9 | IMU Installation and Configuration
This section covers installation and configuration of terrain compensation systems used with COMMAND.
Installing an Inertial Measurement Unit (IMU) allows Level COMMAND to perform terrain compensation and additionally, enable cross slope control with a single GNSS receiver.
If using a StarFire receiver, the internal Terrain Compensation Module (TCM) can be configured for this application. 

9.1 | John Deere StarFire TCM (3000, 6000, 7000, 7500)
Applicable to: John Deere StarFire 3000, 6000, 7000 & 7500 receivers with integrated Terrain Compensation Module (TCM). 
 StarFire TCM Overview 
 Modern John Deere StarFire GNSS Receivers contain an integrated Terrain Compensation Module (TCM) that measures pitch/roll angle position of the receiver, and calculates adjustments to GNSS position based on the angle of the receiver to provide the true ground point position, provided that receiver offsets have been entered correctly. 
 
 
 Configuration Overview 
 1. Enable the 3D TCM setting in the StarFire receiver. 2. Enter correct receiver offsets (fore/aft and height). 3. Perform TCM calibration as per John Deere guidelines. 4. Verify TCM status is active. 
 For more guidance on best practices and setting up the StarFire TCM, please refer to John Deere's Starfire Operator Manual.

9.2 | Honeywell TARS-B IMU (T3H-E003)
Applicable to: Systems where the GNSS receiver does not provide terrain compensation and/or Cross-slope control is required. 
 IMPORTANT: Some GNSS receivers DO NOT possess an internal IMU for terrain compensation purposes. If the receiver doesn't have terrain compensation, we highly recommend running a Cross-slope IMU on the implement in this situation so that Level COMMAND can apply the necessary terrain compensation to maintain accuracy with drain batters and other steeper slopes.  
 IMPORTANT:  The Honeywell TARS-B IMU must be sourced from T3RRA (SKU: T3H-E003 ). These are supplied by T3RRA with the correct firmware and configuration to function with COMMAND .  
 The TARS-B IMU is used for systems where the GNSS receiver does not contain an integrated terrain compensation functionality, in addition to enabling Cross-slope control using COMMAND . The TARS-B IMU provides pitch and roll angle measurements to the COMMAND ECU for control of the implement's Cross-slope angle. 
 Required Parts 
 The IMU connects via the implement receiver harnessing. 
 
 John Deere Front Extension harness 
 TARS-B Mounting Kit (3 x M6 + Washer + Nut) 
 T3H-E003 - COMMAND Inclination Sensor – TARS-B 
 T3H-S001 - COMMAND Impl Adapter – Stub Junction 
 
 
 Mounting & Orientation 
 The TARS-B IMU should be mounted pointing toward the front of the machine, similar to an arrow or triangle pointing forwards. Mount the TARS-B IMU to the implement securely, preferably using a suitable bracket. If suitable bracketing isn't available, neodymium magnets are also suitable, but must have enough pull-strength that there is minimal danger of the IMU being knocked out of position. 
 Connection Process 
 
 Connect the T3H-S001 adapter to the Front Extension Harness. 
 Connect the T3H-E003 to the T3H-S001 stub junction using the 4-way AMPSEAL connection. 
 Check that COMMAND is receiving Cross-slope angle input data - for more information please refer to the Level COMMAND manual. 
 
 Verify: - IMU is securely aligned, mounted and connected.