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Table of Content 

1 

General Description ............................................................................................................... 12 

2 

Introduction of AG960 AutoSteer System ............................................................................. 12 

3 

Components of AG960 .......................................................................................................... 14 

3.1 

Product List ............................................................................................................................ 14 

3.2 

Electrical Connection Relation .............................................................................................. 18 

4 

Installation of AG960 ............................................................................................................ 20 

4.1 

Installation of Electronic Components ................................................................................... 21 

4.1.1 

Installation of Satellite Navigation Antenna .......................................................................... 21 

4.1.1.1 

Position Requirement of Installing Satellite Navigation Antenna ......................................... 22 

4.1.1.2 

Fix the Antenna to the Top of Driving Cab ........................................................................... 24 

4.1.1.3 

Route Antenna RF Cable ....................................................................................................... 25 

4.1.2 

Installation of Radio Receiving Antenna ............................................................................... 26 

4.1.2.1 

Installation Position of Radio Receiving Antenna ................................................................. 26 

4.1.2.2 

Assembly and Fixation of the Radio Receiving Antenna ...................................................... 27 

4.1.2.3 

Route RF Cable of Radio Receiving Antenna ....................................................................... 29 

4.1.3 

Installation of Panel Computer .............................................................................................. 29 

4.1.3.1 

Installation Position of Panel Computer ................................................................................ 29 

4.1.3.2 

Fixation of Round Plate Knob ............................................................................................... 30 

4.1.3.3 

Fixation of Rectangle Plate Knob .......................................................................................... 31 

4.1.3.4 

Installation of the 3G Antenna ............................................................................................... 32 

4.1.3.5 

Installation and Fix of the Panel Computer ........................................................................... 32 

4.1.4 

Installation of Autopilot (Controller) ..................................................................................... 33 

4.1.4.1 

Installation Position of Autopilot (Controller) ....................................................................... 33 

4.1.4.2 

Fix Autopilot (Controller) at Specified Position .................................................................... 34 

4.2 

Installation of Steering System .............................................................................................. 36 

4.2.1 

Installation of Coaxial Steering System ................................................................................. 36 

4.2.1.1 

Select a Suitable Sensor Seat Based on the Knuckle Flange Type of the Tractor ................. 37 

4.2.1.2 

Assembly of the Steering Sensor and Sensor Flanged Base .................................................. 37 

4.2.1.3 

Assembly of the Steering Sensor and Sensor Flanged Base .................................................. 37 

4.2.1.4 

Installation of Double Cross Stop Frame ............................................................................... 38 

4.2.1.5 

Fix the Double Cross Stop Frame .......................................................................................... 40 

4.2.1.6 

Bind Steering Senor Cable ..................................................................................................... 41 

4.2.1.7 

Check the Motion of the Steering System ............................................................................. 41 

Содержание AG960

Страница 1: ...sion V1 0 20170616 User Manual For AG960 AutoSteer System 2017 Tersus GNSS Inc All rights reserved Sales Technical Support sales tersus gnss com support tersus gnss com More details please visit www t...

Страница 2: ...of Panel Computer 29 4 1 3 1 Installation Position of Panel Computer 29 4 1 3 2 Fixation of Round Plate Knob 30 4 1 3 3 Fixation of Rectangle Plate Knob 31 4 1 3 4 Installation of the 3G Antenna 32 4...

Страница 3: ...nect Hydraulic Valve and Ports L R T of Steering Gear Respectively with Tee Unions 52 4 3 1 6 Connect Port P1 of Hydraulic Valve to Port P of Steering Gear 53 4 3 1 7 Sort out Oil Pipes 53 4 3 1 8 Che...

Страница 4: ...on of Antenna 95 5 4 3 2 Set Installation Position of Antenna 96 5 4 4 Vehicle Setting 97 5 4 5 Implement Setting 98 5 4 6 Program Update 99 5 5 Calibration of the Equipment 99 5 5 1 Calibration Reset...

Страница 5: ...ng of Override Voltage 122 5 5 5 4 How to Perform Driver Sensitivity Commissioning by Non professional Personnel 123 5 5 6 Calibration of System Deviation 123 5 5 6 1 Calibration of System Deviation S...

Страница 6: ...156 6 6 1 Adjustment of Day Night Display Effect 156 6 6 2 Adjustment of Background Grid Displace Effect 157 6 6 3 Adjustment of Operation Highlight Display Effect 158 6 6 4 Adjustment of the Zoom of...

Страница 7: ...ntenna to specified position with force 25 Figure 24 Slightly pull the antenna to check if it is securely fixed 25 Figure 25 Apply waterproof sealant to the gap between antenna pedestal and vehicle to...

Страница 8: ...double faced adhesive tape and press the double cross stop frame against the front axle 40 Figure 58 Wrap the anchor ear with rubber strip 40 Figure 59 Bind and lock the double cross stop plate with...

Страница 9: ...Connect data harness and panel computer 63 Figure 94 Connect data harness and panel computer 64 Figure 95 Black 23 pin connector end of drive harness 64 Figure 96 Battery connector left and power sup...

Страница 10: ...igure 129 Sub screen Antenna setting 95 Figure 130 Example of lateral installation of antenna on the agriculture machine 96 Figure 131 Reference point for measuring position of satellite navigation an...

Страница 11: ...een 128 Figure 168 Enter the sub screen Agriculture machine deviation calibration 128 Figure 169 Step 1 establish Point A 129 Figure 170 Step 2 straightly drive forward for 70m and Point B will be est...

Страница 12: ...actual transfer row width at the left side of the tractor 149 Figure 197 Speculate the farm tool shift by measuring actual transfer row width at the right side of the tractor 150 Figure 198 Set the ra...

Страница 13: ...AG960 AutoSteer System AG960 is designed for precision agriculture and machinery It takes advantage of the Global Navigation Satellite System GNSS differential technology acquiring the position inform...

Страница 14: ...of the agricultural vehicles For a single GNSS reference station it can serve as many autopilots as required at the same time However the work area it may serve depends on the radio transmitting powe...

Страница 15: ...ion antenna 2 pcs Including pedestal and double faced adhesive tape 2 Radio receiving antenna mast 1 pcs 3 Radio receiving antenna pedestal 1 pcs Including RF cable and double faced adhesive tape 4 Au...

Страница 16: ...ip 15 Hydraulic valve adapter plate 1 pcs 16 Hydraulic transit joint bag 1 bag 17 Screws nuts bag 1 bag 18 3M double faced adhesive tape 1 set 19 Insulating tape 1 pcs 20 Strapping tape Several 21 Ope...

Страница 17: ...ilot Figure 6 Outlook of panel computer Figure 7 Outlook of electromagnetic hydraulic valve Figure 8 Outlook of CVB module optional for closed center system Figure 9 Outlook of coaxial rotation direct...

Страница 18: ...a harness white end harness Figure 12 Outlook of drive harness black end harness Figure 13 Outlook of Autopilot Controller adapter plate Figure 14 Outlook of panel computer bracket Figure 15 Outlook o...

Страница 19: ...rotation direction sensor bracket 3 2 Electrical Connection Relation AG960 has an electric connection relation with the vehicle as shown in the figure below Round rectangle flanged base Anchor ear Do...

Страница 20: ...enna port of the front panel of navigation autopilot through a 3M RF cable Primary antenna Secondary antenna Radio receiving antenna Navigation driving box Panel Battery Battery Proportional valve Tra...

Страница 21: ...this chapter it takes Dongfanghong a tractor brand name 904 tractor open center type medium duty John Deere 904 tractor open center type medium duty and Case 210 tractor closed center type heavy duty...

Страница 22: ...The process of installing electronic components of AG960 can be divided into the following 4 steps 1 Install satellite navigation antenna including antenna pedestal RF cable 2 Install radio receiving...

Страница 23: ...om the satellite navigation antenna to the rear axle center of the vehicle should be accurately measured during the subsequent equipment commissioning process Figure 18 Electro mechanical connection d...

Страница 24: ...head of the antenna should be as level as possible to facilitate the receiving of satellite signal as shown in the figure below The RF connector of antenna should be orientated towards the inner side...

Страница 25: ...to the specified position and RF connector orientation Press it with force until it is securely adhered Before pressing make sure the contact surface between the driving cab top and the antenna is lev...

Страница 26: ...F cable One end of the 3M RF cable is connected to the RF connector of the satellite navigation antenna with a threaded connection Tighten it with hand instead of pliers or other tools to avoid damage...

Страница 27: ...eceive the differential information transmitted from the Beidou reference station The radio receiving antenna is installed onto the tractor as described below 4 1 2 1 Installation Position of Radio Re...

Страница 28: ...driving of the vehicle Remove the protective film of 3M double faced adhesive tape on the antenna pedestal If the double faced adhesive tape is not adequately adhesive due to low temperature heat it...

Страница 29: ...emove the protective film of the double faced adhesive tape on the antenna pedestal Figure 31 Press radio antenna to specified position with force Figure 32 Slightly pull the antenna to check if it is...

Страница 30: ...Fix and bind the RF cables on the driving cab top and lead them into the driving cab from the rear side window 4 1 3 Installation of Panel Computer The panel computer is the user operation interface...

Страница 31: ...cket to the specified installation position in the driving cab with electric tool and 3 outer hexagon self tapping screws ST4 2 32 Figure 34 Fix and bind the RF cables on the driving cab top and lead...

Страница 32: ...e Plate Knob Fix the rectangle plate knob of the panel computer bracket to the rear cover of the panel computer with 4 cross recessed pan head screws To prevent the panel computer from getting loose d...

Страница 33: ...the 3G Antenna For the autopilot which requires information remote control 3G antenna is needed Figure 40 Installation of 3G antenna 4 1 3 5 Installation and Fix of the Panel Computer Place the panel...

Страница 34: ...ing procedures 4 1 4 1 Installation Position of Autopilot Controller The Autopilot Controller is installed inside the driving cab in an orientation parallel to the coordinate system of the vehicle Veh...

Страница 35: ...ent space should be reserved for the outgoing cable of Autopilot Controller at least 10cm in the outgoing cable direction of the Autopilot Controller The installation position should provide relativel...

Страница 36: ...he autopilot and the adapter plate with cross countersunk screws Figure 46 Proper installation position in the driving cab Figure 47 Fix the adapter plate to the installation surface with self tapping...

Страница 37: ...including senor body sensor stop plate and its bracket round flanged base rectangle flanged base double cross stop frame anchor ear and rubber strip which are shown in the following two figures Figure...

Страница 38: ...If it is neither type of the above mentioned usually found in various agriculture machine with two wheel drive refer to section of Install steering system of parallelogram type Figure 50 Tractor knuc...

Страница 39: ...sensor it may be removed Place the steering sensor properly and re assemble and tighten the screws Figure 52 Remove the screws on the knuckle flange with a socket spanner Figure 53 Place the assemble...

Страница 40: ...nce from three fastening screws of tractor knuckle to prevent interference during wheel steering and damages to the equipment Figure 54 Bend the sensor stop plate downward Figure 55 Adhere double face...

Страница 41: ...oving during locking the anchor ear Then bind and lock it with the anchor ear During binding please note that the anchor ear should pass the spacing slot on the double cross stop plate Lock the anchor...

Страница 42: ...tedly turn the guide wheel to the left and right side to the maximum extent with vehicle staying at the same location and observe the coaxial steering system Make sure that during the wheel rotation t...

Страница 43: ...assembly including sensor body swing rod with holes in pattern axle clamping plate including long clamping plate short clamping plate and M12 connecting threaded rod toe in U groove including U shaped...

Страница 44: ...system is installed to the left front axle of the tractor viewing from the driver according to the following procedures 4 2 2 1 Install Toe in U Groove Fix the U shaped threaded rod and fish plate ont...

Страница 45: ...axle the long clamping plate can be placed in the front or rear of axle as per the actual conditions Figure 64 Fix the clamping plates to the front axle with a M12 threaded rod 4 2 2 3 Install Sensor...

Страница 46: ...ing holes of the swing rod with holes in pattern to pay attention to below The swing rod with holes in pattern Line AB is parallel with the line between the toe in hinged point and the rotation center...

Страница 47: ...rturned 4 3 Check the Motion of Pallelogram Mechanism The steering system for precision agriculture machines mainly includes two types named as open center system and closed center system Taking John...

Страница 48: ...of hydraulic valve to port P of power steering pump and port P1 of hydraulic valve to port P of steering gear The pipe fittings list of different agriculture machine models can be obtained from the Te...

Страница 49: ...ame position If the guide wheel can turn left or right to the maximum extent it means the hydraulic steering system of the agriculture machine is normal If it requires force to turn the steering wheel...

Страница 50: ...gap at toe in of tractor Turn the steering wheel with hand when the tractor stays at the same position and observe if there is oversized gap between the toe in and the connection shaft of left right...

Страница 51: ...to the specified position on the tractor with an L shaped adapter plate such as the left front and right front of driving cab inside the engine compartment inside the driving cab etc Either threaded o...

Страница 52: ...ing pump pressure output port and connect it to port P of hydraulic valve with transition union and oil pipe The existing connection can be disconnected directly from port P of power steering pump or...

Страница 53: ...them with tee union for re connection The connection can be disconnected from the steering gear or the other end of the oil pipe to the steering gear whichever is convenient for the installation proce...

Страница 54: ...6 Sort out oil pipe 4 3 1 8 Check the Actuation Function of Hydraulic Valve Start the engine and maintain a speed of 1000rpm 1500rpm in order to confirm the actuation function of hydraulic valve Check...

Страница 55: ...or can rapidly turn to the maximum extent at the right side Test repeatedly for several times When the pressing point is pressed if the guide wheel turns at a very slow speed or is difficult to pass t...

Страница 56: ...g to the following procedures 4 3 2 1 Check Relevant Oil Ports The operating oil pump is located at the rear side of the tractor Replace the end caps at ports P T LS with transition unions as shown in...

Страница 57: ...56 167 Figure 79 Locate ports P T and LS at the rear axle Figure 80 Locate ports P and LS Figure 81 Locate port T...

Страница 58: ...the end caps of ports P and LS with transition union Figure 83 Replace end cap at port T with transition union 4 3 2 2 Install Hydraulic Valve System Fix the hydraulic valve group to the vehicle with...

Страница 59: ...machine before installing hydraulic valve group After the hydraulic valve group is installed check the operating condition of hydraulic valve group 4 4 Routing of Cables After the installation of elec...

Страница 60: ...ness black end harness is divided into three parts namely battery terminal hydraulic valve drive terminal and steering system terminal respectively connecting to vehicle battery electromagnetic hydrau...

Страница 61: ...e satellite navigation antenna at the right side of driving cab top is the primary antenna and its RF cable is connected to the RF plug marked with GNSS primary antenna on the front panel of Autopilot...

Страница 62: ...for external radio and the 11 pin round connector is a general extended port If external radio or other external communication device is required to receive data from Beidou reference station it shou...

Страница 63: ...cording to the following procedures 4 4 2 1 Connect Autopilot Controller Insert the white 23 pin vehicle standard connector female at the end into the white 23 pin connector male on the Autopilot Cont...

Страница 64: ...er Select appropriate routing to connect the connector for panel computer to corresponding interface on the panel computer The cable route should be along the edge of driving cab as far as possible to...

Страница 65: ...23 pin vehicle standard connector female and the other end is divided into three lines respectively connecting the agriculture machine battery electromagnetic hydraulic valve and the steering system...

Страница 66: ...4 4 3 1 Connect Autopilot Controller Insert the black 23 pin connector female at the end into the black 23 pin connector male on the Autopilot Controller The connector is marked with text Power drive...

Страница 67: ...o two electromagnetic valve plugs of the hydraulic valve and the pressure sensor seat respectively During connection two drive terminals of the harness can be arbitrarily connected to two drive seats...

Страница 68: ...67 167 Figure 99 Mount water proof rubber ring to the hydraulic valve drive terminal of drive harness Figure 100 Mount drive terminal to the electromagnetic socket of hydraulic valve...

Страница 69: ...nism 8 pin round connector to the steering measuring mechanism It should be noted that there is a free space with certain angle between the front axle and vehicle body as the steering measuring mechan...

Страница 70: ...of battery and connect the red terminal marked with Battery of the drive harness to the positive pole of the battery is engraved near the positive pole of battery Remove the nuts at the positive and...

Страница 71: ...ulture machine using 24V power supply Note The aluminum casing of the Autopilot Controller of the autopilot is directly connected to the negative wire of battery connecting terminal on the drive harne...

Страница 72: ...e excessive part Cables routed along the inside and outside of the driving cab and the engine as well should be bound to the vehicle structure or existing harness at proper position to present a neat...

Страница 73: ...attery for certain time before the commissioning This is to prevent the battery in under voltage status from continuously supplying power to the equipment and thus causing lack of power to start the e...

Страница 74: ...power on right Figure 109 The LED indicators on Autopilot Controller are off before power on left and is on after power on right Figure 110 The panel computer screen is off before power on left and is...

Страница 75: ...ner of the login screen which will display User as default Directly touch the Agree button beside User to enter the user interface directly Touch the pull down menu to select Technical Support or Deve...

Страница 76: ...autopilot The commissioning and calibration diagnosis and troubleshooting of the system can be performed in the technical support interface Figure 114 Select technical support Developer interface Deve...

Страница 77: ...to enter the technical support main interface as shown in the figure below The main interface is divided into 6 display zones as below Left side main menu zone Lower part instrument panel zone Right s...

Страница 78: ...of the equipment 2 Self test Touch this icon and a small window will pop up to display the self diagnosis information to indicate if every component and assembly works well 3 Settings Touch this icon...

Страница 79: ...To indicate the number of navigation satellites from which the signals can be received currently 8 Radio status To indicate whether the radio can receive signals from Beidou reference station Red lig...

Страница 80: ...ight triangle occurs deviation to the right 13 Acre counter To indicate current operation area that has already been finished in acre The acre counter is set in such a way that it starts counting from...

Страница 81: ...un along the specified route automatically When the icon is red it is ineffective to touch the icon When the icon is green touch the symbol and the autopilot gives up the steering control of the agric...

Страница 82: ...ch the icon to quickly switch current channel number of the radio In case of stationary reference station when the agriculture machine moves from near one reference station to near another reference s...

Страница 83: ...splay element in the middle of the screen touch icon to zoom out the display element in the middle of the screen 25 Operation area Agriculture machine This abstract icon is to indicate current positio...

Страница 84: ...ributor or FAE department of manufacturer During power on both the LED light of gourd shaped switch and the LED light of Autopilot Controller are ON while the screen of panel computer is OFF Press the...

Страница 85: ...About us In this screen above the user may view the program version of AG960 5 3 View Self test Information Touch Self test icon in the main interface to view the self test information of the equipme...

Страница 86: ...f the radio of the autopilot is correctly set see section 4 4 1 Check if the radio receiving antenna is correctly installed to the driving cab top Check if the RF connector of radio receiving antenna...

Страница 87: ...troller Contact the distributor or FAE department of manufacturer Red self test icon for inertial navigation unit Power off and restart the autopilot and wait another 5min Replace the Autopilot Contro...

Страница 88: ...cting positions operation width parameters of implements In addition the autopilot program needs to be updated in some special cases details of program updating process will also be given in this sect...

Страница 89: ...ion to reset the ID number Except in some special cases each autopilot has completed the setting of models of components and assemblies when delivered Neither the technical support nor the user needs...

Страница 90: ...io to Channel 2 Figure 120 System setting screen to select 433MHz radio internal as RTK data source Figure 121 Select channel number of internal radio 5 4 1 2 External Radio If external radio is used...

Страница 91: ...network such as account password server ID port number etc The user can perform the setting via the purchased account and password of local CORS network Figure 123 Screen to select CORS network as RT...

Страница 92: ...een for example it means the autopilot receives signals from GNSS reference station Differential state icon When the red light turns green for example it means the autopilot has achieved centimeter le...

Страница 93: ...dinal axle as Y axis and the half line starting from vehicle rear axle center pointing to sky as Z axis 5 4 2 1 Set Installation Orientation of Autopilot Controller Select the installation orientation...

Страница 94: ...hine line outlet upward LED light face right Where the six directions namely upward downward forward backward left and right are determined as the driver views from the seat in the driving cab Figure...

Страница 95: ...reference point on the Autopilot Controller in the coordinate system of the tractor with spirit level plumb line and measuring reel that is measure the distances between the reference point of Autopi...

Страница 96: ...nna setting as shown in the figure below Figure 129 Sub screen Antenna setting The sub screen Antenna setting is used to set the installation position and orientation of satellite navigation antenna o...

Страница 97: ...nstallation method to make the choice according to the actual conditions The pull down menu provides 2 options for the installation orientation as below Place the tractor on a level plane Measure the...

Страница 98: ...e Front wheel diameters the diameter of vehicle front wheels Rear wheel diameters the diameter of vehicle rear wheels Front wheel spread the horizontal distance between left and right knuckles of the...

Страница 99: ...completed touch the button Implement setting at the upper part of the Setting screen to enter the sub screen Implement setting as shown in the figure below Figure 133 Sub screen Implement setting In t...

Страница 100: ...e manufacturer If SIM card is inserted into the panel computer the program can also be updated through the Internet When the special updating flash disk is inserted to the USB port of the panel comput...

Страница 101: ...for calibration Guide wheel calibration Calibrate the steering range of the guide wheel Attitude calibration Calibrate the attitude of roll and pitch Steering sensitivity calibration Driver sensitivit...

Страница 102: ...n Table 5 Definition of icon in the calibration screen Item Icon Description Function Meaning 1 Guide wheel Calibrate the steering range of the guide wheel 2 Attitude Calibrate the attitude of roll an...

Страница 103: ...ther buttons representing calibration steps will turn red indicating that this calibration step is not performed It must be noted that when all calibration are finished if some steps have to be separa...

Страница 104: ...n the screen Figure 138 Sub screen popping out for guide wheel calibration In this sub screen box contains numerical values to indicate the real time angle of guide wheel uses a pointer to display the...

Страница 105: ...h or impact on the front axle and knuckle of the farming vehicle Unscrew the screws on the guide wheel knuckle remove the flange seat of the steering sensor and check if 5 cross recessed countersunk h...

Страница 106: ...angle of the guide wheel Such numerical value will be shown in Left limit box Note If the steering gear of the tractor has leakage it will cause a returning tendency of the guide wheel at the left lim...

Страница 107: ...ve the tractor to the middle of the road Turn the steering wheel to the middle position and touch Start button Drive the tractor forward along a straight line for at least 70m During the process try n...

Страница 108: ...ve the calibration information of the guide wheel the left right limits and middle point The calibrated values can be regarded correct only if they can satisfy both conditions given below at the same...

Страница 109: ...ng status of equipment now is all green Observe if the actual steering angle range of the guide wheel is too small If yes make necessary mechanical adjustment or the line tracking process will be too...

Страница 110: ...de calibration process can be completed by following the instructions in sub screen Attitude calibration 5 5 3 1 Attitude Calibration Step 1 Drive the tractor to a flat ground and keep idling of engin...

Страница 111: ...he tractor standstill and touch Start to start the time counter Count for 1 minute When 1 minute is elapsed proceed with step 3 Figure 146 Step 2 time counting 5 5 3 3 Attitude Calibration Step 3 Driv...

Страница 112: ...below Then touch Next step again to proceed with step 4 Figure 147 Sketch of repositioning the farming vehicle after turning around Figure 148 Step 3 turning around 5 5 3 4 Attitude Calibration Step...

Страница 113: ...in 5 If the calibration result is incorrect eliminate the fault according to the following procedures Perform attitude calibration again Check if the self checking status of equipment now is all green...

Страница 114: ...the steering sensitivity calibration The purpose of this step is to obtain fast stable and correct performance of the steering operation of guide wheel when the farming vehicle is in auto driving mod...

Страница 115: ...t slowly The hydraulic steering systems of different tractors are different in terms of machine conditions pressure of power steering pump steering gear wear oil cylinder leakage mechanical gap etc Th...

Страница 116: ...peat the above steps to continuously reduce the value of left right take off voltages and it can be observed that the speed of left or right turn reduces gradually When the average speed of the entire...

Страница 117: ...o more than 0 2 and no more than 0 1 is better when the guide wheel turns If the red pointer turns too slowly or cannot point to 5 5 the tyre reaches and stops at the specified position without any vi...

Страница 118: ...f the guide wheel has any movement If yes set the left right jump off voltage to an arbitrary value of 2 5V 2 8V If not go to step c Throttle up the engine press the action button of the hydraulic val...

Страница 119: ...left right jump off voltage Directly set the left right jump off voltage to 2 0V and set the steering sensitivity to 0 1 5 5 4 5 How to Complete the Calibration of the Left Right Jump off Voltage and...

Страница 120: ...driver sensitivity The purpose of this step is to set a proper value for driver sensitivity so as to make sure that the driving path can track the specified Line AB in a rapid stable and correct way...

Страница 121: ...tion in case of higher driver sensitivity it will approach Line AB at a higher speed in a violent way however it may cause the vehicle passes Line AB without stopping and goes to the other side of Lin...

Страница 122: ...lower the driver sensitivity is the slower the vehicle tracks Line AB and the lower the operation precision is but the driving stability is superior In order to obtain a rapid stable and correct Drive...

Страница 123: ...te the operation precision according to the following steps Test the straight line driving precision when the vehicle drives along Line AB at a speed of 1 0m s 3 0m s During the process observe if the...

Страница 124: ...an almost straight line in auto driving mode the lateral deviation displayed in the screen fluctuates at a fixed value of several centimeters to over 10 centimeters with a fluctuation range of around...

Страница 125: ...the calibration process When the calibration is done enter the calibration options of System deviation again to select CALIBRATE INTERATION that is reserve the results of last system deviation calibra...

Страница 126: ...ep 2 Drive the tractor forward manually During the driving process the screen shows that the tractor starts from Point A in real time and displays the driving distance as well When it is over 70m the...

Страница 127: ...rip in auto driving mode at a speed of 1 5m s 2 5m s When it is done touch the button Next to go to step 4 It must be noted that the location where the tractor turns around should be far away outside...

Страница 128: ...ated path deviation 3 Fine calibrated guide wheel deviation 3 When both the requirements are satisfied the calibration of system deviation is correctly done When the calibration of System deviation is...

Страница 129: ...last calibration item is Agriculture machine deviation The purpose of this step is to eliminate the operation error resulted from asymmetrical dimension of the farming vehicle itself Figure 168 Enter...

Страница 130: ...p 2 Figure 169 Step 1 establish Point A 5 5 7 2 Agriculture Machine Deviation Calibration Step 2 Straightly drive a distance of 70m and the system will establish Point B automatically When the operati...

Страница 131: ...le at the same location to make marks in the same way When all this is done touch Next to go to Step 4 Figure 171 Step 3 automatically drive along Line AB for a round trip and make marks for tyres 5 5...

Страница 132: ...the following figure pops out in the screen Measure the distance between the marks made during a round trip fill the value into the corresponding box and confirm it Figure 173 Step 4 fill in the dist...

Страница 133: ...s is the basis for judging if the calibration of Agriculture machine deviation is correctly done Therefore when the calibration of vehicle deviation is done drive the tractor along the same Line AB fo...

Страница 134: ...5 8 Examine Calibration Value When all calibration steps are completed the red dots of all buttons in the calibration button group turn green which means that all calibration items are completed Now...

Страница 135: ...Enter the user interface to complete the auto driving test in farmland The duration should be at least 20min and the distance should be at least 2000m for the auto driving test The test is done as fol...

Страница 136: ...er up the Equipment Press the gourd shaped switch with hand to energize the equipment When the gourd shaped switch is pressed the LED indicator on the switch lights up blue and the screen of the panel...

Страница 137: ...touch the Agree icon at the right lower corner of the log in screen to enter the main user interface Figure 179 Main user interface 6 2 Task Management AG960 provides a sound task management system f...

Страница 138: ...the screen Management of task All autopilot tasks can be completed through the shortcuts area at the right side of the screen 6 2 1 Task Establishment Touch the Task icon at the left side of the scre...

Страница 139: ...be displayed at the left upper corner of main interface if go back to the main user interface Figure 181 The name of new task is displayed at the left upper corner of main interface When a task is est...

Страница 140: ...o load the specific task as the current task Long press the task name with a finger to view the details about the task Figure 183 Press the task name with a finger in a longer time to view the details...

Страница 141: ...n of New task but it is much easier to operation and convenient for the use of the individual user New task established with the shortcuts is named after the current Beijing time automatically Next ti...

Страница 142: ...screen to set the Line AB under the current task First manually drive the tractor to the specified position of the farmland Touch Line AB icon and the icon appears at the left side Figure 185 Set Line...

Страница 143: ...the screen respectively corresponding to three paths the line in the middle is the current task path and the left one and right one are respectively next task path at a distance of IM width with the...

Страница 144: ...t task path of Line AB left or right for certain distance to satisfy the task requirement for example when the remaining part of the farmland is less than one operation width Touch the third icon from...

Страница 145: ...ts Drift to the left and now a numerical box appear in the center of the screen Enter 0 5 in the box and confirm it Figure 189 Enter the distance to shift left When it is confirmed the Line AB moves l...

Страница 146: ...be planned with reference to the shifted Line AB Even if the equipment is powered off and restarted when the task is reloaded the task paths planned for the task also take reference to the shifted Li...

Страница 147: ...he implement or where the seed is planted internal row spacing of the implement The following are some typical examples of calculation of the operation width of implement Figure 192 Operation width ca...

Страница 148: ...if the transfer row width is 65cm in theory the actual width measured is 60m and 70m alternately which is the transfer deviation caused by the shift of farm tool When transfer row deviation appears se...

Страница 149: ...ans the farm tool shifts left and if it is more than the required value it means the farm tool shifts right Measure the actual transfer row at the right side of the tractor right rear side from the dr...

Страница 150: ...y 68cm 66cm 69cm and 67cm The average value is 67 5cm 2 5cm more than the required value It means that the farm tool shifts right by 1 25cm Fill this shift value into the shift farm tool and thus the...

Страница 151: ...d Line AB shifts left by 3cm at the same time 6 3 6 Setting of Radio Channel Number with Shortcuts The bottom icon at the right screen is the shortcut icon to set the radio channel number Touch this i...

Страница 152: ...ng to the interference for example the interference from other portable reference station working nearby switch the channels of the portable reference station and the autopilot at the same time to imp...

Страница 153: ...g mode 4 Yellow The manual auto driving should be switched according to the following rules When the steering wheel icon is white it is allowed to touch the icon And now the autopilot takes over the c...

Страница 154: ...ving mode Figure 201 The vehicle is now in manual driving mode and does not allow to be switched to auto driving mode Since the Line AB is not available now 6 5 Monitoring of Instrument Panel The inst...

Страница 155: ...satellites it means the satellite condition is average If the equipment can receive signals from less than 20 satellites it means the satellite condition is poor Check the connection status of satell...

Страница 156: ...ed of vehicle in kilometers per hour km h 6 5 5 Monitoring of Direction The third icon from the left to right in the instrument panel area at the lower screen indicates the current direction of vehicl...

Страница 157: ...on and reset by button Green icon indicates that the mu counting is in progress while red icon indicates that the mu counting is suspended 6 6 Adjustment of the Display The Display adjustment area at...

Страница 158: ...in night mode 6 6 2 Adjustment of Background Grid Displace Effect Touch the icon in the display adjustment area at upper screen to conceal or display the grid in the display background Figure 203 Disp...

Страница 159: ...operations without mulching film or leaving obvious traces on the land and such operations as pesticide spraying fertilizing and etc that are difficult to discern the area operated or unoperated with...

Страница 160: ...Otherwise it may cause reduced operation precision Frequently check if the connection between the mushroom head and the 3M RF cable gets loose If yes tighten it in time Otherwise it may cause intermit...

Страница 161: ...if the screen or the body of panel computer is covered with dust or mud If yes clean it immediately Otherwise it may cause ineffective touching operation of the panel computer Frequently check if the...

Страница 162: ...ng system including the cables from the steering sensor If any contact the distributor to replace the component in time If the angle displacement measuring device is replaced the equipment must be re...

Страница 163: ...uring cleaning the vehicle Although TERSUS AP 960 autopilot for farming vehicle has a IP65 rainproof class water proof protection the user still should protect the product from water as far as possibl...

Страница 164: ...Eliminating methods FA1 Link is red Link indicator is red and the radio icon in the self checking information is red the vehicle is unable to receive the data from the reference station Make sure the...

Страница 165: ...k if the RF connectors of both satellite navigation antennas hanging into the driving cab are correctly connected to the GNSS main antenna and GNSS auxiliary antenna sockets at the front panel of the...

Страница 166: ...Autopilot Controller Contact the distributor or FAE department of the manufacturer FA5 The hydraulic valve information is lost The hydraulic valve indicator in the self checking information is red Ch...

Страница 167: ...ht when it is at the right side of AB it means the hydraulic valve drive terminals are connected oppositely during connection Just exchange the connection again and the trouble will disappear If the g...

Страница 168: ...re of the booster pump or replace the booster pump Check the electromagnetic hydraulic valve for sticking or blockage If necessary dismantle the proportional valve on the hydraulic valve and modules L...

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