Test the E-Stops

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	The Lockout Switch and E-Stop Emergency stop button or switch.s are critical safety components of the OMNiDRIVE™ system. Be sure to test each mounted or hand-held switch individually prior to starting autonomous operations.

Note:  Review E-Stops for additional information on the types of E-Stops and ensure each E-Stop is receiving Tractor Interface Board (TIB) communication before proceeding.

1. With the OMNiDRIVE™ tractor running and stationary, activate the autonomous switch on the tractor armrest.
2. Press the power button on each E-Stop (mounted or hand-held) to be used during the day.

   Note:  Ensure that the controlling E-Stop is mounted in the controlling combine The combine that may assign paths to, and may sync with, the OMNiDRIVE™ tractor. One controlling combine is required for all OMNiDRIVE™ locations.. Refer to E-Stops for assistance with reassigning the master E-Stop if necessary.

3. Make sure the tractor beacon and all E-Stop status LEDs are green.
4. Monitor the brake pedals in the tractor cab while activating and deactivating each switch independently.
5. Press the button on the E-Stop and confirm the following conditions:
   • Verify that the tractor brake pedals raise up to the engaged position.
   • The tractor beacon turns red.
     Tractor Beacon Status

     Color	Description	Autonomous Operation
     Green	Tractor is in the manual mode.	Disabled
     Yellow (Blinking)	Tractor is in autonomous mode, has received a route, and is moving or ready to move.	Active
     Yellow (Solid)	Tractor is in autonomous mode, but has not received a command to move and is currently idle.	Ready
     Red	E-Stop has been activated.	Disabled
     Off	Tractor is shutdown or ignition is off.	Disabled

   • A notification displays on the OMNiDRIVE™ user interface within 5 seconds indicating that an E-Stop has been activated.
   • Confirm that the status LED on each E-Stop turns red.
     E-Stop Status LED

     Color	Description	Autonomous Operation
     Green	E-Stop is on and receiving TIB communication.	Ready or Active
     Yellow	Tractor E-Stop is functional and receiving messages via the radio.	Ready or Active
     Red	Indicates that this E-Stop is active.	Disabled
     Blue	Another E-Stop has been activated.	Disabled
     Purple	No communication with the TIB	Not Shown
     Off	E-Stop is in sleep mode or the battery is depleted. Press the power button on the E-Stop to wake up the device. Charge the E-Stop to restore normal operation.	Not Shown

6. Twist the button to release the E-Stop and confirm the following conditions:
   • Verify that the tractor brake pedals return to normal position.
   • The tractor beacon returns to green.
     Tractor Beacon Status

     Color	Description	Autonomous Operation
     Green	Tractor is in the manual mode.	Disabled
     Yellow (Blinking)	Tractor is in autonomous mode, has received a route, and is moving or ready to move.	Active
     Yellow (Solid)	Tractor is in autonomous mode, but has not received a command to move and is currently idle.	Ready
     Red	E-Stop has been activated.	Disabled
     Off	Tractor is shutdown or ignition is off.	Disabled

   • The notification in the OMNiDRIVE™ user interface will reset.
   • Confirm that the status LED on each E-Stop returns to green.
     E-Stop Status LED

     Color	Description	Autonomous Operation
     Green	E-Stop is on and receiving TIB communication.	Ready or Active
     Yellow	Tractor E-Stop is functional and receiving messages via the radio.	Ready or Active
     Red	Indicates that this E-Stop is active.	Disabled
     Blue	Another E-Stop has been activated.	Disabled
     Purple	No communication with the TIB	Not Shown
     Off	E-Stop is in sleep mode or the battery is depleted. Press the power button on the E-Stop to wake up the device. Charge the E-Stop to restore normal operation.	Not Shown

7. Repeat these steps to test each E-Stop in the OMNiDRIVE™ system individually.

Last Revised: Nov 2023