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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,system and successfully Engaged Automatic Control Mode, the ECU will activateactivates hydraulic outputs based onon:

a
number of factors: Prescribed elevation,elevation currentCurrent elevation,elevation calibrationCalibration parameters,parameters trackingTracking sensitivity and tracking/Tracking/acquire threshold.thresholds

While Engaged, in Automatic Control Mode, anyjoystick movement ofcan aoverride connectedautomatic control. Depending on configuration, joystick willmovement resultcan in an override of the automatic control output. The operator may choose between "Disengage",either DisengagingDisengage Automatic Control Mode upon detection of joystick movement, or "MomentaryMomentarily Disengage",Disengage whichcontrol will override Automatic Control Mode upon joystick movement, but return to Automatic Control Mode onceuntil the joystick is returnedreturns to center / no longer being moved.
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