2.1 | System Architecture
Theory of Operation
COMMAND is an electronic hardwarecontrol 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 implementation software, the earthmoving implement and sensors providing real-time feedback on the position of the implement, and tractor diagnostic data (diagnostics) where this available.
T3RRA implementation software such as Level COMMAND can then control the implement based on your current position and design elevation, while satisfying constraints e.g. cut depth limits.
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 successfully Engaged Automatic Control Mode, the ECU will activate hydraulic outputs based on a number of factors: Prescribed elevation, current elevation, calibration parameters, tracking sensitivity and tracking/acquire threshold. While Engaged in Automatic Control Mode, any movement of a connected joystick will result in an override of the automatic control output. The operator may choose between "Disengage", Disengaging Automatic Control Mode upon detection of joystick movement, or "Momentary Disengage", which will override Automatic Control Mode upon joystick movement, but return to Automatic Control Mode once the joystick is returned to center / no longer being moved.
