Raven RS1 Calibration & Operation Manual

P/N 016-4010-001 Rev. A 09/17 E29677

Raven RS1™ Guidance and

Steering Calibration &

Operation Manual

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

P/N 016-4010-001 Rev. A i

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

Hydraulic Safety ...........................................................................................................................................................2

Electrical Safety ............................................................................................................................................................2

Chapter 2 Introduction............................................................................................................. 3

Installation ......................................................................................................................................................................3

Recommendations .................................................................................................................................................................3

Point of Reference .......................................................................................................................................................4

Updates ...........................................................................................................................................................................4

Chapter 3 Calibration................................................................................................................ 7

Introduction ...................................................................................................................................................................7

RS1 Terms of Use ........................................................................................................................................................8

Calibrate the RS1 System .........................................................................................................................................8

GPS Only Calibration .............................................................................................................................................................9

GPS Calibration .................................................................................................................................................9

Terrain Compensation Calibration .........................................................................................................13

GPS and Steering Calibration ..........................................................................................................................................16

GPS Calibration ..............................................................................................................................................17

Terrain Compensation Calibration .........................................................................................................21

Resume/Disengage Calibration ..............................................................................................................24

Calibrate the Wheel Angle Sensor (WAS) ...........................................................................................24

Calibrate the Machine’s Steering System .......................................................................................................26

Chapter 4 Steering Home Screen ........................................................................................ 31

Chapter 5 Machine Settings.................................................................................................. 33

Chapter 6 Steering Setup....................................................................................................... 37

Advanced Tuning .....................................................................................................................................................37

Wheel Control Settings ..........................................................................................................................................39

Wheel Control Calibration ....................................................................................................................................40

Wheel Angle Sensor Settings ..............................................................................................................................43

Resume/Disengage Settings ................................................................................................................................44

Resetting Calibrated Gains ...................................................................................................................................45

Chapter 7 GPS Configuration ............................................................................................... 47

Configure GPS in the Viper 4/Viper 4+ ...........................................................................................................47

Configure GPS in the RS1 ......................................................................................................................................48

Table of Contents

ii Raven RS1™ Guidance and Steering Calibration & Operation Manual

Chapter 8 Feature Unlock Codes......................................................................................... 53

Chapter 9 Routine Operation............................................................................................... 55

Widget and Button Definitions ............................................................................................................................55

Starting a Job ..............................................................................................................................................................56

Engaging RS1 ..............................................................................................................................................................56

Updating RS1 ..............................................................................................................................................................56

Chapter 10 Diagnostics and Troubleshooting ................................................................... 57

Button Definitions .....................................................................................................................................................57

Steering Status ......................................................................................................................................................................57

Master Switch ................................................................................................................................................58

Resume Switch .............................................................................................................................................58

Disengage Sensor ........................................................................................................................................59

Wheel Angle Sensor ....................................................................................................................................59

Operator Presence Switch .........................................................................................................................59

GPS Status ...............................................................................................................................................................................60

Diagnostic Trouble Codes (DTC) .........................................................................................................................61

System Health Tests .................................................................................................................................................62

Step Response Test .............................................................................................................................................................64

Machine Test ..........................................................................................................................................................................65

Max Pulse Test ......................................................................................................................................................................67

System Information ..................................................................................................................................................68

Performance Monitor ..............................................................................................................................................71

Chapter 11 Slingshot ................................................................................................................ 73

Button Definitions .....................................................................................................................................................73

Cellular Modem ....................................................................................................................................................................73

Ethernet Status ......................................................................................................................................................................75

WiFi Status ..............................................................................................................................................................................76

Slingshot and RTK Status ..................................................................................................................................................76

Field Updates ..............................................................................................................................................................78

System Settings ..........................................................................................................................................................80

Cellular Settings ....................................................................................................................................................................80

Ethernet Settings ..................................................................................................................................................................82

WiFi Settings ..........................................................................................................................................................................82

RTK Source Settings ............................................................................................................................................................83

Feature Unlocks ....................................................................................................................................................................83

System Information ..................................................................................................................................................85

Diagnostic Trouble Codes (DTC) .........................................................................................................................87

Chapter 12 System Diagrams ................................................................................................. 89

CHAPTER

1

P/N 016-4010-001 Rev. A 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 Raven RS1™ guidance and steering 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 RS1 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 RS1, observe the following safety measures:

• Be alert and aware of surroundings.

• Do not operate RS1 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 RS1 is engaged.

• Disable RS1 when exiting the operator’s seat and machine.

• Do not drive the machine with RS1 enabled on any public road.

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

RS1 when the safe working distance has diminished.

• Ensure RS1 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 RS1, 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 RS1 installation or maintenance.

NOTICE

WARNING

CAUTION

CHAPTER 1

2 Raven RS1™ Guidance and Steering Calibration & Operation Manual

HYDRAULIC SAFETY

• Raven Industries recommends that appropriate protective equipment be worn at all times when working on the

hydraulic system.

• Never attempt to open or work on a hydraulic system with the equipment running. Care should always be

taken when opening a system that has been previously pressurized.

• When disconnecting the hydraulic hoses or purging is required, be aware that the hydraulic fluid may be

extremely hot and under high pressure. Caution must be exercised.

• Any work performed on the hydraulic system must be done in accordance with the machine manufacturer’s

approved maintenance instructions.

• When installing RS1 hydraulics or performing diagnostics, maintenance, or routine service, ensure that

precautions are taken to prevent any foreign material or contaminants from being introduced into the

machine’s hydraulic system. Objects or materials that are able to bypass the machine’s hydraulic filtration

system will reduce performance and possibly damage the RS1 valve.

ELECTRICAL SAFETY

• Always verify that the power leads are connected to the correct polarity as marked. Reversing the power leads

could cause severe damage to the equipment.

• Ensure that the power cable is the last cable to be connected.

CHAPTER

2

P/N 016-4010-001 Rev. A 3

CHAPTER 2

INTRODUCTION

Congratulations on your purchase of the Raven RS1 system! This system is designed to provide cutting-edge,

hands-free steering of the machine via Global Positioning System (GPS) coordinates.

The instructions in this manual are designed to assist in the proper calibration and operation of the RS1 system

when used with the Viper 4 or CR7 series field computers.

IMPORTANT: Installation of the RS1 system must be completed before calibrating the system. If you have questions

regarding the installation of the RS1 system, refer to the machine-specific RS1 Installation Manual provided

with the installation kit.

IMPORTANT: The Raven field computer must be calibrated specifically for the vehicle before being used to operate the

RS1 system. For questions about the field computer, refer to the Installation & Operation Manual provided

with the field computer.

INSTALLATION

RECOMMENDATIONS

Before installing the RS1 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 RS1 system for the first

time, at the start of the season, or when moving the RS1 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.) .

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

4 Raven RS1™ Guidance and Steering Calibration & Operation Manual

POINT OF REFERENCE

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

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

-Raven RS1™ Guidance and Steering Calibration & Operation Manual

-P/N 016-4010-001 Rev. A

-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.

2

P/N 016-4010-001 Rev. A 5

INTRODUCTION

CHAPTER 2

6 Raven RS1™ Guidance and Steering Calibration & Operation Manual

CHAPTER

3

P/N 016-4010-001 Rev. A 7

CHAPTER 3

CALIBRATION

INTRODUCTION

FIGURE 1. Home Screen

The RS1 unit contains two sets of software loaded into the Universal Terminal on the field computer.

• Guidance and Steering - Allows the steering and GPS settings within the RS1 unit to be calibrated and

modified.

• Slingshot - Allows the cellular, Ethernet, and WiFi settings within the RS1 unit to be modified.

Raven Guidance

and Steering

Working Set Icon

Slingshot

Working Set Icon

Guidance and Steering Software

Home Screen

Slingshot Software

Home Screen

CHAPTER 3

8 Raven RS1™ Guidance and Steering Calibration & Operation Manual

RS1 TERMS OF USE

FIGURE 2. Operator Liability Screen

Read and accept the Operator Liability Warning. If the operator does not accept liability, the RS1 system will

disable and cannot be reengaged until the liability warning is accepted. The Operator Liability Warning screen will

appear each time a steering partner is registered with the RS1.

CALIBRATE THE RS1 SYSTEM

NOTE: The RS1 system can be used for GPS guidance only or for GPS guidance and auto-steering. This

section explains the calibration procedure for both GPS guidance only and GPS guidance and auto-

steering.

FIGURE 3. Home Screen

NOTE: The calibration wizard will be displayed the first time the RS1 module is accessed after installation or

any time the Reset RS1 option is selected. Refer to Resetting Calibrated Gains section on page 45 for

additional information about resetting the RS1 system.

1. Park the machine on a level surface.

2. Select the Guidance and Steering working set icon on the RS1 Home screen.

P/N 016-4010-001 Rev. A 9

CALIBRATION

GPS ONLY CALIBRATION

NOTE: The System Information, DTC, and Machine Test screens can be viewed during calibration. For further

information on these settings, refer to the following sections of this manual:

• “System Information” on page 68

• “Diagnostic Trouble Codes (DTC)” on page 61

GPS CALIBRATION

NOTE: The system information for the RS1 can be viewed during calibration by pressing the System

Information icon. To view the Diagnostic Trouble Codes (DTC), press the Alarm icon.

FIGURE 4. Machine Selection Screen

1. Select the Machine Type, Machine Make, and Machine Model from the Machine Selection drop-down boxes.

FIGURE 5. GPS Only Configuration Button

2. Select GPS Only Configuration to begin the calibration process.

System

Information

Alarm

CHAPTER 3

10 Raven RS1™ Guidance and Steering Calibration & Operation Manual

FIGURE 6. Antenna Fore/Aft Screen

3. Select the value box to enter the Antenna Fore/Aft position.

NOTE: The Antenna Fore/Aft position is calculated by measuring from the rear axle of the machine to the

middle of the RS1 unit. A negative value should be entered if the RS1 unit is located behind the rear

axle.

4. Select the Next arrow.

FIGURE 7. Antenna Center Offset Screen

5. Select the value box to enter the Antenna Center Offset position.

NOTE: The Antenna Center Offset position is calculated by measuring from the center of the machine to the

center of the RS1 unit. A negative value should be entered if the RS1 unit is located to the left of the

machine’s center line.

6. Select the Next arrow.

P/N 016-4010-001 Rev. A 11

CALIBRATION

FIGURE 8. Antenna Height Screen

7. Select the value box to enter the Antenna Height.

NOTE: The Antenna Height is calculated by measuring from the ground to the center of the RS1 unit.

8. Select the Next arrow.

FIGURE 9. Wheel Base Screen

9. Select the value box to enter the Wheel Base.

NOTE: The Wheel Base is calculated by measuring from the center of the front tire to the center of the rear

tire on both sides of the machine. Add these measurements together and then divide by 2 to get the

average Wheel Base value.

10. Select the Next arrow.

CHAPTER 3

12 Raven RS1™ Guidance and Steering Calibration & Operation Manual

FIGURE 10. GPS Differential Configuration Screen

11. Select the appropriate GPS Differential Configuration from the drop-down box:

•GL1DE

•SBAS

•Satellite GS

•RTK

NOTE: Depending on the number of feature unlocks purchased, all options may not be available for

selection in the drop-down box. Contact your local Raven dealer to purchase additional unlock codes.

12. Select the Next arrow.

FIGURE 11. Position Accuracy Screen

13. Enter the desired Accuracy Threshold.

NOTE: The Accuracy Threshold will be populated with a default value that can be changed during the

calibration process. If the GPS solution falls outside the set Accuracy Threshold, a diagnostic trouble

code (DTC) will be recorded in the Diagnostic Trouble Codes screen.

14. Select the Next arrow.

P/N 016-4010-001 Rev. A 13

CALIBRATION

TERRAIN COMPENSATION CALIBRATION

FIGURE 12. Terrain Compensation Calibration Wizard

1. Drive the machine forward 33 feet and park on a flat surface.

NOTE: The machine must detect a forward motion prior to calibration to determine which direction is

forward.

FIGURE 13. Terrain Compensation Calibration Wizard

2. Follow the on-screen instructions to begin the calibration process.

3. Select Next.

CHAPTER 3

14 Raven RS1™ Guidance and Steering Calibration & Operation Manual

FIGURE 14. Machine’s Rear Axle Marked Before Terrain Comp Calibration

4. Place flags or markers on the outside of each wheel of the fixed axle of the machine.

• Rear axle - Front boom sprayers, rear boom sprayers, and front-steered machines

• Front axle - Articulated tractors, rear-steered machines, and windrowers

• Center of track - Tracks

FIGURE 15. Terrain Compensation Calibration Wizard

5. Select Calibrate to begin the calibration process. The following screen will appear:

FIGURE 16. Terrain Comp Calibration Screen

P/N 016-4010-001 Rev. A 15

CALIBRATION

6. Wait for the calibration process to be completed before moving the vehicle.

FIGURE 17. Machine Orientation After Terrain Comp Calibration

7. Turn the machine around 180° and park with the machine facing the opposite direction and the fixed axle in

between the flags or markers.

FIGURE 18. Terrain Comp Calibration Screen

8. Select Calibrate. Once the calibration is complete the following screen will appear.

FIGURE 19. Finish Calibration

9. Select the Next arrow. The Calibration Wizard Summary will appear:

CHAPTER 3

16 Raven RS1™ Guidance and Steering Calibration & Operation Manual

FIGURE 20. Calibration Complete

10. Select the Accept arrow to complete the calibration process. Once calibration is complete, the following screen

will appear:

FIGURE 21. GPS Only Home Screen

GPS AND STEERING CALIBRATION

NOTE: The System Information, DTC, and Machine Test screens can be viewed during calibration. For further

information on these settings, refer to the following sections of this manual:

• “System Information” on page 68

• “Diagnostic Trouble Codes (DTC)” on page 61

• “Machine Test” on page 65

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Raven RS1 Calibration & Operation Manual

Raven RS1 Calibration & Operation Manual

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