Row-Trak™ Guidance System

The Row-Trak™ guidance system automatically controls the hydraulic steering system in the machine to maintain row unit alignment with the cotton rows in the field. The row guidance control unit (RGC) uses crop sensor signals to calculate steering commands to steer the machine along the cotton rows as it travels across the field.

System Components

The guidance system consists of the following primary components:

• A row guidance control unit (RGC) which processes crop sensor and steering input information and generates steering output signals to the electrohydraulic steering valve.
• A crop sensor which converts crop row position, relative to row unit position, to an electrical signal.
• A dual encoder steering input device which converts steering wheel position to an electrical signal.
• A wheel angle sensor which provides feedback to the RGC regarding the current angle of the steered wheels on the guide axle.
• A set point encoder located on the armrest control console which allows the operator to adjust the crop sensor center point.
• An electrohydraulic steering valve which controls oil flow to the steering cylinders on the machine based on commands from the RGC.
• A row guidance system on-off button, located on the armrest, used to enable or disable the guidance system.
• A row guidance engage button, located on the multifunction control handle, used to activate or deactivate steering control.

Enabling Guidance System

When the machine is in the harvest mode, the guidance system can be enabled by pressing the system on-off button on the armrest control console. When the system is on, an LED next to the button is illuminated. When turned on, the row guidance control unit (RGC) initializes and checks for certain fault conditions such as calibration errors or out of range signal voltages. If any faults are present, messages are displayed on the armrest display unit (ADU). The guidance system does not assume any steering control until the operator engages the system.

Engaging Guidance System

The guidance system is engaged and begins to control machine steering when the following conditions are true:

• Row-Trak system is enabled (system ON).
• Multifunction control handle is NOT in reverse position.
• Operator is in seat.
• Engine speed is greater than 1500 rpm.
• Machine ground speed is less than 16 km/h (10 mph).

Guidance System Operation

When the guidance system is engaged, the row guidance control unit (RGC) processes input signals from the crop sensor and generates output signals to the electrohydraulic steering valve to steer the machine to keep the row units centered on the crop rows. If the crop is riding towards the right-hand side of the row unit, the system steers the machine to the right. If the crop is riding towards the left-hand side of the row unit, the system steers the machine to the left. In some cases, such as when harvesting curved rows, offset adjustments must be made to maintain proper tracking.

Offset Adjustment

While the guidance system is operating, the offset adjustment knob on the armrest control console can be rotated by the operator as necessary to change the set-point encoder value used by the RGC to calculate steering output signals.

Turning the offset adjustment knob to the right (clockwise) adjusts the steering to the right and biases the crop to the left side of the picking unit.

Turning the offset adjustment knob to the left (counterclockwise) adjusts the steering to the left and biases the crop to the right side of the picking unit.

Disengaging Guidance System

The operator can disengage the guidance system in any of the following ways:

• Press engage button on multifunction control handle.
• Press system on-off button on armrest control console.
• Slightly turn steering wheel.
• Turn off row units.

The guidance system automatically disengages if any of the following occur:

• Operator gets out of seat for more than 4 seconds.
• Machine ground speed is greater than 16 km/h (10 mph) for more than 2 seconds.
• Multifunction control handle is moved to reverse position.
• Machine exits harvest mode.
• Diagnostic trouble codes in guidance system become active.