GETTING STARTED GUIDE
Trimble® NextSwath™
End-of-Row Turn Technology
Version 1.0
Revision A
June 2015
Legal Notices
Agriculture Business Area
Trimble Agriculture Division
10368 Westmoor Drive
Westminster, CO 80021-2712
USA
www.trimble.com
Copyright and Trademarks
©2015, Trimble Navigation Limited. All rights reserved. Trimble, the Globe &
Triangle logo, CenterPoint, FmX, OmniSTAR, and WM-Drain are trademarks of
Trimble Navigation Limited, registered in the United States and in other
countries. Autopilot, FieldLevel, OnSwath, NextSwath, RangePoint, RTX, and
TrueTracker are trademarks of Trimble Navigation Limited. All other
trademarks are the property of their respective owners.
Official Language
THE OFFICIAL LANGUAGE OF THESE TERMS AND CONDITIONS IS ENGLISH. IN THE
EVENT OF A CONFLICT BETWEEN ENGLISH AND OTHER LANGUAGE VERSIONS, THE
ENGLISH LANGUAGE SHALL CONTROL.
Release Notice
This is the June 2015 release (Revision A) of the Next Swath Technology
Getting Started Guide. It applies to version 1.0 of the NextSwath Vehicle
Integration End-of-Row Turn Technology.
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 confirm 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 cause by the Product as reasonably determine by Trimble
following a root cause analysis. Where Trimble elects to replace a Product or
parts, repair parts and replacement Products will be provided on an exchange
basis and will be either new, equivalent to new, or reconditioned.
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 MISUSE OF
OR LACK OF COMPREHENSION OF IMPLEMENT CONTROL SYSTEMS. SAFE
OPERATION IS SOLEY THE RESPONSIBILITY OF THE END USER.
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:
http://www.trimble.com/Corporate/Environmental_Compliance.aspx
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
NEXT SWATH TECHNOLOGY GETTING STARTED GUIDE
2
Safety Information
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 of a potential hazard, which, if not avoided, can cause severe injury.
C
CAUTION – This alert warns of a hazard or unsafe practice which, if not avoided, can cause injury or
damage.
Note – An absence of specific alerts does not mean that there are no safety risks involved.
Warnings
C
WARNING – A trained and qualified operator must be at the controls of the vehicle at all times. The
operator must be ready to safely take over controls of the system at any time. The NextSwath™
end-of-row turn technology is not a safety aid nor a replacement for a skilled operator.
C
WARNING – NextSwath technology cannot avoid obstacles. Obstacle avoidance is strictly the
responsibility of the operator.
C
WARNING – Vehicle integration functions should not be used to control hazardous materials.
C
WARNING – Vehicle integration functions should not be used to operate implements that are used
in the vicinity of ground laborers.
C
WARNING – Installers, technicians, and operators must verify that functions of the Trimble®
Autopilot™ system (line acquisition and on-line) are in good, safe, working order before using
NextSwath technology.
C
WARNING – If an implement/vehicle combination is used with settings from a previous
implement/vehicle, you must verify the performance of and adjust the NextSwath settings for each
implement every time the implement is changed. Failure to do so may damage machinery/
equipment.
NEXT SWATH TECHNOLOGY GETTING STARTED GUIDE
3
Safety Information
Cautions
C
CAUTION – While the NextSwath technology can use field boundaries for a reference point for turn
start points, the trained and qualified operator is responsible for determining offsets from field
boundaries. The NextSwath technology does not calculate distance of the vehicle or machinery
from the boundary—interaction with and avoidance of boundaries is strictly the operator’s
responsibility.
C
CAUTION – The NextSwath technology is designed to only be used with straight AB, A+, and
headland infill patterns. It does not work with curve patterns, pivot patterns, freeform, or feature
line guidance.
C
CAUTION – NextSwath technology is not compatible with the TrueTracker™ implement steering
system, RG-100 row guidance, the WM-Drain® farm drainage system, or the FieldLevel™ system.
C
CAUTION – The NextSwath technology cannot be used with Autonomous, SBAS, or OmniSTAR® .
VBS correction sources.
NEXT SWATH TECHNOLOGY GETTING STARTED GUIDE
4
Contents
Legal Notices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Cautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Purchasing . . . . . . . . . . . . . . . . . . . .
Entering a passcode . . . . . . . . . . . . .
Enabling the plugin . . . . . . . . . . . . .
Requirements for the NextSwath technology .
Technical Support . . . . . . . . . . . . . . . .
2
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
7
7
7
7
8
Setting up the Technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Setting up NextSwath technology .
Implement Setup screen . . . .
Vehicle Controller Setup screen
Setting up OnSwath technology . .
Line Acquisition screen . . . . .
Next Swath Plugin . . . . . . . .
3
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.10
.10
.12
.13
.13
.15
Operating the NextSwath Technology . . . . . . . . . . . . . . . . . . . . . . . . . 21
Running the NextSwath technology . . . . . . . . .
Operation of NextSwath end-of-row auto turns
Setting the End of Row Point . . . . . . . . . . .
Operating tips . . . . . . . . . . . . . . . . . . . . .
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.22
.24
.25
.26
NEXT SWATH TECHNOLOGY GETTING STARTED GUIDE
5
CHAPTER
1
Introduction
1
In this chapter:

Purchasing

Requirements for the NextSwath technology

Technical Support
This manual describes how to set up and operate
the Trimble® NextSwath™ end-of-row turn
technology.
The NextSwath feature is used to automatically
turn the vehicle at the end of a straight line
guidance pattern to align with the next selected
swath. Vehicle functions on some specific vehicles
can also be used for more efficient operation.
Even if you have used other guidance systems
before, Trimble recommends that you spend some
time reading this manual to learn about the
special features of this product.
NEXT SWATH TECHNOLOGY GETTING STARTED GUIDE
6
1 – Introduction
Purchasing
You can unlock the Trimble® NextSwath™ end-of-row technology feature using the FmX® Plus field
application running on a TMX-2050™ display. The feature consists of two parts:
•
NextSwath end-of-row technology, which enables both end-of-row turning and simple event timing
commands.
•
Vehicle Integration, which uses the vehicle’s end-of-row operational controls to trigger the interface.
Entering a passcode
Contact your reseller to purchase the NextSwath license for the FmX Plus field application.
On the TMX-2050 display:
1.
Run the FmX Plus application.
2. Go to Display Settings.
3. In the Feature Unlocks section, use the front camera to scan the NextSwath QR code to unlock the
functionality.
Enabling the plugin
Follow the normal procedure to add the plugin to the FmX Plus active plugin list.
Requirements for the NextSwath technology
C
CAUTION – The NextSwath technology cannot be used with Autonomous, SBAS, or OmniSTAR® .
VBS correction sources.
C
CAUTION – NextSwath technology is not compatible with the TrueTracker™ implement steering
system, RG-100 row guidance, the WM-Drain® farm drainage system, or the FieldLevel™ system.
•
NextSwath technology requires the Autopilot steering system to be installed.
•
NextSwath technology can be used only with vehicles defined as capable in the supported platforms
list.
The vehicle profile in version 11.2 VDB (Vehicle DataBase files) enables the NextSwath technology if it
is supported. Unsupported VDBs will not allow you to set up or enable the NextSwath feature.
•
OnSwath™ advanced line acquisition is a requirement for using NextSwath technology. For more
information, refer to the support note Autopilot System: OnSwath Advanced Line Acquisition Settings
or the Autopilot Toolbox User Guide, version 3.3.
NEXT SWATH TECHNOLOGY GETTING STARTED GUIDE
7
1 – Introduction
•
NextSwath technology requires one of the following GNSS correction sources:
–
OmniSTAR® XP
–
OmniSTAR HP
–
RangePoint™ RTX™
–
Centerpoint® RTX (SS, FS, SC)
–
Centerpoint RTK
Technical Support
If you have a problem and cannot find the information you need in the product documentation, contact
your local reseller. Alternatively, go to the Support area of the Trimble website
(www.trimble.com/Support/).
Product updates, documentation, and any support issues are available for download.
NEXT SWATH TECHNOLOGY GETTING STARTED GUIDE
8
CHAPTER
2
Setting up the Technology
2
In this chapter:

Setting up NextSwath technology

Setting up OnSwath technology
This chapter describes how to set up the
NextSwath and OnSwath technology.
The OnSwath line-acquisition mode is required
when using the NextSwath technology.
C
WARNING – If an implement/vehicle
combination is used with settings from a
previous implement/vehicle, you must
verify the performance of and adjust the
NextSwath settings for each implement
every time the implement is changed.
Failure to do so may damage machinery/
equipment.
NEXT SWATH TECHNOLOGY GETTING STARTED GUIDE
9
2 – Setting up the Technology
Setting up NextSwath technology
Implement Setup screen
In the Implement Setup screen, you must make changes to the Measurement and Geometry tabs. Once
you have completed / checked the entries in both tabs, click OK.
The Measurement tab shows the current measurements that are available for the NextSwath technology:
Field
Description
Swath Width
Enter the width that is required for guidance line separation and turn planning.
Application Width
Enter the width of the operation that is actually performed by the machine or implement.
This width is used for determining area covered.
Application Offset
Enter the offset that is used to accurately place coverage for the operation, or calculate the
TrueSwath extension.
Rows
If applicable. The number of rows the implement or vehicle performs the operation on.
Note – When using the Skip or Shift function by rows, the width of a row is determined by
dividing swath width by the number of rows
Left / Right Offset
Enter the left or right offset of the center line of the implement from the center line of the
vehicle.
NEXT SWATH TECHNOLOGY GETTING STARTED GUIDE
10
2 – Setting up the Technology
The Geometry tab shows the following information:
Field
Description
Hitch to Ground
Contact Point
Essential for TrueSwath planning and implement coverage modelling.
Note – TrueSwath technology works only for drawbar-type implements.
NEXT SWATH TECHNOLOGY GETTING STARTED GUIDE
11
2 – Setting up the Technology
Vehicle Controller Setup screen
As part of the Autopilot setup, enter additional measurements that are used for modeling purposes for
the NextSwath technology and, as required, for the TrueSwath technology. Once you have completed /
checked the entries in the Vehicle Controller Setup screen, click OK.
In the Vehicle Controller Setup screen, tap the Measurements tab:
Measurement
Description
Fixed Axle to Tow
Hitch
Measure the distance from the control point of the vehicle to the center point of the
drawbar hitch pin. The control point depends on the vehicle type:
• MFWD: Rear axle
• Tracked tractor: Center of rotation
• Sprayers: Rear axle
• Combine/Harvesters: Front axle
• 4WD/Articulated: Rear axle
Note – If you are using a two-point hitch, measure the distance from the fixed axle to the
pivot point on the apparatus.
Fixed Axle to 3-Point
Hitch
Measure the distance from the control point to the location where the three-point fixture
attaches. This measurement is also used for fixed applications such as harvesting and
spraying with a self-propelled sprayer.
NEXT SWATH TECHNOLOGY GETTING STARTED GUIDE
12
2 – Setting up the Technology
Setting up OnSwath technology
The OnSwath line-acquisition mode is required to run the NextSwath technology.
Line Acquisition screen
In the Line Acquisition screen, make changes in the Steering Angle and Slew Rate tabs. Once you have
completed / checked the entries in both tabs, click OK.
In the Steering Angle tab, select OnSwath from the Line Acquisition Mode drop-down list.
Field
Description
Nominal maximum steering
angle
Set the desired maximum steering angle (turn radius) for the system to use during
line acquisition and end-of-row turns. This is not a hard limit, but the value the
system plans for.
Steering angle aggressiveness Set the speed at which the maximum steering angle starts to reduce.
at high speeds
NEXT SWATH TECHNOLOGY GETTING STARTED GUIDE
13
2 – Setting up the Technology
In the Slew Rate tab, do the following:
Field
Description
Nominal maximum slew rate
Set the slew rate that the Autopilot system will plan for during line acquisition and
end-of-row turns. A higher slew rate increases the rate at which the steering angle
(turn radius) changes, up to the vehicle's physical capabilities.
Steering slew rate
aggressiveness for high
speeds
Set the slew rate for high speeds at which the Autopilot system will begin to
reduce the slew rate. A lower aggressiveness will reduce the slew rate more at high
speeds. This results in a smoother and more stable operation.
NEXT SWATH TECHNOLOGY GETTING STARTED GUIDE
14
2 – Setting up the Technology
Next Swath Plugin
In the NextSwath Plugin, press Setup. The NextSwath Settings screen has six tabs. Once you have
completed / checked the entries in all tabs, click OK.
Turn Pattern tab
Field
Description
Type of path
There are two options to define the required turn trajectory:
• Shortest (Sharper turn): This is based on the swath width, the steering angle settings for
the OnSwath technology, and the minimum turn radius (see below). This setting will
turn as short as possible—generally the default.
• Smoothest (Rounder turn): This is used for large applications (wide spraying, some
tillage, and so on) in which a smooth, gentle turn is required. This setting uses the
smallest constant radius to make the desired turn. For larger numbers of swaths
changed in a turn, the radius expands.
Turn Pattern
When the steering system limitations and swath width do not allow a turn to be completed
within the distance between swaths, the system must go outside the swath lines. There are
three options for how the system will do this:
• Turn wide at start: All turning outside of the swaths is done at the start of the turn.
• Keyhole: An equal amount of turning outside of the swath region is done on each side
of the turn.
• Turn wide at end: All turning outside of the swath region is done at the end of the turn.
Note – When TrueSwath technology is used with this setting, the path the vehicle must take
to bring the pull-type implement online affects the shape of the turn.
NEXT SWATH TECHNOLOGY GETTING STARTED GUIDE
15
2 – Setting up the Technology
Field
Description
Swath change limit
This defines the largest number of swaths that can be changed during a turn left or right.
The value can be set to the smaller of 10 swath widths or a distance of 500 ft (150 m).
NextSwath technology makes a turn perpendicular to the swath direction so that when
changing multiple swaths where the swaths intersect the boundary at a sharp angle, the
path between the selected swaths will be extended to accommodate the furthest swath
end point.
Turn Point tab
Field
Description
Shorten or Extend
Swath
When using a headland pattern or turn points determined by a boundary offset, you can
select one of the following options to define how the system should make the turn:
• Maximize infill coverage (extend): This starts the turn at the boundary between the
headland and the infill so that all of the turn happens outside the infill. When using
NextSwath technology for operations in which the swath lines do not intersect the
boundary at a square angle, the point for the line that is further out will be used.
• Minimize headland usage (shorten): This potentially starts the turn inside the infill area
to allow for the full turn to be completed while minimizing the headland area. When
using NextSwath technology for operations in which the swath lines do not intersect the
boundary at a square angle, the point for the line that is closer in will be used.
Note – The ability of the vehicle to stay within the headland depends on the number of
circuits or offset distances defined by the user. The NextSwath system does not recognize
boundaries, but turns at distances defined by the user.
Turn Point
Inside/Outside
Boundary -
A productive area field boundary (not applicable for use with headland patterns) can be
used to set the turn point start location. This sets the distance and direction of offset from
the boundary to the required location.
When using irregularly-shaped boundaries, an additional offset is required to plan turns
that remain within the boundary. This offset is not used when there is no field boundary.
NEXT SWATH TECHNOLOGY GETTING STARTED GUIDE
16
2 – Setting up the Technology
Field
Description
TrueSwath Swath
Extension
When using TrueSwath technology, a distance offset to delay the vehicle turning into the
end rows/headland circuit may be required to allow for proper coverage. Tap Calculate to
add the implement drawbar length and the hitch-to-ground contact distances.
Adjust this value to alter the distance as required.
Note – The Autopilot system’s end-of-row warning distance dictates when the prompt for
acknowledging the automated end-of-row turns appears when approaching the turn
point.
Parameters tab
Field
Description
Turn Speed
This is the speed designated for auto turns and the speed for which the turn will be
optimized.
If the vehicle travels at a speed that is more than 1.1 mph (0.5 m/s) faster than the entered
turn speed value, the NextSwath technology will not start the turn. Any speed that is
slower than the turn speed is allowed.
It is recommended that you set this value to the highest speed for which turns will be
made.
Note – OnSwath settings for the maximum nominal steering angle and maximum nominal
steering slew rate and aggressiveness for these settings affect the path of the planned turn.
Minimum Turn
Radius
This is the minimum turn radius for which the turn will be planned. Determine the radius by
driving the vehicle and implement combination in the tightest turn required and then
measuring the radius (half of the diameter). If the turn speed and OnSwath settings dictate
a larger turn radius than the radius entered, the larger radius will be used.
These settings apply to both regular and TrueSwath-enabled turns. This setting will not
affect line acquisition.
Remote Engage
Confirms Auto Turn
Enable this feature to allow the use of the remote engage button to accept the NextSwath
turn as an alternative to touching the Run screen when the end-of-row automated turn
notice appears.
NEXT SWATH TECHNOLOGY GETTING STARTED GUIDE
17
2 – Setting up the Technology
Swath Start Events tab
The Swath Start Events tab
lists the events as the vehicle and implement enters the swath.
Tap the event row (in this example, 1 Start Application) and then edit the event parameters in the Edit
Start of Swath Event screen:
Field
Description
Event
Select the operation for which you want to set reminders or sequencing.
Distance or Time
Select the units that you want to use for the event offset in time or distance. The maximum
offset is 65 ft (20 m) or the time that it takes to drive 65 ft (20 m) at the turn speed entered.
Occurs Before/After
Enter the required offset and whether it should happen before or after the turn is
complete, when entering the swath.
Sound alert
Enable or disable an audible alert from the sonalert when the event occurs. The display
speaker will also beep if the warning sounds are set up to be played on the display speaker
in the system / sound setup.
NEXT SWATH TECHNOLOGY GETTING STARTED GUIDE
18
2 – Setting up the Technology
Field
Description
Text alert
Determines if the event appears in the list of user prompts during end-of-swath activity.
Note – When using "Log when engaged" to obtain coverage to start logging after turning, you must set up
a Start application event. Adjust the "Occurs Before/After" value to obtain good coverage. It is
recommended that you use distance rather than time, as time is affected by travel speed.
Swath End Events tab
The Swath End Events tab
finish the swath.
contains the events that apply to the vehicle and implement as they
Tap the event row (in this example, 1 Stop Application) and then edit the event parameters in the Edit End
of Swath Event screen:
Field
Description
Event
Select the operation for which you want to set reminders or sequencing.
Distance or Time
Select the units that you want to use for the event offset in time or distance. The maximum
offset is 65 ft (20 m) or the time that it takes to drive 65 ft (20 m) at the turn speed entered.
Occurs Before/After
Enter the required offset and whether it should happen before or after the turn is
complete, when entering the swath.
Sound alert
Enable or disable an audible alert from the sonalert when the event occurs. The display
speaker will also beep if the warning sounds are set up to be played on the display speaker
in the system / sound setup.
Text alert
Determines if the event appears in the list of user prompts during end-of-swath activity.
Note – When using "Log when engaged" to obtain coverage to stop logging when turning, you must set up
a Stop application event. Adjust the "Occurs Before/After" value to ensure good coverage. It is
recommended that you use distance rather than time, as time offsets change with speed.
NEXT SWATH TECHNOLOGY GETTING STARTED GUIDE
19
2 – Setting up the Technology
Vehicle Integration tab
For supported platforms, use this page to set up the interface to the vehicle implement control:
For implementation, you must purchase the Vehicle Integration unlock and use a NavController III to
output the signal from the third solenoid. As there is only one solenoid output on the NavController III,
only one button can be triggered.
You can use this output to initiate a recorded sequence on the vehicle only. You must set up the timing for
the sequences using the interface on the tractor. Refer to the tractor operator's manual for recording
methods. You can adjust the timing for the start of the sequences by changing the Occurs Before/After
value in the Swath Start Events / Swath End Events tabs for the Sequence A and/or Sequence B event.
Note – You cannot use Vehicle Integration on vehicles that use the Third Solenoid output for the "On when
engaged" function.
NEXT SWATH TECHNOLOGY GETTING STARTED GUIDE
20
CHAPTER
3
Operating the NextSwath Technology
3
In this chapter:

Running the NextSwath technology

Operating tips
This chapter describes how to run the NextSwath
technology.
C
CAUTION – The NextSwath technology is
designed to only be used with straight AB,
A+, and headland infill patterns. It does not
work with curve patterns, pivot patterns,
freeform, or feature line guidance.
C
CAUTION – NextSwath technology is not
compatible with the TrueTracker implement
steering system, RG-100 row guidance, the
WM-Drain farm drainage system, or the
FieldLevel system.
NEXT SWATH TECHNOLOGY GETTING STARTED GUIDE
21
3 – Operating the NextSwath Technology
Running the NextSwath technology
❶
❷
❿
❸
❹
❼
❽
❾
❺
❻
From the Run screen, you can do the following:
Number Description
❶
Enable NextSwath technology. Each time you enter a field or create / load a new swath, you must enable
the NextSwath technology and accept the liability warning. Within the same session you can disable /
re-enable the NextSwath technology without needing to accept the liability warning.
When you tap the button beside NextSwath, a check mark appears on the icon to show that the
NextSwath technology is enabled.
❷
Enabling the Turn. To manually start an automated turn, you must first enable it. When you tap the
button beside Enable Turn, a check mark appears to show that the turns are enabled.
When an end of row location prompts an automated turn, Enable Turn is selected automatically.
Once each automated turn is completed, turns are disabled until they are enabled, either manually or
because an end-of-row location prompts another automated turn.
❸
Selecting the turn direction and number of swaths to change. To create an automatic turn, you must
select a swath.
To do this, tap the left or right arrow button to select the direction and by how many swaths the turn
will be made. The number of swaths allowed each way is entered in the Swath Change Limit field when
you set up the system, see Turn Pattern tab, page 15. The selected swath appears in yellow with green
borders on the Run screen and the direction and number away from the current swath appear on the
panel.
Note – The direction refers to the forward travel direction of the vehicle. The system does not turn
around back onto the same swath. Once the first automatic turn is complete, the next automatic turn
that is prompted by an end-of-row location will be auto-populated with a turn in the opposite direction
but with the same number of swaths changed as the previous turn.
If no swath is selected, this is indicated by a dash on the swath number indicator.
NEXT SWATH TECHNOLOGY GETTING STARTED GUIDE
22
3 – Operating the NextSwath Technology
Number Description
❹
Implement sequencing buttons. The swath start event / swath end event buttons enable or disable the
setup sequences for the corresponding button. They may be enabled individually or together. When
performing a manually initiated automated turn, and with the swath end event buttons enabled, the
earliest programmed event will start when you tap the Turn Now button and work towards the turn.
❺
TrueSwath implement turn compensation. You can use the TrueSwath implement turn swath button in
association with, or independently of, automated turns. If TrueSwath is enabled, a check mark appears
on the button next to it.
Either when performing an automated turn or during line acquisition, a yellow path for the implement is
plotted for drawn implement types in addition to the green path for the vehicle.
When used in an automated turn, the TrueSwath swath extension offset is added to the turn point to
allow the implement to reach the turn point before the turn is started.
Note – The parameters entered in the setup for vehicle control point-to-hitch offset and hitch-to-ground
contact point dictate the path planned for the implement. Adjust these values to change performance.
Note – Rigid mounted implements (those using the three-point hitch) cannot use the TrueSwath
technology.
❻
Turn Now. This button is located on the engagement control panel at the bottom of the screen between
the logging and Autopilot engagement button, and shows the status of automated turns. The direction
of the turn is indicated by the arrow direction.
State
Color
Icon
Meaning
Disabled/Error
Red
Automated turns are not available. Turns must be enabled, with
a valid direction selected. The vehicle speed must be at or
below the turn speed
Ready
Yellow
Automated turns are armed and ready, press the icon to start a
turn.
Turning
Green
The system is counting down to a turn or turning. Tap the
button to cancel the automated turn.
❼ - ❿ Automated Turns based on End of row points. Once an initial manually-started automated turn is
triggered, the system learns your direction of travel and the number of swaths to change. When
reaching the End of Row warning distance location; the previous selections for direction/number of
swaths, and sequencing are pre-selected and the turn is enabled.
Note – The direction of the turn will be the opposite of the previous turn.
The recommended turn is plotted on the Run screen ❿. There are currently three options:
• Cancel the Auto Turn ❼. Tap this button to leave the system in the current turn configuration,
enabled for a manually-initiated automated turn.
• Adjust ❽. Tap this button to show the NextSwath panel (if not already showing) and enable you to
configure the desired turn, and manually initiate the automated turn.
• Accept the Auto Turn ❾. Tap this button to start the countdown to the recommended automated
turn.
NEXT SWATH TECHNOLOGY GETTING STARTED GUIDE
23
3 – Operating the NextSwath Technology
Operation of NextSwath end-of-row auto turns
When the vehicle arrives at the end-of-row location and if the NextSwath technology is enabled, the
operator is prompted to auto turn at the end-of-row point.
• The first occurrence requires the operator to indicate the swath to turn to as well as enabling the
Swath End/Start events and TrueSwath technology.
• Each following turn will auto-populate with the settings of the previous turn except that it will be in
the opposite direction (to keep the operation moving in the same cardinal direction).
• The proposed path appears on the Run screen.
• The operator can:
–
Cancel the auto turn and either initiate an auto turn at the required location or drive the vehicle
manually.
–
Adjust the auto turn. This opens the NextSwath control panel and allows you to manually initiate
an auto turn.
–
Accept the auto turn as presented. The system then proceeds to count down to the auto turn (you
can also initiate this function by tapping the remote engage button).
• If the auto turn is accepted, you are notified if your speed is above the defined turn speed. If the speed
is not reduced before the auto turn is started, the system will disengage.
• If the vehicle speed increases above the defined turn speed during the turn, you are given a two
second warning to slow down. If no action is taken, the system disengages.
NEXT SWATH TECHNOLOGY GETTING STARTED GUIDE
24
3 – Operating the NextSwath Technology
Setting the End of Row Point
In order for the NextSwath technology to suggest automated end-or-row turns, the end-of-row point
must be known. This point is determined by three methods in the following order:
1. Headland pattern infill line intersection with inner boundary. When a headland pattern is used, the intersection of the infill and
the inner boundary sets the end-of-row point.
2. Productive area field boundary. If the field has a productive area
boundary and the headland pattern is not in use, the end-of-row
point is determined by the user-defined distance offset from the
boundary along the swath.
3. A and B points for the line. If there is no boundary and a headland
pattern is not in use, the A and B points of the line set the end-ofrow point. These points adjust every time the Autopilot system is
disengaged or when a manually-initiated automatic turn is
performed. When this happens, all of the following will have the A
or B point updated in accordance to the length of the swath that
the vehicle is currently on:
–
The guidance line the vehicle is on.
–
The swath on either side of the guidance line that the vehicle is
on.
–
The swath being turned to for an automatic turn will have the
A or B point updated (if more than one swath is changed).
❶
❸
❷
The length of the swath is indicated by the yellow swath lines on the
Run screen ❶ and can be also set up as a Swath Length ❷ status
item. The distance the vehicle is away from the end of row point can
be shown by setting up a status item of Along Track Error ❸.
NEXT SWATH TECHNOLOGY GETTING STARTED GUIDE
25
3 – Operating the NextSwath Technology
Operating tips
• Before using the NextSwath technology, OnSwath settings must be properly set up and calibrated.
Excessively aggressive OnSwath settings that function well for line acquisition may be too aggressive
for the NextSwath technology due to the increased heading change in the maneuvers (up to 90° for
line acquisition; generally 180° for the NextSwath technology).
• For best results, it is recommended that you use field boundaries or headland patterns as this will
make adjustments for the shape of the field.
• For AB operation without boundaries, the turn location is based on the end-of-row points that are
adjusted to the vehicle’s current location by either disengaging or performing a manually-initiated
automatic turn. When this happens, the swath length of the swath you are currently engaged on, the
swaths on either side of the current swath, and the swath being turned to for automatic turns (if
different than the swaths right next to the current swath due to multiple swath changing) are adjusted.
• The smallest radius that the system will turn in is determined by the largest value of:
–
Minimum turn radius setting
–
Path size determined by OnSwath maximum nominal steering angle and maximum nominal slew
rate adjusted by the speed aggressiveness's for each.
To decrease a turn radius try the following:
Note – After adjusting the OnSwath Settings, make sure that line acquisition performance is still safe.
Note – Always verify that the smaller radius turn will not damage equipment.
a. Decrease the minimum turn radius.
b. Increase the OnSwath Steering Angle.
c.
Increase the OnSwath Slew Rate.
d. Decrease the turn speed.
Note – The highest the OnSwath steering angle can be is 80% of the vehicle profile’s maximum steering
angle. If you set it higher than this value, the steering angle used to plan the turn will not increase.
• When using boundaries, the adjustment of the boundary offset and TrueSwath offset is important to
obtain a correct turn point location. Generally this has to be determined empirically by
experimentation.
• When using end rows, a boundary offset around the width of the end rows is a good starting point. For
example, using three end rows with a 30 ft planter would use a boundary offset of 90 ft to start with.
• When using boundaries that are not perpendicular to the general swath operation of the field, allow
more space for the turns.
• When using a three-point/rigid mounted implement, setting the turn pattern to Turn Wide at End for
rear-mounted implements and Turn Wide at Start for front-mounted implements is suggested for best
results.
NEXT SWATH TECHNOLOGY GETTING STARTED GUIDE
26