Generic AGI-4 GX-45 System

Installation Guide

Part Number: AGA5301

Rev Number: 1.0
For use with GX-45 Software Version 2.10

Copyright Topcon Precision Agriculture

May, 2013
All contents in this manual are copyrighted by Topcon. All rights reserved. The information
contained herein may not be used, accessed, copied, stored, displayed, sold, modified, published
or distributed, or otherwise reproduced without express written consent from Topcon.
www.topconpa.com

Preface
This manual provides information about installing this Topcon Precision Agriculture product. Correct installation,
use and servicing is important for safe and reliable operation of the product.
It is very important that you take the time to read this manual before installing the product.

Terms and Conditions

Please read these Terms and Conditions carefully.
This manual is designed to assist you with installing this Topcon product. Its use/maintenance is subject to these
Terms and Conditions and any more fully set forth in an Operators Manual.

Usage and Safety

Improper use of the product can lead to death or injury, damage to property and/or malfunction of the product. The
product should only be repaired by authorized TPA service centers. You should closely review the safety warnings
and directions in this manual and comply with these at all times.

Copyrights
All information contained in this manual is the intellectual property of, and copyrighted material of TPA. All rights
are reserved. You may not use, access, copy, store, display, create derivative works of, sell, modify, publish,
distribute, or allow any third parties access to, any graphics, content, information or data in this manual without
TPAs express written consent and may only use such information for the care and operation of your product. The
information and data in this manual are a valuable asset of TPA and are developed by the expenditure of
considerable work, time and money, and are the result of original selection, coordination and arrangement by TPA.

Trademarks
ZYNX, PROSTEER, EAGLE, KEE Technologies, Topcon, Topcon Positioning Systems and Topcon Precision
Agriculture are trademarks or registered trademarks of the Topcon Group of companies. Microsoft and Windows are
trademarks or registered trademarks in the United States and/or other countries of Microsoft Corporation. Product
and company names mentioned herein may be trademarks of their respective owners.

Website and other statements

No statement contained at the website of TPA or any other Topcon Group company or in any other advertisements or
TPA literature or made by an employee or independent contractor of TPA modifies these Terms and Conditions
(including the software license, warranty and limitation of liability).

Limited Warranty
ELECTRONIC AND MECHANICAL COMPONENTS - TPA warrants that the electronic components
manufactured by TPA shall be free of defects in materials and workmanship for a period of one year from the
original date of shipment to the dealer. TPA warrants that all valves, hoses, cables and mechanical parts
manufactured by TPA shall be free of defects in materials and workmanship for a period of 90 days from the date of
sale.

RETURN AND REPAIR - During the respective warranty periods, any of the above items found defective may
be shipped to TPA for repair. TPA will promptly repair the defective item at no charge, and ship it back to you. You
must pay the shipping and handling charges in respect of the same. Calibration of components, labor and travel
expenses incurred for in-field removal and replacement of components are not covered in this warranty policy.
Damage to components due to negligence, abuse or improper use, maintenance, modification or repair is NOT
covered under this warranty.

Disclaimer of Warranty
Other than for the above warranties or warranties in an appendix or a warranty card accompanying the product, this
manual and the product are provided as is. There are no other warranties and to the extent allowed by law TPA
excludes all implied terms, conditions and warranties in respect of the manual and the product (including any implied
warranty or merchantability or fitness for any particular use or purpose).

Liability Limit and Indemnity

TPA and its dealers, agents and representatives shall not be liable for technical or editorial errors or omissions
contained herein or for special, indirect, economic, incidental or consequential damages resulting from the
furnishing, performance or use of this material or the product (including where TPA has been advised of the
possibility of such damage). Such disclaimed damages include but are not limited to loss of time, loss or destruction
of data, loss of profit, savings or revenue or loss of or damage to the product. In addition, TPA is not responsible or
liable for damages or costs incurred in connection with obtaining substitute products or software, claims by others,
inconvenience, or any other costs.
In any event, TPAs liability to you or any other person for any claim, loss or damage (in contract, tort or on any
other basis) will be limited (in TPAs option) to either (a) the replacement or repair of the product, or (b) payment of
the cost of replacing or repairing the product. You indemnify and hold TPA harmless against any claim, action,
damage, loss, liability or cost (including legal fees) which TPA incurs arising from (a) your operation, use and/or
maintenance of the product other that in accordance with the terms set out in this manual, or (b) your negligence or
wrongful act or omission in respect of the product.

Other
These Terms and Conditions may be amended, modified, superseded or cancelled, at any time by TPA. These Terms
and Conditions will be governed by, and construed in accordance with:

the laws of South Australia if the product is sold and supplied to you in Australia (in which case the courts
of South Australia or the Federal Court of Australia (Adelaide Registry) have exclusive jurisdiction in
respect of any claim or dispute); or
the laws of the State of California if the product is sold and supplied to you outside of Australia.

All information, illustrations, and applications contained herein are based on the latest available information at the
time of publication. TPA reserves the right to make product changes at any time without notice.
If any part of these Terms and Conditions would be unenforceable, the provision must be read down to the extent
necessary to avoid that result, and if the provision cannot be read down to that extent, it must be severed without
affecting the validity and enforceability of the remainder of these Terms and Conditions.
Comments, suggestions, and questions about TPA products are welcomed. Contact your local TPA representative or
a representative at our corporate facility.
Topcon Precision Agriculture
14 Park Way, Mawson Lakes, South Australia 5095.
Phone: +61 8 8203 3300 Fax: +61 8 8203 3399

Service Information
Service assistance can be provided by contacting your local TPA Authorized Dealer or by calling the Topcon
Precision Agriculture Service Centre.
Phone: +61 8 8203 3300 Fax: +61 8 8203 3399
Hours: 8.30am to 5pm (Australian Central Time) Monday through Friday.

Alert Symbols

Supplementary information to help set up and maintain the system and/or information
that will benefit system operation, performance, measurements or personal safety.

CAUTION: This indicates that an action could affect system operation, system
performance, data integrity or personal health.

ii

WARNING: This indicates that an action can/will result in system damage, loss of
data, loss of warranty or personal injury.

CRITICAL: This indicates a critical action that must be taken to avoid possible
serious injury or death.

PROHIBITED: UNDER NO CIRCUMSTANCES should this action be performed

Operator Safety

WARNING: DO NOT remove or obscure safety signs. Replace any safety signs that
are not readable or are missing. Replacement signs are available from your dealer in the event
of loss or damage.

WARNING: It is YOUR responsibility to read and understand the safety sections in

this book before working on the equipment. Remember that YOU are the key to safety.
Good safety practices not only protect you, but also the people around you. Study this manual as part of your safety
program. This safety information only relates to Topcon equipment and does not replace other usual safe work
practices.
Information in this manual is current at the time of publication. A system may vary slightly. The manufacturer
reserves the right to redesign and change the system as necessary without notification.

Preparation for Operation

PROHIBITED: Never operate the vehicle with any panels or guards removed. If the
removal of panels or guards is necessary to make a repair, they MUST be replaced before
operation.

PROHIBITED: Topcon equipment must not be used by an operator affected by alcohol

or drugs. Seek medical advice if using prescription or over-the-counter medication.

Electrical Safety

WARNING: Incorrectly connected power can cause severe injury and damage to
people or the equipment.

iii

Disclaimer
Topcon accepts no responsibility or liability for damages to property, personal injuries, or death resulting from the
misuse or abuse of any of its products.
Further, Topcon accepts no responsibility for the use of Topcon equipment or the GNSS signal for any purpose other
than the intended purpose.
Topcon cannot guarantee the accuracy, integrity, continuity, or availability of the GNSS signal.
The operator must ensure that the equipment is correctly turned off when not in use.
Before operating any vehicle equipped with Topcon products, read and understand the following product specific
safety precautions in the Operators Manual for the equipment.

Safety for this Installation

CRITICAL: Before starting any work on the vehicle

Shut down the vehicle as per the manufacturers operators guide.

Allow the machine to cool before working on the machine.
Remove the ignition key to prevent accidental starting of the machine.

CRITICAL: Practice safe workshop practices

Clean the machine and target work areas thoroughly before commencing any work on the vehicle to
prevent contamination of hydraulic and electrical systems.
Wear appropriate clothing and footwear protection.
Do not perform the installation alone. Have someone with you to assist.
Dispose of any oil, coolant or machine fluid as per local laws and legislation.
Manually secure any machine components that must be raised, worked under, worked around or removed
as part of the installation or service procedure.
Never work on, adjust, lubricate or perform maintenance on a vehicle that is in motion or has powered
moving parts.
Keep all vehicle parts in good working order. If damage is found, report damage to the vehicle owner and
your manager immediately.
For self-propelled machines equipped with an electrical system, disconnect the negative (-) and positive
(+) battery terminals before performing electrical system service and maintenance or welding on the
vehicle.
Implements equipped with an electrical system, disconnect the entire implement - tractor harness
connections before performing electrical system service and maintenance or welding on the implement.

CRITICAL: Install and handle brackets and electronic system components safely

Install and handle all vehicle mounting brackets in a safe manner. Serious injury can result from falling
while performing service, installations or maintenance. Use secure vehicle handholds and footholds where
specified by the manufacturer. If footholds and handholds do not allow access to the necessary work area;
use a ladder, scaffold or other means of safe, secure access. Do not commence work in wet, windy or icy
conditions.
Inside and outside the cabin, ensure that the harnesses are routed safely out of the way of operators and
will not be damaged in normal use.
Attach the power connector at the end of installation to prevent any risk of electrical damage.

iv

Table of Contents
Chapter 1 Installation Overview .................................................................... 1
1.1. Required Components ........................................................................... 1
1.1.1. Supplied Components .................................................................... 1
1.2. Parts List ................................................................................................ 2
1.2.1. AGA5303 KIT AGI-4 Generic System Harness .............................. 2
Chapter 2 Install AGA5258 Roof Extension Harness .................................. 5
Chapter 3 Perform Guidance System Calibration ..................................... 10
Chapter 4 Advanced Steering Adjustments............................................... 27
Chapter 5 Additional Operation Information.............................................. 32

Chapter 1 Installation Overview

The Generic AGI-4 GX-45 system kit is a solution that allows the AGI-4 receiver and a GX-45
console to be installed in a generic vehicle with select functionality. The Generic AGI-4 GX-45
system harness supports the ACU-1 and AES-25 guidance controllers directly with an ASC-10
option for rate and product control.
Installation time: approximately 2 hours.
Installation time will vary from vehicle to vehicle, as this kit is a generic solution for all
agricultural vehicle types and is not specific to any brand or manufacturer.

1.1. Required Components

1.1.1. Supplied Components
AGA5303 KIT AGI-4 Generic System Harness

Chapter 1 Installation Overview

1.2. Parts List

1.2.1. AGA5303 KIT AGI-4 Generic System Harness
Part Number

Description

Quantity

AGA4651

HARNESS CAN Adaptor Deutsch-Turck

AGA5245

HARNESS AGI-4 Switched Power Adaptor

AGA5246

HARNESS AGI-4 Power Adaptor AMP

AGA5258

HARNESS Generic AGI-4 Roof Extension (GX-45)

AGA5259

HARNESS AGI-4 COBO Adaptor

AGA5293

KIT System Switched Power

Chapter 1 Installation Overview

Part Number

Description

Quantity

AGA5320

KIT Hardware Accessory Suits GX-45 Gen II Lite System

AGA5320 KIT HARDWARE ACCESSORY SUITS GX-45 GEN II LITE SYSTEM

Part Number

Description

Quantity

AGA5301

INSTALL GUIDE Generic AGI-4 GX-45 Sys (this guide)

AGO352

DECAL SHEET Topcon Round

AGW289

WARRANTY CARD, AG Universal

Y004

CABLE TIE 380mm x 4.8mm Black

20

Y707

CABLE CLAMP Adhesive 26mm

10

Chapter 1 Installation Overview

AGA5293 KIT SYSTEM SWITCHED POWER

Part Number

Description

Quantity

AGA5294

HARNESS Switched Power

AGA5295

INSTALL GUIDE Switched Power Kit

AGB1286

SWITCH HOLDER Remote

AGO372

OVERLAY Switched System Power

AGS185

SWITCH Carling (On/Off) Rocker

F096

SCREW Pan HD Pozi SS #6.1/2

Chapter 2 Install AGA5258 Roof Extension

Harness
Step View

Procedure

1.
Mount the GX-45 console with a suitable
mount.

Note: The mount is supplied with

the GX-45 console base kit.
B106 RAM U bolt base mount shown
2.

Secure the GX-45 console to the mount.

Connect the AGA5258 HARNESS console
connectors to the GX-45 grey and brown
key connectors.
Route the AGA5258 HARNESS neatly
down the cab pillar towards the cab floor.

3.
Route the AGA5258 HARNESS along the
cab floor.
Secure as necessary to avoid fouling.

Ensure the AGA5258 HARNESS

does not foul on vehicle control
components such as accelerator, clutch,
brakes, PTO or gear shifters.

Chapter 2 Install AGA5258 Roof Extension Harness

Step View

Procedure

4.
Route the AGA5258 HARNESS outside of
the rear cabin area.
It is recommended to use a location that
supports external harness transition, such as
a rear cabin grommet.

5.

Route the AGA5258 HARNESS up the side

of the rear cabin, towards the roof line area.
Secure the AGA5258 HARNESS as
necessary.

6.
Mount the AGI-4 receiver with the
applicable mounting option.
Connect the AGA5258 HARNESS receiver
connectors to the AGI-4 receiver.
Secure the AGA5258 HARNESS as
necessary.

7.

Connect the System power harness

applicable to the installation to the
AGA5258 HARNESS connector labeled
(System Power Separation):
AGA5245 HARNESS (Eyelet)
AGA5246 HARNESS (AMP)
AGA5259 HARNESS (COBO)

Chapter 2 Install AGA5258 Roof Extension Harness

Step View

Procedure

8.
For AGA5246 HARNESS (AMP) or
AGA5259 HARNESS (COBO)
Connect the AGA5246 HARNESS (AMP)
or AGA5259 HARNESS (COBO) to the
vehicles power outlet.
COBO power outlet shown
9.
For the AGA5245 HARNESS (Eyelet)
Connect the AGA5245 HARNESS (Eyelet)
directly to the battery, battery relay or cab
power pole and a secure ground point.

10.

Note: This step is only required if the

AGA5245 HARNESS is being used.
Follow the supplied install guide
(AGA5295) to install the AGA5293 KIT
System Switched Power and connect the
AGA5294 HARNESS connector labeled
[Key/Switched Power] to the AGA5245
HARNESS.

Chapter 2 Install AGA5258 Roof Extension Harness

Step View

Procedure

11.

Guidance BUS Connection

If using a Topcon guidance controller
(ACU-1 or AES-25) with the generic AGI-4
GX-45 system kit installation:

AES-25 shown

Connect the AGA4651 HARNESS 5 pin

guidance BUS connector to the mating 5 pin
guidance controller connector.
Connect the AGA4651 HARNESS 4 pin
guidance BUS connector to the AGA5258
HARNESS connector labeled [Guidance
BUS].

12.

CAN2/ASC10 BUS Connection

If using an ASC-10 ECU for implement or
section control:
Install the ASC-10 ECU and connect the
CAN connector the AGA5258 HARNESS
connector labeled [CAN2 (ASC-10)
Separation].

Chapter 2 Install AGA5258 Roof Extension Harness

Step View

Procedure

13.
Apply AGO352 DECAL Topcon precision
active to both left and right lower cab
windows as shown.
Secure all unused harness connectors safely.

Chapter 3 Perform Guidance System

Calibration
Step View

Procedure
Enter vehicle dimensions

1.

To access the Setup screen, select

on the main menu screen.
Select Vehicle
screen.
Select Add

from the Setup

or Load

You can edit the vehicle name if

required.
2.

The vehicle details automatically

populate the fields. Enter your vehicle
dimensions as per the software
indications.

Always check vehicle

dimensions against actual dimensions, as
different vehicle options can affect
overall dimensions. Different tire size
packages are the most common cause.
Vehicle dimensions entered should be
within 100mm/3.9 of actual
measurements for optimal performance.
Select the tick
the previous menu.

10

to save and exit to

Chapter 3 Perform Guidance System Calibration

Step View

Procedure
Enter implement type and dimensions

3.

Select Implement
screen.
Select Add

from the Setup

or Load

Select the implement type and enter the

dimensions (rear trailed implement type
shown).

Full implement/rate control set

up is not required for steering, but a
width dimension is required for wayline
spacing. The software will default to10m
when any implement is selected without
section or rate control, which is
adequate for steering calibrations.
Select the tick
the previous menu.

11

to save and exit to

Chapter 3 Perform Guidance System Calibration

Step View

Procedure
Auto-Steer set up

4.

Select

from the main menu screen.

Select
from the Select Feature
screen to enable Auto Steer.
A

Select
screen.

on the Select Feature

Select Steering Controller button A.

Using the left side buttons, select
Steering controller button B.
Using the navigation arrows, select
Auto-Detect for the ACU-1 controller or
select AES-25 for the AES-25 controller.
Select the tick

to confirm.

Select CAN Bus

and select the
CAN Bus to which the steering controller
is connected: CAN 1 or CAN 2.
Select the tick

to confirm.

If using an AES-25 with wheel sensor,

select Wheel Angle Sensor
set to Enabled.
Select the tick
Select the tick
the previous menu.

12

and

to confirm.
to save and exit to

Chapter 3 Perform Guidance System Calibration

Step View

Procedure

5.
A

Select Vehicle profile A.

6.

If the vehicle profile has been previously

defined, select the profile A and select

the tick

to confirm;

Or import a profile from a USB drive

B

.
If the profile has not been previously
defined, select Add Profile B.

7.
Select Other from the vehicle profile
list.
Select the tick

to confirm.

8.
For the AES-25 controller:
Select AES-25 from the profile list.
Select AES-25 Swather if using the
AES-25 with a Swather or Windrower
type vehicle.

13

Chapter 3 Perform Guidance System Calibration

Step View

Procedure
For the ACU-1 controller:

9.

Select the valve type used with the

ACU-1 controller.

AF = AutoFarm valve
RST = Raven Smartrax valve
(Hirshmann type)
Topcon S4 = Topcon Prosteer
series 4 valve

Select the tick

to save and exit to
the Auto Steer Setup menu.
Perform the compass, wheel angle
sensor and mounting bias calibrations

10.

Navigate to the Auto Steer Setup page.

The three softkeys A are for calibrating
compass, wheel angle sensor and
mounting bias.

Select Compass Calibration

If the component calibration

status reports as calibrated, still
complete the calibration procedure if the
receiver has not been calibrated on this
vehicle.
11.

For All guidance controllers:

Enter the calibration access code 1, 2, 3,
4.
Use the number buttons on the left hand
side of the Enter Access Code screen to
enter the access code.
Once the access code has been entered
select the tick

14

Chapter 3 Perform Guidance System Calibration

Step View

Procedure

12.

Drive the vehicle to a suitable area.

Compass calibration requires the vehicle
to complete 1 and circles at an
approximately 75% full lock turn.
To ensure accurate calibration, the
vehicle should have open sky visibility
and be away from trees, high voltage
power wires and buildings.
Select Next
reached.

when the area has been

13.
Drive the vehicle at approximately 75%
of full lock, the direction does not matter.
Once 1 and turns have been
completed, press Next

to continue.

14.
Drive the vehicle straight ahead for
approximately 100 m then STOP the
vehicle.
Press Next

15.

to continue.

Power cycle the guidance controller via

the power switch if prompted.
Compass has been successfully
calibrated.
Press the tick
to continue and
return to Auto Steer Setup page.

15

Chapter 3 Perform Guidance System Calibration

Step View

Procedure

16.

Compass calibration data is stored in

both the receiver and the vehicle sub
system.

17.
For AES-25 controller with
wheel angle sensor enabled:
Select Wheel Angle Sensor Calibration
.

If the component reports as

calibrated, still complete the
calibration procedure if the receiver has
not been calibrated on this vehicle.

16

Chapter 3 Perform Guidance System Calibration

Step View

Procedure

18.
The AES-25 motor will
automatically move the steering axle
wheels progressively to the left position
and then progressively to the right when
Next is pressed. The calibration can take
up to 60 sec in this mode.
Ensure there is sufficient space for the
tractor to complete a progressive turn to
the left, right and straight ahead position
before pressing Next.
It is recommended to remove the
implement if it is a trailed, pivoted type
implement, to avoid implement draw bar
interference.
Drive the vehicle forward to start the
procedure. The wheel angle sensor
calibration should be completed at 2 kph
or 1.2 mph.
Press Next
19.

The AES-25 motor will actuate full lock

to the left and hold the wheels in the full
lock left position for approximately 30
seconds.
When the left side value has been
calibrated, the console will emit an
audible beep and the AES-25 motor will
stop actuating.
Press Next

when ready.

If the wheel sensor is in the

reversed state (wheel angle sensor value
high 622 or above when wheels are left)
a box will appear indicating that the
wheel angle sensor is in the reversed
state and the procedure will repeat.

17

Chapter 3 Perform Guidance System Calibration

Step View

Procedure

20.

The AES-25 motor will actuate full lock

to the right and hold the wheels in the
full lock right position for approximately
30 seconds.
When the right side value has been
calibrated, the console will emit an
audible beep and the AES-25 motor will
stop actuating.
Press Next

21.

Turn the steering wheel manually to as

close as possible to the center position
and then press Next

The AES-25 motor will actuate slowly to

the center position and hold the wheels in
the center position for approximately 30
seconds.
Press Next

22.
Saving wheel sensor calibration data.
Wheel sensor calibration data is stored in
both the receiver and/or the vehicle sub
system.

23.
Wheel angle sensor has been
successfully calibrated.
Press the tick
to continue and
return to Auto Steer Setup page.

18

Chapter 3 Perform Guidance System Calibration

Step View

Procedure

24.
For AES-25 without wheel
angle sensor
Wheel angle sensor calibration is not
required.
25.
For ACU-1 controller
Select Wheel Angle Sensor Calibration
.

If the component reports as

calibrated, still complete the
calibration procedure if the receiver has
not been calibrated on this vehicle.
26.
Manually turn the wheels to the full lock
left position.
Press Next

27.
Manually turn the wheels to the full lock
right position.
Press Next

19

Chapter 3 Perform Guidance System Calibration

Step View

Procedure

28.
Manually turn the wheels as close as
possible to the center position.
Press Next

29.
Wheel angle sensor calibration
completed successfully.
Press Next
to proceed with
calibrating the hydraulic valve deadband.

30.
The vehicle will automatically
move the steering axle wheels
progressively to the left position and then
progressively to the right when Next is
pressed. The calibration can take up to
60 sec in this mode.
Ensure there is sufficient space for the
tractor to complete a progressive turn to
the left, right and straight ahead position
before pressing Next.
It is recommended to remove the
implement, if it is a trailed, pivoted type
implement, to avoid implement draw bar
interference.
Drive the vehicle straight ahead at
approximately 0.5 kph.
Press Next

20

Chapter 3 Perform Guidance System Calibration

Step View

Procedure

31.

Calibrating the hydraulic system for

the left steering valve.

The wheels will turn to the left

at a progressively higher speed, as the
valve position increases to the minimum
hydraulic threshold set in the vehicle
profile.
32.

Calibrating the hydraulic system for

the right steering valve.

The wheels will turn to the

right at a progressively higher speed, as
the valve position increases to the
minimum hydraulic threshold set in the
vehicle profile.
33.

Steering hydraulics have been

successfully calibrated.
The left and right steering valve
minimum PWM percentage is displayed.
Press the tick
to continue and
return to calibration menu.

34.

For All guidance controllers:

Select Mounting Bias Calibration
.

If the component reports as

calibrated, still complete the
calibration procedure if the receiver has
not been calibrated on this vehicle.

21

Chapter 3 Perform Guidance System Calibration

Step View

Procedure

35.
Drive the vehicle to an open area.
Select Calibration Display View

..

Selecting the softkey again changes the

view between:

Calibration Instruction and

Guidance view

Calibration Instruction only view

Guidance only view

36.
The mounting bias calibration
procedure is done by plotting A and B
wayline points at 70m/230ft apart and
driving the vehicle at 2 kph or 1.2 mph
along the wayline. The operator turns the
vehicle around at the end of the pass and
repeats the procedure.
Ensure the vehicle has enough space to
drive the wayline distance AND turn
around at the ends. It is important that
the vehicle meets the A and B
waypoints within approximately 30 cm to
initiate the next step in the calibration
procedure.
When ready to start the procedure, press
to mark the A waypoint.

22

Chapter 3 Perform Guidance System Calibration

Step View

Procedure

37.
Drive forward in a straight line for
70m/230ft and the B waypoint will be
created automatically when the Distance
to A reaches 70m/230ft.

38.

Turn the vehicle around and acquire the

wayline just plotted, this will be track
number 0.
Engage the auto-steering by pressing
, to steer on the wayline.
The auto-steering softkey background
color will turn green, an audible tone and
engage message will flash on screen to
indicate the auto-steering has engaged.

39.
If steering does not engage when the
steering engage softkey is pressed, the
steering status box will appear.
Address any of the issues with red LEDs
before proceeding with the mounting
bias calibration procedure.

40.

Cross over the B point previously

created during the calibration procedure.
Set the vehicle speed to 2 kph or
1.2 mph.
Steer along the wayline to the A point
previously created during the procedure.
When the Distance to A reaches 50 m,
the Calibration Progress bar will start to
move and the percentage will increase.

23

Chapter 3 Perform Guidance System Calibration

Step View

Procedure

41.

When the Calibration Progress bar

reaches 50%, the calibration bar will stop
and the percentage will remain at 50%.
This indicates the system has enough
data for the first stage of the calibration
and the mounting bias calibration will be
paused at this point.
Proceed to cross the A waypoint.

42.

When the A waypoint has been

crossed, turn the vehicle around.

Acquire the track 0 and engage the

auto-steering again. Cross over the A
waypoint previously created during the
calibration procedure again, travelling in
the opposite direction.

43.

Set the vehicle speed to 2 kph or

1.2 mph.
Steer along the wayline to the B point
previously created during the procedure.
When the Distance to B reaches 20 m,
the Calibration Progress bar will start to
move from 50% and the percentage will
increase.

24

Chapter 3 Perform Guidance System Calibration

Step View

Procedure

44.

When the Calibration Progress bar

reaches 100%, the calibration bar will
stop and the percentage will remain at
100%.
This indicates the system has enough
data for the second stage of the
calibration and the mounting bias
calibration will be paused at this point.
Proceed to cross the B waypoint.
When the B waypoint has been crossed,
the calibration procedure will start saving
the calibration data.

45.

Saving Mounting Bias

calibration data can take up to 5
seconds.
Power cycle the guidance controller via
the power switch if prompted.
Mounting Bias has been successfully
calibrated.
Press the tick
to continue and
return to calibration menu.
46.
The Auto Steer Setup page will display
Calibrated for compass, wheel angle
sensor and mounting bias when
calibrated successfully.

25

Chapter 3 Perform Guidance System Calibration

Step View

Procedure

47.
To display the Steering Status page,
select

The steering status box LEDs will now

be all green.

48.

The guidance system is now ready for

use.

26

Chapter 4 Advanced Steering Adjustments

Step

View

Procedure

1.

If fine tuning controller adjustment is

needed after calibration

Select

, then

select Steering Tuning

Select Dealer Access

C
Enter the Access code C using the left
side menu softkeys.

27

Chapter 4 Advanced Steering Adjustments

Step

View

Procedure

2.
For ACU1 controller
The following adjustments are available to
correct for specific guidance performance
issues:

pTime (Prediction Time) options A:

pTime: Prediction time in the online state
(within 25 cm cross track and 5 deg
heading)
pTime Off: Prediction time in the offline
state (50 cm crosstrack and 10 deg
heading)
A higher pTime value results in a more
stable vehicle but less accurate, and a
lower pTime value results in a more
aggressive but less stable vehicle.
ACU1 controller options B:

3.

(PWM) Pulse Width Modulation:

Maximum allowable valve PWM duty
cycle.
Used to increase or decrease the maximum
oil flow for steering

(WAS) Wheel Angle Sensor: Wheel angle

sensor (WAS) gain
Used to increase or decrease wheel angle
sensitivity.
Min Options C:

4.

Left Minimum: Minimum allowable

PWM duty cycle to command steering
movement to the left.
Right Minimum: Minimum allowable
PWM duty cycle to command steering
movement to the right.

Used to set the minimum flow required to

move the steering axle satisfactorily to the
left or right.

28

Chapter 4 Advanced Steering Adjustments

Step

View

Procedure

5.
For AES-25 controller

The following adjustments are available to

correct for specific guidance performance
issues with wheel angle sensor disabled:
pTime (Prediction Time) options A:
pTime: Prediction time in the online state
(within 25 cm cross track and 5 deg
heading)
pTime Off: Prediction time in the offline
state (50 cm crosstrack and 10 deg
heading)
A higher pTime value results in a more
stable vehicle but less accurate, and a
lower pTime value results in a more
aggressive but less stable vehicle.

29

Chapter 4 Advanced Steering Adjustments

Step

View

Procedure

6.
For AES-25 controller
The following adjustments are available to
correct for specific guidance performance
issues with wheel angle sensor enabled:
(WAS) Wheel angle sensor Options B:
B

Differential Gain (DGain): How much

extra response is required from the steering
wheel to make it reach its required
position.
If this difference is increasing, extra
response will be given, if this difference is
decreasing, the extra gain is removed.
Proportional Gain (PGain): How quickly
the steering wheel needs to be accelerated
to reach the target (speed). The further
away, the faster it will try to accelerate to
get there.
Low Speed: Figures relate to the steering
response required when travelling at
3.6 kph / 2.2 mph.
LDG: Low Speed Differential Gain
LPG: Low Speed Proportional Gain
High Speed: Figures relate to the steering
response required when travelling at
36 kph / 22 mph.
HDG: High Speed Differential Gain
HPG: High Speed Proportional Gain
(RPM) Max RPM: Limits the overall
speed at which the steering wheel will
rotate (RPM).
(DSL) Deadband speed limit: Limits the
speed operating range of the dynamic
steering controller deadband function.
(SB) Steering Booster: Increases the
speed from transitioning from the offline
state when approaching a wayline to the
online state with a high precision cross
track.

30

Chapter 4 Advanced Steering Adjustments

Step

View

Procedure

7.
For AES-25 controller with
Swather/Windrower vehicle type
selected
The following adjustments are available to
correct for specific guidance performance
issues:

D Gain: Swather mode differential

steering gain loop.
Adjustment used to stabilize the AES-25
with the swather vehicle steering system.
P Gain: Swather mode proportional gain
steering loop.
Adjustment used to set the acceleration and
sensitivity of the AES-25 with the swather
vehicle steering system.

31

Chapter 5 Additional Operation Information

Step View

Procedure

1.

Check the steering status display to ensure

that the steering controller has been
detected and is operational.
ACU-1 or AES-25 will be displayed at
location A if the steering controller has
been detected.
To display the Steering Status page, select
,

All the LEDs will be green if the system is

ready for use.

2.
Engaging the guidance system
First ensure all operational conditions are
met.

Steering engage softkey A background

must be white to engage the auto-steering.

32

Chapter 5 Additional Operation Information

Step View

Procedure

3.

A
Press steering engage softkey A.

or

Press the remote guidance engage key

(AGA5079) (optional) to engage the auto
steering.

33