Electric AutoSteering.pdftibbhhhhggggggg

Hexagon

1. 1 | Hexagon Overview
Hexagon’s Agriculture
Division
Yevhen Saiko –Technical Support –EMEA East
[email protected]
[phone]
12th of February 2024

2. 2 | Hexagon Overview
HxGNAgrOnTrackController
(Electric AutoSteering)

3. 3 | Hexagon Overview
How it works
HxGNAgrOnTrack Controller
•The systems installs on steering shaft instead of original
steering wheel.
•HxGN AgrOn Track Controller (ElectricMotor) automatically
rotates the steering shaft instead of operator to automatically
drive the machine according to desired track based on info
from GNSS and inertial (gyro+accel inside the controller).

4. 4 | Hexagon Overview
Required components
HxGNAgrOnTrack Controller
Display kit
Electric autosteering kit +
activation voucher
Additional cables to
connect Electric
autosteering kit with the
display
Adaptor flange (spline)
and anti-rotation kit
Activation
voucher

5. 5 | Hexagon Overview
Advantages:
•Wild range of supported machines
•Wild range of speed (typically 1-20 miles\hour, safety reason)
•Easy to install, calibrate and use
•Easy to reinstall on to another machine
•Save the machine’s warranty
HxGNAgrOnTrack Controller

6. 6 | Hexagon Overview
What machines are supported:
•Row Crop tractors
•Articulated Tractors
•Trucks (we have success cases, but officially not
supported by RD, safety reason)
•Harvesters
•Self-Propelled Sprayers
•Other machines controlled by steering wheel (not
by levers, etc..)
HxGNAgrOnTrack Controller
What machines are NOT supported:
•Track Tractors
•Windrowers
•Controlled NOT by steering wheels ( By levers, etc..)

7. 7 | Hexagon Overview
Easy to use:
HxGNAgrOnTrack Controller
•Calibration
•Create a wayline and
press START button
•Installation

8. 8 | Hexagon Overview
Mechanical system
installation

9. 9 | Hexagon Overview
Required components
HxGNAgrOnTrack Controller
Display kit
Electric autosteering kit +
activation voucher
Additional cables to
connect Electric
autosteering kit with
the display
Adaptor flange
(spline) and anti-
rotation kit
Activation
voucher

10. 10| Hexagon Overview
MachineControl
General diagram
HxGNAgrOnTrack Controller
Track Controller (current version)
Track Controller Next-Gen
Some cables depends on display model (Ti5, Ti7, Ti10). Refer to installation manual to choose the correct connection cables.

11. 11| hexagon.com
Mechanicalsystem installation
HxGNAgrOnTrack Controller
•STEP 1: Remove the center
cover of the steering wheel to
access and remove the nut,
and then, remove the steering
wheel
•STEP 2: Select the flange
according to the shaft type
and check the proper fit of
the selected model
Types of flange (splines) available

12. 12| hexagon.com
Mechanical System Installation: HexDrive + Bracket
HxGNAgrOnTrack Controller
Step 1: Mounting the flange to
the electric motor
Step 3: Fit the electric motor to
the steering column to see the
best positioning of the anti-
rotation system
Step 2: Mount the support on
the steering column
Step 4: Position the engine so that it
does not hit the vehicle's dashboard.
Put on the anti-rotation system to
check the best positioning.
Step 5: Screw the base of the anti-
rotation system to the bracket.
Step 6: Screw the pin into the anti-
rotation base of the bracket.

13. 13| hexagon.com
Mechanicalsystem Installation
HxGNAgrOnTrack Controller
Step 7: Screw the second parte
of the pin under the electric
motor
Step 8: Fit the electric moto to
the steering wheel column and
screw the main nut
Step 9: Tighten the anti-rotation
system in the definitive position
Step 10: Connect the 03300
harness to the electric motor
Step 11: Screw the steering
wheel to the motor
Step 12: Screw the ECU
(Driver) to the vehicle’s
chassis

14. 14| hexagon.com
Mechanical system Installation Examples
HxGNAgrOnTrack Controller
•Select Anti-Rotation according to the vehicle type.
Kits Anti-Rotation for Track Controller

15. 15| hexagon.com
Mechanical system installation
HxGNAgrOnTrack Controller
•Examples

16. 16| hexagon.com
Mechanical system installation
HxGNAgrOnTrackController
•Examples

17. 17| hexagon.com
Driver installation(ATCD)
HxGNAgrOnTrackController
Safety Key
Flat surface, strong fixed, parallel\perpendicular
to all vehicle's planes

18. 18| Hexagon Overview
Menu-Settings-Activation
HxGNAgrOnTrackController

19. 19| hexagon.com
Pre- calibration
procedure

20. 20| hexagon.com
Change the mode of the display from Normal to SUPPORT.
Go to Menu – Settings – Support – put the code 40092704
HxGNAgrOnTrackController
MachineControl

21. 21| hexagon.com
Check and update the driver’s SW version.
HxGNAgrOnTrackController
MachineControl
•Settings-Firmware update-Drivers-Next-Update

22. 22| Hexagon Overview
New vehicle
HxGNAgrOnTrackController
•In the main menu, press vehicle > new and enter the necessary measurements
Every calibration links to the machine’s profile. When you chose previously calibrated machine's profile the calibration settings restore
automatically. It allows to reinstall Autosteering kit between machine without calibration procedure.
Operation > Main menu >Vehicle

23. 23| Hexagon Overview
Configuring pilot type
HxGNAgrOnTrackController
Operation > Main menu >Auto Steering > Support > General Config

24. 24| Hexagon Overview
Configuring pilot type
HxGNAgrOnTrackController
•Type pilot: HexDrive (Track Controller)
•Drift filter:serves to smooth the wheel angle
estimation. Reduces oscillations.600-900.
Operation > Main menu >Auto Steering > Support > Auto steering configuration

25. 25| Hexagon Overview
Calibration Gain adjustment
HxGNAgrOnTrackController
•Testing commands and perform control adjustment. Menu-AutoSteering-HexDrive install-Gain adjustment
1.Position the wheel all the way to the left and press SAVE READING
2. Position the wheel all the way to the right and press SAVE READING
3. Enter Ref. with an average value between the left and right position;
4. Tap Start to activate the test.
5. Change the Ref field value to positive and negative values and observe the
reaction.
2.At the end of the test, the Ref. value must be equal to Pos.: value
If nothing happened after press START – check the physical switcher between
driver and motor. It should be switched on.
Operation > Main menu >Auto Steering > HexDrive install > Gain adjustment
3.Check the boxes ‘Kp vel’ and ‘Kp pos’. They should be close to 10.
Kp vel – means the power of HexDrive rotation.
Kp pos – means how accurate it will reach the desired position.

26. 26| Hexagon Overview
Dead Band Adjustment. Menu-AutoSteering-HexDrive install-Dead band
HxGNAgrOnTrackController
•Identifies the minimum voltage that must be applied to the actuator in order for the wheels to start moving
1. Align the vehicle wheels with the tractor main axle
(pointing forward)
2. Press Start;
3. Wait for the test to finish, the value in the Dead band
field will be modified and the start button will have its
state changed.
Operation > Main menu >Auto Steering > HexDrive install > Dead band test

27. 27| Hexagon Overview
INS installation
ElHxGNAgrOnTrackController
•1.Position the vehicle horizontally and press Start;
•2.Tilt the vehicle to the right. The Roll reading should be positive.
Tilting the vehicle to the left the Roll reading should be negative;
•3.Position the vehicle on a sloped terrain. With the front of the vehicle tilted down the
Pitch reading should be negative. With the front of the vehicle tilted up, the Pitch
reading should be positive.;
Operation > Main menu >Auto Steering > HexDrive install > INS installation

28. 28| Hexagon Overview
Step by step calibration
procedure

29. 29| Hexagon Overview
Driver position calibration (Step 1/5)
HxGNAgrOnTrackController
•Informs the installation position of the control driver.
Operation > Main menu >Auto Steering > Calibration

30. 30| Hexagon Overview
Calibration Acel/Gyro (Step 2/5)
HxGNAgrOnTrackController
•Determines the relative position between the vehicle and the driver installation position
-If the result presents an angle (roll or pitch) with a value greater than 10 degrees, it is recommended to reassess the position.
Operation > Main menu >Auto Steering > Calibration

31. 31| Hexagon Overview
Gyro calibration (Step 3/5)
HxGNAgrOnTrackController
•Estimates errors present in the data provided by the gyroscopes
Do not move or rock the vehicle during the test.
Operation > Main menu >Auto Steering > Calibration

32. 32| Hexagon Overview
Wheels control and calibration (Step 4/5)
HxGNAgrOnTrackController
•In this step, the current position of the motor sensor is read.
Operation > Main menu >Auto Steering > Calibration

33. 33| Hexagon Overview
Clockwise and counterclockwise calibration (Step 5/5 )
HxGNAgrOnTrackController
•Clockwise test
•Turn the steering wheel all the way to the right and press
Start
•At the end of the test press Next;
•Counterclockwise test
•Turn the steering wheel all the way to the Left and press
Start
•At the end of the test press Next;
•At the end of the test, the result will be displayed with the
motor/wheel ratio, press save to store the data, cancel to
discard.
Operation > Main menu >Auto Steering > Calibration

34. 34| Hexagon Overview
Post calibration procedure
and fine tuning

35. 35| Hexagon Overview
After calibration field test. Create the wayline and test the performance of autosteering.
HxGNAgrOnTrackController

36. 36| Hexagon Overview
Operation
HxGNAgrOnTrackController
Swipe from the bottom open the
performance menu. Play with
parameter Sensitivity and
Aggresivity. They should be close
to 100 in the range 70-130. These
parameters depend onthe
speed,surface and ground
condition.
Sensitivity is responsible for the
vehicle’s behavior on the wayline.
Aggresivity is responsible for how
fast and aggressive the vehicle will
attack the line after U-turn or after
switching on the autopilot.
Never touch the Overshoot
parameter (It must be 0 by
default).

37. 37| Hexagon Overview
General configuration. Menu - AutoSteering – General config
HxGNAgrOnTrackController
•General auto steering configuration e.g. override gain, security error, etc..
•Override gain: Manual disarm adjustment. 12 is
recommended.
•Error security: Block the use of the pilot if the error is
above the configured
•Angle sec: Block the use of the pilot if the error is
above the configured
•Motor wheel gain: 500-900. Autodetects after the
successful calibration procedure.
Operation > Main menu >Auto Steering > Calibration > General config

38. 38| Hexagon Overview
Thank You.