Leica MOJO RTK Administratorhandbuch

For more information

www.mojoRTK.com

Page 1/5Document #1034 rev1.3

HOW TO GUIDE: Using mojoRTK with a QuickSteer

steer assist motor

Description

This document describes how a Leica mojoRTK system can be set up and

used with a Leica QuickSteer steering motor. The intended audience is Leica

approved Value Added Resellers and end users of the Leica mojoRTK system.

Benefits

Using the Leica mojoRTK system with a QuickSteer motor allows auto-steer

capabilities to be added to a wide range of vehicles that do not have factory

installed steering kits. The mojoRTK and QuickSteer can be moved between

vehicles, allowing a single system to be used for multiple vehicles.

Limitations

A steering motor cannot provide the same level of accuracy as a hydraulic

system. However, a steering motor does provide a cost effective, easy to

install and versatile steering solution.

For applications that require a high level of accuracy, the QuickSteer is not

recommended. For high accuracy the Steer Ready Kit (SRK) hydraulic

solution is the preferred option.

Required Items

mojoRTK system kit – For information regarding this system and the

latest software versions, please visit www.mojoRTK.com

QuickSteer steering motor kit – This includes the motor, a universal

mounting bracket and the required cables. The Leica Geosystems part

number for the steering motor kit is 676087.

Installation

Install the QuickSteer motor as per the installation instructions.

Install the mojoRTK system in the vehicle as per the standard mojoRTK

user manual.

For more information

www.mojoRTK.com

Page 2/5Document #1034 rev1.3

Configuration

When the mojoRTK console starts up for the first time it will start a

configuration sequence designed to guide you through the initial setup of

the console.

The mojoRTK user manual explains the standard configuration settings for

the mojoRTK console (refer to the section ‘Running the mojoRTK Console for

the First Time’).

This part of the guide refers to the selection of the Leica Geosystems

QuickSteer kit and its setup for use with the mojoRTK console.

1. Once you have reached the vehicle type section of

the setup sequence you need to select

‘QuickSteer’ as the vehicle type. Press OK to

confirm the selection.

2. A status screen will be displayed which indicates

the status of the CAN bus and the QuickSteer. If

the message indicates that there is a problem,

check the cables and connectors and ensure that

the QuickSteer is powered up.

3. If it is the first time you have set up the

QuickSteer or you are changing from another

steer kit then you will be prompted to perform a

steering adjustment procedure. Press OK to

continue.

4. Proceed through the remaining setup wizard stages following the

prompts on screen and the instructions in the user manual.

For more information

www.mojoRTK.com

Page 3/5Document #1034 rev1.3

5. If steering adjustment is required then a screen will be displayed warning

the user to first detach any implements before proceeding. Press OK

when there is no implement attached to the vehicle.

6. A screen will be displayed telling the user to

engage the QuickSteer motor against the steering

wheel. Once this has been done press OK to

continue.

7. The user is then prompted to start driving the

vehicle. Select an appropriate gear in a fairly flat

open location with a clear view of the sky as

GPS is required for this step. Press OK when you

are ready to continue.

8. The system will then ask the user to turn the

steering wheel full lock to the left. Once this is

done press OK. The system will then determine

the adjustment required for steering left. Keep the

wheel at full lock left until the stage completes.

9. When the left adjustment is complete, follow the on-screen instructions

to repeat step 8 for the right adjustment.

10. The next step requires the steering to be centred.

It is recommended to try and get the nose of the

tractor to aim at the same place while completing

this stage. It does not have to be perfect but the

closer it is to the centre, the better.

11. A screen will then be displayed stating that the

steering adjustment is complete. Press OK to

continue.

For more information

www.mojoRTK.com

Page 4/5Document #1034 rev1.3

12. The next step is to set the freeplay value, which

takes into account any movement of the steering

motor that does not cause the vehicle’s wheels to

move. While you are changing this value the

QuickSteer motor will operate, changing directions

every few seconds.

Note: the larger the value you set, the more the

motor will move. Increase the value until the

vehicle’s wheels twitch slightly. Press OK when

you are satisfied with the setting.

13. Once the freeplay setting is set the steering setup is complete. It is

recommended to check the control tuning at this point. See the mojoRTK

Tuning Guide for more information on tuning.

Custom Steer Kit Parameters

The QuickSteer steering motor has a number of settings for optimising the

performance.

To access the QuickSteer settings via the mojoRTK

console, press OK from the navigation screen to

enter the main menu and select:

Settings->Vehicle->Steer Kit Wizard

If the ‘Steer Kit Wizard’ option is not present, there is a communication

problem between the mojoRTK console and the QuickSteer. Enter the

‘Vehicle Wizard’ and proceed until you reach the ‘Vehicle Type’ screen and

ensure that ‘QuickSteer’ is selected, as described in the Configuration

section above.

If problems persist, check that the steering motor is powered and that

the CAN bus cables are connected between the console and the steering

kit.

The settings available in the QuickSteer Steer Kit Wizard are ‘Minimum

Motor Speed’, ‘Override Sensitivity’ and ‘Maximum Motor Speed’.

For more information

www.mojoRTK.com

Page 5/5Document #1034 rev1.3

The ‘Minimum Motor Speed’ adjusts the minimum

speed at which the motor will be moved. If the

motor is trying to move the wheel, but the wheel

isn’t turning increase this value. If the motor is

moving too fast and overshooting past the

desired turning position, decrease this value.

The ‘Override Sensitivity’ adjusts how sensitive

the QuickSteer is to the operator overriding the

auto steer controls.

The ‘Maximum Motor Speed’ adjusts the

maximum speed at which the motor will move.

This should be decreased if the motor

consistently moves too fast and overshoots the

desired tuning position.

When setting one of the settings in the Steer Kit Wizard, use the main

dial to adjust the value. When you are satisfied with the setting value,

press OK to save the value and continue to the next setting. Press Escape

to undo any changes and return to the previous screen.

Steer Kit Information Menu

The Steer Kit Info menu is available to Leica approved

Value Added Resellers in the Dealer Menu. This menu

provides a quick method of viewing QuickSteer

details including firmware version and current

encoder position.

Glossary

Base The source of the correction signals for the RTK solution.

May also referred to as: base station, reference station

and network reference station.

CAN Controller Area Network, the communication bus used

between the mojoRTK console and the steering kit.

Console The mobile receiver installed in the vehicle.

QuickSteer Steering motor from Leica Geosystems.

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