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?