error occurs when an uninitialized MIOS1 module interrupt is detected. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when an uninitialized MIOS1 module interrupt is detected.



218.3 Solution


















2.19Autopilot system fault code 19 "QADC Undefined ISR"

219.1 Cause

A critical Autopilot system fault has occurred. This error occurs when an uninitialized QADC64 module interrupt is detected. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when an uninitialized QADC64 module interrupt is detected.



219.3 Solution


















2.20Autopilot system fault code 21 "Uninit. App Assert"

220.1 Cause

A critical Autopilot system fault has occurred. This error occurs when an application assert is called with an unregistered error type. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when an application assert is called with an unregistered error type.



220.3 Solution


















2.21Autopilot system fault code 22 "Acc X Overvoltage"

221.1 Cause

A critical Autopilot system fault has occurred. This error occurs when the voltage from the X-axis accelerometer is sampled at a value greater than 4.99924 volts. The fault condition must be cleared to resume Autopilot system operation.


This error occurs when the voltage from the X-axis accelerometer is sampled at a value greater than 4.99924 volts.



221.3 Solution














STEP 3: Drive the vehicle 6-8 mph for about 100 yards to orientate the controller

a. If the fault code reappears, contact technical support.

b. If the fault code is a persistent problem, replace the controller. Possible causes include IMU sensor or cable failure.



2.22Autopilot system fault code 23 "Acc X Undervoltage"

222.1 Cause

A critical Autopilot system fault has occurred. This error occurs when the voltage from the X-axis accelerometer is sampled at a value less than 0.00076 volts. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when the voltage from the X-axis accelerometer is sampled at a value less than 0.00076 volts.



222.3 Solution



















2.23Autopilot system fault code 24 "Acc Y Overvoltage"

223.1 Cause

A critical Autopilot system fault has occurred. This error occurs when the voltage from the Y-axis accelerometer is sampled at a value greater than 4.99924 volts. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when the voltage from the Y-axis accelerometer is sampled at a value greater than 4.99924 volts.



223.3 Solution



















2.24Autopilot system fault code 25 "Acc Y Undervoltage"

224.1 Cause

A critical Autopilot system fault has occurred. This error occurs when the voltage from the Y-axis accelerometer is sampled at a value less than 0.00076 volts. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when the voltage from the Y-axis accelerometer is sampled at a value less than 0.00076 volts.



224.3 Solution



















2.25Autopilot system fault code 26 "Acc Z Overvoltage"

225.1 Cause

A critical Autopilot system fault has occurred. This error occurs when the voltage from the Z-axis accelerometer is sampled at a value greater than 4.99924 volts. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when the voltage from the Z-axis accelerometer is sampled at a value greater than 4.99924 volts.



225.3 Solution



















2.26Autopilot system fault code 27 "Acc Z Undervoltage"

226.1 Cause

A critical Autopilot system fault has occurred. This error occurs when the voltage from the Z-axis accelerometer is sampled at a value less than 0.00076 volts. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when the voltage from the Z-axis accelerometer is sampled at a value less than 0.00076 volts.



226.3 Solution



















2.27Autopilot system fault code 28 "Gyro X Overvoltage"

227.1 Cause

A critical Autopilot system fault has occurred. This error occurs when the voltage from the X-axis gyro is sampled at a value greater than 4.99924 volts. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when the voltage from the X-axis gyro is sampled at a value greater than 4.99924 volts.



227.3 Solution














STEP 3: Drive the vehicle 6-8 mph for about 100 yards to orientate the controller gyro





2.28Autopilot system fault code 29 "Gyro X Undervoltage"

228.1 Cause

A critical Autopilot system fault has occurred. This error occurs when the voltage from the X-axis gyro is sampled at a value less than 0.00076 volts. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when the voltage from the X-axis gyro is sampled at a value less than 0.00076 volts.



228.3 Solution



















2.29Autopilot system fault code 30 "Gyro Y Overvoltage"

229.1 Cause

A critical Autopilot system fault has occurred. This error occurs when the voltage from the Y-axis gyro is sampled at a value greater than 4.99924 volts. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when the voltage from the Y-axis gyro is sampled at a value greater than 4.99924 volts.



229.3 Solution



















2.30Autopilot system fault code 31 "Gyro Y Undervoltage"

230.1 Cause

A critical Autopilot system fault has occurred. This error occurs when the voltage from the Y-axis gyro is sampled at a value less than 0.00076 volts. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when the voltage from the Y-axis gyro is sampled at a value less than 0.00076 volts.



230.3 Solution



















2.31Autopilot system fault code 32 "Gyro Z Overvoltage"

231.1 Cause

A critical Autopilot system fault has occurred. This error occurs when the voltage from the Z-axis gyro is sampled at a value greater than 4.99924 volts. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when the voltage from the Z-axis gyro is sampled at a value greater than 4.99924 volts.



231.3 Solution



















2.32Autopilot system fault code 33 "Gyro Z Undervoltage"

232.1 Cause

A critical Autopilot system fault has occurred. This error occurs when the voltage from the Z-axis gyro is sampled at a value less than 0.00076 volts. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when the voltage from the Z-axis gyro is sampled at a value less than 0.00076 volts.



232.3 Solution



















2.33Autopilot system fault code 34 "Heater Overvoltage"

233.1 Cause

A critical Autopilot system fault has occurred. This error occurs when the voltage from the IMU thermistor is sampled at a value greater than 4.99924 volts. The fault condition must be explicitly cleared to resume Autopilot system operation.


This error occurs when the voltage from the IMU thermistor is sampled at a value greater than 4.99924 volts.



233.3 Solution


















2.34Autopilot system fault code 35 "Heater Undervoltage"

234.1 Cause

A critical Autopilot system fault has occurred. This error occurs when the voltage from the IMU thermistor is sampled at a value less than 0.00076 volts. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when the voltage from the IMU thermistor is sampled at a value less than 0.00076 volts.



234.3 Solution


















2.35Autopilot system fault code 36 "VRef Overvoltage"

235.1 Cause

A critical Autopilot system fault has occurred. This error occurs when the voltage from the IMU precision voltage reference is sampled at a value greater than 4.99924 volts. The fault condition must be explicitly cleared to resume Autopilot system operation.


This fault occurs when the voltage from the IMU precision voltage reference is sampled at a value greater than 4.99924 volts.



235.3 Solution









e. If the fault code is a continuous problem, contact technical support. You may need to replace the controller. Possible causes include IMU sensor or cable failure.









2.36Autopilot system fault code 37 "VRef Undervoltage"

236.1 Cause

A critical Autopilot system fault has occurred. This error occurs when the voltage from the IMU precision voltage reference is sampled at a value less than 0.00076 volts. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when the voltage from the IMU precision voltage reference is sampled at a value less than 0.00076 volts.



236.3 Solution


















2.37Autopilot system fault code 39 "Steering Overvolt"

237.1 Cause

A critical Autopilot system fault has occurred. This error occurs when the voltage from the steering sensor is sampled at a value greater than 4.85 volts. The fault condition must be cleared to resume Autopilot system operation. Also check steering sensor connection and operation.


This error occurs when the voltage from the steering sensor is sampled at a value greater than 4.85 volts.



237.3 Solution
















STEP 3: Check the connection and integrity of the steering sensor harness

a. Use the Autopilot Toolbox software to check the Steering Sensor Calibration setting.

b. Observe the sensor volts. It should read close to 2.5 volts at the center position. Center position is with the front tires or tractor pointing forward in a straight line.

c. Perform the Steering Sensor Calibration Test. Observe the voltage range left – center – right. Normal voltage range is a +/- 1.25 –1.75 volts from the center value.

d. Also observe the smoothness of the voltage reading from the steering sensor. If the voltage readings from the steering sensor are erratic replace the steering sensor.

e. Perform the Steering Sensor Calibration Test on the new steering sensor.

f. If the fault code is a persistent problem, contact technical support group.



2.38Autopilot system fault code 40 "Steering Undervolt"

238.1 Cause

A critical Autopilot system fault has occurred. This error occurs when the voltage from the steering sensor is sampled at a value less than 0.15 volts. The fault condition must be cleared to resume Autopilot system operation. Also check steering sensor connection and operation.


This error occurs when the voltage from the steering sensor is sampled at a value less than 0.15 volts.



238.3 Solution
















STEP 3: Check the connection and integrity of the steering sensor harness

a. Use the Autopilot Toolbox software to check the Steering Sensor Calibration setting.

b. Observe the sensor volts. It should read close to 2.5 volts at the center position. Center position is with the front tires or tractor pointing forward in a straight line.

c. Perform the Steering Sensor Calibration Test. Observe the voltage range left – center – right. Normal voltage range is a +/- 1.25 –1.75 volts from the center value.

d. Also observe the smoothness of the voltage reading from the steering sensor. If the voltage readings from the steering sensor are erratic replace the steering sensor.

e. Perform the Steering Sensor Calibration Test on the new steering sensor.

f. If the fault code is a persistent problem, contact technical support group.



2.39Autopilot system fault code 41 "Man Ovrd Overvolt"

239.1 Cause

A critical Autopilot system fault has occurred. This error occurs when the voltage from the manual override sensor is sampled at a value greater than 4.5 volts. The fault condition must be cleared to resume Autopilot system operation. Also check Hydraulic Pressure Transducer.


This error occurs when the voltage from the manual override sensor is sampled at a value greater than 4.5 volts.



239.3 Solution














STEP 3: Check the connection and integrity of the wire harness to the steering valve and hydraulic pressure transducer



STEP 4: Determine the voltage range and response of the hydraulic pressure transducer

a. Use the Autopilot Toolbox software to check the hydraulic pressure transducer.

b. Click the Edit Setup/Diagnostics icon and then select the Diagnostics tab. Select Manual Override, and then press the Edit button.

c. Observe the "State" & "Raw" voltage from the hydraulic pressure transducer. Turn the steering in either direction and observe the info. Once you touch the steering wheel, the system should change from "Inactive" to "Active" status. Thus indicating an operator input from the steering wheel. Also the voltage should spike and then level out to the previous "Inactive" reading.

d. A possible cause is pressure transducer failure. Replace the hydraulic pressure transducer if there is no response or an erratic response.

e. If the fault code is a persistent problem, contact technical support.



2.40Autopilot system fault code 42 "Man Ovrd Undervolt"

240.1 Cause

A critical Autopilot system fault has occurred. This error occurs when the voltage from the manual override sensor is sampled at a value less than 0.3 volts. The fault condition must be cleared to resume Autopilot system operation. Also check Hydraulic Pressure Transducer.


This fault occurs when the voltage from the manual override sensor is sampled at a value less than 0.3 volts.



240.3 Solution














STEP 3: Check the connection and integrity of the wire harness to the steering valve and hydraulic pressure transducer



STEP 4: Determine the voltage range and response of the hydraulic pressure transducer

a. Use the Autopilot Toolbox software to check the hydraulic pressure transducer.

b. Click the Edit Setup/Diagnostics icon and then select the Diagnostics tab. Select Manual Override, and then press the Edit button.

c. Observe the "State" & "Raw" voltage from the hydraulic pressure transducer. Turn the steering in either direction and observe the info. Once you touch the steering wheel, the system should change from "Inactive" to "Active" status. Thus indicating an operator input from the steering wheel. Also the voltage should spike and then level out to the previous "Inactive" reading.

d. A possible cause is pressure transducer failure. Replace hydraulic pressure transducer if there is no response or an erratic response.




2.41Autopilot system fault code 43 "Gear Lev Overvolt"

241.1 Cause

A critical Autopilot system fault has occurred. This error occurs when the voltage from the gear level sensor is sampled at a value greater than 4.952 volts. The fault condition must be cleared to resume AgGPS Autopilot system operation. Clear controller guidance faults and check gear lever status with the AgGPS Autopilot Toolbox software.


This fault occurs when the voltage from the gear level sensor is sampled at a value greater than 4.952 volts.



241.3 Solution














STEP 3: Check the wire connections and integrity of the wire harness. Also check the integrity of the gear lever sensor.



STEP 4: Use the AgGPS Autopilot Toolbox software to determine the gear lever sensor response

a. Operate the vehicle in a safe location.

b. Use the AgGPS Autopilot Toolbox software to check the gear lever sensor response.

c. Click the Edit Setup/Diagnostics icon and then select the Diagnostics tab. Select Gear Lever Indication and then press the Edit button.

d. Observe the "State" status upon changing from park to forward gear and park to reverse gear. Sensor response should indicate the correct directional change.




2.42Autopilot system fault code 44 "Gear Lev Undervolt"

242.1 Cause

A critical Autopilot system fault has occurred. This error occurs when the voltage from the gear level sensor is sampled at a value less than 0.15 volts. The fault condition must be cleared to resume Autopilot system operation. Clear controller guidance faults and check gear lever status with the Autopilot Toolbox software.


This error occurs when the voltage from the gear level sensor is sampled at a value less than 0.15 volts.



242.3 Solution














STEP 3: Check the wire connections and integrity of the wire harness. Also check the integrity of the gear lever sensor.

STEP 4: Use the AgGPS Autopilot Toolbox software to determine the gear lever sensor response

a. Operate the vehicle in a safe location.

b. Use the Autopilot Toolbox software to check the gear lever sensor response.



c. Click the Edit Setup/Diagnostics icon and then select the Diagnostics tab. Select Gear Lever Indication and then press the Edit button.

d. Observe the "State" status upon changing from park to forward gear and park to reverse gear. Sensor response should indicate the correct directional change.




2.43Autopilot system fault code 45 "RPM Too Low"

243.1 Cause

A critical Autopilot system fault has occurred. This fault occurs when the measured engine RPM frequency falls below the minimum expected for a tracked vehicle. The fault condition must be cleared to resume Autopilot system operation. Check for damaged RPM cable harness.


This fault occurs when the measured engine RPM frequency falls below the minimum expected for a tracked vehicle.



243.3 Solution














STEP 3: Check the integrity of the steering valve cable harness

a. Also check the RPM sensor and cable connections.

b. If the fault code is a persistent problem, contact technical support.



2.44Autopilot system fault code 46 "Valve Coil Short"

244.1 Cause

A critical Autopilot system fault has occurred. This error occurs when hardware over-current detection indicates a fault. The fault condition must be cleared to resume Autopilot system operation. Check for a damaged steering valve cable harness or steering valve coil failure.


This error occurs when hardware over-current detection indicates a fault.



244.3 Solution















a. Also check the integrity of the steering valve coils and cable connections.




2.45Autopilot system fault code 47 "Valve Coil Imax"

245.1 Cause

A critical Autopilot system fault has occurred. This error occurs when hardware over-current detection indicates a fault. The fault condition must be cleared to resume Autopilot system operation. Check for damaged steering valve cable harness or steering valve coil failure.


This error occurs when hardware over-current detection indicates a fault.



245.3 Solution














STEP 3: Check the integrity of the steering valve cable harnessSTEP 4: Check the integrity of the steering valve coils and cable

connections

a. If the fault code is a persistent problem, contact technical support.



2.46Autopilot system fault code 48 "MOSFET Short"

246.1 Cause

A critical Autopilot system fault has occurred. This error occurs when the sum of the sampled current through the electro-hydraulic solenoids is greater than 3.0 Amps. The fault condition must be cleared to resume Autopilot system operation. Check for a damaged steering valve cable harness or steering valve coil failure.


This error occurs when the sum of the sampled current through the electro-hydraulic solenoids is greater than 3.0 Amps.



246.3 Solution














STEP 3: Check the integrity of the steering valve cable harnessSTEP 4: Check the integrity of the steering valve coils and cable

connections




2.47Autopilot system fault code 49 "Coil Short to GND"

247.1 Cause

A critical Autopilot system fault has occurred. This error occurs when the sum of the sampled current through the electro-hydraulic solenoids falls below the expected minimum for automatic mode operation. The minimum value for front steer vehicles is 0.12 Amps. The minimum for articulated steer vehicles 0.035 Amps. The fault condition must be cleared to resume Autopilot system operation. Check for a damaged steering valve cable harness or steering valve coil failure.


This error occurs when the sum of the sampled current through the electro-hydraulic solenoids falls below the expected minimum for automatic mode operation. The minimum value is 0.12 Amps,



247.3 Solution














STEP 3: Check the integrity of the steering valve cable harnessSTEP 4: Also check the integrity of the steering valve coils and cable

connections. Check for possible steering valve failureSTEP 5: Check for an incorrect valve installed for vehicle selected

Confirm correct steering valve and manifold




2.48Autopilot system fault code 50 "Coil Shorted"

248.1 Cause

System fault detected. This error occurs when a sampled current through one of the electro-hydraulic solenoids is greater than 5.0 Amps. The fault condition must be cleared to resume Autopilot system operation. Check for a damaged steering valve cable harness or steering valve coil failure.


This error occurs when a sampled current through one of the electro-hydraulic solenoids is greater than 5.0 Amps.



248.3 Solution














STEP 3: Check the integrity of the steering valve cable harness and steering valve coils




2.49Autopilot system fault code 51 "Valve Pressure Fault"

249.1 Cause

A critical Autopilot system fault has occurred. This fault occurs when the sampled pressure from one of the electro-hydraulic solenoids is lager than the expected maximum. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when the sampled pressure from one of the electro-hydraulic solenoids is lager than the expected maximum.



249.3 Solution



















2.50Autopilot system fault code 52 "Sum Pressure Max"

250.1 Cause

A critical Autopilot system fault has occurred. This fault occurs when the sum of the sampled pressures from both of the electro-hydraulic solenoids is larger than the expected maximum. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when the sum of the sampled pressures from both of the electro-hydraulic solenoids is larger than the expected maximum.



250.3 Solution



















2.51Autopilot system fault code 53 "Sum Pressure Min"

251.1 Cause

A critical Autopilot system fault has occurred. This fault occurs when the sum of the sampled pressures from both of the electro-hydraulic solenoids is less than the expected minimum. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when the sum of the sampled pressures from both of the electro-hydraulic solenoids is less than the expected minimum.



251.3 Solution



















2.52Autopilot system fault code 54 "SafeMCU Prog. Error"

252.1 Cause

A critical Autopilot system fault has occurred. This error occurs when a failure in the Safety MCU programming process occurs. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when a failure in the Safety MCU programming process occurs.



252.3 Solution


















2.53Autopilot system fault code 55 "SafeMCU No Stack"

253.1 Cause

A critical Autopilot system fault has occurred. This error occurs when a failure in the Safety MCU reports that it is out of stack space. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when a failure in the Safety MCU reports that it is out of stack space.



253.3 Solution


















2.54Autopilot system fault code 56 "SafeMCU Msg Timeout"

254.1 Cause

A critical Autopilot system fault has occurred. This error occurs when the safety MCU reports that the main MCU communication has had a timeout. The fault condition must be cleared to resume Autopilot system operation.


This error occurs when the safety MCU reports that the main MCU communication has had a timeout.



254.3 Solution


















2.55Autopilot system fault code 57 "Angle Out of Bounds"

255.1 Cause

A critical Autopilot system fault has occurred. This error occurs when the safety MCU reports that the steering angle sensor indicates that the wheel position exceeds the specified maximum angle. The fault condition must be cleared to resume Autopilot system operation.


This error occurs when the safety MCU reports that the steering angle sensor indicates that the wheel position exceeds the specified maximum angle.



255.3 Solution


















2.56Autopilot system fault code 58 "Steering Unsafe"

256.1 Cause

A critical Autopilot system fault has occurred. This error occurs when the safety MCU reports some condition, which is unsafe for automatic operation. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when the safety MCU reports some condition, which is unsafe for automatic operation.



256.3 Solution


















2.57Autopilot system fault code 59 "MCU2 Vel. Unsafe"

257.1 Cause

A critical Autopilot system fault has occurred. This error occurs when the safety MCU reports that the wheel speed sensor frequency is too low for automatic operation. The fault condition must be cleared to resume Autopilot system operation.


This error occurs when the safety MCU reports that the wheel speed sensor frequency is too low for automatic operation.



257.3 Solution














STEP 3: Consult vehicle service manual for proper transmission speed sensor adjustment or specs

a. If the fault code is a persistent problem, contact technical support. Possible controller guidance hardware failure.



2.58Autopilot system fault code 62 “Missing 1PPS”

258.1 Cause

There is no PPS signal from the receiver.


This fault occurs when the cable is broken or when the receiver is not working correctly.

258.3 Solution

STEP 1: Check the cabling to the receiver and PPS line

STEP 2: Reset the receiver

STEP 3: Contact Trimble support



2.59Autopilot system fault code 64 "Output Balance Bad"

259.1 Cause

A critical Autopilot system fault has occurred. This fault occurs when the output balance voltage from the ELC steering interface is outside the stated voltage. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when the output balance voltage from the ELC steering interface is outside the stated voltage.



259.3 Solution


















2.60Autopilot system fault code 65 "Output Bal. OverVol"

260.1 Cause

A critical Autopilot system fault has occurred. This fault occurs when the output balance voltage from the ELC steering interface is too close to the +5v rail. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when the output balance voltage from the ELC steering interface is too close to the +5v rail.



260.3 Solution

STEP 1: Clear the fault code.

















2.61Autopilot system fault code 66 "Output Bal. UnderV"

261.1 Cause

A critical Autopilot system fault has occurred. This fault occurs when the output balance voltage from the ELC steering interface is too close to the 0v rail. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when the output balance voltage from the ELC steering interface is too close to the 0v rail.



261.3 Solution


















2.62Autopilot system fault code 67 "Steering In Fault"

262.1 Cause

A critical Autopilot system fault has occurred. This fault occurs when the fault indication from the ELC steering interface indicates a fault has occurred. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when the fault indication from the ELC steering interface indicates a fault has occurred.



262.3 Solution


















2.63Autopilot system fault code 70 "Test Build Expired"

263.1 Cause

A critical Autopilot system fault has occurred. This error occurs when the expiration date of the currently loaded controller firmware has been reached. The fault will persist, preventing automatic mode. Upgrade controller guidance to the latest released firmware.


This error occurs when the expiration date of the currently loaded controller firmware has been reached.



263.3 Solution














STEP 3: AgGPS 252 GPS receiver is generating false time

a. Reinitialize or cycle power on the GPS receiver. You might need to restore the receiver to factory defaults by clearing BB Ram by using the AgRemote software version 2.xx.

b. If the fault code is a persistent problem, contact technical support. Possible controller guidance hardware failure.



2.64Autopilot system fault code 71 "Top FET Sense Err"

264.1 Cause

A critical Autopilot system fault has occurred. This error occurs when the sum of the sampled current through the electro-hydraulic solenoids, is larger than the expected minimum for manual mode operation. The threshold for front steer vehicles is 0.12 Amps. The minimum for articulated steer vehicles is 0.035 Amps. Check the integrity of the cable harness and steering valve coils.


This error occurs when the sum of the sampled current through the electro-hydraulic solenoids, is larger than the expected minimum for manual mode operation. The threshold is 0.12 Amps.



264.3 Solution














STEP 3: Check the integrity of the steering valve cable harnessSTEP 4: Check the integrity of the Steering Valve Coils and cable

connectionsSTEP 5: Check for possible steering valve failureSTEP 6: If the fault code is a persistent problem, contact technical

support

a. There is a possible controller guidance hardware failure.



2.65Autopilot system fault code 72 "Left Pressure OvrVt"

265.1 Cause

A critical Autopilot system fault has occurred. This fault occurs when the voltage from the left pump pressure sensor is sampled at a value too close to the +5v rail. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when the voltage from the left pump pressure sensor is sampled at a value too close to the +5v rail.



265.3 Solution



b. Record the fault code. Now select the OK button.















2.66Autopilot system fault code 73 "Left Pressure UndVt"

266.1 Cause

A critical Autopilot system fault has occurred. This fault occurs when the voltage from the left pump pressure sensor is sampled at a value too close to the 0v rail. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when the voltage from the left pump pressure sensor is sampled at a value too close to the 0v rail.



266.3 Solution


















2.67Autopilot system fault code 74 "Right Pressure OvrV"

267.1 Cause

A critical Autopilot system fault has occurred. This fault occurs when the voltage from the right pump pressure sensor is sampled at a value too close to the +5v rail. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when the voltage from the right pump pressure sensor is sampled at a value too close to the +5v rail.



267.3 Solution



b. Record the fault code. Now click the OK button.















2.68Autopilot system fault code 75 "Right Pressure UndV"

268.1 Cause

A critical Autopilot system fault has occurred. This fault occurs when the voltage from the right pump pressure sensor is sampled at a value too close to the +5v rail. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when the voltage from the right pump pressure sensor is sampled at a value too close to the +5v rail.



268.3 Solution


















2.69Autopilot system fault code 76 "VT Assert Failure"

269.1 Cause

A critical Autopilot system fault has occurred. This is a firmware error. It occurs when a fault is detected in the display object pool management section. The fault condition must be cleared to resume Autopilot system operation. Update controller firmware to latest revision.


This is a firmware error. It occurs when a fault is detected in the display object pool management section.



269.3 Solution














STEP 3: Check the integrity of the cable harness (termination/noise).STEP 4: If the fault code is a persistent problem, contact technical

support.



2.70Autopilot system fault code 77 "VT Object Pool Buffer Overflow"

270.1 Cause

A critical Autopilot system fault has occurred. This is a firmware error. It occurs when the object pool message buffer overflows. The object pool buffers message during working set upload, prior to first activation of working set, and while display is changing data masks. The fault condition must be cleared to resume Autopilot system operation. Update controller and display firmware to latest revisions.


This is a firmware error. It occurs when the object pool message buffer overflows.



270.3 Solution














STEP 3: Check the integrity of the cable harness (termination/noise)STEP 4: If the fault code is a persistent problem, contact technical

support



2.71Autopilot system fault code 78 "VT Comms Error"

271.1 Cause

A critical Autopilot system fault has occurred . This error occurs when a communication error is detected between the controller and Display. The fault condition must be cleared to resume Autopilot system operation. Update controller and display firmware to latest revisions. Remove any recently added CAN bus ECUs (implements).


This error occurs when a communication error is detected between the controller and Display.



271.3 Solution














STEP 5: Check the integrity of the cable harness (termination/noise)STEP 6: Remove any recently added CAN bus ECUs (implements)STEP 7: If the fault code is a persistent problem, contact technical

support



2.72Autopilot system fault code 79 "VT Watchdog Timeout"

272.1 Cause

A critical Autopilot system fault has occurred. This error occurs when the Display Manager detects a timeout on a command sent to the display or on a wait for a message from the Display. The fault condition must be cleared to resume Autopilot system operation. Update controller guidance and display firmware to latest revisions. Remove any recently added CAN bus ECUs (implements).


This error occurs when the Display Manager detects a timeout on a command sent to the display or on a wait for a message from the Display.



272.3 Solution














STEP 3: Update the display firmware (CAN Bus)

a. Possible display firmware defect.


support



2.73Autopilot system fault code 80 "PP Task Assert Failure"

273.1 Cause

A critical Autopilot system fault has occurred. This is a firmware error. It occurs when a fault is detected in the Path Planning task section. The fault condition must be cleared to resume Autopilot system operation.


This is a firmware error. It occurs when a fault is detected in the Path Planning task section.



273.3 Solution














STEP 3: Data Failure (job or GPS receiver)

a. Cycle power on Ag252 GPS receiver.

b. Reload current job.

STEP 4: If the fault code is a persistent problem, contact technical support



2.74Autopilot system fault code 81 "CAN-VT Assert Failure"

274.1 Cause

A critical Autopilot system fault has occurred. This is a firmware error. It occurs when a fault is detected in the display CAN layer section. The fault condition must be cleared to resume Autopilot system operation. Update controller guidance and display firmware to latest revisions. Remove any recently added CAN bus ECUs (implements).


This is a firmware error. It occurs when a fault is detected in the display CAN layer section.



274.3 Solution














STEP 3: Update the display firmware (CAN Bus)STEP 4: Check the integrity of the cable harness (termination/noise)STEP 5: Remove any recently added CAN bus ECUs (implements)STEP 6: If the fault code is a persistent problem, contact technical

support



2.75Autopilot system fault code 82 "CN Task Assert Failure"

275.1 Cause

A critical Autopilot system fault has occurred. This is a firmware error. It occurs when a fault is detected in the CAN task section. The fault condition must be cleared to resume Autopilot system operation. Update controller guidance firmware to latest revisions. Remove any recently added CAN bus ECUs (implements) and check integrity of cable harness.


This is a firmware error. It occurs when a fault is detected in the CAN task section.



275.3 Solution















support



2.76Autopilot system fault code 83 "Steering Fault Overvoltage"

276.1 Cause

A critical Autopilot system fault has occurred. This fault occurs when the voltage from the steering fault indicator on the fly-by-wire interface unit is sampled at a value too close to the +5v rail. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when the voltage from the steering fault indicator on the fly-by-wire interface unit is sampled at a value too close to the +5v rail.



276.3 Solution


















2.77Autopilot system fault code 84 "Steering Fault Undervoltage"

277.1 Cause

A critical Autopilot system fault has occurred. This fault occurs when the voltage from the steering fault indicator on the fly-by-wire interface unit is sampled at a value too close to the 0v rail. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when the voltage from the steering fault indicator on the fly-by-wire interface unit is sampled at a value too close to the 0v rail.



277.3 Solution


















2.78Autopilot system fault code 85 "Coil Short Slew Detected"

278.1 Cause

A critical Autopilot system fault has occurred. This fault occurs when the coil shorted detection logic detects steering angle movement that is opposite to the commanded direction. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when the coil shorted detection logic detects steering angle movement that is opposite to the commanded direction.



278.3 Solution
















STEP 3: Check the coil sides

a. Make sure that the coil wires are not swapped.

b. Make sure that the hoses are not swapped.



2.79Autopilot system fault code 86 "Battery Voltage Low"

279.1 Cause

A critical AgGPS Autopilot system fault has occurred. This fault can occur when either of the following conditions occur:

• V Battery to controller is detected at less than 10 Volts. The fault condition must be cleared to resume AgGPS Autopilot system operation.

• There is a poor power or ground connection.


This fault occurs when the system detects V Battery to controller as less than 10 Volts or when a power or ground connection is loose.



279.3 Solution

Low voltage




STEP 2: Check the vehicle battery

a. Check the vehicle battery voltage.

b. Replace or charge battery if required

c. If the fault code is a continuous problem, contact technical support.

Poor power connection




STEP 2: Check all connections

a. Check all connections at the point of tractor contact.

b. Toggle the switch terminals for loose or faulty connections.

c. Replace or repair as necessary.



2.80Autopilot system fault code 87 "Battery Voltage High"

280.1 Cause

A critical Autopilot system fault has occurred. This fault occurs when V Battery to controller is detected at greater than 16 Volts. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when V Battery to controller is detected at greater than 16 Volts.



280.3 Solution




STEP 2: Check the vehicle charging system

a. Check the vehicle system voltage.

b. If the fault code is a continuous problem, contact technical support.



2.81Autopilot system fault code 88 "Temperature High"

281.1 Cause

A critical Autopilot system fault has occurred. This fault occurs when the navigation controller temperature is detected at above 85 C. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when the navigation controller temperature is detected at above 85 C.



281.3 Solution







2.82Autopilot system fault code 89 "Temperature Low"

282.1 Cause

A critical Autopilot system fault has occurred. This fault occurs when the navigation controller temperature is detected at below -40 C. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when the navigation controller temperature is detected at below -40 C.



282.3 Solution







2.83Autopilot system fault code 90 "Fet or coil open"

283.1 Cause

A critical Autopilot system fault has occurred. This fault occurs when the system does not detect a valve coil circuit. The fault condition must be cleared to resume Autopilot system operation. Check for a damaged steering valve cable harness or steering valve coil failure.


This fault occurs when the system does not detect a valve coil circuit.



283.3 Solution









2.84Autopilot system fault code 91 "Valve Wiring Fault"

284.1 Cause

A critical Autopilot system fault has occurred. This fault occurs when the system detects a short to ground in the valve coil circuit. The fault condition must be cleared to resume Autopilot system operation. Check for a damaged steering valve cable harness or steering valve coil failure.


This fault occurs when the system detects a short to ground in the valve coil circuit.



284.3 Solution









2.85Autopilot system fault code 96 "Low side short to battery"

285.1 Cause

A critical Autopilot system fault has occurred. This fault occurs when system detects the low side of the coil being shorted to battery. The fault condition must be cleared to resume Autopilot system operation. Check for a damaged steering valve cable harness or steering valve coil failure.


This fault occurs when system detects the low side of the coil being shorted to battery.



285.3 Solution









2.86Autopilot system fault code 97 "Coil overcurrent"

286.1 Cause

A critical Autopilot system fault has occurred. This fault occurs when the system detects either a short across the coil or low side shorted to battery. The fault condition must be cleared to resume Autopilot system operation. Check for a damaged steering valve cable harness or steering valve coil failure.


This fault occurs when the system detects either a short across the coil or low side shorted to battery.



286.3 Solution









2.87Autopilot system fault code 98 "Internal Fault Hi Side"

287.1 Cause

A critical Autopilot system fault has occurred. This fault occurs when a short is detected in one of the FETS. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when a short is detected in one of the FETS.



287.3 Solution


















2.88Autopilot system fault code 99 "Internal Measurement Fault"

288.1 Cause

A critical Autopilot system fault has occurred. This fault occurs when an internal current measurement fault is detected. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when an internal current measurement fault is detected.



288.3 Solution


















2.89Autopilot system fault code 106 "Internal Fault Low Side"

289.1 Cause

A critical Autopilot system fault has occurred. This fault occurs when a short is detected in one of the FETS. The fault condition must be cleared to resume Autopilot system operation.


This fault occurs when a short is detected in one of the FETS.



289.3 Solution


















2.90Autopilot system fault code 107 "FE SendMsg Too Big"

290.1 Cause

A critical Autopilot system fault has occurred. An attempt was made to send an inter-task message that was larger than the maximum allowed message size.


This fault occurs when there is a error in the controller’s firmware.



290.3 Solution


















2.91Autopilot system fault code 108 "CAN Sensor OPS Message Timeout"

291.1 Cause

A critical Autopilot system fault has occurred. The CAN Operator Presence Switch Status message was not received within the specified interval.


1. CAN bus hardware problem (noise)

2. Other CAN bus ECUs

3. Controller firmware defect



20.1 Solution





support



2.1 Autopilot system fault code 109 "CAN Sensor OPS Message Error"

21.1 Cause

A critical Autopilot system fault has occurred. The CAN Operator Presence Switch Status message indicates an error state for switch status.


Error reported by tractor Armrest Unit ECU.



21.3 Solution




STEP 2: Check error codes from the armrest controller with the electronic service tool. Follow EST fault diagnostics.



2.2 Autopilot system fault code 110 "CAN Autoguidance Message Timeout"

22.1 Cause

A critical Autopilot system fault has occurred. CAN Autoguidance message not received within specified interval.



2. Other CAN bus ECUs

3. ETC ECU failure




20.1 Solution





support



2.1 Autopilot system fault code 111 "CAN Autoguidance Message Error (Vehicle Direction)"

21.1 Cause

A critical Autopilot system fault has occurred. CAN Autoguidance message indicates an invalid or faulted state for the vehicle direction estimate. Estimate of vehicle direction is unknown.


Error reported by tractor ETC ECU.



21.3 Solution




STEP 2: Check error codes from the ETC controller with the electronic service tool. Follow EST fault diagnostics.



2.2 Autopilot system fault code 112 "CAN Autoguidance Message Error (Isolation Valve Invalid)"

22.1 Cause

A critical Autopilot system fault has occurred. CAN Autoguidance message indicates an invalid or faulted state for the IsolationValve Status. The valve cannot be controlled.


Error reported by tractor ETC ECU.



22.3 Solution




STEP 2: Check error codes from the ETC controller with the electronic service tool. Follow EST fault diagnostics.



2.3 Autopilot system fault code 113 "CAN Autoguidance Message Error (Isolation Valve Inconsistent)"

23.1 Cause

A critical Autopilot system fault has occurred. CAN Autoguidance message indicates that the IsolationValve state is inconsistent with that being commanded by the navigation controller. Either the isolation valve indicates manual mode when automatic has been commanded, or automatic mode when manual has been commanded by the navigation controller.



2. ETC ECU failure




20.1 Solution





support



2.1 Autopilot system fault code 114 "AutoTrac Quadrature Steering Override Not Detected"

21.1 Cause

A critical Autopilot system fault has occurred. The navigation controller did not detect the main steering override quadrature encoder used by John Deere AutoTrac systems.


1. Damage to cable harness, or disconnected sensor

2. Damaged quadrature encoder

3. Controller hardware failure




20.1 Solution
















STEP 3: Check the integrity of the main encoder cable harness and connectors

STEP 4: Examine/replace the main encoderSTEP 5: If the fault code is a persistent problem, contact technical

support



2.1 Autopilot system fault code 115 "IMU Orientation Wrong"

21.1 Cause

A critical Autopilot system fault has occurred. The orientation of the controller with respect to the vehicle local level has been determined to be inconsistent with the calibrated alignment angles. This check is performed only once per power cycle.


1. The controller may be installed incorrectly.

2. Vehicle may be powered up while on a steep incline ( > 20 degrees).

3. The IMU sensors may be defective.

4. Controller firmware defect.



20.1 Solution
















STEP 3: Verify that the controller is installed at the correct orientationSTEP 4: Drive the vehicle to a flat area. Cycle the vehicle power and

verify whether or not the fault reoccurs.



2.1 Autopilot system fault code 116 "Wheel Speed Sensor Input Is Not Detected"

21.1 Cause

A critical Autopilot system fault has occurred. The tractor is seen to be travelling above 2.0 m/s and no wheel speed sensor input has been detected. This check is performed only once per power cycle.


1. Damaged cable harness (wheel speed sensor disconnected)

2. Wheel speed sensor failed


4. GPS receiver failure or misconfiguration



20.1 Solution
















STEP 3: Check the integrity of the cable harness for an open connection with the wheel speed sensor

STEP 4: Examine/replace the wheel speed sensor



2.1 Autopilot system fault code 117 "AutoTrac Quadrature Steering Backup Not Detected"

21.1 Cause

A critical Autopilot system fault has occurred. The backup steering override quadrature encoder used by John Deere AutoTrac systems was not detected by the navigation controller.


1. Damage to cable harness, or disconnected sensor

2. Damaged quadrature encoder





20.1 Solution
















STEP 3: Check the cable harness for an open connection with the backup encoder

STEP 4: Examine/replace the backup encoder



2.1 Autopilot system fault code 118 "Steering Status Report Packet Not Detected"

21.1 Cause

A critical Autopilot system fault has occurred. The Steering Status Report Packet sent by the CAT MT steering sub system is not detected.


1. Damage to cable harness or disconnected cable.

2. The warning “ISO Class 3 enabled” on CAT MT Control Panel has not been acknowledged.

20.1 Solution

STEP 1: Examine the cable harnessSTEP 2: Acknowledge the warning



2.1 Autopilot system fault code 119 "Steering Override Parameter Error"

21.1 Cause

The Steering Override parameter sent by the CAT MT steering system has value 2 (error).


Error reported by MT steering control module.

21.3 Solution

STEP 1: Check the ISO software versionSTEP 2: Contact the tractor dealer for further assistance



2.2 Autopilot system fault code 120 "Steering Override Parameter Not Available"

22.1 Cause

The Steering Override parameter sent by the CAT MT steering system has value 3 (unavailable).



22.3 Solution




2.3 Autopilot system fault code 121 "Gear Lever Parameter Error"

23.1 Cause

The Gear Lever parameter sent by the CAT MT steering system has value 14 (error).



23.3 Solution




2.4 Autopilot system fault code 122 "Gear Lever Parameter Not Available"

24.1 Cause

The Gear Lever parameter sent by the CAT MT steering system has value 15 (not available).


Error reported by MT steering control mode.

24.3 Solution




2.5 Autopilot system fault code 123 "Gear Lever Parameter Unknown"

25.1 Cause

The Gear Lever parameter sent by the CAT MT system has value 4–13 (unknown state).



25.3 Solution




2.6 Autopilot system fault code 124 "Road Lockout Switch Parameter Error"

26.1 Cause

The Road Lockout Switch parameter sent by the CAT MT system has value 2 (error).



26.3 Solution




2.7 Autopilot system fault code 125 "Gear Lever Parameter Not Available"

27.1 Cause

The Road Lockout Switch parameter sent by the CAT MT system has value 3 (unavailable).



27.3 Solution




2.8 Autopilot system fault code 126 "Steering Command Reset Required Parameter Error"

28.1 Cause

The Steering Command Reset Required parameter sent by the CAT MT system has value 2 (error).



28.3 Solution




2.9 Autopilot system fault code 127 "Steering Command Reset Required Parameter Not Available"

29.1 Cause

The Steering Command Reset Required parameter sent by the CAT MT steering system has value 3 (unavailable).



29.3 Solution




2.10Autopilot system fault code 128 "Steering Subsystem Ready Parameter Error"

210.1 Cause

The Steering Subsystem Ready parameter sent by the CAT MT system has value 2 (error).



210.3 Solution




2.11Autopilot system fault code 129 "Steering Subsystem Ready Parameter Not Available"

211.1 Cause

The Steering Subsystem Ready parameter sent by the CAT MT system has value 3 (unavailable).



211.3 Solution




2.12Autopilot system fault code 130 "CAN Communication Status Parameter Error"

212.1 Cause

The CAN Communication Status parameter sent by the CAT MT system has value 2 (error).



212.3 Solution




2.13Autopilot system fault code 131 "CAN Communication Status Parameter Not Available"

213.1 Cause

The CAN Communication Status parameter sent by the CAT MT system has value 3 (unavailable).



213.3 Solution




2.14Autopilot system fault code 151 "Inching Pedal Depressed Parameter Error"

214.1 Cause

The Inching Pedal Depressed parameter sent by the CAT MT steering system has value 2 (error).



214.3 Solution




2.15Autopilot system fault code 152 "Inching Pedal Depressed Parameter Not Available"

215.1 Cause

The Inching Pedal Depressed parameter sent by the CAT MT steering system has value 3 (unavailable).



215.3 Solution




2.16Autopilot system fault code 156 "Noisy 1PPS Signal"

216.1 Cause

There is too much noise on the PPS line.


This fault can occur when the laptop is connected to the power supply.

216.3 Solution

STEP 1: If the laptop is connected to the power supply, disconnect itSTEP 2: Contact Trimble support



2.17Autopilot system fault code 157 "TAP Bounds Check Failed"

217.1 Cause

The configuration value is out of bounds.


This fault occurs when the vehicle profile file is corrupt or when the value entered is out of bounds.

217.3 Solution

STEP 1: Obtain a clean vehicle profileSTEP 2: Contact Trimble support




C H A P T E R

3

AgGPS Autopilot System Harness Schematics 3

This chapter shows the AgGPS Autopilot system harness schematics.


3 AgGPS Autopilot System Harness Schematics

Autopilot system cable architecture

50137 D

elp

hi to

Din

adatp

ter

55657 V

alv

e e

xt. c

able

Po

we

r5

46

03

-S

TX

/SP

X/F

LX

54630 –

All

oth

er

vehic

les

54947 –

SP

X D

elp

hi adapte

r to

54630

55659 –

JD

3 p

in a

cc. adapte

r to

54630

Ca

ble

54

60

1 r

ev C

"Main

Octo

pus"

Ha

rne

ss

P1

P10

P4

Dis

pla

y

P5

Se

nso

rP

2P

ow

er

P3

GP

S

P6

Ste

er.

Se

nso

r

P8

Hyd

rau

lic

Va

lve

P1

2Lig

htb

ar/

S

pa

re

Ag

17

0

Po

we

r3

9P

So

c

Ve

hic

le

Po

we

r

Ag

21

41

2P

So

c

Le

ft c

oil

2P

D

elp

hi

Ag

33

2/1

32

/ 124/1

14

12

P S

oc

Ag

25

21

2P

So

c

Rig

h c

oil

2P

De

lph

i

Cable

54602 r

ev C

"Auxili

ary

Octo

pus"

Ha

rne

ss

Ca

ble

54609

Ca

ble

54608

Ca

ble

54610

Ca

ble

54611

Ca

ble

54617

Ag

50/1

50

Insig

ht

/ L

6K

Da

ta D

E-9

so

c

Pow

er

2P

so

c

Ca

ble

54612

LE

DLap

top

9P

So

c

Na

v C

on

tro

ller

IIC

able

arc

hitectu

re d

iagra

mV

ers

ion 2

.34/1

/2006

2P

So

c(G

ray)

8P

So

c 'A

'(G

ray)

12

P S

oc 'A

'(G

ray)

12

P S

oc 'C

'(G

ree

n)

4P

So

c(G

ray)

6P

So

c(G

ray)

12

P S

oc "

A"

(Gra

y)

P7

Ma

nu

al

ove

r-ri

de

3P

So

c

(Gra

y)

To

whe

el

spe

ed

To g

ea

r le

ve

r

P9

So

na

lert

Th

ese c

ab

les a

re n

ot

req

uir

ed

wh

en

u

sin

g s

en

so

r re

mo

val so

ftw

are

Sen

so

r I/F

cab

les (

P5)

54615 G

eneric I/F

54620 C

om

mon I/F

54619 J

D 8

XX

0 r

evers

e &

wheel speed

54621 M

X r

evers

e54622 T

G r

evers

e54623 S

TX

/TJ r

evers

e54625 S

PX

revers

e/ neutr

al

54628 J

D47X

0 r

evers

e / n

eutr

al

54629 T

err

agato

r re

vers

e54632 M

echanic

al gear

lever

sw

itch

54634 J

D 9

XX

0 w

heele

d54631 F

LX

revers

e &

wheel speed

55654 C

halle

nger

35-5

5 a

ll sensors

56190 C

halle

nger

65-9

5 a

ll sensors

55651 J

D9X

60/5

0S

TS

neutr

al

55650 C

aseIH

2388 n

eutr

al

55658 M

O e

xt. c

able

Ag

50/1

50

as a

lig

htb

ar!

DE

-9 S

oc

Cab

le54612

Note

: A

null

modem

adapte

r is

needed for

Insig

ht. N

o n

ull

modem

is n

eeded o

n A

g50/1

50

or

L6

K.

Po

we

r2

P S

oc

54613 S

onale

t exte

nsio

n

55656 S

teering e

xt. c

able

Re

mo

te

En

gag

e

2P

De

lphi

Ag

21

A

Ca

ble

54

614

Bu

tto

n b

ox

Note

: T

his

connecto

r can b

e

connecte

d to the A

g50/1

50

directly o

r w

hen u

sin

g a

keypad

it c

an b

e c

onnecte

d to the

ham

mer

head in 5

2033

Note

: T

o u

se the A

g50/1

50 a

s

the m

ain

dis

pla

y it

MU

ST

be

connecte

d to the P

4 D

ISP

LA

Y

port

. C

onnect

it t

o the L

ightb

ar/

Spare

port

only

to u

se t

he

Ag50/1

50 a

s a

lig

htb

ar

Se

rvic

e C

ab

les

:

50

16

6

Ag

25

2 c

on

fig

/up

da

te c

ab

le –

re

ce

ive

r co

nn

ectio

n5

94

43

A

G2

52

co

nfig

ca

ble

– N

AV

co

ntr

olle

r co

nn

ectio

n3

09

45

A

g 3

32

/13

2/2

14

co

nfig

/up

da

te c

ab

le41131

Ag

114 c

onfig/u

pda

te c

able

40

94

2-0

1 w

/ 3

97

51

-03

S

N r

ad

io c

on

fig

/up

da

te c

ab

le

Note

: C

onnection

pro

vid

es r

oll

corr

ecte

d

positio

n d

ata

.

CA

N

Inte

rfa

ce

MT

7X

X/8

XX

P1

3 S

pa

re

Se

nso

r

Cab

le56850

12

P S

oc "

B"

(Bla

ck)

Po

wer

sw

itch

op

tio

ns

53183 –

Sta

ndard

Euro

56987 –

Full

Euro

50167-0

1 w

ith 5

0169

– S

N r

adio

to 2

52

55224 P

ort

C s

plit

ter

w/A

g 9

00

39941 –

SN

radio

to

214

58080 –

SN

radio

to

332

Fie

ld M

an

ag

er

Dis

pla

y2

6P

So

c

JD

Au

toT

rack R

ead

y I/F

cab

les

57541 J

um

per

ste

ering a

ngle

sensor

JD

4720

57542 P

hanto

m s

teering a

ngle

sensor

JD

4720

57537 P

hanto

m s

teering a

ngle

sensor

JD

9X

20/J

D4920

58871 P

hanto

m s

teering w

heel sensor

In d

ash

sw

itch

Fo

ot

sw

itch

Ca

ble

57259

56988 S

td E

uro

56989 F

ull

Euro

Manual

Overr

ide

Enco

der

4 p

in

AM

P (

2)

Ca

ble

57535

Sa

uer

Dan

foss

va

lve

4P

Delp

hi

Cab

le

57536

Req

uir

ed

Sen

so

r I/F

cab

les (

P5)

54624 J

D 8

XX

0T

/9000T

54636 M

T700/8

00 w

/ ste

ering b

ox

57313 C

halle

nger

35-5

5 e

ngin

e s

peed

57314 C

halle

nger

65-9

5 e

ngin

e s

peed

Note

: B

attery

Pow

er

(pin

1

on D

elp

hi le

ad)

– c

onnects

to

battery

pow

er

leg o

f pow

er

cable

s 5

4630 a

nd 5

4603

Ca

ble

57260

To e

ng

ine

spe

ed

Pre

ssure

sensor

3P

De

lph

i

Flo

wsw

itch

3P

Delp

hi

Ca

ble

54618

Ca

ble

54626

CA

Thydra

ulic

3P

De

lph

i

Auto

Sense

4P

Soc

Rota

ryP

ot

3P

De

lph

i

Ca

ble

54616

Ca

ble

54605

4P

Soc

Ju

mper

57560C

ab

le57885

Auto

Sense

Ca

ble

57885

Note

: T

his

connection is a

sin

gle

wire fro

m the 5

7885

cable

pro

vid

ing 1

2V

+ s

upply

to

Auto

Sense (c

onnects

to

Pin

1 o

f P

-13)

Ca

ble

58

18

7

Sw

itch

In

pu

ts o

nly

Ca

ble

58

18

8

Fu

ll h

arn

ess

Manual

Overide

Enco

der

Ca

ble

57535

Note

: T

his

connection is a

sin

gle

wire fro

m the 5

7535

cable

(connects

to P

in 3

of

P-1

3)

Battery

pow

er

to

Fie

ld M

anager

Dis

pla

y C

ab

le

Vehic

le S

pecific

I/F



Main harness: P/N 54601



Auxiliary harness: P/N 54602



SPX/STX/FLX power harness: P/N 54603



Challenger steering interface harness: P/N 54605



MX/TG power harness: P/N 54607



AgGPS 252 receiver harness: P/N 54608



21A secondary display harness: P/N 54609



AgGPS 110/114/132 receiver harness: P/N 54610



AgGPS 170 Field Computer harness: P/N 54611



EZ-Guide Plus Lightbar: P/N 54612



LBO harness: P/N 54614



Generic interface harness: P/N 54615



Steering angle sensor harness: P/N 54616



Electro hydraulic valve harness: P/N 54617



Pressure transducer harness: P/N 54618



John Deere 8000 series interface harness: P/N 54619



Common interface harness: P/N 54620



MX Magnum interface harness: P/N 54621



TG interface harness: P/N 54622



STX/TJ interface harness: P/N 54623



John Deere tracked interface harness: P/N 54624



SPX interface harness: P/N 54625



John Deere 47xx interface harness: P/N 54628



Terra-Gator interface harness: P/N 54629



John Deere/Cat MT power interface harness: P/N 54630



Gear lever interface harness: P/N 54632



Challenger MT interface harness: P/N 54636



SPX Power Adapter: P/N 54947



AgGPS 252 data harness: P/N 55224



Case IH 2388 interface harness: P/N 55650



John Deere combine interface harness: P/N 55651



Challenger 35-55 interface harness: P/N 55654



John Deere 8020 AutoTrac interface harness: P/N 56133



Challenger 65-95 Interface Cable: P/N 56190



Hybrid interface harness: P/N 56694



Challenger MT ISO interface harness: P/N 56850



Remote engage harness: P/N 57260



Challenger 35–55 engine interface harness: P/N 57313



Challenger 65–95 engine interface harness: P/N 57314



John Deere AutoTrac manual override harness: P/N 57535



John Deere AutoTrac valve harness: P/N 57536



John Deere AutoTrac steering jumper harness: P/N 57541



AutoSense device harness: P/N 57560



AutoSense vehicle harness: P/N 57885



AgGPS FieldManager™ Display harness (Autopilot): P/N 58187


Date post:	19-Apr-2015
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