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Reichhardt ULTRA GUIDANCE PSR ISO Operator's Manual

Automated steering system for tractors and self propelled machinery in agriculture and forestry
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Operator's Manual
ULTRA GUIDANCE PSR ISO
Automated Steering System
for tractors and self propelled machinery
in Agriculture and Forestry
Item # 560 144
Version ISO US.12.11.07-001
From SW version PSR_02_145
November 2012
American Version
Printed in Germany
www.reichhardt.com

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  • Page 1 Operator’s Manual ULTRA GUIDANCE PSR ISO Automated Steering System for tractors and self propelled machinery in Agriculture and Forestry Item # 560 144 Version ISO US.12.11.07-001 From SW version PSR_02_145 November 2012 American Version Printed in Germany www.reichhardt.com...
  • Page 2 Any type of reproduction, distribution or storage on data carriers in any form and of any kind not authorized by Reichhardt GmbH represents a violation of national and international copyright laws and will be prosecuted. Some illustrations may vary slightly from the actual product received. This has no impact on operation or function.

  • Page 3: Table Of Contents

    TABLE OF CONTENTS Table of Contents Remarks ..........................7 Safety ........................9 1.1. Intended use ......................9 1.2. General advice ......................9 1.2.1. Responsibilities of the owner ................... 9 1.3. Safety symbols and advice ..................10 1.4. Safety decals on the system .................. 10 1.5.
  • Page 4 Operating interface ISOBUS terminal ..............23 4.1.1. Function of the buttons ..................23 4.1.2. Function keys ......................23 4.2. On and off switch of ULTRA GUIDANCE PSR ISO ..........25 4.3. Activation and Deactivation of ULTRA GUIDANCE PSR ISO ........25 4.4. Main screen......................26 4.5.
  • Page 5 TABLE OF CONTENTS PSR SKY ......................61 5.1. GPS mode overview ....................61 5.2. Menu structure PSR SKY ..................63 5.2.1. Main screen PSR SKY .....................64 5.2.2. Main menu PSR-SKY ....................66 5.3. A-B line ........................66 5.3.1. Setting a straight A–B line ..................67 5.3.2.
  • Page 6 TABLE OF CONTENTS PSR TAC ......................101 7.1. Overview Drive mode PSR TAC ................101 7.2. Menu structure PSR TAC ..................102 7.3. Main screen PSR TAC....................102 7.4. Main menu PSR TAC .....................103 7.4.1. TAC sensor calibration ..................103 7.4.2. Select two TAC sensors ..................104 7.4.3.

  • Page 7: Remarks

    R E M A R KS Remarks Thank you for choosing ULTRA GUIDANCE PSR ISO. Please take the time to thoroughly read through this User Manual. It is meant for You the User. It contains all needed information for safe operation and handling of this system.

  • Page 9: Safety

    Any usage beyond recommendations is therefore prohibited. ULTRA GUIDANCE PSR ISO is not suitable for applications on narrow dikes or steep hillsides, when danger of vehicle roll-over exists. It should not be exposed to areas that are in danger of explosions.

  • Page 10: Safety Symbols And Advice

    CHAP TE R SAFET Y If you do not understand any part of this manual and need assistance please contact your dealer. 1.3. Safety symbols and advice In this manual, the following safety symbols and caution signs are used. You are being warned about possible personal or material hazards.

  • Page 11: Directional Information In This Manual

    C HA PT ER SA F E T Y 1.5. Directional information in this manual Right-hand and left-hand sides are determined by facing in the direction of forward travel. 1.6. Demands on operating and service personnel Every person operating or servicing this system must meet the following minimum requirements: •...

  • Page 12: Danger Zone

    CHAP TE R SAFET Y 1.8. Danger zone At no time should there be any person within the danger zone after the steering system is activated. This dan- ger zone is shown in the following illustration. At any sign of danger the operator should deactivate the steer- ing system immediately.

  • Page 13: System Description

    ULTRA GUIDANCE PSR ISO uses various sensors depending on the mode of operation to steer a vehicle along existing tracks, structures or with the help of satellite supported positioning.

  • Page 14: Base Module

    – is the core component of ULTRA GUIDANCE PSR ISO. With a PSR-controller, the weather proof distribution box steers all functions of ULTRA GUIDANCE PSR ISO. The PSR iBox is installed for easy access outside of the tractor cab. Suitable mounting brackets are contained in the PSR vBasic.

  • Page 15: Sensor Options

    C H A PT E R SYST E M D E SC RI PT ION 2.3. Sensor Options 2.3.1. PSR SKY PSR SKY is satellite supported high accuracy steering utilized in all applications where exact parallel tracking without existing plant rows, ridges or tram lines is possible.

  • Page 17: Installation Of System Components

    Any vehicle intended for ULTRA GUIDANCE PSR ISO has to have PSR vBasic installed. The initial installation has to be done by personnel trained and authorized by Reichhardt for this product. In this manual we describe only the installation of system components into vehicles which are already auto steer ready.

  • Page 18: Installation Of Psr Ibox

    C HAP TER I NS TA L LAT ION OF SYS T E M C OMP ON E N T S 3.2. Installation of PSR iBox A portion of the vBasic is the mounting bracket of the PSR iBox. It will be permanently installed in the vehicle and is available for further usage.

  • Page 19: Installation Of Steering Motors

    C H A P TE R I N STA LL AT I ON O F SYST E M C O M P ON E NT S 3.3. Installation of steering motors 3.3.1. Installation of RDU The Reichhardt Steering Motor RDU will be expertly installed and turned over to the customer field-ready. Advice! Any time the steering motor is not in use, while on the road or when stopped, lock it into the inactive position so there is no contact to the steering wheel.

  • Page 20: Use Of Other Steering Motors

    3.3.2. Use of other steering motors Steering motors of competitive brands can be integrated into the Reichhardt steering system, if it is technically possible. Reichhardt will provide the necessary cables and adapters. The installation and adaptation to other vehicles is described in the operator manual of the manufacturer of such motors.

  • Page 21: Installation Of The Tac-Sensor

    The TAC-Sensor may be installed with a special mounting bracket. Make sure to install it as directed by Reichhardt service personnel. Connect the sensor cable plug to the receptacle on the vehicle.

  • Page 22: Installation Gps-Systems Rgs-Smart/Rgs-Rtk

    Also make sure it is free of mechanical loads such as tension. Picture 15: Reichhardt RGS 100 receiver Attention! Depending how the system is configured by authorized service, the GPS system could be under constant electric load.

  • Page 23: Operation

    C HA PT E R O P E R AT I ON Operation 4.1. Operating interface ISOBUS terminal All settings are made via the ISOBUS terminal. The display is split in two areas: Zone : Contains information to the current drive mode. Zone : Function keys for operation.
  • Page 24 C HAP TER O PER AT ION Plus / Minus key • Changes numerical values. Arrow right / left • Scrolls through the menus. • Functions as electronic dial. Arrow up / down Picture 20: • Scrolls through the menus. Main screen Enter key •...

  • Page 25: On And Off Switch Of Ultra Guidance Psr Iso

    4.2. On and off switch of ULTRA GUIDANCE PSR ISO By pressing the main switch ULTRA GUIDANCE PSR ISO is activated. Depending on the vehicle an applicable main switch is installed. Please ask the service technician where the main switch was installed.

  • Page 26: Main Screen

    The guide line comprehension depends on the sensor and is described as drive mode. Before working with ULTRA GUIDANCE PSR ISO, set the desired drive mode. PSR-SKY and PSR-TAC identify already the respective drive mode. There are 9 drive variations for the ULTRA SONIC mode.

  • Page 27: Automatic Drive Modes

    C HA PT E R O P E R AT I ON 4.5.1. Automatic Drive modes Display: Main screen Press the function key until the symbol flashes. Picture 24: Main screen Select by the function keys the desired drive mode. Picture 25: New drive mode selected Press the function key...

  • Page 28: Drive Mode Manual

    CHAP TE R OPERAT I ON The following drive modes are available depending on the selection of the system. (Detailed information about various drive modes are found in respective chapters): PSR TAC PSR SKY PSR MEC (not available in Europe) PSR SONIC Swath in center/ swath zig zag PSR SONIC drive track cross wise PSR SONIC drive track outside...

  • Page 29: Reaction Setting

    C HA PT E R O P E R AT I ON 4.6. Reaction setting Main screen Display: Reaction identifies the sensitivity of the steering system in relationship to movements of the vehicle. HIGH means very sensitive (steering reaction will be aggressive), LOW means less sensitive (the steering reaction will be gentler).

  • Page 30: Spacing Setting

    CHAP TE R OPERAT I ON 4.7. Spacing setting Main screen Display: Spacing identifies the distance of the machine to the default line. The setting of these values are needed to allow the implement to continue to seamlessly work lines. Press the function key until the symbol flashes.

  • Page 31: Menu Structure

    C HA PT E R O P E R AT I ON 4.8. Menu structure ULTRA GUIDANCE PSR ISO is steered with the help of stored menus. The menu in the PSR cBox is built up on 4 levels for simple operation, and easy understanding in many different languages.

  • Page 32: Main Menu

    CHAP TE R OPERAT I ON 4.9. Main Menu Display: Main screen Press the function key until the main screen shows up at the display. The upper line in the main menu shows in which position the system is presently set. The lower line shows the related menus. As illustrated the field in the middle (current selection) is accentuated by a bold frame.

  • Page 33: Isobus Terminal Settings

    C HA PT E R O P E R AT I ON 4.9.1. ISOBUS terminal settings At the ISO operating unit the operator can adjust sound level and contrast. Choose and confirm the selection. Picture 34: Settings ISO operating unit Sound level setting Choose and confirm the selection.
  • Page 34 CHAP TE R OPERAT I ON Contrast adjustment Choose and confirm the selection. Picture 37: Choose contrast The contrast for the display is shown on the monitor. Press the function keys to set the desired contrast. You already see the modification while you enter it. Press and hold the function key until the stored symbol appears.

  • Page 35: Computer Setting

    C HA PT E R O P E R AT I ON 4.9.2. Computer Setting This is the area where language and measurement unit are set. Choose and confirm the selection. Advice! The language and units of the ISO terminal settings are always accepted.

  • Page 36: Set Measurements

    CHAP TE R OPERAT I ON 4.9.3. Set measurements ULTRA GUIDANCE PSR ISO can store settings of up to eight different vehicles. All vehicle settings will be stored under one number. When switching the PSR iBox to another vehicle, choose the vehicle number under which the stored information is found.

  • Page 37: Setting The Gps Receiver

    The settings of the RGS receiver can be adapted to your person- al applications. The RGS receiver has 2 ports. An ULTRA GUIDANCE PSR ISO is connected to the port “PSR”. The port “Other” is freely available for your personal requirements, e.g.
  • Page 38 Setting port “PSR” Choose and confirm the selection. Advice! For ULTRA GUIDANCE PSR ISO, it is recommended to set RMC messages to 10Hz and GGA messages to 1Hz. All other messages should be set to “off”. Picture 46: Selecting port “PSR”...
  • Page 39 C HA PT E R O P E R AT I ON Setting port “OTHER” Choose and confirm the selection. This port is freely available to you and can be set according to your needs. You can make the following settings: •...
  • Page 40 CHAP TE R OPERAT I ON General RGS receiver settings Choose and confirm the selection. In this menu general settings for the GPS receiver are made. You can make the following settings: • : number of decimal places, 5 - 7 possible. •...
  • Page 41 C HA PT E R O P E R AT I ON GPS receiver type Here you can choose from among 3 protocol types depending on the GPS interface on the vehicle. Choose and confirm the selection. Advice! is only available if the current type is .
  • Page 42 CHAP TE R OPERAT I ON GPS after-run time The set GPS after-run time determines how long the GPs receiver is supplied with power during a pause. Advice! Processing can be continued quickly after short pauses. Attention! During a pause, the GPS receiver should always have an unobstructed view of the sky.

  • Page 43: Teach-In Menu

    C HA PT E R O P E R AT I ON 4.9.5. Teach-In Menu Choose and confirm the selection. In the teach-in menu, you can set the desired speed sensor and tilt sensor. In addition, you can switch the TRACK-LEADER TOP mask on and off.
  • Page 44 CHAP TE R OPERAT I ON Selection of speed sensors Advice! Depending on the current speed sensor, one of the adjacent images will appear. The speed type is used to set which signal should be used to detect the current speed. If the speed is currently detected by the vehicle/radar sensor, select and confirm the selection.
  • Page 45 C HA PT E R O P E R AT I ON The following speed sensors are available for selection: GPS: Speed signal from GPS receiver. ISO GBSD: ISO BUS 11783 message. Ground Based Speed. This speed is measured on the ground. The speed could be detected by radar sensor, for example.
  • Page 46 ISO bus 11783, the menu will switch directly to the selection menu for the speed signals. Automatic speed calibration In order to calibrate the speed between the tractor meter and ULTRA GUIDANCE PSR ISO automatically, a distance of exactly 328 ft must be driven. Choose and confirm the selection.
  • Page 47 C HA PT E R O P E R AT ION Entering the speed manually Here you can set the speed between the tractor meter and ULTRA GUIDANCE PSR ISO manually. Choose and confirm the selection. Picture 64: Manual speed selection Now you can set the differential speed between the ULTRA GUIDANCE PSR ISO and the tractor meter so that they agree with each other.
  • Page 48 CHAP TE R OPERAT I ON Switching TRACK-LEADER TOP on/off TRACK-LEADER TOP allows you to expand the functional scope of ULTRA GUIDANCE PSR ISO. Please refer to the Reichhardt PSR ISO TOP operating manual for more information. Choose and confirm the selection.
  • Page 49 C HA PT E R O P E R AT I ON Setting the tilt sensor This menu item is for switching the tilt sensor on/off and for calibrating the tilt sensor. Choose and confirm the selection. Picture 69: Selecting the tilt sensor Switching the tilt sensor on/off Select to switch the tilt sensor on/off.
  • Page 50 CHAP TE R OPERAT I ON Calibrating the tilt sensor When using a tilt sensor, its zero position must be calibrated. Choose and confirm the selection. Advice! Calibrate the vehicle on an even surface to ob- tain the most precise possible results. Picture 72: Selecting Calibrate tilt sensor A flashing “1”...

  • Page 51: Diagnostic

    C HA PT E R O P E R AT I ON 4.9.6. Diagnostic The diagnostic program gives an overview of the current conditions of the system. It also can help identify malfunctions. Advice! To avoid problems with electric connections, be advised to check all input for proper function after switching between vehicles.
  • Page 52 CHAP TE R OPERAT I ON Ultra sound: When these are connected via the front coupler, it shows the distances of the sensors to the selected measuring object. If a value of 59 inches shows, the sensor is not connected, wrong- ly adjusted or defective.
  • Page 53 C HA PT E R O P E R AT I ON GPS: In several menus the actual values of the GPS receiver are shown. • The values for Lon. / Lat. are the coordinates of the GPS receiver. They should constantly change when in motion.

  • Page 54: System Information

    CHAP TE R OPERAT I ON 4.9.7. System Information The information menu answers questions about the software version and the serial number of the PSR ISO mask and the PSR iBox. Information about a dealer or service partner is also shown. Choose and confirm the selection.

  • Page 55: Service Menu

    C HA PT E R O P E R AT I ON Advice! Have this information on hand when contacting customer service. Picture 80: Information page customer service 4.9.8. Service menu Choose and confirm the selection. Picture 81: Service Menu Attention! For safety reasons access is only provided to authorized service personnel.

  • Page 56: Calculator

    CHAP TE R OPERAT I ON 4.9.9. Calculator In the menu Calculator, you can execute numerical calculations. Choose and confirm the selection. Picture 83: Select Calculator The result is displayed by pressing the button The current entry is cancelled by pressing the button Picture 84: Advice! Press the function key...

  • Page 57: Setting Parameters - Adjusting Values

    C HA PT E R O P E R AT ION 4.10. Setting parameters – Adjusting values The menu Set parameters is used to adjust or reset all the re- quired parameters. Advice! The function key can be used at any time to cancel all changes and to leave the menu.

  • Page 58: Acceptance Of Values

    CHAP TE R OPERAT I ON 4.10.1. Acceptance of values • Acceptance of default value Picture 86: Accept Def. • Acceptance of minimum value Picture 87: Accept Min. • Acceptance of maximum value Picture 88: Accept Max. PAGE 5 8 O PE RATO R ’S M A NUA L U LT R A GU IDA N C E P S R IS O...

  • Page 59: Numerical Entry

    C HA PT E R O P E R AT I ON 4.11. Numerical entry Min and Max define the possible range of values. Enter the desired value and confirm by pressing or the function key Advice! Please refer to the user manual of the ISOBUS terminal for how to use and enter digits.

  • Page 61: Psr Sky

    C H A PT E R P S R S KY PSR SKY 5.1. GPS mode overview A–B mode In the A–B mode a reference line is determined by manually setting two points in the field (see adjacent figure). Vehicle steering then follows automatically parallel to the reference line.
  • Page 62 CHAP TE R PSR S KY Multi-line The GPS-Mode Multi-line can join up to 10 A-B lines into one job. This would be suitable for working fields around the perimeter as in the adjacent figure (e.g. harvesting with a combine harvester). Picture 93: Multi-line Circles...

  • Page 63: Menu Structure Psr Sky

    C H A PT E R P S R S KY 5.2. Menu structure PSR SKY Picture 95: Menu structure PSR SKY = Main menu PSR-SKY = A-B line = Circles = Multi-line = Nudging setting = Implement offset setting = Working width setting Advice! As long as the automatic steering is activated,...

  • Page 64: Main Screen Psr Sky

    CHAP TE R PSR S KY 5.2.1. Main screen PSR SKY Main screen Display: Here you can set the drive mode PSR SKY as in the adjacent picture (see chapter 4.5.). Unique features of the drive mode PSR SKY: A variety of information is available in PSR SKY drive mode. Press to switch to the additional information.
  • Page 65 C H A PT E R P S R S KY Direction/Working width The display field shows the target direction in which you are working. The second line, “W-width”, indicates the working width currently set in the system. Picture 98: Main screen PSR SKY Reception strength The display field...

  • Page 66: Main Menu Psr-Sky

    CHAP TE R PSR S KY 5.2.2. Main menu PSR-SKY Main screen Display: Tap the function key to change the main menu PSR SKY. Picture 101: Main screen PSR SKY 5.3. A-B line Choose and confirm the selection. Advice! This function is only available as long as the automatic steering is deactivated.

  • Page 67: Setting A Straight A-B Line

    C H A PT E R P S R S KY 5.3.1. Setting a straight A–B line - Field Press “Field” to select a field which has been previously created and stored. - New Press “New” to create a new field. - Delete Press “Delete”...
  • Page 68 CHAP TE R PSR S KY • Lat/Lon = entry of coordinates of points A and B. Select the button “W-width” to set your working width. Select buttons “Point A” and “Point B” to enter the current coordinates. Picture 106: New job (Lat/Lon) •...

  • Page 69: Asynchronous Tracks

    C H A PT E R P S R S KY 5.3.2. Asynchronous tracks With different working widths, you can drive the field in the pattern of the track entered (e.g. 10 rows of onion bed tracks and a working width of 20 ft + 1 maintenance track for irrigation and a working width of 10 ft).
  • Page 70 CHAP TE R PSR S KY Example 1 of asynchronous tracks: If you have created three seed rows (B) with a working width of 16 ft and two tram path (P) with a working width of 26 ft and would like to begin with track 3 B, you have to make the following settings: Seed rows: •...
  • Page 71 C H A PT E R P S R S KY Example 2 of asynchronous tracks: If you have created two seed rows (B) with a working width of 10 ft and four maintenance tracks (P) with a working width of 20 ft and would like to begin with track 2 P, you have to make the following settings: Seed rows:...

  • Page 72: Drive Mode Circles

    New job • Drive in circle = By driving along a circular track, the center is defined for all the following tracks. ULTRA GUIDANCE PSR ISO automatically calculates the center of the circle after a three- quarter turn. Select the button “Width” to set your working width.
  • Page 73 C H A PT E R P S R S KY • Lat/Lon = Entry of coordinates of center of circle. Select the button “W-width” to set your working width. Select button “Lat/Lon” to enter the current coordinates of the center of the circle.

  • Page 74: Multi-Line Mode

    CHAP TER PSR S KY 5.5. Multi-line Mode Enter the individual reference lines in the same sequence of operation. The system does not allow for exchange of reference lines at a later time. Choose and confirm the selection. Advice! This function is only available as long as the automatic steering is deactivated.
  • Page 75 C H A PT E R P S R S KY An “A” in a blinking frame appears on the display. Left to this the number of the current reference line is shown in picture 121. Drive to the desired point A of your current reference line and confirm this position.
  • Page 76 CHAP TER PSR S KY As soon as you have chosen, the next reference line will be displayed with an “A” in a blinking frame. Continue as described. In the multi-line mode up to 10 reference lines can be stored. After the 10th line is entered the multi-line info is automatically stored.
  • Page 77 C HA PT E R P S R S KY An “A” in a blinking frame appears on the display. Left to this the number of the current reference line is shown in picture 127. Drive to the desired point A of your current reference line and confirm this position.
  • Page 78 CHAP TE R PSR S KY Select if you want to add an additional line. Select if you want to stop the multi-line. Picture 130: Add additional line As soon as you have chosen, the next reference line will be displayed with an “A”...
  • Page 79 C H A PT E R P S R S KY Multi-line Information Choose and confirm the selection. The number in the lower display field shows the reference line with the corresponding compass direction of the multi-line. Picture 132: Advice! The system shows all stored reference lines in Multi-Line Information the multi-line mode.

  • Page 80: Working With A Stored Mode

    CHAP TE R PSR S KY 5.6. Working with a stored mode Choose and confirm the selection. Choose and confirm the selection. Select the desired reference line in the mode and confirm the selection. , proceed as described in the associated Picture 134: chapters.

  • Page 81: Set Working Width

    C H A PT E R P S R S KY 5.7. Set working width The working width is required to assure a correct distance paral- lel the reference line. Choose and confirm the selection. , proceed as described in the associated chapters.

  • Page 82: Implement Offset Setting

    CHAP TE R PSR S KY 5.8. Implement offset setting Track 1 Track 2 Track 3 The offset correction is needed when the implement is not cen- tered on the steered vehicle. Test this by driving 3 passes. The operator may notice overlap on one side, and a skip on the other side of the center pass (see ad- jacent figure).

  • Page 83: Nudging Setting

    C HA PT E R P SR S KY 5.9. Nudging setting In the “Nudging setting” menu, you can set how many “inch” the distance in the main menu should be shifted with each press of the button. Advice! This setting only affects “GPS” drive mode. Choose and confirm the selection.

  • Page 84: Working With Gps

    CHAP TE R PSR S KY 5.10. Working with GPS 5.10.1. Calibrating a Reference Line Display: Main screen Tap the function key to change the “Calibrate reference line” menu. Picture 142: Main screen PSR SKY Tap the function key to set the reference line to zero. Picture 143: Calibrating a Reference Line Advice!

  • Page 85: Working With Multi-Line

    Picture 146: on by the system. Pre-selected reference line If ULTRA GUIDANCE PSR ISO deactivated, the next reference line will be taken on by the system immediately. Picture 147: Acceptance of pre-selected reference line OP ERATOR’...

  • Page 86: Psr Sky Quick Start

    C H APTE R PSR S KY 5.11. PSR SKY Quick Start Select drive mode Set A-B / A+ Set circles Set implement offset Calibrate reference line Legend: Tap. Press and hold, until there is reaction. PAGE 8 6 O PE RATO R ’S M A NUA L U LT R A GU IDA N C E P S R IS O...
  • Page 87 C H A PT E R P S R S KY Set multi-line Set multi-line working width Select stored multi-line Legend: Tap. Press and hold, until there is reaction. OP ERATOR’ S M A N UA L ULT RA G UI DA N C E PS R I S O PAGE 87...

  • Page 89: Psr Sonic

    C HA PT E R P S R S O NI C PSR SONIC 6.1. Overview Drive mode PSR SONIC Ultra sound mode ULTRA GUIDANCE PSR ISO SONIC offers the following drive modes: Drive mode with two sensor pairs Track Cross Steering by a given track.

  • Page 90: Menu Structure Psr Sonic

    CHAP TE R PSR S ONIC 6.2. Menu structure PSR SONIC Picture 148: Menu structure PSR SONIC = Main Menu PSR SONIC = Sample Spacing PSR SONIC = Working width (When actively coupled) = Combined PSR SONIC – PSR SKY 6.3.
  • Page 91 C HA PT E R P S R S O NI C The sensor placement is dependent on the driving mode. Preferably we use the 3rd hole from the middle of the plate. Advice! The sensor adjustment or distance from the object (crop edge or track angle) should be between 20 and 28 inches.

  • Page 92: Main Menu Psr Sonic

    CHAP TE R PSR S ONIC 6.4. Main Menu PSR SONIC Main screen Display: Tap the function key to change to the main menu PSR SONIC. 6.4.1. Sample Spacing SONIC Picture 152: Main Menu PSR SONIC With the sample spacing of the SONIC sensors, the operator can adjust how aggressive the steering correction should be when a deviation from the intended line is recognized.

  • Page 93: Joint Use Of Psr Sonic - Psr Sky

    C HA PT E R P S R S O NI C 6.4.2. Joint use of PSR SONIC – PSR SKY The combined use of PSR SONIC – PSR SKY helps when turning at the head land with entering into the next pass with PSR SKY. In the field the work is done with PSR SONIC.

  • Page 94: Set Working Width

    CHAP TER PSR S ONIC 6.5. Set working width When the coupling is active the exact working width has to be set. Contrary to PSR SKY it is not necessary to set a narrower working width. Choose and confirm the selection. Picture 158: Select setting of working width Set the working width with the function keys...

  • Page 95: Psr Sonic Drive Modes

    C HA PT E R P S R S O NI C 6.6. PSR SONIC drive modes All drive mode pictures show the sensors placed as the driver will see them from the drivers seat in forward driving direction. 6.6.1. Track Cross Display: Main screen Set drive mode according to the adjoined picture (see chapter...

  • Page 96: Track Outside

    CHAP TE R PSR S ONIC 6.6.2. Track Outside Display: Main screen Set drive mode according to the adjoined picture (see chapter 4.5.). Advice! In the drive mode Track Outside the distance shows a slight deviation to left or right of the guide line. Picture 164: Main screen Track Outside Set sensors:...

  • Page 97: Crop Edge

    C HA PT E R P S R S O NI C 6.6.4. Crop Edge Display: Main screen Set drive mode according to the adjoined picture (see chapter 4.5.). Tap the function key to switch between left and right crop edge.

  • Page 98: Crop Edge Cross Wise

    CHAP TE R PSR S ONIC 6.6.5. Crop Edge cross wise Display: Main screen Set drive mode according to the adjoined picture (see chapter 4.5.). Tap the function key to switch between left and right crop edge cross wise. Advice! In the drive mode crop edge cross wise the distance shows a slight deviation left or right of the vehicle from the guide line.

  • Page 99: Crop Edge With Correction

    C HA PT E R P S R S O NI C 6.6.6. Crop Edge with correction Display: Main screen Set drive mode according to the adjoined picture (see chapter 4.5.). Tap the function key to switch between left and right crop edge with correction.

  • Page 100: Psr Sonic Quick Start

    C HAP TER PS R S ONIC 6.7. PSR Sonic Quick Start Select drive mode Set sample spacing Switching PSR SONIC - PSR SKY on and off Set working width Legend: Tap. Press and hold, until there is reaction. PAGE 10 0 O P E R ATO R’...

  • Page 101: Psr Tac

    C HA PT E R P S R TAC PSR TAC 7.1. Overview Drive mode PSR TAC The mode ULTRA GUIDANCE PSR ISO TAC offers the following drive modes: TAC sensor Steering on the basis of a closed row crop row (e.g. corn row) Two TAC sensors, version “right”...

  • Page 102: Menu Structure Psr Tac

    C HAP TER PS R TAC 7.2. Menu structure PSR TAC Picture 177: Menu structure PSR TAC = Main menu PSR TAC = TAC sensor calibration = Set working width = Joint use of PSR TAC – PSR SKY = Types of TAC sensors 7.3.

  • Page 103: Main Menu Psr Tac

    C HA PT E R P S R TAC 7.4. Main menu PSR TAC Display: Main screen Tap the function key to change to the main menu PSR TAC. Picture 179: Main screen PSR TAC 7.4.1. TAC sensor calibration Choose and confirm the selection.

  • Page 104: Select Two Tac Sensors

    C HAP TER PS R TAC 7.4.2. Select two TAC sensors Using the TAC sensors, you can gently and precisely detect vegetation in closed row crops (e.g. corn) and steer the vehicle with maximum precision. Choose and confirm the selection. Picture 182: Select type Press the function keys...

  • Page 105: Joint Use Of Psr Tac - Psr Sky

    C HA PT E R P S R TAC 7.4.3. Joint use of PSR TAC – PSR SKY Coupling of PSR TAC – PSR SKY allows for quick and clean reentering of a new pass after turning on the headland with PSR SKY.

  • Page 106: Set Working Width

    C HAP TER PS R TAC 7.5. Set working width When the coupling is active the exact working width has to be set. Contrary to PSR SKY it is not necessary to set a narrower working width. Choose and confirm the selection. Picture 187: Select setting of working width Set the working width with the function keys...

  • Page 107: Psr Tac Quick Start

    C H A PT E R P S R TAC 7.6. PSR TAC Quick Start Select drive mode Calibrate TAC sensor Switching coupling PSR TAC - PSR SKY on and off Select TAC sensor Legend: Tap. Press and hold, until there is reaction. OP ERATOR’...

  • Page 109: Coupling Of Drive Modes

    C HA PT E R C OUP LI NG OF D RI VE M ODE S Coupling of drive modes The combined use of sensor drive mode and PSR SKY allows for easy and clean reentering after turning on the headland. The sensor operation is preferred while working the field, but when turning at the end, PSR SKY guides the vehicle into the new pass accurately without time loss.
  • Page 110 To free the system of automatic switching, travel with Main Screen after switching to PSR SKY ULTRA GUIDANCE PSR ISO activated at least a stretch of 98 ft in a sensor mode. As soon as the vehicle finds itself in a new pass, the system switches back to the sensor mode from before the turn.
  • Page 111 It will not happen automatically. To free the system of automatic switching, travel with ULTRA GUIDANCE PSR ISO activated at least a stretch of 98 ft in a sensor mode. Picture 195:...

  • Page 113: Work And Storage Conditions

    Work and Storage Conditions The electronic components of the ULTRA GUIDANCE PSR ISO system, especially the PSR iBox, are designed to be used in adverse conditions. PSR iBox is weather resistant and can be installed outside of the drivers cab.

  • Page 115: Troubleshooting

    C H A P TE R T ROUB LE S H OOT I NG 10. Troubleshooting Error-No.: Description Cause Troubleshooting GPS no Receiver No GPS receiver connected. - Open wire between GPS-receiver - Check cables from PSR iBox to GPS- and PSR iBox.
  • Page 116 PSR cBox. PSR no license Invalid Hardware. - The used hardware is not - Contact your Reichhardt support. compatible for this software. Select No drive mode selected. - No drive mode selected yet. - Please select a drive mode.
  • Page 117 C H A P TE R T ROU BLE S H OOT I N G Error-No.: Description Cause Troubleshooting 1001 Angle sensor does not work - Axis is driven to block. - Check mechanism of wheel angle correctly. sensor. - Mechanism or suspension of wheel - For new angle sensors, the sensor has angle sensor defective.
  • Page 118 CHAP TE R TROUB LE SH OOT ING Error-No.: Description Cause Troubleshooting 1080 Gyroscope open wire. - Gyroscope is defective. - Visual control of gyroscope. - Open wire in cable. - Check the cables from PSR iBox to the gyroscope. - Contacts of connectors are - Check contacts of connectors.
  • Page 119 C H A P TE R T ROU BLE S H OOT I N G Fehler-Nr.: Description Cause Troubleshooting 1104 TAC sensor 2 left open wire. - TAC sensor is defective. - Visual control of TAC sensor. - Open wire in cable. - Check the cables from PSR iBox to the TAC sensor.
  • Page 120 CHAP TE R TROUB LE SH OOT ING Error-No.: Description Cause Troubleshooting 1350 Speed is too fast. - Vehicle speed is too fast. - Reduce speed and activate system again. 1351 No ISO-GBSD message - Tractor ECU does not support the - Select another speed sensor.
  • Page 121 KA P IT E L T ROU B LE SH OOT IN G Error-No.: Description Cause Troubleshooting 1413 Ultra sonic 4 no signal. - Object outside detection area. - Visual control of ultra sonic 4. - Check sensor position. 1414 All ultra sonic no signal.
  • Page 122 - Check whether supply voltages are switched on. switched on. 1711 No voltage relay output- - Relay in iBox Lt is defective. - Contact your Reichhardt support. side. 2100 Incremental axle. - no pulse signal at channel A. - Check cables from PSR iBox to incremental sensor (for example: RDU).
  • Page 123 675 C communication error activated. Can Bus 1. 2321 ISO Challenger tractor MT - No information from Can Bus - Contact your Reichhardt support. 675 C communication error received. Can Bus 2. 2325 ISO Challenger tractor 900 - No information from Challenger - Contact your Reichhardt support.
  • Page 124 CHAP TE R TROUB LE SH OOT ING Error-No.: Description Cause Troubleshooting 3004 Vehicle code for vehicle 4 - Invalid or not yet valid vehicle code - Enter a valid vehicle code for vehicle 4. invalid. entered. 3005 Vehicle code for vehicle 5 - Invalid or not yet valid vehicle code - Enter a valid vehicle code for vehicle 5.
  • Page 125 C HA PT E R T ROU B LE SH OOT IN G Error-No.: Description Cause Troubleshooting 9100 EEPROM write error. - EEPROM is defective. - Contact the software department. - EEPROM is busy. 9101 EEPROM write error. - EEPROM is defective. - Contact the software department.

  • Page 127: Trade Terms And Abbreviations

    C HA PT ER TR ADE TER MS AND ABBR EVIAT IONS 11. Trade Terms and Abbreviations Term Abbreviation Description Satellite supported position signals 24 earth circling satellites send GEO-positioned signals to earth bound receivers. Accuracy Accuracy of a certain position which can be relocated within 24 hours.
  • Page 129 ULTRA GUIDANCE PSR ISO QUICK START PSR Sonic Select drive mode Set sample spacing Switching PSR SONIC - PSR SKY on and off Set working width Let‘s stay on track Legend: Press briefly Press and hold, until there is reaction.
  • Page 130 ULTRA GUIDANCE PSR ISO QUICK START PSR SKY Select drive mode Set A-B / A+ Set circles Set implement offset Calibrate reference line Let‘s stay on track Legend: Press briefly Press and hold, until there is reaction. Warning ! The automatic steer system must...
  • Page 131 ULTRA GUIDANCE PSR ISO QUICK START PSR SKY Set multi-line Set working width multi-line Select stored multi-line Let‘s stay on track Legend: Press briefly Press and hold, until there is reaction. Warning ! The automatic steer system must Attention! Read and observe the manual and safety be switched off when driving on instructions prior to operation.
  • Page 132 ULTRA GUIDANCE PSR ISO QUICK START PSR TAC Select drive mode Calibrate TAC sensor Switching coupling PSR TAC - PSR SKY on and off Select TAC sensor Let‘s stay on track Legend: Press briefly Press and hold, until there is reaction.

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