Bedienungsanleitung - Fine adjustment of the steering system

Fine adjustment of the steering system

Because the steering system was already calibrated, it works smoothly in almost all situations. However, it may be necessary to adjust the values under special circumstances. For example, for special field conditions, implements, forward speed etc.

Ruling out causes

When the system is not steering satisfactorily:

1.: Check the quality of the GPS signal.

2.: Ensure that the steering job computer is installed at a vibration-free position with its intended bracket.

3.: Ensure that the GPS receiver is installed at its intended position.

4.: Ensure that you have selected the correct vehicle profile and machine profile.

Fine adjustment

When you have ruled out other causes, you can perform fine adjustment on the steering system.

After calibration, the optimum value for the selected vehicle without implement appears for each parameter. You can adjust the values for the current field conditions and for the mounted implement by increasing or reducing the parameters incrementally.

	NOTICE
	Sudden strong deviation of the vehicle All of the parameter changes are immediately adopted without rebooting. If you increase the value for a parameter too much, the vehicle might react by steering strongly to one side. 1. Increase the values in small increments.

Change the following parameters individually and consecutively such that the steering system reacts optimally. Check the effects after each change:

1.: “Motor aggressivity” - Only for systems with a steering wheel motor.

2.: “Steering response”

3.: “Heading Aggressiveness”

4.: “Cross Track Error”

5.: “Line Acquisition”

6.: “Reverse response”

If the system works better afterwards, but still not optimally, repeat the settings in this sequence.

Procedure

To see the parameters:

1.: Switch on the steering job computer.

2.: Open the TRACK-Leader application.

3.: Ensure that the proper Vehicle profile is activated for the vehicle.

4.: Start a new navigation.

5.: On the work screen, tap .

Parameter set

This parameter shows you the combinations of vehicle and mounted implement for which parameters have been configured and saved.

The parameter set gets the parameters from two sources:

▪: From the vehicle profile in the TRACK-Leader AUTO menu.

▪: From the mounted implement through the job computer or a virtual job computer from the Virtual ECU.

When you connect a known vehicle combination, the previously used steering parameters for this vehicle combination are always loaded.

Line Acquisition

With this parameter, you can determine how fast the system steers in the direction of a newly created guidance line.

The goal of this setting must be that the vehicle takes the shortest path without having to steer sharply or suddenly.

Steering response (when driving forwards)

With this parameter, you can determine how fast the system reacts to steering commands when driving forwards.

	Value is too high. The system reacts too rapidly. This causes the wheels to be very jerky.		The value is too low. The system reacts too slowly. The corrections are rare.
	Ideal value

Reverse response

With the parameter, you can determine how fast the system reacts to steering commands when driving in reverse.

Corresponding parameter in the steering job computer: “Reverse response” (Reverse Response)

Heading Aggressiveness

With this parameter, you can determine how strongly the wheels should be steered back by the system to correct the route.

▪: If the system corrects the wheel too early, the vehicle becomes unsteady. The entered value is too high.

▪: If the system steers the wheels back too weakly and slowly, the vehicle often leaves the guidance line. The entered value is too low.

To check this, you can observe the movements of the tip of the vehicle:

The more often the tip of the vehicle changes direction, the more often the vehicle meanders

	Value is too high. The tip of the vehicle changes the direction too often.		The value is too low. The tip of the vehicle does not change the direction often enough.
	Ideal value

Corresponding parameter in the steering job computer: “Heading Aggressiveness” (Heading Aggressiveness)

Cross Track Error

With this parameter, you can determine the deviation from the ideal guidance line at which the system starts to correct the driving direction. In other words, you can set the number of centimetres with which the vehicle is allowed to drive beside the guidance line.

The more often the system detects an error, the more often it corrects the route

	The value is too low. The deviation tolerance is too low. The vehicle changes the route too often.		Value is too high The deviation tolerance is too high. The vehicle does not change the route often enough.
	Ideal value

Corresponding parameter in the steering job computer: “Cross Track Error”

Motor aggressivity

With the parameter, you can determine how fast the steering wheel motor reacts to steering commands. The parameter works like “Steering response”, however, it only works with systems with a steering wheel motor.

Manual steering override

With this parameter, you can set the effort required to take over control of the steering wheel.

With the initial operation of the system, an initial value will be determined for the vehicle. This value must then be imported one time from the steering job computer, to enable fine-tuning at a later time.

When the set value is low, it is sufficient to hold the steering wheel to deactivate the steering system. When the set value is higher, more effort is required. When the set value is too low, it is possible that the system is deactivated when the effort required to move the wheels increases.

Examples:

▪: With low-pressure tyres, on heavy soils or with an implement mounted on the front hydraulic system, the value may have to be increased for the system to be able to steer properly.

▪: With narrow tyres and good conditions, the value must be reduced to ensure safety.

NOTICE

Accident resulting from the system not being switched off

If the manual steering override is not properly set, it is possible that the steering system is not deactivated when the driver intervenes, so that the avoidance manoeuvre fails and a risk of accident arises. Vehicles with an ECU-S1 system may only be operated when the manual steering override is properly set and functioning.

1.: Import the initial value of the parameter from the job computer ECU-S1. Without this import, the parameter cannot be adjusted.

2.: Configure the parameter for each new vehicle-implement configuration (parameter set).