EZ-Steer® System

for the
EZ-Guide® Plus Lightbar
Reference Guide
 REFERENCE GUIDE

EZ-Steer® System
for the
EZ-Guide® Plus Lightbar

Version 3.00
Revision B
Part Number 61062-80-ENG
December 2006
Trimble Navigation Limited development of a current product line. Trimble reserves the right to
Trimble Agriculture Division determine, in its sole discretion, what constitutes a Fix, Minor Update,
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USA If the Trimble Product fails during the warranty period for reasons
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www.EZ-Steer.com nonconforming Product with new, equivalent to new, or reconditioned
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© 2004–2006, Trimble Navigation Limited. All rights reserved. How to Obtain Warranty Service
Trimble, the Globe & Triangle logo, AgGPS, EZ-Guide, and EZ-Steer are To obtain warranty service for the Product, please contact your local
trademarks of Trimble Navigation Limited, registered in the United Trimble authorized dealer. Alternatively, you may contact Trimble to
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– a copy of this Trimble warranty
Release Notice – a description of the nonconforming Product including the model
This is the December 2006 release (Revision B) of the EZ-Steer number
System for the EZ-Guide Plus Lightbar Reference Guide, part number – an explanation of the problem
61062-80-ENG. It applies to version 4.00 of the EZ-Guide Plus system The customer service representative may need additional information
firmware and version 3.00 of the EZ-Steer system firmware. from you depending on the nature of the problem.
Product Limited Warranty Information Warranty Exclusions and Disclaimer
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Safety
Always follow the instructions that accompany a Caution. The information it provides
is intended to minimize the risk of personal injury and/or damage to property. In
particular, observe safety instructions that are presented in the following format:

C CAUTION — This alert warns of a hazard or unsafe practice which, if not avoided, can
cause injury or damage.

Note — An absence of specific alerts does not mean that there are no safety risks
involved.

Care of the system

To maximize the life expectancy of the foam drive wheel, as soon as you finish using
the system, hinge the electric motor until it locks in the "away" position.
When you are not going to use the EZ-Steer system for a long period of time, remove
the EZ-Steer motor from the vehicle and store it in a dry location to prevent damage
from condensation and other moisture.

Highway usage
You must remove the motor assembly from the mounting bracket prior to driving the
vehicle on a public highway. To remove the motor, undo the two thumb screws.

Cautions

C CAUTION — This manual relates to the EZ-Steer system when used with the EZ-Guide Plus
system. It should not be used with the EZ-Guide 500 system. If your EZ-Steer system is
connected to an EZ-Guide 500 system, refer to the EZ-Steer System for the EZ-Guide 500
Lightbar Reference Guide.

C CAUTION — For continued protection against the risk of fire, replace the cigarette lighter
fuse only with same type and rating of fuse. Fuse: 8A, 250V, 3AG type.

C CAUTION — Always hold the steering wheel while you adjust the column tilt. Otherwise, the
weight of the motor may cause the steering wheel to drop suddenly and cause damage to
the steering column or dash.

EZ-Steer System Reference Guide Safety 5

 C CAUTION — Articulated tractors pivot in the middle. Avoid putting yourself in a position
where you could be injured by the pivoting rear section of the vehicle.

C CAUTION — Do not attach the controller to a vehicle side wall or window because vibration
in these locations can cause the controller to output false terrain compensation readings
that could affect performance and cause the vehicle to swerve offline.

C CAUTION — Mount the controller as solidly as possible using the supplied mounting plate.
If the controller is able to move, or if objects bump it, the controller may make false terrain
compensation readings that could affect performance and cause the vehicle to swerve
offline.

C CAUTION — The EZ-Steer system is not designed to be mounted on machines with an

open operator's station (no enclosed operator's cab). Doing so will void the warranty of
the EZ-Steer system components.

C CAUTION — Ensure that you mount the antenna so that it is level. If the antenna is not
level, GPS performance may be reduced.

C CAUTION — For optimum performance, ensure that the AgGPS 252 receiver has firmware
version 3.0 or later.

C CAUTION — Make changes to the system settings in incremental steps. Random changes
are likely to result in poor performance.

C CAUTION — If you increase the value in the Diseng. Offln. field, the vehicle may overshoot
the corners by at least a few feet.

C CAUTION — Ensure that the antenna offset measurement is accurate to within 7.6 cm
(3 inches). An incorrect offset can cause the vehicle to swerve offline or oscillate back and
forward and may cause damage to the vehicle or other property.

C CAUTION — Do not supply voltages greater than 16 VDC to the EZ-Steer system, or you
risk permanently damaging it.

6 Safety EZ-Steer System Reference Guide

Contents
Safety 5
Care of the system . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Highway usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Cautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1 Introduction 13
Getting started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
EZ-Steer kit contents . . . . . . . . . . . . . . . . . . . . . . . . . . 14

2 Pre-Installation Vehicle Inspection 15

3 Installation 21
Installation process. . . . . . . . . . . . . . . . . . . . . . . . . . . 22
STEP 1: Installing the motor with the platform kit . . . . . . . . . . . . 23
STEP 2: Installing the controller . . . . . . . . . . . . . . . . . . . . . 24
STEP 3: Checking the antenna location . . . . . . . . . . . . . . . . . 26
STEP 4: Connecting optional switches . . . . . . . . . . . . . . . . . . 29
STEP 5: Connecting the components . . . . . . . . . . . . . . . . . . 32

4 Initial System Setup 35

Setup process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
STEP 1: Setting up T2 technology . . . . . . . . . . . . . . . . . . . . 35
STEP 2: Selecting vehicle type and entering vehicle settings . . . . . . . 38
STEP 3: Setting the axle-to-antenna offset. . . . . . . . . . . . . . . . 39
STEP 4: Setting up the engage options . . . . . . . . . . . . . . . . . 41
STEP 5: Setting up initial Aggressiveness . . . . . . . . . . . . . . . . 42
STEP 6: Getting GPS positions . . . . . . . . . . . . . . . . . . . . . 42
STEP 7: Saving and loading vehicle configurations. . . . . . . . . . . . 43

5 Calibration 44
EZ-Calibration process . . . . . . . . . . . . . . . . . . . . . . . . . 44
STEP 1: Preparing to start the wizard . . . . . . . . . . . . . . . . . . 45

EZ-Steer System Reference Guide 9

 STEP 2: Starting the EZ-Calibration wizard . . . . . . . . . . . . . . . . 45
STEP 3: Confirming the vehicle settings . . . . . . . . . . . . . . . . . 46
STEP 4: Calibrating Freeplay . . . . . . . . . . . . . . . . . . . . . . 46
STEP 5: Calibrating Angle/Turn . . . . . . . . . . . . . . . . . . . . . 47
STEP 6: Calibrating Aggressiveness . . . . . . . . . . . . . . . . . . . 48
STEP 7: Calibrating the Freeplay Offset . . . . . . . . . . . . . . . . . 49
STEP 8: Calibrating Motor Speed . . . . . . . . . . . . . . . . . . . . 49
STEP 9: Confirming the calibration parameters . . . . . . . . . . . . . 49

6 Using the EZ-Steer System 51

Screen items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Engaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Disengaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Audible warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Curve autosteering accuracy . . . . . . . . . . . . . . . . . . . . . . 55
Vehicle-specific performance hints . . . . . . . . . . . . . . . . . . . 56

7 Troubleshooting 58
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
General GPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
T2 technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
EZ-Steer system performance . . . . . . . . . . . . . . . . . . . . . . 62

8 Messages and Fault Codes 67

EZ-Steer system disengaged warning messages . . . . . . . . . . . . . 67
T2 technology system warning messages . . . . . . . . . . . . . . . . 68
EZ-Steer system fault codes . . . . . . . . . . . . . . . . . . . . . . 68

9 Maintenance 71
Pivot bearing maintenance . . . . . . . . . . . . . . . . . . . . . . . 72

A Appendix A: Vehicle Measurement Settings 75

B Appendix B: Measuring Vehicle Parameters 81

Steering wheel diameter . . . . . . . . . . . . . . . . . . . . . . . . 81

10 EZ-Steer System Reference Guide

 Wheelbase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

C Appendix C: Settings and Defaults 83

Default settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Vehicle speed limits . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Operating limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Vehicle configuration parameters . . . . . . . . . . . . . . . . . . . . 84

Index 87

EZ-Steer System Reference Guide 11

12 EZ-Steer System Reference Guide
1 Introduction
The EZ-Steer® assisted steering system steers the vehicle down field passes using
GPS guidance from the EZ-Guide® Plus lightbar guidance system, a controller, and a
motor mounted to the steering column of the vehicle.

C CAUTION — This manual relates to the EZ-Steer system when used with the EZ-Guide Plus
system. It should not be used with the EZ-Guide 500 system. If your EZ-Steer system is
connected to an EZ-Guide 500 system, refer to the EZ-Steer System for the EZ-Guide 500
Lightbar Reference Guide.

An EZ-Steer controller with T2™ terrain compensation contains sensors that detect
the angle and speed of changes to correct the following errors:

Terrain compensation can significantly improve

accuracy on slopes, large bumps, and ditches,
and can make steering much smoother.

The EZ-Steer system is designed to provide better

performance than a human driver. For sub-inch
accuracy for spreading, spraying, cultivation, and
broadacre planting, use the AgGPS® Autopilot™
automated steering system.

Getting started
Follow the process below to get started with the EZ-Steer system.
1. Perform a pre-installation vehicle inspection — see Chapter 2.
2. Install the system — see Chapter 3.
3. Set up the system — see Chapter 4.
4. Calibrate the system — see Chapter 5.

EZ-Steer System Reference Guide Introduction 13

EZ-Steer kit contents
Controller Motor Cabling

Note — If you choose to purchase this kit, a platform kit is also required.

Optional accessories
In addition to the EZ-Steer system kit and platform kit, you can purchase any of the
following optional accessories:
• Seat switch to prevent engaging when the operator is not in the seat
• Remote engage foot pedal

14 Introduction EZ-Steer System Reference Guide

2 Pre-Installation Vehicle Inspection
Before you install the EZ-Steer assisted steering system, inspect the vehicle.
Note — The EZ-Steer system can use AgGPS Freeplay™ technology to compensate
for freeplay (also called “slack”) in the steering hydraulics and linkages. However, the
Freeplay technology cannot counteract mechanical problems or problems caused by
the vehicle setup.
This chapter describes some examples of what to look for before you install the
EZ-Steer system on a vehicle.

Problem Cause/solution Photo

Worn components
Worn paint The bolt has been loose in the
around connecting arm hole; this
linkage indicates a bad ball joint.
connection Replace the ball joint.
points

Worn ball The rubber boot seal is missing.

joints Exposure to water and dirt
increases the likelihood of a worn
ball joint. To check if the ball joint
is loose, turn the steering wheel in
short, quick motions left and
right.
Note — If your tractor has had a
front loader attached, it will
almost always have worn ball
joints. Replace the ball joints.
Torn rubber To check if the ball joint is loose,
boot seal turn the steering wheel in short,
around ball quick motions left and right.
joint from Check the inner and outer tie rod
poor ball joints for problems.
lubrication If the ball joint moves a small
distance before the connecting
arm turns, replace the ball joint.

EZ-Steer System Reference Guide Pre-Installation Vehicle Inspection 15

 Problem Cause/solution Photo
Worn splines In some 2WD tractors, the
connecting arm is bolted onto a
splined wheel hub shaft. Turn the
steering wheel with short, quick
motions left and right. The
connecting arm should move
immediately with the wheel.
If you notice a small amount of
connecting arm movement before
the wheel turns, it is likely that the
splines are worn.
Replace the front wheel hub shaft.
Worn front On MFWD tractors with a rigid
axle pivot pin front axle, turn the steering wheel
bushing and watch the front wheels turn.
If the axle moves forward or
backward as you turn the steering
wheel (see the white arrows),
replace the axle pivot pin bushing.

Worn On articulated 4WD tractors, turn

steering the steering wheel and check for
cylinder pins play in the steering cylinder pins.
and If you can see either of the
bushings cylinder rods move slightly before
the tractor starts to hinge left or
right, you must replace the pins
and bushings.
CAUTION — Articulated tractors

C pivot in the middle. Avoid putting

yourself in a position where you
could be injured by the pivoting
rear section of the vehicle.

16 Pre-Installation Vehicle Inspection EZ-Steer System Reference Guide

 Problem Cause/solution Photo
Worn A steering column with play in all
steering directions (see white arrows) can
shaft causes cause the steering shaft to bind
loose against its housing when the
steering pressure of the EZ-Steer motor is
wheel applied, making it difficult for the
EZ-Steer motor to turn the wheel.
Repair or replace the steering
shaft.

Wheel problems
Uneven tire Tires mounted on the same axle
pressure must be inflated to the same
pressure. This improves machine
stability by preventing cab roll,
and reduces the effort required to
turn the front wheels.
If the tractor front tires are filled
with a fluid such as calcium
chloride, slightly increase the
Aggressiveness setting in the
EZ-Steer system.
Telescope For some tractors, you may need
lock does to clamp a bracket directly onto a
not hold telescoping steering column.
column in Ensure the steering column
place telescope lock/unlock knob is
working correctly. If the steering
column cannot be set in a fixed
position, the column could
telescope freely inward, causing
the bracket to strike the
instrument panel.

EZ-Steer System Reference Guide Pre-Installation Vehicle Inspection 17

 Problem Cause/solution Photo
Steering A steering wheel with vertical
wheel is “play” (see white arrow) does not
loose on provide good contact with the
steering EZ-Steer system drive wheel.
shaft The drive wheel could slip on the
steering wheel outer ring, causing
a loss in steering accuracy.
Tighten the steering wheel.

Front If one or both of the front wheels

steering is are out of alignment, the steering
out of will pull to one side and the
alignment machine will constantly steer to
the left or right and will have
problems following a straight or
curved line.
Fix the machine's front wheel
alignment before installing and
calibrating the EZ-Steer system.
Steering Grease, oil, or protectants such as
wheel is dirty Armor All may cause the foam
drive wheel to slip on the steering
wheel.
Use denatured alcohol to clean
the steering wheel.
Electrical problems
No power Plug in the EZ-Steer power cable
from and flip the switch on the male
accessory power adaptor. If the accessory
socket socket has power, the green light
on the switch is lit.

18 Pre-Installation Vehicle Inspection EZ-Steer System Reference Guide

 Problem Cause/solution Photo
If the accessory socket does not
have power, check:
• that the accessory socket is
connected
• if an in-line fuse has been
added and/or if the fuse is
blown

Fuse is too The fuse must be 10 amp or

small for larger. Replace with a larger fuse if
power necessary.
accessory
socket

EZ-Steer System Reference Guide Pre-Installation Vehicle Inspection 19

 Problem Cause/solution Photo
Hydraulic fluid
Low hydraulic A low level of hydraulic fluid,
fluid level or old fluid, can cause the
steering wheel to turn the
front wheels very erratically,
or not at all.
Use a dipstick or sight gauge
to check the fluid level.
Top up or replace the
hydraulic fluid as necessary.

Cold hydraulic If the hydraulic oil

fluid temperature is lower than
40 °C (100 °F), the
machine’s steering may be
stiff, causing the EZ-Steer
system to automatically
disengage or respond slowly
to steering wheel movements.
Before using the system, wait
for the hydraulic oil to reach
the recommended operating
temperature.
High clearance sprayers are
prone to having slow steering
response until the hydraulic
fluid temperature is 66 °C –
82 °C (150 °F–180 °F).

20 Pre-Installation Vehicle Inspection EZ-Steer System Reference Guide

3 Installation
This chapter provides instructions and tips for installing the EZ-Steer assisted steering
system on a vehicle.

Installation process
1. Install the EZ-Steer motor using the platform kit.
2. Install the controller.
3. Check the GPS antenna location.
Note — If you are upgrading from the EZ-Guide Plus system, you may need to
shift the location of the antenna on the vehicle to ensure best steering
performance.
4. Install optional switches
5. Connect the components together

STEP 1: Installing the motor with the platform kit

To install the EZ-Steer platform kit and motor on the steering column of a vehicle,
follow the instructions provided with the platform kit.
Also, check for vehicle-specific installation notes at www.EZ-Steer.com.

C CAUTION — Always hold the steering wheel while you adjust the column tilt. Otherwise,
the weight of the motor may cause the steering wheel to drop suddenly and cause
damage to the steering column or dashboard.

Check that the EZ-Steer system motor is mounted at an appropriate distance from the
steering wheel. The foam wheel should be 3.2 cm (1¼ inches) from the steering
wheel when the motor is locked away.
Lock the motor drive wheel away from the steering wheel when the system is not in
use. This prevents the foam wheel from developing a flat spot.
Note — If the foam wheel develops a flat spot, you can still use the motor drive
wheel. The flat spot does not affect the drive wheel, and will eventually disappear.

EZ-Steer System Reference Guide Installation 21

STEP 2: Installing the controller
Install the controller in a way that prevents dust and moisture from entering it.

Controller mounting locations

Install the controller in the vehicle cab, parallel to the vehicle’s center line and in one
of the following locations:

Floor mount Vertical mount

Parallel to the center line of the vehicle, white sticker facing Perpendicular to the floor and parallel to
upwards the rear axle, with the connectors pointing
down toward the floor, white sticker facing
towards the front of the vehicle
Connectors facing forward Connectors facing backward
(preferred for controllers with
T2 technology)

Take extra care not to stand on, kick, or otherwise damage the
controller.

C CAUTION — Do not attach the controller to a vehicle side wall or window because
vibration in these locations can cause the controller to output false terrain compensation
readings that could affect performance and cause the vehicle to swerve offline.

22 Installation EZ-Steer System Reference Guide

 Controller mounting
If you mount the controller on the floor, look for any cab wiring routed under the
floormat before screwing the controller into place.

Use screws that are size #12 or #14, and between ½" and 1" long.

C CAUTION — Mount the controller as solidly as possible, using the supplied mounting
plate. If objects bump the controller, or if the controller vibrates, false terrain
compensation readings are created that could affect performance and cause the vehicle
to swerve offline.

C CAUTION — The EZ-Steer system is not designed to be mounted on machines with an

open operator's station (no enclosed operator's cab). Doing so will void the warranty of
the EZ-Steer system components.

Note — If the controller does not have T2 technology (terrain compensation), the
controller does not need to be aligned with the center line of the vehicle. However, all
other mounting instructions should be followed.

EZ-Steer System Reference Guide Installation 23

STEP 3: Checking the antenna location
For optimal performance, mount the antenna as far as possible from the vehicle
antenna offset reference point (see page 39) but with a clear view of the sky. The
antenna should not be blocked from receiving GPS satellites by, for example, the cab.
Antenna mounting locations for each vehicle type are shown below.
Note — Do not mount the antenna on the nose of the vehicle if you are using
OmniSTAR HP or XP corrections.

C CAUTION — Ensure that you mount the antenna so that it is level. If the antenna is not
level, GPS performance may be reduced.

2WD tractor
Nose of vehicle (preferred) Front of cab

(Only if engine hood shakes, and/or to avoid WAAS

signal blockage at higher latitudes)

4WD (articulated) tractor

Nose of vehicle (preferred) Front of cab

(Only if engine hood shakes, and/or to avoid WAAS

signal blockage at higher latitudes)

24 Installation EZ-Steer System Reference Guide

Tracked tractor
Nose of vehicle (preferred) Front of cab

(Only if engine hood shakes, and/or to avoid WAAS

signal blockage at higher latitudes)

Combine
Front of cab (preferred) Rear of vehicle

Swather
Autopilot antenna mount kit P/N 49307 (preferred) Rear of vehicle

EZ-Steer System Reference Guide Installation 25

Sprayer Floater
Front of cab Front of cab

Truck
Front of cab

STEP 4: Connecting optional switches

You can connect one of the following switches to the EZ-Steer system:
• seat switch to prevent engaging when the operator is not in the seat
• remote-engage foot pedal
The switches connect to the optional accessory cable kit (P/N 53066-00).

EZ-Steer controller connector

Alarm connector

Switch input connector

To purchase the optional accessory cable kit, or for more information, contact your
local EZ-Steer system reseller.

Connecting a seat switch

As an additional safety feature, you can connect a vehicle seat switch to the EZ-Steer
accessory cable:

26 Installation EZ-Steer System Reference Guide

 1. Strip about 2.5 cm (1 inch) of insulation off the switch wire.
2. Thread each switch wire through a cable seal.
3. Insert the switch wire and end of the cable seal into the
female terminal connector.
4. Crimp the female terminal connector with an
appropriately sized crimp tool or pliers, and then solder
to ensure a good physical and electrical connection. Do not let excess solder run
into other parts of the contact.
5. Insert the two female terminal connectors and the
rubber seal into the two holes of the 2-way female
connector.

6. Plug the 2-way female connector into the 2-way male

connector on the accessory cable.

To enable the seat switch:

1. Select EZ-Steer / External Switch.

2. Select one of the following options:

Option Description
Seat Engage Only The operator must be sitting on the seat before assisted steering will
engage. Assisted steering does not disengage when the operator
leaves the seat.
Seat Disengage The operator must be sitting on the seat before assisted steering will
engage and the system disengages when the operator leaves the seat.

3. Press o to save the setting.

When the system will not engage because the operator is missing, an “O” (for
“operator missing”) appears among the status icons at the bottom of the screen.

B Tip — You can disable the seat switch without disconnecting it by selecting the Disable
option.

EZ-Steer System Reference Guide Installation 27

 Connecting a remote-engage foot pedal
If you use a foot pedal to engage the
EZ-Steer system, the foot pedal must be
connected to the optional accessory
cable.
For information on purchasing a foot
pedal kit (P/N 60941-00), contact your
local EZ-Steer system reseller.
To connect the foot pedal to the
accessory cable:
1. Cut the pins off the black and white wires on the foot pedal cable and strip about
2.5 cm (1 inch) of insulation off the switch wires.
Note — The green wire is not used and can be cut off if required.
2. Thread each of the black and white switch wires through a cable seal (supplied
with the accessory cable).
3. Insert each of the switch wires and the end of the cable
seal into a female terminal connector.
4. Crimp the female terminal connectors with an
appropriately sized crimp tool or pliers, and then solder
to ensure a good physical and electrical connection. Do
not allow excess solder to run into other parts of the
contact.
5. Insert the two female terminal connectors and the
rubber seal into the two holes of the 2-way female
connector as follows:
• Black wire into terminal B.
• White wire into terminal A.
6. Plug the 2-way female connector into the 2-way male
connector on the accessory cable.
7. Run the cable to a clear location on the floor board.
Use double-sided tape or wide velcro strips to secure the pedal. Route the cable
under the floor mat.
To enable the remote engage foot pedal:
1. Select EZ-Steer / External Switch.
2. Press D until Remote Engage is displayed.
3. Press o to save the setting.

28 Installation EZ-Steer System Reference Guide

 B Tip — You can disable the remote engage foot pedal without disconnecting by selecting
the Disable option.
To engage or disengage the EZ-Steer system using the remote engage foot pedal,
depress the pedal for 0.5–3 seconds and then release it when you pass the start of
the swath. The system engages when the pedal is released. This is done to avoid
accidental engaging. To disengage the EZ-Steer system, just turn the steering wheel at
the end of the swath, stop, or depress the pedal again.

STEP 5: Connecting the components

Connect the EZ-Guide Plus lightbar and the EZ-Steer system components as shown
here.

EZ-Steer
EZ-Steer controller motor
Lightbar

Power
cable
Motor
cable

Optional remote control

Connect the optional extras as shown here.

EZ-Steer controller

Accessory cable
(P/N 53067)

Foot pedal
(P/N 57259 or 60941-00)

Sonalert alarm

EZ-Steer System Reference Guide Installation 29

 Using the EZ-Steer system with the AgGPS 332 receiver
For greater accuracy, you can use an AgGPS 332 receiver with the EZ-Guide Plus and
EZ-Steer systems as shown here. The remote control is optional.

EZ-Steer
Trimble
motor
Controller

AgGPS 332
receiver

To power
To power

Optional
remote
control

30 Installation EZ-Steer System Reference Guide

 Using the EZ-Steer system with the AgGPS 252 receiver
For greater accuracy, you can use the EZ-Guide 252 system with the EZ-Steer system.
The remote control is optional.

EZ-Steer
motor
AgGPS 252 Controller
receiver

To power
To power

Optional

Remote
control

C CAUTION — For optimum performance, ensure that the AgGPS 252 receiver has firmware
version 3.0 or later.

For information on how to configure the lightbar to work with an AgGPS 252 receiver,
refer to the EZ-Guide Plus Lightbar Guidance System Getting Started Guide.
Note — If the EZ-Guide Plus lightbar starts to flash a Low Accuracy – Old Corrections
warning, monitor the vehicle steering closely. Position jumps may cause the EZ-Steer
system to steer the vehicle offline.

EZ-Steer System Reference Guide Installation 31

4 Initial System Setup
This chapter describes how to set up the EZ-Steer system on an approved vehicle.
Note — Before completing this setup, see:
• Pre-Installation Vehicle Inspection, page 15
• Installation, page 21
If you experience performance problems after completing these steps, see
Troubleshooting, page 58.

C CAUTION — Make changes to the system settings in incremental steps. Random changes
are likely to result in poor performance.

Setup process
1. Set up T2 technology.
2. Select vehicle type and enter vehicle settings.
3. Set the axle-to-antenna offset.
4. Set up the engage options.
5. Set up the initial Aggressiveness.
6. Get GPS positions.
7. (Optional) Save or load vehicle configurations.
For information on using the EZ-Guide Plus lightbar, including accessing menus and
general operation, refer to the EZ-Guide Plus Lightbar Guidance System Quick
Reference Card.

STEP 1: Setting up T2 technology

1. Configure the orientation of the controller.
2. Configure the antenna height.
3. Calibrate the roll compensation.
4. Set the antenna-to-axle offset.

EZ-Steer System Reference Guide Initial System Setup 35

 Configure the orientation of the controller
1. Select 7 and press o to access the configuration menus.
2. Select Terrain Compensation / Orientation.
3. In the Towards field, select the direction in which the
cable connectors point:

For this
mount
location

Choose
this
direction

4. Select Exit and press o to save the settings.

Configure the antenna height

1. Select Terrain Compensation / Antenna Height.
2. Press u or D to enter the correct antenna height
for your vehicle.
3. Select Exit and press o to save the settings.

36 Initial System Setup EZ-Steer System Reference Guide

 Calibrate the roll compensation
Calibrate the roll compensation using one of the following methods:

Step Wheel position method LED method Example

1 Select 9 and press o to reset
guidance. Select New AB Line and
create an AB Line (on level ground
or ground with a constant
gradient).
For more information on setting an
AB Line, refer to the EZ-Guide Plus
Quick Reference Card.
2 Park the vehicle on level ground, Park the vehicle above the AB Line
or ground with a constant so the lightbar shows three green
gradient. LEDs. Stop the vehicle and get
out.
3 Do one of the following: Place a marker on the ground
• For a wheeled tractor, mark beside the vehicle to mark the
the position of each wheel. point halfway between the front
• For a tracked tractor, mark the and rear axles.
position of the tracks.
4 Select Terrain Comp. / Calibration. A warning message appears.

5 Press o. The Calibration screen appears.

6 Press o to record the first roll angle.

EZ-Steer System Reference Guide Initial System Setup 37

Step Wheel position method LED method Example
7 Turn the vehicle around and park it Turn the vehicle around so it is
directly on top of the wheel/track directly over the AB Line (the
marks. lightbar shows three green LEDs).
Ensure that the marker on the
ground is halfway between the
front and rear axles.
8 Press o to record the second roll angle.
The system automatically calculates the roll calibration.
If the roll value is large (>5°), refer to the AgGPS EZ-Steer Assisted
Steering System Troubleshooting Guide to determine if T2 is working
correctly.

STEP 2: Selecting vehicle type and entering vehicle settings

1. Select EZ-Steer / Vehicle Setup.
2. Select the vehicle type.
3. Enter the wheelbase, steering wheel diameter, and
angle/turn for your vehicle model.
– For approved vehicle measurements, see
Appendix A: Vehicle Measurement Settings.
Note — If the steering wheel diameter value listed for your vehicle model is
incorrect, measure and enter the correct diameter. See Appendix B:
Measuring Vehicle Parameters.
– If the measurements for your approved vehicle are not listed in Appendix A:
Vehicle Measurement Settings, check for updates in the Vehicle
Configuration Settings document on www.EZ-Steer.com.
Note — The Freeplay will be set as part of the EZ-Calibration procedure and
should not be changed at this stage. Also, do not change the Heading Filter
option.
4. Select Exit and press o to save the settings.

38 Initial System Setup EZ-Steer System Reference Guide

STEP 3: Setting the axle-to-antenna offset
1. Measure the distance from the antenna mounting reference point to where the
antenna is mounted. The antenna offset reference points for each vehicle are:

Antenna offset Antenna offset

Vehicle type Vehicle type
reference point reference point
2WD tractor Rear axle Swather Antenna location
4WD tractor Front of nose Sprayer Rear axle
Tracked tractor Centre of track Floater Rear axle
Combine Front axle Truck Rear axle

The following table shows the measurement of antenna offset for each vehicle
type and antenna mounting location.

C CAUTION — Ensure that the antenna offset measurement is accurate to within

7.6 cm (3 inches). An incorrect offset can cause the vehicle to swerve offline or
oscillate back and forward and may cause damage to the vehicle or other property.

2WD tractor

4WD (articulated) tractor

EZ-Steer System Reference Guide Initial System Setup 39

Tracked tractor

Combine

Swather

40 Initial System Setup EZ-Steer System Reference Guide

Sprayer Floater

Truck

2. Select EZ-Steer / Axl/Ant Offset and enter the

measured distance.
Note — Take particular care to ensure that the correct
direction of offset from the antenna mount reference
mount is selected.

STEP 4: Setting up the engage options

1. Select EZ-Steer / Engage Options.
2. Check that the O’ride Sensitivity value is set to 20%.

3. Enter the Motor Spd. for your vehicle as listed below.

Motor speed
Vehicle
With T2 Without T2
2WD tractor >2000 hours = Man High Under 2000 hrs = Man High
<2000 hours = Man Max Over 2000 hrs = Man Max
4WD tractor Man High Man Low
Tracked tractor Man Low Auto Low
Combine Man High Auto High
Swather Man Max Auto High

EZ-Steer System Reference Guide Initial System Setup 41

 Motor speed
Vehicle
With T2 Without T2
Sprayer Man Max Auto High
Floater Man Max Auto High
Truck Man Max Auto High

Note — You will calibrate the motor speed during the EZ-Calibration process.
4. Select Exit and press o to save the settings.

STEP 5: Setting up initial Aggressiveness

Select 0 and then press o. Configure the initial aggressiveness for your vehicle from
the table below.

Vehicle Aggressiveness Vehicle Aggressiveness

2WD Tractor 130% Swather 120%
4WD Tractor 115% Sprayer 130%
Tracked Tractor 120% Floater 135%
Combine 120% Truck 135%

Note — Aggressiveness will be calibrated as part of the EZ-Calibration procedure.

STEP 6: Getting GPS positions

1. Make sure that the GPS antenna has a clear view of the sky, so that it can receive
GPS and WAAS/EGNOS signals without interruption. If the antenna is blocked by
anything, for example the vehicle cab or loader bucket arms, move the antenna
higher on the vehicle or remove the loader.
Note — For the best mounting position for the antenna, see STEP 3: Checking the
antenna location, page 23.
2. Turn on the GPS receiver and wait until you get your first GPS position.
3. If using WAAS or EGNOS corrections, wait 10 minutes after getting your first GPS
position before you set an AB Line or start guidance or steering.
Note — If the GPS receiver has been turned off for less than 2 hours, you may not
need to wait 10 minutes.
4. Set an AB Line or start guidance or steering.

42 Initial System Setup EZ-Steer System Reference Guide

STEP 7: Saving and loading vehicle configurations
If you move the EZ-Steer system from one vehicle to another, you can save and load
vehicle configurations to simplify setup.
1. Select EZ-Steer / Use/Save Config.

2. Press u or D to select the required option and then

press o.
Note — Saved vehicle configurations are named by
their location in the menu and then the type of vehicle.
For example, if a combine is saved in the third vehicle
configuration position, the vehicle configuration is
named “V3 Combine”.
3. Do one of the following things:
• To load the configuration, select Use Saved
Config and then press o. A confirmation
screen appears.
• To save your current configuration, select Save
Current Config and then press o. A
confirmation screen appears.
4. Select Yes to continue.
Note — Vehicle configurations that were saved using a previous version of the
firmware may not be compatible with the current firmware.

EZ-Steer System Reference Guide Initial System Setup 43

5 Calibration
The EZ-Steer EZ-Calibration wizard guides you through the calibration process to
ensure you get the best performance from your system.

EZ-Calibration process
1. Prepare to start the wizard.
2. Start the EZ-Calibration wizard.
3. Confirm the vehicle settings.
4. Calibrate Freeplay.
5. Calibrate Angle/Turn.
6. Calibrate Aggressiveness.
7. Calibrate Freeplay Offset.
8. Calibrate Motor Speed.
9. Confirm calibration parameters.
Note — It may be necessary to run the EZ-Calibration wizard more than once to achieve
optimal results. If you run the wizard again, ensure that you do not reset the Angle/Turn,
Freeplay, Aggressiveness, and Motor Speed to the vehicle default.

Minimizing offline distances

The calibration of all parameters except Freeplay involve engaging the EZ-Steer system
on a guidance line, then changing the parameter until you have minimized the offline
distances.

Offline examples

Ideal Slow to get online Oscillating about the line

Procedure to minimize the offline distance

1. Line the vehicle up on any swath except the AB Line.
2. Drive the vehicle at normal operating speed.

44 Calibration EZ-Steer System Reference Guide

 3. Select 6 then press o to engage the system.
Note — If you are too far offline to engage the system,
the lightbar displays a “D”. Move the vehicle in toward
the swath and then engage.

4. While the system is engaged, press u or D to

adjust the value, until you get the best performance.
5. Press o. The system disengages.
6. Select J then press o to complete the calibration.

STEP 1: Preparing to start the wizard

Before starting the EZ-Calibration wizard:
1. Complete the vehicle inspection, installation, and system setup. See Pre-
Installation Vehicle Inspection, page 15; Installation, page 21; and Initial System
Setup, page 35.
2. Map a straight AB Line and line up on any swath other than the AB Line. For
information on mapping an AB Line, refer to the EZ-Guide Plus system
documentation.

STEP 2: Starting the EZ-Calibration wizard

• Select EZ-Steer / EZ-Calibration.

The Confirm Setup screen appears.

EZ-Steer System Reference Guide Calibration 45

STEP 3: Confirming the vehicle settings
1. Check the values on the Confirm Setup screen and then press o.
A warning screen appears.
2. If the vehicle settings were correct, press o to
Continue.
If any of the vehicle settings were incorrect:
a. Press D until Exit appears and then press o.
b. Select EZ-Steer / Vehicle Setup and then enter
the correct vehicle settings.
c. Start the EZ-Calibration wizard again.
A screen appears asking if you want to reset vehicle
settings.
3. Select one of the following:
• If you are performing a new calibration, select Yes
to reset the Angle/Turn, Freeplay, Aggressiveness,
and Motor Speed values.
• If you are fine-tuning the calibration settings,
select No to retain your current settings.
The AB Line warning screen appears.
4. If you have:
• created a straight AB Line, select Continue. The
first Calibrate Freeplay screen appears.
• not created a straight AB Line yet, select Exit.

STEP 4: Calibrating Freeplay

The Freeplay setting compensates for:
• minor wear in vehicle steering
• hydraulic “bleed” (when small or slow steering wheel movements do not translate
into changes in vehicle direction)
• slow vehicle operation
Note — Slow vehicle operation generally requires a higher Freeplay setting, for
example, an increase of 2.5 cm–5 cm (1"–2").

46 Calibration EZ-Steer System Reference Guide

 1. Ensure that the vehicle is parked on a gravel road or
soft ground. The lower resistance on the wheels will
make it easier to tell when they begin to move.
2. Press u until the vehicle wheels are turning.
3. Press D until the vehicle wheels just stop turning.
Note — For an articulated or tracked tractor, adjust
Freeplay until the front of the machine stops rotating from
side to side.
The following table lists recommended Freeplay values.

Vehicle Freeplay Vehicle Freeplay

2WD tractor New machines = 1.5 cm–7.6 cm Swather 6.9 cm–10 cm (2.7"–4.0")
(0.6"–3.0")
Used machines =7.6 cm–11.4 cm
(3.0"–4.5")
4WD tractor 2.5 cm–7.6 cm (1.0"–3.0") Sprayer 7.6 cm–15.2 cm (3.0"–6.0")
Tracked tractor 1.8 cm–3.8 cm (0.7"–1.5") Floater 7.6 cm–15.2 cm (3.0"–6.0")
Combine 5.1 cm–10.2 cm (2.0"–4.0") Truck 10.2 cm–16.5 cm (4.0"–6.5")

STEP 5: Calibrating Angle/Turn

The Angle/Turn value represents the angle that the
wheels will turn through during one full rotation of the
steering wheel. This setting smooths steering, stops
oscillations and ensures that the vehicle gets online
quickly.
Adjust the Angle/Turn to minimize the offline distance
and adjust for cab roll or tire slip as follows:

Field condition Angle/turn adjustment

Smooth Leave as is or reduce by 1°–5°
Rough Decrease by 1°–5°
Slippery Decrease by 1°–5°
Hard Increase by 1°–5°

Note — If you are re-calibrating your vehicle for use with T2 terrain compensation, you
may need to use an Angle/Turn setting that is slightly lower than the optimal setting
without T2 technology.

EZ-Steer System Reference Guide Calibration 47

STEP 6: Calibrating Aggressiveness
The Aggressiveness setting controls how fast EZ-Steer
steers the vehicle onto the current guidance line.
Adjust the Aggressiveness value until line acquisition is fast,
but without oscillations.

To ... Do the following ...

Make more aggressive turns to get online quickly Increase the Aggressiveness value
Make less aggressive turns to avoid oscillations Decrease the Aggressiveness value

Vehicle Recommended Aggressiveness settings

Without T2 With T2
2WD tractor Smooth field = 98–105% 120–135%
Rough field = 115–130%
4WD tractor 85–95% 110–120%
Tracked tractor 105–120% 110–125%
Combine 65–85% 115–125%
Swather 110–140% 130–140%
Sprayer 110–125% 120–140%
Floater 80–100% 120–140%
Truck 100–115% 125–145%

B Tip — If the calibrated Aggressiveness value is outside these ranges, there may be a
problem with the calibration of one of the other parameters.

48 Calibration EZ-Steer System Reference Guide

STEP 7: Calibrating the Freeplay Offset
The Freeplay Offset value compensates for wear on the steering linkages that is
greater on one side of the vehicle than it is on the other. This corrects a tendency for
the vehicle to drive offline to one side and parallel to the AB line.

Without Freeplay Offset With Freeplay Offset

Adjust the Freeplay Offset value to remove steering bias.

• Press u to increase the offset to the right, or press
D to increase the offset to the left.
When the vehicle is offline:
– to the right, increase the Freeplay to the left by
0.30 cm (0.1").
– to the left, increase the Freeplay to the right by 0.30 cm (0.1").

STEP 8: Calibrating Motor Speed

The Motor Speed setting helps to increase steering
response.
Adjust the motor speed to minimize offline distances.
• Press u or D to cycle through the different
settings.
Use the motor speed suggested on page 41.

STEP 9: Confirming the calibration parameters

1. Read through the first Calib Complete screen. It shows
the new Freeplay, Angle/turn, Aggressiveness, and
Offset values.
2. Select Continue.

EZ-Steer System Reference Guide Calibration 49

 The second Calib Complete screen appears. It shows
the new Motor Speed setting.
3. To complete the calibration, press o.
To fine-tune the settings, press D to display Refine
and press o.

50 Calibration EZ-Steer System Reference Guide

6 Using the EZ-Steer System
For information on using the EZ-Guide Plus lightbar, refer to the EZ-Guide Plus
Lightbar Guidance System Quick Reference Card or Getting Started Guide.

Screen items
The following graphic shows the screen items relating to the EZ-Steer assisted steering
system:

Action icons

EZ-Steer
status icon

Action icons
Icon Function

1 Nudge left

3 Nudge right

6 Engage / disengage

0 Aggressiveness

To select an icon, press u or D, and then press o.

EZ-Steer status icons

Status icon Description
E Cannot engage. See Engage codes, below.
H Can engage
F Currently engaged
G Fault with EZ-Steer. For more information, select EZ-Steer /
EZ-Steer Faults on the lightbar.

EZ-Steer System Reference Guide Using the EZ-Steer System 51

Engaging
Before you can engage the EZ-Steer system, you must define an AB Line, and drive
the vehicle close to the guidance swath. When the system is ready to engage, the H
status icon appears and one LED on each end of the lightbar is illuminated.
Note — See Hints for engaging, page 53.
To manually engage the EZ-Steer system, do one of the following:
• Select 6 on the main map screen and then press o.
• Press 6 on the optional remote control.
• Depress the optional foot pedal.
While the system is engaged, the F status icon appears and two LEDs on each end of
the lightbar are illuminated.

Engage codes
To engage, the vehicle must be within the engage limits configured in the Engage
Options screen. If the system cannot be engaged, a "Can’t engage" message is
displayed at the bottom of the screen, with a code.
Engage code Description
D Too far offline
B On outside headland or AB Line
A Heading error too great
F Speed outside allowed range
S
G No GPS
O Operator not present

LED engage states

The outermost lightbar LEDs display the engage status of the EZ-Steer system:
LED state Engage status
One solid LED at each end Ready to engage
Two solid LEDs at each end Currently engaged
Three flashing LEDs at each end (for 10 seconds) Currently disengaged

52 Using the EZ-Steer System EZ-Steer System Reference Guide

 Hints for engaging
The following hints should ensure the best performance of the EZ-Steer system.

Engaging angle and distance

If you are a new user, the best practice is to engage parallel to the line.
1. Use the red/green LEDs to ensure that the vehicle is within 0.6 m (2 feet) of the
swath.
2. Use the lightbar graphics display to turn the vehicle parallel to the swath.
3. When you are at the operational speed, engage the EZ-Steer system.

Good Poor

Optimum engage distance Engage too far from the line – slow to
get online

EZ-Steer System Reference Guide Using the EZ-Steer System 53

 Engaging far from the line
Experienced users can engage over 1.5 m (5 feet) from the swath. Ensure that you
approach at a shallow angle to get online quickly without overshooting the swath.

Good Poor

Optimum engage angle Engage angle too steep – overshoot

Disengaging
The EZ-Steer system automatically disengages when:
• the vehicle is outside the limits configured in the Engage Options screen
• paused
• GPS positions are lost
If Warnings / Low Accuracy Warning is set to High Accuracy Only, the system
disengages if it receives low accuracy positions (for example, no corrections).
To manually disengage the system, do one of the following:
• Select 6 on the main map screen and then press o.
• Turn the steering wheel to override the electric motor.
• Press 6 on the optional remote control.
• Depress the optional foot pedal.
When the system is disengaged, three LEDs at each end of the lightbar flash and the
optional remote control emits an audible warning.
When the system will not be use for an extended period of time, use the motor lock
pin to tilt the motor away from the steering wheel.

54 Using the EZ-Steer System EZ-Steer System Reference Guide

Audible warning
If you have the EZ-Guide Plus system remote control keypad connected to the lightbar,
or the Sonalert alarm connected to the EZ-Steer system controller through the
optional accessory cable, an audible warning sounds when:
• you disengage the EZ-Steer system
• low accuracy GPS occurs
• a headland or offline warning limit is reached (if this mode is enabled)
Note — For safety reasons, turning the Audible warning option off does not disable the
audible disengage warning.

Curve autosteering accuracy

To obtain smoother steering when operating on curves, try setting the Aggressiveness
lower than the optimal Aggressiveness setting for straight lines.

Aggressiveness set correctly Aggressiveness too high

EZ-Steer System Reference Guide Using the EZ-Steer System 55

 Headlands
It is possible to engage the EZ-Steer system on headlands which have sharp corners
at the edge of the field. However, the EZ-Steer system may be unable to drive around
these sharp bends. Use one of the following methods to compensate:
• Manually steer the vehicle around the corner. Once you have rounded the corner,
re-engage the EZ-Steer system.
• Select EZ-Steer / Engage Options and increase the Diseng. Offln. distance.

C CAUTION — If you increase the value in the Diseng. Offln. field, the vehicle may overshoot
the corners by at least a few feet.

Vehicle-specific performance hints

2WD tractor
• You can install the EZ-Steer system on tractors that have SuperSteer (for
example, New Holland TG). If the tractor has a SuperSteer front axle, for best
performance:
• Use low or medium aggressiveness (100–110%).
• Line up close to the swath and make certain the front wheels are straight
before engaging the EZ-Steer system.
• To get smoother performance when the vehicle is pulling an implement over tilled
ground, enable Diff-Lock. The setting locks the drive wheels together and causes
them to turn at the same rate. This prevents the machine from pulling sharply to
the left or right.
Note — Turn off Diff-Lock if you are calibrating on a hard surface.

4WD tractor
• Because the steering on a 4WD articulated tractor is slow, you may need to
increase the Freeplay and Aggressiveness settings when traveling at high speeds.
• The EZ-Steer system can be installed on Case IH STX tractors with Accusteer. For
optimal performance, disable Accusteer via the switch in the cab if possible.

Tracked tractor
For best performance, use the following settings when configuring the EZ-Steer system
for use with a tracked tractor:

56 Using the EZ-Steer System EZ-Steer System Reference Guide

 • Perform Steps 5–7 of the EZ-Calibration sequence at the speed at which the
machine will be most commonly used.
• If you do not have T2 technology, set Min speed to a value above 4.8 kph
(3 mph). At speeds below 4.8 kph (3 mph), the accuracy of the EZ-Steer system
without T2 technology on tracked vehicles drops off quickly.

Sprayer
• It is common for these vehicles to have slow steering. To compensate for this, set
the Motor Speed to Man Max and use high aggressiveness.
• If the vehicle is slow to get online, or you experience large, slow oscillations,
increase the Aggressiveness value.
• If you are using the T2 technology option, and traveling faster than 24.1 kph
(15 mph) over a rough surface, from Terrain Comp. / Filter select the Roll only
option.

EZ-Steer System Reference Guide Using the EZ-Steer System 57

7 Troubleshooting
The following categories appear in this chapter:
• General
• General GPS
• T2 technology
• System performance
– Oscillations
– Offline
– Other

General
Problem Possible cause Solution
The EZ-Steer system is The Override Sensitivity setting is too Select EZ-Steer / Engage Options and then
hard to disengage low. increase the O’ride Sensitivity setting.
when I manually turn Increase the setting in 5% increments.
the steering wheel Disengage by turning the steering wheel after
each change to test its effect.
The EZ-Steer system The Override Sensitivity setting is too Select EZ-Steer / Engage Options and then
disengages on large high. decrease the O’ride Sensitivity. Decrease the
bumps setting in 5% increments. Disengage after
each change to test its effect.
The offline distance is too small to Select EZ-Steer / Engage Options and then
accommodate disturbances caused increase the Diseng. Offln. setting.
by rough field conditions.
It is difficult to engage The Maximum Angle setting is too Select EZ-Steer / Engage Options and then
the EZ-Steer system narrow, making it difficult to line up increase the Max Angle setting.
the vehicle within the engage angle.
The Engage Offln. limit is too low Select EZ-Steer / Engage Options and then
which means that the vehicle has to increase the Engage Offln. limit.
be very close to the line before
engaging.
The remote engage Holding the switch shorter than 0.5 Hold the switch down for at least
foot pedal does not seconds will not engage the system. 0.5 seconds. Release the switch between
work 0.5 and 3.0 seconds. The vehicle will engage
when the switch is released.

58 Troubleshooting EZ-Steer System Reference Guide

Problem Possible cause Solution
The guidance LEDs The Look Ahead setting is too high. Select Guidance / Look Ahead and then
jump from side to side increase the Look Ahead time to 0. This
and the map is jerky setting does not affect EZ-Steer system
performance.
The foam motor drive The motor wheel has a flat spot When the system is not in use, hinge the
wheel vibrates because it was not locked away from EZ-Steer motor until it locks in the "away"
the steering wheel when the vehicle position. The flat spot usually disappears
was not in use. after an hour of operation.
The foam wheel slips Grease, oil, or protectants such as Clean the steering wheel with denatured
on the steering wheel Armor All may cause the foam drive alcohol to remove grease, oils, and
wheel to slip on the steering wheel. protectants.
There is not enough pressure Loosen the thumb screws and move the
between the drive wheel and the motor closer to the steering wheel. This
steering wheel. increases the pressure and stops slippage.
The EZ-Steer motor An excessively worn steering column Repair or replace the steering shaft.
struggles to turn the is binding in its housing inside the
steering wheel of the steering shaft when the EZ-Steer
vehicle motor presses against it.
The EZ-Steer motor The steering hydraulic temperature is Decrease the steering override by 5%
repeatedly disengages low, and the steering of the vehicle is increments to 20% or less. Engage the
immediately after I very stiff and hard to turn. EZ-Steer system to see if the problem stops.
engage the system

EZ-Steer System Reference Guide Troubleshooting 59

General GPS
Problem Possible cause Solution
On-the-ground pass to The GPS position is drifting by more Increase the AgGPS OnPath™ advanced filter
pass errors are greater than 0.3 m (12 inches) over two technology decay time from GPS / Filter.
than 0.3 m passes. – If there are no trees near your field,
(12 inches) select 999 minutes.
– If there are trees nearby, select
30 minutes.
Note — The receiver specification shows accuracy should be 15 cm–30 cm
(6 inches–12 inches) 95% of the time in the American Midwest. If you are not
using GPS corrections, the accuracy specification is 15–46 cm (6 inches–
18 inches) in open fields with a decay time setting of greater than 30 minutes.
The GPS antenna is on the nose of Increase the Min SNR setting from GPS/GPS
the vehicle, which is causing GPS Limits.
signal blockage. Tip: Raise the Min SNR value to 42. If this
does not fix the issue, set the Min SNR value
to 45.
Note — Altering this setting may affect the
overall number of satellites you are able to
track. If you do not get a GPS position, drop
the setting back to its default value of 40.
Move the GPS antenna to the top front edge
of the vehicle cab, away from other
transmitting antennas. Reset the antenna
height, axle/antenna offset, angle/turn, and
aggressiveness.
The antenna is not level, which may Ensure that the antenna is mounted within
cause GPS signal errors in some 5 degrees of horizontal.
directions.
The GPS position For optimal accuracy with WAAS Wait for 10 minutes after getting your first
jumps up to several corrections, the WAAS ionosphere DGPS position before you start to use
feet soon after startup model must be downloaded to the guidance or autosteering.
receiver, which can take up to
10 minutes. When the download is
complete, the GPS position is
updated, which can lead to a
position jump of up to several feet.

60 Troubleshooting EZ-Steer System Reference Guide

Problem Possible cause Solution
Intermittent GPS or The vehicle cab, exhaust stack, or Mount the antenna at least 0.9 m (3 feet)
WAAS signals – the bucket loader frame arms are away from any obstruction or source of
receiver intermittently blocking part of the view of the sky potential interference. Remove any obstacle
loses WAAS correction from the GPS antenna. that may be blocking GPS signals from near
or GPS positions or the antenna height, axle/antenna offset,
only ever tracks seven angle/turn, and aggressiveness.
satellites or less Note — If you move the antenna, recalibrate
the EZ-Steer system.
When I use electrical Some electrical devices interfere with If you permanently lose all satellites or only
devices in the cab, the GPS signals. If a device emits ever get zero or one satellites on a regular
EZ-Guide Plus system interference, GPS signals may be basis, switch off all electrical devices in the
loses satellites jammed. Certain types of two-way cab one by one until you isolate the device
radio, DVD players, and some that causes the issue. If this does not work,
transmitting devices can cause this move the antenna to the nose of the vehicle
problem. to avoid interference.
Note — If you move the antenna, recalibrate
the EZ-Steer system.
The vehicle moves Trees obstruct GPS signals. If a tree Autonomous GPS
offline when I drive is partially blocking a satellite, the Increase the Min SNR setting (select GPS /
past trees GPS position may shift. GPS Limits).
Tip: Raise the Min SNR value to 42. If this
does not fix the issue, set the Min SNR value
to 45.
Note — Altering this setting may affect the
overall number of satellites you are able to
track. If you do not get a GPS position, drop
the setting back to its default value of 40.
OmniSTAR XP/HP
Decrease the Min SNR setting (select GPS /
GPS Limits).
Tip: Lower the Min SNR value to 38.
Note — Altering this setting may affect the
overall number of satellites you are able to
track. If you do not get a GPS position,
increase the setting back to its default
value of 40.
AgGPS 252 GPS receiver-specific problems
There was a position The receiver did not receive Check your correction source.
jump of several meters corrections within 4 minutes and has
switched from using DGPS positions
to autonomous (uncorrected)
positions.

EZ-Steer System Reference Guide Troubleshooting 61

T2 technology
To enable or disable T2 technology:
1. Select the Terrain Comp. screen.
2. Select the T2 Tech On/Off screen.
3. Select On to enable the T2 technology, or Off to disable it.
Note — You can disable T2 technology if you suspect that the T2 gyros are causing a
problem.

EZ-Steer system performance

Oscillations
Problem Possible cause Solution
The vehicle is The antenna is behind the rear axle. Place the antenna in front of the rear axle.
oscillating quickly Check the axle/antenna offset.
(<5 sec per oscillation)
The Angle/Turn setting is too low. 1. Reset Aggressiveness to 100%:
2. Increase the Angle/turn value by 1°–5°
from EZ-Steer / Vehicle Setup.
5 secs The Aggressiveness setting is too Decrease the Aggressiveness setting in
high. increments of 10% to a limit of 80%.
Note: If you need to go below 80%, this is an
indication that there is an incorrect setting
somewhere else in the system. Recalibrate
the system.
The Freeplay™ technology setting is Recalibrate the Freeplay technology setting.
too high.

62 Troubleshooting EZ-Steer System Reference Guide

Problem Possible cause Solution
The vehicle is The vehicle is oscillating from one 1. Reset Aggressiveness to 100%.
oscillating slowly side of the line to the other in board 2. Decrease the Angle/turn value by 1°–5°
(>5 sec per oscillation) sweeps because the Angle/Turn from EZ-Steer / Vehicle Setup.
setting is too high. Note: Change the setting by only 1° at a
time. Test the system before changing this
setting further.
5 secs The Aggressiveness setting is too low. Increase the Aggressiveness setting in
increments of 10% up to a limit of 140%.
The Freeplay technology setting is Recalibrate the Freeplay technology setting.
too low.
The Motor Speed is too low. Set the Motor Speed. See page 41.
The vehicle is The T2 terrain compensation filter is From Terrain Comp. / Filter, select the Roll
oscillating at high not optimal. Only option.
speeds (faster than
16.1 kph (10 mph) on
tractors and 24.1 kph
(15 mph) on sprayers)

EZ-Steer System Reference Guide Troubleshooting 63

 Offline
Problem Possible cause Solution
The lightbar shows GPS error. If you are using the EZ-Guide Plus lightbar
online but when I look internal GPS receiver, refer to General GPS,
at the marks from my page 60.
last pass, I see gaps
If you are using the AgGPS 252 receiver,
ensure that the receiver is using firmware
version 3.0 or later.
The vehicle is slow to The Angle/turn value is too high. 1. Change Aggressiveness back to 100%.
get online 2. Decrease the Angle/turn value by 1°–5°
from EZ-Steer / Vehicle Setup.
The Aggressiveness setting is too low. Increase the Aggressiveness setting in
increments of 10% up to a limit of 140%.
The Motor Speed is too low. Set the Motor Speed. See page 41.
The Freeplay technology setting is Check the Freeplay technology setting.
too low.
The system needs to be recalibrated. Recalibrate the system using the
EZ-Calibration wizard.
The T2 terrain compensation is not Recalibrate the T2 terrain compensation
calibrated correctly. technology.
The EZ-Steer system The vehicle is approaching the line at Move the vehicle closer to the line with a
overshoots the line and too steep an angle. shallower angle before engaging.
disengages
The engage limits are too narrow to Increase the Max Angle and Diseng. Offln.
allow the vehicle to maneuver onto settings from EZ-Steer / Engage Options.
the line.
Bumps in the field Bumps in the field are causing the Increase the Angle/turn value by 1°–5°
cause large offline cab to roll. The EZ-Steer system is from EZ-Steer / Vehicle Setup.
distances over-compensating for this motion.
Upgrade to T2 terrain compensation
technology and ensure that it is calibrated
correctly.
Steering performance The Aggressiveness setting is too Reduce the Aggressiveness setting until
on curves is poor high. performance improves.

64 Troubleshooting EZ-Steer System Reference Guide

Problem Possible cause Solution
The vehicle runs The Aggressiveness setting is too low. Increase the Aggressiveness in increments of
parallel to the line 10% up to a limit of 130%.
The vehicle has greater Freeplay in Configure the Freeplay offset setting:
one direction than the other. 1. Select EZ-Steer / Vehicle Setup.
2. When the vehicle is offline:
– to the right, increase the Freeplay Left
field by 0.30 cm (0.1") and decrease
the Freeplay Right field by 0.30 cm
(0.1").
– to the left, increase the Freeplay Right
field by 0.30 cm (0.1") and decrease
the Freeplay Left field by 0.30 cm
(0.1").
3. Test the new setting. Adjust the Freeplay
Left and Freeplay Right values by a further
0.30 cm (0.1") if necessary. Repeat the
process until the vehicle makes only small
deviations (±5.1 cm–15.2 cm (±2"–6"))
either side of the line.
The system needs recalibrated. Recalibrate the system using the
EZ-Calibration wizard.
When I am using the The Adaptive Curve pattern emulates Use the Identical Curve pattern, which does
Adaptive Curve the previous line. not emulate the previous line.
pattern, a minor
inaccuracy increases
during subsequent
swaths

EZ-Steer System Reference Guide Troubleshooting 65

 Other
Problem Possible cause Solution
The vehicle swerves The T2 terrain compensation filter is Drive forward for 4–5 seconds (at any speed)
offline immediately not optimal. before engaging.
after engaging.
If the vehicle speed is less than 16 kph
(10 mph), from Terrain Comp. / Filter, select
the Heavy3 option.
The controller orientation is incorrect. Check that the controller is correctly installed
and configured. See page 21.
The controller LED is This is normal operation. Do nothing.
flashing on and off
evenly.
The controller LED is The CAN communication has been 1. Check that the cable connection is secure.
flashing with the LED lost. 2. Check that the cable is not damaged.
off longer than it is on.
The controller LED is There is a controller fault. Check all equipment and cables for damage.
flashing very fast. If there is no damage:
1. Download the error log:
a. Connect the EZ-Steer system controller
to your office computer or laptop.
b. Use the EZ-Toolbox™ software to
download the error log. For more
information, refer to the EZ-Toolbox
Software User Guide.
2. Send the error log to your local reseller.

66 Troubleshooting EZ-Steer System Reference Guide

8 Messages and Fault Codes
The following categories appear in this chapter:
• EZ-Steer system disengaged warning messages
• T2 technology system warnings
• EZ-Steer fault codes

EZ-Steer system disengaged warning messages

Message Explanation
DISENGAGED! EZ-Steer system disengaged because the vehicle is traveling above the maximum
Too fast speed.
DISENGAGED! EZ-Steer system disengaged because the vehicle is traveling below the minimum
Too slow speed.
DISENGAGED! EZ-Steer system disengaged because the vehicle has gone offline beyond the
Too far offline Diseng. Offln. value.
DISENGAGED! You manually disengaged the EZ-Steer system by turning the steering wheel.
Manual override
DISENGAGED! You manually disengaged the EZ-Steer system by pressing the 6
Manual disengage (engage/disengage) button.
DISENGAGED! EZ-Steer system disengaged because the GPS positions have been lost.
No GPS
DISENGAGED! EZ-Steer system disengaged because you have no corrections or old corrections.
No Corrections This occurs only if Low Accuracy Warning is set to High Accuracy Only.
DISENGAGED! EZ-Steer system disengaged because you have high DOP. This occurs only if Low
High DOP Accuracy Warning is set to High Accuracy Only.
DISENGAGED! EZ-Steer system disengaged because of an unexpected error in the system.
Unexpected Error
DISENGAGED! EZ-Steer system disengaged because of a control fault.
Control fault
Controller Comms Lost There is a poor cable connection or a damaged cable.
EZ-Steer Warning EZ-Steer system has been engaged longer than the operator timeout limit. Press o
Operator timeout alert to continue. If you press o within 30 seconds of the message appearing, the
system does not disengage.

EZ-Steer System Reference Guide Messages and Fault Codes 67

T2 technology system warning messages
Message Cause Solution
T2 gyros not found There is a hardware fault in the Turn the EZ-Steer system off and then
steering control module (SCM) or bad on again. if the problem persists, see
EZ-Steer reported T2
power supply. Fault Code 15 in the EZ-Steer system
fault
fault codes table below.
T2 gyros have stopped
responding
T2 bias estimate error

EZ-Steer system fault codes

Problem Possible cause Solution
Fault Code 01: There have been a large number of Decrease the O’ride Sensitivity value from
Excessive manual manual overrides on one swath. EZ-Steer / Engage Options.
override
Fault Code 02: There has been a general hardware Check all equipment and cables for damage.
Hardware fault fault.
Fault Code 03: There was a power brownout (a Ensure that no power cables are damaged
Controller reset momentary loss of power). and check that the connectors are tight.
Connect the power directly to the battery.
The EZ-Steer system controller has 1. Download the error log:
reset unexpectedly. a. Connect the EZ-Steer system controller
to your office computer or laptop.
b. Use the EZ-Toolbox software to
download the error log. Refer to the
EZ-Toolbox Software User Guide.
2. Send the error log to your local reseller.
Fault Code 04: The EZ-Steer system controller failed 1. Check that the cable connection is secure.
Communication error to receive CAN messages from the 2. Check that the cable is not damaged.
EZ-Guide Plus lightbar.
Fault Code 05: The manual override sensitivity is too Increase the O’ride Sensitivity value from
Bridge fault low. EZ-Steer / Engage Options.
The controller is faulty. Contact your local EZ-Steer system reseller
for a repair or replacement.
Fault Code 07: The motor cable is broken. Contact your local reseller for a replacement
Broken motor cable motor cable.

68 Messages and Fault Codes EZ-Steer System Reference Guide

Problem Possible cause Solution
Fault Code 08: There was a memory error in the 1. Download the error log:
EEPROM fault EZ-Steer system controller. a. Connect the EZ-Steer system controller
to your office computer or laptop.
b. Use the EZ-Toolbox software to
download the error log. Refer to the
EZ-Toolbox Software User Guide.
2. Send the error log to your local reseller.
Fault Code 09: The motor, or motor cable, is not 1. Check that the motor cable is connected
No motor connected connected to the EZ-Steer system to the EZ-Steer system motor.
controller. 2. Check that the motor cable is connected
to the EZ-Steer system controller.
3. Check that all cable connections are
secure and that the cables are not
damaged.
Fault Code 10: There was an unknown fault in the 1. Download the error log:
Unknown fault EZ-Steer system. a. Connect the EZ-Steer system controller
to your office computer or laptop.
b. Use the EZ-Toolbox software to
download the error log. Refer to the
EZ-Toolbox Software User Guide.
2. Send the error log to your local reseller.
Fault Code 11: The lightbar failed to receive 1. Check that none of the cables are
System fault messages from the controller. damaged.
2. Check that the connectors are tight.
1. Download the error log:
a. Connect the EZ-Steer system controller
to your office computer or laptop.
b. Use the EZ-Toolbox software to
download the error log. Refer to the
EZ-Toolbox Software User Guide.
2. Send the error log to your reseller.
Fault Code 12: The controller temperature has 1. Move the controller out of direct sunlight.
Temperature too high exceeded the maximum internal 2. Ensure that the controller is well
operating temperature of 83 ºC ventilated.
(181 ºF). 3. Turn on the air conditioning and direct the
cool air to the controller.
Note — The internal temperature of the controller may be up to 12 ºC (22 °F)
warmer than the external temperature.

EZ-Steer System Reference Guide Messages and Fault Codes 69

Problem Possible cause Solution
Fault Code 13: The power supply to the controller Ensure that you only connect the EZ-Steer
Over voltage exceeded 12.5 V. system to a 12 V power supply.
If you jump start a vehicle with a flat battery,
unplug the EZ-Steer system power plug first.
Fault Code 15: The steering control module (SCM) is Check with your local reseller what the latest
T2 Fault loaded with an incompatible version version of the firmware is. If you do not have
of firmware. the latest version of the firmware on your
controller, update it.
There are low voltage or intermittent 1. Check that there are no loose or corroded
problems with the system’s power power connections, especially in the
supply. accessory plug area.
2. If necessary, modify the power cable with
an in-line fuse and hardware to a reliable
power connection.
3. Ensure that the vehicle electrical system is
in working order and supplies enough
voltage to the system.
There is a hardware fault in the If the above solutions do not work, return the
EZ-Steer controller. EZ-Steer controller to your local reseller for
service.

70 Messages and Fault Codes EZ-Steer System Reference Guide

9 Maintenance
To ensure that your EZ-Steer system continues to operate correctly, follow this
maintenance schedule during your vehicle’s regular service or at intervals not
exceeding three months:
1. Check that the bolts and nuts that attach the bracket to the steering column are
tightened according to the specifications in the steering kit installation
instructions.
2. Inspect the vehicle steering column for signs of damage or wear, paying special
attention to the areas around the EZ-Steer bracket.
3. Check the position of the EZ-Steer motor relative to the steering wheel and, if
necessary, adjust it according to the specifications in the steering kit installation
instructions.
4. Check the amount of play in the EZ-Steer motor bearings by gently attempting to
move the output shaft from side to side, as well as up and down.
5. Rotate the motor shaft to check there is no noise or resistance in the bearings.
6. Check that the motor mount spring applies sufficient pressure to prevent the
foam wheel from slipping on the steering wheel. Replace the spring if necessary.
7. Inspect all cables for damage and replace them if necessary.
8. Check the foam wheel is secure and not excessively worn.
a. Remove the plastic plug from the end of the foam wheel.

b. Make sure that the two screws that hold the wheel to the
output shaft are tight.
c. Inspect the foam wheel. If the foam wheel shows signs of
excessive wear, flat spots, or deep grooves, replace it.
d. Reinstall the plastic plug in the end of the foam wheel.
9. Ensure that the:
• EZ-Steer controller is securely fastened to its mounting point
• EZ-Steer controller does not show any signs of physical damage
• EZ-Steer cables are firmly attached

EZ-Steer System Reference Guide Maintenance 71

Pivot bearing maintenance
The pivot bearing is lubricated at the factory and should not require maintenance.
However, if the steering motor becomes difficult to move from the unlatched to
latched position or if there appears to be excessive play in the pivot bearing, follow
this procedure to inspect, lubricate, or replace the pivot bearing as necessary:
1. Ensure that the unit is in its unlatched position.
2. Remove the motor mount assembly from the steering column bracket.
3. Remove the shroud:
a. With a sharp hobby knife or razor blade, slit the
“EZ-Steer” label on the front of the motor down the
middle where the two shroud halves join.

b. With a sharp hobby knife or razor blade, slit the

part number / serial number label on the angled
surface on the rear of the unit.
Note — You do not need to cut the orange warning
label.

c. Remove the four screws that hold the shroud to the

upper mount.

72 Maintenance EZ-Steer System Reference Guide

 d. Open the shroud by bending the orange warning
label.
e. Remove the shroud.

4. A ¼" screw at the center of the shaft holds the upper

mount assembly to the lower mount. Loosen the screw
until the screw is almost completely removed.
5. Push the screw head until the shaft and upper mount
assembly start to come away from the lower mount.
(There will be some resistance due to the spring force.)
Push the upper mount assembly away until the screw
prevents it coming all the way out. The face of the
bearing and some of the shaft will now be visible
between the upper and lower mounts.

6. Apply some molybdenum sulphide grease or black

grease to the exposed shaft and bearing face.
7. Push the two halves back together and pull them apart
again. Do this several times, to spread the grease.
8. Tighten the ¼" screw to 5.6 Nm–6.7 Nm (50 in/lb–
60 in/lb).
9. Hinge the motor until it latches a few times to spread
the grease around the bearing.

10. Ensure that the two grub screws on the steering motor
output shaft are tightened to 2.8 Nm–3.4 Nm
(25 in/lb–30 in/lb).

EZ-Steer System Reference Guide Maintenance 73

 11. Re-attach the shroud:
a. Ensure that the tongue and groove joint is correctly mated.
b. Tighten the four shroud screws to 2.6 Nm–3.0 Nm (23 in/lb–27 in/lb).
Note — Do not over-tighten the shroud screws or you may damage the
plastic shroud.
12. Re-attach the motor drive unit to the steering column bracket.
If you notice any damage while carrying out the above maintenance, correct the
problem before using the EZ-Steer system. If you are unsure whether or not your
EZ-Steer system is in safe working order, contact your local EZ-Steer reseller for
assistance.

74 Maintenance EZ-Steer System Reference Guide

Appendix A: Vehicle Measurement
A

Settings
C CAUTION — This manual relates to the EZ-Steer system when used with the EZ-Guide Plus
system. It should not be used with the EZ-Guide 500 system. If your EZ-Steer system is
connected to an EZ-Guide 500 system, refer to the EZ-Steer System for the EZ-Guide 500
Lightbar Reference Guide.

Make Series Model Steer whl dia. Angle/Turn Wheelbase

2WD and MFWD tractors
AGCO Allis 94x5 9435, 9455 38 cm (15") 21° 300 cm (118")

96x0 9630, 9650, 9670, 9690 38 cm (15") 21° 300 cm (118")

96x5 9635, 9655, 9675, 9695 38 cm (15") 21° 300 cm (118")

Buhler 2145, 2160, 2180, 2210 40 cm (15.9") 18–21° 312 cm (123")

Case IH xx9x 1896, 2094, 2096, 2294, 40.1 cm (15.8") 23° 264 cm (104")
2394, 2594

MX Maxxum MX 100, 110, 120, 135 40.5 cm (16") 20° 274 cm (108")

MX 150, 170 40.5 cm (16") 20° 274 cm (108")

71x0 Magnum 7110, 7120, 7130, 7140, 40 cm (15.9") 15–25° 300 cm (118")
7150

72x0 Magnum 7210, 7220, 7230, 7240,

7250

89x0 Magnum 8920, 8930, 8940, 8950 40.1 cm (15.8") 20° 305 cm (120")

MX Magnum Gen 2 MX 210, 230, 255, 285 40.5 cm (16") 18° 305 cm (120")
MX Magnum Gen 1 MX 180, 200, 220, 240, 270 40.5 cm (16") 18° 300 cm (118")

MXM MXM 120, 130, 140, 155 38.9 cm (15.3") 15–20° 264 cm (104")

MXM 175, 190 39 cm (15.3") 16–20° 282 cm (111")

Fendt Vario 711, 712, 714, 716, 815, 817, 40.5 cm (16") 15–19° 285 cm (112")
818, 916, 920, 924, 926, 930

Favorit 711, 712, 714, 716, 816, 818, 40.5 cm (16") 15–19° 285 cm (112")
822, 824, 916, 920, 924, 926
Fiat G 170, 190, 210, 240 40 cm (15.9") 18–21° 312 cm (123")

EZ-Steer System Reference Guide Appendix A: Vehicle Measurement Settings 75

Make Series Model Steer whl dia. Angle/Turn Wheelbase
John Deere 2x55 2155, 2355, 2555, 2755, 40 cm (15.9") 17–23° 229 cm (90")
2855N, 2955

4x30 4030, 4230, 4430, 4630 40 cm (15.9") 21–22° 269 cm (106")

4x40 4040, 4240 40.5 cm (16") 20° 269 cm (106")

4440, 4640, 4840 40.5 cm (16") 20° 297 cm (117")

4x50 4050, 4250, 4450, 4650, 40.5 cm (16") 19° 272 cm (107")
4850
4x55 4055, 4255, 4455, 4555 40.5 cm (16") 18° 272 cm (107")

4x60 4560, 4760, 4960 40.5 cm (16") 21° 302 cm (119")

6x10 6110, 6210, 6310, 6410, 40.1 cm (15.8") 18° 260 cm (100")
6510

6x00 6200, 6300, 6400, 6800 40 cm (15.5") 18° 264 cm (104")

6x20 6120, 6220, 6320, 6420 40.5 cm (16") 21° 240 cm (95")
7x00 7200, 7400 40.1 cm (15.8") 24° 262 cm (103")

7500, 7600, 7700, 7800 40.5 cm (16") 24° 260 cm (102")

7x10 7210, 7410, 7510, 7610, 40.1 cm (15.8") 25° 279 cm (110")
7710,7810

7x20 7720, 7820, 7920 40.1 cm (15.8") 18° 287 cm (113")

8x00 8100, 8200, 8300, 8400 40.1 cm (15.8") 21–24° 295 cm (116")
8x10 8110, 8210, 8310, 8410 40.1 cm (15.8") 21–24° 295 cm (116")

8x20 8120, 8220, 8320 40.1 cm (15.8") 21–24° 297 cm (117")

8420, 8520 40.1 cm (5.8") 21-24° 302 cm (119")

New Holland 8x70 Genesis 8670, 8770, 8870, 8970 40 cm (15.9") 18–21° 312 cm (123")

8x70A Genesis 8670A, 8770A, 8870A, 8970A 40 cm (15.9") 18–21° 312 cm (123")

TG 210, 230, 255, 285 40.5 cm (16") 15° 328 cm (129")

TM 120, 130, 135, 140, 150, 38.9 cm (15.3") 15–20° 264 cm (104")
155,165

175, 190 39 cm (15.3") 16–20° 282 cm (111")

76 Appendix A: Vehicle Measurement Settings EZ-Steer System Reference Guide

Make Series Model Steer whl dia. Angle/Turn Wheelbase
4WD articulated tractors
Buhler 2290, 2335, 2360, 2375, 40.5 cm (16") 17° 300 cm (118")
2425

Case IH STX 275, 325, 440 40.5 cm (16") 28° 391 cm (154")

375, 425, 450, 500 40.5 cm (16") 25° 391 cm (154")

STX QuadTrac 375, 425, 450, 500 40.5 cm (16") 25° 254 cm (100")
92x0 Steiger 9210, 9230, 9240, 9250, 38 cm (15") 28° 300 cm (118")
9260, 9270, 9280

93x0 Steiger 9310, 9330, 9350, 9370, 38 cm (15") 20° 300 cm (118")
9380, 9390

Ford New 9xxx 9184, 9280, 9384, 9480, 40.5 cm (16") 17–25° 300 cm (118")
Holland 9482, 9484, 9680, 9682,
Versatile 9684, 9880, 9882, 9884

John Deere 8x30 8430, 8630 40 cm (15.9") 24° 229 cm (90")

8x40 8440, 8640 40 cm (15.9") 24° 229 cm (90")

8x50 8450, 8650 40.5 cm (16") 25° 318 cm (125")

8850 40.5 cm (16") 25° 338 cm (133")

8x60 8560, 8760, 8960 40 cm (15.9") 22–33° 340 cm (134")

8x70 8570, 8770, 8870, 8970 40 cm (15.9") 22–33° 340 cm (134")

9x00 9100, 9200, 9300, 9400 40 cm (15.9") 16° 290 cm (114")

9x20 9120, 9220, 9320, 9420, 40.1 cm (15.8") 15° 351 cm (138")
9520, 9620

New Holland TJ 275, 325, 440 40.5 cm (16") 28° 391 cm (154")

375, 425, 450, 500 40.5 cm (16") 25° 391 cm (154")

Versatile xx6 846, 936, 946 38 cm (15") 17° 330 cm (130")

Series 2 835, 855, 875, 895, 935 38 cm (15") 17° 330 cm (130")

Tracked tractors
CAT 35, 45, 55 38 cm (15") 15° 150 cm (59")

C, D, E 70C, 85C, 65D, 75D, 85D, 38 cm (15") 15° 150 cm (59")

65E, 75E, 85E, 95E

MT 835, 845, 855, 865 38 cm (15") 90° 183 cm (72")

EZ-Steer System Reference Guide Appendix A: Vehicle Measurement Settings 77

Make Series Model Steer whl dia. Angle/Turn Wheelbase
John Deere 8xxxT 8100T, 8110T, 8120T, 8200T, 40.1 cm (15.8") 24° 300 cm (118")
8210T, 8220T, 8300T, 8310T,
8320T, 8400T, 8410T, 8420T

9xxxT 9300T, 9320T, 9400T, 9420T, 40.1 cm (15.8") 24° 300 cm (118")
9520T, 9620T

Combines
Case AFX 8010 38 cm (15") 17° 353 cm (139")

14xx 1400, 1420, 1440, 1460, 40.6 cm (16") 25° 300 cm (118")
1480, 1482

16xx 1620, 1640, 1660, 1680 40.6 cm (16") 25° 300 cm (118")

1644, 1666, 1688 35.6 cm (14") 28° 254 cm (100")

21xx 2144, 2166, 2188 35.6 cm (14") 21–25° 353 cm (139")

23xx 2344, 2366, 2377, 2388 35.6 cm (14") 21–25° 353 cm (139")

John Deere 9x00 9400, 9500, 9600 34.3 cm (13.5") 13° 351 cm (138")

9x50 9550, 9650, 9750 34.3 cm (13.5") 24° 254 cm (100")

9x60 9560, 9660, 9760, 9860 34.3 cm (13.5") 15° 351 cm (138")

9x50STS 9650STS, 9750STS 34.3 cm (13.5") 24° 254 cm (100")

9x60STS 9560STS, 9660STS, 9760STS, 34.3 cm (13.5") 15° 351 cm (138")

9860STS

9x80CTS 9780CTS 34.3 cm (13.5") 15° 351 cm (138")

New Holland CX 720, 740, 760, 780, 820, 840, 39 cm (15.3") 17° 366 cm (144")
860, 880

CR 940, 960, 970 39 cm (15.3") 22° 381 cm (150")

Trucks
International 7300 44.5 cm (17.5") 20–22° 426 cm (168")

ACCO 1850D 50 cm (19.7") 18° 500 cm (197")

Swathers
Case Harvest Pro 8140, 8150, 8152, 8152i 38 cm (15") 137° 300 cm (118")
1988 – 2004 8820, 8825, 8825HP, 8830, 38 cm (15") 137° 315 cm (124")
8840, 8860, 8860HP

8870, 8880 38 cm (15") 137° 356 cm (140")

Hesston 1988 - 2004 9230, 9240, 9260, 9280 38 cm (15") 137° 356 cm (140")

78 Appendix A: Vehicle Measurement Settings EZ-Steer System Reference Guide

Make Series Model Steer whl dia. Angle/Turn Wheelbase
John Deere Premier 2920, 2930, 2940, 2950, 15" (38 cm) 137° 300 cm (118")
2952, 2952i

4x95 4895, 4995 13.5" (34.3 cm) 130° 444.5 cm

(175")

MacDon MacDon 9200, 9250, 9300, 9350, 15" (38 cm) 137° 300 cm (118")
9252, 9352i

New Holland Prairie Star 4920, 4930, 4940, 4950, 15" (38 cm) 137° 300 cm (118")
4952, 4952i

Westward Westward Pro 9200, 9250, 9300, 9350, 15" (38 cm) 137° 300 cm (118")
Dealers 9252, 9352i

High clearance sprayers

Ag Chem RoGator 854, 1054 34.3 cm (13.5") 15–25° 422 cm (166")
864, 1064 34.3 cm (13.5") 23–25° 452 cm (178")

Apache 560, 760, 780, 790, 860, 880, 40.5 cm (16") 18° 264 cm (104")
890, 1200, 1280

Case SPX Patriot 3150, 3185 40.5 cm (16") 18° 305 cm (120")

3200, 3310 40.5 cm (16") 18° 356 cm (140")

4260 40.5 cm (16") 23° 380 cm (150")

4410 40.5 cm (16") 23° 380 cm (150")

Cherokee SP 560, 575 40.5 cm (16") 22° 305 cm (120")

Hagie STS (2004 & earlier) 10, 12 38.5 cm (15.2") 19° 353 cm (139")

John Deere 47x0 4700, 4710, 4720 40 cm (15.9") 17° 254 cm (100")

49x0 4920 40 cm (15.9") 17° 432 cm (170")

6x00 6500, 6600, 6700 40 cm (15.9") 9° 241 cm (95")

Miller Nitro N1 2200SS, 2200T, 2200HT, 34.3 cm (13.5") 17° 443 cm (174")
2275HT

Nitro N2 34.3 cm (13.5") 13° 368 cm (145")

Spra-Coupe 220 38 cm (15") 38° 295 cm (116")

3xxx 3430, 3440, 3630, 3640 40 cm (15.9") 20° 353 cm (139")

4xxx 4440, 4450, 4640, 4650 40 cm (15.9") 20° 353 cm (139")

EZ-Steer System Reference Guide Appendix A: Vehicle Measurement Settings 79

Make Series Model Steer whl dia. Angle/Turn Wheelbase
Floaters
Ag Chem TerraGator 6103, 8103 38 cm (15") 15° 632 cm (249")
9103, 9203 38 cm (15") 15° 662 cm (261")

1664T, 1804 38 cm (15") 15° 434 cm (171")

1603, 1803, 1903 38 cm (15") 15° 546 cm (215")

Case FLX 4010, 4510 40 cm (15.9") 14° 460 cm (181")

80 Appendix A: Vehicle Measurement Settings EZ-Steer System Reference Guide

Appendix B: Measuring Vehicle
B

Parameters
Steering wheel diameter
Measure the steering wheel across the widest part from the outside of the steering
wheel.

Wheelbase
The wheelbase numbers listed for tracked tractors are shorter than the actual
wheelbase. This is required to ensure good performance.

2WD tractor 4WD tractor

Tracked tractor Combine

EZ-Steer System Reference Guide Appendix B: Measuring Vehicle Parameters 81

Swather Sprayer

Floater Truck

82 Appendix B: Measuring Vehicle Parameters EZ-Steer System Reference Guide

CAppendix C: Settings and Defaults
Default settings
Vehicle Steering Angle/turn Freeplay Wheel Aggressiveness Motor
type wheel base Speed
diameter
Tractor 40.6 cm 20º 2.5 cm 300 cm 115% Auto High
(16.0") (1.0") (118")
4WD 40.6 cm 20º 2.5 cm 300 cm 115% Auto High
Tractor (16.0") (1.0") (118")
Tracked 40.6 cm 20º 0.5 cm 300 cm 120% Auto Low
Tractor (16.0") (0.2") (118")
Combine 40.6 cm 20º 1.2 cm 300 cm 100% Auto High
(16.0") (0.5") (118")
Sprayer 40.6 cm 20º 3.8 cm 300 cm 125% Auto High
(16.0") (1.5") (118")
Truck 40.6 cm 20º 3.6 cm 300 cm 120% Auto High
(16.0") (1.4") (118")
Floater 40.6 cm 20º 2.5 cm 300 cm 120% Auto High
(16.0") (1.0") (118")
Swather 38.1 cm 137º 10.2 cm 300 cm 125% Auto High
(15.0") (4.0") (118")
Other Other vehicle types are not supported.

Vehicle speed limits

The minimum and maximum allowable speed for assisted steering on straight swaths
and pivots, based on the selected vehicle type, is:

Vehicle type Minimum allowable speed Maximum allowable speed

Tractor (2WD) 2 kph (1 mph) 24 kph (15 mph)
Tractor (4WD) 2 kph (1 mph) 24 kph (15 mph)
Tracked Tractor 2 kph (1 mph) 24 kph (15 mph)
Combine 2 kph (1 mph) 24 kph (15 mph)
Sprayer 2 kph (1 mph) 32 kph (20 mph)
Truck 2 kph (1 mph) 40 kph (25 mph)

EZ-Steer System Reference Guide Appendix C: Settings and Defaults 83

 Vehicle type Minimum allowable speed Maximum allowable speed
Floater 2 kph (1 mph) 40 kph (25 mph)
Swather 2 kph (1 mph) 24 kph (15 mph)

Note — The speed limit on curved swaths (including adaptive curves, identical
curves, and headlands) is 19.3 kph (12 mph) regardless of vehicle type.

Operating limits
• The maximum internal operating temperature is 83 ºC (181 ºF).
If the controller reaches this point, it will automatically shut down to avoid
damage. To view the current internal temperature of the controller, select
EZ-Steer Diagnostics.
Note — The internal temperature of the controller may be up to 12 ºC (22 °F)
warmer than the external temperature.
• The maximum operating voltage is 16 VDC. At this point, a warning is displayed
and the system is automatically shut down.

C CAUTION — Do not supply voltages greater than 16 VDC to the EZ-Steer system, or
you risk permanently damaging it.

Vehicle configuration parameters

The following parameters are stored in the vehicle configuration:

EZ-Steer
Axle/Ant offset Saved configurations Vehicle type
Steering wheel diam Angle/turn Freeplay left
Freeplay right Wheel base Heading Filter
Controller orientation Antenna height Roll Angle
Aggressiveness value Min speed Max speed
Max angle Engage offline Disengage offline
O’ride sensitivity Motor speed Engage on AB
Operator Timeout Ext switch on/off
EZ-Boom
Swath width Boom width Number of sections
Section # width [10] Boom switching Boom control

84 Appendix C: Settings and Defaults EZ-Steer System Reference Guide

 Lead in off delay Rate control
Rate 1 Rate 2 Allowable error
Min flow Inc/dec step Control valve type
Frequency Gain 0 Flow offset
Response 1 Response 2 Threshold
Dead band Sensor enabled Set point
Slope Flow meter cal Target rate
Speed Total nozzles Current flow
Vol/nozzle Time elapsed Meas’d flow
Calc’d flow Diff flow Tank capacity
Current volume Low limit
T2 terrain compensation
Terrain comp filter Hide EZ-Steer UI Ant offset boom
Terrain comp on/off
Lightbar
Progress lines Adjacent swaths Field boundary
AB Line View mode Path Display
Contrast Backlight on/off Brightness
LED brightness Ante/Impl offset distance lightbar orientation
Status text options Data port input Data port stop bits
Data port baud rate Data port output rate GGA precision
NMEA out options Radar rate Radar angle
Units Language
Guidance
LED Mode LED Spacing Look Ahead
Auto-detect Turn Curve smoothing on/off Max point of separation
Vertex param Nudge increment Swath width
Pattern type
Warnings
Headland warning on/off Headland lead time Offline warning on/off

EZ-Steer System Reference Guide Appendix C: Settings and Defaults 85

 Low Acc warning Audible warning on/off
on/off/partial
GPS
SV Name Min Satellites Max HDOP
Corrections Correction Limit Autoseed™ enabled
SBAS setting VBS Backup Min elevation
Min SNR GPS filter options
About...
Power saving mode GPS rate
Pass code
Pass Code on/off

Note — Vehicle configuration files from EZ-Guide Plus firmware prior to version
4.00 are not compatible with the firmware version 4.00.

86 Appendix C: Settings and Defaults EZ-Steer System Reference Guide

Index
Numerics Aggressiveness 42
calibration 48
2WD Tractor
alarm 55
Aggressiveness 42
Angle/Turn
Angle/Turn 75
calibration 47
antenna installation 26
antenna height 36
antenna offset 39
antenna installation
connecting arm 16
2WD tractor 26
motor speed 41
4WD tractor 26
performance hints 56
Combine 27
speed limits 83
Floater 28
steering wheel diameter 75
Sprayer 28
wheelbase 75
Swather 27
4WD Tractor
Tracked tractor 27
Accusteer 56
Truck 28
Aggressiveness 42
antenna-to-axle offset 39
Angle/Turn 75
axle-to-antenna offset 39
antenna installation 26
antenna offset 39
motor speed 41 B
performance hints 56
speed limits 83 ball joints
steering cylinder pins 16 worn 15
steering wheel diameter 75 bump compensation 13
wheelbase 75

C
A cable
accessory socket damaged 67
fuse size 19 calibration 44
no power 18 Aggressiveness 48
Accusteer 56 Angle/Turn 47
action icons 51 confirmation 49
Adaptive Curve pattern EZ-Calibration 44
troubleshooting 65 fine tuning 50
adjusting column tilt 5, 23 Freeplay 46
AgGPS 252 receiver Freeplay Offset 49
position jump 61 Motor Speed 49
AgGPS 332 receiver 33 roll calibration 37
AgGPS Autopilot system 13 Can’t Engage message 52

EZ-Steer System Reference Guide Index 87

 combine installation 21, 71
Aggressiveness 42 power cable 18
Angle/Turn 75
antenna installation 27
antenna offset 39 F
motor speed 41 fault codes 68
speed limits 83 flat spot 23
steering wheel diameter 75 floater
wheelbase 75 Aggressiveness 42
configurations Angle/Turn 75
vehicle 43 antenna installation 28
controller antenna offset 39
calibration 37 motor speed 41
installation 24 speed limits 84
LED flashing 66 steering wheel diameter 75
orientation 36 wheelbase 75
curve steering 55 foam wheel
slipping 59
foot pedal
D installation 30
damaged cable 67 operation 52
default settings 83 troubleshooting 58
Diff-Lock 56 Freeplay
Diseng. Offln. 56 calibration 46
Disengaged warnings 67 installation hints 56
disengaging 54 Freeplay Offset 65
calibration 49

E
engage codes 52
G
Engage Options 41 general problems 58, 67
engaging 52 GPS
angle and distance 53 guidance 13
far from the line 54 position jumps 60
EZ-Calibration signal obstruction 62
preparation 45
process 44
wizard 45 H
EZ-Guide 252 system 34 headlands 56
EZ-Guide Plus lightbar 13 Heavy1 filter 65
EZ-Steer 13 highway usage 5
disengaged warning messages 67 hydraulic fluid 20
fault codes 68

88 Index EZ-Steer System Reference Guide

I P
icons 51 pivot bearing maintenance 72
initial calibration 35 platform kit
initial system setup 35 contents 13
installation 21, 71 installation 23
antenna 26 position jumps 60
controller 24 pre-installation
motor 23 vehicle inspection 15
switches 29 problems
internal operating temperature 84 EZ-Steer performance 62
general 58, 60
vehicle setup 15
K
keypad alarm 55
R
remote control
L alarm 55
LED flashing 66 engaging 52
LEDs 52 remote engage foot pedal 30
lightbar 32, 34, 55 troubleshooting 58
roll compensation 13
Roll Only filter 63
M
maintenance 71 S
pivot bearing 72
manually engaging 52 SCM 68
MFWD tractors screen 51
axle movement 16 seat switch installation 29
motor installation 23 slipping foam wheel 59
Motor Speed Sonalert 55
calibration 49 speed limits 75, 83
initial settings 41 sprayer
Aggressiveness 42
Angle/Turn 75
O antenna installation 28
antenna offset 39
operating limits 84 motor speed 41
operating temperature 84 oscillations 63
operating voltage 84 performance hints 57
orientation 36 speed limits 83
steering wheel diameter 75
wheelbase 75

EZ-Steer System Reference Guide Index 89

 status icons 51 speed limits 83
steering steering wheel diameter 75
loose 57 wheelbase 75
steering wheel troubleshooting 58, 67
diameter 81 truck
vertical play 18 Aggressiveness 42
SuperSteer 56 Angle/Turn 75
swather antenna installation 28
Aggressiveness 42 antenna offset 39
Angle/Turn 75 motor speed 41
antenna installation 27 speed limits 83
antenna offset 39 steering wheel diameter 75
motor speed 41 wheelbase 75
speed limits 84
steering wheel diameter 75
wheelbase 75 U
switch installation 29 uneven tire pressure 17

T V
T2 Tech On/Off 62 vehicle
T2 terrain compensation technology 13 configuration parameters 75, 84
antenna height 36 configurations 43
controller orientation 36 entering measurements 38
disabling 62 measurements 75
enabling 62 pre-installation inspection 15
filter 65 setup 38
roll calibration 37 speed limits 83
warning messages 68 type 38
telescope lock 17 voltage
terrain compensation 13 maximum 84
antenna height 36
controller orientation 36
installation 24 W
orientation 36
roll calibration 37 WAAS 42
tracked tractor warnings
Aggressiveness 42 audible 55
Angle/Turn 75 EZ-Steer disengaged 67
antenna installation 27 wheelbase 81
antenna offset 39 worn ball joints 15
motor speed 41 worn splines 16
performance hints 56

90 Index EZ-Steer System Reference Guide