Spraying Systems TeeJet BoomPilot 90-02671 User manual

BOOMPILOT®
INSTALLATION MANUAL
Automatic Boom Section Control Installation Manual for
Kit Number 90-02671
For use with Willmar w/ Mid-Tech Controls (Air-Ride,
Eagle 8100/8500 or Rangers)

3
BoomPilot®
98-05275 R0
Copyrights
© 2011 TeeJet Technologies. All rights reserved. No part of this document or the computer programs described
in it may be reproduced, copied, 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.
The BoomPilot is not designed to replace the vehicle’s operator.
Do not leave a vehicle while the BoomPilot is engaged.
Be sure that the area around the vehicle is clear of people and obstacles before and during engagement.
The BoomPilot 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 BoomPilot before operating on public roads or when not in use to prevent loss of vehicle control.

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BoomPilot®
Table of Contents
KIT CONTENTS 6
INSTALLATION 9
1. LOCATE THE CONNECTION POINT FOR THE SDM HARNESS............................................... 9
Air-Ride....................................................................................................................................... 9
Eagle 8100/8500 or Rangers.................................................................................................... 10
2. CONNECT FOOT SWITCH EXTENSION  AIRRIDE ONLY.....................................................10
3. DISCONNECT & RECONNECT HARNESSES & CABLES...........................................................11
4. MOUNT & CONNECT SDM ...............................................................................................................12
5. CONNECT POWER/CAN/DATA CABLE TO BOOMPILOT HARNESS...................................13
6. REPLACE INTERIOR FINISH PANEL  EAGLE 8100/8500 OR RANGERS ONLY...............13
7. COMPLETE ELECTRONIC INSTALLATION...................................................................................14
Operation Review and Tips.................................................................................................. 14
Off/Manual & Automatic .................................................................................................................. 14
All Booms On Mode......................................................................................................................... 14
CONFIGURATION USING YOUR MATRIX®PRO 15
Vehicle Setup ........................................................................................................................ 16
Vehicle Type ............................................................................................................................. 16
Antenna Height ........................................................................................................................ 17
Direction to Boom.................................................................................................................... 17
Distance to Boom .................................................................................................................... 18
Implement - SmartCable or SDM......................................................................................... 19
#Number of Boom Sections...................................................................................................... 20
Guidance Width ........................................................................................................................ 20
Spray Width............................................................................................................................... 21

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BoomPilot®
98-05275 R0
Overlap...................................................................................................................................... 22
Delay On.................................................................................................................................... 22
Delay Off ................................................................................................................................... 23
OPERATION USING YOUR MATRIX®PRO 24
Off/Manual & Automatic .................................................................................................................. 24
All Booms On Mode......................................................................................................................... 24
Example.................................................................................................................................... 25
BoomPilot Status ............................................................................................................................. 25

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BoomPilot®
KIT CONTENTS
Unpack the installation kit and identify the required parts.
Item Part Number Description Quantity
A 45-05626 Power/CAN/Data Cable...............................................................................................1
B 45-05740 BoomPilot Harness, Air-Ride w/ MT Controller............................................................1
C 78-05077 BoomPilot Section Driver Module (SDM).....................................................................1
D 45-05868 Cable, Extension to Foot Switch..................................................................................1
E 98-05275 Installation Manual, Willmar w/ Mid-Tech Controls ......................................................1
Item Part # Description Illustration
A 45-05626 Power/CAN/Data Cable
POWER IN
CAN
RS-232
Power/DATA
45-05626
B 45-05740 BoomPilot Harness,
Air-Ride w/ MT Controller
C 78-05077 BoomPilot Section Driver Module
(SDM)
D 45-05868 Cable, Extension to Foot Switch AIR RIDE ONLY
45-05868 xx/xx
E 98-05275 Installation Manual, Willmar w/ Mid-Tech Controls

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BoomPilot®
98-05275 R0
Figure 1-1: System Diagram for Air-Ride
POWER IN
CAN
RS-232
Power/DATA
45-05626
45-05626
Power/CAN/Data Cable
(included with FieldPilot
and BoomPilot kits)
10A Fuse
to RS-232
CAN
Tilt Gyro
Module (TGM)
TGM Harness
78-05077
BoomPilot Section Driver Module
(15 sections)
45-05740
BoomPilot Harness
Air-Ride w/ MT Controller
45-05868
Cable, Extension
to Foot Switch
Remote ABSC
Status Switch Connection
to existing Air Ride harness to existing Air Ride harness
AIR RIDE ONLY
45-05868 xx/xx
Matrix Pro 570G Matrix Pro 840G
Matrix
BoomPilot
Optional Accessory

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BoomPilot®
Figure 1-2: System Diagram for Eagle 8100/8500 or Rangers
POWER IN
CAN
RS-232
Power/DATA
45-05626
Matrix Pro 570G Matrix Pro 840G
45-05626
Power/CAN/Data Cable
(included with FieldPilot
and BoomPilot kits)
10A Fuse
to RS-232
CAN
Tilt Gyro
Module (TGM)
TGM Harness
78-05077
BoomPilot Section Driver Module
(15 sections)
45-05740
BoomPilot Harness
Air-Ride w/ MT Controller
Remote ABSC
Status Switch Connection
to existing harness to existing Junction Box
Matrix
BoomPilot
Optional Accessory

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BoomPilot®
98-05275 R0
INSTALLATION
If there are questions concerning the installation of the BoomPilot system on this vehicle, or due to the
changes in component specications the parts supplied in the kit are not exactly as presented in this
document, please contact your dealer or TeeJet Customer service representative for clarication
before installation. TeeJet Technologies is not responsible for misuse or incorrect installation of the system.
NOTE: All references to left and right are stated as if the user is seated in the driver’s seat.
NOTE: BE VERY CAREFUL TO ABSOLUTELY SECURE ALL CABLES AND HOSES SO THAT THEY DON’T
INTERFERE WITH THE MANY MOVING PARTS OF THE MACHINE!
1. LOCATE THE CONNECTION POINT FOR THE SDM HARNESS
Locate the existing system’s harness connection between the harness to the rate controller and the harness to the
valves.
Air-Ride
The connection point is in the cab between harness 405-0073 and harness 405-0068 (in some vehicle
congurations, the Air-Ride harnesses have be replaced by 78-00045 switchbox & 45-05763 harness). These two
harnesses most likely connect behind the seat.
Figure 1-3: Locate the Connection Point – Air-Ride
Behind the seat

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BoomPilot®
Eagle 8100/8500 or Rangers
The connection point is at the Junction Box (smaller rectangular box) under the oor to the right of the operator
seat in front of the electrical compartment in the cab. Remove the Interior Finish Panel to access the electrical
compartment.
Figure 1-4: Locate the Connection Point – Eagle 8100/8500 or Rangers
2. CONNECT FOOT SWITCH EXTENSION  AIRRIDE ONLY
Disconnect cap from the Remote ABSC Status Switch connection on the BoomPilot harness (B). Connect the
Foot Switch Extension Cable (D) to the Remote ABSC Status Switch connection. Connect extension to foot
switch. The foot switch is used as a spray boom master on/off switch.
Figure 1-5: Connect Foot Switch Extension – Air-Ride Only
POWER IN
CAN
RS-232
Power/DATA
45-05626
45-05626
Power/CAN/Data Cable
(included with FieldPilot
and BoomPilot kits)
10A Fuse
to RS-232
CAN
Tilt Gyro
Module (TGM)
TGM Harness
78-05077
BoomPilot Section Driver Module
(15 sections)
45-05740
BoomPilot Harness
Air-Ride w/ MT Controller
45-05868
Cable, Extension
to Foot Switch
Remote ABSC
Status Switch Connection
to existing Air Ride harness to existing Air Ride harness
AIR RIDE ONLY
45-05868 xx/xx
Matrix Pro 570G Matrix Pro 840G
Matrix
BoomPilot
Optional Accessory
B
D

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BoomPilot®
98-05275 R0
3. DISCONNECT & RECONNECT HARNESSES & CABLES
The BoomPilot SDM harness (C) tees into the existing system’s connection between the rate controller harness
and the valve harness.
1. Disconnect the existing connection between harnesses (AirRide) or junction box & harness (Eagle/
Ranger) located in step 1.
2. Connect BoomPilot harness (B) to valve harness or junction box.
3. Connect BoomPilot harness (B) to controller harness.
4. Air-Ride Only – Connect BoomPilot Harness extension wire from step 2 to the cold/switch side
(12v ON / 0v OFF) of the Foot Switch in combination with the existing connection in that location.
Figure 1-6: Disconnect Existing Combination
Air-Ride Eagle 8100/8500 or Rangers
Figure 1-7: BoomPilot Harness to Valve Harness or Junction Box
Air-Ride Eagle 8100/8500 or Rangers
Disconnect
Disconnect
existing
harnesses
Connect
Connect BoomPilot
Harness (B)
Valve Harness

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BoomPilot®
Figure 1-8: BoomPilot Harness to Controller Harness
Air-Ride
Eagle 8100/8500 or Rangers
4. MOUNT & CONNECT SDM
1. Mount SDM (C) to the operator’s preference where LED’s can be seen for troubleshooting.
2. Connect SDM (C) to BoomPilot Harness (B).
Figure 1-9: LED Description
Section Power
On – boom section power is on
Off – boom section power is off
In/Out Error
Off – boom output is high or on
Blinking – boom output is low or off
Auto Mode
On – auto mode is active
Off – manual mode is active
CAN Data
Blinking – receiving console CAN messages
Off – CAN messages stop for > 3 seconds
CAN Power
On – CAN power is on
Off – CAN power is off
Connect
BoomPilot
Harness (B)
Controller
Harness Connect

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BoomPilot®
98-05275 R0
5. CONNECT POWER/CAN/DATA CABLE TO BOOMPILOT HARNESS
Connect Power/CAN/Data Cable (A) to BoomPilot Harness (B)
Figure 1-10: Connect Power/CAN/Data Cable to BoomPilot Harness
POWER IN
CAN
RS-232
Power/DATA
45-05626
Power/CAN/Data Cable
BoomPilot Harness
6. REPLACE INTERIOR FINISH PANEL  EAGLE 8100/8500 OR
RANGERS ONLY
Replace Interior Finish Panel removed in Step 1.
Figure 1-11: Replace Electrical Compartment Panel
A
B

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BoomPilot®
7. COMPLETE ELECTRONIC INSTALLATION
Refer to the “Conguration Using your Matrix®Pro” and “Operation Using your Matrix®Pro” sections of this manual
for further instructions on setting up and using your Matrix Pro for ABSC.
If not using a Matrix Pro, please refer to the owner’s manual supplied with the guidance system to complete the
electronic installation and setup.
Operation Review and Tips
Off/Manual & Automatic
To switch BoomPilot between off/manual and automatic :
1. Turn the controller master switch to the “On” position. The individual boom section switches should remain in
the “Off” position.
2. Press NAVIGATION AND GUIDANCE OPTIONS icon to display navigation options.
Figure 1-12: Automatic to All Booms On Mode
0.0 mph 0.00 ac
Mark A
AA
3. Press BOOMPILOT icon .
◄Off/Manual – Status Bar Icon will change to red
◄Automatic – Status Bar Icon will change to green
In areas where application is not desired, manually turn
“off” the rate controller master switch to shut off the booms.
Turn the master switch “on” to resume application.
All Booms On Mode
To turn all booms on :
1. Press NAVIGATION AND GUIDANCE OPTIONS
icon to display navigation options.
2. Press and hold BOOMPILOT icon .
◄All On – Status Bar Icon will change to yellow
Matrix Pro Boompilot Switch Conguration
BoomPilot (ABSC) System
Controller Master Switch or
Original Master Switch
Controller Boom Switches or
Original Boom Switches Matrix Pro Spray Icon
Automatic Mode On Off
Manual Mode On On
• System will still operate normally using existing section switches if BoomPilot is in manual
• Boom master will always override BoomPilot auto condition and turn sections off
• BoomPilot auto mode does not require a boundary
• If typical application is a rst lap around the eld, make this lap with BoomPilot in manual mode to avoid
improper on/off boom action during reversing movements of vehicle if BoomPilot is in auto.

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BoomPilot®
98-05275 R0
CONFIGURATION USING YOUR MATRIX®PRO
The Matrix Pro is used to congure the vehicle and its implements including ABSC.
To access BoomPilot conguration options:
1. Press UNIT SETUP bottom tab .
2. Press CONFIGURATION side tab .
3. Select from:
►Vehicle – used to establish vehicle type, antenna height, direction to boom and distance to boom
►Implement – used to establish number of boom sections, guidance width, spray width, overlap percentage,
implement delay on time and implement delay off time
►Lightbar – used to establish LED brightness, LED mode and LED spacing
Figure 1-13: Configuration Options
Conguration
Vehicle Implement
AutoSteer Tilt
Lightbar GPS
Video
Figure 1-14: Configure Vehicle and Implement Options
Cong-> Vehicle
12.50 ft
0.00 ft
Front Wheel
Backward
Vehicle Type
Ant Height
Dir to Boom
Dist to Boom
Cong->Implement
Num Sections
Spray Width
Guidance Width 60.00 ft
144.00 ft
15
Cong->Implement (2)
Overlap
Delay O
Delay On 1.00 s
1.00 s
50%

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BoomPilot®
Vehicle Setup
Vehicle Setup is used to congure Vehicle Type,
Antenna Height, Direction to Boom and Distance to
Boom.
1. Press CONFIGURATION side tab .
2. Press Vehicle .
3. Select from:
►Vehicle Type – used to select the type of
vehicle steering that most closely represents
your vehicle
►Antenna Height – used to enter the height
of the antenna from the ground
►Direction to Boom – used to select whether
the boom is located behind or in front of the
GPS antenna
►Distance to Boom – used to enter the
distance from the GPS antenna to the boom
4. Press RETURN arrow or CONFIGURATION
side tab to return to the main Conguration
screen
NOTE: All settings under Vehicle Setup are required for
autosteer and tilt sensor operation, as well as
proper implement operation.
Figure 1-15: Vehicle Setup Options
Conguration
Vehicle Implement
AutoSteer Tilt
Lightbar GPS
Video
Cong-> Vehicle
12.50 ft
0.00 ft
Front Wheel
Backward
Vehicle Type
Ant Height
Dir to Boom
Dist to Boom
Vehicle Type
Vehicle Type selects the type of vehicle steering that
most closely represents your vehicle.
1. Press DOWN arrow to access the list of
options.
2. Select:
►Front wheel (also used for combines)
►Articulated
►Tracked
Figure 1-16: Vehicle Type
Cong-> Vehicle
12.50 ft
0.00 ft
Backward
Vehicle Type
Ant Height
Dir to Boom
Dist to Boom
Front Wheel
Front Wheel
Articulated
Tracked

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BoomPilot®
98-05275 R0
Antenna Height
Antenna Height sets the height of the antenna from the
ground. Range is 0.0 - 32.8 feet / 0.0 - 10.0 meters.
NOTE: This setting is required for auto steering and tilt
sensor operation.
1. Press the KEYPAD icon .
2. Use the entry screen to establish the antenna
height.
Figure 1-17: Antenna Height
Cong-> Vehicle
12.50 ft
0.00 ft
Front Wheel
Backward
Vehicle Type
Ant Height
Dir to Boom
Dist to Boom
Antenna Height (ft)
123
12.50
Clear
4 5 6 <--
789
0 . +/-
Direction to Boom
Direction to Boom sets whether the boom is located
behind or in front of the GPS antenna as the vehicle
moves in a forward direction.
1. Press DOWN arrow to access the list of
options.
2. Select:
►Backward – indicates the boom is located
behind the GPS antenna
►Forward – indicates the boom is located in front
of the GPS antenna
Figure 1-18: Direction to Boom
Cong-> Vehicle
12.50 ft
0.00 ft
Front Wheel
Vehicle Type
Ant Height
Dir to Boom
Dist to Boom
Backward
Backward
Forward

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BoomPilot®
Distance to Boom
Distance to Boom denes the distance from the GPS
antenna to the boom. Range is 0.0 - 164.0 feet / 0.0 -
50.0 meters.
1. Press the KEYPAD icon .
2. Use the entry screen to establish the distance from
the GPS antenna to the boom.
Figure 1-19: Distance to Boom
Cong-> Vehicle
12.50 ft
0.00 ft
Front Wheel
Backward
Vehicle Type
Ant Height
Dir to Boom
Dist to Boom
Dist to Boom (ft)
123
0.00
Clear
4 5 6 <--
789
0 . +/-

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BoomPilot®
98-05275 R0
Implement - SmartCable or SDM
Implement Setup is used to establish number of
boom sections, guidance width, spray width, overlap
percentage, implement delay on time and implement
delay off time.
Note: If a SmartCable or Section Driver Module
(SDM) is not present the configurations for
Number of Boom Sections, Overlap, Delay
On and Delay Off will not be available - only
Guidance Width and Spray Width can be
entered.
1. Press CONFIGURATION side tab .
2. Press Implement .
3. Select from:
►Number of Boom Sections #– used to select
the number of available boom sections
►Guidance Width – used to enter the width
between the guidelines
►Spray Width – used to enter the width of
each implement section
►Overlap – used to select the amount of
overlap allowed when the boom sections are
turned on and off
►Delay On – used to enter the timing for the
boom section valves to switch on
►Delay Off – used to enter the timing for the
boom section valves to switch off
4. Press RETURN arrow or CONFIGURATION
side tab to return to the main Conguration
screen.
NOTE: Press or to switch between Implement
setup screens.
Figure 1-20: Implement Setup Options with
SmartCable or SDM
Conguration
Vehicle Implement
AutoSteer Tilt
Lightbar GPS
Video
Cong->Implement
Num Sections
Spray Width
Guidance Width 60.00 ft
144.00 ft
15
Cong->Implement (2)
Overlap
Delay O
Delay On 1.00 s
1.00 s
50%

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BoomPilot®
#Number of Boom Sections
Number of Boom Sections establishes the number of
available boom sections. If a SmartCable or Section
Driver Module (SDM) is present, 1 to 6 or 1 to 15
section widths can be entered (depending on which
SmartCable or Section Driver Module (SDM) is
detected).
1. Press DOWN arrow to access the list of
options.
2. Select the number of boom sections on the
implement:
Figure 1-21: Number of Boom Sections
Cong->Implement
Num Sections
Spray Width
Guidance Width 75.00 ft
75.00 ft
15
7
8
9
10
11
12
13
14
15
Guidance Width
Guidance Width establishes the width between the
guidelines. Range is 3.28 - 246.1 feet / 1.0 - 75.0
meters.
NOTE: This setting is required for auto steering
operation.
1. Press the KEYPAD icon .
2. Use the entry screen to establish the guidance
width.
Figure 1-22: Guidance Width
Cong->Implement
Num Sections
Spray Width
Guidance Width 60.00 ft
180.00 ft
15
Guidance Width (ft)
123Clear
4 5 6 <--
789
0 . +/-