Leica Geosystems Leica mojoXact Plus - Manual (Page 62)

62 Auto-Steer, Leica mojoXact Plus
5.4.1 Stationary Engage and Reverse Steering
Overview The mojoXact Plus supports stationary engage which allows the auto-steer system to
be engaged before the vehicle moves. This allows the operator to concentrate on
other tasks when the vehicle begins to move. Stationary engage also allows the
vehicle to stop for a moment and then take off again without the operator having to
manually re-engage the auto-steer system.
Reverse steering allows the operator to engage auto-steer while in reverse. Reverse
steering is supported by some mojoXact Plus steering platforms and vehicles.

Reverse steering is only permitted on straight wayline types, that is, AB
Parallel Guidance and A+ Heading Guidance.

Stationary engage will automatically disengage if the vehicle has not moved
for a configured amount of time. By default this amount of time is
15 seconds, but it can be configured to a value between 1 and 30 seconds.

Enabling reverse steering requires stationary engage to be enabled. This
allows the operator to auto-steer while driving forwards, then stop, then
drive in reverse, and the vehicle will continue to auto-steer without the
operator having to manually re-engage auto-steer. The operator can then
stop, go forward again and the auto-steer is still engaged. This can be
repeated a number of times without the operator needing to re-engage the
auto-steer.
Using stationary
engage, step-by-
step Once Stationary Engage is enabled, auto-steer can be armed before the vehicle starts
moving. To use stationary engage, carry out the following steps:
1. Ensure that roading is turned off (see Section "5.1.1 Roading Safety Feature").
2. Ensure that a wayline is set or loaded to auto-steer along (see Chapter "7 Guid-
ance").
3. While the vehicle is stationary, tap the button.
The auto-steer button goes green with a pause symbol, signifying that auto-steer
is armed, but not engaged.
4. Start moving the vehicle.
The auto-steer system will automatically engage if the vehicle is close enough to
the wayline and is not attacking the line too steeply, and the auto-steer button
goes green (no pause symbol). Otherwise the auto-steer system waits until these
criteria are met before engaging.

If the vehicle does not move before the stationary engage time limit elapses
or the auto-steer engage criteria are not met before the time limit,
stationary engage will disarm and the auto-steer button changes to
.
Using reverse
engage, step-by-
step Reverse steering allows the operator to drive the vehicle forward and then in reverse
and forward again without having to manually re-engage the auto-steering. Reverse
steering requires stationary engage to be enabled. Without stationary engage
enabled, the auto-steer system will disengage as the vehicle slows down between
forward motion and reverse.