TERSUS AG960 User manual

User Manual
Version V1.0-20170616
User Manual
ForAG960 AutoSteer System
©2017 Tersus GNSS Inc.All rights reserved.
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Table of Content
1 General Description...............................................................................................................12
2 Introduction of AG960 AutoSteer System.............................................................................12
3 Components of AG960..........................................................................................................14
3.1 Product List............................................................................................................................14
3.2 Electrical Connection Relation ..............................................................................................18
4 Installation of AG960 ............................................................................................................20
4.1 Installation of Electronic Components...................................................................................21
4.1.1 Installation of Satellite Navigation Antenna..........................................................................21
4.1.1.1 Position Requirement of Installing Satellite Navigation Antenna .........................................22
4.1.1.2 Fix the Antenna to the Top of Driving Cab ...........................................................................24
4.1.1.3 Route Antenna RF Cable .......................................................................................................25
4.1.2 Installation of Radio Receiving Antenna...............................................................................26
4.1.2.1 Installation Position of Radio Receiving Antenna.................................................................26
4.1.2.2 Assembly and Fixation of the Radio Receiving Antenna ......................................................27
4.1.2.3 Route RF Cable of Radio Receiving Antenna .......................................................................29
4.1.3 Installation of Panel Computer ..............................................................................................29
4.1.3.1 Installation Position of Panel Computer ................................................................................29
4.1.3.2 Fixation of Round Plate Knob ...............................................................................................30
4.1.3.3 Fixation of Rectangle Plate Knob..........................................................................................31
4.1.3.4 Installation of the 3G Antenna...............................................................................................32
4.1.3.5 Installation and Fix of the Panel Computer ...........................................................................32
4.1.4 Installation of Autopilot (Controller).....................................................................................33
4.1.4.1 Installation Position of Autopilot (Controller).......................................................................33
4.1.4.2 Fix Autopilot (Controller) at Specified Position....................................................................34
4.2 Installation of Steering System..............................................................................................36
4.2.1 Installation of Coaxial Steering System.................................................................................36
4.2.1.1 Select a Suitable Sensor Seat Based on the Knuckle Flange Type of the Tractor .................37
4.2.1.2 Assembly of the Steering Sensor and Sensor Flanged Base ..................................................37
4.2.1.3 Assembly of the Steering Sensor and Sensor Flanged Base ..................................................37
4.2.1.4 Installation of Double Cross Stop Frame...............................................................................38
4.2.1.5 Fix the Double Cross Stop Frame..........................................................................................40
4.2.1.6 Bind Steering Senor Cable.....................................................................................................41
4.2.1.7 Check the Motion of the Steering System .............................................................................41

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4.2.2 Installation of Parallelogram Type Steering System..............................................................42
4.2.2.1 Install Toe-in U-Groove.........................................................................................................43
4.2.2.2 Install Axle Clamping Plate...................................................................................................44
4.2.2.3 Install Sensor Assembly.........................................................................................................44
4.2.2.4 Install Cardan Joint Connecting Rod .....................................................................................44
4.2.2.5 Adjust the Parallelogram .......................................................................................................45
4.2.2.6 Check the Motion of Pallelogram Mechanism.......................................................................46
4.3 Check the Motion of Pallelogram Mechanism.......................................................................46
4.3.1 Install Hydraulic Valve Group of Open Center System.........................................................46
4.3.1.1 Check the Operating Conditions of Existing Hydraulic Power Steering System of Tractor..48
4.3.1.2 Install Transition Unions onto Hydraulic Valve ....................................................................49
4.3.1.3 Install the Hydraulic Valve to Tractor ...................................................................................50
4.3.1.4 Connect Port P of Power Steering Pump and Port P of Hydraulic Valve ..............................51
4.3.1.5 Connect Hydraulic Valve and Ports L, R, T of Steering Gear Respectively with Tee Unions
52
4.3.1.6 Connect Port P1 of Hydraulic Valve to Port P of Steering Gear ...........................................53
4.3.1.7 Sort out Oil Pipes...................................................................................................................53
4.3.1.8 Check the Actuation Function of Hydraulic Valve................................................................53
4.3.2 Installation of Closed Center Hydraulic Valve System .........................................................54
4.3.2.1 Check Relevant Oil Ports.......................................................................................................55
4.3.2.2 Install Hydraulic Valve System .............................................................................................57
4.4 Routing of Cables ..................................................................................................................58
4.4.1 Routing of RF Cables ............................................................................................................60
4.4.1.1 Connect Radio Antenna.........................................................................................................60
4.4.1.2 Connect Satellite Navigation Antenna...................................................................................60
4.4.1.3 Sort out and Bind RF Cables .................................................................................................61
4.4.2 Routing of Data Harness (White End Harness) .....................................................................61
4.4.2.1 Connect Autopilot (Controller)..............................................................................................62
4.4.2.2 Connect Panel Computer .......................................................................................................63
4.4.2.3 Sort Out and Bind Harness ....................................................................................................64
4.4.3 Routing of Drive Harness (Black End Harness) ....................................................................64
4.4.3.1 Connect Autopilot (Controller)..............................................................................................65
4.4.3.2 Connect Electromagnetic Hydraulic Valve............................................................................66
4.4.3.3 Connect Steering Measuring Mechanism ..............................................................................68

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4.4.3.4 Connect Battery.....................................................................................................................69
4.4.3.5 Sort Out and Bind the Harness...............................................................................................71
5 Commissioning the AutoSteer Systems.................................................................................72
5.1 Power on Equipment..............................................................................................................72
5.2 Check Program Version.........................................................................................................83
5.3 View Self-test Information ....................................................................................................84
5.4 Set up the Equipment.............................................................................................................87
5.4.1 System Setting .......................................................................................................................87
5.4.1.1 RTK Data Source...................................................................................................................88
5.4.1.2 External Radio .......................................................................................................................89
5.4.1.3 CORS Network......................................................................................................................90
5.4.2 Host Setting - Autopilot (Controller).....................................................................................91
5.4.2.1 Set Installation Orientation of Autopilot (Controller)............................................................92
5.4.2.2 Set the Installation Position of Autopilot (Controller)...........................................................94
5.4.3 Antenna Setting .....................................................................................................................95
5.4.3.1 Set Installation Orientation of Antenna .................................................................................95
5.4.3.2 Set Installation Position of Antenna.......................................................................................96
5.4.4 Vehicle Setting.......................................................................................................................97
5.4.5 Implement Setting..................................................................................................................98
5.4.6 Program Update.....................................................................................................................99
5.5 Calibration of the Equipment.................................................................................................99
5.5.1 Calibration Reset .................................................................................................................100
5.5.2 Guide Wheel Calibration .....................................................................................................103
5.5.2.1 Prior to Calibration, Observe if the Guide Wheel Angle is Normal ....................................104
5.5.2.2 Prior to Calibration, Check if the Guide Wheel Angle Surpasses the Zero Point................104
5.5.2.3 Calibration Step 1 ................................................................................................................105
5.5.2.4 Calibration Step 2 ................................................................................................................105
5.5.2.5 Calibration Step 3 ................................................................................................................106
5.5.2.6 After the Calibration, Check if the Calibration Result is Correct ........................................107
5.5.3 Attitude Calibration .............................................................................................................108
5.5.3.1 Attitude Calibration –Step 1 ...............................................................................................109
5.5.3.2 Attitude Calibration –Step 2 ...............................................................................................110
5.5.3.3 Attitude Calibration –Step 3 ...............................................................................................110
5.5.3.4 Attitude Calibration –Step 4 ...............................................................................................111

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5.5.3.5 Attitude Calibration –Step 5 ...............................................................................................112
5.5.3.6 After Calibration, Observe if the Calibrated Value is Correct.............................................112
5.5.4 Steering Sensitivity Calibration...........................................................................................113
5.5.4.1 Calibrate Left & Right take-off Voltage..............................................................................114
5.5.4.2 Calibration of Steering Sensitivity.......................................................................................115
5.5.4.3 Common Problems and Troubleshooting During the Calibration of Left/Right Jump-off
Voltage 117
5.5.4.4 Common Problems and Troubleshooting During the Calibration of Steering Sensitivity ...117
5.5.4.5 How to Complete the Calibration of the Left/Right Jump-off Voltage and the Steering
Sensitivity Rapidly by Non-professional Personnel.............................................................................118
5.5.5 Calibration of Driver Sensitivity..........................................................................................119
5.5.5.1 Driver Sensitivity Commissioning.......................................................................................120
5.5.5.2 Commissioning of Operation Precision...............................................................................122
5.5.5.3 Commissioning of Override Voltage...................................................................................122
5.5.5.4 How to Perform Driver Sensitivity Commissioning by Non-professional Personnel..........123
5.5.6 Calibration of System Deviation..........................................................................................123
5.5.6.1 Calibration of System Deviation –Step 1............................................................................125
5.5.6.2 Calibration of System Deviation –Step 2............................................................................125
5.5.6.3 Calibration of System Deviation –Step 3............................................................................126
5.5.6.4 Calibration of System Deviation –Step 4............................................................................127
5.5.7 Agriculture Machine Deviation Calibration.........................................................................128
5.5.7.1 Agriculture Machine Deviation Calibration –Step 1...........................................................129
5.5.7.2 Agriculture Machine Deviation Calibration –Step 2...........................................................129
5.5.7.3 Agriculture Machine Deviation Calibration –Step 3...........................................................130
5.5.7.4 Agriculture Machine Deviation Calibration –Step 4...........................................................130
5.5.7.5 Agriculture Machine Deviation Calibration –Step 5...........................................................131
5.5.8 Examine Calibration Value..................................................................................................133
5.5.9 Auto Driving Test in Farmland............................................................................................134
6 Use of the System –AG960.................................................................................................135
6.1 Power up the Equipment......................................................................................................135
6.2 Task Management................................................................................................................136
6.2.1 Task Establishment..............................................................................................................137
6.2.2 Loading of Task...................................................................................................................138
6.3 Use of Shortcut ....................................................................................................................140

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6.3.1 Establishment of Task with Shortcuts..................................................................................140
6.3.2 Set Line AB with Shortcuts .................................................................................................141
6.3.3 Shift of Line AB with Shortcuts ..........................................................................................143
6.3.4 Setting of IM Width with Shortcuts.....................................................................................145
6.3.5 Setting the Shift of Implement with Shortcuts.....................................................................147
6.3.6 Setting of Radio Channel Number with Shortcuts...............................................................150
6.4 Manual/Auto Switching.......................................................................................................151
6.5 Monitoring of Instrument Panel...........................................................................................153
6.5.1 Monitoring of the Number of Satellite Received.................................................................154
6.5.2 Monitoring of Radio Status..................................................................................................154
6.5.3 Monitoring of Positioning Status.........................................................................................155
6.5.4 Monitoring of Driving Speed...............................................................................................155
6.5.5 Monitoring of Direction.......................................................................................................155
6.5.6 Monitoring of Operation Precision ......................................................................................155
6.5.7 Monitoring of Operation Area .............................................................................................156
6.6 Adjustment of the Display ...................................................................................................156
6.6.1 Adjustment of Day/Night Display Effect.............................................................................156
6.6.2 Adjustment of Background Grid Displace Effect ................................................................157
6.6.3 Adjustment of Operation Highlight Display Effect .............................................................158
6.6.4 Adjustment of the Zoom of Agriculture Vehicle .................................................................158
7 Daily Maintenance...............................................................................................................159
8 Troubleshooting...................................................................................................................163
List of Tables
Table 1 AG960 AutoSteer System (“AG960”) unpacking list........................................................14
Table 2 Tools required for installing AG960..................................................................................20
Table 3 Pipe fittings list for John Deere 904 tractor.......................................................................47
Table 4 Main interface of AG960 autopilot display .......................................................................77
Table 5 Definition of icon in the calibration screen .....................................................................101
Table 6 Definition of manual/auto switching button....................................................................152
Table 7 Key points of daily maintenance of AG960 ....................................................................159
Table 8 Issues and solutions –AG960 troubleshooting................................................................163
List of Figures
Figure 1 Autopilots Work with GNSS (GPS/GLONASS/BDS) and Differential Reference Station
................................................................................................................................................13
Figure 2 Outlook of AG960 AutoSteer System (“AG960”) package .............................................14

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Figure 3 Outlook of GNSS antenna ...............................................................................................15
Figure 4 Outlook of radio antenna .................................................................................................15
Figure 5 Outlook of navigation autopilot.......................................................................................16
Figure 6 Outlook of panel computer ..............................................................................................16
Figure 7 Outlook of electromagnetic hydraulic valve....................................................................16
Figure 8 Outlook of CVB module (optional for closed center system)..........................................16
Figure 9 Outlook of coaxial rotation direction sensor....................................................................16
Figure 10 Outlook of 3m RF cable.................................................................................................16
Figure 11 Outlook of data harness (white end harness) .................................................................17
Figure 12 Outlook of drive harness (black end harness)................................................................17
Figure 13 Outlook of Autopilot (Controller) adapter plate.............................................................17
Figure 14 Outlook of panel computer bracket................................................................................17
Figure 15 Outlook of hydraulic valve adapter plate.......................................................................17
Figure 16 Outlook of coaxial rotation direction sensor bracket .....................................................18
Figure 17 Electro-mechanical connection drawing of AG960 (open center system) .....................19
Figure 18 Electro-mechanical connection drawing of AG960 (open center system) .....................22
Figure 19 Ideal position of satellite navigation antenna on the vehicle (rear view).......................23
Figure 20 The satellite navigation antenna should be horizontally installed onto the vehicle with
the RF connector at the inner side..........................................................................................23
Figure 21 Remove the protective film of double faced adhesive tape on the antenna pedestal .....24
Figure 22 Heat the double faced adhesive tape in case of low temperature...................................24
Figure 23 Press the antenna to specified position with force .........................................................25
Figure 24 Slightly pull the antenna to check if it is securely fixed ................................................25
Figure 25 Apply waterproof sealant to the gap between antenna pedestal and vehicle top............25
Figure 26 Tighten the 3M RF cable to the antenna (Do not use pliers or other tools to avoid
damage to the connector) .......................................................................................................26
Figure 27 Route and bind the 3m RF cable at the driving cab top .................................................26
Figure 28 Assemble antenna mast and antenna pedestal................................................................27
Figure 29 Tighten the antenna mast the antenna pedestal with wrench .........................................27
Figure 30 Remove the protective film of the double faced adhesive tape on the antenna pedestal28
Figure 31 Press radio antenna to specified position with force......................................................28
Figure 32 Slightly pull the antenna to check if it is securely adhered............................................28
Figure 33 Fix and bind the RF cables on the driving cab top and lead them into the driving cab
from the rear side window......................................................................................................29
Figure 34 Fix and bind the RF cables on the driving cab top and lead them into the driving cab
from the rear side window......................................................................................................30
Figure 35 Outer hexagon self-tapping screw..................................................................................30
Figure 36 Fix the round plate knob of the panel computer bracket with electric tool and outer
hexagon self-tapping screws ..................................................................................................31
Figure 37 Rectangle plate knob of panel computer bracket ...........................................................31
Figure 38 Cross recessed pan head screws, spring washers and flat washers for fixing rectangle
plate knob...............................................................................................................................32
Figure 39 Fix the rectangle plate knob of panel computer bracket to the rear cover of the panel
computer with cross recessed pan head screws......................................................................32

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Figure 40 Installation of 3G antenna..............................................................................................32
Figure 41 Connect the round plate knob and the rectangle knob with the link rod........................33
Figure 42 Panel computer properly installed..................................................................................33
Figure 43 Installation orientation of autopilot should be parallel to the vehicle (CORRECT) ......34
Figure 44 Installation orientation of autopilot should be parallel to the vehicle (WRONG)..........34
Figure 45 Connect the autopilot and the adapter plate with cross countersunk screws..................35
Figure 46 Proper installation position in the driving cab ...............................................................35
Figure 47 Fix the adapter plate to the installation surface with self-tapping screws and electric tool
................................................................................................................................................35
Figure 48 Coaxial steering sensor..................................................................................................36
Figure 49 Coaxial steering sensor bracket .....................................................................................36
Figure 50 Tractor knuckle and suitable sensor seat........................................................................37
Figure 51 Assemble steering sensor and sensor flanged base ........................................................37
Figure 52 Remove the screws on the knuckle flange with a socket spanner..................................38
Figure 53 Place the assembled steering sensor onto the knuckle flange and secure it with original
screws.....................................................................................................................................38
Figure 54 Bend the sensor stop plate downward............................................................................39
Figure 55 Adhere double faced adhesive tape to the lower part of the double cross stop frame (left)
and bend the stop frame upward (right) .................................................................................39
Figure 56 Connect the sensor stop plate and double cross stop frame and fix them with screws ..39
Figure 57 Remove the protective film of the double faced adhesive tape and press the double
cross stop frame against the front axle ...................................................................................40
Figure 58 Wrap the anchor ear with rubber strip............................................................................40
Figure 59 Bind and lock the double cross stop plate with anchor ear ............................................41
Figure 60 Coaxial steering system installed...................................................................................41
Figure 61 Components of parallelogram steering system ..............................................................42
Figure 62 Installation sketch of parallelogram steering system (viewing from cross section of
tractor front axle)....................................................................................................................43
Figure 63 Fix U-shaped threaded rod and fish plate to the toe-in..................................................43
Figure 64 Fix the clamping plates to the front axle with a M12 threaded rod................................44
Figure 65 Fix sensor assembly at the long clamping plate side .....................................................44
Figure 66 Install cardan joint connecting rod.................................................................................45
Figure 67 Install cardan joint connecting rod.................................................................................45
Figure 68 Connection diagram of open center hydraulic system ...................................................46
Figure 69 Installation positions of transition unions on the hydraulic valve..................................49
Figure 70 Hydraulic valve (left) and transition unions (right) .......................................................50
Figure 71 Install the transition unions to corresponding ports on the hydraulic valve...................50
Figure 72 Determine the connection position of L-shaped adapter plate on tractor (left), hang and
tighten hydraulic valve (right)................................................................................................51
Figure 73 Disconnect existing connection at port P of power steering pump, mount transition
union, and connect it to port P of hydraulic valve with oil pipe.............................................51
Figure 74 Ports P, T, L (A), R (B) of steering gear.........................................................................52
Figure 75 Disconnect existing connection at ports L/R/T of steering gear, connect a tee union, and
then connect it to ports L/R/T of hydraulic valve...................................................................52

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Figure 76 Sort out oil pipe .............................................................................................................53
Figure 77 Start the engine and press the pressing points at both ends of the proportional valve to
observe the actuation capability of the guide wheel...............................................................54
Figure 78 Connection diagram of closed center hydraulic system.................................................55
Figure 79 Locate ports P, T and LS at the rear axle........................................................................56
Figure 80 Locate ports P and LS....................................................................................................56
Figure 81 Locate port T..................................................................................................................56
Figure 82 Replace the end caps of ports P and LS with transition union .......................................57
Figure 83 Replace end cap at port T with transition union.............................................................57
Figure 84 Connect ports P, T, LS at the rear axle of agriculture machine to hydraulic valve with oil
pipe.........................................................................................................................................58
Figure 85 Connect hydraulic valve and CVB module with oil pipe...............................................58
Figure 86 Outlook of front panel of navigation driving box ..........................................................59
Figure 87 Connect radio antenna ...................................................................................................60
Figure 88 Connect satellite navigation antenna..............................................................................61
Figure 89 White 23-pin vehicle standard connector terminal of data harness................................62
Figure 90 Panel computer connector terminal of data harness.......................................................62
Figure 91 External radio interface terminal (left) and general extended terminal (right) of data
harness....................................................................................................................................62
Figure 92 Insert white 23-pin connector (female) of data harness into white 23-pin connector
(male) of Autopilot (Controller).............................................................................................63
Figure 93 Connect data harness and panel computer .....................................................................63
Figure 94 Connect data harness and panel computer .....................................................................64
Figure 95 Black 23-pin connector end of drive harness.................................................................64
Figure 96 Battery connector (left) and power supply switch (right) of drive harness....................65
Figure 97 Hydraulic valve connector (left) and steering system connector (right) of drive harness
................................................................................................................................................65
Figure 98 Insert black 23-pin connector (female) of drive harness into black 23-pin connector
(male) of Autopilot (Controller).............................................................................................66
Figure 99 Mount water-proof rubber ring to the hydraulic valve drive terminal of drive harness.67
Figure 100 Mount drive terminal to the electromagnetic socket of hydraulic valve......................67
Figure 101 Fix hydraulic drive terminal with screws.....................................................................68
Figure 102 Connect pressure sensor terminal ................................................................................68
Figure 103 Connect pressure sensor terminal ................................................................................69
Figure 104 Connect battery connecting terminal of drive harness to corresponding position on
battery and secure the connection ..........................................................................................70
Figure 105 Power connections for the device on agriculture machine using 24V power supply...70
Figure 106 Bind the harness (1).....................................................................................................71
Figure 107 Bind the harness (2).....................................................................................................71
Figure 108 The LED indicator on gourd-shaped switch is off before power-on (left) and is on after
power-on (right) .....................................................................................................................73
Figure 109 The LED indicators on Autopilot (Controller) are off before power-on (left) and is on
after power-on (right).............................................................................................................73
Figure 110 The panel computer screen is off before power-on (left) and is on after power-on (right)

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................................................................................................................................................73
Figure 111 Initializing icon of AG960 on Display .........................................................................74
Figure 112 Login screen of panel computer...................................................................................74
Figure 113 Pull-down menu...........................................................................................................75
Figure 114 Select technical support ...............................................................................................75
Figure 115 Password input box......................................................................................................76
Figure 116 Main interface of technical support..............................................................................77
Figure 117 Check the firmware version number at “About us” .....................................................84
Figure 118 View self-test information of equipment......................................................................84
Figure 119 Setting screen...............................................................................................................88
Figure 120 System setting screen to select “433MHz radio (internal)” as “RTK data source”......89
Figure 121 Select channel number of internal radio ......................................................................89
Figure 122 System screen to select “433MHz radio (external)” as “RTK data source”.................90
Figure 123 Screen to select “CORS network” as “RTK data source” ............................................90
Figure 124 Sub-screen of “Host setting”........................................................................................92
Figure 125 Main machine line outlet forward, LED light face upward (left); main machine line
outlet forward, LED light face right (right)............................................................................93
Figure 126 Main machine line outlet upward, LED light face forward (left); main machine line
outlet upward, LED light face right (right) ............................................................................94
Figure 127 Open the pull-down menu for installation orientation of main machine for selection.94
Figure 128 Reference point on Autopilot (Controller) ...................................................................95
Figure 129 Sub-screen “Antenna setting” ......................................................................................95
Figure 130 Example of lateral installation of antenna on the agriculture machine ........................96
Figure 131 Reference point for measuring position of satellite navigation antenna ......................97
Figure 132 Sub-screen “Vehicle setting”, front wheels ..................................................................97
Figure 133 Sub-screen “Implement setting” ..................................................................................98
Figure 134 Sub-screen “Program update”......................................................................................99
Figure 135 Flat farmland acceptable for equipment calibration...................................................100
Figure 136 Flat road acceptable for equipment calibration..........................................................100
Figure 137 Calibration screen ......................................................................................................101
Figure 138 Sub-screen popping out for guide wheel calibration..................................................103
Figure 139 Step 1: obtain the left limit angle of guide wheel ......................................................105
Figure 140 Step 2: obtain the right limit angle of guide wheel ....................................................106
Figure 141 Step 3: acquire the middle point angle of guide wheel ..............................................107
Figure 142 Step 3: guide wheel calibration completed ................................................................107
Figure 143 When the guide wheel is calibrated, the corresponding icon turns green ..................108
Figure 144 Sub-screen “Attitude calibration” pops out................................................................109
Figure 145 Step 1 start calibration ...............................................................................................110
Figure 146 Step 2 time counting ..................................................................................................110
Figure 147 Sketch of repositioning the farming vehicle after turning around..............................111
Figure 148 Step 3 turning around.................................................................................................111
Figure 149 Step 4 timing count.................................................................................................... 111
Figure 150 Step 5 complete attitude calibration...........................................................................112
Figure 151 When the attitude calibration is completed, the corresponding icon turns green.......113