Leica mojoXact Plus User Manual
Leica mojoXact Plus
User Manual
Version 1.0
English
Introduction
Purchase Congratulations on the purchase of a Leica mojoXact Plus.
This manual contains important safety directions as well as instructions for installing
the product and operating it. For safety information, refer to Chapter "13 Safety
Directions".
If your Leica mojoXact Plus is connecting to a Leica mojo3D, read carefully through
this User Manual and the Leica mojo3D User Manual, before you switch on the
product. If your Leica mojoXact Plus is connecting to a third party terminal that is
ISOBUS Universal Terminal compliant, read carefully through this User Manual and the
terminal’s supporting documentation before you switch on the product.
The Leica mojoXact Plus is to be used solely in combination with Leica Geosystems’
guidance systems. Therefore it is mandatory to also observe the directions and
instructions contained in the Leica guidance product manual.
To ensure safety when using the system, please also observe the directions and
instructions contained in the User Manual and Safety Handbook issued by the agricultural machinery manufacturer.
Product identification
Symbols used in
this manual
Trademarks GL1DETM is the property of NovAtel Inc.
The type and serial number of your product are indicated on the type plate (located
on the bottom of the product). Enter the type and serial number in the spaces below
and always refer to this information when you need to contact your agency or Leica
Geosystems authorised service workshop.
Type: _______________________________________
Serial No.: _______________________________________
The symbols used in this manual have the following meanings.
Type Description
DANGER Indicates an imminently hazardous situation which, if not
WARNING Indicates a potentially hazardous situation or an unintended use
CAUTION Indicates a potentially hazardous situation or an unintended use
Note - the absence of specific alerts does not mean that there are no safety risks
involved.
All other trademarks are the property of their respective owners.
avoided, will result in death or serious injury.
which, if not avoided, could result in death or serious injury.
which, if not avoided, may result in minor or moderate injury,
and/or appreciable material, financial and environmental
damage, or all of these.
Important paragraphs which must be adhered to in practice as
they enable the product to be used in a technically correct and
efficient manner.
2 Introduction, Leica mojoXact Plus
Available
documentation
Document Name Description
Leica mojoXact Plus
User Manual
Leica mojo3D
User Manual
This manual. All instructions required in order to operate
the mojoXact Plus product when it is connected to a Leica
mojo3D or a third party terminal that is ISOBUS Universal
Terminal compliant, to a basic level are contained in this
User Manual. It provides an overview of the system
together with technical data and safety directions.
All instructions required in order to operate the mojo3D
product to a basic level are contained in its User Manual. It
provides an overview of the system together with technical
data and safety directions.
Process for setting
up the
mojoXact Plus to
auto-steer
The images in this manual are for reference purposes only. Individual screens and
icons may differ from the actual items.
From when the customer receives their mojoXact Plus to having it auto-steer the
vehicle, the following steps need to occur:
1. Unpack your mojoXact Plus and ensure that all components are included (refer
to Section "1.2 Components of the mojoXact Plus System"), and that any other
components required, such as an ISO UT cable and external CDMA modem are
also present.
2. Read this manual, the Leica mojoXact Plus User Manual.
3. Install the mojoXact Plus system following the instructions in Chapter "2 System
Installation".
4. Power up the mojoXact Plus (refer to Section "3.1 Starting Up").
If the mojoXact Plus is connected to a third-party terminal, complete the following
steps:
1. Unlock the universal terminal features of the mojoXact Plus (refer to Section "3.2
Universal Terminal Unlock Code").
2. Step through the initial setup wizard supplying the information that is asked for
(refer to Section "3.3 Initial Setup Wizard").
3. Select and configure the steer kit (refer to Section "5.2 Steer Kit Selection and
Setup").
4. Test the auto-steer settings (refer to Section "5.6 Testing Auto-Steer").
5. If the vehicle has an implement attached to it, configure the implement settings
(refer to Section "4.3 Implement Setup").
6. Configure the correction source (refer to Chapter "6 Correction Sources").
7. Set a wayline (refer to Chapter "7 Guidance").
8. Ensure all auto-steer engage criteria are met (refer to Section "5.1 Engage AutoSteer").
9. Engage auto-steer (refer to Section "5.1 Engage Auto-Steer").
If the mojoXact Plus is connected to a Leica mojo3D, refer to the Leica mojo3D User
Manual for instructions on setting up your system to auto-steer.
Leica mojoXact Plus, Introduction 3
Table of Contents
In this manual Chapter Page
1 System Overview 8
1.1 General mojoXact Plus System Information 8
1.2 Components of the mojoXact Plus System 8
1.3 Features 9
1.3.1 mojoXact Plus Hardware 9
1.3.2 mojoXact Plus Software 9
1.3.3 mojoXact Plus Positioning 9
1.3.4 mojoXact Plus Guidance 10
1.4 Audience 10
2 System Installation 12
2.1 Before Installation 12
2.2 GPS Antenna Installation 13
2.3 Cell Modem Antenna and Bracket 15
2.4 SIM Card Installation 15
2.5 mojoXact Plus Installation 16
2.6 CAN Port Connection Changes 19
3 Running the mojoXact Plus for the First Time 20
3.1 Starting Up 20
3.2 Universal Terminal Unlock Code 20
3.3 Initial Setup Wizard 22
3.4 Main Navigation Screen 29
3.5 Running the Setup Wizard at any Time 31
3.6 Changing System Settings 31
3.6.1 Changing Region Settings 32
3.6.2 Cell Modem Settings 32
3.7 Feature Unlock 35
4 Vehicles and Implements 38
4.1 Vehicle Measurement Setup 38
4.2 Terrain Compensation 40
4.3 Implement Setup 46
5 Auto-Steer 48
5.1 Engage Auto-Steer 48
5.1.1 Roading Safety Feature 48
5.1.2 Preconditions to Engage Auto-steer 49
5.1.3 Engage Auto-steer 49
5.1.4 Disengage Auto-steer 50
5.2 Steer Kit Selection and Setup 50
5.2.1 Troubleshooting Steer Kit and CAN Bus Problems 57
5.3 Steer Kit Status 57
5.4 Steer Kit Calibration 58
5.4.1 Stationary Engage and Reverse Steering 62
5.5 Tuning Auto-Steer Performance 63
5.5.1 Tuning Procedure 63
5.5.2 Sensitivity 64
5.5.3 Aggressiveness 65
5.5.4 Overshoot 66
4 Table of Contents, Leica mojoXact Plus
5.5.5 Speed Adjust 66
5.5.6 Tuning Tips 67
5.6 Testing Auto-Steer 68
5.6.1 Troubleshooting Steering Test Issues 72
6 Correction Sources 74
6.1 GL1DE 74
6.2 Network RTK 77
6.3 Internal Radio (RTK Base Station) 82
6.4 External Radio 85
6.5 Correction Source Status 88
7 Guidance 90
7.1 AB Parallel Guidance 90
7.2 A+ Heading Guidance 92
7.3 Pivot Guidance 94
7.4 Wayline Management 96
7.4.1 Saving the Active Wayline 96
7.4.2 Loading a Saved Wayline 97
7.4.3 Changing the Name of a Wayline 98
7.4.4 Deleting a Wayline 98
7.4.5 Deleting All Waylines 99
7.4.6 Exporting Waylines 100
7.4.7 Importing Waylines 101
7.5 Field Offset 103
7.6 Nudge 104
8 NMEA Output 106
8.1 Configuring NMEA Output 107
8.1.1 NMEA 0183 Setup 107
8.1.2 Logging NMEA 0183 Data to USB 110
8.1.3 NMEA 2000 Setup 112
9 System Information and Errors 114
9.1 Status Information 114
9.2 Position Information 116
9.3 Correction Source Status 117
9.4 Device Information 119
9.5 Cell Modem Status 120
9.6 Error Notifications 121
10 Virtual Wrench Remote Service 124
10.1 Connecting to Virtual Wrench 125
10.2 Disconnecting from Virtual Wrench 126
11 Software Maintenance 128
11.1 Upgrading Software from Virtual Wrench 128
11.2 Upgrading Software from a USB Memory Key 130
11.3 Backing Up Current Software 132
11.4 Restoring the Previous Software Version 133
Leica mojoXact Plus, Table of Contents 5
12 Care and Transport 136
12.1 Transport 136
12.2 Storage 136
12.3 Cleaning and Drying 136
13 Safety Directions 138
13.1 General Introduction 138
13.2 Intended Use 138
13.3 Limits of Use 139
13.4 Responsibilities 139
13.5 Hazards of Use 139
13.6 Electromagnetic Compatibility (EMC) 142
13.7 FCC Statement, Applicable in U.S. 143
13.8 ICES-003 Statement, Applicable in Canada 143
13.9 Labelling 144
14 Technical Data 146
14.1 mojoXact Plus Technical Data 146
14.2 mojoXact Plus GPS Receiver Technical Data 147
14.3 Wireless Module Technical Data 148
14.3.1 HSDPA Wireless Module Technical Data 148
14.4 Antennas Technical Data 148
14.4.1 Cellular Antenna Technical Data 148
14.4.2 Red GPS Antenna Technical Data 148
14.5 Conformity to National Regulations 150
14.5.1 mojoXact Plus 150
15 International Limited Warranty, Software License Agreement 152
Appendix A Redeeming a System Option Voucher 154
Appendix B Formatting USB Memory Keys 156
Appendix C GNU General Public License 160
Appendix D Glossary of Terms 162
6 Table of Contents, Leica mojoXact Plus
Leica mojoXact Plus, Table of Contents 7
1 System Overview
This chapter describes the major functionality offered by the mojoXact Plus, its
components, hardware, software, positioning and guidance features, and this user
manual’s intended audience.
1.1 General mojoXact Plus System Information
General information
Leica Geosystems’ mojoXact Plus is a GPS-based agricultural guidance system. It
connects to Leica’s mojo3D product or third party terminals that are ISOBUS Universal
Terminal compliant to provide:
• RTK positioning;
• advanced hydraulic steering kit options;
• visual guidance;
• auto-steering; and
• remote service, diagnostics and software upgrades via Virtual WrenchTM, thus
reducing costly onsite service calls.
The mojoXact Plus uses a single dual band antenna for GPS and a cell antenna. For
GPS, only the red GPS antenna is required to be mounted on the roof of the vehicle.
1.2 Components of the mojoXact Plus System
mojoXact Plus
components
a) GPS (Radio) whip antenna g) mojoXact Plus
b) GPS (Red) antenna h) mojoXact port expansion cable
c) Twin RF cable (L1/L2 Radio) i) Single RF cable (cell)
d) Antenna mounting bracket j) Power cable
e) Spanner k) Cell antenna
f) Cleaning wipes
8 System Overview, Leica mojoXact Plus
Accessories
required
For a connection to a Leica mojo3D, the following accessories are required:
• Leica mojo3D port expansion cable
For a connection to a third party terminal that is ISOBUS Universal Terminal
compliant, the following accessories are required:
• ISO UT cable (compatible with the third party terminal)
The GPS antenna supplied with the Leica mojo3D is not required when
operating with a Leica mojoXact Plus.
1.3 Features
1.3.1 mojoXact Plus Hardware
mojoXact Plus
hardware features
a
b
c
• Simple installation and color-coded quick-install antennas.
• Integrated L1/L2 GPS receiver.
• Integrated HSPA cell modem.
• 12 volt operation.
• Internal storage for waylines and settings.
1.3.2 mojoXact Plus Software
a) Green LED - lights when a display is
d
connected.
b) Orange LED - lights when an error is
active.
c) Red LED - lights when the
mojoXact Plus has power.
d) USB/SIM port - data transfer and
cell modem SIM port.
mojoXact Plus
software features
• Intuitive software that allows for easy setup and use.
• On screen field guidance.
• Auto-steer compatible.
• Upgrade, backup, and rollback of software through the USB interface.
• Virtual Wrench™, which provides remote support and over-the-air software
upgrades.
1.3.3 mojoXact Plus Positioning
mojoXact Plus
positioning
features
Leica mojoXact Plus, System Overview 9
• GPS algorithms are tuned for the agricultural environment.
• Optional NMEA (NMEA 0183, NMEA 2000) output for auxiliary devices that
require GPS data.
• Optional Radar-out signal for auxiliary devices that require a radar speed signal.
• Advanced 3-axis terrain compensation.
• Compatible with the following correction sources: base station RTK, Network
RTK, external radio and Dual Frequency GL1DETM.
1.3.4 mojoXact Plus Guidance
mojoXact Plus
guidance features
• Multiple guidance patterns for visual guidance, including AB Parallel, A+ Heading
and Pivot.
• On-screen lightbar with heading assist operation.
• Electric auto-steer capable, with Electric Steer Kit.
• Auto-steer ready capable.
1.4 Audience
Intended audience
and assumptions
Third party
terminal user interfaces
This user manual is intended for operators of agricultural machinery that is to be
guided by a mojoXact Plus, and technicians responsible for the installation of
mojoXact Plus systems.
For operators of agricultural machinery, no prior knowledge of agricultural guidance
systems is assumed.
If the mojoXact Plus is installed for use with a third party terminal, the third party
terminal’s user documentation should be referred to for instructions on how to:
• select buttons or fields;
• select an item from a list; and
• enter and accept values.
10 System Overview, Leica mojoXact Plus
Leica mojoXact Plus, System Overview 11
2 System Installation
2.1 Before Installation
General installation information
mojoXact Plus
installation
process
• The following instructions are to be used as a general guide during the installa-
• The system will not operate at peak performance if steering joints and linkage
• Install the system in a clean and dry workshop environment. Failure to do so may
• Route and secure all cables and wiring to ensure that they do not chafe or rub,
• The average installation time will vary, but it should be approximately two to four
The main steps involved in installing a mojoXact Plus system are:
• Read the documentation.
• Install the GPS Antenna.
• Install the Cell Modem Antenna (if applicable).
• Install the SIM Card in the mojoXact Plus (if applicable).
• Install the mojoXact Plus.
• Connect all cables.
• Route and secure cables to ensure the work environment is safe and so there is
The installer must read and study this user manual, including the safety
directions (refer to Chapter "13 Safety Directions"). The installer must be
able to use the system in accordance with this user manual. Leica Geosystems recommends that installation of the mojoXact Plus equipment be
performed by a qualified technician, as installation does require making
electrical connections.
tion of the Leica mojoXact Plus. For more specific instructions, please visit
www.virtualwrench.com to view additional platform information and recommended vehicle settings.
assemblies are not within the manufacturer's specifications. Check for worn
steering components by turning the steering wheel. As the steering wheel is
turned, the wheels should begin to move. If results are unsatisfactory, please
consult your vehicle manufacturer’s maintenance manual.
result in electrical short-circuits or other product malfunctions. Any moisture on
the roof of the vehicle will also prevent the antenna mounting tape from
sticking properly.
as this could cause premature failure.
hours per vehicle, but is dependent on vehicle type.
no chafing or rubbing.
These steps are explained in the sections below.
12 System Installation, Leica mojoXact Plus
2.2 GPS Antenna Installation
Prepare the GPS
antenna
To prepare the GPS (Red) antenna for mounting on the vehicle’s roof, carry out the
following steps:
1. Clean the vehicle cab’s roof with Windex® glass cleaner or a similar product, to
prepare it for the installation of the antenna.
Start all antenna cable connections by hand before using the supplied
spanner to tighten. Do not over tighten the cable connectors. Run the
threads to the end by hand, and tighten only 1/8th turn more with the
spanner.
2. Take the Twin RF Cable and connect the small connector to the GPS antenna
(shown at location 2 in the picture above).
3. The other metal connector of the Twin RF Cable is for the whip antenna. Remove
the outer nut and washer from the connector. Insert the thread of the connector
as shown at location 3 and in the exploded view in the picture above, so the
thread is accessible from the top of the GPS antenna. Attach the washer and fix
with the nut.
4. Run the cables through the circular slot provided on the bottom side of the cover.
Align each cable with the slot and push it into the slot using the antenna cable
grommets and antenna cable supports provided.
5. You have several options for how you want the cables to exit the antenna cover.
Choose the option that works best for your application.
6. Install the whip antenna on the GPS
antenna by screwing it onto the
connector installed in Step 3
above.
Leica mojoXact Plus, System Installation 13
The whip antenna should be
mounted on the GPS antenna
so it will fold backwards if
needed when the GPS
antenna is mounted on the
vehicle.
Position of the GPS
antenna
The GPS antenna should be mounted on the vehicle’s roof:
• on the center line of the vehicle’s wheel tracks if possible.
• as far forward as possible on the flat level part of the roof.
• not obstructed by exhausts, flashing lights or any other objects.
Find a location that is as close to the front of the vehicle as possible and centered
over the wheel tracks. Mark out this location on the roof of the vehicle.
Optional antenna adapter brackets are available - contact your Dealer for more information.
Mount the GPS
antenna
To mount the GPS antenna on the vehicle’s roof, carry out the following steps:
1. Use the supplied cleaning wipes to clean the installation area.
This is necessary even when the area has been cleaned with Windex® glass
cleaner (as instructed previously) to ensure that the installation area is as clean
as possible.
2. Remove the protective strip of the double-sided tape on the bottom of the GPS
antenna.
Be careful removing the backing tape (protective strip) from the sticking
blocks. Make sure that you peel off the backing tape and do not rip the
adhesive from the antenna.
3. Mount the GPS antenna on the vehicle’s roof.
The GPS antenna should mount with the whip antenna in the forward position.
The antenna must be mounted horizontally and not on an angle to ensure
the best possible signal reception.
The cables must not be cut, kinked or bent tightly, as their performance will
be degraded and system failure may result.
Cables should be routed neatly back to the mojoXact Plus.
14 System Installation, Leica mojoXact Plus
2.3 Cell Modem Antenna and Bracket
2
A cell modem antenna and bracket is supplied as part of the mojoXact Plus kit.
mojoXact Plus with
a third party
terminal
mojoXact Plus with
a mojo3D
When using the mojoXact Plus with a third party terminal, the supplied cell modem
antenna needs to be mounted. A bracket is supplied to aid installation of the cell
modem antenna. Choose a location for the antenna where it will get good reception,
that is, away from obstructions, and where the cable can be neatly routed without
kinking or crushing it, to the mojoXact Plus.
When operating the mojoXact Plus with a Leica mojo3D, the cell modem antenna
must be connected to the mojo3D, not the mojoXact Plus. If the mojo3D’s original
cell modem antenna is not installed, install the mojoXact Plus’s cell modem antenna.
Choose a location for the antenna where it will get good reception, that is, away from
obstructions, and where the cable can be neatly routed without kinking or crushing
it, to the Leica mojo3D.
2.4 SIM Card Installation
When using the mojoXact Plus with a third party terminal, it is necessary to install the
SIM Card in the mojoXact Plus. The process for installing the SIM Card is detailed
below. If the mojoXact Plus is used with a Leica mojo3D, then the SIM Card is installed
in the mojo3D. Refer to the Leica mojo3D User Manual for installation instructions.
Installing the SIM
Card in the
mojoXact Plus
To install the SIM Card in the mojoXact Plus, carry out the following steps:
1. Carefully remove the mojoXact Plus
from its packaging and place it on a
workbench.
2. The SIM Card slot is at the front of
the mojoXact Plus. Unscrew the door
at the front (as shown at 2 in the
picture to the right) so it can open
and lie flat.
3. Use a pointed instrument to press
the release mechanism (as shown at
3 in the picture to the right), to
release the SIM Card holder.
4. Slide out the SIM Card holder (as
shown at 4 in the picture to the
right).
5. Place the SIM Card in the SIM Card
holder, with the chip facing up.
Ensure that the SIM Card is securely
seated in the holder.
6. Insert the SIM Card holder back into
the SIM Card slot and push it in so it
is secure in the mojoXact Plus.
7. Fold up the door and screw it in
place.
Leica mojoXact Plus, System Installation 15
2.5 mojoXact Plus Installation
Before installation Before installing the Leica mojoXact Plus, it is recommended that you do the
mojoXact Plus
installation
following steps. For more information on each of these important steps, please refer
to the installation hints specific to your vehicle and Leica Steer Ready Kit.
1. Refer to any available installation hints specific to your vehicle type.
This information may be available from the website, www.virtualwrench.com, or
may have been supplied with your system. The method of completion of the
following tasks is determined by the make and model of your vehicle.
2. Check or prepare for the mojoXact Plus power connection.
If you are connecting a mojoXact Plus with a Leica mojo3D, check that you have
a mojoXact port expansion cable and a mojo3D port expansion cable.
If you are connecting a mojoXact Plus with a third party terminal, check that you
have a mojoXact port expansion cable and a power cable.
3. Install steering cable (CAN bus).
There are many possible combinations for this step, depending on vehicle type,
or the Leica Steer Ready Kit used, or both. The cable specific to your vehicle
should be purchased with your system.
NOTE: If you are upgrading from a mojoXact to a mojoXact Plus, verify the CAN port
that the Steer Kit must connect to, as this may have changed. Section "2.6 CAN Port
Connection Changes" provides information on the CAN port changes.
The mojoXact Plus can be mounted in any direction and there is no need to mount it
exactly flat. The mojoXact Plus should be mounted in a location so that:
• it does not obstruct the operation of the vehicle (such as the pedals).
• its front (where the USB port is accessed) is accessible.
• its rear is accessible to plug in and unplug cables.
To install the mojoXact Plus, carry out the following steps:
1. If the mojoXact Plus is still in its packaging, carefully remove it.
2. Using four screws and nuts, bolt the mojoXact Plus to a secure location.
3. Check that the mojoXact Plus is secure and cannot move.
If movement is possible then performance may be degraded.
16 System Installation, Leica mojoXact Plus
Connecting the
a
b
c
d
e
f
g
h
mojoXact Plus to a
third-party
terminal
To connect the mojoXact Plus to a third party terminal that is ISOBUS Universal
Terminal compliant, refer to the picture below and carry out the following steps. The
following process assumes that the third party terminal has been installed in accordance with its documentation.
a) Third party terminal
b) ISO UT cable
c) Proprietary BUS for steering
d) Cell modem antenna
1. Connect the cell modem antenna cable (purple plug) to the purple antenna
socket on the back of the mojoXact Plus.
2. Connect the GPS antenna cables (green and red plugs) to the green and red
antenna sockets on the mojoXact Plus.
3. Connect the mojoXact port expansion cable to the mojoXact Plus.
4. Connect the green cable of the mojoXact port expansion cable to the power
cable.
5. Connect the ISO UT cable to the third party terminal and to the red CAN port of
the mojoXact port expansion cable. Note that on some vehicles, the UT and
steering bus are the same.
6. Connect the steering controller to the proprietary BUS for steering (yellow CAN
port of the mojoXact port expansion cable). Note that on some vehicles, the UT
and steering bus are the same.
7. Connect the power cable by connecting the red wire to a permanent 12V power
supply, the yellow wire to the vehicle’s switched ignition power and the green
wire to earth.
The mojoXact Plus is a 12-volt DC (negative-to-earth) system only.
8. Route and secure all cables and wiring to ensure that there is no chafing or
rubbing, that could cause premature failure.
For further information, refer to www.virtualwrench.com.
e) Power cable
f) mojoXact port expansion cable
g) mojoXact Plus
h) GPS antenna
Leica mojoXact Plus, System Installation 17
Connecting the
mojoXact Plus to
the mojo3D
To connect the mojoXact Plus to a Leica mojo3D, refer to the picture below and carry
out the following steps. For more detailed information, refer to the Leica mojo3D
User Manual. The following process assumes that the mojo3D has been installed in
accordance with the instructions in the Leica mojo3D User Manual.
a
b
c
d
e
a) Cell modem antenna
b) mojo3D
c) Power cable
d) Proprietary BUS for steering
e) ISOBUS
1. If not already connected, connect the cell modem antenna cable (purple plug) to
the purple antenna socket on the back of the mojo3D.
2. Connect the GPS antenna cables (green and red plugs) to the green and red
antenna sockets on the mojoXact Plus.
3. Connect the mojo3D port expansion cable to the mojo3D.
4. Connect the mojoXact port expansion cable to the mojoXact Plus.
5. Connect the green cable of the mojo3D port expansion cable to the green cable
of the mojoXact port expansion cable.
6. Connect the power cable to the mojo3D and wire it to a reliable power source as
instructed in the Leica mojo3D User Manual.
7. Connect the steering controller to either the proprietary BUS for steering (yellow
CAN port of the mojoXact port expansion cable) or the ISOBUS (red CAN port of
the mojoXact port expansion cable) according to the table below in Section "2.6
CAN Port Connection Changes".
8. Ensure that any other required cables are connected correctly.
9. Route and secure all cables and wiring to ensure that there is no chafing or
rubbing, that could cause premature failure.
f) mojo3D port expansion cable
g) mojoXact port expansion cable
h) mojoXact Plus
i) GPS antenna
f
g
h
i
18 System Installation, Leica mojoXact Plus
2.6 CAN Port Connection Changes
Overview If the mojoXact Plus is replacing a mojoXact, check the CAN port that the Steer Kit
CAN changes The following table shows the Steer Kits that use different CAN connections between
must connect to, as this may have changed.
The mojoXact Plus uses the yellow CAN Bus for proprietary CAN messages, and the
red CAN Bus is dedicated to ISOBUS messages.
Refer to the Leica mojo3D and Accessories Cabling Options How To Guide, and the
How To Guide for the Steer Kit you are using. Both documents can be accessed at
www.virtualwrench.com.
the mojoXact and the mojoXact Plus, and the steering cable. If a mojoXact is replaced
with a mojoXact Plus and any of these Steer Kits mentioned below are used, the
steering cable needs to be connected to the other CAN port. All other Steer Kits
remain the same.
QuickSteer QuickSteer Steer Steer
PVED CAT MT9xx B Steer Steer
Challenger MT CAT MT7xx B Steer Steer
John Deere R
Series
Krone Krone Steer Steer
For some Steer Kits it is necessary to connect the yellow CAN cable of the
Steer Kit to the red CAN cable of the mojoXact port expansion cable.
Group Name mojoXact mojoXact Plus
Proprie-
tary CAN
Bus Yellow
CAN1
CAT MT7xx C Steer Steer
CAT MT8xx C Steer Steer
CAT MT8xx C Steer Steer
CAT MT9xx C Steer/
Engage
John Deere 6xxxR Steer Steer
John Deere 7xxxR Steer Steer
John Deere 8xxxR Steer Steer
John Deere 8xxxRT Steer Steer
John Deere 9xxxR Steer Steer
John Deere 9xxxRT Steer Steer
ISOBUS
Red
CAN2
Proprie-
tary CAN
Bus Yellow
CAN1
ISOBUS
Red
CAN2
Steer/
Engage
Leica mojoXact Plus, System Installation 19
3 Running the mojoXact Plus for the First Time
This chapter details how to start the mojoXact Plus and steps the operator through
the setup wizard that executes when the mojoXact Plus, attached to a third-party
terminal, is started for the first time. For information on what happens when a
mojoXact Plus attached to a mojo3D is started for the first time, refer to the Leica
mojo3D User Manual.
Please ensure that your mojoXact Plus system has been installed in accordance with the installation instructions in Chapter "2 System Installation".
3.1 Starting Up
mojoXact Plus and
third-party
terminal system
If the system has a mojoXact Plus connected to a third-party terminal, during installation, the mojoXact Plus power cable should have been wired into the vehicle’s ignition. When the vehicle is started, the mojoXact Plus is powered up and starts. Refer
to the third-party terminal’s documentation for instructions on how to start it up.
If this is the first time that the mojoXact Plus/third-party terminal system has been
started, the Universal Terminal Unlock screen appears and the operator must enter
the unlock code to enable the universal terminal features in the mojoXact Plus. Refer
to Section "3.2 Universal Terminal Unlock Code" for details on the unlock code and
the initial setup wizard that steps you through the process of setting up your system.
If the mojoXact Plus/third-party terminal system has been started before and the
universal terminal unlock code successfully entered, then the main navigation screen
appears. Refer to Section "3.4 Main Navigation Screen" for an explanation of the
main navigation screen and the functionality it provides.
3.2 Universal Terminal Unlock Code
To use the mojoXact Plus with a third-party terminal, the universal terminal features
of the mojoXact Plus must be enabled. To do this, the operator must purchase an
unlock voucher from their dealer and then redeem the voucher to acquire the unlock
code.
For instructions on how to redeem the voucher and acquire your universal terminal
unlock code, refer to "Appendix A Redeeming a System Option Voucher".
Loading the unlock
code
20 Running the mojoXact Plus for the First Time, Leica mojoXact Plus
There are two ways to load the universal terminal unlock code onto the
mojoXact Plus. You can either enter the unlock code at the Universal Terminal Unlock
screen or you can have the mojoXact Plus automatically load the unlock code from a
USB memory key.
When the mojoXact Plus/third-party terminal system is turned on for the first time,
the Universal Terminal Unlock screen, shown below, appears.
Loading the unlock
code manually,
step-by-step
To unlock the universal terminal features of the system, carry out the following steps:
1. Select the Unlock Code field and enter the unlock code taking care with capital
letters and numbers, as the code is case sensitive.
2. Select the button.
If the unlock code was entered correctly and is accepted by the system, the Initial
Setup Wizard starts and its screen appears (refer to Section "3.3 Initial Setup
Wizard").
If an error occurred and the code was not accepted by the system, the message
"Invalid Authentication Code" displays below the Unlock Code field. Re-enter the
unlock code taking care with capitalization and numbers.
Loading the unlock
code from a USB
memory key, stepby-step
Leica mojoXact Plus, Running the mojoXact Plus for the First Time 21
If you received a USB memory key from your dealer with the unlock code on it, carry
out the following steps to load the unlock code onto your mojoXact Plus:
The mojoXact Plus must be powered down.
1. The USB interface is at the front of the
mojoXact Plus. Unscrew the door at
the front so it can open and lie flat, and
insert the USB memory key that has
the unlock code loaded onto it, into
the USB slot.
2. Power up the mojoXact Plus, by turning on the vehicle’s ignition.
When the mojoXact Plus powers up, it automatically detects the USB memory key
and loads the universal terminal unlock code. When this process is complete, the
Initial Setup Wizard starts and the its screen appears (refer to Section "3.3 Initial
Setup Wizard").
3.3 Initial Setup Wizard
Overview The initial setup wizard executes once the universal terminal features of the
mojoXact Plus system have been unlocked and its initial screen appears.
The setup wizard steps the operator through the initial setup process allowing the
operator to setup:
• Region settings such as the region (or country), and units to use for length,
speed and area.
• Vehicle type and setup.
• Terrain compensation.
• The physical orientation of the mojoXact Plus.
The setup wizard can be executed at any time should there be the need to change
the initial settings. Section "3.5 Running the Setup Wizard at any Time" provides
instructions on how to access the setup wizard at any time.
1. To proceed to the first configuration screen of the Initial Setup Wizard, the
Region Settings, select .
Region settings,
step-by-step
22 Running the mojoXact Plus for the First Time, Leica mojoXact Plus
The Region Settings screen is the first configuration screen of the setup wizard. It
allows the operator to set the region (or country), and units to use for length, speed
and area.
1. On the Region Settings screen, select the region (or country) from the Region
list.
2. Select the units to use for length from the Length list. Lengths may be measured
in Metric, Imperial, or US Standard units.
3. Select the units to use for speed from the Speed list. Speeds may be measured
in Metric, Imperial, or US Standard units.
4. Select the units to use for area from the Area list. Areas may be measured in
Metric, Imperial, or US Standard units. The Imperial acre is the defined international acre, and the US acre is the slightly smaller US Survey acre.
5. To accept the Region settings and proceed through the setup wizard to the
Vehicle Type screen, select .
Vehicle setup,
step-by-step
To setup the vehicle, carry out the following steps:
1. On the Vehicle Type screen (shown below), select your Vehicle Type from the
list.
2. In the Antenna Offset field, enter the value in the units appropriate for the
configured region, for how far the antenna is mounted from the center of the
wheel tracks, or vehicle’s cab (providing the cab is centered over the wheel
tracks), as indicated by the graphic. Ideally this value should be zero as the
antenna should be mounted in the center of the vehicle’s cab towards the front.
If the antenna is mounted to the right of the center of the vehicle (when facing
the forward direction of travel), enter the Antenna Offset as a positive value. If
the antenna is mounted to the left of the center of the vehicle, enter the
Antenna Offset as a negative value.
3. To accept the values and proceed through the setup wizard to the Vehicle
Settings screen, select .
To cancel any change to the value and return to the Region Settings screen,
select .
Leica mojoXact Plus, Running the mojoXact Plus for the First Time 23
4. Enter the measurements required for the vehicle type that you have selected.
5. To accept the values and proceed through the setup wizard to the Terrain
Compensation screen, select .
To cancel any changes to the values and return to the Vehicle Type screen, select
.
Terrain compensation, step-by-step
As this is the first time that a terrain compensation is to be performed, the Terrain
Compensation screen appears with New Compensation selected by default. To
perform terrain compensation you must have the vehicle in a suitable location that
has a flat area large enough to be able to turn the vehicle around.
If it is not convenient to perform the terrain compensation at this time, the New
Compensation field can be de-selected. However, the system does not permit the
vehicle to be auto-steered until a terrain compensation has been performed, and you
will see the terrain compensation error appear until this has occurred. To perform
terrain compensation later, refer to Section "4.2 Terrain Compensation".
For accurate positioning and guidance, it is important to perform terrain compensation as this feature allows the mojoXact Plus to calculate the position of the GPS
antenna as the vehicle navigates unlevel terrain. This is demonstrated by the picture
below which illustrates a vehicle tilting as it would on hilly terrain. Without terrain
compensation, the position of the vehicle is shown by the uncorrected position. With
24 Running the mojoXact Plus for the First Time, Leica mojoXact Plus
terrain compensation, the position of the vehicle is the corrected position. The differ-
a
b
c
d
ence in these two positions is obvious, clearly demonstrating why the use of terrain
compensation is necessary for accurate positioning and guidance.
a) GPS antenna
b) Uncorrected position
c) Roll angle
d) Corrected position
To setup terrain compensation, carry out the following steps:
1. Ensure that the New Compensation checkbox is checked, and select .
To return to the Vehicle Settings screen, select .
2. Follow the directions on the screen and drive to a flat area and bring the vehicle
to a full stop.
3. To proceed with the Terrain Compensation setup, select . The operator is
instructed not to move the vehicle as tuning of the sensors is in progress.
Leica mojoXact Plus, Running the mojoXact Plus for the First Time 25
4. Follow the directions on the screen and turn the vehicle around through 180o and
bring the vehicle to a full stop in the same position as before. To do this, take
note of where the vehicle’s right front tyre is parked. Turn the vehicle around
through 180o and stop in exactly the same position prior to the turn, so the
vehicle’s left rear tyre is parked where the right front tyre was previously parked.
5. To proceed with the Terrain Compensation setup, select . The operator is
instructed not to move the vehicle as tuning of the sensors is in progress.
26 Running the mojoXact Plus for the First Time, Leica mojoXact Plus
6. When tuning is complete, select to proceed to the mojoXact Plus Orientation
screen.
To return to the initial Terrain Compensation screen, select .
mojoXact Plus
orientation, overview
When the mojoXact Plus Orientation screen appears, the image shows how the
mojoXact Plus is mounted in the vehicle, as far as it being mounted flat or on one of
its sides. This is determined during the Terrain Compensation process.
If the Terrain Compensation process during the Initial Setup Wizard is skipped, the
mounting of the mojoXact Plus will not be correctly determined, and it will be necessary to return to the mojoXact Plus Orientation once the Terrain Compensation has
been performed. To setup the mojoXact Plus Orientation at a later time, refer to
Section "4.2 Terrain Compensation".
The orientation value is the degrees that the front of the mojoXact Plus is mounted
to the front of the vehicle. The front of the mojoXact Plus is where the USB port and
SIM card slot are accessed (and therefore the back is where all of the cables are
attached). For example, a mojoXact Plus mounted flat at 0 degrees to the front of
the vehicle, looks like this:
A mojoXact Plus mounted flat at 90 degrees to the front of the vehicle, looks like this:
Leica mojoXact Plus, Running the mojoXact Plus for the First Time 27
A mojoXact Plus mounted on its side at 45 degrees to the front of the vehicle, looks
like this:
A mojoXact Plus mounted on its side at 180 degrees to the front of the vehicle, looks
like this:
mojoXact Plus
orientation setup,
step-by-step
28 Running the mojoXact Plus for the First Time, Leica mojoXact Plus
To setup the orientation of the mojoXact Plus, carry out the following steps:
1. At the mojoXact Plus Orientation screen, enter the orientation of the
mojoXact Plus.
2. To complete the Initial Setup Wizard and go to the main navigation screen, select
.
To return to the initial Terrain Compensation screen, select .
3.4 Main Navigation Screen
Once the Initial Setup Wizard is complete the main navigation screen is displayed. The
main navigation screen is the screen that the operator will view most of the time
during normal operation.
The main navigation screen has four main parts: the lightbar, main display, information area and menu bar.
1. Lightbar
The lightbar is located at the top of the screen. It is a Leica Geosystems Smart
lightbar which uses both crosstrack error and heading error to guide the operator
to the line.
2. Main Display
The main part of the screen shows AB lines in perspective and highlights the line
that is engaged (or cannot be engaged). Horizontal dotted lines are used to show
movement when on the lines. Brief descriptions of current errors appear at the
bottom of this part of the screen.
3. Information Area
The information area is located at the bottom of the screen. Centered at the top
of this area is the row number that is currently engaged or that can be engaged.
Below this are icons that represent the current connection statuses of:
• The Correction Source in use (Network RTK, Internal Radio, External Radio or
GL1DETM). Refer to Chapter "6 Correction Sources" for details on setting up a
correction source and diagnosing connection errors.
• The GPS connection.
• The cell modem signal. Refer to Section "3.6.2 Cell Modem Settings" for details
on setting up the cell modem and diagnosing connection errors.
• Virtual Wrench. Refer to Chapter "10 Virtual Wrench Remote Service" for
details on connecting to Virtual Wrench and diagnosing connection errors.
4. Menu Bar
The menu bar is located on the right side of the screen and provides buttons for:
Leica mojoXact Plus, Running the mojoXact Plus for the First Time 29
Auto-Steer
Engage
Guidance • Setting AB, A+ Heading and Pivot waylines.
Nudge • Nudge options to correct GPS drift.
Service &
Information
Settings • System Settings - refer to Sections "3.6 Changing
Roading
Lock/Unlock
• Auto-Steer engage and disengage.
Refer to Chapter "5 Auto-Steer" for details on the
auto-steer feature and how to use it.
• Wayline management.
Refer to Chapter "7 Guidance" for details on
setting up waylines and wayline management.
Refer to Section "7.6 Nudge" for details on using
the nudge feature.
• System Status Information - refer to Section "9.1
Status Information" for details.
• Errors - refer to Section "9.6 Error Notifications"
for details.
• Position Information - refer to Section "9.2 Position Information" for details.
• Correction Source Information - refer to Section
"6.5 Correction Source Status" for details
• Device Information - refer to Section "9.4 Device
Information" for details.
• Cell Modem Information - refer to Section "9.5 Cell
Modem Status" for details.
• Connection to Virtual Wrench - refer to Chapter
"10 Virtual Wrench Remote Service" for details.
System Settings", "3.5 Running the Setup Wizard
at any Time" and "3.7 Feature Unlock" for details.
• Vehicle Settings - refer to Chapter "4 Vehicles and
Implements" for details.
• Steering Settings - refer to Chapter "5 Auto-Steer"
for details.
• Correction Settings - refer to Chapter "6 Correction
Sources" for details.
• Software Settings - refer to Chapter "11 Software
Maintenance" for details.
• Roading engage and disengage.
Refer to Section "5.1 Engage Auto-Steer" for
details on how to turn the roading safety feature
on and off.
30 Running the mojoXact Plus for the First Time, Leica mojoXact Plus
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