Date post: | 01-Jan-2016 |
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Autopilot™ Product Offering Updates
Autopilot steering system– Tractors
2013 Platforms
Autopilot steering system - Harvesters
•
2013 Platforms
Autopilot steering system - Sprayers
• Miller Nitro 5000 AGR• Miller Nitro 5000 full installation• New Holland Guardian Sprayers• Apache Sprayers
2013 Released Platforms
Three Types of Autoguidance Systems
1. Trimble Autopilot After Market Kit With or without hydraulics. Platform kit required
2. Trimble Autopilot Hybrid kitInstallation onto CNH Factory ready vehicles
3. Trimble Ready Vehicles
Trimble Autopilot™ – After Market kit
Hydraulic Valve / ManifoldAutoSense
Steering Sensor
Display
Nav Controller II
Ag25
Example #1 – After Market kit
Pre 2011 Models supported
Wheeled (W) and tracked (T)– 5000W– 6000W– 7000W– 8000W & T– 8000WR & TR– 9000W & T
Both Autotrac (Atrac) and non-autotrac ready systems are supported.
Look for the decal and valve!
Example 2 – After Market kit 2011 on - Models supported
AutoTrac (CAN) Ready R Models 54035-42 Supported vehicle models Wheeled
• 6000R• 7000R• 8000R• 9000R
Tracked• 8000R• 9000R
Trimble Autopilot™ Hybrid KitDisplay
Factory installed Steering Sensor
Factory installed Hydraulic Valve / Manifold
Operator Seat Switch
Nav Controller II
Ag25
Trimble Ready –When you see this label look for plug and play capability–Manufacturers advertising their machines are ready–Hydraulics and Wiring all pre installed.–Opening new sales channels and often blocking out competition at the same time.
Integrated Headland management systems CanBus integration
Platform/Hydraulic Kits
Autopilot Calibration
Support platforms list
Support platforms list
AgGPS® Autopilot™ - Full Installation
15
AG25
Nav Controller II
Display
AutoSense™Steering Angle Sensor
Electro-Hydraulic Valve
AutoGuidance Control System Key components
AutoSense
Nav Controller II Hydraulics
AutoGuidance Control SystemInside the Nav II Controller
Valve Drive Electronics•Pulse Width Modulation Output
6 Axis Inertial Measuring Unit T3•Roll/Pitch/Yaw Correction at 50HZ•Vehicle Direction Autosense
Power Supply Electronics•Power for entire system•On off switch for entire system
Communication Electronics•Two way communication with GPS, Display, CAN Bus.
•Input from Autosense
•Output to Valve
CPU and Memory•Stores calibration information
Nav Controller II
All AP Processing done in controller– Brings in GPS data– Combines with Yaw, Pitch, Roll (T3™ Technology)
– Outputs Steering Guidance– Operates at 50hz– Sealed, Waterproof, Dustproof– Voltage Spike Resistant
Mount in multiple orientations
Autopilot™ – T3™ technology
Incorporates gyroscopes and accelerometers Measure Yaw, Pitch and Roll and the speed at which
they change– Corrects for errors from terrain and how fast they
occur– Corrects for both hilly ground and rough conditions
AutoSense Steering Sensor
• Vehicle profile with Autosense support required
• Config mounting location in Autopilot Toolbox/FmX
• Mounted on left or right side with the label up or down
• No left/right/center calibration
• Relative (Autosense) versus absolute (Potentiometer)type sensor
• Drive for at least 1 minute before Automated
Deadzone Calibration to clear heading
• Mount within 10 degrees of horizontal• Must move 1:1 with steering spindle
Steering Rotary Potentiometer
0 - 5VDC analog output 128 degrees of electrical movement 180 degrees of mechanical movement Minimum of 64 degrees to calibrate or 2.6 volt
range
Importance of Hydraulics
If steering hydraulics are slow (slew times too long) performance will suffer
The tractor will not be able to smoothly correct for large cross track errors
It will not be able to achieve the desired steering angle fast enough to acquire the line smoothly
The tractor may even go unstable at higher speeds since the XTE will get worse before it gets better
General Tractor Setup
Roll / Antenna Compensation
Antenna Height
Antenna Height Above Ground
Roll Correction
Uncorrected position
Corrected position
Roll/Antenna Compensation
Antenna CompensationAntenna Distance from Fixed Axle
MFWD - Distance forward from rear axle (positive value)
4WD – Antenna over the Front Axle
Essential Service Tools
Cable IdentificationWire SchematicsSoftware Utilities
Firmware
AutoPilot System Harness Schematics
Cabling Guide for both CFX-750 & FmX
CFX-750 Display – Full AutoPilot Harness
CFX-750 Display – CNH Guidance Ready
FmX Display – Full AutoPilot Harness
FmX Display – CNH Guidance Ready
Autopilot Calibration
Laptop Checklist
AP Configuration: Support Notes Laptop with Serial Port
Autopilot Toolbox II (v2.92),
FlashLoader 200 (v3.19).
Latest FW version for – NavControllerII– FmX– CFX-750– EZ-Guide 500– Ex Vehicle Database
5.26
7.2
5.1
4.3
4.0
Flashloader 200 Software Utility
Software utility program which is required to update or reload firmware on the AgGPS® 262, 252 / 332 GPS
receiver, AutoPilot™ Nav Controller II, and the AgGPS® Ag900 RTK radio (radio installed under the 252/262
receiver)
Flashloader 200 Software Utility
To update firmware: Check the Upload firmware box.
Flashloader 200 Software Utility
Now select the location on your computer where you saved the firmware file. Then choose “Open.”
Flashloader 200 Software Utility
On some computers you might find it necessary to use low speed connection option, if the upload process fails initially.
Flashloader 200 Software Utility
Once you have selected the proper firmware file and checked the Settings button, then click on the Proceed button. You should then see the
Establishing Communications window that displays the progress information.
Configuring the system
Loading a Vehicle Profile
Checking the Configuration Settings
Controller Orientation
X
Y
X
Y
X
Y
Calibrating the Autoguidance system
Steering Sensor
If autosense installed no calibration screen appears
Steering Sensor - Autosense
If you are using AutoSense™ steering
sensor, then you must tell the system how it
is installed.
Steering Sensor - Autosense
Calibration Tip: When Autosense is installed, make sure to drive the
vehicle straight for at least 1 minute to get the correct heading info before starting the automatic deadzone calibration.
When doing the deadzone make sure that you drive straight for at least 5 seconds before pressing either turn left or turn right.
Wrong Procedure: If you are driving in circles for 1 minute, then the
Auto deadzone calibration will come up with the wrong estimated value.
Deadzone Calibration
Critical for a good AP calibration
Oil working conditions temperature
Autosense properly initialized
In flat and smooth field
Proportional steering gain calibration
TIPS: Slew times should be 1500-
2500ms Test at max operation speed
XTE should +/- 2.5cm Vehicle aggressiveness
depending on soil conditions:– Hard solid/road 70%– Smooth field 100%– Smooth with implement 130%
Proportional steering gain calibration (continued)
If the tractor is Lazy and is wandering over the line with a XTrack error above + or – 2.5 cm, you must increase the P Gain.
Proportional steering gain calibration (continued)
If is shaking over the line decrease PGain.
Do not increase PGain if tractor hold line properly at 15kph
Usual P Gain Values are between 3 and 20.
Roll Calibration Always mark center-line from drawbar straight down (plumb-bob preferable)
Not Calibrated CalibratedWhen properly calibrated, the tractor then should be able to drive in the same tire tracks, opposite direction. If you still see wide / narrow guess rows, then look at Implement Offset or implement drift due to terrain.
Roll offset
Implement Offset
A
B
Implement Offset
Roll / Antenna Compensation
Line Acquisition aggressiveness
TIPS Test engage at 4-5kph while
driving parallel to AB line with 1m XTE
Adjust to get a smooth and stable front wheels behavior when converging to the line
Engage aggressiveness
Configurable speed dependent engage smoothness setting
Adjust if necessary the Engage Aggressiveness setting to get a smooth behavior just after engage.
High speed vehicles
Saving the Configuration
The configuration (CFG) file holds both the data from the Vehicle Profile and the Calibration data which are unique for each vehicle
Swap config when moving NavII from one vehicle to another
CFG file can be restored into the controller from the Display or from a laptop
Steering Aggressiveness
“Operator adjustment” Always calibrate at 100% Range 50 to 150% Will not fix poorly calibrated hydraulics Increase Aggressiveness:
– To improve online performance– For faster corrections
Decrease Aggressiveness: – To smooth steering correction – Slow line convergence (higher speeds, sprayers etc.)
Questions?