TeeJet CenterLine User Manual

CenterLine
Software Version 2.02

Copyrights

© 2007 TeeJet Technologies Inc. All rights reserved. No part of this document or the computer
programs described in it may be reproduced, copied, photocopied, translated, or reduced in any
form or by any means, electronic or machine readable, recording or otherwise, without prior
written consent from TeeJet Technologies, Inc.

Trademarks

Unless otherwise noted, all other brand or product names are trademarks or registered
trademarks of their respective companies or organizations.

Limitation of Liability

TEEJET TECHNOLOGIES, INC. PROVIDES THIS MATERIAL “AS IS” WITHOUT WARRANTY
OF ANY KIND, EITHER EXPRESSED OR IMPLIED. NO COPYRIGHT LIABILITY OR PATENT
IS ASSUMED. IN NO EVENT SHALL TEEJET TECHNOLOGIES, INC. BE LIABLE FOR ANY
LOSS OF BUSINESS, LOSS OF PROFIT, LOSS OF USE OR DATA, INTERRUPTION OF
BUSINESS, OR FOR INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES
OF ANY KIND, EVEN IF TEEJET TECHNOLOGIES HAS BEEN ADVISED OF SUCH DAMAGES
ARISING FROM TEEJET SOFTWARE.

TABLE OF CONTENTS

CHAPTER 1 - INTRODUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

STRAIGHT OR CURVED GUIDANCE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

WIRELESS REMOTE CONTROL UNIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

LIGHTBAR DISPLAY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

MENU ITEMS AND PICK LIST TEXT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Wireless Remote Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

LIGHTBAR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

FCC STATEMENT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

CHAPTER 2 - SETUP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

QUICK START GUIDE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

First Time Start-Up Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Typical Start-Up Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

CENTERLINE SETUP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Guidance Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Lightbar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

System Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

TOOLS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Lightbar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

e-Dif . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

e-Dif Info . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Next . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

To Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

CHAPTER 3 - OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

OPERATION MENU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

New? Resume? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Apply On/Off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Return To Point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

HEADLAND GUIDANCE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Reference Guideline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Switching From Headland To Straight-Line Guidance . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Headland Guidance Lightbar Graphics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

STRAIGHT-LINE GUIDANCE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Curved AB Guidance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

APPLIED AREA DETECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Applied Area Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Neighboring Swath Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

LIGHTBAR INDEX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

SWATH MANAGER 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

TILT COMPENSATION MODULE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Tilt Compensation Module Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

EXITING OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

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CHAPTER 1 - INTRODUCTION

CenterLine is an economical lightbar guidance system that is controlled by a wireless remote. Cen­terLine provides accurate Straight-Line and Curved Guidance for use in spraying, seeding, and other
related jobs at a cost that rivals foam markers. The CenterLine product is equipped with a combina­tion Beacon/WAAS or WAAS only DGPS receiver, providing sub-meter, pass-to-pass positioning
accuracy. The wireless remote control is used to configure and operate the system through menus
and options displayed on the lightbar.

CenterLine’s attractive design combines compact size with fully adjustable, easy to see LEDs. Using
dedicated buttons on the wireless remote, the lightbar can be dimmed to efficiently run at night and
brightened for viewing in full sunlight.

STRAIGHT OR CURVED GUIDANCE

CenterLine guides along various types of swaths with sub-meter, pass-to-pass accuracy. Select the
driving pattern and CenterLine determines the closest swath to follow. There is no need to decide a
guidance pattern ahead of time or commit to a pattern for the entire job. CenterLine allows the
switching of patterns during operation, determining when a new pattern is being used and keeping
the operator informed of the current status.

WIRELESS REMOTE CONTROL UNIT

CenterLine’s ergonomic, handheld remote control is easier to use than most television remotes.
Seven easy-to-read buttons allow for the scrolling of menus displayed on the lightbar. The remote
keypad is backlit for nighttime operation. Three AAA batteries (included) power the unit for an entire
season.

The small, powerful remote permits mounting the weather-resistant lightbar outside on the hood or in
the cab. When mounted outside, wireless communication permits easy operation while the cab stays
clean and sealed from dust and contaminants.

LIGHTBAR DISPLAY

A text display on the lightbar reports a choice of guidance information. It also warns when an area of
the field is entered that has already been applied. Guidance text information can be turned off, if pre­ferred. Two of the following guidance messages are available for selection during operation to moni­tor progress:

• Cross-Track Error

• Current Swath Number

• Vehicle Speed

• Applied Area

• Vehicle Course On Ground (COG)

MENU ITEMS AND PICK LIST TEXT

Throughout this User’s Guide, menu item text is d isplaye d between < > characters (i.e., < START>).
Buttons on the remote control are denoted in italics (i.e., Arrow buttons) and will be displayed in th e
margin of the User’s Guide.

Most of the figures in this guide are menu items that are displayed in the text window of the lightbar.
This text represents either a menu item, such as <GUIDANCE>, or a list item, such as <METRIC>.

Arrow buttons

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Arrow buttons

Enter button

The lightbar text window can display a single line o f text up to ten characters in length. Figure 1-1
illustrates an example of a single text line that would be displayed on the lightbar.

Figure 1-1: Example of Lightbar Text Display

Start

Figures with multiple menu items are depicted with menu items above and below, and with submenu
items located to the right of the text item currently in view. Figure 1-2 represents several menu items.
The current menu item in view is <SETUP> and is denoted with a black arrow to the right of the text.
The figure shows that the Arrow buttons can be used to scroll between <START>, <SETUP>, and
<TOOLS>. If the Enter button is pressed, the display will progress into <SETUP> and continue with
<GUIDANCE> menu options. The Arrow buttons would then be able to scroll between <GUID­ANCE>, <LIGHTBAR>, <SYSTEM>, etc.

Figure 1-2: Example of Multiple Text Lines

Start
Setup

Tools

Guidance
Lightbar
System

There are two additional menu items that are located in almost every menu:

•<NEXT>

• <TO START>

Figure 1-3 illustrates the <NEXT> and <TO START> menu items in the System Setup menu list.
Pressing the Enter button when <NEXT> is displayed will launch the next menu heading. For exam­ple, during Lightbar Setup, pressing Enter at <NEXT> will launch <SYSTEM>. Once in System
Setup, pressing the Escape (ESC) button at <NEXT> will launch the <LIGHTBAR> menu again.
Selecting <TO START> automatically reverts the operator back to the main menu. This is useful
when it is necessary to make only minor modifications and quickly resume operation.

2 Chapter 1 - Introduction

Figure 1-3: <Next> and <To Start> Examples

System

Units
Language

Next
To Start

Wireless Remote Control

Operation of the CenterLine software occurs via remote keypad input and menu items displayed in
the text display area. The Arrow buttons are used to scroll through menus and sub-menus. The

Enter button is used to enter menus and sub-menus and accepts the ap propriate entry. The Escape
(ESC) button acts as a cancel button.

Figure 1-4: Wireless Remote Control

Up Arrow button

Down Arrow button

Return to Point button

Enter button

Menu/Escape button

Brighter/Dimmer
contrast buttons

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LIGHTBAR

Figure 1-5: CenterLine Lightbar

Lightbar Specifications
Housing Material ABS/Poly carbonate alloy construction.
Dimensions 3.70” H x 9.40” W x 3.80” D / 95mm x 240mm x 100mm
Weight 0.8 lbs / 0.36 kg
Processor Intel StrongARM
Memory 16 MB Ram, 2 MB Flash
LEDs High-lumen red, yellow, and green radial light pattern and 10-char-

acter LED alphanumeric text display. Full brightness control adjust­ment using wireless remote.

Operating Voltage 10-14 VDC
Operating Temperature 32
Storage Temperature -40

I/O to DGPS 1 asynchronous RS232
I/O to Control Unit Wireless link operating at 433 MHz. FCC Part 15 and Industry Can-

Mounting Mounting bracket supplied. Magnetic and suction mounts are

o

to 160oF / 0o to 70o C

o

to 185o F / -40o to 85o C

ada RS-210 certified. Other certifications pending.

optional.

4 Chapter 1 - Introduction

FCC STATEMENT

This device complies with Part 15 of the FCC Rules. Operation is subject to the following two condi­tions: (1) This device may not cause harmful interference; and (2) this device must accept any inter­ference received, including interference that may cause undesired operation.

QS7CL7850094
QS7CL7850107
TR19JN96.008

Changes or modifications to the product, not expressly approved by TeeJet Technologies, Inc. could
void the user’s authority as granted under Part 15 of the FCC Rules to operate the equipment.

CHAPTER 2 - SETUP

It is assumed that the CenterLine system has been properly installed. Refe r to the fo llowi ng Center­Line diagrams for system configuration.

QUICK START GUIDE

First Time Start-Up Sequence

1. Turn ON power to CenterLine.

2. The lightbar will perform a start-up sequence.

3. The lightbar will display the current software version.

4. The lightbar will display <START>.

5. Using the Arrow buttons, scroll until <SETUP> is displayed on the lightbar. Press the
Enter button.

6. Configure the CenterLine system by choosing the appropriate settings under <GUID­ANCE>, <LIGHTBAR>, and <SYSTEM>. It is important to enter the correct swath width for
operation.

7. Use the Arrow buttons to locate <TO START>. Press the Enter button. The operator will
return to the main menu.

8. Once <START> is displayed on the lightbar, press ENTER to begin operation.

Arrow buttons

Enter button

Typical Start-Up Sequence

1. Turn ON power to CenterLine.

2. The lightbar will perform a start-up sequence.

3. The lightbar will display the current software version.

4. The lightbar will display <START>.

5. <START> will remain visible on the lightbar until the Enter button is pressed to begin oper­ation or the Arrow buttons are pressed to select a menu option.

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Figure 2-1: CenterLine Without DGPS Receiver

Lightbar
78-50112

A GPS data cable is
required but not pro­vided in the kit.

Adapter Cable
15’ / 5 m
45-05338

GPS Data Cable
15’ / 5 m
45-05337

Power Cable
12’ / 4 m 45-05298

to battery

Figure 2-2: CenterLine With DGPS Receiver

Wireless Remote
78-50107

CenterLine Power Cable
12’ / 4 m 45-05324

5 Amp

Boom Sense +12V when
booms are ON

Ignition Sense +12V
when ignition is ON

Lightbar
78-50112

Wireless Remote
78-50107

6 Chapter 2 - Setup

RX400P
78-50062

Inline fuse

RX370P
78-50148

GPS Data Cable 15’ / 5 m
45-05338

GPS Data Cable 15’ / 5 m
45-05337

Ignition Sense +12V
when ignition is ON

Power Cable
12’ / 4 m 45-05298

to battery

CenterLine Power Cable
12’ / 4 m 45-05324

5 Amp

Boom Sense
+12V when
booms are ON

CENTERLINE SETUP

CenterLine Setup allows for the configuration of the CenterLine product to best suit current guidance
and mapping needs. For a complete overview of the setup process, refer to Figure 2-31 (page 22).
CenterLine Setup consists of three sub-menus:

• Guidance

• Lightbar

• System

The top level of CenterLine software contains three menus available for selection: <START>,
<SETUP>, and <TOOLS>. To access the setup menus, use the Arrow buttons to scroll to <SETUP>
and press the Enter button. Once in <SETUP> mode, menu options will consist of <GUIDANCE>,
<LIGHTBAR>, and <SYSTEM>. Access to setup options is achieved by pressing the Enter button.

Figure 2-3: CenterLine Setup Flow

Start
Setup

Tools

Guidance

Lightbar

System

Guidance Mode

Guidance Mode allows for the establishment of several parameters that pertain to guidance func­tionality. To access Guidance Mode, use the Arrow buttons to scroll through the menu selections
until <GUIDANCE> appears on the lightbar. Press the Enter button.

If the first menu item displayed is <SWATH MAN>, Swath Manager 5 has been detected on the sys­tem and needs to be configured. Refer to CHAPTER 2 - SWATH MANAGER for additional informa­tion.

Arrow buttons

Enter button

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Figure 2-4: Guidance Setup Flow

Guidance

Width
Ahead
Antenna

Status

Alarm

GPS Type

1 Hz MSG

Next

To Start

Table 2-1: Guidance Default Settings

Setting Default Value Change at Initial Startup

Arrow buttons

Enter button

Width 30.0 feet/10 meters Required
Ahead 1.5 seconds Optional
Antenna - Direction None Recommended
Antenna - Distance 0.0 feet Recommended
Antenna - Height 9.8 feet / 2.9 meters Recommended
Status Detect Off Optional
Alarm Off Recommended
GPS Type DGPS Recommended
1 Hz MSG Yes Not Recommended

Swath Manager 5

The Guidance parameter <SWATH MAN> is only displayed when Swath Mana ger 5 is connected to
the system. If Swath Manager 5 is not being used, this section is not required and can be skipped.

To adjust <SWATH MAN> settings in <GUIDANCE> mode, use the Arrow keys until <SWATH MAN>
is displayed and press the Enter button. The Swath Manager menu contains four parameters:

• % overlap

• Sections

• Width 1-5

• Delay

8 Chapter 2 - Setup

Figure 2-5: Swath Manager 5 Setup

Setup Swath Man

Table 2-2: Swath Manager Settings

Setting Description

% Overlap Boom sections are activated and deactivated based on the percentage of boom overlap

setting (0%, 50%, and 100%)
Sections The number of sections (1-5) active on the system.
Width 1-5 The width for each boom 1-5.
Delay The delay in seconds to turn the booms on and off when entering/exiting applied zones.

% Overlap

%Overlap determines the amount of overlap allowance to eliminate skips in application. Enter the
appropriate pattern by using the Arrow buttons to select 0%, 50%, or 100% and press the

Enter button to accept the setting.

Figure 2-6: % Overlap Settings

Guidance

Arrow buttons

Enter button

% Overlap

Figure 2-7: % Overlap Illustration

0%
50%
100%

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Sections

Enter the number of sections that are active in the system. Use the Arrow buttons to scroll to the
appropriate number (1 - 5) and press the Enter button to accept the setting.

Figure 2-8: Number of Sections

Arrow buttons

Enter button

Sections

Width

Enter the width in feet / meters for boom section 1 by using the Arrow buttons to scroll through the
options, followed by the Enter button. Repeat the process for the remaining boom sections. The

total width of all boom sections is NOT the width that will be used for guidance. Refer to
CHAPTER 2 - WIDTH for additional information.

Figure 2-9: Boom Section Width

Width 1 10

Delay

Enter the delay in seconds. This acts as the look ahead to turn booms on and off when entering and
exiting applied zones.

Entering Applied Zones: When entering an applied zone , the setting acts as a look ahead and turns
the booms off prior to entering the zone according to the number of seconds entered in Delay Setup.
The setting allows time for the valves to shut off.

Exiting Applied Zones: When exiting an applied zone, the setting acts as a look ahead and turns the
booms on prior to exiting the zone according to the number of seconds entered in Delay Setup. The
setting allows time for the booms to re-engage before exiting the applied area.

5

10 Chapter 2 - Setup

Figure 2-10: Delay

Delay

Width

The Guidance parameter Width measures the distance between guidelines. This width is typica lly
the vehicle implement width, otherwise known as spread width. Setting this width slightly smaller
than the actual width reduces skips. Setting this width slightly larger than the actual width reduces
overlap. To adjust width setting, select <GUIDANCE> followed by the Enter button. Use the

Arrow buttons and select <WIDTH>, followed by the Enter button. To increase the width, press the
Up Arrow button. To decrease the width, press the Down Arrow button. Press the Enter button once

the desired width is established. Width value is established in 0.1 foot increments.

1.5

Figure 2-11: Guidance Width

Width

Ahead

The Look Ahead value, Ahead, is the number of seconds ahea d of the vehicle the o perator desires
the software to calculate the cross track error. Based on the vehicle’s speed and trajectory combined
with the look ahead value, CenterLine can determine where th e vehicle will be with respect to the
current guideline. This setting will vary based on the operator ’s driving ability and preference. This
value is only used during Parallel Guidance. It is not used during Headland Guidance or Circle Pivot.
A look ahead value that best fits the operator will result in smoother guid ance operation. Typically,
this value is set to 1.5 or 2.0 seconds. To adjust Ahead settings, select <GUIDANCE> followed by
the Enter button. Use the Arrow buttons until <AHEAD> is displayed in the text w indow. Press the
Enter button and use the Arrow buttons to adjust the value. Press the Enter button to save the set­tings and return to the Guidance setup menu.

Figure 2-12: Ahead Value

Ahead

Antenna

The Antenna sub-menu defines the spatial relationship between the GPS anten na and the vehicle
implement or delivery point. The GPS antenna should always be mounted along the vehicle’s center
line (refer to Figure 2-16). The two primary antenna settings are <DIRECTION> and <DISTANCE>.

To enter the Antenna sub-menu, navigate to <GUIDANCE>, use the Arrow buttons until
<ANTENNA> is displayed, and press the Enter button. Several options will be displayed: <DIREC­TION>, <TO START>, <NEXT>, <HEIGHT>, and <DISTANCE>. Press the Enter button to save the
settings and return to the Guidance setup menu.

58.5

1.5

Arrow buttons

Enter button

Figure 2-13: Antenna Sub-Menu

Guidance Direction

Antenna - Direction

The Direction sub-menu defines the direction from the swath (refer to Figure 2-16). To change the
Direction setting, navigate to <GUIDANCE>, use the Arrow bu ttons until <ANT ENNA> is displayed,
and press the Enter button. Use the Arrow buttons to select <DIRECTION> and press the
Enter button. Scroll through the direction list using the Arrow buttons until the desired direction is dis­played in the text window. Press the Enter button to save the setting and return to the Guidance
setup menu.

Antenna

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