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3.8 | Tuning Automatic Implement Control

The purpose of tuning is to achieve stable, accurate Automatic Control that follows the design surface smoothly without excessive lag or oscillation. The Tuning page provides the controls and feedback required to optimise control performance. To find the tuning page from the Apply View, press More > COMMAND Settings > Tuning.

Tracking and Acquisition Behaviour

Once Automatic Control is engaged, the COMMAND ECU adjusts its control strategy according to the current error between the implement and the design surface.image.png

Automatic Control transitions between Acquisition, Tracking and Out-of-Range regions according to the current error between the implement and the design surface.

The default Tracking Threshold and Acquire Threshold values are suitable for almost all applications and should not normally require adjustment. Modification of these parameters is generally not recommended.

Three operating regions are used:

Tracking Region (e.g. < 10cm Error)

The Tracking Region is the area immediately surrounding the design surface. This region provides the highest grading accuracy and is where the implement should spend most of its operating time.

When the current error is within the configured Tracking Threshold, COMMAND continuously adjusts hydraulic output using its tracking control algorithm to accurately maintain the implement on grade.

By default, the tracking threshold is 10cm for height functions, and 10 degrees for x-slope functions. Within the Tracking Region, hydraulic output is continuously adjusted between the calibrated minimum and maximum valve thresholds according to the current control error.This region provides the highest grading accuracy and is where the implement should spend most of its operating time.

Acquisition Region (e.g. > 10cm but < 1m Error)

The Acquisition Region exists between the Tracking Threshold and Acquire Threshold.

When the implement is outside the Tracking Region but remains within the Acquire Threshold, COMMAND prioritises returning the implement to the Tracking Region as quickly as possible.

During acquisition, the ECU commands hydraulic output at the calibrated Max % threshold until the implement re-enters the Tracking Region.

Out of Range (e.g. > 1m Error)

If the current error exceeds the configured Acquire Threshold, the implement is considered too far from the design surface for Automatic Control to operate safely or effectively.

In this condition, COMMAND does not command hydraulic movement. This prevents large or unexpected hydraulic movements when the implement is significantly displaced from the design surface. The operator should manually reposition the implement closer to the design surface before Automatic Control resumes operation.

Before Tuning

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Before tuning, verify the following diagnostic indicators report normal operating status:

  • COMMAND ECU Status
  • Input Status
  • Valve Status
  • Automatic Control Diagnostics

Any active faults or invalid status conditions should be corrected before tuning begins.

Tuning Procedure

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Tuning should always be performed under normal working conditions using the same machine speed, hydraulic flow settings and operating practices that will be used during production work.


Level COMMAND currently provides a single tuning parameter called Tracking Sensitivity. The objective is to achieve stable control while maintaining accurate tracking of the target surface. 

  1. Load a suitable project or design surface.
  2. Engage Automatic Control.
  3. Perform several passes under normal operating conditions.
  4. Observe implement behaviour and control performance.
  5. Adjust Tracking Sensitivity as required.
  6. Repeat until the implement follows the target smoothly without excessive lag or oscillation.

During normal grading, the implement should enter the Acquisition Region only briefly before returning to the Tracking Region, where it should remain for most of the grading operation. If the implement spends excessive time acquiring, overshoots repeatedly or oscillates around the target surface, further tuning may be required.

Adjustment Typical Effect
Increase Tracking Sensitivity Faster response, more aggressive control, increased risk of overshoot or oscillation.
Decrease Tracking Sensitivity Slower response, smoother control, increased risk of lag and persistent tracking error.

Understanding Tuning Feedback

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Current Error

Current Error displays the difference between the actual implement position and the target position. Large or persistent error indicates the implement is struggling to follow the target surface accurately.

Commanded Output %

Commanded % displays the control effort being requested by Automatic Control. This value can help identify whether the controller is responding aggressively enough to changing conditions.

Dynamic Performance Factor (DPF)

Dynamic Performance Factor (DPF) is a rolling performance metric used to indicate how closely the implement is following the target surface. A DPF value of 0 represents perfect control performance. Lower DPF values indicate better control performance.

As tracking error, overshoot, oscillation and other control deviations increase, the DPF value will also increase. DPF is calculated using approximately five seconds of Automatic Control performance data and is only updated while Automatic Control is engaged.

DPF should be used as a comparative tuning aid rather than an absolute performance target.

Common Tuning Symptoms

Correct valve calibration—particularly the Min % thresholds—is essential before tuning begins. Incorrect Min % calibration can produce symptoms similar to incorrect Tracking Sensitivity and cannot be corrected through tuning alone.

Tracking Sensitivity Too Low

  • Implement responds slowly
  • Current Error remains visible for extended periods
  • Blade struggles to reach target grade
  • DPF remains elevated due to persistent tracking error

Recommended adjustment > Increase Tracking Sensitivity.

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Tracking Sensitivity Too High

  • Implement reacts aggressively
  • Blade overshoots the target surface
  • Oscillation develops
  • DPF increases due to instability and overcorrection

Reduce Tracking Sensitivity.

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Once Automatic Control is performing at an acceptable level, continue on to 3.9 | Validating System Operation.


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