4 Vehicle guidance setup Autopilot steering system
5.
Engage Auto guidance on the display. The calibration will turn the vehicle one direction. When
it has completed the first test for a coarse deadzone value, straighten the wheels and push
engage again. The system will then turn in the opposite direction to determine the coarse
deadzone value for that direction. After this, the system instructs you to repeat this process for
the fine values for each side.
If the difference between the deadzone values for the second and third trial:
ll Is greater than 0.5 units, repeat the calibration procedure
l
Is less than 0.5 units, tap to complete the calibration
Autopilot Steering Gain calibration
WARNING – The wheels can move abruptly during the Steering Proportional Gain procedure while the Autopilot
system tests the hydraulic response to its steering commands. To avoid injury, be prepared for vehicle movement.
Note – The Steering Sensor Setup and calibration must be performed before you run this
procedure. Run this procedure only if the Autopilot system performance is less than satisfactory.
The Autopilot Steering Gain (or PGain) sets the proportional gain to control steering overshoot and
responsiveness. The PGain setting is a compromise between fast steering response and stability.
Changes to PGain affect two steering characteristics:
l Slew Time: The amount of time the front wheels take to move from the far left to the far right
position and vice versa.
l Overshoot: The percentage by which the front wheels exceed the commanded angle before
they settle on the correct value.
By altering these settings, you may correct slight variations in your vehicle due to valve response
and tire-to-soil interaction.
l High PGain values decrease the slew time and increases the overshoot. This provides rapid
responses, but excessive Pgain can cause the steering to exhibit signs of instability, like a
tendency to excessively overshoot and excessive wheel movement when the vehicle is online.
l Low PGain values increase the slew time and decreases the overshoot. This improves the
stability, but can introduce significant delays in the steering responses and can cause the
vehicle to wander from side to side.
The proportional gain should be increased to the point just before any one of these occur:
l Slew times no longer decrease (low values are preferred).
l Overshoot exceeds 5–8% (depending on the vehicle).
l Wheels noticeably shake during online performance.
76 CFX-750 Display User Guide Version 7.0, Revision A
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