TeeJet Technologies MATRIX PRO940gs Manual de usuario

MATRIX®PROGS

ASSISTED/AUTO STEERING

SETUP GUIDE

TeeJet Technologies

1801 Business Park Drive

Springeld, Illinois 62703 USA

www.teejet.com

For use with software version 3.0x

98-05242-ENUS R4 English-US

Copyrights

photocopied, translated, or reduced in any form or by any means, electronic or machine readable, recording or otherwise, without prior written

consent from TeeJet Technologies.

Trademarks

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

Limitation of Liability

TEEJET TECHNOLOGIES PROVIDES THIS MATERIAL “AS IS” WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED.

NO COPYRIGHT LIABILITY OR PATENT IS ASSUMED. IN NO EVENT SHALL TEEJET TECHNOLOGIES BE LIABLE FOR ANY LOSS OF

BUSINESS, LOSS OF PROFIT, LOSS OF USE OR DATA, INTERRUPTION OF BUSINESS, OR FOR INDIRECT, SPECIAL, INCIDENTAL, OR

CONSEQUENTIAL DAMAGES OF ANY KIND, EVEN IF TEEJET TECHNOLOGIES HAS BEEN ADVISED OF SUCH DAMAGES ARISING FROM

TEEJET TECHNOLOGIES SOFTWARE.

Safety Information

TeeJet Technologies is not responsible for damage or physical harm caused by failure to adhere to the following safety requirements.

As the operator of the vehicle, you are responsible for its safe operation.

Assisted/Auto Steering is not designed to replace the vehicle’s operator.

Do not leave a vehicle while the Assisted/Auto Steering is engaged.

Be sure that the area around the vehicle is clear of people and obstacles before and during engagement.

The Assisted/Auto Steering is designed to support and improve efciency while working in the eld. The driver has full responsibility for the quality

and work related results.

Disengage Assisted/Auto Steering before operating on public roads or when not in use to prevent loss of vehicle control.

WARNING: PINCH POINT HAZARD! To prevent serious injury or death, avoid unsafe practice while manually operating hydraulic

steering circuits. Keep others away and stay clear of mechanical steering linkages.

98-05242-ENUS R4

Matrix®Pro GS

Table of Contents

GENERAL MATRIX®PRO INFORMATION 2

Unavailable Options When Job is Active ....................................................................................................................2

Warnings and Information Pop-ups ............................................................................................................................2

Drop Down Menu Selections .....................................................................................................................................2

Scrolling Screens ......................................................................................................................................................2

Setup Option Information...........................................................................................................................................3

Keyboard Entry Screen .............................................................................................................................................3

Unit Setup Mode Availability ............................................................................................................................................3

GPS is Required .......................................................................................................................................................4

PRN Not Shown...............................................................................................................................................................4

ASSISTED/AUTO STEERING CONFIGURATION 5

AUTOSTEER 6

Assisted/Auto Steering Unavailable.................................................................................................................................6

Enable/Disable Assisted/Auto Steering..................................................................................................................................................6

Valve Setup .......................................................................................................................................................................................................7

Valve Type ...............................................................................................................................................................7

Valve Frequency .......................................................................................................................................................7

Minimum/Maximum Duty Cycle Tests ........................................................................................................................8

Minimum Duty Cycle Left Test .........................................................................................................................................8

Minimum Duty Cycle Right Test.......................................................................................................................................9

Maximum Duty Cycle Test ...............................................................................................................................................9

Steering Settings ......................................................................................................................................................................................... 10

Coarse Steering Adjustment ...................................................................................................................................11

Fine Steering Adjustment ........................................................................................................................................11

Deadband ...............................................................................................................................................................12

Lookahead ..............................................................................................................................................................12

Valve Test ....................................................................................................................................................................................................... 13

Valve Diagnostics......................................................................................................................................................................................... 13

Steering Valve – No Master Solenoid ............................................................................................................................14

Steering Valve – With Master Solenoid..........................................................................................................................14

Options: Steering Wheel Sensor............................................................................................................................................................. 15

Steering Angle Sensor ............................................................................................................................................................................... 15

Enable/Disable Steering Angle Sensor ...................................................................................................................16

Sensor Calibration ...................................................................................................................................................16

On Line Calibration ................................................................................................................................................17

TILT CORRECTION 18

Field Level Unavailable..................................................................................................................................................18

Tilt Correction Unavailable.............................................................................................................................................18

Enable/Disable Tilt ...................................................................................................................................................................................... 18

Field Level ..............................................................................................................................................................19

AUTO/ASSISTED STEERING OPERATION 20

APPENDIX  FACTORY SETTINGS & RANGES 21

2www.teejet.com

Assisted/Auto Steering

GENERAL MATRIX®PRO INFORMATION

The Matrix Pro GS is used to congure the vehicle and its implements including assisted/auto steering and tilt correction.

Unavailable Options When Job is Active

When a job is active some setup options are unavailable. See the Unit

Setup Mode Availability Chart for indication of which options are not

accessible.

Figure GS-1: Example of Unavailable Options

Warnings and Information Pop-ups

A pop-up warning or information box will be displayed for approximately

ve (5) seconds. To remove the information box, tap anywhere on the

screen.

Figure GS-2: Information screens

Dimming backlight brightness to

reduce heat. Previous backlight

brightness will be restored when

unit reaches a safe temperature.

Overheat Protection

Drop Down Menu Selections

Press DOWN arrow to access the options. Use the UP/DOWN

arrows or slide bar if necessary to scroll through the extended

list. Select the appropriate option. To close the list without selecting an

option, tap anywhere on the screen outside the drop down menu.

Figure GS-3: Example of Drop Down Menu

Backward

Forward

Scrolling Screens

Some screens have more information or options that are visible beyond

the current screen. Use the UP/DOWN arrows or slide bar to

access additional options or information not currently visible on the

screen.

Figure GS-4: Example of Scrolling Screen

98-05242-ENUS R4

Matrix®Pro GS

Setup Option Information

Press the option’s icon or option’s name of any menu item to display a

denition and range values of that item. To remove the information box,

press anywhere on the screen.

Figure GS-5: Example of Information Text Box

Keyboard Entry Screen

Press the KEYPAD icon . Use the numeric keypad to enter a

value.

Press the ACCEPT icon to save the settings or the CANCEL

icon to leave the keypad without saving.

Figure GS-6: Example of Keyboard

Antenna to Boom (ft)

1 2 3

14.50

Clear

4 5 6 <--

7 8 9

0 . +/-

Unit Setup Mode Availability

Conguration

Implement

–

Machine Type

GPS Antenna Height

Implement Type

Symmetric Implement Layout

Implement Offset Distance

Implement Offset Direction

Number of Implement Sections

Guidance Width

Application/Working Width

Applied Area Alarm





–

Straight

Mode

Boom Offset Direction

Antenna to Boom Distance

Overlap

Delay On/Off Times





Spreader

Mode

Setup Type: TeeJet

• Antenna to Disks Distance

• Overlap

• Delay On/Off Times

• Spread Offset Distance

• Section Offsets

• Section Lengths







Setup Type: OEM

• Antenna to Disks Distance

• Start/Stop Distance

• Section Start/Stop Offsets



Staggered

Mode

Section 1 Offset Direction

Antenna to Section 1

Overlap

Delay On/Off Times

Section Offsets







AutoSteer

–Enabled/Disabled 

–Valve

Setup

Valve Type

Valve Frequency

Minimum Duty Cycle Left/ Right

Maximum Duty Cycle



–Steering

Settings

Coarse Steering Adjustment

Fine Steering Adjustment

Deadband

Lookahead



–Valve Test 

–Valve Diagnostics 

–Options Steering Wheel Sensor 

–

Steering

Angle

Sensor

Enable

Sensor Calibration

On Line Calibration





Tilt

Correction –Enabled/Disabled

Field Level



GPS –

GPS Type

GPS Port

GPS Status Information

Program Receiver

PRN







 Available during an active job

 Not Available during an active job

4www.teejet.com

Assisted/Auto Steering

GPS is Required

GPS is used to congure GPS Type, GPS Port and PRN as well as to

view GPS status information. For detailed setup instructions, refer to

the GPS chapter in the Matrix Pro GS user manual.

NOTE: These settings are required for assisted/auto steering and tilt

sensor operation, as well as proper implement operation.

1. Press CONFIGURATION side tab .

2. Press GPS .

3. Select from:

►GPS Type – select GPS source transmissions

►GPS Port – sets (D)GPS communication port

►GPS Status – displays information regarding GGA/VTG (Data

Rates), Number of Satellites, HDOP, PRN, GGA Quality, GPS

Receiver, Receiver Version and UTM Zone

►Program – allows direct programming of the GPS receiver

through a command line interface

►PRN – selects the SBAS PRN that will provide GNSS differential

correction data. Set to Automatic for automatic PRN selection.

►Alternate PRN – when PRN is not automatic, a second alternate

SBAS PRN will provide a second set of GNSS differential

correction data.

4. Press RETURN arrow or CONFIGURATION side tab to

return to the main Conguration screen.

Figure GS-7: GPS

PRN Not Shown

When GPS Type is set to “GPS+GLONASS”, PRN options are not

available, nor shown on screen.

98-05242-ENUS R4

Matrix®Pro GS

ASSISTED/AUTO STEERING CONFIGURATION

The Matrix Pro GS is used to congure the vehicle and its implements

including assisted/auto steering and tilt. For recommendations and

factory settings for the FieldPilot or UniPilot setup values, see chart on

page 21.

To access Matrix Pro GS AutoSteer and Tilt conguration options:

1. Press UNIT SETUP bottom tab .

2. Press CONFIGURATION side tab .

3. Select from:

►AutoSteer – used to enable/disable assisted/auto steering as

well as establish valve setup settings, steering settings and

steering angle sensor settings; and perform valve tests, or valve

diagnostics

►Tilt Correction – used to enable/disable and calibrate the tilt

gyro module, allowing for tilt correction for application on hilly or

sloped terrain

Figure GS-8: Configuration Options - AutoSteer

Figure GS-9: Configuration Options - Tilt Correction

6www.teejet.com

Assisted/Auto Steering

AUTOSTEER

When a Steering Control Module (SCM) is present, Assisted/Auto

Steering options will be available

NOTE: An update of your SCM software may be required when

upgrading to a Matrix Pro GS from previous Matrix

systems. To view version of software information, see the

Console->About screen.

AutoSteer setup is used to Enable/Disable Assisted/Auto Steering and

congure Valve Setup, Steering Settings, Valve Test, Valve Diagnostics

and Steering Angle Sensor. For recommendations and factory settings

for the FieldPilot or UniPilot setup values, see chart on page 21.

1. Press CONFIGURATION side tab .

2. Press AutoSteer .

3. Select if assisted/auto steering is enabled or disabled.

4. When enabled, select from:

►Valve Setup – used to congure Valve Type, Valve Frequency,

Minimum Duty Cycle Left/Right and Maximum Duty Cycle

►Steering Settings – used to establish Coarse Steering

Adjustment, Fine Steering Adjustment, Deadband and

Lookahead

►Valve Test – used to verify if steering is directed correctly

►Valve Diagnostics – used to test the valves to see if they are

connected properly

►Options: Steering Wheel Sensor – used to select whether the

steering disengage sensor is magnetic or pressure sensor based

►Steering Angle Sensor – used to establish and calibrate the

Steering Angle Sensor (SAS) as the primary feedback sensor for

auto steering.

5. Press RETURN arrow or CONFIGURATION side tab to

return to the main Conguration screen.

Figure GS-10: AutoSteer

Assisted/Auto Steering Unavailable

If a assisted/auto steering system is not installed, setup options will not

be available.

Figure GS-11: Assisted/Auto Steering Not Detected

Enable/Disable Assisted/Auto Steering

Set assisted/auto steering to Enable or Disable.

1. Press DOWN arrow to access the list of options.

2. Select:

►Enable

►Disabled

If disabled, all Assisted/Auto Steering capabilities and setup functions

will be unavailable (options will be grayed out).

Figure GS-12: Enabled and Disabled Assisted/Auto Steering Options

98-05242-ENUS R4

Matrix®Pro GS

Valve Setup

Valve Setup is used to congure Valve Type, Valve Frequency,

Minimum Duty Cycle Left, Minimum Duty Cycle Right and Maximum

Duty Cycle. For recommendations and factory settings for the FieldPilot

or UniPilot setup values, see chart on page 21.

1. Select Valve Setup .

2. Select from:

►Valve Type– used to select the type of steering valve

►Frequency – used to select the valve frequency used to drive the

steering valve

►Minimum Duty Cycle Left and Right – used to set the minimum

amount of drive required to begin steering the vehicle left or right

►Maximum Duty Cycle – used to select the maximum speed that

the wheels will steer from lock to lock

Figure GS-13: Valve Setup

Valve Type

Valve type is used to set the type of steering valve. For

recommendations and factory settings for the FieldPilot or UniPilot

setup values, see chart on page 21.

1. Press DOWN arrow to access the list of options.

2. Select type.

Figure GS-14: Valve Type

Standard/PWM

Standard Voltage

Reverse Voltage

One-Wire PWM

UniPilot

Valve Frequency

Valve frequency is used to drive the steering valve. The type of valve

being used determines the frequency. Range is 0.9 - 15000.1. For

recommendations and factory settings for the FieldPilot or UniPilot

setup values, see chart on page 21.

1. Press the KEYPAD icon .

2. Use the entry screen to establish the valve frequency.

Figure GS-15: Valve Frequency

Valve Frequency

1 2 3

175

Clear

4 5 6 <--

7 8 9

0 . +/-

8www.teejet.com

Assisted/Auto Steering

Minimum/Maximum Duty Cycle Tests

Minimum Duty Cycle (Minimum DC Left + Right) sets the minimum

amount of drive required to begin steering the vehicle left or right.

Range is 0.0 - 50.0. Default is 20%.

Maximum Duty Cycle sets the maximum speed that the wheels will

steer from left to right / right to left (lock to lock). Range is 25 - 100.

Default is 50%.

NOTE: A GPS signal is required for these tests.

RECOMMENDATION: Have a large area of clear space available to

perform test cycles. Vehicle speed must be between 1.0 mph

and 8.0 mph / 1.5 - 13.0 km/h (0.4 - 3.6 m/s).

WARNING: Pinch Point Hazard!

To prevent serious injury or death, avoid unsafe practice while

manually operating hydraulic steering circuits. Keep others

away and stay clear of mechanical linkage.

Figure GS-16: Duty Cycle Tests

Minimum Duty Cycle Left Test

Minimum Duty Cycle Left sets the minimum amount of drive required to

begin steering the vehicle to the left.

NOTE: If the valve frequency is set below 15 Hz (non proportional), set

the amount of drive to “25.0”. Cycle test is not necessary.

1. Press the KEYPAD icon .

2. While the vehicle is moving in a slow forward straight line motion

between 1.0 mph and 8.0 mph / 1.5 - 13.0 km/h (0.4 - 3.6 m/s),

press Test Left .

3. Press the engage/disengage switch or foot switch to activate the

test.

4. Slowly increase the duty cycle number using the UP arrow until

the vehicle begins to turn left.

5. Turn the steering wheel or press the engage/disengage switch or

foot switch to complete the test.

Figure GS-17: Minimum Duty Cycle Test

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