Trimble Precision-IQ Vehicles and Auto Application User Guide

: June 12, 2024
: Trimble

Table of Contents

Precision-IQ Vehicles and Auto Application
Product Information: Precision-IQ
Product Usage Instructions: Precision-IQ
References
Read User Manual Online (PDF format)
Download This Manual (PDF format)

Precision-IQ Vehicles and Auto Application

Product Information: Precision-IQ

Precision-IQ is a vehicle and auto guidance system developed by
Trimble. It allows users to manage vehicle profiles and configure
auto guidance features for precise and efficient operation. Version
3.0 Revision A of the product was released in July 2022.

Trimble Inc., located at 10368 Westmoor Drive, Westminster, CO
80021-2712, USA, is the Agriculture Business Area responsible for
the Trimble Agriculture Division. Trimble, along with the Globe
& Triangle logo, are trademarks of Trimble Inc., registered in
the United States and other countries. All other trademarks
mentioned belong to their respective owners.

The product comes with certain warranty exclusions and
disclaimers. The stated express warranties provided are in place of
any obligations or liabilities on the part of Trimble arising from
the use of the product or software. Trimble Inc. is not responsible
for the operation or failure of operation of GPS satellites or the
availability of GPS satellite signals. Warranty provisions may vary
for products or software purchased in the European Union, and
customers are advised to contact their Trimble dealer for
applicable warranty information.

Product Usage Instructions: Precision-IQ

Managing Vehicles

Add a Vehicle Profile
Edit a Vehicle Profile
Select a Vehicle Profile
Delete a Vehicle Profile

Operating a Vehicle on the Run Screen

Vehicle Position
Auto Guidance Status
Steering Adjustments
The Onscreen Lightbar

Auto Guidance Setup

Trimble Autosteer Comparison
Steering and Guidance Settings
Safety and Alarm Settings
Controller Setup
Sensor Setup
Vehicle Measurement Settings
Auto Guidance Calibration

Auto Cal

Enable Auto Cal
Using Auto Cal
Auto Cal Error Messages

Steering Sensor

Steering Sensor Calibration Error Messages

Automated Steering Deadzone (Manual
Calibration)

Pre-calibration Steps
Calibration Steps
Automated Deadzone Error Messages

Steering Proportional Gain (Manual
Calibration)

Pre-calibration Steps
Calibration Steps
Steering Proportional Gain Error Messages

Roll Correction

Precalibration Steps
Calibration Steps

Line Acquisition

Classic Mode
OnSwath Mode
OnSwath Line-Acquisition Mode Setup

Autopilot

Benefits
Dependencies
System Layout
Autopilot CAN Steer (in-cab connection)
Autopilot (using NavController III)
Autopilot (Hydraulic) Setup
VDM-912 Valve Driver Module Support
Support for IMD-900 IMU as an AutoSense Steering Sensor
Autopilot Diagnostics
Steering Performance for Autopilot System
Sensor Performance for Autopilot System
NMEA Messages

Autopilot Motor Drive and EZ-Pilot Pro

Benefits
Dependencies
System Layout (EZ-Pilot Pro or Autopilot Motor Drive)

Precision-IQ: Vehicles and Auto Guidance
USER GUIDE
This document describes how to manage vehicle profiles and how to configure the auto guidance features supported by Precision-IQTM.
Version 3.0 0 Revision A July 20 22

Legal Notices
Agriculture Business Area
Trimble Agriculture Division
10368 Westmoor Drive
Westminster, CO 80021-2712
USA
www.trimble.com
Copyright and Trademarks
© 2021, Trimble Inc. All rights reserved.
Trimble, and the Globe & Triangle logo are trademarks of Trimble Inc, registered in the United States and in other countries.
All other trademarks are the property of their respective owners.
Warranty Exclusions and Disclaimer
These warranties shall be applied only in the event and to the extent that (i) the Products and Software are properly and correctly installed, configured, interfaced, maintained, stored, and operated in accordance with Trimble’s relevant operator’s manual and specifications, and; (ii) the Products and Software are not modified or misused. The preceding warranties shall not apply to, and Trimble shall not be responsible for defects or performance problems resulting from (i) the combination or utilization of the Product or Software with hardware or software products, information, data, systems, interfaces or devices not made, supplied or specified by Trimble; (ii) the operation of the Product or Software under any specification other than, or in addition to, Trimble’s standard specifications for its products; (iii) the unauthorized, installation, modification, or use of the Product or Software; (iv) damage caused by accident, lightning or other electrical discharge, fresh or salt water immersion or spray; or (v) normal wear and tear on consumable parts (e.g., batteries). Trimble does not warrant or guarantee the results obtained through the use of the Product.
THE WARRANTIES ABOVE STATE TRIMBLE’S ENTIRE LIABILITY, AND YOUR EXCLUSIVE REMEDIES, RELATING TO PERFORMANCE OF THE PRODUCTS AND SOFTWARE. EXCEPT AS OTHERWISE EXPRESSLY PROVIDED HEREIN, THE PRODUCTS, SOFTWARE, AND ACCOMPANYING DOCUMENTATION AND MATERIALS ARE PROVIDED “ASIS” AND WITHOUT EXPRESS OR IMPLIED WARRANTY OF ANY KIND BY EITHER TRIMBLE INC. OR ANYONE WHO HAS BEEN INVOLVED IN ITS CREATION, PRODUCTION, INSTALLATION, OR DISTRIBUTION INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR

PURPOSE, TITLE, AND NONINFRINGEMENT. THE STATED EXPRESS WARRANTIES ARE IN LIEU OF ALL OBLIGATIONS OR LIABILITIES ON THE PART OF TRIMBLE ARISING OUT OF, OR IN CONNECTION WITH, ANY PRODUCTS OR SOFTWARE. SOME STATES AND JURISDICTIONS DO NOT ALLOW LIMITATIONS ON DURATION OR THE EXCLUSION OF AN IMPLIED WARRANTY, SO THE ABOVE LIMITATION MAY NOT APPLY TO YOU.
TRIMBLE INC. IS NOT RESPONSIBLE FOR THE OPERATION OR FAILURE OF OPERATION OF GPS SATELLITES OR THE AVAILABILITY OF GPS SATELLITE SIGNALS.
Limitation of Liability
TRIMBLE’S ENTIRE LIABILITY UNDER ANY PROVISION HEREIN SHALL BE LIMITED TO THE AMOUNT PAID BY YOU FOR THE PRODUCT OR SOFTWARE LICENSE. TO THE MAXIMUM EXTENT PERMITTED BY APPLICABLE LAW, IN NO EVENT SHALL TRIMBLE OR ITS SUPPLIERS BE LIABLE FOR ANY INDIRECT, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES WHATSOEVER UNDER ANY CIRCUMSTANCE OR LEGAL THEORY RELATING IN ANY WAY TO THE PRODUCTS, SOFTWARE AND ACCOMPANYING DOCUMENTATION AND MATERIALS, (INCLUDING, WITHOUT LIMITATION, DAMAGES FOR LOSS OF BUSINESS PROFITS, BUSINESS INTERRUPTION, LOSS OF BUSINESS INFORMATION, OR ANY OTHER PECUNIARY LOSS), REGARDLESS WHETHER TRIMBLE HAS BEEN ADVISED OF THE POSSIBILITY OF ANY SUCH LOSS AND REGARDLESS OF THE COURSE OF DEALING WHICH DEVELOPS OR HAS DEVELOPED BETWEEN YOU AND TRIMBLE. BECAUSE SOME STATES AND JURISDICTIONS DO NOT ALLOW THE EXCLUSION OR LIMITATION OF LIABILITY FOR CONSEQUENTIAL OR INCIDENTAL DAMAGES, THE ABOVE LIMITATION MAY NOT APPLY TO YOU.
NOTE: THE ABOVE LIMITED WARRANTY PROVISIONS MAY NOT APPLY TO PRODUCTS OR SOFTWARE PURCHASED IN THE EUROPEAN UNION. PLEASE CONTACT YOUR TRIMBLE DEALER FOR APPLICABLE WARRANTY INFORMATION.

Precision-IQ: Vehicles and Autoguidance User Guide | i

Contents

Managing Vehicles

Add a Vehicle Profile

Edit a Vehicle Profile

Select a Vehicle Profile

Delete a Vehicle Profile

Operating a Vehicle on the Run Screen

Vehicle Position

Auto Guidance Status

Steering Adjustments

The Onscreen Lightbar

Auto Guidance Setup

Trimble Autosteer Comparison

Steering and Guidance Settings

Safety and Alarm Settings

Auto Guidance Setup

Controller Setup

Sensor Setup

Vehicle Measurement Settings

Auto Guidance Calibration

Auto Guidance Calibration Overview

Auto Guidance Calibration Routines

Manual Override Sensitivity

Auto Cal

Enable Auto Cal

Using Auto Cal

Auto Cal Error Messages

Steering Sensor

Steering Sensor Calibration Error Messages

Automated Steering Deadzone (Manual Calibration)

Pre-calibration Steps

Calibration Steps

Automated Deadzone Error Messages

Steering Proportional Gain (Manual Calibration)

Pre-calibration Steps

Precision-IQ: Vehicles and Autoguidance User Guide | ii

Contents

Calibration Steps

Steering Proportional Gain Error Messages

Roll Correction

Precalibration Steps

Calibration Steps

Line Acquisition

Classic Mode

OnSwath Mode

OnSwath Line-Acquisition Mode Setup

Autopilot

Benefits

Dependencies

System Layout

Autopilot CAN Steer (in-cab connection)

Autopilot (using NavController III)

Autopilot (Hydraulic) Setup

VDM-912 Valve Driver Module Support

Support for IMD-900 IMU as an AutoSense Steering Sensor

Autopilot Diagnostics

Steering Performance for Autopilot System

Sensor Performance for Autopilot System

NMEA Messages

Autopilot Motor Drive and EZ-Pilot Pro

Benefits

Dependencies

System Layout (EZ-Pilot Pro or Autopilot Motor Drive)

Autopilot Motor Drive and EZ-Pilot Pro Setup

NextSwath End-of-Row Turn Technology

NextSwath Dependencies

NextSwath Requirements

Implement Setup for NextSwath

Vehicle Controller Setup for NextSwath

Configuring NextSwath

Running NextSwath

Engaging NextSwath

Using NextSwath End-of-Row Auto Turns

Precision-IQ: Vehicles and Autoguidance User Guide | iii

Setting the End-of-Row Point NextSwath Operating Tips Continuous and Alternating Block Paths Block Path Prerequisites Selecting a Continuous or Alternating Block Path

Contents
68 69 71 71 71

Precision-IQ: Vehicles and Autoguidance User Guide | iv

1
Managing Vehicles
Add a Vehicle Profile Edit a Vehicle Profile Select a Vehicle Profile Delete a Vehicle Profile Operating a Vehicle on the Run Screen On-screen vehicles in the Precision-IQ application represent actual vehicles and include basic information about your vehicle as well as its type of guidance system and calibration. This chapter describes how you can add, edit, delete, and select vehicles and how to operate a vehicle on the Run screen. A vehicle profile must be set up so that Precision-IQ can collect activity data for the vehicle. To get started, tap the Vehicle tile on the Home screen:
Precision-IQ: Vehicles and Autoguidance User Guide | 1

Managing Vehicles
Add a Vehicle Profile
NOTE You must complete all vehicle setup and calibration steps before you can select and use the vehicle for field activities on the Run screen. 1. On the Home screen, tap the Vehicle tile to display the Vehicle screen. This screen shows a list of available vehicles. Tap a vehicle profile to view details about the selected vehicle:

2. Tap the New button to launch the Vehicle Setup wizard. Select a type of vehicle you expect to use in a field run. Available vehicle types are:

Combine Floater Harvester Rice Transplanter

Sprayer Swather Truck

Tractor – 2WD/4WD-MFWD Tractor – Articulated 4WD Tractor – Tracked

Tap Next to continue.
3. The next screen prompts you to select the make and model details for the vehicle. Tap each field to select the appropriate vehicle details. Depending on the vehicle type you select, a pop-up window appears for you to select from a list of make and model details. A variety of these details are already included in Precision-IQ.

Vehicle Detail
Make Series Model

Description
Vehicle manufacturer Vehicle series (when applicable) Vehicle model

Precision-IQ: Vehicles and Autoguidance User Guide | 2

Managing Vehicles

Vehicle Detail
Option
Name

Description
Vehicle options from the manufacturer (for example: Super Steer, Non Super Steer, ILS, Non-ILS, or ISO CAN Ready) The name of the vehicle is pre-filled from the options you chose for Make, Series, and Model. You can optionally change this name if you wish.

Tap Next to continue. 4. For the Guidance step:
a. Selection: By default, Manual Guidance is selected. Tap the field to choose a different guidance option (for example, Autopilot).

NOTE Auto guidance options may require a license before you can select it.
b. Antenna: Tap each field to enter antenna measurement details: l Antenna height. l Antenna left/right offset. l Antenna to rear axle.
Tap Next. c. Measurements: The measurement fields that display depend on the vehicle type you select. Tap
each field to enter vehicle measurement details. For example: l Rear axle to tow hitch. l Rear axle to 3-point hitch. l Wheelbase. l Width.
Tap Next. 5. On the Summary screen, review the details about the vehicle. Tap the Save icon to complete the process
and exit the Vehicle Setup wizard:

Precision-IQ: Vehicles and Autoguidance User Guide | 3

Managing Vehicles
To exit the Vehicle Setup wizard without saving, tap the Android Back button (tap No on the confirmation pop-up window). 6. Tap Home to return to the Home screen.
Edit a Vehicle Profile
Follow the steps below to edit your selected vehicle’s details: 1. On the Home screen, tap the Vehicle tile.
The Vehicle screen shows a list of available vehicles. Tap a vehicle to view details about the selected vehicle. 2. Tap a vehicle to select it. Tap the Edit button. The Vehicle Summary screen displays. 3. Navigate to the section(s) where you want to make changes. Tap Vehicle Type or Guidance. 4. After you have completed your changes, tap Summary. NOTE If you have not completed all the required information, you can save the edits you made. However, you cannot use the vehicle on the Run screen. 5. Tap the Save icon to complete your changes and exit the Vehicle Setup wizard. To exit without saving, tap the Android Back button (tap No on the confirmation pop-up window). 6. Tap Home to return to the Home screen.
Select a Vehicle Profile
Before you can calibrate a vehicle or enter the Run screen, you must select the vehicle you want to use for field activities.
NOTE You can only enter the Run screen with a vehicle that has had vehicle setup and calibration steps completed. 1. On the Home screen, tap the Vehicle tile. 2. On the Vehicle screen, tap a vehicle to highlight it. Tap the Select Vehicle button:
3. The list of available vehicles will update to show the vehicle chosen:
Precision-IQ: Vehicles and Autoguidance User Guide | 4

Managing Vehicles
4. Tap Home to return to the Home screen.
Delete a Vehicle Profile
On some occasions, you may need to delete a vehicle’s profile. Follow the steps below to delete a vehicle from Precision-IQ.
CAUTION If you delete a vehicle, all information about the vehicle will be erased. 1. On the Home screen, tap the Data Transfer button:
2. In the upper-left corner of the Data Transfer screen, tap the Delete action item. 3. Expand the Vehicles list and select a vehicle you want to delete. 4. Tap the Delete button at the bottom of the screen. 5. A confirmation pop-up identifying the vehicle you want to delete appears. Tap Yes to continue. Then tap
OK to acknowledge the deletion. 6. Tap Home to return to the Home screen.
Precision-IQ: Vehicles and Autoguidance User Guide | 5

Managing Vehicles
Operating a Vehicle on the Run Screen
At the Run screen, tap the screen to display the vehicle position buttons. The Engage button shows the status of your auto guidance system as well as enables you to tap on the button to engage the system.
WARNING Auto guidance systems cannot avoid items in the field such as obstacles. Make sure you are adequately trained to operate the auto guidance system. WARNING Many large and sudden changes in satellite geometry caused by blocked satellites can cause significant position shifts. If operating under these conditions, auto-guidance systems can react abruptly. To avoid possible personal injury or damage to property under these conditions, disable the auto-guidance system and take manual control of the vehicle until conditions have cleared.
Vehicle Position
Tap the vehicle in the center of the Run screen to display the perspective change buttons:

Button

Description
Change point of view on the Run screen to an overhead view.
Change the point of view on the Run screen to a view with the horizon.

Zooms view in or out on the Run screen.

Precision-IQ: Vehicles and Autoguidance User Guide | 6

Managing Vehicles
Auto Guidance Status
When the Engage button turns yellow, you can tap it to engage the auto guidance. After your guidance system is engaged, the button changes to green.
Indicator/Button Auto Guidance System Status
Gray – Engage Disabled. Enable it in the steering control panel. This is an indicator only.
Yellow – Ready to Engage. Tap to engage the auto guidance system.
Green – Engaged. Indicates you are engaged on a pattern or line and are using auto guidance. Tap to disengage.
Red – Cannot Engage. Does not have the proper conditions met to engage. Tap to determine the reason.
Steering Adjustments
To adjust steering while performing field activities, at the Run screen, tap the Steering Adjust button to displays the steering adjustment options:

Button

Description

Vehicle Aggressiveness Adjust the vehicle aggressiveness.

Autosteering Enabled Enable or disable auto steering.

Precision-IQ: Vehicles and Autoguidance User Guide | 7

Managing Vehicles
The Onscreen Lightbar
The on-screen lightbar provides the status of where the vehicle is in relation to the guidance line. When the vehicle is perfectly on the guidance line, the value in the center is 0 and the background color is green. The center of the lightbar represents your position. As your vehicle’s position moves farther from the line, the farther the highlighted arrows will be from the center of the light bar. As the vehicle moves farther from the guidance line, the numerical indicator shows the distance from the guidance line and the highlight color changes from green, to yellow, to red.
Precision-IQ: Vehicles and Autoguidance User Guide | 8

2
Auto Guidance Setup
Trimble Autosteer Comparison Steering and Guidance Settings Safety and Alarm Settings Auto Guidance Setup Controller Setup Sensor Setup Vehicle Measurement Settings Trimble offers assisted and automated steering options to help keep your farming vehicles on line – so you can focus on other farming tasks. With the added benefit of terrain compensation technology, you can operate in difficult terrain conditions while minimizing skips and overlaps and maintaining consistent guess rows. This chapter describes how to set up a variety of supported auto guidance systems.
Precision-IQ: Vehicles and Autoguidance User Guide | 9

Auto Guidance Setup

Trimble Autosteer Comparison

The following table shows a comparison between the current autosteer offerings:

Feature

EZ-Pilot Pro

Autopilot Motor Drive

License name required 1″ Accuracy Online Steering1

EZ-Pilot Pro ü

Auto Guidance ü

Max Approach angle

45°

90°

Engage/Disengage Off line Distance

¼ of the implement width

Speed Ranges

Minimum: 1 mph (1.6 kph) Maximum: speed based on vehicle type

Minimum: 0.22 mph (0.35 kph)
Maximum: speed based on vehicle type

Stay engaged when stopped

15 sec max

Yes

Supports Reverse operation

15 sec max

Yes

Continuous reverse operation

Yes

Full OnSwathTM NextSwathTM (End-of-row turns)

Limited approach angle to 45° No

Full Yes2

1 Steering performance will vary depending on vehicle type and field conditions. Repeatability of guidance will depend on correction source used. 2 NextSwath available on supported models – refer to latest Autopilot Supported Platforms list.

Precision-IQ: Vehicles and Autoguidance User Guide | 10

Auto Guidance Setup

Steering and Guidance Settings

From the Home screen, tap the Settings button. Then on the Settings screen, tap Steering and Guidance. Configure the following settings:

Setting
Lightbar Display Mode

View/Change
Chevron (LED) spacing. Options are:
l Show Correction (“Chase”) l Show Error (“Pull”)

Adjustments
Guidance Autoguidance

Nudge Increment: The increment used to nudge the guidance system with each tap. You can incrementally nudge a pattern in a perpendicular direction relative to the pattern. Nudging a pattern helps adjust for satellite drift. Implement Draft Increment: The increment used to nudge the implement to the current guidance line. Remark Reset with Import: Remove all re-mark entrees with an import.
End of Row Distance: Distance for the end of row warning to display. Vehicle Direction Detection: Turn on or off
Autosteering Lockout: When lockout is on, the Precision-IQ application does not offer an option to use auto guidance. Aggressiveness Increment: The increment used to change aggressiveness.

Precision-IQ: Vehicles and Autoguidance User Guide | 11

Auto Guidance Setup
Safety and Alarm Settings
Precision-IQ provides a safety feature where you can set a timeout for when you want Precision-IQ to automatically disengage an auto steering operation. To set the timeout option: 1. From the Home screen, tap the Settings button. Then tap Safety and Alarms to display the Safety and
Alarms options. 2. Tap Autosteering Operator Timeout and set a time (in minutes). By default, 5.0 minutes is entered. 3. The value you enter is the amount of time before Precision-IQ disengages auto guidance and stops
applications when there is no user response to a shutdown message. 4. Tap OK to save your changes. 5. Tap the Android Back button at the bottom of the screen to return to the Home screen.
Precision-IQ: Vehicles and Autoguidance User Guide | 12

Auto Guidance Setup

WARNING Auto guidance systems cannot avoid obstacles in a field. Make sure you are adequately trained to operate the auto guidance system.

1. On the Home screen, tap the Vehicle tile to display the Vehicle screen. 2. From the list of available vehicles, tap the name of the vehicle you want to edit. Then tap the Edit button. 3. Tap the Guidance tab at the top of the screen, then tap Selection. Complete the following settings:

Setting
Selection Autopilot Platform
External Guidance Device Vehicle Profile Origin

Description
Autopilot or EZ-Pilot Pro
Choose Autopilot Motor Drive if a SAM-200 motor is installed onto the steering column. Choose Hydraulic if a valve/manifold assembly and hose kit was installed on your machine.
Select NavController III (if attached), otherwise choose NONE.
Choose the source of the vehicle profile: l From Vehicle Profiles: use the factory profile from the display’s built-in vehicle database (recommended). l Import from NavController: use the machine profile already existing in the NAV-900, or NavController III. l Import from USB: use .CFG or .VDB profile stored on a USB drive (AgData/Profiles folder).
If you select to import a profile, tap Retrieve Vehicle Profile to import the vehicle profile from either the NavController or USB device.

CAUTION If you select a Vehicle Profile that is not suitable for your machine, you may experience degraded system performance.

Continue to Controller Setup.

Precision-IQ: Vehicles and Autoguidance User Guide | 13

Auto Guidance Setup
Controller Setup
To set up the controller, you must indicate the position/orientation of the controller as it is currently installed in the vehicle. For example, if the controller is positioned with the connectors of the controller facing to the left side of your vehicle, you indicate this in Precision-IQ. The CONTROLLER SETTINGS section of the vehicle setup panel shows an image of the controller as though you are looking down on the vehicle from above, with the front of the vehicle at the top of the screen. 1. On the Home screen, tap the Vehicle tile to display the Vehicle screen. 2. From the list of available vehicles, tap the name of the vehicle you want to edit. Then tap the Edit button. 3. Tap Guidance at the top of the screen, then tap Controller Settings.
NOTE The onscreen picture changes based on the autosteer type selected. For the Guidance Selection for the External Guidance Device, users have the option for selecting NavController III, IMD-900, or VDM-912:
Precision-IQ: Vehicles and Autoguidance User Guide | 14

NAV-900 guidance controller:

Auto Guidance Setup

NavController III:

4. Rotate the onscreen controller to match the position of the actual controller in the vehicle as you are looking down from the top, with the nose of the tractor point to the top of the screen. Tap the arrow buttons to move the on-screen navigation controller clockwise or counterclockwise:
5. Optionally, you can directly enter the degrees of the position by tapping Yaw, Pitch and Roll. By default, the values for the NAV-900 navigation controller module is 0°. Enter a value between 0 and 360 to manually set the position. You can use an angle finder tool for precise measurement.
6. When the controller position on the screen matches the controller installed in the vehicle, continue to Sensor Setup.
Precision-IQ: Vehicles and Autoguidance User Guide | 15

Auto Guidance Setup

Sensor Setup
1. On the Home screen, tap the Vehicle tile to display the Vehicle screen. 2. From the list of available vehicles, tap the name of the vehicle you want to edit. Then tap the Edit button. 3. Tap Guidance at the top of the screen, then tap Settings. Complete the setup:

NOTE Not all sensor options will be available for all vehicles.

Setting
Steering Sensor
AutoSense Location AutoSense Orientation Valve On Speed

Description
Select the type of wheel angle sensor installed on the vehicle: l Potentiometer (for hydraulic Autopilot) l AutoSenseTM (for hydraulic Autopilot) l None (for EZ-Pilot Pro or Autopilot Motor Drive)
Select the location of the AutoSense device: l Left Wheel l Right Wheel
Indicate the direction the AutoSense label is facing: l Label Up l Label Down
Select valve on speed. For vehicles operating at very slow speeds, select Low or Ultra Low. l Normal: 1 mph (1.6 kph) l Low: 0.2 mph (1.43 kph) l Ultra Low: 0.05 mph (0.08 kph) l EZ-Pilot Pro: minimum 1.0 mph (1.6 kph) l John Deere CAN: minimum 0.9 mph (1.4 kph)

Continue to Vehicle Measurement Settings.

Precision-IQ: Vehicles and Autoguidance User Guide | 16

Auto Guidance Setup
Vehicle Measurement Settings
NOTE Do not change vehicle measurements unless they are not correct.
CAUTION The dimensions of the vehicle itself and antenna location are critical for autosteer accuracy. 1. Before you take measurements, park the vehicle on level ground. Make sure the vehicle is straight, with the centerline of the body parallel to the wheels. 2. On the Home screen, tap the Vehicle tile to display the Vehicle screen. 3. From the list of available vehicles, tap the name of the vehicle you want to edit. Then tap the Edit button. 4. Tap GUIDANCE at the top of the screen, then tap Antenna. Based on your selections up to this point, some measurements will be pre-filled. Set a value for the following antenna measurements: a. Antenna height: The distance from the base of the antenna to the ground. b. Antenna left/right offset: The distance from the center of the antenna to the centerline of the
vehicle. c. Antenna to rear axle: The distance the antenna is positioned in front of or behind the fixed axle. If
the antenna is forward of the axle, then the value should be a positive number. If the antenna is behind the axle, then the value should be a negative number (for example, -1.0 ft 3.0 in). NOTE For Self Propelled Sprayers, enter the axle to boom/mast offset. This is used as the offset point of the implement. 5. Tap MEASUREMENTS (or Next). Based on your selections up to this point, some dimensions will be prefilled. Confirm all pre-filled measurements and enter the others. NOTE A yellow warning triangle indicates a non-zero number is required. 6. Tap Next. 7. Tap the Save icon to store the newly created vehicle with auto guidance setup.
Precision-IQ: Vehicles and Autoguidance User Guide | 17

3
Auto Guidance Calibration
Auto Guidance Calibration Overview Auto Guidance Calibration Routines Manual Override Sensitivity Auto Cal Steering Sensor Automated Steering Deadzone (Manual Calibration) Steering Proportional Gain (Manual Calibration) Roll Correction Line Acquisition This chapter describes how to calibrate a variety of supported auto guidance systems.
Precision-IQ: Vehicles and Autoguidance User Guide | 18

Auto Guidance Calibration
Auto Guidance Calibration Overview
This feature is optional and requires a license. The calibration process for auto guidance records additional details about your vehicle, which helps the system to steer the vehicle more accurately. For high accuracy applications, you must have all the correct calibrations.
l CAT Challenger vehicles (AutopilotTM hydraulic installation) OR John Deere Tracked vehicles (SIU-200 Interface box installation) cannot be calibrated with the Precision-IQ application. Autopilot Toolbox software application must be used. Contact Trimble Agriculture Support.
l Calibration is only complete when all calibrations on the screen show results instead of Incomplete. Prior to performing calibrations ensure you completed the steps to Controller Setup.
1. Remove any implement and excessive front ballast from the vehicle. Drive the vehicle to an open area free of obstacles in which the vehicle can make long passes (0.25 mile or 400 meters).
2. On the Home screen, tap the Vehicle tile to display the Vehicle screen. 3. From the list of available vehicles, tap the name of the vehicle you want to edit. 4. Tap the Calibrate button. The display shows only the calibrations required for the vehicle you have
selected. 5. Perform each of the CALIBRATION selections presented. Follow the on-screen instructions when
applicable. More detailed information on each calibration follows. NOTE The CALIBRATION section lists only the routines required for the selected vehicle and auto guidance steering system.
6. When you are finished, tap the Save icon to store the calibration values.
Precision-IQ: Vehicles and Autoguidance User Guide | 19

Auto Guidance Calibration

Auto Guidance Calibration Routines

NOTE Not all calibration items listed below will be available for your machine.

Calibration
Manual Override Sensitivity
For vehicles that use a pressure transducer for the manual override. Applies to an Autopilot (hydraulic steering) installation.

Description
Adjusts how much steering wheel rotation is required to disengage Autopilot.
NOTE The system detects whether the vehicle configuration includes this type of sensor. This option only appears if required.

Auto Cal
Steering Sensor For vehicles that use a rotary potentiometer for measuring steering angle. Applies to an Autopilot (hydraulic steering) installation.

Recommended to turn ON this feature. Automated calibration of Angle-per-Turn, Dead Zone, Steering Servo Response, Sensor Estimation and Steering CL Servo. Executed calibration routines are dependent upon vehicle and autosteer system type selected.
Converts the voltage output of the rotary potentiometer sensor into an equivalent steering angle measurement
NOTES
The system detects whether the vehicle configuration includes this type of sensor. This option only appears if required. Depending on the Guidance system installed for slow speed application, a potentiometer may need to be installed. If so, then the TAP setting will need to be adjusted.

Automated Steering Deadzone (Manual Calibration) Applies to an Autopilot (hydraulic steering) installation.

For measuring the vehicle’s steering dead zones. Determines the minimum valve command required for steering movement.

Steering Proportional Gain (Manual Calibration) Applies to an Autopilot (hydraulic steering) installation.

Sets the proportional gain(P-gain) to control steering overshoot and responsiveness.

Roll Correction

Compensates for minor variations in the placement of the navigation controller and vehicle tilt.

Line Acquisition

Controls how fast the guidance system attempts to steer the vehicle onto the current guidance line (50% – 150%).
Two modes: Classic and OnSwath

Precision-IQ: Vehicles and Autoguidance User Guide | 20

Auto Guidance Calibration
Manual Override Sensitivity
This section applies to an Autopilot (hydraulic steering) installation. WARNING Incorrect adjustment of Manual Override Sensitivity could cause this critical safety feature to fail, resulting in personal injury or damage to the vehicle. Do not choose a setting that is either too sensitive or not sensitive enough. It is vital to avoid setting the sensitivity so low that the system will not detect any steering wheel motion.
NOTE This control is for vehicle platforms that use a pressure transducer for manual override. Disengage the Autopilot system by manually rotating the steering wheel. This motion creates a hydraulic pressure increase that can be measured. Manual Override Sensitivity sets the level that the sensor voltage change must reach before the guidance system disengages. The voltage must also drop below that level before Autopilot can be re-engaged again.
TIP Manual override calibration must be completed with the machine’s hydraulic oil at normal operating temperature. A high level of sensitivity results in very small steering wheel rotation to induce a disengage. A low level of sensitivity results in large steering wheel rotation to induce a disengage. 1. At the Vehicle setup panel, select the vehicle you want to work with. Tap the Calibrate button. 2. On the Guidance Calibration screen, tap Manual Override Sensitivity.
3. Manually rotate the vehicle’s steering wheel. If the set voltage threshold is exceeded, the steering wheel icon will change color.
4. If the disengage response is acceptable, then tap the green check mark. 5. If the response is not acceptable, and:
a. The system disengages too easily (barely touching the steering wheel), then move the slider bar to the right to increase the value and decrease the sensitivity.
Precision-IQ: Vehicles and Autoguidance User Guide | 21

Auto Guidance Calibration
b. The system requires too much steering wheel rotation, then move the slider bar to the left to decrease the value and increase the sensitivity. NOTE The default setting provides a balance between rapid activation of the override function and rejection of steering wheel motion due to accidental contact (for example, due to travel in a rough field). TIP Evaluate Manual Override Sensitivity under conditions which may affect the pressure of the hydraulic system. For example, turn on the auxiliary hydraulics while you evaluate the sensitivity.
c. Repeat steps 4 and 5 until the disengage response is acceptable. 6. Tap the red “x” button to exit without saving. The display returns to the CALIBRATION section where you
can perform another calibration or exit. 7. Tap the Save icon to store the new setting.
Precision-IQ: Vehicles and Autoguidance User Guide | 22

Auto Guidance Calibration
Auto Cal
Enable Auto Cal
It is recommended to turn ON this feature. 1. On the Home screen, tap the Vehicle icon to display the Vehicle screen. 2. From the list of available vehicles, tap the name of the vehicle you want to edit. Then tap the Calibrate
button. 3. On the Guidance Calibration screen, tap Enable Auto Cal. 4. Move the Enable Auto Cal slider to the right and tap the green check mark. 5. Tap the Save icon to store the new setting.
Using Auto Cal
TIP The machine’s hydraulic fluid must be at normal operating temperature. Follow the steps below for instructions on how to use Auto Cal: 1. On the Home screen, tap the Vehicle tile to display the Vehicle screen. 2. From the list of available vehicles, tap the name of the vehicle you want to edit. Then tap the Calibrate
button. 3. On the Guidance Calibration screen, tap Auto Cal. Read the instructions and tap OK:
Precision-IQ: Vehicles and Autoguidance User Guide | 23

Auto Guidance Calibration
4. Auto Cal will then run through the automated process as long as the GNSS quality and forward speed (along with two predetermined speeds) are sufficient.
TIP Use maximum engine speed, 1.9-3.5 mph (3 – 5.5 kph) works well. Do not attempt running Auto Cal in mud, rain, snow, or frost. Must be dry field conditions only. Firm and smooth soil conditions result in the best calibration values. Please monitor the target speed through the calibration process as this can change. CAUTION While Running the Calibration the required speed will change. It is vital that the operator adjusts the tractor speed as requested from the User interface. CAUTION The hydraulic fluid must be at normal operating temperature. Cold oil will yield incorrect calibration values and degraded auto steer accuracy. 5. Once complete, the results will be shown. Tap the green check mark to save the calibration values. 6. Tap the Save icon to store the new setting. 7. On the Precision-IQ Home screen, tap the Run button, create an AB line, engage auto steer, and test steering performance accuracy.
Precision-IQ: Vehicles and Autoguidance User Guide | 24

Auto Guidance Calibration

Auto Cal Error Messages

Error Message Manual Override Detected No GPS
No Direction
Moving Too Slow Direction Unknown

Resolution
Manual override was detected before the calibration cycle could be completed. Restart the calibration and do not rotate the steering wheel.
The GNSS position quality is not ready. In the activity bar, tap the Diagnostics icon.
Look at GNSS RECEIVER, tap Performance. RTX status must be Converged, RTK status must be Fixed, and SBAS status must be DGPS before calibration can be started.
Direction estimator is not initialized. Drive forward, then stop and retry the calibration.
OR
NavController orientation is wrong. Recheck mounting angles and verify the values are correct in the display.
Increase vehicle speed. 1.5-2.5 mph (2.3-4 kph), which is indicated on the display, works well when running Auto Cal.
NavController’s direction estimator has not initialized: 1. Exit Auto Cal. 2. From the Home screen, tap Run. 3. Enable auto guidance and drive forward until the steering wheel icon color is
yellow. 4. Go back to vehicle calibration and restart Auto Cal.
OR
Steering sensor is disconnected: 1. Check cabling. 2. Clear the nav controller fault. 3. Drive forward for 10 seconds and start Auto Cal again.
OR
Wrong steering sensor type selected: 1. Clear the NavController fault. 2. Drive forward for 10 seconds and start Auto Cal again. 3. Check sensor setup in the display.
OR
NavController orientation is incorrect: 1. Recheck mounting angles. 2. Verify the values are correct in the display.

Precision-IQ: Vehicles and Autoguidance User Guide | 25

Auto Guidance Calibration

Error Message

Resolution

Auto Cal completed, but some calibration steps experienced issues and did not finish correctly

Drive the machine forward and start Auto Cal again. If the problem happens repeatedly, then reboot the display.

Disengage detected

Center the machine’s steering, drive forward for 10 seconds, and restart Auto Cal.

Timeout

A calibration routine did not complete within an expected period of time. Center the machine’s steering, drive forward, and tap Start Over.

Steering Sensor
This section applies to an Autopilot (hydraulic steering) installation.
Steering sensor calibration converts the voltage output of the rotary potentiometer sensor into an equivalent steering angle measurement. The calibration process maps the values for a full left turn, a full right turn, and center steering.
NOTE Steering sensor calibration is only for platforms with a rotary potentiometer installed. If the angle sensor is an AutoSense device or if Auto Cal is enabled, then this calibration is not available.
NOTE Complete this calibration before you attempt the Automated Steering Deadzone (Manual Calibration) or Roll Correction.
1. Drive the vehicle to a field with a hard, level surface without obstructions.
2. On the Home screen, tap the Vehicle tile to display the Vehicle screen. Select the vehicle you want to work with, then tap the Calibrate button.
3. On the Guidance Calibration screen, tap Steering Sensor. 4. Read the onscreen instructions and tap Next in the center of the window:

5. Steer straight ahead and drive forward slowly. Maintain a tractor speed above 1 mph (1.6 kph). Tap Next.
Precision-IQ: Vehicles and Autoguidance User Guide | 26

Auto Guidance Calibration

6. Turn the steering wheel all the way to the left and continue moving forward. While the steering wheel is at the full left position, tap Next.
7. Turn the steering wheel all the way to the right. While the steering wheel is at the full right position, tap Next.
8. Rotate steering to straight ahead and drive forward. 9. With wheels straight, tap Next. 10. Do a quick diagnostic test. Rotate the steering wheel to full left, full right, and center.
a. Full left voltage should be approximately 0.5 volts. Full right voltage should be approximately 4.5 volts. Center voltage should be near 2.5 volts.
b. If the left and right sensor values are not approximately symmetrical, tap the red “x” button to discard the calibration and repeat step 5 through step 9.
11. Tap the green check mark to accept the calibration. To repeat the calibration, tap Restart. 12. Tap the Save icon to store the new setting.

Steering Sensor Calibration Error Messages

Error Message

Resolution

Steering Angle sensor voltage too high

Wrong sensor type selected. OR Sensor is rotated near or beyond the 5.0 volts limit. Shorten mechanical linkage to produce less sensor rotation.

Steering Angle sensor voltage too low

Wrong sensor type selected. OR

Sensor is rotated near or beyond 0 volt limit. Shorten mechanical linkage to produce less sensor rotation. OR Sensor is disconnected. Check cabling connections.

Sensor range not large enough

Loosen mechanical arm at sensor. Rotate the sensor’s shaft. Set at 2.5 volts with wheels straight ahead. Tighten mechanical arm clamp. Adjust increase length of linkage to create more sensor rotation. Make full left movement close to 0.5 volts and full right movement close to 4.5 volts.

Sensor may have failed. Check voltage output on display diagnostics. If the sensor voltage does change during steering movement, check for sensor rotation and/or consider replacing the potentiometer.

Sensor’s voltage output is not consistent. Check voltage output in display diagnostics. Rotate machine’s steering very slowly.

Precision-IQ: Vehicles and Autoguidance User Guide | 27

Auto Guidance Calibration
Automated Steering Deadzone (Manual Calibration)
This section applies to an Autopilot (hydraulic steering) installation. The Automated Deadzone calibration runs a series of tests on the hydraulic valve. In this test, the system independently calibrates both sides of the valve to determine the command signal at which wheel movement occurs for each direction. Before you begin:
l A smooth, level surface is recommended for this calibration. l If Auto Cal is enabled, then this calibration is not available.
WARNING During the Deadzone calibration, the system moves the vehicle’s steering wheels. To avoid injury, be prepared for sudden vehicle movement.
Pre-calibration Steps
Complete these steps before you begin calibration: 1. Complete the vehicle profile steps for setup. 2. Warm up the vehicle. The hydraulic fluid must be at normal operating temperature. 3. Prepare the steering sensor. If the vehicle has a potentiometer, complete the Steering Sensor calibration
first.
Calibration Steps
1. Drive the vehicle to a large field without hazards or obstructions. The field should have smooth soil that is loose but firm.
CAUTION Obstacles in the field can cause collisions, which may injure you and damage the vehicle. If an obstacle in the field makes it unsafe to continue the Automated Deadzone calibration, stop the vehicle and turn the steering wheel to disengage the system. 2. On the Home screen, tap the Vehicle tile to display the Vehicle screen. 3. Select the vehicle you want to work with, then tap the Calibrate button. 4. On the Guidance Calibration screen, tap Automated Steering Dead Zone. 5. Read each on-screen instruction and then tap the Next button in the center of the window:
Precision-IQ: Vehicles and Autoguidance User Guide | 28

Auto Guidance Calibration

6. Center the steering on the tractor and move forward in first gear at maximum engine RPM for at least five seconds. 1.2 mph (2 kph) or higher is recommended.
7. Tap Test Right and continue moving forward while the system performs a coarse right side test. 8. When the test is finished, center the steering again and drive forward for five seconds. 9. Tap Test Left and continue moving forward while the system performs a coarse left side test. 10. Continue driving ahead slowly and tap Test Right. The system will perform the first right turn fine
calibration. 11. Continue driving ahead slowly and tap Test Left. The system will perform the left turn fine calibration. 12. Repeat the right and left hand fine calibrations a minimum of three (3) times until there is a change of
less than 0.5 in each of the deadzone values. 13. Tap the green check mark to accept the calibration or the red “x” button to exit without saving. The
display returns to the CALIBRATION section where you can perform another calibration or exit. 14. Tap the Save icon to store the new setting.

Automated Deadzone Error Messages

Error Message

Resolution

Manual Override Detected

Manual override was detected before the calibration cycle could be completed. Retry the calibration.

No GPS

The GNSS position quality is not ready. From the activity bar, tap the Diagnostics icon.
Look for GNSS RECEIVER, tap Performance. RTX status must be Converged, RTK status must be Fixed and SBAS status must be DGPS, before calibration can be started.

No Steering Response Detected During the calibration cycle, there was not enough movement for the calibration to complete.
Check the steering sensor setup in the display and cabling connections.

Software Problem Detected

The software was unable to complete the calibration due to insufficient movement of the vehicle. If the problem persists, contact Technical Support.

Precision-IQ: Vehicles and Autoguidance User Guide | 29

Auto Guidance Calibration

Error Message Steering Close to End Stops
Unable To Determine DZ: Try Again Valve Connectors Could Be Swapped
Vehicle Moving Too Slow

Resolution
Before the calibration cycle could be completed, the measured steering angle approached the end stops. Retry, and if the problem persists, instead of centering the steering at the start of each cycle, try turning the steering in the opposite direction to that which is being tested so that the calibration procedure has a greater range to test over.
A problem occurred when trying to compute dead zone. Retry. If the problem persists, contact Technical Support.
The calibration test sensed the steering turning in the opposite direction to what was expected. Retry. If the problem persists, then either the valve connectors need to be changed or the steering sensor calibration was interrupted by the user rotating the steering wheel opposite to the steering commands during the calibration.
OR
The steering sensor type is incorrect. Check the vehicle’s auto guidance setup. For example: Potentiometer is the sensor selected when AutoSense installed on the machine.
OR
AutoSense is not initialized. Drive forward with wheels straight for 10 seconds. Go to: Diagnostics -> Autopilot -> Performance -> Steering. Verify the actual steering angle reported close to 0.
The vehicle was moving too slowly for the calibration cycle to successfully finish. Make sure the vehicle is moving at least 1 mph (1.6 kph) during each calibration cycle.

Steering Proportional Gain (Manual Calibration)
This section applies to an Autopilot (hydraulic steering) installation.
NOTE Adjust the steering gain only when the Autopilot steering performance is less than satisfactory.
Proportional steering gain (PGain) balances rapid steering response and stability. PGain affects the following:
l Slew Time: The amount of time that the front wheels take to move from the far left to the far right position.
l Overshoot: The percentage by which the steered wheels exceeded the maximum angle before stopping.

Precision-IQ: Vehicles and Autoguidance User Guide | 30

Auto Guidance Calibration

Type High Gain
Low Gain

Description
Decreases the slew time and increase the overshoot. This provides rapid responses, but can cause the steering to exhibit signs of instability (for example, a tendency to excessively overshoot).
Increases the slew time and decrease the overshoot. This improves the stability but can introduce delays in the steering response and can cause the vehicle to oscillate from side to side.

Pre-calibration Steps
1. Drive the vehicle to a large field without hazards or obstructions. The field should have smooth soil that is loose but firm.
2. Perform a steering valve deadzone calibration. Two methods are possible: l Use Auto Cal’s automatic process (recommended). l Manual calibration using Automated Steering Deadzone by following onscreen instructions.
See Automated Steering Deadzone (Manual Calibration) or Auto Cal before you perform the calibration for steering gain. 3. Warm up the vehicle. The hydraulic fluid must be at normal operating temperature for deadzone calibration.
CAUTION The wheels can move abruptly during the Steering Proportional Gain calibration procedure while the Autopilot system tests the hydraulic response to its steering commands. To avoid injury, be prepared for vehicle movement.

Calibration Steps
1. From the Home screen, tap the Vehicle tile to display the Vehicle screen. 2. Select a vehicle you want to work with, then tap the Calibrate button. 3. On the Guidance Calibration screen, tap Steering Proportional Gain. 4. On the Steering Proportional Gain window, tap the Run Slew Test button. 5. Read each on-screen instruction, then tap Next. 6. Drive forward at 1 mph (1.6 kph) or faster. Tap Next. 7. Read each on-screen instruction, then tap Next. 8. Turn the front wheels completely to the right and then tap Turn Left. Drive forward while the vehicle
turns left, until the screen shows the test is complete. 9. Turn the front wheels completely to the left and then tap Turn Right. Drive forward while the vehicle
turns right, until the screen shows the test is complete.

Precision-IQ: Vehicles and Autoguidance User Guide | 31

Auto Guidance Calibration

NOTE With some vehicles, valve size and hydraulic capabilities of the machine will limit the slew time and overshoot In such cases, optimizing the P-gain value will be difficult.
10. Note the Slew Time and Overshoot values. 11. Adjust the gain value. 12. Repeat step 3 through step 9 until the Gain is just below the level where any one of the following occurs:
l Slew times no longer decrease (1200 – 1800 milliseconds is ideal). l Overshoot exceeds 5 – 8% (can be a higher value depending on the vehicle). l Wheels noticeably shake near end stops. l Slew time and overshoot for both Left and Right sides are consistent and similar values. When you
find the optimum gain, tap the green check mark to accept the calibration or the red “x” button to exit without saving. The display returns to the CALIBRATION section where you can perform another calibration or exit.

Steering Proportional Gain Error Messages

Error Message Wheels do not rotate

Resolution
If steering is starting from full right or left lock, on some machines manual override could be triggered. 1. Go to: Diagnostics Autopilot Performance Sensors 2. Verify manual override voltage is below the preset sensitivity voltage. 3. Restart PGain calibration again.

Roll Correction
Roll correction compensates for non-level navigation controller mounting and vehicle left or right tilt.
NOTE For best results, use a RTK or RTX GNSS correction source. RTX must be converged for at least 10 minutes. RTK must be Fixed. Repeat the steps below at least four times for greater accuracy.
Precalibration Steps
1. Set up a vehicle and perform all calibrations preceding this one. 2. Read and understand the instructions provided below for the calibration procedure. 3. Remove any implement from the vehicle and drive it to a flat, smooth area where you can complete
passes of at least 400 feet or 125 meters in length. 4. Create a field.

Precision-IQ: Vehicles and Autoguidance User Guide | 32

Auto Guidance Calibration
Calibration Steps
1. Select a Vehicle and on the Implements screen, you can add, edit, and delete an implement as well as calibrate one for application or section control. From the Home screen, tap the Implement tile to select an implement or create a new implement.
2. On the Home screen, select a field and tap the Run button to enter the Run screen. 3. Create a new, straight guidance line. 4. Make sure the on-screen lightbar is displayed on the screen. 5. Engage automatic steering on the guidance line. Autosteer until the onscreen off-line distance number is
as close to zero as possible, and then roll to a stop. 6. Mark the vehicle’s position:
a. Place the vehicle in park and exit the cab. b. Place a flag in the ground that will mark the vehicle’s center line. Use the drawbar pin hole or use
another feature of the vehicle as a reference point. On vehicles such as sprayers, swathers, or combines, determine a reference point in the center of the vehicle to mark (preferably near to the reference location for the antenna such as front axle, rear axle, or center of track rotation).
7. Re-enter the cab and continue to drive down the guidance line. 8. Turn the vehicle around and re-engage automatic steering on the same line in the opposite direction. 9. Roll to a stop with the drawbar (or other feature used to mark the center line of the vehicle) as close to
the first flag as possible. 10. Mark the vehicle’s position:
a. Place the vehicle in park and exit the cab. b. Place a second flag in the ground to mark the vehicle’s center line. c. Measure the distance between flag 1 and flag 2 and note it.
Precision-IQ: Vehicles and Autoguidance User Guide | 33

Auto Guidance Calibration
Distance between flag 1 and flag 2 (step c): __ d. Also note where the vehicle’s current position is in relation to flag 1 (in other words, the vehicle is
either to the right or left of flag 1). The diagram, this example shows the vehicle is to the left of flag 1.
Vehicle is to right or left of flag 2 (step d): ____ e. Return to the cab and in the Run screen note the cross-track error (the number on the on-screen
lightbar). Cross-track error (number on Run screen) (step e): _ f. Note the direction highlighted on the lightbar (left or right). Direction highlighted on lightbar (left or right) (step f): ___ 11. On the activity bar, tap the Diagnostics icon to display the Diagnostics screen.
Precision-IQ: Vehicles and Autoguidance User Guide | 34

Auto Guidance Calibration
12. Listed under AUTOPILOT or EZ-PILOT PRO, tap Performance, then tap Advanced at the top of the screen. At the Roll Offset entry box and Vehicle Position selection box:

l Calculate the roll offset and enter it in the display. Refer to your notes and compare them to the following table to determine how to calculate roll offset.
l Determine the direction of the Vehicle Position and enter it on the display. Refer to your notes and compare them with the following table to find which Vehicle Position to select.

Current vehicle position is to the __ of flag 1
Right

Lightbar highlight is on
the:
Right

Right

Left

Right

Left

Right

Calculate Roll Offset value:
Flag distance minus Cross-track value
Flag distance minus Cross-track value
Flag distance minus Cross-track value
Flag distance minus Cross-track value
Flag distance minus Cross-track value
Flag distance minus Cross-track value

Lightbar (cross-track) value is ___ Vehicle Position

than flag distance value

selection

Less

Right

Greater

Left

Less

Left

Greater

Right

N/A

Right

N/A

Left

13. Pull both flags out of the ground and continue driving down the line. 14. Turn the vehicle around again so that you are traveling in the same direction as you were when you
originally set the line. 15. Repeat the steps starting at Step 4 until the two flags are under 1 inch or 2.54 centimeters apart.

Precision-IQ: Vehicles and Autoguidance User Guide | 35

Auto Guidance Calibration
Line Acquisition
Classic Mode
NOTE Exceeding the capability of the tractor will cause instability (such as oscillating back and forth up and down the line) during line acquisition. Stock values are recommended since excessive values will cause oscillation, the number 1 cause of poor performance. 1. From the Home screen, tap the Run button to enter the Run screen. 2. Create a new, straight guidance line. 3. On the activity bar, tap the Diagnostics icon to display the Diagnostics screen. 4. Under the AUTOPILOT heading in the left-hand list, tap Performance, then tap Steering at the top of the screen. 5. Tap the Engage button in the lower- right part of the screen:

Let the machine autosteer until the cross track error is close to 0. 6. Evaluate the time and distance and travel path it took the machine to drive onto the guidance line. 7. Tap the Line Acquisition button at bottom of the screen. 8. On the Line Acquisition window, tap the Classic button at top of the screen.

CAUTION Stability needs to be checked at 4.5 mph (7.2 kph).

9. Move the Line Acquisition Aggressiveness percentage slider to the left or right. Tap the + or – buttons. 10. Drive forward and re-engage auto-steering if necessary to test the setting. 11. When you find the optimum aggressiveness, tap the green check mark to accept the calibration or tap
the red “x” button to exit without saving.

Calibration
Line Acquisition Aggressiveness

Description
Line acquisition controls how fast the guidance system attempts to steer the vehicle onto the current guidance line (50% – 150%).
l With a high setting, the vehicle approaches the line quickly, but may overshoot the line and drive into instability.
l With a low setting, the vehicle steers onto the line more slowly, but is less likely to overshoot the line.

Precision-IQ: Vehicles and Autoguidance User Guide | 36

Auto Guidance Calibration

Calibration

Description

Engage Aggressiveness Controls to set how aggressively the vehicle initially turns towards the guidance line. l With a high setting, the vehicle will initially respond quickly.

l With a low setting, the vehicle will respond more smoothly when initially engaged.

OnSwath Mode
With OnSwathTM, you can customize line acquisition to the vehicle, operation and operator preference. Vehicle behavior during line acquisition is more controlled, more predictable, and more repeatable.

The benefits of OnSwath include: l Up to 50% faster line acquisition. l Separate tuning for online and line acquisition. l More repeatable performance. l Consistent performance over entire speed range. l Cab shake eliminated on articulated machines. l Limited turn rates reduce impact on field for tracked machines. l Front axle/nose overshoots more, so that the rear axle acquires the line faster.
OnSwath requires NavController firmware version 6.00 and higher.
OnSwath Line-Acquisition Mode Setup
NOTE Autopilot Motor Drive and EZ-Pilot Pro use only OnSwath line acquisition. 1. From the Home screen, tap the Run button to enter the Run screen. 2. Create a new, straight guidance line. 3. On the activity bar, tap the Diagnostics icon.
Precision-IQ: Vehicles and Autoguidance User Guide | 37

Auto Guidance Calibration
4. Under the AUTOPILOT heading in the left-hand list, tap Performance, then tap Steering at the top of the screen.
5. Tap the Engage button in the lower-right part of the screen:

Let the machine autosteer until the cross track error is close to 0.
6. Evaluate the time and distance and travel path it took the machine to drive onto the guidance line.
7. Tap the Line Acquisition button at bottom of the screen. On the Line Acquisition window, tap the OnSwath button at top of the screen and tap the + or – buttons to adjust the following settings as needed:

Setting

Description

Steering Angle (normal maximum)

Set the desired maximum steering angle (turn radius) for the system to use during line acquisition and end-of-row turns. This is not a hard limit, but the value the system plans for.

Steering Angle

Set the speed at which the maximum steering angle starts to reduce.

Aggressiveness at High

Speeds

Slew Rate (normal maximum)

Set the slew rate that the Autopilot system will plan for during line acquisition and endof-row turns. A higher slew rate increases the rate at which the steering angle (turn radius) changes, up to the vehicle’s physical capabilities.
If you ran Auto Cal previously, do not adjust the value shown. Auto Cal calculated the maximum value possible for the steering response limits of your machine.

Steering Slew Rate Aggressiveness for High Speeds

Set the slew rate for high speeds at which the Autopilot system will begin to reduce the slew rate. A lower aggressiveness will reduce the slew rate more at high speeds. This results in a smoother and more stable operation.

Approach Angle

The desired approach angle that the Autopilot system will drive to the line if adequate space is available. If space is not available, the angle may not be achievable.

Initial Turn Aggressiveness

Adjusts how sharp or smooth the initial turn toward the line will be in comparison to the final turn onto the line. This affects only the initial turn toward, while the final turn onto the line is not affected. If the value is:
l Lower: The initial turn will be smoother and more gradual.

l Higher: The initial turn will be harder and sharper toward the line.

8. Once you have completed and checked the entries in all sections, tap the green check mark to save the settings.

Precision-IQ: Vehicles and Autoguidance User Guide | 38

4
Autopilot
Benefits Dependencies System Layout Autopilot (Hydraulic) Setup The Trimble® AutopilotTM steering system combines the accuracy of the NAV-900 guidance controller with the highest level of autosteer performance. This feature is optional and requires a license.
Precision-IQ: Vehicles and Autoguidance User Guide | 39

Autopilot
Benefits
l Sub-inch accuracy inertials from the NAV-900 guidance controller. l Slow and high speed. l Reverse operation. l Compatible with factory-equipped, auto guidance ready machines: Challenger, Claas, CaseIH, John
Deere, JCB, Kubota, Massey Ferguson, New Holland, and Valtra. NOTE The NAV-900 guidance controller is not compatible with the NavController II.
Dependencies
Autopilot (CAN bus factory-ready machines) using a NAV-900 guidance controller, requires a CAN BASED STEERING license installed into the NAV-900 guidance controller and is managed through the display. The license is available in App Central:
Autopilot (hydraulic) requires a NAV III Connectivity license installed into the NAV-900 guidance controller and is managed through the display. The license is available in App Central:
NOTE The NAV III Connectivity license is installed from the factory and does not require purchase.
Precision-IQ: Vehicles and Autoguidance User Guide | 40

System Layout
Autopilot CAN Steer (in-cab connection)

Autopilot

Item Description
1 GFX-750/XCN-1050 display, with Precision-IQ App 2 NAV-900 guidance controller 3 Cable Assy, GFX-750/XCN-1050 to NAV-900, Power/Ethernet (BRR), 5 m 4 Cable Assy, NAV-900 to in-cab RTK Radio, DTM06, 4.5 m 5 Cable Assy, GFX-750/XCN-1050 to NAV-900, Power/Ethernet (BRR) Extension, 2.5 m. Optional
extension for large vehicles 6 Cable Assy, NAV-900, CAN ISO to cab Guidance, 4 m 7 Cable Assy, NAV-900, CAN ISO in-cab, Guidance Cable Assy, NAV-900, CAN ISO in-cab ext,
Guidance, 2 m 8 Cable Assy, GFX-750/XCN-1050, Expansion Port Basic, RS232, Dig I/O, 2.5 m 9 Cable Assy, GFX-750/XCN-1050, Power to display, CAN, 2.5 m 10 Cable Assy, GFX-750/CFX-750/FM-750/XCN-1050/FmX/FM1000 Power with Relay and Switch
(Acc) (optional) 11 Cable Assy, GFX-750/CFX-750/FM-750/XCN-1050/FmX/FM1000 Basic Power, 4 m

Part Number
110540 110544 112082
110550 112611
110545 110551 67259
67258

Precision-IQ: Vehicles and Autoguidance User Guide | 41

Autopilot (using NavController III)

Autopilot

Item Description
1 GFX-750/XCN-1050 display, with Precision-IQ App 2 NAV-900 guidance controller 3 Cable Assy, GFX-750/XCN-1050 to NAV-900, Power/Ethernet (BRR), 5 m 4 Cable Assy, NAV-900 to in-cab RTK Radio, DTM06, 4.5 m 5 Cable Assy, NAV-900 to Nav III, Autopilot 6 Cable, NavController III, Main 7 Cable Assy, GFX-750/XCN-1050 to NAV-900, Power/Ethernet (BRR) Extension, 2.5 m. Optional
extension for large vehicles 8 Cable Assy, 2 PIN DTM to 2 PIN DT Power Adapter 9 Cable Assy, GFX-750/XCN-1050, Expansion Port Basic, RS232, Dig I/O, 2.5 m 10 Cable Assy, GFX-750/XCN-1050, Power to display, CAN, 2.5 m 11 Cable Assy, GFX-750/CFX-750/FM-750/XCN-1050/FmX/FM1000 Power with Relay and Switch
(Acc) 12 Cable Assy, GFX-750/CFX-750/FM-750/XCN-1050/FmX/FM1000 Basic Power, 4 m 13 NavController III

Part Number
110540 110544 110547 54601 112082
67095 110545 110551 67259
67258

Precision-IQ: Vehicles and Autoguidance User Guide | 42

Autopilot
Autopilot (Hydraulic) Setup
1. Set up auto guidance as described in Auto Guidance Setup. Return to this step when completed. 2. Set up navigation controller as described in the Controller Setup section of Auto Guidance Setup. Return
to this step when completed. 3. Set up the steering sensor as described in the Sensor Setup section of Auto Guidance Setup. Return to
this step when completed. 4. Enter machine dimensions as described in the Vehicle Measurement Settings section of Auto Guidance
Setup. Return to this step when completed. 5. Calibrate Autopilot as described in Auto Guidance Calibration. Follow steps for each routine listed:
l Manual Override Sensitivity l Auto Cal l Automated Steering Deadzone (Manual Calibration) (not required if you ran Auto Cal) l Steering Sensor l Steering Proportional Gain (Manual Calibration) l Roll Correction l Line Acquisition
VDM-912 Valve Driver Module Support
Autopilot supports the VDM-912 valve driver module, which drives Trimble and third-party guidance valves. It is used with GFX/XCN series displays with a NAV-900 guidance controller to provide a hydraulic guidance solution. Features and benefits of the VDM-912 valve driver module include:
l 50% reduction in footprint over the NavController III. l Slimmer profile. l IP67 rating for outdoor installations. l Can be installed in any orientation. l Compatible with H3 and H4 (Dual Coil PWM), DO5 Hi Flow valves,
Danfoss PVES/H (Used by John Deere and others).
NOTE An Autopilot license is required to use the VDM-912 valve driver module. It is NOT compatible with AutoSenseTM. The VDM-912 hydraulic valve driver is compatible with:
Precision-IQ: Vehicles and Autoguidance User Guide | 43

Autopilot

Trimble Systems
NAV-900 guidance controller with Autopilot

Vehicle Types
l MFWD tractors l Sprayers l 4wd

Hydraulic Valves
l H3 and H4 (Dual Coil PWM) l DO5 Hi Flow valves l Danfoss PVES/H (Used by Deere & Others)

Setup the VDM-912 Valve Driver Module in Precision-IQ
On the Vehicle Setup Guidance External Guidance screen, select VDM-912 as an External Guidance Device:

Tap the External Guidance Device field and select VDM-912 from the list:

VDM-912 Valve Driver Module Diagnostics
To access diagnostic details for the VDM-912 hydraulic valve driver, tap Autopilot on the Diagnostics screen, then tap Devices. Tap the VDM-912 tab:

Precision-IQ: Vehicles and Autoguidance User Guide | 44

Autopilot
Support for IMD-900 IMU as an AutoSense Steering Sensor
The IMD-900 inertial measurement device (IMU) can be configured as a gyroscopic steering sensor for Autopilot. Mounting of the device is very similar to the Trimble® AutoSenseTM device. The device is mounted on the machine in the same fashion as AutoSense. This example shows a setup that has both AutoSense and IMD-900 IMU as the steering sensor:
CAUTION Do not plug Autosense Steering Sensor cabling into an IMD-900 IMU. Do not plug IMD-900 IMU cabling into an Autosense Steering Sensor. The cables are not interchangeable.
For complete details, see the IMD-900 IMU: Set Up as AutoSense Steering Sensor Quick Start Guide.
Precision-IQ: Vehicles and Autoguidance User Guide | 45

5
Autopilot Diagnostics
Steering Performance for Autopilot System Sensor Performance for Autopilot System NMEA Messages
You can use diagnostics for Autopilot to: l View the degree of the steering angle being given by the navigation controller and the actual degree of angle. l Calibrate: o Manual override sensitivity o Vehicle system aggressiveness o Line approach aggressiveness o Engage aggressiveness o Proportional steering gain (P gain) o Roll calibration o Make incremental adjustments to a pattern using the nudge increment tool l View: o Vehicle roll and yaw o Navigation controller orientation o IMU parameters o Sensor settings l Set the NavController to output NMEA Messages.
Precision-IQ: Vehicles and Autoguidance User Guide | 46

Autopilot Diagnostics

Steering Performance for Autopilot System

1. On the Diagnostics screen, tap Performance under Autopilot. 2. Tap Steering.

Button/Control
P Gain

Description
Balances rapid steering response and stability. See Steering Proportional Gain (Manual Calibration) for more information on calibrating.

NOTE This setting is not available for certain vehicle types.

Engage Aggressiveness
Line Approach Aggressiveness

Controls how aggressively the vehicle initially engages the automatic guidance system.
Controls how fast the guidance system attempts to steer the vehicle onto the current guidance line. See Line Acquisition for more information on calibrating. Use to engage the system in the diagnostics screen. For more information on the engage button, see Operating a Vehicle on the Run Screen.

Engage
Vehicle System Aggressiveness
System Feedback, Angle Desired
System Feedback, Angle Actual
Nudge Increment

How aggressively the vehicle responds to cross track error.
The degree of the steering angle command being given by the navigation controller.
The degree of the steering angle that is actually occurring.
This function is for advanced users to test the system’s response to cross track error. While driving the vehicle online, tap the left or right button to move the line. Observe the response of the guidance system and adjust as necessary.

Precision-IQ: Vehicles and Autoguidance User Guide | 47

Autopilot Diagnostics

Sensor Performance for Autopilot System

1. On the Diagnostics screen, tap Performance under Autopilot. 2. Tap Sensors.

Button/Control Description

VEHICLE ORIENTATION

Graphically indicates the roll and yaw settings. The yaw value is the heading error for the system in reference to the heading of the guidance swath.

CONTROLLER ORIENTATION

Orientation of the controller as entered by the user.

MANUAL OVERRIDE SENSITIVITY

Sets the level the voltage must reach before the guidance system disengages. The voltage must also drop below that level before automated steering can be engaged again. You can calibrate this control here or at the Vehicle setup panel. For instructions, see Manual Override Sensitivity.

IMU PARAMETERS The raw voltage reading from the accelerometer and gyroscopes in the navigation controller.

SENSORS

The raw voltage of all connected sensors.

Precision-IQ: Vehicles and Autoguidance User Guide | 48

Autopilot Diagnostics

NMEA Messages

Before you can setup NMEA output, you must turn on NMEA capability in settings. See Steering and Guidance Settings. To set the NavController to output NMEA messages: 1. On the Autopilot Diagnostics screen, tap Performance under Autopilot. Then tap the Advanced tab. 2. In the TAP SETTINGS section, tap in the TAP entry box. 3. Enter how often you want the NMEA message to be output by the NavController and tap GET. Enter the
value in milliseconds. 1000 milliseconds equals 1 Hz.

NMEA Message
RawNMEAOutputIntervalGGA RawNMEAOutputIntervalGSA RawNMEAOutputIntervalGST RawNMEAOutputIntervalVTG RawNMEAOutputIntervalZDA

Message Information
Fix data including 3D location and accuracy data. GPS dilution of precision (DOP) and active satellites. GPS pseudorange noise statistics. Velocity made good. Date and time.

4. To configure the baud rate: a. Enter RawNMEAOutputBaudRate in the TAP entry box, then tap GET. b. Enter the baud rate that is required by the external device. c. Tap SET.

Precision-IQ: Vehicles and Autoguidance User Guide | 49

6
Autopilot Motor Drive and EZ-Pilot Pro
Benefits Dependencies System Layout (EZ-Pilot Pro or Autopilot Motor Drive) Autopilot Motor Drive and EZ-Pilot Pro Setup Combining the accuracy of the NAV-900 guidance controller with the ease of installation of SAM200 motor brings high levels of performance. This feature is optional and requires a license.
Precision-IQ: Vehicles and Autoguidance User Guide | 50

Autopilot Motor Drive and EZ-Pilot Pro
Benefits
l Sub-inch accuracy inertials from the NAV-900 guidance controller. l Slow speed and reverse operation for a limited time. l Eliminates the requirement for a steering angle sensor. l Autopilot performance without the requirement for hose or hydraulic manifold installation. l Automatic steering for vehicles not factory equipped with auto guidance.
Dependencies
EZ-Pilot Pro auto guidance requires an EZ-Pilot Pro license installed into the NAV-900 guidance controller and managed through the display.
NOTE EZ-Pilot Pro is only compatible with the GFX-750/XCN-1050 display. The license is found in App Central:
Autopilot Motor Drive requires an AUTOPILOT license installed into the NAV-900 guidance controller and is managed through the display. The license is found in App Central:
NOTE The EZ-Pilot Pro and Autopilot licenses cannot be present on the NAV-900 at the same time. You can only do one or the other.
Precision-IQ: Vehicles and Autoguidance User Guide | 51

Autopilot Motor Drive and EZ-Pilot Pro
System Layout (EZ-Pilot Pro or Autopilot Motor Drive)
System Layout (EZ-Pilot Pro or Autopilot Motor Drive)

Item Description 1 GFX-750/XCN-1050 display, with Precision-IQ App 2 NAV-900 Guidance Controller 3 Cable Assy, GFX-750/XCN-1050 to NAV-900, Power/Ethernet (BRR), 5 m 4 Cable Assy, NAV-900 to in-cab RTK Radio, DTM06, 4.5 m 5 Cable Assy, GFX-750/XCN-1050 to NAV-900, Power/Ethernet (BRR) Extension, 2.5 m. Optional extension for large vehicles 6 Cable Assy, GFX-750/XCN-1050, Expansion Port Basic, RS-232, Dig I/O, 2.5 m 7 Cable Assy, GFX-750 , Power to display, CAN, 2.5 m 8 Cable Assy, GFX-750/CFX-750/FM-750/XCN-1050/FmX/FM-1000 Power with Relay and Switch (Acc) 9 Cable Assy, GFX-750/CFX-750/FM-750/XCN-1050/FmX/FM-1000 Basic Power, 4 m 10 Cable Assy, NAV-900 to SAM-200, Motor Drive

Part Number
121000-XX 108993-XX
110540 110544 112082
110545 110551 67259
67258 110549

Precision-IQ: Vehicles and Autoguidance User Guide | 52

Autopilot Motor Drive and EZ-Pilot Pro

Autopilot Motor Drive and EZ-Pilot Pro Setup

1. On the Precision-IQ Home screen, tap the Vehicle tile to display the Vehicle screen. 2. On the Vehicle screen, tap the New button. Then tap the machine type you want to configure.
For Autopilot Motor Drive and EZ-Pilot Pro, the available supported vehicle types are: l Harvester l Tractor – 2WD/4WD-MFWD l Tractor – Articulated 4WD
3. Tap Next to continue with the vehicle setup. 4. Tap the Make, Series, Model, and Option fields. Enter information about your machine:

Field
Make Series Model Option
Vehicle Name

Description
Vehicle manufacturer Vehicle series (when applicable) Vehicle model number Vehicle options factory installed from the manufacturer. (Examples: Super Steer, ILS, ISO CAN Ready, AccuGuide Ready) The name of the vehicle is pre- filled from the options you selected for Make, Series, and Model. You can change this name.

5. Tap the Selection field. Setup of Selection, Autopilot Platform, and External Guidance Device (if applicable) is based on the autosteer system installed: l EZ-Pilot Pro. l Autopilot Motor Drive + NAV-900 guidance controller. l Autopilot Motor Drive + NavController III + NAV-900 antenna. For example:

Precision-IQ: Vehicles and Autoguidance User Guide | 53

Autopilot Motor Drive and EZ-Pilot Pro
NOTE The display contains a database of Trimble-supported platforms for Autopilot Motor Drive and EZ-Pilot Pro.
If the Selection does not list Autopilot Motor Drive or EZ-Pilot Pro, then there are two possibilities: l Your display is missing a license to enable Autopilot Motor Drive or EZ-Pilot Pro. Check the installed NAV-900 licenses shown in App Central for your display. If Autopilot Motor Drive or EZ-Pilot Pro licenses are not shown, contact your Trimble dealer with your NAV-900 serial number. The license is available for purchase. l The selected vehicle chosen for Make/Series/Model/Option does not support Autopilot Motor Drive or EZ-Pilot Pro. Tap Back and choose a different name for Make/Series/Model/Option. Pick a similar sized vehicle compared to your actual machine. Remember, the vehicle name can be changed.
6. Tap Next to continue. 7. Set the controller mounting orientation. The on- screen picture changes based on autosteer type
selected: l EZ-Pilot Pro or Autopilot Motor Drive + NAV-900 guidance controller:

l Autopilot Motor Drive + NavController III + NAV-900 antenna:

8. Tap Next to continue.

Precision-IQ: Vehicles and Autoguidance User Guide | 54

Autopilot Motor Drive and EZ-Pilot Pro
9. The Steering Sensor cannot be changed.
NOTE The SAM-200 motor has a built-in sensor that measures steering angle. Tap Next to continue. 10. Enter antenna location dimensions on the machine. Make certain the values are correct. Tap Next to continue. 11. Enter all measurements of the machine. Make certain the values are correct.
NOTE A yellow warning triangle indicates the dimension is required, you cannot proceed to the next setup until the value is entered. 12. Tap Save to save the new machine configuration and return to the Vehicle screen. 13. Tap the new machine name listed and tap the Select Vehicle button to select it. 14. From the list of available vehicles, tap the name of the vehicle you want to edit. Then tap the Calibrate button. 15. Run Auto Cal calibration as described in Auto Cal. Return to this step when completed.
NOTE Only attempt this calibration on a dry field surface. Do not attempt this calibration in a field with snow, mud, frost, or rain. 16. Calibrate Steering Proportional Gain.
NOTE The process for EZ-Pilot Pro and Autopilot Motor Drive is different from the Autopilot hydraulic installations. a. From the Home screen, tap the Run button to enter the Run screen. b. Create a new, straight guidance line. c. In the activity bar, tap the Diagnostics icon to go to the Diagnostics screen. d. Find AUTOPILOT or EZ-PILOT PRO on the left side and tap Performance. Tap Steering at the top of the screen. e. Tap the Vehicle Aggressiveness slider. Set value to 100%.
f. Watch the cross track error at top of screen. Note the largest value seen. Drive a normal field speed. g. Tap the Steering Proportional Gain slider at bottom of screen. Move the percentage slider to the
left or right. Tap the plus (+) or minus (-) buttons:
Precision-IQ: Vehicles and Autoguidance User Guide | 55

Autopilot Motor Drive and EZ-Pilot Pro
h. Drive forward, re-engage auto-steering, and watch the cross-track error at the top of the screen: l If the maximum value observed is larger, then decrease the p-gain. l If the maximum value is getting smaller, then increase p-gain.
NOTE There is a limit to improving steering accuracy using p-gain. You can make steering accuracy worse by using a value that is too high or too low for your machine. Typical range of values for Autopilot Motor Drive or EZ-Pilot Pro is 12-19. If you notice the motor jerking the steering wheel, decrease the p-gain value. Only attempt this calibration on a dry field surface. Do not attempt this calibration in a field with snow, mud, or frost. 17. Calibrate Roll Correction as described in Roll Correction. Return to this step when completed. 18. Adjust Line Acquisition as described in Line Acquisition. NOTE Autopilot Motor Drive and EZ-Pilot Pro use only OnSwath line acquisition.
Precision-IQ: Vehicles and Autoguidance User Guide | 56

7
NextSwath End-of-Row Turn Technology
NextSwath Dependencies NextSwath Requirements Implement Setup for NextSwath Vehicle Controller Setup for NextSwath Configuring NextSwath Running NextSwath Continuous and Alternating Block Paths The Trimble® NextSwathTM feature is used to automatically turn the vehicle at the end of a straight line guidance pattern to align with the next selected swath. Vehicle functions on some specific vehicles can also be used for more efficient operation. Even if you have used other guidance systems before, Trimble recommends that you spend some time reading this manual to learn about the special features of this product. This feature is optional and requires a license.
Precision-IQ: Vehicles and Autoguidance User Guide | 57

NextSwath End-of-Row Turn Technology
NextSwath Dependencies
NextSwath requires an installed license into the NAV-900 controller and is managed through the display. The license is found in App Central:
NOTE NextSwath is also supported on displays (such as the TMX-2050 display) with a connected NavController III.
NextSwath Requirements
The NextSwath feature consists of two parts: l NextSwath end-of-row technology, which enables both end-of-row turning and simple event timing commands. l NextSwath Connect, which uses the vehicle’s end-of-row operational controls to trigger the interface, is only available with NavController III. NOTE NextSwath 2 is not available on a NavController III. CAUTION NextSwath technology cannot be used with Autonomous, SBAS, or OmniSTAR® VBS correction sources. RangePoint RTX Correction Service is the minimum supported correction service. CAUTION NextSwath technology within Precision-IQ within TMX-2050/XCN-2050 version 4.6 does not support the RG-100 row guidance system or True Tracker.
The following technologies are required before configuring and using NextSwath: l NextSwath technology requires the Autopilot steering system to be installed. l NextSwath technology can be used only with vehicles defined as capable in the supported platforms list. l NextSwath requires the use of internal vehicle profiles found within the Precision-IQ application.
Precision-IQ: Vehicles and Autoguidance User Guide | 58

NextSwath End-of-Row Turn Technology

l OnSwath advanced line acquisition is a requirement for using NextSwath technology. l NextSwath technology requires one of the following GNSS correction sources:
o OmniSTAR® XP o OmniSTAR HP o RangePoint® RTX o CenterPoint® RTX (SS, FS, SC) o CenterPoint RTK o Trimble® VRS NowTM

Implement Setup for NextSwath

1. Select an implement type and give the implement a name. On the Implement Hitch screen, the Hitch Type and Hitch to Application Point values are required.
2. Tap Next.
3. On the Implement Measurements screen, update the values that are available for NextSwath technology. The following table describes the options you can configure:

NextSwath Option
Application Width
Swath Width Left/Right Offset
Physical Width Physical Length

Description
Enter the width of the operation that is actually performed by the machine or implement. This width is used for determining area covered. Enter the width that is required for guidance line separation and turn planning. Enter the left or right offset of the center line of the implement from the center line of the vehicle. Enter the physical width of the implement. Enter the physical length from the front to the rear of the implement.

Precision-IQ: Vehicles and Autoguidance User Guide | 59

NextSwath End-of-Row Turn Technology

Vehicle Controller Setup for NextSwath

As part of the Autopilot setup, enter additional measurements that are used for modeling purposes for the NextSwath technology and, as required, for the TrueSwath technology. Once you have completed/checked the entries in the Vehicle / Edit / Guidance – Antenna and Measurements screen, tap Next, and then tap Save. 1. On the Vehicle Guidance – Antenna screen, enter values for the following antenna attributes:
l Antenna Height l Antenna Left/Right Offset l Antenna to Rear Axle: If the antenna is forward of the axle, then the value is positive (+). If the
antenna is behind the axle, then the value is negative (-), for example, -1.0 ft 3.0 in. Tap Next. 2. On the Vehicle Guidance – Measurements screen, enter values for the following measurements:
l Rear axle to tow hitch l Rear axle to 3-point hitch l Wheelbase l Width 3. Enter the following values:

Measurement Description

Fixed Axle to Tow Hitch

Measure the distance from the control point of the vehicle to the center point of the drawbar hitch pin. The control point depends on the vehicle type:
l MFWD: Rear axle

l Tracked tractor: Center of rotation

l Sprayers: Rear axle

l Combine/Harvesters: Front axle

l 4WD/Articulated: Rear axle

Fixed Axle to 3Point Hitch
Vehicle Width

NOTE If you are using a two-point hitch, measure the distance from the fixed axle to the pivot point on the apparatus.
Measure the distance from the control point to the location where the three- point fixture, feeder, house, or boom attaches. This measurement is also used for fixed applications such as harvesting and spraying with a self-propelled sprayer. For front-mounted implements such as swathers, combines, and frontboom sprayers, you must make sure to set the offset to front.
Enter the physical width of the widest part of the vehicle.

Precision-IQ: Vehicles and Autoguidance User Guide | 60

NextSwath End-of-Row Turn Technology
Configuring NextSwath
When enabled, NextSwath is part of the implement setup in Precision-IQ.
NOTE If your implement does not support NextSwath, then this option will not appear.
On the NextSwath screen, tap the on/off slider to enable NextSwath. Tap the Edit button to begin NextSwath configuration. 1. Turn Pattern: Set the Turn Pattern values:
a. Type of Path: There are two options to define the required turn trajectory: l Shortest (sharper turn): This is based on the swath width, the steering angle settings for the OnSwath technology, and the minimum turn radius (see below). This setting will turn as short as possible – generally the default. l Smoothest (rounder turn): This is used for large applications (wide spraying, some tillage, and so on) in which a smooth, gentle turn is required. This setting uses the smallest constant radius to make the desired turn. For larger numbers of swaths changed in a turn, the radius expands.
b. Turn Pattern: When the steering system limitations and swath width do not allow a turn to be completed within the distance between swaths, the system must go outside the swath lines. There are three options for how the system will do this: l Turn wide at start: All turning outside of the swaths is done at the start of the turn. l Keyhole: An equal amount of turning outside of the swath region is done on each side of the turn. l Turn wide at end: All turning outside of the swath region is done at the end of the turn. When TrueSwath technology is used with this setting, the path the vehicle must take to bring the pull-type implement online affects the shape of the turn.
c. Swath Change Limit: This defines the largest number of swaths that can be changed during a turn left or right. The value can be set to the smaller of 10 swath widths or a distance of 500 ft (150 m). NextSwath technology makes a turn perpendicular to the swath direction so that when changing multiple swaths where the swaths intersect the boundary at a sharp angle, the path between the selected swaths will be extended to accommodate the furthest swath end point.
Tap Next to continue. 2. Turn Location: Set the Turn Location values:
a. Shorten or Extend Swath: When using a headland pattern or turn points determined by a boundary offset, you can select one of the following options to define how the system should make the turn:
Precision-IQ: Vehicles and Autoguidance User Guide | 61

NextSwath End-of-Row Turn Technology
l Minimize headland usage (shorten): This potentially starts the turn inside the infill area to allow for the full turn to be completed while minimizing use of the headland area. When using NextSwath technology for operations in which the swath lines do not intersect the boundary at a square angle, the point for the line that is closer in will be used.
l Maximize infill coverage (extend): This starts the turn at the boundary between the headland and the infill so that all of the turn happens outside the infill, provided there is space to do so within the headland area/outer boundary. When using NextSwath technology for operations in which the swath lines do not intersect the boundary at a square angle, the point for the line that is further out will be used.
NOTE The ability of the vehicle to stay within the headland depends on the number of circuits or offset distances defined by the user.
b. Turn Within Boundary: This parameter can be enabled for the vehicle, the vehicle and implement, or disabled. When set to: l Vehicle: A turn will be planned so that the outside of the vehicle (based on the width entered in vehicle measurements) clears the edge of the boundary by the value entered in the Boundary Clearance field. l Vehicle and Implement: A turn will be planned so that the outside edge of the vehicle/implement combination (based on the physical dimensions of the vehicle and implement that have been entered) clears the edge of the boundary by the value entered in the Boundary Clearance field. l Disabled: The turn location will be set by the active swath A and B points.
NOTE For boundary clearance to be used the field must have a mapped boundary. If no boundary is available for the field; turn locations will be based on the A and B points of the swath. It is the operator’s responsibility to ensure that the mapped boundary is accurate for the field.
WARNING Obstacle avoidance is solely the responsibility of the Operator. A trained and qualified operator must be present in the vehicle at all times.
CAUTION NextSwath boundary clearance relies on accurate vehicle steering settings and boundary mapping. Inaccurate boundaries will cause inaccurate clearance.
c. Boundary Clearance: Set the distance (inside or outside) by which you want the boundary to be avoided.
NOTE Due to geometry limits of field shapes and shrinking/expanding boundary clearance distances; the NextSwath technology may not be able to generate auto-turns based on the clearance distances entered.
Precision-IQ: Vehicles and Autoguidance User Guide | 62

NextSwath End-of-Row Turn Technology
d. TrueSwath Swath Extension: When using TrueSwath technology, a distance offset to delay the vehicle turning into the end rows/headland circuit may be required to allow for proper coverage. Adjust this value to alter the distance as required.
NOTE The Autopilot system’s end-of-row warning distance/end-of-row time dictates when the prompt for acknowledging the automated end-of-row turns appears when approaching the turn point.
Tap Next to continue. 3. Parameters: Set the Parameters value:
a. Turn Speed: The speed designated for auto turns and the speed for which the turn will be optimized. If the vehicle travels at a speed that is more than 1.1 mph (1.77 kph) faster than the entered turn speed value, the NextSwath technology will not start the turn. Any speed that is slower than the turn speed is allowed. If, during the turn, the set speed is exceeded by 1.1 mph (1.77 kph), the system will disengage and the turn will be abandoned. It is recommended that you set this value to the highest speed for which turns will be made.
NOTE OnSwath settings for the maximum nominal steering angle, maximum nominal steering slew rate, and aggressiveness affect the path of the planned turn.
b. Minimum Turn Radius: This is the minimum turn radius for which the turn will be planned. Determine the radius by driving the vehicle and implement combination in the tightest turn required and then measuring the radius (half of the diameter) of the path of the control point of the vehicle (that is, the path of the center of the rear axle for MFWD or center of front axle for combines, and so on). If the turn speed and OnSwath settings dictate a larger turn radius than the radius entered, the larger radius will be used. These settings apply to both regular and TrueSwath-enabled turns. This setting will not affect line acquisition.
c. Remote Engage Confirms Auto Turn: Enable this feature to allow the use of the remote engage button to accept the NextSwath turn as an alternative to touching the Run screen when the end-ofrow automated turn notice appears.
NOTE Remote engage systems wired directly into the NavController will work with this functionality. CAN-based remote engage systems may or may not work depending on the vehicle manufacturer’s message protocol.
Tap Next to continue.
Precision-IQ: Vehicles and Autoguidance User Guide | 63

NextSwath End-of-Row Turn Technology
4. Turn Start Actions: Set Turn Start Actions values. Tap Add or a previously configured action row to edit the following event parameters: a. Action: Select the operation for which you want to set reminders or sequencing. b. Distance or Time: Select whether to use a Time or Distance offset for the action. c. Distance Before or After Turn: l When Time or Distance is selected, enter the action offset value. l When When is selected, enter the required offset and whether it should happen before or after the turn is complete, when entering the swath. d. Reference: Sets the reference point the action will coordinate with. Choose one of the following: l Vehicle, which uses the control point of the vehicle. l Implement Application Point, defined in Implement/Measurements. l Implement ground contact point, defined in Implement/Measurements. e. Sound Alert: Enable or disable an audible alert from the sonalert and display. f. Text alert: Determines if the action appears in the list of user prompts during turning activity.
NOTE When using “Log when engaged” for managing coverage logging; to stop logging after turning, you must set up a Stop application action. Adjust the “When” value to obtain the proper coverage. It is recommended that you use distance rather than time, as time is affected by travel speed.
Tap Next to continue. 5. Turn End Actions: Set the Turn End Actions values. Tap Add or a previously configured action row to
edit the following event parameters: a. Action: Select the operation for which you want to set reminders or sequencing. b. Distance or Time: Select whether to use a Time or Distance offset for the action. c. Distance Before or After Turn:
l When Time or Distance is selected, enter the action offset value. l When When is selected, enter the required offset and whether it should happen before or after
the turn is complete, when entering the swath. d. Reference: Sets the reference point the action will coordinate with. Choose one of the following:
l Vehicle, which uses the control point of the vehicle. l Implement Application Point, defined in Implement/Measurements. l Implement ground contact point, defined in Implement/Measurements. e. Sound Alert: Enable or disable an audible alert from the sonalert and display. f. Text alert: Determines if the action appears in the list of user prompts during turning activity.
Precision-IQ: Vehicles and Autoguidance User Guide | 64

NextSwath End-of-Row Turn Technology
NOTE When using “Log when engaged” for managing coverage logging; to start logging after turning, you must set up a Start application action. Adjust the “When” value to ensure the proper coverage. It is recommended that you use distance rather than time, as time offsets change with speed. Tap Next to continue. 6. NextSwath Connect: Set the NextSwath Connect values. For implementation, you must purchase the NextSwath Connect unlock and use a NavController III to output the signal from the third solenoid. As there is only one solenoid output on the NavController III, only one button can be triggered. You can use this output to initiate a recorded sequence on the vehicle only. You must set up the timing for the sequences using the interface on the tractor. Refer to the tractor operator’s manual for recording methods. You can adjust the timing for the start of the sequences by changing the Occurs Before/After value in the Swath Start Events/Swath End Events tabs for the Sequence A and/or Sequence B event. NOTE You cannot use Vehicle Integration on vehicles that use the third solenoid output for the “On when engaged” function. 7. Tap the Save icon to save the settings. With the configuration settings saved, you are now ready to use NextSwath.
Precision-IQ: Vehicles and Autoguidance User Guide | 65

NextSwath End-of-Row Turn Technology

Running NextSwath
This section describes how to run the NextSwath technology.

CAUTION The NextSwath technology is designed to only be used with straight AB, A+, and headland infill patterns. It does not work with curve patterns, pivot patterns, freeform, or feature line guidance.
The following topics are provided for running NextSwath: l Engaging NextSwath l Using NextSwath End-of-Row Auto Turns l Setting the End-of-Row Point l NextSwath Operating Tips

Engaging NextSwath
From the Home screen, tap the Run button to enter the Run screen. NextSwath is accessed and used from the Precision-IQ Run screen.
The NextSwath slide-out menu provides the interface for you to select an action described in the following table:

NextSwath Action
Enable NextSwath

Description
Tap to enable NextSwath technology. Each time you enter a field or create/load a new swath, you must enable the NextSwath technology and accept the liability warning. Within the same session you can disable/re-enable the NextSwath technology without needing to accept the liability warning.
Tap to select between an auto-initiated turn or a manually-initiated turn. The system defaults to auto-initiation and will prompt you at the end-of-row warning location if you would like to turn the selected direction.

NOTE A direction that remains within the field boundary must first be selected. To carry out a manually-initiated turn, select the manual button and then set the turn direction. If the speed requirements are met for a NextSwath turn and you are engaged on a swath, you can tap the manual turn start button.

Precision-IQ: Vehicles and Autoguidance User Guide | 66

NextSwath End-of-Row Turn Technology

NextSwath Action

Description
Tap to select the turn direction and number of swaths to change.
To create an automatic turn, you must select a swath to turn onto. To do this, tap the left or right arrow button to select the direction and by how many swaths the turn will be made. The number of swaths allowed each way is entered in the Swath Change Limit field when you set up the system, see Configuring NextSwath.
The selected swath appears in yellow with green borders on the Run screen, and the direction and number away from the current swath appear on the panel.

Turn Actions Enable TrueSwath

NOTES
The direction refers to the forward travel direction of the vehicle. The system does not turn around back onto the same swath. Once the first automatic turn is complete, the next automatic turn that is prompted by an end-of-row location will be auto-populated with a turn in the opposite direction but with the same number of swaths changed as the previous turn.
If no swath is selected, this is indicated by a dash on the swath number indicator.
The direction refers to the forward travel direction of the vehicle. The system does not turn around back onto the same swath. Once the first automatic turn is complete, the next automatic turn that is prompted by an end-of-row location will be auto-populated with a turn in the opposite direction but with the same number of swaths changed as the previous turn.
Tap to enable or disable the Turn Actions as configured in Implement Setup for NextSwath. When performing a manually initiated automated turn, and with the Turn Action button enabled, the earliest programmed event will start when you tap the Turn Now button and work toward the turn.
Tap to enable TrueSwath implement turn compensation. Use the TrueSwath implement turn swath button in association with, or independently of, automated turns.
Either when performing an automated turn or during line acquisition, a yellow path for the implement is plotted for drawn implement types in addition to the green path for the vehicle.
When used in an automated turn, the TrueSwath swath extension offset is added to the turn point to allow the implement to reach the turn point before the turn is started.

NOTES
The parameters entered in the setup for vehicle control point-to-hitch offset and hitch-toground contact point dictate the path planned for the implement. Adjust these values to change performance.
Rigid mounted implements (those using the three-point hitch) cannot use the TrueSwath technology.

The Turn Now button shows the status of automated turns. The direction of the turn is indicated by the arrow direction. There are three states available for the Turn Now button:

Precision-IQ: Vehicles and Autoguidance User Guide | 67

Icon

State
Ready (yellow)

Description
Automated turns are ready. Tap to start a turn.

NextSwath End-of-Row Turn Technology

Turning (green) The system is counting down to a turn or turning. Tap to cancel the automated turn.

Disabled/error (red)

Automated turns are not available. Turns must be enabled, with a valid direction selected. The vehicle speed must be at or below the turn speed.

Using NextSwath End-of-Row Auto Turns
When the vehicle arrives at the end-of-row location and if the NextSwath technology is enabled, you are prompted to auto turn at the end-of-row point.
The first occurrence requires the operator to indicate the swath to turn to as well as enabling the Turn End/Start events and TrueSwath technology.
Each following turn will auto-populate with the settings of the previous turn except that it will be in the opposite direction (to keep the operation moving in the same cardinal direction).
If it can be generated (based on field geometry and entered offset distances, see Turn Location tab in Configuring NextSwath), the proposed path appears on the Run screen. The NextSwath technology will not propose paths that turn a vehicle outside of a field boundary.
You can:
l Dismiss the auto turn and either initiate an auto turn at the required location or drive the vehicle manually.
l Adjust the auto turn. Open the NextSwath control panel to adjust the turn settings and/or manually initiate an auto turn.
l Accept the auto turn as presented by pressing the Auto Turn button above the Engage button. The system then proceeds to count down to the auto turn (you can also initiate this function by tapping the remote engage button, if the function has been enabled on the Parameters page).
If the auto turn is accepted, you are notified if your speed is above the defined turn speed. If the speed is not reduced before the auto turn is started, the system will disengage.
If the vehicle speed increases above the defined turn speed during the turn, you are given a two second warning to slow down. If no action is taken, the system disengages.
Setting the End-of-Row Point
In order for the NextSwath technology to suggest automated end-or-row turns, the end-of-row point must be known. This point is determined by three methods in the following order:

Precision-IQ: Vehicles and Autoguidance User Guide | 68

NextSwath End-of-Row Turn Technology
1. Headland pattern infill line intersection with inner boundary. When a headland pattern is used, the intersection of the infill and the inner boundary sets the end-of-row point.
2. Productive area field boundary. If the field has a productive area boundary and the headland pattern is not in use, the end-of-row point is determined by the user-defined distance offset from the boundary along the swath or by the offset distance and clearance options selected. See Turn Location tab in Configuring NextSwath.
3. A and B points for the line. If there is no boundary and a headland pattern is not in use, the A and B points of the line set the end-of-row point. These points adjust every time the Autopilot system is disengaged or when a manually-initiated automatic turn is performed. When this happens, all of the following will have the A or B point updated in accordance to the length of the swath that the vehicle is currently on: l The guidance line the vehicle is on. l The swath on either side of the guidance line that the vehicle is on. l The swath being turned to for an automatic turn will have the A or B point updated (if more than one swath is changed).
During the turn, the NextSwath widget shows the status of the turn. Start Turn and End Turn values are continuously updated based on your vehicle’s speed.
NextSwath Operating Tips
Before using the NextSwath technology, OnSwath settings must be properly set up and calibrated. Excessively aggressive OnSwath settings that function well for line acquisition may be too aggressive for the NextSwath technology due to the increased heading change in the maneuvers (up to 90° for line acquisition; generally 180° for the NextSwath technology). For best results, it is recommended that you use field boundaries or headland patterns as this will make adjustments for the shape of the field.
Precision-IQ: Vehicles and Autoguidance User Guide | 69

NextSwath End-of-Row Turn Technology
For AB operation without boundaries, the turn location is based on the end-of- row points that are adjusted to the vehicle’s current location by either disengaging or performing a manually-initiated automatic turn. When this happens, the length of the swath you are currently engaged on, the swaths to either side, and the swath being turned to for automatic turns (if different than the swaths adjacent to the current swath) are adjusted. The smallest radius that the system will turn in is determined by the largest value of:
l Minimum turn radius setting l Path size determined by OnSwath maximum nominal steering angle and maximum nominal slew rate
adjusted by the speed aggressiveness for each. To decrease a turn radius try the following:
NOTES After adjusting the OnSwath Settings, make sure that line acquisition performance is still safe. Always verify that the smaller radius turn will not damage equipment. 1. Decrease the minimum turn radius. 2. Increase the OnSwath Steering Angle. 3. Increase the OnSwath Slew Rate. 4. Decrease the speed at which the turn is performed.
NOTES The highest the OnSwath steering angle can be is 80% of the vehicle profile’s maximum steering angle. If you set it higher than this value, the steering angle used to plan the turn will not increase. Different vehicle types may have different turn paths due to platform stability and capability. When using boundaries, the adjustment of the boundary offset and TrueSwath offset is important to obtain a correct turn point location. This has to be determined empirically by experimentation. When using boundaries that are not perpendicular to the general swath operation of the field, allow more space for the turns. When using end rows, a boundary offset around the width of the end rows is a good starting point. For example, using three (3) end rows with a 30 ft planter would use a boundary offset of 90 ft to start. When using a three-point/rigid mounted implement, setting the turn pattern to Turn Wide at End for rearmounted implements and Turn Wide at Start for front-mounted implements is suggested for best results. Also, make sure to set the implement offset direction correctly.
Precision-IQ: Vehicles and Autoguidance User Guide | 70

NextSwath End-of-Row Turn Technology
Continuous and Alternating Block Paths
This feature allows NextSwath users to complete field blocks rather than alternate a fixed number of swaths across the whole field. Users can define a specific block of swaths to be worked with NextSwath without user intervention. This work can be executed continuously in the same direction or alternate after every block. Working in Blocks improves:
l Assists operators with Tramlining management when seeding. l Reduces the impacts of GPS drift at lower correction types. l Working in blocks improves field management and logistics for tender trucks. l Reduces the impact of changes in weather conditions on tillage operations.
Block Path Prerequisites
This feature is only accessible for displays with the NextSwath license. No new license is required. If the display does not have a NextSwath license, then the NextSwath icon will not appear on the Run screen.
Selecting a Continuous or Alternating Block Path
Follow the steps below to access and select the new continuous or alternating NextSwath patterns: 1. On the Run screen, tap the NextSwath icon to open the NextSwath drawer. 2. In the NextSwath drawer, scroll to the Patterns section and tap the Block button. 3. Select a new block pattern: Continuous on the left, or Alternating on the right. 4. Finally, tap Set Start Swath to begin using the new pattern.
Precision-IQ: Vehicles and Autoguidance User Guide | 71

Trimble Precision-IQ Vehicles and Auto Application User Guide

Precision-IQ Vehicles and Auto Application

Product Information: Precision-IQ

Product Usage Instructions: Precision-IQ

References

Read User Manual Online (PDF format)

Download This Manual (PDF format)

Trimble User Manuals

Related Manuals