1. Autopilot™ Product Offering Updates

2. 2013 Platforms
Autopilot steering system– Tractors

3. 2013 Platforms
Autopilot steering system - Harvesters

4. 2013 Released Platforms Autopilot steering system - Sprayers
Miller Nitro 5000 AGR
Miller Nitro 5000 full installation
New Holland Guardian Sprayers
Apache Sprayers

5. Three Types of Autoguidance Systems
1. Trimble Autopilot After Market Kit With or without hydraulics. Platform kit required 2. Trimble Autopilot Hybrid kit Installation onto CNH Factory ready vehicles 3. Trimble Ready Vehicles

6. Trimble Autopilot™ – After Market kit
Ag25
Display
Nav Controller II
Hydraulic Valve / Manifold
AutoSense Steering Sensor

7. 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!

8. Example 2 – After Market kit
2011 on - Models supported
AutoTrac (CAN) Ready R Models
Supported vehicle models
Wheeled
6000R
7000R
8000R
9000R
Tracked

9. Trimble Autopilot™ Hybrid Kit
Display
Ag25
Operator Seat Switch
Factory installed Steering Sensor
Nav Controller II
Factory installed Hydraulic Valve / Manifold

10. 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

11. Platform/Hydraulic Kits

12. Autopilot Calibration

13. Support platforms list

14. Support platforms list

15. AgGPS® Autopilot™ - Full Installation
Display
AG25
AutoSense™Steering Angle Sensor
Nav Controller II
Electro-Hydraulic Valve

16. AutoGuidance Control System Key components
Hydraulics
Nav Controller II
AutoSense

17. AutoGuidance Control System Inside the Nav II Controller
Power Supply Electronics
Power for entire system
On off switch for entire system
6 Axis Inertial Measuring Unit T3
Roll/Pitch/Yaw Correction at 50HZ
Vehicle Direction Autosense
Valve Drive Electronics
Pulse Width Modulation Output
Communication Electronics
Two way communication with GPS, Display, CAN Bus.
Input from Autosense
Output to Valve
CPU and Memory
Stores calibration information

18. 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

19. 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

20. 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

21. 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

22. 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

23. General Tractor Setup

24. Roll / Antenna Compensation
Antenna Height Above Ground
Antenna Height

25. Roll/Antenna Compensation
Roll Correction
Corrected
position
Uncorrected position

26. Antenna Distance from Fixed Axle
Antenna Compensation
Antenna Distance from Fixed Axle
4WD – Antenna over the Front Axle
MFWD - Distance forward from rear axle (positive value)

27. Essential Service Tools Cable Identification Wire Schematics Software Utilities Firmware

28. AutoPilot System Harness Schematics
1 NavController II controller P9 Sonalert connector
P2 Power connector P12 Lightbar/spare connector (Used on ISO ready)
P3 GPS connector P13 Spare sensors connector (voltage out to AS)
P4 Display connector P14 Status indicator (comm with NAV)
P5 Vehicle sensors connector (JD Autotrack ready) P15 Laptop connector
P6 Steering sensor connector P16 Main harness
P7 Manual override connector P17 Auxiliary harness
P8 Hydraulic valve connector

29. Cabling Guide for both CFX-750 & FmX

30. CFX-750 Display – Full AutoPilot Harness

31. CFX-750 Display – CNH Guidance Ready

32. FmX Display – Full AutoPilot Harness

33. FmX Display – CNH Guidance Ready

34. Autopilot Calibration

35. AP Configuration: Support Notes Laptop with Serial Port
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
4.0
5.1
4.3

36. 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)

37. Flashloader 200 Software Utility
To update firmware: Check the Upload firmware box.

38. Flashloader 200 Software Utility
Now select the location on your computer where you saved the firmware file. Then choose “Open.”

39. Flashloader 200 Software Utility
On some computers you might find it necessary to use low speed connection option, if the upload process fails initially.

40. 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.

41. Configuring the system
Loading a Vehicle Profile

42. Checking the Configuration SettingsX Y
Controller Orientation X Y X Y

43. Calibrating the Autoguidance system
Steering Sensor
If autosense installed no calibration screen appears

44. Steering Sensor - Autosense
If you are using AutoSense™ steering sensor, then you must tell the system how it is installed.

45. 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.

46. Deadzone Calibration Critical for a good AP calibration
Oil working conditions temperature
Autosense properly initialized
In flat and smooth field

47. Proportional steering gain calibration
TIPS:
Slew times should be ms
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%

48. 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.

49. 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.

50. Nav II Controller Valve Drive
Slope of line is P-Gain
Dead Zone Right
Dead Zone Left

51. Roll Calibration Not Calibrated Calibrated
Always mark center-line from drawbar straight down (plumb-bob preferable)
Not Calibrated
Calibrated
Illustrate roll cal on the board.
When properly calibrated, the tractor then should be able to drive in the same tire tracks, opposite direction. If you still see wide / narrow guess rows, then look at Implement Offset or implement drift due to terrain.

52. Roll offset

53. Roll / Antenna Compensation
Implement Offset
Implement Offset B

54. 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

55. 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

56. 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

57. 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.)

58. Questions?