HOW TO GUIDE: Electric Steer Kit Configuration Installation
Contents
1. T control Nudging The GPS system in the mojo3D is subject to drift over time If using the mojo3D for extended periods of time nudging may be required to adjust the wayline to the desired position To nudge the wayline press the ENa bar at the top of the screen A ks gt Ww From the nudging menu either move the wayline left or right by tapping the left and right buttons or adjust the wayline to the machines current position by pressing the centre of the screen If tapping left or right exit the nudging menu by pressing the cross Dutton or waiting for the menu to disappear Deeg fena For more information when it has to be right Seica www AgGuidance com Geosystems Page 17 18 v1 3 Leica mojo3D Virtual guidance customized control Wrench Note The Field Offset function can also be used to adjust the wayline position however this should not be used to correct position drift The field offset should only be used to adjust wayline positions between differing fields or treatment areas For more information when it has to be right Seica www AgGuidance com Geosystems Page 18 18 v1 32. the instructions on the screen and press OK after each step Make sure the motor is against the steering wheel and the machine is stopped For more information when it has to be right Seica www AgGuidance com Geosystems Page 10 18 v1 3 Leica mojo 3D guidance customized control Wrench Press the engage button on the screen or use the Electric Steer Kit engage switch The yellow icon should turn green Steering Test sa Press the left right and centre turn icons to check that the QuickSteer response by turning the steering wheel in the desired direction Note Steering can be stopped at any time by pressing the engage button using the engage switch or manually moving the steering wheel meye _ Escape the menu using the next Dutton Steering Test For more information when it has to be right Seica www AgGuidance com Geosystems Page 11 18 v1 3 Leica mojo 3D guidance customized control Tuning To tune the mojo3D system press the Tuning button from the steering menu From the tuning menu four settings can be adjusted These setting are available on the left of the screen The sensitivity will contro he sensitivity will contro 3 1 p De The We wa i S om jaji aa pt tl ie rege Raley By b ent ig Ci bas as Pal f a EAr Once settings are selected adjustments can be made using the slider For more information when it has to be right S
3. Leica mojo 3D E4 guidance Dn control HOW TO GUIDE Electric Steer Kit Configuration This document describes how to configure and tune the mojo3D system to use the Electric Steer Kit Installation Shown below is the minimum connection for correct Electric Steer Kit operation For more information on the installation please see the mojo3D Connection How to Guide supplied with your mojo3D system Cell Modem Antenna GPS Antenna a a a 2 a Port Expansion Cable inne acter Sri 7 Master ie _ Fuse 15A Power 12Vdc Leica QuickSteer QuickSteer Switch Ignition Power For more information when it has to be right Seica www AgGuidance com Geosystems Page 1 18 v1 3 Leica mojo3D guidance customized control Wrench mojo3D Setup The mojo3D system needs to be setup to use the Electric Steer Kit First turn on the mojo3D and wait for the system to boot the main guidance screen should be displayed as shown If the mojo3D is turned on for the first time you will need to run through the initial setup wizard first Consult you mojo3D user manual for details From the main menu select the setup icon and then select the auto steer wizard From the first screen on the auto steer wizard select the mojo3D Twist icon and press next For more information when it has to be right Seica www AgGuidance com Geosystems Page 2 18 v1 3 Leica mojo3D am
4. Motor Speed The Minimum Motor Speed adjusts the minimum speed at which the motor will be moved If the motor is trying to move the wheel but the wheel isn t turning increase this value If the motor is moving too fast and overshooting past the desired turning position decrease this value Drive Power Drive power adjusts the aggressiveness of the QuickSteer motor Increasing the drive power may benefit control performance Dut may also increase twitchiness of the motor Maximum Motor Speed The Maximum Motor Speed adjusts the maximum speed at which the motor will move This should be decreased if the motor consistently moves too fast and overshoots the desired tuning position Override Threshold The Override Sensitivity adjusts how sensitive the QuickSteer is to the operator overriding the auto steer controls by moving the steering wheel To escape from the QuickSteer setup wizard press the next Dutton from the Override Threshold screen Override Threshold For more information when it has to be right Seica www AgGuidance com Geosystems Page 9 18 v1 3 a Leica mojo3D amp guidance customized control Wrench Testing the QuickSteer To perform a test on the QuickSteer press select the QuickSteer test button from the steering menu Check the kit Is active if not check the engage switch is on Proceed by pressing the next Dutton Steering Kit Info Kit active tey Follow
5. To disengage steering on the mojo3D press the icon on the bottom right corner use the Electric Steer Kit engage switch or override the QuickSteer by turning the steering wheel The location of the engage button is shown below al The guidance button has four states a Red Roading is Enabled a Orange Roading is disabled but the system is not ready to guide a Yellow The system is ready to guide Dut guidance is not yet activated a Green Automatic Guidance is active For more information when it has to be right Seica www AgGuidance com Geosystems Page 15 18 v1 3 Leica mojo3D guidance customized control Wrench The light bar at the top of the mojo3D indicates the required steering direction to the wayline Some deviation from center is expected during control Roading should always be enabled when taking the vehicle ona public road You will automatically be asked when engaging steering to disable roading If you wish to re enable roading press the roading button from the steering menu i a D For added safety the Electric Steering Kit switch can be turned off so the light is no longer illuminated This directly removes power to the QuickSteer The QuickSteer can be disengaged from the steering wheel when steering is not required or it is not safe to do so For more information when it has to be right Seica www AgGuidance com Geosystems Page 16 18 v1 3 Leica mojo 3D oe guidance
6. e 6 18 v1 3 Leica mojo3D amp Virtual guidance customized control Wrench Note Terrain compensation should be repeated if any of the following conditions occur a The mojo3D requests a terrain compensation update a The cabin temperature Is significantly different from temperatures at which the terrain compensation has been previously performed a The machine when controlling is sitting left or right of the desired wayline also see nudging at the end of this document Steering Adjustment and Freeplay should not require re adjusting and may be skipped If re performing terrain compensation For more information when it has to be right Seica www AgGuidance com Geosystems Page 7 18 v1 3 Leica mojo 3D E4 guidance a control QuickSteer Settings To adjust the QuickSteer Settings select the QuickSteer setup wizard from the steering menu There are four settings in the QuickSteer Menu You can navigate these setting using the previous the next buttons on the bottom right and left corners of the screen Minimum Motor Speed ppr l Drive Power wr Minimum 50 For more information when it has to be right Seica www AgGuidance com Page 8 18 v1 3 Geosystems Leica mojo 3D guidance customized control Wrench Settings can be adjusted be pressing the number entering the desired value and pressing the tick button Minimum Motor Speed l The values that may be adjusted are m Minimum
7. eica www AgGuidance com Geosystems Page 12 18 v1 3 Leica mojo3D amp guidance customized control Wrench Control can be engaged and disengaged using the steering button as shown this is useful to test changes made Setting can also be adjusted while controlling Note Electric Steer Kit switch can also be used to engage and disengage control The open adjust should be used to fingu P7 The four setting that may be adjusted are Sensitivity The sensitivity will control the rate that the tractor turns and how sensitive it is when on the line Sensitivity should be the only parameter that you need to adjust to adapt the control performance to the current working conditions after the tuning refinement is done Aggressiveness The aggressiveness will control the rate that the tractor attacks the line and how well it holds the line When adjusting the aggressiveness look for these qualities m Overshoot The overshoot value will control the rate at which the tractor will drive at the line and the rate that the tractor will round off as it approaches the line A low value will cause the tractor to hold off the line longer while a high value will cause the tractor to converge quickly and possibly drive past the line Speed Adjust The speed adjust should be used to fine tune the performance of the control system for higher speeds than the tuning speed of 5km h 3mph Typically the vehicle can steer side to side at highe
8. p guidance customized control Wrench Enter the vehicle height and press next The vehicle height is the distance from the ground to the GPS antenna on the roof of the cab Vehicle Height Drive the machine to a flat level area and press the first button on the Terrain Compensation menu Do not move the machine while terrain compensation Is In progress rain Compensation __ g jar Sa Turn the vehicle around 180 and park in the exact same position as the first calibration Press the second button on the Terrain Compensation menu rain Compensation __ ptt a ae sensation j KER Dr i I a For more information when it has to be right www AgGuidance com Page 3 18 v1 3 Leica mojo3D lami Virtual guidance customized control Wrench Check the steering kit status Both the CAN Bus Connected and Steering kit Active indicators should be ticked If not Check Electric Steer Kit Switch is on Check all cabling connections Check all Switch connections Check the QuickSteer is pressed against the steering wheel and drive at approximately 4km h 2 5mph Once moving press OK on the wizard make Sure you have enough room to turn the machine to full lock left and right 1g Adjustment G is Steering Adjustment For more information when it has to be right www AgGuidance com Page 4 18 v1 3 Leica mojo 3D guidance customi
9. r speeds and this can be resolved by reducing the speed adjust If the vehicle does not hold the line as desired at the desired speed then increase the speed adjust Descriptions of these four values are found in the mojo3D menu for quick reference while tuning For more information when it has to be right Seica www AgGuidance com Geosystems Page 13 18 v1 3 Leica mojo3D guidance customized control Wrench A cross track graph to show control performance can be monitored on the right hand side of the screen to assist with adjustment of tuning Darameters For more information when it has to be right Seica www AgGuidance com Geosystems Page 14 18 v1 3 Leica mojo3D amp Virtual guidance customized control Wrench Automatic Guiding To guide to a wayline first setup waypoints If not familiar with this process consult the mojo3D user manual The following conditions must be met for automatic steering to occur The machine must be travelling at over 1km h 0 6mph The machine must be travelling at lower than 30km h 18 6mph The machine must be heading at less than 45deg to the wayline The machine must be within 6m of the wayline Roading must be disabled a Steering must be engaged on the mojo3D If any of these conditions are not met steering will be disengaged To engage steering on the mojo3D either press the icon on the bottom right corner or use the Electric Steer Kit engage switch
10. zed control Turn the steering wheel to full lock left being carful to avoid obstacles Acknowledge on the wizard when turning Wait for the adjustment to finish Steering Adjustment Turn the steering wheel to full lock right being carful to avoid obstacles Acknowledge on the wizard when turning Wait for the adjustment to finish Turn the steering wheel to centre the wheels being carful to avoid obstacles Acknowledge on the wizard when travelling straight Wait for the adjustment to finish aes airs eet Bee eal E g Ad ustment nent For more information when it has to be right www AgGuidance com Page 5 18 v1 3 Leica mojo 3D guidance ne control Stop the machine and press ok to save settings Press the next Dutton to proceed to freeplay adjustment Steering Adjustment Steering Adjustment Using the slider bar adjust the Freeplay setting until the wheels start to move This adjustment is best done while driving slowly and you should monitor the machines turning wheels not the steering wheel The QuickSteer motor must be engaged against the steering wheel Once you are satisfied with this setting a the next button Your Electric Steer Kit is now setup however further adjustments can be made to improve performance These setting will depend on the machine application and user preferences For more information when it has to be right Seica www AgGuidance com Geosystems Pag
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