automated steering kit installation guide...1 april 2011 876-0126-000 rev. c rel. 2 automated...

1

April 2011 876-0126-000 Rev. C Rel. 2

Automated Steering KitInstallation Guide

Kit: EDX-CMX, P/N 911-2003-000Fits Case MX Magnum Tractor Models:

(* Prior to SN# JAZ126070)

Read and Follow Safety Messages

• In these instructions, you will see the heading WARNING and the safety alert symbol . They indicate a hazardous situation that, if not avoided, could result in death or serious injury. The safety messages provide information to identify a hazard associated with potential injury.

• Before installing, operating, or performing maintenance or service on any part of the system:

– Read and understand this installation guide and all of the safety information.

– Read and understand the Automated Steering System User Guide.

• Do not allow anyone to operate without instruction.

• Keep these instructions and all related safety information with the manuals for your machine and other implements.

If you have questions or need assistance, contact your local dealer or distributor.

Overview

A series of equipment specific kits has been developed to work in conjunction with your automated steering system. For the machine models listed above, these kits contain the components for:

• the steering hydraulics

• the wheel angle sensor (WAS)

• the steering wheel switch (SWS - for steering override)

• the electronic control unit (ECU)

The items in each kit are detailed in the tables that follow the safety warnings below. After the kit tables there are four step-by-step installation sections, one for each of the kits.

Please read this manual thoroughly before beginning the installation.

To avoid serious injury or death during machine operation, install the appropriate kit for your machine make and model.

180 210*200 230*220 255*240 285*270

22

2

Machine Preparation

Inspect the machine and perform any needed maintenance (for example, contaminated hydraulic fluid) before installing the Automated Steering Hydraulic Installation Kit. This kit cannot perform as intended on a machine that is not maintained properly. Errors in performance increase the risk of operator and bystander injury or death.

Failure to maintain clean hydraulic fluid and operational hydraulic components can cause loss of directional control resulting in serious injury or death.

To avoid serious injury, wear hand and eye protection and use wood or cardboard when checking for leaks.

Turn off the machine and power off the automated steering controller when installing or performing maintenance.

Before attempting to install any of the components, park the machine on a clean level floor with adequate clearance to work all around.

Before you perform any drilling, cutting or fastening, ensure that no other machine components, such as hydraulic hoses or electrical wiring, will be damaged. Failure to follow this warning may cause physical injury and/or damage to the machine.

To prevent hydraulic system contamination, it is essential to thoroughly clean hydraulic system fittings and hose connections prior to disconnecting or removing. Use a spray cleaner such as ‘Brake Clean’ to prevent hydraulic system contamination. Note that o-rings used on ORB and ORFF type fittings, referred to in the Kit Contents section, may be damaged by solvent cleaners such as ‘Brake Clean’. If a fitting is to be cleaned internally, the o-ring should first be removed and cleaned with a fiberless cloth.

Kit Contents - Steering HydraulicsUnpack the hydraulics installation kit and identify the required parts as shown. Kit items are A, B, C etc. with an H (Hydraulic) prefix.

REF PART NUMBER QTY DESCRIPTION PHOTOGRAPH

HA 760-0021-000 1 Assy, hyd valve block - 35L/Proportional

(Hydraulic steering block)

Bag H1 of 4 contains HB, HC, HD, and HE

HB 760-2058 1 Adapter, hyd 90 elbow - #6maleJIC x #6maleORB

(LS port on hydraulic steering block)

HC 760-2061-000 2 Adapter, hyd 90 elbow - #6maleJIC x #8maleORB

(P and T ports on hydraulic steering block)

HD 760-2060 2 Adapter, hyd - #6maleJIC x #8maleORB

(A and B ports on hydraulic steering block)

3

3

Kit Contents - Steering Hydraulics (continued)


HE 760-2055 1 Adapter, hyd 90 elbow - #6maleJIC x #6femJIC

HF 640-0092-000 1 Hyd block mnt, CMX/AP780

Bag H2 of 4 contains HG and HH

HG 675-2006-000

678-1054

676-1035

2

2

2

Bolt - 3/8NC x 3-3/4" Gr5 ZP

Washer, narrow flat - 3/4"OD x 13/32"ID x1/16" thk ZP

Nut, nylock - 3/8NC ZP

HH 675-2002

678-1053

676-1034

2

2

2

Bolt - 1/4NC x 2-1/2" Gr5 ZP

Washer, flat - 1/4" ZP

Nut, lock - 1/4NC ZP

HI 640-0063-000 1 Bracket, steering controller

HJ 750-5003-000 1 Steering controller

Bag H3 of 4 contains HK

HK 760-2069 4 Adapter, hyd run tee - #8ORFF

44

4

Kit Contents - Steering Hydraulics (continued)


Bag H4 of 4 contains HL, HM, HN, and HO

HL 760-0002 1 Hyd load shuttle - #6femORB

HM 760-2048 1 Adapter, hyd - #6maleORFF x #6maleORB

HN 760-2040 1 Adapter, hyd 90 elbow - #6maleORB x #6femORFFswiv

HO 760-2056 1 Adapter, hyd - #6maleJIC x #6maleORB

HP 760-1017 2 Hose, hyd - 3/8" x 52", #6femJICswiv x #8femORFFswiv90EL

HQ 760-1018 2 Hose, hyd - 3/8" x 45", #6femJICswiv x #8femORFFswiv90EL

HR 760-1019 1 Hose, hyd - 1/4" x 42", #6femJIC x #6femJIC swiv, both ends

HS 677-2001 20 Tie strap, 11" heavy duty

5

5

Kit Contents - Wheel Angle SensorUnpack the wheel angle sensor kit and identify the required parts as shown. Kit items are A, B, C etc. with a W (Wheel) prefix.


Bag 710-0099-000 (W1 of 3) contains WA to WF

WA 720-0045-000# 1 WAS assembly

WB 750-5002-000 1 Sensor, dual output, BEI

WC 602-1087-000 1 Connector arm, steering, long

WD 675-1191-000 2 Screw, mach, 8-32 x 3" PPH ZP

WE 676-1054-000 3 Nut, nylock - 8/32NC ZP

66

6

Kit Contents - Wheel Angle Sensor (continued)


WF 675-1150-000 1 Screw, 8-32 x 1", Allen socket cap, ZP

WG 675-2031-000 1 Threaded rod, 5/16-24 x 12"

Bag W2 of 3 contains WH, WI, and WJ

WH 676-1053-000 4 Nut, 5/16-24 standard ZP

WI 760-0018-000 2 Rod end swivel with stud, 5/16-24

WJ 675-2010 2 Bolt - 5/16NC x 3/4" Gr5 ZP(bolts WAS assy to mounting bracket WK)

WK 640-0070-000 1 WAS rod mounting bracket

WL 640-0072-000 1 WAS assy mounting bracket

7

7

Kit Contents - Wheel Angle Sensor (continued)

Kit Contents - Steering Wheel SwitchUnpack the steering wheel switch kit and identify the required parts as shown. Kit items are A, B, C etc. with an S (Switch) prefix.


Bag W3 of 3 contains WM and WN

WM 675-0107-000# 2 Clamp, 1-1/2" polypropylene, EDX

WN 675-2030-000

678-1054

676-1035

2

2

2

Bolt - 3/8NC x 3-1/2" Gr5 ZP

Washer, narrow flat - 3/4"OD x 13/32"ID x1/16" thk ZP

Nut, nylock - 3/8NC ZP


SA 478-0008 2 Magnet, flex - 1/2"W x 1"L x 1/8"T, plain, 1

SB 675-0077 1 Epoxy, Hardman 04001 - single double bub

SC 602-1062 1 Bracket, steering wheel switch mounting

88

8

Kit Contents - Steering Wheel Switch (continued)

Kit Contents - Electronic Control Unit

Unpack the electronic control unit kit and identify the required parts as shown. Kit items are A, B, C etc. with an E (Electronic) prefix.


SD 726-1054 1 Assy, steering wheel switch

SE 677-2002 4 Tie strap, 7" releasable


EA 051-0226-000# 1 ECU main cable

EB 054-0115-000# 1 Power extension cable

EC 051-0228-000# 1 Steering controller main cable

9

9

Kit Contents - Electronic Control Unit (continued)


ED 051-0231-000# 1 Valve cable

EE 051-0230-000# 1 WAS cable

EF 051-0229-000# 1 SWS cable

EG 054-0117-000# 1 Power switch

EH 051-0166-000# 1 CAN-PWR cable

EI 806-1031-000# 1 Controller (ECU)

1010

10

Kit Contents - Electronic Control Unit (continued)


EJ 640-0091-000 1 ECU mount bracket

EK 726-1093-000 1 Switch bracket

Bag E1 of 1 contains EL and EM

EL 675-1197-000 4 Screw, self drilling, #10-16 x 2-1/2", Hex ZP

EM 675-1188-000 4 Screw, mach, M6 x 12mm, PPH ZP

11

11

Installation - Automated Hydraulic Steering Kit

Before installing, disconnecting or repairing the hydraulic hoses and components, turn off the machine and relieve all pres-sure from the hydraulic system by turning the steering wheel left and right. Failure to remove the pressure can result in seri-ous injury or death from unexpected machine movement.

To avoid burn injury when installing, disconnecting or repairing the hydraulic hoses and components, turn off the machine and allow the system to cool down prior to touching the parts of the machine that are heated. 1. Prepare the hydraulic steering block.

Make sure the hydraulic steering block is clean and dust free.

Prepare the hydraulic steering block as follows (Figure 1):

• Install adapter fitting HB into the LS port.

• Install adapter fittings HC into the P and T ports.

• Install adapter fittings HD into the A and B ports

• Install adapter fitting HE onto adapter fitting HC on the P port.

2. Install the hydraulic block mounting bracket.

The hydraulic steering block will be mounted to the tractor frame on the left side, below the cab, and beside the fuel tank.

a. Locate and remove the lower of the two bolts securing the step mounting bracket to the tractor frame (Figure 2a).

b. Using this bolt, secure the hydraulic mounting bracket HF to the tractor frame (Figure 2b).

Figure 2a: Removing lower step mount-ing bracket bolt

The hydraulic steering block will be mounted later to allow work space during steering hose installa-tion.

Figure 1: Prepared hydraulic block

Figure 2b: Installed hydraulic blockmounting bracket

HD

HBHE

HC

HF

1212

12

3. Install the steering output fittings.

a. Locate the tractor steering orbital in front of the cab, just below the windshield. The two lines coming out of the left side of the steering orbital are the steering output lines and are stamped R and L on the casting. Disconnect the steel line fittings from the steering orbital (Figure 3a).

b. Install the run-tee fittings HK. Reconnect the steel line fittings (Figure 3b).

Leave the run-tee fittings loose to allow for alignment when connecting hoses. Plastic caps placed on the open ends of the fittings will prevent excessive leakage prior to hose installation.

4. Install the steering output hoses.

a. Install the steering output hoses HP onto the branches of the run-tee fittings HK installed at step 3b (Figures 4a L and R and 4b).

b. Route the hoses down to the hydraulic steering block as shown and connect to the A and B ports (Figure 4b). The ends of the hoses with the large o-ring flat face elbows attach to the run-tees and the hose ends with the smaller JIC fitting connect to the block.

c. Make sure hoses are secure and routed for problem-free operation. Securely tighten all connections.

Figure 3a: Steering output ports, steel linefittings removed

Figure 3b: Installed run-tee fittings and re-connected steel line fitting

Figure 4a (L and R): Installed steering outputhoses

Figure 4b: Steering output hoses connectedto the hydraulic block

Steering output ports

HK

HP

HP

HK

HP

13

13

5. Install the pressure and tank fittings.

a. On the tractor steering orbital, the top right line is the tank return port and the bottom right line is the pressure supply port. These ports are stamped P and T respectively on the orbital casting. Remove the hoses from these two ports.

b. Install run-tee fittings HK provided (Figure 5). Leave the run-tee fittings loose to allow for alignment when attaching hoses. Plastic caps placed on the open ends of the fittings will prevent excessive leakage prior to hose installation.

6. Install the load sense shuttle and fittings.

a. Prepare the load sense shuttle HL with fittings HM, HN and HO (Figure 6a).

b. Locate the small load sense hydraulic line on the left side of the steering orbital. Disconnect the junction of the load sense hose where it makes an elbow transition (Figure 6b).

c. Connect the hose going back to the steering orbital to the end of the load sense shuttle HL with the o-ring face adapter HM (Figure 6c).

d. Attach the tractor load sense line to the o-ring face female elbow HN in the center position of the shuttle (Figure 6c).

Figure 5: Installed run-tee fittings at orbitalP and T ports

Figure 6a: Prepared load sense shuttle

Figure 6b: Load sense line - to be disconnected

Figure 6c: Installed load sense shuttle - load sense line reconnected

Tank (Return) port

Pressure port

HK

Connects to load sense hose

Connects to the line from steering orbital

load sense portExisting tractor load sense line

HL

HM

HN

HO

Tractor steeringload sense line

HN

HL

HM

Tractor steeringload sense line

1414

14

7. Install the load sense hose.

Connect the load sense hose HR to adapter fitting HO on the load sense shuttle installed at step 6 (Figure 7). Route the hose down to the hydraulic steering block and connect to the adapter fitting HB in the LS port on the block (Figure 8a).

8. Mount the hydraulic steering block.

a. Using hardware HG mount the hydraulic block and bracket HI to bracket HF. The top of HI (the short side) must face the front of the tractor (Figure 8a).

b. Using hardware HH attach steering controller HJ to the top of bracket HI. The wire connections should face the tractor frame. (Figure 8b).

9. Install pressure and tank hoses.

a. Connect the pressure and tank hoses HQ to the branches of the run-tee fittings HK installed at step 5b (Figure 9a).

Figure 7: Connected load sense hose

Figure 8a: Mounted hydraulic block. LS hoseconnected. (P & T hoses also shown connected -see step 9c)

Figure 8b: Mounted steering controller

Figure 9a: Connected pressure tank hoses

HO

HR

HI

HR

HB

HJ

HQ

HK

15

15

9. Install pressure and tank hoses (continued).

b. Route the T and P hoses down to the hydraulic steering block (Figure 9b). The ends of the hoses with the large o-ring flat face elbows attach to the run-tees (at the orbital) and the hose ends with the smaller straight fittings connect to the hydraulic steering block.

c. Connect the hoses HQ from the P and T ports on the orbital to their respective P and T ports on the hydraulic steering block. Connect the T hose to adaptor fitting HC and the P hose to adapter fitting combination HC/HE (Figure 9c).

10. Verify operation.During tests of the hydraulic response the machine may move unexpectedly. Be prepared for machine movement to avoid injury. Keep others away and stay clear of mechanical steering linkages to prevent serious injury or death from pinch point hazards while manually operating the hydraulic steering circuit.

a. Tighten all connections and clean up the installation area around the tractor and make certain that it is safe to operate.

b. Start the tractor and check hydraulic connections for any leaks.

c. Rotate the steering wheel from one extreme to the other and back.

Figure 9b: Routed tank and pressure hoses

Figure 9c: Connected tank and pressure hoses

HQ

HQ

Port P (HC and HE)

Port T (HC)

1616

16

Installation - Wheel Angle Sensor (WAS)

Switch off the machine’s engine while installing or adjusting the WAS. Keep others away and stay clear of mechanical steering linkages to prevent serious injury or death from pinch point hazards while manually operating the hydraulic steering circuit. 1. Prepare the wheel angle sensor.

a. Using the provided hardware WD and WE, attach the WAS wire connector (sensor) WB to the WAS housing WA. Install the bolts up through the bottom of the housing. The WAS wire connector WB can be mounted 90° to any of the WAS housing WA sides (Figure 1a).

b. Cut five holes off the WAS arm WC at the opposite end from the WAS shaft mounting hole (Figure 1b).

c. Using hardware WE (nut) and WF (screw), attach the cut WAS arm WC to the WAS assembly. Mount the arm in the opposite direction to the WAS wire connector (Figure 1c).

Before you cut the rod at step 1d, screw the pro-vided nuts WH onto the threaded rod WG so that they are inside the cut you will make. After you have cut the rod, the nuts can help clean the threads.

d. Cut the provided threaded rod WG 2 7/8” long (Figure 1d-i) then screw the lock nuts WH and swivel rod ends WI onto the cut threaded rod to achieve a center-to-center stud measurement of4 1/8” (Figure 1d-ii). Leave WH loose until you complete linkage adjustment at step 2f.

Figure 1d-i: Cut threaded rod

Figure 1a: Mounted WAS wire connector

Figure 1b: WAS arm preparation

Figure 1c: Attached WAS arm

Figure 1d-ii: Assembled threaded rod

2 7/8”

WG WHWH

WB

WEWA

WD

90°

Cut WC

WAS shaft mounting hole

WE

WF

WB

WC

4 1/8”

WHWI WI

17

17

2. Mount the wheel angle sensor.

a. Locate the tie rod on the left hand side of the steering axle (Figure 2a).

b. Attach plastic clamps WM and bracket WK to the tie rod with hardware WN next to the locking nut (Figure 2b).

c. Locate the front axle differential cover bolts on the back of the axle. Loosen the bolt indicated in Figure 2c-i just enough to slide the bracket WL behind the bolt (Figure 2c-ii).

Figure 2c-i: Differential cover bolt to loosen

d. Attach the assembled WAS from steps 1a and 1b to bracket WL using hardware WJ (under the bracket, not shown) with the WAS connector facing the center of the machine. The top of the WAS assembly should be approximately 1" from the bottom of the steering cylinder (Figure 2d).

Figure 2a: Tie rod and locking nut location

Figure 2b: Installed WAS clamp and bracket

Figure 2c-ii: Installed WAS mounting bracket

Figure 2d: Installed WAS assembly

Differential cover bolt

Tie rod

Locking nut

WN

WK

WM

WL

Differential cover bolt

WAS assembly

WL

Approx 1”

1818

18

2. Mount the wheel angle sensor (continued).

e. Using the remaining hardware WH, install the assembled WAS linkage from step 1d between the rod bracket WK and the last hole in the WAS connector arm WC. Install the linkage with the swivel studs inward but leave the swivel stud nuts WH loose (Figure 2e).

f. With all hardware WH loose, slowly turn the wheels full left lock then full right lock (Figures 2f-i and 2f-ii). Check that the linkage moves freely without binding and adjust the linkage if necessary.

g. When the linkage does move freely and without binding, tighten hardware WH on the rod and the swivels.

Figure 2f-i: Installed WAS - full left lock

Figure 2e: Installed linkage

Figure 2f-ii: Installed WAS - full right lock

WC

WK

WAS linkage

WH

19

19

Installation - Steering Wheel Switch (SWS)1. Install the steering wheel switch.

a. Locate the steering shaft under the steering console near the cab floor. The shaft is surrounded with a metal shield (Figure 1a).

b. Drill a 3/8” hole in the sensor bracket SC at the opposite end from the sensor hole. Put a 90° bend in the end just drilled to 3/8” (Figure 1b).

c. Remove the bottom steering shaft shield flange nut. Using the bent sensor arm as a template, drill a ½” hole in the steering shaft shield (Figure 1c).

Cut the magnet SA in half. Using the two-part epoxy SB, attach one half of the magnet to the inner steering shaft. Turn the shaft 180° and attach the other half of the magnet.

d. Attach sensor SD to the bracket SC. Fasten the sensor arm to the steering shaft shield flange with the nut removed at step 1c (Figure 1d).

e. Align the sensor SD with the magnets and adjust the sensor face to ¼” to ½” from the magnets (Figure 1d).

Figure 1a: Shielded steering shaft

Figure 1b: Newly drilled/bent sensor bracket

Figure 1c: Drilled shaft shield and installedmagnets

Figure 1d: Installed sensor arm

Steering shaft shield

Sensor bracket’s new hole and bend

SC

Shield flange nut removed

Drilled 1/2” hole

SD

SC

2020

20

Installation - Electronic Control Unit (ECU)See Appendix A for a schematic of the cable connections.

1. Install the ECU.

Locate the ECU EI, mounting bracket EJ, and hardware EL and EM.

a. Locate the ECU mounting location to the right of the driver’s seat on the cab floor (Figure 1a).

b. Facing the one inch tabs of bracket EJ towards the right fender wall, align the bracket parallel to the tractor. The bracket should be ½” from the side of the seat frame and 3½” from the cab filter (Figure 1b).

Using hardware EL fasten bracket EJ to the floor. Using a small level set the bracket as level as possible.

Do not overtighten the self drilling screws. Over-tightening could cause the fastener to fail.

c. Using mounting hardware EM attach the ECU EI to its bracket EJ. Face the wire connections towards the rear of the tractor (Figure 1c).

Figure 1a: ECU mounting location

Figure 1b: Installed ECU mountingbracket

Figure 1c: Installed ECU

3½”

EJ

EL

½”

EI

EM

21

21

2. Assemble and install the cables.

On a clean surface, lay out all the cables and become familiar with the connections and where they are to be placed (see Appendix A).

a. Connect cable EA to the ECU EI using an Allen wrench to secure the cable to the ECU. The EA connector will only fit the ECU socket that is in line with the power and communications indicators at the opposite end of the ECU (Figure 2a and inset).

b. Connect steering controller cable EC’s connector labeled ‘VALVE’ to valve cable ED. Place the cables near the hydraulic block (Figure 2b).

Connect cable ED’s three 2-pin connectors (labeled LEFT, RIGHT and ENABLE) to the enable valve and two solenoid valves on the hydraulic steering block (Figure 2b).

c. Connect cable EC’s two 12-pin connectors (black and gray) to their respective sockets on the steering controller HJ at the hydraulic steering block (Figures 2b and 2c).

d. Connect WAS cable EE between the WAS wire connector on the front axle and cable EC’s connector labeled ‘WAS’. Route the cable along the frame to cable EC near the hydraulic block (Figures 2d-i and 2d-ii).

Figure 2d-i: WAS cable routed and connected to WAS wire connector on WAS assembly

Figure 2a: Main cable connected to ECU

Figure 2b: Valve cable connected betweensteering controller main cable and hydraulic block

Figure 2c: Steering controller main cable con-nected to steering controller (and valve cable)

Figure 2d-ii: WAS cable connected to WASassembly and steering controller main cable

EE

Solenoids

Enable valve

EDEC

EC

ED

HJ

ECEE

2222

22

e. Connect SWS cable EF to cable EC’s connector labeled ‘SWS’ and route the cable under the cab to the access hole in the cab floor. Route the cable along the floor and over to the steering shaft (Figures 2e-i and 2e-ii).

Figure 2e-i: SWS cable routed from steering controller main cable up through cab floor

f. Connect EC’s connector labeled ‘ECU’ to extension cable EB. Route cable EB under the cab to the rear of the tractor. Route the cable through the cable access hole at the rear window. Connect cable EB to cable EA’s connector labeled ‘STEERING CONTROLLER’ (Figures 2f-i and 2f-ii).

Figure 2f-i: Steering controller main cable connected to extension cable and routed to ECU in the cab

g. Attach power switch EG to cable EA’s connector labeled ‘SWITCH’. Some machines are equipped with pop out tabs that you can remove and replace with switch EG. If no tab is available, you can use bracket EK mounting it in the cab at the operator’s preferred location. Route the cable in the cab so it is clear from any machine operation controls.

Set the switch to OFF before connecting EA to the battery at step i below.

h. Connect cable EH to the open connection on cable EA labeled ‘TERMINAL/RECEIVER’. Route the cable in the cab so that it is clear of any machine operation controls. Connect the opposite end of the cable EH to the guidance terminal.

Figure 2e-ii: SWS cable routed to steeringshaft to connect with SD

Figure 2f-ii: Extension cable routed to ECUin the cab

i. Attach the power cable on EA to a 12V battery on the tractor.

© Hemisphere GPS (2011). All rights reserved.

EF

ECEB

EF

EB

23

23

Appendix A - ECU Cables and Connections

SW

S

WA

S

VALV

E

SW

ITCH

EF

TER

MIN

AL/R

EC

EIV

ER

STE

ER

ING

CO

NTR

OLLE

R

US

B

EG

EB

ED

EC

054-0115-000#

051-0229-000#

051-0230-000#

051-0231-000#

054-0117-000#

051-0226-000#

Battery

SE

RIA

L

EE

051-0228-000#

STE

ER

ING

CO

NTR

OLLE

R

EC

U

SW

S

WA

S

VALV

E

EC

U

EA

EC

U C

AB

LE

S A

ND

CO

NN

EC

TIO

NS

2424

24

automated steering kit installation guide...1 april 2011 876-0126-000 rev. c rel. 2 automated...

Documents