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Raven AutoBoom XRT Calibration & Operation Manual

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AutoBoom XRT
Calibration & Operation
Manual
P/N 016-0235-001 Rev. B
03/19
E32966
Copyright 2019

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  • Page 1 AutoBoom XRT Calibration & Operation Manual P/N 016-0235-001 Rev. B 03/19 E32966 Copyright 2019...
  • 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

    Introduction......................5 Installation ..................................5 Recommendations ...............................5 Point of Reference ...............................5 Updates ...................................6 Chapter 3 AutoBoom XRT Home Screen and Operation..........7 AutoBoom XRT Home Screen ..........................7 XRT Home Screen Operation ..........................8 Master Switch ................................8 Sensitivity Settings ..............................8 Target Height Settings ............................8...
  • Page 4 Target Velocity Test ............................58 Target Position Test ............................59 Target Height Test ..............................60 Terrain Compensation Test ..........................60 Manual Valve Control Test ..........................61 Variable Damper Test ............................62 Diagnostic Trouble Codes ............................63 System Summary ...............................65 Totals ....................................66 AutoBoom XRT Calibration & Operation Manual...

  • Page 5: Important Safety Information

    Raven dealer for support. • Follow all safety labels affixed to the AutoBoom XRT 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.

  • Page 6: Instructions For Hose Routing

    • 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 AutoBoom XRT Calibration & Operation Manual...
  • Page 7 IMPORTANT SAFETY INFORMATION 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 •...
  • Page 8 HAPTER AutoBoom XRT Calibration & Operation Manual...

  • Page 9: Introduction

    RECOMMENDATIONS Before installing the AutoBoom XRT 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.

  • Page 10: 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 11: Chapter 3 Autoboom Xrt Home Screen And Operation

    A UTOBOOM XRT HOME CHAPTER C H A P T E R 3 SCREEN AND OPERATION AUTOBOOM XRT 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...

  • Page 12: Xrt Home Screen Operation

    This screen also allows the user to select the Target Type. This information can also be changed on the XRT Home screen using the +/- buttons or typing the value into the Target Height box. AutoBoom XRT Calibration & Operation Manual...

  • Page 13: Target Type

    AUTOBOOM XRT HOME SCREEN AND OPERATION FIGURE 3. Target Height TARGET TYPE Press the Target Type to select between the ground and canopy as the desired measurement target. MANUAL/AUTO Depending on the machine configuration, there can be up to three Manual/Auto toggle buttons. Each Manual/ Auto toggle button controls a boom (left/right) or the center rack.

  • Page 14: Autoboom Xrt Operation

    FIGURE 4. Run Screen Operation 1. Press the desired boom or the XRT widget to enable or disable AutoBoom XRT. 2. Press and hold the desired boom to open additional boom information. Pressing and holding also allows the user to turn off the master switch.

  • Page 15: Ut Operation

    AUTOBOOM XRT HOME SCREEN AND OPERATION FIGURE 5. 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.
  • Page 16 HAPTER AutoBoom XRT Calibration & Operation Manual...

  • Page 17: Chapter 4 Calibration

    C ALIBRATION CHAPTER C H A P T E R 4 FIRST TIME CONFIGURATION NOTE: Depending on 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 18 FIGURE 3. ECU Orientation 12. If required, press the Location button to rotate the machine view on the ECU Orientation screen. 13. Press Next. 14. Verify the machine is parked on a level surface. AutoBoom XRT Calibration & Operation Manual...
  • Page 19 CALIBRATION FIGURE 4. Terrain Compensation Setup 15. Press Calibrate Terrain Compensation. 16. After terrain calibration compensation is complete, press Next. 17. Fold the boom in so the booms are stored in the transport position. 18. Touch the Next button to continue fold calibration. FIGURE 5.
  • Page 20 23. Lower the center rack to the maximum operating position. NOTE: For RoGator, this is low enough that the center rack is able to rotate freely without hitting the travel stops. This is typically about 4 in. [10 cm]. AutoBoom XRT Calibration & Operation Manual...
  • Page 21 CALIBRATION FIGURE 8. Vertical Center Sensor Calibration - Operation Zone 24.Touch the Next button to continue the fold calibration. 25.Lower the center rack to a typical operating position and unfold the booms. 26. Press Next. FIGURE 9. Vertical Center Sensor Calibration - Set to Spray Position 27.
  • Page 22 FIGURE 11. IMU Orientation 30. If required, press the Location button to rotate the machine view on the ECU Orientation screen. 31. Press Next. 32. Verify the machine is parked on a level surface AutoBoom XRT Calibration & Operation Manual...
  • Page 23 CALIBRATION FIGURE 12. Center Rack Angle Setup 33.Press Calibrate Center Rack Angle. 34.After terrain calibration compensation is complete, press Next. 35.Enter the Z offset from the bottom of the spray tips to the bottom of the sensor lens for the identified sensor. If there is a sensor above the spray tip the value will be positive.
  • Page 24 40. Raise the left boom until there is at least a 40 in. [101.6 cm] change in height. 41. Press Next. FIGURE 15. Height Sensor Setup - Raise Left Boom 42.Raise the right boom until there is at least a 40 in. [101.6 cm] change in height. 43.Press Next. AutoBoom XRT Calibration & Operation Manual...
  • Page 25 CALIBRATION FIGURE 16. Height Sensor Setup - Raise Right Boom 44.If an inertial sensor is installed on the machine, skip to step 48. 45.Lower and level the booms. 46.Have an assistant manually rock the boom up and down until the Next arrow appears. The Next arrow will only appear when the voltage is more than 0.25 V apart.
  • Page 26 55. The XRT Home Screen will open. 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. AutoBoom XRT Calibration & Operation Manual...

  • Page 27: Chapter 5 Settings

    S ETTINGS CHAPTER C H A P T E R 5 MACHINE SETTINGS FIGURE 1. Machine Settings P/N 016-0235-001 Rev. B...

  • Page 28: Boom Configurations

    FIGURE 2. Boom Configuration DISPLAY CONFIGURATION The display configuration screen allows the user to create a customized view of the AutoBoom XRT home screen. This may be useful for diagnostics and troubleshooting. To configure the display: 1. Select Display Configuration from the Machine Settings tab. A page will open that represents the editable sections of the AutoBoom XRT Home screen.

  • Page 29: Height Sensor Configuration

    SETTINGS 2. Press Selected Readout in the desired area. 3. Select the desired value for that location from the drop-down at the bottom of the page. 4. After all the Selected Readouts are configured, press Done. HEIGHT SENSOR CONFIGURATION The Height Sensor Configuration page allows the user to change the sensor Offset, review software information, or select Sensor Enable.
  • Page 30 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 6. Swap Sensors Swap AutoBoom XRT Calibration & Operation Manual...

  • Page 31: 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 32: Boom Tuning

    Pressing the Reset Tuning or Reset Gains buttons only reset the values displayed on that page. The values are reset to defaults specific to your machine Make, Model, and Boom Width. Refer to Chapter 6, AutoBoom XRT Advanced Tuning for additional information on these settings. NOTE: If the Machine Make is set to RoGator, there is an additional value displayed on the Boom Tuning page.

  • Page 33: Calibrations

    SETTINGS CALIBRATIONS FIGURE 9. Calibrations AUTO-INDEX OF HEIGHT SENSORS The Auto-Index of Height Sensors calibration allows the user to verify the number of height sensors and update the location of the sensors. The user will be prompted to raise the left and right booms. By observing which sensors had the greatest increase in height at each step, the system learns which sensor is at each location on the boom.
  • Page 34 FIGURE 12. Height Sensor Setup - Raise Left Boom 7. Raise the right boom. 8. When all sensors on the right boom have been raised above 8 ft. [2.4 m], the Next button will be displayed. Touch the Next button to continue. AutoBoom XRT Calibration & Operation Manual...
  • Page 35 SETTINGS FIGURE 13. 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 14. Height Sensor Setup - Summary Page Display P/N 016-0235-001 Rev. B...
  • Page 36 The machine needs to be parked on a level surface prior to performing this calibration. Use the Location and Rotate buttons to update the views of the machine and the node until they represent how the ECU is mounted on the machine. AutoBoom XRT Calibration & Operation Manual...
  • Page 37 SETTINGS FIGURE 16. AutoBoom Node Orientation BOOM ANGLE CALIBRATION (LEFT, CENTER, RIGHT) The Boom Angle Calibration button allows the user to recalibrate the boom tilt sensors. This correlates the tilt sensor measurement to an angular boom position. 1. Set the booms parallel and under 8 ft. [2.4 m] from the ground. 2.
  • Page 38 7. Lower and level the booms. 8. Have an assistant manually rock the boom up and down until the Next arrow appears. The Next arrow will only appear when the voltage is more than 0.25 V apart. AutoBoom XRT Calibration & Operation Manual...
  • Page 39 SETTINGS FIGURE 20. Center Rack Rotation AUTOBOOM FOLD CALIBRATION The AutoBoom Fold Calibration allows the user to update the primary boom fold (Yaw) sensor calibration. These sensors are used to prevent the Master Switch from being turned on if the booms are not unfolded. 1.
  • Page 40 5. Raise the center rack to the maximum height. 6. Touch the Next button to continue the fold calibration. FIGURE 23. Vertical Center Sensor Calibration - Maximum Height 7. Lower the center rack to the maximum operating position. AutoBoom XRT Calibration & Operation Manual...
  • Page 41 FIGURE 25. Vertical Center Sensor Calibration - Set to Spray Position AUTO CALIBRATION AutoBoom XRT has a library of calibrated values that are automatically used when the system is initially configured. These values have been found to be good defaults specific to your Make, Model, and Boom Width.
  • Page 42 The left boom will be calibrated first, followed by the right boom. FIGURE 27. Base Control Effort Calibration 4. At the end of Base Control Effort calibration, the new values will be displayed. Touch Next to continue. AutoBoom XRT Calibration & Operation Manual...
  • Page 43 SETTINGS FIGURE 28. Base Control Effort Calibration - Results 5. Lower the right boom to approximately 3° below horizontal. Touch the Next button to continue, the boom will raise slowly. FIGURE 29. Auto Calibration - Right Boom Angle 6. An average speed will be displayed. After 5 seconds, the boom will return to 3° below horizontal. Touch the Next arrow to bypass the 5 second pause.
  • Page 44 12. At the completion of calibration, a calibration summary page will be displayed. Press the check button to accept the new values or the X button to exit the calibration process without saving the new values. AutoBoom XRT Calibration & Operation Manual...

  • Page 45: Ecu Orientation

    SETTINGS FIGURE 32. Auto Calibration Summary RESET TO DEFAULTS Selecting Reset to Defaults allows the user to reset AutoBoom XRT to factory default settings. 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 33.

  • Page 46: 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 47 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 48 HAPTER AutoBoom XRT Calibration & Operation Manual...

  • Page 49: 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 50 2° per second, increase the Boom Speed to control effort value. FIGURE 2. Target Velocity Test Results 10. Repeat step 3 through step 9 until the speed matches the target velocity (+/- 20%). AutoBoom XRT Calibration & Operation Manual...

  • Page 51: Down Speed Ratio

    AUTOBOOM XRT ADVANCED TUNING 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. DOWN SPEED RATIO Because of different flow restrictions and the affect of gravity, booms generally lower faster than the raise for the same change in control effort.

  • Page 52: Boom Gains

    Integral Gain (I-Gain) compensates for changes in Base control effort over time. This could be caused by oil temperature, valve coil temperature, boom weight, or other system changes. This is generally set between 0.001 and 0.003. To disable this feature, set the value to 0.000. AutoBoom XRT Calibration & Operation Manual...

  • Page 53: Derivative Gain

    AUTOBOOM XRT ADVANCED TUNING DERIVATIVE GAIN Derivative Gain (D-Gain) prevents overshoot when moving the boom from one target position to another. If D-Gain is too low the boom will overshoot the target position. A D-Gain that is too high may cause a ratcheting (stop and go) effect until the target position is reached.
  • Page 54 HAPTER AutoBoom XRT Calibration & Operation Manual...

  • Page 55: 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 56: Boom Readings

    Angular Position should be close to zero when the boom section is horizontal. FIGURE 2. Boom Readings CAN BUS INFORMATION The CAN Bus Information page displays information about CAN system. FIGURE 3. CAN Bus Information AutoBoom XRT Calibration & Operation Manual...

  • Page 57: Fold Controls

    DIAGNOSTICS AND TROUBLESHOOTING FOLD CONTROLS FIGURE 4. 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. HARDWARE/SOFTWARE (ABM) Displays the AutoBoom hardware and software number and versions.

  • Page 58: Hardware/Software (Rem)

    HAPTER HARDWARE/SOFTWARE (REM) The Hardware/Software (REM) displays the hardware and software number and version for the Raven Expansion Module (REM). FIGURE 6. Hardware/Software (REM) AutoBoom XRT Calibration & Operation Manual...

  • Page 59: Height Sensor Readings

    DIAGNOSTICS AND TROUBLESHOOTING HEIGHT SENSOR READINGS The Height Sensor Reading page displays the sensor Serial Number, Distance to Canopy, Distance to Ground, Canopy Confidence, and Ground Confidence percentages for the selected sensor. FIGURE 7. Height Sensor Reading TABLE 1. Sensor LED Colors LED Status LED Color Sensor is in bootloader mode...

  • Page 60: Machine Readings

    The Machine Reading page displays the current machine Speed, Chassis Roll Position, Chassis Pitch Position, and Chassis Roll Rate. FIGURE 8. Machine Readings SYSTEM HOURS Displays the current Version Hours, Version Engaged Hours, Lifetime Hours, Lifetime Engaged Hours. FIGURE 9. System Hours AutoBoom XRT Calibration & Operation Manual...

  • Page 61: System Voltages

    DIAGNOSTICS AND TROUBLESHOOTING SYSTEM VOLTAGES System Voltages displays the ECU Power and the Regulator voltages. FIGURE 10. System Voltages VARIABLE DAMPER OUTPUTS The Variable Damper Outputs page displays the Control Effort for the variable damper. FIGURE 11. Variable Damper Outputs P/N 016-0235-001 Rev.

  • Page 62: 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 45. AutoBoom XRT Calibration & Operation Manual...

  • Page 63: Target Position Test

    DIAGNOSTICS AND TROUBLESHOOTING FIGURE 13. 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 64: Target Height Test

    NOTE: If the test fails, check the node installation. Verify the node is mounted securely and has not come lose during operation. 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.

  • Page 65: Manual Valve Control Test

    DIAGNOSTICS AND TROUBLESHOOTING FIGURE 16. Terrain Compensation Test MANUAL VALVE CONTROL TEST This test allows the user to manually move the sprayer booms to validate hydraulic valve function. FIGURE 17. Manual Valve Control Test P/N 016-0235-001 Rev. B...

  • Page 66: 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 18. Variable Damper Test AutoBoom XRT Calibration & Operation Manual...

  • Page 67: Diagnostic Trouble Codes

    DIAGNOSTICS AND TROUBLESHOOTING DIAGNOSTIC TROUBLE CODES The Diagnostics Trouble Codes page displays the Active and Inactive trouble codes. FIGURE 19. Diagnostic Trouble Codes To view information on the trouble code, select the desired code and press Info. P/N 016-0235-001 Rev. B...
  • Page 68 IS RIGID CENTER RACK TOO HIGH 0.15 UPDATE LEFT INNER HEIGHT SENSOR OFFLINE 522957.31 ISO AUTOFOLD NEEDS UPDATE 0.16 LEFT INNER HEIGHT SENSOR NEEDS 522957.1 BOOMS ARE FOLDED 0.17 UPDATE LEFT MID HEIGHT SENSOR OFFLINE 522958.31 AutoBoom XRT Calibration & Operation Manual...

  • Page 69: System Summary

    DIAGNOSTICS AND TROUBLESHOOTING SYSTEM SUMMARY The System Summary page displays the machine configuration information. FIGURE 20. System Summary P/N 016-0235-001 Rev. B...

  • Page 70: Totals

    The Short-Term performance page tab displays Deviation of Heights, Average Terrain, Average Error, and Average Speed. FIGURE 22. ABM Performance The Resettable Performance tab shows the same information as the short-term performance tab but allows the user to reset the information. AutoBoom XRT Calibration & Operation Manual...
  • Page 71 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 72 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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