Precision tillage is designed to till lands variably according to their firmness. Therefore, it is necessary to measure soil firmness in fields and present it in a form with which the variable tillage on be performed. Such forms may be classified into two categories: sensor-based and map-based forms. The map-based approach appears to be inevitable until the technology develops high enough to secure the sensor-based approaches. The first step for map-based precision tillage may be to develop a tillage recommendation map. In this study, a tractor-mountable automatic soil firmness measurement system was developed to construct a cone index map. The system is comprised of three ASAE Standard cone penetrometers and a hydraulic unit for controlling operation of the penetrometers. The system is designed to conduct stop-and-go measurements in fields. The measurements from the three penetrometers are transferred to a microcomputer and the average cone index was calculated. This average cone index was taken as soil firmness of the location where the measurement was made. The cone indices thus determined were used to construct a cone index map using the ArcView software. The system also displays the soil penetration resistance, cone index and soil depth as the cone penetrates into the soil. The field performance of the system was evaluated and the cone index maps at different depths were also presented.