TERSUS AG960 User Manual

User Manual

User Manual

For AG960 AutoSteer System

©2017 Tersus GNSS Inc. All rights reserved.

Sales & Technical Support:

More details, please visit www.tersus-gnss.com

Version V1.0-20170616

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Table of Content

1 General Description ............................................................................................................... 12

2 Introduction of AG960 AutoSteer System ............................................................................. 12

3 Components of AG960 .......................................................................................................... 14

3.1 Product List ............................................................................................................................ 14

3.2 Electrical Connection Relation .............................................................................................. 18

4 Installation of AG960 ............................................................................................................ 20

4.1 Installation of Electronic Components ................................................................................... 21

4.1.1 Installation of Satellite Navigation Antenna .......................................................................... 21

4.1.1.1 Position Requirement of Installing Satellite Navigation Antenna ......................................... 22

4.1.1.2 Fix the Antenna to the Top of Driving Cab ........................................................................... 24

4.1.1.3 Route Antenna RF Cable ....................................................................................................... 25

4.1.2 Installation of Radio Receiving Antenna ............................................................................... 26

4.1.2.1 Installation Position of Radio Receiving Antenna ................................................................. 26

4.1.2.2 Assembly and Fixation of the Radio Receiving Antenna ...................................................... 27

4.1.2.3 Route RF Cable of Radio Receiving Antenna ....................................................................... 29

4.1.3 Installation of Panel Computer .............................................................................................. 29

4.1.3.1 Installation Position of Panel Computer ................................................................................ 29

4.1.3.2 Fixation of Round Plate Knob ............................................................................................... 30

4.1.3.3 Fixation of Rectangle Plate Knob .......................................................................................... 31

4.1.3.4 Installation of the 3G Antenna ............................................................................................... 32

4.1.3.5 Installation and Fix of the Panel Computer ........................................................................... 32

4.1.4 Installation of Autopilot (Controller) ..................................................................................... 33

4.1.4.1 Installation Position of Autopilot (Controller) ....................................................................... 33

4.1.4.2 Fix Autopilot (Controller) at Specified Position .................................................................... 34

4.2 Installation of Steering System .............................................................................................. 36

4.2.1 Installation of Coaxial Steering System ................................................................................. 36

4.2.1.1 Select a Suitable Sensor Seat Based on the Knuckle Flange Type of the Tractor ................. 37

4.2.1.2 Assembly of the Steering Sensor and Sensor Flanged Base .................................................. 37

4.2.1.3 Assembly of the Steering Sensor and Sensor Flanged Base .................................................. 37

4.2.1.4 Installation of Double Cross Stop Frame ................................ ................................ ............... 38

4.2.1.5 Fix the Double Cross Stop Frame .......................................................................................... 40

4.2.1.6 Bind Steering Senor Cable ..................................................................................................... 41

4.2.1.7 Check the Motion of the Steering System ............................................................................. 41

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4.2.2 Installation of Parallelogram Type Steering System .............................................................. 42

4.2.2.1 Install Toe-in U-Groove ......................................................................................................... 43

4.2.2.2 Install Axle Clamping Plate ................................................................................................... 44

4.2.2.3 Install Sensor Assembly ......................................................................................................... 44

4.2.2.4 Install Cardan Joint Connecting Rod ..................................................................................... 44

4.2.2.5 Adjust the Parallelogram ....................................................................................................... 45

4.2.2.6 Check the Motion of Pallelogram Mechanism....................................................................... 46

4.3 Check the Motion of Pallelogram Mechanism....................................................................... 46

4.3.1 Install Hydraulic Valve Group of Open Center System ......................................................... 46

4.3.1.1 Check the Operating Conditions of Existing Hydraulic Power Steering System of Tractor.. 48

4.3.1.2 Install Transition Unions onto Hydraulic Valve .................................................................... 49

4.3.1.3 Install the Hydraulic Valve to Tractor ................................................................................... 50

4.3.1.4 Connect Port P of Power Steering Pump and Port P of Hydraulic Valve .............................. 51

4.3.1.5 Connect Hydraulic Valve and Ports L, R, T of Steering Gear Respectively with Tee Unions
52

4.3.1.6 Connect Port P1 of Hydraulic Valve to Port P of Steering Gear ........................................... 53

4.3.1.7 Sort out Oil Pipes ................................................................................................................... 53

4.3.1.8 Check the Actuation Function of Hydraulic Valve ................................................................ 53

4.3.2 Installation of Closed Center Hydraulic Valve System ......................................................... 54

4.3.2.1 Check Relevant Oil Ports ....................................................................................................... 55

4.3.2.2 Install Hydraulic Valve System ............................................................................................. 57

4.4 Routing of Cables .................................................................................................................. 58

4.4.1 Routing of RF Cables ............................................................................................................ 60

4.4.1.1 Connect Radio Antenna ......................................................................................................... 60

4.4.1.2 Connect Satellite Navigation Antenna ................................................................................... 60

4.4.1.3 Sort out and Bind RF Cables ................................................................................................. 61

4.4.2 Routing of Data Harness (White End Harness) ..................................................................... 61

4.4.2.1 Connect Autopilot (Controller) .............................................................................................. 62

4.4.2.2 Connect Panel Computer ....................................................................................................... 63

4.4.2.3 Sort Out and Bind Harness .................................................................................................... 64

4.4.3 Routing of Drive Harness (Black End Harness) .................................................................... 64

4.4.3.1 Connect Autopilot (Controller) .............................................................................................. 65

4.4.3.2 Connect Electromagnetic Hydraulic Valve ............................................................................ 66

4.4.3.3 Connect Steering Measuring Mechanism .............................................................................. 68

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4.4.3.4 Connect Battery ..................................................................................................................... 69

4.4.3.5 Sort Out and Bind the Harness............................................................................................... 71

5 Commissioning the AutoSteer Systems ................................................................................. 72

5.1 Power on Equipment .............................................................................................................. 72

5.2 Check Program Version ......................................................................................................... 83

5.3 View Self-test Information .................................................................................................... 84

5.4 Set up the Equipment ............................................................................................................. 87

5.4.1 System Setting ....................................................................................................................... 87

5.4.1.1 RTK Data Source ................................................................................................................... 88

5.4.1.2 External Radio ....................................................................................................................... 89

5.4.1.3 CORS Network ...................................................................................................................... 90

5.4.2 Host Setting - Autopilot (Controller) ..................................................................................... 91

5.4.2.1 Set Installation Orientation of Autopilot (Controller) ............................................................ 92

5.4.2.2 Set the Installation Position of Autopilot (Controller) ........................................................... 94

5.4.3 Antenna Setting ..................................................................................................................... 95

5.4.3.1 Set Installation Orientation of Antenna ................................................................................. 95

5.4.3.2 Set Installation Position of Antenna....................................................................................... 96

5.4.4 Vehicle Setting ....................................................................................................................... 97

5.4.5 Implement Setting .................................................................................................................. 98

5.4.6 Program Update ..................................................................................................................... 99

5.5 Calibration of the Equipment ................................................................................................. 99

5.5.1 Calibration Reset ................................................................................................................. 100

5.5.2 Guide Wheel Calibration ..................................................................................................... 103

5.5.2.1 Prior to Calibration, Observe if the Guide Wheel Angle is Normal .................................... 104

5.5.2.2 Prior to Calibration, Check if the Guide Wheel Angle Surpasses the Zero Point ................ 104

5.5.2.3 Calibration Step 1 ................................................................................................................ 105

5.5.2.4 Calibration Step 2 ................................................................................................................ 105

5.5.2.5 Calibration Step 3 ................................................................................................................ 106

5.5.2.6 After the Calibration, Check if the Calibration Result is Correct ........................................ 107

5.5.3 Attitude Calibration ............................................................................................................. 108

5.5.3.1 Attitude Calibration – Step 1 ............................................................................................... 109

5.5.3.2 Attitude Calibration – Step 2 ............................................................................................... 110

5.5.3.3 Attitude Calibration – Step 3 ............................................................................................... 110

5.5.3.4 Attitude Calibration – Step 4 ............................................................................................... 111

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5.5.3.5 Attitude Calibration – Step 5 ............................................................................................... 112

5.5.3.6 After Calibration, Observe if the Calibrated Value is Correct ............................................. 112

5.5.4 Steering Sensitivity Calibration ........................................................................................... 113

5.5.4.1 Calibrate Left & Right take-off Voltage .............................................................................. 114

5.5.4.2 Calibration of Steering Sensitivity ....................................................................................... 115

5.5.4.3 Common Problems and Troubleshooting During the Calibration of Left/Right Jump-off
Voltage 117

5.5.4.4 Common Problems and Troubleshooting During the Calibration of Steering Sensitivity ... 117

5.5.4.5 How to Complete the Calibration of the Left/Right Jump-off Voltage and the Steering

Sensitivity Rapidly by Non-professional Personnel ................................ ................................ ............. 118

5.5.5 Calibration of Driver Sensitivity .......................................................................................... 119

5.5.5.1 Driver Sensitivity Commissioning ....................................................................................... 120

5.5.5.2 Commissioning of Operation Precision ............................................................................... 122

5.5.5.3 Commissioning of Override Voltage ................................................................................... 122

5.5.5.4 How to Perform Driver Sensitivity Commissioning by Non-professional Personnel .......... 123

5.5.6 Calibration of System Deviation .......................................................................................... 123

5.5.6.1 Calibration of System Deviation – Step 1 ............................................................................ 125

5.5.6.2 Calibration of System Deviation – Step 2 ............................................................................ 125

5.5.6.3 Calibration of System Deviation – Step 3 ............................................................................ 126

5.5.6.4 Calibration of System Deviation – Step 4 ............................................................................ 127

5.5.7 Agriculture Machine Deviation Calibration......................................................................... 128

5.5.7.1 Agriculture Machine Deviation Calibration – Step 1........................................................... 129

5.5.7.2 Agriculture Machine Deviation Calibration – Step 2........................................................... 129

5.5.7.3 Agriculture Machine Deviation Calibration – Step 3........................................................... 130

5.5.7.4 Agriculture Machine Deviation Calibration – Step 4........................................................... 130

5.5.7.5 Agriculture Machine Deviation Calibration – Step 5........................................................... 131

5.5.8 Examine Calibration Value .................................................................................................. 133

5.5.9 Auto Driving Test in Farmland ............................................................................................ 134

6 Use of the System – AG960................................................................................................. 135

6.1 Power up the Equipment ...................................................................................................... 135

6.2 Task Management ................................................................................................................ 136

6.2.1 Task Establishment .............................................................................................................. 137

6.2.2 Loading of Task ................................................................................................................... 138

6.3 Use of Shortcut .................................................................................................................... 140

4 / 167

6.3.1 Establishment of Task with Shortcuts .................................................................................. 140

6.3.2 Set Line AB with Shortcuts ................................................................................................. 141

6.3.3 Shift of Line AB with Shortcuts .......................................................................................... 143

6.3.4 Setting of IM Width with Shortcuts ..................................................................................... 145

6.3.5 Setting the Shift of Implement with Shortcuts ................................ ................................ ..... 147

6.3.6 Setting of Radio Channel Number with Shortcuts ............................................................... 150

6.4 Manual/Auto Switching ....................................................................................................... 151

6.5 Monitoring of Instrument Panel ........................................................................................... 153

6.5.1 Monitoring of the Number of Satellite Received ................................................................. 154

6.5.2 Monitoring of Radio Status .................................................................................................. 154

6.5.3 Monitoring of Positioning Status ......................................................................................... 155

6.5.4 Monitoring of Driving Speed ............................................................................................... 155

6.5.5 Monitoring of Direction ....................................................................................................... 155

6.5.6 Monitoring of Operation Precision ...................................................................................... 155

6.5.7 Monitoring of Operation Area ............................................................................................. 156

6.6 Adjustment of the Display ................................................................................................... 156

6.6.1 Adjustment of Day/Night Display Effect ............................................................................. 156

6.6.2 Adjustment of Background Grid Displace Effect ................................................................ 157

6.6.3 Adjustment of Operation Highlight Display Effect ............................................................. 158

6.6.4 Adjustment of the Zoom of Agriculture Vehicle ................................................................. 158

7 Daily Maintenance ............................................................................................................... 159

8 Troubleshooting ................................................................................................................... 163

List of Tables

Table 1 AG960 AutoSteer System (“AG960”) unpacking list ........................................................ 14

Table 2 Tools required for installing AG960 .................................................................................. 20

Table 3 Pipe fittings list for John Deere 904 tractor ....................................................................... 47

Table 4 Main interface of AG960 autopilot display ....................................................................... 77

Table 5 Definition of icon in the calibration screen ..................................................................... 101

Table 6 Definition of manual/auto switching button .................................................................... 152

Table 7 Key points of daily maintenance of AG960 .................................................................... 159

Table 8 Issues and solutions – AG960 troubleshooting ................................................................ 163

List of Figures

Figure 1 Autopilots Work with GNSS (GPS/GLONASS/BDS) and Differential Reference Station

................................................................................................................................................ 13

Figure 2 Outlook of AG960 AutoSteer System (“AG960”) package ............................................. 14

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Figure 3 Outlook of GNSS antenna ............................................................................................... 15

Figure 4 Outlook of radio antenna ................................................................................................. 15

Figure 5 Outlook of navigation autopilot ....................................................................................... 16

Figure 6 Outlook of panel computer .............................................................................................. 16

Figure 7 Outlook of electromagnetic hydraulic valve .................................................................... 16

Figure 8 Outlook of CVB module (optional for closed center system) .......................................... 16

Figure 9 Outlook of coaxial rotation direction sensor .................................................................... 16

Figure 10 Outlook of 3m RF cable ................................................................................................ . 16

Figure 11 Outlook of data harness (white end harness) ................................................................. 17

Figure 12 Outlook of drive harness (black end harness) ................................................................ 17

Figure 13 Outlook of Autopilot (Controller) adapter plate............................................................. 17

Figure 14 Outlook of panel computer bracket ................................................................................ 17

Figure 15 Outlook of hydraulic valve adapter plate ....................................................................... 17

Figure 16 Outlook of coaxial rotation direction sensor bracket ..................................................... 18

Figure 17 Electro-mechanical connection drawing of AG960 (open center system) ..................... 19

Figure 18 Electro-mechanical connection drawing of AG960 (open center system) ..................... 22

Figure 19 Ideal position of satellite navigation antenna on the vehicle (rear view) ....................... 23

Figure 20 The satellite navigation antenna should be horizontally installed onto the vehicle with

the RF connector at the inner side .......................................................................................... 23

Figure 21 Remove the protective film of double faced adhesive tape on the antenna pedestal ..... 24

Figure 22 Heat the double faced adhesive tape in case of low temperature ................................... 24

Figure 23 Press the antenna to specified position with force ......................................................... 25

Figure 24 Slightly pull the antenna to check if it is securely fixed ................................................ 25

Figure 25 Apply waterproof sealant to the gap between antenna pedestal and vehicle top ............ 25

Figure 26 Tighten the 3M RF cable to the antenna (Do not use pliers or other tools to avoid

damage to the connector) ....................................................................................................... 26

Figure 27 Route and bind the 3m RF cable at the driving cab top ................................................. 26

Figure 28 Assemble antenna mast and antenna pedestal ................................................................ 27

Figure 29 Tighten the antenna mast the antenna pedestal with wrench ......................................... 27

Figure 30 Remove the protective film of the double faced adhesive tape on the antenna pedestal 28

Figure 31 Press radio antenna to specified position with force ...................................................... 28

Figure 32 Slightly pull the antenna to check if it is securely adhered ............................................ 28

Figure 33 Fix and bind the RF cables on the driving cab top and lead them into the driving cab

from the rear side window ...................................................................................................... 29

Figure 34 Fix and bind the RF cables on the driving cab top and lead them into the driving cab

from the rear side window ...................................................................................................... 30

Figure 35 Outer hexagon self-tapping screw................................ ................................ .................. 30

Figure 36 Fix the round plate knob of the panel computer bracket with electric tool and outer

hexagon self-tapping screws .................................................................................................. 31

Figure 37 Rectangle plate knob of panel computer bracket ........................................................... 31

Figure 38 Cross recessed pan head screws, spring washers and flat washers for fixing rectangle

plate knob ............................................................................................................................... 32

Figure 39 Fix the rectangle plate knob of panel computer bracket to the rear cover of the panel

computer with cross recessed pan head screws ...................................................................... 32

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Figure 40 Installation of 3G antenna .............................................................................................. 32

Figure 41 Connect the round plate knob and the rectangle knob with the link rod ........................ 33

Figure 42 Panel computer properly installed................................................................ .................. 33

Figure 43 Installation orientation of autopilot should be parallel to the vehicle (CORRECT) ...... 34

Figure 44 Installation orientation of autopilot should be parallel to the vehicle (WRONG).......... 34

Figure 45 Connect the autopilot and the adapter plate with cross countersunk screws .................. 35

Figure 46 Proper installation position in the driving cab ............................................................... 35

Figure 47 Fix the adapter plate to the installation surface with self-tapping screws and electric tool

................................................................................................................................................ 35

Figure 48 Coaxial steering sensor .................................................................................................. 36

Figure 49 Coaxial steering sensor bracket ..................................................................................... 36

Figure 50 Tractor knuckle and suitable sensor seat ........................................................................ 37

Figure 51 Assemble steering sensor and sensor flanged base ........................................................ 37

Figure 52 Remove the screws on the knuckle flange with a socket spanner .................................. 38

Figure 53 Place the assembled steering sensor onto the knuckle flange and secure it with original

screws ..................................................................................................................................... 38

Figure 54 Bend the sensor stop plate downward ............................................................................ 39

Figure 55 Adhere double faced adhesive tape to the lower part of the double cross stop frame (left)

and bend the stop frame upward (right) ................................................................................. 39

Figure 56 Connect the sensor stop plate and double cross stop frame and fix them with screws .. 39
Figure 57 Remove the protective film of the double faced adhesive tape and press the double

cross stop frame against the front axle ................................................................................... 40

Figure 58 Wrap the anchor ear with rubber strip ............................................................................ 40

Figure 59 Bind and lock the double cross stop plate with anchor ear ............................................ 41

Figure 60 Coaxial steering system installed ................................................................................... 41

Figure 61 Components of parallelogram steering system .............................................................. 42

Figure 62 Installation sketch of parallelogram steering system (viewing from cross section of

tractor front axle).................................................................................................................... 43

Figure 63 Fix U-shaped threaded rod and fish plate to the toe-in .................................................. 43

Figure 64 Fix the clamping plates to the front axle with a M12 threaded rod ................................ 44

Figure 65 Fix sensor assembly at the long clamping plate side ..................................................... 44

Figure 66 Install cardan joint connecting rod ................................................................................. 45

Figure 67 Install cardan joint connecting rod ................................................................................. 45

Figure 68 Connection diagram of open center hydraulic system ................................................... 46

Figure 69 Installation positions of transition unions on the hydraulic valve .................................. 49

Figure 70 Hydraulic valve (left) and transition unions (right) ....................................................... 50

Figure 71 Install the transition unions to corresponding ports on the hydraulic valve ................... 50

Figure 72 Determine the connection position of L-shaped adapter plate on tractor (left), hang and

tighten hydraulic valve (right) ................................................................................................ 51

Figure 73 Disconnect existing connection at port P of power steering pump, mount transition

union, and connect it to port P of hydraulic valve with oil pipe ............................................. 51

Figure 74 Ports P, T, L (A), R (B) of steering gear ......................................................................... 52

Figure 75 Disconnect existing connection at ports L/R/T of steering gear, connect a tee union, and

then connect it to ports L/R/T of hydraulic valve ................................................................... 52

7 / 167

Figure 76 Sort out oil pipe ............................................................................................................. 53

Figure 77 Start the engine and press the pressing points at both ends of the proportional valve to

observe the actuation capability of the guide wheel ............................................................... 54

Figure 78 Connection diagram of closed center hydraulic system ................................................. 55

Figure 79 Locate ports P, T and LS at the rear axle ........................................................................ 56

Figure 80 Locate ports P and LS .................................................................................................... 56

Figure 81 Locate port T .................................................................................................................. 56

Figure 82 Replace the end caps of ports P and LS with transition union ....................................... 57

Figure 83 Replace end cap at port T with transition union ............................................................. 57

Figure 84 Connect ports P, T, LS at the rear axle of agriculture machine to hydraulic valve with oil

pipe ......................................................................................................................................... 58

Figure 85 Connect hydraulic valve and CVB module with oil pipe ............................................... 58

Figure 86 Outlook of front panel of navigation driving box .......................................................... 59

Figure 87 Connect radio antenna ................................................................................................... 60

Figure 88 Connect satellite navigation antenna.............................................................................. 61

Figure 89 White 23-pin vehicle standard connector terminal of data harness ................................ 62

Figure 90 Panel computer connector terminal of data harness ....................................................... 62

Figure 91 External radio interface terminal (left) and general extended terminal (right) of data

harness .................................................................................................................................... 62

Figure 92 Insert white 23-pin connector (female) of data harness into white 23-pin connector

(male) of Autopilot (Controller) ............................................................................................. 63

Figure 93 Connect data harness and panel computer ..................................................................... 63

Figure 94 Connect data harness and panel computer ..................................................................... 64

Figure 95 Black 23-pin connector end of drive harness ................................................................. 64

Figure 96 Battery connector (left) and power supply switch (right) of drive harness .................... 65

Figure 97 Hydraulic valve connector (left) and steering system connector (right) of drive harness

................................................................................................................................................ 65

Figure 98 Insert black 23-pin connector (female) of drive harness into black 23-pin connector

(male) of Autopilot (Controller) ............................................................................................. 66

Figure 99 Mount water-proof rubber ring to the hydraulic valve drive terminal of drive harness . 67

Figure 100 Mount drive terminal to the electromagnetic socket of hydraulic valve ...................... 67

Figure 101 Fix hydraulic drive terminal with screws ..................................................................... 68

Figure 102 Connect pressure sensor terminal ................................................................................ 68

Figure 103 Connect pressure sensor terminal ................................................................................ 69

Figure 104 Connect battery connecting terminal of drive harness to corresponding position on

battery and secure the connection .......................................................................................... 70

Figure 105 Power connections for the device on agriculture machine using 24V power supply ... 70

Figure 106 Bind the harness (1) ..................................................................................................... 71

Figure 107 Bind the harness (2) ..................................................................................................... 71

Figure 108 The LED indicator on gourd-shaped switch is off before power-on (left) and is on after

power-on (right) ..................................................................................................................... 73

Figure 109 The LED indicators on Autopilot (Controller) are off before power-on (left) and is on

after power-on (right) ............................................................................................................. 73

Figure 110 The panel computer screen is off before power-on (left) and is on after power-on (right)

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................................................................................................................................................ 73

Figure 111 Initializing icon of AG960 on Display ......................................................................... 74

Figure 112 Login screen of panel computer ................................................................................... 74

Figure 113 Pull-down menu ........................................................................................................... 75

Figure 114 Select technical support ............................................................................................... 75

Figure 115 Password input box ...................................................................................................... 76

Figure 116 Main interface of technical support .............................................................................. 77

Figure 117 Check the firmware version number at “About us” ..................................................... 84

Figure 118 View self-test information of equipment ...................................................................... 84

Figure 119 Setting screen ............................................................................................................... 88

Figure 120 System setting screen to select “433MHz radio (internal)” as “RTK data source” ...... 89

Figure 121 Select channel number of internal radio ...................................................................... 89

Figure 122 System screen to select “433MHz radio (external)” as “RTK data source” ................. 90

Figure 123 Screen to select “CORS network” as “RTK data source” ................................ ............ 90

Figure 124 Sub-screen of “Host setting” ........................................................................................ 92

Figure 125 Main machine line outlet forward, LED light face upward (left); main machine line

outlet forward, LED light face right (right) ............................................................................ 93

Figure 126 Main machine line outlet upward, LED light face forward (left); main machine line

outlet upward, LED light face right (right) ............................................................................ 94

Figure 127 Open the pull-down menu for installation orientation of main machine for selection . 94

Figure 128 Reference point on Autopilot (Controller) ................................................................... 95

Figure 129 Sub-screen “Antenna setting” ...................................................................................... 95

Figure 130 Example of lateral installation of antenna on the agriculture machine ........................ 96

Figure 131 Reference point for measuring position of satellite navigation antenna ...................... 97

Figure 132 Sub-screen “Vehicle setting”, front wheels .................................................................. 97

Figure 133 Sub-screen “Implement setting” .................................................................................. 98

Figure 134 Sub-screen “Program update” ...................................................................................... 99

Figure 135 Flat farmland acceptable for equipment calibration ................................................... 100

Figure 136 Flat road acceptable for equipment calibration .......................................................... 100

Figure 137 Calibration screen ...................................................................................................... 101

Figure 138 Sub-screen popping out for guide wheel calibration .................................................. 103

Figure 139 Step 1: obtain the left limit angle of guide wheel ...................................................... 105

Figure 140 Step 2: obtain the right limit angle of guide wheel .................................................... 106

Figure 141 Step 3: acquire the middle point angle of guide wheel .............................................. 107

Figure 142 Step 3: guide wheel calibration completed ................................................................ 107

Figure 143 When the guide wheel is calibrated, the corresponding icon turns green .................. 108

Figure 144 Sub-screen “Attitude calibration” pops out................................................................ 109

Figure 145 Step 1 start calibration ............................................................................................... 110

Figure 146 Step 2 time counting .................................................................................................. 110

Figure 147 Sketch of repositioning the farming vehicle after turning around .............................. 111

Figure 148 Step 3 turning around ................................................................................................. 111

Figure 149 Step 4 timing count .................................................................................................... 111

Figure 150 Step 5 complete attitude calibration ........................................................................... 112

Figure 151 When the attitude calibration is completed, the corresponding icon turns green ....... 113

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Figure 152 Sub-screen “Steering sensitivity calibration”............................................................. 114

Figure 153 Render angle excitation and observe the execution of steering movement ................ 116

Figure 154 When the calibration of steering sensitivity is done, the corresponding icon turns green

.............................................................................................................................................. 119

Figure 155 Driver sensitivity calibration sub-screen .................................................................... 120

Figure 156 In case of excessive high driver sensitivity, the vehicle keeps swaying around the Line

AB instead of along the line ................................................................................................. 120

Figure 157 In case of excessive low driver sensitivity, the vehicle passes the Line AB slowly ... 121

Figure 158 In case of appropriate driver sensitivity ..................................................................... 121

Figure 159 When the driver sensitivity is calibrated, the corresponding icon turns green ........... 123

Figure 160 Dialogue box popped out when entering sub-screen “System deviation” ................. 124

Figure 161 Perform system deviation calibration ........................................................................ 124

Figure 162 Establish operation Point A for system deviation calibration .................................... 125

Figure 163 Drive forward manually and the screen shows the driving distance in real time ....... 125

Figure 164 Drive forward manually for 70m, and Point B is automatically established .............. 126

Figure 165 Drive along Line AB for a round trip in auto driving mode ...................................... 126

Figure 166 The calibration is done ............................................................................................... 127

Figure 167 When the calibration of system deviation is done, the icon turns green .................... 128

Figure 168 Enter the sub-screen “Agriculture machine deviation calibration” ............................ 128

Figure 169 Step 1: establish Point A ............................................................................................ 129

Figure 170 Step 2: straightly drive forward for 70m and Point B will be established automatically

.............................................................................................................................................. 129

Figure 171 Step 3: automatically drive along Line AB for a round trip and make marks for tyres

.............................................................................................................................................. 130

Figure 172 Step 4: Select the right picture based on the relative position of tyre marks made in a

round trip ................................ ................................ .............................................................. 131

Figure 173 Step 4: fill in the distance between the tyre marks made in a round trip ................... 131

Figure 174 Step 5: calibration is done successfully ..................................................................... 132

Figure 175 When the calibration of agriculture machine deviation is done, the corresponding icon

turns green ............................................................................................................................ 133

Figure 176 View of calibration parameters .................................................................................. 133

Figure 177 The tractor drives along a straight path in the farmland without any bend apparent to

the naked eyes ...................................................................................................................... 135

Figure 178 Log-in screen of panel computer ............................................................................... 136

Figure 179 Main user interface .................................................................................................... 136

Figure 180 Sub-screen “New task” .............................................................................................. 137

Figure 181 The name of new task is displayed at the left upper corner of main interface ........... 138

Figure 182 Sub-screen “Load task”.............................................................................................. 139

Figure 183 Press the task name with a finger in a longer time to view the details about the task 139

Figure 184 Establish a new task with shortcuts............................................................................ 140

Figure 185 Set Line AB with shortcuts, set Point A ..................................................................... 141

Figure 186 Set Line AB with shortcuts, set Point B ..................................................................... 142

Figure 187 Set Line AB with shortcuts: three Line ABs are displayed when both Point A and Point

B are set ................................................................................................................................ 142

10 / 167

Figure 188 Shift Line AB with shortcuts...................................................................................... 144

Figure 189 Enter the distance to shift left .................................................................................... 144

Figure 190 Result of Line AB shifting left ................................................................................... 145

Figure 191 Set the operation width with shortcuts ....................................................................... 146

Figure 192 Operation width calculation of corn planter............................................................... 146

Figure 193 Operation width calculation of cotton planter ............................................................ 147

Figure 194 Operation width calculation of wheat planter ............................................................ 147

Figure 195 Set the deviation of farm tool with shortcuts ............................................................. 148

Figure 196 Speculate the shift of farm tool shift by measuring actual transfer row width at the left

side of the tractor .................................................................................................................. 149

Figure 197 Speculate the farm tool shift by measuring actual transfer row width at the right side of

the tractor ............................................................................................................................. 150

Figure 198 Set the radio channel number with shortcuts ............................................................. 151

Figure 199 Select a proper channel .............................................................................................. 151

Figure 200 The vehicle is now in manual driving mode and allows to be switched to auto driving

mode ..................................................................................................................................... 153

Figure 201 The vehicle is now in manual driving mode and does not allow to be switched to auto

driving mode (Since the Line AB is not available now) ....................................................... 153

Figure 202 Display effect of screen in night mode ...................................................................... 157

Figure 203 Display effect of background with concealed grid ..................................................... 157

Figure 204 Enable the operation highlight function ................................ ................................ ..... 158

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1 General Description

This user manual provides description relating to the installation, commissioning,

operation and maintenance of AG960 AutoSteer System (as “AG960” for the

following) for agriculture machine. Appropriate operation and maintenance is vital to
the safe and reliable operation of the system.

It is important to take some time to read this manual thoroughly. The information in
this manual is current at the time of printing while the system may have slight
changes. Information and related materials are subject to change without notice.

2 Introduction of AG960 AutoSteer System

AG960 AutoSteer System (“AG960”) is designed for precision agriculture and
machinery. It takes advantage of the Global Navigation Satellite System (GNSS)
differential technology, acquiring the position information of the agricultural
machines within centimeter level, controlling the guide wheel of agricultural
machines through electromagnetic hydraulic valve. As a result, agricultural machines
can achieve automatic operation along the planned route. AG960 can be installed to
small, medium and large farming vehicles with hydraulic power steering system, such
as tractor, harvester, sprayer etc. It will enhance the operators’ work, improve the
operation accuracy and efficiency and reduce the working intensity of operators.

AG960 need to be used together with the GNSS reference station or GNSS CORS
network.

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Figure 1 Autopilots Work with GNSS (GPS/GLONASS/BDS) and Differential Reference Station

During the operation, GNSS reference station broadcasts the satellite reference
observation data via the data transceiver, and the autopilot precisely calculates the
position and speed of itself with GNSS satellite signal and reference station signal
received. Following the specified operation route, autopilot drives the
electro-magnetic hydraulic valve to realize the guidance of wheel movement and
operation route auto-tracking of the agricultural vehicles. For a single GNSS reference
station, it can serve as many autopilots as required at the same time. However, the
work area it may serve depends on the radio transmitting power of the reference
station. In case of portable reference station, the work area usually is within 3km,
while in case of stationary reference station, the work area can be up to around 20km
(The work area will be reduced accordingly when there is windbreak and unfavorable
topography between the reference station and agriculture machines in work).

This user manual introduces the components, installation, commissioning and
operation of AG960 as well as the daily maintenance and troubleshooting for common
issues of the system.

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3 Components of AG960

Item

Description

Qty.

Remarks

1.

Satellite navigation antenna

2 pcs.

Including pedestal and double faced
adhesive tape

2.

Radio receiving antenna mast

1 pcs.

3.

Radio receiving antenna pedestal

1 pcs.

Including RF cable and double faced
adhesive tape

4.

Autopilot (Controller)

1 unit

5.

Panel computer

1 unit

6.

Electro-magnet hydraulic valve

1 pcs.

Open center/ closed center

7.

CVB module

1 pcs.

Optional for closed center system

8.

Coaxial rotation direction sensor

1 pcs.

9.

3m RF cable

2 pcs.

10.

Drive harness (black end harness)

1 pcs.

Optional for 3.5m/4.5m

11.

Data harness (white end harness)

1 pcs.

3.1 Product List

AG960 AutoSteer System (“AG960”) package is as shown below.

Figure 2 Outlook of AG960 AutoSteer System (“AG960”) package

Parts and components included in the package are listed in the table below.

Table 1 AG960 AutoSteer System (“AG960”) unpacking list

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12.

Autopilot (Controller) adapter
plate

1 pcs.

13.

Panel computer bracket

1 pcs.

14.

Coaxial rotation direction senor
bracket

1 set

Flanged base, stop frame, anchor ear,
rubber strip

15.

Hydraulic valve adapter plate

1 pcs.

16.

Hydraulic transit joint bag

1 bag

17.

Screws & nuts bag

1 bag

18.

3M double faced adhesive tape

1 set

19.

Insulating tape

1 pcs.

20.

Strapping tape

Several

21.

Operation manual

1 pcs.

22.

Product quality certificate

1 pcs.

Outlook of actual parts and components are given below.

Figure 3 Outlook of GNSS antenna

Figure 4 Outlook of radio antenna

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Figure 5 Outlook of navigation autopilot

Figure 6 Outlook of panel computer

Figure 7 Outlook of electromagnetic hydraulic valve

Figure 8 Outlook of CVB module (optional for closed center system)

Figure 9 Outlook of coaxial rotation direction sensor

Figure 10 Outlook of 3m RF cable

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Figure 11 Outlook of data harness (white end harness)

Figure 12 Outlook of drive harness (black end harness)

Figure 13 Outlook of Autopilot (Controller) adapter plate

Figure 14 Outlook of panel computer bracket

Figure 15 Outlook of hydraulic valve adapter plate

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Round/rectangle flanged base

Anchor ear

Double cross stop frame

Rubber strip

Figure 16 Outlook of coaxial rotation direction sensor bracket

3.2 Electrical Connection Relation

AG960 has an electric connection relation with the vehicle as shown in the figure
below.

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Figure 17 Electro-mechanical connection drawing of AG960 (open center system)

Primary antenna

Secondary antenna

Radio receiving antenna

Navigation driving box

Panel

Battery

Battery

Proportional valve

Tractor oil pump

Electric controlled hydraulic valve

Steering measuring mechanism

Steering measuring mechanism

Cartridge valve block T port

To oil tank

Oil return pipe

Oil inlet pipe

Data harness

Drive harness

To steering oil cylinder

Steering engine

The electro-mechanical connection relation of AG960 is explained below.

1) The primary antenna of the satellite navigation antenna is connected to the

“GNSS primary antenna” port of the front panel of navigation autopilot through a
3M RF cable.

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2) The secondary antenna of the satellite navigation antenna is connected to the

Item

Description

Spec.

Qty.

Remarks

1.

No-adjustable wrench

1 set

2.

Adjustable wrench

2 pcs.

3.

Inner hexagon spanner (Metric
system)

1 set

4.

Inner hexagon spanner
(Imperial system)

1 set

“GNSS secondary antenna” port of the front panel of navigation autopilot through
a 3M RF cable.

3) The radio receiving antenna is connected to the “radio antenna” port of the front

panel of navigation autopilot through a 3M RF cable.

4) Each end of the data harness (white end harness) is respectively connected to the

Autopilot (Controller) and the panel computer.

5) One end of the drive harness (black end harness) is connected to the Autopilot

(Controller) and the other end is divided into three lines each of which is
respectively connected to vehicle battery, electromagnetic hydraulic valve and
steering measuring mechanism.

4 Installation of AG960

In this chapter, it takes Dongfanghong (a tractor brand name) 904 tractor (open center
type, medium-duty), John Deere 904 tractor (open center type, medium-duty) and
Case 210 tractor (closed center type, heavy-duty) as examples to describe the process
of installing the AG960 onto the agricultural vehicles.

The process of installing AG960 can be divided into 4 steps:

1) Install electronic components

2) Install the steering measuring mechanism

3) Install the hydraulic valve group

4) Lay the harness

Step 1, 2 and 3 has no specific order and can be completed by different installation
personnel at the same time before laying the harness as step 4.

Tools required for the installation of AG960 are listed in the table below.

Table 2 Tools required for installing AG960

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5.

Phillips screwdriver (large)

1 pcs.

6.

Phillips screwdriver (small)

1 pcs.

7.

Straight screwdriver (large)

1 pcs.

8.

Straight screwdriver (small)

1 pcs.

9.

Diagonal pliers

1 pcs.

10.

Pincer pliers

1 pcs.

11.

Sharp-nose pliers

1 pcs.

12.

Measuring tape

1 pcs.

13.

Pistol drill

1 set

14.

Cutting machine

1 set

4.1 Installation of Electronic Components

To install electronic components, the agricultural machines should be placed on a
level plane, for example, flat cement surface or road surface. If it stops on an inclined
ground, error may occur in terms of the installation position and orientation
measurement of products on the vehicles and thus affect the autopilot performance.

The process of installing electronic components of AG960 can be divided into the
following 4 steps.

1) Install satellite navigation antenna (including antenna pedestal, RF cable)

2) Install radio receiving antenna (including antenna pedestal, RF cable)

3) Install panel computer (including its bracket)

4) Install Autopilot (Controller) (including its adapter plate)

4.1.1 Installation of Satellite Navigation Antenna

AG960 contains two satellite navigation antennas installed to the left and right side at
the top of the driving cab of the agriculture machine respectively, where the right
antenna is the primary antenna responsible for acquiring vehicle position information
and the left one is the secondary antenna responsible for acquiring vehicle orientation
information.

The satellite navigation antenna is installed onto the vehicle according to the
following procedures.

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4.1.1.1 Position Requirement of Installing Satellite Navigation

Antenna

Two satellite navigation antennas should be installed just above the rear axle of the
vehicle as far as possible along the longitudinal direction of the vehicle, as shown in
the figure below. If this is impossible due to the geometry of the top of driving cab or
other structural constraints, the longitudinal distance from the satellite navigation
antenna to the rear axle center of the vehicle should be accurately measured during the
subsequent equipment commissioning process.

Figure 18 Electro-mechanical connection drawing of AG960 (open center system)

In the transverse direction, two satellite navigation antennas should be symmetrically
installed to the edge of the driving cab top, as shown in the figure below. It is required
that the distance between two antennas should be as large as possible, at least 1m. If
1m distance is not available at the driving cab top, antenna installation bracket should
be fabricated.

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Figure 19 Ideal position of satellite navigation antenna on the vehicle (rear view)

To install the satellite navigation antenna onto the driving cab top of the vehicle, it is
required that the mushroom head of the antenna should be as level as possible to
facilitate the receiving of satellite signal, as shown in the figure below. The RF
connector of antenna should be orientated towards the inner side as far as possible to
present a better appearance of the RF cable routing

Figure 20 The satellite navigation antenna should be horizontally installed onto the vehicle with

the RF connector at the inner side

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4.1.1.2 Fix the Antenna to the Top of Driving Cab

After installing the satellite navigation antenna at the driving cab top of the tractor is
decided, remove the protective film of 3M double faced adhesive tape on the antenna
pedestal. If the double faced adhesive tape is not adequately adhesive due to low
temperature, heat it with a lighter. Then press the satellite navigation antenna onto the
driving cab top of the vehicle according to the specified position and RF connector
orientation. Press it with force until it is securely adhered. Before pressing, make sure
the contact surface between the driving cab top and the antenna is level with little arc
and is clean without any dust and water drop, or loose connection and falling off of
the antenna may occur. To enhance the water-proof effect of the connection, apply
waterproof sealant around the pedestal of the satellite navigation antenna after
installation.

Figure 21 Remove the protective film of double faced adhesive tape on the antenna pedestal

Figure 22 Heat the double faced adhesive tape in case of low temperature

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Figure 23 Press the antenna to specified position with force

Figure 24 Slightly pull the antenna to check if it is securely fixed

Figure 25 Apply waterproof sealant to the gap between antenna pedestal and vehicle top

4.1.1.3 Route Antenna RF Cable

After the satellite navigation antenna is installed, route the 3M RF cable. One end of
the 3M RF cable is connected to the RF connector of the satellite navigation antenna
with a threaded connection. Tighten it with hand instead of pliers or other tools to
avoid damage to the RF connector of the antenna or the RF cable connector. After it is
tightened, wrap and seal it with insulating tape. Route the cable along the driving cab
top and fix it with cable tie holder with double-faced adhesive tape. Two 3M RF
cables should be neatly routed in a symmetrical way along the driving cab top and

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hang from the rear side of the vehicle after being bound with the strapping tape so as
to enter into the driving cab through the rear side or rear window.

Figure 26 Tighten the 3M RF cable to the antenna (Do not use pliers or other tools to avoid

damage to the connector)

Figure 27 Route and bind the 3m RF cable at the driving cab top

4.1.2 Installation of Radio Receiving Antenna

AG960 has only one radio receiving antenna to receive the differential information
transmitted from the Beidou reference station. The radio receiving antenna is installed
onto the tractor as described below.

4.1.2.1 Installation Position of Radio Receiving Antenna

To ensure a vast field of view, the radio receiving antenna must be mounted to the
driving cab top instead of other positions such as rear side fender, engine hood of the
vehicle. Otherwise the reference station signal may be shielded by the driving cab and
thus cause intermittent or unstable signal affecting the automatic operation.

The distance between the radio receiving antenna and any satellite navigation antenna

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must be at least 50cm to ensure that the whip rod of the radio receiving antenna does
not disturb the signal receiving field of the satellite navigation antenna. Too close a
distance may cause reduced location precision and affect the automatic operation.

4.1.2.2 Assembly and Fixation of the Radio Receiving Antenna

After the installation position of the radio receiving antenna at the driving cab top of
the tractor is decided, first assemble the antenna mast and the antenna pedestal.
During assembly, wrench can be used for tightening to prevent the antenna from
getting loose during driving of the vehicle. Remove the protective film of 3M double
faced adhesive tape on the antenna pedestal. If the double faced adhesive tape is not
adequately adhesive due to low temperature, heat it with a lighter. Then press the
radio receiving antenna onto the driving cab top of the vehicle. Press it with force
until it is securely adhered. Before pressing, make sure the contact surface between
the driving cab top and the antenna is level with little arc and is clean without any
dust and water drop, or loose connection and falling off of the antenna may occur. To
enhance the water-proof effect of the connection, apply waterproof sealant around the
antenna pedestal.

Figure 28 Assemble antenna mast and antenna pedestal

Figure 29 Tighten the antenna mast the antenna pedestal with wrench

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Figure 30 Remove the protective film of the double faced adhesive tape on the antenna pedestal

Figure 31 Press radio antenna to specified position with force

Figure 32 Slightly pull the antenna to check if it is securely adhered

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4.1.2.3 Route RF Cable of Radio Receiving Antenna

After the radio receiving antenna is installed, route the RF cable. The pedestal of radio
receiving antenna is provided with RF cable. Route the cable along the driving cab
top and fix it with cable tie holder with double faced adhesive tape. It is recommended
to bind the RF cable of radio receiving antenna together with two 3M RF cables of
satellite navigation antenna and hang them from the rear side of the vehicle as a whole
so as to enter into the driving cab through the rear side or rear window. In this way,
the cable routing is neat and tidy.

Figure 33 Fix and bind the RF cables on the driving cab top and lead them into the driving cab

from the rear side window

4.1.3 Installation of Panel Computer

The panel computer is the user operation interface of AG960 and it is installed onto
the vehicle according to the following procedures.

4.1.3.1 Installation Position of Panel Computer

The panel computer must be installed inside the driving cab to avoid rain. Considering
that usually the driver operates with right hand and gets on or off the vehicle from the
left side of the driving cab, it is recommended to install the panel computer to the
right side or right front position (consult the driver before installation). The screen of
the panel computer should have a proper distance from and a proper installation angle
for the driver to facilitate driver’s operation.

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4.1.3.2 Fixation of Round Plate Knob

Fix the round plate knob of the panel computer bracket to the specified installation
position in the driving cab with electric tool and 3 outer hexagon self-tapping screws
(ST4.2×32).

Figure 34 Fix and bind the RF cables on the driving cab top and lead them into the driving cab

from the rear side window

Figure 35 Outer hexagon self-tapping screw

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Figure 36 Fix the round plate knob of the panel computer bracket with electric tool and outer

hexagon self-tapping screws

4.1.3.3 Fixation of Rectangle Plate Knob

Fix the rectangle plate knob of the panel computer bracket to the rear cover of the
panel computer with 4 cross recessed pan head screws. To prevent the panel computer
from getting loose during vibration and bumping, spring washers together with flat
washers should be used during fixation.

Figure 37 Rectangle plate knob of panel computer bracket

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Figure 38 Cross recessed pan head screws, spring washers and flat washers for fixing rectangle

plate knob

Figure 39 Fix the rectangle plate knob of panel computer bracket to the rear cover of the panel

computer with cross recessed pan head screws

4.1.3.4 Installation of the 3G Antenna

For the autopilot which requires information remote control, 3G antenna is needed.

Figure 40 Installation of 3G antenna

4.1.3.5 Installation and Fix of the Panel Computer

Place the panel computer at a proper angle and connect the round plate knob and the
rectangle plate knob with the link rod of the panel computer bracket. Fix with force by
wrench if necessary to make sure that the panel computer will not drop or fall due to
the bumping or vibration of vehicle.

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Figure 41 Connect the round plate knob and the rectangle knob with the link rod

Figure 42 Panel computer properly installed

4.1.4 Installation of Autopilot (Controller)

As a core component of the autopilot, Autopilot (Controller) is used to realize the
location, navigation, control and drive of the vehicle. The Autopilot (Controller) is
installed inside the driving cab according to the following procedures.

4.1.4.1 Installation Position of Autopilot (Controller)

The Autopilot (Controller) is installed inside the driving cab in an orientation parallel
to the coordinate system of the vehicle (Vehicle coordinate system takes the rear axle
center as the origin O, the rear axle as X axis, the longitudinal axle as the Y axis and
the vertical rise from the rear axle center to the driving cab top as the Z axis) (Any X,
Y, Z edges perpendicular to each other starting from any angle of the Autopilot
(Controller) should be respectively parallel with the X, Y, Z axis of the vehicle
coordinate system).

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Installation orientation of autopilot is
parallel to the tractor

Installation orientation of autopilot is
parallel to the tractor

Installation orientation of autopilot is
NOT parallel to the tractor

Installation orientation of autopilot is
NOT parallel to the tractor

Figure 43 Installation orientation of autopilot should be parallel to the vehicle (CORRECT)

Figure 44 Installation orientation of autopilot should be parallel to the vehicle (WRONG)

Select a relatively flat plane in the driving cab as the installation surface of the
Autopilot (Controller), for instance, the driving cab floor, the fender of left and right
rear wheels of the driving cab, rear wall of the driving cab etc. It should be installed
far away from the engine to the greatest extent and it is prohibited to install the
driving box directly onto engine components. The installation position should ensure
the driving box is not easy to be trodden on or hit by control stick. Sufficient space
should be reserved for the outgoing cable of Autopilot (Controller) (at least 10cm in
the outgoing cable direction of the Autopilot (Controller)). The installation position
should provide relatively large bending radius for the harness and ensure relatively
low stress at the end of the harness.

4.1.4.2 Fix Autopilot (Controller) at Specified Position

Connect the Autopilot (Controller) and its adapter plate with four cross countersunk
screws (M6×12). Then fix the adapter plate of Autopilot (Controller) to the
installation surface in vehicle driving cab with electric tool and 4 outer hexagon
self-tapping screws (ST6.3×19)

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Figure 45 Connect the autopilot and the adapter plate with cross countersunk screws

Figure 46 Proper installation position in the driving cab

Figure 47 Fix the adapter plate to the installation surface with self-tapping screws and electric tool

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4.2 Installation of Steering System

Sensor stop plate

Sensor body

Round/rectangle flanged base

Anchor ear

Double cross stop

Rubber strip

4.2.1 Installation of Coaxial Steering System

AG960 is provided with coaxial steering system as standard, which can be easily
installed to most farming machines (mainly various farming machines with
four-wheel drive). The coaxial steering system consists of coaxial steering sensor
(including senor body, sensor stop plate) and its bracket (round flanged base,
rectangle flanged base, double cross stop frame, anchor ear and rubber strip), which
are shown in the following two figures.

Figure 48 Coaxial steering sensor

Figure 49 Coaxial steering sensor bracket

The coaxial steering system is installed to the left front axle of the tractor (from the
view of the driver) according to the following procedures.

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4.2.1.1 Select a Suitable Sensor Seat Based on the Knuckle Flange

Type of the Tractor

Observe the shape and screw number of the flange of guide wheel knuckle. If the
knuckle flange is round and has three screws as shown in the figure below, use the
round flanged base of the sensor provided in the package. If the knuckle flange is
rectangle and has 4 screws, use the rectangle flanged base of the sensor provided in
the package. If it is neither type of the above mentioned (usually found in various
agriculture machine with two-wheel drive), refer to section of “Install steering system
of parallelogram type”.

Figure 50 Tractor knuckle and suitable sensor seat

4.2.1.2 Assembly of the Steering Sensor and Sensor Flanged Base

Select proper sensor flanged base and assemble the steering sensor and the sensor
flanged base with 5 cross countersunk screws (M4×8).

Figure 51 Assemble steering sensor and sensor flanged base

4.2.1.3 Assembly of the Steering Sensor and Sensor Flanged Base

Remove the screws on the knuckle flange of tractor guide wheel with socket spanner

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and put the steering sensor with flanged base assembled onto the knuckle of tractor
guide wheel. Align the rotation center of the steering sensor with that of tractor
knuckle. The outgoing line of the steering sensor should point inward (toward the
engine side) and be parallel with the front axle to facilitate the routing of cables. If
there is grease filler protruding from the knuckle flange at the guide wheel affecting
the installation of the steering sensor, it may be removed. Place the steering sensor
properly and re-assemble and tighten the screws.

Figure 52 Remove the screws on the knuckle flange with a socket spanner

Figure 53 Place the assembled steering sensor onto the knuckle flange and secure it with original

screws

4.2.1.4 Installation of Double Cross Stop Frame

Bend the stop plate of the sensor 45°downward with a sharp-nose plier. Place the
double cross stop frame levelly on the tractor axle and bend it 45°upward so that it
can overlap and connect the bent part of the sensor stop plate. Secure them with two
screws. In case the overlapped part is not long enough due to too much vertical height

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difference between the steering sensor and tractor axle, it may also be secured with
one screw only.

Note: When bend the sensor stop plate downward, make sure the bending position has
certain distance from three fastening screws of tractor knuckle to prevent interference
during wheel steering and damages to the equipment.

Figure 54 Bend the sensor stop plate downward

Figure 55 Adhere double faced adhesive tape to the lower part of the double cross stop frame (left)

and bend the stop frame upward (right)

Figure 56 Connect the sensor stop plate and double cross stop frame and fix them with screws

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4.2.1.5 Fix the Double Cross Stop Frame

Fix the double cross stop plate to vehicle front axle with anchor ear and rubber strip.
First remove the protective film of the double faced adhesive tape on the lower part of
the double cross stop frame and adhere it to the corresponding position on front axle
to prevent stop frame from moving during locking the anchor ear. Then bind and lock
it with the anchor ear. During binding, please note that the anchor ear should pass the
spacing slot on the double cross stop plate. Lock the anchor ear adequately with a
straight screwdriver to prevent the double cross stop plate from moving or loosening
during the operation and bumping of the tractor.

Figure 57 Remove the protective film of the double faced adhesive tape and press the double cross

stop frame against the front axle

Figure 58 Wrap the anchor ear with rubber strip

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Figure 59 Bind and lock the double cross stop plate with anchor ear

4.2.1.6 Bind Steering Senor Cable

Figure 60 Coaxial steering system installed

4.2.1.7 Check the Motion of the Steering System

After the device is installed, start the engine, repeatedly turn the guide wheel to the
left and right side to the maximum extent with vehicle staying at the same location
and observe the coaxial steering system. Make sure that during the wheel rotation, the
steering system does not interference with or impact on the oil tubing mechanism (in
particular, the sensor stop plate should have no contact with the bottom plate flange
and screws), the sensor seat can turn freely along with the knuckle and the sensor

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itself is locked to the front axle by protruding sensor stop plate and does not turn at

Long/short clamping plate

Swing rod with holes in pattern

Sensor body

U-shaped threaded rod

Fish plate

Front axle clamping

Sensor assembly

Cardan joint

Cardan joint connecting rod

all.

4.2.2 Installation of Parallelogram Type Steering System

If the coaxial steering system cannot be installed to some types of tractors, for
example, when there is only one master screw at the knuckle flange of the guide
wheel, or there is high protrusion that cannot be removed at the knuckle flange,
contact the support team of Tersus to replace steering system of parallelogram type.

Technical Support: [e-mail]

Figure 61 Components of parallelogram steering system

The parallelogram steering system consists of sensor assembly (including sensor body,
swing rod with holes in pattern), axle clamping plate (including long clamping plate,
short clamping plate and M12 connecting threaded rod), toe-in U-groove (including
U-shaped threaded rod, fish plate) and cardan joint connecting rod (including cardan
joint and M10 connecting threaded rod).

One end of the cardan joint connecting rod connects the toe-in and the other end
connects the swing rod with holes in pattern. When the guide wheel moves, the toe-in
drives the sensor to rotate via the connecting rod and the swing rod so as to measure
the guide wheel angle, as shown in the figure below (viewing from the cross section

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of tractor front axle)

Figure 62 Installation sketch of parallelogram steering system (viewing from cross section of

tractor front axle)

The parallelogram steering system is installed to the left front axle of the tractor
(viewing from the driver) according to the following procedures.

4.2.2.1 Install Toe-in U-Groove

Fix the U-shaped threaded rod and fish plate onto the toe-in link rod at a position near
the hinged point. Tighten the nuts at both sides simultaneously.

Figure 63 Fix U-shaped threaded rod and fish plate to the toe-in

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4.2.2.2 Install Axle Clamping Plate

Fix the short and long clamping plates to tractor front axle with a M12 threaded rod. It
is required that two clamping plates must have certain deformation to maintain
necessary clamping force exerted on tractor front axle (the long clamping plate can be
placed in the front or rear of axle as per the actual conditions).

Figure 64 Fix the clamping plates to the front axle with a M12 threaded rod

4.2.2.3 Install Sensor Assembly

Install the sensor assembly at the long clamping plate side.

Figure 65 Fix sensor assembly at the long clamping plate side

4.2.2.4 Install Cardan Joint Connecting Rod

Install cardan joint connecting rod, with one end fixing toe-in U-groove and the other

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end fixing swing rod with holes in pattern. The cardan joint connecting rod should be
fixed with two M10 nuts to prevent the connecting rod from moving or loosening
during the operation and bumping of the tractor.

Figure 66 Install cardan joint connecting rod

4.2.2.5 Adjust the Parallelogram

Adjust the length of the cardan joint connecting rod and the connecting holes of the
swing rod with holes in pattern to pay attention to below.
 The swing rod with holes in pattern (Line AB) is parallel with the line between

the toe-in hinged point and the rotation center of guide wheel (CD line)

 Cardan joint connecting rod (BC line) is parallel with the line between the

rotation center and the sensor center (AD line)

OR
 The length of AB equals that of CD; 2) the length of BC equals that of AD. If

taking equal length as standard, the difference of lengths of both lines should be
no more than 1cm.

Figure 67 Install cardan joint connecting rod

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4.2.2.6 Check the Motion of Pallelogram Mechanism

Steering wheel

Tractor steering gear

Navigation valve group

Steering actuator

Oil

Oil

When the parallelogram is adjusted properly, tighten the fastening screws at both ends
of cardan joint connecting rod. Start the engine, continuously turn the guide wheel to
the left and right side to the maximum extent and observe the parallelogram
mechanism. Make sure that the parallelogram mechanism do not interfere with or
impact on the oil tubing mechanism of the vehicle during the rotation, and ∠ABC
will not be straightened or get close to 180°, nor will the parallelogram be overturned.

4.3 Check the Motion of Pallelogram Mechanism

The steering system for precision agriculture machines mainly includes two types,
named as open center system and closed center system. Taking John Deere 904 tractor,
Dongfanghong 904 tractor and Case 210 tractor as example, this manual describes the
installation process of hydraulic valve group of open center and closed center
systems.

4.3.1 Install Hydraulic Valve Group of Open Center System

The hydraulic valve group of open center system has such mechanical connections to
the agriculture machine as shown in the figure below.

Figure 68 Connection diagram of open center hydraulic system

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The open center hydraulic system has the following connections.

Item

Description

Specification

Qty.

Legend

Remarks

1.

Transition
union

G3/8-M18x1.5

5

2.

Tee union

CF08

2

3.

Tee union

CF06

2

4.

Quarter bend

2F908

1

5.

Quarter bend

2F906

2

6.

High pressure

M18x1.5H-90/13/16A

3

 Ports L, R, T of the hydraulic valve is respectively connected to ports L, R, and T

of the steering gear via a tee union.

 Disconnect existing connection between the pressure output port P of vehicle

power steering pump and port P of steering gear, and then connect the port P of
hydraulic valve to port P of power steering pump and port P1 of hydraulic valve
to port P of steering gear.

The pipe fittings list of different agriculture machine models can be obtained from the
Tersus. For example, the pipe fittings list for John Deere 904 tractor is given below.

Table 3 Pipe fittings list for John Deere 904 tractor

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oil pipe

-L1.2

7.

High pressure
oil pipe

M18x1.5H-90/11/16A

-L1.2

2

The installation process of hydraulic valve group is described below.

4.3.1.1 Check the Operating Conditions of Existing Hydraulic Power

Steering System of Tractor

Before installing hydraulic valve group, check the operating conditions of the
hydraulic power steering system of tractor.

 Switch on the engine, and set the engine speed to idling position.
 Continuously turn the steering wheel left and right for preliminary inspection. If

the steering wheel is too difficult to turn, it indicates insufficient pressure of the
power steering pump. If it is too easy to turn, it indicates ineffective return spring
of steering gear. If the steering wheel has idle travel, it indicates leakage in the
steering gear, or mechanical gap between front or rear angle axles of steering oil
cylinder, or mechanical gap between two end shafts of toe-in. In a word, idle
travel is related to mechanical gap.

 Check if the power steering pump is normal. Turn the steering wheel with hand

 Check if the steering gear is normal. Turn the steering wheel with hand when the

when the tractor stays at the same position. If the guide wheel can turn left or
right to the maximum extent, it means the hydraulic steering system of the
agriculture machine is normal. If it requires force to turn the steering wheel with
hand, it indicates that the pressure of the hydraulic power steering pump is critical
and it is difficult to turn when the hydraulic valve is installed. If it is hard to turn
the steering wheel with hand, and the guide wheel can manage to turn with the
accelerator pressed to the maximum extent but still is unable to reach the limiting
position at both left and right sides, it means the hydraulic power steering system
of this tractor is nearly ineffective, and it is impossible to install the hydraulic
valve. In this case, repair the power steering pump of the tractor before the
autopilot is installed. Usually the power steering pump will be replaced.

tractor stays at the same position. When the steering wheel turns to the maximum
extent at both left and right sides, release the steering wheel and observe if it can
return freely. If the steering wheel does not return, it means the steering gear is
malfunctioned and it is impossible to install the hydraulic valve. Repair the

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steering gear before the installation process.

 Check the mechanical gap of steering oil cylinder. Turn the steering wheel with

hand when the tractor stays at the same position and observe if there is oversized
gap at the connections of both ends of the steering oil cylinder and the tractor
axles causing dead running of oil cylinder. If any, eliminate the gap before the
installation process.

 Check the mechanical gap at toe-in of tractor. Turn the steering wheel with hand

when the tractor stays at the same position and observe if there is oversized gap
between the toe-in and the connection shaft of left & right guide wheels causing
dead running of toe-in. If any, eliminate the gap before the installation process.

4.3.1.2 Install Transition Unions onto Hydraulic Valve

The positions of oil ports are shown in the figure below. Mount transition unions to
ports P, P1, L, R, and T of the hydraulic valve.

Note: bonded washer should be used for the installation.

Figure 69 Installation positions of transition unions on the hydraulic valve

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Figure 70 Hydraulic valve (left) and transition unions (right)

Figure 71 Install the transition unions to corresponding ports on the hydraulic valve

4.3.1.3 Install the Hydraulic Valve to Tractor

Hang and mount the hydraulic valve to the specified position on the tractor with an
L-shaped adapter plate, such as the left front and right front of driving cab, inside the
engine compartment, inside the driving cab etc. Either threaded or welded connection
is OK. There is no special requirement for the orientation of valve body, but it is
required to make sure that the valve body does not swing after being mounted and
sufficient space is available to install pipelines.

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Figure 72 Determine the connection position of L-shaped adapter plate on tractor (left), hang

and tighten hydraulic valve (right)

4.3.1.4 Connect Port P of Power Steering Pump and Port P of

Hydraulic Valve

Disconnect the existing connection at port P of power steering pump (pressure output
port) and connect it to port P of hydraulic valve with transition union and oil pipe. The
existing connection can be disconnected directly from port P of power steering pump
or the other end of oil tube of port P of power steering pump, whichever is convenient
for the installation process.

Figure 73 Disconnect existing connection at port P of power steering pump, mount transition

union, and connect it to port P of hydraulic valve with oil pipe

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4.3.1.5 Connect Hydraulic Valve and Ports L, R, T of Steering Gear

Respectively with Tee Unions

Disconnect existing connections of ports L (also A), R (also B), T of the steering gear,
and replace them with tee union for re-connection. The connection can be
disconnected from the steering gear or the other end of the oil pipe to the steering gear,
whichever is convenient for the installation process.

Figure 74 Ports P, T, L (A), R (B) of steering gear

Figure 75 Disconnect existing connection at ports L/R/T of steering gear, connect a tee union,

and then connect it to ports L/R/T of hydraulic valve

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4.3.1.6 Connect Port P1 of Hydraulic Valve to Port P of Steering

Gear

Connect port P1 of hydraulic valve and port P of steering gear.

4.3.1.7 Sort out Oil Pipes

Sort out oil pipes and arrange the exposed oil pipes in a proper way so as to present a
beautiful and tidy appearance. Make sure to prevent the contact of oil pipe with high
temperature components such as engine exhaust pipe.

Figure 76 Sort out oil pipe

4.3.1.8 Check the Actuation Function of Hydraulic Valve

Start the engine and maintain a speed of 1000rpm~1500rpm in order to confirm the
actuation function of hydraulic valve.
 Check for oil leakage. Check if there is oil spray or leakage around the hydraulic

valve and the connection between oil pipe and tractor body. If any, stop the
engine immediately to check if the connector is secure, if the washer is in place,
correctly used or has any damage or if the connector has any damage. If any,
repair in time.

 Check if hand turning of steering wheel is normal. Turn the steering wheel by

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hand with tractor staying at the same position and observe if the turning process
is difficult. If yes, it indicates the pressure of existing hydraulic power steering
system is critical and the autopilot of agriculture machine will not work well. It
can be improved by repairing or replacing the power steering pump. Check if the
steering wheel rotates in the same direction with the guide wheel. If it rotates in a
reverse direction, exchange L and R oil pipes.

 Check if the hydraulic valve functions normally. Press the hand pressing point at

both ends of the hydraulic valves with a tool. First press the left one to check if
the guide wheel of tractor can rapidly turn to the maximum extent at the left side.
Then press the right one check if the guide wheel of tractor can rapidly turn to the
maximum extent at the right side. Test repeatedly for several times. When the
pressing point is pressed, if the guide wheel turns at a very slow speed or is
difficult to pass the middle point, it means the hydraulic system is abnormal. It
may be because the pressure of power steering pump of tractor is too critical or
the hydraulic valve or oil line has problem. In this case, press the accelerator
pedal to the utmost and check if there is obvious improvement of the response
speed. It is also recommended to adjust the main knobs of the hydraulic valve,
including system pressure etc. to check if the response is improved.

Figure 77 Start the engine and press the pressing points at both ends of the proportional valve

to observe the actuation capability of the guide wheel

4.3.2 Installation of Closed Center Hydraulic Valve System

The mechanical connections of closed center hydraulic valve system on the tractor are
as shown in the figure below.

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Oil return pipe

Oil inlet pipe

Steering control valve group

Load-sensitive

Tractor operating oil pump

Manual/Auto
Switchover sensor oil pipe

To steering oil tank

Figure 78 Connection diagram of closed center hydraulic system

Taking Case 210 tractor for example, the hydraulic valve group of closed center
system should be installed according to the following procedures.

4.3.2.1 Check Relevant Oil Ports

The operating oil pump is located at the rear side of the tractor. Replace the end caps
at ports P, T, LS with transition unions, as shown in the figure below.

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Figure 79 Locate ports P, T and LS at the rear axle

Figure 80 Locate ports P and LS

Figure 81 Locate port T

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Figure 82 Replace the end caps of ports P and LS with transition union

Figure 83 Replace end cap at port T with transition union

4.3.2.2 Install Hydraulic Valve System

Fix the hydraulic valve group to the vehicle with an L-shaped adapter plate.

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Figure 84 Connect ports P, T, LS at the rear axle of agriculture machine to hydraulic valve

with oil pipe

Figure 85 Connect hydraulic valve and CVB module with oil pipe

Similar to the open center type agriculture machine, check the operating conditions of
steering system of the agriculture machine before installing hydraulic valve group.
After the hydraulic valve group is installed, check the operating condition of
hydraulic valve group.

4.4 Routing of Cables

After the installation of electronic assemblies, steering system and hydraulic valve
group, cables should be routed to complete the electrical connection between the
components and assemblies of autopilot.

The cables are routed around the Autopilot (Controller). The front panel of Autopilot
(Controller) is shown in the figure below.

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Figure 86 Outlook of front panel of navigation driving box

The connections of various ports at the front panel of Autopilot (Controller) are as
follows.

 GNSS primary antenna port. It is connected to the right satellite navigation

antenna at driving cab top of the vehicle via a 3M RF cable.

 GNSS secondary antenna port. It is connected to the left satellite navigation

antenna at driving cab top of the vehicle via a 3M RF cable.

 Power & drive port. It is connected to the 23-pin vehicle standard connector

terminal of drive harness (black end harness). The other end of drive harness
(black end harness) is divided into three parts, namely “battery terminal”,

“hydraulic valve drive terminal” and “steering system terminal”, respectively

connecting to vehicle battery, electromagnetic hydraulic valve and steering
system.

 Panel computer port. It is connected to the 23-pin vehicle standard connector

terminal of data harness (white end harness). The other end of data harness (white
end harness) is connected to the panel computer via a round aviation connector.

 Bluetooth antenna port. It is not used in this product and is blocked with an end

cap.

 Radio antenna port. It is connected to the RF connector of the radio antenna that

hangs into the driving cab.

The cables are routed in the following order.

 RF cables
 Data harness (white end harness)
 Drive harness (black end harness)

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4.4.1 Routing of RF Cables

4.4.1.1 Connect Radio Antenna

For the radio receiving antenna at the driving cab top, the corresponding RF cable is
connected the RF plug marked with “Radio antenna” on the front panel of Autopilot
(Controller). Tighten it with hand. Never use any tool for tightening to prevent
damages to the connector.

Figure 87 Connect radio antenna

4.4.1.2 Connect Satellite Navigation Antenna

The satellite navigation antenna at the right side of driving cab top is the primary

antenna, and its RF cable is connected to the RF plug marked with “GNSS primary

antenna” on the front panel of Autopilot (Controller). Tighten it with hand. Never use

any tool for tightening to prevent damages to the connector. The satellite navigation
antenna at the left side of driving cab top is the secondary antenna, and its RF cable is

connected to the RF plug marked with “GNSS secondary antenna” on the front panel

of Autopilot (Controller). Tighten it with hand. Never use any tool for tightening to
prevent damages to the connector.

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Figure 88 Connect satellite navigation antenna

4.4.1.3 Sort out and Bind RF Cables

After connecting, sort out and bind the RF cables. Note that the bending radius of
cables should not be too small to prevent damaging the cables.

4.4.2 Routing of Data Harness (White End Harness)

One end of the data harness (white end harness) is white 23-pin vehicle standard
connector (female) and the other end is connected to the terminal of the panel
computer. In addition, two lines are divided from the root of the white 23-pin vehicle
standard connector, where the 4-pin round connector is the interface for external radio
and the 11-pin round connector is a general extended port. If external radio or other
external communication device is required to receive data from Beidou reference
station, it should be connected with the 4-pin round connector (when external
communication device is used, GNSS-RTK data source should be provided at the user
interface). The general extended port contains 12V power supply for external
extension equipment, RS232 serial port, CAN bus interface, digital IO interface and
other common vehicle bus interface, and it can be used to communicate with
agriculture machine ECU with electric control system, collect status information of
agriculture machine, issue commands of agriculture machine movement, and connect
other intelligent farm tools for variable operation etc.

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Figure 89 White 23-pin vehicle standard connector terminal of data harness

Figure 90 Panel computer connector terminal of data harness

Figure 91 External radio interface terminal (left) and general extended terminal (right) of data

harness

The data harness is routed according to the following procedures.

4.4.2.1 Connect Autopilot (Controller)

Insert the white 23-pin vehicle standard connector (female) at the end into the white
23-pin connector (male) on the Autopilot (Controller) (The connector is marked with

text “Panel computer” on the panel). When the plug is in place, the locking device

will be locked with a clear click, which means the connection is completed. Make
sure the locking device is locked, or it may cause damage when the equipment is

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powered on due to bad contact.

Figure 92 Insert white 23-pin connector (female) of data harness into white 23-pin connector

(male) of Autopilot (Controller)

4.4.2.2 Connect Panel Computer

Select appropriate routing to connect the connector for panel computer to
corresponding interface on the panel computer. The cable route should be along the
edge of driving cab as far as possible to prevent the driver from kicking or tripping
during operation, and should be far away from various operating levers and easy to be
bound.

Figure 93 Connect data harness and panel computer

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Figure 94 Connect data harness and panel computer

4.4.2.3 Sort Out and Bind Harness

Bind the harness routed. Fold and bind the excessive part.

4.4.3 Routing of Drive Harness (Black End Harness)

One end of the drive harness is a black 23-pin vehicle standard connector (female)
and the other end is divided into three lines respectively connecting the agriculture
machine battery, electromagnetic hydraulic valve and the steering system. The
terminal connected to vehicle battery extends another line at the root of the harness to
connect a gourd-shaped switch with LED light for switching the entire machine on
and off.

Figure 95 Black 23-pin connector end of drive harness

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Figure 96 Battery connector (left) and power supply switch (right) of drive harness

Figure 97 Hydraulic valve connector (left) and steering system connector (right) of drive harness

The drive harness is routed according to the following procedures.

4.4.3.1 Connect Autopilot (Controller)

Insert the black 23-pin connector (female) at the end into the black 23-pin connector
(male) on the Autopilot (Controller) (The connector is marked with text “Power &

drive” on the panel). When the plug is in place, the locking device will be locked with

a clear click, which means the connection is completed. Make sure the locking device
is locked, or it may cause damage when the equipment is powered on due to bad
contact.

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Figure 98 Insert black 23-pin connector (female) of drive harness into black 23-pin connector

(male) of Autopilot (Controller)

4.4.3.2 Connect Electromagnetic Hydraulic Valve

Select proper routing to connect the hydraulic valve drive terminal and hydraulic
sensor terminal of drive harness to two electromagnetic valve plugs of the hydraulic
valve and the pressure sensor seat respectively. During connection, two drive
terminals of the harness can be arbitrarily connected to two drive seats of the
hydraulic valve (if it is wrong, it can be identified during the commissioning later. In
such case, exchange them.)

Note: The fastening screws on drive terminals should be firmly tightened, or bad
contact may occur, thus damaging the drive circuit of hydraulic valve in the Autopilot
(Controller).

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Figure 99 Mount water-proof rubber ring to the hydraulic valve drive terminal of drive harness

Figure 100 Mount drive terminal to the electromagnetic socket of hydraulic valve

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Figure 101 Fix hydraulic drive terminal with screws

Figure 102 Connect pressure sensor terminal

4.4.3.3 Connect Steering Measuring Mechanism

Select suitable routing to connect the drive harness connector for steering measuring
mechanism (8-pin round connector) to the steering measuring mechanism. It should
be noted that there is a free space with certain angle between the front axle and
vehicle body as the steering measuring mechanism is fixed to the front axle of guide
wheel of the agriculture machine.

Therefore, during routing and binding process, sufficient free space should be
provided for this section of harness to prevent the cable being pulled apart. In addition,

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as the 8-pin round connector is heavy, it should be located as close to the engine
structure as possible to be bound beside the engine. In this way, it can prevent the
connector from swinging during operation and thus causing damages due to
mechanical fatigue. When it is connected, seal the connector with insulating tape.

Figure 103 Connect pressure sensor terminal

4.4.3.4 Connect Battery

Do not connect the battery until the cables for all other components are connected.

Select suitable path to route the connecting terminal for battery to near the battery.
Pay attention to the polarity of the battery. Connect the black terminal marked with

“Battery -” of the drive harness to the negative pole of the battery (“-” is engraved

near the negative pole of battery) and connect the red terminal marked with “Battery +”

of the drive harness to the positive pole of the battery (“+” is engraved near the
positive pole of battery). Remove the nuts at the positive and negative poles of battery,
connect corresponding terminals of drive harness and secure the connection. If the
terminals of drive harness are incompatible with the screws and nuts at the positive
and negative poles of battery, gaskets may be added.

When selecting the routing, as a priority, lead the cable out from gaps at the driving
cab bottom and try to avoid the driving cab door. When the cable is out from the
driving cab bottom, lead the cable to the battery along the engine. Note: avoid the
high temperature zone such as exhaust pipe of engine, to prevent burn of cable. The
cable part inside the driving cab should be routed along the edge of the driving cab to
prevent driver from kicking or tripping and be far away from various operating levers.

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Connecting cable between batteries

To equip-potential
large metal structure of
vehicle

To alternator and starter

Battery 1#

Battery 2#

To negative (-) pole of
autopilot power supply

To positive (+) pole of
autopilot power supply

Figure 104 Connect battery connecting terminal of drive harness to corresponding position on

battery and secure the connection

If the agriculture machine uses two 12V batteries in serial to supply a 24V power, the
24V power supply cannot be directly used for the device, or abnormal operation of or
damage to the equipment may occur. In this case, the power supply should be
connected as shown in the figure below.

Figure 105 Power connections for the device on agriculture machine using 24V power supply

Note: The aluminum casing of the Autopilot (Controller) of the autopilot is directly
connected to the negative wire of battery connecting terminal on the drive harness.
During use, try to directly contact the casing of Autopilot (Controller) with big metal
piece of the tractor so as to achieve better grounding. Moreover, the autopilot has
been designed with inverse connection protection. But the installation personnel

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should do their best to ensure correct connection of battery to prevent damage to the
equipment.

4.4.3.5 Sort Out and Bind the Harness

Bind the harness routed. Fold and bind the excessive part. Cables routed along the
inside and outside of the driving cab and the engine as well should be bound to the
vehicle structure or existing harness at proper position to present a neat and tidy
appearance. When the harness is bound, arrange the gourd-shaped switch at a place
easily accessible for the driver.

Figure 106 Bind the harness (1)

Figure 107 Bind the harness (2)

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5 Commissioning the AutoSteer Systems

When the AG960 Auto Steering System is installed, commissioning is required to
make sure that the performance of the autopilot can satisfy the operation requirement
before the product is delivered to the user. The commissioning is divided into the
following 5 steps.

 Power on the equipment
 Check the version of the program
 View the self-checking information of equipment
 Perform equipment setting-up
 Calibrate the equipment.

More details can be found in the following sections.

5.1 Power on Equipment

Prior to the power-on of the equipment, measure the battery voltage with a multimeter.
If it is less than 12V, the tractor is under voltage. Start the engine to charge battery for
certain time before the commissioning. This is to prevent the battery in under voltage
status from continuously supplying power to the equipment and thus causing lack of
power to start the engine or damage to the battery.

Press the gourd-shaped switch with hand to power on the equipment. When the
gourd-shaped switch is pressed, the LED indicator on the switch turns on (blue).
Observe that 8 LED indicators on the cover of the Autopilot (Controller) are all on
(red or green) and the screen of panel computer is lightened too. Press the gourd
switch again and the equipment is powered off. The LED indicators on the
gourd-shaped switch and the Autopilot (Controller) turns off and the screen of panel
computer turns off (The screen of panel computer is dependent on the model of the
provided computer. If panel computer with lithium battery is provided, the panel
computer should be turned on or off separately).

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Figure 108 The LED indicator on gourd-shaped switch is off before power-on (left) and is on after

power-on (right)

Figure 109 The LED indicators on Autopilot (Controller) are off before power-on (left) and is on

after power-on (right)

Figure 110 The panel computer screen is off before power-on (left) and is on after power-on

(right)

When the panel computer is switched on, the screen will display boot animation.

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Figure 111 Initializing icon of AG960 on Display

When the initializing animation is over, the login screen is displayed.

Figure 112 Login screen of panel computer

There is a pull-down menu at the right bottom corner of the login screen, which will
display “User” as default. Directly touch the “Agree” button beside “User” to enter
the user interface directly. Touch the pull-down menu to select “Technical Support” or

“Developer”. Different login will require different operating authorization for the

equipment.

 User interface. No password is required. Directly touch “Agree” to log in. All

normal operation can be completed in the user interface.

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Figure 113 Pull-down menu

 Technical support interface. Technical support password is required, which can be

obtained from the distributor of autopilot. The commissioning and calibration,
diagnosis and troubleshooting of the system can be performed in the technical
support interface.

Figure 114 Select technical support

 Developer interface. Developer password is required, which is for the

development and test of the product and is not available to the technical support
personnel and users.

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Figure 115 Password input box

To perform commissioning of the system, the technical support password is required
to enter the technical support main interface as shown in the figure below. The main
interface is divided into 6 display zones as below.

 Left side: main menu zone
 Lower part: instrument panel zone
 Right side: shortcut keys operation zone
 Upper part: display adjustment zone
 Middle: operation zone
 MANUAL/AUTO: switchover button.

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Item

Zone

Icon

Description

Function/Meaning

1.

Main
menu zone

Manufacturer
information

Touch this icon and a small window will
pop up to display the manufacturer
information, product information and
program version of the equipment.

2.

Self-test

Touch this icon and a small window will
pop up to display the self-diagnosis
information to indicate if every component
and assembly works well.

3.

Settings

Touch this icon to enter “Settings” screen

to perform system setting, main machine
setting, agriculture machine setting, farm
tool setting and program updating. (Only
agriculture machine configuration and farm
tool configuration can be viewed in User
interface.)

Display adjustment zone

Shortcut keys
operation zone

Instrument panel zone

MANUAL/AUTO
switchover button

Main menu zone

operation zone

Figure 116 Main interface of technical support

Detailed explanations about the 6 zones are given below.

Table 4 Main interface of AG960 autopilot display

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4.

Calibration

Touch this icon to enter the “Calibration”

screen. When the system calibration is
completed, the equipment can be delivered
to the user for use. (This icon is ineffective
in User interface).

5.

Task

Touch this icon to enter the “Task” screen,
where it is possible to set information
relating to agriculture machine, driver and
plot, establish operation task, load
operation task and perform routine
management of operation tasks.

6.

Remote interaction

Touch this icon to enter “Remote

interaction” screen. (This icon is ineffective

in User interface).

7.

Instrument
panel zone

Satellite number

To indicate the number of navigation
satellites from which the signals can be
received currently.

8.

Radio status

To indicate whether the radio can receive
signals from Beidou reference station. Red
light means no reference station signals are
received while green light means signals
received. The strength of reference station
signals received is indicated at the right
side where full block is the most strong.

9.

Differential state

To indicate if now it is in centimeter level
high precision RTK positioning status. Red
light means it is not in RTK status and
green light means it is in RTK status. The
signal strength symbol at the right side
indicates the connection status of 3G
network.

10.

Vehicle speed

To indicate current speed in m/s.
(The vehicle speed is shown in AP/h in

User interface).

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11.

Vehicle direction

To indicate current direction the vehicle is
heading, with 0° and 360° representing
north, 90° east, 180° south and 270° west.
(In user interface, the direction is indicated
with text “east, south, west, north,
southeast, southwest, northeast and
northwest”.)

12.

Lateral deviation

The most important information displayed.
To indicate the error of current autopilot
process, i.e. the lateral distance between
vehicle rear axle center and current Line
AB in meters (in centimeters in the User
interface). As shown in the figure, when the
left triangle occurs, it means deviation to
the left side and when the right triangle
occurs, deviation to the right.

13.

Acre counter

To indicate current operation area that has
already been finished in acre. The acre
counter is set in such a way that it starts
counting from the first autopilot operation
ever since the Line AB is set and the area
calculation is not affected by the power-off
or other work during the operation until
another Line AB task is started when the
mu counter will be automatically reset.

Touch button, the acre counter
starts automatically and touch the button

again to pause; touch button, the
acre counter is reset and restarts counting
immediately.

14.

Manual/Auto
switchover

The most important operation button. The
steering wheel icon in the middle of the
button will switch among three colors,
namely white, red and green.

White: It means the vehicle is now in

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manual operation and is allowed to switch
to auto operation;

Red: It means the vehicle is now in manual
operation and is not allowed to switch to
auto operation (in any of the following
cases: no task is established, no Line AB is
set, or the vehicle is too far from the Line
AB (2m), or the vehicle has an oversized
angle with Line AB (30°));

Green: The vehicle is now in auto
operation.

Rules of switching:
When the icon is white, touch the button

and the autopilot takes over the steering
control of the agriculture machine
immediately. Now the driver can release
the steering wheel and the agriculture
machine will run along the specified route
automatically. When the icon is red, it is
ineffective to touch the icon. When the icon
is green, touch the symbol and the autopilot
gives up the steering control of the
agriculture machine and the vehicle now is
in manual operation.

15.

Shortcut
operation
area

Establish a shortcut
task

Touch the icon and the system will
automatically establish a new task, which is
named after current Beijing time
automatically by the system. The user can

find the task in “Operation” screen in the

main menu zone later and load the task to
continue the work. For example,

“20161023153207” means a task

established at Beijing time 15:32’07” p.m.

dated October 23th, 2016.

16.

Set Line AB

Touch this icon to establish a Line AB. The
icon is effective only when a task is
established or loaded, that is, there is an

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existing current task.

17.

Line AB drift

Touch this icon to shift current Line AB for
specified distance to the left or right. Note:
When the Line AB is shifted, it will be
saved in the database of the system and any
Line AB task later will be planned based on
the shifted AB. Touch the icon to show
three options: shift to left, shift to right,
shift to current position. The user can make
choice as desired.

18.

Implement width

Touch the icon to quickly set the operation
width of the farm tool.

19.

Implement offset

Touch the icon to quickly set the shift of
the farm tool. The purpose of farm tool
shift is to adjust the border row.

20.

Channel number

Touch the icon to quickly switch current
channel number of the radio.

In case of stationary reference station,
when the agriculture machine moves from
near one reference station to near another
reference station during the operation, it
can switch the channel to the nearest
reference station so as to achieve better
quality of reference station signals.

In case of portable reference station, when
the quality of received signals decreases
due to interference, the channels of
reference station and autopilot can be
switched simultaneously so as to improve
the signal quality.

21.

Display
adjustment

Day/night

Touch the icon to switch between display
modes of day or night. In day mode, the
screen uses a white background to display
clearly in the sunlight; in night mode, the
screen uses a black background to prevent
the light from the screen affecting the view

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of the driver.

22.

Grid display

Touch the icon to show or hide the grid on
the screen background.

23.

Operation
highlighting

Touch the icon to show or hide the
operation highlighting information on the
screen. When the operation highlighting
function is ON, the operated area will be in
green color, while that not operated will be
in the background color. For tasks where it
is difficult to discern operated or
unoperated area, such as insecticide
spraying, fertilizing etc., this function can
provide instruction and thus is greatly
helpful.

24.

Zoom
Touch icon to zoom in the display

element in the middle of the screen; touch

icon to zoom out the display

element in the middle of the screen.

25.

Operation
area

Agriculture
machine

This abstract icon is to indicate current
position and direction of agriculture
machine.

26.

Task name

To indicate the name of current task.

27.

Current time

To indicate current Beijing time.

If fault occurs during the power-on process of the equipment, eliminate the fault by
the following means.

 During power-on, the LED lights of gourd-shaped switch and Autopilot

(Controller) and screen of panel computer are all OFF

 Check if the battery terminals of drive harness are correctly connected to the

“+”, “-“ terminals of battery, and if they are inversely connected

 Check if the battery terminals of drive harness is securely connected to the

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battery

 Check if the battery still has voltage (≥12V)
 Replace the drive harness
 Contact the distributor or FAE department of manufacturer.

 During power-on, the LED light of gourd-shaped switch is ON while the LED

light of Autopilot (Controller) and the screen of panel computer both are OFF

 Check if the battery still has voltage (≥12V)
 Check if the drive harness (black end harness) and data harness (white end

harness) are inversely connected

 Disconnect and reconnect the connection between the drive harness and the

Autopilot (Controller)

 Replace drive harness
 Replace Autopilot (Controller)
 Contact the distributor or FAE department of manufacturer.

 During power-on, both the LED light of gourd-shaped switch and the LED light

of Autopilot (Controller) are ON, while the screen of panel computer is OFF

 Press the gourd-shaped switch to power on the equipment again
 Disconnect and reconnect the connection between the data harness and the

Autopilot (Controller)

 Disconnect and reconnect the connection between the data harness and the

panel computer

 Replace data harness
 Replace the panel computer
 Replace Autopilot (Controller)
 Contact the distributor or FAE department of manufacturer.

5.2 Check Program Version

Enter the main interface, first touch the topmost icon “Manufacturer information”

in the menu zone at the left side and a block pops out from the left upper corner

of the screen, as shown in the figure below.

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Figure 117 Check the firmware version number at “About us”

In this screen above, the user may view the program version of AG960.

5.3 View Self-test Information

Touch “Self-test” icon in the main interface to view the self-test information
of the equipment.

Figure 118 View self-test information of equipment

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The self-test information shows the status of main components and assemblies of the
autopilot. Green icon at the right side means the component or assembly is normal
and the self-test is acceptable. Red icon means abnormal status and troubleshooting is
required.

If all icons shown in the self-test information are green, it means the self-test is
acceptable. If there is any red icon, please see to indication below.

 Red self-test icon for data transfer radio

It means the data transfer radio cannot receive signals from the reference station.
Eliminate the fault according to the following procedures.

 Make sure the vehicle is in an open area outdoor, and there is no obvious

obstacle around or above the agriculture machine

 Check if a reference station is established near the location of vehicle
 Check if the reference station works normally and the signals are available
 Check if the vehicle is too far away from the reference station (stationary

station: ≤20km, portable station: ≤3km)

 Check if the radio of the autopilot is correctly set (see section 4.4.1)
 Check if the radio receiving antenna is correctly installed to the driving cab

top

 Check if the RF connector of radio receiving antenna hanging from the

driving cab top is correctly connected to the “radio antenna” socket on the

front panel of the Autopilot (Controller)

 Check if the RF connector is securely connected
 Replace the radio receiving antenna
 Replace the Autopilot (Controller)
 Contact the distributor or FAE department of manufacturer.

 Red self-test icon for GNSS receiver (direction-finding)

It means the GNSS receiver does not accomplish the function of direction finding.
Eliminate the fault according to the following procedures

 Make sure the vehicle is in an open area outdoor, and there is no obvious

obstacle around or above the agriculture machine

 Check if the receiver of the autopilot is correctly set
 Check if both satellite navigation antennas are correctly installed to the

driving cab top

 Check if the RF connection of both satellite navigation antennas are secure;
 Check if the RF cable connectors of both satellite navigation antennas

hanging from the driving cab top are correctly connected to “GNSS primary

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antenna” and “GNSS secondary antenna” sockets on the front panel of the
Autopilot (Controller)

 Check if the RF connectors are securely connected
 Replace both satellite navigation antennas and corresponding RF cables
 Replace the Autopilot (Controller)
 Contact the distributor or FAE department of manufacturer

 Red self-test icon for GNSS receiver (RTK)

It means the autopilot cannot achieve the centimeter-level high precision
positioning against the reference station. Eliminate the fault according to the
following procedures

 Make sure data transfer radio icon is green
 Make sure GNSS receiver (direction finding) icon is green
 If both 1) and 2) are green, and GNSS (RTK) is still red after waiting for

5min, power off and restart the autopilot and wait another 5min

 Replace the Autopilot (Controller)
 Contact the distributor or FAE department of manufacturer

 Red self-test icon for inertial navigation unit

 Power off and restart the autopilot and wait another 5min
 Replace the Autopilot (Controller)
 Contact the distributor or FAE department of manufacturer.

 Red self-test icon for steering actuator

 Check if the hydraulic valve drive terminal of drive harness is correctly

connected to the hydraulic valve

 Check if the hydraulic valve drive terminal of drive harness is securely

connected to the hydraulic valve

 Check if the pressure sensor terminal of drive harness is securely connected

to the hydraulic valve

 Replace the hydraulic valve
 Replace the Autopilot (Controller)
 Replace the drive harness
 Contact the distributor or FAE department of manufacturer

 Red self-test icon for steering measuring mechanism

 Check if the steering measuring mechanism terminal of drive harness is

correctly and securely connected to the steering measuring mechanism

 Replace the steering sensor

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 Replace the drive harness
 Replace the Autopilot (Controller)
 Contact the distributor or FAE department of manufacturer.

5.4 Set up the Equipment

AG960 is set up by 5 steps as following.

 System setting. To set the model of main components and assemblies of the

autopilot

 Host setting. To set the installation position and orientation of the Autopilot

(Controller) on the agriculture machine

 Antenna setting. To set the installation position and orientation of the satellite

navigation antenna

 Vehicle setting. To set the dimensional parameters of the vehicle
 Implement setting. To set the dimensional parameters, connecting positions,

operation width parameters of implements.

In addition, the autopilot program needs to be updated in some special cases; details
of program updating process will also be given in this section.

5.4.1 System Setting

Touch “Setting” icon in the main menu zone at the left side of the screen to
enter the setting screen, as shown in the figure below. The setting screen further has 6

sub-screen from left to right, namely “System setting” (Default sub-screen after
entering the setting screen), “Host setting”, “Antenna setting”, “Vehicle setting”,
“Implement setting” and “Program updating”. Touch corresponding icon at the top
of the screen to enter each sub-screen. There is a “Back” button at the left upper
corner of the screen. Touch this icon to exit from the setting screen and enter the main
interface of the panel computer.

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Figure 119 Setting screen

The sub-screen “System” shows the unique ID number of the AG960 and the name of
every main components and assemblies, followed by corresponding pull-down menu
for model selection. With modular design, AG960 can easily select GNSS high
precision board card, data transfer radio module, inertial sensor, steering actuator and
steering measuring mechanism etc. from different manufacturers so as to provide
personalized and customized products for the distributors and users.

Each autopilot is provided with a unique ID number when delivered and neither the
technical support nor the user has authorization to reset the ID number.

Except in some special cases, each autopilot has completed the setting of models of
components and assemblies when delivered. Neither the technical support nor the user
needs to reset models except for “RTK data source”.

The setting of RTK data source is used to select the source of differential reference
information required for centimeter-level high precision positioning of autopilot and
the options available are internal radio, external radio and CORS network.

5.4.1.1 RTK Data Source

If internal radio of Autopilot (Controller) is used (as in most applications), select

“433MHz radio (internal)” as “RTK data source” and now the lower part of the

sub-screen “System” will display setting options of internal radio. Set “Channel” at
the pull-down menu to current transmitting channel number used by the reference

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station currently available. For example, when the transmitting channel of reference
station is “Channel 2”, set “Channel” of such internal radio to “Channel 2”.

Figure 120 System setting screen to select “433MHz radio (internal)” as “RTK data source”

Figure 121 Select channel number of internal radio

5.4.1.2 External Radio

If external radio is used, select “433MHz radio (external)” as “RTK data source”, and

now there is no radio setting options available at the lower part of the sub-screen
“System”.

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Figure 122 System screen to select “433MHz radio (external)” as “RTK data source”

5.4.1.3 CORS Network

If CORS network is used, select “CORS network” as “RTK data source” and now the

lower part of the sub-screen “System” will provide setting options of CORS network,
such as account, password, server ID, port number etc. The user can perform the
setting via the purchased account and password of local CORS network.

Figure 123 Screen to select “CORS network” as “RTK data source”

It must be noted that because the autopilot in “CORS network” mode should have
access to the Internet, 3G SIM card should be purchased from a local mobile
communication operators. Insert the card into the SIM card slot of the panel computer

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and pay the traffic cost on time. In this way can the “CORS network” be used.

When the setting of RTK data source is completed, touch “Back” button to exit from

the setting screen. Observe three icons at the left-most position in the instrument panel
zone at the lower part of the main interface, and the followings can be found.

 “Satellite number” icon .For example, , which means

now the autopilot receives signals from 26 navigation satellites

 “Radio status” icon. If the red light turns green, for example,

, it means the autopilot receives signals from GNSS reference

station

 “Differential state” icon .When the red light turns green, for

example, , it means the autopilot has achieved centimeter level high
precision positioning

If CORS network is used as RTK data source, the user can also observe that the icon

is followed by “CORS”.

When the RTK data source is correctly set, if “Radio status” icon and

“Differential status” icon are still red, it means the equipment has fault.

5.4.2 Host Setting - Autopilot (Controller)

When the “System setting” is completed, touch “Host setting” button at the
upper part of the setting screen to enter the sub-screen “Host setting” as shown in the

figure below.

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Figure 124 Sub-screen of “Host setting”

The “Host” in the screen is indicating as “Autopilot (Controller)”.

The sub-screen “Host setting” is used to set the installation position and orientation of
the Autopilot (Controller) on the tractor.

To install the Autopilot (Controller) on the tractor, it is required three sides
perpendicular to each other starting from the same angle of the Autopilot (Controller)
should be parallel with the coordinate system of the tractor (With rear axle center of
vehicle as the origin, vehicle rear axle as X axis, vehicle longitudinal axle as Y axis
and the half-line starting from vehicle rear axle center pointing to sky as Z axis).

5.4.2.1 Set Installation Orientation of Autopilot (Controller)

Select the installation orientation of main machine based on the actual orientation of
the Autopilot (Controller). Touch the pull-down menu of installation orientation of
main machine and make the choice as per the actual conditions. The pull-down menu
provides 8 options for the installation orientation as below.

 Main machine line outlet forward, LED light face upward
 Main machine line outlet forward, LED light face downward
 Main machine line outlet forward, LED light face left
 Main machine line outlet forward, LED light face right
 Main machine line outlet upward, LED light face forward

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 Main machine line outlet upward, LED light face backward
 Main machine line outlet upward, LED light face left
 Main machine line outlet upward, LED light face right.

Where, the six directions, namely upward, downward, forward, backward, left and
right are determined as the driver views from the seat in the driving cab.

Figure 125 Main machine line outlet forward, LED light face upward (left); main machine line

outlet forward, LED light face right (right)

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Reference point on

Figure 126 Main machine line outlet upward, LED light face forward (left); main machine line

outlet upward, LED light face right (right)

Figure 127 Open the pull-down menu for installation orientation of main machine for selection

5.4.2.2 Set the Installation Position of Autopilot (Controller)

Place the vehicle on a level plane. Measure the coordinate of the reference point on
the Autopilot (Controller) in the coordinate system of the tractor with spirit level,
plumb line and measuring reel, that is, measure the distances between the reference
point of Autopilot (Controller) to the projection point of vehicle rear axle center on
the ground in lateral, longitudinal and height directions. Enter three distances into
corresponding number boxes according to the instruction on the sub-screen “Main
machine setting”. Touch “Save” button to save the installation parameters of the main

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navigation driving box

machine.

Figure 128 Reference point on Autopilot (Controller)

5.4.3 Antenna Setting

When the “Host setting” is completed, touch the “Antenna setting” button

at the upper part of the setting screen to enter the sub-screen “Antenna

setting” as shown in the figure below.

Figure 129 Sub-screen “Antenna setting”

The sub-screen “Antenna setting” is used to set the installation position and
orientation of satellite navigation antenna on the tractor.

5.4.3.1 Set Installation Orientation of Antenna

Select the installation orientation of antenna based on the actual orientation of two
satellite navigation antennas. Touch the pull-down menu “Antenna installation

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method” to make the choice according to the actual conditions. The pull-down menu
provides 2 options for the installation orientation as below.

 Lateral. Primary antenna at right and secondary antenna at left
 Longitudinal. Primary antenna in the back and secondary antenna in the front.

Figure 130 Example of lateral installation of antenna on the agriculture machine

5.4.3.2 Set Installation Position of Antenna

Select the installation orientation of antenna based on the actual orientation of two
satellite navigation antennas. Touch the pull-down menu “Antenna installation
method” to make the choice according to the actual conditions. The pull-down menu
provides 2 options for the installation orientation as below.

Place the tractor on a level plane. Measure the coordinate of the geometrical center of
the mushroom head of primary antenna in the coordinate system of the tractor with
spirit level, plumb line and measuring reel, that is, measure the distances between the
geometrical center of the mushroom head of primary antenna to the projection point
of tractor rear axle center on the ground in lateral, longitudinal and height directions.
Enter three distances into corresponding number boxes according to the instruction on
the sub-screen “Antenna setting”. Touch “Save” button to save the installation
parameters of the antenna.

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Reference point of satellite

navigation antenna (top center of

the mushroom head)

Figure 131 Reference point for measuring position of satellite navigation antenna

5.4.4 Vehicle Setting

Figure 132 Sub-screen “Vehicle setting”, front wheels

The sub-screen “Vehicle setting” is used to set the geometrical parameters of the
machine, including the following 5 parameters.

 Wheel base: the horizontal distance from the front axle to the rear axle of vehicle
 Front wheel diameters: the diameter of vehicle front wheels
 Rear wheel diameters: the diameter of vehicle rear wheels
 Front wheel spread: the horizontal distance between left and right knuckles of the

front wheels

 Rear wheel spread: the horizontal distance between the centers of left and right

tyres of the rear wheels.

Place the tractor on a level plane and measure the above-mentioned 5 parameters with
a measuring reel. Create an vehicle model and fill the data into corresponding number

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boxes. Touch the button “Save” to finish the setting of machine. Meanwhile the
license plate number can be entered to facilitate the management. In addition, if the
machine installed can be found in the pull-down menu of “Vehicle models”, it is
unnecessary to measure the parameters. In such cases, the machine setting can be
completed by directly selecting the specific model of the machine.

5.4.5 Implement Setting

When the “Vehicle setting” is completed, touch the button “Implement setting”

at the upper part of the Setting screen to enter the sub-screen “Implement

setting” as shown in the figure below.

Figure 133 Sub-screen “Implement setting”

In the sub-screen “Implement setting”, fill each measured parameter of the farm tool
in the number box to finish the implement setting as below.

 The longitudinal distance from the implement to the hanging point
 The lateral shift of implement
 The operation width of implement
 The operation width overlap of implement

The number filled into every number box is in meters. When all numbers are entered,
touch “Save” button to save the implement parameters.

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5.4.6 Program Update

For commissioning of the system in normal conditions, it is usually unnecessary to
update the system by entering the sub-screen “Program update”. Under some special
conditions, if program update is required, enter the sub-screen “Program update” of
setting screen.

Figure 134 Sub-screen “Program update”

To update the program of AG960, insert the special updating flash disk into the USB
port of the panel computer, which can be obtained from the distributor or the
manufacturer. If SIM card is inserted into the panel computer, the program can also be
updated through the Internet.

When the special updating flash disk is inserted to the USB port of the panel computer,

touch buttons “Navigation update”, “Drive update”, “APK update” successively in the

sub-screen “Program update” to update the system.

5.5 Calibration of the Equipment

When the setting of equipment is completed, calibration of the equipment is required
before delivery to the user. During the calibration process, all the self-checking
information of equipment must be normal. The calibration activity requires a flat road
or farmland without inclination being at least 5m wide and 100m long.

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