5.4002.8501.0 B
4-28 Description and Operation
Long actions
Direct wall contact with the sensing wheel or indirect wall contact with the ultrasonic sensor are used to
keep the machine in the correct direction (see Ultrasonic Sensor on page 4-5). This is the case during:
• Wall flw L.
• Wall flw R.
• Ultrasound L.
If these actions continue for more than 10 m (33 ft) they are called 'long actions' because then the vehicle
passes the 'reset point' (between 3 to 10 m (9.8 - 33 ft)). At that point the angle is reset to 0 degrees and
a beep is sound.
'Long actions' compensate for the deviations caused by 'short actions'. It is therefore very important to
program a subsequent 'long action' after a succession of 'short actions'.
In a situation with a succession of 'short actions' (Straight, Turn L <– and Turn R –>) the vehicle can get
lost, due to an accumulation of errors (see figure 16 on page 4-29).
The risk of deviating from the programmed route can be minimized when (see figure 17 on page 4-30):
• The machine has contact with the wall, barn or feed fence, either direct (Wall flw Lor Wall flw R) or
indirect (Ultrasound L).
• Bump points enable the control system to compare the traveled distance with its own information.
• 'Short actions' are mixed with 'Long actions' to correct the direction.
in n o vato rs in ag ricu ltu r e
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