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HARDIAutoHeight UC5Original

Instruction book - SW 5.0.x.x67032400-120 - Version 1.20GB - 05.2016

www.hardi-international.com

We congratulate you for choosing a HARDI plant protection product. The reliability and efficiency of this product depend upon your care. The first step is to carefully read and pay attention to this instruction book. It contains essential information for the efficient use and long life of this quality product.

The original instruction book is approved and published in English. All other languages are translations of the original. In the event of any conflicts, inaccuracies or deviations between the English original and other languages the English version shall prevail.

Illustrations, technical information and data in this book are to the best of our belief correct at the time of printing. As it is HARDI INTERNATIONAL A/S policy permanently to improve our products, we reserve the right to make changes in design, features, accessories, specifications and maintenance instructions at any time and without notice.

HARDI INTERNATIONAL A/S is without any obligation in relation to implements purchased before or after such changes.

HARDI INTERNATIONAL A/S cannot undertake any responsibility for possible omissions or inaccuracies in this publication, although everything possible has been done to make it complete and correct.

As this instruction book covers more models and features or equipment, which are available in certain countries only, please pay attention to paragraphs dealing with precisely your model.

Published and printed by HARDI INTERNATIONAL A/S

Acknowledgements:

UC5 and Roll Control are trademarks of NORAC Systems International Inc., Canada

NORAC® is a registered trademark of NORAC Systems International Inc., Canada

Table of Contents

3

Table of Contents

1 - AboutAutoHeight ............................................................................................................................................5

About this Instruction Book ............................................................................................................................................................................. 5

2 - Safety NotesOperator Safety .....................................................................................................................................7

Symbols ........................................................................................................................................................................................................................ 7Precautions ................................................................................................................................................................................................................ 7

3 - DescriptionGeneral System Info ..............................................................................................................................9

Key Features .............................................................................................................................................................................................................. 9General System Layout .................................................................................................................................................................................... 10

Display .................................................................................................................................................12Navigating to the Run Screen ..................................................................................................................................................................... 12Icon description ................................................................................................................................................................................................... 14Menu structure ..................................................................................................................................................................................................... 16

Understanding the AutoHeight System ..............................................................................................20General info ............................................................................................................................................................................................................ 20Boom Reaction Time ......................................................................................................................................................................................... 20Ditches, Waterways and Outside Rounds ............................................................................................................................................ 20Driving Through Ditches and Over Terraces ...................................................................................................................................... 20Soil Mode, Crop Mode and Hybrid Mode ............................................................................................................................................ 21Sensing Further Ahead of the Boom ...................................................................................................................................................... 21Height Sensor Capabilities and Limitations ........................................................................................................................................ 21

Optional Kit .........................................................................................................................................22Severe Terrain Kit ................................................................................................................................................................................................. 22

4 - System setupSetup ...................................................................................................................................................23

General info ............................................................................................................................................................................................................ 23Navigating to the Setup Menu ................................................................................................................................................................... 23

Automatic System Setup .....................................................................................................................26General info ............................................................................................................................................................................................................ 26Setup Procedure .................................................................................................................................................................................................. 26

Retune .................................................................................................................................................44When to Retune ................................................................................................................................................................................................... 44Retune Procedure ............................................................................................................................................................................................... 44

Manual Setup .......................................................................................................................................58General info ............................................................................................................................................................................................................ 58Sensor Setup .......................................................................................................................................................................................................... 58Valve Setup ............................................................................................................................................................................................................. 61Valve Tuning ........................................................................................................................................................................................................... 61

Options Menu ......................................................................................................................................62General info ............................................................................................................................................................................................................ 62Remote Switches ................................................................................................................................................................................................. 62Return to Height .................................................................................................................................................................................................. 63Headland Assist Toggle ................................................................................................................................................................................... 63Setpoint Bump ...................................................................................................................................................................................................... 64Terrain Assist .......................................................................................................................................................................................................... 64Double Tap Wings .............................................................................................................................................................................................. 65Minimum Boom Height .................................................................................................................................................................................. 66High Oil Temp Alarm Toggle ....................................................................................................................................................................... 66Boom Geometry Test ........................................................................................................................................................................................ 66Temperature Compensation Toggle ...................................................................................................................................................... 66Slow Roll Reference ........................................................................................................................................................................................... 66

Table of Contents

4

5 - OperationTypical operation ................................................................................................................................67

Run Screen .............................................................................................................................................................................................................. 67Minimum Boom Height .................................................................................................................................................................................. 68

Settings ................................................................................................................................................69General info ............................................................................................................................................................................................................ 69Sensitivity ................................................................................................................................................................................................................. 70Soil / Crop Mode .................................................................................................................................................................................................. 70Target Height ......................................................................................................................................................................................................... 71Tips On/Off .............................................................................................................................................................................................................. 71Main Lift Reaction ............................................................................................................................................................................................... 72Slant Reaction ........................................................................................................................................................................................................ 72

Sprayer Switches .................................................................................................................................73General info ............................................................................................................................................................................................................ 73Tilt Switches ............................................................................................................................................................................................................ 73Main Lift Switch .................................................................................................................................................................................................... 73

6 - MaintenanceService info ..........................................................................................................................................75

General info ............................................................................................................................................................................................................ 75Before each day .................................................................................................................................................................................................... 75At the end of the season ................................................................................................................................................................................ 75Cleaning Ultrasonic Height Sensors ........................................................................................................................................................ 76Lubrication of the sprayer .............................................................................................................................................................................. 77

7 - Fault findingTypical Failures ....................................................................................................................................79

General Operation .............................................................................................................................................................................................. 79Sensors ....................................................................................................................................................................................................................... 79Modules .................................................................................................................................................................................................................... 80Hydraulics ................................................................................................................................................................................................................ 80Boom Stability ....................................................................................................................................................................................................... 81

8 - Technical specificationsSpecifications ......................................................................................................................................83

System Specifications ....................................................................................................................................................................................... 83PULSE™ Fuse .......................................................................................................................................................................................................... 83

IndexIndex ....................................................................................................................................................85

5

1 - About

AutoHeight

About this Instruction Book

This instruction book is written for the use with certain possible display choices. Depending on the choice of display, the AutoHeight is controlled via:

• Universal Terminal (UT) interface on HC 8600, HC 9600 displays.

• Virtual Terminal (VT) interface on HC 8500, HC 9500 displays.

• Other similar ISOBUS displays.

• PULSE™ display.

Because of the physical size of controllers, some buttons and dialogue boxes will appear with a bit different layout. But as menus and functions are identical, we have chosen to illustrate this book with Virtual Terminal (VT) interface on the HC 9500 display.

1 - About

6

7

2 - Safety Notes

Operator Safety

Symbols

These symbols are used thorough the book to designate where some sort of extra attention has to paid for the reader. The four symbols have following meaning.

€ This symbol means DANGER. Be very alert as your safety is involved!

± This symbol means WARNING. Be alert as your safety can be involved!

μ This symbol means ATTENTION. This guides to better, easier and more safe operation of your sprayer!

÷ This symbol means NOTE.

Precautions

Note the following recommended precautions and safe operating practices before using the sprayer.

General Info

€ Read and understand this instruction book before using the equipment. It is equally important that other operators of this equipment read and understand this book.

If any portion of this instruction book remains unclear after reading it, contact your HARDI dealer for further explanation before using the equipment.

€ Local law may demand that the operator is certified to use spray equipment. Adhere to the law.

€ Tractor drivers seat is the intended working place during operation.

€ Wear protective clothing. Clothing may differ depending on chemical being sprayed. Adhere to the local law.

Wash and change clothes after spraying. Wash tools if they have become contaminated.

€ Do not eat, drink or smoke while spraying or working with contaminated equipment.

In case of poisoning, immediately seek medical advice. Remember to identify chemicals used.

AutoHeight Precautions

€ Under no circumstances should any service work be performed on the machinery while the AutoHeight system is in the automatic mode.

€ Always ensure that the AutoHeight system is powered down or in manual mode:

• Before leaving the operator’s seat.• While the machine is not moving.• When transporting the machine.

Before working on any part of the booms:• Set the AutoHeight system to manual mode.• Turn the sprayer engine off.

Do not operate this system before:• Reading and understanding this instruction book.• Thoroughly understanding the machine operation.

2 - Safety Notes

8

9

3 - Description

General System Info

Key Features

The AutoHeight operates on a touch screen display, which makes it easy to navigate and change settings.

Automatic Software Setup• The system completes an automatic system setup, which calibrates the software specifically for the sprayer.

• This provides the maximum performance for the sprayer.

Smart Sensor Technology• Non-contact Sensing:

• Sensing is done using ultrasonic sensors which means no parts of the AutoHeight System come in contact with the ground.

• Using a non-contact system means there will be no additional forces put on the boom, which could cause damage to the sprayer boom.

• The ultrasonic signals can distinguish the difference between the ground and standing crop or field residue.

• Boom height is controlled by choosing:

• Soil Mode. Senses the soil surface.

• Crop Mode. Senses the top of the crop.

• Hybrid Mode. Calculates a “virtual top of crop” for more accurate control.

• All sensors are designed by Norac specifically for the agricultural industry.

Roll Compensation• The AutoHeight monitors and compensates for boom centre section roll.

Individual Boom Overrides• When necessary one boom section can be put into manual mode to avoid an obstacle, while the other boom sections

stay in automatic.

• This can take the stress out of spraying along obstacles such as fences because you only have to watch the boom along the obstacle, knowing that the AutoHeight is maintaining the height on the rest of the boom sections.

Improved Reliability• Each AutoHeight system is installed in a way to leave the sprayer hydraulics operational.

• This means that if a cable is damaged or a AutoHeight component is removed the sprayer remains functional.

3 - Description

10

General System Layout

A.

Self Propelled sprayer

A. Display Terminal

B. Control Module in JobCom box

C. Input Module in JobCom box

D. Valve Module

E. Valve Block

F. Roll Sensors

G. Left Outer Sensor

H. Optional Left Sensor

I. Main Lift Sensor

J. Optional Right Sensor

K. Right Outer Sensor

1. 14 AWG Cable

2. 18 AWG Cable

3. Bus Terminator

4. 3-Way Coupler

5. 2-Way Coupler

6. 8-Way Coupler

3 - Description

11

Trailed sprayers

Height Sensors• Height sensors use an ultrasonic signal to measure distance to the ground or crop canopy.

• Normally there are three height sensors used. A sensor is mounted to the outer part of each boom tip, and another sensor is mounted to the centre section.

Roll Sensors• Roll sensors are important for measuring boom and sprayer roll dynamics.

• Two roll sensors are normally used for a AutoHeight System.

• The mounting position of the roll sensors vary from sprayer to sprayer depending on boom geometry and suspension.

Modules• Normally there are three modules included: a control module, an input module, and a valve module.

• Module status is indicated by a LED. Shortly after power-up, the module should present a green light, indicating the module is functioning and ready.

A. Display Terminal

B. Control Module in JobCom box

C. Input Module in JobCom box

D. Roll Sensors

E. Valve Module

F. Valve Block

G. Left Outer Sensor

H. Optional Left Sensor

I. Main Lift Sensor

J. Optional Right Sensor

K. Right Outer Sensor

1. 14 AWG Cable

2. 18 AWG Cable

3. Bus Terminator

4. 3-Way Coupler

5. 2-Way Coupler

6. 8-Way Coupler

3 - Description

12

Display

Navigating to the Run Screen

To navigate to the AutoHeight run screen:

μ ATTENTION! On PULSE™ displays move directly to step 2B.

1. HC 8500/9500 (or other ISOBUS terminal) only:

Press the “VT” button.

2. Liability Notice Screen.

A. HC 8500/9500 (or other ISOBUS terminal) only:

Press the “UC” button to enter the AutoHeight.

B. Press the check button “V” to confirm Liability Notice and enter the AutoHeight run screen.

ha km/h

Agitation

TWIN Fan

Pressure

Tank Volume

rpm

Water

Sensitivity:Target Height:SoilMode: 100 cm

NORAC UC5 Liability Notice

By pressing the check button you acknowledge that you have read the liability notice and assume full responsibility for the safe operation of this control system.

3 - Description

13

3. The run screen appears.

μ ATTENTION! To view Run Screen functions, refer to “Run Screen” on page 67.

3 - Description

14

Icon description

The following table illustrates and describes the icons used in the display.

μ ATTENTION! These icons may look different depending on the type of display you have.

Icon Name Description

Check Confirms selection or completion of a step

Error Indicates when there is an error

Next Navigates to the next page

Previous Navigates to the previous page

Home This button always returns directly to the Run Screen

Manual Mode (Active) Green button indicates the system is in Manual Mode

Manual Mode (Inactive) Changes to Manual Mode when the system is in Automatic Mode

Automatic Mode (Active) Green button indicates the system is in Automatic Mode

Automatic Mode (Inactive) Changes to Automatic Mode when the system is in Manual Mode

Settings Navigates to the Settings screen

Cancel Cancels current selection or operation

Setup diagnostics Changes to the automatic setup diagnostic screen (PULSE™ only)

Setup Navigates to the Automatic/Manual setup screen

Options Navigates to the Options screen

Diagnostics Navigates to the Diagnostics screen

Advanced Settings Navigates to the Advanced settings

Display Navigates to the display settings (PULSE™ only)

Update Navigates to the software update screen (PULSE™ only)

Automatic Setup Starts an Automatic setup

3 - Description

15

Retune Starts a Retune

Boom Geometry Test Starts a boom geometry (push) test

Sensor Setup/Diagnostics Navigates to the Manual sensor setup or Sensor diagnostics screens

Valve Setup/Diagnostics Navigates to the Manual valve setup or Hydraulic diagnostics screens

Switches Navigates to the Manual remote switches screen

Versions Navigates to the UC5 modules versions screen

Geometry Navigates to the boom geometry screen

Manual Valve Drive Navigates to the Manual valve drive screen

Units Change the display units (PULSE™ only)

Language Change the language to display (PULSE™ only)

Move to Next VT Move the UC5 screen to a different VT ( VT only)

Icon Name Description

3 - Description

16

Menu structure

*Pulse display only

Run Screen Settings

Auto

Manual

Sensitivity

(Crop/Soil) Mode

(Target) HEIGHT

TIPS (ON/OFF)

Main Lift Reaction

Slant Reaction

Symbol Meaning

Rectangle

Setting

Indicates that a new page is displayed.

Indicates a setting that is changed in the current page.

Setup

Options

Diagnostics

Display Settings*

Advanced Settings

Update*

Automatic Setup

Hydraulic Retune

Boom Push Test

“Sensors” on page 17

“Valves” on page 17

“Switches” on page 18

Remote Switches

HEADLAND ASSIST

RETURN TO HEIGHT

Setpoint bump

Terrain assist

Double Tap Wings

Minimum boom height

Sprayer Type

Firmware Versions

Sensors

“Hydraulics” on page 18

“Geometry” on page 19

“Boom Movements” on page 19

Units*

Language*

Display Sound

Time in Manual

Time in Auto

Display update*

UC5 update*

More Settings

3 - Description

17

Sensors

Valves

Setup Menu:

*The reference frame roll sensor button will only be visible if a reference frame roll sensor is installed in the system.

Setup Menu:

Sensors

Left Outer Sensor

Left Inner Sensor

Main Lift Sensor

Right Outer Sensor

Right Inner Sensor

Roll Sensors

Sensor Serial Number

Sensor Offset

Temperature

Sensor Serial Number

Sensor Offset

Zero Button

Boom Frame Roll Sensor

Intermediate Frame Roll Sensor

Reference Frame Roll Sensor*

Valves

Left Up Valve

Left Down Valve

Main Up Valve

Main Down Valve

Right Up Valve

Right Down Valve

Output Driver

Deadzone

Gain

Auto Test

Manual Test

Output Driver

Output Driver

Output Driver

Roll CW Valve

Roll CCW Valve

Bypass Valve

Aux 2 Valve

Aux 3 Valve

Valves - 1

Valves - 2

3 - Description

18

Switches

Hydraulics

Setup Menu:

Diagnostics Menu:

Switches

Left Up Switch

Left Down Switch

Main Up Switch

Main Down Switch

Right Up Switch

Right Down Switch

Input Channel

Input Channel

Output Driver

Output Driver

Roll CW Switch

Roll CCW Switch

Aux 1 Switch

Aux 2 Switch

Switches - 1

Switches - 2

Input Channel

Input Channel

Input Channel

Input Channel

Input Channel

Input Channel

HydraulicsWings

(Deadzone, Gain and Base Temperature)

Main(Deadzone, Gain and Base

Temperature)

Roll(Deadzone, Gain and Base

Temperature)

Valve Block Temperature

3 - Description

19

Geometry

Boom Movements

Diagnostics Menu:

Diagnostics Menu:

Geometry Geometry - 1(LWSF, RWSF, BF POL, IF POL)

Geometry - 2(BRSF, WRSF, PRFC, PROS)

Geometry - 3(Left, Right, Main, Roll)

Boom Movements

Left Up

Left Down

Right Up

Right Down

Main Up

Main Down

Roll CW

Roll CCW

Hydraulics - 1

Hydraulics - 2

3 - Description

20

Understanding the AutoHeight System

General info

The AutoHeight System will work well in most situations. As with any equipment, it is important that the operator remains alert at all times. There may be some situations and terrain where performance is limited and in these situations the operator must resume manual control of the booms. A discussion of settings and performance is given below to clarify these situations.

Boom Reaction Time

Sprayer hydraulics and boom suspension systems are the governing components to boom reaction time. The maximum hydraulic speed of the boom is determined by HARDI and is not diminished by the addition of the AutoHeight hydraulic system.

Ditches, Waterways and Outside Rounds

In many situations it is necessary to spray with one sensor reading over terrain that does not reflect the same situation of the rest of the boom. These situations may arise when spraying over ditches, waterways, or field edges. When spraying in these situations the operator must remain alert and override the height controller when necessary.

Driving Through Ditches and Over Terraces

Changes in terrain such as driving over terraces or through ditches are special performance situations. This type of terrain can cause the sprayer to pitch and roll significantly and when operating at high speeds this can cause rapid changes in boom tip height. Sprayer hydraulic systems are not capable of tip speeds high enough to correct for the boom tip error. There are two solutions to this problem.

• The first is for the operator to recognize these situations before they occur and manually raise the boom to a safe height.

• The second is the roll (slant) control. This will compensate for the sprayer roll and make the required corrections faster and smoother, allowing for increased boom protection and higher spraying speeds.

3 - Description

21

Soil Mode, Crop Mode and Hybrid Mode

Height sensors use “smart sensor” technology, which take measurements from both the top of the crop canopy and from the soil surface. This allows the user to select either “Hybrid”, “Crop” or “Soil” mode:

• “Soil” mode: The target height is measured from the soil to the sprayer nozzle.

• “Crop” mode: The target height is measured from the crop canopy to the sprayer nozzle.

• “Hybrid” mode: Use a combination of the crop and soil readings to improve control.

Hybrid and Crop mode is usually used when operating in mature cereal grains, row crops or specialty crops. Soil mode is generally used to follow the ground through young crops, stubble or normal trash.

• In row-crops, Hybrid mode will work best with the sensor placed directly above a row.

• Some crops will produce a more varying canopy than others. In these situations, the Severe Terrain option will provide more representative measurements and better performance. Hybrid mode is recommended for uneven crops.

• When mounting the main lift height sensor, ensure the sensor does not measure behind a wheel or tramline, when driving straight or turning. The crop behind a wheel will be flattened, resulting in inaccurate readings and poor Crop mode performance.

• When operating in Crop mode when the crop is lodged, or where there is no crop, the sensor will follow the target down and begin to track the soil. However, when the crop resumes, the sensor may be beneath the crop canopy, or the canopy might be within the blanking range of the sensor therefore preventing the sensor from making proper measurements. This situation may require the operator to manually raise the boom as illustrated below.

In this case the Hybrid mode is recommended.

Sensing Further Ahead of the Boom

A common misconception is moving the sensor further ahead of the boom will increase performance. Moving the sensor further ahead of the boom increases the distance between the nozzle and sensor. This puts the sensor at a different location within the field than the nozzles, which introduces a height error at the nozzles. In severe terrain this height error can bring the nozzles close to the ground as the sensor reads over the crest of the hill or down a ditch.

Similarly, aiming the sensors ahead (rather than pointing straight down) will reduce sensor performance by providing inaccurate height readings.

Height Sensor Capabilities and Limitations

The AutoHeight sensors are designed and built specifically for agricultural purposes. However, the ultrasonic transducer must be clean and dry for optimal performance. The foam disc fitted into the bottom of the sensor protects the transducer from dust. If the protective foams become wet from rain or drift from the spray nozzles the sensors may have trouble reading. Furthermore, if the transducer itself becomes wet, leave the AutoHeight system on, but in manual mode. The transducer’s vibrations will clean itself of the water and after a few minutes it will begin to function again.

The height sensors will provide height readings from 22 to 300 cm, under typical conditions.

In order to optimize sensor performance, the AutoHeight sensor has a minimum distance that it will read, also known as the blanking range. As a result, the AutoHeight sensor is designed to ignore targets closer than 20 cm from the bottom of the sensor housing.

Boom is above crop Boom drops where there is no crop

Sensor is buried in crop because crop rose

too quickly

Operator manually lifted boom and

resumed in AUTO

3 - Description

22

Optional Kit

Severe Terrain Kit

The Severe Terrain kit is an optional add on kit for the AutoHeight System, that add a second sensor to each wing. This sensor is mounted half way down the length of the boom and provides average height for each boom, as well as a minimum height override.

This option is helpful in any one or a combination of the following situations:

• This is more suitable for larger booms and in severe terrain conditions. Boom lengths longer than 27 m.

• Land with sharp knolls such as terraces.

• Spraying in fall crop where there are thin or lodged areas.

• Improves performance in crop mode.

A. Possible crash without additional sensors

B. Crash avoided with additional sensors

23

4 - System setup

Setup

General info

Once the AutoHeight System has been installed, the AutoHeight functionality must be tested and the software must be tuned for the sprayer. There are two methods to setup the AutoHeight system. The recommended way is to use the automatic system setup - see “Automatic System Setup” on page 26. The alternative method is to use manual setup, which is intended for expert users and troubleshooting.

Navigating to the Setup Menu

To perform either the automatic or manual system setup, the user must navigate to the AutoHeight setup menu.

HC 8500/9500 (or other ISOBUS terminal) only:

Press the “VT” button to enter the Virtual Terminal screen.

A. Press the “UC” button to enter the AutoHeight.

B. Press the check button “V” to enter the AutoHeight work screen.

ha km/h

Agitation

TWIN Fan

Pressure

Tank Volume

rpm

Water


NORAC UC5 Liability Notice

By pressing the check button you acknowledge that you have read the liability notice and assume full responsibility for the safe operation of this control system.

4 - System setup

24

Press the wrench button.

Press the FORWARD button.

Press the wrench button.

SETTINGS

Sensitivity

Mode

HEIGHT

Crop

cm

TIPS

SETTINGS 3/3

4 - System setup

25

This is the Norac UC5 setup menu. The following sections will describe the features found within this menu.

A. Automatic setup

B. Retune

C. Push test

D. Sensors setup

E. Valves setup

F. Switches setup

SETUP

4 - System setup

26

Automatic System Setup

General info

€ DANGER!

• All boom sections will move during the automatic install.

• People and equipment must be clear of sprayer boom.

• Ensure the booms have sufficient range to lift fully and are clear of any power lines.

± WARNING! All settings will be lost and the system will be inoperable until an automatic setup is completed.

Before Automatic Setup1. Unfold the sprayer in a location that is relatively level and where the sensors are over bare soil or gravel.

μ ATTENTION! Do not conduct the system setup or retune procedures over standing crop or weeds/grass. Also, avoid concrete or asphalt surfaces.

2. Ensure the boom slant, tilt and suspension systems is functioning properly and smoothly. Friction on wear surfaces can be relieved using lubricants (grease, etc) or adjustment. Properly tuned suspension systems will optimise AutoHeight performance.

3. For best results, the hydraulic system should be under a normal load and at a normal working temperature.

• Start the solution pump and run the sprayer’s engine at a normal working RPM for the entire setup.

• Cycle all boom sections up and down manually for five minutes to warm the oil.

• For trailed sprayers, ensure any hydraulic flow controls are adjusted for normal field operation.

Changing the hydraulic flow controls after or during the system setup will affect the AutoHeight performance.

Setup Procedure

Navigate to the AutoHeight setup screen.

Select Automatic Setup.

μ ATTENTION! This screen will not appear on a new install or after firmware update.

SETUP

4 - System setup

27

Press the check button to accept the notice.

± WARNING! Pressing the check button, all configuration will be erased and system defaulted.

1. Select “Hardi” as the sprayer make.

÷ NOTE! Even if “Hardi” is already selected as “MAKE”, it must be reselected.

2. Then select specific model from the drop down menu. See list of available options below.

3. Then press the check button.

Sprayer Model Model Selection

DELTA boom with AutoSlant. DELTA (LPZ) AS

FORCE booms 30 metre and below with AutoSlant. FORCE (HPZ) up to 30m AS

TWIN FORCE booms 30 metre and below with AutoSlant. TWINFORCE up to 30m AS

VPZ booms with AutoSlant. VPZ AS

DELTA boom with AutoHeight. DELTA (LPZ) AH

EAGLE boom with AutoHeight. EAGLE (SPC) AH

FORCE boom with wide centre (Australia) with AutoHeight. FORCE (FTZ) AH

FORCE boom with narrow centre (other markets) with AutoHeight. FORCE (HPZ)

DELTA ALU boom with AutoHeight. LPAG Alu AH

TWIN FORCE booms 30 metre and below with AutoHeight. TWINFORCE 30m and smaller AH

TWIN FORCE booms 32 metre and above with AutoHeight. TWINFORCE 32m and bigger AH

TERRA FORCE boom with AutoTerrain. TERRAFORCE AT

TERRA FORCE boom with AutoTerrain, using special adaptor cable (Australia). TERRAFORCE AT w/ adapt. Cable (AUS)

Continuing will erase all previous settings

Press check to continue or X to cancel

UC5 WARNING

UC5 Automatic Setup

Hardi

DELTA (LPZ) AH

MAKE

MODEL

Select Sprayer

4 - System setup

28

Wait for the system to load.

In the following screens a list of precautions will be displayed on the terminal. It is very important that you read these precautions and follow them.

Once you have read the precautions, press the check button to jump to next screen.

μ ATTENTION! Please refer to “Before Automatic Setup” on page 26 for correct preparation before proceeding.

UC5

Please wait

System Loading

UC5 Automatic Setup

- Is Sprayer On?

- During the Automatic Configuration the Booms Needs to Move

- Are Sprayer/Booms Clear of Power Lines?

UC5 Automatic Setup

- Do Booms Have Room to Lift Fully?

- Is Sprayer Parked on Relatively Level Location Over Bare Soil or Gravel?

- Are All Personnel and Equipment Clear of Sprayer Booms?

4 - System setup

29

The installed components is checked.

UC5 Automatic Setup

- Check to Make Sure You Still Have All Boom Functions

- Ensure no Friction Between Sprayer Boom and Boom Carrier Pads

- Warm Up the Hydraulic Oil by Moving Boom Section for 5 Minutes

UC5 Automatic Setup

- Once Checklist is Complete Press PROCEED to Resume Install and Close Diagnostic Window

- If System is Pull Type Make Sure It is Connected to Tractor

UC5 Automatic Setup

Checking UC5 System Components

4 - System setup

30

If all required components are found in the system it will show this message.

Press the check button to proceed.

The system will default and then proceed to next step.

A. Adjust the distance from the nozzle to the ground directly beneath to 90 cm with “Main Lift Up” and “Main Lift Down” buttons.

μ ATTENTION! Ensure you are over bare, flat soil.

B. When the measured distance is 90 cm press and hold check button.

UC5 Automatic Setup

Proper UC5 System Components Connected; Press PROCEED to Resume

UC5 Automatic Setup

Defaulting

UC5 Automatic Setup

Sensor Zero Point Setup

Set Booms Such That the Nozzles are 35”/90cm off the Ground and Press PROCEED

A

4 - System setup

31

The boom now moves to find its zero point until display reads “Sensor Zero Point Setup Completed Successfully”.

Press and hold the check button. Continue holding while each boom section is moved during the Sensor Detect Test”.

μ ATTENTION! Do not move the boom with the Grip controls at this time.

Now detecting sensors on the left boom wing.

Keep holding the check button until “Sensor Detect Test” is finished.

UC5 Automatic Setup


Sensor Zero Point Setup Completed Successfully

UC5 Automatic Setup

Sensor Detect Test

Press and Hold PROCEED until Test is Finished

UC5 Automatic Setup

Sensor Detect Test


4 - System setup

32

The calibration starts detecting the left boom wing first. It will lift the boom and find how many sensors are on the left side. Then it will continue with calibration of the right boom wing.

During the steps the terminal will display “Left Detect - Motion”.



1 sensor now detected on the left boom wing.

μ ATTENTION! When having the “Severe Terrain Kit” 2 sensors must be detected.


Now detecting sensors on the right boom wing.



UC5 Automatic Setup

Sensor Detect Test

Left Detect - Motion

UC5 Automatic Setup

Sensor Detect Test

1 Sensor Detected on Left Section

UC5 Automatic Setup

Sensor Detect Test


4 - System setup

33

Detecting of the right boom wing.



1 sensor now detected on the right boom wing.



Sensor detection is now completed.

Keep holding the check button to continue the next setup steps.

UC5 Automatic Setup

Sensor Detect Test

Right Detect - Motion

UC5 Automatic Setup

Sensor Detect Test

1 Sensor Detected on Right Section

UC5 Automatic Setup

Sensor Detect Test

Sensor Detect Test Completed Successfully

4 - System setup

34

Boom geometry test moves boom to test the tilt function.

Release the check button to continue with the boom geometry test.

Exit the cab and go to the left boom wing. Pull the boom tip slightly downwards (30-60 cm), and then release hands from the boom.

μ ATTENTION! Ensure you stay a minimum of 1 metre away from any of the sensors.

When finished, return to the cab.

UC5 Automatic Setup

Boom Geometry Test

Cruising - Motion

UC5 Automatic Setup

Boom Geometry Test

Release PROCEED Button

UC5 Automatic Setup

Boom Geometry Test

Push boom tip down 30 to 60 cm (1 to 2 feet) and let go

4 - System setup

35

When Sensor Detect Test is completed, briefly release the check button and press it again. Continue holding it until the test is finished.

The system will now calibrate the hydraulics. All boom sections will move.

μ ATTENTION! If you accidentally release the button, press and hold the check button to resume.

Calibration of left boom tilt up.

Keep holding the check button.


UC5 Automatic Setup

Hydraulic Valve Setup


UC5 Automatic Setup



UC5 Automatic Setup



4 - System setup

36

Calibration of left boom tilt down.




UC5 Automatic Setup



UC5 Automatic Setup



UC5 Automatic Setup



4 - System setup

37

Calibration of right boom tilt up.



Calibration of right boom tilt down.


UC5 Automatic Setup



UC5 Automatic Setup



UC5 Automatic Setup



4 - System setup

38


Calibration of Main Lift function.




UC5 Automatic Setup



UC5 Automatic Setup



UC5 Automatic Setup



4 - System setup

39






UC5 Automatic Setup


Cruising - Motion

UC5 Automatic Setup


Cruising - Motion

UC5 Automatic Setup


Cruising - Motion

4 - System setup

40





UC5 Automatic Setup

KP Test

Cruising - Motion

UC5 Automatic Setup

KP Test

Cruising - Motion

UC5 Automatic Setup


Cruising - Motion

4 - System setup

41

Release the check button in order to continue with next step.

Press the check button again.

The geometrically allowed minimum boom height is preset for Hardi sprayers, but if necessary it can be altered here.

When the setup is finished then press HOME to confirm the minimum boom height and exit the automatic setup. Pressing HOME will go back to SETUP screen.

UC5 Automatic Setup


Cruising - Motion

UC5 Automatic Setup

KP Test

Press and Hold PROCEED

UC5 Automatic Setup

Auto Config Complete

Press CANCEL to Exit

Minimum boom height

cm

4 - System setup

42

When Automatic Setup has ended, some manual parts still need to be set up:

Go to settings screen by pressing the wrench button.

Press the wrench button to enter Setup.

SETTINGS 3/3

4 - System setup

43

Press to select Sensors setup.

In the following steps fine tuning height of every height sensor takes place. Therefore the procedure must be repeated for every sensor. Here illustrated for tuning of the left (outer) sensor.

1. Select the sensor position that you are configuring.

2. Manually measure from the ground to the bottom of the nearest sprayer nozzle tip.

3. Click on the nozzle height text box to change to the measured value.

4. Press BACK to exit and go back to SENSORS screen.

When all sensors are fine tuned, then press “BACK” once again to exit and go back to SETUP screen.

Left sensor

Right sensor

Left inner sensor (Severe Terrain Kit only)

Right inner sensor (Severe Terrain Kit only)Main Lift sensor

Roll sensor (not tuned here)

SETUP

SENSORS

Left Outer

HS #1: 36899

83.2 cm

18.5 °C

4 - System setup

44

Retune

When to Retune

On occasion it is necessary to recalibrate the AutoHeight System. You may want to perform a retune when:

• A hydraulic solenoid has been changed.

• A hydraulic pump has been changed or adjusted.

• A different tractor has been connected to the sprayer.

• The tractor’s hydraulic flow control has been adjusted.

Retune Procedure


Select Retune.

In the following screens a list of precautions will be displayed on the terminal. It is very important that you read these precautions and follow them.

Once you have read the precautions, press the check button to jump to next screen.

μ ATTENTION! Please refer to “Before Automatic Setup” on page 26 for correct preparation before proceeding.

SETUP

UC5 ReTune

- Is Sprayer On?

- During the Automatic Configuration the Booms Needs to Move

- Are Sprayer/Booms Clear of Power Lines?

4 - System setup

45

UC5 ReTune

- Do Booms Have Room to Lift Fully?

- Is Sprayer Parked on Relatively Level Location Over Bare Soil or Gravel?

- Are All Personnel and Equipment Clear of Sprayer Booms?

UC5 ReTune

- Check to Make Sure You Still Have All Boom Functions

- Ensure no Friction Between Sprayer Boom and Boom Carrier Pads

- Warm Up the Hydraulic Oil by Moving Boom Section for 5 Minutes

UC5 ReTune

- Once Checklist is Complete Press PROCEED to Resume Install and Close Diagnostic Window

- If System is Pull Type Make Sure It is Connected to Tractor

4 - System setup

46

The installed components is checked.

If all required components are found in the system it will show this message.

Press the check button to proceed.

A. Adjust the distance from the nozzle to the ground directly beneath to 90 cm with “Main Lift Up” and “Main Lift Down” buttons.

μ ATTENTION! Ensure you are over bare, flat soil.

B. When the measured distance is 90 cm press and hold check button.

UC5 ReTune

Checking UC5 System Components

UC5 ReTune

Proper UC5 System Components Connected; Press PROCEED to Resume

UC5 ReTune


Set Booms Such That the Nozzles are 35”/90cm off the Ground and Press PROCEED

A

4 - System setup

47

The boom now moves to find its zero point until display reads “Sensor Zero Point Setup Completed Successfully”.

Press and hold the check button. Continue holding while each boom section is moved during the Sensor Detect Test”.


Now detecting sensors on the left boom wing.



UC5 ReTune


Sensor Zero Point Setup Completed Successfully

UC5 ReTune

Sensor Detect Test


UC5 ReTune

Sensor Detect Test


4 - System setup

48

The calibration starts detecting the left boom wing first. It will lift the boom and find how many sensors are on the left side. Then it will continue with calibration of the right boom wing.

During the steps the terminal will display “Left Detect - Motion”.



1 sensor now detected on the left boom wing.



Now detecting sensors on the right boom wing.



UC5 ReTune

Sensor Detect Test

Left Detect - Motion

UC5 ReTune

Sensor Detect Test


UC5 ReTune

Sensor Detect Test


4 - System setup

49

Detecting of the right boom wing.



1 sensor now detected on the right boom wing.



Sensor detection is now completed.

Keep holding the check button to continue the next setup steps.

UC5 ReTune

Sensor Detect Test

Right Detect - Motion

UC5 ReTune

Sensor Detect Test

1 Sensor Detected on Right Section

UC5 ReTune

Sensor Detect Test

Sensor Detect Test Completed Successfully

4 - System setup

50

Boom geometry test moves boom to test the tilt function.

Release the check button to continue with the boom geometry test.

Exit the cab and go to the left boom wing. Pull the boom tip slightly downwards (30-60 cm), and then release hands from the boom.

μ ATTENTION! Ensure you stay a minimum of 1 metre away from any of the sensors.

When finished, return to the cab.

UC5 ReTune

Boom Geometry Test

Cruising - Motion

UC5 ReTune

Boom Geometry Test

Release PROCEED Button

UC5 ReTune

Boom Geometry Test

Push boom tip down 30 to 60 cm (1 to 2 feet) and let go

4 - System setup

51

When Sensor Detect Test is completed, briefly release the check button and press it again. Continue holding it until the test is finished.

The system will now calibrate the hydraulics. All boom sections will move.

μ ATTENTION! If you accidentally release the button, press and hold the check button to resume.

Calibration of left boom tilt up.



UC5 ReTune



UC5 ReTune



UC5 ReTune



4 - System setup

52

Calibration of left boom tilt down.




UC5 ReTune



UC5 ReTune



UC5 ReTune



4 - System setup

53

Calibration of right boom tilt up.



Calibration of right boom tilt down.


UC5 ReTune



UC5 ReTune



UC5 ReTune



4 - System setup

54






UC5 ReTune



UC5 ReTune



UC5 ReTune



4 - System setup

55






UC5 ReTune


Cruising - Motion

UC5 ReTune


Cruising - Motion

UC5 ReTune


Cruising - Motion

4 - System setup

56





UC5 ReTune

KP Test

Cruising - Motion

UC5 ReTune

KP Test

Cruising - Motion

UC5 ReTune


Cruising - Motion

4 - System setup

57

Release the check button in order to continue with next step.

Press the check button again.

The geometrically allowed minimum boom height is preset for Hardi sprayers, but if necessary it can be altered here.

When the setup is finished then press HOME to confirm the minimum boom height and exit the automatic setup. Pressing HOME will go back to SETUP screen.

Your AutoHeight system is now configured and ready for operation.

UC5 ReTune


Cruising - Motion

UC5 ReTune

KP Test

Press and Hold PROCEED

UC5 ReTune

Auto Config Complete

Press CANCEL to Exit

Minimum boom height

cm

4 - System setup

58

Manual Setup

General info

The AutoHeight system will not operate in automatic mode until the system has been configured. It is recommended that the automatic system setup is used for set up.

μ ATTENTION! The manual system setup involves setting up each sensor, valve output and remote switch input, and is intended for expert users and troubleshooting only.

Sensor Setup

Before beginning, it is necessary to know the serial number and location for each of the sensors. The sensor serial number is located on the bottom of the sensor housing, beside the foam disc.

It is recommended that you record the sensor location and serial number in the figure below, because this information may be required during troubleshooting.

A. Sensor Serial Number alternative location

B. Sensor Serial Number

Once the sensor serial nu

mbers and locations are known, the sensor setup can be performed using the following steps:

11069A

B

Left Outer Left Inner* Right Inner* Right Outer

Main Lift

* Your sprayer may not be equipped with these sensors

4 - System setup

59


Select Sensors setup.

Select the sensor position that you are configuring.

A. Select the appropriate serial number from the drop down menu.

B. To set the sensor height:

1. Measure from the ground to the bottom of the nearest sprayer nozzle tip.

2. Click on the nozzle height text box.

SETUP

SENSORS

Left Outer

HS #1: 36899

83.2 cm

18.5 °C

4 - System setup

60

3. Enter the exact measured number and press check button.

Repeat this to enter the correct height for each of the sensors.

When you change the roll sensor value the text changes from Nozzle Height to Measured Roll. This should be near zero when the boom is level.

Clear

93.4

4 - System setup

61

Valve Setup

Each valve must be setup and tuned correctly for optimum performance from the AutoHeight system. When setting up the valves, the sprayer booms must have room to move in their full range of motion. Make sure there are no obstructions, such as power lines, that the booms may come into contact with.

μ ATTENTION! Before setting up the valves manually, it is recommended you attempt the Automatic System Setup. Starting the Automatic System Setup will load the default valve settings, which will make the manual valve setup much simpler. At any time the Automatic System Setup can be cancelled and the default settings are still stored.

Valve Tuning

Each valve has two settings:

• Dead zone.

The dead zone relates to the smallest amount of movement the valve can produce.

• Gain setting.

The gain relates to the maximum speed at which the valve can move the boom function.

A dead zone and gain parameter exists for each valve. Each valve may be tuned:

• Automatically (as part of the Automatic System Setup or Retune).

• Automatically (one function at a time).

• Manually.

4 - System setup

62

Options Menu

General info

Several options are available to configure your AutoHeight System to operate in different modes. The options menu is located in the Automatic Setup Menu - see “Automatic System Setup” on page 26.

Under the sprayer make drop down box choose “Options”. The sprayer model drop down box will now display a list of options.

Each time you select an option it will toggle between the available selections. After the option is selected, press “OK” and the settings will be displayed in the diagnostics window.

Remote Switches

Remote switches allow manual override of the AutoHeight system. Depending on the input, this may cause a complete override or a partial override of AutoHeight automatic control. Each of the AutoHeight functions requires a manual override.

Before manually setting up the remote switches it is recommended that you attempt an automatic setup. By starting an automatic setup the default values will be set up for the remote switches.

SETTINGS 3/3

OPTIONS 1/4

Remote Switches

RETURN TO HEIGHT

4 - System setup

63

Return to Height

When this option is enabled (checked), the main lift will move to the target height and remain there while the AutoHeight system is in Automatic Mode.

After the initial Main Lift adjustments, no further adjustments are made to the centre section.

Headland Assist Toggle

Selecting this option will toggle between enabling and disabling Headland Assist. By default, this feature is enabled for certain sprayer types.

Select to Enable.

Headland Assist is used to raise the wings only or the entire boom at the end of the field for turning. This feature operates when the system is in automatic.

The headland mode height can be changed. While the boom is in headland mode, the operator can change the height by simply adjusting the target height.

The menus “Headland Trigger” and “Headland Mode” appears visible below when Headland Assist is enabled.

Headland Trigger:

• OFF

Headland Trigger is turned OFF.

• MAIN

Raise the wings only or the entire boom at the end of the field for turning.

• REMOTE

A separate switch to trigger the Headland Assist.

Headland Mode:

• MAIN: Raise the entire boom.

• WINGS: Raise the wings only.

OPTIONS 1/4

Remote Switches

RETURN TO HEIGHT

OPTIONS 2/4

HEADLAND ASSIST

OPTIONS 2/4

HEADLAND ASSIST

HEADLAND TRIGGER

MAIN

HEADLAND MODE WINGS

4 - System setup

64

Setpoint Bump

If setpoint bump is checked, the operator can increment the setpoint (permanent) by clicking on the Main Up function on the Hardi Grip.

This function can only be activated if Headland Assist is switched off, because the Main Up button is normally assigned to the Headland assist.

Terrain Assist

Terrain Assist is a feature that can be assigned to the Main Up switch of the Grip.

This function is specially designed for operators that have to lift the tilts temporarily to move over an obstacle in the field.

If the operator:

• Press the Main Up on the Grip, the wings go up to a predefined height and stay active.

• Press Main Down on the Grip, the system goes back to the original height.

OPTIONS 3/4

Setpoint bump

Terrain assist

Double Tap Wings

OPTIONS 3/4

Setpoint bump

Terrain assist

Double Tap Wings

4 - System setup

65

Double Tap Wings

When this option is enabled (checked), the system can be put into Automatic Mode by tapping either the left down switch or the right down switch twice provided that at least one boom section is already in Automatic Mode.

Holding any of the up or down switches will still put the system into Manual Mode.

OPTIONS 3/4

Setpoint bump

Terrain assist

Double Tap Wings

4 - System setup

66

Minimum Boom Height

The minimum boom height is the height the boom is able to go, when eventual boom suspension travel has been taken into account.

The recommended minimum height measured from the spray nozzles to the ground (soil) should be set as:

• 50 cm, or

• As low the boom can go, plus 5 cm higher in order to maintain boom travel.

± WARNING! Highest value to be chosen!

Click the “MINIMUM HEIGHT” box to change value.

High Oil Temp Alarm Toggle

The High Oil Temperature Alarm is normally defaulted to on. Selecting this option will toggle between enabling and disabling the alarm. When enabled, an error message will appear if the AutoHeight valve block reaches a temperature of 95°C. It will appear once and will not repeat until power has been cycled.

This alarm is for informational purposes only, to indicate when there is a major oil heating issue with the machine. This alarm does not reflect the warranty of any components. Actual maximum oil temperature is determined by the fluid used in the system and should be recommended by the sprayer manufacturer.

Boom Geometry Test

Select this option if you would like to redo the boom geometry test. After selecting this option, the display will prompt you to exit the cab and manually push either boom tip down 30 – 90 cm for a moment and then let go.

Do not walk near the sensors when approaching the boom. Stay at least 1 metre from the sensor to not induce a measurement error.

Temperature Compensation Toggle

This feature is normally enabled to provide compensation to the AutoHeight system as the hydraulic oil changes temperature. Disabling this feature may only be useful for troubleshooting purposes.

Slow Roll Reference

The Slow Roll Reference option is set by sprayer type. It may be useful to enable this feature for high pendulum style booms (with roll/slant) where the boom does not follow the chassis on side hills. When this feature is enabled the AutoHeight system will adjust the roll (slant) on side hills to bring the centre section of the boom parallel to the chassis.

You may want this feature disabled for situations where the sprayer is driving in an extended rut and you would like the roll (slant) to follow the ground as opposed to the chassis.

OPTIONS 4/4

Minimum boom height

50.0 cm

67

5 - Operation

Typical operation

Run Screen

Once the system is correctly configured, it is very simple to use. The majority of functional settings and controls can be accessed on the main screen. An image of the boom, with the height of each boom section is displayed.

The height displayed on the boom is measured from the spray nozzles to the soil (soil mode) or crop canopy (crop mode). If there are five height sensors on the sprayer, the height displayed is the outer sensor height only.

HC 8500/9500 Main Run-ScreenTo change between automatic and manual, press the button in the lower right corner of the terminal. When the boom is green, the AutoHeight System is in automatic. When the boom is grey, the AutoHeight System is in manual.

A. Settings

B. Auto/Manual Button

Virtual Terminal (VT) and PULSE™ Run-ScreenWhen the AutoHeight System is in automatic, arrows will appear on the screen above or below the boom sections. These arrows indicate the AutoHeight system is making a correction to part of the boom in the displayed direction. Often the correction will be very small and there may not be a noticeable change in boom position.

A. Boom Height and State window

B. Target Height

C. Auto button

D. Settings button

E. Manual button

ha km/h

Agitation

TWIN Fan

Pressure

Tank Volume

rpm

Water


5 - Operation

68

Minimum Boom Height

When attempting to go to automatic mode an error message appears if the boom is set lower than the Minimum Boom Height entered.

If this warning appears, then press the escape button and do one of the following:

• Raise the boom to a height above the Minimum Boom Height.

• Go the options menu and correct the Minimum Boom Height. See “Minimum Boom Height” on page 66.

Do not do this if the Minimum Boom Height is already set to fit your actual Hardi spray boom.

Warning message in Crop/Hybrid mode. Select between 2 options to continue:

A. Press the escape button to stay in manual mode and correct the boom height to above the Minimum Boom Height setting before attempting to go to Auto mode again.

B. Press the check button to go to Auto and continue spraying.

± WARNING! Going to Auto may be used with extreme caution as the boom suspension travel may be lost. Boom is in high risk of being damaged!

UC5 WARNING

The setpoint is too low. Before going to Auto the setpoint must be set above:

50 cm

UC5 WARNING

The setpoint is below Minimum boom height setting. Operating with the boom lower than this setting can result in boom damage.

Press X to stay in Manual

Press [v] to go to Auto

5 - Operation

69

Settings

General info

The AutoHeight settings are displayed on the main run screen. To change these settings:

HC 9500 screenPress on the boom image to display the boom height control options screen.

Virtual Terminal (VT) and PULSE™ screensGo to settings screen by pressing the wrench button.

8.99 ac 15.0 mph1.55 ha 10.6 km/h

Rate

Agitation Pressure

Tank

Water

Flow:Container:

Sensitivity:Target Height:SoilMode:

114 cm114 cm

Water

TWIN Angle

5 - Operation

70

Sensitivity

The sensitivity can be adjusted from 1 to 10, with 5 being the default setting.

Click the “Sensitivity” box to change the sensitivity.

• A lower number will reduce the system sensitivity and improve stability.

• Higher settings will speed up the response and also create a greater demand on the hydraulics.

Soil / Crop Mode

Click the “Mode” box to change the system from soil mode to crop mode.

For more information on crop and soil mode refer to “Soil Mode, Crop Mode and Hybrid Mode” on page 21.

Mode Height measure

Soil Sensors will read the height from the spray nozzles to the ground.

Crop Sensors will read the height from the spray nozzles to the top of the crop canopy.

Hybrid Use a combination of the crop and soil readings to improve control.

SETTINGS 1/3

5Sensitivity

Mode Soil

HEIGHT 75.0 cm

TIPS

SETTINGS 1/3

5Sensitivity

Mode Soil

HEIGHT 75.0 cm

TIPS

5 - Operation

71

Target Height

The target height is the height you would like the boom to be set at when spraying.

• In soil mode, the target height is measured from the spray nozzles to the soil.

• In crop mode the target height is measured from the crop canopy to the spray nozzles.

Click the “HEIGHT” box to change value.

Tips On/Off

Some sprayers have the ability to fold in the boom tips and spray with only the inner sections of the boom.

Tips OffIf the sprayer has this ability and is equipped with a five sensor system (Severe Terrain Kit), the check box should be unchecked when spraying with the tips folded in.

When in Tips Off the two outer sensors on the wings will be disabled and only the inner wing sensors will be used to control the height.

Tips OnThe check box is defaulted to be checked (Tips On) and will return to be checked anytime the power is cycled.

SETTINGS 1/3

5Sensitivity

Mode Soil

HEIGHT 75.0 cm

TIPS

SETTINGS 1/3

5Sensitivity

Mode Soil

HEIGHT 75.0 cm

TIPS

5 - Operation

72

Main Lift Reaction

The main lift reaction time affects how long the main lift waits between adjustments.

Click the “Main Lift Reaction” box to change the reaction.

• The main lift reaction time can be adjusted from 0 to 5.

• A slower main lift reaction time can be beneficial in uneven crops to prevent the boom from making unnecessary movements.

• A reaction time of zero can be beneficial in tall crops where the crop is being pushed over by the sprayer chassis to prevent the centre section from moving too low.

Slant Reaction

The slant reaction time is how long the slant waits between adjustments.

Click the “Slant Reaction” box to change the slant reaction.

÷ NOTE! This setting is only visible when the slant control is enabled.

• The slant reaction time can be adjusted from 0 to 5.

• It is best to set the slant reaction to a low setting in flat fields as the slant is generally not required in flat fields.

• It is best to set the slant reaction to a higher setting in uneven terrain or on side hills.

• Setting the slant reaction too high will cause the boom to oscillate and decrease the performance of the system.

Setting Main Lift Reaction Situation

0 Off Tall Crops

1 Slowest Reaction Uneven Crops

… … …

5 Fastest Reaction Even Crops & Soil Mode

Setting Slant Reaction Situation

0 Off Flat fields

1 Slowest Reaction Even Fields

… … …

5 Fastest Reaction Uneven & hilly fields

SETTINGS 2/3

4Main Lift Reaction

Slant Reaction 4

SETTINGS 2/3

4Main Lift Reaction

Slant Reaction 4

5 - Operation

73

Sprayer Switches

General info

When a sprayer switch is pressed, an arrow will be displayed on the screen showing which function is being activated. For example, if the left up switch is pressed then an arrow will be shown above the left boom pointing up.

Tilt Switches

While in automatic, if either left or right tilt switches are pressed, the corresponding boom section will go into manual mode. This is useful when spraying near ditches or fences where you would like to manually control one of the booms while leaving the other boom in automatic mode. To return all boom sections to automatic, press the auto / manual button.

Main Lift Switch

While in automatic, if the main lift up or down switch is momentarily pressed, the target height is incrementally adjusted up or down.

If Headland Assist (See “Headland Assist Toggle” on page 63.) is enabled with the trigger as the main lift switch, then the main lift switch will be used to control Headland Assist instead of the target height. The main lift up switch will activate Headland Assist. By pressing main lift down the system will return to automatic mode.

Pressing and holding the main lift switch will always put the system into manual.

μ ATTENTION! Some sprayer types may not have all the functionality listed above.

5 - Operation

74

75

6 - Maintenance

Service info

General info

The AutoHeight System requires very little maintenance, but there are a few procedures that will ensure the system continues to work correctly for many years.

Before each day

• It is highly recommended that the sprayer friction pads are greased. This will ensure the boom is pivoting separately from the sprayer.

It may be necessary to grease the friction pads multiple times throughout each day. Please refer to “Lubrication of the sprayer” on page 77.

• Ensure the AutoHeight sensor breakaway brackets are functioning correctly. Apply grease to the moving parts if necessary, to ensure they return to centre after a break-away occurs.

• Ensure that there is a clean, dry foam disc inserted in each sensor. If it is clogged with dust or other debris, clean it as described in “Cleaning Ultrasonic Height Sensors” on page 76.

• Inspect the foam disc insert in each sensor. If it is clogged with dust or other debris, clean it. When the foam is removed from the sensor, it can be blown out with an air compressor. If necessary, replace the foam. The AutoHeight system must always be operated with the foam disc insert in each height sensor.

At the end of the season

• Remove the height sensors from the sprayer and store inside. Record the sensor serial numbers in “Sensor Setup” on page 58 to ensure each height sensor is returned to its original location at the start of the next season.

• If necessary, contact your HARDI dealer to have the sensors recalibrated or repaired. A typical sensor can operate three to ten years without requiring attention.

• Replace oil filter with new oil filter kit (A) (Part no. 75076900) in the HARDI AutoHeight hydraulic manifold annually.

6 - Maintenance

76

Cleaning Ultrasonic Height Sensors

Fitted into the bottom of the sensor is a foam shield that can become clogged with dust and dirt. Remove the foam from the sensor, blow it out with an air compressor, if available, and reinsert.

• Remove the foam disc from the sensor and wash it with clean water. Squeeze out excess water and allow the foam disc to dry. The sensor can be used if the foam is wet, however you may not get a valid height reading until it is completely dry.

• If the transducer inside the sensor is also dirty, wash it using clean water.

Remove the sensor from the bracket and rinse debris from the transducer by pouring water across the face of the sensor. Do not submerge or pressure-wash the sensor.

A soft bristle brush can also be used to gently clean the transducer if water alone is not sufficient. Use caution not to scratch or tear the transducer as it is fragile. The sensor should be left to dry with the transducer facing downwards. The sensor can be used if it is wet, however you may not get a valid height reading until it is completely dry. Leaving the control system powered on with the sensor connected and facing down will speed the process of drying the sensor.

μ ATTENTION! Bring extra clean protective shields in the tractor cabin while spraying, for easy replacement in the field if a shield gets dirty.

μ ATTENTION! Do not blow out the foam shield while it is still installed in the sensor. Sensor damage may result. Always remove the foam shield for cleaning.

μ ATTENTION! Do NOT spray without the foam shields installed - chemicals will damage the transducer surface!

μ ATTENTION! Chemicals or compressed air should never be used to clean the sensor.

6 - Maintenance

77

Lubrication of the sprayer

As the AutoHeight system continuously adjusts the sprayer boom, extra attention needs to be paid for the boom to be well lubricated. Shown below are the specific sprayer boom parts with respective lubrication points that need extra attention.

÷ NOTE! For further information on lubricating the sprayer, please refer to the sprayer’s instruction book.

DELTA boom (LPZ):

DELTA FORCE boom (DDZ):

FORCE and TWIN FORCE booms (HPZ/HAZ):

6 - Maintenance

78

TWIN FORCE 32-36 metre boom (HAZ):

79

7 - Fault finding

Typical Failures

General Operation

Boom does not appear to be level after system setup• The sensitivity setting may be too low. Check the sensor height readings from the run screen, if it differs from the target

height then try turning up the sensitivity. The default tolerance for a sensitivity setting of 5 is ± 6 cm.

• The Deadzone may be calibrated incorrectly. If the Deadzone is set too low the system cannot make small corrections. Recalibrate the Deadzones as described in “Valve Tuning” on page 61.

• The sensor offset heights may be incorrect. Refer to “Sensor Setup” on page 58.

The system will not go into Automatic Mode• Ensure the system has completed an Automatic System Setup. If you have started and not finished an Automatic

System Setup, you will need to manually tune at least one hydraulic function (See “Valve Tuning” on page 61.) before the system will allow you to go into Automatic.

• Ensure the sensors are reporting less than 152 cm. If the booms are above this height, the system will not go into automatic.

The system resets when a valve is turned on• Check the power supply. Ensure the sprayers power supply voltage is more than +12 V DC.

• This may also be caused by a damaged or defective power supply cable. Check the power cable for a good connection to the supply.

The system randomly switches between Automatic and Manual Mode• This may be caused by a damaged or defective interface cable. Ensure all cables are connected correctly. The

connections should be tight and free of corrosion.

• There may be electrical noise on the sprayer’s D.C. system. Add a power line filter or free-wheeling diodes on one or more of the sprayer’s solenoid valves.

Sensors

Height or roll sensor appears not to work (displays “NO COMM”)• This may be caused by a damaged or defective CAN-bus cable. Ensure all cables are connected correctly. The

connections should be tight and free of corrosion.

• If the cables check out ok the sensor may be damaged. Try swapping sensors to see if the problem follows the sensor.

Invalid height sensor measurement (displays “NO DATA”)• It is normal to see this message occasionally. If you are seeing this message all the time the sensor may be having

difficulty obtaining a proper reading. Ensure the sensor is not out of range. Check the sensor alignment. The sensor should point almost perpendicular to the ground and there should be no obstructions between the sensor and the ground.

• The protective foam shield may be contaminated. Inspect and clean the foam shield. If it is severely worn or dirty replace the foam shield.

• The sensor may have moisture in it. This can be common for sprayers which fold the wing tips up; therefore pointing the sensors into the air. If rain or moisture collects in the sensor, remove the protective foam disc and allow the water to drain out. If you leave the sensor running it will dry out on its own and start working again.

• The sensor transducer may be damaged. Remove the foam shield and check if you can hear the sensor ticking. If you cannot hear the ticking sound or if it is very faint then the transducer may be damaged and the sensor would need repairing.

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Modules

The green LED on the module is flashing• Count the number of times that the LED flashes and refer to the following table for diagnostic. The LED will flash quickly

followed by a three second delay, after which the flash pattern will be repeated. Display Bus errors are only valid on the Control Module.

Hydraulics

• When diagnosing hydraulic problems you should first determine if the electrical system is ok. Check all cable connections and ensure they are tight and free of corrosion. Measure the electrical output at the valve to ensure there is voltage at the connection.

• Most valves will have an override pin. This is a small brass colored hole located at the end of each coil in the centre. There will be one for each valve. By pushing in the pin you can manually activate the valve. There must be pressure at the block for the function to move.

• If your sprayer is equipped with a bypass valve it will need to be activated anytime a hydraulic function is required.

Boom (wings) will not raise or lower• Ensure there is hydraulic oil being supplied at the Norac valve block and that there is pressure at the pressure port. The

hydraulics will not work if the pressure and tank lines are reversed. If you have any quick couplers in the system they must be properly connected.

• Check the bypass valve (if equipped) for proper operation and cable connections to the AutoHeight system. The bypass valve must be configured correctly in the manual valve setup (See “Valve Setup” on page 61.).

• There may not be enough back pressure to activate the check valves in the Norac valve block. You can place orifices in the “A” lines going to tank in order to create sufficient back-pressure to activate the pilot-operated check valves in the Norac valve block.

• The raise and lower lines to the tilt cylinders may be reversed. Ensure the raise lines are connected to the “B” ports on the Norac valve block. The lower lines should be connected to the “A” ports.

The boom will raise when it should lower, or vise versa• Check the cable connections to the valve block and ensure they are not reversed.

• The raise and lower lines to the tilt cylinders may be reversed. Ensure the raise lines are connected to the “B” ports on the Norac valve block. The lower lines should be connected to the “A” ports.

The hydraulic oil is overheating• Using the AutoHeight system at higher sensitivities may create a greater demand on the sprayer’s hydraulics. Try

lowering the sensitivity.

• Plumbing single acting systems as double acting with orifices in both “A” ports may reduce the heating. Contact a Hardi Service Centre for more information.

The boom will creep up or down in Manual Mode• This may be caused by a problem with the sprayer’s hydraulic system. Check the sprayer hydraulics. Check if the tilt

cylinders are leaking and replace the seals if needed.

• There may be an internal problem with the Norac valve block. Some possible causes are; a sticky valve, worn valve, faulty check valves or a foreign object stuck in the valve block. If possible try removing any foreign objects in the valve. The valve block may need also repairing.

Number of Flashes Description

Solid (No Flash) AutoHeight module is operating correctly.

1 Module is not communicating with any other modules on the Display (ISO) CANbus.

2 Module is not communicating with any other modules on the NORAC CANbus.

3 The module has disabled the Display CANbus communication because there were too many errors on the CANbus.

4 The module has disabled the NORAC CANbus communication because there were too many errors on the CANbus.

5 There are CANbus errors on the Display Bus, but the module is able to continue communicating.

6 There are CANbus errors on the NORAC CANbus, but the module is able to continue communicating.

7 There are CANbus errors on the Display Bus, but the module is able to continue communicating.

8 There are CANbus errors on the NORAC CANbus, but the module is able to continue communicating.

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• There may not be enough back pressure to activate the check valves in the Norac valve block. You can place orifices in the “A” lines going to tank in order to create sufficient back-pressure to activate the pilot-operated check valves in the Norac valve block.

Boom Stability

The boom is unstable in Automatic Mode• Ensure the sprayer’s boom suspension is operating correctly and moving freely. If the suspension is sticking or too

loose the boom will be unstable. If the boom is unstable in Manual Mode, the AutoHeight system will not make it more stable.

• If there are friction pads on the boom, ensure they are well greased. Check the boom damper shocks and replace them if they are worn. If there is substantial wear in the mast-style main lift the boom will be too loose. Install shims or adjust the mast-style lift if possible.

• Retune the system. If the hydraulic settings are not calibrated correctly the boom may be unstable. Perform a Retune and redo the Boom Geometry Test.

• Check the mounting of the roll sensors. They must be mounted for the type of boom suspension as shown in the installation manual.

• Ensure the height sensors are reading properly and consistently. The sensors must be aligned and mounted correctly. The sensor should point almost perpendicular to the ground and there should be no obstructions between the sensor and the ground.

• If your sprayer is equipped with accumulators on the tilt cylinders they should be charged to the manufacturers specifications. There should also be orifices installed between the accumulators and tilt cylinders.

The boom (wings) move all the way to the top in Crop Mode• The sensors are likely reading off of the boom in crop mode. Ensure the sensors are aligned and mounted correctly.

The sensor should point almost perpendicular to the ground and there should be no obstructions between the sensor and the ground.

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83

8 - Technical specifications

Specifications

System Specifications

PULSE™ Fuse

The 10A fuse on the power cable may be replaced by the operator if needed. The replacement fuse must be rated to blow in less than 120 seconds at 200% and be ANSI/UL248-14 or better.

Replacement Fuse: Manufacturer Part Number Littelfuse - 0257005

AutoHeight Hydraulic Valve Module

Hydraulic Pressure (maximum) 3300 psi

Solenoid Valve PWM Frequency 300 Hz

AutoHeight Sensors

Ultrasonic Sensor Transmit Frequency 50 kHz

Operating Temperature Range 0°C to 80°C

PULSE™ displays

Supply Voltage (rated) 12VDC

Supply Current (rated) 10A

Clock Frequency (maximum) 96 MHz

Baud Rate 250 kbps

8 - Technical specifications

84

85

Index

Index

AAbout this Instruction Book, 5Agroparts, 87Automatic

Dead Zone Calibration, 62System setup, 9, 26

BBoom

Fault finding, 79Geometry Test, 66Minimum Height, 68Reaction Time, 20Stability, 81

DDitches, 20

HHeadland Assist

Toggle, 63Trigger, 66

Hydraulics, 80

KKey Features, 9Kits

Optional, 22Severe Terrain, 22

LLubricating the sprayer, 77

MManual

Setup, 58Minimum Boom Height, 68Mode

Crop, 21, 70Minimum Height, 58Severe Terrain, 66Soil, 21, 70

Modules, 80

OOperation, 67Operator safety, 7Options Menu, 62Outside Rounds, 20

PPrecautions, 7

RRetune, 44Run Screen, 67

SSelf Propelled sprayer, 10Sensitivity, 71Sensors

Capabilities and Limitations, 21Fault finding, 79Height, 11Roll, 11Setup, 58

Service info, 75Setup, 23Slow Roll Reference, 66Spare parts, 87Specifications, 83Switches

Main Lift, 73Tilt, 73

Symbols, 7

TTarget Height, 71Terraces, 20Toggle

High Oil Temp Alarm, 66Temperature Compensation, 66

Trailed sprayer, 11

VValve

Setup, 61Tuning, 61

WWaterways, 20

Index

86

Spare partsTo see updated spare part information the website www.agroparts.com can be visited. Here all parts information can be accessed when free registration has been made.

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Helgeshøj Allé 38 - DK 2630 Taastrup - DENMARK

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