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AvMap ECU-S1 Operator's Manual

Autosteering controller
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ECU-S1
AutoSteering Controller
Welcome to the world of precision,
hands-free steering
2017-09
PN 875-0559-09-A

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Summary of Contents for AvMap ECU-S1

  • Page 1 ECU-S1 AutoSteering Controller Welcome to the world of precision, hands-free steering 2017-09 PN 875-0559-09-A...
  • Page 3 Manufacturer will not warrant the use of its devices in such applications. Service Information There are no serviceable parts inside the ECU-S1 system. Do not open the unit. Opening the unit will void the warranty. Any unauthorized attempt to open the ECU-S1 housing will void the warranty.

  • Page 4: Technical Support

    Technical Support Contact your dealer for technical support. Copyright © 2013-2017 All Rights Reserved. ECU-S1 AutoSteering Controller...

  • Page 5: Legal Disclaimer

    There is NO obstacle avoidance system included with the manufacturer’s product. The owner must always have a human present in the operator’s seat of the vehicle when the ECU-S1 system is in use to look for any obstacles to avoid including people, animals, trees, power poles, ditches, buildings, etc.
  • Page 6 ECU-S1 system. To prevent the accidental engagement of the ECU-S1 system and loss of vehicle control, power down the ECU-S1 system while driving on roads. Never drive on roads or in public areas with the ECU-S1 system powered up.
  • Page 7 Verify that you are in a stable position on the vehicle’s platform or stairs when installing or removing the antenna assembly on top of the cab so you do not fall. If the vehicle does not provide a safe platform, use a ladder to safely access the vehicle’s roof.

  • Page 8: Caution Alerts

    Caution Alerts The ECU-S1 system installer and manufacturer disclaim any responsibility for damage or physical harm caused by the failure to adhere to the following safety requirements: The ECU-S1 system does not detect obstacles in the vehicle’s path. The vehicle operator must observe the path being driven and take over steering manually if an obstacle must be avoided.

  • Page 9: Table Of Contents

      System Overview ....................1 Features ............................1   ECU-S1 Kit ........................... 2   ECU-S1 Device ..........................3   ECU-S1 LED Indicators ....................... 4   ECU-S1 Connections ........................4   Power Connections ........................ 5   Display Connections ......................5  ...
  • Page 10 Delete ........................... 96   Database ..........................97   Backup to Display USB ....................98   Restore from Display USB ..................99   Reset Factory Default ......................102   Reset .......................... 102   Shutdown Delay ......................... 103   viii ECU-S1 AutoSteering Controller...
  • Page 11 Chapter 8   Technical Specifications ..................147 Chapter 9   Appendix ......................149 Transferring ECU-S1 from One Vehicle to Another ..............149   Tools Required ........................150   Removing the ECU-S1 from a Vehicle ................150   Installing the ECU-S1 onto a Vehicle ................150  ...
  • Page 12 Vehicle Profile Worksheet ......................153   Chapter 10   Glossary ......................155 ECU-S1 AutoSteering Controller...

  • Page 13: Chapter 1 System Overview

    The ECU-S1 system is compatible with multiple displays. Refer to the Display Operator’s Manual or contact your AutoSteer dealer for specific instructions on how to connect the ECU-S1 system components to the display. Also, refer to the Display Operator’s Manual for information on how to access ECU-S1 system software menus and options. For information about setting up farms, fields, jobs, guidance patterns, and other display related functions, refer to your Display Operator’s Manual.

  • Page 14: Ecu-S1 Kit

    ECU-S1 Kit ECU-S1 Kit The ECU-S1 system kit includes a version of the ECU-S1 Electronic Control Unit, the ECU-S1 Main Harness, and Operator’s Manual. Figure 1-1 ECU-S1 Kit Contents Table 1-1 ECU-S1 Kit Contents Item Component ECU-S1 Electronic Control Unit ECU-S1 Main Harness ECU-S1 Operator’s Manual...

  • Page 15: Ecu-S1 Device

    Heat sink pads Note: For proper operation, the heat sink pads of the ECU-S1 Electronic Control Unit must be firmly attached to a metal plate. The metal mounting plate must be firmly attached to the vehicle to avoid vibrations. Verify the unit is secured with the four mounting screws before auto steering.

  • Page 16: Ecu-S1 Led Indicators

    The ECU-S1 system requires connections to a power source, display, GPS/GNSS receiver, and a vehicle. Additionally, it can be connected to optional accessories and devices. There are various ways these devices can be attached to the ECU-S1. A few generic connections are described in the following sections. For more information on connections refer to the Installation Manuals that are provided with those components.

  • Page 17: Power Connections

    Power Connections The ECU-S1 system requires 12 to 16 V DC power supply with a minimum rate of 10 A. It also requires a 12 to 32 V DC Power-On activation signal. That signal may be provided from a dedicated on/off switch or from the display.

  • Page 18: Gps/Gnss Receiver Connections

    Many vehicle-specific installation kits are available to fit on each make and model. Even if there is no vehicle-specific kit available for a vehicle, a properly trained installer can often use a custom installation kit to connect the ECU-S1 system to the vehicle.

  • Page 19: Accessories Connections

    Figure 1-8 shows one possible connection to a remote engage/disengage foot switch. CAN Bus or ISOBUS connected vehicles may have a factory supplied and installed remote engage switch. The ECU-S1 can often use input from that switch for Remote Engage/Disengage actions.

  • Page 20: Turning The Power On And Off

    For more details, refer to Shutdown Delay section on page 103. The ECU-S1 system draws a very low current from a battery when in standby mode. However, if the vehicle is going to be left inactive for a long period, it is recommended to completely disconnect the ECU-S1 system from the battery to avoid excessive discharge of the battery.

  • Page 21: Autosteer Setup Menu Operation

    Figure 2-1 shows the AutoSteer Setup opening screen when it is first accessed. Figure 2-1 AutoSteer Setup Opening Screen Note: The buttons displayed on this screen depend on the ECU-S1 system configuration and vehicle status. Not all buttons and menus are always visible. Operator’s Manual...

  • Page 22: Menu Overview

    The currently selected (active) tab is lowered. Menu Buttons - Allow the operator to start the action assigned to that menu item. Buttons present depend on the ECU-S1 system configuration and vehicle status. ECU-S1 AutoSteering Controller...

  • Page 23: Menu Controls And Indicators

    Menu Controls and Indicators The five Configuration Group Selection Tabs along the top of the screen separate the ECU-S1 system configuration and monitoring functions into sub groups to simplify usage. The five tabs and the options for each are shown Table 2-2.
  • Page 24 Bar Graph Display - Graphical representation of numerical values. Vehicle Speed Indicator with Limits - The thin, vertical red bar indicates the current vehicle speed which is also shown on the right in a numerical form. The Green portion of the graph ECU-S1 AutoSteering Controller...
  • Page 25 Menu Controls and Indicators Control/Indicator Description indicates the required speed range for the operation being performed. The required speed range limits are shown below the graph in numerical form using the same speed units as used by the current speed indicator. Compass indicator - The red needle indicates the current heading calculated from the GPS which is also shown in numerical form in the upper, right hand corner.

  • Page 27: Vehicle Tab Menu Operations

    Walks the operator through setting up a new vehicle profile then starts the Auto Calibration process. Manage Vehicles Allows the operator to select, edit, delete, or export/import vehicle profiles into the ECU-S1 system. Auto Calibrate Allows the operator to perform a vehicle and sensor calibration for the current vehicle.

  • Page 28: Setup Wizard

    Select Vehicle Type The Vehicle Type represents the type of vehicle the ECU-S1 system is installed on. Each vehicle type typically has different control parameters and measurement points. This setting allows the ECU-S1 system to determine which options are presented to the operator in subsequent steps.

  • Page 29: Select Vehicle Make

    Setup Wizard Table 3-2 Vehicle Type Descriptions Vehicle Type Description Articulated - Large four-wheel drive vehicles that steer by articulating in the center of the vehicle are in this group (includes tracked articulated vehicles). Combine - Grain harvesting and forage harvesting machines where the rear axle is used to steer the vehicle are in this group.

  • Page 30: Select Vehicle Model

    Select Controller Type The Controller Type represents the controller the ECU-S1 system will be interfaced with to steer the vehicle. The ECU-S1 system can be interfaced with various controller options including the standard AutoSteer valves, MDU-G4, as well as various factory installed steering systems.
  • Page 31 Setup Wizard Notes: 1) To enable the selection of Standard - Hydraulic, John Deere AutoTrac Ready ISO, Steer-By-Wire, or CAN Controller type, the appropriate Feature Code must be purchased from an authorized AutoSteer dealer and entered as described in the Feature Code section on page 142. 2) For John Deere AutoTrac Ready ISO vehicles the operator must purchase an activation code for the vehicle to enable AutoSteering capabilities for Novariant based steering controllers.

  • Page 32: Enter Vehicle Name

    Cannot start with a number or other special character (must always start with a letter). Note: If the vehicle profile is to be exported then imported on other ECU-S1 systems in the future, use a very distinctive name for each vehicle to avoid confusion later.

  • Page 33: Wheel Angle Sensor

    Setup Wizard Figure 3-6 Vehicle Name Use the onscreen keyboard to type the vehicle name, then when finished, press the Blue Right Arrow button to continue to the next step. Wheel Angle Sensor If the selected controller type is an MDU-G4 and the Wheel Angle Sensor for MDU Feature Code is activated, then the operator is asked if they want to enable or disable use of the Wheel Angle Sensor.

  • Page 34: Four Wheel Steering

    Yes – Four Wheel Steering used; proceed to selecting the Steer Mode Source and Rear Wheel Angle Source below.  No - Four Wheel Steering not used. For the Steer Mode Source, press the appropriate Change button to display the options shown in Figure 3-10. ECU-S1 AutoSteering Controller...

  • Page 35: Wheel Base

    Select the preferred source then press the Green Check Mark. Wheel Base This measurement is required for most vehicles with two axles. The ECU-S1 system needs to know the distance between the front and rear axle. This distance is the vehicle’s Wheel Base.

  • Page 36: Antenna Fore/Aft

    The Pivot Point of the vehicle is the place where the vehicle rotates around as it turns left or right. The location of the Pivot Point is different depending on what vehicle type the ECU-S1 system is being installed on. Table 3-4 shows the common Pivot Points for most vehicle types.

  • Page 37: Antenna Lateral Offset

    Antenna Fore/Aft First identify the Pivot Point on the vehicle that the ECU-S1 system is being installed on. Take a tape measure and measure the distance between the Pivot Point and the center of the GPS antenna then enter that value into the Antenna Fore/Aft window with the keypad.

  • Page 38: Antenna Height

    Take a tape measure and measure the distance between the center of the vehicle (typically the drawbar) and the GPS antenna. For the ECU-S1 system with two antennas measure distance to the left (master) antenna. Enter that value into the Antenna Lateral Offset window with the keypad.

  • Page 39: Ecu Fore/Aft

    1) Once the system has been calibrated the ECU-S1 location measurements should never be changed without completely re-calibrating the system. 2) The bull’s eye, shown in Figure 3-18, is not printed on the actual ECU-S1 unit. It is shown here only to indicate the location of the measurement point on the ECU-S1.

  • Page 40: Ecu Lateral Offset

    1 inch (2.5 cm). The ECU-S1 can be mounted to the left or right side of the centerline. The button that is highlighted indicates which side of the centerline the ECU-S1 is mounted. If the offset is zero, it does not matter which one is selected.

  • Page 41: Ecu Height

    Figure 3-21 ECU Height Take a tape measure and measure the distance from the ground to the ECU-S1 and enter that value into the ECU-S1 Height window with the keypad. This measurement should be accurate to within 1 inch (2.5 cm).

  • Page 42: Get Orientation

    Get Orientations - Use this button if the ECU-S1 is not in the orientation shown in the diagram and the ECU-S1 is mounted orthogonally on the vehicle. This means that the ECU-S1 is at a 90° angle or some multiple of 90° (0, 90, 180, 270) at all three axes (vertically, horizontally, and perpendicular to the other two) when compared to the direction of travel of the vehicle.

  • Page 43: Enter Angles

    Rotate ECU - This button cycles through the four ECU orientations that are possible after the orientation detection has been completed by the ECU-S1. Press this button until the figure on the left side of the screen shows the ECU-S1 in the same orientation as it is installed in the vehicle. When the correct orientation is found, press the Green Check button to save the orientation and to continue to the next step.

  • Page 44: Manual Steering Override

    Note ECU-S1 orientation as compared to vehicle Enter the angles for X, Y, and Z so that they tell the ECU-S1 system how many degrees it must be rotated from the Base Orientation position shown in Figure 3-27 to match the actual orientation on the vehicle. This process should be performed only by someone that has had the proper training.

  • Page 45: Pressure Transducer Installations

    Pressure Transducer Installations The pressure transducer is used to detect when the operator is turning the steering wheel so the ECU-S1 system knows when to disengage AutoSteer. When the operator manually turns the steering wheel on the vehicle, the oil pressure goes up in the steering circuit.

  • Page 46: Mechanical Steering Installations (Mdu-G4)

    Description Start Press this button to put the ECU-S1 system into an AutoSteer simulation. The Start button will change to a Stop button. Test the manual steering override threshold value by turning the steering wheel. If the ECU-S1 system reaches the threshold pressure, the Stop button will change back to the Start button. Use this procedure to test the ECU-S1 system to verify the manual steering override works properly.

  • Page 47: Manage Vehicles

    The Manage Vehicles screen allows the operator to manage the vehicle profiles that have been created on the ECU-S1 system. The ECU-S1 system is designed to be able to be moved from one vehicle to another easily. Each vehicle that it is installed on must have a new vehicle profile that saves the settings, calibration, and tuning values specific to that vehicle.

  • Page 48: Select

    Select The vehicle profile that is active on the ECU-S1 system is displayed in the Active Vehicle box near the top of the screen. The Active Vehicle must match the vehicle that the ECU-S1 system is installed on for the system to control it. A list of vehicle profiles stored on the ECU-S1 system is displayed below the Active Vehicle.
  • Page 49 Press the Blue Check Mark to return to the previous menu. Figure 3-33 Selected Vehicle is now Active This changes the vehicle that is displayed in the Active Vehicle box to the one that was highlighted and reprogram the ECU-S1 to control that vehicle. Operator’s Manual...

  • Page 50: Edit

    1) The vehicle profiles used to control the vehicles are stored on the ECU-S1. These profiles are independent of the vehicle profiles loaded on the display. The vehicle profile must be changed on both the display as well as the ECU-S1 system for it to properly interface with the vehicle.
  • Page 51 Manage Vehicles Edit the Antenna Fore/Aft information. Refer to the Antenna Fore/Aft section on page 24 for more information. When finished, press the Blue Right Arrow to continue to the next screen or the Blue Left Arrow to return to the previous screen.

  • Page 52: View Details

    To view details of a vehicle from the Vehicle List, follow the procedure below: Use the Gray Up/Down Arrows or directly select the vehicle from the list and highlight it. Figure 3-38 Select Vehicle from Vehicle List Press the View Details button. ECU-S1 AutoSteering Controller...

  • Page 53: Delete

    When finished viewing the vehicle’s details, press the Back button to close the View Details screen and return to the Manage Vehicle screen. Delete The Delete button allows the operator to delete the highlighted vehicle profile from the ECU-S1 system if it is no longer required. To delete a vehicle from the Vehicle List, follow the procedure below: Use the Gray Up/Down Arrows or directly select the vehicle from the list and highlight it.

  • Page 54: Export/Import

    For example, if a customer has three JD8430 vehicles, each JD8430 must have a different name such as "JD8430-1", "JD8430- 2", and "JD8430-3". This limitation needs to be considered prior to creating a vehicle as the name of the vehicle in the ECU-S1 system cannot be changed after it has been created.

  • Page 55: Export To Display Usb

    This button starts the process of importing a vehicle profile from the display storage device (USB drive, USB button SD card, etc.) Note: ‘Display USB’ refers to "a mass storage device on the external unit accessing the ECU-S1 system". Examples include a hard drive, SD card, CompactFlash card, and USB drive. Export to Display USB To export a vehicle profile to the display USB storage device or other storage device, follow the procedure in this section.
  • Page 56 Manage Vehicles Figure 3-43 Preparation to Export Vehicle Profile The ECU-S1 system shows a Please Wait message while it compiles the information required to create the export file. Figure 3-44 Export to Display Storage Once the file is ready for export, the Export Vehicle to Display screen appears. Press the Export button to export the file.

  • Page 57: Import From Display Usb

    Manage Vehicles Figure 3-46 Export Complete When the export is complete, the Export Vehicle to Display screen (Figure 3-46) reappears. Note: Some browsers may return you directly to the Manage Vehicles menu upon export completion; thus, you will not have to complete step 5. Press the Previous Menu Arrow on the top, left corner of screen to return to the Manage Vehicle menu.
  • Page 58 Figure 3-48 shows file selection example. Figure 3-49 Importing Profile from Storage Once the file is selected, press the Import button, which is now active once a file has been selected, to start the import process. ECU-S1 AutoSteering Controller...

  • Page 59: Auto Calibrate

    The Auto Calibrate procedure guides the operator through the calibration process for the active vehicle. The calibration steps teach the ECU-S1 system the characteristics of the vehicle and the steps are critical to achieve optimal control performance. Note the following:...
  • Page 60 Figure 3-52 below depicts a calibration trajectory for a specific vehicle as an example. It also shows sections of specific calibration steps. Every vehicle’s trajectory will be different. Figure 3-52 Calibration Trajectory Example Note: The calibration trajectory changes depending vehicle type, controller, and other differences in the vehicle. ECU-S1 AutoSteering Controller...
  • Page 61 Auto Calibrate The calibration process comprises two main procedures:  Common Calibration Steps – These are the steps that all vehicles must perform during the Auto Calibrate process. These steps are also performed on vehicles that have been imported.  Vehicle Controller Type Specific Calibration Steps –...
  • Page 62 If the vehicle profile has been imported and only a partial calibration (compass and tilt) is required, a screen shown on Figure 3-57 appears. Figure 3-57 Auto Calibrate Initial Screen with Partial Calibration Option If the partial calibration is selected, the next Auto Calibrate screen looks like the one shown in Figure 3-58. ECU-S1 AutoSteering Controller...

  • Page 63: Common Calibration Steps

    Auto Calibrate Figure 3-58 Auto Calibrate Screen with Common Calibration Steps Note: Before the ECU-S1 system is allowed to AutoSteer the vehicle, all the steps of the Auto Calibrate process must be successfully completed and the results saved. Common Calibration Steps All Auto Calibrate processes start with the same Common Calibration Steps as follows: ...
  • Page 64 Figure 3-60 Compass Calibration in Progress During the Compass Calibration process the ECU-S1 system displays a progress indicator in percentage. Continue driving in a circle until the compass calibrates and the next calibration screen appears. If the Compass Calibration process did not complete successfully one of the errors shown in Table 3-9 may be shown. If any of the errors occur, the operator should correct the situation and press the Resume button to perform the Compass Calibration process again.

  • Page 65: Wait For Heading

    Wait for Heading After the compass has been calibrated, the ECU-S1 system displays a verification screen. This screen shows a compass with a red needle and a green shaded area. The red needle represents the calculated heading based on the GPS. The green shaded area represents the measured compass heading.

  • Page 66: Tilt Zero Initial Direction

    Tilt Zero Initial Direction The ECU-S1 system uses its sensors to determine the tilt of the vehicle as it travels through the field, enabling the system to calculate the true position of the wheels if the cab is tilting to one side or another. The GPS antenna is generally mounted on top of the cab so even though the GPS antenna may move as the cab moves due to the terrain change, the center-line of the vehicle will still be on the straight line.

  • Page 67: Tilt Zero Opposite Direction

    Note: It is important that the Tilt Calibration takes place on a flat area with no slope. If this step is performed on a slope, the ECU-S1 system may not be able to accurately control the vehicle. Follow the procedure below to complete the Tilt Zero Initial Direction process.
  • Page 68 Tilt Zero Opposite Direction Calibration When vehicle is stationary and stabilized, press the Resume button. The ECU-S1 system shows a countdown. Wait for system to finish measuring and if the Tilt Calibration is successful the ECU-S1 system proceeds automatically to the next step.

  • Page 69: Vehicle Controller Type Specific Calibration Steps

    The actual steps that are used are different for each vehicle configuration but are shown on the ECU-S1 system screen in the order they are to be performed. This section describes the individual steps that may be encountered during the calibration procedure in no particular order.

  • Page 70: Valve Dead Band

    Angle Sensor If a Wheel Angle Sensor is installed on the vehicle and the ECU-S1 system receives input directly from it, the ECU-S1 system reads the value of this sensor to determine the position of the steering mechanism. This includes vehicles that use the standard add-on wheel angle sensor, AutoTrac Ready (non-ISO), AccuGuide Ready, IntelliSteer, and some others.
  • Page 71 It can also determine the exact sensor reading that should steer the vehicle in a straight line. The sensor calibration is robust and allows the ECU-S1 system to determine the correct sensor readings to use even if the sensor is not installed with equal steering angles to the left and right.

  • Page 72: Valve

    As the signal to the steering valve is increased, the rate of turn at the wheel angle sensor should also increases. The ECU-S1 system takes readings of the wheel angle sensor rate of turn at different signal commands so the system knows how fast the vehicle will turn at any signal command sent to the steering valve.

  • Page 73: Mdu Dead Band

    Valve Type Confirmation Requirement Window The ECU-S1 system shows a list of supported valve types as shown in Figure 3-73. The detected valve type is described in the bottom left corner of the window and highlighted in the list. If the selected valve type matches the valve type that is installed, press the Green Check Mark to finish the calibration process.

  • Page 74: Mdu

    Vehicle types that use an electro-mechanical device attached to the steering wheel, such as the MDU-G4, to control the steering uses this procedure. This procedure tests the rate of turn measured by the encoder inside the MDU as the ECU-S1 system sends various signals to it.

  • Page 75: Curvature (Mt Curvature)

    AutoSteer calibration or poor performance may result. To control these vehicles, the ECU-S1 system sends a desired curvature command to the vehicle via the CAN Bus. The vehicle then attempts to steer the vehicle to match the desired curvature. There can be some error to what the vehicle thinks the curvature is as compared to what it actually is.

  • Page 76: Save Calibration

    Once the all the calibration steps are complete, the Save Calibration screen may appear as shown in Figure 3-78. Figure 3-78 Save Calibration Press the Check Mark to save the calibration or press the Red X to cancel the save and return to the AutoSteer Setup screen. ECU-S1 AutoSteering Controller...

  • Page 77: Adjust Gps Antenna Lateral Offset

    Disengage the AutoSteer system, turn the vehicle around, then AutoSteer back down the same AB line in the opposite direction. When the vehicle's draw bar reaches the flag, stop the vehicle, place it in park, disengage off the ECU-S1 system, then exit the vehicle.

  • Page 78: Tilt Calibration

    Changing the vehicle antenna offset will cause other implements to show unpredictable guess row errors. Tilt Calibration This menu option starts the tilt calibration as described in section Tilt Zero Initial Direction on page 54. This menu item is available only after initial calibration of the vehicle. ECU-S1 AutoSteering Controller...

  • Page 79: Wheel Angle Calibration

    Applies to MDU-G4 only. Adjusts how aggressively the vehicle steers onto the desired steering path (A/B line). The goal is to adjust the ECU-S1 system to take the shortest route without excessively sharp or sudden movements of the vehicle. Cross Track Error Adjusts how aggressively the vehicle reacts to changes in cross-track error.

  • Page 80: Steering Components

    Rabbit Icon - Move the bar toward the rabbit to increase the response rate of the steering system. This causes the ECU-S1 system to react faster. If the response rate is increased too much the vehicle goes into a rapid oscillating pattern as it travels across the field.

  • Page 81: Mdu Vehicle Profiles

    Information Description Firmware Version Software version loaded on the internal ECU. This is not the same as the ECU-S1 system software version. The internal ECU is a component of the ECU-S1 hardware. Vehicle Type Vehicle type that the internal ECU is configured for. This is important to know to ensure the ECU is configured properly to communicate to the vehicle type selected.

  • Page 82: Can

    Gray - There is a problem communicating with the internal ECU. If the ECU-S1 system is installed on a vehicle that is interfaced via the CAN Bus or ISOBUS Connection, the CAN screen displays in the Steering Components screens. The CAN screen provides specific information about the communication status between the vehicle and ECU-S1 system.
  • Page 83 For CAN vehicles, this is the estimated Curvature — or a calculation based on it — that the vehicle sends to Curvature the ECU-S1 system. This value should change as the steering wheel on the vehicle is manually turned. This is not the actual wheel angle sensor value from the wheel angle sensor on the vehicle; however, it moves as the steering wheel is turned.

  • Page 84: Mdu Encoder

    The Manual Steering Override refers to the sensor that is used to detect when the operator manually turns the steering wheel. The ECU-S1 system needs to know when the driver wants to take over steering and the ECU-S1 system should be disabled.

  • Page 85: Pressure Transducer

     Change Samples - This setting sets the length of time the ECU-S1 system must detect the manual steering override reading before it considers that the operator has started turning the wheel. If this value is set too high, the manual steering override is slow to respond or does not respond at all.

  • Page 86: Mechanical Steering Device

    This screen is displayed for vehicle profiles that use a Mechanical Steering Device such as MDU-G4. It allows the operator to verify the ECU-S1 system can receive encoder information from Mechanical Drive Unit and to adjust the sensitivity of the manual steering override to suit the operator preferences.

  • Page 87: Steering Encoder Or Flow Switch

    Manual Steering Override - The indicator shows when the override signal is detected. o Green - The ECU-S1 system detects steering wheel motion via an encoder or from a flow switch. o Red - No motion or flow is detected.

  • Page 88: Zero Curvature

    If it does not move or jumps suddenly there is a problem with the sensor and this needs to be resolved before the ECU-S1 system can AutoSteer. The raw counts should change throughout the full movement of the steering mechanism from the full left to the full right positions.
  • Page 89 Steering Components Figure 3-92 Zero Curvature Test Begin driving the vehicle in a straight line within the speed range requested by the display and with normal operating engine RPM. Press the Start button. The vehicle drives straight for approximately 10 seconds. At the end of the countdown, the test gives one of the two following results.

  • Page 90: Remote Switch

    Remote Switch If a remote engage/disengage switch has been installed and enabled on the ECU-S1 system, the Steering Components screen shows an option for Remote Switch in the list on the right. The switch function must be enabled in the Accessories screen before it is visible in the Steering Components screen.
  • Page 91 Steering Components The Hydraulic Valve screen is used to verify that the ECU-S1 system can control the steering valve. The steering valve can be commanded to turn the steering mechanism in both directions at different speeds. Notes: 1) Before performing this test, ensure people and objects are clear of the vehicle. When pressing the Steering Command buttons, the steering mechanism moves quickly from side to side.

  • Page 92: Mdu Actuator

    The Mechanical Drive Unit (MDU) refers to any mechanical steering option such as MDU-G4. The MDU Actuator screen provides the operator a way to command the Mechanical Drive Unit to turn left or right and confirm the ECU-S1 system can control the device.

  • Page 93: Actuator

    Steering Components Table 3-16 MDU Actuator Screen Information and Button Descriptions Information/Button Description Hard Left Pressing this button tells the MDU to turn to the right at 100% rate. xx% Left The xx represents the Steering Left/Right Percentage that the slider bar has been set to. Pressing this button turns the MDU to the right at xx% speed.
  • Page 94 2) Some vehicles need to be moving for the ECU-S1 system to be able to react to a command. 3) Some CAN Bus / ISOBUS controlled vehicles require the operator to use the vehicle’s factory supplied engage switch to start the test process.

  • Page 95: Ecu Sensors A/G/M

    Figure 3-102 ECU Sensors A/G/M ECU Sensors Velocity The ECU Sensors Velocity screen provides the data the ECU-S1 system is using for measuring the velocity of the system. This information helps the technician to understand how the system is operating.

  • Page 96: Manage Implement

    Passive Implement Steering and select between two AutoSteer modes (Vehicle and Passive Implement Steer). When in Passive Implement Steer mode, the ECU-S1 system attempts to steer the implement along the guidance line (as opposed to Vehicle Steer mode, where the system attempts to steer the vehicle along the guidance line).

  • Page 97: Hitch Distance

    Hitch Distance Hitch Distance is the distance between the vehicle pivot point and the implement hitch point. The ECU-S1 system uses the Antenna Fore/Aft distance (entered during vehicle setup, see Antenna Fore/Aft on page 23) in conjunction with the Hitch Distance to determine implement position.

  • Page 98: Antenna Distance

    Antenna Distance screen with the keypad. This measurement should be accurate to within 2 inches (5 cm). After entering the Antenna Distance, press the Blue Right Arrow button to continue to the next step (Antenna Height). Antenna Height Antenna Height is the distance between the ground and the implement GPS antenna. ECU-S1 AutoSteering Controller...

  • Page 99: Antenna Offset

    Manage Implement Figure 3-108 Implement Antenna Height Use a tape measure to measure the distance from the ground to the implement GPS antenna then enter that value into the Antenna Height screen with the keypad. This measurement should be accurate to within 2 inches (5 cm). Measure to the bottom of the domed part of the of the GPS antenna, as shown in Figure 3-16 on page 26.

  • Page 100: Select Autosteer Mode: Vehicle Steer Or Passive Implement Steer

    (Imp -0.77 m shown in Figure 3-111). Note: The SimpleSteer lightbar indicates only vehicle crosstrack. If Passive Implement Steer is selected as the AutoSteer Mode, the lightbar continues to show how far the vehicle is off the guidance line. ECU-S1 AutoSteering Controller...

  • Page 101: Steering Adjust For Passive Implement Steer

    Manage Implement Figure 3-111 Implement Offset in SimpleSteer Steering Adjust for Passive Implement Steer Passive Implement Steer should perform adequately for most normal field operations. However, similar to vehicle steering performance, it may be necessary to adjust implement steering performance to consider field conditions, implement selection, traveling speed, etc.

  • Page 103: System Tab Menu Operations

    System Tab Menu Operations The System tab enables the operator to set and manage items that are related to the ECU-S1 system itself. This includes viewing system health status for all the components, working with log files and system databases, resetting the unit to factory defaults, managing accessories that may be connected to the system, and upgrading the ECU-S1 system to new software versions.

  • Page 104: System Health

    System Health The System Health screen provides a quick status view for the various aspects of the ECU-S1 system. If a problem should occur, this allows the operator to take a quick glance at the status of the various sensors and see if any obvious problems appear.

  • Page 105: Manage Settings

    System Health status screen. Manage Settings The Manage Settings screens allow the operator to manage ECU-S1 configuration as well as the internal databases and logs files. The database stores all the vehicle configuration, calibration, and history information for the ECU-S1 system. The log files and history files keep a running list of everything the system has done.

  • Page 106: Log Files

    From the System tab, press the Manage Settings button, select Log Files from the list on the right, then press the Copy to Display USB button. In some cases, the display asks whether to open or save a file. Tell the ECU-S1 system to save the file in a place where it can be located again later.
  • Page 107 Press the Blue Check Mark to close the message. All log files from ECU-S1 system are combined into one archive file and saved to the display storage device under name ecu- s1log_YYYY-MM-DD-HH-mm-SS.tar, where YYYY is a year, MM is a month, DD is a day, HH is an hour, mm is a minutes and SS is the number of seconds.

  • Page 108: Delete

    To accept the warning message, press the Check Mark. To cancel deleting the log files, press the Red X. Figure 4-8 Deleting Log Files Deleting log files can take up to a minute depending on how much data is stored on the ECU-S1 system. ECU-S1 AutoSteering Controller...

  • Page 109: Database

    AutoSteer dealer can use for troubleshooting. It is a good practice to back up the database on the ECU-S1 system regularly. With the backup available, the ECU-S1 system can be restored from it quickly without having to redo all the vehicle setups. To back up the database, follow the procedure...

  • Page 110: Backup To Display Usb

    Display USB button. Figure 4-11 Database File Download In some cases, the display may ask whether to open or save a file. Tell the ECU-S1 system to save the file in a place where it can be located again later.

  • Page 111: Restore From Display Usb

    ECU-S1 system database, follow the procedure below: Notes: 1) All data on the ECU-S1 system is replaced with the database that it is restored from. All existing data will be lost on the ECU-S1 system. 2) Though restoring via Wi-Fi is supported, it is a slow process. It is strongly recommended to connect via the Ethernet cable to backup database to decrease the time it takes to save it.
  • Page 112 Press the Browse button to locate the database to import. Figure 4-14 Select Database File to Restore As required by your display navigate (browse) through the file selection menu and select the database file to be restored. Figure 4-14 shows an example from a Firefox browser. ECU-S1 AutoSteering Controller...
  • Page 113 Figure 4-16 Uploading Restore File The restore begins. The process may take a couple of minutes to complete. Do not touch the ECU-S1 system while the restore is taking place. The ECU-S1 system will notify when the database has been restored.

  • Page 114: Reset Factory Default

    Only the Feature Codes remain unaffected by this operation. A use case for this function would be if an operator sold their ECU-S1 system to a new owner and they wanted to remove all their data before doing so.

  • Page 115: Shutdown Delay

    Note: Do not remove power to the ECU-S1 system during this step; removing power may corrupt the database. This may take a couple of minutes to complete. The ECU-S1 system will notify when the system has been restored. Figure 4-20 Factory Reset Complete Press the Blue Check Mark to acknowledge the process was completed.

  • Page 116: Change Delay Time

    The ECU-S1 system continually records the GPS/GNSS and AutoSteering status in the History Files. The ECU-S1 can store up to approximately 1000 hours of history data. Status is saved at 10-second intervals. Once the ECU-S1 system fills its logging storage space, it begins to overwrite the oldest files with the new ones. The History Files page allows the operator to transfer the history files to the display.

  • Page 117: Copy To Display Usb

    From the System tab, press the Manage Settings button, select History Files from the list on the right, then press the Copy to Display USB button. In some cases, the display may ask whether to open or save a file. Tell the ECU-S1 system to save the file in a place where it can be located again later.
  • Page 118 Figure 4-24 shows an example of the copying screen. All history files from the ECU-S1 system (in CSV format, see Appendix History File Format on page 151 for details) are combined into one archive file and saved on display storage device under name ecu-s1historylog_YYYY-MM-DD-HH-mm- SS.tar, where YYYY is a year, MM is a month, DD is a day, HH is an hour, mm is a minutes and SS is a number of seconds.

  • Page 119: Accessories

    Accessories Accessories The ECU-S1 system was designed to allow accessories to be developed and attached to it over time if new ones arise. The Accessories menu is used to manage these optional attachments. To access the Accessory screen, select the System tab from the main AutoSteer Setup screen then press the Accessory button.

  • Page 120: Remote Switch Disengage

    The Remote Switch Disengage option allows the operator to connect an external device (foot switch, rocker switch, toggle switch, etc.) to the ECU-S1 harness. The operator can then use the external switch to disengage AutoSteer by pressing the switch. This allows the operator an alternative way to disengage AutoSteer.

  • Page 121: Enable/Disable

    Current Status - This shows the current status of the Remote Switch, which can be: o Enabled - The ECU-S1 system accepts input from the remote switch to disengage AutoSteer. o Disabled - The ECU-S1 system ignores any input from the remote switch to disengage AutoSteer. ...

  • Page 122: Technician

    Software Upgrade The Software Upgrade screen enables the operator to upgrade the ECU-S1 system to new versions as the new application software bundles are released. It is recommended to upgrade system to the latest software release to get new features and improvements.
  • Page 123 Downgrading the software on an ECU-S1 system is not supported as it can corrupt the system settings. The software upgrade file must contain a software version that is equal or higher to the version currently running on the ECU-S1 system. If a lower version is attempted to be loaded onto the ECU-S1 system a warning screen appears telling the operator they cannot do this.

  • Page 124: Upgrade

    Upgrade Version is Lower than Current Version Warning Upgrade Use the following procedure to upgrade an ECU-S1 system to the latest software version. Acquire the latest ECU-S1 system upgrade file from your AutoSteer Dealer. Save the upgrade file onto a display storage device (display internal storage, USB drive, SD card, etc.) on the display that will be connected to the ECU-S1 system.
  • Page 125 Figure 4-35 New Software Uploading in Progress The ECU-S1 system starts uploading the upgrade file to the system. This process typically lasts 1-10 minutes, depending on if using Ethernet or Wi-Fi. Operator’s Manual...

  • Page 126: System Log

    Software Upgrading in Progress The ECU-S1 system will then go through the upgrade process and show the progress of the upgrade on the screen. This process takes approximately six minutes to complete. Wait for the ECU-S1 system to finish the process and do not disturb Note: At the beginning of the upgrade ECU-S1 performs a series of internal checks if the upgrade can be done successfully, ensuring there is enough space left on the file system before attempting to upgrade.

  • Page 127: Message Display Filter

    System Log To access the System Log screen, select the System tab from the main AutoSteer Setup screen, press the System Log button. Figure 4-38 System Log Table 4-5 describes the information and buttons on the System Log screen. Table 4-5 System Log Screen Information and Button Descriptions Information/Button Description...

  • Page 128: Details

    The Details button provides more information about the highlighted issue. Press this button to get more details on the issue that is selected. Figure 4-40 System Log Details After viewing the details about the issue, Press the Blue Check Mark to return to the System Log screen. ECU-S1 AutoSteering Controller...

  • Page 129: Gps Tab Menu Operations

    GPS Tab Menu Operations The GPS tab allows the operator a way to configure the ECU-S1 to work with many different external GPS and GNSS receivers and monitor their data. The menu also allows operator to configure roll, pitch and GPS/GNSS antenna lateral offset corrected position data output in NMEA messages to additional devices.

  • Page 130: Gps Diagnostics

    To access the General screen, select the GPS tab from the main AutoSteer Setup screen, press the GPS Diagnostics button, then select General from the list on the right. Table 5-3 describes the information on the General screen. ECU-S1 AutoSteering Controller...

  • Page 131: Nmea Messages

    NMEA Status The NMEA Status screen provides an overview of all the NMEA messages that are being received by the ECU-S1 system. This screen provides an easy to view source of which messages are being received, how fast they are being received, and the quality of the data for AutoSteering received from the GPS receiver.
  • Page 132 GPS Diagnostics messages. The data that will be shown in this screen depends on which mode the ECU-S1 is receiving data. Figure 5-4 and Figure 5-5 show examples of what the screen will look like in both cases. To access the NMEA Status screen, select the GPS tab from the main AutoSteer Setup screen, press the GPS Diagnostics button, then select NMEA Status from the list on the right.
  • Page 133 Quality Shows the quality of the GPS position it is receiving. The ECU-S1 system assumes the quality is related to the standard NMEA quality indicator values. Some GPS receivers may use a different quality index. Refer to your GPS system’s documentation for information about the various message formats they use. The Quality indicators that can be displayed are: ...

  • Page 134: Fix Details

    The Dual Antenna Details screen displays attitude and position fix information from a dual antenna GPS receiver. This option is shown only if the Dual Antenna Heading feature code is valid. Figure 5-7 Dual Antenna Details Table 5-6 describes the information on the Dual Antenna Details screen (as reported in HEADINGA message). ECU-S1 AutoSteering Controller...

  • Page 135: Gps Setup

    GPS Setup Table 5-6 Dual Antenna Details Screen Information Descriptions Information Description Heading Vehicle true heading Roll Vehicle roll Crab Angle Angle between vehicle heading and direction vehicle is moving Last Swath Crab Angle Crab angle during steering on the last swatch Solution Status Indicates if the solution is valid or not Position Type...

  • Page 136: Change Baud Rate

    GPS Setup Table 5-7 NMEA-In Port Configuration Screen Information Descriptions Information Description Baud Rate This is the serial communication rate that the ECU-S1 system is set to. The system supports the following Baud Rates:  19200  38400  57600 ...

  • Page 137: Precision Settings

    Note: A minimum baud rate of 19200 bps is supported; however, it is recommended not to use a speed below 38400 if possible as performance may be slightly reduced at the lower speeds. 115200 bps is recommended. Always use the highest common communication rate the GPS/GNNS receiver can provide and the ECU-S1 can use. Precision Settings The Precision Settings allows the user to configure the minimum GPS position quality (precision level) requirements to allow AutoSteering to be activated and remain engaged.

  • Page 138: Nmea Quality For Steering

    The NMEA Quality for Steering (Figure 5-11) allows the operator to select which NMEA GPS quality value(s) will allow the ECU-S1 system to AutoSteer. One of the fields the NMEA GGA message data provides is the Fix Quality. The Fix Quality provides information about the correction source that generated the GPS Position.

  • Page 139: Edit

    Precision Settings Edit To Edit the NMEA GPS Quality value to be Enabled or Disabled for use for AutoSteering, follow the procedure below: From the GPS tab, press the Precision Settings button. Press the Blue Up/Down Arrows or directly select NMEA Quality for Steering from the list on the right. Use the Gray Up/Down Arrows or directly select the desired NMEA Quality value that needs to be adjusted.

  • Page 140: Enable/Disable

    Precision Settings necessary so the user can enable this feature to allow the ECU-S1 system to continue AutoSteering until the HDOP value gets to 5.0 instead. By default, this setting is disabled. To access the Relax DOP for Steering screen, select the GPS tab from the main AutoSteer Setup screen, press the Precision Settings button, then select Relax DOP for Steering from the list on the right.

  • Page 141: Age Of Rtk Correction

    Precision Settings Figure 5-15 Relax DOP for AutoSteering Enabled Once the Enable or Disable button has been pressed, the button will change to the opposite of what it was and the Current Status will be updated. Age of RTK Correction The Age of RTK Correction window specifies the maximum limit of RTK correction age that is acceptable for AutoSteering.

  • Page 142: Change Limit

    NMEA Out The NMEA Out Port Setup screen enables operator to configure NMEA 0183 messages for output from the ECU-S1 system for use by 3rd party agriculture devices and applications. The ECU-S1 system supports one NMEA output port via the ECU Main Harness's SERIAL connector.
  • Page 143 NMEA Out Figure 5-18 Antenna Offsets Note: The NMEA Out port Baud Rate is interrelated to the NMEA-In Port setting. Changing the Baud Rate of NMEA Output value will also change the Baud Rate of NMEA-In Port value and vice versa. To access the NMEA Out Port Setup screen, select the GPS tab from the main AutoSteer Setup screen then press the NMEA Out button.

  • Page 144: Nmea-Out Messages

    GGA - Global Positioning System Fix Data  VTG - Direction of Travel and Ground Speed  GLL - Geographic Latitude and Longitude  ZDA - Date and Time  RMC - Recommended Minimum Specific GPS Data  XTE - Cross-Track Error ECU-S1 AutoSteering Controller...

  • Page 145: Edit

    NMEA Out Information/Button Description Rate Each message can be sent a certain rate (times per second). This column shows what the current rate for that message is set to. The following data rates are supported:  Off - Message is not sent ...
  • Page 146 Legacy - The GGA Message sends the GPS Quality indicator as 1 or 2 only. Even if the position is calculated by RTK or OmniSTAR, the GPS Quality indicator will be sent as 2. If the ECU-S1 system is running in GPS Only mode, the GPS Quality will be set to 1.

  • Page 147: Nmea-Out Port Configuration

    Table 5-15 describes the information/buttons on the NMEA-Out Configuration screen. Table 5-15 NMEA-Out Configuration Screen Information and Button Descriptions Information/Button Description Baud Rate This is the serial communication rate that the ECU-S1 system is set to. The system supports the following Baud Rates:  19200  38400 ...
  • Page 148 X to cancel. Figure 5-25 NMEA Out Available Baud Rates Use the Gray Up/Down Arrows or directly select the desired Baud Rate. Press the Green Check Mark to accept changes or the press the Red X to cancel. ECU-S1 AutoSteering Controller...

  • Page 149: Connections Tab Menu Operations

    Wi-Fi The Wi-Fi network enables the operator to establish a wireless connection between the ECU-S1 system and a display, tablet, or laptop PC. The Wi-Fi connection can be enabled or disabled in this screen. The required ESSID and Wi-Fi firmware version are also provided.

  • Page 150: Configuration

    Wi-Fi mode, follow the procedure below: From the Connections tab, press the Wi-Fi button. Press the Enable or Disable button (depending on the Current Status) shown in Figure 6-2 to change the ECU-S1 system to opposite status.
  • Page 151 Wi-Fi Figure 6-3 Disable Wi-Fi If disabling Wi-Fi, a warning screen will appear telling the operator that disabling the Wi-Fi will cause certain functions to stop working. If it is okay to disable Wi-Fi, press the Green Check Mark or press the Red X to cancel. Figure 6-4 Enable Wi-Fi Once the Enable or Disable button has been pressed, the button will change to the opposite of what it was and the Current...

  • Page 153: My Account Tab Menu Operations

    My Account Tab Menu Operations Use the My Account tab to display hardware details and manage additional features that can be added to the ECU-S1 system. Figure 7-1 AutoSteer Setup My Account Tab To access the My Account menu, refer to your Display Operator’s Manual for instructions on accessing the AutoSteer Setup screen.

  • Page 154: Feature Code

    Feature Code The Feature Code screen displays all the optional features that can be activated on the ECU-S1 system with their Expiration Dates and current Status. Feature Codes add additional capabilities and functionality to the ECU-S1 system that may be useful to the owner.
  • Page 155 Feature Code Screen Option/Button Descriptions Option/Button Description Feature Code List This is a list of the Feature Codes that are available on the ECU-S1 system. The available Feature Codes are:  Hydraulic Steering Interface - Allows the ECU-S1 system to control aftermarket hydraulic steering valves.

  • Page 156: Edit

    Enter the Feature Code Unlock Enter the Feature Code provided by your AutoSteer provider and press the Green Check Mark to accept it or press the Red X to cancel. Feature Codes can contain letters and numbers and are case sensitive. ECU-S1 AutoSteering Controller...
  • Page 157 Press the Blue Check Mark to return to the Feature Code menu. The ECU-S1 system requires a valid GPS time to activate the newly entered Feature Code. If the code is entered but GPS time is not available, the system will display a Feature Code Entered is Valid but is not Activated Yet notification as shown in Figure 7-6.

  • Page 159: Chapter 8 Technical Specifications

    Technical Specifications Display Support Interface options Ethernet (10/100 Mbit/s), Wi-Fi (IEEE 802.11 b/g), RS-232 Protocols HTTP, CAPI Languages Bulgarian, Danish, Dutch, English, French, German, Hungarian, Italian, Lithuanian, Mandarin (simplified), Polish, Portuguese (European and Brazilian), Russian, Spanish, Ukrainian GPS / GNSS Receiver Support Interface options RS-232 (Rx and Tx lines only), Ethernet (from display), Wi-Fi (from display) Protocols...
  • Page 160 Output voltage equal to Power Activation Control Signal, 1 A max. Provided by the main harness. receiver Operation current draw 0.25 A typical with no load Quiescent current draw 0.01 A typical Recommended fuse on supply 10 A (Littelfuse 0287010 or equivalent) line Recommended fuse on GNSS/GPS supply output line ECU-S1 AutoSteering Controller...

  • Page 161: Chapter 9 Appendix

    Transferring ECU-S1 from One Vehicle to Another The ECU-S1 system is designed to be easily transferred from one vehicle to another. Specific vehicle kits are available that can be installed on each vehicle so that only the display, GPS/GNSS Receiver, and the ECU-S1 need to be transferred. Each vehicle that the ECU-S1 system is to be transferred to should have the display Harness, ECU-S1 Main Harnesses, and Vehicle Harnesses already installed.

  • Page 162: Tools Required

    Attach the ECU-S1 to the mounting bracket with four 8-32 x 1/2 hex screws. Note: For proper operation, the ECU-S1 must be firmly attached to the vehicle. It must be mounted on the metal bracket to allow heat dissipation. Do not over-tighten the screws.

  • Page 163: Nmea-Out Harness Wiring

    ECU-S1 system to retrieve NMEA-Out data. Data is transmitted through the SERIAL connector of the ECU-S1 Main Harness. Figure 9-2 shows the connector diagram and Table 9-2 lists the pinouts. Note: The additional devices can be connected to the SERIAL connector on the ECU-S1 Main Harness. Some harnesses may have this connector labeled GPS NMEA.
  • Page 164 History File Format Table 9-4 Steering Status Value Meaning Steering Status Value Meaning Disengaged Line Acquisition On Line Below Default Speed Calibration Mode ECU-S1 AutoSteering Controller...
  • Page 165 Measurement: GPS Antenna Location Fore / Aft Left / Right Height □ Fore □ Aft □ Left □ Right Measurements: ECU-S1 Location Fore / Aft Left / Right Height □ Fore □ Aft □ Left □ Right Measurements: ECU-S1 Orientation  ...
  • Page 166 Vehicle Profile Worksheet Table 9-6 ECU-S1 Basic Orientations in the Vehicle   ECU-S1 AutoSteering Controller...
  • Page 167 Also called XTE. Calculated error between what the actual position is compared to what it should be (ex. how far off the current guidance path is the vehicle). Comma Separated Values. Data format used for ECU-S1 history files. curvature Measure of the amount of change in heading an object has as compared to a straight line.
  • Page 168 This is a geographic coordinate that specifies the east-west position of a point on the Earth's surface. Mechanical Drive Unit - This is a generic term to describe a device that is attached to the steering wheel of a vehicle to allow an ECU-S1 system to control which direction to steer the vehicle. MDU-G4 This is a Novariant based Mechanical Drive Unit attached to the steering wheel of a vehicle for an AutoSteer solution.
  • Page 169 Glossary Term Description MFWD Mechanical Front Wheel Drive - This indicates that the front wheels of a standard tractor cab be engaged and be used to pull the tractor forward while the rear axles are pushing. This in effect turns the vehicle into a four- wheel drive.
  • Page 170 GP for GPS receiver. Others include GN for multi-constellation GNSS receiver and GL for GLONASS receiver. Tape ARchive. This is file format used by ECU-S1 to copy log and history files. Universal Serial Bus - This is an industry standard that defines the cables, connectors, and communications protocols used in a bus for connection.

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