Raven AutoBoom XRT Calibration & Operation Manual

AutoBoom XRT

Calibration & Operation

Manual

P/N 016-0235-001 Rev. B 03/19 E32966

016-0171-686 Rev. A 8/18 E31924

We Solve Great Challenges.

DISCLAIMER

While every effort has been made to ensure the accuracy of this document, Raven Industries assumes no

responsibility for omissions and errors. Nor is any liability assumed for damages resulting from the use of

information contained herein.

Raven Industries shall not be responsible or liable for incidental or consequential damages or a loss of anticipated

benefits or profits, work stoppage or loss, or impairment of data arising out of the use, or inability to use, this

system or any of its components. Raven Industries shall not be held responsible for any modifications or repairs

made outside our facilities, nor damages resulting from inadequate maintenance of this system.

As with all wireless and satellite signals, several factors may affect the availability and accuracy of wireless and

satellite navigation and correction services (e.g. GPS, GNSS, SBAS, etc.). Therefore, Raven Industries cannot

guarantee the accuracy, integrity, continuity, or availability of these services and cannot guarantee the ability to

use Raven systems, or products used as components of systems, which rely upon the reception of these signals or

availability of these services. Raven Industries accepts no responsibility for the use of any of these signals or

services for other than the stated purpose.

Table of Contents

P/N 016-0235-001 Rev. B i

Chapter 1 Important Safety Information............................................................................. 1

Instructions for Hose Routing ................................................................................................................................2

Chapter 2 Introduction............................................................................................................. 5

Installation ......................................................................................................................................................................5

Recommendations ...............................................................................................................................................5

Point of Reference .......................................................................................................................................................5

Updates ...........................................................................................................................................................................6

Chapter 3 AutoBoom XRT Home Screen and Operation................................................. 7

AutoBoom XRT Home Screen .................................................................................................................................7

XRT Home Screen Operation ..................................................................................................................................8

Master Switch ........................................................................................................................................................8

Sensitivity Settings ..............................................................................................................................................8

Target Height Settings .......................................................................................................................................8

Target Type .............................................................................................................................................................9

Manual/Auto ..........................................................................................................................................................9

Sensor Reading .....................................................................................................................................................9

AutoBoom XRT Operation .................................................................................................................................... 10

Run Screen Operation ..................................................................................................................................... 10

UT Operation .......................................................................................................................................................11

Chapter 4 Calibration.............................................................................................................. 13

First Time Configuration ........................................................................................................................................ 13

Chapter 5 Settings ................................................................................................................... 23

Machine Settings ...................................................................................................................................................... 23

Boom Configurations ...................................................................................................................................... 24

Display Configuration ..................................................................................................................................... 24

Height Sensor Configuration ....................................................................................................................... 25

Presets Configurations .................................................................................................................................... 27

Boom Tuning ...................................................................................................................................................... 28

Calibrations ......................................................................................................................................................... 29

ECU Orientation ................................................................................................................................................. 41

Alarm Settings ........................................................................................................................................................... 42

Feature Unlock Codes ............................................................................................................................................. 42

Chapter 6 AutoBoom XRT Advanced Tuning.................................................................... 45

Preparation ................................................................................................................................................................. 45

Sensor Dimensions ........................................................................................................................................... 45

Boom Angle Sensor ......................................................................................................................................... 45

Base Control Effort Calibration .................................................................................................................... 45

Hydraulic Oil ....................................................................................................................................................... 45

Boom Speed to Control Effort Scale ................................................................................................................. 45

Tabl e of Co n te n t s

ii AutoBoom XRT Calibration & Operation Manual

Down Speed Ratio ....................................................................................................................................................47

Boom Gains .................................................................................................................................................................48

Proportional Gain ..............................................................................................................................................48

Integral Gain ........................................................................................................................................................48

Derivative Gain ....................................................................................................................................................49

System Gain .........................................................................................................................................................49

Chapter 7 Diagnostics and Troubleshooting.................................................................... 51

System Information ..................................................................................................................................................51

Boom Outputs ....................................................................................................................................................51

Boom Readings ..................................................................................................................................................52

CAN Bus Information .......................................................................................................................................52

Fold Controls .......................................................................................................................................................53

Hardware/Software (ABM) .............................................................................................................................53

Hardware/Software (REM) ..............................................................................................................................54

Height Sensor Readings ..................................................................................................................................55

Machine Readings .............................................................................................................................................56

System Hours ......................................................................................................................................................56

System Voltages .................................................................................................................................................57

Variable Damper Outputs ...............................................................................................................................57

Tests ................................................................................................................................................................................58

Target Control Effort Test ................................................................................................................................58

Target Velocity Test ...........................................................................................................................................58

Target Position Test ...........................................................................................................................................59

Target Height Test ..............................................................................................................................................60

Terrain Compensation Test .............................................................................................................................60

Manual Valve Control Test ..............................................................................................................................61

Variable Damper Test .......................................................................................................................................62

Diagnostic Trouble Codes ......................................................................................................................................63

System Summary .......................................................................................................................................................65

Totals ..............................................................................................................................................................................66

CHAPTER

1

P/N 016-0235-001 Rev. B 1

CHAPTER 1

IMPORTANT SAFETY

INFORMATION

Read this manual and the operation and safety instructions included with your implement and/or controller

carefully before installing the AutoBoom XRT system.

• Follow all safety information presented within this manual.

• If you require assistance with any portion of the installation or service of your Raven equipment, contact your

local Raven dealer for support.

• Follow all safety labels affixed to the AutoBoom XRT system components. Be sure to keep safety labels in good

condition and replace any missing or damaged labels. To obtain replacements for missing or damaged safety

labels, contact your local Raven dealer.

When operating the machine after installing AutoBoom XRT observe the following safety measures:

• Be alert and aware of surroundings.

• Do not operate XRT or any agricultural equipment while under the influence of alcohol or an illegal substance.

• Remain in the operator’s position in the machine at all times when AutoBoom XRT is engaged.

• Disable XRT when exiting the operator’s seat and machine.

• Do not drive the machine with AutoBoom XRT enabled on any public road.

• Determine and remain a safe working distance from other individuals. The operator is responsible for disabling

XRT when the safe working distance has diminished.

• Ensure XRT is disabled prior to starting any maintenance work on the system or the machine.

• Carefully read and follow all safety requirements and precautions contained in this manual and the machine-

specific Installation Manual. Failure to follow safety instructions may lead to equipment damage, personal

injury, or death.

• When starting the machine for the first time after installing AutoBoom XRT, be sure that all persons stand clear

in case a hose has not been properly tightened.

• The machine must remain stationary and switched off during AutoBoom XRT installation or maintenance.

NOTICE

WARNING

CHAPTER 1

2 AutoBoom XRT Calibration & Operation Manual

INSTRUCTIONS FOR HOSE ROUTING

The word “hose” is used to mean all flexible fluid carrying components. Follow existing hoses as much as possible

and use these guidelines:

Hoses should not contact or be attached to:

• Components with high vibration forces

• Components carrying hot fluids beyond component specifications

Avoid contact with any sharp edge or abrading surfaces such as, but not limited to:

• Sheared or flame cut edges

• Edges of machined surfaces

• Fastener threads or cap screw heads

• Ends of adjustable hose clamps

Routing should not allow hoses to:

• Hang below the unit

• Have the potential to become damaged due to exposure to the exterior environment. (i.e. tree limbs, debris,

attachments)

• Be placed in areas of or in contact with machine components which develop temperatures higher than the

temperature rating of hose components

• Hoses should be protected or shielded if it needs to route near hot temperatures beyond hose component

specifications

Hoses should not have sharp bends

Allow sufficient clearance from machine component operational zones such as:

• Drive shafts, universal joints and hitches (i.e. 3-point hitch)

• Pulleys, gears, sprockets

• Deflection and backlash of belts and chains

• Adjustment zones of adjustable brackets

• Changes of position in steering and suspension systems

• Moving linkages, cylinders, articulation joints, attachments

• Ground engaging components

For hose sections that move during machine operation:

• Allow sufficient length for free movement without interference to prevent: pulling, pinching, catching or

rubbing, especially in articulation and pivot points

• Clamp hoses securely to force controlled movement to occur in the desired hose section

• Avoid sharp twisting or flexing of hoses in short distances

CAUTION

P/N 016-0235-001 Rev. B 3

IMPORTANT SAFETY INFORMATION

Protect hoses from:

• Foreign objects such as rocks that may fall or be thrown by the unit

• Buildup of dirt, mud, snow, ice, submersion in water and oil

• Tree limbs, brush and debris

• Damage where service personnel or operators might step or use as a grab bar

• Damage when passing through metal structures

• High pressure wash

CHAPTER 1

4 AutoBoom XRT Calibration & Operation Manual

CHAPTER

2

P/N 016-0235-001 Rev. B 5

CHAPTER 2

INTRODUCTION

Raven’s latest advancement in boom controls in AutoBoom® XRT. Industry-leading radar sensor technology uses

simultaneous ground and canopy detection to maintain optimal spray height for maximum product efficacy.

Pressure-based control allow for smooth movement and quicker reaction time while center rack stability

technology with optional dampers gives the operator complete control, maximizing boom life.

INSTALLATION

RECOMMENDATIONS

Before installing the AutoBoom XRT system, park the machine where the ground is level, clean, and dry. Bleed

pressure from the hydraulic system and leave the machine turned off for the duration of the installation process.

During the installation process, follow good safety practices. Be sure to carefully read the instructions in this

manual as you complete the installation process.

Raven Industries recommends the following best practices when installing or operating the XRT system for the first

time, at the start of the season, or when moving the AutoBoom XRT system to another machine:

• Verify that the machine’s hydraulic system is using fresh oil and that the filters have been recently changed

• Ensure there are no issues with the machine’s hydraulic system (e.g., pump issues, faulty hydraulic motors, fine

metal deposits in the hydraulic hoses, etc.).

POINT OF REFERENCE

The instructions in this manual assume that you are standing behind the machine, looking toward the cab.

WARNING

Carefully read and follow all safety requirements

and precautions contained in this manual and the

machine-specific Installation Manual. Failure to

follow safety instructions may lead to equipment

damage, personal injury, or death.

CHAPTER 2

6 AutoBoom XRT Calibration & Operation Manual

UPDATES

Software and manual updates are available on the Raven Applied Technology website.

https://portal.ravenprecision.com/

Sign up for email alerts, and you will be automatically notified when updates for your Raven products are available

on the website!

At Raven Industries, we strive to make your experience with our products as rewarding as

possible. One way to improve this experience is to provide us with feedback on this manual.

Your feedback will help shape the future of our product documentation and the overall service we

provide. We appreciate the opportunity to see ourselves as our customers see us and are eager

to gather ideas on how we have been helping or how we can do better.

To serve you best, please send an email with the following information to

techwriting@ravenind.com

-AutoBoom XRT Calibration & Operation Manual

-P/N 016-0235-001 Rev. B

-Any comments or feedback (include chapter or page numbers if applicable).

-Let us know how long have you been using this or other Raven products.

We will not share your email or any information you provide with anyone else. Your feedback is

valued and extremely important to us.

Thank you for your time.

CHAPTER

3

P/N 016-0235-001 Rev. B 7

CHAPTER 3

AUTOBOOM XRT HOME

SCREEN AND OPERATION

AUTOBOOM XRT HOME SCREEN

AutoBoom XRT is a UT based application. To access AutoBoom XRT screens:

1. Press the UT icon.

FIGURE 1. Home Screen

2. Select the XRT working set icon .

Settings

Home

Diagnostics

Totals

XRT

CHAPTER 3

8 AutoBoom XRT Calibration & Operation Manual

XRT HOME SCREEN OPERATION

FIGURE 2. XRT Home Screen

MASTER SWITCH

Press the Master Switch to toggle between enabled and disabled states. If enabled, the system is ready to

transition to auto mode. If disabled, Auto Mode is locked out.

SENSITIVITY SETTINGS

Use the Sensitivity Settings buttons to increase or decrease the system sensitivity. Increasing the sensitivity

will increase how quickly the boom responds to the sensor target. Increasing the sensitivity too high may result in

unnecessary or excessive movement. Decreasing the sensitivity will result in less boom movement but will make

the booms slower to respond to an error in boom height.

TARGET HEIGHT SETTINGS

Press the Target Height button to set the distance from the boom to the target. This screen also allows the

user to select the Target Type. This information can also be changed on the XRT Home screen using the +/-

buttons or typing the value into the Target Height box.

Sensor

Reading

Manual

Auto

Sensitivity

Target Height

Sensitivity

Settings

Master

Switch

Target

Type

Target Height

Settings

P/N 016-0235-001 Rev. B 9

AUTOBOOM XRT HOME SCREEN AND OPERATION

FIGURE 3. Target Height

TARGET TYPE

Press the Target Type to select between the ground and canopy as the desired measurement

target.

MANUAL/AUTO

Depending on the machine configuration, there can be up to three Manual/Auto toggle buttons. Each Manual/

Auto toggle button controls a boom (left/right) or the center rack. If there is not a Manual/Auto button on the

center rack, the center rack is not enabled. When in Auto mode, the XRT system will continually move the

boom position to reach the target position. When in Manual mode with the Master Switch on, the system is

ready to engage. Another way to switch from Manual/Auto is to press on the desired boom section.

SENSOR READING

Sensor Height displays the height for each of the sensors. The number of sensors displayed will match the number

of sensors on the machine. The table below describes the Sensor Height reading in more detail.

CHAPTER 3

10 AutoBoom XRT Calibration & Operation Manual

TABLE 1. Sensor Reading States

AUTOBOOM XRT OPERATION

RUN SCREEN OPERATION

FIGURE 4. Run Screen

1. Press the desired boom or the XRT widget to enable or disable AutoBoom XRT.

2. Press and hold the desired boom to open additional boom information. Pressing and holding also allows the

user to turn off the master switch.

Image Status Description

Sensor Working/Reading

Indicates the sensor is functioning properly and reading

the desired target.

Sensor Not Reading/

Malfunctioning

If there is an X through the sensor, the sensor is not

reading a target or is malfunctioning.

Sensor Offline/Disabled

If there isn’t a number below the sensor location, the

sensor may be offline or was disabled by the user.

XRT

Operation

P/N 016-0235-001 Rev. B 11

AUTOBOOM XRT HOME SCREEN AND OPERATION

FIGURE 5. XRT Widget Long Hold

UT OPERATION

Pressing the UT widget on the run screen will open the UT interface. From this screen it is possible to adjust

machine settings, view diagnostic information, and adjust Sensitivity and Target Height.

FIGURE 6. UT Run Screen Interface

CHAPTER 3

12 AutoBoom XRT Calibration & Operation Manual

CHAPTER

4

P/N 016-0235-001 Rev. B 13

CHAPTER 4

CALIBRATION

FIRST TIME CONFIGURATION

NOTE: Depending on configuration settings and installed unlocks, the following steps may vary.

After installing the XRT system:

1. Park the machine on a level surface.

2. Press the UT button.

3. Review the information on the ABM Hardware/Software screen.

4. Press Next.

5. Review the information on the REM Hardware/Software screen.

6. Press Next.

7. Select the Machine Make, Machine Model, and the Machine Configuration.

FIGURE 1. Machine Selection

8. Press Next.

9. Verify the number of height sensors installed on the booms and center rack. This will be three, five, or seven

sensors depending upon the number of sensors installed.

If there are no Height Sensors Detected, press to re-detect the number of sensors.

CHAPTER 4

14 AutoBoom XRT Calibration & Operation Manual

FIGURE 2. Height Sensors Detected

10. Press Next.

11. Verify the ECU Orientation on the machine matches the image on the ECU orientation page. If needed, press

the rotate buttons on the right side of the tab to adjust the orientation.

NOTE: Many of the next screens will populate with default settings based on the machine configuration

selected earlier. The settings will need to be changed if the actual installation deviated from the

directions in the machine-specific installation manual.

FIGURE 3. ECU Orientation

12. If required, press the Location button to rotate the machine view on the ECU Orientation screen.

13. Press Next.

14. Verify the machine is parked on a level surface.

P/N 016-0235-001 Rev. B 15

CALIBRATION

FIGURE 4. Terrain Compensation Setup

15. Press Calibrate Terrain Compensation.

16. After terrain calibration compensation is complete, press Next.

17. Fold the boom in so the booms are stored in the transport position.

18. Touch the Next button to continue fold calibration.

FIGURE 5. AutoBoom Fold Setup- Fold Boom In

NOTE: Most machines will skip to step 25. If your screen does not match that shown in Figure 6 on page 16,

proceed to step 25.

19. Unfold the booms and lower the center rack.

20.Touch the Next button to continue the fold calibration.

CHAPTER 4

16 AutoBoom XRT Calibration & Operation Manual

FIGURE 6. Vertical Center Sensor Calibration - Minimum Height

21. Raise the center rack to the maximum height.

22.Touch the Next button to continue the fold calibration.

FIGURE 7. Vertical Center Sensor Calibration - Maximum Height

23.Lower the center rack to the maximum operating position.

NOTE: For RoGator, this is low enough that the center rack is able to rotate freely without hitting the travel

stops. This is typically about 4 in. [10 cm].

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