AGRA-GPS CRG User manual

CRG USER MANUAL
August 2022

AGRA-GPS Ltd. CRG User Manual
August 2022 ii
Contact information
Agra-GPS Ltd.
Box 2585
Stony Plain, AB
T7Z 1X9
CANADA
[phone]
www.agra-gps.com
Release Notice: This is the August 2022 release of the CRG User Manual.
It is assumed that users of the products described herein have technical experience as well as an
understanding of the fundamentals of agricultural machinery.
In this manual, “CRG” may refer to the CRG-FENDT, CRG-CLAAS, or other variants.
This manual and others related to the CRG may be found on the CRG product page:
https://www.agra-gps.com/product/crg-chameleon-rtk-guidance
Disclaimer
While every effort has been made to ensure the accuracy of this document, Agra-GPS Ltd assumes
no responsibility for omissions and errors. Nor is any liability assumed for damages resulting from
the use of information contained herein. Agra-GPS Ltd shall not be responsible or liable for
incidental or consequential damages or a loss of anticipated benefits or profits, work stoppage or
loss, or impairment of data arising out of the use, or inability to use, this system or any of its
components.
DO NOT USE THE CRG IF YOU DISAGREE WITH THE DISCLAIMER.

AGRA-GPS Ltd. CRG User Manual
August 2022 iii
Important Safety Information
Read this manual and the machine operation & safety instructions carefully before installing the
CRG. Refer to Appendix A for Product Specifications.
•Follow all safety information presented within this manual.
•If you require assistance with any portion of the installation or service of your equipment,
contact Agra-GPS for support.
•Follow all safety labels affixed to the system components. Be sure to keep safety labels in
good condition and replace any missing or damaged labels. To obtain replacements for
missing or damaged safety labels, contact Agra-GPS.
When operating the machine after installing the CRG, observe the following safety measures:
•Be alert and aware of surroundings.
•Do not operate the CRG system while impaired.
•Always remain in the operator’s position in the machine when the CRG system is engaged.
•Determine and maintain a safe working distance away from other individuals. The operator
is responsible for disabling the CRG system when a safe working distance has been
diminished.
•Ensure the CRG is disabled prior to starting any maintenance work on the machine or parts
of the CRG system.
•Follow all safety instructions from the host machine as well as the John Deere system.
•The CRG must only be used in the field, never on public roads.
Electrical Safety
•Always verify that the power leads are connected to the correct polarity as marked.
Reversing the power leads could cause severe damage to the equipment.
•Verify that all cables and connectors are not in contact with sharp edges or anything that
could cause chafing, as this could result in power shorts and/or other malfunctions.
•Power is supplied to the CRG even when the key is off. Power can be removed in 3
different ways: 1) Remove the connector from the CRG, 2) Remove the fuse supplying
circuit power, or 3) Remove a battery lead while the machine is off.
Risk of Fire
•The circuit supplying 12 volt power for this product requires a fuse. The maximum fuse
rating is 5 amps, and the minimum is 1 amp.

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Introduction
Congratulations on your purchase of the CRG! The CRG is designed to bridge the communication
between agricultural machinery (of various makes) and a John Deere (JD) display (1800, 2600, 2630,
4240, or 4640). This allows a JD display to create maps in the John Deere format, and also provides
autosteer functionality. The operator uses the JD display to create AB-lines or field documentation,
or to handle any other GPS system input.
The CRG contains a) an RTK-capable GPS receiver, AND b) a full steering controller capable of
steering a non-JD machine with a John Deere display! The specific machine that can be controlled
by the CRG is dependent on the variant that was purchased: for example, a CRG-AGCO can control
a Fendt tractor, but cannot control a Claas tractor. To control a Claas tractor, you would need to
purchase a CRG-CLAAS.
This manual contains information generic to CRG setup and usage. For installation instructions for
your particular machine, please consult the relevant Installation Manual.
NOTICE
This manual is not intended to replace the manuals for the host machine nor the John Deere GPS
system. The operator must read and understand the manuals and instructions of these systems, before
using the CRG.
ISObus Apps
The CRG comes with at least 2 ISObus VT applications (ISO apps) that will be loaded onto the John
Deere monitor. The apps will automatically install themselves into the monitor after the first few
minutes of the initial start-up. On subsequent power-ups the apps will load themselves from monitor
memory much more quickly. The CRG apps include:
–Bridge/steering configurations
–Option to change work recording mode
–Option to change the machine type
–RTK configuration
–NMEA serial output configurations

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Depending on the model of JD monitor, the
CRG ISO apps may be found in different
locations.
On a John Deere Gen-4 monitor the
application will be loaded in the ISObus VT
section on the main page of the display.
On John Deere 1800, 2600, & 2630 the
application will be shown in the side menu of
the John Deere display. The side menu (shown
below) is opened by pressing the button on the
bottom right.
NOTE: John Deere 1800 and 2600 monitors
do not show a loading bar for ISO
applications, while 2630 and 4640 monitors
do.
If the ISO application does not load:
•Try clearing the monitor's memory. On 2630 monitors this can be done in the Message Center
in the side menu. Go to the Cleanup tab, check controllers, then Begin Cleanup. On 4640
monitors this can be done in the info page of the ISObus VT. Navigate to the ISObus VT window
and press the info (i) button at the top of the page, then press Clean Up ISObus VT.
•Do a hard reset of the John Deere monitor (Unplug it, then plug it back in).
•Do a full restart of the machine. Remember, the app may take a few minutes to load.

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Switching Between ISO Apps
When accessing ISObus VT, the first page
viewed may be the CRG-Bridge app. Before
setting up the Bridge parameters, it is
necessary to setup the CRG-Receiver app. To
do this, pull up the app page using the button
circled.
Refer to page 10 for more information on
configuring the Bridge app.
In the image, the top item (yellow) selects the
CRG-Bridge app, and the bottom item (light
grey) switches to the CRG-Receiver app.

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Configuring the CRG
The main screen of the CRG-
Receiver app is the “CRG Info”
page, as shown.
The minimum initial setup require-
ments include specifying the mount
placement & completing the
calibration procedure (refer to Mount
Settings on page 6).
Refer to the following sections for more information:
MINIMUM SETUP →
SETTINGS
Page 5 ……… General Settings
Page 6 ……… Mount Settings
Page 7 ……… NTRIP Settings
Page 7 ……… Modem Settings
Page 8 DIAGNOSTICS
Page 8 SERIAL PORT
UPDATES
Refer to the CRG Firmware
Update Manual
Use this button to switch between
the CRG app and the Bridge app

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General Settings
Minutes On After Power Off: Delay for CRG
to power down after machine is turned off.
This will allow GPS satellite tracking to
continue and allows for getting back to work
quickly.
Bridge: Must be enabled to provide auto-
steering on any non-JD machine. Set
disabled if using the CRG as a receiver only.
If using the CRG on a JD machine, the Bridge
ISO app of the CRG is disabled
automatically, even if this selection shows
“Enabled".
Default Correction: Multiband allows the
CRG to use its preferred default correction
algorithms. SBAS restricts the receiver to
WAAS (for North America) or EGNOS (for
Europe).
Modem Type: If the CRG was purchased with an optional cellular modem, the make of the modem
is selected here. The “NTRIP Settings” and “Modem Settings” buttons are invisible if no modem is
selected.
Reset to Defaults: All parameters within the CRG Iso App are reset. The default settings take effect
after the CRG is rebooted.
Reset CRG: The CRG device is rebooted. WARNING: Resetting the CRG while it is engaged
will cause loss of machine control.

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Mount Settings
Height: the height from the ground to the
bottom of the CRG.
Fore/Aft: the horizontal distance from the
turning point to the CRG. For a tractor,
usually the fixed/rear axle. For a combine, the
fixed axle would be the front axle. For an
articulated tractor, this would be the pivot
point. For most tractors, with the CRG
mounted at the front of the cab, the value is
positive because it is in front of the fixed axle.
Mount Direction: the direction of the front of
the CRG. For example, when facing forward
in the driver’s seat, if the CRG connectors are
to the left, the Mount Direction should be
specified as Right. For most machines,
Forward is the correct choice. An exception
would be newer Fendt tractors where the CRG
can be mounted inside the roof panel.
Calibration: the tractor should be parked on a spot that is as level as possible. After initial readings
are taken, you will be required to turn the tractor around (180°) and park it on the same spot. Follow
the on-screen instructions.

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NTRIP and Modem Settings
There are 3 options for connecting to an
NTRIP caster of your choice:
•You may have purchased the CRG
with an internal cellular modem.
This modem requires a SIM/data
card to be installed.
•If you don’t have a cellular modem,
you may use our Agra-GPS app on
your phone to connect to the CRG
via Bluetooth® and get the RTCM
correction data from an NTRIP
caster. In this case, the IP address
and other details of the NTRIP caster
are specified within the phone app.
•You may connect an external radio modem. Consult with Agra-GPS for options.
If your CRG is equipped with an optional
cellular modem, setup within ISObus VT is
required. The NTRIP settings page allows
you to connect to RTCM correction data via
cellular connection.
The CRG also works without correction data;
however, accuracy is not nearly as good as
with an RTCM correction source.
Refer to the CRG Modem Guide for further
instructions.

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Diagnostics
The diagnostics page is useful for determining
proper operation of the CRG.
When connecting with Bluetooth, please note
the name displayed near the bottom. This
name should appear on your phone on the
Bluetooth connections page. Each CRG will
have a unique Bluetooth name (the last 4
characters will differ).
Refer to page 12 for notes on normal
indications and/or troubleshooting.
Serial Port
The CRG can send out serial NMEA text data,
which may be used by various implements for
tasks such as section control or application
rate control.
Serial format:
•8 data bits, no parity, 1 stop bit
•Baud Rate as specified on screen
Output Rate: 10 HZ means “10 sentences per
second”
Various NMEA sentence formats such as
GGA and VTG may be selected for
transmission. Multiple formats may be
selected at one time.
The plug on which the NMEA data is available will vary by machine. For example, on the newer
Fendt tractors, it is sent to the 9-pin D-sub connector to the upper right of the operator seat.

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Bluetooth App
The Agra-GPS app provides RTCM correction streaming via Bluetooth, through your mobile
phone. Be aware that you will require a reliable cellular network signal at your work site.
NOTE: Streaming data through your phone may cause extra data charges from your mobile phone
network provider, depending on your data limits. However, the data rate is fairly low: for
example, a typical 30kb/min streaming rate means that it will take almost 600 hours to consume 1
gigabyte (GB) of data.
1) Ensure the Bluetooth service on your mobile phone is enabled.
2) Android: Go to the Google Play Store
iPhone: Go to the App Store
•Search for the Agra-GPS app and install it.
3) Start the app, and using the upper left menu, go to the Settings page.
4) Under Settings → NTRIP, specify the caster parameters, for example:
•Host caster.emlid.com:2101
•Mount Point MP9999 (the mount point represents a particular base station)
•Login u12345
•NMEA Source Receiver
-The Host can also be specified with an IP address, e.g. 159.89.221.86:2101
-2101 refers to the “Port Number” and must be separated from the address with a colon.
-A list of Mount Points may also be obtained by typing the Host name (along with port
number) into a web browser like Google Chrome or Safari.
-The Login username must be obtained from your NTRIP service provider.
-The NMEA Source may also be specified manually in terms of Lat/Long/Altitude
position. This must be the precise location of the stationary base station receiver.
5) Under Settings → Receiver, select the CRG device such as “AGRA-CRG-xxxx”, where xxxx
is a unique identifier for your CRG. The CRG must be powered on in order to be found by
your mobile phone. If you have multiple CRGs on different machines, you will need to reset
this parameter each time you move to a different machine.
6) User Profile: this is a way to store different NTRIP settings. If you work in multiple different
locations, you may need to change to a different mount point or even a different caster. By
saving a different profile for different locations, it makes changing the setup easier.
7) Return to the Home screen and press Connect. RTCM data from the caster should start
streaming to the CRG. In ideal conditions an RTK fix can be achieved in under 10 seconds.
Your phone screen can be turned off and streaming will continue. For long workdays, it is
recommended to keep your phone plugged into a charger so there is no interruption due to the
phone battery dying.

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The CRG-Bridge ISO App
Each CRG comes with a Bridge ISO app tailored to a particular type of machine. If the CRG is
connected to a John Deere machine, this Bridge app will not be visible or selectable. If on a non-
JD machine, the Bridge app will only be selectable if Bridge = Enabled on the General Settings page.
Refer to your installation manual for Bridge
setup options for your particular machine.
There are also likely other settings within the
machine itself that may need adjustment, and
these will be described in your installation
manual.
Nevertheless, many options are very similar
between different Bridge types. Here are a
few examples of common options:
Press the button indicated by “ i ” to access
other information pages.
a) Ensure the Machine Type and Seat
Direction are appropriate for your
machine.
b) Record Mode refers to the recording of
the work area of the field completed by the implement. Record Mode selects between “Standard”
and “On Resume”, where “On Resume” can be triggered by hydraulics (for example, it only
records work area when the implement in the ground and not when raised).
c) While driving, if the direction of the machine is detected incorrectly, you can force it to change
it here.
d) You can see how the CRG detects the steering wheel angle from here.
Other commonly available information pages
include Help , Contact , and Firmware
Update (refer to the CRG Firmware
Update Manual)
The button for accessing the Diagnostic page
is circled.
(b)
(c)
(d)
(a)
AGCO Bridge home page

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Auto-Steer Operation
Note the AutoTrac Pie indicator on the JD monitor screen. With the CRG attached,
you will usually see 2 quarters of the Pie displayed if everything is normal (Installed
and Configured).
To move the Pie to 3 quarters (Enabled), try pressing the Pie on screen. On some
machines, you may have to select a physical enabling switch or button, often located
on the armrest or overhead. There are also requirements on some machines for
minimum speed, detection of steering wheel movement, and on some combines
threshing must be engaged. Refer to the Installation document for further instructions
for your particular machine.
To engage auto-steering, you will find an Engage (also known as Resume) button to activate it
(bringing the Pie to 4 quarters), usually located on the control stick or armrest. It will engage only
if all other conditions are met, such as minimum speed, etc.
You can press the Engage button again to disengage, or simply turn the steering wheel. On all ma-
chines, forcing the steering wheel will automatically disengage auto-steering.
Auto-Steer Optimization
Using the JD display you may adjust your steering performance. Most machines will perform
optimally with all JD settings centred. If a change is required, find an open area where you can
travel at target speed and adjust one parameter at a time until you are satisfied with the steering
performance.

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SF1 & RTK Indicators
In order to communicate with a John Deere monitor, the CRG identifies itself
as having an SF1 signal at all times, even when no satellite signals are
available. This does NOT mean you are receiving an SF1 signal, and also does
NOT mean you have an SF1 license.
When receiving a correction stream and in RTK Fix mode, the JD monitor will
show that RTK is enabled.
When in RTK Float mode, the JD monitor will show RTK-X.
When the CRG switches from RTK Float to RTK Fix mode, auto-steering will
disengage. This is normal and expected behaviour, and prevents a sudden
unexpected path change. Press the Engage (or Resume) button to re-engage.
Troubleshooting
-Normal values for RTK Data Received should be
between 15 to 40 kb/min, depending on the base
stations (i.e. mount point) configuration. If RTK
message indicators are yellow, this means data has
stopped flowing within the past minute. Once 1
minute has elapsed without a valid RTCM
correction stream, indicators will show red.
-RTK State will show yellow in Float mode.
-If an inappropriate mount point is chosen (for
example, from a receiver that is too far away), the
RTK State may not be able to obtain a Fix, but will
stay in Float mode. The accuracy in float mode is
not reliable, and in some cases, non-RTK positioning might even be better than float.
-If “Good RTK Messages” shows purple, this is because an information message was received
from the caster, which is usually an error message. This can happen if the caster believes you
are outside of the service area for the selected mount point.
-CNO refers to “Carrier to Noise” ratio, which is a measure of satellite signal strength. Anything
over 35 is normally acceptable for an RTK fix.

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Status Light
The back side of the CRG (the connector side) contains a coloured status LED. The following
indications are defined:
-Solid RED: A problem with the ISO/Implement bus (connecting to the JD monitor)
-Flashing RED: A problem with the Machine bus (connecting to other tractor devices)
-Solid BLUE: A problem with the GPS
-Flashing BLUE: No GPS signal
-Solid YELLOW: A problem with the INS
-Solid GREEN: All systems normal
NTRIP Caster Setup
The NTRIP caster is a remote internet server that provides an RTCM correction stream, which
allows an RTK fix to be achieved. The caster will usually offer many “mount points”, each of
which essentially represents a GPS receiver with its location known precisely. The receiver (base
station) must usually be located within 35km (22 miles) of your work site in order for RTK to
work adequately.
To connect to a caster, you will need to find a local service provider who will give you an IP
address, port number, mount point identifier, and mount point login name and password. There
may be privately owned casters with base stations in your area that will charge a subscription fee,
or there may even be publicly available casters, sponsored by industry groups or government.
Alternatively, you can choose to setup your own base station by purchasing a product like Emlid
Reach RS2 or similar (www.emlid.com). As part of the product offering, you can create a mount
point for your base station at caster.emlid.com. It is also possible to register your base station with
a different caster service such as rtk2go.com.
Setting up your own caster is possible, but this is more technically challenging. Software such as
that found at www.use-snip.com can be used freely, or with a paid license for unlocking extra
features.
Typical RTCM message streams may be set up as follows:
(A)
1004, 1012 at 1 message/second; and 1005, 1033 at 1 msg every 5 seconds (data rate: 15 kb/min)
-This setup only includes corrections for GPS and GLONASS
(B)
1006, 1074, 1084, 1094, 1230 all at 1 message/second (data rate: 41 kb/min)
-This setup includes corrections for GPS, GLONASS, and Galileo
Refer to the Base Station Setup Manual for more information.
https://www.agra-gps.com/product/emlid-reach-rs2-base-station/

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Appendix A: Product Specifications
Operating Voltage Range: 10 to 16 VDC, 12V nominal
Power Consumption: less than 3W
Operating Temperature: -20℃ to +40℃ ambient
Weatherproof: NEMA 3X, IP65
Supported: Bluetooth® BLE, RTCM-3.x, NTRIP 2.0
NOTE: Circuit protection fuse is required: 1A minimum, 5A maximum
COMPLIANCE
This product is in compliance with the following standards:
EMC
•FCC 47 CFR Part 15B: Radio Frequency Devices – Unintentional Radiators
•ICES-003 Issue 7 (2020-10): Information Technology Equipment (including Digital Apparatus)
•EN ISO 14982 (2009): Agricultural and Forestry Machinery – Electromagnetic Compatibility
•ETSI EN 301 489-17 V3.2.4 (2020-09): Electromagnetic Compatibility (EMC) Standard for Radio
Equipment and Services (Part 17: Specific conditions for Broadband Data Transmission Systems)
•ETSI EN 301 489-1 V2.2.3 (2019-11): Electromagnetic Compatibility (EMC) Standard for Radio Equipment
and Services (Part 1: Common technical requirements)
SAFETY
•EN 62368-1 (2014): Audio/video, information and communication technology equipment
(Part 1: Safety requirements)
•IEC 60950-22 (2016): Information technology equipment – Safety
(Part 22: Equipment to be installed outdoors)
•IEC 60529-1 (2001): Degrees of protection provided by enclosures. (IP code)

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Electromagnetic Compatibility Statements
RF Exposure
The integrated Bluetooth ® device operates at an output power level which is within the ISED SAR test exemption
limits at any user distance. Maximum output (Class 2 Bluetooth ® LE): +10 dBm (+1.5 dBm typical). Frequency
range: 2.402 GHz to 2.480 GHz. Maximum gain (integral chip antenna): 1.63 dBi.
USA: FCC
This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) This
device may not cause harmful interference, and (2) this device must accept any interference received, including
interference that may cause undesired operation.
This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to Part 15 of
the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in the specified
installation. This equipment generates, uses and can radiate radio frequency energy and, if not installed and used in
accordance with the instructions, may cause harmful interference to radio communications. However, there is no
guarantee that interference will not occur in a particular installation. If this equipment does cause harmful interference
to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to
try to correct the interference by one of the following measures:
-Reorient or relocate the receiving antenna.
-Increase the separation between the equipment and receiver.
-Connect the equipment into an outlet on a circuit different from that to which the receiver is connected.
-Consult the dealer or an experienced radio/TV technician for help.
**DO NOT MODIFY** Changes or modifications not expressly approved by Agra-GPS Ltd could void the user's
authority to operate the equipment.
Canada: ISED
This device contains licence-exempt transmitter(s)/receiver(s) that comply with Innovation, Science and Economic
Development Canada’s licence-exempt RSS(s). Operation is subject to the following two conditions:
1. This device may not cause interference.
2. This device must accept any interference, including interference that may cause undesired operation of the
device.
L’émetteur/récepteur exempt de licence contenu dans le présent appareil est conforme aux CNR d’Innovation,
Sciences et Développement économique Canada applicables aux appareils radio exempts de licence. L’exploitation est
autorisée aux deux conditions suivantes:
1. L’appareil ne doit pas produire de brouillage ;
2. L’appareil doit accepter tout brouillage radioélectrique subi, même si le brouillage est susceptible d’en com-
promettre le fonctionnement.
EU & UK
Hereby, Agra-GPS Ltd, declares that the Bluetooth ® module has been installed in accordance with the installation
instructions, and in equivalent assessment conditions as tested for compliance with the essential requirements and
other relevant provisions of Directive 2014/53/EU, and the essential requirements and other relevant provisions of UK
Radio Equipment Regulations 2017.