Autopilot™ Product Offering Updates

2013 Platforms Autopilot steering system– Tractors

2013 Platforms Autopilot steering system - Harvesters

2013 Released Platforms Autopilot steering system - Sprayers Miller Nitro 5000 AGR Miller Nitro 5000 full installation New Holland Guardian Sprayers Apache Sprayers

Three Types of Autoguidance Systems 1. Trimble Autopilot After Market Kit With or without hydraulics. Platform kit required 2. Trimble Autopilot Hybrid kit Installation onto CNH Factory ready vehicles 3. Trimble Ready Vehicles

Trimble Autopilot™ – After Market kit Ag25 Display Nav Controller II Hydraulic Valve / Manifold AutoSense Steering Sensor

Example #1 – After Market kit Pre 2011 Models supported Wheeled (W) and tracked (T) 5000W 6000W 7000W 8000W & T 8000WR & TR 9000W & T Both Autotrac (Atrac) and non-autotrac ready systems are supported. Look for the decal and valve!

Example 2 – After Market kit 2011 on - Models supported AutoTrac (CAN) Ready R Models 54035-42 Supported vehicle models Wheeled 6000R 7000R 8000R 9000R Tracked

Trimble Autopilot™ Hybrid Kit Display Ag25 Operator Seat Switch Factory installed Steering Sensor Nav Controller II Factory installed Hydraulic Valve / Manifold

Trimble Ready When you see this label look for plug and play capability Manufacturers advertising their machines are ready Hydraulics and Wiring all pre installed. Opening new sales channels and often blocking out competition at the same time. Integrated Headland management systems CanBus integration

Platform/Hydraulic Kits

Autopilot Calibration

Support platforms list

Support platforms list

AgGPS® Autopilot™ - Full Installation Display AG25 AutoSense™Steering Angle Sensor Nav Controller II Electro-Hydraulic Valve

AutoGuidance Control System Key components Hydraulics Nav Controller II AutoSense

AutoGuidance Control System Inside the Nav II Controller Power Supply Electronics Power for entire system On off switch for entire system 6 Axis Inertial Measuring Unit T3 Roll/Pitch/Yaw Correction at 50HZ Vehicle Direction Autosense Valve Drive Electronics Pulse Width Modulation Output Communication Electronics Two way communication with GPS, Display, CAN Bus. Input from Autosense Output to Valve CPU and Memory Stores calibration information

Nav Controller II All AP Processing done in controller Brings in GPS data Combines with Yaw, Pitch, Roll (T3™ Technology) Outputs Steering Guidance Operates at 50hz Sealed, Waterproof, Dustproof Voltage Spike Resistant Mount in multiple orientations

Autopilot™ – T3™ technology Incorporates gyroscopes and accelerometers Measure Yaw, Pitch and Roll and the speed at which they change Corrects for errors from terrain and how fast they occur Corrects for both hilly ground and rough conditions

AutoSense Steering Sensor Vehicle profile with Autosense support required Config mounting location in Autopilot Toolbox/FmX Mounted on left or right side with the label up or down No left/right/center calibration Relative (Autosense) versus absolute (Potentiometer) type sensor Drive for at least 1 minute before Automated Deadzone Calibration to clear heading Mount within 10 degrees of horizontal Must move 1:1 with steering spindle

Steering Rotary Potentiometer 0 - 5VDC analog output 128 degrees of electrical movement 180 degrees of mechanical movement Minimum of 64 degrees to calibrate or 2.6 volt range

Importance of Hydraulics If steering hydraulics are slow (slew times too long) performance will suffer The tractor will not be able to smoothly correct for large cross track errors It will not be able to achieve the desired steering angle fast enough to acquire the line smoothly The tractor may even go unstable at higher speeds since the XTE will get worse before it gets better

General Tractor Setup

Roll / Antenna Compensation Antenna Height Above Ground Antenna Height

Roll/Antenna Compensation Roll Correction Corrected position Uncorrected position

Antenna Distance from Fixed Axle Antenna Compensation Antenna Distance from Fixed Axle 4WD – Antenna over the Front Axle MFWD - Distance forward from rear axle (positive value)

Essential Service Tools Cable Identification Wire Schematics Software Utilities Firmware

AutoPilot System Harness Schematics 1 NavController II controller P9 Sonalert connector P2 Power connector P12 Lightbar/spare connector (Used on ISO ready) P3 GPS connector P13 Spare sensors connector (voltage out to AS) P4 Display connector P14 Status indicator (comm with NAV) P5 Vehicle sensors connector (JD Autotrack ready) P15 Laptop connector P6 Steering sensor connector P16 Main harness P7 Manual override connector P17 Auxiliary harness P8 Hydraulic valve connector

Cabling Guide for both CFX-750 & FmX

CFX-750 Display – Full AutoPilot Harness

CFX-750 Display – CNH Guidance Ready

FmX Display – Full AutoPilot Harness

FmX Display – CNH Guidance Ready

Autopilot Calibration

AP Configuration: Support Notes Laptop with Serial Port Laptop Checklist AP Configuration: Support Notes Laptop with Serial Port Autopilot Toolbox II (v2.92), FlashLoader 200 (v3.19). Latest FW version for NavControllerII FmX CFX-750 EZ-Guide 500 Ex Vehicle Database 5.26 7.2 4.0 5.1 4.3

Flashloader 200 Software Utility Software utility program which is required to update or reload firmware on the AgGPS® 262, 252 / 332 GPS receiver, AutoPilot™ Nav Controller II, and the AgGPS® Ag900 RTK radio (radio installed under the 252/262 receiver)

Flashloader 200 Software Utility To update firmware: Check the Upload firmware box.

Flashloader 200 Software Utility Now select the location on your computer where you saved the firmware file. Then choose “Open.”

Flashloader 200 Software Utility On some computers you might find it necessary to use low speed connection option, if the upload process fails initially.

Flashloader 200 Software Utility Once you have selected the proper firmware file and checked the Settings button, then click on the Proceed button. You should then see the Establishing Communications window that displays the progress information.

Configuring the system Loading a Vehicle Profile

Checking the Configuration Settings X Y Controller Orientation X Y X Y

Calibrating the Autoguidance system Steering Sensor If autosense installed no calibration screen appears

Steering Sensor - Autosense If you are using AutoSense™ steering sensor, then you must tell the system how it is installed.

Steering Sensor - Autosense Calibration Tip: When Autosense is installed, make sure to drive the vehicle straight for at least 1 minute to get the correct heading info before starting the automatic deadzone calibration. When doing the deadzone make sure that you drive straight for at least 5 seconds before pressing either turn left or turn right. Wrong Procedure: If you are driving in circles for 1 minute, then the Auto deadzone calibration will come up with the wrong estimated value.

Deadzone Calibration Critical for a good AP calibration Oil working conditions temperature Autosense properly initialized In flat and smooth field

Proportional steering gain calibration TIPS: Slew times should be 1500-2500ms Test at max operation speed XTE should +/- 2.5cm Vehicle aggressiveness depending on soil conditions: Hard solid/road 70% Smooth field 100% Smooth with implement 130%

Proportional steering gain calibration (continued) If the tractor is Lazy and is wandering over the line with a XTrack error above + or – 2.5 cm, you must increase the P Gain.

Proportional steering gain calibration (continued) If is shaking over the line decrease PGain. Do not increase PGain if tractor hold line properly at 15kph Usual P Gain Values are between 3 and 20.

Nav II Controller Valve Drive Slope of line is P-Gain Dead Zone Right Dead Zone Left

Roll Calibration Not Calibrated Calibrated Always mark center-line from drawbar straight down (plumb-bob preferable) Not Calibrated Calibrated Illustrate roll cal on the board. When properly calibrated, the tractor then should be able to drive in the same tire tracks, opposite direction. If you still see wide / narrow guess rows, then look at Implement Offset or implement drift due to terrain.

Roll offset

Roll / Antenna Compensation Implement Offset Implement Offset B

Line Acquisition aggressiveness TIPS Test engage at 4-5kph while driving parallel to AB line with 1m XTE Adjust to get a smooth and stable front wheels behavior when converging to the line

Engage aggressiveness Configurable speed dependent engage smoothness setting Adjust if necessary the Engage Aggressiveness setting to get a smooth behavior just after engage. High speed vehicles

Saving the Configuration The configuration (CFG) file holds both the data from the Vehicle Profile and the Calibration data which are unique for each vehicle Swap config when moving NavII from one vehicle to another CFG file can be restored into the controller from the Display or from a laptop

Steering Aggressiveness “Operator adjustment” Always calibrate at 100% Range 50 to 150% Will not fix poorly calibrated hydraulics Increase Aggressiveness: To improve online performance For faster corrections Decrease Aggressiveness: To smooth steering correction Slow line convergence (higher speeds, sprayers etc.)

Questions?