Software User Manual

FJDynamics AT2 Auto Steer

System
Software User Manual

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 Software User Manual

Safety Instructions
Before using this FJDynamics Autosteering Kit (shorten as the kit), please
read the entire contents of the “ FJDynamics AT2 Auto Steer System
Software User Manual” carefully, and keep in mind when operate it.
Safety Symbols
After the control terminal is powered on, safety warnings are displayed on
the home screen for 3 seconds, as shown in the figure below.

Operator Requirements
1. Do not drive under the age of 18.
2. Do not drive after drinking.
3. Do not drive when tired.
4. Drivers must obtain the relevant driving license required by the local laws.

Operation Environment
1. Please drive in an open area far from the crowd and ensure that there are
no irrelevant personnel and vehicles in the operation area.
2. Please stay away from people, livestock, obstacles, electric wires, tall
buildings, airports, signal towers, etc. So as not to interfere with the signal
and affect the operation.
3. Please work in good weather (not extreme weather such as heavy rain,
heavy fog, snow, lightning, strong wind, etc.).

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4. When the kit is under the testing, calibration, adjustment, or automatic

steering, please ensure that there are no people or obstacles near the
running track to prevent personal injuries or property damages.

Operation Rules
1. During driving or operating, it is strictly prohibited to get on or off the
vehicle during driving.
2. The vehicle must be kept under monitoring by the driver to ensure timely
intervention.
3. When a vehicle equipped with this kit is driving on public roads or public
areas, please ensure that the kit is powered off.

Checking
1. Make sure to have enough fuel in the driving vehicle.
2. Ensure that the parameters in the kit are calibrated before the automatic
driving operation.
3. Make sure the antenna and angle sensor are installed properly. If there is
any movement, please calibrate it again before using.
4. Do not use worn or damaged cables. Please purchase and replace new
cables in time.

Others
1. Do not disassemble the product yourself, or it will affect the warranty
service.
2. The equipment damages caused by force majeure (lightning strike, high
voltage, collision), are not included in the free maintenance service.
3. Please strictly follow the manual to connect the device. For connecting
cables such as data cables, you need to pinch the root of the plug and
insert it gently. Do not pull it hard or even rotate it, which may cause
needle breakage.
4. Please follow the supply requirement to power the device. Note that the
power rating for controller and electric steering wheel is 10-30V.

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 Software User Manual

Contents
Chapter I About This Document ............................................................................. 1
1 Purpose ................................................................................................................ 1
Chapter II Product Overview .................................................................................... 1
1 Introduction........................................................................................................1
2 Main Components of the FJDynamics AT2 Auto Steer System ....... 2
3 Hardware Interfaces of Control Terminal .................................................3
Chapter Ⅲ Software Operation Instructions of Control Terminal .............4
1 Workflow Overview ......................................................................................... 4
2 Commissioning ..................................................................................................4
2.1 Selecting a Language ..........................................................................4
2.2 Register/Login ........................................................................................5
2.3 Entering Installation Information ....................................................6
2.4 Home Screen.......................................................................................... 8
2.4.1 Main Interface of Fast Mode ................................................ 9
2.4.2 Main Interface of Advanced Mode ..................................10
2.5 Select Correction Source ................................................................. 12
2.6 Setting Vehicle Parameters .............................................................17
2.7 Calibrating Angle Sensor .................................................................18
2.8 Vehicle Calibration .............................................................................23
3 Preparatory Operations ............................................................................... 28
3.1 Preparatory Operation in Fast Mode ..........................................28
3.1.1 Confirm the Source Connection....................................... 28
3.1.2 Getting the Heading Angle ................................................ 30
3.1.3 Adding New Guidance Line ................................................30
3.1.4 Import Guidance Line ...........................................................30
3.2 Preparatory Operation for Advanced Mode ............................32
3.2.1 Confirm the Source Connection....................................... 32
3.2.2 Add and Select Fields ........................................................... 32
3.2.3 Add and Select Task.............................................................. 36
3.2.4 Add and select boundary ....................................................37
3.2.5 Add and Select Guidance Line .......................................... 40

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3.2.6 Confirm Task Configuration ............................................... 42

4 Create Guidance Lines ..................................................................................42
5 Start Operation ............................................................................................... 52
5.1 Operation Interface ........................................................................... 52
5.2 Operation Setting .............................................................................. 54
5.3 Operation of Physical Key Module (Optional) .........................61
6 Advanced Functions ......................................................................................61
7 Other Functions .............................................................................................. 70
7.1 Status ...................................................................................................... 70
7.2 Location History ................................................................................. 72
7.3 Settings .................................................................................................. 73
7.3.1 Working Width Alerts ...........................................................73
7.3.2 Accessibility .............................................................................. 74
7.3.3 Vehicle Parameters ................................................................ 79
7.3.4 Parameter Setting .................................................................. 81
7.3.5 Implement Information ........................................................84
7.3.6 System Settings .......................................................................89
7.3.7 Wi-Fi Camera (Optional) ......................................................91
7.3.8 Remote Commissioning .......................................................93
7.3.9 Changing the Password ....................................................... 93
7.3.10 Other Settings .......................................................................94
Chapter Ⅳ FCC Warning ........................................................................................ 95
Chapter Ⅴ IC Statement ........................................................................................ 96
Chapter Ⅵ FAQs ........................................................................................................97
Chapter Ⅶ Main Hardware and its Specifications ........................................98
1 Specification Table 1 ..................................................................................... 98

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 Software User Manual

Chapter I About This Document

1 Purpose

This document provides a brief description on how to use the

FJDynamics autosteering kit for agricultural vehicles in a simple and clear
way. Users can learn to perform each operation easily, quickly and
accurately.

2 Technical Support

Users can find the technical support and upgrade services provided by
FJ Dynamics Technology Co., Ltd., once they purchased the product.

Chapter II Product Overview

1 Introduction

For details, refer to FJDynamics AT2 Auto Steer System on the

FJDynamics official website:
https://www.fjdynamics.cn/

Product standard: Q/320411 AQR 004-2019

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2 Main Components of the FJDynamics AT2 Auto Steer

System

Figure 2.2.1 Main components

1. Control Terminal: To provide human-computer interaction and
machine control.
2. Electric Steering Wheel: Consists of a steering motor and a steering
wheel, to automatic steer the vehicle.
3. GNSS Receiver: To receive satellite and RTK signals to locate the
vehicle and gain attitude information.
Precautions for installing the GNSS receiver:
1. Do not disassemble the radio antenna or plug/unplug connecting
cables such as the serial cable while the system is powered on.
2. When installing antennas outdoors, please take appropriate
lightning protection measures to prevent lightning strikes.
3. When installing the GNSS receiver outdoors, please take appropriate
water protection.
4. Place the GNSS receiver outdoors when using or testing the system.

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5. The radio may generate heat during use, so watch out to avoid
burns.
6. Avoid unnecessary coverings on the GNSS receiver to maintain
good ventilation.

3 Hardware Interfaces of Control Terminal

Figure 2.3.1 Hardware interfaces of the control terminal

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 Software User Manual

Chapter Ⅲ Software Operation

Instructions of Control Terminal

1 Workflow Overview

In order to facilitate the user's understanding of the operation and use

of this kit, this manual will introduce the mainline use process of this
product and related auxiliary functions from the perspective of a new user.
New users are required to complete the installation and configuration and
preparation operations when using the system for the first time, so that
they can enter the auto steering operation smoothly.

2 Commissioning

The initial commissioning process of FJDynamics Autosteering kit is as

follows:

Figure 3.2.1 Initial commissioning workflow

2.1 Selecting a Language

Turn on the control terminal and select a language for this kit. click
Next step. The screen for registration and login is displayed.

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Figure 3.2.2 Selecting a language

2.2 Register/Login
After completing the language settings, you will enter the registration
and login screen.
Account Registration: You are required to register an account for the
initial use of the kit.Click Register immediately. On the displayed screen,
enter your email address, verification code, and password, and click I
agree in User Privacy Policy.
Account Login: If you have an account registered, you can log in
directly by entering your user name (email address) and password to enter
the home screen.
Forgot Password: Allows you to enter the password resetting screen
when you forgot your password. Enter your email address, verification
code, and new password. Then, click Login to enter the home screen.

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Figure 3.2.3 Home screen of login and registration

2.3 Entering Installation Information

After successfully registering and logging in for the first time, you
need to enter related installation information, user information and Auto
Steer System information. Please note that the initial information you have
entered will directly or indirectly affect your after-sales service. Therefore,
please strictly follow the following procedure:
Step 1 ： Enter user information after the user registration and click
Next step.

Figure 3.2.4 Entering user information

Step 2：Enter your autosteering kit's information and click Next step.

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The screen for entering agricultural vehicle information is displayed.

Figure 3.2.5 Entering Auto-kit information

Step 3：Specify all parameters about the agricultural vehicle and click
Next step.

Figure 3.2.6 Entering agricultural vehicle information

After you select a type of the vehicle, the kit will directly enter the
corresponding agricultural vehicle kit. Please select the type of the vehicle
you will actually use.

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Figure 3.2.7 Selecting system mode

Step 4: In terms of system mode, select the corresponding one. Please

choose carefully according to the actual usage and click Save. The home
screen is displayed.
Fast mode
The operation is simpler. The task can be started directly after
importing the guidance line.
Advanced mode
Upgrade the field management function, start the operation after
completing the task configuration, and have a more systematic
management of the field data.
Note: The guidance line used in the advanced mode cannot be adapted to
the extreme Fast Mode.
2.4 Home Screen
After successfully logging in to the system, you will enter the home
screen. You can view the network connection status and operation status
in real time. Your account login record will be automatically saved locally.
Therefore, you can directly enter the home screen of the kit every time you
open it.

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2.4.1 Main Interface of Fast Mode

Figure 3.2.8 The main interface of Fast Mode

1. Current driving mode：Shows the current driving mode, including

manual driving mode and autosteering driving.
2. Wi-Fi signal: Show that the current device is connected to the
wireless network.
3.Real-time speed: Displays the running speed of the current
agricultural machine, and the speed unit can be changed in the setting.
4. 4G signal: The mobile network signals, shows the real-time cellular
data communication of the autonomous driving system.
5. GNSS signal: The satellite signal, shows the connection status of the
system.
6. Correction Source: The correction source can be connected in the
Mobile Base Station, Network RTK, or SBAS mode. The icon shows the
signal strength of the correction source.
7.Time: Android system time, users can manually change the time
zone in Android system.
8. Perspective switch: Fix the perspective of three-dimensional view
by clickping the button.

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9. Real-time video: Real-time monitoring of machine tool operation

status through Wi-Fi camera, real-time feedback of operation status. (Note:
Wi-Fi camera needs to be purchased separately.)
10.New Guidance line: Set new guidance line by clickping this
shortcut button.
11. Autosteering Start / Stop button: Click to start or stop the
vehicle.
12. Status: Click to access the real-time information and current status
of agricultural machines.
13. Guidance line: Click to access the Guidance line detailed page for
checking, adding, selecting and deleting guidance line.
14. Location history: Click to expand the historical operation data
information, and view the operation time, operation area, operation width,
operation efficiency, historical operation trajectory etc.
15. Settings: Click to access Parameter Settings, Source Connection,
Trouble Checking, System Upgrade, and Version.
16. Vehicle: Shows the movement of vehicles in real-time.

2.4.2 Main Interface of Advanced Mode

Figure 3.2.9 Main interface of advanced mode

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1. Current driving mode：Shows the current driving mode, including

manual driving mode and autosteering driving.
2. Wi-Fi signal: Show that the current device is connected to the
wireless network.
3. Real-time speed: Displays the running speed of the current
agricultural machine, and the speed unit can be changed in the setting.
4. 4G signal: The mobile network signals, shows the real-time cellular
data communication of the autonomous driving system.
5. GNSS signal: The satellite signal, shows the connection status of the
system.
6. Correction Source: The correction source can be connected in the
Mobile Base Station, Network RTK, or SBAS mode. The icon shows the
signal strength of the correction source.
7. Time: Android system time, users can manually change the time
zone in Android system.
8. Real-time video: Real-time monitoring of machine tool operation
status through Wi-Fi camera, real-time feedback of operation status. (Note:
Wi-Fi camera needs to be purchased separately.)
9. Perspective switch: Fix the perspective of three-dimensional view
by clickping the button.
10. Status: Click to access the real-time information and current status
of agricultural machines.
11. Task configuration: Click to configure the field, boundary,
guidance line and task setting information of each task.
12. History data: Click to expand the historical operation data
information, and view the operation time, operation area, operation width,
operation efficiency, historical operation trajectory etc.
13. Settings: Click to access Parameter Settings, Source Connection,
Trouble Checking, System Upgrade, and Version.

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14. Vehicle: Shows the movement of vehicles in real-time.

15. Start task: After clicking, if the task configuration has been
completed, it will enter the operation status; otherwise, it will enter the
task configuration interface.
2.5 Select Correction Source
You can connect to three correction sources: Mobile Base Station,
Network RTK and SBAS.
1 ） Mobile Base Station: You need to select and power on a radio
station, and pair with it.
2) Network RTK: You can set up an RTK connection through the
network, when a CORS base station nearby and you have a local Ntrip
account or FJ CORS account. To enable this mode, you need to connect to
the network first.
3）SBAS: In this mode, instead of using a radio station or the network,
the autosteering kit receives differential data from the SBAS system to
provide differential positioning. Note that in this mode, the positioning
precision is lower, with a straight-line operation offset of about 5cm and a
row spacing offset of about 40 cm. Select this mode with caution based on
your demand.
Step 1: Click Settings > Correction Source to open the selection
screen.

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Figure 3.2.10 Settings list

Step 2: Select a correction source you want to use.

On this screen, you can select to connect to a mobile base station, a
network RTK, or SBAS. The kit connects to a mobile base station by default.
You can change it through the toggle on the right. If you select Network
RTK, this becomes the default mode next time you log in.

Figure 3.2.11 Correction source change

 Mobile base station: If you choose to connect to a mobile base

station, select one of the following connection modes based on
the base station type.

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After switching on base station, go to Settings – Correction Signal

Sources, and choose Mobile base station - Pairing via Code, and input
the BS code in the prompt. Click OK after confirming the information is
correct.
 Network RTK ： To connect to the Network RTK, enable Network
RTK and click Connect.In the displayed dialog box, enter your Ntrip
domain name and account information.
Ntrip domain: Enter the host and port, and click Get Source. The
source node field automatically shows the port having the strongest signal
strength, indicating that the NTRIP domain information is completed.
Ntrip account: After entering the NTRIP domain information, enter the
account and password, and click Connect to connect to the network RTK.

Figure 3.2.15 Connect Network RTK

 SBAS: To connect to SBAS, enable SBAS. WAAS is selected by

default, and the status becomes Connected after convergence. If you want
to use a different source, select a source and click OK, and then simply
wait for successful connection.

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Figure 3.2.16 Connect to SBAS

Figure 3.2.17 SBAS connected

During SBAS connection, the Status is 1, and the operation cannot be

started. After the connection is established, the Status becomes 2, and the
source icon in the upper right corner changes to SXX. XX is the age of
differential, which is a number from 0 to 20.

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Figure 3.2.18 Status after SBAS connection

Note:
1. It takes up to 3 minutes to connect to a mobile base station or
network RTK, and up to 5 minutes to connect to SBAS.
2. If connection to a correction source fails, try connecting to another
correction source. If the fault persists, check the correction source in
Settings > Troubleshooting, as shown below.

Figure 3.2.19 Setting list

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The troubleshooting shows two results. The check mark indicates that
the test is passed, and the cross mark indicates test failure.

Figure 3.2.20 Troubleshooting

2.6 Setting Vehicle Parameters

After entering the home screen of the kit, perform the following
operations to set vehicle parameters:
From the sidebar, choose Settings -> Vehicle Information.

Figure 3.2.21 Setting List

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Figure 3.2.22 Vehicle information

*For details about the measurement operations, please check the

corresponding commissioning instruction video.
2.7 Calibrating Angle Sensor
After completing vehicle parameter settings, you need to calibrate the
angle sensor. Perform the following operations to calibrate the angle
sensor:
Step 1: Choose Settings -> Parameter Settings.

Figure 3.2.23 Setting list

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Step 2: Click Angle Sensor Calibration in the detailed page of

Parameter settings.

Figure 3.2.24 angle sensor calibration

Step 3: User needs to select the sensor type after getting into the
angle sensor setting page.

Figure 3.2.25 Select angle sensor type

 If the selected type is "Hall Sensor", then the user needs to select
the installation position of the angle sensor. After selecting the installation
location, click "Calibrate" to directly enter the calibration process. Please

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follow the prompts in the following interface to calibrate. Rotate the

steering wheel according to the process leftmost-rightmost-center and
click OK after each action finished.

Figure 3.2.26 Turning the wheel to the leftmost

Figure 3.2.27 Turning the wheel to the rightmost

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Figure 3.2.28 Turning the wheel to the center

 If the angle sensor type is selected as Attitude sensor, please then

select the installation position of your angle sensor.
Note: when you choose Attitude sensor, you should drive straight for 15-
20m in manual mode to complete data convergence every time you open
the system.

Figure 3.2.29 attitude sensor

 If the angle sensor type is selected as No angle sensor, after

selecting No angle sensor, enter its interface as shown below.

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Figure 3.2.30 No angle sensor

After entering the setting screen for no angle sensor, put the vehicle’s
gear into the low gear first. Then, click Detect and step on the accelerator
to make the agricultural vehicle run straight for about 20 m on a flat
ground freely at a low speed (2–3 km/h) until the Detection Done prompt
box is displayed. Then, the vehicle steering speed ratio is automatically
detected and the setting of no angle sensor is completed.

Figure 3.2.31 Detecting the speed ratio

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Figure 3.2.32 Detect finished

If the sensor type is switched, the device needs to be restarted after

the sensor is switched to take effect.
2.8 Vehicle Calibration
After angle sensor calibration finished, you need to calibrate vehicle to
correct working offset. Perform the following operations to calibrate
vehicle:
Step 1: On the displayed Settings screen, click the Parameter Settings.

Figure 3.2.33 Setting List

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Step 2: Click into Vehicle Calibration in the parameter page.

Figure 3.2.34 Vehicle Calibration

Step 3: Click Start Calibration in the vehicle calibration page, and

then getting into the calibrating process.

Figure 3.2.35 Start Calibration

Step 4: On the calibration screen, carefully read the current calibration

step displayed. Then, determine Points A and B exactly as prompted on the
screen. Move the agricultural vehicle to the starting point and click
Confirm Point A on the screen.

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Figure 3.2.36 Confirm Point A

Step 5: After confirming Point A, manually drive the vehicle straight for
50m and Confirm Point B.

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Figure 3.2.37 Confirm Point B

During the driving towards Point B, the distance traveled will be

displayed on the upper right corner of the screen in real time. You can
check whether the current distance from Point A meets the distance
requirement of 50m based on this value.
Step 6: After confirming Point B, please follow the instructions in Step

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3 on the screen to manually turn the vehicle around and make it return to
Point B on the guidance line just confirmed (with the front end of the
vehicle facing Point A). After the adjustment is completed, click Start to
make the vehicle run to Point A in the auto steering driving mode
according to the guidance line just confirmed.

Figure 3.2.38 Starting auto steering driving after turning around

Step 7: Click Stop after the vehicle arrives at Point A in the

autosteering driving mode.

Figure 3.2.39 Stopping auto steering driving

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Step 8: Manually turn the vehicle around to make it return to Point A

on the guidance line (with the front end of the vehicle facing Point B).
Then, click Start to make the vehicle run from Point A to Point B in the
auto steering driving mode.

Figure 3.2.40 Manually turning around and start the auto-working

Step 9: After the vehicle reaches Point B in the auto steering driving
mode, click Stop to stop the current auto steering driving operation.

Figure 3.2.41 Stop autosteering driving after reaching the point A

Step 10: Click Calibrating completed to complete the vehicle

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calibration and return to the home screen.

Figure 3.2.42 Calibration finished

After completing the above steps of commissioning, you can start to

use control terminal for intelligent operations.

3 Preparatory Operations

3.1 Preparatory Operation in Fast Mode

Figure 3.3.1 Preparatory operation procedure

3.1.1 Confirm the Source Connection

Confirm the source connection before operation preparation:

(1) Check whether the source connection mode is correct.

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Figure 3.3.2 Confirm the source connection mode

(2) Check whether the connection is normal. If the Network RTK

mode is used, RTK is displayed in the upper right corner; if the SBAS mode

is used, SXX is displayed. Then, check whether you have full signal bars in

the status bar.

Figure 3.3.3 "RTK" displayed in the upper right corner when the RTK mode is used

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Figure 3.3.4 "SXX" displayed in the upper right corner when the SBAS mode is used

3.1.2 Getting the Heading Angle

If the RTK connection is normal, drive ahead and accelerate the vehicle
for more than 5s（Only one operation is required for each startup）.

3.1.3 Adding New Guidance Line

After confirming the connection to the RTK, you can start setting

points. You can follow the prompts to complete setting points A and B to

save a new guidance line, and import the new guidance line to the current

operation. For more specific instructions on creating guidance lines, please

refer to Chapter 4 to create a baseline.

3.1.4 Import Guidance Line

You can directly import the required guidance line from the list of
guidance lines to the current operation as follows:
Step 1: If you have already saved the guidance line before, please find
out the line you want to import in the list of guidance lines. And then click
Import button in the required guidance line tab to import the line to the
current operation.

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Figure 3.3.5 Guidance line list

If Multi Line Mode is needed, please enter into Settings -> Parameter
Settings -> Working width Alerts to set the working width for the
preparatory operation in multi line mode, as shown in the following figure.

Figure 3.3.6 Setting the operating space

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Figure 3.3.7 Guidance line imported

3.2 Preparatory Operation for Advanced Mode

Figure 3.3.8 Preparatory operation flow chart

3.2.1 Confirm the Source Connection

Before preparing the operation, please confirm the current source
connection. For the specific operation steps, see 2.5 Select Correction
Source.
If the RTK connection is normal, drive ahead and accelerate the vehicle
for more than 5s（Only one operation is required for each startup）.

3.2.2 Add and Select Fields

Click Task button on the left to enter the task configuration interface.
First, add and select an operation field.

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Figure 3.3.9 Task configuration entry

The configuration field interface is shown in the figure below:

Figure 3.3.10 Configure field interface

1. Task configuration items: Select the fields, boundaries, guidance

lines and task settings required for the operation. Yellow represents the
current configuration items. Under each item, it will display current
selection. If it has not been selected, it will display not selected. Otherwise,
the corresponding option is displayed below.
2. Search box: Find the target field by searching the field name.

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3. Field list: Display existing fields, including field name and creation
time. Click to select the field to be operated.
4. Field basic information: Including field name, farm name, farm
owner and creation time.
5. Field map: Display the current position and selected boundary and
guidance line position.
6. Delete field: Click to delete the field, and the associated boundary,
guidance line and history data will be simultaneously deleted and cannot
be restored and cannot be restored.
7. Modify field information: Click to modify the field name, farm
name and farm owner information.
8. Add field: Click to add a new field, fill in field name, farm owner and
farm name.
9. Run configuration: If the task configuration is not completed, it is
impossible to click; after the configuration is completed, Click pop-up task
information configuration confirmation box to confirm the information
and start the operation.
Note: If the field and task are not selected, the boundary and guidance
line cannot be selected.
Add field
After filling in the corresponding field name, farm owner and farm
name, click Save.

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Figure 3.3.11 Interface for adding field

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3.2.3 Add and Select Task

Click Task Name to add or select from the list the intended task.
The task selection interface is as follows:

Figure 3.3.12 Setting Interface for Task Name

1. Task settings list: Task settings that has been created.

2. Task progress: Check the task progress.

3. Basic information: In the basic information column, you can view

the total area, the area that has been worked, the effective worked area

(the area that has been worked within the boundary), the accumulated

operation time, and the start and end time of the task.

4. Full-screen display: Click the "Full-screen" icon to view the task in

full screen.

5. Delete task settings: Delete the selected task setting, which cannot
be restored after deletion.
6. Modify task settings: Modify the operation type and operation
width of the selected task setting.
7. Add task settings: Add new task setting, which requires filling in
the operation type and operation width.

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3.2.4 Add and select boundary

Click Boundary to add or select from the list the intended. If the
operation does not require an boundary, select the No boundary option.
The configuration boundary interface is shown in the figure below:

Figure 3.3.13 Interface for configuring boundary

1. Boundary list: Display the existing boundary, including name of

boundary, the operatable area enclosed and the creation time.

2. Change the distance to the edge of the field: Modify the margin

of the boundary offset inward or outward, is zoomed in or out, remind

users of the position of the edge of the field or the place where to turn

around.

3. Delete boundary: After selecting the boundary, click "Delete" icon,

and the deleted items can be restored in the recycle bin within 30 days
after deletion. For details about the recycle bin, please refer to the
introduction of the recycle bin in 6.3.7 System Settings.
4. Modify boundary name: Click to modify the selected boundary
name.
5. Add boundary: Click to enter the interface of adding boundary and
guidance line.

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Add boundary

Press the Start button on the “Add boundary” interface.

Figure 3.3.14 Interface of “Add Boundary”

After pressing the Start button, you need to select the position of the

implement to determine the position of the boundary, then click Confirm.

Figure 3.3.15 Interface of boundary plan

When finished, press the Pause button and choose Save.

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Figure 3.3.16 Interface when finished recording the boundary

When saving, you need to fill in the boundary name, margin and the

offset. During operation, a pop-up window will prompt when the distance

from the field edge is 30m.

Figure 3.3.17 Interface of saving the boundary

When saving the boundary, if the boundary does not meet certain

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requirements, the following adjustments will be given for different

situations:

Table 3.3.1 Adjustments for irregular boundaries

Boundary situation Adjustments Example

Auto-completion of
x<10m
boundary
x-

Distance
Connect with a
between 10m<x<50m
straight line
two ends

50m<x

Continue recording
Length of

boundary < 80m

Crossed boundary Auto-optimization

Special
Boundary too
boudary
narrow

Boundary Re-recording

contains multiple

sub-area

3.2.5 Add and Select Guidance Line

Click Guidance Line to add or select from the list the intended

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guidance line. If there is no need for a guidance line, you may choose the

No guideline.

The guidance line configuration interface is shown in the figure below:

Figure 3.3.18 Interface for configuring guidance line

1. The guidance line list of the field: Display the existing guidance
lines, including the name, length and creation time of the guidance line.
2. List of guidance lines without attribution: Display the guidance
lines generated in the extreme Fast Mode.
3. Delete the guidance line: Click “Delete” to select the guidance
line, and deleted item can be restored in the recycle bin after deletion. For
details about the recycle bin, please refer to the introduction of the recycle
bin in 5.3.7 System Settings.
4. Modify the name of the guidance line: Click to modify the
selected guidance line name
5. Add guidance line: Click to enter the interface of adding boundary
and guidance line. For more specific instructions on creating guidance
lines, please refer to Chapter 4 to create a baseline.

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3.2.6 Confirm Task Configuration

After all the information are selected, Click confirm button, and an
information confirmation window will pop up. After confirming that the
configuration information is correct, click OK.
Click Start button on the homepage to enter the operation interface.

Figure 3.3.19 Interface for confirming configuration

4 Create Guidance Lines

The guidance line includes straight line mode (AB line mode), curve

mode and pivot mode. Users can create certain guidance lines according

to their actual needs.

In Fast Mode, you can click New Guidance Line in the main interface

or the Add button in the guidance line list to create new guidance lines.

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Figure 3.4.1 Adding new guidance lines in Fast Mode

In Advanced Mode, click the Task in the sidebar column to expand the

full interface for task settings. You may create new guidance lines on the

interface of guidance line settings by clicking the Add button in the

bottom column.

Figure 3.4.2 Adding guidance lines in Advanced Mode

Detailed steps for creating different guidance lines are shown below.
 Linear Mode

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Step 1: Move the vehicle to the starting point of the operation, and

click Confirm Point A on the screen of control terminal to determine the

current position as Point A of the new guidance line. After confirming

Point A, manually drive the vehicle straight for 15–20m.

Figure 3.4.3 Confirming Point A

Step 2: Brake the vehicle and click Confirm Point B on the screen of

the in-vehicle control terminal to determine the current position as Point B

on the guidance line.

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Figure 3.4.4 Confirming Point B

Step 3: After confirming Point B, please click Import and enter the

guidance line name in the prompt. Then go back to the list of guidance

lines after naming the new line. And the newly added guidance line will be

displayed on the top of the list.

Figure 3.4.5 Import Guidance Line

 Curve Mode：

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Step 1: On the displayed Guidance Line setting page, click Straight Line
to switch the plotting mode to the curve.

Figure 3.4.6 Switch plotting mode to the curve

Step 2: After switching to the curve mode, please move the vehicle to
the starting point of the operation, and click Confirm Point A on the
screen to confirm the current position as Point A on the curve guidance
line.

Figure 3.4.7 Confirming Point A

Step 3: After confirming Point A, please directly curve the vehicle ’ s

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path to the ending point of another side you want to determine (for
example, from the starting point to the other field edge) in manual mode
and click Confirm Point B.

Figure 3.4.8 Confirming Point B

Step 4: After confirming point B, please click Import and enter a new
line’s name, and then you can get into the curve mode working page.

Figure 3.4.9 Import new guidance line

Notes for the curve mode:

1. In the curve mode, Point A is the starting point and Point B should be a

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point on on the edge of the opposite side.

2. In multi-line mode, make sure to travel in the same line lengths as the
curve guidance line, or the route beyond the curve guidance line will
gradually tend to a straight line.
3. In curve mode, after confirming Point A, you cannot directly click Linear
to switch to Straight line mode. Please cancel the point A before switching
the mode.

Pivot mode：

Pivot mode is only supported under Advanced Mode, the steps are as

follows:

Step 1: Choose Pivot Mode when entering the process of creating new

guidance lines.

Figure 3.4.10 Create a guidance line

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Figure 3.4.11 Switch to Pivot Mode

Step 2: Set point A at the starting point, drive the vehicle along the

outer edge of the circular field for at least 20m, set point B and click Save.

Figure 3.4.12 Set point A

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Figure 3.4.13 Set point B

Step 4: Enter the distance from the edge of the implement to the edge

of the field, click Confirm, enter the name of the guidance line and then

save.

Figure 3.4.14 Set field edge distance

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Figure 3.4.15 Interface of working with Pivot Mode

Note: When working with Pivot Mode, and the vehicle is 20m away

from the starting point, please follow the instructions in the notification to

get prepared to disengage from auto mode and enter the next work path.

Then, repeat the above operations until all paths are completed.

Figure 3.4.16 Interface of auto-steering

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5 Start Operation

5.1 Operation Interface

The interface of Fast Mode

Figure 3.5.1 Operation interface

1. Operation record button: Yellow means that the current operation

data is recording. And white means that the current operation data is not
recorded. Click to switch the recording status.
2. Auto-driving button: Yellow means it is in auto-driving status.
White means it is not in auto-driving status. Click to switch driving status.
3. Operation setting: Including marking field, multi-line/single-line
mode, translate guidance line to a fixed distance, translation guidance line
to the current position, offset adjustment and other functions.
4. Offset distance: The offset distance of the current operation relative
to the guidance line is displayed in a real time manner, and the offset unit
can be changed in the settings.
5. Real-time speed: Display the current driving speed of the
agricultural machinery, the speed unit can be changed in the settings.
6. Guidance line for operation: The navigation line during operation.

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7. End task: Click to end the task.And users can view the details of this
operation in the History data.

The interface of Advanced Mode

Figure 3.5.2 Interface of Advanced Mode

1. Real-time task information: On the bottom column you can see

the serial number of the guidance line where the vehicle is currently

located, the total area of the field, the area that has been worked, the

proportion of the area that has been worked, and the real-time speed.

2. Task record: If it is in yellow,it indicates that the current task data is

being recorded, and if in white,it indicates that the current job data is not

recorded. Click to switch it on and off.

3. Auto mode: It means auto-steering state in yellow while non auto-

steering state in white.Click to switch between two driving modes.

4. Translate guidance line: Translate guidance line according to users'

needs during operation.

5. Switch multi-single line mode: Click to switch between multi line

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mode and single line mode of guidance line.

6. Offset distance: The offset distance between the current path and

the guidance line is displayed in real time, and the unit can be changed in

the settings.

7. Guicance line: Guidance line for auto-steering

8. Boundary: The red one is the recorded boundary, and the black is

the scaled boundary. A prompt will pop up when the distance to the black

border is 30m, and the black border can be set as the position where to

turn around (Uturn position) or the real edge of the field.

9. End task: Click to end the task, and you can view the details of this

task in the task data.

If the guidance line has not been imported before starting

the task, an icon for creating a new baseline will appear in the

operation interface.

Create a new guidance line/boundary: If the guidance line and

boundary are not chosen during task configuration, when entering the

operation interface, you can directly create a new guidance line and

boundary in the operation interface, and the task data of this creation

would also be recorded.

5.2 Operation Setting

After completing the installation and commissioning and task
configuration procedures in sequence according to the above operations,
it will start automatic driving operation. During the operation, according to

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the user's actual operation needs, six operations can be carried out:
switching operation record status, switching driving mode, shifting the
guidance line, switching operation mode, marking the field and switching
guidance lines and boundaries. The specific operation process is as follows:
(1) Switch operation record status
Click Record button in the lower left corner of the main interface to
switch the status of the operation record.

Non-recording operation status: The operation data and

operation traces during the non-recording time are not recorded in this
operation.

Record operation status: operation data and operation traces

during the recording time are recorded in this operation.
(2) Switch driving mode
Click Start/Stop at the bottom right corner of the main interface to
switch the driving mode.

Manual driving status: The user manually controls the steering

wheel to assist straight line operations. When driving manually, user can
perform operations such as shifting the guidance line, switching operation
modes, and marking the boundary.

Autosteering status: Navigation automatically controls the

steering wheel to assist straight line operations. The operation of marking
the field can be carried out during automatic driving, and other operation
setting operations should be switched to manual mode.
(3) Guidance Line Translation
In the manual mode after starting the task, the user adjusts the
guidance line in the current multi-line mode to the left and right according
to the needs of the actual operation, and drives according to the adjusted
guidance line.

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Figure 3.5.3 Selecting Guidance Line Translation

1．Guidance Line Translation: Click Guidance Line Translation, and click

Translate to the Current Position or Translate to the Fixed Position
based on the operation.

 Translate to the Current Position: Click Translate to the Current

Position and then click OK to translate the guidance line to the position of

the agricultural machinery.

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Figure 3.5.4 Translate to the current position

Translate to the Fixed Position: Click Guidance Line Translation,

select the moving direction, enter the moving distance, and then click OK.

Figure 3.5.5 Translate to the fixed position

Note for The Use of Translating Guidance Line:

Shift guidance line function is available only in the manual driving status in
the multi-line mode.

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(4) Switch operation mode

The operation mode is divided into single line mode and multi-line
mode. The user can click multi line mode/single line mode in the
operation setting to switch the current operation mode. If the specific
operation mode is easy to be confused, please judge the current operation
mode status based on the multi line /single line interface background of
the operation
Multi line mode: Auxiliary straight line operation under equidistant
conditions;
Single line operation: Auxiliary straight line operation under free
spacing;

Figure 3.5.7 Multi line mode

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Figure 3.5.8 Single line mode

(5) Mark the Edge

Figure 3.5.9 Marking the field edge

After importing guidance line or during the intelligent operation, you

can enable the function of marking the field edge according to the actual
needs. This function can alert the user when the vehicle is about to reach
the field edge of another side, thereby effectively avoiding safety accidents
especially in dark environment.
1. After importing the guidance line or during an intelligent operation,

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if you want to use this function, drive the vehicle to the field edge and click
Mark the Edge to mark the current position of the vehicle as the field
edge.
2. The system will provide an alert sound and alert message for careful
driving when the vehicle travels 30m away from the marked field edge.
3. When the system warns driver, you can click Pause to suspend the
current autosteering driving and resume the manual driving mode. Then,
the alert sound and alert message will disappear immediately.
Notes for marking the field edge:
Only one field edge is allowed in the same direction.
In addition to completing commissioning and autosteering operations,
you also can check the real-time status of the operating vehicle and
undertake other system settings on the in-vehicle control terminal.

（6）Switch guidance lines

When not in the work state, you could enter the Task to switch
guidance lines and boundaries.

（7）Continue the task

In advanced mode, you may call the same task to continue if it is not
completed, and the task data will be cumulated and shown in history data.
The previous task settings will be implemented by default this time,
otherwise you need to change it manually.
When resuming the task, history task traces of the last task will appear,
with a red dotted line guiding the vehicle to the position where the last
task ended. After clicking the Start button, the red guide line will
disappear.
The red guide line is only for instruction and you can continue to work
at any position.

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Figure 3.5.10 A red dashed line that guides the tractor

5.3 Operation of Physical Key Module (Optional)

The physical key module is an independent button panel module used
in conjunction with FJDynamics autosteering system for agricultural
vehicles. Some software functions can be controlled through the physical
buttons to achieve more efficient system control in the autosteering mode.
The software functions that can be controlled by the physical key module
currently include turning on/off autosteering, turning on/off acreage
counting, guidance line marking and undo marking, AUX Turn-Left/Right
and turning around (in software function development). For the specific
operation flow of hardware and software, please refer to the Instructions
for Physical Key Modules.
If you want to use it, please purchase relevant modules separately.

6 Advanced Functions

The existing advanced function is Uturn. You need to purchase the

activation code from the dealer and perform the following steps to
activate the function:
1. Click Enter activation code in Settings > Advanced Functions.

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Figure 3.6.1 Advanced functions

2. Enter the activation code in the pop-up dialog, and click OK.

Figure 3.6.2 Enter the activation code

3. After the activation code is verified, an Information Confirmation

dialog pops up. Click Activate to activate the function.
4. After the function is activated, you can view its status and remaining
valid time on the Advanced Functions screen. Click the function to enter
the screen of function details to enable or disable the function.

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Figure 3.6.3 Advanced functions

Uturn: Automatically plans paths at any position in the field for

automatic Uturns and headland operations.
Applicable field types:
1. Rectangle or approximate rectangle fields

Figure 3.6.4 Rectangle or approximate rectangle fields

2. Quadrilateral fields with large included angles

Figure 3.6.5 Quadrilateral fields with large included angles

3. Approximate quadrilateral fields with small missing parts

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Figure 3.6.6 Approximate quadrilateral fields with small missing parts

Shapes of fields that can be partially planned: 1. Quadrilaterals with

large missing parts 2. Polygons, triangles, teardrops, and other shapes with
large triangular space

Figure 3.6.7 Shapes of fields that can be partially planned

Fields that cannot be planned: 1. Overly narrow fields 2. Overly small

fields

Figure 3.6.8 Fields that cannot be planned

The operation procedure is as follows:

1.Set the vehicle and implement parameters in Settings > Vehicle

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Information. Ensure that the turning radius is correct. To get the turning
radius, drive the vehicle to make a circle by turning the steering wheel to
full lock and measure the radius of the outer ring that the vehicle leaves on
the ground.

Figure 3.6.9 Set the turning radius

Figure 3.6.10 Set the implement parameters

2.Choose Settings > Advanced functions > Uturn, and enable or

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disable the function.

Figure 3.6.11 Uturn details

3.Click Task and choose the field, boundary, and guidance line. If you
select No guideline, the guidance line will be generated automatically
when the Uturn function is enabled.

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Figure 3.6.12 Choose the boundary and the guidance line when creating an operation

4.Click Start, drive the vehicle to the Uturn start point, and click the
Uturn icon on the right.

Figure 3.6.13 Operation screen

Note: If No guideline is selected, the pop-up dialog "There is no

guidance line, whether to generate it automatically?" appears. Click OK
and select the direction to generate the guidance line.

Figure 3.6.14 Pop-up dialog displayed when No guideline is selected

5.Choose the Uturn direction and whether to perform the headland

operation and click Save. Then, the system plans the working path and
displays a pop-up prompt.
If you choose to perform the headland operation, the vehicle

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performs it based on the boundary shape.

Figure 3.6.15 Automatic headland operation when you choose to perform it

If you choose not to perform the headland operation, the system
recommends the optimal headland path when autosteering is
completed. You need to manually drive the vehicle to the start point
of the recommended headland path.

Figure 3.6.16 Optimal headland path recommended when you choose not to perform

the headland operation

6.The Uturn coverage is displayed if it is not higher than 95%. Click OK

to return to the operation screen.

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Figure 3.6.17 Uturn coverage

7.Follow the green line to drive to the start point, and click Start.

Figure 3.6.18 Start the Uturn task

Note:
Before confirming the Uturn settings, ensure that your vehicle is close to
the start point, and heading to the working direction of a guidance line.
If the vehicle deviates from the guidance line with a large angle, the

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Uturn operation cannot be started. If the Uturn operation cannot be

started when the vehicle is aligned to the guidance line, the vehicle might
be heading to the opposite direction.
Fault prevention:
Scenario 1 When the user exits the task and enters it again without
changing any parameters:
The original paths will be kept.
Scenario 2 When any of task, boundary, guidance line, vehicle parameters,
implement parameters, whether to perform the headland operation, or
turning direction is changed:
The original Uturn paths will be canceled. You need to set the
parameters and plan the Uturn paths again.
Scenario 3 Before Uturn planning, part of the task is already completed:
Uturn planning is effective only on the remaining part to avoid
repeated operation.

7 Other Functions

7.1 Status

Figure 3.7.1 Status

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Users click the Status to access the working status and operation of
the vehicle.
Offset distance: Offset distance of the vehicle;
Real-time speed: Real-time speed of the vehicle;
Current heading: Current heading angle of the vehicle;
Guidance line heading: The heading angle of the AB line;
Pitching angle: the overall pitching angle of the vehicle;
Rolling angle: the overall rolling angle of the vehicle;
Longitude and latitude: The real-time latitude and longitude of the
vehicle;
Mode: Manual, automatic interval such as AB line, misalignment of
heading, the distance of AB point is too small, heading update timeout,
position update timeout, and heartbeat timeout;
Park brake: Emergency braking;
Correction Source: Connection mode of the correction source;
Status: Connection status of the correction source. The value 2
indicates connection succeeds.
Motor status: The status of the motor;
Motor error code: the error number when an error occurs;

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7.2 Location History

Figure 3.7.2 Operation Data

1. Check the operation list. After expanding the operation data

details page, users can view the single information of historical operations

here, including: operation time, operation width, operation area, operation

efficiency etc.

2. Filter the job list. Users can filter the operation information by

month. After the data is filled in, click Filtering to refresh the list.

3. Filter the operation list. In the Fast Mode, users can filter the

operation data by the operation time; in the advanced mode, users can

filter the historical operation information by date, field and operation type.

After the filter data is filled in, click Filtering to refresh the operation data

list.

Precautions of operation data:

1. Historical operation data is the operation data accumulation of each
Guidance line.
2. The latest operation is placed on the top of the list, sorted by date.
3. The date on the list is the date on which the field was saved, not the

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date of the last job operation.

4. The acre and time are cumulative items of historical operations
instead of a single data of the latest operation.
7.3 Settings

Figure 3.7.3 Setting list

The user clicks Setting to expand the setting details page and display
the setting items.

7.3.1 Working Width Alerts

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Figure 3.7.4 Working width alerts

On the displayed Parameter Settings screen, click the Working Width

Alerts tab. The displayed details screen allows setting Operating space,
Speed Alert and Offset Range Alert. Click the item that needs to be set
and enter the corresponding value.
Operating spacing: indicates the distance between adjacent guidance
lines in multi line mode.
Speed alert: indicates the warning speed preset. It allows the system
to prompt the driver to manually slow down the vehicle in auto steering
driving mode in the case of speeding.
Offset range alert: indicates the warning offset preset for the vehicle
in autosteering driving.

7.3.2 Accessibility
 NMEA
Turn on the NMEA function to transmit the GPS information received
by the automatic navigation device to other electronic devices. User
should enable it in Settings->Accessibility and set the intended format
and transmission frequency.

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Figure 3.7.5 NMEA settings

 Data Transfer
Map information, including field, boundary, guidance line, and task
data, can be exported out of or into the FJD autosteering kit through
online sharing or USB flash drive.

Online Sharing:

Before the USB flash drive is inserted, data can be transferred to the
designated user through online sharing. The steps are as follows:
Step 1: Go to Settings > Auxiliary Functions > Data Transfer, select
the data to be shared, and click the sharing button at the top right.
Note: Only field, boundary, and guidance line information can be
shared online.

Figure 3.7.6 Data transfer

Step 2: Enter the user account, and click Confirm.

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Figure 3.7.7 Enter the account of designated user

Step 3: Select the current device SN and click OK. A window pops up if
the sharing is successful.

Figure 3.7.8 Select the device SN

USB flash drive:

Step 1: Insert the mobile storage device into the T1 port above the
vehicle display control terminal (the T1 port is a USB Type-C port, if the
mobile storage device is a Type-A port, it is required to purchase a
connector converter).

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Figure 3.7.9 Connection diagram of mobile storage device

Step 2: Enter the data transfer interface, user can export map
information via USB, such as: fields, boundary, guidance line, mission data
etc..For use by other terminals, and users can also import map information
from other devices to FJDynamics Autosteering kit. Data information in
some formats may not be imported. For details, refer to the description of
the importable format displayed in the interface.

Figure 3.7.10 Data transfer interface

Notes:

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1.Only data in the formats specified on the screen can be imported.

2.Before inserting the USB flash drive, you can share the boundary and

guidance line online. After the USB flash drive is inserted, online sharing is

not supported.

3.Task data cannot be shared online.

 Terrain Compensation
If the operation field contains more slopes, the terrain compensation
can be turned on to achieve a more precise navigation effect.
 Super Low Speed
When using the Hall angle sensor, the ultra-low speed mode can be
turned on to ensure the accuracy and stability of the operation at ultra-low
speeds below 0.3km/h.
 Manual Intervention
You can get disengaged of the automatic driving mode manually when
this function is turned on. The sensitivity of manual intervention can be
adjusted.
 Radar Output Module (Optional)

Radar Output Module transmits the speed information obtained by

the autosteering kit to the implement through a signal conversion box.

Users can check the current speed, the current square wave frequency, and

the current ratio of square wave frequency to speed on the control

terminal of the autosteering kit. For details about the operations, refer to

the Radar Output Module Usage Instruction Manual.

Radar Output Module is also applicable to old version implements

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that support radar speed input, such as sprayers, spreaders, and seeders.

You can purchase Radar Output Module separately according to your

needs.

7.3.3 Vehicle Parameters

Figure 3.7.11 Vehicle parameter settings

Click the Vehicle Parameters tab. On the displayed details screen, click
the required items and enter the corresponding vehicle data to complete
vehicle parameter settings. For specific measurement details, please refer
to the instruction video.
GNSS Receiver Offset Calibration
If there is a problem of large and small lines in the multi line mode
during the operation, the user is required to calibrate the positioning
antenna spacing according to the following diagram.

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Figure 3.7.12 GNSS Receiver Offset Calibration

Step 1: Create a guidance line: create and import a guidance line. (The
starting point is point A, the end point is point B)
Step 2: Set the line spacing and select the operation mode: set the
operation spacing in the Parameter Setting to 10 meters, and select the
operation mode as multi line mode.
Step 3: Drive two times.
First driving: Drive the vehicle at a low speed from point A to point B.
If the vehicle is stable (the offset error displayed on the screen is less than
2 cm), stop after the driving distance is not less than 10 meters, and mark
at the right rear tire position of vehicle, confirming the marking line L1.
Second driving: After marking the marking line L1, turn the vehicle
around and continue driving in the reverse direction along the driving
route just now. When driving to the vicinity of the marking line L1 in the
second step (note: ensure that the driving status is stable at this time, that
is, the offset distance displayed on the screen is less than 2 cm), stop and
draw the marking line L2 at the left rear wheel position.
Step 4: Measuring error: use a clicke measure to measure the distance
between the two marking lines, and record the value a (unit: m)

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Step 5: Please enter a value in the interface of Positioning Antenna-

Central Axis Distance, and click OK to complete the corresponding GNSS
Receiver Offset Calibration.
7.3.4 Parameter Setting
Choose Settings -> Parameter Settings. On the displayed screen, you
can set Angle Sensor, Vehicle Calibration and Calibration of Accessories
to ensure operational accuracy.
 Angle Sensor

Figure 3.7.13 Angle sensor settings

Click the Angle Sensor Calibration tab in Parameter Calibration page.

On the displayed details screen, set Angle Sensor Type, Installation
Position and click Calibration to calibrate the angle sensor in this position.
For details, see section 2.7 Calibrate Angle Sensor in Chapter Ⅲ
Software Operation Instructions of Control Terminal.

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Figure 3.7.14 Settings for no angle sensor

 Calibration of Accessories

Figure 3.7.15 Settings for calibration of accessories

When auto-driving path has a offset within 3 cm after the implement

is equipped, please measure the value. If the auto-driving path tends to
the left comparing to the pre-set guidance line, please select implement
offset to the left and enter the deviation value “a”, and then click OK to
save the setting; if the auto-driving path tends to the right, select
implement offset to the right and enter the deviation value a, and click

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OK.
 Parameters Commissioning (for FAE Only)

Figure 3.7.16 Parameter settings

Approach Aggressiveness: affects the time for the vehicle to enter

the next guidance line when making a turn. The larger the value is, the
shorter adjustment time the process needs. However, the driving instability
is higher.
Online Aggressiveness: affects the Straight line driving accuracy of
the vehicle. The smaller the value is, the higher the control degree, but the
instability will increase accordingly. For example, the possibility of an “S”
turn is greater.

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Vehicle Calibration

Figure 3.7.17 Vehicle calibration

For detailed operations, see section 2.8 Vehicle Calibration in Chapter

IV Software Operation Instructions of In-vehicle Control Terminal.

7.3.5 Implement Information

Click Implement Information in Settings to view the implement
parameters and list of implements.
Click Implement Parameters to view the way of implement
connection, the distance between the implement and the hitch, and
implement working parameters.

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Figure 3.7.18 Implement parameter

Click List of Implements and delete, edit, create, upload, and

synchronize implements to create and manage the implement library. Note:
The implement library can contain a maximum of 10 implements.

Figure 3.7.19 List of implements

 Delete the Implement: Select an implement and click Delete to

delete the implement information.

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Figure 3.7.20 Delete an implement

 Edit the Implement: Select an implement and click Edit to modify the

implement information.

Figure 3.7.21 Edit an implement

 Create New Implements: Click New and then perform the following

steps:

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Step 1: Fill in the basic information of the new implement and click

Next.

Figure 3.7.22 Create new implements - basic information

Step 2: Fill in the working information of the new implement, and

click Save. If any item is not set, the information cannot be saved.

Figure 3.7.23 Create new implements - work information

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 Upload the Implement: Click the upload icon to upload implement

information.

Figure 3.7.24 Upload implements

 Synchronize the Implement: Click the synchronize icon to synchronize

the previously uploaded implement information.

Figure 3.7.25 Synchronize implement

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7.3.6 System Settings

 System version (OTA upgrade)

Figure 3.7.26 OTA Upgrade

When there is an update to the software version, you can perform the
following operations to achieve a one-click upgrade of the auto steering
kit:
1. Turn on the in-vehicle control terminal of the autosteering kit. Make
sure that the control terminal can access the Internet through network SIM
card/Wi-Fi network and that the network status is stable (please make sure
the 4G antenna is connected properly).
2. If there is a new version, the system will automatically display a
prompt for upgrade.
3. Click Confirm Update in the prompt box to enter into the upgrade
process.
4. Do not take any operation during the upgrade. You can check the
upgrade progress through the displayed information and wait for its
completion.
5. After the upgrade is successful, the system will display a prompt
that the upgrade is successful and then automatically enter the new

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version.
6. If the upgrade fails, the system will prompt you to retry.Click Retry
to re-upgrade the system.
Notes for OTA upgrade:
1. Ensure that the network status is stable throughout the upgrade process.
2. Do not power off the terminal during the upgrade process.
3. If you encounter any problems during the upgrade, please contact your
local dealer for help or call the technical service hotline.
 Mode selection
User can switch between Fast Mode and Advanced Mode here.
 Recycle bin
Boundary, guidance line and History data deleted within 30 days can
be restored in the recycle bin.
 Unit settings
User can choose the unit to display as metric or imperial units, or
define own unit combination based on unit usage habits.
 Language Settings

You can select a system language from more than 20 languages, such

as Chinese, English, Spanish, and Russian. Note: Language switching is not

supported during operation.

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Figure 3.7.27 Language selection

7.3.7 Wi-Fi Camera (Optional)

Two Wi-Fi cameras can be connected via hotspot. The operation is as
follows:
1. For the first use, please turn on the Wi-Fi camera in the Settings.
2. Turn on the hotspot mode before binding, and scan the code via
camera to identify and bind the camera. Up to two cameras can be bound
via scanning the code. The scanned camera is displayed on the right side.
Click OK to enter the camera view page.
3. The current video stream can be viewed on the camera list page. If it
is required to bind other cameras, click Delete and repeat the binding
steps to bind.

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Figure 3.7.28 Wi-Fi camera configuration

4. After the binding is completed, user can click return button in the
upper left corner to enter the working interface, and Click real-time video
button to open the main interface display.

Figure 3.7.29 Real-time video

5. Click “Switch” button to switch the camera.Click “Full Screen”

button to maximize the camera interface, and click again to restore. Click
“Close” to close the camera window in a real time manner.

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7.3.8 Remote Commissioning

Turn on the remote commissioning function, which should use with
the background control program to realize the remote control screen
function; user should turn on the Remote Debugging switch in the
Settings.

Figure 3.7.30 Remote commissioning

7.3.9 Changing the Password

In Settings > User Information > Account and security, you can
perform the following steps to change the password.
1. Choose User Information > Account and security > Change
Password and change the password.

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Figure 3.7.31 User information

2. You will be logged out after the password is changed. You may log
in again on the login screen displayed.

Figure 3.7.32 Login

7.3.10 Other Settings

In addition to Parameter Settings, Correction Source, and
Troubleshooting, the Settings screen allows setting and querying other
general information such as Volume, Brightness, and device information.

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Chapter Ⅳ FCC Warning

NOTE: This equipment has been tested and found to comply with the
limits for a Class B digital device, pursuant to part 15 of the FCC Rules.
These limits are designed to provide reasonable protection against harmful
interference in a residential installation. This equipment generates uses
and can radiate radio frequency energy and, if not installed and used in
accordance with the instructions, may cause harmful interference to radio
communications. However, there is no guarantee that interference will not
occur in a particular installation. If this equipment does cause harmful
interference to radio or television reception, which can be determined by
turning the equipment off and on, the user is encouraged to try to correct
the interference by one or more of the following measures:
- Reorient or relocate the receiving antenna.
- Increase the separation between the equipment and receiver.
-Connect the equipment into an outlet on a circuit different from that to
which the receiver is connected.
-Consult the dealer or an experienced radio/TV technician for help
Changes or modifications not expressly approved by the party responsible
for compliance could void the user's authority to operate the equipment.
This device complies with Part 15 of the FCC Rules. Operation is subject to
the following two conditions:
(1) this device may not cause harmful interference
(2) this device must accept any interference received, including
interference that may cause undesired operation.
This equipment complies with FCC radiation exposure limits set forth for
an uncontrolled environment. This equipment shall be installed and
operated with minimum distance 20cm between the radiator & body.

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Chapter Ⅴ IC Statement
This device contains licence-exempt transmitter(s)/receiver(s) that comply
with Innovation, Science and Economic Development Canada’s licence-
exempt RSS(s). Operation is subject to the following two conditions:
(1) This device may not cause interference.
(2) This device must accept any interference, including interference that
may cause undesired operation of the device.

L’émetteur/récepteur exempt de licence contenu dans le présent appareil

est conforme aux CNR d’Innovation, Sciences et Développement
économique Canada applicables aux appareils radio exempts de licence.
L’exploitation est autorisée aux deux conditions suivantes:

(1) L' appareil ne doit pas produire de brouillage;

(2) L' appareil doit accepter tout brouillage radioélectrique subi, même si le
brouillage est susceptible d' en compromettre le fonctionnement.

ISED Radio Frequency Exposure Statement:

This equipment complies with IC exposure limits set forth for an
uncontrolled environment. This equipment shall be installed and operated
with minimum distance 20cm between the radiator & body.

ISED Déclaration d'exposition aux radiofréquences:

Cet équipement est conforme aux limites d'exposition IC définies pour un
environnement non contrôlé. Cet équipement doit être installé et utilisé
avec une distance minimale de 20 cm entre le radiateur et la carrosserie.

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Chapter Ⅵ FAQs
No. Fault Troubleshooting

1 S turn in Check whether the rolling angle and pitching

autosteering angle change in real time.

operations Calibrate the angle sensor (optional).

Check whether the GNSS receiver is installed

and connected properly.

2 Steering wheel Check the brake.

malfunction during Test the motor.

autosteering Power off and restart the vehicle.

operations Check whether the GNSS receiver is installed

and connected properly.

3 No 4G signal Check whether the SIM card is inserted.

4 No RTK signal When the mobile base station is connected,

check whether the base station is powered on

or operating normally.

When the Network RTK is connected, verify

whether 4G signals are normal.

When the Network RTK is connected, verify

whether the Ntrip account is valid.

5 Inconsistent Verify whether the vehicle parameters are

working width in entered correctly.

multi-line mode Verify whether the vehicle calibration in

Settings is completed.

Calibrate the implement again.

6 “Service not Power off and restart the vehicle.

enabled, power off

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and restart the

vehicle” appeared

during start-up

7 Slight offset in Check whether the rolling angle changes.

straight line mode

Chapter Ⅶ Main Hardware and its

Specifications

1 Specification Table 1

No. Assembly Component Specifications

Size: 275×180×40 mm;

Basic configuration: 10.1-inch

capacitive touch screen, LED

backlight, 1280x800 pixels,

LCD=700 nits

RAM: 2G; ROM: 8G

Signals: RF signal, positioning

Control
1 Control Terminal satellite signal, and 4G signal;
Terminal
External interface: SIM card slot*1,

Type-C port*2;

Power supply: 9 V - 36 V;

Operating temperature: -

20°C~+70°C;

Storage temperature: -40°C~+85°C;

IP rating: IP66;

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Relative humidity: 0% - 95%, 40°C

(non-condensation);

Wi-Fi specifications: 2.4 GHz

frequency band, BT 5.0

Frequency range: 2,412 – 2,462 MHz

Radio communication: 900M/None

Frequency range: GPS L1C/A、

L1C、L2P(W)、L2C、L5；
GLONASS L1、L2；BDS B1I、
B2I、B3I、B1C、B2a；Galileo
E1、E5a、E5b;SBAS;
Operating voltage: 9 V – 36 V;
2 GNSS Receiver GNSS Receiver
Operating current: < 300 mA;

Size: 162x64.5 mm;

Operating temperature: -20°C -

+70°C;

Storage temperature: -40°C - +85°C;

IP rating: IP66

Steering
3 Steering wheel diameter: 410 mm;
Wheel

Power supply: 12 V or 24 V;
Electric Steering
Steering Peak torque: 20 Nm (12 V); 30 Nm
4 Wheel
Motor (24 V);

IP rating: IP65

5 Splined Sleeve Multiple models

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