Raven TM-1 Installation And Reference Manual

Brand: Raven

Model: TM-1

Type: Installation And Reference Manual

TM-1™ Tilt Module Installation and

Reference Manual

P/N 016-0171-049 Rev E 06/15 E18397

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.

Disclaimer

Table of Contents

Manual No. 016-0171-049 i

Chapter 1 Introduction............................................................................. 1

Theory .......................................................................................................................................1

Kit Contents ...............................................................................................................................2

Hardware & User Interface ........................................................................................................2

Chapter 2 Installation............................................................................... 3

Overview ...................................................................................................................................3

Requirements ......................................................................................................................3

Power Connection .....................................................................................................................4

Raven Receivers .................................................................................................................4

Non-Raven Receivers .........................................................................................................4

Routing GPS Signal ..................................................................................................................4

Chapter 3 TM-1 Set Up & Configuration................................................. 5

Overview ...................................................................................................................................5

Status Indicator ..........................................................................................................................5

TM-1 Configuration Settings .....................................................................................................6

Antenna Height ....................................................................................................................6

GPS Delay ...........................................................................................................................6

Operator Zero ......................................................................................................................6

Serial Baud Rates ...............................................................................................................6

TM-1 Configuration ...................................................................................................................7

Using the Cruizer or Cruizer II .............................................................................................7

Using the Envizio or Envizio Plus ........................................................................................8

Using the Envizio Pro or Envizio Pro II ................................................................................9

Using a Viper II or Viper Pro ..............................................................................................10

Using a Computer ............................................................................................................. 11

Chapter 4 Troubleshooting ................................................................... 13

Overview .................................................................................................................................13

Bypassing the TM-1 ..........................................................................................................13

Status Indicator ..................................................................................................................14

Chapter 5 System Diagrams.................................................................. 15

Table of Contents

ii TM-1 Tilt Module Installation & Reference Manual

CHAPTER

Manual No. 016-0171-049 1

C hapter 1

Introduction

Theory

DGPS receivers collect and report position information relative to the antenna location. In agricultural

applications, the GPS receiver is most often mounted on the top of the machine. If the machine is on level

terrain, the reported GPS position is correct. However, in areas with uneven or rough terrain, the reported GPS

position, calculated at the GPS antenna, may not be accurate due to machine tilt.

The following table is an example of the potential error in reported GPS position for various antenna heights at

a 5° tilt angle.

The Raven TM-1™ Tilt Module compensates for any tilt of a vehicle from a level field condition. The Raven

TM-1 Tilt Module must be connected between the GPS receiver and an existing guidance console or field

Antenna Height Error

5 feet [1.52 m] 5.2 inches [13.21 cm]

8 feet [2.43 m] 8.4 inches [21.34 cm]

10 feet [3.05 m] 10.4 inches [26.42 cm]

15 feet [4.57 m] 15.7 inches [39.88 cm]

Tilt

Angle

Error

Chapter 1

2 TM-1 Tilt Module Installation & Reference Manual

computer. The Raven TM-1 Tilt Module is designed be compatible with any GPS receiver which supports serial

output via a DB-9 style connector.

Note: In order to properly compensate latitude and longitude position, the TM-1 requires a valid course-

over-ground (COG) from the GPS receiver. Typically, the COG is only valid while the machine is in

motion. The TM-1 automatically stops compensating position messages if the reported machine

speed falls below the speed required for valid COG measurements.

The TM-1 reports tilt angle as negative for a tilt to the left and positive for right-leaning tilts. The

maximum tilt angle which the TM-1 may register is ±45° from a level surface.

Kit Contents

Refer to the following table for the contents of the TM-1 Tilt Module kit (P/N 117-0171-059).

Note: The input and output connectors are standard DB-9 serial connectors which work with all Raven

equipment and should be compatible with all other GPS receivers which provide serial output.

Hardware & User Interface

The TM-1 Tilt Module unit has 3 connectors and a status indicator light.

Since the TM-1 does not have a user interface, the TM-1 will need to be configured using a serial connection

on a laptop, SmarTrax™ controller, or a Raven field computer.

• Viper II™ or Viper Pro™

• Envizio Pro™ or Envizio Pro II™

• Envizio™ (software versions 2.0 or newer) or Envizio Plus™

• Cruizer™ or Cruizer II™

Refer to Chapter 3, TM-1 Set Up & Configuration, for information on configuring the TM-1 Tilt Module using any

one of the above methods.

Component Part Number

Sensor, TM-1 Tilt 063-0172-683

Cable, Power, 144” 4-Pin 420-1001-701

Cable, Tilt Interface 115-0171-754

Manual, Installation &

Reference, TM-1 Tilt Module

016-0171-049

GPS Output 4-Pin Power GPS Input

Status Indicator

CHAPTER

Manual No. 016-0171-049 3

C hapter 2

Installation

Overview

This chapter contains instructions for mounting the Raven TM-1 Tilt Module and routing the GPS signal to and

from the sensor. Examples of system diagrams for widely used systems are included in Chapter 5, System

Diagrams.

Requirements

Refer to the following requirements when selecting a mounting location for the TM-1 Tilt Module:

• The TM-1 Tilt Module is not weather proof. Mount the sensor inside of the vehicle cab.

• The unit is designed to be mounted on a flat surface parallel with the ground with the ports facing up.

• Mount the unit with the orientation arrow pointing in the direction of forward vehicle travel.

Note: If necessary, the TM-1 may be mounted with the ports facing down. If the TM-1 is mounted upside

down, the orientation arrow must point in the opposite direction of forward travel.

• The TM-1 contains sensitive measurement sensors. Avoid mounting the unit anywhere where it may be

kicked or jarred during normal operation, such as near pedals or under vehicle components that move.

• The TM-1 Tilt Module should be mounted securely using steel bolts or screws through the mounting

bracket.

Chapter 2

4 TM-1 Tilt Module Installation & Reference Manual

Power Connection

Note: The TM-1 draws approximately 150 mA (peak) of current at +12 V DC. During normal operation, it

draws much less.

Raven Receivers

When used with a Raven DGPS receiver, power for the TM-1 may be supplied using the DB-9 serial port

connectors. Refer to the following table for compatible receivers or other options for powering the TM-1 with a

Raven DGPS receiver:

Non-Raven Receivers

For non-Raven receivers, the 4-Pin power cable (P/N 420-1001-701) is required to provide power to the TM-1

Tilt Module. Connect:

1. the red power lead to a clean source of switched +12 V DC.

2. the black power lead directly to battery ground.

Note: The green and white wires are not used.

Routing GPS Signal

In order for the TM-1 Tilt Module to provide a corrected GPS position for guidance and location, route a raw or

uncorrected GPS signal from the DGPS receiver to the ‘GPS IN’ port on the TM-1.

Note: The TM-1 intercepts the GGA message strings from the receiver, corrects for the measured

machine tilt and then transmits a corrected signal with minimal delay. All unrecognized serial input

and messages are passed through unmodified.

Raven DGPS Receiver Power TM-1 Through Port:

Phoenix 10 (speed only) n/a

Phoenix 50 A

100S A

100G A

Invicta 115 (obsolete) A

Invicta 210 A or B

Invicta 310 A or B

RPR 400C (obsolete) A or B

RPR 410 (obsolete) A or B

Phoenix 200 A

Phoenix 250 A

Phoenix 300 A or B

GPS from Cruizer or

Cruizer II

Use the GPS Out port on the tilt

interface cable (P/N 115-0171-794)

GPS from Envizio Pro or

Envizio Pro II

Use the supplied 4-Pin power cable

(P/N 420-1001-701)

CHAPTER

Manual No. 016-0171-049 5

C hapter 3

TM-1 Set Up &

Configuration

Overview

To properly compensate machine position, the TM-1 must be calibrated for the antenna height above ground

and the delay from the time satellite information is received until a position solution is determined (delay time).

This chapter contains instructions for the various methods of calibrating these settings and setting up the TM-1

for operation.

This chapter also contains information on the TM-1 Tilt Module status indicator. The status indicator light may

help in diagnosing and correcting issues encountered with the unit.

Status Indicator

The status light displays the current status using blink patterns. The blink pattern consists of a set number of

blinks, followed by a pause. The number of blinks indicates the current status according to the following table:

Blinks Status

Corrections

Applied

Description

0 (Solid

Light)

Normal - OK Yes

Unit is correcting incoming GPS messages with

the current tilt measurement.

1 Low Speed No

Speed is too low to accurately determine course

(COG). Corrections will resume when speed

increases.

2 No GPS/GGA No Unit is not receiving GGA GPS messages.

3 No GPS/VTG No

Unit is not receiving course/speed information

from the GPS receiver.

4 EEPROM No Unit EEPROM has failed.

5 Over-range No Tilt measurement sensor output is invalid.

6 Bypass No Unit is bypassed.

Chapter 3

6 TM-1 Tilt Module Installation & Reference Manual

TM-1 Configuration Settings

The following sections are a description of some calibration and configuration settings associated with TM-1

set up. Review these descriptions for detailed information of how these settings on the individual controllers will

affect TM-1 operation.

Antenna Height

To accurately correct the reported GPS position, the height of the GPS antenna above ground must be

configured. The antenna height should be measured to the top of the surface on which the antenna is mounted

and the calibration value should be set to the nearest half foot to ensure accuracy of the corrected GPS signal.

Note: Refer to the field computer operation manual or guide for more information on locating and setting

the Antenna Height settings. All other consoles capable of calibrating the TM-1 will display this

setting on the screen used to configure the TM-1 Tilt Module.

GPS Delay

After raw GPS signal is received, a GPS receiver must calculate a position solution and then transmit the

solution via the serial connection. The GPS Delay setting synchronizes the TM-1 for this slight delay.

Note: For most receivers running at 10 Hz, the default delay of 65 ms is adequate.

Operator Zero

When the unit is bolted in place, the TM-1 may register a small tilt angle. To calibrate for a level ground

condition, and to eliminate error due to the mounting surface, the TM-1 should be calibrated on a known level

surface.

Note: The maximum tilt angle which the TM-1 may register is ±45° from a level surface.

Serial Baud Rates

When the TM-1 powers up, the module will begin scanning baud rates (9600, 14400, 19200, 28800, 38400,

and 57600) searching for valid NMEA GGA messages. Once a valid GGA message is found, the TM-1 will set

the GPS IN and OUT ports to the detected baud rate.

Note: At startup, the GPS output port is set to 19200 baud, 8 bit, no parity, 1 stop bit.

If the GGA message string is lost at any time during operation, the TM-1 will reset the output port to 19200

baud and restart the scanning process.

Manual No. 016-0171-049 7

TM-1 Set Up & Configuration

TM-1 Configuration

The following sections offer instructions for configuring the TM-1 Tilt Module with a laptop or personal

computer, a SmarTrax™ controller, or one of the various Raven consoles or field computers.

Note: When routing tilt corrected signal through a SmarTrax™ controller, the TM-1 will need to be

calibrated through the SmarTrax™ controller rather than the Raven guidance console or field

computer. The SmarTrax controller will require software version 3.0 or higher to properly configure

the TM-1 Tilt Module. See the SmarTrax™ Quick Start Guide or Operator’s Manual for more

information.

TM-1 configuration screens will only be available if the TM-1 has been connected to the console

properly. If the calibration screens are not available, verify installation according to the instructions

in Chapter 2, Installation.

Using the Cruizer or Cruizer II

Touch the Configuration Menu icon on the Home screen and then select the Tilt button within the System

Menu. The Tilt Configuration screen will display.

The following features and settings may be set from this screen:

Note: The antenna height setting is not displayed on the Tilt Configuration screen. Refer to the Cruizer

Operator’s Manual for information on this setting.

Compensation. Toggle this option ‘On’ to enable the TM-1 Tilt Module and to use tilt corrected GPS

messages.

Filter Speed (Sliding Bar). Use the sliding bar to select the filter speeds best suited for the field conditions.

The filter speed may be set to slow, medium, and fast. Touch the Information icon to view an explanation for

the different settings.

Note: Rougher terrain will require slower filter speeds. To provide the best possible tilt compensation,

select the fastest filter speed that provides a stable guidance path.

Reverse Signal. This feature is currently not in use. For best results, leave this option selected.

Chapter 3

8 TM-1 Tilt Module Installation & Reference Manual

Current Tilt. This is a display only. This displays the current tilt angle observed by the TM-1 Tilt Module.

Note: The maximum tilt angle which the TM-1 may register is ±45° from a level surface.

Calibrate. On level ground, the current tilt display should read a zero tilt angle. If the display shows a

non-zero tilt angle on known level ground, touch the Calibrate button located in the lower, left corner of the Tilt

Configuration screen to recalibrate the TM-1 to a level condition.

Using the Envizio or Envizio Plus

Note:

The Raven Envizio console will require software version 2.0 or newer to properly configure the

TM-1 Tilt Module.

To configure the TM-1 Tilt Module using the Envizio or Envizio Plus:

1. Touch the Configuration Pages button on the Home Page.

2. From the Configuration Page 1 screen, touch the Next button until Configuration Page 5 is displayed.

3. Touch the TM-1 Tilt Sensor button on Configuration Page 5 to display the TM-1 Tilt Sensor page.

The following features and settings may be set from this screen:

Enable TM-1 Tilt. Select this option to enable the TM-1 Tilt Module and to use tilt corrected GPS messages.

Antenna Height. To properly adjust the GPS signal for machine tilt, set the height of the GPS antenna above

ground. Review the Antenna Height section on page 6 for detailed instructions.

Reverse Polarity. This feature is currently not in use. Set this option to high.

Current Reading. This is a display only. This displays the current tilt angle observed by the TM-1 Tilt Module.

Note: The maximum tilt angle which the TM-1 may register is ±45° from a level surface.

Manual No. 016-0171-049 9

TM-1 Set Up & Configuration

Calibrate To Level Ground. On level ground the current reading should display a zero tilt angle. If the display

shows a non-zero tilt angle on known level ground, touch the Calibrate To Level Ground button to recalibrate

the TM-1 to a level condition.

Using the Envizio Pro or Envizio Pro II

If the TM-1 Tilt Sensor is connected directly to the DGPS connector on the main interface cable, the field

computer may be used to configure the TM-1. Touch the Tilt icon to access the Tilt Configuration screen.

The following features and settings may be set from this screen:

Note: The antenna height setting is not displayed on the Tilt Configuration screen. Refer to the field

computer Installation & Operation Manual for information on this setting.

Filter Speed. Use the sliding bar to select the filter speeds best suited for the field conditions. The filter speed

may be set to off, slow, medium, and fast. Touch the Information icon to view an explanation for the different

settings.

Note: Rougher terrain will require slower filter speeds. To provide the best possible tilt compensation,

select the fastest filter speed that provides a stable guidance path.

Polarity. This feature is currently not in use. Set this option to high.

Current Tilt. This is a display only. This displays the current tilt angle observed by the TM-1 Tilt Module.

Note: The maximum tilt angle which the TM-1 may register is ±45° from a level surface.

Calibrate. On level ground the current reading should display a zero tilt angle. If the display shows a non-zero

tilt angle on known level ground, touch the Calibrate button to recalibrate the TM-1 to a level condition.

Information

Chapter 3

10 TM-1 Tilt Module Installation & Reference Manual

Using a Viper II or Viper Pro

To configure the TM-1 Tilt Module using the Viper II or Viper Pro console:

1. Select Menu, then Setup, and Comm Ports. If the Raven TM-1 tilt sensor has been installed properly, the

Inline Tilt button will be displayed on the GPS Comm Port Setup screen.

2. Select Inline Tilt. The following screen displays.

The following features and settings may be set from this screen:

Antenna Height. To properly adjust the GPS signal for machine tilt, set the height of the GPS antenna above

ground. Review the Antenna Height section on page 6 for detailed instructions.

GPS Delay. There is a slight delay from when a GPS receiver calculates a position solution until the solution is

transmitted over a serial connection. In order to synchronize TM-1 sensor information with this position

message, a time delay must be entered. For most receivers running at 10 Hz, the default delay of 65 ms is

adequate.

Reverse Polarity. This feature is currently not in use. Set this option to high.

Tilt Filter. The filter speed may be set to off, slow, medium, and fast.

Note: Rougher terrain will require slower filter speeds. To provide the best possible tilt compensation,

select the fastest filter speed that provides a stable guidance path.

Operator Zero. On level ground the current reading should display a zero tilt angle. If the display shows a non-

zero tilt angle on known level ground, touch the Operator Zero button to recalibrate the TM-1 to a level

condition.

The following information is also displayed on the TM-1 Configuration screen:

Current Tilt Angle. Displays the current tilt angle in degrees. Once the tilt sensor has been zeroed out on level

ground, the tilt reading should be 0°.

Note: The maximum tilt angle which the TM-1 may register is ±45° from a level surface.

Temperature. Displays the current temperature of the tilt sensor.

Direction of Operation. Displays the current direction of travel of the machine. The two possible directions

are F (forward) and R (reverse).

Manual No. 016-0171-049 11

TM-1 Set Up & Configuration

Error Code and Message. The following error codes and messages may be displayed in the status window. If

any error code other than 0 is displayed, correct the issue before proceeding on with the configuration of the tilt

sensor.

Using a Computer

Note:

The following items are required before the configuration procedure may be completed:

• DB-9 male to female straight through serial cable

• RFP Sim program available for download from the Raven web site:

www.ravenhelp.com

1. Connect the GPS OUT port on the TM-1 to a serial, or comm, port on a home or office computer using a

standard DB-9 serial cable.

Note: Standard serial cables (P/N 115-0171-215) may be ordered from Raven or purchased from many

local retail stores. Do not use a null modem cable to interface with the TM-1 Tilt Module.

2. Provide +12 V power to the TM-1 (status light will illuminate when powered).

3. Open the RFP Sim program (double click on the RfpSim_#.exe file where # is the version of the RFP Sim

downloaded from the web).

4. Select the correct comm port on the computer and set the baud rate to 19200.

5. Click CONNECT.

6. To display the current antenna height set on the TM-1, type $PSLIQ,ILT,AHFT into the blank box at bottom

of RFP Sim program and click SEND.

Note: The sent command will be displayed in the message string window and will be displayed in a

different color than the messages being received. The system response will appear on the

following line.

7. To enter a different antenna height value, type $PSLIS,ILT,AHFT,# into blank box at bottom of RFP Sim

program (where # is the desired value for the antenna height) and click SEND. The new antenna height

setting will be set on the TM-1.

Note: All antenna height settings must be entered in feet.

For Example:

Type $PSLIS,ILT,AHFT,14 in the box and click SEND to set the antenna height at 14 feet.

Error Code Message

- Sensor Not Detected

0OK

1Too Slow

2 No GPS/GGA

3 No GPS/VTG

4 EEPROM

5 Over-Range

6 Bypassed

Chapter 3

12 TM-1 Tilt Module Installation & Reference Manual

8. To verify the new antenna height has been set, repeat step 6.

9. If the new antenna height value is displayed after completing step 8, the procedure is now complete. If the

new antenna height is not displayed, repeat step 7 and step 8.

10. Close the RFP Sim program and disconnect serial cable.

To re-calibrate the TM-1 for level ground using a computer:

1. Park on level ground.

2. Type the $PSLIS,ILT,NULL command into blank box at bottom of RFP Sim program and click SEND. This

will recalibrate the TM-1 sensor for level ground.

CHAPTER

Manual No. 016-0171-049 13

C hapter 4

Troubleshooting

Overview

The following information is provided to help diagnose suspected problems with the TM-1 Tilt Module.

Note: Read and follow the instructions in the following sections carefully before contacting customer

support. There are no user serviceable parts within the TM-1 Tilt Module. Verified hardware issues

with the TM-1 will require returning the unit to Raven Industries for repair.

Bypassing the TM-1

If an issue is experienced with the TM-1 in operation, bypass the Tilt Module by removing the DB-9 serial cable

connectors from the ‘GPS IN’ and ‘GPS OUT’ ports on the TM-1 and connecting these two connectors

together. If the problem persists, the TM-1 is operating correctly.

Chapter 4

14 TM-1 Tilt Module Installation & Reference Manual

Status Indicator

Before contacting a local Raven dealer for support, refer to the following table to help diagnose and correct

possible issues with TM-1 operation.

Note: The LED Status flash pattern consists of a set number of blinks, followed by a pause. The number

of blinks indicates the current status according to the following table.

Status

Indicator

Condition

Status

Corrections

Applied

Corrective Action

0 (Solid

Light)

Normal - OK Yes • Indicates valid GPS messages received while moving.

1 Low Speed No

• Ensure vehicle speed is above about 2 mph and VTG

messages are enabled.

2 No GPS/GGA No

• Ensure GPS receiver is outputting GGA messages.

• Ensure serial connector is installed on the GPS input.

• Ensure GPS receiver baud rate is between 9600 and 57600

baud.

3 No GPS/VTG No

• Ensure GPS receiver is outputting VTG message.

• Ensure serial connector is installed.

• Ensure GPS receiver baud rate is between 9600 and 57600

baud.

4 EEPROM No • Cycle power several times.

5 Over-range No

• Cycle power to unit.

• Zero Sensor Out.

6 Bypass No • Cycle power to unit.

CHAPTER

Manual No. 016-0171-049 15

C hapter 5

System Diagrams

The following diagrams may be helpful for installing or troubleshooting the installation of the TM-1 Tilt Module.

Additional system diagrams are available (free of charge) from the Raven Industries web site:

www.ravenhelp.com

Chapter 5

16 TM-1 Tilt Module Installation & Reference Manual

FIGURE 1. TM-1 with Cruizer

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