Hardi AutoHeight Instruction Book Download | Manualshive

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3 - Description

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AutoHeight Sensor Capabilities and Limitations

The AutoHeight sensors are designed and built specifically for agricultural purposes. However, the ultrasonic transducer
must be clean and dry for optimal performance. The foam disc fitted into the bottom of the sensor protects the transducer
from dust. If the protective foams become wet (from rain, drift from the spray nozzles etc.) the sensors may have trouble
reading.

The height sensors will provide height readings from 22 to 300 cm, under typical conditions. In order to optimize sensor
performance, the AutoHeight sensor has a minimum distance that it will read (also known as the blanking range). As a result,
the AutoHeight sensor is designed to ignore targets closer than 20 cm from the bottom of the sensor housing.

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Summary of Contents for AutoHeight

Page 1: ...HARDI AutoHeight Original Instruction book SW 7 x 67020400 110 Version 1 10 GB 01 2011 www hardi international com ...

Page 2: ...anges HARDI INTERNATIONAL A S cannot undertake any responsibility for possible omissions or inaccuracies in this publication although everything possible has been done to make it complete and correct As this instruction book covers more models and features or equipment which are available in certain countries only please pay attention to paragraphs dealing with precisely your model Published and p...

Page 3: ...16 Boom Lift Sensor in Wheel Track 16 Sensing Further Ahead of the Boom 16 AutoHeight Sensor Capabilities and Limitations 17 Optional kits 18 General info 18 Severe Terrain Kit 18 Enhanced Stability Kit 18 Menu Structure 19 Full Menu Structure 20 Glossary 21 4 System setup System preparation 23 General info 23 Automatic System Setup 24 Retune 27 Manual System Setup 28 Setting Up Hydraulic Valves 2...

Page 4: ...enance Service info 47 General info 47 Before each day of operation 47 Sensor preparation and maintenance 47 At the end of a season 48 Lubrication of the sprayer 49 7 Fault finding Operational problems 51 General info 51 General operation 51 Setup Messages 52 Sensor Related Issues 53 Different cases of Sensor related issues are discussed below 53 Sensor Swapping 53 Sensor Alignment 54 Hydraulic Re...

Page 5: ...5 1 Declaration This page is intentionally left blank ...

Page 6: ...1 Declaration 6 ...

Page 7: ... remains unclear after reading it contact your HARDI dealer for further explanation before using the equipment Turn electrical power off before connecting and disconnecting the display and transducers servicing or using a battery charger If an arc welder is used on the equipment or anything connected to the equipment disconnect power leads before welding Test sprayer with clean water prior to fill...

Page 8: ...r machine operation NOTE The AutoHeight system will greatly improve your spraying height accuracy and protect the boom against damage in a wide variety of field conditions However under some circumstances performance may be limited The OPERATOR of the sprayer must remain ALERT at all times and override the automatic control when necessary ...

Page 9: ...e AutoHeight system has been designed for easy set up and use a thorough understanding of the information provided will ensure that you receive the maximum benefit from the system Key features The key features of the HARDI AutoHeight is Non contact Sensing Sensing is done using ultrasonic sensors which means no parts of the HARDI AutoHeight system come in contact with the ground Using a non contac...

Page 10: ...shown μ For more information on each component please refer to the AutoHeight Installation Manual Software The information in this manual applies to systems with Version 7 AutoHeight panel software When the panel is turned on the software version and revision will be displayed for a few seconds as described in Power Up Sequence on page 37 All AutoHeight panels can have their software upgraded It i...

Page 11: ...eight accurately from the cab It is also very difficult for the operator to see the main section nozzles It is common for operators to be in error from 20 to 30 cm or more The AutoHeight panel will give you an actual height reading in the cab and allow active control to the desired height The reason for the centre section sensor is that soil conditions change along with the weight of the machine A...

Page 12: ...ons Figure 4 Slant Control of the Main Frame Height Sensors Height sensors use an ultrasonic signal to measure distance to the ground or crop canopy Normally there are three height sensors used but a system may have as many as 6 sensors A sensor is mounted to the outer part of each boom tip and another sensor is mounted to the centre section Roll Sensors Roll sensors are important for measuring bo...

Page 13: ...oid operated valves that in turn adjust the boom height The control panel will Indicate when the system is in AUTOMATIC or MANUAL mode Indicate any hydraulic action which is underway Accept input to adjust all control system settings Control panel functions are A Power Switch B Sensor Display Setup Switch No C Switch Up Down D Auto Manual Switch Yes E LCD Screen Figure 5 AutoHeight Panel ...

Page 14: ... can react to changes in terrain The first factor is the available hydraulic speed The maximum hydraulic speed of your boom was designed by the sprayer manufacturer and is not improved or diminished with the addition of the AutoHeight height control system The second factor is the mechanical design of the sprayer The Sensi setting does affect the reaction time of your boom the higher the number th...

Page 15: ...he transducer is a maintenance item and can be replaced at HARDI service locations Transducers can last up to ten years depending on conditions Refer to 6 Maintenance on page 47 for more maintenance information If the mouth of the sensor becomes wet it is normal for the sensor to return error messages until the transducer has dried off This could include rain or excessive overspray Material can bu...

Page 16: ...ly 60 percent of the area to be tracked consistently That is when looking at the ground the heads should cover about 60 percent of the ground Otherwise you can use SOIL mode If the sensor runs too close to the heads they may not return enough signal to be seen or they may be blanked out The nozzles must be at least 55 cm from the crop Slightly higher target height settings will work better in thin...

Page 17: ...s the transducer from dust If the protective foams become wet from rain drift from the spray nozzles etc the sensors may have trouble reading The height sensors will provide height readings from 22 to 300 cm under typical conditions In order to optimize sensor performance the AutoHeight sensor has a minimum distance that it will read also known as the blanking range As a result the AutoHeight sens...

Page 18: ...stem performance More suitable for larger booms and in severe terrain conditions A Possible chrash without additional sensors B Chrash avoided with additional sensor Enhanced Stability Kit This kit is designed to provide enhanced boom stability for sprayers which are loosely coupled between the intermediate frame paralift arms and the sprayer chassis The roll sensor included in this kit will provi...

Page 19: ...switch is toggled for 30 seconds the LCD will revert to this screen Also from any menu prompt if you toggle and hold the SETUP NO switch for two seconds the control panel will return to this screen The heights are adjusted for the offset between the sensor and nozzles Sensi 5 Displays the current control sensitivity Sensi setting A higher number results in a quicker response Range is from 1 to 10 ...

Page 20: ...al Boom Height on page 40 55 56 55 55 Left Right Rems On Install Automatic System Setup on page 24 Roll Off DZ 20 KP 175 DZ 20 KP 150 Setting Up Hydraulic Valves on page 29 Main On DZ 10 KP 50 DZ 5 KP 50 Setting Up Hydraulic Valves on page 29 Rght On DZ 103 KP 49 DZ 99 KP 35 Setting Up Hydraulic Valves on page 29 Left On DZ 100 KP 50 DZ 105 KP 37 Setting Up Hydraulic Valves on page 29 M 55 M Power...

Page 21: ...IF Intermediate Frame KP Valve Gain LEV Levelling LftDft Left Detection LI Left Inner sensor LO Left Outer sensor M Manual MHC Minimum Height Crop Mode MHM Minimum Height Mode MHS Minimum Height Soil Mode ML Boom Lift sensor Main Lift sensor MlfDet Boom lift Detection Mot n Dly Motion Delay NC No Communication NoRdg NR No Reading Rems Remote Switches RF Reference Frame Rght Right RI Right Inner se...

Page 22: ...3 Description 22 ...

Page 23: ...ned an external sensing line needs to be mounted 3 Please consult your tractor dealer for correct setup and correct connection Before operating the hydraulics the valve should be adjusted according to the specific tractor model If you are unsure of the type of hydraulic system of your tractor please consult your tractor dealer Schedule with combinations of settings for flow element and circuit val...

Page 24: ...st You may need to perform Automatic System Setup again STEP 1 Prepare the Equipment Unfold the sprayer in a location that is relatively level and where the sensors are over bare soil or gravel NOTE Do not conduct the System Setup or ReTune procedure over standing crop or tall weeds grass Avoid concrete or asphalt surfaces STEP 2 Prepare the Equipment Properly tuned suspension systems will optimiz...

Page 25: ... exit the install now before changing any settings toggle the SETUP NO switch The control panel is loading all the settings for your sprayer STEP 6 Sensor Detect The control panel reads the serial numbers of all connected sensors Number of sensors found is displayed This should match the number of sensors on your system If it does not turn off the control panel and ensure that all sensors are plug...

Page 26: ...h the hydraulic tuning is complete STEP 9 Control System Test Run screen shown It shows the system in manual mode with an average height reading of 84 cm WARNING In the following procedure switch the control panel to manual mode immediately if the boom movements are erratic Toggle AUTO YES to start AUTO mode Observe the behaviour of the booms while correcting to the target height The operating scr...

Page 27: ...ctor is changed If you have a flow control for the boom hydraulics set it prior to tuning If you change the flow setting by more than 20 percent you should Retune Follow Section STEP 1 Prepare the Equipment on page 24 to STEP 3 Prepare the Equipment on page 24 level booms working RPM etc before beginning the Retune Navigate to the ReTune menu prompt in the SETUP menu and confirm with the AUTO YES ...

Page 28: ...rial numbers according to sensor locations in the figure because this information may be required during troubleshooting The left channel menu prompts are described in Table 3 For the other channels the basic structure and behaviour of the prompts are the same Navigate with Sensor display Setup switch Table 3 Left Channel SENSOR DISPLAY Menus Entering Sensor Serial Numbers To enter a sensor serial...

Page 29: ...ensor menu prompt as described in Table 3 Left Channel SENSOR DISPLAY Menus on page 28 6 If the currently displayed height reading is not correct adjust it using the switch The switch will increase the reading the switch will decrease the reading 7 To return to the run screen toggle and hold SETUP NO or SENSOR DISPLAY switch for two seconds NOTE To view the absolute height reading from the sensor ...

Page 30: ...nu Toggle the AUTO YES switch to confirm 4 Navigate to the boom section you wish to set up for example Left to adjust the left up and or the left down settings Toggle the AUTO YES switch to confirm 5 Toggle the SETUP NO switch to access the next menu prompt Choose the dead zone up or down setting see Table 4 Left Channel SETUP Menus on page 30 6 Toggle and hold the MANUAL switch 7 The valve will t...

Page 31: ...tomatic gain setup if possible 2 Follow the STEP 1 Prepare the Equipment on page 24 to STEP 3 Prepare the Equipment on page 24 level booms working RPM etc before proceeding 3 Ensure the AutoHeight panel is in MANUAL mode at the run screen 4 Navigate to the More menu prompt in the SETUP menu Toggle the AUTO YES switch to confirm 5 Navigate to the boom section you wish to set up for example Left to ...

Page 32: ...ain section s automatic control however manual height readings from this section will still be available The sprayer s wing booms will still be controlled automatically Function Boom Speed cm s Up Gain Setting KP Down Gain Setting KP Left Right 1 13 Too Slow Too Slow Left Right 13 38 225 175 100 70 Left Right 38 63 175 150 70 50 Left Right 63 102 150 100 50 30 Left Right 102 178 100 50 30 15 Left ...

Page 33: ... SETUP menu Toggle the AUTO YES switch to confirm 3 Navigate to the boom section you wish to turn off or on for example Right Toggle the AUTO YES switch to confirm 4 At the Right On menu prompt toggle the switch to change the status 5 Toggle and hold the SETUP switch for two seconds to return to the Normal Operational Screen ...

Page 34: ...nds 7 When the word Sensor is displayed release the switch Your system will be configured with the standard settings based on the type you have selected and the number of sensors present 8 Exit the cab of the machine and manually push either boom tip near to the ground for a moment and then let go Push either boom tip such that the tip moves at least 40 cm more if you can WARNING Do not walk near ...

Page 35: ...nfigured properly the boom slant function of the AutoHeight will not function properly DAH hydraulic block For sprayers using the DAH block the switch should be OFF DH hydraulic block For sprayers using the DH block the switch should be ON DIP Name ON function OFF function 1 DH DAH Use for DH valve block Use for DAH valve block 2 FOLD I Fold Inner activates manual Fold Inner has no effect 3 FOLD O...

Page 36: ...ndent wing override functionality If this switch is ON closed any manual boom tilt function will trigger manual mode Boom lift DIP 7 is switched off because switch sensing is performed on the boom lift lower switch Manual override will still occur after an extended switch press A short switch press will not trigger manual mode however when HM2 or HW2 is used a short switch press is used to trigger...

Page 37: ...l mode The system is ready for use once the run screen is displayed NOTE To access either the SENSOR DISPLAY or SETUP menus ensure you are at the run screen Table 9 Power Up Screens LCD Display Description UC4 AutoHeight Panel V 7A Version 7A software Type HD4 Sprayer Type HD4 See Sprayer types on page 57 for a list of types METRIC The panel is set up to display height in centimeters This can be c...

Page 38: ...itely toggle the switch once while viewing the desired sensors Run screen Upon power up a sequence of messages is temporarily displayed on the control panel LCD screen The system is ready for use once the run screen is displayed To access either the SENSOR DISPLAY or SETUP menus ensure you are at the run screen Toggle toward the menu you wish to access Adjust the menu settings using the switch whi...

Page 39: ...upwards A 89 A Right side taking corrective action downwards 89 A Boom lift is taking corrective action downwards A 89 Main roll section is taking action in the clockwise direction M 89 A Left boom in MANUAL mode Right boom in AUTO mode with actual height of 89 cm M 89 M Booms are in MANUAL mode with actual height of 89 cm Operator is manually lowering the right boom 89 A Left and right booms are ...

Page 40: ...om the spray nozzles to the soil soil mode or crop canopy crop mode Sprayer switches When a sprayer switch is pressed an arrow will be displayed on the screen showing which function is being activated For example if the left up switch is pressed an arrow will be shown on the left side pointing up Tilt Switches While in automatic mode if either left or right tilt switches are pressed the correspond...

Page 41: ...oor reflector of sound Some crops will produce a more varying canopy than others In these situations the severe terrain option will provide more representative measurements when in crop mode and better performance When mounting the boom lift height sensor ensure the sensor does not measure behind a wheel or tramline when driving straight or turning The crop behind a wheel will be flattened resulti...

Page 42: ...Remote Auto Trigger Enabling remote auto as the trigger will allow a separate switch to trigger the HeadlandAssist This switch must not be a momentary type switch Remote auto is an input line normally located in the wiring harness in the cab Refer to Remote Switches on page 43 for the location of the remote switch inputs When 12 V DC is applied to the remote auto line the system will change to aut...

Page 43: ...canopy in thin crop better Disabling this feature may also produce less No Data messages flashing in place of the sensor height readings High Oil Temperature Alarm The High Oil Temperature Alarm will sound if the AutoHeight valve block reaches a temperature of 95 C This alarm will only sound once and will not repeat The alarm is re enabled each time the automatic mode is entered If the alarm sound...

Page 44: ...e below the target height The fixed Fixd setting defines the number as the distance above the ground 1 To access the minimum height mode settings toggle SENSOR DISPLAY from the run screen until you see More Toggle AUTO YES to accept 2 Toggle SENSOR DISPLAY again until you see Other Toggle AUTO YES to accept 3 Use the switch to change the settings Valve and Air Temperature Pressing and holding SETU...

Page 45: ... is not receiving a good reading It is normal to see this message occasionally however ifthe message is constantly displayed there may be a problem with a sensor Refer to Section 11 2 for more information Minimum Overide This message is displayed when the target height is lower than allowed minimum height override Disabled Access to the system setup features Automatic Install ReTune has been disab...

Page 46: ...5 Operation 46 ...

Page 47: ...ure hydraulic hoses sensor cables or debris are clear of the sensor Inspect the foam shield insert in each sensor HARDI recommends to fit clean foam shields before spraying Sensor preparation and maintenance Fitted into the bottom of the sensor is a foam shield Figure 9 that can become clogged with dust and dirt Remove the foam from the sensor blow it out with an air compressor if available and re...

Page 48: ...t the start of the next season Replace oil filter with new oil filter kit A Part no 75076900 in the HARDI AutoHeight hydraulic manifold annually If necessary contact your HARDI dealer to have the sensors recalibrated or repaired Over time performance of the inexpensive transducer element may become degraded from airborne contamination A typical sensor can operate up to ten years without requiring ...

Page 49: ... paid for the boom to be well lubricated Shown below are the specific sprayer boom parts with respective lubrication points that need extra attention NOTE For further information on lubricating the sprayer please refer to the sprayer s instruction book DELTA boom LPZ FORCE and TWIN FORCE booms HPZ HAZ TWIN FORCE 32 36 metre boom HAZ ...

Page 50: ...6 Maintenance 50 ...

Page 51: ...age 29 The sensor offset heights may be incorrect Refer to Setting Up Sensors on page 28 The system will not go into automatic mode Ensure the system has completed an automatic install If you have started and not finished an automatic install you will need to manually tune at least one hydraulic function Setting Up Hydraulic Valves on page 29 before the system will allow you to go into automatic m...

Page 52: ...ough hydraulic pressure to move the boom Wiring This message is shown at the wiring test if the system receives a signal from the wrong sprayer switch This will occur if the wiring is incorrect or there is a poor cable connection Pressing the wrong switch during this test will also display this error message SN 0 det This may be shown if there is at least one sensor connected which is not properly...

Page 53: ... measurement displays NR or NoRdg NR and NoRdg refers to no reading It is normal to see this message occasionally If you see this message all the time the sensor may be having difficulty obtaining a proper reading Ensure the sensor is not out of range Check the sensor alignment The sensor should point almost perpendicular to the ground and there should be no obstructions between the sensor and the...

Page 54: ...r must be at least 25 cm in front of the nozzles 3 The sensor must be approximately vertical at normal operating heights 4 Ensure that there are no obstructions within a 30 cm diameter circle projected directly below the sensor 5 When mounting or relocating sensor brackets ensure they do not interfere with boom folding operation 6 When mounting to the top part of the boom as shown in Figure 10 che...

Page 55: ...nders may be reversed Ensure the raise lines are connected to the B ports on the AutoHeight valve block The lower lines should be connected to the A ports The boom will raise when it should lower or vice versa The raise and lower lines to the tilt cylinders may be reversed Check the cable connections to the valve block and ensure they are not reversed Ensure the raise lines are connected to the B ...

Page 56: ...nd replace them if they are worn If the hydraulic settings are not calibrated correctly the boom may be unstable Perform a retune and redo the push test Roll sensors problem Check the mounting of the roll sensors Improper sensor alignment Ensure the height sensors are reading properly and consistently The sensors must be aligned and mounted correctly The sensor should point almost perpendicular to...

Page 57: ...eight Type Sprayer Models GN1 Variable Geometry with Slow Roll Option Metric GN2 Fixed non VG Boom with Slow Roll Option Metric GN3 Variable Geometry with Active Roll Metric HD1 Hardi Retrofit Install North America HD3 Hardi Factory Install Australia HD4 Hardi Factory Install Europe Metric HD5 Hardi AutoSlant ...

Page 58: ...8 Technical specifications 58 ...

Page 59: ... 47 Manual System Setup 28 Menu Structure 19 N Normal Operating Screen 38 O Operational Messages 45 Operational problems 51 Operator safety 7 P Performance Issues 14 Power Up Sequence 37 Prepare the Equipment 24 Press Hold Functions 39 Q Quick Install 34 R ReTune 27 S Select the Sprayer Type 25 Sensing Further Ahead of the Boom 15 Sensitivity of the System 40 Sensitivity Setting 14 Sensor Capabili...

Page 60: ...9 Index 60 ...

Page 61: ...Spare parts To see updated spare part information visit the website www agroparts com Here all parts information can be accessed when free registration has been made ...

Page 62: ...HARDI INTERNATIONAL A S Helgeshøj Allé 38 DK 2630 Taastrup DENMARK ...

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