CHCNAV NX612 USER MANUAL

Preface

1.1 Copyright

1.1.1 Copyright 2023-2024

CHCNAV | Shanghai Huace Navigation Technology Ltd. All rights reserved. The CHCNAV and CHC Navigation are trademark of Shanghai Huace Navigation Technology Limited. All other trademarks are the property of their respective owners.

1.1.2 Trademarks

All product and brand names mentioned in this publication are trademarks of their respective holders.

1.2 Safety Warning

When using the CHCNAV NX612 GNSS Auto Steering System, please observe the following safety warnings:

• Before using the system, carefully read and understand the operating instructions in the user manual to ensure proper use of the system.
• During system operation, strictly follow local traffic regulations and safety standards to ensure safe operation in safe environments and conditions.
• Regularly check the condition and performance of the system and equipment when using the system to ensure normal operation and high-precision navigation performance.
• Maintain concentration and alertness during system operation, avoid fatigue and distraction, and prevent accidents.
• Avoid using the system in hazardous areas such as steep or cliff edges, water puddles, or muddy ground to prevent personal injury or equipment damage.
• Stop using the system immediately and contact the system manufacturer or supplier for technical support and maintenance services when the system experiences abnormality or failure.
• Protect the equipment from physical damage or weather factors when operating the system to ensure long-term stability and reliability.
• Observe the relevant maintenance and upkeep requirements of the system and equipment during operation to prolong the life of the equipment and ensure normal operation.
• Pay attention to the safety of the surrounding environment and other personnel when using the system to avoid accidents and stop the machine promptly to handle any abnormal situations.

The above is for reference only, and specific safety warning content may vary slightly depending on the device model and local regulations and standards. When using the CHCNAV NX612 GNSS Auto Steering System, please carefully read and observe the relevant safety warnings and usage instructions to ensure the safety and normal operation of the system.

1.3 Introduction

The CHCNAV NX612 user manual describes how to install and use the CHCNAV® NX612 system. In this manual, “the system" refers to the NX612 agricultural system unless otherwise stated. Even if you have used other agricultural products before, CHCNAV recommends that you spend some time reading this manual to learn about the special features of this product.

1.4 Technical Support

If you have a problem and cannot find the information you need in this manual or CHCNAV website www.chcnav.com or contact your local CHCNAV dealer from which you purchased the system(s).

If you need to contact CHCNAV technical support, please contact us by email support@chcnav.com

1.5 Disclaimer

Before using the system, please make sure that you have read and understood this User Guide, as well as the safety information. CHCNAV holds no responsibility for the wrong operation by users and for the losses incurred by the wrong understanding about this User Guide. However, CHCNAV reserves the rights to update and optimize the contents in this guide regularly. Please contact your local CHCNAV dealer for new information.

1.6 Your Comments

Your feedback about this user guide will help us to improve it in future revision. Please email your comments to support@chcnav.com

2 Product Overview

2.1 Introduction

The NX612 is an automated steering system that easily retrofits many types of tractors with a compact, up-to-date and all-in-one solution at a price each farm can afford. It provides significant productivity gains, works in all visibility conditions and reduces operator fatigue.

2.2 Main Components

Receiver: It is typically a Global Navigation Satellite System (GNSS) receiver, used to receive satellite signals to determine the accurate position, direction, and speed of the vehicle. It forms the foundation for autosteering system by providing precise information about the current location of the vehicle.

Electric steering wheel: Consists of a steering motor and a steering wheel, and provides steering control of the vehicle. The motor is primarily used to control the movement of the vehicle with steering. The autonomous driving system utilizes the motor to execute commands generated by path planning and navigation algorithms, ensuring the safe movement of the vehicle along predefined trajectories.

Tablet: The tablet serves as the user interface for interacting with the autonomous driving system. Farmers or operators can use the tablet device to set paths, monitor job status, and configure the system. The tablet is also employed for real-time monitoring of the vehicle's operation.

Camera: Placed in the rear of the vehicle to provide real-time images. Cameras have multiple uses in autonomous driving. They can be employed for obstacle detection, helping the machinery avoid collisions or damage to crops.

These components work together to enable the autonomous driving system to perform various tasks in the field, enhancing the efficiency and precision of agricultural production.

3 Installation

3.1 Product Package

All components are into one box. List of main components:

3.2 Installation Steps

3.2.1 Steering system inspection

Before installation, please check whether the vehicle steering gear is normal, whether the dead zone (steering clearance) is appropriate.

• Dead zone < 20°: Available range.
• 20°< Dead zone < 70°: Available to install NX612 but necessary to modify the dead zone to 10~30 degrees.
• Dead zone > 70°: Repair the vehicle first.

3.2.2 Original steering wheel removal

a) Remove the protective cover of the original steering wheel.

b) Stabilize the steering wheel, use the sleeve tool to loosen the original vehicle spline screws, and remove the original vehicle spline screws.

c) Pull out the steering wheel forcefully. If it is difficult to remove, it is necessary to strike the spline shaft to loosen it with a hammer and to be careful to avoid the steering wheel damage, or use of high quality puller tool to avoid damage on original steering wheel and shaft.

3.2.3 Steering wheel installation

a) If the sleeve can fit the spline, please remove the protective cover of the steering wheel, place the sleeve in it, and fix the sleeve with M5*11 phillips screws (6 pcs).

b) Install T bracket or standard bracket on the motor with M5*16 hexagon screws (2 pcs).

c) Fix the T mount kit to the shaft with M8*60 hexagon screws (2 pcs).

d) Insert T bracket through T mount kit.

e) Hold the steering wheel and tighten the spline screws with tools.

f) Screw the T bracket to the T mount kit tightly with M10 nuts (2 pcs).

g) Finally shake the steering wheel, check whether it's tight, and check again whether the steering clearance is too large.

3.2.4 Receiver installation

a) The receiver needs to be installed on the central axis of the vehicle roof as possible, and the installation direction should be parallel to the vehicle as possible.

b) After confirm the installation position, wipe the roof clean and make sure the bracket installation is spotless.

c) Adjust the receiver bracket to make sure the receiver is placed horizontally, also the receiver arrow must face forward.

3.2.5 Tablet installation

The tablet installation requires the ball base to be installed in locations as suggested shown in the picture, and avoid damaging to the original vehicle cables. Usually there are two kinds of installation methods to fix the mounting bracket.

a. Drill more than 3 dovetail screws on the A-pillar or B-pillar to fix the ball base then install tablet with RAM bracket.

b. Fix the ball base with U bolt on the tractor crossbar and adjust it according to the driver's habits.

c) After complete the installation, it is available to adjust the tablet to a suitable position.

3.2.6 Camera installation

The camera can be installed anywhere (within the wire harness length range).

3.2.7 Cables connection

a) Wiring precautions

• When wiring, first confirm the location of the threading holes, and thread the wiring harnesses outside through the threading holes in sequence.
• When wiring, first arrange the outer wiring harnesses, then arrange the wiring harnesses in the cab.
• When wiring, pay attention to avoid high temperature, oily, sharp and abrasive areas, fans, exhaust pipes and other nearby areas.
• When wiring, keep a certain length to avoid over-tightening and loosening; the wiring harnesses layout should be smooth and cannot be twisted.
• When wiring, leave enough length in case of wheel turning to right/left all the way because the wheel angle sensor will rotate together with steer wheel.
• After wiring, cut off the extra length of cable ties. After complete the installation, please store the original vehicle accessories properly and clean up the garbage.

b) Electrical connection method and precautions

• Before connect to receiver, display, and steering wheel connectors, please connect to battery first to avoid damage caused by direct power-on or multiple power-offs.
• In the process of connecting the power cord to the battery, first connect to the positive electrode then to the negative electrode.
• Pay attention to the use of the wrench when connecting the positive electrode, and it is strictly forbidden to bonding (when the wrench contacts the positive electrode of the battery, the other end of the wrench is strictly prohibited from touching any conductive items, especially the metal parts of the original vehicle).
• 12V / 24V battery, when using the original battery power supply, please connect the positive wire to the positive electrode and the negative wire to the negative electrode.
• 12V / 24V battery, when additional battery is connected in series, connect the positive wire to the positive electrode and the negative wire to the negative electrode of the other battery, as shown in the diagram below. (Diagram shows a simple electrical connection for 12V battery with generator and power supply wire).

4 Quick Guide

4.1 Power On

Press the orange button once, and the system will boot.

Note: Please do not turn the steering wheel when turning on the system because the motor will initialize internally.

4.2 Software registration

Navigate to [Settings center → System settings → Register] to check whether the software is registered. It is necessary to register Software registration, RTK, and Auto steering at least. Please contact technicians when they show as "Not activated".

4.3 GNSS Mode

4.3.1 GNSS

Go to [Settings center → Agricultural management → GNSS].

4.3.2 Select RTK

The interface shows satellite settings (GPS, GLONASS, BDS, Galileo, QZSS) and RTK options (Base station, VRS, EPPP, HPPP, DRSmooth, Intelligent RTK). Users can select RTK mode and add base station information.

4.3.3 Status bar

Check the status bar. The system is ready to use when all indicators are gray.

4.4 Vehicle

4.4.1 New vehicle

Navigate to [Settings center → Agriculture management → Vehicle → New] to create a new vehicle profile.

Key actions:

• A: Add a new vehicle.
• B: Quickly search vehicles by keywords.
• C: Apply the selected vehicle.
• D: Edit vehicle parameters.
• E: Delete the vehicle (cannot delete the last one).
• F: Export vehicle configuration via share code.

4.4.2 Vehicle info

Select tractor type (e.g., Front Steer, Rear Steer, Tracked, Articulated, Transplanter), and set vehicle brand, model, and name. Note: Ultra-low speed mode supports a minimum speed of 0.1 km/h.

4.4.3 Steering controller and Wheel angle sensor

Select Steering controller from Hydraulic Drive (PWM), Motor Drive, and CANBUS. Select Wheel angle sensor from Potentiometer, GAsensor Device, and Without WAS. For example, a tractor might use Motor Drive and Without WAS.

4.4.4 Vehicle parameters

Wheelbase (A): Measure the distance between the front wheel rotation axis and the rear wheel rotation axis. Ensure the tape measure is parallel to the ground.

Implement Tow Point (B): Use the default value of 0; it will be used in future development.

Front hitch (G): Measure the distance between the two front wheels.

Maximum WAS: The default is 25, representing the maximum angle the vehicle can turn.

Reference point for guideline recognition: Can be set to Vehicle head or Vehicle rear.

To Middle Axle (C): If the receiver is not on the central axis, measure the distance from the receiver to the central axis. If it is on the central axis, enter 0. It is recommended to enter 0 and handle assembly error calibration separately.

Antenna Pos of C: Fill in according to the receiver position.

To Rear Axle (D): Measure the horizontal distance from the antenna center to the rear wheel center. Project the antenna center and rear wheel center onto the ground for accurate measurement.

Antenna location: Relative position of the antenna center to the rear axis. Select 'Front' if ahead of the rear axis, 'Rear' if behind.

Antenna height (E): Measure the vertical height from the antenna center to the ground.

4.4.5 Steering Calibration

Requirements: An open, flat, and hard ground area of approximately 10x30 meters.

Procedure:

1. Keep the tractor running at 2 km/h and click [Start]. The steering wheel will turn automatically during calibration.
2. When the screen shows "Waiting for calibrating...", the calibration should complete successfully in about 2 minutes.

4.4.6 Installation error calibration

Procedure 1: Stop the vehicle near the current guideline and click 'Start' to check the result.

Procedure 2: Drive the vehicle forward at 2 km/h. Stop when the displayed distance is greater than 30 meters, then click 'Next'.

Procedure 3: Manually drive forward for about 10 meters, then turn around. Stop the vehicle on the line ahead and click 'Next'.

Procedure 4: Drive the vehicle forward again at 2 km/h. Stop when the display is less than 1 meter from the starting point, and click 'End'. The system will automatically complete the calculation.

4.5 Implement

4.5.1 New implement

Navigate to [Setting center → Agricultural management → Implement → New] to add a new implement.

Key actions:

• A: Add a new implement.
• B: Quickly search implements by keywords.
• C: Apply the selected implement.
• D: Edit implement parameters.
• E: Delete the implement (cannot delete the last one).
• F: Export implement configuration via share code.

4.5.2 Implement selection

Select the Task type (e.g., General, Spraying, Ridge building, Planting, Spreading, Harvest, Scatter sowing, Water and fertilizer, Tilling), enter the implement name, and select the implement mounting method.

4.5.3 Implement parameters

Implement width: The width of the implement (default is 5m).

Row Spacing: The distance between rows (default is 0m).

Hitch Point: The distance from the hitch point to the implement (default is 1.5m). This value has no practical significance for the current algorithm.

Implement center offset: The offset from the implement center to the vehicle center. If there are row spacing issues (skip or overlap), click 'Calculate' to perform offset calculation.

Two methods are available for calculation; follow the instructions to complete the procedure.

4.6 Field

4.6.1 New field

Navigate to [Settings center → Field → Create] to create a new field.

Field overview: Allows zooming in/out and choosing map types.

Key actions:

• A: Field overview.
• B: Quickly search fields by keywords.
• C: Create a new field.
• D: Display fields by distance or time.
• E: Export field configuration via share code.
• F: Enter field details interface.
• G: Edit the field name.
• H: Delete the field (cannot delete the last one).
• I: Apply the field.

4.7 Guideline

Return to the main interface. Click the second icon from top to bottom on the left side.

4.7.1 AB line

1. Click 'A' at the current location.
2. Drive to another end of the field and click 'B'.
3. A new AB line is created successfully.

4.7.2 A+ line

1. Click 'A' at the current location.
2. A new A+ line is created successfully.

4.7.3 Free curve

1. Click 'A' to start the curve line.
2. Click 'Pause' to create the straight line segment.
3. Click 'Continue' to resume creating the curve line.
4. Click 'B' to finish the Free curve creation.
5. A new Free curve is created successfully.

4.8 Starting Autopilot

Click the user icon ? to start autopilot after completing the above steps.

4.9 Turn Off

Press the orange button; the system will switch off.

5 Maintenance

1. To ensure normal operation and service life, maintain the equipment as instructed in the manual.
2. Do not disassemble main components. Contact CHCNAV after-sales service (support@chcnav.com) if necessary.
3. Use the device according to the user guide.
4. Regularly check screws, wiring harnesses, and connectors (e.g., controller fixing screws, angle sensor fixing screws, data cable connectors).
5. Keep the motor clean.
6. Maintain the environment where the motor is used. Do not wrap materials like cotton cloth or dustproof film on the motor.
7. Before starting work, check if the transmission device is flexible, if the coupling concentricity is standard, and the flexibility of the gear transmission.

FCC Warning

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.

Caution: Any changes or modifications to this device not explicitly approved by the manufacturer could void your authority to operate this 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, and (2) this device must accept any interference received, including interference that may cause undesired operation.

The device has been evaluated to meet general RF exposure requirement. This equipment complies with FCC radiation exposure limits set forth for an uncontrolled environment. This equipment should be installed and operated with minimum distance 40cm between the radiator & your body.

CHC Navigation Contact Information

Building C, 577 Songying Road, Qingpu, District, 201702 Shanghai, China

Tel: +86 21 542 60 273 | Fax: +86 21 649 50 963

Email: sales@chcnav.com | support@chcnav.com

Skype: chc_support

Website: www.chcnav.com