Implement calibration for TrueTracker system 14 TrueTracker setup
Proportional Steering Gain calibration
WARNING – The wheels can move abruptly during the Proportional Steering Gain procedure while the Autopilot
system tests the hydraulic response to the steering commands. These sudden movements can cause collisions
with nearby obstacles or cause injury to occupants of the vehicle. Be prepared for sudden wheel movements.
Note – Complete this calibration only:
- When the TrueTracker system's performance is less than acceptable
- After you complete Implement Steering Sensor calibration (page 284)
The proportional steering gain (PGain) setting enables you to reach a compromise between rapid
steering response and stability. Modifications to the PGain setting affect two steering
characteristics:
l Slew Time: The amount of time the steering coulters take to move from the far left to the far
right position and from the far right to the far left position.
l Overshoot: The percentage by which the steering coulters exceed the commanded angle before
they settle on the correct value.
Prior to completing this calibration:
l Complete the steering sensor calibration before you perform the proportional gain calibration.
l Perform the Automatic Deadzone calibration immediately before you run the PGain calibration,
even if the Automatic Deadzone calibration has been performed in the past.
l Perform this calibration on a level surface, that is free of obstructions.
l Run the engine at full throttle.
l Raise the implement.
To correct slight variations caused by valve current response, friction, and hydraulic fluid viscosity,
alter the PGain values:
l High PGain values: Decrease the slew time and increase the overshoot. This provides rapid
responses, but can cause the steering to exhibit signs of instability (for example, a tendency to
excessively overshoot).
l Low PGain values: Increase the slew time and decrease the overshoot. This improves the
stability but can introduce significant delays in the steering response and can cause the vehicle
to oscillate from side to side.
Increase the proportional gain up to the point just before any one of the following occurs:
l Slew times no longer decrease (a low value is required)
l Overshoot exceeds 10% (depending on the Tracker unit)
l Steering coulters noticeably shake near end stops
282 FM-1000 Integrated Display User Guide Version 9.25, Revision B
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