Raven RS1 Calibration And Operation Manual

Raven RS1™ Calibration

and Operation Manual

016-4010-001 Rev. E 10/2019 E34021

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

016-4010-001 Rev. E i

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

Hydraulic .........................................................................................................................................................................2

General .....................................................................................................................................................................2

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

Electrical ..........................................................................................................................................................................3

General .....................................................................................................................................................................3

Instructions for Wire Routing ..........................................................................................................................3

Chapter 2 Introduction............................................................................................................. 7

System Specifications ................................................................................................................................................7

RS1 Electrical Rating ...........................................................................................................................................7

Installation Best Practices .........................................................................................................................................7

Recommendations ...............................................................................................................................................8

Point of Reference ...............................................................................................................................................8

Updates ...........................................................................................................................................................................8

Chapter 3 Calibration - HDU-Specific, MD, and Steering-Ready................................... 9

Introduction ...................................................................................................................................................................9

RS1 Terms of Use ...................................................................................................................................................... 10

GPS and Steering Calibration .............................................................................................................................. 10

GPS Calibration .................................................................................................................................................. 10

Terrain Compensation Calibration ......................................................................................................... 14

Steering Calibration ................................................................................................................................................. 17

Resume/Disengage Calibration ................................................................................................................... 17

Calibrate the Wheel Angle Sensor (WAS) ........................................................................................... 18

Calibrate the Machine’s Steering System ........................................................................................................ 20

Chapter 4 Steering Home Screen......................................................................................... 23

Chapter 5 Machine Settings.................................................................................................. 25

Chapter 6 Steering Setup....................................................................................................... 27

Advanced Tuning ..................................................................................................................................................... 27

Wheel Control Settings .......................................................................................................................................... 29

Wheel Control Calibration .................................................................................................................................... 30

Wheel Angle Sensor Settings .............................................................................................................................. 33

Disengage Settings .................................................................................................................................................. 34

Resetting Calibrated Gains ................................................................................................................................... 35

Chapter 7 GPS Configuration ............................................................................................... 37

Configure GPS in the Viper 4/Viper 4+ ........................................................................................................... 37

Configure GPS ........................................................................................................................................................... 38

Table of Contents

ii Raven RS1™ Calibration and Operation Manual

Chapter 8 Feature Unlock Codes......................................................................................... 43

Chapter 9 Routine Operation ............................................................................................... 45

Widget Definitions ....................................................................................................................................................45

UT Navigation Buttons ....................................................................................................................................46

Starting a Job ..............................................................................................................................................................46

Engaging RS1 ......................................................................................................................................................46

Updating RS1 ..............................................................................................................................................................47

Chapter 10 Diagnostics and Troubleshooting.................................................................... 49

Button Definitions .....................................................................................................................................................49

Steering Status ....................................................................................................................................................49

Master Switch ..................................................................................................................................................50

Resume Switch ...............................................................................................................................................50

Disengage Sensor ..........................................................................................................................................51

Wheel Angle Sensor .....................................................................................................................................51

Operator Presence Switch ..........................................................................................................................51

GPS Status ............................................................................................................................................................52

Diagnostic Trouble Codes (DTC) ..........................................................................................................................53

System Health Tests ..................................................................................................................................................56

Step Response Test ...........................................................................................................................................58

System Information ..................................................................................................................................................60

Performance Monitor ..............................................................................................................................................63

Chapter 11 Slingshot ................................................................................................................ 65

Button Definitions .....................................................................................................................................................66

Cellular Modem ..................................................................................................................................................66

Cellular Status .................................................................................................................................................67

Ethernet Status ....................................................................................................................................................68

WiFi Status ............................................................................................................................................................69

Slingshot and RTK Status ................................................................................................................................70

Field Updates ..............................................................................................................................................................71

Remote Diagnostics .................................................................................................................................................73

System Settings ..........................................................................................................................................................74

Cellular Settings .................................................................................................................................................74

Ethernet Settings ................................................................................................................................................76

WiFi Settings ........................................................................................................................................................76

Manual Client ..................................................................................................................................................77

Manual HotSpot .............................................................................................................................................77

Raven Auto .......................................................................................................................................................77

RTK Source Settings ..........................................................................................................................................78

Feature Unlocks ..................................................................................................................................................79

System Information ..................................................................................................................................................80

Diagnostic Trouble Codes (DTC) ..........................................................................................................................82

Table of Contents

016-4010-001 Rev. E iii

Chapter 12 System Diagrams.................................................................................................. 83

Chapter 13 Roadway Homologation..................................................................................... 87

Certification ................................................................................................................................................................ 88

Safety Notes ........................................................................................................................................................ 88

Table of Contents

iv Raven RS1™ Calibration and Operation Manual

CHAPTER

1

016-4010-001 Rev. E 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

CHAPTER 1

2 Raven RS1™ Calibration and Operation Manual

HYDRAULIC

GENERAL

• 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 SmarTrax 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 SmarTrax hydraulic valve.

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

CAUTION

016-4010-001 Rev. E 3

IMPORTANT SAFETY INFORMATION

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 SmarTrax 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

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

ELECTRICAL

GENERAL

• 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.

• A minimum of 12 VDC is required for system operation with a maximum of 15 VDC.

INSTRUCTIONS FOR WIRE ROUTING

The word “harness” is used to mean all electrical leads and cables, bundled and unbundled. When installing

harness, secure it at least every 30 cm (12in) to the frame. Follow existing harness as much as possible and use

these guidelines:

Harness should not contact or be attached to:

• Lines and hoses with high vibration forces or pressure spikes

• Lines and hoses carrying hot fluids beyond harness 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

CHAPTER 1

4 Raven RS1™ Calibration and Operation Manual

• Ends of adjustable hose clamps

• Wire exiting conduit without protection, either ends or side of conduit

• Hose and tube fittings

Routing should not allow harnesses 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 harness components

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

specifications

Harnessing 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 SmarTrax and suspension systems

• Moving linkages, cylinders, articulation joints, attachments

• Ground engaging components

For harness 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 harnesses securely to force controlled movement to occur in the desired harness section

• Avoid sharp twisting or flexing of harnesses in short distances

• Connectors and splices should not be located in harness sections that move

Protect harnesses 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

IMPORTANT:

• Avoid directly spraying electrical components and connections with high pressure water.

High pressure water sprays can penetrate seals and cause electrical components to corrode

or otherwise become damaged. When performing maintenance:

• Inspect all electrical components and connections for damage or corrosion. Repair or replace

components, connections, or cable as necessary.

• Ensure connections are clean, dry, and not damaged. Repair or replace components,

connections, or cable as necessary.

• Clean components or connections using low pressure water, pressurized air, or an aerosol

electrical component cleaning agent.

016-4010-001 Rev. E 5

IMPORTANT SAFETY INFORMATION

• Remove visible surface water from components, connections, or seals using pressurized air

or an aerosol electrical component cleaning agent. allow components to dry completely

before reconnecting cables.

CHAPTER 1

6 Raven RS1™ Calibration and Operation Manual

CHAPTER

2

016-4010-001 Rev. E 7

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.

NOTE: Installation of the RS1 system must be completed before calibrating the system. Refer to the machine-

specific RS1 Installation Manual for assistance with installation of the RS1 system.

The Raven field computer must be calibrated specifically for the equipment before being used to

operate the RS1 system. Refer to the Operation Manual for the field computer used to operate the

RS1 system.

Installation and Operation Manuals for Raven systems can be downloaded from the Raven website:

https://portal.ravenprecision.com/

SYSTEM SPECIFICATIONS

RS1 ELECTRICAL RATING

The specifications below are specific to the RS1 system:

INSTALLATION BEST PRACTICES

Current Rating Voltage Range

6 Amps 8 - 24 Volts

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

8 Raven RS1™ Calibration and Operation Manual

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.).

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™ Calibration and Operation Manual

-016-4010-001 Rev. E

-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

016-4010-001 Rev. E 9

CHAPTER 3

CALIBRATION - HDU-SPECIFIC,

MD, AND STEERING-READY

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

10 Raven RS1™ Calibration and 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.

GPS AND STEERING CALIBRATION

NOTE: The System Information, diagnostic trouble codes (DTCs), 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 60

• “Diagnostic Trouble Codes (DTC)” on page 53

• “System Information” on page 60

GPS CALIBRATION

FIGURE 3. Machine Selection Screen

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

System

Information

DTC

Machine Test

016-4010-001 Rev. E 11

CALIBRATION - HDU-SPECIFIC, MD, AND STEERING-READY

FIGURE 4. Steering Configuration Screen

2. Verify that the correct steering controller partner has been identified:

• OEM TECU (tractor’s electronic control unit)

• Sauer Danfoss CL/CLS Valve

•SmarTrax MD

•SmarTrax HD Analog

• S m a r T r a x H D P W M

3. Select the Next arrow.

FIGURE 5. Antenna Fore/Aft Screen

4. 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. Enter a negative value if the RS1 unit is located behind the rear axle.

5. Select the Next arrow.

CHAPTER 3

12 Raven RS1™ Calibration and Operation Manual

FIGURE 6. Antenna Center Offset Screen

6. 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. Enter a negative value if the RS1 unit is located to the left of the machine’s

center line.

7. Select the Next arrow.

FIGURE 7. Antenna Height Screen

8. 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.

9. Select the Next arrow.

016-4010-001 Rev. E 13

CALIBRATION - HDU-SPECIFIC, MD, AND STEERING-READY

FIGURE 8. Wheel Base Screen

10. 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 two to get

the average Wheel Base value.

11. Select the Next arrow.

FIGURE 9. GPS Differential Configuration Screen

12. Select the appropriate GPS Differential Source 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.

13. Select the Next arrow.

CHAPTER 3

14 Raven RS1™ Calibration and Operation Manual

FIGURE 10. Position Accuracy Screen

14. Select the Next arrow.

TERRAIN COMPENSATION CALIBRATION

FIGURE 11. Terrain Compensation Calibration Wizard

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

NOTE: The system must detect a converged GPS status with a green shield and a forward motion prior to

calibration to determine which direction is forward.

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Raven RS1 Calibration And Operation Manual

Raven RS1 Calibration And Operation Manual

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