Leica mojoXact Plus User Manual

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Leica mojoXact Plus

User Manual

Version 1.0 English

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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

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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

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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

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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

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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

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Leica mojoXact Plus, Table of Contents 7

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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

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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

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.

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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

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Leica mojoXact Plus, System Overview 11

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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.

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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.

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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.

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2.3 Cell Modem Antenna and Bracket

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.

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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.

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Connecting the

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

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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.

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

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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

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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.

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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").

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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.

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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 .

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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

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terrain compensation, the position of the vehicle is the corrected position. The differ-

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.

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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.

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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:

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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 .

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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:

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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.

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3.5 Running the Setup Wizard at any Time

General information

Running the setup wizard, step-bystep

The Setup Wizard can be run at any time after the initial setup of the mojoXact Plus. The wizard guides the operator through the majority of the system setup, that is: Region Setup, Vehicle Setup, Terrain Compensation and mojoXact Plus Orientation. Alternatively the operator is able to setup specific features through the Settings menu and System Settings menu. These features include:

• Vehicle Settings (refer to Chapter "4 Vehicles and Implements")

• Steering Settings (refer to Chapter "5 Auto-Steer")

• Correction Source Settings (refer to Chapter "6 Correction Sources")

• Software Settings (refer to Chapter "11 Software Maintenance")

• Region Settings (refer to Section "3.6.1 Changing Region Settings")

• Cell Modem Settings (refer to Section "3.6.2 Cell Modem Settings")

• NMEA Settings (refer to Chapter "8 NMEA Output")

To run the Setup Wizard, carry out the following steps:

1. On the main navigation screen, select the Settings button. The Settings menu appears.

2. On the Settings menu, select the System Settings button. The System Settings menu appears.

3. On the System Settings menu, select the Setup Wizard button. The Setup Wizard runs and the Region Settings screen appears.

4. Proceed through the Setup Wizard - refer to Section "3.3 Initial Setup Wizard" for details, making any changes that are required. You are returned to the main navigation screen at the completion of the setup wizard.

3.6 Changing System Settings

General information

Changing settings, step-by-step

Leica mojoXact Plus, Running the mojoXact Plus for the First Time 31

The system settings include:

• Country settings

• Measurement units (length, speed and area)

• Cell modem settings

To select and change one of these settings, carry out the following steps:

1. On the main navigation screen, select the Settings button. The Settings menu appears.

2. On the Settings menu, select the System Settings button. The System Settings menu appears, providing access to the

system settings, some of which are detailed below.

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3.6.1 Changing Region Settings

Region settings include the Country settings, and the units of measure to use for length, speed and area. To change the region settings carry out the following steps:

1. On the System Settings menu, select the Region Settings button. The Region Settings screen appears.

2. To change the region or country, select the new one from the Region list.

3. To change the units to use for length, select the new one from the Length list. Lengths may be measured in Metric, Imperial, or US Standard units.

4. To change the units to use for speed, select the new one from the Speed list. Speeds may be measured in Metric, Imperial, or US Standard units.

5. To change the units to use for area, select the new one 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.

6. To accept the Region settings and return to the main navigation screen, select

To cancel any changes to the values and return to the System Settings menu,

select .

3.6.2 Cell Modem Settings

The mojoXact Plus allows the operator to choose an internal modem, external ethernet modem or no modem. To setup the cell modem carry out the following steps:

1. On the System Settings menu, select the Cell Modem Settings button. The Modem Settings screen appears.

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

If the mojoXact Plus’ internal modem is used (and it will be in HSPA regions), a Network Data plan for the mojoXact Plus and a SIM card with an active data plan are required before you can utilize the online features of the mojoXact Plus. Contact your dealer to obtain the required unlock vouchers.

If the internal cell modem is selected, the operator may be required to enter further information. This information is available from your cellular network provider.

2. At the Modem Settings screen, select Internal to use the mojoXact Plus’ internal cell modem, External if the mojoXact Plus is connected to an external ethernet modem or None if you do not want to setup the cell modem at this time.

3. To accept the selection and move to the second screen for Cell Modem setup (if

an internal cell modem is selected), select .

To cancel any change to the value and return to the System Settings menu, select

The second Modem Settings screen allows the operator to configure the APN, and enter their user name and password. This screen only appears if an internal modem is being setup.

4. At the second Modem Settings screen, check that the value in the APN field is correct. If it is not, enter the correct value.

5. Enter the supplied user name in the Username field.

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6. Enter the supplied password in the Password field.

7. To accept the values and move to the third screen for Cell Modem setup, select

To cancel any changes to the values and return to the previous Modem Settings

screen, select .

The third Modem Settings screen allows the operator to configure the Cell Network Mode and SIM Card PIN.

8. The cell network mode defaults to Automatic. If this is not the correct setting for your situation, select the correct value from the Cell Network Mode list.

9. If you have been assigned a personal identification number (PIN) for the subscriber identity module (SIM) of the cell modem, enable the Use SIM Card PIN checkbox.

10. Enter the PIN in the SIM Card PIN field.



11. To accept the values and return to the main navigation screen, select .

34 Running the mojoXact Plus for the First Time, Leica mojoXact Plus

If you make an error when entering the SIM PIN, it will be necessary to remove the SIM card and reset it by entering a Personal Unblocking Code (PUK), which you can obtain from your network provider.

To cancel any changes to the values and return to the second Modem Settings

screen, select .

The Cell Modem icon displays in the information area at the bottom of the main

navigation screen. indicates a successful connection with good signal

strength, indicates that the connection is successful but the signal strength

is poor and indicates that the connection was not successful.

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Troubleshooting connection problems

If the signal strength is poor, but you have a good signal on your mobile phone, check:

• that the cell antenna is not obstructed or damaged, and that its cable is not damaged.

• that the Cell Network Mode field at the third Modem Settings screen is appropriately set for your region.

If the cell modem connection was not successful, check:

• that the values entered in the APN, Username and Password fields are correct.

• that you have an active data plan for the SIM Card.

• that the cell antenna and its cable are not damaged.

• that the Cell Network Mode field at the third Modem Settings screen, is appropriately set for your region.

3.7 Feature Unlock

Some features are not enabled by default on the mojoXact Plus, and these include:

• John Deere R Series

• Network Upgrade

• Network Data Plan

•Virtual Vista

•Universal Terminal

To access these features it is necessary to purchase a voucher from your dealer which will give you a code that is used to unlock the feature. Features can be

unlocked using the steps below or Virtual WrenchTM as explained in Chapter "10 Virtual Wrench Remote Service".

Unlocking a feature, step-bystep

Leica mojoXact Plus, Running the mojoXact Plus for the First Time 35

To unlock a feature, carry out the following steps:

1. On the main navigation screen, select the Settings button. The Settings menu appears.

2. On the Settings menu, select the System Settings button. The System Settings menu appears.

3. On the System Settings menu, select the Feature Settings button.

The Features screen (shown below) appears, with a list of features and their availability, that is, whether they are locked or unlocked.

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4. To activate a new feature, select the Enter New Code button. A second Features screen displays with the Enter Code field.

5. Enter the new code taking care with capitalization and numbers, as the code is case sensitive.

6. To save the code and return to the initial Features screen, select .

The list of features updates to show that the feature was successfully unlocked.

To discard the code and return to the initial Features screen, select .

7. To return to the main navigation screen, select .

To return to the System Settings menu, select .

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4 Vehicles and Implements

General information

If the vehicle setup was not completed correctly during the initial setup using the Initial Setup Wizard, or the mojoXact Plus has been re-positioned in the vehicle or moved to a different vehicle, it maybe necessary to adjust the vehicle and implement settings, including:

• Vehicle type selection and measurements.

• Terrain compensation and mojoXact Plus orientation.

• Implement measurements.

How to setup vehicles and implements when the mojoXact Plus is used with a thirdparty terminal is described in this chapter.

For information on how to set up vehicles and implements when the mojoXact Plus is used with a Leica mojo3D, refer to the Leica mojo3D User Manual.

4.1 Vehicle Measurement Setup

Overview Vehicle measurement setup involves selecting the type of vehicle that the

Vehicle measurement setup, stepby-step

mojoXact Plus is installed in and entering measurements for the:

• Antenna Offset - how far the antenna is mounted from the center of the vehicle’s wheel tracks.

• Antenna Height - how far the antenna is mounted above ground-level.

• Antenna to Fixed Axle - how far the antenna is mounted from the vehicle’s fixed axle.

To select the vehicle type and configure its measurements, carry out the following steps:

1. On the main navigation screen, select the Settings button. The Settings menu appears.

2. On the Settings menu, select the Vehicle Settings button. The Vehicle Settings menu appears.

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3. On the Vehicle Settings menu, select the Vehicle Measurements button.

The Vehicle Type screen, shown below, appears.

4. On the Vehicle Type screen, select your vehicle type from the list.

5. 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.

6. To accept the values and proceed to the Vehicle Settings screen, select .

To cancel any changes to the values and return to the Vehicle Settings menu,

select .

7. At the Vehicle Settings screen, an example of which is shown below, enter the measurements required for the vehicle type that you have selected.

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8. To accept the values and return to the main navigation screen, select .

To cancel any changes to the values and return to the Vehicle Type screen, select

4.2 Terrain Compensation

Explanation For accurate positioning and guidance, it is important to perform terrain compensa-

Terrain compensation setup, stepby-step

tion 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 terrain compensation, the position of the vehicle is the corrected position. The difference 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 perform terrain compensation, carry out the following steps:

1. On the main navigation screen, select the Settings button. The Settings menu appears.

2. On the Settings menu, select the Vehicle Settings button. The Vehicle Settings menu appears.

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3. On the Vehicle Settings menu, select the Terrain Compensation button.

The Terrain Compensation screen, shown below, appears.

If a terrain compensation has never been performed, only the New Terrain Compensation option is available. If a terrain compensation has been performed previously, the operator has the choice of performing a new terrain compensation or an update to the existing terrain compensation or no terrain compensation at all.

New Terrain Compensation - clears all previous compensation data. This option should be used when the mojoXact Plus has been re-installed or moved.

Update Terrain Compensation - improves compensation performance. This option should only be used when the mojoXact Plus has not been re-installed or moved in the vehicle.

4. At the Terrain Compensation screen, select the option that is suitable for your equipment and circumstances, or if you do not wish to perform a terrain compensation, do not select an option.

5. To proceed with terrain compensation, select .

To return to the Vehicle Settings menu and not perform the terrain compensa-

tion, select .

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6. Follow the directions on the screen and drive to a flat area and bring the vehicle to a full stop.

7. To proceed with terrain compensation, select . The operator is instructed not

to move the vehicle as tuning of the sensors is in progress.

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8. 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.

9. To proceed with terrain compensation, select . The operator is instructed not

to move the vehicle as tuning of the sensors is in progress.

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10. When tuning is complete, select to proceed to the mojoXact Plus Orientation

screen, shown below.

To return to the initial Terrain Compensation screen, select .

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A mojoXact Plus mounted flat at 90 degrees to the front of the vehicle, looks like this:

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:

11. At the mojoXact Plus Orientation screen, enter the orientation of the mojoXact Plus.

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12. To complete terrain compensation and return to the main navigation screen,

select .

To return to the Vehicle Settings menu, select .

4.3 Implement Setup

Overview Implement setup allows the operator to configure measurements for an implement

Implement setup, step-by-step

that may be attached to the vehicle. These measurements are typically the width of the implement and its offset from the center of the vehicle’s wheel tracks.

To configure implement measurements, carry out the following steps:

1. On the main navigation screen, select the Settings button. The Settings menu appears.

2. On the Settings menu, select the Vehicle Settings button. The Vehicle Settings menu appears.

3. On the Vehicle Settings menu, select the Implement Settings button.

The Implement Settings screen appears.

4. In the Implement Width field, enter the entire width of the implement (as shown in the graphic).

5. If the implement is offset to one side of the vehicle, that is, it is not centered behind the vehicle, select the Implement Offset checkbox.

The Implement Offset field appears.

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As illustrated by the graphic, the implement offset is the distance between the

2.50 m

8.00 m8.00 m

center of the vehicle and the center of the implement. If the implement is offset to the right of the center of the vehicle (when facing the forward direction of travel), enter the Implement Offset as a positive value. If the implement is offset to the left of the center of the vehicle, enter the Implement Offset as a negative value.

Implement offset to the right implement offset to the left

6. To accept the values and return to the main navigation screen, select . To cancel any changes to the values and return to the Vehicle Settings menu,

select .

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5 Auto-Steer

Overview Auto-steer is the main feature offered by the mojoXact Plus. This chapter discusses

the following for systems that have a mojoXact Plus that is used with a third-party terminal:

• the auto-steer states and the buttons that reflect these.

• the roading safety feature and how to turn it on and off.

• how to engage and disengage auto-steer.

• how to select, setup and calibrate a steer kit.

• the stationary engage and reverse steering features.

• tuning auto-steer performance.

• testing auto-steer.

For information on the auto-steer feature when the mojoXact Plus is used with a Leica mojo3D, refer to the Leica mojo3D User Manual.

5.1 Engage Auto-Steer

Auto-steer status The auto-steer button on the main navigation screen is used to engage and disen-

gage auto-steer. The colour of this button also indicates the current status of the auto-steer.

• Red: Roading is active and auto-steer can not be engaged until roading is turned off.

• Orange: Roading is turned off, but the conditions for auto-steer to engage have not been met and auto-steer can not be engaged. Stationary engage is not armed.

• Yellow: Roading is turned off and auto-steer is ready, but not currently engaged. If the steering button is tapped the system will auto-steer immediately because all engage criteria are currently satisfied.

• Green with Pause: Auto-steer is armed but not active because the vehicle is not moving or the engage criteria are not satisfied.

• Green: Auto-steer is engaged and the vehicle is being automatically steered.

5.1.1 Roading Safety Feature

The Roading feature is a safety tool that is designed to prevent accidental engagement of automatic steering when it should not be engaged: for example, when a vehicle is on a public road, or when working around obstacles. Roading is active when

the auto-steer button is red, .

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Turn Roading On To enable roading, carry out the following steps:

1. On the main navigation screen, select the roading button.

Roading is enabled and the Roading button changes to have a

locked padlock, . The auto-steer button turns red.

Disabling Roading Roading can only be disabled if the steer kit is configured correctly and is actively

Turn Roading Off To disable roading, carry out the following steps:

communicating.

1. When the auto-steer button is red, select the roading button. Roading is disabled and the roading button changes to have an

unlocked padlock . The auto-steer button changes to the

color that reflects its current state.

5.1.2 Preconditions to Engage Auto-steer

The conditions required for auto-steer to engage depend on the steer kit being used. The following is a typical example of the conditions required to be met before automatic steering can occur:

• Steer kit correctly connected and configured

• Roading turned off

• Wayline set

• Distance to wayline less than 6 m (20 ft)

• Heading within 45 degrees of wayline

• Travelling faster than 1 km/h (0.6 mph)

• Not travelling faster than 30 km/h (18 mph)

5.1.3 Engage Auto-steer

Providing the preconditions for the steer kit have been met, auto-steer can be engaged by carrying out the steps below:

1. On the main navigation screen, select the auto-steer button when it is yellow.

2. The auto-steer button turns green to indicate auto-steer is engaged and the vehicle is being automatically steered.



Leica mojoXact Plus, Auto-Steer 49

Other methods to engage the steering will be available and these methods will depend on the steer kit used.

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5.1.4 Disengage Auto-steer

To disengage auto-steer, carry out the steps of one of the following methods:

1. On the main navigation screen, select the auto-steer button when it is green.

The auto-steer button turns yellow or orange to indicate auto-steer is disengaged and the vehicle is no longer being automatically steered.

1. On the main navigation screen, select the roading button.

The auto-steer button turns red indicating that roading is turned

on, the roading button changes to have a locked padlock , and

auto-steer is disengaged.



Other methods to disengage the steering will be available and these methods will depend on the steer kit used.

5.2 Steer Kit Selection and Setup

General Introduction

Selecting and setting up a steer kit, step-by-step

This section describes how to select and setup a steer kit, and troubleshoot problems, should they occur.

To select a Steer Kit and set it up, carry out the following steps:

1. On the main navigation screen, select the Settings button. The Settings menu appears.

2. Select the Steering Settings button. The Steering Settings menu appears.

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3. Select the Steer Kit Setup button. The Setup Steer Kit screen appears.

4. Select the appropriate steer kit from the list.

5. To accept the selection and continue with the setup process, select the

button. What screen appears next is dependent on the steer kit that is selected.

To cancel the selection and go back to the Steering Settings menu, select the button.

6. If the Manufacturer screen appears (followed by the Model screen), make the appropriate selection from the Manufacturer list and then from the Model list.

7. To accept the selections and continue with the setup process, select the

button. The Steering Kit Status screen appears.

To go back to the Steering Settings menu, select the button.

8. Both of the CAN Bus Connected and Steering Kit Active indicators on the Steering

Kit Status screen should have a icon to their left. If they do not it is necessary to diagnose and correct the problems, otherwise it will not be possible to

engage auto-steer. Refer to Section "5.2.1 Troubleshooting Steer Kit and CAN Bus Problems" for suggestions.

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9. To proceed with the steer kit setup, select the button. What screen appears

next is dependent on the steer kit that is selected.

To go back to the previous screen, select the button.

If the Steer Configuration screen appears, the operator has the opportunity to write the configuration to the steering controller. Caution must be exercised before writing the configuration to the steering controller, to ensure that the steering controller does not contain any configuration that is needed, as the send configuration operation will overwrite any existing configuration in the steering controller with factory defau lt settings.

10. If the Steer Configuration screen appears, and you are certain that the steering controller needs to have configuration written to it, select Configure in the list.

If you are unsure about writing configuration to the steering controller, or you know that the steering controller is configured, select Skip in the list.

11. To proceed with the steer kit setup, select the button. A message appears informing you of whether the configuration was successfully sent to the steering

controller. What screen appears next is dependent on the steer kit that is selected.

To return to the Steering Kit Status screen, select the button.

If the Steer Kit Options screen appears, the options available on the Steer Kit Options screen depend on the functionality supported by the selected steer kit. Stationary Engage and Reverse Steering may be available. For information on the Stationary Engage and Reverse Steering functionality, refer to Section "5.4.1 Stationary Engage and Reverse Steering".

12. To enable Stationary Engage, select the Stationary Engage checkbox.

13. To enable Reverse Steering, select the Reverse Steering checkbox. Note that if Reverse Steering is enabled, then Stationary Engage is automatically enabled because Reverse Steering requires Stationary Engage to be enabled. Conversely, if Stationary Engage is disabled then Reverse Steering is automatically disabled.

14. Adjust the Stationary Engage Time Limit as necessary for your system.

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15. For some steer kits setup is now complete, and you are returned to the main

navigation screen when the button is selected. For other steer kits, the Steering Calibration screen appears.

To cancel any settings and go back to the previous screen, select the button.

16. If the Steering Calibration screen appears, locate the vehicle in a place where it is safe to perform full lock turns, that is, an area free of obstacles. A series of dialogue screens is going to appear to guide you through the steering calibration process. The screens that appear are dependent on the steering kit that is selected and configured. Below is an example steer kit calibration process.

17. Follow the directions on the screen and drive at 4 km/h to perform the steering calibration.

When you are driving at 4 km/h and are ready to proceed with the steer kit cali-

bration, select the button. The next steering calibration screen appears.

To return to the Steering Settings menu and not complete the steer kit calibration,

select the button.

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18. Follow the directions on the screen, and turn the wheels to full lock to the left.

To proceed with the steer kit calibration, select the button. The Progress of Adjustment screen appears showing the progress of this stage of the steering

calibration.

Once complete, the next steering calibration screen appears. To return to the Steering Settings menu and not complete the steer kit calibration,

select the button.

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19. Follow the directions on the screen, and turn the wheels to full lock to the right.

To proceed with the steer kit calibration, select the button. The Progress of Adjustment screen appears showing the progress of this stage of the steering

calibration. Once complete, the next steering calibration screen appears.

To return to the Steering Settings menu and not complete the steer kit calibration,

select the button.

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20. Follow the directions on the screen and center the wheels.

To proceed with the steer kit calibration, select the button. The Progress of Adjustment screen appears showing the progress of this stage of the steering

calibration.

Once complete, the next steering calibration screen appears. To return to the Steering Settings menu and not complete the steer kit calibration,

select the button.

21. To complete the steer kit calibration, and return to the main navigation screen,

select the button.

To return to the Steering Settings menu and not complete the steer kit calibration,

select the button.

22. Test the auto-steer function to ensure that it is operating as expected. Refer to Section "5.6 Testing Auto-Steer".

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5.2.1 Troubleshooting Steer Kit and CAN Bus Problems

If the Steering Kit Status screen indicates that there is a problem with either the CAN Bus connection or the Steering Kit, or both, check that:

• the steer kit selected in the configuration matches the steer kit physically installed in the vehicle.

• the steer kit’s cable is correctly connected to the mojoXact port expansion cable.

• the steer kit has power and is turned on.

5.3 Steer Kit Status

Information is not available for all steer kits and for those that it is available for, what is displayed is dependent on the configured steer kit. The Steer Kit Information button in the Steering Settings menu is only selectable if the configured steer kit has information available.

Steer kit information, step-by-step

To find out about the steer kit that is currently configured, carry out the following steps:

1. On the main navigation screen, select the Settings button. The Settings menu appears.

2. Select the Steering Settings button. The Steering Settings menu appears.

3. Select the Steer Kit Information button. The Steer Kit Information screen appears. The information

displayed is dependent on the steer kit that is currently configured.

4. To proceed to the main navigation screen, select the button.

To go back to the Steering Settings menu, select the button.

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5.4 Steer Kit Calibration

Steer kit calibration, step-by-step



To calibrate the steer kit, carry out the following steps:

Calibrating the steer kit involves driving the vehicle at 4 km/h and being able to turn the vehicle on full lock to the left and right. Ensure the vehicle is situated where this is possible and there are no obstacles.

1. On the main navigation screen, select the Settings button. The Settings menu appears.

2. Select the Steering Settings button. The Steering Settings menu appears.

3. Select the Steer Kit Calibration button. The Steering Calibration screen appears.

4. Locate the vehicle in a place where it is safe to perform full lock turns, that is, an area free of obstacles. A series of dialogue screens is going to appear to guide you through the steering calibration process. The screens that appear are dependent on the steering kit that is selected and configured. Below is an example steer kit calibration process.

5. Follow the directions on the screen and drive at 4 km/h to perform the steering calibration.

When you are driving at 4 km/h and are ready to proceed with the steer kit cali-

bration, select the button. The next steering calibration screen appears.

To return to the Steering Settings menu and not complete the steer kit calibration,

select the button.

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6. Follow the directions on the screen, and turn the wheels to full lock to the left.

To proceed with the steer kit calibration, select the button. The Progress of Adjustment screen appears showing the progress of this stage of the steering

calibration.

Once complete, the next steering calibration screen appears. To return to the Steering Settings menu and not complete the steer kit calibration,

select the button.

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7. Follow the directions on the screen, and turn the wheels to full lock to the right.

To proceed with the steer kit calibration, select the button. The Progress of Adjustment screen appears showing the progress of this stage of the steering

calibration.

Once complete, the next steering calibration screen appears. To return to the Steering Settings menu and not complete the steer kit calibration,

select the button.

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8. Follow the directions on the screen and center the wheels.

To proceed with the steer kit calibration, select the button. The Progress of Adjustment screen appears showing the progress of this stage of the steering

calibration.

Once complete, the next steering calibration screen appears. To return to the Steering Settings menu and not complete the steer kit calibration,

select the button.

9. To complete the steer kit calibration, and return to the Steering Settings menu,

select the button.

To return to the Steering Settings menu and not complete the steer kit calibration,

select the button.

10. Test the auto-steer function to ensure that it is operating as expected. Refer to Section "5.6 Testing Auto-Steer".

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5.4.1 Stationary Engage and Reverse Steering

Overview The mojoXact Plus supports stationary engage which allows the auto-steer system to

Using stationary engage, step-bystep

be engaged before the vehicle moves. This allows the operator to concentrate on other tasks when the vehicle begins to move. Stationary engage also allows the vehicle to stop for a moment and then take off again without the operator having to manually re-engage the auto-steer system.

Reverse steering allows the operator to engage auto-steer while in reverse. Reverse steering is supported by some mojoXact Plus steering platforms and vehicles.

 



Once Stationary Engage is enabled, auto-steer can be armed before the vehicle starts moving. To use stationary engage, carry out the following steps:

Reverse steering is only permitted on straight wayline types, that is, AB Parallel Guidance and A+ Heading Guidance.

Stationary engage will automatically disengage if the vehicle has not moved for a configured amount of time. By default this amount of time is 15 seconds, but it can be configured to a value between 1 and 30 seconds.

Enabling reverse steering requires stationary engage to be enabled. This allows the operator to auto-steer while driving forwards, then stop, then drive in reverse, and the vehicle will continue to auto-steer without the operator having to manually re-engage auto-steer. The operator can then stop, go forward again and the auto-steer is still engaged. This can be repeated a number of times without the operator needing to re-engage the auto-steer.

1. Ensure that roading is turned off (see Section "5.1.1 Roading Safety Feature").

2. Ensure that a wayline is set or loaded to auto-steer along (see Chapter "7 Guidance").

3. While the vehicle is stationary, tap the button.

The auto-steer button goes green with a pause symbol, signifying that auto-steer is armed, but not engaged.

4. Start moving the vehicle. The auto-steer system will automatically engage if the vehicle is close enough to the wayline and is not attacking the line too steeply, and the auto-steer button

goes green (no pause symbol). Otherwise the auto-steer system waits until these criteria are met before engaging.



Using reverse engage, step-bystep

62 Auto-Steer, Leica mojoXact Plus

Reverse steering allows the operator to drive the vehicle forward and then in reverse and forward again without having to manually re-engage the auto-steering. Reverse steering requires stationary engage to be enabled. Without stationary engage enabled, the auto-steer system will disengage as the vehicle slows down between forward motion and reverse.

If the vehicle does not move before the stationary engage time limit elapses or the auto-steer engage criteria are not met before the time limit, stationary engage will disarm and the auto-steer button changes to .

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To use reverse engage carry out the following steps:

1. Ensure that the reverse engage criteria below are met:

• the vehicle must be less than 1 (one) meter from the line.

• the vehicle must have an attack angle with the line of less than 20 degrees.

• the vehicle must be travelling at less than 10 km/h (6 mph).

• stationary engage must be enabled.

• reverse steering must be enabled.

2. Engage auto-steer while driving in reverse.

If auto-steer is engaged with the vehicle driving forwards, and the vehicle is on an AB or A+ heading wayline, and stationary engage is enabled, then reverse engage can be used by driving in reverse, providing the time between the forward and reverse motion is shorter than the stationary engage time limit.

The vehicle can be driven between forward and reverse as many times as needed, and the auto-steer system will remain engaged as long as the vehicle is not stopped for longer than the stationary engage time limit.

5.5 Tuning Auto-Steer Performance

General information

 

The tuning of the mojoXact Plus is pre-loaded based on your selected vehicle/steering kit type and should be a reasonable starting point for tuning refinement. To refine the tuning of the system, there are four parameters:

• Sensitivity

• Aggressiveness

•Overshoot

• Speed Adjust

For optimal performance, the system tuning must be refined for your steering kit/vehicle.

Auto-steer should be engaged during the tuning process, so you can see the result of any changes immediately, and the vehicle’s speed should be 5 km/h (3 mph).

5.5.1 Tuning Procedure

Tuning the steering, step-bystep

Leica mojoXact Plus, Auto-Steer 63

To adjust the tuning settings for the auto-steering, carry out the following steps:

1. On the main navigation screen, select the Settings button. The Settings menu appears.

2. Select the Steering Settings button. The Steering Settings menu appears.

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3. Select the Tuning button.

150%

100%

50%

mojoRTK_011

The first screen of the tuning wizard (Sensitivity) appears.

• All four tuning settings can be changed by either directly entering

the new value, or using the - button to decrease the value or the + button to increase the value.

• Each setting has a range from 50 to 150.

• The auto-steer performance is shown in the panel on the right

hand side of the screen.

• To accept the tuning setting value and move to the next tuning

setting in the wizard, select the button.

• To cancel the new tuning setting value and return to the previous

screen, select the button.

• Auto steering can be engaged/disengaged from any of the tuning

screens.

5.5.2 Sensitivity

Explanation The sensitivity controls the rate that the vehicle turns and how sensitive the steering

is when it is on the line. Sensitivity should be the only parameter that you need to adjust (in the future) to adapt the control performance to the current working conditions after this tuning refinement procedure is initially completed.

The sensitivity can be set between 50% and 150%. The standard setting is 100%. In general, higher sensitivity is for slower travelling speed, and lower sensitivity is for faster speed.

Different sensitivity settings and their approach to the working line are shown in this graphic:

Setting the sensi-

1. The Sensitivity screen of the tuning wizard, shown below, should be visible.

tivity, step-by-step

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2. To adjust the sensitivity, either enter the new value directly into the field, or use

150%

100%

50%

mojoRTK_012

the - button to decrease the value or the + button to increase the value.

3. To accept the sensitivity value and progress to the next screen in the tuning

wizard, select the button.

To cancel the changes made to the sensitivity value and return to the Steering

Settings menu, select the button.

5.5.3 Aggressiveness

Explanation The aggressiveness controls the rate that the vehicle attacks the line and how well it

holds the line.

The aggressiveness can be set between 50% and 150%. The standard setting is 100%.

Different aggressiveness settings and their approach to the working line are shown in this graphic:

Setting the aggres-

1. The Aggressiveness screen of the tuning wizard, shown below, should be visible.

siveness, step-bystep

2. To adjust the aggressiveness, either enter the new value directly into the field, or use the - button to decrease the value or the + button to increase the value.

3. To accept the aggressiveness value and progress to the next screen in the tuning

wizard, select the button.

To cancel the changes made to the aggressiveness value and return to the Sensi-

tivity screen of the tuning wizard, select the button.

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5.5.4 Overshoot

150%

100%

50%

mojoRTK_013

Explanation The overshoot value controls the rate at which the vehicle drives at the line and the

rate that the vehicle will round off as it approaches the line. A low value will cause the vehicle to hold off the line longer while a high value will cause the vehicle to converge quickly and possibly drive past the line.

The overshoot can be set between 50% and 150%. The standard setting is 100%.

Different overshoot settings and their approach to the working line are shown in this graphic:

Setting the over-

1. The Overshoot screen of the tuning wizard, shown below, should be visible.

shoot, step-bystep

2. To adjust the overshoot, either enter the new value directly into the field, or use the - button to decrease the value or the + button to increase the value.

3. To accept the overshoot value and progress to the next screen in the tuning

wizard, select the button.

To cancel the changes made to the overshoot value and return to the Aggressive-

ness screen of the tuning wizard, select the button.

5.5.5 Speed Adjust

Explanation The speed adjust should be used to fine tune the performance of the control system

66 Auto-Steer, Leica mojoXact Plus

for higher speeds than the tuning speed of 5 km/h (3 mph). Typically, the vehicle can steer side to side at higher speeds, and this can be resolved by reducing the speed adjust. If the vehicle does not hold the line well at the desired speed, then increase the speed adjust.

The speed adjust can be set between 50% and 150%. The standard value is 100%.

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The speed adjust has no effect at or below 5 km/h (3 mph).

Setting the speed adjust, step-bystep

1. The Speed Adjust screen of the tuning wizard, shown below, should be visible.

2. To adjust the Speed Adjust, either enter the new value directly into the field, or use the - button to decrease the value or the + button to increase the value.

3. To accept the Speed Adjust value and complete the tuning wizard, returning to

the main navigation screen, select the button.

To cancel the changes made to the Speed Adjust value and return to the Over-

shoot screen of the tuning wizard, select the button.

5.5.6 Tuning Tips

General tuning tips When dealing with the tuning, each parameter must be treated separately, even

though they may have interactions between them.

When tuning for:

• turning rate and twitch on the line, use Sensitivity.

• line holding, oscillations, and line approach speed, use Aggressiveness.

• amount of overshoot or undershoot, use Overshoot.

• variation over speed, use Speed Adjust.

It is recommended that these parameters are set and tested at 5 km/h (3 mph) until they are correct, and then tuning is done for higher speeds using only the Speed

Adjust parameter.

In-depth tuning tips

Leica mojoXact Plus, Auto-Steer 67

Symptom Resolution

Vehicle is too slow to approach the line. Increase the Aggressiveness.

Vehicle is too fast to approach the line or the vehicle oscillates.

Vehicle straightens up before it gets to the line. Increase the Overshoot.

Vehicle drives past the line then comes back onto the line.

Decrease the Aggressiveness.

Decrease the Overshoot.

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Symptom Resolution

Vehicle turns very slowly to drive toward the line.

Vehicle turns very aggressively to drive toward the line and twitches when on the line.

Vehicle oscillates - only at higher speeds. Reduce the Speed Adjust.

Vehicle does not hold the line - only at higher speeds.

5.6 Testing Auto-Steer

Increase the Sensitivity.

Reduce the Sensitivity.

Increase the Speed Adjust.

Explanation The steering test is conducted to ensure that the steering works and that the vehicle

is steering left when the system pulses the steering left and that the vehicle is steering right when the system pulses the steering right.

Testing of the auto-steer function is available for some steer kits. There are two tests available: Open Loop and Closed Loop. Some steer kits support both tests and some support only one. Steering must be engaged to perform either test and the Override sensor is active during both tests. If you are performing a Closed Loop test, steering calibration must be performed first. Refer to Section "5.4 Steer Kit Calibration".

The Open Loop test:

• disregards all sensors except the Override sensor, so it is used for steer kits that do not provide feedback from the sensors.

• does NOT require the steer kit to be calibrated.

• does NOT require a position fix.

• allows the actuators of the steer kit to be tested without the use of the wheel angle sensor. This is useful for checking the direction of the actuator and checking the lock to lock time.

The Closed Loop test:

• may be used to check that the wheel angle sensor is working and that any custom parameters are set correctly.

• will control the wheels to a desired angle.

• does require the steer kit to be calibrated.

• is used for steer kits that can provide feedback from the sensors.

A steering test should be conducted whenever any of the following occur:

• a steer kit is initially installed, setup and calibrated.

• a change is made to the steer kit setup.

• the steer kit is re-calibrated.



68 Auto-Steer, Leica mojoXact Plus

Testing the auto-steer involves driving the vehicle and steering to the left and right. Ensure the vehicle is situated where this is possible, safe and there are no obstacles.

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Testing the autosteer function, step-by-step

To perform a test on the auto-steer function, carry out the following steps:

1. On the main navigation screen, select the Settings button. The Settings menu appears.

2. Select the Steering Settings button. The Steering Settings menu appears. If testing is not supported by

the configured steer kit, then the Auto-Steer Test button is greyed out and not available for selection.

3. Select the Auto-Steer Test button. The Steering Test screen, shown below, appears.

For steer kits that support both the Open Loop test and the Closed Loop test, the screen displays both options. To perform an Open Loop test select the Open Loop Test checkbox, or to perform a Closed Loop test, select the Closed Loop Test checkbox.

For steer kits that only support one type of steering test, the screen that appears is relevant to that test and provides instructions on how to proceed.

Closed loop test example

Leica mojoXact Plus, Auto-Steer 69

The steps below are for a Closed Loop steering test:

1. To proceed with the steering test, select the button. The Steering Test

warning screen appears. To cancel the steering test and return to the Steering Settings menu, select the

button.

2. Check that the manual steering of the vehicle is safe and satisfactory.

3. To proceed with the steering test, select the button.

To cancel the steering test and go back to the Steering Settings menu, select the

button.

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4. As instructed by the Steering Test screen, stop the vehicle and center the wheels.

5. To proceed with the steering test, select the button.

To cancel the steering test and return to the Steering Settings menu, select the

button.

6. If the auto-steer is not engaged, the next screen tells you that the Steering Kit is ready to be engaged.

7. To proceed with the steering test, select the button.

To cancel the steering test and return to the previous Steering

Settings menu, select the button.

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The screen shown below appears.

8. To engage the steering, select the Auto-steer Engage button.



10. Select the center button, and check that the steering wheel turns

11. Select the turn right button, and check that the steering wheel

12. After completing the steering tests, select the button to return to the Steering

Auto-steer can be turned off at any time, by selecting the onscreen engage button or by manually moving the steering wheel.

9. Select the turn left button, and check that the steering wheel turns to the left. If the steering wheel does not turn to the left, the problem needs to be corrected. Refer to Section "5.6.1 Troubleshooting Steering Test Issues".

to the center position. If the steering wheel does not turn to the centered position, the problem needs to be corrected. Refer to Section "5.6.1 Trouble-

shooting Steering Test Issues".

turns to the right. If the steering wheel does not turn to the right, the problem needs

to be corrected. Refer to Section "5.6.1 Troubleshooting Steering Test Issues".

Settings menu. If the tests are completed successfully then the auto-steer function is ready for

use. If any of the tests failed, then the faults need to be diagnosed and corrected, and the auto-steer test repeated before auto-steer is used.

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5.6.1 Troubleshooting Steering Test Issues

If problems occur during the steering test, such as the steering wheel does not turn in the desired direction or does not return to the centered position when expected:

• recalibrate the steer kit (refer to Section "5.4 Steer Kit Calibration").

• check that the steer kit configured matches the physical steer kit installed.

• check that the cables between the steer kit and the mojoXact Plus are correctly connected.

• check that the steer kit is correctly installed, has power and is turned on.

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6 Correction Sources

Overview The mojoXact Plus can be configured to use one of the following correction sources

for position data:

• GL1DETM - can be configured as the only source of position data for a mojoXact Plus, utilising the GPS antenna installed on the vehicle, or as the backup for position data in the event that the connection to the configured correction source fails.

• Network RTK - utilises a network of permanent base stations operated by a network provider, and therefore there is no need for a local base station. Network RTK offers very quick convergence times compared to the other correction sources available. The Network RTK base stations are survey quality and mounted in fixed positions, offering repeatability from year to year.

• Internal Radio (RTK Base Station) - utilises a local base station for position data.

• External Radio - utilises an external base station or a UHF or VHF radio for position data.

Each correction source and how to configure it for a mojoXact Plus that is used with a third-party terminal, is discussed in the sections below. For information on correction sources when the mojoXact Plus is used with a Leica mojo3D, refer to the Leica mojo3D User Manual.

6.1 GL1DE

Overview GL1DETM can be used in two ways by the mojoXact Plus. The first is to use GL1DETM

as the only correction source for position data. The second is to use GL1DETM as a fallback when the signal to the configured correction source (such as Network RTK or RTK Base Station (Internal Radio)) is lost. The loss of signal may be due to terrain, vegetation or interference.

The mojoXact Plus must be receiving GPS data for GL1DETM to work. When the

mojoXact Plus is receiving GPS data, displays in the Information Area of the main

navigation screen. Less bars display if the connection is weak. If there is no GPS

connection then is displayed and the problem needs to be resolved:

• Check the GPS antenna and cables for damage. If either is damaged it may be necessary to have them replaced.

• Check that the GPS antenna is not obstructed and ensure that it has a clear view of the sky.

• If there is still no GPS connection, restart the mojoXact Plus.

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Configuring

GL1DE

as the only correction source, step-bystep

To configure GL1DE

as the only correction source, carry out the following steps:

1. At the main navigation screen, select the Settings button. The Settings menu appears.

2. Select the Correction Settings button. The Correction Settings menu appears.

3. Select the GL1DETM Only button.

The GL1DETM Only screen appears.

4. To accept GL1DE

as the correction source setting and return to the main navi-

gation screen, select .

OR To make no change to the correction source settings and return to the main navi-

gation screen, select .

When the mojoXact Plus is using GL1DETM, the GL1DETM icon displays near the bottom of the main navigation screen on the left. If there is a good connection, this

icon displays. If a connection error occurs then displays and the problem

needs to be investigated. A connection error occurs if a GL1DETM fix has not been obtained and/or no GPS data is being received. The Position Status screen (refer to Section "9.2 Position Information") provides information on the number of satellites

in use and the GL1DETM Fix Quality - a value of 2 indicates that a fix has been achieved. If there are no satellites being tracked or used:

• Check the GPS antenna and cables for damage. If either is damaged it may be necessary to have them replaced.

• Check that the GPS antenna is not obstructed and ensure that it has a clear view of the sky.

• If there is still no GPS connection, restart the mojoXact Plus.

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If satellites are in use, but a GL1DE to wait a few minutes after the GPS connection is achieved, for the GL1DE

occur. If this does not happen, restart the mojoXact Plus.

fix has not been obtained, it may be necessary

fix to



Configuring GL1DETM as a fallback, step-by-step

Note that when using GLI1DETM fallback, the position will no longer be accurate. If repeatability is needed then fallback should not be enabled.

If Network RTK, Internal Radio or External Radio is configured as the correction source for a mojoXact Plus system, then the operator has the option to configure

GL1DETM as the fallback position type should the other one fail.

To configure GL1DETM as the fallback correction source, carry out the following steps:

1. At the main navigation screen, select the Settings button. The Settings menu appears.

2. Select the Correction Settings button. The Correction Settings menu appears.

3. Configure Internal Radio, External Radio or Network RTK. The last screen of their configuration is the GL1DETM Fallback screen.

4. To enable GL1DETM Fallback select the Enable Fallback checkbox.

• Time Limit is the time in minutes that the system will use the GL1DETM correc-

tion source. If the originally configured correction source has not come back online in this time period, then auto-steer is disabled.

• Drift Limit - if the originally configured correction source comes back online

and the drift from the wayline is less than this value (in the units of the configured region) then auto-steer remains enabled. However, if the drift from the wayline is greater than this value, then auto-steer is disabled.

5. Adjust the values for Time Limit and Drift Limit, as applicable for your system.

6. To return to the main navigation screen, select .

To leave the values unchanged, and return to the previous screen, select .

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6.2 Network RTK

Overview A mojoXact Plus can utilise a network of permanent base stations operated by a

Benefits Network RTK offers very quick convergence times compared to other correction

Limitations Network RTK can only be used when a good connection to the internet is present.

network provider by using the Network RTK feature. This means there is no need for a local base station.

sources available. The Network RTK base stations are survey quality and mounted in fixed positions, offering repeatability from year to year.

For an internet connection to be possible, the following must have occurred:

• The cell modem’s SIM Card must be installed correctly and you must have a data plan for the SIM Card. Refer to Section "2.4 SIM Card Installation".

• The cell modem must be set up with the information provided by the data plan provider. Refer to Section "3.6.2 Cell Modem Settings".

• If an external modem is being used, it must be connected to the ethernet cable on the power harness.

To check that you have an internet connection

• Check the Cell Modem icon that displays in the Information Area at the bottom

of the main navigation screen. indicates a successful connection with good

signal strength, indicates that the connection is successful but the signal

strength is poor and indicates that the connection was not successful.

• Check that the errors list does not contain the "No internet available" error. Refer to Section "9.6 Error Notifications".

• Check that the cell modem (including its cable) is not damaged and is connected to the mojoXact Plus.

In order to use Network RTK, it is necessary to be within the bounds of the network being used. Only correction streams providing CMR, CMR+ or RTCM 3 format corrections are supported. GLONASS is only supported with the RTCM 3 format.



Loading unlock codes onto the mojoXact Plus

Leica mojoXact Plus, Correction Sources 77

There are two ways that the unlock codes can be loaded onto the mojoXact Plus:

Before a mojoXact Plus can be configured to use Network RTK, unlock codes are required for a Network Upgrade and a Network Data Plan. Contact your dealer to obtain the required redeeming vouchers.

1. Connect the mojoXact Plus to Virtual Wrench (refer to Chapter "10 Virtual Wrench Remote Service"). Once connected, the new codes are automatically loaded onto the mojoXact Plus.

2. Enter the codes manually via the mojoXact Plus, as described in Section "3.7 Feature Unlock".

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Once the codes are entered, confirm that the Network RTK upgrade and the Network Data Plan are both unlocked by carrying out the following steps:

1. At the main navigation screen, select the Settings button. The Settings menu appears.

2. On the Settings menu, select the System Settings button. The System Settings menu appears.

3. On the System Settings menu, select the Feature Settings button.

The Features screen appears, with a list of features and their availability, that is, whether they are locked or unlocked.

4. Confirm that Network Upgrade and Network Data Plan are unlocked.

To return to the main navigation screen, select .

To return to the System Settings menu, select .

Enabling Network RTK, step-by-step

78 Correction Sources, Leica mojoXact Plus

The Network Upgrade and Network Data Plan features must be unlocked for the mojoXact Plus and the cell modem must be configured and have a good connection.

To enable Network RTK as the correction source, carry out the following steps:

1. At the main navigation screen, select the Settings button. The Settings menu appears.

2. Select the Correction Settings button. The Correction Settings menu appears.

3. Select the Network RTK button. The Network RTK screen appears. It allows you to enter the server and login details for the connection.

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4. At the Network RTK screen, enter the data provided by your Network Data Plan (RTK) Provider, in the Host, Port, Username and Password fields.

5. To proceed with the configuration of Network RTK as the correction source,

select . The second Network RTK screen appears.

To return to the Correction Settings menu and not save the values entered at the

Network RTK screen, select .

The second Network RTK screen appears and the mojoXact Plus downloads a list of available data streams from the network server. A stream is a combination of correction format and base location.

6. Select a stream from the list. Information about the stream appears on the right side of the screen.



Leica mojoXact Plus, Correction Sources 79

The distance to the reference source shown on the right is a guide only and may be incorrect. Some servers provide a virtual correction location that can only be assigned to a location close to you once you have connected to the data stream. Until that time, the reported distance is meaningless.

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7. Once a stream is selected, select to establish a connection with the correc-

tion source and proceed to the Correction Source Status screen. To return to the initial Network RTK screen and cancel the stream selection,

select .

8. If all details are entered correctly, the system attempts to connect to the correction source. This may take some time and if successful the Correction Source

Status screen appears with a in front of Receiving Correction Data.

9. If the connection is successful, tap to proceed to the GL1DETM Fallback screen.

If the connection was not successful (indicated by a in front of Receiving

Correction Data), select the button to go back to the Correction Settings

menu. If the connection fails, you can proceed to the GL1DETM Fallback screen; that is, you are not forced to fix the connection problem, although it is recommended that you do.

If the connection is not successful:

• Check that the Network RTK settings are correct (Host, Port, Username, Pass-

word and Stream).

• Check that the cell modem connection is established.

• Check that you have an internet connection, as explained in the Limitations

section previously.

• Check that you have a GPS connection, as explained in Section "6.1 GL1DE".

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On the GL1DETM Fallback screen the operator can choose to have the system use the GL1DE

correction source in the event that the Network RTK correction

source fails, by selecting the Enable Fallback checkbox.

• Time Limit is the time in minutes that the system will use the GL1DE

correction source. If the Network RTK correction source has not come back online in this time period, then auto-steer is disabled.

• Drift Limit - if the Network RTK correction source comes back online and the drift from the wayline is less than this value (in the units of the configured region) then auto-steer remains enabled. However, if the drift from the wayline is greater than this value, then auto-steer is disabled.

10. Select or deselect the Enable Fallback checkbox.

11. If GL1DETM Fallback is being utilised, adjust the values for the Time Limit and Drift Limit, as applicable for your system.

12. To complete the Network RTK configuration and begin using the system, select

. You are returned to the main navigation screen.

To make no changes to the GL1DETM Fallback settings and return to the Correc-

tion Source Status screen, select .

When the mojoXact Plus is using Network RTK, a network status icon displays near the bottom of the main navigation screen on the left. If there is a good

connection, an icon similar to displays. Less bars display if the connection

is weak. If a connection error occurs then displays and to diagnose the problem:

• Check that the Network RTK settings are correct (Host, Port, Username, Pass-

word and Stream).

• Check that the cell modem connection is established.

• If an external modem is being used, ensure that it has power, is connected and

has a signal - refer to the modem’s documentation.

• Check that you have an internet connection, as explained in the Limitations

section previously.

• Check that you have a GPS connection, as explained in Section "6.1 GL1DE".

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6.3 Internal Radio (RTK Base Station)

Overview A mojoXact Plus can utilise a local base station for position data and this is referred



Enabling Internal Radio, step-bystep

to as using an Internal Radio or RTK Base Station.

This functionality is not available in Russia.

To enable Internal Radio (RTK Base Station) as the correction source, carry out the following steps:

1. At the main navigation screen, select the Settings button. The Settings menu appears.

2. Select the Correction Settings button. The Correction Settings menu appears.

3. Select the Internal Radio button. The Internal Radio screen appears.

4. Select the channel from the list. The channel must be the same as the channel that is configured for the base station.

5. Select the Reference Format from the list. The reference format must be the same as the reference format that is configured for the base station.

6. To accept the selected values, select to establish a connection with the correction source and proceed to the Correction Source Status screen. To return to the Correction Settings menu and cancel the channel and reference

format selections, select .

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7. If all details are entered correctly, the system attempts to connect to the correction source. This may take some time and if successful the Correction Source

Status screen appears with a in front of Receiving Correction Data and a

status bar indicating the strength of the connection.

8. If the connection is successful, select to proceed to the GL1DETM Fallback

screen.

If the connection is not successful (indicated by a in front of Receiving

Correction Data), select the button to go back and make the necessary

changes. You can proceed to the GL1DETM Fallback screen; that is, you are not forced to fix the connection problem, although it is recommended that you do.

If the connection is not successful:

• Check that the Internal Radio settings (Channel and Reference Format) match

these same settings on the base station.

• Check that the radio (whip) antenna mounted on the GPS antenna on the

vehicle’s cab, has line of sight with the base station and this is not obstructed by buildings, trees, etc.

• Check the radio (whip) antenna for damage.

• Check that the base station is turned on, receiving GPS data and has a position

fix.

Leica mojoXact Plus, Correction Sources 83

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On the GL1DETM Fallback screen the operator can choose to have the system use the GL1DE

correction source in the event that the Internal Radio correction

source fails, by selecting the Enable Fallback checkbox.

• Time Limit is the time in minutes that the system will use the GL1DE

correction source. If the Internal Radio correction source has not come back online in this time period, then auto-steer is disabled.

• Drift Limit - if the Internal Radio correction source comes back online and the drift from the wayline is less than this value (in the units of the configured region) then auto-steer remains enabled. However, if the drift from the wayline is greater than this value, then auto-steer is disabled.

9. Select or deselect the Enable Fallback checkbox.

10. If GL1DETM Fallback is being utilised, adjust the values for Time Limit and Drift Limit, as applicable for your system.

11. To complete the Internal Radio configuration and begin using the system, select

. You are returned to the main navigation screen.

To make no changes to the GL1DETM Fallback settings and return to the Correc-

tion Source Status screen, select .

When the mojoXact Plus is using Internal Radio, a base station icon displays near the bottom of the main navigation screen on the left. If there is a good connec-

tion, an icon similar to displays. Less bars display if the connection is

weak. If a connection error occurs then displays. To diagnose a connec-

tion error:

• Check that the Internal Radio settings (Channel and Reference Format) match

these same settings on the base station.

• Check that the radio (whip) antenna mounted on the GPS antenna on the

vehicle’s cab, has line of sight with the base station and this is not obstructed by buildings, trees, etc.

• Check the radio (whip) antenna for damage.

• Check that the base station is turned on, receiving GPS data and has a position

fix.

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6.4 External Radio

Overview The mojoXact Plus can utilise an external base station or a UHF or VHF radio for posi-

Enabling External Radio, step-bystep

tion data. These are configured as an External Radio correction source.

To enable External Radio as the correction source, carry out the following steps:

1. At the main navigation screen, select the Settings button. The Settings menu appears.

2. Select the Correction Settings button. The Correction Settings menu appears.

3. Select the External Radio button. The External Radio screen appears.

4. Select the Parity from the list. The parity must be the same as the parity that is configured for the external radio.

5. Select the Reference Format from the list. The reference format must be the same as the reference format that is configured for the external base station.

6. Select the Baud Rate from the list. The baud rate must be the same as the baud rate that is configured for the external radio.

7. To accept the selected values, select to establish a connection with the

correction source and proceed to the Correction Source Status screen. To return to the Correction Settings menu and cancel the parity, reference

format and baud rate settings, select .

Leica mojoXact Plus, Correction Sources 85

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8. If all details are entered correctly, the system attempts to connect to the correction source. This may take some time and if successful the Correction Source

Status screen appears with a in front of Receiving Correction Data.

9. If the connection is successful, select to proceed to the GL1DETM Fallback

screen.

If the connection is not successful (indicated by a in front of Receiving

Correction Data), you can select the button to go back and make the neces-

sary changes. You can proceed to the GL1DETM Fallback screen; that is, you are not forced to fix the connection problem, although it is recommended that you do so.

If the connection is not successful:

• Check that the External Radio settings (Parity, Reference Format and Baud

Rate) match these same settings on the external radio and base station.

• Check that the radio (whip) antenna mounted on the GPS antenna on the

vehicle’s cab, has line of sight with the radio and this is not obstructed by buildings, trees, etc.

• Check the radio (whip) antenna for damage.

• Check that the external radio is turned on, receiving GPS data and has a posi-

tion fix.

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On the GL1DETM Fallback screen the operator can choose to have the system use the GL1DE

correction source in the event that the External Radio correction

source fails, by selecting the Enable Fallback checkbox.

• Time Limit is the time in minutes that the system will use the GL1DE

correction source. If the External Radio correction source has not come back online in this time period, then auto-steer is disabled.

• Drift Limit - if the External Radio correction source comes back online and the drift from the wayline is less than this value (in the units of the configured region) then auto-steer remains enabled. However, if the drift from the wayline is greater than this value, then auto-steer is disabled.

10. Select or deselect the Enable Fallback checkbox.

11. If GL1DETM Fallback is being utilised, adjust the values for Time Limit and Drift Limit, as applicable for your system.

12. To complete the External Radio configuration and begin using the system, select

. You are returned to the main navigation screen.

To make no changes to the GL1DETM Fallback settings and return to the Correc-

tion Source Status screen, select .

When the mojoXact Plus is using External Radio, a base station icon displays near the bottom of the main navigation screen on the left. If there is a good connec-

tion, an icon similar to displays. Less bars display if the connection is weak.

If a connection error occurs then displays. To diagnose a connection error:

• Check that the External Radio settings (Parity, Reference Format and Baud

Rate) match these same settings on the external radio and base station.

• Check that the radio (whip) antenna mounted on the GPS antenna on the

vehicle’s cab, has line of sight with the radio and this is not obstructed by buildings, trees, etc.

• Check the radio (whip) antenna for damage.

• Check that the external radio is turned on, receiving GPS data and has a posi-

tion fix.

Leica mojoXact Plus, Correction Sources 87

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6.5 Correction Source Status

Overview The Correction Source Status screen, shown below, provides information on the

status of the network or base station that is providing the correction data.

The following data is displayed for the Internal Radio correction source. For the Network RTK and External Radio correction sources, just the first six (6) items are

displayed. No data is displayed for the GL1DETM Only correction source.

• Base Position: The current latitude, longitude and altitude of the base station in decimal degrees format.

• Sats Tracked: The number of satellites being tracked by the base station.

• Reference Latency: The time in seconds since the last packet of useable reference data has been received by the mojoXact Plus. The ideal range is between

0.1 and 3 seconds. The reference latency is displayed as 60.00s when using GL1DETM or there is no reference data.

• Receiving Data: A indicates that the mojoXact Plus is receiving data from the

base station and a indicates that it is not.

• Distance: The distance between the base station and the mojoXact Plus.

• Packets Passed: The number of good packets of reference data received by the mojoXact Plus. This value should increase by one (1) every one or two seconds.

• SW Version: The current software version installed on the base station.

• Serial Number: The device and serial number of the base station.

• Low Battery: A indicates that there is currently a low battery warning

message on the base station, and a indicates that there is not.

• External Power: A indicates that the base station is using an external power

source, and a indicates that it is not.

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Displaying correction source status, step-by-step

To view the status of the configured correction source, carry out the following steps:

1. On the main navigation screen, select the Service button. The Service menu appears.

2. Select the Correction Source Information button. The Correction Source Status screen appears.

3. To return to the main navigation screen, select .

To return to the Service menu, select .

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7 Guidance

Waypoints Waypoints are used to define a line in the field to which all working lines will be

Pre-requisites for setting a wayline

parallel. Waypoints must be set before auto-steer can be used.

The mojoXact Plus supports AB Parallel guidance, A+ Heading guidance and Pivot guidance.

How to set these types of waylines when the mojoXact Plus is used with a third-party terminal is described below, along with wayline management, which includes, saving the active wayline, loading a saved wayline, changing a wayline’s name, deleting a wayline, deleting all waylines, exporting waylines to a USB memory key, importing waylines from a USB memory key, and setting a field offset. The nudge feature which allows the position to be adjusted to account for GPS drift over time is also described.

For information on how to set and manage waylines when the mojoXact Plus is used with a Leica mojo3D, refer to the Leica mojo3D User Manual.

Before a wayline can be set, the following pre-requisites need to be achieved:

• The mojoXact Plus should have been installed in accordance with the instructions in Chapter "2 System Installation" and powered up as instructed in Section "3.1 Starting Up".

• If Network RTK is used as the GPS correction source, then the cell modem must be set up and have a good connection status. Refer to Section "3.6.2 Cell Modem Settings".

• The vehicle and implement (if applicable) must be set up, including terrain compensation and mojoXact Plus orientation. Refer to Section "3.3 Initial Setup Wizard" or Chapter "4 Vehicles and Implements".

• The GPS correction source must be configured and have a good connection status. Refer to Chapter "6 Correction Sources".

• The GPS must have a good position fix as indicated by the symbol in the

Information Area of the main navigation screen. If the symbol displays then

there is a problem with the GPS connection that needs to be fixed before a waypoint can be set.

7.1 AB Parallel Guidance

General information

90 Guidance, Leica mojoXact Plus

In AB Parallel guidance, working lines are parallel, and are set by defining an initial waypoint (A) and a final waypoint (B).

When the vehicle reaches the end of each working line, the operator must disengage the auto-steer (usually by turning the steering wheel or using the auto-steer button) and turn the vehicle around before engaging on the next working line.

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Setting A-B waypoints, stepby-step

To set A-B waypoints, carry out the following steps:

1. On the main navigation screen, select the Guidance button. The Guidance menu appears.

2. Select the Set AB button. The Set AB menu appears.

3. Position your vehicle in the field where you want to start (waypoint A), and select the Set A button. The main navigation area of the screen shows where the starting waypoint is. The end waypoint (B) is grey indicating that the vehicle has not travelled far enough yet to set it.

4. Drive to your desired endpoint in the field (waypoint B), then select the Set B button.



Leica mojoXact Plus, Guidance 91

The Set B button remains greyed out until the minimum distance between waypoints A and B is travelled. The minimum distance is 30 meters (100 feet). The greater the distance between the waypoints, the better the accuracy of the working line. Where possible, set the waypoints at either end of the field.

The Save Wayline dialog box appears.

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When a wayline is set, the system allows the operator to save the wayline with a recognisable name so that it can be retrieved and re-used. If the operator chooses not to save the wayline now, it can be saved later using the save feature of Wayline Management (refer to Section "7.4 Wayline Management").

5. To save the wayline:

•select .

The Save Wayline screen appears. Enter a name of up to 17 characters

(including spaces) for the wayline, and select to return to the main navi-

gation screen. The wayline is now active and ready for use.

• to use the wayline without first saving it and return to the main navigation

screen, select .

7.2 A+ Heading Guidance

General information

Setting A+ heading guidance, step-bystep

In A+ heading guidance, working lines are parallel, and are set by defining an initial waypoint and a compass bearing.

To set up A+ heading guidance, carry out the following steps:

1. On the main navigation screen, select the Guidance button. The Guidance menu appears.

2. Select the Set A+ Heading button. The Set A+ Heading menu appears.

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3. Position your vehicle in the field at the point where you want to start (waypoint A), and select the Set A button.

The main navigation area of the screen shows where the starting waypoint is and the Heading field appears.

The heading (compass bearing) for the wayline can be set by entering a value in the Heading field. The Heading field is the true compass bearing, that is, North

is 0.00o, East is 90.00o, South is 180.00o and West is 270.00o.

4. To set the heading (compass bearing) for the wayline select the Heading field at the bottom of the screen and enter the heading (compass bearing) for the

wayline. Select .

The Save Wayline dialog box appears.

5. To save the wayline:

•select .

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The Save Wayline screen appears. Enter a name of up to 17 characters (including

spaces) for the wayline, and select to return to the main navigation screen.

The wayline is now active and ready for use. OR

• to use the wayline without first saving it and return to the main navigation

screen, select .

7.3 Pivot Guidance

General information

Setting pivot guidance, step-by-step

In pivot guidance, working lines are concentric circles and are defined by setting three waypoints.

When the vehicle reaches the end of each working line (circle), the operator must disengage the autosteer (usually by turning the steering wheel or using the auto-steer button) and move the vehicle to the next working line (circle) before engaging the auto-steer again.

To set up pivot guidance, carry out the following steps:

1. On the main navigation screen, select the Guidance button. The Guidance menu appears.

2. Select the Set Pivot button. The Set Pivot menu appears.

3. Position your vehicle in the field at the position where you want to start (waypoint A), and select the Set A button. The main navigation area of the screen shows where the starting waypoint is. The second and third waypoints (B and C) are grey indicating that the vehicle has not travelled far enough yet to set them.

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4. Drive to waypoint B, and select the Set B button.



The Set B button remains greyed out until the minimum distance between waypoints A and B is travelled. The minimum distance between waypoints A and B is 30 meters (100 feet). The greater the distance between the waypoints, the better the accuracy of the working line.

5. Drive to waypoint C, and tap the Set C button.

The Set C button remains greyed out until the minimum distance between waypoints B and C and waypoints A and C is travelled. Waypoint C must be at least 30 meters from waypoint A and at least 30 meters from waypoint B.

The Save Wayline dialog box appears.

6. To save the wayline:

•select .

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The Save Wayline screen appears. Enter a name of up to 17 characters

(including spaces) for the wayline, and select to return to the main navi-

gation screen. The wayline is now active and ready for use.

• to use the wayline without first saving it and return to the main navigation

screen, select .

7.4 Wayline Management

The mojoXact Plus provides the following wayline management features:

• saving the active wayline.

• loading a saved wayline.

• changing a wayline’s name.

• deleting a selected wayline.

• deleting all waylines.

• exporting all waylines to a USB memory key.

• importing all or selected waylines from a USB memory key.

These features are all accessed through the Manage Waylines screen.

The current wayline (indicated by the asterisk in the list), is automatically selected in the list. For the selected wayline, the following information is displayed in the lower part of the screen:

• Wayline Type: this is A-B, A-Heading or Pivot.

• Lat: the latitude of the wayline in decimal degrees.

• Long: the longitude of the wayline in decimal degrees.

• Heading: the true compass heading of the wayline.

7.4.1 Saving the Active Wayline

Saving at the time of creation

96 Guidance, Leica mojoXact Plus

Every time a wayline is set a dialog box is displayed which allows the line to be imme-

diately saved by selecting . The line can be used without first saving by selecting

as explained in the previous sections about setting waylines.

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Saving a wayline, step-by-step

If the active wayline has not been saved with a name, it can be saved at anytime by carrying out the following steps:

1. On the main navigation screen, select the Guidance button. The Guidance menu appears.

2. Select the Wayline Management button. The Manage Waylines screen appears.

3. Select the Save Wayline button. If this button is greyed out, then the active wayline has previously been saved.

The Save Wayline screen appears.

4. In the Edit Wayline Name field, enter a name of up to 17 characters (including

spaces) for the wayline, and select to return to the Manage Waylines screen.

To return to the Manage Waylines screen without saving the active wayline,

select .

5. To return to the Guidance menu, select .

6. To return to the main navigation screen, select .

7.4.2 Loading a Saved Wayline

General Information

Loading a wayline, step-by-step

Leica mojoXact Plus, Guidance 97

Once a wayline has been saved, it is available to be loaded to become the active wayline for use.

To load a wayline that has previously been saved on the mojoXact Plus, carry out the following steps:

1. On the main navigation screen, select the Guidance button. The Guidance menu appears.

2. Select the Wayline Management button. The Manage Waylines screen appears.

3. Select the wayline to be loaded from the list.

4. Select the Load Wayline button. The selected wayline is loaded and displayed on the main naviga-

tion screen (which the operator has been returned to). This is now the active wayline that auto-steer can engage on.

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7.4.3 Changing the Name of a Wayline

General information

Changing a wayline’s name, step-by-step

The name that a wayline is saved with on the mojoXact Plus can be changed. Note that only the name of the wayline can be changed, the wayline’s actual data cannot be changed.

To change the name of a stored wayline, carry out the following steps:

1. On the main navigation screen, select the Guidance button. The Guidance menu appears.

2. Select the Wayline Management button. The Manage Waylines screen appears.

3. Select the name of the wayline from the list that you wish to change, and then select the Edit button.

The Save Wayline screen appears.

4. In the Edit Wayline Name field, enter the new name for the wayline of up to 17

characters (including spaces), and select . The wayline is saved with its new

name and you are returned to the Manage Waylines screen. OR To return to the Manage Waylines screen without changing the selected wayline’s

name, select .

5. To return to the Guidance menu, select .

6. To return to the main navigation screen, select .

7.4.4 Deleting a Wayline

General information

Deleting a wayline, step-by-step

98 Guidance, Leica mojoXact Plus

A wayline stored on the mojoXact Plus can be deleted. Caution must be exercised before deleting a wayline, as once it has been deleted, it cannot be recovered, unless it has been backed up to a USB memory key previously.

To delete a stored wayline, carry out the following steps:

1. On the main navigation screen, select the Guidance button. The Guidance menu appears.

2. Select the Wayline Management button. The Manage Waylines screen appears.

3. Select the name of the wayline that you wish to delete from the list, and then select the Delete button. A confirmation dialog box appears giving the operator the chance to confirm that they want the deletion to proceed or to back out and leave the wayline saved on the mojoXact Plus.

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4. On the confirmation dialog box that appears:

• To proceed with the deletion of the selected wayline, select . The wayline

is deleted and you are returned to the Manage Waylines screen.

• To cancel the delete operation and leave the selected wayline stored on the

mojoXact Plus, select . You are returned to the Manage Waylines screen.

5. To return to the Guidance menu, select .

6. To return to the main navigation screen, select .

7.4.5 Deleting All Waylines

General information

Deleting all waylines, step-bystep

All of the waylines stored on the mojoXact Plus can be deleted simultaneously. Caution must be exercised before deleting all of the waylines, as once they have been deleted, they cannot be recovered, unless they have been backed up to a USB memory key previously.

To delete all stored waylines, carry out the following steps:

1. On the main navigation screen, select the Guidance button. The Guidance menu appears.

2. Select the Wayline Management button. The Manage Waylines screen appears.

3. Select the Delete All button. A confirmation dialog box appears giving the operator the chance

to confirm that they want the deletion to proceed or to back out and leave the waylines saved on the mojoXact Plus.

4. On the confirmation dialog box that appears:

• To proceed with the deletion of all saved waylines, select . All waylines are

deleted and you are returned to the Manage Waylines screen.

• To cancel the delete operation and leave the waylines stored on the

mojoXact Plus, select . You are returned to the Manage Waylines screen.

5. To return to the Guidance menu, select .

6. To return to the main navigation screen, select .

Leica mojoXact Plus, Guidance 99

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7.4.6 Exporting Waylines

General information

Exporting waylines, step-by-step

Waylines can be exported to a USB memory key. This is useful for copying the waylines to other mojoXact Plus units and good practice for providing a backup of waylines.

 

To export all waylines stored in the mojoXact Plus, carry out the following steps:

1. The USB interface is at the front of the

Refer to "Appendix B Formatting USB Memory Keys" for important information about using USB memory keys with the mojoXact Plus product.

Do not turn off the mojoXact Plus, or remove the USB memory, while the wayline export is in progress.

mojoXact Plus. Unscrew the door at the front so it can open and lie flat, and insert a compatible USB memory key into the USB slot.

2. On the main navigation screen, select the Guidance button.

The Guidance menu appears.

3. Select the Wayline Management button.

The Manage Waylines screen appears.

4. Select the Export to USB button.

The Export Waylines screen appears giving the operator the option to proceed with the export or to cancel it.

5. On the Export Waylines screen that appears:

• To export all waylines to the USB memory key, select .

• To cancel the export operation and return to the Manage Waylines screen,

select .



100 Guidance, Leica mojoXact Plus

If there are already waylines with the same name on the USB memory key a message appears to confirm overwriting the existing waylines.

6. On the screen that appears to confirm overwriting existing waylines that have the

same names:

• To overwrite the waylines on the USB memory key, select . You are returned to the Manage Waylines screen.

Leica mojoXact Plus User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Introduction

Table of Contents

1 System Overview

1.1 General mojoXact Plus System Information

1.2 Components of the mojoXact Plus System

1.3 Features

1.3.1 mojoXact Plus Hardware

1.3.2 mojoXact Plus Software

1.3.3 mojoXact Plus Positioning

1.3.4 mojoXact Plus Guidance

1.4 Audience

2 System Installation

2.1 Before Installation

2.2 GPS Antenna Installation

2.3 Cell Modem Antenna and Bracket

2.4 SIM Card Installation

2.5 mojoXact Plus Installation

2.6 CAN Port Connection Changes

3 Running the mojoXact Plus for the First Time

3.1 Starting Up

3.2 Universal Terminal Unlock Code

3.3 Initial Setup Wizard

3.4 Main Navigation Screen

3.5 Running the Setup Wizard at any Time

3.6 Changing System Settings

3.6.1 Changing Region Settings

3.6.2 Cell Modem Settings

3.7 Feature Unlock

4 Vehicles and Implements

4.1 Vehicle Measurement Setup

4.2 Terrain Compensation

4.3 Implement Setup

5 Auto-Steer

5.1 Engage Auto-Steer

5.1.1 Roading Safety Feature

5.1.2 Preconditions to Engage Auto-steer

5.1.3 Engage Auto-steer

5.1.4 Disengage Auto-steer

5.2 Steer Kit Selection and Setup

5.2.1 Troubleshooting Steer Kit and CAN Bus Problems

5.3 Steer Kit Status

5.4 Steer Kit Calibration

5.4.1 Stationary Engage and Reverse Steering

5.5 Tuning Auto-Steer Performance

5.5.1 Tuning Procedure

5.5.2 Sensitivity

5.5.3 Aggressiveness

5.5.4 Overshoot

5.5.5 Speed Adjust

5.5.6 Tuning Tips

5.6 Testing Auto-Steer

5.6.1 Troubleshooting Steering Test Issues

6 Correction Sources

6.1 GL1DE

6.2 Network RTK

6.3 Internal Radio (RTK Base Station)

6.4 External Radio

6.5 Correction Source Status

7 Guidance

7.1 AB Parallel Guidance

7.2 A+ Heading Guidance

7.3 Pivot Guidance

7.4 Wayline Management

7.4.1 Saving the Active Wayline

7.4.2 Loading a Saved Wayline

7.4.3 Changing the Name of a Wayline

7.4.4 Deleting a Wayline

7.4.5 Deleting All Waylines

7.4.6 Exporting Waylines