COMMAND Manual (EN)

COMMAND Hardware Installation & Operation Reference Manual

1 | Introduction

Read this before installing or using COMMAND!

1 | Introduction

1.1 | Title

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Installation & Operators Manual

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2026
1 | Introduction

1.2 | About This Manual

This manual provides instructions for the installation, configuration, and operation of T3RRA's COMMAND system. COMMAND is an automated land levelling control system that uses GNSS receivers, hydraulic interfaces, and onboard sensors to control implement movement.

This manual is intended for trained dealers and technicians responsible for installing and commissioning COMMAND systems on supported machines. All users must read and understand this manual before installing or operating the system.

1 | Introduction

1.3 | Important Notices

COMMAND Installation & Operators Manual

© 2026 T3RRA Pty Ltd

Notice of Rights

No part of this publication may be reproduced, transmitted, transcribed, stored in a retrieval system, or translated into any language or computer language, in any form or by any means, electronic, mechanical, magnetic, optical, chemical, manual, or otherwise, without the prior written permission of T3RRA Pty Ltd.

Trademark Notice

T3RRA, T3RRA Cutta™, T3RRA Plane™, T3RRA Ditch™, T3RRA Survey™, T3RRA Apply™, T3RRA Design Plus™, iDitch™, COMMAND™ and Level COMMAND™ software images and their logos are the exclusive trademarks of T3RRA. All other trademarks, service marks, software images and logos used in this documentation belong to their respective owners.

Notice of Liability

The information in this document is distributed on an ‘as is’ basis, without warranty. While every precaution has been taken in the preparation of this manual, neither the authors nor T3RRA shall have any liability to any person or entity with respect to any loss or damage caused or alleged to be caused directly or indirectly by the instructions contained in this book or by the computer software and hardware products described in it. 

Disclaimer

We make a sincere effort to ensure the accuracy of the material described herein; however, T3RRA makes no warranty, expressed or implied, with respect to the quality, correctness, reliability, accuracy, or freedom from error of this document or the products it describes. Data used in examples and sample data files are intended to be fictional. Any resemblance to real persons or companies is entirely coincidental. All information in this manual was correct at the time of writing. T3RRA reserves the right to make corrections to the manual at any time and without notification.

1 | Introduction

1.4 | Important User Information

The COMMAND system must only be installed and operated by individuals trained in its functional and safety requirements. Use of the system outside the scope of this manual may result in machine damage or personal injury. If any information within this manual is unclear, contact T3RRA before installing, operating or servicing the system.

Technical Support

For technical support of the COMMAND system, please contact T3RRA. Support is available via phone, email and the internet during business hours, Monday to Friday.

Address

Shed 4, 18 Rocla Court, Glenvale QLD 4350

Website

www.t3rra.com

Email

info@t3rra.com

1 | Introduction

1.5 | Important Safety Information

WARNING:
The COMMAND system can automatically control hydraulic movement without operator input.
Ensure all personnel remain clear of the implement during operation.

General Safety Guidelines

Read and Understand Instructions

Operators must read this manual in full before using the system. Do not operate the system without a complete understanding of its controls and functions.

Authorized Personnel Only

Only trained and qualified individuals should operate, maintain, or service the COMMAND system.

Operator Responsibility

COMMAND is designed to assist with land levelling but does not replace operator supervision. The operator must remain alert and in control at all times.

Operational Safety

Supervise All Automated Movements

The landforming implement may move automatically based on GNSS and IMU sensor inputs.

Maintain Safe Distance

Never stand or allow others to stand near the implement, blade, or hydraulic components while the system is engaged.

Manual Override

Ensure all operators are familiar with how to disengage or manually override the system in an emergency.

System Activation Warnings

Automatic Movement Hazards

The blade or land levelling implement may move without manual input during automatic operation. Clear the area of personnel before activating the system.

Hydraulic Pressure Hazards

This system operates using high-pressure hydraulic components. Do not inspect, service, or disconnect hydraulic lines while the system is active or pressurized. Use caution when working near hoses and actuators.

Sensor and Signal Dependency

GNSS Dependency

The system relies on accurate GNSS input. A degraded or lost signal may lead to incorrect implement height or tilt adjustments.

IMU Sensor Calibration

Incorrect sensor calibration may cause unintended implement movement. 

Terrain and Environmental Awareness

Survey Field Conditions

COMMAND cannot detect soft ground, underground obstacles, ditches, or debris. Make sure to manually inspect and clear the field before using the system.

Slope Limits

Avoid operating the system on steep or uneven terrain beyond rated slope specifications. Excessive tilt may cause machine tipping or unsafe implement engagement.

Maintenance Safety

Pre-Start Inspection

Before each operation, inspect all components, including hydraulic lines, sensor mounts, and electrical connections.

Lockout/Tagout for Servicing

Fully power down the tractor and disable the land levelling system before performing any maintenance.

Emergency Protocols

Emergency Stop

Ensure the operator is aware of the tractor emergency stop mechanism location and function. Test according to machine or implement manufacturer's conditions and recommendations.  

Error Handling

If the system displays a fault code, sensor error, or warning alert, cease operation immediately and refer to Section 9: Troubleshooting.

Bystander & Site Safety

No Passengers

Never allow anyone to ride on the implement or tractor while the system is operating.

Establish Exclusion Zone

Mark the working area clearly. Unauthorized personnel should remain clear of the worksite during automated operations.

Safety Labelling and Hazard Indicators

Ensure all safety labels on the implement and control interface are clean, visible, and intact. Replace damaged or unreadable labels immediately. 

Before Proceeding

Before installing or operating the COMMAND system:

- Read and understand all safety information in this section
- Ensure all operators are familiar with machine safety and system disengagement procedures
- Contact T3RRA if any information within this manual is unclear

Proceed to Section 2 | System Overview

2 | System Overview

An overview of the COMMAND hardware and harnessing system

2 | System Overview

2.1 | System Architecture

Theory of Operation

COMMAND is an electronic control system designed by T3RRA consisting of an Electronic Control Unit (ECU) along with a harnessing system to interface with different sensors, hydraulic and tractor systems. 

Once installed and configured, the ECU acts as both a control system and interface. It will communicate with a PC running T3RRA software, the earthmoving implement and sensors providing real-time feedback on the position of the implement, and tractor diagnostic data where available. 

Level COMMAND can then control the implement based on your current position and design elevation, while satisfying constraints e.g. cut depth limits. 

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Manual Control Mode

In Manual Control Mode, and also when the system arming switch is deactivated, COMMAND is Disengaged and any prescribed elevations sent to the ECU will not result in activation of hydraulics. Hydraulic outputs can still be activated using a connected joystick or tractor SCV levers. These will function regardless of whether COMMAND Automatic Control is Disengaged or Engaged.

Automatic Control Mode

Once the operator has Armed the system and Engaged Automatic Control Mode, the ECU activates hydraulic outputs based on:

While Engaged, joystick movement can override automatic control. Depending on configuration, joystick movement can either Disengage Automatic Control Mode or Momentarily Disengage control until the joystick returns to centre.

2 | System Overview

2.2 | Supported Implement Types

COMMAND machine profiles are used to store all configuration settings for that particular implement including GNSS input selections, valve configuration, calibration and tuning values etc.

Implemented and Tested Machine Profiles

COMMAND currently has the following machine profiles available for selection on the ECU:

Machine Profile Controlled Functions Example Usage
Single Scraper - Height Function 1 - Height A bucket scraper with single proportional height control valve and a single GNSS receiver
Single Scraper - Height & XSlope

Function 1 - Height

Function 2 - XSlope / Tilt

 A bucket scraper with a single proportional height and single proportional tilt control valve fitted with a single GNSS receiver and single inertial measurement unit (IMU)
Single Ditcher - Height Function 1 - Height A V-ditcher with a single proportional height control valve and a single GNSS receiver.

Machine Profiles Currently In Testing

Machine profiles listed below are currently under development and may become available in future software releases.

Machine Profile Controlled Functions Example Usage
Single Ditcher - Height & Pitch Function 1 - Height
Function 2 - Pitch

A tile plow with a single proportional height, single proportional pitch control valve, single GNSS receiver and single inertial measurement unit (IMU).

 
Tandem Scrapers - Height

Function 1 - Height 1

Function 2 - Height 2

 

 Two bucket scrapers in tandem, each with a single proportional height control valve and single GNSS receiver.
Single Scraper - Dual Height Function 1 - Height A bucket scraper with a single proportional height control valve but two GNSS receivers (One on the  left of the implement, one on the right)
Single Scraper - Height (Dual Cylinder) Function 1 - Height Left
Function 2 - Height Right

 A bucket scraper with dual proportional height control valves (controlling left and right height separately), and two GNSS receivers (left and right). Maintains blade angle to allow manual X-Slope / Tilt operation.
Single Scraper - Height & XSlope (Dual Cylinder) Function 1 - Height Left
Function 2 - Height Right
 A bucket scraper with dual proportional height control valves (controlling left and right height separately), and two GNSS receivers (left and right). 
2 | System Overview

2.3 | GNSS Receiver & IMU Compatibility

The requirements below outline the important components and considerations for using a GNSS receiver with Level COMMAND.

Receivers being used with COMMAND must be capable of RTK positioning calculations. Differential GNSS or SF corrected signals e.g. SF3 are NOT considered suitable for implement position feedback as position accuracy and repeatability are insufficient.

Starfire 7000 Receiver

John Deere StarFireTM

COMMAND is able to interface with all modern StarFire receivers over ISOBUS/CANBUS for position feedback, including StarFire 3000, 6000, 7000 & 7500 models.

NMEA 2000 (CANBUS)

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COMMAND is able to interface with GNSS receivers supporting NMEA 2000 standard output over ISOBUS/CANBUS for position feedback including but not limited to Case Vector Pro, New Holland PLM Cygnus & Trimble NAV 900 receivers.

Supported NMEA 2000 PGNs

Position Update Rate 

A minimum position update rate of 5 Hz is required. 10 Hz is recommended.

NMEA 0183 (RS232 Serial)DDgraphic_FM1000.png

COMMAND is able to interface with any receiver capable of providing NMEA 0183 standard sentences over RS232 serial for position feedback. The sentences below are required at a minimum for usage with Level COMMAND.

Required Sentences

Optional Sentences

Position Update Rate 

A minimum message rate of 5 Hz is required. 10 Hz is recommended.

RS232 Baud Rate

The RS232 baud rate can be selected in Level COMMAND as 19200, 38400, 57600, and 115200 bps. A baud rate of 38400 is recommended.

Compatible Cross-slope / Roll / Tilt Sensors

For users making use of Cross-slope control using the COMMAND ECU's second output function, we recommend the use of the T3H-E003 COMMAND Inclination Sensor – TARS-B to ensure that the angle sensor being used is robust and accurate for automatic implement control.

Starfire 7000 Receiver

StarFireTM TCM (Terrain Compensation Module)

COMMAND can make use of the in-built StarFire TCM, which provides feedback on pitch and roll angle of the receiver. The StarFire TCM can be selected as a Cross-slope / Tilt sensor but we cannot guarantee the accuracy / bias drift of the sensor and generally recommend the use of T3H-E003 shown below.

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T3H-E003 - COMMAND Inclination Sensor

A TARS-B inertial measurement unit configured by T3RRA can be used to provide reliable feedback on the pitch and roll angle of the implement and can be mounted on the scraper for automatic Cross-slope control when using receivers such as Case IH Vector Pro or Trimble NAV 900.

2 | System Overview

2.4 | Tractor / Electrohydraulic Compatibility

COMMAND can make use of either in-built rear tractor electrohydraulic valves, commonly referred to as SCVs (Selectable Control Valves) or auxiliary remotes, or externally mounted electrohydraulic valves.

For each valve type, COMMAND is able to provide two raise and lower functions for automatic control of function 1 (e.g. height) and function 2 (e.g. cross-slope / tilt). For CANBUS based valve types, any available SCVs/Remotes will be available for selection.

For proportional solenoid, Analog Voltage (0-5V) and Danfoss PVE types, the number of selectable outputs is limited to the number of available physical outputs on the ECU suitable for analog voltage laser inputs or external EH valves.

Valve Interface Description Suitable example tractors/valves
JD CAN COMMAND can communicate directly with John Deere SCVs over CANBUS, sending flow requests that will be enacted by the John Deere tractor hydraulic system. Most modern John Deere tractors, e.g. 8R, 8RT, 9R, 9RT, 9RX.
Proportional Solenoid COMMAND can provide closed-loop PWM signals suitable for controlling external proportional solenoid valves requiring maximum flow current of less than 2 Amps. Scraper systems using external proportional solenoid valves such as Eaton Vickers, Rexroth or Hydac.
J1939 COMMAND can communicate directly with the T3RRA VM or other compatible hydraulic controllers using the J1939 messaging standard. Tractor/scraper systems requiring manual controls beyond what the COMMAND ECU is capable of providing.
Fendt ONE COMMAND can communicate directly with Fendt SCVs over CANBUS, sending flow requests that will be enacted by the tractor hydraulic system. Fendt Gen 7 / ONE tractor models
PWM to 0-5V Using the T3H-V001 legacy analog output adapter, COMMAND can provide 0-5V analog voltage signals suitable for John Deere legacy proportional SCV controller or Case 0-5V EHR controller inputs. John Deere legacy proportional laser inputs or Case 0-5V EHR inputs.
Fendt SCR/S4/MT Using the Fendt SCV adapter, COMMAND can communicate directly with Fendt SCVs over CANBUS, sending flow requests that will be enacted by the tractor hydraulic system. Fendt SCR, S4 and MT models where the SCV control bus is separated from the ISOBUS.
Danfoss PVE Using the PVE Valve Adapter, COMMAND can provide 0-Vs ratiometric voltage signals suitable for controlling external Danfoss PVEM, PVEA, PVEH and PVES valves. Scraper systems using external closed-loop proportional valves such as Danfoss PVEM, PVEA, PVEH or PVES.
2 | System Overview

2.5 | Selecting System Components

Correct component selection is important for reliable installation and operation of the COMMAND system. Harnessing requirements will vary depending on tractor model, implement configuration, GNSS receiver type, and hydraulic interface. For assistance selecting compatible components, use the COMMAND kit picker at t3rra.com or contact T3RRA.

Factors that will affect harnessing requirements include:

John Deere Harnessing Compatibility

The COMMAND harnessing system has been designed to allow us to leverage existing customer and dealer knowledge of John Deere harnessing systems. We can then take advantage of this familiarity on the technical support front, while leveraging the fact that John Deere dealers also possess many of these parts in stock at-the-ready.

Typical John Deere Components

SKU / Part No. Name

BPF10403 OR BPF10404 

OPTIONAL POWER

 Constant Power Harness (Row Crop) OR Constant Power Harness (Articulated)

BPF11117

REQUIRED

 Front Extension Wiring Harness Kit (including terminator module)

RE174725 OR RE174726 IF NO ISOBUS PRESENT

GreenStar™ Ready Field Installation Kit (Rowcrop) OR

GreenStar™ ISO Implement Connector Field Installation Kit (Articulated)

PF90538

IF USING STARFIRE GNSS

Implement Receiver Wiring Harness Kit

BPF10547

REQUIRED

iGrade Counterbalance Valve kit -  generally recommended and mandatory for proper operation with certain SCVs and external valves.

Base COMMAND Components

The components below are required for a base COMMAND installation.

SKU / Part No. Name
T3H-E001 COMMAND ECU – Controller Only
T3H-L001 COMMAND ECU Licence – Licence Only
T3H-C002 COMMAND ECU Adapter - CAN & Analog
T3H-C003 COMMAND Arm/Engage Switch Adapter
T3H-C004 COMMAND Arm/Engage Switch
T3H-C005 COMMAND ISOBUS/Ext Breakout Adapter 
T3H-C006 COMMAND Cab Breakout Adapter
T3H-C008 COMMAND Cab/Ext Extension Adapter
T3H-T001

Tablet Serial Interface Adapter (RA 4m)

Optional COMMAND Components

Components listed below are optional for COMMAND and will only be required for certain tractor models, scraper models, GNSS receivers, Tilt sensors or Electrohydraulic valves.

SKU / Part No. Name
Tractor Harnessing  
T3H-F001 Cab Convenience Power Adapter 
T3H-F002 External Loose End Power Adapter
T3H-F003 COMMAND Inline Fuse Adapter 
T3H-M001 COMMAND J1939 Diagnostic Adapter (Green)
T3H-V001 COMMAND Legacy Analog Output Adapter
T3H-T002 Tablet Serial Interface Adapter (RA 6m)
Implement Harnessing  
T3H-E003 COMMAND Inclination Sensor – TARS-B
T3H-G001 COMMAND NMEA Extension Harness (8m)
T3H-G002 COMMAND Impl Adapter – NAV-900 / Ag372
T3H-G003 COMMAND Impl Adapter – Emlid Reach RS2/RS2+/RS3
T3H-G004 COMMAND Trimble NMEA Output Adapter
T3H-G007 COMMAND NMEA Extension Harness (12m)
T3H-S001

COMMAND Impl Adapter – Stub Junction
T3H-S003

COMMAND Impl Adapter - TARS Extension

3 | Installation Overview

The COMMAND system is to be installed in a structured sequence to ensure correct operation and to minimise installation issues.

Follow the steps below in order. Do not skip steps or complete them out of sequence.

Installation Steps

  1. Complete Pre-Installation Requirements
    Confirm that the tractor, power supply, and components meet system requirements.
  2. Install the ECU
    Select a suitable mounting location and securely install the COMMAND ECU.
  3. Install Cab Components
    Install operator interface components including the arm/engage switch, joystick, and tablet.
  4. Connect Hydraulic Interfaces
    Connect the system to the tractor’s electrohydraulic valves or external valve interfaces.
  5. Install and Configure GNSS and IMU
    Connect and configure the GNSS receiver and IMU as required.
  6. Configure Display and Communication
    Set up NMEA output and ensure communication between system components is functioning correctly.
  7. Verify System Operation
    Perform system checks to confirm correct installation and functionality before operation.

Next Step

Proceed to Section 4 | Pre-Installation.

4 | Pre-Installation Requirements

Tractor, power and ISOBUS / CANBUS requirements for the usage of COMMAND

4 | Pre-Installation Requirements

4.1 | Overview

All requirements in this section must be confirmed before installing the COMMAND system. 

Failure to meet these requirements may result in improper operation or system damage.

Confirm the following before proceeding:

Details for each requirement are provided in the following sections.

4 | Pre-Installation Requirements

4.2 | Tractor Requirements

Tractor Requirements

COMMAND's tractor requirements are as follows:

If any requirement in this section cannot be met, installation should not proceed.

Implement Compatibility

Supported Implement Configurations

COMMAND is currently suitable for use with the following types of implements:

Future Configurations

Implement Definitions

The naming conventions below will help to avoid confusion later:

Single implement - One single blade with one receiver positioned in centre (single-axis or dual-axis) (May or may not be accompanied by IMU).

Tandem implements - Two blades in front/behind one another as a train, each with a single receiver positioned in the centre (single-axis control only).

Dual receiver - One single blade with two receivers positioned on the left and right sides of the blade for dual-axis control. The tilting point is assumed to be the centre of the blade edge, in the middle of the two receivers.

4 | Pre-Installation Requirements

4.3 | Power Requirements

A switched 12V DC power supply with a minimum capacity of 10A is required.

The harnessing system has been designed to provide flexibility in sourcing 12V DC switched power depending on where the ECU is mounted, and where sources of protected 12V DC power are freely available. 

The following power supply options are supported:

Cab Convenience Sockets

COMMAND can be powered using an available cab convenience power socket along with the T3H-F001 Power Adaptor provided by T3RRA.

NOTE: A minimum of three cab convenience sockets are required in total if providing power to COMMAND, a RuggON tablet and John Deere implement harnessing. If fewer than three are available, another power option may need to be used for COMMAND to reduce the requirement to two cab convenience sockets.

WARNING: Convenience power supply sockets should be load-dump protected and fused appropriately within tractor electrical systems, and generally are but it's always best to make sure.

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Using the John Deere Constant Power Harness 

The John Deere Constant Power Harness (BPF10404) can be connected to the COMMAND harnessing system at connector C6 on the T3H-C005 exterior breakout harness.

NOTE: The John Deere Constant Power Harness does not possess its own fusing, so take note that when connected to T3H-C005 for supplying power to COMMAND, a fuse is supplied on the T3H-C005 harness to protect against short circuits and the like.

Connection can also be made directly into the T3H-C002 EXT branch (Connector C6) if the T3H-C005 is not required but the aforementioned fuse must still be added for appropriate protection using a T3H-F003 Inline Fuse Adapter.

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Providing a Custom Power Connection

A custom connection to switched 12V power can be made using the T3H-PWR-1 Power Adaptor (DT06-2S & Loose Wire Ends). The installing technician must provide the appropriate connections / terminations depending on their own requirements. 

NOTE: Avoid routing power cables near high-current or noisy signals if possible (e.g. alternator).

WARNING: The power supply must be rated and protected appropriately for the application!

Custom Power Supply Requirements

If a custom power source is used, it must meet the following requirements:

Description Nominal Range / Rating Notes
Supply Voltage (V) 9-32V DC Ripple/noise ≤ 100 mV peak-to-peak recommended; ensure DC/DC converters are well-filtered.
Supply Current (A)

1A for general ECU operation

plus 2A per proportional solenoid in use

 Depends on connected loads, MCU, sensors, and interfaces.
Power Supply Protections

Overvoltage protection

 

 

 

Must be protected against load dump, inductive spikes, and cranking via TVS diodes or suppression circuits.

 

Transient protection required (TVS diode, suppressor per ISO 7637-2).

Overcurrent protection

 Must include a fuse or circuit breaker rated to a maximum of 10A.
4 | Pre-Installation Requirements

4.4 | ISOBUS Requirements

COMMAND does not explicitly require the tractor to be fitted with an ISOBUS system to operate; however, we strongly recommend taking the opportunity to upgrade any tractor to be used with COMMAND to be ISOBUS capable as well, thereby future proofing for other future devices at the same time. ISOBUS / CANBUS harnessing may also be mandatory depending on choice of GNSS receiver.

ISOBUS / CANBUS GNSS Data

COMMAND may make use of the ISOBUS to read GNSS data of StarFire or NMEA 2000 message format, which will be present and readily available to the COMMAND ECU if both the ECU and the GNSS receiver are connected to the ISOBUS.

ISOBUS Auxiliary Valve Control

COMMAND may also make use of the tractor ISOBUS when performing control of the electrohydraulic valves. Messages are sent to a tractor hydraulic controller over the ISOBUS in some configurations. Usually, if the tractor's hydraulic controller is capable of control via external messages, the machine will already have ISOBUS harnessing and functionality.

ISOBUS Overview

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ISOBUS is a standardised CANBUS communication protocol that enables communication between tractors, implements, and control systems. This system simplifies operations, reduces clutter, and improves efficiency by allowing operators to control multiple implements from a single interface.

A typical ISOBUS setup will often include an ISOBUS terminal display along with various different ISOBUS harnesses that set up the standardised harnessing and messaging framework on the machine. Other types of ISOBUS compatible devices can then be added for all kind of functionality including auto-steering, automated land levelling, automated planting/seeding/spreading/spraying and more.

Next Step

If all requirements in this section have been met, proceed to Section 5 | ECU Installation & Mounting.

5 | ECU Installation & Mounting

Guidelines on installing the COMMAND Electronic Control Unit (ECU) and providing power to the COMMAND ECU and harnessing system.

5 | ECU Installation & Mounting

5.1 | Pre-Installation Preparation

IMPORTANT: Please ensure you have read the safety information in the previous chapter before commencing installation of COMMAND.

Machine Preparation

Complete the following steps before beginning installation of the COMMAND ECU:

Step

 Check

Move the tractor and implement to a level, hard surface suitable for maintenance work.

 

Center the steering wheels. For articulated tractors, engage the articulation locks to prevent movement.

 

Fully lower any attachments or implements to the ground to ensure stability.

 

Turn off the engine and remove the ignition key.

 

Block both the front and rear wheels to prevent accidental movement of the machine during installation.

 

Allow the engine and hydraulic system to cool completely before working near hot components.

 

Disconnect the battery cables. Place a “Do Not Operate” tag in a visible location in the cab, and install a lockout box on the battery terminal to prevent accidental power reconnection.

 

Before opening any hydraulic, pneumatic, or coolant lines, relieve system pressure. Use caution when removing fill caps or hose fittings—cover the area with a clean rag to contain any residual pressure or fluid spray.

 

Unbox all kit components and verify the contents against the packing list. Lay out the parts on a clean, organized work surface to streamline installation.

 
5 | ECU Installation & Mounting

5.2 | Electronic Control Unit (ECU) Installation

ECU Mounting Overview

The COMMAND ECU can be installed in one of three locations depending on the tractor and application:

1. In-cab (preferred)
2. Behind rear cab panel
3. Rear of tractor near ISOBUS connection

The selected mounting location will determine harness routing and connection layout. Please follow the relevant installation instructions based on the selected mounting location.

Connections Overview

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Mounting Locations

Select the mounting location based on available space, environmental exposure, and ease of harness routing.

In-Cab (Preferred)image.png

Being mounted in cab will provide access to the following for the T3H-C002 ECU breakout harness:

Cabling will need to be run outside of the cab if:

The photos above show some suitable mounting locations found in older Case tractor models, where an ECU can either be magnet mounted or Rivnut mounted depending on preference.

Rear Panel Mounting

The ECU should be mounted with enough space for connection and disconnection of the breakout harness, which will also require some space itself when tying up and neatening the T3H-C002 harness.

The ECU can be mounted in much the same way as in-cab - see following pages for information on ECU dimensions and mounting methods.

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Rear Breakaway Mounting

If mounting here, magnets are not recommended as there is a lot of potential for dirt and rocks to knock the ECU. Custom bracketing is recommended when installing the controller at the rear of the tractor to help shield the ECU from dirt and rocks, and to also provide a reliably secure mounting connection through the use of bolts and nylon-lock nuts.

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Mounting Methods

Magnetsimage.png

Mounting with strong neodymium magnets can provide a quick and robust method of mounting the COMMAND ECU. 

Neodymium magnets with a countersunk centre hole of 7mm diameter along with 7mm fasteners should be used.

Rivnutsimage.png

Mounting with Rivnuts is another effective way of securing the ECU to the inner or outer wall of the tractor. 

Care should be taken to drill an appropriately sized hole of the Rivnut, then use the expansion tool and fasten the ECU securely. 

Dimensions Drawing

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Mounting orientation

The ECU must be mounted with electrical connectors facing downward to prevent moisture and dirt ingress. Do not mount the ECU with the connectors facing upward or to the side as moisture or dirt may accumulate and cause corrosion and/or connection issues.

Connecting the ECU Breakout Harness 

Once the ECU is mounted securely in place:

  1. Connect the T3H-C002 to the ECU with the black and beige paired ECU plugs shown below.
  2. Push each plug in until a click is felt.
  3. Gently pull on the plug to ensure that it has mated correctly.

To unplug the ECU connection later, press down on the tab at the top of the connectors (facing toward you with the ECU mounted in the direction specified above) and pull the plug downward away from the ECU.

Command ECU

Once the T3H-C002 ECU breakout harness has been connected to the ECU, connections to the external and cab breakout harnesses need to be made. The T3H-C005 exterior breakout harness is designed to be positioned at the rear of the tractor, while the T3H-C006 cab breakout harness is designed to be positioned inside the tractor cab.

T3H-C002 - ECU Breakout Harness

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T3H-C005 - Exterior Breakout Harness

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T3H-C006 - Cab Breakout Harness

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Connecting the Exterior and Cab Breakout Harnesses

The T3H-C002 breakout harness provides 2m branches for cab and exterior breakout connections. Use T3H-C008 extension harness if additional length is required (up to 6m total).

Cab-Mounted ECU

Avoid routing the cabling out of the cab through windows/doors if possible as these may pinch and damage the wires in the harness.

If the COMMAND ECU has been mounted inside the tractor cab, then the exterior branch will need to be routed outside of the cab through a hole/cable gland to the rear of the tractor next to the ISOBUS implement breakaway connector.

Connect the 12-pin and 2-pin connectors on the T3H-C005 exterior breakout to the T3H-C002 ECU breakout connectors, extended with T3H-C008 if necessary and run the cable out of the cab and to the rear of the tractor.

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Once the exterior breakout has been connected and routed, connect the T3H-C006 cab breakout harness to the CAB 12-pin AMPSEAL and 2-pin Deutsch DT connectors on the T3H-C002 ECU breakout inside the cab.

An extension should not be needed for the cab breakout harness, and the cab breakout harness should be positioned somewhere out of the way behind covers wherever space is available.

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Exterior-Mounted ECU

Avoid routing the cabling into the cab through windows/doors if possible as these may pinch and damage the wires in the harness.

If the COMMAND ECU has been mounted outside the tractor cab, then the cab branch will need to be routed inside of the cab through a hole/cable gland from the rear of the tractor where the ECU is mounted.

Connect the 12-pin and 2-pin connectors on the T3H-C006 cab breakout to the T3H-C002 ECU breakout connectors and route to the cab, extended with T3H-C008 if necessary.

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Once the cab breakout has been connected and routed, connect the T3H-C005 exterior breakout to the EXT 12-pin AMPSEAL and 2-pin Deutsch DT connectors at the rear of the tractor.

An extension should not be needed for the exterior breakout harness, and the exterior breakout harness should be positioned somewhere that doesn't block access to other components at the rear of the tractor.

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5 | ECU Installation & Mounting

5.3 | Powering COMMAND

Select the appropriate power supply method based on ECU mounting location.

Cab-Mounted ECU

COMMAND can be powered using an available cab convenience power socket along with the T3H-F001 Power Adaptor provided by T3RRA. When mounted in-cab this is the preferred option. If no convenience power outlets are available, consider using a  adapter instead of T3H-F001 if power strip connections are available.

image.png

 

Convenience Power and Power Strip Outlets

image.png

 

 

 

T3H-F001

image.png

 

 

T3H-C002 / T3H-C006 2-pin Power Input

Rear-Panel / ISOBUS Mounted ECU

If the COMMAND ECU is mounted under the rear panel of the tractor, we recommend powering using a John Deere constant power harness kit (Rowcrop - BPF10403, Articulated - BPF10404).

image.png

Alternative Power Connection

Alternatively, connecting to any available switched power studs underneath the cab, making sure to use a T3H-F003 inline fuse adapter and creating a 2-core cable of appropriate length.

Do NOT connect unswitched/battery power to COMMAND's power input as this will drain battery while the tractor is switched off.

 

5 | ECU Installation & Mounting

5.4 | Connecting COMMAND to the ISOBUS

ECU Mounted In-cabimage.png

With the COMMAND ECU mounted in-cab:

  1. Locate the in-cab 4-way ISOBUS connector.
  2. Connect the 4-way ISOBUS connection on the T3H-C006 cab breakout to the connector.
  3. Use an additional adapter if connecting to 9-way cab ISO receptacle.

ECU Mounted at Rear of Tractor

With the COMMAND ECU mounted at the rear panel or near the ISOBUS breakaway plug:

  1. Disconnect the existing 4-way plug from the ISOBUS implement breakaway connector.
  2. Connect the disconnected plug to the receptacle on the ISOBUS "T" connection on the T3H-C005 external breakout.
  3. Connect the 4-way ISOBUS "T" plug into the ISOBUS implement breakaway connector.

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6 | Cab Hardware Installation

This section covers installation of operator interface components and optional control inputs.

Required:

Optional:

6 | Cab Hardware Installation

6.1 | Arm/Engage Switch Installation

The COMMAND Arm/Engage Switch is used by the operator to both Arm/Disarm ECU control outputs, and also to Engage/Disengage automatic control mode. 

Mounting Locationimage.png

The Arm/Engage Switch should be mounted close to the operator's typical hand resting around the armrest for easy access to Engage or Disengage COMMAND's automatic control mode.

Ideally there may be a spare switch position in the armrest as shown below, but if this is not the case then a suitable bracket or enclosure will need to be added to the side of the armrest for example, to provide somewhere for the switch to be mounted.

Installation Steps

image.png

  1. Mount the switch near the operator’s armrest for easy access.
  2. Install the switch into an available switch cavity or bracket.
  3. Connect the T3H-C003 adapter to the T3H-C004 switch.
  4. Insert the adapter into the mounting location and pull through until the switch is close to the panel.
  5. Insert the switch into the mounting location and ensure it is seated correctly.
  6. Connect the T3H-C003 adapter to the T3H-C006 cab breakout harness.

unnamed.png

Functionality (Operation)

image.png

The switch has a configuration of OFF-ON-(ON). While in the OFF position, the ECU is disarmed and will not activate outputs or send hydraulic flow commands. The OFF position LED indicates that the ECU is powered.

When moved to the middle ON position, COMMAND is Armed and prepared for sending output signals or hydraulic flow commands. If using a joystick, COMMAND must be armed before the ECU will move the hydraulics.

Once in the middle ON position, the operator can then momentarily push into the third (ON) position, which toggles automatic control mode on or off. Please note that automatic control will only Engage once appropriate conditions are met. The idea here, is that once armed the operator may press the momentary button as needed to Engage or Disengage automatic control depending on their requirements.

IMPORTANT: In the event of an emergency, the operator should switch the Arm/Engage switch to the OFF position to completely disable movement of hydraulics. Please also note that Disarming COMMAND will also disable joystick functionality.

6 | Cab Hardware Installation

6.2 | RuggON PX501 Tablet Installation

This section covers installation of a typical RuggON PX501 tablet supplied by T3RRA, but these instructions are also relevant to those opting to use their own tablet PC.

Tablet Mounting Options

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The tablet must be mounted somewhere in the cab where the operator can maintain good visibility of the screen.

Ensure the tablet does not obstruct operator visibility while driving.

Installation of the tablet for Level COMMAND is carried out in the same fashion as for any other T3RRA software installation. We highly recommend the RuggON PX501 or SOL7 as a tablet computer solution for use with Level COMMAND and provide various accessories for mounting them in the T3RRA Shop.

Mounting the Tablet

  1. Fasten the square silver tablet VESA plate to the square black RAM arm VESA plate.
  2. Using a suitable RAM mount or adapter bracket, create a mounting point for the swivelling RAM arm and fasten it to the tractor cab.
  3. Position the VESA plate appropriately so that the tablet can be slotted into and removed from the mount easily when required.
  4. Fasten the larger silver tablet plate to the back of the PX501 using the provided screws.
  5. The tablet is now ready to be slotted into the VESA plate on the black RAM arm and repositioned to the correct viewing angle.
  6. The tablet is now ready for connection to COMMAND.

Connecting the Tablet to COMMAND

image.png

  1. Using a T3H-T001 or T3H-T002 cable, connect the 12-way AMPSEAL connector to the matching red and black AMPSEAL connector on the T3H-C002 ECU breakout harness.
  2. Run the serial cable along the tractor cab wall neatly and fasten to any available points using zip or twist ties.
  3. Connect the silver DB9 right angled (RA) or straight connection to the tablet and then secure the connector screws using a small screwdriver.
  4. Bundle and tie up any extra length of cable somewhere out of the way.
6 | Cab Hardware Installation

6.3 | Joystick Connection (Optional)

Overview

In most cases the manual control of hydraulic functions are already available (e.g. when using existing tractor auxiliary valves). In some limited cases it may be necessary to add operator control for hydraulic functions, e.g. when using an additional valve module, or using direct PWM operation of hydraulic valves from the COMMAND ECU. In these situations, two options are available: An analog joystick, or a J1939 CANBUS joystick.

If using a compatible analog or J1939 CANBUS joystick, this can be connected to the T3H-C002 directly or via a joystick extension harness.

  1. Ensure the joystick is fitted with an 8-way Deutsch DT plug (DT06-8S).
  2. Mount the joystick in an appropriate location in-cab according to manufacturer mounting instructions.
  3. Connect the plug to the connector labelled “Joystick” on the T3H-C002 harness.
  4. Verify correct pin alignment before connecting.

See below for the pin positions and connector information noting that this is the receptacle on the T3H-C002 ECU breakout harness.

C10-Joystick pinout

Mating joystick connector parts:

Analog Joystick Installation

image.pngAnalog joysticks from brands such as APEM, Parker, Suregrip Controls or Danfoss can be connected to the system and used to manually control one or both available functions, e.g. Height and X-Slope.

Analog Joystick Specification Requirements

Analog Joystick Connection

The T3H-C002 ECU Breakout Harness has an 8-pin joystick connection available that can be used to provide switched 12V power and access to the analog joystick signal inputs. Generally, Joystick Axis 1 and Joystick Axis 2 should be connected to the Y and X axis of the joystick respectively. 

1. Connect joystick to the 8-pin joystick connector on the T3H-C002 harness.
2. Connect power to Switched 12V and GND.
3. Connect signal outputs to joystick axis inputs.
4. Verify voltage range is within 1.0–4.0V.

NOTE: The Joystick Axis 3 signal is currently not in use - COMMAND is currently capable of controlling 2 functions for manual control.

Analog Voltage Signal Requirements

The joystick output voltage must be centred at 2.5V when not being manipulated, and should lower in voltage to a minimum of 1V in one direction, and to a maximum of 4V when moved in the opposite direction.

IMPORTANT: 0-5V Output range joysticks cannot be used with COMMAND, as input voltages of 0V and 5V are assumed to be a short circuit to ground or 5V respectively. 

J1939 / CANBUS Joystick Installation

image.png

A ruggedised multifunction J1939 CANBUS joystick with suitable output messages can be connected to the joystick connection on COMMAND harnessing to provide manual operator control of the scraper.

A J1939 joystick such as the APEM HF Series J1939 joysticks can be connected to the system and used to manually control the two available functions, e.g. Height and X-Slope.

Interface Parameters

Connection

The joystick connector on COMMAND harnessing can provide a 12V DC supply for the joystick, and then receive joystick position messages back via CANBUS. The COMMAND ECU has been programmed with J1939/ISO basic joystick message types to provide selection between fore/aft, left/right and twist axes for each of COMMAND's control functions. See below for pinout information.

1. Connect joystick power to Switched 12V and GND.
2. Connect CAN HI and CAN LO to ISOBUS HI and LO.
3. Verify communication at 250 kbps.
4. Confirm joystick inputs are detected in Level COMMAND.

Expected Message Protocol

Message 1 - BJM1 - PGN 0xFDD6

Primary X-axis or Y-axis can be assigned to COMMAND function 1 or function 2.

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Message 2 - EJM1 - PGN 0xFDD7

Primary Z-axis or Y-axis can be assigned to COMMAND function 1 or function 2.

image.png

For more assistance in setting the selected joystick type and joystick axes within Level COMMAND, please refer to the Level COMMAND manual.

6 | Cab Hardware Installation

6.4 | Tractor CAN Connection (Optional)

Overview

COMMAND can be connected to a 250 or 500kbps Tractor CANBUS if present, allowing the ECU to read tractor data directly from tractor systems including parameters such as engine load, hydraulic oil temperature, wheel speed and instantaneous fuel usage. This data can then be displayed in the widgets in Level COMMAND in real-time, and is also used in the background for certain control features.

Connecting to an incorrect CANBUS, or having COMMAND's Tractor CAN port set to the incorrect baud rate may cause tractor system errors.

Required Parts

A port replicator is included on the T3H-M001 adapter so that other devices may be connected to the diagnostic connector when necessary without removal of COMMAND harnessing.

If the tractor has a Type I diagnostic connection, T3H-X004 should be added to maintain the Type I connection for the tractor.

Type I J1939 Diagnostic Connection (Black)

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Type II J1939 Diagnostic Connection (Green)

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Connection Process

  1. Connect the T3H-M001 adapter to the appropriate diagnostic plug in the cab of the tractor.
  2. Connect the T3H-M001 adapter to the T3H-C006 Cab Breakout Adapter.
  3. If appropriate tractor data is present on the tractor bus, COMMAND will begin reading the data and providing it to Level COMMAND software.
  4. Check whether any new widgets have appeared with new data in the Widgets menu of Level COMMAND.

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7 | Tractor / External Valve Connection & Setup

COMMAND can interface with tractor hydraulic systems using different connection methods depending on tractor type and model.

Determine the correct connection method before proceeding:

- John Deere CAN (Modern tractors with ISOBUS control)
- John Deere Legacy (Analog SCV control systems)
- CNH AFS Connect / PLM Intelligence (Modern systems)
- CNH Pre AFS Connect / PLM Intelligence (Legacy systems)

7 | Tractor / External Valve Connection & Setup

7.1 | Modern John Deere (CANBUS)

Applicable to:
John Deere tractors with CANBUS-based SCV control (typically 2005+ models).

image.png

Connection Method

John Deere CANBUS-based SCV systems are controlled by COMMAND directly over the ISOBUS, so the only hardware requirement for direct control is that COMMAND be connected to the tractor ISOBUS via the 4-way Deutsch DT connections on either the cab (T3H-C006) or external (T3H-C005) breakout harnesses.

Installation Steps

1. Connect COMMAND to the ISOBUS using either:
   - T3H-C006 (in-cab), or
   - T3H-C005 (rear ISOBUS)
2. Ensure a secure connection at the 4-way Deutsch connector.
3. Power on the system and verify ISOBUS communication.

(See Section 5.4)

Operation Notes

COMMAND interfaces with modern John Deere tractors by sending CANBUS messages to the integrated valve controller, commanding either port A or port B flow of the rear tractor SCVs.

To operate the SCVs in automatic control mode, the user must push the respective SCV lever into the detent position (not float). This will cause "AUTO" to appear on the console/display to indicate that the SCV is ready for automatic control commands.

Moving the lever will disengage AUTO mode on the console/armrest. To re-enter AUTO mode, push the SCV lever into detent position again.

IMPORTANT: Moving the SCV lever will disengage AUTO mode in modern JD tractors, so movements based on any current valve signals will cease. Always keep this in mind during operation - the lever must be pushed into detent position again to resume automatic control.

For more information on configuring COMMAND for use with John Deere CAN SCVs, refer to the Level COMMAND Manual.

7 | Tractor / External Valve Connection & Setup

7.2 | John Deere Legacy (Analog)

Applicable to:
John Deere tractors with analog SCV control (typically pre-2005 models).

image.png

Connection Method

COMMAND can control John Deere legacy valve systems through the use of a T3H-V001 COMMAND Legacy Output Adapter.

Installation Steps

10-way Metripack 150 Series Connection

image.png

1. Connect the T3H-V001 adapter to the T3H-C002 ECU breakout harness at the round Deutsch HD series connector. 

2. Connect the 10-way Metripack connector on T3H-V001 to the tractor's SCV signal input plug.

John Deere SCV Controller Connection Overview

image.png

image.png

Operation Notes

COMMAND interfaces with legacy John Deere tractor SCVs by sending analog voltage signals to the integrated valve controller, commanding either port A or port B flow of two of the rear tractor SCVs (generally SCV1 and SCV3).

To operate the SCVs in automatic control mode, the user must push the respective SCV lever forward into the detent position. This will cause "AUTO" to appear on the console/display to indicate that the SCV is ready for automatic control commands.

Moving the lever will disengage AUTO mode on the console/armrest. To re-enter AUTO mode, push the SCV lever into detent position again.

IMPORTANT: Moving the SCV lever will disengage AUTO mode in modern JD tractors, so movements based on any current valve signals will cease. Always keep this in mind during operation - the lever must be pushed into detent position again to resume automatic control.

For more information on configuring COMMAND for use with JD Legacy Proportional SCVs, refer to the Level COMMAND Manual.

7 | Tractor / External Valve Connection & Setup

7.3 | CNH Direct Connect (AFS Connect / PLM Intelligence)

Applicable to:
Case IH / New Holland tractors with AFS Connect or PLM Intelligence systems.

image.png

Connection Method

image.pngCOMMAND can control Case & New Holland rear tractor valve (EHR) systems through the use of a T3H-V001 COMMAND Legacy Output Adapter.


 

 

 

Installation Steps

image.pngThe Case / New Holland tractor connection for analog control signal inputs via the T3H-V001 adapter are generally found in one of three locations depending on tractor mode:

1. Locate the tractor SCV signal input connector:
   - Fuse compartment
   - Behind driver seat
   - Under cab exterior (4WD models)

2.  Connect the T3H-V001 adapter to the tractor connection.

3. Connect the T3H-V001 adapter to the T3H-C002 harness.

Tractor Valve Configuration

1. After completing the physical connection, the system must be configured on the tractor armrest display.

image.png

2. Ensure that a new implement profile has been created for use with the scraper, or that the currently selected profile is
appropriate.

image.png


3. Open the “Remotes” settings tab to display remote valve configuration.

image.png


4. Set the desired remote valve outputs at the back of the tractor to the desired function (A or B).

image.png

NOTE: The remote valves selected for A and B should be matched to the valve connections at the back of the tractor pictured
below. We recommend setting auxiliary valve A to remote valve “Rear 1”, and setting auxiliary valve B to remote valve “Rear 2”,
which will configure remote valves 1 and 2 at the back of the tractor for use with iGrade.

image.png

5. Once the remote valves on the tractor have been set to the desired auxiliary function, the machine should now be fully
configured and ready for use. In order to engage auxiliary control, the user must ensure that the Auto Auxiliary Control
Valves A & B have been turned on in the relevant area on the “Remotes” page.

6. The “Auto Auxiliary Control Valve” can be accessed either by the hydraulic cylinder shortcut next to the display
navigation dial on the armrest, or by adding the menu to the display home page. Once this menu is accessed, turn
either or both required function to the on position and briefly push the lever until it clicks, similar to detenting a John
Deere tractor but the lever with not remain in place. Once both A and B lights are solid green, the tractor is ready to
accept 0-5V signals through the implement interface 6-pin connector.

image.png

Operation Notes

 COMMAND interfaces with the Case / New Holland tractor valves by sending analog signals to the integrated valve controller, commanding either port A or port B flow of two of the rear tractor SCVs (For AFS Connect models any SCV can be linked to either of the two analog inputs).

To operate the SCVs in automatic control mode, the user first needs to arm one or both of the configured auto SCVs by toggling the Auto Auxiliary Control Valve toggles to ON.

Then, either push the respective SCV lever forward into the detent position or press the respective SCV button in front of the levers. This will cause the A and/or B LEDs on the pro 1200 screen to change to solid green, indicating the valves are ready for automatic control. 

Levers can be moved manually, which will override manual control and once let go, automatic control will resume. To disable automatic control, pull the respective SCV lever until it clicks. The A or B LED on the pro 1200 screen should now begin flashing, meaning that automatic control is paused until the operator resumes by pushing the lever to detent or pressing the SCV button again.

IMPORTANT: Moving the SCV lever alone will NOT disengage AUTO mode in modern case tractors, so movements based on any current valve signals will continue. Always keep this in mind during operation.

For more information on configuring COMMAND for use with Case / New Holland auxiliary rear valve control inputs, please refer to the Level COMMAND Manual.

7 | Tractor / External Valve Connection & Setup

7.4 | CNH Pre AFS Connect / PLM Intelligence

Applicable to:
Case IH / New Holland tractors prior to AFS Connect or PLM Intelligence systems.

image.png

Connection Method

image.pngCOMMAND can control Case analog input (EHR) valve systems through the use of a T3H-V001 COMMAND Legacy Output Adapter.


 

 

Installation Steps

image.pngThe Case / New Holland tractor connection for analog control signal inputs via the T3H-V001 adapter are generally found in one of three locations depending on tractor mode:

1. Locate the tractor SCV signal input connector:
   - Fuse compartment
   - Behind driver seat
   - Under cab exterior (4WD models)

2. Connect the T3H-V001 adapter to the T3H-C002 harness.

3. Connect the T3H-V001 adapter to the tractor connection.

Tractor Valve Configuration

Select the applicable configuration method:

- New-style instrument cluster (Pro 700 / Pro 1200 style interface)
- Old-style instrument cluster (button-based interface)
- Tier IV systems (extended configuration menu)

New-style Instrument Cluster

Entering The Configuration Menu

Setting Auxiliary Mode

Exiting The Configuration Menu

Auto/Manual System Operation

image.png

Old-style Instrument Cluster

Enabling Auxiliary/Remote Valve Control

Exiting The Configuration Menu

CNH Tier IV

Enabling Auxiliary/Remote Valve Control

Auto-Auxiliary Mode Operation

Operation Notes

COMMAND interfaces with the John Deere tractors SCVs by sending analog signals to the integrated valve controller, commanding either port A or port B flow of two of the rear tractor SCVs (For AFS Connect models any SCV can be linked to either of the two inputs, whereas older models are limited to SCV1 and SCV3).

To operate the SCVs in automatic control mode, the user first needs to arm one or both of the configured auto SCVs using the 1/3 switch or buttons on the armrest . This will cause "AUTO" to appear on the console/armrest to indicate that the SCV is ready for automatic control commands.

IMPORTANT: Moving the SCV lever alone will NOT disengage AUTO mode in modern case tractors, so movements based on any current valve signals will continue. Always keep this in mind during operation.

For more information on configuring COMMAND for use with Pre AFS Connect / PLM Intelligence SCVs, refer to the Level COMMAND Manual.

8 | Receiver Connection and Configuration (GNSS)

Connecting various GNSS receivers for operation with COMMAND

8 | Receiver Connection and Configuration (GNSS)

8.1 | John Deere StarFire

Applicable to:
John Deere StarFire 3000, 6000, 7000 & 7500 GNSS receivers using implement harnessing.

Harnessing Layout OverviewECU_JD_Starfire7000.png 

For use with COMMAND, the John Deere StarFire can be set up with typical John Deere implement harnessing:

image.png

Connection Processimage.png

1. Connect the John Deere Front Extension Harness to the ISOBUS breakaway connection.

2. Route along the implement, allowing slack at pivot points and avoiding snag hazards.

image.png

3. Connect the Implement Receiver Wiring Harness to the Front Extension Harness and route the cabling up toward the receiver mast.

image.png

4. Connect the Implement Receiver Wiring Harness to the Starfire receiver 12-pin DT connector. A 12-pin Deutsch gender change adapter may be needed to connect the DT06-12SA connector on the implement receiver harness to the DT06-12SA connector on the StarFire Receiver.

image.png

5. Connect the PF81137 Implement Pigtail Terminator to the Implement Receiver Wiring Harness and secure the terminator to the implement receiver wiring harness.

image.png

Verify:
- Receiver powers on

8 | Receiver Connection and Configuration (GNSS)

8.2 | Trimble FMX/GFX/TMX with Ag25

Applicable to:
Trimble FMX, GFX, and TMX displays using NMEA 0183 RS232 output via 12-way DTM port.

Harnessing Layout Overview

Usage of the FMX/TMX NMEA 0183 output only requires the addition of a T3H-G004 adapter to the T3H-C002 ECU breakout harness.


image.png

Parts Required

Connection Process

NOTE: The T3H-G004 adapter routes the RS232 Tx and Rx connection to the COMMAND ECU and they are NOT replicated on the port replicator connector. All other pins are replicated for connection of other devices.

For FMX/FM1000

Connect the T3H-G004 adapter to Port C or Port D on the FMX display depending on whether antenna port 1 or 2 is to be used. Port C will provide the NMEA output for antenna port 1 while Port D will provide NMEA output for antenna port 2.

image.png

For GFX/TMX with TM-200 and EXP-100

Connect the T3H-G004 adapter to the EXP-100 port expander module.

image.png

A port replicator is supplied in case the port was already in use for something else, if so disconnect the device, connect T3H-G004 and then reconnect the device using the port replicator on T3H-G004. 

image.png

Connect the other end of T3H-G004 to the T3H-C002 ECU breakout harness.

image.png

Next, follow the setup process below for activating the NMEA output port on the FMX/TMX system.

Activating the NMEA Output - FMX/FM1000

Make sure that if present, Autopilot is configured for use on Port A - this leaves Port C and Port D free for NMEA output of either implement receiver. 

1. Select the GPS Receiver listed below Autopilot [Vehicle] and press "Setup".

2. Press the "GPS Output" button. 

3. Configure the NMEA GPS Output port as below:

4. Configure the NMEA Messages as below:

image.png

image.png

image.png

image.png

8 | Receiver Connection and Configuration (GNSS)

8.3 | Modern Case IH / New Holland / Trimble

This section covers connection of Novatel-based GNSS receivers using a 12-pin Deutsch interface.

Applicable to receivers including:
Case IH - Vector Pro
New Holland - PLM Cygnus
Trimble - AG-372, AG-392, NAV-900
Steyr - S-Guide

image.png

Parts Required

Connection Process

1. Connect the John Deere Front Extension Harness to the ISOBUS breakaway connection.

2. Route along the implement, allowing slack at pivot points and avoiding snag hazards.

image.png

3. Connect the T3H-S001 adapter to the Front Extension Harness.

image.pngAGV_vUfb18F8k_oebTBPqwfo9XiNBZNwKnM3oAVQCWqCnu81_ej-90MsO88UGKN3PqpReGufqT-IkPoI1yc2PhvecRKLpNyTiBilDY77gJACZvIxS1F6s2OWMRFvOABjb9rzPqRAgXX6yw=s2048?key=pKn9UTVcy7kVo7f76IQZkQ

4. Connect the Implement Pigtail Terminator to the T3H-S001 adapter and secure the terminator to the implement receiver wiring harness.

image.png

5. Connect the T3H-G002 adapter to the T3H-S001 adapter.

image.png

6. Connect the T3H-G002 adapter to the appropriate GNSS receiver port.

7. If using NMEA 0183 Serial, also connect the NMEA extension harness to the T3H-G002, then connect the other end to the T3H-C002 ECU breakout harness.

Verify:
- Receiver powers on

8 | Receiver Connection and Configuration (GNSS)

8.5 | NMEA 0183

NMEA 0183 Serial (RS232) capable receivers can be connected to the COMMAND system. 

IMPORTANT: If the GNSS receiver does not provide terrain compensation, an IMU must be installed to maintain accuracy.

Parts Required

Connection Process

1. Connect the John Deere Front Extension Harness to the ISOBUS breakway connector. 

2. Route along the implement, allowing slack at pivot points and avoiding snag hazards.

image.png3. Connect the T3H-S001 adapter to the Front Extension Harness.

image.png

3. Connect the PF81137 Implement Pigtail Terminator to the Implement Receiver Wiring Harness and secure the terminator to the implement receiver wiring harness.

image.png

4. Connect the CUSTOM adapter to the T3H-S001 adapter.

5. Connect the CUSTOM  adapter to the receiver's port ensuring connector keys are lined up.

6. Connect the NMEA extension harness T3H-G001 or T3H-G007 to the CUSTOM adapter, then connect the other end to the T3H-C005 external breakout harness.

Receiver Configuration

Perform necessary setup of the GNSS receiver using provided manufacturer tools or programs:

Verify:
- Receiver powers on

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 | IMU Installation and Configuration

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.

Greenstar_Starfire_TCMcal.png

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 | IMU Installation and Configuration

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.

image.png

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

  1. Connect the T3H-S001 adapter to the Front Extension Harness.
  2. Connect the T3H-E003 to the T3H-S001 stub junction using the 4-way AMPSEAL connection.
  3. 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.

10 | Troubleshooting

10 | Troubleshooting

10.1 | Overview

This section provides basic troubleshooting information for common COMMAND installation and operation issues.

Before troubleshooting:
- Confirm all system components are correctly installed
- Verify all connectors are fully seated and undamaged
- Ensure the system has been configured correctly within Level COMMAND
- Confirm all machine power and hydraulic systems are operating normally

If an issue cannot be resolved using the information below, contact T3RRA support.

10 | Troubleshooting

10.2 | GNSS & Position Issues

Issue

 Possible Cause Recommended Action
No GNSS position detected Receiver harness disconnected Verify GNSS receiver harness connections
No GNSS position detected Receiver not powered Verify GNSS receiver/display powers on correctly
No GNSS data after startup Receiver still initialising Allow receiver sufficient time to initialise and acquire satellite lock
Receiver powers on but no data detected Incorrect receiver output connection or configuration For NMEA 2000 receivers, verify connection to the correct CANBUS port operating at 250 kbps. For NMEA 0183 receivers, verify the correct serial output port and baud rate are configured and connected
Receiver powers on but no data detected Incorrect RS232 baud rate configuration For NMEA 0183 receivers, verify the configured serial baud rate matches the Level COMMAND receiver configuration
Receiver powers on but no data detected Incorrect CANBUS connection or baud rate For CANBUS/NMEA 2000 receivers, verify the receiver is connected to the correct CANBUS network operating at 250 kbps
Receiver powers on but no data detected NMEA output messages not enabled Verify required NMEA output messages are enabled within the receiver/display configuration
Position updates slowly Low output rate configured Configure receiver output rate to minimum 5 Hz; 10 Hz recommended
No RTK corrections Incorrect base station selected Verify the implement receiver is connected to the intended base station or correction source
No RTK corrections Base station not transmitting corrections Verify base station operation and correction output
No RTK corrections Incorrect base station configuration Verify base station radio/modem and correction output configuration
No RTK corrections Incorrect implement receiver configuration Verify correction source, radio/modem and RTK settings within the implement receiver
RTK intermittently lost Poor correction radio signal Inspect correction antenna placement and cable condition
RTK intermittently lost Excessive distance from base station Reduce distance to base station or verify correction coverage
RTK intermittently lost GNSS quality thresholds configured too aggressively Verify Level COMMAND GNSS requirement settings are suitable for current operating conditions
Poor accuracy or drifting Low GNSS correction quality Verify RTK/DGNSS correction status
Poor accuracy or drifting Multipath or obstructed sky view Move machine to open sky area clear of obstructions
GNSS accuracy degraded unexpectedly Receiver operating in Float/DGNSS mode Verify RTK Fix status before operation
Position intermittently lost Damaged harness or loose connector Inspect GNSS harnessing and connectors
Position quality degraded Receiver firmware outdated Verify GNSS receiver firmware is up to date
Position appears offset Incorrect base station coordinates Verify configured base station coordinates
Position appears offset Connected to incorrect base station Verify the implement receiver is connected to the correct base station
Position appears offset Incorrect receiver offsets configured Verify receiver height, fore/aft and lateral offsets within Level COMMAND

Receivers with Terrain Compensation

Issue Possible Cause Recommended Action
Cross-slope or terrain response incorrect Receiver-integrated TCM not calibrated Perform TCM calibration according to receiver manufacturer instructions
Cross-slope or terrain response incorrect TCM disabled within receiver configuration Verify TCM functionality is enabled within the GNSS receiver configuration

Receivers without Terrain Compensation (Cross-slope sensor required)

Issue Possible Cause Recommended Action
Cross-slope or terrain response incorrect Sensor offsets not enabled Verify sensor offsets are enabled within Level COMMAND
Cross-slope or terrain response incorrect Incorrect sensor offsets configured Verify IMU position offsets are correctly measured and configured within Level COMMAND
Cross-slope or terrain response incorrect Incorrect IMU assignment or configuration Verify the correct IMU source is configured within Level COMMAND
Terrain compensation unstable TARS IMU mounted incorrectly Verify IMU mounting orientation and mounting rigidity
10 | Troubleshooting

10.3 | Hydraulic Control Issues

Issue Possible Cause Recommended Action
No hydraulic movement Valve harness disconnected Verify all ECU and valve harness connections
No hydraulic movement Incorrect hydraulic interface selected Verify the configured hydraulic interface type within Level COMMAND
No hydraulic movement Hydraulic outputs disabled Verify COMMAND outputs are enabled and Automatic Control is Armed. Check valve status within COMMAND Settings > Valve Configs or COMMAND Settings > Tuning
No hydraulic movement Tractor hydraulic remotes disabled Verify tractor SCVs/remotes are enabled and assigned correctly
Raise/lower functions reversed Incorrect valve polarity or hydraulic configuration Verify hydraulic output polarity and configuration
Raise/lower functions reversed Hydraulic hoses connected incorrectly Verify hydraulic hose routing and plumbing orientation
Hydraulic outputs operate incorrectly Incorrect valve type selected Verify the configured hydraulic interface matches the installed valve system. Check valve status within COMMAND Settings > Valve Configs
Hydraulic outputs operate incorrectly Incorrect CANBUS interface configuration Verify CANBUS/J1939 hydraulic interface configuration
Hydraulic movement unstable Incorrect calibration values Recheck hydraulic calibration and tuning settings
Hydraulic movement unstable Incorrect tuning parameter configuration Verify minimum extend/retract thresholds, maximum extend/retract thresholds, tracking sensitivity and cylinder ratio settings
Hydraulic movement slow or unresponsive Hydraulic flow limits too low Verify tractor hydraulic flow settings
Hydraulic movement slow or unresponsive Engine RPM too low Operate machine at recommended engine RPM
Hydraulic movement delayed Excessive deadband configuration Verify deadband and response tuning settings
Hydraulic outputs noisy or erratic Damaged PWM/analog wiring Inspect hydraulic output harnessing for damage
Hydraulic calibration cannot be completed Incorrect machine setup during calibration Perform calibration on stable level ground
Hydraulic calibration cannot be completed Incorrect valve wiring Verify valve output wiring and polarity
Automatic Control disengages during operation Hydraulic response outside configured limits Verify hydraulic tuning and response stability
Automatic Control performance inconsistent Incorrect implement profile selected Verify correct implement configuration within Level COMMAND
Hydraulic movement continues after command released Hydraulic valve sticking Inspect hydraulic valve operation and cleanliness
Hydraulic movement continues after command released Incorrect valve calibration Recheck valve calibration settings
Hydraulic outputs noisy or erratic Electrical noise or poor grounding Verify ECU and valve grounds are secure
Hydraulic outputs noisy or erratic Damaged PWM/analog wiring Inspect hydraulic output harnessing for damage
Hydraulic outputs noisy or erratic Incorrect PWM frequency configuration Verify PWM frequency matches valve requirements
No external valve response Incorrect VM430/431 configuration Verify external valve controller setup and addressing
No external valve response Incorrect J1939 configuration Verify J1939 network settings and communication
Hydraulic response differs between directions Unequal flow settings Verify raise/lower hydraulic flow configuration
Hydraulic calibration cannot be completed Incorrect machine setup during calibration Perform calibration on stable level ground
Hydraulic calibration cannot be completed Incorrect valve wiring Verify valve output wiring and polarity
Automatic Control disengages during operation Hydraulic response outside configured limits Verify hydraulic tuning and response stability
Automatic Control performance inconsistent Incorrect implement profile selected Verify correct implement configuration within Level COMMAND
10 | Troubleshooting

10.4 | Joystick & Operator Input Issues


Issue Possible Cause Recommended Action
Joystick not detected Joystick harness disconnected Verify joystick harness connections and adapter installation
Joystick not detected Incorrect joystick adapter used Confirm the correct joystick adapter harness is installed
Joystick not detected Joystick not powered Verify joystick power supply and CANBUS/voltage supply
No joystick response Incorrect joystick type selected Verify joystick type configuration within COMMAND Settings > Valve Configs
No joystick response Incorrect CANBUS connection Verify joystick connection to the correct tractor CANBUS network
No joystick response Incorrect joystick baud rate or CAN configuration Verify joystick CANBUS/J1939 configuration
No joystick response Incorrect analog input wiring Verify analog joystick signal wiring and pinout
Analog joystick unstable Incorrect voltage range Verify joystick output voltages are within expected operating range
Analog joystick unstable Electrical noise or poor grounding Verify grounding and harness routing away from high-current wiring
Analog joystick unstable Damaged potentiometer or joystick hardware Inspect joystick operation and signal stability
Joystick response delayed CANBUS communication delay Verify CANBUS communication quality and network loading
Joystick response delayed Incorrect filtering or response settings Verify joystick response configuration within COMMAND Settings > Valve Configs
Raise/lower commands reversed Incorrect joystick polarity or mapping Verify joystick direction mapping and polarity configuration within COMMAND Settings > Valve Configs
Auxiliary joystick buttons not functioning Incorrect button mapping Verify auxiliary button assignments within COMMAND Settings > Valve Configs
Engage switch not detected Incorrect engage switch wiring Verify engage switch wiring and connector installation
Automatic Control will not Engage Joystick not returning to neutral Verify joystick neutral position and calibration
Automatic Control disengages unexpectedly Engage switch issue Verify engage switch operation and stability
Automatic Control disengages unexpectedly Unintended joystick movement detected Verify joystick mounting and operator input stability
Automatic Control disengages unexpectedly Joystick calibration incorrect Recheck joystick calibration within COMMAND Settings > Valve Configs
Joystick input intermittently lost Loose connector or damaged harness Inspect joystick harnessing and connectors
Joystick input intermittently lost CANBUS termination or communication issue Verify CANBUS network integrity and termination
Analog joystick calibration fails Input voltage outside expected range Verify joystick signal voltage and wiring
J1939 joystick not communicating Incorrect CANBUS network selected Verify joystick is connected to the intended tractor CANBUS
J1939 joystick not communicating Unsupported joystick configuration Verify joystick compatibility and configuration requirements
J1939 joystick buttons operate incorrectly Incorrect button assignment configuration Verify configured joystick button mappings within COMMAND Settings > Valve Configs
Operator input behaves inconsistently Multiple input devices configured incorrectly Verify only intended joystick/input devices are enabled
Operator input behaves inconsistently Incorrect software configuration loaded Verify the correct machine and joystick profile is selected
10 | Troubleshooting

10.5 | IMU & Terrain Compensation Issues

Issue Possible Cause Recommended Action
Cross-slope compensation not operating correctly IMU disconnected Verify IMU harness connections and power supply
Cross-slope compensation not operating correctly IMU not enabled within Level COMMAND Verify IMU functionality is enabled within Level COMMAND
Cross-slope control produces unexpected movement Incorrect IMU orientation Verify IMU orientation and mounting direction
Implement is not level while reporting 0° / 0% cross-slope IMU mounted on angled surface Mount IMU to a level reference surface aligned with the machine
Implement is not level while reporting 0° / 0% cross-slope Incorrect sensor offsets configured Verify sensor offsets are correctly measured and configured within Level COMMAND
Cross-slope angle displayed incorrectly Incorrect IMU assignment or configuration Verify the correct IMU source is configured within Level COMMAND
Reported cross-slope angle is unstable Loose IMU mounting hardware Verify IMU mounting hardware is secure
Reported cross-slope angle is unstable IMU mounted on flexible surface Mount IMU to a rigid surface isolated from excessive vibration
Reported cross-slope angle is erratic even when travelling over smooth ground Excessive vibration at mounting location Inspect IMU mounting location and machine vibration sources
Cross-slope compensation differs between passes IMU mounting position shifted Inspect IMU mounting and alignment
Cross-slope compensation differs between passes GNSS correction quality unstable Verify RTK/DGNSS correction status
Cross-slope compensation produces inconsistent results Sensor offsets disabled Verify sensor offsets are enabled within Level COMMAND
TCM calibration cannot be completed Poor satellite visibility Move machine to open sky area clear of obstructions
TCM calibration cannot be completed Incorrect GNSS receiver configuration Verify GNSS receiver operation and correction quality
TCM calibration cannot be completed Excessive machine vibration during calibration Perform calibration with machine stationary and hydraulics stable
IMU intermittently disconnects Loose connector or damaged harness Inspect IMU harnessing and connectors
IMU intermittently disconnects CANBUS communication instability Verify CANBUS network integrity and termination
Terrain compensation differs between passes IMU mounting shifted Inspect IMU mounting and alignment
Terrain compensation differs between passes GNSS correction quality unstable Verify RTK/DGNSS correction status
Automatic Control performance inconsistent on slopes Cross-slope compensation disabled Verify terrain compensation is enabled within Level COMMAND
Automatic Control performance inconsistent on slopes Incorrect terrain compensation source selected Verify the intended IMU/TCM source is configured
TCM calibration cannot be completed Poor satellite visibility Move machine to open sky area clear of obstructions
TCM calibration cannot be completed Incorrect GNSS receiver configuration Verify GNSS receiver operation and correction quality
TCM calibration cannot be completed Excessive machine vibration during calibration Perform calibration with machine stationary and hydraulics stable
IMU intermittently disconnects Loose connector or damaged harness Inspect IMU harnessing and connectors
IMU intermittently disconnects CANBUS communication instability Verify CANBUS network integrity and termination
10 | Troubleshooting

10.6 | CANBUS / Communication Issues

Issue Possible Cause Recommended Action
ISOBUS communication unavailable ISOBUS harness disconnected Verify ISOBUS harness connections and adapter installation
ISOBUS communication unavailable Incorrect ISOBUS connection point Verify COMMAND is connected to the tractor ISOBUS network
ISOBUS communication unavailable Incorrect ISOBUS adapter used Verify the correct ISOBUS adapter harness is installed
ISOBUS communication unavailable ISOBUS network not powered Verify the tractor ISOBUS network is active
Tractor CAN communication unavailable Incorrect Tractor CAN connection Verify COMMAND is connected to the intended Tractor CAN network
Tractor CAN communication unavailable Incorrect Tractor CAN baud rate Verify Tractor CAN baud rate configuration within Level COMMAND
Intermittent CANBUS virtual terminal or device dropouts Loose connector or damaged harness Inspect CANBUS harnessing and connectors
Intermittent CANBUS virtual terminal or device dropouts Poor CANBUS termination Verify correct CANBUS termination resistance and network layout
Intermittent CANBUS virtual terminal or device dropouts Incorrect CANBUS network selected Verify all CANBUS devices are connected to the intended network
GNSS receiver intermittently disconnects CANBUS backbone or branch wiring issue Inspect CANBUS backbone and branch harness connections
IMU intermittently disconnects CANBUS backbone or branch wiring issue Inspect CANBUS backbone and branch harness connections
SCV controller intermittently disconnects CANBUS backbone or branch wiring issue Inspect CANBUS backbone and branch harness connections
No communication with the SCV controller Incorrect hydraulic interface selected Verify the correct hydraulic interface is configured within Level COMMAND
No communication with the SCV controller Incorrect SCV CAN baud rate Verify SCV CAN baud rate configuration within Level COMMAND
No communication with the SCV controller Unsupported tractor or SCV configuration Verify tractor compatibility and supported hydraulic interface type
Tractor SCVs operate incorrectly Incorrect hydraulic interface configuration Verify configured hydraulic interface type and machine profile
CAN joystick not detected Incorrect CANBUS connection Verify joystick connection to the intended tractor CANBUS
CAN joystick not detected Unsupported joystick configuration Verify joystick compatibility and configuration
Level COMMAND reports no communication with the ECU ECU power or ground issue Verify ECU power, ground and fuse connections
ECU powers on but does not communicate with Level COMMAND Incorrect ECU firmware version Verify ECU firmware version compatibility
ECU powers on but does not communicate with Level COMMAND Incorrect CANBUS or Ethernet configuration Verify COMMAND communication configuration and harnessing
Multiple CANBUS systems behave unpredictably Connected to incorrect CANBUS network Verify COMMAND is connected only to the intended CANBUS network
Multiple CANBUS systems behave unpredictably Incorrect adapter or CANBUS bridging Inspect CANBUS adapters and network interconnections
External controller communication lost Incorrect controller software version Verify external controller software compatibility
Multiple CANBUS systems behave unpredictably Connected to incorrect CANBUS network Verify COMMAND is isolated to the intended CANBUS network
Multiple CANBUS systems behave unpredictably CANBUS bridging or adapter issue Inspect adapters and network interconnections
CANBUS diagnostics unavailable Incorrect diagnostic connection point Verify diagnostic adapter connection and network selection
CANBUS diagnostics unavailable Unsupported CANBUS protocol Verify compatibility with the connected CANBUS system
10 | Troubleshooting

10.7 | Support Information

 
Office Phone:
+61 7 4633 2790
Hardware Support Phone:
+61 428 922 668
Email:
support@t3rra.com
Website:
www.t3rra.com