Leica Geosystems Leica mojoXact Plus - Manual (Page 68)

68 Auto-Steer, Leica mojoXact Plus
5.6 Testing Auto-Steer
Explanation The steering test is conducted to ensure that the steering works and that the vehicle
is steering left when the system pulses the steering left and that the vehicle is
steering right when the system pulses the steering right.
Testing of the auto-steer function is available for some steer kits. There are two tests
available: Open Loop and Closed Loop. Some steer kits support both tests and some
support only one. Steering must be engaged to perform either test and the Override
sensor is active during both tests. If you are performing a Closed Loop test, steering
calibration must be performed first. Refer to Section "5.4 Steer Kit Calibration".
The Open Loop test:
• disregards all sensors except the Override sensor, so it is used for steer kits that
do not provide feedback from the sensors.
• does NOT require the steer kit to be calibrated.
• does NOT require a position fix.
• allows the actuators of the steer kit to be tested without the use of the wheel
angle sensor. This is useful for checking the direction of the actuator and checking
the lock to lock time.
The Closed Loop test:
• may be used to check that the wheel angle sensor is working and that any custom
parameters are set correctly.
• will control the wheels to a desired angle.
• does require the steer kit to be calibrated.
• is used for steer kits that can provide feedback from the sensors.
A steering test should be conducted whenever any of the following occur:
• a steer kit is initially installed, setup and calibrated.
• a change is made to the steer kit setup.
• the steer kit is re-calibrated.

Testing the auto-steer involves driving the vehicle and steering to the left
and right. Ensure the vehicle is situated where this is possible, safe and
there are no obstacles.
Vehicle turns very slowly to drive toward the
line. Increase the Sensitivity.
Vehicle turns very aggressively to drive toward
the line and twitches when on the line. Reduce the Sensitivity.
Vehicle oscillates - only at higher speeds. Reduce the Speed Adjust.
Vehicle does not hold the line - only at higher
speeds. Increase the Speed Adjust.
Symptom Resolution