Topcon 1004089-01 Tuning Manual
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Topcon 1004089-01 Tuning Manual

Topcon 1004089-01 Tuning Manual

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  • Page 1 Auto Steering Tuning Guide www.topconpa.com...
  • Page 3 ISO UT: 4.1K12p2 © Copyright Topcon Precision Agriculture All contents in this manual are copyrighted by Topcon. All rights reserved. The information contained herein may not be used, accessed, copied, stored, displayed, sold, modified, published or distributed, or otherwise reproduced without express written consent from Topcon.
  • Page 5 WEBSITE AND OTHER STATEMENTS - No statement contained at the website of TPA or any other Topcon Group company or in any other advertisements or TPA literature or made by an employee or independent contractor of TPA modifies these Terms and Conditions.
  • Page 6 RETURN AND REPAIR - During the respective warranty periods, any of the above items found defective may be shipped to TPA for repair. TPA will promptly repair or replace the defective item at no charge, and ship it back to you. You must pay the shipping and handling charges in respect of the same.
  • Page 7 the laws of South Australia if the product is sold and supplied to you in Australia (in which case the courts of South Australia or the Federal Court of Australia (Adelaide Registry) have exclusive jurisdiction in respect of any claim or dispute) or the laws of the State of California if the product is sold and supplied to you outside of Australia the provisions of the United Nations Convention on Contracts for the International Sale of...
  • Page 8 TOPCON Precision Agriculture instructions, it may cause interference with radio communication. You can check if interference is being caused by this equipment by turning the Topcon equipment off to see if the interference stops. If the equipment is causing interference to a radio or other electronic device, try: ...
  • Page 9 YOU are the key to safety. Good safety practices not only protect you, but also the people around you. Study this manual as part of your safety program. This safety information only relates to Topcon equipment and does not replace other usual safe work practices.
  • Page 10 However, it is always advisable not to handle damaged electronic equipment. This Topcon product may contain a sealed lithium battery. Always dispose of any electronic equipment thoughtfully and responsibly.
  • Page 11 Topcon accepts no responsibility or liability for damages to property, personal injuries, or death resulting from the misuse or abuse of any of its products. Further, Topcon accepts no responsibility for the use of Topcon equipment or the GNSS signal for any purpose other than the intended purpose.
  • Page 12 Operation and Risk of Obstacles The following list is not exhaustive or limited. To use the console for assisted steering along a defined wayline, the operator must ensure that it is used:  Away from people and obstacles  Away from high voltage power lines or other overhead obstructions (identify any clearance problems before activating the console) ...
  • Page 13 Be aware of file format compatibility. Discuss compatible formats with the dealer. Topcon Agricultural Products are hardy and designed to work in tough conditions. However, if equipment is unused for a length of time, store away from water and direct heat sources.

  • Page 14: Table Of Contents

    Table of contents Chapter 1 – Introduction ............... 1 Chapter 2 – Console Navigation ........... 3 2.1. X14 console ................3 2.1.1. Setup and operation screens .......... 3 2.1.2. Steering options menu ............ 3 2.2. X30 console ................4 2.2.1. Setup and operation screens .......... 4 2.2.2.

  • Page 15: Chapter 1 - Introduction

    Chapter 1 – Introduction Correct auto steering tuning is required to ensure the vehicle approaches and follows guidelines in a smooth and consistent manner. Tuning should only be carried out if auto steering performance is unsatisfactory. Note: Tuning should be carried out in a clear area away from high voltage power lines and large metal objects.
  • Page 16 X30 console if X14 instructions are not supplied separately. Note: If you are using an ISO UT console, the advanced tuning settings are not accessible. The AES-25 wheel angle sensor is not supported for ISO UT. Contact Topcon technical support for assistance.

  • Page 17: Chapter 2 - Console Navigation

    Chapter 2 – Console Navigation This section describes how to access the required tuning settings for each console. 2.1. X14 console 2.1.1. Setup and operation screens The X14 console has two main screens that are used during tuning; the Operation screen and the Setup screen. Use the highlighted buttons to switch between the screens.

  • Page 18: X30 Console

    2.2 X30 console 2.2. X30 console 2.2.1. Setup and operation screens The X30 console has two main screens that are used during tuning; the Operation screen and the Setup screen. Use the highlighted buttons to switch between the screens. 2.2.2. Steering options menu The steering tuning settings are accessed using the highlighted steering options menu.

  • Page 19: Enabling Dealer Mode

    Chapter 2 – Console Navigation 2.3. Enabling dealer mode The tuning process uses advanced tuning settings. These settings may only be accessed when the X14/X30 console is set to dealer mode. To set the console to dealer mode: 1. Select User / Access Level. 2.

  • Page 20: Universal Terminal (Ut)

    2.4 Universal terminal (UT) 2.4. Universal terminal (UT) 2.4.1. Setting UT to advanced mode The ISO UT allows you to operate in basic or advanced mode. The ISO UT is usually set to the basic guidance mode by default. To access the settings required for vehicle tuning, the ISO UT terminal must be switched to advanced mode.
  • Page 21 Chapter 2 – Console Navigation 3. Select when prompted to confirm change of user mode to advanced. The advanced guidance menu is displayed. 4. Select The advanced set-up menu is displayed.
  • Page 22 2.4 Universal terminal (UT)

  • Page 23: Chapter 3 - Tuning Preparation

    Chapter 3 – Tuning Preparation Perform the following steps before adjusting any steering settings. 1. Set GPS Correction to Autonomous. See Select GPS correction source, page 10. Selecting Autonomous mode when starting tuning avoids difficulties that can occur when trying to perform mounting bias calibration on an un-tuned system.

  • Page 24: Select Gps Correction Source

    3.1 Select GPS correction source 3.1. Select GPS correction source X30 console 1. Select System / GPS / Correction. 2. Select CORRECTION SOURCE and select Autonomous. Universal terminal 1. Select from the advanced setup menu. 2. Select the correction source that will be used for operation in the field.
  • Page 25 Chapter 3 – Tuning Preparation...

  • Page 26: Select The Vehicle Profile

    3.2 Select the vehicle profile 3.2. Select the vehicle profile X30 console 1. Select Vehicle / Select. The current vehicle profile is displayed with a green tick next to it. 2. If the incorrect profile is displayed, select another profile from the list or select Vehicle / New to create a new profile.
  • Page 27 Chapter 3 – Tuning Preparation The vehicle profile name is displayed. 2. If the incorrect profile is displayed, select to load a previously loaded profile or to create a new profile.

  • Page 28: Set The Vehicle Geometry

    3.3 Set the vehicle geometry 3.3. Set the vehicle geometry Note: Vehicle dimensions must be accurately measured. Ideally measurements should be within one cm / 0.5 inch. The tolerance must be within +/- 5 cm or 2 inches. Note: Ensure the correct dimensions identified by the red lines are measured and entered.
  • Page 29 Chapter 3 – Tuning Preparation 2. Select The vehicle geometry settings are displayed. 3. To add or adjust a vehicle dimension, select a dimension.

  • Page 30: Select The Steering Controller

    3.4 Select the steering controller 3.4. Select the steering controller This section describes how to ensure that the correct steering controller has been configured. X30 console 1. Select Vehicle / Steering. 2. Select CONTROLLER and select the required controller. Note: It is important to select the specific steering controller, if it is listed, so that auto steering settings match the vehicle profile.
  • Page 31 Chapter 3 – Tuning Preparation Universal terminal 1. Select from the vehicle geometry menu. 2. Select Steering Mode. Select the required controller. 3. Select Wheel Angle Sensor, if installed. Uncheck the box to enable.

  • Page 32: Steering Calibrations

    3.5 Steering calibrations 3.5. Steering calibrations The console uses the satellite data it receives, through the receiver attached to the top of the vehicle, to identify the precise coordinates of the vehicle. Using this and other data, the system is able to calculate the vehicle’s position and control the vehicle’s steering system.
  • Page 33 Chapter 3 – Tuning Preparation Universal terminal 1. Select .The first screen of the set-up menu is displayed. 2. Select twice. The calibration sub-menu is displayed. 3. Select from the calibration sub-menu. The calibration menu is displayed.

  • Page 34: Compass Calibration

    3.5 Steering calibrations 3.5.2. Compass calibration Drive to a place that will not interfere with the calibration before beginning. This should be away from high voltage power lines and large metal objects, with space to drive in complete circles. 1. From the calibration screen, select the compass calibration option: ...
  • Page 35 Chapter 3 – Tuning Preparation WARNING: Ensure there is sufficient space for the tractor to complete the full maneuver before selecting next. The calibration will take up to 60 seconds in each of these full lock modes. The AES-25 electric steering wheel will slowly turn the steering to full lock left and then, when next is pressed, to full lock right.

  • Page 36: Wheel Angle Sensor Calibration (Without Aes-25)

    3.5 Steering calibrations calibrated, the console will emit a beep and the AES-25 motor will stop. 4. Turn the tractor to face in a direction in which you can travel at least 200 meters/200 yards in a straight line. When the tractor is moving straight ahead, select next.

  • Page 37: Hydraulic System Calibration

    Chapter 3 – Tuning Preparation  Universal terminal: 2. Drive the vehicle forward to start the procedure. The wheel angle sensor calibration should be completed at approximately 2 kph (1.2 mph). 3. Turn the steering wheel full lock to the left and select next. The console will beep and move to the next step once calibrated.
  • Page 38 3.5 Steering calibrations Note: In the following two steps, the vehicle steering begins without moving and then progressively speeds up as the valve position increases to the minimum hydraulic threshold set in the vehicle profile. The system will begin calibrating the hydraulic system for the left steering valve.

  • Page 39: Mounting Bias Calibration

    Chapter 3 – Tuning Preparation 3.5.6. Mounting bias calibration Mounting bias refers to the offset from horizontal at which the GPS receiver is mounted on the roof of the vehicle. The following things can affect and change the mounting bias: ...
  • Page 40 3.5 Steering calibrations 1.2 mph along the wayline. The operator turns the vehicle around at the end of the pass and repeats the procedure. It is important that the vehicle meets the ‘A’ and ‘B’ waypoints within approximately 30 cm, to initiate the next step in the calibration procedure.
  • Page 41 Chapter 3 – Tuning Preparation This indicates the system has enough data for the first stage of the calibration and the mounting bias calibration will be paused at this point. 10. Proceed to cross the ‘A’ waypoint. 11. When the ‘A’ waypoint has been crossed, turn the vehicle around. 12.
  • Page 42 3.5 Steering calibrations...

  • Page 43: Chapter 4 - Default Tuning Values

    Chapter 4 – Default Tuning Values Note: The values listed here are only a starting point for the tuning process. The optimal values will vary for every machine. 4.1. AES-25 with WAS Vehicle Type Steering Tuning Online Aggressiveness Approach Aggressiveness Max Steering Angle Smoothing Radius for Curved Lines Sensitivity Adjustment...

  • Page 44: Aes-25 Without Was

    4.2 AES-25 without WAS Deadband Speed Steering Booster 4.2. AES-25 without WAS Vehicle Type Steering Tuning Online Aggressiveness Approach Aggressiveness Max Steering Angle Smoothing Radius for Curved Lines 7 Sensitivity Adjustment 100 100 100 100 100 100 Deadband Adjustment Disengage Threshold Advanced Steering Tuning pTime pTime off...

  • Page 45: Acu-1 Steering Ecu

    Chapter 4 – Default Tuning Values 4.3. ACU-1 steering ECU Vehicle Type Steering Tuning Online Aggressiveness Approach Aggressiveness Max Steering Angle Smoothing Radius for Curved Lines 7 Advanced Steering Tuning pTime 0.85 1 0.95 pTime off 0.95 1.1 1.05 Max PWM N/A 70 WAS Gain N/A 70...
  • Page 46 4.3 ACU-1 steering ECU...

  • Page 47: Chapter 5 - Tuning Procedure

    Chapter 5 – Tuning Procedure The vehicle tuning procedure is carried out by driving the vehicle along a set AB line (guideline). When the mounting bias calibration is carried out, an AB line is created. This line may be used while tuning the vehicle, or one more suited to high speed driving may be chosen.

  • Page 48: Steering Tuning Settings

    5.1 Steering tuning settings 5.1. Steering tuning settings X30 console 1. Select Steering Options Menu / Auto Steer Tuning Parameters Universal terminal Steering controller 1. Select from the vehicle geometry screen. The Steering tuning settings are displayed on the steering control settings page.
  • Page 49 Chapter 5 – Tuning Procedure Icon Steering tuning settings Online aggressiveness (online steering response) Sets how aggressively the steering will try to follow the guideline. Set high when you require your vehicle to follow a very precise path, such as when performing between row seeding. Approach aggressiveness (line acquisition steering response) Sets how aggressively the steering will approach (turn the vehicle...

  • Page 50: Advanced Steering Tuning

    5.2 Advanced steering tuning 5.2. Advanced steering tuning Note: These settings are not available on the Universal Terminal. Contact Topcon technical support for assistance. To access advanced steering tuning: 1. Select steering Options Menu / Advanced Steering Tuning Note: DGain and PGain settings are only available if the vehicle type is a swather/windrower.
  • Page 51 Chapter 5 – Tuning Procedure Steering tuning settings Max PWM The maximum speed at which the system will operate the hydraulic valve. WAS Gain Adjusts the influence of the wheel angle sensor response.

  • Page 52: Tuning Wheel Angle Sensor System

    5.3 Tuning wheel angle sensor system 5.3. Tuning wheel angle sensor system Note: These settings are not available on the Universal Terminal. Contact Topcon technical support for assistance. 1. Select Steering Options Menu / Wheel Angle Sensor Tuning Steering tuning settings Differential gain This setting provides the torque or effort used to adjust the steering.
  • Page 53 Chapter 5 – Tuning Procedure Steering tuning settings Right min The minimum value required to obtain movement from the wheels via the hydraulic system. Note: Low speed settings relate to a speed of 3-4 km/h and high speed settings relate to the speed that matches the highest speed planned (approximately 34km/h), however the vehicle does not need to be driven at these speeds to adjust the settings.

  • Page 54: Tuning Completion

    5.4 Tuning completion 5.4. Tuning completion Once the auto steering is performing as required: 1. Set the GPS correction source to the correction source that will be used for operation in the field. Refer to Select GPS correction source, page 10. 2.

  • Page 55: Chapter 6 - Troubleshooting Guide

    Chapter 6 – Troubleshooting Guide Symptom Causes Solutions Reduce AES-25 Excessive wheel AES-25 Deadband motion. Adjustment set too high. Deadband Adjustment. Overall steering AES-25 Sensitivity Reduce AES-25 performance is Adjustment set too high. Sensitivity Adjustment acceptable, but the (only if no WAS fitted). operator is concerned pTime setting too low.
  • Page 56 5.4 Tuning completion Symptom Causes Solutions Lazy snaking motion. Online Aggressiveness Increase Online too low. Aggressiveness setting. Performance of the steering system seems AES-25 Sensitivity Increase AES-25 very sluggish when Adjustment too low. Sensitivity Adjustment. trying to stay on the line pTime setting too high.

  • Page 57: Disengage Threshold

    Chapter 6 – Troubleshooting Guide Symptom Causes Solutions Unable to tune Incorrect vehicle type, Load correct vehicle example: swather set-up type. swather / windrower. using harvester vehicle After carrying out the type. complete tuning process on a swather/ DGain setting not used Adjust DGain setting.
  • Page 58 Topcon Positioning Systems, Inc. 7400 National Drive Livermore CA 94551 USA Phone: 925-245-8300 Fax: 925-245-8599 Topcon Corporation 75-1 Hasunuma-cho, Itabashi-ku Tokyo 174-8580 Japan Phone: +81-3-5994-0671 Fax: +81-3-5994-0672 © Topcon Precision Agriculture All rights reserved. Specifications subject to change without notice www.topconpa.com...

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