RETROESCAVADEIRA

The invention comprises a backhoe with a tool pivotally attached to a dipperstick, an actuator for controllably moving the tool about its pivot, and an angular velocity sensor for sensing the angular velocity of the tool relative to an earth based coordinate system. A controller is adapted to perform a tool auto-hold function, automatically maintaining an initial tool orientation by processing the angular velocity data and commanding movement of the tool actuator to hold the angular velocity at zero. The controller is adapted to discontinue the tool auto-hold function when the operator manipulates a tool command input device affecting tool actuator movement, and resume the tool auto-hold function at the new orientation affected by the operator. Manipulation of an auto-hold command input device allows the operator to selectively enable and disable the tool auto-hold function.