2 | System Overview

Level COMMAND is an integrated machine guidance and control system designed to provide real-time positioning, terrain visualisation, and machine control functionality for supported earthmoving equipment.

2.1 | System Architecture

Level COMMAND continuously determines the machine's position, compares it to the design surface and calculates the implement movement required to achieve the desired grade.

Theory of Operation

Level COMMAND is a closed-loop terrain-control operating environment that continuously compares the machine’s measured terrain position against the active design surface or plane in order to determine the required implement movement.

The system operates together with the COMMAND hardware platform, GNSS receivers, hydraulic interfaces, machine sensors, and operator inputs to provide terrain guidance and automatic implement control.

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During operation, Level COMMAND continuously processes:

Using this information, the system calculates target elevations and control corrections which are transmitted to the COMMAND ECU for hydraulic or vehicle interface control.

The operator remains responsible for supervising machine behaviour and safe operation at all times.

Position & Elevation Processing

GNSS receivers are mounted at known positions relative to the controlled implement. Level COMMAND applies configured machine and receiver offsets to calculate the position of the controlled point relative to the terrain surface.

Using the calculated controlled-point position, the system determines:

These values are used to determine the required implement correction relative to the active design surface or control mode.

Configured machine geometry and positional offsets are applied before hydraulic commands are transmitted to the COMMAND ECU to ensure implement movement corresponds correctly to the controlled point position.

Predictive Control (Look Ahead)

Hydraulic systems and machine movement introduce a delay between terrain measurement and implement response.

To improve grading accuracy during movement, the system uses predictive positioning behaviour referred to as Look Ahead.

Look Ahead estimates the future position of the controlled point based on current machine speed and configurable control response timing. Target elevations are then calculated ahead of the machine’s current position to reduce tracking lag and improve terrain-following performance.

Look Ahead settings may be adjusted during commissioning and advanced diagnostics procedures.

Blade Shift & Control Limits

Material movement requirements may exceed the desired cut or fill amount achievable in a single grading pass.

Blade Shift allows operators to temporarily offset the target elevation relative to the active design surface without modifying the underlying project data.

Additional control limits may also be applied to restrict:

These limits assist in maintaining stable machine behaviour and predictable terrain outcomes during automatic control operation.

Off-Surface Behaviour

Automatic control operation requires valid design surface data. If the machine moves outside the available design surface area, the system may suspend automatic control movement commands until valid surface data becomes available again. Automatic control resumes as the implement approaches the design surface again.

This behaviour prevents unintended implement movement when operating beyond the active design boundary. 

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Manual & Automatic Control Modes

Level COMMAND supports both manual and automatic implement control operation.

Manual Control Mode

When automatic control is Disengaged, hydraulic movement remains under direct operator control using tractor SCVs, joysticks, or other configured control inputs.

In Manual Control Mode, the system continues to display terrain, project, and elevation information but does not actively control hydraulic outputs.

Armed State

When the system is Armed, the COMMAND ECU is enabled and prepared to assume automatic control once engagement conditions are satisfied.

While Armed, manual hydraulic control remains available to the operator. The Armed state allows the system to monitor positioning and control conditions while preventing automatic hydraulic actuation until automatic control is Engaged.

Automatic Control Mode

When automatic control is Engaged, the system continuously calculates implement corrections relative to the active design surface or plane.

The COMMAND ECU then controls hydraulic outputs using:

Depending on machine configuration, manual hydraulic input may temporarily override automatic control or disengage automatic control operation. Automatic control may be disengaged at any time using the configured disengagement controls or Arm/Engage switch.

2.2 | Supported Machine Configurations (Profiles)

Level COMMAND supports multiple machine configurations depending on machine type, hydraulic capability, installed hardware, and available automatic control functions.

Each machine configuration defines the supported automatic control functions and compatible machine architecture for the connected implement.

Available machine configurations may vary depending on installed hardware, software licensing, and machine compatibility.

Single Scraper — Height

The Single Scraper — Height profile provides automatic height control for supported single-channel scraper configurations.

Typical applications include:

Single Scraper — Height & XSlope

The Single Scraper — Height & XSlope profile provides automatic height and Cross-Slope control for supported dual-channel scraper configurations.

Typical applications include:

This configuration requires compatible Cross-Slope sensing hardware.

Single Ditcher — Height

The Single Ditcher — Height profile provides automatic height control for supported ditching and channel-forming implements.

Typical applications include:

Future Configuration Support

Additional machine configurations and automatic control capabilities may become available in future Level COMMAND releases depending on machine compatibility and installed hardware support.

2.3 | Positioning & Sensor Requirements

Level COMMAND uses GNSS positioning data, machine geometry information, and implement orientation feedback to calculate target elevations and automatic control corrections.

Depending on machine configuration and enabled functions, the system may require:

GNSS Positioning Requirements

Level COMMAND receives GNSS positioning information through the COMMAND ECU.

GNSS positioning data is used to determine machine location, implement elevation, and terrain position relative to the active design surface or plane.

Automatic control operation requires stable RTK-quality positioning suitable for precision terrain-control applications.

If GNSS quality falls outside configured operating limits, automatic control operation may be restricted or disengaged.

Heading Information

Vehicle heading information is used to determine machine movement direction relative to the active terrain design.

Heading information is typically supplied through GNSS data received by the COMMAND ECU.

If dedicated heading information is unavailable, the system may determine movement direction using positional change during vehicle movement.

Cross-Slope Feedback

Machine configurations supporting automatic Cross-Slope control require compatible implement roll-angle feedback.

Cross-Slope feedback is used to determine implement orientation relative to the active design surface and commanded Cross-Slope target.

Supported Cross-Slope feedback sources currently include:

Invalid or unstable Cross-Slope data may prevent automatic control engagement or cause automatic control disengagement.

Machine Geometry & Offsets

Level COMMAND uses configurable machine geometry information to calculate implement position relative to the GNSS receiver location.

Depending on machine configuration, offsets may include:

Incorrect machine geometry configuration may result in inaccurate implement positioning or automatic control behaviour.

Sensor Stability & Control Protection

The COMMAND hardware platform continuously monitors positioning and sensor information during operation.

Automatic control engagement may be prevented, or automatic control may disengage, if:

These protections assist in maintaining predictable implement behaviour during automatic control operation.

2.4 | Hydraulic & Vehicle Interfaces

The COMMAND hardware platform supports multiple hydraulic and vehicle interface methods depending on machine configuration, installed COMMAND hardware, and enabled automatic control functions.

These interfaces allow COMMAND to control implement movement and monitor machine information during automatic control.

Hydraulic Control Interfaces

Depending on machine configuration, COMMAND may support:

Supported hydraulic interface methods may include:

Hydraulic outputs are used by COMMAND to change implement position during automatic control based on elevation and Cross-Slope targets provided by Level COMMAND.

Vehicle Data Interfaces

COMMAND may receive vehicle and machine information using compatible communication interfaces.

Supported interface methods may include:

Available machine data may include:

Available interface methods may vary depending on installed COMMAND hardware and machine compatibility.

Manual Hydraulic Operation

Manual hydraulic operation remains available whether automatic control is Engaged or Disengaged.

Depending on machine configuration, manual implement control may be performed using:

The Armed state enables the COMMAND ECU while preventing automatic hydraulic actuation until automatic control is Engaged.

Disarming the COMMAND ECU will disengage automatic control and disable joystick inputs connected directly through COMMAND. Tractor-level SCV lever and joystick operation remain unaffected.

2.5 | System Components

A Level COMMAND system consists of multiple hardware and software components depending on machine configuration and enabled automatic control functions.

Required Components

The following components are required for normal Level COMMAND operation.

COMMAND ECU

The COMMAND ECU provides hydraulic control, machine interfacing, sensor monitoring, and automatic control management.

The ECU communicates with Level COMMAND and connected machine systems during operation.

GNSS Receiver System

A compatible RTK-capable GNSS receiver system is required for machine positioning and automatic control.

Supported receiver compatibility may vary depending on installed COMMAND hardware and machine configuration.

Operator Display Device

Level COMMAND operates on a compatible display device used for:

The display device communicates with the COMMAND ECU during operation.

Level COMMAND is primarily deployed on ruggedised RuggON tablet platforms including the PX501 and SOL7 due to their environmental durability, sunlight readability, and suitability for machine-control applications.

Hydraulic Control Hardware

Compatible hydraulic control valve hardware is required for automatic implement movement.

Depending on machine configuration, hydraulic interfaces may include:

Optional Components

Additional components may be installed depending on machine configuration and enabled functionality.

Cross-Slope Sensors

Cross-Slope-capable configurations require compatible implement roll-angle feedback sensors.

Supported Cross-Slope feedback sources currently include:

Additional Operator Controls

Optional operator control devices may include:

Vehicle Data Interfaces

Supported machine configurations may include additional vehicle communication interfaces such as: