Setup and Advanced Tuning Guide Manual

2202SouthRiversideDrive,Ames,IA50010

Phone:515‐232‐5363Internet:http://www.agleader.com

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25‐Jun‐10‐RevE

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WhatdoestheCross‐TrackErrorslideradjustandwhentoadjustit?

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IntheCrossTrackErrorTuningscreen,CrossTrackErrorisadjustedwhichinaneffectchanges

twothings,theyare:

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1) ThevolumeatwhichCrossTracktalkstoHeading.

2) ThedistanceofflinetoleranceatwhichCrossTracktriestoholdthevehicletoABLineis

adjusted.

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ThehigherCrossTrackErrorTuningisset,thelouderCrossTracktalkstoHeading;andthetighter

CrossTracktriestoholdthetractortotheABLine.ThelowerCrossTrackErrorTuningisset,the

softerCrossTracktalkstoHeading;andthemorerelaxedCrossTrackisatholdingthetractortothe

ABLine.CrossTrackErrorTuningshouldbesetashighaspossiblesothatthetractorstayscloseto

theABLine,butdoesnotoscillateorwanderacrosstheABLine.

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Seefigure11foranexampleofthedesiredbehavior.Thevehiclebehaviorandthetuninggraph

informationshouldbeusedtodeterminewhethertoincreaseordecreaseaparametersvalue

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•CrossTrack’sSimpleAnalogy:CrossTrackErrorTuningcouldbeviewedasthevolumeatwhich

CrossTracktalkstoHeading.

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‐TooHigh:IfCrossTrackspeaks“tooloudly”toHeading,HeadingoverrespondstoCross

Track’scommandsandthetractoroscillatesacrosstheABLine.CrossTrackErrorTuningis

settoohighandshouldbelowered.

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‐Ideal:IfCrossTrackspeaksatthe“idealvolume”toHeading,Headingrespondsjustright

andthetractordoesnotoscillateorwanderacrosstheABLine.CrossTrackErrorTuningis

setcorrectly.

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‐TooLow:IfCrossTrackspeaks“toosoftly”toHeading,Headingisnotresponsiveenoughto

CrossTrackandthetractorwandersacrosstheABLine.CrossTrackErrorTuningissettoo

lowandshouldbeincreased.