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Calibrating GPSteer | Page 69

Part Number: 875-0139-000

Increase Dead Band or Tau value.

Make sure GPS values are not oscillating
because you are on uneven ground.

If this is not the case, increase the Dead
Band or Tau value. This is a common
problem in articulated vehicles.

Increase derivative gain.

If proportional gain is good but unstable -
for example, you have good online
performance but too much overshoot
when coming on-line, then increase
derivative gain.

Table 4: Miscellaneous Adjustments.

Vehicle

Adjustment

GPSteer Installation Guide.book Page 69 Thursday, June 17, 2004 10:51 AM

Содержание Satloc GPSteer

Страница 1: ...No 875 0066 which is included with every Satloc system upon purchase Please read understand and follow the instructions to validate the warranty TRADEMARKS Satloc and the Satloc logo CSI Wireless and...

Страница 2: ...GPSteer Installation Guide book Page 2 Thursday June 17 2004 10 51 AM...

Страница 3: ...ation Tools 7 2 Connecting the Hydraulics 9 Overview 10 Closed Center System 11 Before You Begin 11 Closed Center Parts List 11 Connecting the Hydraulic Components 15 Open Center System 25 Before You...

Страница 4: ...Controller Calibration 53 Calibration Procedure 56 1 Set the Flow Rate 57 2 Set the Proportional Band 61 3 Set the Sensitivity 64 4 Miscellaneous Adjustments 66 5 Operating GPSteer 71 Overview 72 The...

Страница 5: ...ting a Mark 85 Changing the Default Settings 86 Setting Units 88 Setting the Swath Width 89 Changing the Sensitivity 90 Changing the Controller Display Options 91 Adjusting Steering Settings 92 Restor...

Страница 6: ...GPSteer Installation Guide book Page iv Thursday June 17 2004 10 51 AM...

Страница 7: ...ut GPSteer Selecting the Correct Installation for Your Hydraulic System Additional Installation Considerations Required Installation Tools Chapter 1 GPSteer Installation Guide book Page 1 Thursday Jun...

Страница 8: ...stomized valve block that fits nearly all hydraulically steered vehicles this mechanism automatically steers your vehicle according to GPS data it receives from the controller Figure 1 1 GPSteer CPU a...

Страница 9: ...um time and reduce driver fatigue with automatic steering Remain confident in safety features safety features provide visible and audible warnings in addition to disengaging the automated steering sys...

Страница 10: ...type of system is most commonly found on medium to large tractors and sprayers Closed center systems typically offer an advantage for systems that come with multiple hydraulic system options They all...

Страница 11: ...your vehicle GPSteer may be integrated into both closed center and open center systems Each installation is unique to meet the pressure regulating needs of each type of system A complete parts list an...

Страница 12: ...in between the steering cylinders and the steering unit The Counter Balance Valve blocks oil from flowing back into the steering unit from the steering cylinders Pressure regulation if the steering pr...

Страница 13: ...r new GPSteer system and connect it with the hydraulics on your tractor you will need the following tools Measuring tape Marker to mark mounting holes Electric drill Drill bits 5 16 5 16 tap Wrench to...

Страница 14: ...GPSteer Installation Guide book Page 8 Thursday June 17 2004 10 51 AM...

Страница 15: ...Connecting the Hydraulics Closed Center System Open Center System Additional Installation Considerations Chapter 2 GPSteer Installation Guide book Page 9 Thursday June 17 2004 10 51 AM...

Страница 16: ...center hydraulic system and installing the basic GPSteer components See Chapter 1 Getting Started Selecting the Correct Installation for Your Hydraulic System for help with identifying whether you ha...

Страница 17: ...Please review the list carefully to make sure you have all of the necessary components before beginning the installation Closed Center Parts List The following tables list parts included with your sys...

Страница 18: ...2 6 Male SAE O Ring to Female 6 ORFS 1 GPSteer Valve Block Fittings 8 Male SAE O Ring to Male 8 ORFS 90 2 8 Male SAE O Ring to Male 8 ORFS 2 4 Male SAE O Ring to Male 6 ORFS 1 Load Sense Priority Valv...

Страница 19: ...g Hose B 6 hose 8 ends 1 Tank Return Hose 8 hose 8 ends 1 Pump to GPS Valve Hose 8 hose 8 ends 1 GPSteer Valve Block to Steering Motor Hose 8 hose 8 ends 1 Load Sense LS Hose Pump to Shuttle Valve 6 h...

Страница 20: ...1 Oil Cooler Mounting Kit Part No 710 0034 1 Oil Cooler Mounting Bracket Part No 710 0033 1 High Flow Valves High Flow Proportional Cartridge 2 5 g p m Part No 750 0022 1 Oversize Proportional Cartrid...

Страница 21: ...ck 2 Install the Shuttle Valve 3 Install the Left and Right Steering Hoses 4 Install the Tank Return Line 5 Install the Pump Pressure Hoses 6 Check the Installation On the next page we ve included a d...

Страница 22: ...2004 Satloc LLC Page 16 GPSteer User Guide Figure 2 1 GPSteer Installation Diagram Closed Center GPSteer Installation Guide book Page 16 Thursday June 17 2004 10 51 AM...

Страница 23: ...ap the hole threads 5 Position the GPSteer Valve Block over the mounting holes 6 Insert 2 sets of 5 16 bolt flat washer and lock washer through the GPSteer Valve Block mounting holes Warning When dete...

Страница 24: ...ocate the Load Sense line to find the optimal mounting loca tion for the Shuttle valve 2 Locate the Load Sense LS Hose Shuttle to GPS Valve 6 ends 3 Connect one end of the hose to the side hose connec...

Страница 25: ...port on the GPSteer Valve Block labeled LS 5 Secure the Shuttle Valve using tie wraps if necessary 6 Locate the tractor s Load Sense hose see below the pen in the photo is pointing to the Load Sense h...

Страница 26: ...ump to Shuttle 6 ends 9 Connect one end of the hose to the Load Sense tube that the tractor s Load Sense hose was disconnected from see the photo in Step 6 10 Connect the other end of the hose to the...

Страница 27: ...s left and right steering hoses from the steering cylinders 3 Connect a Run Tee to the right steering cylinder 4 Connect the GPSteer Steering Hose A typically 8 ends to one of the connectors on the te...

Страница 28: ...nnect the other end of Steering Hose B to the GPSteer Valve Block port labeled B 4 Install the Tank Return Line To install the tank return line 1 Locate the Tank Return Hose typically 8 ends 2 Connect...

Страница 29: ...tors 5 Install the Pump Pressure Hoses Install the pump pressure hoses 1 Connect an appropriate fitting to the GPSteer Valve Block port labeled P 2 Connect a Run Tee to the fitting you connected in St...

Страница 30: ...u must check all of your connections 1 Re check all connections for tightness 2 Install tie wraps as needed 3 Start the tractor and inspect it for leaks 4 Check the manual steering Congratulations You...

Страница 31: ...lease review the list carefully to make sure you have all of the necessary components before beginning the installation Open Center Parts List The following tables list parts included with your system...

Страница 32: ...ORFS 2 6 Male SAE O Ring to Female 6 ORFS 1 GPSteer Valve Block Fittings 8 Male SAE O Ring to Male 8 ORFS 90 2 8 Male SAE O Ring to Male 8 ORFS 2 4 Male SAE O Ring to Male 6 ORFS 1 Load Sense Priorit...

Страница 33: ...must add a relief valve 1 Steering Hose A 6 hose 8 ends 1 Steering Hose B 6 hose 8 ends 1 Tank Return Hose 8 hose 8 ends 1 Priority Valve to GPSteer Valve Block Hose 8 hose 8 ends 1 Pump to Priority...

Страница 34: ...Part No 750 0028 1 Oil Cooler Mounting Kit Part No 710 0034 1 Oil Cooler Mounting Bracket Part No 710 0033 1 High Flow Valves High Flow Proportional Cartridge 2 5 g p m Part No 750 0022 1 Oversize Pro...

Страница 35: ...Valve 3 Install a Relief Valve if not part of original steering system 4 Install the Left and Right Steering Hoses 5 Install the Tank Return Line 6 Install the Pump Pressure Hoses 7 Check the Install...

Страница 36: ...PSteer Installation Diagram Open Center The Relief Valve is typically part of the original steering system however if it is not you must add one to avoid damage to your hydraulic system GPSteer Instal...

Страница 37: ...ly tap the hole threads 5 Position the GPSteer Valve Block over the mounting holes 6 Insert 2 sets of 5 16 bolt flat washer and lock washer through the GPSteer Valve Block mounting holes Warning When...

Страница 38: ...Valve Tip You may only be able to mount the valve using tie wraps depending on your vehicle 3 Locate the pressure hose running from the pump to the steering unit 4 Disconnect the pressure hose from th...

Страница 39: ...1 3 Insert a Run Tee in the steering unit to Load Sense Priority Valve line 4 Connect a new hose running from the Relief Valve to the tee installed in Step 3 4 Install the Left and Right Steering Hose...

Страница 40: ...r Steering Hose B typically 8 ends to one of the connectors on the tee 8 Connect the other end of Steering Hose B to the GPSteer Valve Block port labeled B 5 Install the Tank Return Line To install th...

Страница 41: ...all connectors 6 Install the Pump Pressure Hoses Install the pump pressure hoses 1 Connect an appropriate fitting to the GPSteer Valve Block port labeled P 2 Connect a hose from the P port on the GPS...

Страница 42: ...nual steering Congratulations You have successfully installed the hydraulic connections needed to run GPSteer Please review Additional Installation Considerations on the next page before proceeding to...

Страница 43: ...d to install a Pressure Reducing Valve optional accessory available through Satloc oil cooler if the temperature in the hydraulic oil increases beyond an appropriate range an in line oil cooler should...

Страница 44: ...teering cylinders and the steering unit The Counter Balance valve blocks oil from flowing back into the steering unit from the steering cylinders Figure 2 3 shows a line diagram of the Counter Balance...

Страница 45: ...75 0139 000 Figure 2 3 A Counter Balance Valve Is Installed In Between the Steering Unit and Steering Cylinders on both Open and Closed Center Systems with Reactionary Steering GPSteer Installation Gu...

Страница 46: ...2004 Satloc LLC Page 40 GPSteer User Guide Figure 2 4 A Counter Balance Valve Installed GPSteer Installation Guide book Page 40 Thursday June 17 2004 10 51 AM...

Страница 47: ...e Reducing Valve optional accessory available through Satloc Part Numbers 750 0034 valve and 750 0036 connector For instance the John Deere 55 series tractor uses a closed circuit steering system that...

Страница 48: ...ducing Valve and connector 1 Insert valve in the GPSteer to Pump line 2 Connect Port 3 to the pressure line 3 Connect Port 1 to the tank line 4 Connect Port 2 to the P port on the GPSteer Valve Block...

Страница 49: ...Installing GPSteer Chapter 3 GPSteer Installation Guide book Page 43 Thursday June 17 2004 10 51 AM...

Страница 50: ...installed GPSteer you must perform a valve test to verify that the installation is correct before proceeding to calibration Below is the parts lists for the basic GPSteer components Please look over y...

Страница 51: ...LiteStar II to GPSteer 1 051 0109 Relay Kit for Spray Wires 1 710 0010 Cable GPSteer to Tractor Power 1 054 0057 Cable GPSteer to Battery Power 054 0072 Cable Controller to Power and Spray Wires 1 054...

Страница 52: ...e manual included with your receiver 2 Mount the LiteStar II controller within reach of the driver in the cab using the supplied clamp 3 Install the GPSteer CPU in an upright position to the floor of...

Страница 53: ...Installing GPSteer Page 47 Part Number 875 0139 000 Figure 3 1 GPSteer Installation Diagram GPSteer Installation Guide book Page 47 Thursday June 17 2004 10 51 AM...

Страница 54: ...Turn the power on by flipping the metal power switch on the CPU to the up position 6 Turn on the LiteStar II controller by pressing the On button on the top of the controller GPSteer Installation Guid...

Страница 55: ...valve test 1 In the LiteStar II controller menu select the System Steering Setup menu 2 Select Valve Test 3 Press Enter 4 Turn the rotary dial left and then right to make sure the wheels turn to the...

Страница 56: ...GPSteer Installation Guide book Page 50 Thursday June 17 2004 10 51 AM...

Страница 57: ...Calibrating GPSteer Overview Calibration Settings Chapter 4 GPSteer Installation Guide book Page 51 Thursday June 17 2004 10 51 AM...

Страница 58: ...till not calibrated correctly you may need to adjust some miscellaneous steering settings In this section we have provided a basic overview of what each setting does Following this in Calibration Proc...

Страница 59: ...low will result in a continual drift in one direction left or right off of the target swath The vehicle will appear to wander around By adjusting the Needle Valve incrementally you should find a flow...

Страница 60: ...ehicle is drifting away from the line or not approaching the line fast enough decrease the value in increments of 1 0 Increase the value if the vehicle is oscillating at too high a frequency Min Outpu...

Страница 61: ...1 0 to the integral gain value If the valve operation is mostly linear then leave the integral gain at 0 0 Derivative Gain 0 0 to 100 0 with 0 0 as the default Increase this value to get less oversho...

Страница 62: ...rface rough or uneven surfaces will make it difficult to calibrate using a safe speed between 4 and 10 m p h until the system is calibrated Perform the following steps in order to calibrate your new G...

Страница 63: ...c Select System Steering Setup Menu Manual Turn to access the manual turn rate function on the controller d Press to turn on Manual Turn mode Notice that the field will say Straight in manual turn mo...

Страница 64: ...urn the valve clockwise open or counter clockwise closed in 1 4 turn increments About four complete turns will open or close the valve Vehicle Path Key Desired steering path 1 m 3 boundary line Table...

Страница 65: ...39 000 Open the needle valve 1 4 turn incre ments for more flow Close needle valve in 1 4 turn decre ments for less flow Table 1 Flow Rate Adjustments Vehicle Path Adjustment GPSteer Installation Guid...

Страница 66: ...mpleted the flow rate adjustment tighten down the locking nut on the Allen screw Close needle valve in 1 4 turn decrements for less flow Table 1 Flow Rate Adjustments Vehicle Path Adjustment GPSteer I...

Страница 67: ...elect System Steering Setup Gain Setup Proportnl Setup Proptnl Band in the controller menu c Drive your vehicle in a straight line for a minimum of 500 feet maximum of 1 4 mile and observe how the veh...

Страница 68: ...eer User Guide Table 2 Proportional Band Adjustments Vehicle Path Adjustment Increase the proportional band by 1 or 2 Decrease the proportional band by 1 or 2 GPSteer Installation Guide book Page 62 T...

Страница 69: ...PSteer Page 63 Part Number 875 0139 000 Decrease the proportional band by 1 or 2 Table 2 Proportional Band Adjustments Vehicle Path Adjustment GPSteer Installation Guide book Page 63 Thursday June 17...

Страница 70: ...he vehicle in Run mode set your A B points and engage GPSteer c Drive your vehicle in a straight line for a minimum of 500 feet maximum of 1 4 mile and observe how the vehicle behaves on the line d Ad...

Страница 71: ...ity Adjustments Vehicle Adjustment Increase sensitivity Adjust sensitivity If you experience a significant change in performance when you increase or decrease your speed then adjust the sen sitivity G...

Страница 72: ...Turn mode you will set a left hand curve if you turn the rotary dial to the right you will set a right hand curve The actual real time turn rates for the left and right steering lines are displayed i...

Страница 73: ...following table Note The actual turn rate should closely match the desired turn rate when using the manual turn function to drive a curve Typically you can feel if the vehicle is on line the turn rat...

Страница 74: ...ellaneous Adjustments Vehicle Adjustment Change integral gain If the vehicle doesn t turn left and right equally or pulling an implement causes the vehicle to be off line similar to the illustration o...

Страница 75: ...ase the Dead Band or Tau value This is a common problem in articulated vehicles Increase derivative gain If proportional gain is good but unstable for example you have good online performance but too...

Страница 76: ...GPSteer Installation Guide book Page 70 Thursday June 17 2004 10 51 AM...

Страница 77: ...Operating GPSteer Overview Quick Start Changing the Default Settings Chapter 5 GPSteer Installation Guide book Page 71 Thursday June 17 2004 10 51 AM...

Страница 78: ...GPSteer CPU which in turn sends signals to from your vehicle to automate your steering The GPSteer CPU The GPSteer CPU shown below should have been installed according to the instructions supplied in...

Страница 79: ...een consists of a Menu mode and a Run mode To access Menu mode press the To return to Run mode press to back out of the menus and return to the main screen Menu Mode In Menu mode the display screen co...

Страница 80: ...ss until you are at the desired screen Run Mode In Run mode the display screen shows your status while driving with GPSteer The left side of the screen will show the target swath line represented by t...

Страница 81: ...example to adjust your heading angle in Skew mode you would turn the rotary dial to the right each turn of the dial is approximately 1 inch When the line actual position is lined up with the arrow ta...

Страница 82: ...settings and Run mode where you use guidance during an active job Mark Future function Set or return to a navigation mark or waypoint Straight Contour Switch between Straight mode and Contour mode Esc...

Страница 83: ...ing your position if you find that you are not correctly lined up with the swath you can adjust your position using the controller switching between Straight and Contour mode to match the shape of you...

Страница 84: ...th Width 20 00 feet Reminder The power button is located on the top of the LiteStar II Controller 2 The default swath width is 20 feet To select a different swath width a Press to access the main menu...

Страница 85: ...ss to advance to the next number To save your settings and return to Run mode press 3 Wait until you have GPS lock the screen will show GPS OK when you have a position lock and prompt you to press you...

Страница 86: ...000 0 00 Apply Off GPS OK Steer On Type Skew Enter Engage 7 Turn the rotary dial to the left or right to fine tune your position on the swath represented by the line on the screen as shown on the righ...

Страница 87: ...ill automatically disengage when speed is 0 5 m p h 0 8 km h or 20 m p h 32 km h or if the vehicle is off line by 3 feet 0 9 meters 9 When the vehicle is close to the desired heading and cross track d...

Страница 88: ...while in guidance Run mode will adjust either the heading angle or the cross track distance to the current swath line depending on if you are currently in Skew or Offset mode Skew Skew allows you to a...

Страница 89: ...select the Steer Type field 4 Press to switch between Offset steering or Skew steering 5 To save your settings and return to Run mode press Note If you select None in the Steer Type field turning the...

Страница 90: ...line to match the shape of the field In Contour mode GPSteer will provide guidance based on any previously sprayed area This means that you must have your spray turned on when you drive your first an...

Страница 91: ...ng a New A B Line 1 Press the button to access the main menu 2 Select New A B Line 3 Proceed with entering your A and B points and driving the field using guidance from the new A B line Setting a Mark...

Страница 92: ...e text on a white background default or the reverse white text on a blue background and access the three main setup menus lightbar LB Setup GPS and steering LB Setup Menu the Lightbar setup menu will...

Страница 93: ...Operating GPSteer Page 87 Part Number 875 0139 000 Figure 5 1 GPSteer Menu Map GPSteer Installation Guide book Page 87 Thursday June 17 2004 10 51 AM...

Страница 94: ...hange the units 1 Select to access the main menu 2 Select System 3 Select Units 4 Press to switch from Feet to Meters repeat this step to switch back 5 Press to save your settings back out of the menu...

Страница 95: ...Setup 3 In the Swath Width field press 4 Use the rotary dial to scroll through 1 9 for each decimal place Press to advance to the next number Press to save your settings back out of the menus and retu...

Страница 96: ...he vehicle aims in order to steer itself onto the line The distance is automatically adjusted for speed the further the look ahead point the faster the speed To change the sensitivity 1 Select to acce...

Страница 97: ...and press Use the rotary dial to adjust the contrast and press to save 4 To change the display screen background color select Display Blue on White default and press This changes the display to White...

Страница 98: ...default steering settings for Gain and Proportional steering To restore default steering settings 1 Select to access the main menu 2 Select System 3 Select Steering Setup Menu 4 Select Gain Setup Men...

Страница 99: ...lts to reset the proportional values 6 Press to save your settings back out of the menus and return to Run mode Proportional Setup Menu ProptnlMode Proptnl Proptnl Band 5 00 Min Output 0 00 Max Output...

Страница 100: ...GPSteer Installation Guide book Page 94 Thursday June 17 2004 10 51 AM...

Страница 101: ...nter Yes 76 Esc No 76 G GPSteer CPU 72 display screen 73 installation 46 GPSteer Valve Block installation closed center 17 installation open center 31 H higher flow valve cartridges 6 37 hydraulic con...

Страница 102: ...center 32 M mark 76 85 menu Gain setup 92 GPS setup 86 Lightbar setup 86 Proportional setup 93 Steering setup 86 Swath setup 86 89 90 System setup 86 88 91 Menu mode 73 Menu Run 76 O Offset 82 oil coo...

Страница 103: ...n center 35 R reactionary steering 6 37 Relief Valve installation open center 33 rotary dial 76 Run mode 74 S sensitivity 90 settings default 86 Shuttle Valve installation closed center 18 Skew 82 Ste...

Страница 104: ...Page 98 GPSteer User Guide swath width 89 T Tank Return Line installation closed center 22 installation open center 34 U units 88 V Valve Test 49 GPSteer Installation Guide book Page 98 Thursday June...

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