Varioguide: Varioguide Novatel Varioguide Trimble

Workshop Service Manual
VarioGuide
VarioGuide NovAtel
VarioGuide Trimble
Marktoberdorf
AGCO GmbH - Johann-Georg-Fendt-Str. 4 - D-87616 January 2016
Marktoberdorf X990.005.550.011
FENDT is a worldwide brand of AGCO 4893-en
© AGCO 2016 English
.
Subject to changes and additions.
IMPORTANT:
This document is valid from the chassis number indicated and onwards. The last valid chassis number
could not be determined at the time of creation. Use AGCONET or contact Fendt technical service to make
sure whether a current wiring diagram set is available with an updated chassis number range.
Due to further developments to the tractor, the content of this document is subject to change.
The relevant accident prevention regulations must be observed, as must as any generally acknowledged
safety, industrial medicine and traffic regulations. The manufacturer does not accept liability for damage
resulting from unauthorized modifications to the machine.
Property of AGCO GmbH.

Any disclosure to third parties—either in return for payment or free of charge—is prohibited.
VarioGuide
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VarioGuide
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Table of contents
VarioGuide
1 Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

1.1 Safety and accident prevention regulations . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.1.1 Marking of places that affect your safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.1.2 Advice for the operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.1.3 Safe operating environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.1.4 Switching off in an emergency situation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
2 System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1 System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.1.1 Bar indicator (Novatel, Trimble) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.1.2 Switch-off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.1.3 A101 - VarioDoc/VarioGuide (VD03\VD02) ECU "EU version" with GPRS mobile
radio modem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.1.4 A101 - VarioDoc/VarioGuide (VD03\VD02) ECU "NA-version" with CDMA mobile
radio modem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
2.2 Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
2.2.1 Software — Version check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
2.2.2 Software — Upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
3 Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1 Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.1.1 Hardware architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.1.2 Wiring/cable sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3.1.3 Circuit diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
3.1.4 Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
3.1.5 A101 — ECU, VarioDoc/VarioGuide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11
3.1.6 A102 ECU, Topcon receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12
3.1.7 A173 — Trimble AG-382 receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13
3.1.8 A174 — SATEL EASyProof radio module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14
3.1.9 U004 — Novatel Smart6 receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15
4 Correction signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

4.1 Correction signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.1.1 Available correction signals: NovAtel receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.1.2 Available correction signals: Trimble receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.2 Sub-meter accuracy: NovAtel receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.2.1 Autonomous . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.2.2 EGNOS / WAAS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4.3 Centimeter accuracy: NovAtel receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
4.3.1 RTK base station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
4.3.1.1 RTK base station: NovAtel receiver: Configure internal Satel EASyProof
radio modem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
4.3.1.2 RTK base station: NovAtel receiver: Configure external radio modem . . . . 4-7
4.3.2 RTK network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
4.3.2.1 RTK network: NovAtel receiver: Configure internal mobile radio modem . . 4-8
4.3.2.2 RTK network: NovAtel receiver: Configure external mobile radio modem . . 4-9
4.4 Sub-meter accuracy: Trimble receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
4.4.1 Autonomous . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
4.4.2 EGNOS / WAAS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
4.4.3 RangePoint RTX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
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4.5 Decimeter accuracy: Trimble receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14

4.5.1 CenterPoint RTX Fast . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14
4.5.2 CenterPoint RTX Standard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15
4.6 Centimeter accuracy: Trimble receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
4.6.1 RTK base station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
4.6.1.1 RTK base station: Trimble receiver: Configure internal Trimble AG-715
403-470 MHz radio modem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
4.6.1.2 RTK base station: Trimble receiver: Configure internal Satel EASyProof
radio modem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
4.6.1.3 RTK base station: Trimble receiver: Configure internal Trimble 900 MHz
radio modem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17
4.6.1.4 RTK base station: Trimble receiver: Configure external radio modem . . . . 4-18
4.6.1.5 Trimble Secure RTK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19
4.6.2 RTK network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22
4.6.2.1 RTK network: Trimble receiver: Configure internal mobile radio modem . . 4-22
4.6.2.2 RTK network: Trimble receiver: Configure external mobile radio modem . 4-23
4.6.3 Trimble xFill . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24
4.6.3.1 Trimble xFill technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24
4.6.3.2 Switch on and configure Trimble xFill . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-26
4.7 RTK network selection and connection status . . . . . . . . . . . . . . . . . . . . . . . 4-29
4.7.1 RTK network: Mobile communications network connection settings . . . . . . . . . . 4-29
4.7.2 RTK network: Ntrip settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-30
4.7.3 GPRS/NTRIP connection status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-31
4.8 Fallback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-33
4.8.1 Fallback NovAtel receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-33
4.8.2 Fallback Trimble receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-33
5 Calibrations and adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

5.1 Calibrations and adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.1.1 Gyro calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.1.2 Steering valve — Calibration code 2403 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5.1.3 Steering angle sensor – calibration code 2401 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
5.1.4 Steering angle sensor — Check the accuracy of the calibration with Fendias . . . . . 5-12
6 Tests and settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1

6.1 Tests and settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.1.1 VarioGuide test log — Fax template . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.1.2 System information page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6.1.3 Note on correction signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6.1.4 Auto Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6.1.5 Check the track to track accuracy (dynamic accuracy: pass-to-pass accuracy within
15 minutes) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6.1.6 VarioGuide offset setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
6.1.7 Determination and correction of implement offset . . . . . . . . . . . . . . . . . . . . . . . . 6-10
6.1.7.1 Determination and correction of the implement offset – method 1 . . . . . 6-10
6.1.7.2 Determination of the implement offset — Method 2 . . . . . . . . . . . . . . . . 6-13
6.1.8 Mechanical check of the front axle clearance, the steering angle sensor and the
steering system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-15
6.1.8.1 Check the front axle clearance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16
6.1.8.2 Mechanical check of the steering angle sensor . . . . . . . . . . . . . . . . . . . . 6-17
6.1.8.3 Mechanical (hydraulic) check of the steering system . . . . . . . . . . . . . . . . 6-17
6.1.9 Check the VarioGuide pre-installation with Fendias . . . . . . . . . . . . . . . . . . . . . . . 6-18
6.1.9.1 Check the VarioGuide pre-installation with Fendias (comfort bus
recording) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18
6.1.9.2 Steering valve — Status messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-23
7 Advanced settings/functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1

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7.1 Advanced settings/functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

7.1.1 Receiver: Receiver info and authorization upgrade (DM, CM) . . . . . . . . . . . . . . . . . 7-3
7.1.2 NMEA data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
7.1.3 Connect NMEA-enabled external implement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
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1. Safety instructions
1.1 Safety and accident prevention regulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1.1.1 Marking of places that affect your safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.1.2 Advice for the operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.1.3 Safe operating environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.1.4 Switching off in an emergency situation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
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1-2 VarioGuide
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1.1 Safety and accident prevention regulations

1.1.1 Marking of places that affect your safety
Make sure that any other users have read all the safety instructions as well.
The various levels of safety instructions can be distinguished as follows:
DANGER:
This symbol, together with the word DANGER, means there is an immediate risk of
danger that must be prevented to avoid the risk of DEATH OR SEVERE INJURY.
WARNING:
This symbol, together with the word WARNING, means a potential risk of danger that
must be prevented to avoid the risk of DEATH OR SEVERE INJURY.
CAUTION:
This symbol, together with the word CAUTION, means there is a potential danger that
must be prevented to avoid the risk of MINOR INJURY.
The operator's manual is an integral part of the vehicle package and must be passed on to any subsequent
owner in the event of resale. The attention of the new owner should be drawn to this information.
If this manual is lost or damaged and you need a new one, please contact your Fendt dealer, from whom
you will be able to purchase a replacement.
1.1.2 Advice for the operator

The purpose of VarioGuide is to assist the operator in steering the tractor. The operator must remain
attentive at all times and have full control over the machine.
VarioGuide cannot detect obstacles such as persons or objects that are not defined and saved in the
system. While automatic steering is in operation, the operator must ensure that a suitable distance is kept
from such obstacles.
VarioGuide may be deactivated briefly if the GNSS or correction signal is lost. It is therefore essential that
the operator is constantly aware of the position of the tractor and the conditions in the field.
WARNING:
Hazard due to vehicle movements Risk of injury and death! Material damage is possible.
When driving on public roads or in areas where there is a risk of injury to others, the
electrohydraulic steering system must not be pre-activated; automatic way-line guidance
must not be activated.
WARNING:
While the system is switched on, the operator must remain on the operator platform
within the vehicle at all times. The operator must attentively follow all the operating
conditions and be ready to intervene at any time, should this be necessary.
WARNING:
Before the operator leaves the tractor, the automatic steering system must be switched
off and the tractor must be parked properly.
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1.1.3 Safe operating environment

WARNING:
The automatic way line guidance system may only be used if the tractor is located in an
open area away from persons, buildings and other machinery:At a safe distance from
persons.At a safe distance from obstacles.At a safe distance from high-voltage power
lines.On private property without public access.
WARNING:
Hazard from operating the system outside of approved national signal areas Risk of injury
and death! Material damage is possible. Do not operate VarioGuide and its base station
outside the authorised national frequency ranges, to avoid interference with other
systems (remote-controlled cranes, forestry cranes, etc.).
1.1.4 Switching off in an emergency situation

The operator can switch off the way line guidance system in an emergency situation by moving the
steering wheel, giving him manual control over the vehicle. To switch the way line guidance system back
on, the switch-on conditions must be fulfilled and the activation button must be pressed.
WARNING:
While the system is switched on, the operator must remain on the operator platform
within the vehicle at all times. The operator must observe all operating conditions
attentively and be ready to intervene immediately whenever necessary.
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2. System
2.1 System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

2.1.1 Bar indicator (Novatel, Trimble) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.1.2 Switch-off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.1.3 A101 - VarioDoc/VarioGuide (VD03\VD02) ECU "EU version" with GPRS mobile radio
modem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.1.4 A101 - VarioDoc/VarioGuide (VD03\VD02) ECU "NA-version" with CDMA mobile radio
modem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
2.2 Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
2.2.1 Software — Version check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
2.2.2 Software — Upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
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2-2 VarioGuide
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2. System
2.1 System
2.1.1 Bar indicator (Novatel, Trimble)
NOTE: Automatic wayline guidance can only be activated when at least three bars are displayed.
Bar GNSS Corre

indicato ction
r signal
NOK NOK The system does not receive any data from GNSS satellites, nor a correction
signal --> automatic track guidance is not possible
OK NOK The system receives data from GNSS satellites, but not a correction signal -->
automatic track guidance is not possible
OK OK The system receives data from GNSS satellites and the selected correction
signal, but the data is not sufficient to determine a valid position --> automatic
track guidance is not possible
OK OK The data is sufficient to determine a valid position --> automatic track guidance
is possible
NOTE: The system continues to collect data and the theoretical accuracy of
the calculated position continues to increase.
OK OK The theoretical accuracy of the calculated position continues to increase

(HDOP =<1.5; SV >=6)
OK OK The theoretical accuracy of the calculated position continues to increase

(HDOP =<1.3; SV >=7)
HDOP (Horizontal Dilution Of Precision)

The HDOP value is a measure for the measured value spread. The smaller the value, the smaller the
variance of the measured value.
SV (Satellites Visible): number of satellites used
NOTE: The accuracy of positioning is dependent upon the positions of the satellites relative to each other
and the position of the receiver, as well as the accuracy of time measurement and the runtime.
2.1.2 Switch-off
The automatic steering switches off in the following conditions or events (or cannot be activated):
• The steering wheel is being operated
• The bar display is showing fewer than three bars (tractor does not have a valid position)
• Road speed is below 0.1 km/h or over 25 km/h
• The angle between the current driving line (tractor) and the wayline (target wayline) exceeds 75°
VarioGuide 2-3
X990.005.550.011
2. System
• The machine deviates from the side of the wayline (target wayline):
- Sub-meter accuracy: lateral deviation of more than 1.2 m
- Centimeter accuracy: lateral deviation of more than 0.6 m
• The operator leaves the operator's seat (seat contact switch)
2-4 VarioGuide
X990.005.550.011
2.1.3 A101 - VarioDoc/VarioGuide (VD03\VD02) ECU "EU version" with GPRS mobile radio modem
VarioGuide
GNSS receiver Possible accuracy Correction signal Radio modem Aerial
NovAtel Smart6 Sub-meter Autonomous not necessary (n. n.) n. n.
X990.005.550.011
WAAS n. n. n. n.
EGNOS n. n. n. n.
Centimeter NTRIP n. n. GSM/900 MHz
RTK base station SATEL EASyProof (403– UHF 430–460MHz
470MHz)
Trimble AG-382 Sub-meter Autonomous n. n. n. n.
WAAS n. n. n. n.
EGNOS n. n. n. n.
RangePoint RTX n. n. n. n.
Decimeter CenterPoint RTX n. n. n. n.
RTK base station SATEL EASyProof (403– UHF 430–460MHz
470MHz)
Trimble 450 (405–470MHz) UHF 430–460MHz
Trimble 900 (900MHz) GSM/900 MHz
2-5
2. System
2-6
2.1.4 A101 - VarioDoc/VarioGuide (VD03\VD02) ECU "NA-version" with CDMA mobile radio modem
2. System
GNSS receiver Possible accuracy Correction signal Radio modem Aerial

NovAtel Smart6 Sub-meter Autonomous n. n. n. n.
WAAS n. n. n. n.
Base station*1)
Trimble AG-382 Sub-meter Autonomous n. n. n. n.
WAAS n. n. n. n.
RangePoint RTX n. n. n. n.
Decimeter CenterPoint RTX n. n. n. n.
RTK base station n. n. GSM/900 MHz
*1)Canbe operated with external modem and base station (supplier). NovAtel receiver in combination with a base station is not offered by AGCO in North
America.
X990.005.550.011
VarioGuide
2. System
2.2 Software
2.2.1 Software — Version check
Software version of the A101 - VarioDoc/VarioGuide (VD03\VD02) ECU:
• The terminal checks the software version of the A101 - VarioDoc/VarioGuide (VD03\VD02) ECU
• The EOL only accepts a single software version for the A101 - VarioDoc/VarioGuide (VD03\VD02) ECU
• In the event that the software version is incorrect, an error message appears on the terminal
Software version for the GNSS receiver:

• A101 - VarioDoc/VarioGuide (VD03\VD02) ECU checks the software version of the GNSS receiver
(NovAtel/Trimble)
• If the software version is incorrect:
- An error message appears on the terminal
- A red cross appears on the receiver in the terminal on the VarioGuide system page field (I)
Software version of the A174 - Satel EASyProof radio modem:

• A101 - VarioDoc/VarioGuide (VD03\VD02) ECU checks the software version of the internal radio modem
• In the event that the software version is incorrect, an error message appears on the terminal
2.2.2 Software — Upgrade

New VarioGuide components are only updated with the EOL program:
• A101 - VarioDoc/VarioGuide (VD03\VD02) ECU
• GNSS receiver NovAtel/Trimble
NOTE: The EOL communicates with A101 - VarioDoc/VarioGuide (VD03\VD02) ECU, which in turn
communicates with the GNSS receiver using the serial interface.
NOTE: No special programming tools from Trimble or NovAtel are required.
VarioGuide 2-7
X990.005.550.011
2. System
2-8 VarioGuide
X990.005.550.011
Table of contents
3. Hardware
3.1 Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3.1.1 Hardware architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.1.2 Wiring/cable sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3.1.3 Circuit diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
3.1.4 Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
3.1.5 A101 — ECU, VarioDoc/VarioGuide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11
3.1.6 A102 ECU, Topcon receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12
3.1.7 A173 — Trimble AG-382 receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13
3.1.8 A174 — SATEL EASyProof radio module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14
3.1.9 U004 — Novatel Smart6 receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15
VarioGuide 3-1
X990.005.550.011
Table of contents
3-2 VarioGuide
X990.005.550.011
3. Hardware
3.1 Hardware
3.1.1 Hardware architecture
Fig. 1
VarioGuide 3-3
X990.005.550.011
3. Hardware
NOTE: Area (A): VarioGuide pre-installation.
Configuration for VarioGuide pre-installation

A050 basic control ECU (EXT) (Item 10)
A101 - VarioDoc/VarioGuide (VD03\VD02) ECU (Item 1)
A103 - NT0x terminal (Item 11)
Y223 VarioGuide steering valve block (Item 12)
Sensors:
B081 steering wheel sensor (360°)
B168 steering angle sensor
FENDT VarioGuide track guidance

A174 - Satel EASyProof radio modem (Item 4)
NOTE: to (Item 9)
An external radio or wireless modem can also be used instead of A174 - Satel EASyProof radio modem.
Required adapter cable: Manufactured by a specialist workshop.
U004 - NovAtel Smart 6 receiver (Item 2)

A173 Trimble AG-382 receiver (Item 3)
Trimble radio modem (Item 8)
3-4 VarioGuide
X990.005.550.011
3. Hardware
3.1.2 Wiring/cable sets
Fig. 2
VarioGuide 3-5
X990.005.550.011
3. Hardware
NOTE: Adapter cables are required to connect some components to the VarioGuide base cable set
(H438.810.472.011).
A101 - VarioDoc/VarioGuide (VD03\VD02) ECU (Item 1)

NOTE: A101 available as EU variant and NA variant.
A102 ECU, Topcon receiver (Item 5)

A173 Trimble AG-382 receiver (Item 3)
A174 - Satel EASyProof radio modem (Item 4)

NOTE: to (Item 9)
An external radio or wireless modem can also be used instead of A174 - Satel EASyProof radio modem.
Required adapter cable: Manufactured by a specialist workshop.
U004 - NovAtel Smart 6 receiver (Item 2)
Base cable set (H438.810.472.011 (Item 6)

Adapter cable H438.810.472.020 (Item 7)
X2185 separation point on A102

X3008 - separation point on A173
X4250 — VarioGuide cable coupling
3-6 VarioGuide
X990.005.550.011
3. Hardware
3.1.3 Circuit diagram
Fig. 3 Circuit diagram of the entire system
A050 basic control ECU (EXT)

A101 - VarioDoc/VarioGuide (VD03\VD02) ECU
A173 Trimble AG-382 receiver
A174 - Satel EASyProof radio modem
B067 steering angle sensor
B081 steering wheel sensor (360°)
U004 - NovAtel Smart 6 receiver
Y099 VarioGuide pilot pressure switch-off solenoid valve
Y223 VarioGuide steering valve block
VarioGuide 3-7
X990.005.550.011
3. Hardware
3.1.4 Components
Fig. 4
VarioGuide with U004 - NovAtel Smart 6 receiver
Fig. 5
VarioGuide with A173 Trimble AG-382 receiver
3-8 VarioGuide
X990.005.550.011
3. Hardware
A101 - VarioDoc/VarioGuide (VD03\VD02) ECU

with mobile radio antenna.
NOTE: Different part numbers for EU or NA:
• EU version: G438.810.472.011
• NA version: G438.810.472.031
Mobile radio antenna: H835.970.190.272
Antenna connection cable: H438.810.472.040
Fig. 6
RTK Network (mobile radio) requires a SIM card.
The SIM card adapter (A) is located in the shell
A101 - VarioDoc/VarioGuide (VD03\VD02) ECU:
Remove the connector and press button (B) .
Fig. 7
U004 - NovAtel Smart 6 receiver
G835.970.210.062
Fig. 8
Adapter cable H438.810.472.020 for U004 -
NovAtel Smart 6 receiver
Fig. 9
VarioGuide 3-9
X990.005.550.011
3. Hardware
A173 Trimble AG-382 receiver G438.810.472.071

UHF radio antenna: H438.810.472.110
Fig. 10
Trimble radio modem G438.810.472.260
Fig. 11
A174 - Satel EASyProof radio modem
G438.810.472.050
UHF radio antenna: H438.810.472.110
Fig. 12
Base cable set (roof hatch) H438.810.472.011
Fig. 13
3-10 VarioGuide
X990.005.550.011
3. Hardware
3.1.5 A101 — ECU, VarioDoc/VarioGuide
Fig. 14
PIN Signal/designation PIN Signal/designation

1 --- 16 RS232 Tx (Com5)
2 --- 17 PPS signal in
3 --- 18 RS232 Rx (Com2)
4 --- 19 RS232 Tx (Com2)
5 --- 20 Comfort-Bus_low
6 RS232 earth 21 Comfort-Bus_high
7 PWR out GNSS 22 ISO-Bus_low
8 UB30 (supply) 23 ISO-Bus_high
9 Earth 24 RS232 Rx (Com1)
10 UB15 25 RS232 Tx (Com1)
11 --- 26 RS232 Rx (Com3)
12 --- 27 RS232 Tx (Com3)
13 --- 28 RS232 Rx (Com4)
14 --- 29 RS232 Tx (Com4)
15 ---
Measurement at component — separation point (X2192)
Test Pin Specified condition Note

value
UB30 #8 12 VDC
Earth #9
VarioGuide 3-11
X990.005.550.011
3. Hardware

value
UB15 # 10 12 VDC Ignition ON Supply UB30 comes from A101

- VarioDoc/VarioGuide
Earth #9 (VD03\VD02) ECU

value
+UB #7 12 VDC Supply for the connected

receivers.
Earth #9
3.1.6 A102 ECU, Topcon receiver
PIN Signal/designation
1 A102 ECU, Topcon receiver
2 UB15
3 Comfort-Bus_high
4 Comfort-Bus_low
5 V BUS_high
6 V BUS_low
7 ISO-Bus_high
8 ISO-Bus_low
Fig. 15
9 RS232 earth
10 RS232 Tx
11 RS232 Rx
12 Earth
Measurement at component

value
UB30 #1 12 VDC
Earth # 12

value
UB15 #2 12 VDC Ignition ON
Earth # 12
3-12 VarioGuide
X990.005.550.011
3. Hardware
3.1.7 A173 — Trimble AG-382 receiver
Fig. 16
NOTE: A173 Trimble AG-382 receiver is only connected to the VarioGuide system via connector B.
Connector A is sealed with a covering.
1 ---
2 RS232 Tx (Com2)
3 RS232 Rx (Com2)
4 PPS signal out
5 RS232 earth
6 RS232 Tx (Com3)
7 ---
8 RS232 Rx (Com3)
9 ---
10 Supply voltage UB
11 Earth
12 ---
Check the receiver with the help of the LED display

NOTE: Status LED visible through the opening in
the hatch cover
Fig. 17
VarioGuide 3-13
X990.005.550.011
3. Hardware
Function Note
LED illuminated "GREEN". Receiver is receiving GPS
satellite signals.
LED illuminated "ORANGE". Supply voltage UB is
present.

value
+ UB 30 # 10 12 VDC Ignition ON Supply voltage UB comes from

A101 - VarioDoc/VarioGuide
(VD03\VD02) ECU
Earth # 11
3.1.8 A174 — SATEL EASyProof radio module
1 Supply
2 ---
3 RS232 earth
4 RS232 Rx
5 RS232 Tx
6 Earth
Fig. 18
Measurement at component — separation point (X3009)

value
UB15 #1 12 VDC Ignition ON
Earth #6
3-14 VarioGuide
X990.005.550.011
3. Hardware
3.1.9 U004 — Novatel Smart6 receiver
Fig. 19
NOTE: To connect U004 - NovAtel Smart 6 receiver to the base cable set, adapter cable H438.810472.020
is required. Note the partially rotated signal lines.
1 RS232 Tx (Com1)
2 RS232 Rx (Com1)
3 RS232 Tx (Com2)
4 RS232 Rx (Com2)
5 RS232 earth
6 ---
7 ---
8 RS232 Tx (Com3)
Fig. 20 Adapter cable H438.810472.020
9 Earth
10 ---
11 ---
12 PPS signal out
13 RS232 Rx (Com3)
14 Supply voltage UB
LED displays
NOTE: Status LED visible through the opening in
the hatch cover
Fig. 21
VarioGuide 3-15
X990.005.550.011
3. Hardware
Symbol/LED Function Note

LED illuminated "GREEN"
• Receiver is receiving GNSS data
LED illuminated "ORANGE"

• Fault, receiver not ready for operation
LED illuminated "RED" UB from A101 - VarioDoc/VarioGuide

(VD03\VD02) ECU
• Supply voltage UB is present

value
+UB # 14 12 VDC Ignition ON UB from A101 - VarioDoc/

VarioGuide (VD03\VD02) ECU
Earth #9
3-16 VarioGuide
X990.005.550.011
Table of contents
4. Correction signals
4.1 Correction signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

4.1.1 Available correction signals: NovAtel receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.1.2 Available correction signals: Trimble receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.2 Sub-meter accuracy: NovAtel receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.2.1 Autonomous . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.2.2 EGNOS / WAAS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4.3 Centimeter accuracy: NovAtel receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
4.3.1 RTK base station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
4.3.1.1 RTK base station: NovAtel receiver: Configure internal Satel EASyProof radio
modem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
4.3.1.2 RTK base station: NovAtel receiver: Configure external radio modem . . . . . . . . . 4-7
4.3.2 RTK network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
4.3.2.1 RTK network: NovAtel receiver: Configure internal mobile radio modem . . . . . . . 4-8
4.3.2.2 RTK network: NovAtel receiver: Configure external mobile radio modem . . . . . . . 4-9
4.4 Sub-meter accuracy: Trimble receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
4.4.1 Autonomous . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
4.4.2 EGNOS / WAAS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
4.4.3 RangePoint RTX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
4.5 Decimeter accuracy: Trimble receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14
4.5.1 CenterPoint RTX Fast . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14
4.5.2 CenterPoint RTX Standard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15
4.6 Centimeter accuracy: Trimble receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
4.6.1 RTK base station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
4.6.1.1 RTK base station: Trimble receiver: Configure internal Trimble AG-715 403-470
MHz radio modem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
4.6.1.2 RTK base station: Trimble receiver: Configure internal Satel EASyProof radio
modem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
4.6.1.3 RTK base station: Trimble receiver: Configure internal Trimble 900 MHz radio
modem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17
4.6.1.4 RTK base station: Trimble receiver: Configure external radio modem . . . . . . . . . 4-18
4.6.1.5 Trimble Secure RTK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19
4.6.2 RTK network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22
4.6.2.1 RTK network: Trimble receiver: Configure internal mobile radio modem . . . . . . . 4-22
4.6.2.2 RTK network: Trimble receiver: Configure external mobile radio modem . . . . . . 4-23
4.6.3 Trimble xFill . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24
4.6.3.1 Trimble xFill technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24
4.6.3.2 Switch on and configure Trimble xFill . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-26
4.7 RTK network selection and connection status . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-29
4.7.1 RTK network: Mobile communications network connection settings . . . . . . . . . . . . . . . 4-29
4.7.2 RTK network: Ntrip settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-30
4.7.3 GPRS/NTRIP connection status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-31
4.8 Fallback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-33
4.8.1 Fallback NovAtel receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-33
4.8.2 Fallback Trimble receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-33
VarioGuide 4-1
X990.005.550.011
Table of contents
4-2 VarioGuide
X990.005.550.011
4.1 Correction signals

4.1.1 Available correction signals: NovAtel receiver
NOTE: The actual accuracy of the VarioGuide correction signals depends, amongst other things, on:
• GNSS system characteristics (GPS and GLONASS data)
• Satellite constellation
• Ionospheric and tropospheric conditions
• Multipath error (multipath effects: e.g. reflection on objects)
• Length of base line (distance between tractor and RTK base station)
NOTE: AGCO assumes no responsibility for the performance of independent additional GNSS services
such as RangePoint RTX, CenterPoint RTX, WAAS and EGNOS.
Autonomus EGNOS RTK Ntrip base

NovAtel station
WAAS
Receiver Sub-meter Sub-meter Centimeter
Authorisation level
Availability/cover Worldwide Europe (EGNOS) Regional
North America
(WAAS)
Dynamic accuracy +/- 21 to 53 cm +/- 15 to 30 cm +/- 2.5 cm
Static accuracy +/- 240 cm +/- 150 cm +/- 2.5 cm
Start-up time 1-5 minutes 1-5 minutes 1-5 minutes
Cost/year Free/free of charge Free/free of charge On request
4.1.2 Available correction signals: Trimble receiver

NOTE: The actual accuracy of the VarioGuide correction signals depends, amongst other things, on:
• GNSS system characteristics (GPS and GLONASS data)
• Satellite constellation
• Ionospheric and tropospheric conditions
• Multipath error (multipath effects: e.g. reflection on objects)
• Length of base line (distance between tractor and RTK base station)
NOTE: AGCO assumes no responsibility for the performance of independent additional GNSS services
such as RangePoint RTX, CenterPoint RTX, WAAS and EGNOS.
EGNOS RangePoint CenterPoint CenterPoint RTK Ntrip

Trimble RTX RTX RTX base station
WAAS
Standard Fast
Receiver Sub-meter Sub-meter Decimetre Centimeter Centimeter
Authorisation level
Availability/cover Europe Worldwide Worldwide In parts of Regional
(EGNOS) Europe
North America North America
(WAAS)
Accuracy +/- 15 to 30 cm +/- 15 cm +/- 4 cm +/- 4 cm +/- 2.5 cm
VarioGuide 4-3
X990.005.550.011
EGNOS RangePoint CenterPoint CenterPoint RTK Ntrip

Trimble RTX RTX RTX base station
WAAS
Standard Fast
Dynamic
Accuracy +/- 150 cm +/- 50 cm +/- 4 cm +/- 4 cm +/- 2.5 cm
Static
Start-up time 1 to 5 minutes 1 to 5 minutes 30 minutes 5 minutes 1 to 5 minutes
Cost/year Free/free of On request On request On request On request
charge
4-4 VarioGuide
X990.005.550.011
4.2 Sub-meter accuracy: NovAtel receiver

4.2.1 Autonomous
NOTE:
The position is determined without correction
signals, using only GPS and GLONASS satellites
(for regions in which there is no correction signal
or none can be received).
Fig. 1
VarioGuide 4-5
X990.005.550.011
4.2.2 EGNOS / WAAS

Set correction signal
Select EGNOS or WAAS via "Signal type"
selection field.
Fig. 2
4-6 VarioGuide
X990.005.550.011
4.3 Centimeter accuracy: NovAtel receiver

4.3.1 RTK base station
4.3.1.1 RTK base station: NovAtel receiver: Configure internal Satel EASyProof radio modem
NOTE:
• Internal modem: configuration of modem settings via the Fendt terminal
• External modem:
- In the Fendt terminal: configuration of interface modem --> A101 - VarioDoc/VarioGuide (VD03\VD02)
ECU
- Modem settings: see instructions from modem manufacturer
Procedure
1. Select "Base station" signal type
NOTE: The correction signal can only be
received if a green tick is showing in the
connection status. If necessary, check
settings.
2. Select "Fendt station" under station type
3. Select frequency
NOTE: Request the frequency from the
national authority.
4. Select channel spacing:
• 12.5 kHz/6.25 kHz channel spacing
• 25 kHz/6.25 kHz channel spacing
• 205 kHz/10 kHz channel spacing
5. Select error correction
6. Select signal format
NOTE: Reception modem (tractor) and
transmission modem (base station) must
have the same settings.
Fig. 3
4.3.1.2 RTK base station: NovAtel receiver: Configure external radio modem
NOTE:
• External modem:
ECU
VarioGuide 4-7
X990.005.550.011
Procedure
settings.
2. Select "External station" under station type
3. Select baud rate
4. Select parity
Fig. 4
4.3.2 RTK network
4.3.2.1 RTK network: NovAtel receiver: Configure internal mobile radio modem
NOTE:
After the ignition has been switched OFF/ON, the system connects to the mobile communications
network automatically and without further notice, provided that a connection was established before the
ignition was switched off. Please note that this action may result in data charges.
NOTE:
• External modem:
ECU
4-8 VarioGuide
X990.005.550.011
Procedure
1. Select signal type "RTK network"
settings.
2. Select modem type "Internal modem"
Fig. 5
4.3.2.2 RTK network: NovAtel receiver: Configure external mobile radio modem
NOTE:
NOTE:
• External modem:
ECU
VarioGuide 4-9
X990.005.550.011
Procedure
settings.
2. Select modem type "External modem"
3. Select baud rate
4. Select parity
Fig. 6
4-10 VarioGuide
X990.005.550.011
4.4 Sub-meter accuracy: Trimble receiver

4.4.1 Autonomous
Autonomous Trimble AG-382

NOTE:
The position is determined without correction
signals, using only GPS and GLONASS satellites
(for regions in which there is no correction signal
or none can be received).
Fig. 7
VarioGuide 4-11
X990.005.550.011
4.4.2 EGNOS / WAAS

Select EGNOS or WAAS via "Signal type"
selection field.
Fig. 8
4-12 VarioGuide
X990.005.550.011
4.4.3 RangePoint RTX

1. Select RangePoint RTX via "Signal type"
selection field
settings.
2. Set the frequency
3. Select baud rate
Fig. 9
Region Frequency Baud rate

West USA RTXWN 1557.8615 MHz 600 Baud
Central USA RTXCN 1557.8150 MHz 2400 Baud
East USA RTXEN 1557.8590 MHz 600 Baud
Canada and South/ RTXSA 1539.8325 MHz 600 Baud
Central America
Europe (RTX Fast) RTXEU 1529.7250 MHz 2400 Baud
Europe/Africa RTXEA 1539.9525 MHz 600 Baud
Asia-Pacific region RTXAP 1539.8325 MHz 600 Baud
VarioGuide 4-13
X990.005.550.011
4.5 Decimeter accuracy: Trimble receiver

4.5.1 CenterPoint RTX Fast
1. Select CenterPoint RTX via "Signal type"
selection field
settings.
2. Select RTX type Fast
3. Select frequency
4. Select baud rate
Fig. 10

Central America
4-14 VarioGuide
X990.005.550.011
4.5.2 CenterPoint RTX Standard

1. Select CenterPoint RTX via "Signal type"
selection field
settings.
2. Select RTX type Standard
3. Select frequency
4. Select baud rate
Fig. 11

Central America
VarioGuide 4-15
X990.005.550.011
4.6 Centimeter accuracy: Trimble receiver

4.6.1 RTK base station
4.6.1.1 RTK base station: Trimble receiver: Configure internal Trimble AG-715 403-470 MHz radio
modem
NOTE:
• External modem:
ECU
Procedure
settings.
3. Select mode
4. Select frequency
national authority.
Fig. 12
4.6.1.2 RTK base station: Trimble receiver: Configure internal Satel EASyProof radio modem
NOTE:
• External modem:
ECU
4-16 VarioGuide
X990.005.550.011
Procedure
settings.
3. Select frequency
national authority.
4. Select channel spacing
• 12.5 kHz/6.25 kHz channel spacing
• 25 kHz/6.25 kHz channel spacing
• 205 kHz/10 kHz channel spacing
5. Select error correction
Fig. 13
4.6.1.3 RTK base station: Trimble receiver: Configure internal Trimble 900 MHz radio modem
NOTE:
• External modem:
ECU
VarioGuide 4-17
X990.005.550.011
Procedure
settings.
3. Select network ID
Fig. 14
4.6.1.4 RTK base station: Trimble receiver: Configure external radio modem
NOTE:
• External modem:
ECU
4-18 VarioGuide
X990.005.550.011
Procedure
settings.
2. Select 'External station' under station type
3. Select baud rate
4. Select parity
Fig. 15
4.6.1.5 Trimble Secure RTK

The Secure RTK function can be used to receive correction signals from encrypted base stations and/or
base station networks with Trimble receivers.
NOTE: Prerequisite for the use of Trimble Secure RTK
• Receiver is authorised for centimeter accuracy
• Radio modem suitable for the base station/base station network, either installed as an internal modem
on the tractor
• Valid key (access code) for the base station/base station network entered in the Fendt terminal
NOTE:
• The key (access code) can be obtained from the owner/operator of the base station/base station
network
• To generate the key you will need the receiver serial number
VarioGuide 4-19
X990.005.550.011
Procedure
1. Read out the receiver serial number. The
owner/operator of the base station/base
station network generates a key.
C Receiver serial number
Fig. 16
2. Receiver correction signal settings: enter

signal type, station type, mode and
frequency according to the base station/base
station network
Fig. 17
4-20 VarioGuide
X990.005.550.011
3. Secure RTK Settings button: touch button

(C), and the following screen is opened
(C) Secure RTK Settings button
Fig. 18
4. Enter a description of the base station/base

station network used: touch control panel
next to description
Fig. 19
VarioGuide 4-21
X990.005.550.011
5. Enter key: touch control panel next to key -->

enter key received from the owner/operator
of the base station/base station network:
Fig. 20
NOTE: If the key is valid, a green tick will appear,

together with the expiry date
4.6.2 RTK network
4.6.2.1 RTK network: Trimble receiver: Configure internal mobile radio modem
NOTE:
NOTE:
• External modem:
ECU
4-22 VarioGuide
X990.005.550.011
Procedure
settings.
2. Select modem type "Internal modem"
Fig. 21
4.6.2.2 RTK network: Trimble receiver: Configure external mobile radio modem
NOTE:
NOTE:
• External modem:
ECU
VarioGuide 4-23
X990.005.550.011
Procedure
settings.
2. Select modem type "External modem"
3. Select baud rate
4. Select parity
Fig. 22
4.6.3 Trimble xFill
4.6.3.1 Trimble xFill technology

In xFill technology the system calculates in the background, via a second correction signal (CenterPoint
RTX via satellite), the appropriate correction data for use in the event of main correction signal failure. Track
guidance continues seamlessly.
As soon as the receiver is authorised for centimeter accuracy it receives the xFill correction data via
satellite.
NOTE: In order to be able to use xFill:
• The receiver must be authorised for centimeter accuracy
• The receiver must have a clear view of the correction satellite
• The Fallback function must be activated in the terminal
4-24 VarioGuide
X990.005.550.011
A RTX Control Center

B Satellite correction
C RTK network
D Tractor (Rover)
E RTK base station
With Trimble receivers, xFill improves the signal
security:
• Fallback solution in the background (requires
start-up time) with CenterPoint RTX via satellite
• Failures of the correction signal, e.g. when the
mobile radio network or base station is
inadequate, can be bridged (approximately 20
minutes at practically a constant accuracy)
• For the following signals, xFill can be activated
(Fallback in terminal ON):
- RTK base station
- RTK network (Ntrip)
NOTE: The geodetic system from the receiver
(Rover) must be consistent with the geodetic
system of xFill.
Fig. 23 Trimble xFill technology
1 RankPoint RTX and Fallback activated

(xFill not possible): Depending on
geographical location and availability, the
system reverts to ENOS, WAAS or
AUTONOMOUS.
2 CenterPoint RTX and Fallback activated
(xFill not possible): Depending on
AUTONOMOUS.
3 RTK network (NTrip)/RTK base station
and Fallback activated (no connection to
CenterPoint RTX satellites --> xFill not
possible): Depending on geographical Fig. 24 Trimble xFill technology: Fallback sequence
location and availability, the system reverts
to ENOS, WAAS or AUTONOMOUS.
4 RTK network (Ntrip)/RTK base station
and Fallback plus xFill activated: If the
receiver has a clear view of the CenterPoint
RTX satellite, the system uses the correction
data calculated in the background in the
event of failure of the main correction signal
--> the system is in xFill mode. When the
main correction signal returns, the system
switches back.
5 xFill mode without contact with the
CenterPoint RTX satellites: Depending on
AUTONOMOUS.
VarioGuide 4-25
X990.005.550.011
4.6.3.2 Switch on and configure Trimble xFill
Procedure
1. Switch on xFill --> activate Fallback: touch
button (A)
(A) Fallback key
(B) xFill settings button
Fig. 25
2. Configure xFill settings: Press button (B), the

following screen appears
(A) Fallback key
(B) xFill settings button
Fig. 26
4-26 VarioGuide
X990.005.550.011
3. Configure xFill settings: touch control panel

at (I)
(I) Geodetic system
(J) Frequency
(K) Baud rate
Fig. 27
4. Select geodetic system
Fig. 28
5. Configure xFill settings: touch control panel

at (J) or (K) enter frequency and baud rate in
accordance with table
Fig. 29
VarioGuide 4-27
X990.005.550.011

West USA 1557.8615 MHz 600 Baud
Central USA 1557.8150 MHz 2400 Baud
East USA 1557.8590 MHz 600 Baud
Canada and South/Central 1539.8325 MHz 600 Baud
America
Europe (RTX Fast) 1529.7250 MHz 2400 Baud
Europe/Africa 1539.9525 MHz 600 Baud
Asia-Pacific region 1539.8325 MHz 600 Baud
NOTE: If you have ordered CenterPoint RTX Fast, enter 1529,7250 MHz and 2400 baud here
Terminal views with active xFill
Fig. 30 View in map and guide
NOTE: Due to the Fallback, only three bars are displayed. The actual accuracy is in the RTK range
(previously used signal).
4-28 VarioGuide
X990.005.550.011
4.7 RTK network selection and connection status

4.7.1 RTK network: Mobile communications network connection settings
Procedure
1. Press button (D)
(A ) Fallback
(C) Connecting
(D) Mobile communications network
settings
(E) Ntrip settings
Fig. 31
2. Touch field at (I): enter PIN

(A ) Roaming activation
NOTE: Additional costs can be incurred
if roaming is activated.
(I ) PIN input field
(J) Selection of network operator: The
following image appears
K Internet connection display: If you
are connected to the Internet, a green
tick will appear
L Mobile radio connection signal
strength display
M Roaming display: If roaming switched
on, a green tick will appear
N Mobile radio standard display
O Current network display (mobile
radio)
Fig. 32
VarioGuide 4-29
X990.005.550.011
3. Touch field at (J): select network operator

(mobile radio)
4. If necessary, create new network operator
via (+)
NOTE: Enter the data of the network
operator/SIM card provider.
Fig. 33
4.7.2 RTK network: Ntrip settings
Procedure
Enter the data of the RTK network provider in
the corresponding fields
M Ntrip data: If there is data reception, a
green tick will appear
Fig. 34
4-30 VarioGuide
X990.005.550.011
4.7.3 GPRS/NTRIP connection status

O Connection status: display GPRS status
(mobile network) and then NTRIP status
(reception of correction data)
NOTE: Mobile network: data or voice/telephone
network
• GPRS not known: initial status when the
modem starts up
• GPRS waiting for user: the modem is waiting
for the user entries in the terminal to create a
connection to the mobile network
• GPRS connection: the modem is attempting
to create a connection
• GPRS initialisation error: serious problem
with the mobile data modem (e.g. modem
cannot be addressed)
• GPRS, no SIM card found: the modem cannot
address the SIM card e.g.:
- No SIM card found
- SIM card not inserted correctly
- SIM card locked (PIN code was entered
incorrectly too many times)
- Electrical contacts dirty or corroded
Fig. 35
- Hardware error in SIM card or e-box, so that
no communication is possible
• GPRS, please enter PIN: enter PIN in mobile
network for authentication
• GPRS, please enter PUK: the modem is
permanently locked (PIN was entered
incorrectly too many times), PUK input
necessary
• GPRS has no network connection: the
modem could not register on the mobile
network, e.g.:
- insufficient signal strength
- Area not covered by the provider
- The mobile network denies connection, e.g.
the contract has expired
- Roaming must be activated for the
connection
- The SIM card provides incomplete
information
- The network provider denies access with
the data modem used
• GPRS connection error: once the data modem
has successfully registered on the mobile
network, the data modem continues to attempt
to create a data connection via this network
• NTRIP is waiting for user: the modem could
not create a network connection to the NTRIP
server
VarioGuide 4-31
X990.005.550.011
• NTRIP connection: the modem is creating a

connection to the NTRIP server
• NTRIP, poor authentication: the modem was
able to create a network connection to the
NTRIP server, but the server is denying access,
e.g.:
- incorrect username
- incorrect password
- incorrect mount point
• NTRIP waiting for data: the modem has
successfully connected to an NTRIP server, but
did not receive any new correction data
packages for 10 seconds or more, for example
because the machine is outside the area
covered by the mobile network provider
• NTRIP has received data: the modem has
received valid NTRIP data via a mobile data
connection
4-32 VarioGuide
X990.005.550.011
4.8 Fallback
4.8.1 Fallback NovAtel receiver
Activating the Fallback function enables automatic track guidance with less accuracy if the correction signal
with the higher accuracy is temporarily unavailable. As soon as the correction signal with the higher
accuracy can be received again the system switches back automatically.
NOTE: With Fallback active, the wayline deviation can become greater when driving with the less accurate
correction signal.
Procedure
Activate Fallback: touch button (A)
(A) Fallback key
Fig. 36
4.8.2 Fallback Trimble receiver

Activating the Fallback function enables automatic track guidance with less accuracy if the correction signal
with the higher accuracy is temporarily unavailable. As soon as the correction signal with the higher
accuracy can be received again the system switches back automatically.
NOTE: With Fallback active, the wayline deviation can become greater when driving with the less accurate
correction signal.
VarioGuide 4-33
X990.005.550.011
Procedure
Activate Fallback: touch button (A)
(A) Fallback key
Fig. 37
4-34 VarioGuide
X990.005.550.011
Table of contents
5. Calibrations and adjustments
5.1 Calibrations and adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3

5.1.1 Gyro calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.1.2 Steering valve — Calibration code 2403 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5.1.3 Steering angle sensor – calibration code 2401 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
5.1.4 Steering angle sensor — Check the accuracy of the calibration with Fendias . . . . . . . . . . 5-12
VarioGuide 5-1
X990.005.550.011
Table of contents
5-2 VarioGuide
X990.005.550.011
5.1 Calibrations and adjustments

5.1.1 Gyro calibration
NOTE: If the tractor does not follow the wayline when automatic track guidance is activated, advances
only slowly onto the wayline, sways on the wayline etc., there may be several causes, for example:
• Gyro calibration is necessary
• Adjustment of the steering wheel angle sensor (2401) is too inaccurate (the front wheels were not
exactly in the center position during adjustment)
• Steering valve is faulty or
• Adjustment (2403) of the steering valve is necessary
• Setting of the steering sensitivity in the Steering Settings menu
• Play in the steering angle sensor
• Play in the front axle bearings
• Tyre pressure differs significantly between the left and right tyres
• Steering pressure supply
• Internal/external leaks in the steering/steering cylinder
• Front axle ballast
• Implement/implement combination setting (heed adjustment instructions of the implement
manufacturer)
• Lower link stabiliser setting (open/closed)
(G) Gyro calibration: the guided menu starts

once button (G) is pressed
Fig. 1
VarioGuide 5-3
X990.005.550.011
Before starting the procedure

• Hand brake applied
• Operating temperature reached
Fig. 2
Procedure
1. Confirm pop-up
Fig. 3
2. Wait until the calibration is complete
Fig. 4
5-4 VarioGuide
X990.005.550.011
3. Confirm pop-up
Fig. 5
5.1.2 Steering valve — Calibration code 2403

WARNING:
Hazard from automatic deflection of the front wheels Risk of injury and death! Material
damage possible Check that there are no people or objects near the tractor during the
calibration process!
NOTE: The free travel of the valve gate is determined during calibration.
NOTE: Calibration of the steering valve is required if:
• The e-box has been replaced
• The steering valve has been replaced
manufacturer)

• Seat contact switch actuated
• Engine is running
• Tractor stationary
• Front wheels are straight ahead
• Steering wheel not actuated
VarioGuide 5-5
X990.005.550.011
Procedure
1.
Confirm warning and fault messages
with ESC
Fig. 6
2.
Press RETURN; the first main menu
level appears on the multiple display
Press one of the buttons repeatedly
until the symbol (A) flashes
Press RETURN; the second main menu

Fig. 7
3.
Confirm with RETURN
Fig. 8
4.
Confirm with RETURN.
Fig. 9
5-6 VarioGuide
X990.005.550.011
5. Input code 2403

Press one of the buttons until desired
number is displayed
Confirm with RETURN
Fig. 10
6.
The image shown opposite is displayed
NOTE:
• The calibration runs automatically (approx.
5 minutes max.)
• Do not actuate steering.
• Do not leave the operator's seat (seat
contact switch)
Fig. 11
7.
The image shown opposite is displayed
Confirm with RETURN
Fig. 12
VarioGuide 5-7
X990.005.550.011
8.
If the adjustment is completed without
errors, the message O.K. appears and the
new sensor settings are saved
NOTE:
• Settings are only stored when the ignition
key has been turned to the "0" position
• Wait for at least 30 seconds before
switching on ignition again!
If incorrect values are detected or the
conditions are not met, an ERROR message
appears
Fig. 13
2403 = calibration code
FXX = fault code
Fig. 14
Fault code Cause

F01 Preliminary conditions not satisfied
F08 Calibration taking too long (more than 30 seconds)
F09 User terminated calibration with ESC
F10 Plausibility: "Center position" signal
F11 Plausibility: "Left stop" signal
F12 Plausibility: "Right stop" signal
F13 Plausibility: Calibrated values match
5.1.3 Steering angle sensor – calibration code 2401

WARNING:
Hazard due to deflection of front wheels Risk of injury and death! Material damage
possible Check that there are no people or objects near the tractor during the calibration
process!
NOTE: Take special care when adjusting the steering angle sensor on tractors equipped with a track
guidance system!
NOTE: Inexact adjustment of the straight-ahead position of the front wheels can cause the tractor to sway
during automatic track guidance!
5-8 VarioGuide
X990.005.550.011
NOTE: Adjustment of the steering angle sensor is required if:

• The e-box has been replaced
• The steering angle sensor has been replaced
• The value of the sensor in Fendias for automatic track guidance is greater than +/- 0.4° (see chapter
Checking the accuracy of the calibration).
NOTE: An adjustment of the steering angle sensor may be required if:

• The tractor sways
manufacturer)

• Level, firm surface wherever possible (e.g. road, gravel path)
• Warning and fault messages confirmed with ESC
Procedure
1.
Confirm warning and fault messages
with ESC
Fig. 15
VarioGuide 5-9
X990.005.550.011
2.
Press RETURN; the first main menu
Press RETURN; the second main menu

Fig. 16
3.
Confirm with RETURN
Fig. 17
4.
Confirm with RETURN
Fig. 18
5. Input code 2401

Press one of the buttons until desired
number is displayed
Confirm with RETURN
Fig. 19
5-10 VarioGuide
X990.005.550.011
6.
Turn and hold the steering wheel fully
against the left lock
Confirm with RETURN
Fig. 20
7.
Turn and hold the steering wheel fully
against the right lock
Confirm with RETURN
Fig. 21
8. Steering center position (straight-ahead)

NOTE: This is the most important point of
the steering angle sensor adjustment. When
adjusting the center position, make sure that
the front wheels are perfectly straight. To do
this:
• Drive the tractor forwards (approx. 5 to 10
km/h)
• Drive up as accurately as possible to mark
or point, or continue along a straight line
• Drive a distance of approx. 50 m; to
ensure that you are driving in a straight
line it is essential that the wheels are Fig. 22
straight ahead before you press RETURN
Confirm with RETURN
VarioGuide 5-11
X990.005.550.011
9.
If the adjustment is completed without
errors, the message O.K. appears and the
new sensor settings are saved
NOTE:
• Settings are only stored when the ignition
key has been turned to the "0" position
• Wait for at least 30 seconds before
switching on ignition again!
If incorrect values are detected or the
conditions are not met, an ERROR message
appears
Fig. 23
2401 = calibration code
FXX = fault code
Fig. 24
Fault code Cause

F01 Preliminary conditions not satisfied
F08 Calibration taking too long (more than 30 seconds)
F09 User terminated calibration with ESC
F10 Plausibility: "Center position" signal
F11 Plausibility: "Left stop" signal
F12 Plausibility: "Right stop" signal
F13 Plausibility: Calibrated values match
NOTE: If the tractor sways following adjustment during automatic track guidance it means that the wheels
weren't exactly straight when the straight-ahead position was confirmed. Repeat the adjustment process.
5.1.4 Steering angle sensor — Check the accuracy of the calibration with Fendias
To check the quality of the steering angle sensor calibration you must observe the degree of deviation of
the steering angle sensor when driving on the way-line using Fendias
5-12 VarioGuide
X990.005.550.011
NOTE: If the automatic track guidance is activated and the tractor does not follow the way-line, only moves
slowly along or lurches along the way-line etc., there may be several causes, for example:
• Gyro calibration required
• Calibration of the steering angle sensor (2401) is not accurate enough (during calibration, the front
wheels were not exactly in the center position)
• Steering valve is defective or
• Steering valve calibration (2403) required
• Steering sensitivity settings in the steering settings menu
• Steering angle sensor clearance
• Clearance in the front axle bearing
• Significant difference in tire pressure between left and right tires
• Pressure supply to steering system
• Internal/external leak in the steering system/steering cylinder
• Device/device combination settings (follow the device manufacturer's setting instructions)
• Lower link stabilization setting (open/closed)

• Exclusion of a mechanical defect/wear:
- The front axle (front axle clearance, axle
center pin)
- The steering system (internal leak)
- The steering angle sensor
NOTE: See chapter: Mechanical check of the
front axle clearance, the steering system and
the steering angle sensor
• If possible, a flat, leveled, worked area
• Set to the most accurate correction signal
available
• System is fully booted, i.e. maximum possible
number of bars (A) for location and correction Fig. 25
signal
• No implement or no implement is raised
Procedure
1. Record the A-B track line (see operating
instructions)
2. Start Fendias
3. Diagnostics --> Select a vehicle
Fig. 26
VarioGuide 5-13
X990.005.550.011
4. Connect CAN Bus adapter

• CAN 1 --> Comfort bus
• CAN 2 --> Transmission bus
5. Confirm with OK
Fig. 27
6. In the Comfort menu --> Select differential
lock
Fig. 28
7. Monitor the value of the steering angle

sensor
8. With the automatic track guidance switched
on, drive along the A-B way-line while
simultaneously monitoring the value of the
steering angle sensor
• Calibration OK: The value fluctuates
between +/- 0.1 to +/- 0.4°
• If the sensor value is > +/- 3°, the
automatic track guidance switches off
and error code 0E.1.A2 appears on the
dashboard
• The sensor value is almost independent Fig. 29
of the correction signal if the time
between creating the track line and
automatically driving along the way-line is
no longer than 15 minutes
NOTE: If the value fluctuates by more than +/- 0.4° --> Run calibration code 2401 and exclude mechanical
defect/wear (see chapter: Mechanical check of the front axle clearance, the steering system and the
steering angle sensor)
5-14 VarioGuide
X990.005.550.011
Table of contents
6. Tests and settings
6.1 Tests and settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3

6.1.1 VarioGuide test log — Fax template . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.1.2 System information page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6.1.3 Note on correction signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6.1.4 Auto Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6.1.5 Check the track to track accuracy (dynamic accuracy: pass-to-pass accuracy within 15
minutes) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6.1.6 VarioGuide offset setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
6.1.7 Determination and correction of implement offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
6.1.7.1 Determination and correction of the implement offset – method 1 . . . . . . . . . . 6-10
6.1.7.2 Determination of the implement offset — Method 2 . . . . . . . . . . . . . . . . . . . . . 6-13
6.1.8 Mechanical check of the front axle clearance, the steering angle sensor and the steering
system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-15
6.1.8.1 Check the front axle clearance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16
6.1.8.2 Mechanical check of the steering angle sensor . . . . . . . . . . . . . . . . . . . . . . . . . 6-17
6.1.8.3 Mechanical (hydraulic) check of the steering system . . . . . . . . . . . . . . . . . . . . . 6-17
6.1.9 Check the VarioGuide pre-installation with Fendias . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18
6.1.9.1 Check the VarioGuide pre-installation with Fendias (comfort bus recording) . . . . 6-18
6.1.9.2 Steering valve — Status messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-23
VarioGuide 6-1
X990.005.550.011
Table of contents
6-2 VarioGuide
X990.005.550.011
6.1 Tests and settings

6.1.1 VarioGuide test log — Fax template
Chassis no.:
Operating hours:
Software version (EOL version):
Track guidance system (manufacturer):
Workshop:
Installer:
Date:
Vehicle tires/ballast
Front tires
Rear tires
Front-end weight in kg
Wheel weight in kg
Rear weight in kg
Correction signal used, e.g. Ntrip, base station
implement
Implement used: Front Manufacturer:

Type:
Implement width:
Implement used: Rear Manufacturer:

Type:
Implement width:
Type of attachment (towed/three-point mounted):
VarioGuide 6-3
X990.005.550.011
Description of use (include photos where indicated)
Way-line distance entered:
Overlap entered:
Terrain properties:
(e.g. flat, hill, sand, clay, forest
boundary, etc.)
Error description:
Date: Signature (master mechanic/technician)
6-4 VarioGuide
X990.005.550.011
6.1.2 System information page

A GNSS position: The green tick will appear
whenever a valid GNSS position has been
successfully determined from the GNSS data
and the correction signal data. The number
of GNSS satellites is also displayed.
B Correction signal: The green tick will appear
whenever a correction signal can be
received. In addition, you will see the time in
s taken to receive the correction signal
update. If 999 is shown here, the correction
signal cannot be currently updated or
received.
C Gyro compass initialisation: The green tick
will appear once initialisation has been
successful. After the receiver has been
switched on, a short distance must be driven
at more than 1.5 km/h to initialise the gyro
compass.
D Steering system: The green tick will appear
whenever the self-test was successful. The
EHL is ready for operation and can be pre-
activated.
E Distance to wayline: The distance to the
wayline must be less than 10 m.
F Joining angle to wayline: The wayline Fig. 1
joining angle must be less than 75°.
G Speed: The speed must be between 0.1 km/
h and 25 km/h.
H Gyro compass calibration: The green tick
will appear whenever the self-test of the
gyro compass was successful.
I GNSS receiver: The green tick will appear
whenever the self-test was successful.
NOTE:
VarioGuide cannot be activated until the green
check mark is showing everywhere.
6.1.3 Note on correction signal

The tractor drifts away from the wayline (S) to
differing extents according to the type of
correction signal --> wayline offset.
NOTE: If the tractor driver detects drifting (in the
course of field work there may be overlapping or
errors), carry out an automatic offset.
Fig. 2
VarioGuide 6-5
X990.005.550.011
6.1.4 Auto Offset

During an automatic offset, the waylines of the automatic track guidance system are set to the actual
physical target waylines on the field.
Procedure
1. Drive tractor manually to connection
2. Press Auto Offset button (B): The waylines VarioGuide Hauptseite
are moved to the original lines at the
corresponding wayline distance A Spurlinienabstand
5,90 m
Spurabweichung
C
0,00 m
Manueller Spurlinienversatz
D
0,20 m
Gesamtversatz
E
0,00 m
F
Fig. 3
6.1.5 Check the track to track accuracy (dynamic accuracy: pass-to-pass accuracy
within 15 minutes)

• As far as possible, a level, evenly worked field.
• System fully booted, i.e. maximum possible
number of bars (A) for location and correction
signal
• No implement, or implement is raised
• No implement selected in terminal on the
implement side
Fig. 4
6-6 VarioGuide
X990.005.550.011
Procedure
1. Record A-B wayline
2. With automatic track guidance activated,
only ever drive in one! direction about 150
m on the same A-B line three times within
15 minutes and in each case measure the
offset of the tractor tyre imprint (rear wheel)
in the soil and compare it with the starting
track
Fig. 5
3. Enter values in the table
Track to track accuracy (dynamic accuracy) in cm, measured in direction of travel

Deviation 1. Pass Deviation 2. Pass Deviation 3. Pass
Left Right Left Right Left Right
6.1.6 VarioGuide offset setting

Based on installation tolerances (in the cm range), it may be necessary to set the VarioGuide offset. This
involves setting the GNSS receiver to the exact tractor center axle (longitudinal axle) for each software
correction.
NOTE: This setting/correction is in the cm range, i.e. only to be applied to RTK systems.
NOTE: If necessary, perform this setting again when changing the GNSS receiver to another tractor.
VarioGuide 6-7
X990.005.550.011
(D) VarioGuide offset: The guided menu starts

after the key (D) is pressed
Fig. 6

• RTK accuracy
• Flat terrain
• No implement attached to the vehicle
• No implement selected in the terminal on the
implement side, or no center offset entered
• Left and right tyre pressures equal
NOTE: Manually approach the wayline and only
then activate the track guidance, i.e. do not
automatically approach the wayline with the
tractor!
Fig. 7
Procedure
6-8 VarioGuide
X990.005.550.011
2. With the automatic track guidance activated,

drive for about 150 m once up and once
down, determine the offset status and
select in the terminal:
° Vehicle moves too far left
° Vehicle moves too far right
Fig. 8
3. Measure VarioGuide offset:

NOTE: Ideally, perform measurement on the
profile impression of the rear tyre
Fig. 9
4. Enter value for "Vehicle moves too far left" in

the terminal
Fig. 10
VarioGuide 6-9
X990.005.550.011
5. Enter value for "Vehicle moves too far right"

in the terminal
Fig. 11
6.1.7 Determination and correction of implement offset

This is the correction, by means of software, of the implement offset that arises due to:
• Mechanical production deviation of the implement
• Design-related crooked pulling of the implement (e.g. disc harrow etc.)
.
NOTE: The track guidance system controls the tractor, not the implement.
NOTE: With varying ground conditions (change between light and heavy soils), it may be, particularly in the
case of implements with a large working width, that crooked pulling occurs (wayline deviation), and in rare
cases the machine may sway. Purely for physical reasons, any adjustment/correction by the track guidance
system is possible only to a limited extent.
NOTE: Depending on the situation and preference, use method 1 and/or method 2.
6.1.7.1 Determination and correction of the implement offset – method 1

• Implement/implement combination adjusted in accordance with manufacturer’s instructions
• Depending on the implement and application, lower linkage stabiliser open/closed
• Front axle is correctly ballasted
• Steering sensitivity is adjusted in the Steering Settings menu
• The most accurate correction signal available is set
• Track guidance system fully booted, i.e. maximum possible number of bars for location and correction
signal
6-10 VarioGuide
X990.005.550.011
Procedure
2. (I.): Drive for about 150 m in one direction
with automatic track guidance activated and
the implement lowered
3. After 150 m, raise the implement and
continue driving for about 25 m with the
implement raised so that the tractor tyre
impressions remain visible
4. (II): Turn vehicle and approach on the same
track (profile to profile)
5. Lower implement
6. Activate automatic track guidance
7. Drive about 50-100 m
8. Stop the tractor and measure the overlap on
the left or right
° Overlap on the left side of the tractor:
subtract B / 2 from center distance (K)
° Overlap on the right side of the tractor:
add B / 2 to center distance (K)
Fig. 12 Implement offset left
Fig. 13 Implement offset right
VarioGuide 6-11
X990.005.550.011
9. Overlap on the left side: calculate input value

(K) and enter in the terminal
Example: Implement width 6m, measured
overlap (B) left of 0.40 m
==> Implement offset = B / 2 = 0.40 m / 2 =
0.20 m
==> Input value (K) = working width / 2 –
implement offset = 6m / 2 - 0.20 m = 3 m -
0.20 m = 2.80 m
(I) Input of implement name
(J) Input of attachment type and position
(front/rear)
(K) Input of center distance
(L) Input value for track guidance:
• From the catch hooks (3-point
attachment) to the center of the
implement
• From the attachment point
(implement attached) to the center
of the implement
(M) Input value for marking the worked
surface: Fig. 14 Implement offset left

attachment) to the end of the
implement
• From the attachment point (device
attached) to the end of the
implement
(N) Enter the working width
10. Overlap on the right side: calculate input
value (K) and enter in the terminal
Example: Implement width 6 m, measured
overlap (B) on right of 0.40 m
==> Implement offset = B / 2 = 0.40 m / 2 =
0.20 m
==> Input value (K) = working width / 2 +
implement offset = 6m / 2 + 0.20 m = 3 m +
0.20m = 3.20 m
(front/rear)
implement
of the implement
(M) Input value for marking the worked
surface: Fig. 15 Implement offset right
6-12 VarioGuide
X990.005.550.011

implement
implement
Result of the procedure

NOTE: Check setting and if necessary determine setting value (K) again and enter
6.1.7.2 Determination of the implement offset — Method 2

• Implement/implement combination adjusted in accordance with manufacturer’s instructions
• Depending on the implement and application, lower linkage stabiliser open/closed
• Front axle is correctly ballasted
• Steering sensitivity is adjusted in the Steering Settings menu
• The most accurate correction signal available is set
• Track guidance system fully booted, i.e. maximum possible number of bars for location and correction
signal
• Wayline distance entered or implement created/selected in the terminal on the implement side
Procedure
2. (I.): Drive for about 150 m in one direction
with automatic track guidance activated and
the implement lowered
3. Determine working width A
4. (II.): Turn vehicle and drive about the same
distance on the adjacent right track with
automatic track guidance activated and the
implement lowered
5. Stop the tractor and determine the total
working width B
° A + A > B ==> Implement offset left:
subtract C / 2 from center distance (input
value (K) in terminal)
° A + A < B ==> Implement offset right:
add C / 2 to center distance (input value
(K) in terminal)
VarioGuide 6-13
X990.005.550.011

6. Implement offset left: Calculate input value
Example: Measured working width A = 6 m,
measured total working width B = 12.40 m:
C = B - (A +A) = 12.40 m - (6 m + 6 m) =
12.40 m - 12 m = 0.40 m
==> Implement offset = C / 2 = 0.40 m / 2 =
0.20 m
==> Input value (K) = working width / 2 –
implement offset = 6m / 2 - 0.20 m = 3 m -
0.20 m = 2.80 m
(front/rear)
implement
of the implement
(M) Input value for area marker of worked
surface:
implement
6-14 VarioGuide
X990.005.550.011

implement
7. Implement offset right: calculate input value
Example: Measured working width A = 6 m,
measured total working width B = 11.60 m:
C = (A +A) - B = (6 m + 6 m) - 11.60 m =
12.00 m - 11.60 m = 0.40 m
==> Implement offset = C / 2 = 0.40 m / 2 =
0.20 m
==> Input value (K) = working width / 2 +
implement offset = 6m / 2 + 0.20 m = 3 m +
0.20m = 3.20 m
(front/rear)
implement
of the implement
(M) Input value for area marker of worked
surface:
implement
implement
Result of the procedure

NOTE: Check setting and if necessary determine setting value (K) again and enter
6.1.8 Mechanical check of the front axle clearance, the steering angle sensor and
the steering system
If the automatic way-line guidance is activated and the tractor does not follow the way-line, only moves
VarioGuide 6-15
X990.005.550.011

• Lower link stabilization setting (open or closed)
NOTE: To exclude a mechanical defect/wear, check the mechanical parts of the components involved in
way-line guidance against the appropriate tractor age and/or operating hours.
6.1.8.1 Check the front axle clearance

If the front axle or front axle support has too much clearance, it can affect the stability of the steering angle
sensor value. The value may fluctuate. This may cause the machine to lurch along the way-line.
WARNING:
Danger: The front wheels may move independently Risk of injury and death! Material
damage is possible During the inspection ensure that there are no people or objects near
the tractor! Only operate the tractor in a fenced-off area!
NOTE: If the automatic way-line guidance is activated and the tractor does not follow the way-line, only
moves slowly along or lurches along the way-line etc., there may be several causes, for example:
• Device/device combination settings (follow the device manufacturer's setting instructions

• Fenced-off area
• Level ground
Procedure
1. Operate the tractor on level ground without
operating the steering (VarioGuide not active)
at a low speed
sensor using Fendias (see chapter: Steering
angle sensor — Check the quality of the
calibration with Fendias)
3. NOTE: If the value fluctuates by more than
+/- 0.4° --> Check for a mechanical defect or
wear:
• The axle bearing and/or
• The steering angle sensor
Fig. 20
6-16 VarioGuide
X990.005.550.011
6.1.8.2 Mechanical check of the steering angle sensor

If the steering angle sensor has too much clearance, it can affect the stability of the value for the steering
angle sensor. The value fluctuates. This may cause the machine to lurch along the way-line.

• Fenced-off area
• Level ground
WARNING:
the tractor! Only operate the tractor in a fenced-off area!
NOTE: If the automatic way-line guidance is activated and the tractor does not follow the way-line, only
moves slowly along or lurches along the way-line etc., there may be several causes, for example:
Procedure
1. Operate the tractor on level ground without
operating the steering (VarioGuide not active)
at a low speed
sensor using Fendias (see chapter: Steering
angle sensor — Check the quality of the
calibration with Fendias)
3. NOTE: If the value fluctuates by more than
+/- 0.4° --> Check for a mechanical defect/
wear:
• The steering angle sensor and/or
• The axle bearing
Fig. 21
6.1.8.3 Mechanical (hydraulic) check of the steering system

.
WARNING:
the tractor!
VarioGuide 6-17
X990.005.550.011
NOTE: If automatic way-line guidance is activated and the tractor does not follow the way-line, only moves
NOTE: For the respective tractor type: See workshop service manual
Procedure
1. Check the tractor's ballast

2. Check the steering settings in the terminal (see operating instructions)
3. Check the mechanical parts of the steering for smooth operation and clearance
4. Check for internal leaks in the steering cylinder:
1. Direct the steering approx. 0–10° from the center position towards the block
2. If necessary, connect a pressure gage to the pressure line
3. Disconnect the return pipe
NOTE: If necessary, collect the leaking oil
4. For the other side, repeat steps 1-3
5. Hydraulic pressure testing — Fax template, also refer to the workshop service manual for the
respective type
6.1.9 Check the VarioGuide pre-installation with Fendias
6.1.9.1 Check the VarioGuide pre-installation with Fendias (comfort bus recording)

• Laptop with Fendias
• CAN bus adapter
• Bus connection cable
Procedure
1. Open FENDIAS
6-18 VarioGuide
X990.005.550.011
2. Diagnostics --> Select recording
Fig. 22
3. Connect the CAN bus adapter to the comfort

bus and confirm with OK .
Fig. 23
4. Select the predefined configuration
Fig. 24
VarioGuide 6-19
X990.005.550.011
5. Predefined configuration: Open track

guidance pre-installation
Fig. 25
6. Confirm selection with yes
Fig. 26
7. Select To measurement
Fig. 27
6-20 VarioGuide
X990.005.550.011
8. To start the measurement, press Start
Fig. 28
9. To finish the measurement, press Stop
Fig. 29
10. The Measurement description window

appears: Enter a description
Fig. 30
VarioGuide 6-21
X990.005.550.011
11. Save measurement
Fig. 31
12. The measurement is saved under C:

\MDT_Data\
Fig. 32
13. To evaluate the recording: Select Evaluate

recording
Fig. 33
6-22 VarioGuide
X990.005.550.011
14. Select file
Fig. 34
6.1.9.2 Steering valve — Status messages
Status Description Note
0 No status • The system is initialized

"None"
1 Initialization • Switching off the Y085 solenoid valve,

disengagement of the pilot pressure is checked
"INIT"
2 OFF • All functions are switched off

"OFF"
3 Standby mode • Connection to the tracking controller is

established
"Standby"
4 Partial activation • The preactivation button (partial activation) has

been pressed, the LED on the button is ON
"ON"
• The superimposed steering system (VarioActive)
is ON, if it has been preselected on the terminal
• The automatic track guidance can be activated
5 Waiting for activation • The preactivation button (partial activation) has

been pressed, the LED on the button is ON
"PRE ACTIVE"
• The activation button for the automatic track
guidance has been pressed, the LED on the
button is flashing
• If the activation conditions are fulfilled (see
operating instructions), the steering valve
receives the setpoint setting and automatic track
guidance starts
6 Active • The LEDs on the "Preactivation" and "Activation"

buttons illuminate
"ACTIVE"
The tractor moves using automatic track
guidance
7 Waiting for steering valve to • Automatic track guidance is switched off

neutral after deactivation • The "Preactivation" LED is ON
"POST ACTIVE"
VarioGuide 6-23
X990.005.550.011
Status Description Note
• The "Activation" LED is OFF

The pilot pressure at the steering valve is
maintained until it has reached the neutral position
(max. 0.5 seconds)
8 Waiting for steering valve to • Automatic track guidance is switched off

reach neutral • The "Preactivation" LED is ON
"POST ON" • The "Activation" LED is OFF
The position sensor on the steering valve is
checked to make sure it is in the neutral position
9 Calibrate Calibration:
"CALIB" • Calibration code 2401: Steering angle sensor
• Calibration code 2403: Steering valve
6-24 VarioGuide
X990.005.550.011
Table of contents
7. Advanced settings/functions
7.1 Advanced settings/functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

7.1.1 Receiver: Receiver info and authorization upgrade (DM, CM) . . . . . . . . . . . . . . . . . . . . . . 7-3
7.1.2 NMEA data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
7.1.3 Connect NMEA-enabled external implement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
VarioGuide 7-1
X990.005.550.011
Table of contents
7-2 VarioGuide
X990.005.550.011
7.1 Advanced settings/functions

7.1.1 Receiver: Receiver info and authorization upgrade (DM, CM)
NOTE: With regard to spare parts, all receivers are delivered as sub-meter systems (SM).
• The accuracy of the GNSS receiver can be upgraded with authorization codes
• Systems in the field are upgraded by Fendt dealers
NOTE: NovAtel receivers can only be upgraded from sub-meter (SM) to centimeter (CM).
NOTE: Trimble receivers can be upgraded from:
1. Sub-meter (SM) to decimeter (DM)
2. Decimeter (DM) to centimeter (CM)
When upgrading to CM, the correct sequence must be followed, i.e. two authorization codes are currently
required, which must be entered one after the other, in order to upgrade from SM to CM.
Procedure
1. Order the authorization codes on AGCONet
NOTE: The authorization codes are unique to each receiver, i.e. linked to the receiver serial number.
NOTE: Have the receiver serial number ready (readout on terminal: See the following images)
2. NovAtel receivers: Enter the authorization
code into field (F) on the terminal:
NOTE: After touching field (F) the terminal
keyboard opens
A Satellite receiver: Manufacturer and
type
B Hardware version: Manufacturer's
designation for the hardware installed
in the receiver
C Serial number: Unique receiver serial
number
D Authorization model: Manufacturer-
specific description of the level of
accuracy:
• D2S00G0T0: Sub-meter
• D2LRPGTT0: Centimeter
E Authorization level: Display for the
current level of accuracy:
• Sub-meter
• Centimeter
(F) Input field for upgrading the
authorization level: Enter the code Fig. 1
ordered on AGCONet here
NOTE: The code is only displayed
during input. After leaving the page, the
code is no longer visible and the
authorization level in field E is updated.
VarioGuide 7-3
X990.005.550.011
3. Trimble receivers: Enter the authorization

code into field (E) on the terminal:
NOTE: After touching field (E) the terminal
keyboard opens
A Satellite receiver: Manufacturer and
type
B Hardware version: Manufacturer's
designation for the hardware installed
in the receiver
C Serial number: Unique receiver serial
number
D Authorization level: Display for the
current level of accuracy:
• Sub-meter
• Decimeter
• Centimeter
(E) Input field for upgrading the
authorization level: Enter the code
ordered on AGCONet here
NOTE: The code is only displayed
during input. After leaving the page, the
code is no longer visible and the Fig. 2
authorization level in field D is updated.
7.1.2 NMEA data
NMEA definition
The NMEA (National Marine Electronics Association) defines standards for the transmission of GNSS data
between different devices. This system supports NMEA Standard 0183 for the output of data to external
devices. If NMEA support is activated, GNSS data can be transmitted from the GNSS receiver to an NMEA-
compatible external device.
7-4 VarioGuide
X990.005.550.011
NMEA settings
(A) NMEA data ON/OFF button
NOTE:
The NMEA data settings are available from
the implement manufacturer. Refer to the
operator's manual for the device.
Fig. 3
Types of NMEA data

• GGA
• GLL
• GSA
• GST
• GSV
• RMC
• VTG
• ZDA
NMEA transfer rates

• 0.1 Hz
• 0.2 Hz
• 0.5 Hz
• 1 Hz
• 2 Hz
• 5 Hz
• 10 Hz
NOTE: To output the NMEA data, activate button (A).
VarioGuide 7-5
X990.005.550.011
7.1.3 Connect NMEA-enabled external implement
Procedure
Connect NMEA-enabled external implement
via NMEA connection sub D9 (X4219 - Serial
interface C pillar)
Fig. 4
7-6 VarioGuide
X990.005.550.011
© AGCO Corporation, 2016. All rights reserved.
X990.005.550.011 (English)
January 2016

Varioguide: Varioguide Novatel Varioguide Trimble

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Workshop Service Manual

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Property of AGCO GmbH.

1 Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

4 Correction signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

4.5 Decimeter accuracy: Trimble receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14

5 Calibrations and adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

6 Tests and settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1

7 Advanced settings/functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1

7.1 Advanced settings/functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

1.1 Safety and accident prevention regulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1.1 Safety and accident prevention regulations

1.1.2 Advice for the operator

1.1.3 Safe operating environment

1.1.4 Switching off in an emergency situation

2.1 System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

Bar GNSS Corre

OK OK The theoretical accuracy of the calculated position continues to increase

OK OK The theoretical accuracy of the calculated position continues to increase

HDOP (Horizontal Dilution Of Precision)

GNSS receiver Possible accuracy Correction signal Radio modem Aerial

Software version for the GNSS receiver:

Software version of the A174 - Satel EASyProof radio modem:

2.2.2 Software — Upgrade

3.1 Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

NOTE: Area (A): VarioGuide pre-installation.

Configuration for VarioGuide pre-installation

FENDT VarioGuide track guidance

U004 - NovAtel Smart 6 receiver (Item 2)

3.1.2 Wiring/cable sets

A101 - VarioDoc/VarioGuide (VD03\VD02) ECU (Item 1)

A102 ECU, Topcon receiver (Item 5)

A174 - Satel EASyProof radio modem (Item 4)

Base cable set (H438.810.472.011 (Item 6)

X2185 separation point on A102

3.1.3 Circuit diagram

Fig. 3 Circuit diagram of the entire system

A050 basic control ECU (EXT)

VarioGuide with U004 - NovAtel Smart 6 receiver

VarioGuide with A173 Trimble AG-382 receiver

A101 - VarioDoc/VarioGuide (VD03\VD02) ECU

A173 Trimble AG-382 receiver G438.810.472.071

3.1.5 A101 — ECU, VarioDoc/VarioGuide

PIN Signal/designation PIN Signal/designation

Measurement at component — separation point (X2192)

Test Pin Specified condition Note

Test Pin Specified condition Note

UB15 # 10 12 VDC Ignition ON Supply UB30 comes from A101

Test Pin Specified condition Note

+UB #7 12 VDC Supply for the connected

3.1.6 A102 ECU, Topcon receiver

Test Pin Specified condition Note

Test Pin Specified condition Note

UB15 #2 12 VDC Ignition ON

3.1.7 A173 — Trimble AG-382 receiver

Check the receiver with the help of the LED display

Test Pin Specified condition Note

+ UB 30 # 10 12 VDC Ignition ON Supply voltage UB comes from

3.1.8 A174 — SATEL EASyProof radio module

Measurement at component — separation point (X3009)

Test Pin Specified condition Note

UB15 #1 12 VDC Ignition ON