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Raven New Holland AutoBoom XRT Calibration & Operation Manual

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New Holland
AutoBoom XRT
Calibration & Operation
Manual
016-0235-010 Rev. B
1/2020
E34337
Copyright 2019, 2020

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Summary of Contents for Raven New Holland AutoBoom XRT

  • Page 1 New Holland AutoBoom XRT Calibration & Operation Manual 016-0235-010 Rev. B 1/2020 E34337 Copyright 2019, 2020...
  • Page 2 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.

  • Page 3: Table Of Contents

    Target Height Settings ............................9 Target Type ................................9 Manual/Auto ................................9 Sensor Reading ..............................10 AutoBoom XRT Operation on Raven Operating Software (ROS) ............10 Run Screen Operation ............................. 10 UT Operation ...............................11 AutoFold Operation ..............................12 AutoFold Out to Spray Position ........................
  • Page 4 Target Position Test ............................63 Target Height Test ..............................64 Terrain Compensation Test ..........................64 Manual Valve Control Test ..........................65 Variable Damper Test ............................66 Diagnostic Trouble Codes ............................67 REM LED Codes ................................69 System Summary ...............................70 New Holland AutoBoom XRT Calibration & Operation Manual...
  • Page 5 Table of Contents Totals ..................................... 71 016-0235-010 Rev. B...
  • Page 6 Table of Contents New Holland AutoBoom XRT Calibration & Operation Manual...

  • Page 7: Chapter 1 Important Information

    • Do not operate this Raven system or any agricultural equipment while under the influence of alcohol or an illegal substance. • Be alert and aware of surroundings and remain in the operator seat at all times when operating this Raven system.

  • Page 8: Hydraulic Safety

    • Do not connect the power leads to the battery until all system components are mounted and all electrical connections are completed. • Always start the machine before initializing this Raven system to prevent power surges or peak voltage. • To avoid tripping and entanglement hazards, route cables and harnesses away from walkways, steps, grab bars, and other areas used by the operator or service personnel when operating or servicing the equipment.

  • Page 9: Recommendations And Best Practices

    The word “hose” is used to describe any flexible, fluid carrying components. Use the following guidelines and recommendations when connecting and routing hoses while installing or maintaining this Raven system: • Leave protective caps/covers over hose ends until connecting the end into the hydraulic system to help prevent contaminants from entering the system.
  • Page 10 CHAPTER 1 New Holland AutoBoom XRT Calibration & Operation Manual...

  • Page 11: Introduction

    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: •...

  • Page 12: 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.

  • Page 13: Chapter 3 Autoboom Xrt Home Screen And Operation

    A UTOBOOM XRT HOME CHAPTER C H A P T E R 3 SCREEN AND OPERATION HOME SCREEN AutoBoom XRT is a UT based application. To access AutoBoom XRT screens: 1. Press the UT icon. FIGURE 1. Home Screen Home Settings Diagnostics Totals...

  • Page 14: Xrt Home Screen Operation

    The Master Switch status will automatically toggle On after completing an AutoFold Out cycle to the spray position. The status will automatically toggle to Off when AutoFold begins to fold booms to the transport position. New Holland AutoBoom XRT Calibration & Operation Manual...

  • Page 15: Sensitivity Settings

    AUTOBOOM XRT HOME SCREEN AND OPERATION 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.

  • Page 16: Sensor Reading

    1. Press the desired boom on the XRT widget to enable or disable AutoBoom XRT. 2. Press and hold the desired widget to open additional boom information. Pressing and holding also allows the user to turn on or off the master switch. New Holland AutoBoom XRT Calibration & Operation Manual...

  • Page 17: Ut Operation

    AUTOBOOM XRT HOME SCREEN AND OPERATION FIGURE 6. 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 7.

  • Page 18: Autofold Operation

    AUTOFOLD IN TO TRANSPORT POSITION 1. Press and hold the brake pedal. 2. Press and hold the AutoFold button on the armrest for approximately 2 seconds until the button color changes to green. New Holland AutoBoom XRT Calibration & Operation Manual...
  • Page 19 AUTOBOOM XRT HOME SCREEN AND OPERATION FIGURE 9. AutoFold Button on Armrest Green = Folding NOTE: The green color indicates that AutoFold is trying to fold to transport position. 3. Release the AutoFold button but continue to hold the brake pedal for the duration of the fold cycle. NOTE: Release the brake pedal at any time to abort the AutoFold cycle.
  • Page 20 HAPTER New Holland AutoBoom XRT Calibration & Operation Manual...

  • Page 21: Chapter 4 Calibration

    C ALIBRATION CHAPTER C H A P T E R 4 FIRST TIME CONFIGURATION NOTE: Depending upon configuration settings and installed unlocks, the following steps may vary. After installing the XRT system: 1. Park the machine on a level surface. 2.
  • Page 22 Many of the next screens will populate with default settings based on the machine configuration selected earlier. FIGURE 3. ABM Orientation 7. If required, press the Location button to rotate the machine view on the ABM Orientation screen. New Holland AutoBoom XRT Calibration & Operation Manual...
  • Page 23 CALIBRATION 8. Press Next. 9. Verify the machine is parked on a level surface. FIGURE 4. Terrain Compensation Setup 10. Press Calibrate Terrain Compensation. 11. After terrain calibration compensation is complete, press Next. NOTE: If the AutoFold feature is unlocked and calibrated, the following steps will have been completed during the AutoFold calibration.
  • Page 24 18. Verify the IMU orientation on the machine matches the image on the IMU Orientation page. If needed, press the rotate buttons on the right side of the tab to adjust the orientation. New Holland AutoBoom XRT Calibration & Operation Manual...
  • Page 25 CALIBRATION FIGURE 8. IMU Orientation 19. If required, press the Location button to rotate the machine view on the ECU Orientation screen. 20. Press Next. 21. Verify the machine is parked on a level surface FIGURE 9. Center Rack Angle Setup 22.Press Calibrate Center Rack Angle.
  • Page 26 29. Press Next. FIGURE 11. Height Sensor Setup - Set Booms Parallel 30. Raise the left boom until there is at least a 40 in. [101.6 cm] change in height. 31. Press Next. New Holland AutoBoom XRT Calibration & Operation Manual...
  • Page 27 CALIBRATION FIGURE 12. Height Sensor Setup - Raise Left Boom 32.Raise the right boom until there is at least a 40 in. [101.6 cm] change in height. 33. Press Next. FIGURE 13. Height Sensor Setup - Raise Right Boom 34.Raise the center rack and set the booms level. NOTE: The boom will move on its own for the next few steps.
  • Page 28 41. The XRT Home Screen will be displayed. NOTE: If features are not visible on the XRT Home Screen, it means those features are locked. To unlock these features, follow the directions in Chapter 6, Feature Unlock Codes. New Holland AutoBoom XRT Calibration & Operation Manual...

  • Page 29: Chapter 5 Settings

    S ETTINGS CHAPTER C H A P T E R 5 BOOM SPEED SETTINGS The boom response to a manual button press may be set in the New Holland armrest display. 1. Navigate to the "Boom Speeds" page of the New Holland armrest display. FIGURE 1.

  • Page 30: Machine Settings

    Make small adjustments to the base duty cycle to reduce this risk. MACHINE SETTINGS FIGURE 3. Machine Settings New Holland AutoBoom XRT Calibration & Operation Manual...

  • Page 31: Boom Configurations

    SETTINGS BOOM CONFIGURATIONS The boom configurations screen allows the user to adjust the Center Rack Width, enable or disable Center Rack Control, and enable or disable the variable damper system. If the Center Rack Control check box is blank, the system will not automatically raise or lower the center rack based upon height sensor readings.
  • Page 32 AutoBoom XRT Main screen with large Auto/Manual toggle buttons. This can help the operator more easily confirm whether a boom fold section is engaged or not during AutoBoom operation. FIGURE 7. Toggle Auto/Manual 6. After all the Selected Readouts are configured, press Done. New Holland AutoBoom XRT Calibration & Operation Manual...

  • Page 33: Height Sensor Configuration

    SETTINGS HEIGHT SENSOR CONFIGURATION The Height Sensor Configuration page allows the user to change the sensor Offset, review software information, or select Sensor Enable. This page also allows the user to swap the sensors by pressing the Sensor Swap button and update sensor software by touching the Height Sensor Update button.
  • Page 34 Press swap sensors to open the Height Sensor Swap screen. After physically swapping sensors on the machine, select the two sensors that were swapped. Once both are selected, touch the Swap button. FIGURE 10. Swap Sensors Swap New Holland AutoBoom XRT Calibration & Operation Manual...

  • Page 35: Presets Configurations

    SETTINGS PRESETS CONFIGURATIONS The Presets Configuration page allows the user to select the desired Preset Mode, select the number of Taps to enable the mode, and also select if using the joystick will enable the mode. Boom control switches can be configured to perform certain functions depending on the number of joystick presses.

  • Page 36: Boom Tuning

    Make, Model, and Boom Width. Refer to Chapter 6, AutoBoom XRT Advanced Tuning for additional information on these settings. FIGURE 12. Boom Tuning Screens New Holland AutoBoom XRT Calibration & Operation Manual...

  • Page 37: Fold Tuning

    SETTINGS FOLD TUNING NOTE: The following settings may also be configured through the New Holland armrest display. Refer to the Boom Speed Settings section on page 23 for assistance with using the armrest display to configure these values. Fold Tuning displays fold settings based on machine configuration (Make, Model, Boom Width) options selected during initial calibration.

  • Page 38: Calibrations

    2. If all sensors are detected, touch the Next button to continue. FIGURE 15. Height Sensor Setup - Sensor Indexing 3. Unfold the boom and set the booms to level and less than 8 ft. [2.4 m] above ground. New Holland AutoBoom XRT Calibration & Operation Manual...
  • Page 39 SETTINGS 4. When both booms are unfolded and level, touch the Next button to continue. FIGURE 16. Height Sensor Setup - Set Booms Parallel 5. Raise the left boom. 6. When all sensors on the left boom have been raised above 8 ft. [2.4 m], the Next button will be displayed. Touch the Next button to continue.
  • Page 40 FIGURE 18. Height Sensor Setup - Raise Right Boom 9. The location and offsets for each sensor are displayed on a summary page. This completes the calibration. FIGURE 19. Height Sensor Setup - Summary Page Display New Holland AutoBoom XRT Calibration & Operation Manual...
  • Page 41 SETTINGS BASE CONTROL EFFORT CALIBRATION Press the Base Control Effort Calibration button to recalibrate the pressure required to hold the booms level and stationary. This will update the Duty Cycle required to keep the booms level. FIGURE 20. Base Control Effort Calibration 1.
  • Page 42 2. Press Next. FIGURE 22. Height Sensor Setup - Set Booms Parallel 3. Raise the left boom until there is at least a 40 in. [101.6 cm] change in height. 4. Press Next. New Holland AutoBoom XRT Calibration & Operation Manual...
  • Page 43 SETTINGS FIGURE 23. Height Sensor Setup - Raise Left Boom 5. Raise the right boom until there is at least a 40 in. [101.6 cm] change in height. 6. Press Next. FIGURE 24. Height Sensor Setup - Raise Right Boom AUTOBOOM FOLD CALIBRATION The AutoBoom Fold Calibration allows the user to update the primary boom fold (Yaw) sensor calibration.
  • Page 44 5. Touch the Next button to complete the fold calibration. FIGURE 26. Vertical Center Sensor Calibration - Set to Spray Position 6. Unfold the booms and lower the center rack. 7. Touch the Next button to continue the fold calibration. New Holland AutoBoom XRT Calibration & Operation Manual...
  • Page 45 SETTINGS AUTOFOLD CALIBRATION AutoFold Calibration recalibrates the sensors used for performing automatic folding operations. This should be performed if sensors have been adjusted/replaced, or if AutoFold is not completing an AutoFold IN or AutoFold OUT sequence. 1. Fold the boom and lower the booms completely into the cradle. FIGURE 27.
  • Page 46 The booms may be raised up to complete this step. FIGURE 30. Fold Tips Out Mono-Boom Truss Boom 5. Raise the center rack to the maximum height and tilt the booms up to the full travel extent. New Holland AutoBoom XRT Calibration & Operation Manual...
  • Page 47 SETTINGS FIGURE 31. Raise Center Rack and Booms 6. If calibrating a machine with a mono-boom, fold the tips in. Proceed to the next step if calibrating a machine with a truss boom structure. FIGURE 32. Fold Tips In - Mono-booms Only 7.
  • Page 48 FIGURE 34. Set Booms and Center Rack to Spray Position RESET TO DEFAULTS Selecting Reset to Defaults allows the user to reset AutoBoom XRT to factory default settings. 1. Press the Reset to Defaults button. New Holland AutoBoom XRT Calibration & Operation Manual...

  • Page 49: Ecu Orientation

    SETTINGS 2. Select from the drop-down list the reason for resetting to defaults. FIGURE 35. Reason for Reset to Defaults NOTE: Unlocks will not be erased during the reset. ECU ORIENTATION The ECU Orientation window displays the current orientation. To update the orientation, perform a Terrain Compensation Calibration: FIGURE 36.

  • Page 50: Alarm Settings

    The Unlocks tab displays a green padlock next to features that are already unlocked. A red padlock is displayed next to features that are not unlocked. A feature unlock code is required to activate additional AutoBoom XRT features. Contact your local Raven dealer to purchase feature unlock codes.
  • Page 51 SETTINGS To enter a feature unlock code and enable a feature: 1. Select Settings on the XRT home screen. 2. Select the Unlocks tab. 3. Select the padlock icon next to the feature to be unlocked. 4. Enter the feature unlock code. NOTE: Dashes may be omitted, letters may be entered in either upper or lower case.
  • Page 52 HAPTER New Holland AutoBoom XRT Calibration & Operation Manual...

  • Page 53: Autoboom Xrt Advanced Tuning

    A UTOBOOM XRT ADVANCED CHAPTER C H A P T E R 6 TUNING PREPARATION SENSOR DIMENSIONS Verify the system dimensions are entered correctly for height sensor offsets and center rack width. BOOM ANGLE SENSOR Ensure the automated calibration sequence is performed over flat ground. If the sensor dimensions were updated, re-perform the boom angle sensor calibration.

  • Page 54: Boom Speed To Control Effort Scale

    9. If the boom moved faster than the desired 2° per second, decrease the Boom Speed to control effort value. If the boom moved slower than the desired 2° per second, increase the Boom Speed to control effort value. New Holland AutoBoom XRT Calibration & Operation Manual...
  • Page 55 AUTOBOOM XRT ADVANCED TUNING FIGURE 2. Target Velocity Test Results 10. Repeat step 3 through step 9 until the speed matches the target velocity (+/- 20%). 11. Repeat step 3 through step 10 for the other boom. NOTE: Test results are affected by solenoid coil temperature. Perform the tests three or more times in rapid succession for best results.

  • Page 56: Down Speed Ratio

    9. If the boom moved faster than the desired 2° per second, decrease the Down Speed Ratio. If the boom moved slower than the desired 2° per second, increase the Down Speed Ratio value. New Holland AutoBoom XRT Calibration & Operation Manual...

  • Page 57: Boom Gains

    AUTOBOOM XRT ADVANCED TUNING FIGURE 4. Down Speed Ratio Test Results 10. Repeat step 3 through step 9 until the speed matches the target velocity (+/- 20%). 11. Repeat step 3 through step 10 for the other boom. NOTE: Test results are affected by coil temperature. Perform the tests three or more times in rapid succession for best results.

  • Page 58: Derivative Gain

    SYSTEM GAIN System Gain (S-Gain) makes the complete system more or less responsive. This is equivalent to the Sensitivity value on the XRT home screen. New Holland AutoBoom XRT Calibration & Operation Manual...

  • Page 59: Diagnostics And Troubleshooting

    D IAGNOSTICS AND CHAPTER C H A P T E R 7 TROUBLESHOOTING SYSTEM INFORMATION To access System Information: 1. Select the Diagnostics icon. 2. Select the System Information tab. BOOM OUTPUTS The Boom Outputs page displays the Base PWM (%), Blocker (status), and Control Effort (%). FIGURE 1.

  • Page 60: Boom Readings

    Voltage and angular position should change smoothly through the range of movement. Angular Position should be close to zero when the boom section is horizontal. FIGURE 3. Boom Readings New Holland AutoBoom XRT Calibration & Operation Manual...

  • Page 61: Can Bus Information

    DIAGNOSTICS AND TROUBLESHOOTING CAN BUS INFORMATION The CAN Bus Information page displays information about CAN system. FIGURE 4. CAN Bus Information FOLD CONTROLS FIGURE 5. Fold Controls Manually control each section of the boom. NOTE: Depending upon your machine’s configuration, not all sections may be available to control on this page and some displayed sections may not be controlled via the displayed buttons.

  • Page 62: Fold Sensor Readings

    Displays the voltage reading for each fold joint. If AutoFold is unlocked a percent position is also displayed. 0% is fully folded and 100% is fully unfolded. FIGURE 6. Fold Sensor Readings HARDWARE/SOFTWARE (ABM) Displays the AutoBoom hardware and software number and versions. FIGURE 7. Hardware/Software (ABM) New Holland AutoBoom XRT Calibration & Operation Manual...

  • Page 63: Hardware/Software (Imu)

    HARDWARE/SOFTWARE (IMU) Displays the IMU hardware and software number and versions. FIGURE 8. Hardware/Software (IMU) HARDWARE/SOFTWARE (REM) The Hardware/Software (REM) displays the hardware and software number and version for the Raven Expansion Module (REM). FIGURE 9. Hardware/Software (REM) 016-0235-010 Rev. B...

  • Page 64: Height Sensor Readings

    Flashing Yellow at 1 Hz detected ABM detected, but not indexed Flashing Pink at 1 Hz Sensor has been indexed Flashing Green at 1 Hz Boom with sensor is enabled Flashing Blue at 1 Hz New Holland AutoBoom XRT Calibration & Operation Manual...

  • Page 65: Imu Readings

    DIAGNOSTICS AND TROUBLESHOOTING IMU READINGS The IMU Readings page displays the IMU Roll Position, IMU Pitch Position, and IMU Roll Rate. FIGURE 11. IMU Readings 016-0235-010 Rev. B...

  • Page 66: Machine Readings

    The Machine Reading page displays the current machine Speed, Chassis Roll Position, Chassis Pitch Position, and Chassis Roll Rate. FIGURE 12. Machine Readings SYSTEM HOURS Displays the current Version Hours, Version Engaged Hours, Lifetime Hours, Lifetime Engaged Hours. FIGURE 13. System Hours New Holland AutoBoom XRT Calibration & Operation Manual...

  • Page 67: System Voltages

    DIAGNOSTICS AND TROUBLESHOOTING SYSTEM VOLTAGES System Voltages displays the ECU Power and the Regulator voltages. FIGURE 14. System Voltages VARIABLE DAMPER OUTPUTS The Variable Damper Outputs page displays the Control Effort for the variable damper. FIGURE 15. Variable Damper Outputs 016-0235-010 Rev.

  • Page 68: Tests

    (or down) for five seconds. After running the tests an Average Velocity will display. This should be within 20% of the Target Velocity. If additional adjustments are required, refer to “AutoBoom XRT Advanced Tuning” on page 47. New Holland AutoBoom XRT Calibration & Operation Manual...

  • Page 69: Target Position Test

    DIAGNOSTICS AND TROUBLESHOOTING FIGURE 17. Target Velocity Test TARGET POSITION TEST This test is designed to test the boom control PID loop. Enter a target position several degrees away from the current position. After running the test, various values will be reported. These values represent how quickly the boom moved to the target position.

  • Page 70: Target Height Test

    Also confirm that the node is mounted as instructed in the AutoBoom XRT machine specific installation manual. The AutoBoom XRT system will still operate if the test fails, however, terrain compensation features may not offer optimal boom height adjustments for all terrain features. New Holland AutoBoom XRT Calibration & Operation Manual...

  • Page 71: Manual Valve Control Test

    DIAGNOSTICS AND TROUBLESHOOTING FIGURE 20. Terrain Compensation Test MANUAL VALVE CONTROL TEST This test allows the user to manually move the sprayer booms to validate hydraulic valve function. FIGURE 21. Manual Valve Control Test 016-0235-010 Rev. B...

  • Page 72: Variable Damper Test

    1. Select Connectivity Test 2. Enter a Target Effort Percentage 3. Touch the Start button. NOTE: Each damper should draw between 2.0 and 2.8 amps when tested at 100%. FIGURE 22. Variable Damper Test New Holland AutoBoom XRT Calibration & Operation Manual...

  • Page 73: Diagnostic Trouble Codes

    DIAGNOSTICS AND TROUBLESHOOTING DIAGNOSTIC TROUBLE CODES The Diagnostics Trouble Codes page displays the Active and Inactive trouble codes. FIGURE 23. Diagnostic Trouble Codes To view information on the trouble code, select the desired code and press Info. 016-0235-010 Rev. B...
  • Page 74 CENTER LINEAR HEIGHT POSITION 522955.13 AUTOFOLD IN OUT PRESSED SENSOR OUT OF RANGE LEFT OUTER HEIGHT SENSOR OFFLINE 522956.31 NO SPEED LEFT OUTER HEIGHT SENSOR NEEDS 522956.1 IS RIGID CENTER RACK TOO HIGH UPDATE New Holland AutoBoom XRT Calibration & Operation Manual...

  • Page 75: Rem Led Codes

    DIAGNOSTICS AND TROUBLESHOOTING TABLE 2. Trouble Code Reference Table Error Error Error Error Code Code LEFT INNER HEIGHT SENSOR OFFLINE 522957.31 ISO AUTOFOLD NEEDS UPDATE LEFT INNER HEIGHT SENSOR NEEDS 522957.1 BOOMS ARE FOLDED UPDATE LEFT MID HEIGHT SENSOR OFFLINE 522958.31 HEIGHT SENSOR ZERO OFFSET LEFT MID HEIGHT SENSOR NEEDS...

  • Page 76: System Summary

    HAPTER SYSTEM SUMMARY The System Summary page displays the machine configuration information. FIGURE 24. System Summary New Holland AutoBoom XRT Calibration & Operation Manual...
  • Page 77 DIAGNOSTICS AND TROUBLESHOOTING TOTALS The Totals icon on the right side of the run screen allows the user to view short-term performance. FIGURE 25. Home Screen Totals The Short-Term performance page tab displays Deviation of Heights, Average Terrain, Average Error, and Average Speed.
  • Page 78 HAPTER New Holland AutoBoom XRT Calibration & Operation Manual...
  • Page 79 Index Advanced Tuning Totals AutoBoom XRT Operation AutoFold Operation Boom Gains Boom Speed Calibration Configuration Diagnostic Trouble Codes Diagnostics and Troubleshooting System Information Down Speed Ratio Feature Unlock Codes Home Screen Introduction Installation Recommendations 5 Point of Reference Updates REM LED Codes Settings System Summary 016-0235-010 Rev.
  • Page 80 Index New Holland AutoBoom XRT Calibration & Operation Manual...
  • Page 81 Bring the defective part and proof of purchase to your Raven dealer. If the dealer approves the warranty claim, the dealer will process the claim and send it to Raven Industries for final approval. The freight cost to Raven Industries will be the customer’s responsibility.
  • Page 82 Bring the defective part and proof of purchase to your Raven dealer. If the dealer approves the warranty claim, the dealer will process the claim and send it to Raven Industries for final approval. The freight cost to Raven Industries will be the customer’s responsibility.

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