autopilot t8000

AgGPS® Autopilot™
Automated Steering System

Installation Instructions
New Holland

Q

T8010

Q

T8020

Q

T8030

Q

T8040

Version 4.00
Revision A
September 2007
Part Number 54035-55-E03

*P/N 54035-55-E03*

F

Agriculture Business Area
Trimble Agriculture Division
10355 Westmoor Drive
Suite #100
Westminster, CO 80021
USA
(877) 447-7785 (US toll free)
+1-408-856-6491 (International)
trimble_support@trimble.com
www.trimble.com

Legal Notices
Copyright and Trademarks
© 1999–2007, Trimble Navigation Limited. All rights reserved. Trimble,
the Globe & Triangle logo, AgGPS, and EZ-Guide are trademarks of
Trimble Navigation Limited, registered in the United States and in other
countries. Autopilot, AutoSense, FieldManager, and SiteNet are
trademarks of Trimble Navigation Limited.
All other trademarks are the property of their respective owners.
Release Notice
This is the September 2007 release (Revision A) of the AgGPS Autopilot
Automated Steering System Installation Instructions, part number
54035-55-E03. It applies to version 4.00 of the AgGPS Autopilot
automated steering system.
The following limited warranties give you specific legal rights. You may
have others, which vary from state/jurisdiction to state/jurisdiction.
Product Limited Warranty
Trimble warrants that this Trimble product and its internal components
(the “Product”) shall be free from defects in materials and workmanship
and will substantially conform to Trimble’s applicable published
specifications for the Product for a period of one (1) year, starting from
the earlier of (i) the date of installation, or (ii) six (6) months from the
date of product shipment from Trimble. This warranty applies only to
the Product if installed by Trimble or a distributor authorized by Trimble
to perform Product installation services.
Software Components and Enhancements
All Product software components (sometimes hereinafter also referred
to as “Software”) are licensed and not sold. Any Software accompanied
by a separate End User License Agreement (“EULA”) shall be governed
by the terms, conditions, restrictions and limited warranty terms of such
EULA notwithstanding the preceding paragraph. During the limited
warranty period you will be entitled to receive, at no additional charge,
such Fix Updates and Minor Updates to the Product software as Trimble
may develop for general release, subject to the procedures for delivery to
purchasers of Trimble products generally. If you have purchased the
Product from an authorized Trimble distributor rather than from
Trimble directly, Trimble may, at its option, forward the software Fix
Update or Minor Update to the Trimble distributor for final distribution
to you. Major Upgrades, new products, or substantially new software
releases, as identified by Trimble are expressly excused from this
enhancement process and limited warranty. Receipt of software updates
shall not serve to extend the limited warranty period.
For purposes of this warranty the following definitions shall apply: (1)
“Fix Update” means an error correction or other update created to fix a
previous software version that does not substantially conform to its
published specifications; (2) “Minor Update” occurs when
enhancements are made to current features in a software program; and
(3) “Major Upgrade” occurs when significant new features are added to
software, or when a new product containing new features replaces the
further development of a current product line. Trimble reserves the right
to determine, in its sole discretion, what constitutes a significant new
feature and Major Upgrade.
Warranty Remedies
Trimble’s sole liability and your exclusive remedy under the warranties
set forth above shall be, at Trimble’s option, to repair or replace any
Product that fails to conform to such warranty (“Nonconforming
Product”), and/or issue a cash refund up to the purchase price paid by
you for any such Nonconforming Product, excluding costs of
installation, upon your return of the Nonconforming Product to Trimble
in accordance with Trimble’s standard return material authorization
process. Such remedy may include reimbursement of the cost of repairs
for damage to third-party equipment onto which the Product is
installed, if such damage is found to be directly caused by the Product as
reasonably determined by Trimble following a root cause analysis.
Warranty Exclusions and Disclaimer
These warranties shall be applied only in the event and to the extent that
(i) the Products and Software are properly and correctly installed,
configured, interfaced, maintained, stored, and operated in accordance
with Trimble's relevant operator's manual and specifications, and; (ii)
the Products and Software are not modified or misused. The preceding
warranties shall not apply to, and Trimble shall not be responsible for
defects or performance problems resulting from (i) the combination or
utilization of the Product or Software with hardware or software
products, information, data, systems, interfaces or devices not made,
supplied or specified by Trimble; (ii) the operation of the Product or

Software under any specification other than, or in addition to, Trimble's
standard specifications for its products; (iii) the unauthorized,
installation, modification, or use of the Product or Software; (iv) damage
caused by accident, lightning or other electrical discharge, fresh or salt
water immersion or spray; or (v) normal wear and tear on consumable
parts (e.g., batteries). Trimble does not warrant or guarantee the results
obtained through the use of the Product.
THE WARRANTIES ABOVE STATE TRIMBLE'S ENTIRE LIABILITY, AND
YOUR EXCLUSIVE REMEDIES, RELATING TO PERFORMANCE OF THE
PRODUCTS AND SOFTWARE. EXCEPT AS OTHERWISE EXPRESSLY
PROVIDED HEREIN, THE PRODUCTS, SOFTWARE, AND
ACCOMPANYING DOCUMENTATION AND MATERIALS ARE
PROVIDED “AS-IS” AND WITHOUT EXPRESS OR IMPLIED WARRANTY
OF ANY KIND BY EITHER TRIMBLE NAVIGATION LIMITED OR
ANYONE WHO HAS BEEN INVOLVED IN ITS CREATION, PRODUCTION ,
INSTALLATION , OR DISTRIBUTION INCLUDING, BUT NOT LIMITED
TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
FOR A PARTICULAR PURPOSE, TITLE, AND NONINFRINGEMENT. THE
STATED EXPRESS WARRANTIES ARE IN LIEU OF ALL OBLIGATIONS
OR LIABILITIES ON THE PART OF TRIMBLE ARISING OUT OF, OR IN
CONNECTION WITH, ANY PRODUCTS OR SOFTWARE. SOME STATES
AND JURISDICTIONS DO NOT ALLOW LIMITATIONS ON DURATION
OR THE EXCLUSION OF AN IMPLIED WARRANTY, SO THE ABOVE
LIMITATION MAY NOT APPLY TO YOU.
TRIMBLE NAVIGATION LIMITED IS NOT RESPONSIBLE FOR THE
OPERATION OR FAILURE OF OPERATION OF GPS SATELLITES OR THE
AVAILABILITY OF GPS SATELLITE SIGNALS.
Limitation of Liability
TRIMBLE’S ENTIRE LIABILITY UNDER ANY PROVISION HEREIN SHALL
BE LIMITED TO THE AMOUNT PAID BY YOU FOR THE PRODUCT OR
SOFTWARE LICENSE. TO THE MAXIMUM EXTENT PERMITTED BY
APPLICABLE LAW, IN NO EVENT SHALL TRIMBLE OR ITS SUPPLIERS
BE LIABLE FOR ANY INDIRECT, SPECIAL, INCIDENTAL OR
CONSEQUENTIAL DAMAGES WHATSOEVER UNDER ANY
CIRCUMSTANCE OR LEGAL THEORY RELATING IN ANY WAY TO THE
PRODUCTS, SOFTWARE AND ACCOMPANYING DOCUMENTATION
AND MATERIALS, (INCLUDING, WITHOUT LIMITATION, DAMAGES
FOR LOSS OF BUSINESS PROFITS, BUSINESS INTERRUPTION, LOSS OF
BUSINESS INFORMATION, OR ANY OTHER PECUNIARY LOSS),
REGARDLESS WHETHER TRIMBLE HAS BEEN ADVISED OF THE
POSSIBILITY OF ANY SUCH LOSS AND REGARDLESS OF THE COURSE
OF DEALING WHICH DEVELOPS OR HAS DEVELOPED BETWEEN YOU
AND TRIMBLE. BECAUSE SOME STATES AND JURISDICTIONS DO NOT
ALLOW THE EXCLUSION OR LIMITATION OF LIABILITY FOR
CONSEQUENTIAL OR INCIDENTAL DAMAGES, THE ABOVE
LIMITATION MAY NOT APPLY TO YOU.
NOTE: THE ABOVE LIMITED WARRANTY PROVISIONS MAY NOT
APPLY TO PRODUCTS OR SOFTWARE PURCHASED IN THE EUROPEAN
UNION . PLEASE CONTACT YOUR TRIMBLE DEALER FOR APPLICABLE
WARRANTY INFORMATION.
Notices
Class B Statement – Notice to Users. This equipment has been tested
and found to comply with the limits for a Class B digital device, pursuant
to Part 15 of the FCC rules. These limits are designed to provide
reasonable protection against harmful interference in a residential
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 communication.
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 or more of the following measures:
– Reorient or relocate the receiving antenna.
– Increase the separation between the equipment and the 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.
Changes and modifications not expressly approved by the manufacturer
or registrant of this equipment can void your authority to operate this
equipment under Federal Communications Commission rules.
Notice to Our European Union Customers

For product recycling instructions and more information, please go
to:
www.trimble.com/ev.shtml
Recycling in Europe: To recycle Trimble WEEE, Call
+31 497 53 2430, and ask for the "WEEE Associate"
Or
Mail a request for recycling instructions to:
Trimble Europe BV
c/o Menlo Worldwide Logistics
Meerheide 45
5521 DZ Eersel, NL

Safety Information
In this chapter:
Q

Warnings

Q

Cautions

Always follow the instructions that
accompany a Warning or Caution . The
information they provide is intended to
minimize the risk of personal injury and/or
damage to property. In particular, observe
safety instructions that are presented in the
following format:

C

WARNING – This alert warns

C

CAUTION – This alert warns of a
hazard or unsafe practice which,
if not avoided, can cause injury or
damage.

of a potential hazard, which, if
not avoided, can cause severe
injury.

Note – An absence of specific
alerts does not mean that there
are no safety risks involved.

AgGPS Autopilot Automated Steering System Installation Instructions

3

ii.1

ii.2

4

Warnings

C

WARNING – When you are working on the vehicle’s hydraulic systems, vehicle

C

WARNING – If someone else attempts to drive the vehicle while you are working on or

C

WARNING – Agricultural chemicals can pose serious heaIth risks. If the vehicle has

attachments that are suspended can drop. If you are working around the vehicle, you
could suffer serious injury if an attachment dropped on you. To avoid this risk, lower all
vehicle attachments to the ground before you begin work.

under it, you can suffer serious or fatal injuries. To avoid this possibility, install a lockout
box on the battery terminal to prevent the battery from being reconnected, remove the
key from the vehicle’s ignition switch, and attach a “Do not operate” tag in the cab.

been used to apply agricultural chemicals, steam clean the vehicle to remove any chemical
residue from the areas of the vehicle where you will be working.

Cautions

C

CAUTION – When the vehicle has been running, parts of the vehicle, including the engine
and exhaust, can become extremely hot. These hot parts can cause serious burns. To avoid
burns, allow hot machine parts to cool before you begin working on them.

C

CAUTION – The system installation may bring you into contact with chemical substances,
such as oil. These can cause poisoning. Ensure that you wash you hands thoroughly after
you have finished working on the system.

C

CAUTION – Battery posts, terminals, and related accessories contain lead and lead
compounds. Lead poisoning can cause lowered intelligence and kidney problems. To
avoid ingesting lead, ensure that you wash you hands thoroughly after touching the
battery.

C

CAUTION – Vehicle cabs can be quite high in the air. Falling from this height can cause
broken bones and internal injuries. To avoid falling from the vehicle, ensure that when
you enter or exit the vehicle, you face the vehicle and use the steps and handrails.

C

CAUTION – Always wear protective equipment appropriate to the job conditions and the
nature of the vehicle. This includes wearing protective glasses when you use pressurized
air or water, and proper protective welders clothing if you want to complete any welding.
Avoid wearing loose clothing or jewelry that can catch on machine parts or tools.

C

CAUTION – Parts of the vehicle may be under pressure. To avoid injury from pressurized
parts, relieve all pressure in oil, air, and water systems before you disconnect any lines,
fittings, or related items. To avoid being sprayer by pressurized liquids, hold a rag over fill
caps, breathers, or hose connections when you remove them. Do not use your bare hands
to check for hydraulic leaks. Use a board or cardboard instead.

AgGPS Autopilot Automated Steering System Installation Instructions

Contents
Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Cautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

Contents. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Technical assistance . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Your comments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Manual system upgrade to Autopilot. . . . . . . . . . . . . . . . . .
AgGPS 150 EZ-Guide Plus lightbar . . . . . . . . . . . . . . .
EZ-Guide Plus with AgGPS 252 manual guidance system
Required components . . . . . . . . . . . . . . . . . . . . . . . . . . .
Vehicle profiles . . . . . . . . . . . . . . . . . . . . . . . . . . .
Autopilot hardware organization – as shipped. . . . . . . . . . . .
Autopilot hardware organization – as installed . . . . . . . . . . .
Preparing the vehicle for installation. . . . . . . . . . . . . . . . . .

2

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. 8
. 8
. 9
. 9
. 9
. 9
. 9
10
11
11

Hydraulic Control Valve Installation . . . . . . . . . . . . . . . . . . . . . . 13
Hydraulic control valve components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Assembling the hydraulic control valve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Installing the hydraulic hoses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

3

AutoSense Steering Device Installation . . . . . . . . . . . . . . . . . . . . 27
AutoSense steering device components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Installing the AutoSense steering device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Preparing the harness (P/N 54602 Rev C) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

4

Antenna/Receiver Installation . . . . . . . . . . . . . . . . . . . . . . . . . 35
Antenna and receiver installation options . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AgGPS 252 GPS receiver with AgGPS 450/900 radio module (if equipped) components
Installing the AgGPS 252 GPS receiver with AgGPS 450/900 radio module (if equipped)
AgGPS 332 receiver components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DGPS/OmniSTAR HP version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DGPS/OmniSTAR HP/RTK version . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Installing the AgGPS 332 receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AgGPS 432/442 receiver components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Installing the AgGPS 432/442 receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Installing an L1 antenna (WAAS, EGNOS, OmniSTAR VBS, or Beacon) . . . . . . . . . . .
Installing an L1/L2/GNSS antenna (WAAS, EGNOS, OmniSTAR VBS,
OmniSTAR HP/XP, or RTK) . . . . . . . . . . . . . .
Installing a radio remote antenna. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Installing a SiteNet 900 radio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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36
37
38
40
40
41
42
43
44
46

. . . . 48
. . . . 50
. . . . 51

AgGPS Autopilot Automated Steering System Installation Instructions

5

Installing a PDL450 radio modem. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Installing an AgGPS 252 receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

5

Display Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
EZ-Guide Plus lightbar components . . . . . . . . . . . . . . . . . . . . . . . .
Installing the EZ-Guide Plus lightbar. . . . . . . . . . . . . . . . . . . . . . . . .
Mounting the EZ-Guide Plus lightbar . . . . . . . . . . . . . . . . . . . . . . . .
Installing the vacuum mount . . . . . . . . . . . . . . . . . . . . . . . . .
Installing the mount bracket. . . . . . . . . . . . . . . . . . . . . . . . . .
Preparing the EZ-Guide Plus power cable for the alternative power supply
AgGPS FieldManager display components . . . . . . . . . . . . . . . . . . . .
Connecting the AgGPS FieldManager display harness. . . . . . . . . . . . . .
Preparing the AgGPS FieldManager display . . . . . . . . . . . . . . . . . . . .
Installing the AgGPS FieldManager display. . . . . . . . . . . . . . . . . . . . .
EZ-Guide 500 lightbar components . . . . . . . . . . . . . . . . . . . . . . . . .
With a SiteNet radio for 900 MHz RTK corrections (if equipped) . .
With a PDL450 radio for 450 MHz RTK corrections (if equipped) . .
Preparing the EZ-Guide 500 lightbar . . . . . . . . . . . . . . . . . . . . . . . . .
Installing the EZ-Guide 500 lightbar . . . . . . . . . . . . . . . . . . . . . . . . .

6

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58
59
60
60
61
63
66
67
68
69
71
71
72
73
74

Power Harness Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Power harness components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Installing the power harness . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

7

Remote Engage Switch Installation . . . . . . . . . . . . . . . . . . . . . . 85
Remote engage switch components: Rocker switch
Remote engage switch components: Foot switch .
Preparing the remote engage cable . . . . . . . . . . .
Using the remote engage switch. . . . . . . . . . . . .

8

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86
87
88
92

Controller Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Installing the controller: Main method . . .
Installing the controller: Alternate method.
Installing the controller cables. . . . . . . . .
Controller connections . . . . . . . . . . . . .

9

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. 94
. 98
.101
.103

Final Machine Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Final machine check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .108

6

AgGPS Autopilot Automated Steering System Installation Instructions

CHAPTER

1
Introduction

1

This manual describes how to install the
Trimble® AgGPS® Autopilot™ automated
steering system.
Even if you have used other Global
Positioning System (GPS) products before,
Trimble recommends that you spend some
time reading this manual to learn about the
special features of this product. If you are not
familiar with GPS, visit the Trimble website
(www.trimble.com) for an interactive look at
Trimble and GPS.

AgGPS Autopilot Automated Steering System Installation Instructions

7

1

Introduction

Technical assistance
If you have a problem and cannot find the information you need in the product
documentation, contact Trimble technical support:
1.

Go to the Trimble website (www.trimble.com).

2.

Click the Support button at the top of the screen. The Support A–Z list of
products appears.

3.

Scroll to the bottom of the list.

4.

Click the submit an inquiry link. A form appears.

5.

Complete the form and then click Send.

Your comments
Your feedback about the supporting documentation helps us to improve it with each
revision. Email your comments to ReaderFeedback@trimble.com.

8

AgGPS Autopilot Automated Steering System Installation Instructions

Introduction

1

AgGPS Autopilot Automated Steering System Installation Instructions

9

Manual system upgrade to Autopilot
10.1

AgGPS 150 EZ-Guide Plus lightbar

Retain

Remove

AgGPS 150 EZ-Guide Plus lightbar
Antenna for AgGPS 150 EZ-Guide Plus lightbar
Antenna to receiver cable
(Optional) Remote keypad
10.2

EZ-Guide Plus with AgGPS 252 manual guidance system

Retain

Remove

AgGPS 252 receiver

AgGPS 252-to-lightbar cable (P/N 50166)

AgGPS 50/150 lightbar (EZ-Guide Plus)
(Optional) Remote keypad

Required components
Kits required

Special tools

Platform kit: P/N 54035-55

10.5 mm drill bit

Hydraulic hose kit: P/N 63458

Allen wrench set (metric and Imperial)

One of the following:
• V plate: P/N 62388-02
• 2" square pipe: P/N 53676
One of the following:
• Remote engage switch assembly –
standard Euro: P/N 57227-10
• Remote engage foot pedal: P/N 57259
10.3

Vehicle profiles

Required profile
T8010, T8020, T8030, T8040: New Holland T8000 EU with Autosense.vdb

1

Introduction

Autopilot hardware organization – as shipped
Platform kit
(P/N 54035-55)
(2) Hydraulic valve
(2) Hydraulic
manifold
(2) Pressure
transducer
(2) Counterbalance
valve

Common
parts

GPS
receiver

Display

(8) Main
harness

(4) GPS
receiver

(5) EZ-Guide
500 lightbar

(8) Aux
harness

(4) GPS
antenna

(5) AgGPS 150
lightbar

(8) Controller

(4) GPS
receiver
mounting
bracket

(5) AgGPS
FieldManager
display

(8) Cable kit
(8) Sonalert
alarm

(2) Bolt kit hydraulics
(2) Manifold
mounting bracket
(2) Hydraulic valve
cable
(2) Manual
override cable

Hyd. hose kit

Roof bracket kit

(P/N 63458)

(P/N 53676 or
P/N 62388-02)

(2) Hyd. hoses

(4) Roof brackets

(2) Hyd.
adaptors

(4) Mounting
hardware kit,
roof bracket

(4) GPS
receiver
power/data
cable
(4) RTK
radio, cable,
and
mounting
bracket kit
(supplied
separately)

(3) Steering angle
cable
(3) Steering angle
device, mounting
brackets, cable,
and hardware
(6) Power cable
(8) Bolt kit,
controller

Note – The number in brackets refers to the chapter where that component is installed.

10

AgGPS Autopilot Automated Steering System Installation Instructions

1

Introduction

Autopilot hardware organization – as installed
Hydraulics
(2)
• Hydraulic
valve,
manifold,
pressure
transducer
• Hydraulic
valve cable

Steering device

GPS receiver

Display

Power

Controller

(3)

(4)

(5)

(6)

(8)

• Steering device
assembly,
mounting brackets
and hardware

• GPS receiver

• EZ-Guide 500
lightbar

• Power
cable and
switch

• Controller

• Electrical
accessory kit

• Bolt kit controller

• Steering angle
cable

• Manual
override cable

• GPS antenna
• GPS receiver
mounting
bracket
• GPS receiver
power/data
cable

• EZ-Guide 150
lightbar
• AgGPS
FieldManager
display

• Roof brackets

• Mounting
plate

• Main wiring
harness
• Aux. wiring
harness
• Sonalert
alarm

Preparing the vehicle for installation
Step 1
Park the vehicle on a level, hard
surface. Block the front and rear
wheels.

Step 2
Align the steering straight ahead. On
an articulated vehicle, install the
articulation locks.

Step 3
Remove all dirt and debris from the
areas of the vehicle where the AgGPS
Autopilot system will be installed.

Step 4
Open all kit boxes and check the
contents of the box against the
packing list/s. Lay all parts out on a
clean work bench.
Note – The left and right sides of the
vehicle are referenced while standing
behind the unit, facing the normal
direction of travel.

AgGPS Autopilot Automated Steering System Installation Instructions

11

1

12

Introduction

AgGPS Autopilot Automated Steering System Installation Instructions

CHAPTER

2
Hydraulic Control Valve Installation
In this chapter:

2

This chapter describes how to install the
hydraulic control valve and hoses.

Q

Hydraulic control valve
components

Q

Assembling the hydraulic control
valve

Q

Installing the hydraulic hoses

AgGPS Autopilot Automated Steering System Installation Instructions

13

2

Hydraulic Control Valve Installation

Hydraulic control valve components

H

^ _
`

I]

[
\
G

Y
F
FX

La
`M
Z

J J

Z

`

a

K

X
K

Item

Description

Part number

Item

Description

Part number

X
Y
Z
[
\
]
^
_
`

54 inch hose (x2)

F451TCJSJ9-6-8-6-54

Fitting (x2)

8 C6LO

42 inch hose

F451TCJ0J7-6-6-6-42

Fitting (x2)

6 C5OLO

33 inch hose (x2)

F451TCJSJ7-8-6-6-33

Fitting

4 R6LO

15 inch hose

F451TCJSJS-4-4-4-15

Fitting

6-4 L0HL6G5TP

12 inch hose

F451TCJSJ7-4-4-4-12

Fitting

6 C6LO

Fitting

6 F65OL

Fitting (x2)

FF3606T-0808S

Fitting

4-6 C5OLO

Fitting (x2)

8 R6LO

Fitting

4-6 F5OLO

Fitting

4 C6LO

Fitting (x3)

6 F5OLO

a
F
G
H
I
J
K
L
M

Fitting

4 C5OLO

Note – Part numbers are Parker numbers and are for reference only.

14

AgGPS Autopilot Automated Steering System Installation Instructions

Hydraulic Control Valve Installation

2

Assembling the hydraulic control valve
Step 1
Place the hydraulic control valve,
bracket, and fittings onto a clean
work surface.

Step 2
Remove the cartridge labeled CXCD
XCN from the left side of the valve, as
shown. Replace it with the check
valve cavity plug XFOA XXN, which is
supplied in the kit.

Step 3
Remove both the adjustable
cartridge valves from the left side of
the valve, as shown.

AgGPS Autopilot Automated Steering System Installation Instructions

15

2

Hydraulic Control Valve Installation

Step 4
Replace the adjustable cartridge
valves with the two non-adjustable
cartridges CKCB XAN, which are
supplied with the kit.

Step 5
Locate the PTS manifold and the
PTS cartridge.

Step 6
Replace the pilot-to-shift cartridge
stamped PTS3-10-0-160 on the
hexagonal head with the provided
cartridge stamped PTS3-10-0-40.

16

AgGPS Autopilot Automated Steering System Installation Instructions

Hydraulic Control Valve Installation

2

Step 7
Locate the provided manifold
bracket.
Drill two 10.5 mm holes at the
positions shown.
108 mm

91 mm

15 mm

Step 8
Install a -6 straight adaptor into the
T X and P Y ports.
Install the -4, 90 degree elbow with
jam nut Z into the LS port.
Install a -6 90 degree elbow into the B
[ and A \ ports.
Tighten all the connectors into
position, as shown. Ensure that the
flat face seal O-rings are in place.

X
Y
Z

[
\

Step 9
Install a -4 straight adaptor X into
the Pilot port.
Install a -4 90 degree elbow with jam
nut Y into the C port of the PTS
valve.

]

\
[

Y
X

Install a -6 straight adaptor Z into
the B port.
Install a -6 straight swivel adaptor [
into the A port. Connect a -6 90
degree elbow \ to the adaptor [.
Connect a -6 swivel adaptor ] to the
90 degree elbow \.

Z

Install the pressure transducer into
the swivel adaptor ].

AgGPS Autopilot Automated Steering System Installation Instructions

17

2

Hydraulic Control Valve Installation

Step 10
Install the PTS valve with the
provided ¼" x 2" bolts and the
Autopilot valve with the provided
3/8" x 3" bolts onto the mounting
bracket.

Step 11

Y

Connect a -4 swivel tee X and a -4 90
degree elbow Y to the LS port of the
Autopilot valve as shown.

X

18

AgGPS Autopilot Automated Steering System Installation Instructions

Hydraulic Control Valve Installation

2

Installing the hydraulic hoses
Step 1
Connect one end of the 15 -4 hose X
to the 90 degree elbow on the LS port
of the Autopilot valve.
Connect the other end of the hose to
the C port on the PTS valve.

X
Step 2
Connect the straight end of the 12"
long -4 hose Y to the -4 tee on the LS
port of the Autopilot valve. Connect
the other end of the hose to the Pilot
port on the PTS valve.

Y
Step 3
Locate the hydraulic valve assembly
mounting location on the right side
of the tractor in front of the cab.

AgGPS Autopilot Automated Steering System Installation Instructions

19

2

Hydraulic Control Valve Installation

Step 4
Mark the position of the mounting
holes as shown.
100 mm

108 mm

30 mm

Step 5
Drill two holes with a diameter of
10.5 mm at the points you marked.

Step 6
Install the hydraulic valve assembly
onto the tractor. Use the provided
3/8" x 1" bolts.

20

AgGPS Autopilot Automated Steering System Installation Instructions

30 mm

Hydraulic Control Valve Installation

2

Step 7
Underneath the cab, disconnect the
LS hose that leads from the hand
pump.

Step 8
Reroute the existing LS hose towards
the Autopilot manifold.

Step 9
Connect the existing LS hose to the
-6 swivel adaptor on the A port of the
PTS valve.

AgGPS Autopilot Automated Steering System Installation Instructions

21

2

Hydraulic Control Valve Installation

Step 10
Connect the 45 degree end of the 42
inch LS2 hose to the B port on the
PTS valve.

Step 11
Connect the other end of the 42 inch
LS2 hose to the LS hard line
underneath the cab.

Step 12
Mark and disconnect the left and
right brake valve switches X.
Remove (if present) the steel pipes Y
to get free access to the hand pump.

X
Y

22

AgGPS Autopilot Automated Steering System Installation Instructions

Hydraulic Control Valve Installation

2

Step 13
Use the snap-to-connect tool, which
is provided in the kit, to disconnect
the two right hand side steering hand
pump connections. The top right
connection is the Tank and the
bottom right is the pressure. Tag the
hose ends as T X and P Y as they are
removed.

X

Y
Step 14
Install the provided -8 Snap-toConnect tees into the P and T ports
of the hand pump.
Connect the Snap-to-Connect ends
of the existing P and T hoses to the
tees.

Step 15
Install a -8 90 degree elbow onto P
and T tees.

AgGPS Autopilot Automated Steering System Installation Instructions

23

2

Hydraulic Control Valve Installation

Step 16
Connect the 45 degrees end of the 33
inch P and T hoses to the P and T
ports on the Autopilot manifold.

Step 17
Connect the other end of the 33 inch
P and T hoses to the 90 degree
elbows on the orbitrol.

Step 18
Locate the existing A X and B Y
lines on the left side of the engine.
Disconnect and mark the A and B
hose assembles.

Y
X

24

AgGPS Autopilot Automated Steering System Installation Instructions

Hydraulic Control Valve Installation

2

Step 19
Install the provided -8 swivel tees
onto the existing A and B lines.

Step 20
Connect the 90 degree ends of the
54 inch A and B hoses to the branch
of the tees.

Step 21
Route the other end of the 54 inch A
and B hoses toward the Autopilot
manifold.

AgGPS Autopilot Automated Steering System Installation Instructions

25

2

Hydraulic Control Valve Installation

Step 22
Connect the straight end of the
54 inch A and B hoses to the A and B
ports on the Autopilot manifold.

Step 23
Reconnect the valve brake hard pipes
and switches.

Step 24
Connect the hydraulic valve cable
and manual override cable and then
route them to the controller.
Note – If the vehicle steers in the
opposite direction to that expected
during calibration, switch the steering
cable connectors on the valve.

Step 25
Secure all harnesses and hoses with
tie straps.

26

AgGPS Autopilot Automated Steering System Installation Instructions

CHAPTER

3
AutoSense Steering Device
Installation
In this chapter:
Q

3

This chapter describes how to install the
AgGPS AutoSense™ steering device.

AutoSense steering device
components

Q

Installing the AutoSense steering
device

Q

Preparing the harness (P/N 54602
Rev C)

If the described mounting location is not
accessible, chose an alternate location. To
ensure proper function, the AutoSense device
must be located in a position that is free of
obstructions and allows it to rotate with the
wheels when they turn.
On articulated vehicles, mount the AutoSense
device on the opposite side of the pivot point
to the Autopilot controller.
Mount the device base down or base up so it
maintains a level orientation. Do not mount it
on its side. An angle of up to 10 degrees in any
direction is acceptable.
To avoid stretching the cable, leave adequate
length on the service loop.

AgGPS Autopilot Automated Steering System Installation Instructions

27

3

AutoSense Steering Device Installation

AutoSense steering device components

X

\
[

Z

Item

Description

X
Y
Z
[
\

P-6 connector

28

Power connector
AutoSense connector
Jumper cable (P/N 57560)
AutoSense steering cable (P/N 57885)

AgGPS Autopilot Automated Steering System Installation Instructions

Y

AutoSense Steering Device Installation

3

Installing the AutoSense steering device
Step 1
Locate the mounting location on the
right kingpin.
Note – On the left kingpin, this
location may be occupied by the diff
lock steering pot.

Step 2
Replace the straight grease fitting
with a 1/8"-28 BSP 45 degree one.
Tighten it so that the grease fitting
end points towards the back of the
vehicle.

C

CAUTION – Do not over tighten
the grease fitting. This can
break it and/or strip the thread.

Step 3
Install the AutoSense device on the
bracket as shown. Use the four
#6 x ½" socket head cap screws
provided.

AgGPS Autopilot Automated Steering System Installation Instructions

29

3

AutoSense Steering Device Installation

Step 4
If the vehicle has fenders, remove the
fender bolts shown.
If the vehicle does not have fenders,
use the two provided M16 x 20 mm
bolts to mount the bracket in the
existing holes.

Step 5
Mount the bracket and the
AutoSense device over the right
kingpin with the AutoSense
connector pointing toward the back
of the vehicle.

Step 6
Route the steering cable to the
steering device along the tie-rod and
then connect it to the steering
device. leave adequate length on the
service loop to avoid stretching the
cable.

30

AgGPS Autopilot Automated Steering System Installation Instructions

AutoSense Steering Device Installation

3

Step 7
Connect the steering device cable
connection to P-6 on the main wiring
harness. P-6 is labeled “Steering
Sensor”.

AgGPS Autopilot Automated Steering System Installation Instructions

31

3

AutoSense Steering Device Installation

Preparing the harness (P/N 54602 Rev C)
Step 1
Remove the black Deutsch DTM
receptacle from the P-13 sensors leg
of the auxiliary harness. See
Chapter 8, Controller connections.

Step 2
Remove the plug from cavity
number 1.

Step 3
Remove the wedge from the
connector.

32

AgGPS Autopilot Automated Steering System Installation Instructions

AutoSense Steering Device Installation

3

Step 4
Insert the DTM pin labeled “Cavity 1”
into the connector.

Step 5
Pull back on the wire to seat the pin.
Replace the wedge in the connector.

AgGPS Autopilot Automated Steering System Installation Instructions

33

3

34

AutoSense Steering Device Installation

AgGPS Autopilot Automated Steering System Installation Instructions

CHAPTER

4
Antenna/Receiver Installation
In this chapter:
Q

Antenna and receiver installation
options

Q

AgGPS 252 GPS receiver with
AgGPS 450/900 radio module (if
equipped) components

Q

Installing the AgGPS 252 GPS
receiver with AgGPS 450/900
radio module (if equipped)

Q

AgGPS 332 receiver components

Q

Installing the AgGPS 332 receiver

Q

AgGPS 432/442 receiver
components

Q

Installing the AgGPS 432/442
receiver

Q

Installing an L1 antenna (WAAS,
EGNOS, OmniSTAR VBS, or
Beacon)

Q

Installing an L1/L2/GNSS antenna
(WAAS, EGNOS, OmniSTAR VBS,
OmniSTAR HP/XP, or RTK)

Q

Installing a radio remote antenna

Q

Installing a SiteNet 900 radio

Q

Installing a PDL450 radio modem

Q

Installing an AgGPS 252 receiver

4

This chapter describes how to install an
AgGPS 252 receiver and radio module, an
AgGPS 332 receiver, an AgGPS 432/442
receiver, an L1/L-Band/Beacon antenna, or an
L1/L2 antenna.
Note – To install an EZ-Guide Plus or an
EZ-Guide 500 system, see Chapter 5, Display
Installation.

AgGPS Autopilot Automated Steering System Installation Instructions

35

4

Antenna/Receiver Installation

Antenna and receiver installation options
There are several options for mounting components (the antenna, radio module, or
GPS receiver) on the cab roof depending on the required accuracy:
•

4" x 6" or 4¾" x 4¾" plate with VHB adhesive tape – This plate comes with
most of the L1/L2/Beacon antenna kits. You attach it directly to the roof with
VHB (Very High Bond) adhesive. It is recommended for all DGPS applications
using WAAS/EGNOS, OmniSTAR VBS, and Beacon corrections. The antenna is
attached to the mounting plate with magnets.

•

V plate with VHB adhesive tape (P/N 62388-02) – This plate is available from
the roof mounting section. You attach it directly to the roof with VHB adhesive.
It is recommended for all HP/XP and RTK applications.The antenna attaches to
the mounting plate with magnets and the V shape ensures you can accurately
reposition the antenna.

•

AgGPS 252 2" square crossbar mount (P/N 53676) – This bracket is available
from the roof mounting bracket section. It attaches directly to the roof using two
existing studs and nuts. It is recommended for AgGPS 252 receiver mounting.

This table shows the possible mounting methods for each GPS receiver:
GPS receiver

4" x 6" or 4¾" x
V plate with VHB
4¾" plate with VHB adhesive tape
adhesive tape
(P/N 62388-02)

AgGPS 252 2" square
crossbar
(P/N 53676)

x

x

F

F

x

x

EZ-Guide 500 with L1/L2
(HP RTK) antenna

x

F

x

AgGPS 332 receiver with
L1/Beacon (DGPS) antenna

F

x

x

AgGPS 332 receiver with L1/L2
(HP RTK) antenna

x

F

x

AgGPS 432/442 receiver with
GNSS antenna

x

F

x

AgGPS 252 receiver
EZ-Guide Plus/EZ-Guide 500
lightbar with L1 (DGPS) antenna

36

AgGPS Autopilot Automated Steering System Installation Instructions

Antenna/Receiver Installation

4

AgGPS 252 GPS receiver with AgGPS 450/900 radio module (if
equipped) components

X
\

]

[

Y
Z

Item

Description

X
Y
Z
[
\
]

AgGPS 450 or 900 radio (if equipped)
Radio antenna cable and radio antenna base
AgGPS 450 or 900 radio antenna
Antenna/receiver cable to Autopilot controller
AgGPS Autopilot controller
AgGPS 252 antenna/receiver

AgGPS Autopilot Automated Steering System Installation Instructions

37

4

Antenna/Receiver Installation

Installing the AgGPS 252 GPS receiver with AgGPS 450/900
radio module (if equipped)
Step 1
Locate the AgGPS 252 mounting
plate and attach the antenna base (if
equipped) to the rear of the plate
with the two provided screws.

Step 2
Install the radio antenna on the
antenna base.

Step 3
Place the radio module on the AgGPS
252 receiver. Install eight screws in
the holes as shown.

38

AgGPS Autopilot Automated Steering System Installation Instructions

Antenna/Receiver Installation

4

Step 4
Place the radio module connector
into Port B of the receiver X.
Bolt the AgGPS 252 receiver onto the
mounting plate. See Installing an
AgGPS 252 receiver, page 54.

Y

X

When you have secured the AgGPS
252 receiver onto the mounting plate,
connect the radio antenna cable Y
(if equipped).

AgGPS Autopilot Automated Steering System Installation Instructions

39

4

Antenna/Receiver Installation

AgGPS 332 receiver components
DGPS/OmniSTAR HP version
Note – To receive RTK corrections with a 450 MHz radio, Trimble recommends the use of
the AgGPS 432 GPS receiver with integrated radio modem.

X
]

Z
\
Item

X
Y
Z
[
\
]

40

[
Description
Receiver-to-Autopilot controller cable
To controller “P3 GPS” connection
AgGPS 332 GPS receiver
GPS antenna
Magnetic mount
GPS antenna cable

AgGPS Autopilot Automated Steering System Installation Instructions

Y

Antenna/Receiver Installation

4

DGPS/OmniSTAR HP/RTK version

_

^

[
X
Z

]
Item

X
Y
Z
[
\
]
^
_

\

Y

Description
Receiver-to-Autopilot controller cable
To controller “P3 GPS” connection
AgGPS 332 GPS receiver
GPS antenna cable
GPS antenna
Magnetic mount
SiteNet™ 900 radio
Radio cable

AgGPS Autopilot Automated Steering System Installation Instructions

41

4

Antenna/Receiver Installation

Installing the AgGPS 332 receiver
Step 1
Mount the receiver in a convenient
location in the cab.
Route the antenna cable X to the
receiver and then connect it.
Connect the controller cable to
cavity "A" Y of the receiver.
Controller cable connections will be
established later in the Installation
Instructions.

X

Y

For RTK corrections with a SiteNet
radio, connect the radio cable to
receiver port B Z and then to the
radio.

Z

42

AgGPS Autopilot Automated Steering System Installation Instructions

Antenna/Receiver Installation

4

AgGPS 432/442 receiver components

_

`

X
Y

^
Z
]

Item

X
Y
Z
[
\
]
^
_
`

\

[

Description
Radio antenna magnetic base
Radio antenna
Radio antenna cable
AgGPS 432/442 GPS/GNSS receiver
GNSS antenna cable
Receiver-to-Autopilot controller cable
To controller “P3 GPS”
Antenna magnetic mount
AgGPS 432/442 GNSS antenna

AgGPS Autopilot Automated Steering System Installation Instructions

43

4

Antenna/Receiver Installation

Installing the AgGPS 432/442 receiver
Step 1
Mount the receiver in a convenient
location in the cab. Route the
antenna cable to the receiver and
then connect it.

Step 2
Identify the correct adaptor for the
radio connection:
X Reverse polarity TNC-to-N for
900 MHz radios
Y Normal polarity TNC-to-N for
450 MHz radios

X
Step 3
Attach the adaptor to the radio port.

44

AgGPS Autopilot Automated Steering System Installation Instructions

Y

Antenna/Receiver Installation

4

Step 4
Connect the radio antenna cable to
the radio port adaptor.

Step 5
Connect the controller cable to the
26-pin connector on the receiver.
Controller cable connections will be
established later in the Installation
Instructions.

AgGPS Autopilot Automated Steering System Installation Instructions

45

4

Antenna/Receiver Installation

Installing an L1 antenna (WAAS, EGNOS, OmniSTAR VBS, or
Beacon)
Step 1
If the antenna is already fitted with
built-in magnets, go to step 3.

Step 2
Screw the magnet into the antenna.
Stick the cover onto the magnet as
shown.

46

AgGPS Autopilot Automated Steering System Installation Instructions

Antenna/Receiver Installation

4

Step 3
Clean the antenna location on the
roof of the cab with a light solvent to
remove oil and dust. Remove the
covers from the adhesive strips and
then stick the antenna mounting
plate onto a flat surface as close as
possible to the back of the cab roof.

Rear of cab

Ensure the plate is exactly on the
centerline of the vehicle so the
adhesive strips are on either side of
the central rib, as shown.
Ensure that the center of the
mounting plate remains at least 1" to
2" forward from the rear axle.
Note – To secure the mounting plate to
the roof, you can also rivet the plate to
the plastic roof.

Step 4
Place the antenna magnetic mount
at the center of the mounting plate.
Connect the cable to the antenna
and route the cable toward the inside
of the cab.

AgGPS Autopilot Automated Steering System Installation Instructions

47

4

Antenna/Receiver Installation

Installing an L1/L2/GNSS antenna (WAAS, EGNOS, OmniSTAR
VBS, OmniSTAR HP/XP, or RTK)
Step 1
Screw the magnet into the antenna.
Stick the cover onto the magnet as
shown.

Step 2
Locate the V plate and remove the
backing from one side of the VHB
strips provided and then apply the
strips to the plate.

48

AgGPS Autopilot Automated Steering System Installation Instructions

Antenna/Receiver Installation

4

Step 3
Clean the antenna location on the
roof of the cab with a light solvent to
remove oil and dust.

Rear of cab

Position the plate so it points
forward and then remove the
backing from the other side of the
VHB strips.
Apply the plate to the cab roof as
close as possible to the back of the
roof.
When the antenna is installed on the
V plate, ensure that the center of the
antenna remains at least 1" to 2"
forward of the rear axle of the vehicle.
Ensure that the VHB strips make
even contact with the surface. Apply
pressure and then leave for
approximately 30 minutes to adhere.
Note – The arrow points to the front of
the vehicle.

Step 4
Place the antenna against the lip at
the point of the V plate for repeatable
positioning.
Connect the cable to the antenna
and route the cable toward the inside
of the cab.

AgGPS Autopilot Automated Steering System Installation Instructions

49

4

Antenna/Receiver Installation

Installing a radio remote antenna
Step 1
Connect the radio antenna to the
magnetic antenna base.

Step 2
Attach the magnetic radio antenna
base to the rear of the V plate on the
roof. If the cable does not reach the
V plate, use the 4" x 6" plate with the
VHB provided to relocate the
antenna.
Feed the radio antenna cable down
from the roof and into the cab to the
radio modem.

50

AgGPS Autopilot Automated Steering System Installation Instructions