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Raven SmarTrax Calibration And Operation Manual

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SmarTrax™ Calibration and
Operation Manual
P/N 016-0171-277 Rev. L
03/18
E30676
Copyright 2009, 2010, 2011, 2012, 2013, 2017, 2018

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Summary of Contents for Raven SmarTrax

  • Page 1 SmarTrax™ Calibration and Operation Manual P/N 016-0171-277 Rev. L 03/18 E30676 Copyright 2009, 2010, 2011, 2012, 2013, 2017, 2018...
  • Page 2 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.

  • Page 3: Table Of Contents

    Calibrate the SmarTrax System ........................... 15 System Disengage Calibration ............................16 SmarTrax Systems with a Pressure Switch or Flow Switch Installed ................. 16 SmarTrax Systems with a Pressure Transducer Installed ....................... 17 Engage Switch and Node Orientation .........................17 Wheel Angle Sensor (WAS) Calibration - If Applicable ..................18...
  • Page 4 Calibrate the SmarTrax System ..........................46 System Disengage Calibration ............................46 SmarTrax Systems with a Pressure Switch or Flow Switch Installed ..................46 SmarTrax Systems with a Pressure Transducer Installed ......................47 Engage Switch and Node Orientation ......................... 49 Wheel Angle Sensor (WAS) Calibration - If Applicable ..................
  • Page 5 System Disengage Calibration ............................77 SmarTrax Systems with a Pressure Transducer Installed ....................... 77 SmarTrax Systems with a Flow Switch or Pressure Switch Installed ................. 78 Engage Switch Calibration and Node Orientation ....................79 Wheel Angle Sensor (WAS) Calibration - If Applicable ..................80...
  • Page 6 Table of Contents SmarTrax Information Screen ............................124 Enhanced Tilt Calibration Setup Screen ........................125 Advanced Setup Screen ..............................126 System Diagnostics Screen ............................128 Reset Default ..................................129 Routine Operation ..............................130 Engaging SmarTrax ................................130 Updating the Node ................................

  • Page 7: Important Safety Information

    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 SmarTrax, be sure that all persons stand clear in case a hose has not been properly tightened.

  • Page 8: Hydraulic

    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.

  • Page 9: Electrical

    • 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: •...
  • Page 10 • 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: •...
  • Page 11 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. P/N 016-0171-277 Rev. L...
  • Page 12 HAPTER SmarTrax™ Calibration & Operation Manual...

  • Page 13: Introduction

    Global Positioning System (GPS) coordinates. The instructions in this manual are designed to assist in the proper calibration and operation of the SmarTrax system when used with the CR7™, Viper® 4/4+, Viper Pro™, Envizio Pro™ or Envizio Pro™ II, and Cruizer™ II series field computers.

  • Page 14: Antenna Installation

    HAPTER ANTENNA INSTALLATION The machine presets loaded into the SmarTrax system software are based on the location of the antenna at the time the SmarTrax system was developed for your particular machine. If the antenna is not positioned exactly in the position configured in the software, the system will not acquire and remain on the desired path and/or system performance may degrade over time.

  • Page 15: Point Of Reference

    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 16 HAPTER SmarTrax™ Calibration & Operation Manual...

  • Page 17: Cr7 Calibration And Operation

    CHAPTER C H A P T E R 3 OPERATION BUTTONS AND DEFINITIONS The following are common status or mode information which may be displayed while the SmarTrax system is engaged. Display Message The SmarTrax node is detected, but no guidance line had been set or there is an error in the system.

  • Page 18: Initial Startup

    INITIAL STARTUP DATA TRANSFER During the initial startup of the SmarTrax system, language data must transfer from the SmarTrax node to the CR7. Allow several minutes for the data transfer to complete before calibrating SmarTrax. NOTE: The Rx and Tx diagnostic LEDs on the SmarTrax node will flash rapidly during the data transfer.

  • Page 19: Smartrax Terms Of Use

    3. Select Yes, I agree. NOTE: If the operator does not accept liability, the SmarTrax system will disable and cannot be re-engaged until the liability waiver is accepted. The SmarTrax Liability Waiver screen will appear each time the CR7 is turned on.

  • Page 20: Machine Configuration

    (such as guidance width) that must be entered into the field computer. Before the SmarTrax system may be enabled, the SmarTrax system must be calibrated for the specific vehicle being used. Complete the following steps to configure the machine specifications in the CR7 and the SmarTrax system.

  • Page 21: Calibrate The Smartrax System

    The calibration wizard will be displayed the first time the SmarTrax system is accessed after installation or any time the Reset SmarTrax option is selected. Refer to “Reset Calibration” on page 35 for additional information on resetting the SmarTrax system.

  • Page 22: System Disengage Calibration

    HAPTER 1. Park the machine on a flat surface. 2. Locate and select the SmarTrax module. The calibration wizard will start automatically if the SmarTrax system requires calibration. 3. Select Next. SYSTEM DISENGAGE CALIBRATION SMARTRAX SYSTEMS WITH A PRESSURE SWITCH OR FLOW SWITCH INSTALLED...

  • Page 23: Smartrax Systems With A Pressure Transducer Installed

    This section applies only to SmarTrax systems utilizing pressure transducers to disengage the SmarTrax system when the steering wheel is turned. If a pressure or flow switch is installed in the SmarTrax system, refer to “SmarTrax Systems with a Pressure Switch or Flow Switch Installed” on page 16 to calibrate the SmarTrax system.

  • Page 24: Wheel Angle Sensor (Was) Calibration - If Applicable

    Center values and Center and Right values must exceed 100. The WAS calibration is required only if a WAS is installed in the SmarTrax system. If no WAS is detected by SmarTrax, the SmarTrax Setup Wizard will proceed to the next step in the calibration process. If a WAS is installed, the following screen will be displayed: SmarTrax™...

  • Page 25: Configuring Wheel Base And Antenna Offsets

    CONFIGURING WHEEL BASE AND ANTENNA OFFSETS If a generic machine profile was selected during the machine configuration process, the Wheel Base, Antenna Position, and Antenna Height values must be entered into the SmarTrax system. IMPORTANT: If a specific machine profile was selected during the machine configuration process, the Wheel Base, Antenna Position, and Antenna Height values will be automatically populated on the screen.
  • Page 26 For articulated machines, measure from the center of the front tire to the center of the rear tire on both sides of the machine. Add the values together and divide the number by two to find the average. SmarTrax™ Calibration & Operation Manual...
  • Page 27 CR7 CALIBRATION AND OPERATION FIGURE 13. Swather Machine Measurements CORRECT RECOMMENDED ANTENNA FORE/AFT ANTENNA MEASUREMENT MOUNTING LOCATION ANTENNA HEIGHT MEASUREMENT WHEEL BASE MEASUREMENT INCORRECT WHEEL BASE MEASUREMENT Wheel base measurement taken from pivot Wheel base measurement taken with wheels point instead of the center of the front wheel. reversed and not in the straight line operation position.
  • Page 28 The Wheel Base, Antenna Position, and Antenna Height values are critical to the operation of the SmarTrax system. Measure these dimensions accurately to ensure optimal SmarTrax system performance! FIGURE 14. Wheel Base Configuration Screen 1. To figure the machine’s Wheel Base, measure the distance from the center of the machine’s front axle to the center of the rear axle.

  • Page 29: 3D Compensation Calibration

    CR7 CALIBRATION AND OPERATION antenna is located 3 feet behind the rear axle, the value would be entered as -3. Raven Industries recommends mounting the antenna in front or even with the rear axle. NOTE: If the Antenna Position value is edited, the system will automatically advance to the next stage of the calibration process.
  • Page 30 5. Wait for the calibration process to be completed. FIGURE 20. Machine Orientation After Tilt Calibration 6. Turn the machine around 180° and park with the machine facing the opposite direction and the rear axle in between the flags or markers. SmarTrax™ Calibration & Operation Manual...

  • Page 31: Calibrate The Machine's Steering System

    “System Adjustments” on page 27. After the initial calibration of the SmarTrax system is complete, it is necessary to calibrate the machine’s steering system. This allows the SmarTrax system to learn the hydraulic capabilities of the machine for optimal steering performance in the field.
  • Page 32 If the ground or surface is slippery, muddy, or freshly tilled, the SmarTrax system may learn incorrect steering responses for normal operating conditions. Ensure that the machine’s hydraulics are...

  • Page 33: System Adjustments

    SYSTEM ADJUSTMENTS NOTE: While system adjustments can be made either during the SmarTrax system setup or within a job, it is recommended that adjustments be made within a job so that the operator can determine the effectiveness of the adjustments during system operation.

  • Page 34: On-Line (Ol) Mode And Sensitivity

    HAPTER increment at a time, allowing SmarTrax at least 30 seconds between adjustments to adjust to the change in the value. Setting the LA Aggressiveness value too high may cause the machine to steer into the guidance line too quickly and weave around the guidance line.

  • Page 35: System Information Tab

    To change the Sensor Type, Machine Type, Control Device, or Wheel Base settings, the SmarTrax system must be reset and recalibrated. • Machine Type - Displays the machine type or model selected during the SmarTrax calibration wizard. This information cannot be changed without resetting the SmarTrax system. Generic machine types which may be displayed in this area include: ◦...

  • Page 36: Sensor Setup Tab

    The sensor type is automatically detected by the system and cannot be changed. • Versions - Displays the database and software versions of SmarTrax running on the machine. This information is automatically detected by the system and cannot be changed.

  • Page 37: 3D Compensation Tab

    SmarTrax system. • WAS Auto Center - When set to Active, the SmarTrax system automatically recalibrates the WAS center position during operation to adjust for slight shifts in the sensor’s center position. Bypassing this feature leaves the WAS center position at its current value.

  • Page 38: Advanced Setup Tab

    • HDOP Limit - Horizontal Dilution of Precision (HDOP) is an indicator of the quality of the GPS signal. A high HDOP indicates that not enough satellites are distributed evenly throughout the sky, diminishing the accuracy of the guidance system. The number displayed is the maximum number SmarTrax will allow to run. Raising this number may degrade system performance.

  • Page 39: Diagnostics Tab

    • Left/Right Gain - Displays the Left and Right Gain values. These values cannot be adjusted. • Test - Used to manually test the hydraulic components of the SmarTrax system. To perform a test, select the desired Test button to steer the machine. If it does not respond as expected, the Minimum or Maximum values may need to be adjusted.

  • Page 40: Routine Operation

    If the SmarTrax status widget does not appear on the screen, refer to the CR7™ Installation and Operation manual (P/N 016-0171-664) for further information on adding widgets. • Touch the left half of the SmarTrax status widget during field operations to engage and disengage the SmarTrax features as desired during field operations.

  • Page 41: Updating The Node

    CR7 CALIBRATION AND OPERATION • Touch the right half of the SmarTrax status widget to view the System Information settings. These screens can be used to: ◦ Adjust Online Sensitivity and Line Acquisition settings during operation. ◦ Review SmarTrax system performance.
  • Page 42 HAPTER SmarTrax™ Calibration & Operation Manual...

  • Page 43: Viper 4/4+ Calibration And Operation

    C H A P T E R 4 OPERATION WIDGET AND BUTTON DEFINITIONS The following are common status or mode information which may be while the SmarTrax system is engaged: Display Message The SmarTrax node is detected, but the operator must accept responsibility for the operation of the SmarTrax system.

  • Page 44: Initial Startup

    Viper 4. Allow several minutes for data transfer to complete before calibrating SmarTrax. NOTE: The Rx and Tx diagnostic LEDs on the SmarTrax node will flash rapidly during the data transfer. The Rx and TX lights will flash slowly or turn off when the data transfer is complete. Attempting to access the SmartTrax configuration screen while language data is transferring will open a message asking the user to try again later.
  • Page 45 5. Select GPS Out from the Ports drop-down box. 6. Select the Set for SmarTrax box so that the blue check mark is present. 7. Verify that the GPS settings match the settings shown in the right picture in Figure 1 above.

  • Page 46: External 600S Gps Receiver

    10. Verify that SmarTrax GPS on DGPS is displayed and selected as shown in Figure 4 above. NOTE: If SmarTrax GPS on DGPS is not visible in the list, inspect cable connections to ensure they are installed securely, then press the Retry icon again. Refer to Chapter 7, Troubleshooting beginning on page 133 for further information.
  • Page 47 4. Verify that the SmarTrax and 600S are listed in the Serial Device Setup screen. NOTE: If SmarTrax and 600S is not visible in the list, inspect cable connections to ensure they are installed securely, then press the Retry icon again. Refer to Chapter 7, Troubleshooting beginning on page 133 for further information.

  • Page 48: External Gps Receiver

    Refer to Chapter 7, Troubleshooting beginning on page 133 for further information. EXTERNAL GPS RECEIVER The steps below apply only to Viper 4 computers with an external GPS receiver other than model 600S. FIGURE 6. Serial Device Setup Screen Edit Serial Devices 1. Select Edit. SmarTrax™ Calibration & Operation Manual...
  • Page 49 6. Verify that SmarTrax on DGPS is visible and selected. NOTE: If SmarTrax GPS on DGPS is not visible and selected in the list, refer to Chapter 7, Troubleshooting beginning on page 133 for further information. P/N 016-0171-277 Rev. L...

  • Page 50: Smartrax Terms Of Use

    Edit SmarTrax Read and accept the Operator Liability Warning. If the operator does not accept liability, the SmarTrax system will disable and cannot be re-engaged until the liability warning is accepted. The Operator Liability Warning screen will appear each time the Viper 4 is turned on or rebooted.

  • Page 51: Machine-Specific Configuration

    (such as guidance width) that must be entered into the field computer. Before the SmarTrax system may be enabled, the SmarTrax system must be calibrated for the specific vehicle being used. Complete the following steps to configure the machine specifications in the Viper 4 and the SmarTrax system.

  • Page 52: Calibrate The Smartrax System

    This section applies only to SmarTrax systems utilizing a pressure or flow switch to disengage the SmarTrax system when the steering wheel is turned. If a pressure transducer is installed in the SmarTrax system, refer to the SmarTrax Systems with a Pressure Transducer Installed section on page 47 to calibrate the SmarTrax system.

  • Page 53: Smartrax Systems With A Pressure Transducer Installed

    This section applies only to SmarTrax systems utilizing pressure transducers to disengage the SmarTrax system when the steering wheel is turned. If a pressure or flow switch is installed in the SmarTrax system, refer to the SmarTrax Systems with a Pressure Switch or Flow Switch Installed section on page 46 to calibrate the SmarTrax system.
  • Page 54 1. Select Next. The following screen will appear: FIGURE 14. Transducer Calibrating Screen 2. When prompted, turn the steering wheel 90° to allow the SmarTrax system to detect the hydraulic pressure change. Once the system has detected the static and differential pressures, a screen displaying the steering wheel status will appear.

  • Page 55: Engage Switch And Node Orientation

    Selecting the incorrect node arrow number may cause poor steering performance! NOTE: The SmarTrax Setup Wizard will perform an initial calibration on the SmarTrax tilt sensors. The wizard will automatically advance to the next step in the calibration process once the node calibration is complete.

  • Page 56: Wheel Angle Sensor (Was) Calibration - If Applicable

    Center values and Center and Right values must exceed 100. The WAS calibration is required only if a WAS is installed in the SmarTrax system. If no WAS is detected by SmarTrax, the system calibration wizard will proceed to the next step in the calibration process. If a WAS is installed, the following screen will be displayed: FIGURE 16.
  • Page 57 VIPER 4/4+ CALIBRATION AND OPERATION NOTICE The Wheel Base, Antenna Position, and Antenna Height values are critical to the operation of the SmarTrax system. Measure these dimensions accurately to ensure optimal SmarTrax system performance! FIGURE 17. Articulated Machine Measurements ANTENNA FORE/AFT MEASUREMENT...
  • Page 58 For swather machines, the rear wheels MUST be positioned behind the pivot point and pointing forward to reflect the tire position during normal, straight line operation. To figure the wheelbase distance, measure from the center of the rear tire to the center of the front tire. SmarTrax™ Calibration & Operation Manual...
  • Page 59 The Wheel Base, Antenna Position, and Antenna Height values are critical to the operation of the SmarTrax system. Measure these dimensions accurately to ensure optimal SmarTrax system performance! FIGURE 19. Wheel Base Configuration Screen 1. To figure the machine’s Wheel Base, measure the distance from the center of the machine’s front axle to the center of the rear axle.

  • Page 60: Enhanced Tilt Calibration

    HAPTER antenna is located 3 feet behind the rear axle, the value would be entered as -3. Raven Industries recommends mounting the antenna in front or even with the rear axle. 6. Select Next. 7. To figure the Antenna Height, measure the distance from the ground to the middle of the GPS antenna.
  • Page 61 VIPER 4/4+ CALIBRATION AND OPERATION FIGURE 23. Machine’s Rear Axle Marked Before Enhanced Tilt Calibration 3. Place flags or markers on the outside of each rear wheel aligned with the axle. FIGURE 24. Tilt Calibration Screen 4. Select the arrow at the bottom of the screen to begin calibration. The following screen will appear: FIGURE 25.
  • Page 62 3 ft, and the Fore/Aft must be less than 3 ft. The rear wheels will not necessarily end up aligned exactly with the markers to get the Fore/Aft number to turn blue. FIGURE 28. Calibration Complete 8. Select Next. SmarTrax™ Calibration & Operation Manual...

  • Page 63: Calibrate The Machine's Steering System

    Advanced Setup Tools and System Diagnostics section on page 60. After the initial calibration of the SmarTrax system is complete, it is necessary to calibrate the machine’s steering system. This allows the SmarTrax system to learn the hydraulic capabilities of the machine for optimal steering performance in the field.

  • Page 64: System Adjustments

    Refer to the ROS (Raven Operating System) Calibration & Operation Manual (P/N 016-0171-539) for instructions on starting a job and setting guidance lines. To adjust the steering response in the field computer, press and hold the SmarTrax widget while within a job. The following screen will appear:...

  • Page 65: Line Acquisition And Aggressiveness (La) Mode

    The LA Aggressiveness value affects how quickly the machine steers toward a displayed guidance line. If the machine does not approach the guidance line as quickly as desired, increase the LA Aggressiveness value one increment at a time, allowing SmarTrax at least 30 seconds between adjustments to adjust to the change in the value.

  • Page 66: On-Line (Ol) Mode And Sensitivity

    FIGURE 32. OL Mode Indicator NOTE: The screen in the figure above illustrates an example of a situation in which SmarTrax is operating in OL mode. This mode will remain active as long as the machine steers within 24 inches [60 cm] of the displayed guidance line.
  • Page 67 SmarTrax System Information • Machine Type - Displays the machine type or model selected during the SmarTrax Setup Wizard. This information cannot be changed without resetting the SmarTrax system. Generic machine types which may be displayed in this area include: ◦...

  • Page 68: Diagnostics Tab

    System Diagnostic • Left and Right Manual Steer - Used to manually test the SmarTrax system. Select one of the numeric settings (1 being very low, 6 being very high) positioned around the steering wheel graphic or the Min or Max button to steer the machine.
  • Page 69 Anti-Oscillation automatically turns on when an articulated machine is selected during the machine configuration stage of the SmarTrax setup. Enabling this feature with any machine that is not articulated may degrade the system performance.

  • Page 70: Sensor Status

    0. During normal operation, the value will likely show a value other than 0. • If the SmarTrax system detects a WAS during calibration, the Wheel Angle Sensor Status area of the screen displays the WAS status information. If no WAS was detected, this field will remain blank.

  • Page 71: Smartrax 3D Compensation Tab

    • 3D Compensation - Touch the 3D Compensation status button to toggle the 3D compensation features on or off. When disabled, the SmarTrax system will not adjust the displayed guidance path for any machine tilt during field operations.

  • Page 72: Gps Setup Tab

    Decreasing the HDOP limit may cause SmarTrax to disengage more often. • SmarTrax GPS Baud - The rate the system uses to communicate with the GPS receiver. This value is typically set to 19200, but it can be changed to match the baud rate of receivers that cannot be easily changed to 19200.

  • Page 73: Error Log Tab

    SmarTrax Error Log • Error Log - Displays the last 10 errors that have appeared in the SmarTrax status area of the Viper 4 and the time they occurred. • Vehicle Database Version - The vehicle database version currently installed on the SmarTrax control node. It contains the list of machine tune sets, measurements, and driving devices available.

  • Page 74: Updating The Node

    The SmarTrax steering may also be engaged using the following methods: • Tap the foot switch or rocker switch to engage SmarTrax features without touching the Viper 4 display. • Press the SmarTrax on-screen status widget to engage the SmarTrax during field operation.

  • Page 75: System Settings

    SmarTrax System Information Resetting the SmarTrax system calibration will delete all system settings and adjustments that have been performed. Before resetting the SmarTrax calibration, write down the current system settings for reference later. Recalibrate the SmarTrax system after the system is reset.
  • Page 76 HAPTER SmarTrax™ Calibration & Operation Manual...

  • Page 77: Viper Pro Calibration And Operation

    Viper Pro Installation & Operation Manual (P/N 016-0171-122) for instructions on updating the field computer and node software versions. SMARTRAX STATUS DISPLAY The current status of the SmarTrax system can be determined by the message displayed in the SmarTrax section of the Viper Pro screen Display...

  • Page 78: Initial Startup

    Viper Pro. Allow several minutes for data transfer to complete before calibrating SmarTrax. NOTE: The Rx and Tx diagnostic LEDs on the SmarTrax node will flash rapidly during the data transfer. The Rx and TX lights will flash slowly or turn off when the data transfer is complete. Attempting to access the SmartTrax configuration screen while language data is transferring will open a message asking the user to try again later.

  • Page 79: Smartrax Terms Of Use

    VIPER PRO CALIBRATION AND OPERATION 5. Select OK. SMARTRAX TERMS OF USE The following Operator Liability Warning will be displayed on the Viper Pro screen when the SmarTrax system is detected: FIGURE 2. Operator Liability Warning Screen The operator must select OK before the SmarTrax system may be enabled or calibrated. The Liability Waiver screen will appear each time the Viper Pro is turned on or rebooted.

  • Page 80: Machine Configuration

    CALIBRATION WARNING FIGURE 3. SmarTrax Warning Screen NOTE: The screen above should only appear the first time SmarTrax is accessed or if default settings have been restored. Select to continue. If this prompt continues to appear and the default settings have not been restored, contact your local Raven dealer for assistance.

  • Page 81: Machine-Specific Configuration

    (such as guidance width) that must be entered into the field computer. Before the SmarTrax system may be enabled, the SmarTrax system must be calibrated for the specific vehicle being used. Complete the following steps to configure the machine specifications in the Viper Pro and the SmarTrax system.

  • Page 82: Calibrate The Smartrax System

    Reset SmarTrax option is selected. 1. Park the machine on a level surface. 2. Locate and select the SmarTrax module. The calibration wizard will start automatically if the SmarTrax system requires calibration. SmarTrax™ Calibration & Operation Manual...

  • Page 83: System Disengage Calibration

    This section applies only to SmarTrax systems utilizing a pressure transducer to disengage the SmarTrax system when the steering wheel is turned. If a flow or pressure switch is installed in the SmarTrax system, refer to the SmarTrax Systems with a Flow Switch or Pressure Switch Installed section on page 78 to calibrate the SmarTrax system.

  • Page 84: Smartrax Systems With A Flow Switch Or Pressure Switch Installed

    HAPTER 3. When prompted, turn the steering wheel 90° to allow the SmarTrax system to detect the hydraulic pressure change. Once the system has detected the static and differential pressures, the following screen will be displayed: FIGURE 9. Transducer Calibration Verification 4.

  • Page 85: Engage Switch Calibration And Node Orientation

    If the problem persists, contact your local Raven dealer for further information. 3. Proceed to Engage Switch Calibration and Node Orientation section on page 79 to continue with the SmarTrax system calibration. ENGAGE SWITCH CALIBRATION AND NODE ORIENTATION FIGURE 11.

  • Page 86: Wheel Angle Sensor (Was) Calibration - If Applicable

    Center values and Center and Right values must exceed 100. The SPS/WAS calibration is required only if a SPS/WAS is installed in the SmarTrax system. If no SPS/WAS is detected by SmarTrax, the system calibration wizard will proceed to the next step in the calibration process. If a SPS/WAS is installed, the following screen will be displayed: SmarTrax™...

  • Page 87: Configuring Wheel Base And Antenna Offsets

    CONFIGURING WHEEL BASE AND ANTENNA OFFSETS If a generic machine profile was selected during the machine configuration process, the Wheel Base, Antenna Position, and Antenna Height values must be entered into the SmarTrax system. IMPORTANT: If a specific machine profile was selected during the machine configuration process, the Wheel base, Antenna Position, and Antenna Height measurements will be automatically populated in the screen.
  • Page 88 For articulated machines, measure from the center of the front tire to the center of the rear tire on both sides of the machine. Add the values together and divide the number by two to find the average. SmarTrax™ Calibration & Operation Manual...
  • Page 89 VIPER PRO CALIBRATION AND OPERATION FIGURE 15. Swather Machine Measurements CORRECT Recommended ANTENNA FORE/AFT Antenna MEASUREMENT Mounting Location ANTENNA HEIGHT MEASUREMENT WHEEL BASE MEASUREMENT INCORRECT WHEEL BASE MEASUREMENT Wheel base measurement taken from pivot Wheel base measurement taken with wheels point instead of the center of the front wheel.
  • Page 90 “ - “ before the number. For example, if the antenna is located 3 feet behind the rear axle, the value would be entered as -3. Raven Industries recommends mounting the antenna in front or even with the rear axle.

  • Page 91: Enhanced Tilt Calibration

    VIPER PRO CALIBRATION AND OPERATION 6. Select Next Item. 7. To figure the Antenna Height, measure the distance from the ground to the antenna base mounting plate. FIGURE 18. Antenna Height Configuration Screen 8. Enter the Antenna Height measurement. 9. Select Next Item. ENHANCED TILT CALIBRATION FIGURE 19.
  • Page 92 2. Follow the on-screen instructions to begin the calibration process. FIGURE 21. Machine’s Rear Axle Marked Before Enhanced Tilt Calibration 3. Place flags or markers on the outside of each rear wheel aligned with the axle. 4. Select Next. SmarTrax™ Calibration & Operation Manual...
  • Page 93 VIPER PRO CALIBRATION AND OPERATION FIGURE 22. Tilt Calibration Screen 5. Select Start Calibration. The following screen will appear: FIGURE 23. Calibration in Progress Screen NOTE: The calibration may take a few minutes to complete. FIGURE 24. Machine Orientation After Tilt Calibration P/N 016-0171-277 Rev.
  • Page 94 3 ft, and the Fore/Aft must be less than 3 ft. The rear wheels will not necessarily end up aligned exactly with the markers to get the Fore/Aft number to turn black. FIGURE 26. Calibration Complete 8. Select OK. SmarTrax™ Calibration & Operation Manual...

  • Page 95: Calibrate The Machine's Steering System

    “Advanced Setup Tools” on page 92. After the initial calibration of the SmarTrax system is complete, it is necessary to calibrate the machine’s steering system. This allows the SmarTrax system to learn the hydraulic capabilities of the machine for optimal steering performance in the field.

  • Page 96: System Adjustments

    Refer to the Viper Pro Calibration & Operation Manual (P/N 016-0171-122) for instructions on starting a job and setting guidance lines. To adjust the steering response on the Viper Pro, touch the SmarTrax area on the Viper Pro main menu. The following screen will appear:...

  • Page 97: Line Acquisition (La) Mode And Aggressiveness

    The LA Aggressiveness value affects how quickly the machine steers toward a displayed guidance line. If the machine does not approach the guidance line as quickly as desired, increase the LA Aggressiveness value one increment at a time, allowing SmarTrax at least 30 seconds between adjustments to adjust to the change in the value.

  • Page 98: Advanced Setup Tools

    24 inches [60 cm] of the desired path, increase the OL Sensitivity value one increment at a time, allowing SmarTrax at least 30 seconds between adjustment to adjust to the change in the value.
  • Page 99 Yaw Zero - The yaw sensor reading while the machine is stationary. Due to variations in the yaw sensors, this value may not be exactly zero. • If the SmarTrax system contains a SPS/WAS, the SPS Sensor Status area of the screen displays the SPS/WAS sensor status information. If no SPS/WAS was detected, this field will remain blank.

  • Page 100: Sys Diag Screen

    HAPTER ◦ Center Learning - When set to Active, the SmarTrax system automatically recalibrates the SPS/WAS center position during operation to adjust for slight shifts in the sensor’s center position. Bypassing this feature leaves the SPS/WAS center position at its current value.
  • Page 101 ◦ Left and Right Manual Steer - Used to manually test the SmarTrax system. Select one of the values or the Min or Max button to steer the machine. If it does not respond as expected, the PWM values may need to be adjusted.
  • Page 102 Elapsed Time - Length of time the SmarTrax system has been engaged. ◦ Average Speed - Average vehicle speed over the last hour while SmarTrax has been running. ◦ Average Error - Average distance from the desired guidance path or line during the last hour while SmarTrax has been engaged.

  • Page 103: Adv Setup Screen

    • HDOP Limit - Horizontal Dilution of Precision (HDOP) is an indicator of the quality of the GPS signal. A high HDOP indicates that not enough satellites are distributed evenly throughout the sky, diminishing the accuracy of the guidance system. The number displayed is the maximum number SmarTrax will allow to run. Raising this number may degrade system performance.

  • Page 104: 3D Setup Screen

    Anti-Oscillation automatically turns on when an articulated machine is selected during the machine configuration stage of the SmarTrax setup. Enabling this feature with any machine that is not articulated may degrade the system performance.

  • Page 105: Routine Operation

    Not Enabled The steering wheel icon in the lower right corner of the Viper Pro screen indicates whether the SmarTrax system is engaged or disengaged. The steering wheel is green when the system is enabled and gray when it is not.

  • Page 106: System Settings

    10 Hz and VTG the GPS receiver. Displays the frequency of GGA messages from Message Frequency - ZDA .3 Hz .3 to 10 Hz the GPS receiver. HDOP Indicates the quality of the GPS signal. SmarTrax™ Calibration & Operation Manual...

  • Page 107: Chapter 6 Envizio Pro And Cruizer Ii Calibration And Operation

    The instructions in this manual apply to Envizio Pro field computers with software version 3.6 or higher and Cruizer II field computers with software version 3.1.2.29627 or higher. The SmarTrax node must be running software version 6.0 or higher. If the field computer or node is running with an older version of software, refer to the Installation &...

  • Page 108: Initial Startup

    HAPTER The current status of the SmarTrax system can be determined by the icons displayed on the field computer screen. Display Message The SmarTrax node is detected, but no guidance line has been set or there is an error in the system.

  • Page 109: Envizio Pro

    Allow the data transfer to complete before entering the steering menu in the. Failure to allow the data transfer to complete may require a restart of the entire Smartrax system. If the Rx and Tx lights on the SmarTrax node are flashing rapidly, the data transfer is in progress. The Rx and Tx lights will flash slowly or turn off when the data transfer is complete.
  • Page 110 HAPTER FIGURE 3. Source Icon 2. Select the Source icon. FIGURE 4. GPS Source Screen 3. Select Internal GPS Receiver. 4. Select Accept. 5. Select Output. FIGURE 5. GPS Configuration Screen SmarTrax™ Calibration & Operation Manual...
  • Page 111 FIGURE 6. Source Icon 8. Select the Source icon. FIGURE 7. GPS Source Selection Screen 9. Select Internal GPS Receiver (Via Tilt or SmarTrax). 10. Select Accept. 11. Proceed to the SmarTrax Terms of Use section below. P/N 016-0171-277 Rev. L...

  • Page 112: Smartrax Terms Of Use

    2. Review the Liability Waiver and select Yes, I agree. NOTE: The operator must agree to the terms of use before the SmarTrax system may be enabled or calibrated. The Liability Waiver screen will appear each time the field computer is turned on or rebooted.

  • Page 113: Machine-Specific Configuration

    (such as guidance width) that must be entered into the field computer. Before the SmarTrax system may be enabled, the SmarTrax system must be calibrated for the specific vehicle being used. Complete the following steps to configure the machine specifications in the field computer and the SmarTrax system.
  • Page 114 Raven dealer for assistance with using the Machine Test option. 2. Select Next. FIGURE 12. Driving Device Selection Screen 3. SmarTrax Node Control Systems Only - Select the steering control device: • Raven Hydraulic - SmarTrax hydraulic valve is controlling the vehicle steering.

  • Page 115: Calibrate The Smartrax System

    This section applies only to SmarTrax systems utilizing a pressure transducer to disengage the SmarTrax system when the steering wheel is turned. If a flow or pressure switch is installed in the SmarTrax system, refer to the SmarTrax Systems with a Flow Switch or Pressure Switch Installed section on page 110 to calibrate the SmarTrax system.

  • Page 116: Smartrax Systems With A Flow Switch Or Pressure Switch Installed

    SMARTRAX SYSTEMS WITH A FLOW SWITCH OR PRESSURE SWITCH INSTALLED IMPORTANT: This section applies only to SmarTrax systems utilizing a flow switch or pressure switch to disengage the SmarTrax system when the steering wheel is turned. If a pressure transducer is installed in the SmarTrax, system, refer to the SmarTrax Systems with a Pressure Transducer Installed section on page 109 to calibrate the SmarTrax system.

  • Page 117: Engage Switch Calibration And Node Orientation

    1. Review the on-screen instructions. 2. Press and release the foot switch or engage switch. NOTE: The SmarTrax Setup Wizard will automatically advance to the next step in the calibration process when the engage switch it detected. FIGURE 18. Node Orientation Screen 3.

  • Page 118: Wheel Angle Sensor (Was) Calibration - If Applicable

    The difference between the Left and Center values and Center and Right values must exceed 100. The /WAS calibration is accessible only if a /WAS is installed in the SmarTrax system. If installed, the following screen will be displayed: FIGURE 19.
  • Page 119 ENVIZIO PRO AND CRUIZER II CALIBRATION AND OPERATION NOTICE The Wheel Base, Antenna Position, and Antenna Height values are critical to the operation of the SmarTrax system. Measure these dimensions accurately to ensure optimal SmarTrax system performance! FIGURE 20. Articulated Machine Measurements ANTENNA FORE/AFT MEASUREMENT...
  • Page 120 1. To figure the machine’s wheel base, measure the distance from the center of the machine’s front axle to the center of the rear axle. SmarTrax™ Calibration & Operation Manual...
  • Page 121 “ - “ before the number. For example, if the antenna is located 3 feet behind the rear axle, the value would be entered as -3. Raven Industries recommends mounting the antenna in front or even with the rear axle.

  • Page 122: Enhanced Tilt Calibration

    FIGURE 25. Establishing Heading Screen 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. SmarTrax™ Calibration & Operation Manual...
  • Page 123 ENVIZIO PRO AND CRUIZER II CALIBRATION AND OPERATION FIGURE 26. Enhanced Tilt Calibration Wizard 2. Follow the on-screen instructions to begin the calibration process. FIGURE 27. Machine’s Rear Axle Marked Before Enhanced Tilt Calibration 3. Place flags or markers on the outside of each rear wheel aligned with the axle. 4.
  • Page 124 FIGURE 30. Machine Orientation After Tilt Calibration 6. Turn the machine around 180° and park with the machine facing the opposite direction and the rear axle in between the flags or markers. FIGURE 31. Finish Calibration SmarTrax™ Calibration & Operation Manual...

  • Page 125: Calibrate The Machine's Steering System

    “Advanced Setup and Diagnostics” on page 123. After the initial calibration of the SmarTrax system is complete, it is necessary to calibrate the machine’s steering system. This allows the SmarTrax system to learn the hydraulic capabilities of the machine for optimal steering performance in the field.
  • Page 126 If an error message is displayed during calibration, refer to the “Error Messages” section on page 134 for possible causes and corrective action to complete the calibration process. NOTE: After calibration is complete, the SmarTrax menu will be displayed. SmarTrax™ Calibration & Operation Manual...

  • Page 127: System Adjustments

    Cruizer II Operation Guide (P/N 016-0171-415) for instructions on starting a job and setting guidance lines. To adjust the steering response in the field computer, touch the SmarTrax icon on the main menu. The following screen will appear: FIGURE 34. SmarTrax Adjustments Screen...

  • Page 128: On-Line (Ol) Mode And Sensitivity

    Line NOTE: The screen in Figure 27 illustrates an example of a situation in which SmarTrax is operating in LA mode. This mode will remain active until the machine steers within 24 inches [60 cm] of the displayed guidance line.

  • Page 129: Advanced Setup And Diagnostics

    Line NOTE: The screen in Figure 33 illustrates an example of a situation in which SmarTrax is operating in OL mode. This mode will remain active as long as the machine steers within 24 inches [60 cm] of the displayed guidance line.

  • Page 130: Smartrax Information Screen

    Set Icon NOTE: To change the Sensor Type, Machine Type, Control Device, or Wheel Base settings, the SmarTrax system must be reset and recalibrated. • Antenna Height - Selecting the Set icon next to the Antenna Height setting allows the Antenna Height measurement to be changed.

  • Page 131: Enhanced Tilt Calibration Setup Screen

    ENVIZIO PRO AND CRUIZER II CALIBRATION AND OPERATION FIGURE 42. Sensor Status Screens • If the SmarTrax system contains a /WAS, the Sensor Setup screen displays the /WAS sensor status information. NOTE: SmarTrax nodes 016-0173-031 and 016-0173-042 only - The SmarTrax node must be hardware version C or higher to utilize the /WAS.

  • Page 132: Advanced Setup Screen

    Calibration section on page 116 for the calibration procedure. NOTE: Select Accept to save changes to the 3D Terrain Compensation screen and return to the SmarTrax Information screen. Select Exit to exit the 3D Terrain Compensation setup screen without saving any changes and return to the SmarTrax Information screen.
  • Page 133 • HDOP Limit - Horizontal Dilution of Precision (HDOP) is an indicator of the quality of the GPS signal. A high HDOP indicates that not enough satellites are distributed evenly throughout the sky, diminishing the accuracy of the guidance system. The number displayed is the maximum number SmarTrax will allow to run. Raising this number may degrade system performance.

  • Page 134: System Diagnostics Screen

    FIGURE 47. SmarTrax Settings and System Diagnostics Screen • Average Speed - Average vehicle speed over the last hour while SmarTrax has been engaged. • Average - Average distance from the desired guidance path or line during the last hour while SmarTrax has been engaged.

  • Page 135: Reset Default

    FIGURE 49. PWM Setup and Manual Steering Screens • Left and Right Manual Steer - Used to manually test the SmarTrax system. Select one of the values or the Min or Max button to steer the machine. If it does not respond as expected, the PWM values may need to be adjusted.

  • Page 136: Routine Operation

    Not Enabled Enabled The steering wheel icon in the lower right corner of the screen indicates whether the SmarTrax system is engaged or disengaged. The icon is green when the system is enabled and white when it is not. NOTE: The operator liability waiver must be accepted before the SmarTrax system can be enabled for operation.

  • Page 137: System Settings

    Indicates the quality of the GPS signal. RECALIBRATING HYDRAULICS FIGURE 52. SmarTrax Settings Screen Selecting Recal Hydraulics restarts the machine’s steering calibration process. Refer to Calibrate the Machine’s Steering System section on page 119 for information on completing the machine’s steering calibration.
  • Page 138 HAPTER SmarTrax™ Calibration & Operation Manual...

  • Page 139: Troubleshooting

    CHAPTER C H A P T E R 7 NODE The SmarTrax CAN control node features several green light-emitting diodes (LEDs) which may be used to diagnose issues within the SmarTrax system. NOTE: If the LEDs are not displayed as outlined in the figure below or are all on continuously, check the CAN connections and the control cable connections on the node.

  • Page 140: Error Messages

    Corrective Action The /WAS has been detected but not Calibrate the /WAS. calibrated. • Verify that the SmarTrax hydraulic hose, The Gain values are too far apart. fitting, and valve connections are secure and no leaks are present. GAIN DIFFERENTIAL...
  • Page 141 3D terrain compensation has been The SmarTrax node must be repaired or TC Error disabled because a gyro has failed but replaced. Contact your local Raven SmarTrax may still be used.

  • Page 142: Smartrax Operation

    Replace the fuse. The battery connections are loose, Check the battery connections to corroded, or not properly ensure they are secure and SmarTrax will not power up. connected. properly connected. The machine does not have proper Test for +12VDC using a voltmeter.
  • Page 143 The node is not communicating Check the LEDs on the node to properly. ensure proper communication. There is an error in the SmarTrax Identify and correct system errors. system. Test the voltage (12V) and ground at the disengage switch and pressure transducers.
  • Page 144 Engage the SmarTrax system. The GPS signal is hindered by the Disable the GL1DE speed filter. GL1DE speed filter. (Phoenix 300 receivers only) SmarTrax will not find the guidance The LA Aggressiveness setting is Increase the LA Aggressiveness line. too low.
  • Page 145 Steering wheel is difficult to turn Verify the load sense hoses are when attempting to turn the Load sense hose connections are installed correctly on the SmarTrax vehicle while SmarTrax is not installed incorrectly. valve. engaged. P/N 016-0171-277 Rev. L...
  • Page 146 The cable connection to the Verify the connection to the transducer is improperly transducer is correct and secure. connected or loose. SmarTrax™ Calibration & Operation Manual...

  • Page 147: Chapter 8 System Diagrams

    The diagrams contained in this chapter may be helpful when installing or troubleshooting the SmarTrax system. Some of the diagrams may show optional features or components not required for SmarTrax operation and may not necessarily apply to the SmarTrax system installed on the machine.
  • Page 148 HAPTER FIGURE 1. SmarTrax 3D with Envizio Pro or Viper Pro and Phoenix 300 SmarTrax™ Calibration & Operation Manual...
  • Page 149 SYSTEM DIAGRAMS FIGURE 2. SmarTrax 3D with Envizio Pro or Viper Pro and Phoenix 300 P/N 016-0171-277 Rev. L...
  • Page 150 HAPTER FIGURE 3. SmarTrax Control Box to CAN SmarTrax Upgrade with Viper Pro or Envizio Pro, Phoenix 200 and TM-1 SmarTrax™ Calibration & Operation Manual...
  • Page 151 SYSTEM DIAGRAMS FIGURE 4. SmarTrax with Envizio Pro and RGL 600 P/N 016-0171-277 Rev. L...
  • Page 152 HAPTER FIGURE 5. Envizio Pro/Viper Pro with Slingshot Gen II Cabling SmarTrax™ Calibration & Operation Manual...
  • Page 153 Index Wheel Angle Sensor (WAS) Calibration 112 Initial Startup Cruizer II Connecting the SmarTrax via CAN Communication 102 Advanced Setup Tools and System Diagnostics Data Transfer 103 3D Compensation Tab 31 Envizio Pro 103 Advanced Setup Tab 32 GPS Configuration 103...
  • Page 154 Error Log Tab 67 Machine-Specific Configuration 75 GPS Setup Tab 66 Setting Up Machine Profiles 74 Sensor Status 64 SmarTrax Terms of Use 73 SmarTrax 3D Compensation Tab 65 Introduction System Information Tab 60 SmarTrax Status Display 71 Calibrating the Machine’s Steering System...
  • Page 155 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. The Return...
  • Page 156 How Can I Get Service? 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.

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