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Raven SmarTrax MD Calibration & Operation Manual

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SmarTrax™ MD Calibration &
Operation Manual
P/N 016-5030-020 Rev. D
06/17
E26384
Copyright 2013, 2014, 2015, 2017

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  • Page 1 SmarTrax™ MD Calibration & Operation Manual P/N 016-5030-020 Rev. D 06/17 E26384 Copyright 2013, 2014, 2015, 2017...
  • 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

    GPS Configuration ................................10 Internal GPS Receiver ..........................10 External 600S GPS Receiver ........................12 External GPS Receiver ..........................14 SmarTrax MD Terms of Use ..............................16 Machine Configuration ..............................16 Set Up Machine Profile(s) - Optional ....................16 Machine-Specific Configuration ......................17 Calibrate the SmarTrax MD System ........................
  • Page 4 Introduction .................................71 Software Compatibility ..............................71 SmarTrax MD Status Display ............................71 Initial Startup ................................72 Cruizer II - Connecting to SmarTrax MD via CAN Communication ..............72 Envizio Pro ....................................73 Data Transfer ..............................73 GPS Configuration ............................73 SmarTrax MD Terms of Use ........................74 Machine Configuration ..............................74...
  • Page 5 Engage Switch Calibration ..............................85 Wheel Angle Sensor (SPS) Calibration .........................86 Calibrate the Machine’s Steering System ....................... 86 Complete the SmarTrax MD Calibration Process ..................88 Start a Job ................................... 89 System Adjustments ..............................89 Line Acquisition (LA) Mode and Aggressiveness .....................89 On-Line (OL) Mode and Sensitivity ..........................90...
  • Page 6 Table of Contents SmarTrax™ MD Calibration & Operation Manual...

  • Page 7: Important Safety Information

    Raven dealer for support. • Follow all safety labels affixed to the SmarTrax MD 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 8: Instructions For Wire Routing

    • Pulleys, gears, sprockets • Deflection and backlash of belts and chains • Adjustment zones of adjustable brackets • Changes of position in SmarTrax MD and suspension systems • Moving linkages, cylinders, articulation joints, attachments • Ground engaging components For harness sections that move during machine operation: •...
  • Page 9 IMPORTANT SAFETY INFORMATION Protect harnesses from: • Foreign objects such as rocks that may fall or be thrown by the unit • Buildup of dirt, mud, snow, ice, submersion in water and oil • Tree limbs, brush and debris • Damage where service personnel or operators might step or use as a grab bar •...
  • Page 10 HAPTER SmarTrax™ MD Calibration & Operation Manual...

  • Page 11: Introduction

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

  • Page 12: Installation

    RECOMMENDATIONS Before installing the SmarTrax MD system, park the machine where the ground is level, clean, and dry. Leave the machine turned off for the duration of the installation process. During the installation process, follow good safety practices. Be sure to carefully read the instructions in this manual as you complete the installation process.
  • Page 13 Raven Applied Technology website: http://www.ravenhelp.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 14 HAPTER SmarTrax™ MD Calibration & Operation Manual...

  • Page 15: Chapter 3 Viper 4

    V IPER 4 CHAPTER C H A P T E R 3 WIDGET AND BUTTON DEFINITIONS The following are common status or mode and navigation icons which may be visible while the SmarTrax MD system is installed: Display Message The SmarTrax node is detected, but the operator must accept responsibility for the operation of the SmarTrax MD system.

  • Page 16: Initial Startup

    SmarTrax on-screen widget. INITIAL STARTUP DATA TRANSFER During the initial startup of the SmarTrax MD system, language data must transfer from the SmarTrax node to the 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.
  • Page 17 VIPER 4 FIGURE 1. GPS Setup Screen Edit GPS Setup GPS Settings GPS Output 1. Press Edit. 2. Press GPS Setup. 3. Select GPS Settings. 4. Select the GPS Output tab. 5. Select GPS Out from the Ports drop-down box. 6.

  • Page 18: External 600S Gps Receiver

    HAPTER 8. Select Edit. 9. Select Serial Devices. The following screen will be displayed: FIGURE 3. Serial Device Detection Screen NOTE: If Integrated, SmarTrax, and SmarTrax GPS are not listed, press the Retry icon on the bottom- right corner of the screen. If these devices still do not appear, inspect cable connections to ensure they are installed securely, then press the Retry icon again.
  • Page 19 VIPER 4 FIGURE 5. Serial Device Setup Screen Edit Serial Devices 1. Select Edit. 2. Select Serial Devices. 3. Press the Retry button in the bottom-right corner of the screen. The following screen will appear: 4. Verify that the SmarTrax and 600S are listed in the Serial Device Setup screen. NOTE: If SmarTrax and 600S are not visible in the list, inspect cable connections to ensure they are installed securely, then press the Retry icon again.

  • Page 20: External Gps Receiver

    HAPTER Edit GPS Setup 6. Select GPS Setup. 7. Verify that 600S on DGPS is visible and selected. NOTE: If 600S on DGPS is not visible or selected in the list, inspect cable connections to ensure they are installed securely. Refer to Chapter 6, Troubleshooting beginning on page 99 for further information. EXTERNAL GPS RECEIVER The steps below apply only to Viper 4 computers with an external GPS receiver other than model 600S.
  • Page 21 VIPER 4 2. Select Serial Devices. 3. Verify that the SmarTrax and SmarTrax GPS are listed in the Serial Device Setup screen. NOTE: If SmarTrax and SmarTrax GPS are not listed, press the Retry icon on the bottom-right corner of the screen.

  • Page 22: Smartrax Md Terms Of Use

    Edit SmarTrax MD Read and accept the Operator Liability Warning. If the operator does not accept liability, the SmarTrax MD 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 23: Machine-Specific Configuration

    MD system. Refer to the Viper/Viper 4+ Installation and Operation Manual (P/N 016-0171-539) for further information. Before the SmarTrax MD system may be enabled, the SmarTrax MD 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 MD system.

  • Page 24: Calibrate The Smartrax Md System

    4. Select Next. CALIBRATE THE SMARTRAX MD SYSTEM IMPORTANT: The switch on the bottom of the mechanical drive must be turned on before calibrating the SmarTrax MD system. NOTE: The calibration wizard will be displayed the first time the SmarTrax module is accessed after installation or any time the Reset SmarTrax option is selected.

  • Page 25: Node Orientation

    Selecting the incorrect node arrow number may cause poor steering performance! NOTE: The SmarTrax MD calibration wizard will perform an initial calibration on the SmarTrax MD tilt sensors. The wizard will automatically advance to the next step in the calibration process once the node calibration is complete.
  • Page 26 HAPTER FIGURE 12. Articulated Machine Measurements ANTENNA FORE/AFT MEASUREMENT ANTENNA HEIGHT MEASUREMENT WHEEL BASE MEASUREMENT ANTENNA FORE/AFT MEASUREMENT ANTENNA HEIGHT MEASUREMENT WHEEL BASE MEASUREMENT NOTE: For articulated machines, measure from the center of the front tire to the center of the rear tire on both sides of the machine.
  • Page 27 VIPER 4 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 HAPTER NOTICE The Wheel Base, Antenna Position, and Antenna Height values are critical to the operation of the SmarTrax MD system. Measure these dimensions accurately to ensure optimal SmarTrax MD system performance! FIGURE 14. Wheel Base Configuration Screen 1. To determine 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: Enhanced Tilt Calibration

    VIPER 4 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 determine the Antenna Height, measure the distance from the ground to the antenna base mounting plate.
  • Page 30 HAPTER FIGURE 18. 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 19. Tilt Calibration Screen 4. Select the arrow at the bottom of the screen to begin calibration. The following screen will appear: FIGURE 20.
  • Page 31 VIPER 4 FIGURE 21. 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 22. Finish Calibration 7. After the calibration is complete and the values on the screen have turned blue, select Finish Calibration. NOTE: In order for the values to turn blue, the COG value must be less than 10°, the Left/Right must be less than 3 ft, and the Fore/Aft must be less than 3 ft.

  • Page 32: System Disengage Calibration

    HAPTER SYSTEM DISENGAGE CALIBRATION 1. Select Next in the SmarTrax MD Setup Wizard. The following screen will appear: FIGURE 24. Disengage Calibration Screen 2. Turn the steering wheel. The following screen will appear: FIGURE 25. Disengage Calibrating Screen 3. Proceed to the Engage Switch section on page 27 continue with the SmarTrax system calibration.

  • Page 33: Engage Switch

    WHEEL ANGLE SENSOR (WAS) CALIBRATION The WAS calibration is required on the SmarTrax MD system. Once the WAS is detected in the system, the following screen will be displayed: FIGURE 26. WAS Calibration Screen 1.

  • Page 34: Calibrate The Machine's Steering System

    CALIBRATE THE MACHINE’S STEERING SYSTEM After the initial calibration of the SmarTrax MD system is complete, it is necessary to calibrate the machine’s steering system. This allows the SmarTrax MD system to learn the hydraulic capabilities of the machine for optimal steering performance in the field.

  • Page 35: Start A Job

    System tools allow fine-tuning of the system to adjust for operating conditions and improve steering accuracy. To adjust the steering response in the field computer, press and hold the SmarTrax MD widget while within a job. The following screen will appear:...

  • Page 36: Line Acquisition (La) Mode And Aggressiveness

    24 inches [60 cm] from the desired path. 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 MD at least 30 seconds between adjustments to adjust to the change in the value.

  • Page 37: On-Line (Ol) Mode And Sensitivity

    FIGURE 30. OL Mode Indicator NOTE: The screen in the figure above illustrates an example of a situation in which SmarTrax MD 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 38 SmarTrax MD System Information • Machine Type - Displays the machine type or model selected during the SmarTrax MD calibration wizard. This information cannot be changed without resetting the SmarTrax MD system. Generic machine types which may be displayed in this area include: ◦...

  • Page 39: Diagnostics Tab

    System Diagnostic • Left and Right Manual Steer - Used to manually test the SmarTrax MD 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 40: Sensor Status

    • Disengage Sensitivity - Proper tuning of the disengage sensitivity value allows the equipment operator to disengage SmarTrax MD by turning the steering wheel with minimal or moderate effort. Disengage sensitivity requires minimal adjustment. NOTE: If the sensitivity value is too low, the steering system may disengage in rougher fields without any input from the operator.

  • Page 41: 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 MD system will not adjust the displayed guidance path for any machine tilt during field operations.

  • Page 42: Gps Setup Tab

    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 MD will allow to run. Raising this number may degrade system performance.

  • Page 43: Error Log Tab

    SmarTrax MD Error Log • Error Log - Displays the last ten errors or status messages that have appeared in the SmarTrax MD status area of the Viper 4 and the time they occurred. • Vehicle Database Version - The vehicle database version currently installed on the SmarTrax MD control node.

  • Page 44: Routine Operation

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

  • Page 45: System Settings

    VIPER 4 SYSTEM SETTINGS Average Suggested System Setting Function Setting Range The LA Aggressiveness value affects how Line Acquisition (LA) quickly the machine steers toward a displayed 4 to 16 Aggressiveness guidance line when it is traveling further than 24 inches [60 cm] from the desired path. The OL Sensitivity value affects the response of OnLine (OL) Sensitivity 4 to 20...
  • Page 46 HAPTER SmarTrax™ MD Calibration & Operation Manual...

  • Page 47: Viper Pro Calibration And Operation

    SmarTrax node MD software version 6.3.55 or higher. Together, these node software versions support SmarTrax MD swather control. SMARTRAX MD STATUS DISPLAY The current status of the SmarTrax MD system can be determined by the message displayed in the SmarTrax MD section of the Viper Pro screen Display...

  • Page 48: Initial Startup

    SmarTrax node to the Viper Pro. Allow the data transfer several minutes to occur before calibrating the SmarTrax MD system. SMARTRAX MD TERMS OF USE The following Operator Liability Warning will be displayed on the Viper Pro screen when the SmarTrax MD system is detected: FIGURE 1. Operator Liability Warning Screens The operator must select OK before the SmarTrax MD system may be enabled or calibrated.

  • Page 49: Machine Configuration

    CALIBRATION WARNING FIGURE 3. SmarTrax Warning Screen NOTE: The screen above should only appear the first time SmarTrax MD 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 50: Set Up Machine Profile(S) - Optional

    6. Select Next. MACHINE-SPECIFIC CONFIGURATION Before the SmarTrax MD system may be enabled, the Viper Pro and SmarTrax MD 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 MD system.
  • Page 51 FIGURE 6. SmarTrax MD Warning Screen NOTE: The screen above should only appear the first time SmarTrax MD is accessed or if default settings have been restored. If this prompt reappears, contact your local Raven dealer for assistance. 2. Select Yes. The following screen will appear:...
  • Page 52 Rear Steered - Rear-steered machine • Swather 4. Select OK. 5. Select Next Item. The following screen will appear FIGURE 8. Steering Control Device Selection Screen 6. Select SmarTrax MD in the Control Device drop-down field. SmarTrax™ MD Calibration & Operation Manual...

  • Page 53: Calibrate The Smartrax Md System

    VIPER PRO CALIBRATION AND OPERATION NOTE: The steering control device may need to be selected manually (even if SmarTrax MD is displayed in the Control Device field) before the system will proceed with the calibration process.. 7. Select Next Item.
  • Page 54 NOTICE The Wheel Base, Antenna Position, and Antenna Height values are critical to the operation of the SmarTrax MD system. Measure these dimensions accurately to ensure optimal SmarTrax MD system performance! 1. To determine 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 55 VIPER PRO CALIBRATION AND OPERATION NOTE: 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. FIGURE 11.
  • Page 56 “ - “ 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 57 VIPER PRO CALIBRATION AND OPERATION FIGURE 14. Antenna Height Configuration Screen 8. Enter the Antenna Height measurement. 9. Select Next. The following screen will appear: FIGURE 15. Checking for GPS Screen 10. Allow the system to detect the GPS installed in the system. P/N 016-5030-020 Rev.

  • Page 58: Enhanced Tilt Calibration

    HAPTER ENHANCED TILT CALIBRATION FIGURE 16. Establishing Heading Screen 1. Drive straight ahead 33 feet to allow SmarTrax MD to acquire a heading. FIGURE 17. Enhanced Tilt Calibration Wizard 2. Park the machine on a flat surface. SmarTrax™ MD Calibration & Operation Manual...
  • Page 59 VIPER PRO CALIBRATION AND OPERATION FIGURE 18. 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. FIGURE 19. Tilt Calibration Screen 5. Select Start Calibration. The following screen will appear: FIGURE 20.
  • Page 60 HAPTER FIGURE 21. 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 markers. FIGURE 22. Finish Calibration 7. After the calibration is complete and the values on the screen have turned black, select Finish Calibration. NOTE: In order for the values to turn black, the COG value must be less than 10°, the Left/Right must be less than 3 ft, and the Fore/Aft must be less than 3 ft.

  • Page 61: Steering Switch Calibration

    1. Review the on-screen instructions and turn the steering wheel to verify proper operation. NOTE: The SmarTrax MD Setup Wizard will automatically advance to the next step in the calibration process when the steering wheel is turned. If it does not, refer to Chapter 6, Troubleshooting for troubleshooting information.

  • Page 62: Engage Switch Calibration

    1. Review the on-screen instructions. 2. Press and release the foot switch or engage switch. NOTE: The SmarTrax MD Setup Wizard will automatically advance to the next step in the calibration process when the engage switch is detected. WHEEL ANGLE SENSOR (SPS) CALIBRATION FIGURE 26.

  • Page 63: Calibrate The Machine's Steering System

    CALIBRATE THE MACHINE’S STEERING SYSTEM After the initial calibration of the SmarTrax MD system is complete, it is necessary to calibrate the machine’s steering system. This allows the SmarTrax MD system to learn the steering capabilities of the machine to allow SmarTrax MD to properly steer it in the field.
  • Page 64 During calibration, the machine will turn hard to the left and then to the right. Adjust the speed and vehicle location as necessary. NOTE: After calibration is complete, the SmarTrax MD menu will be displayed. SmarTrax™ MD Calibration & Operation Manual...

  • Page 65: Complete The Smartrax Md Calibration Process

    If the ground or surface is slippery, muddy, or freshly tilled, the SmarTrax MD system may learn incorrect steering responses for normal operating conditions. Ensure the machine’s hydraulics are operating...

  • Page 66: Advanced Setup Tools

    2. With the engine running at the operating RPM, drive forward at a speed of 5-7 mph [8-11 km/h]. FIGURE 30. SmarTrax MD Enable Icon 3. Enable SmarTrax MD by pressing the steering wheel icon on the Viper Pro display or by tapping the foot/ enable switch.

  • Page 67: Line Acquisition (La) Mode And Aggressiveness

    24 inches [60 cm] from the desired path. If the machine drives past the line and has to drive back to it, increase the LA Aggressiveness value one increment at a time, allowing SmarTrax MD at least 30 seconds between adjustments to adjust to the change in the value.

  • Page 68: Stx Setup Screen

    • Reset STX - Resets the SmarTrax MD system to the default values. IMPORTANT: If Reset STX is selected, the SmarTrax MD system must be recalibrated before the system can be enabled. Refer to Calibrate the SmarTrax MD System section on page 47 for information on completing the SmarTrax MD system calibration.

  • Page 69: Sys Diag Screen

    VIPER PRO CALIBRATION AND OPERATION FIGURE 35. Sensor Status Screen • The Yaw Sensor Status area of the screen displays the yaw sensor diagnostic information: ◦ Current Wheel Angle - An approximation of the machine’s wheel angle. ◦ Current Sensor Reading - The current value of the encoder. ◦...
  • Page 70 SmarTrax MD system, there is only one database version. FIGURE 37. System Diagnostics and PWM Setup Screens • PWM Values - Displays SmarTrax MD PWM minimum, maximum, and gain values. Adjustment of these values is not typically necessary. Raven Industries recommends leaving these values as configured by the...
  • Page 71 ◦ Left and Right Manual Steer - Used to manually test the SmarTrax MD 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 72: Adv Setup Screen

    SmarTrax MD status area of the Viper Pro and the time they occurred. • Exit - Returns to the System Diagnostics screen. ADV SETUP SCREEN The Advanced Setup screen contains advanced diagnostic information used to fine-tune the SmarTrax MD system and improve steering accuracy. FIGURE 40. Advanced Setup Screen •...

  • Page 73: Enhanced Tilt Setup Screen

    VIPER PRO CALIBRATION AND OPERATION of the guidance system. The number displayed is the maximum number SmarTrax MD will allow to run. Raising this number may degrade system performance. • GPS Baud - The rate the system uses to communicate with the GPS receiver. This value must match the value of the GPS receiver installed in the system.

  • Page 74: Routine Operation

    Enabled The steering wheel icon in the lower right corner of the Viper Pro screen indicates whether the SmarTrax MD system is engaged or disengaged. The steering wheel is green when the system is enabled and gray when it is not.
  • Page 75 VIPER PRO CALIBRATION AND OPERATION Average Acceptable System Setting Function Setting Range .3 Hz to 10 Displays the frequency of GGA messages from Message Frequency - ZDA .3 Hz the GPS receiver. HDOP Indicates the quality of the GPS signal. P/N 016-5030-020 Rev.
  • Page 76 HAPTER SmarTrax™ MD Calibration & Operation Manual...

  • Page 77: Chapter 5 Envizio Pro And Cruizer Ii Consoles Calibration And Operation

    Installation & Operation Manual included with the field computer for instructions software versions. For SmarTrax MD swather operation, the SmarTrax node must be running software version 1.3.60 or higher with the SmarTrax node software version 6.3.55 or higher. Together, these node software versions support SmarTrax MD swather control.

  • Page 78: Initial Startup

    HAPTER The current status of the SmarTrax MD 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 79: Envizio Pro

    Allow the data transfer to complete before entering the steering menu. Failure to allow the data transfer to complete may require a restart of the entire SmarTrax MD 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 80: Smartrax Md 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 MD system may be enabled or calibrated. The Liability Waiver screen will appear each time the field computer is turned on or rebooted.

  • Page 81: Machine-Specific Configuration

    6. Select Next. MACHINE-SPECIFIC CONFIGURATION Before the SmarTrax MD system may be enabled, the field computer and SmarTrax MD 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 MD system.
  • Page 82 Swather NOTE: The Machine Test option should only be selected if calibration problems are encountered. Contact your local Raven dealer for assistance with using the Machine Test option. 8. Select Next. FIGURE 7. Steering Control Driving Device Selection Screen NOTE: The steering control device selection screen will be displayed only when a SmarTrax node is detected in the system.

  • Page 83: Calibrate The Smartrax Md System

    2. Select the number that corresponds with the node arrow number pointing forward on the machine. 3. Allow the SmarTrax node to calibrate the internal sensors. NOTE: The SmarTrax MD Setup Wizard will automatically advance to the next step in the calibration process once the node calibration is complete. 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 MD system.
  • Page 84 HAPTER 1. To determine the machine’s wheel base, measure the distance from the center of the machine’s front axle to the center of the rear axle. NOTE: For articulated machines, measure from the center of the front tire to the center of the rear tire on both sides of the machine.
  • Page 85 ENVIZIO PRO AND CRUIZER II CONSOLES CALIBRATION AND OPERATION FIGURE 10. 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 86 “ - “ 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 87 ENVIZIO PRO AND CRUIZER II CONSOLES CALIBRATION AND OPERATION FIGURE 13. Antenna Height Configuration Screen 8. Enter the Antenna Height measurement. 9. Select Next. FIGURE 14. Checking for GPS Screen 10. Allow the system to detect the GPS installed in the system. P/N 016-5030-020 Rev.

  • Page 88: Enhanced Tilt Calibration

    HAPTER ENHANCED TILT CALIBRATION FIGURE 15. Establishing Heading Screen 1. Drive straight ahead 33 feet to allow SmarTrax MD to acquire a heading. FIGURE 16. Enhanced Tilt Calibration Wizard 2. Park the machine on a flat surface. FIGURE 17. Machine’s Rear Axle Marked Before Enhanced Tilt Calibration 3.
  • Page 89 ENVIZIO PRO AND CRUIZER II CONSOLES CALIBRATION AND OPERATION 4. Select Next. FIGURE 18. 3D Calibration Screen 5. Select Start Calibration. The following screen will appear: FIGURE 19. Calibration in Progress Screen NOTE: The calibration may take a few minutes to complete. FIGURE 20.

  • Page 90: Steering Switch Calibration

    HAPTER FIGURE 21. Finish Calibration 7. After the calibration is complete and the values on the screen have turned white, select Finish Calibration. NOTE: In order for the values to turn white, the COG value must be less than 10°, the Left/Right must be less than 3 ft, and the Fore/Aft must be less than 3 ft.

  • Page 91: Engage Switch Calibration

    If the problem persists, contact your local Raven dealer for further information. 2. Proceed to the Engage Switch Calibration section below to continue with the SmarTrax MD system calibration. ENGAGE SWITCH CALIBRATION FIGURE 24. Engage Switch Calibration Screen 1.

  • Page 92: Wheel Angle Sensor (Sps) Calibration

    CALIBRATE THE MACHINE’S STEERING SYSTEM After the initial calibration of the SmarTrax MD system is complete, it is necessary to calibrate the machine’s steering system. This allows the field computer to learn the steering capabilities of the machine to allow SmarTrax MD to properly steer it in the field.
  • Page 93 NOTE: During calibration, the machine will turn hard to the left and then to the right. Adjust the speed and vehicle location as necessary. NOTE: After calibration is complete, the SmarTrax MD menu will be displayed. P/N 016-5030-020 Rev. D...

  • Page 94: Complete The Smartrax Md Calibration Process

    If the ground or surface is slippery, muddy, or freshly tilled, the SmarTrax MD system may learn incorrect steering responses for normal operating conditions. Ensure the machine’s hydraulics are operating...

  • Page 95: Start A Job

    2. With the engine running at the operating RPM, drive forward at a speed of 5-7 mph [8-11 km/h]. FIGURE 28. SmarTrax MD Enable Icon 3. Enable SmarTrax MD by pressing the steering wheel icon on the display or by tapping the foot/enable switch. NOTE: When SmarTrax MD is enabled, the steering wheel icon will turn green.

  • Page 96: On-Line (Ol) Mode And Sensitivity

    24 inches [60 cm] from the desired path. 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 MD at least 30 seconds between adjustments to adjust to the change in the value.

  • Page 97: Advanced Setup And Diagnostics

    Line NOTE: The screen in Figure 33 illustrates an example of a situation in which SmarTrax MD 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 98: Smartrax Md Information Screen

    Set Icon NOTE: To change the Sensor Type, Machine Type, Control Device, or Wheel Base settings, the SmarTrax MD 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 99: Enhanced Tilt Calibration Setup Screen

    ENHANCED TILT CALIBRATION SETUP SCREEN The SmarTrax MD 3D terrain compensation feature adjusts incoming GPS messages, compensating for roll (side- to-side tilting), pitch (front-to-rear tilting), and yaw (twisting or turning) of the machine. FIGURE 37. SmarTrax MD Settings and 3D Terrain Compensation Activation Screens •...

  • Page 100: Advanced 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 MD will allow to run. Raising this number may degrade system performance.

  • Page 101: System Diagnostics Screen

    FIGURE 40. SmarTrax MD Settings and System Diagnostics Screen • Average Speed - Average vehicle speed over the last hour while SmarTrax MD has been running. • Average - Average distance from the desired guidance path or line during the last hour while SmarTrax MD has been running.
  • Page 102 FIGURE 42. PWM Setup and Manual Steering Screens • Left and Right Manual Steer - Used to manually test the SmarTrax MD 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 103: Reset Default

    Selecting the Reset Defaults resets the SmarTrax MD system settings to the default values. IMPORTANT: If Reset Defaults is selected, the SmarTrax MD system must be recalibrated before the system can be enabled. Refer to Calibrate the SmarTrax MD System section on page 77 for information on completing the SmarTrax MD system calibration.

  • Page 104: Routine Operation

    The steering wheel icon in the lower right corner of the screen indicates whether the SmarTrax MD system is engaged or disengaged. The icon is green when the system is enabled and white when it is not. SmarTrax MD can be engaged in two ways: •...

  • Page 105: Troubleshooting

    CHAPTER C H A P T E R 6 NODE The SmarTrax MD CAN control node features several green light-emitting diodes (LEDs) which may be used to diagnose issues within the SmarTrax MD 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 106: Mechanical Drive Diagnostics

    HAPTER MECHANICAL DRIVE DIAGNOSTICS FIGURE 2. SmarTrax MD Indicator Status • White steady - The SmarTrax MD system is not • Blue flashing - Calibrating. ready to steer. • White flashing - No CAN communication in the • Blue steady - Ready to steer or steering.
  • Page 107 TROUBLESHOOTING Message Possible Cause Corrective Action SmarTrax MD has detected a supply Check the battery voltage and HC Volt L voltage less than 10.6 volts. connections. Wait a few minutes to see if signal High HDOP Insufficient GPS signal is being received.
  • Page 108 The vehicle speed is above 29 mph [45 km/h] or has been above 27 mph for Decrease the vehicle speed and re- Too FAST more than 5 seconds and SmarTrax MD engage the SmarTrax MD system. has been disengaged. The vehicle speed is too slow and...

  • Page 109: Smartrax Md Operation

    1. Navigate to the SmarTrax Manual Steering screen. 2. Toggle the master switch on and off, SmarTrax MD has detected a current Torque H verifying that the Raven LED logo draw greater than 8 amps. changes from white steady to blue steady.
  • Page 110 The Disengage setting is incorrect. the field computer. 1. Navigate to the SmarTrax Sensor Setup screen. SmarTrax MD will not disengage 2. Manually turn the steering wheel when the steering wheel is turned. The encoder is damaged. while monitoring the Wheel Angle value.
  • Page 111 Engage the SmarTrax MD system. The GPS signal is hindered by the Disable the GL1DE speed filter. GL1DE speed filter (if applicable). SmarTrax MD will not find the The LA Aggressiveness setting is Increase the LA Aggressiveness guidance line. too low.
  • Page 112 HAPTER SmarTrax™ MD Calibration & Operation Manual...

  • Page 113: Chapter 7 System Diagrams

    C H A P T E R 7 The diagrams contained in this chapter may be helpful when installing or troubleshooting the SmarTrax MD system. Some of the diagrams may show optional features or components not required for SmarTrax MD operation and may not necessarily apply to the SmarTrax MD system installed on the machine.
  • Page 114 HAPTER FIGURE 1. Cruizer II with Phoenix 300 and Slingshot (Steering Only) SmarTrax™ MD Calibration & Operation Manual...
  • Page 115 SYSTEM DIAGRAMS FIGURE 2. Envizio Pro or Viper Pro with Slingshot (Steering Only) P/N 016-5030-020 Rev. D...
  • Page 116 HAPTER SmarTrax™ MD Calibration & Operation Manual...

  • Page 117: Chapter 8 Roadway Homologation Certification

    Manufacturer / Hersteller: Raven Industries Page / Seite: 1 / 14 Type / Typ: SmarTrax MD T E C H N I C A L R E P O R T No. 13-00314-CC-GBM Extension 00 T E C H N I S C H E R B E R I C H T Nr.
  • Page 118 General / Allgemeines: 1.1. The Technical Report includes the test of the system SmarTrax MD of the manufacturer Raven Industries. SmarTrax MD is a mechanical drive unit and together with the controller SmarTrax MD Node and the monitor SmarTrax Cruiser II Control (opt.
  • Page 119 Technischer Bericht Nr.: 13-00314-CC-GBM-00 AM-HZSF Manufacturer / Hersteller: Raven Industries Page / Seite: 3 / 14 Type / Typ: SmarTrax MD 1.2. Name and address of Raven Industries manufacturer / 205 E 6th Street Name und Anschrift des Sioux Falls, (SD) 57104 Herstellers: 1.3.
  • Page 120 The controller SmarTrax MD Node is in- stalled besides the driver and connected with the mechanical drive unit and the monitor SmarTrax Cruiser II Control (opt.
  • Page 121 Ein Bolzen der eine Drehbewegung der me- chanischen Antriebseinheit verhindet wird zw. dieser und den speziellen Haltern verschraubt. Der Rechner SmarTrax MD Node wird neben dem Fahrer montiert und mit der mechanischen Antriebseinheit sowie dem Monitor SmarTrax Cruiser II Control (ww.
  • Page 122 Manufacturer / Hersteller: Raven Industries Page / Seite: 6 / 14 Type / Typ: SmarTrax MD Test basis / Prüfgrundlage The test vehicle has been tested based on the following directives / Das Prüffahrzeug wurde nach den folgenden Richtlinien geprüft:...
  • Page 123 Technical Report No. / Technischer Bericht Nr.: 13-00314-CC-GBM-00 AM-HZSF Manufacturer / Hersteller: Raven Industries Page / Seite: 7 / 14 Type / Typ: SmarTrax MD Description of tests / Beschreibung der Prüfung 4.1. Place / General Safety / Raven Ind., Sicherheitsüberprüfung:...
  • Page 124 If the ignition will be switched off. If the GPS signal will be lost longer than 5 sec. If the SmarTrax MD will be disengaged automatically caused by one of the above mentioned reasons a single warning tone sounds and a failure mes- sage will be displayed on the monitor.
  • Page 125 Das SmarTrax MD wird unter folgenden Voraussetzungen inaktiv bzw. abgeschaltet: Die mechanische Antriebseinheit wird mittels Hauptschalter abgeschaltet. Der Rechner SmarTrax MD Node und der Monitor Cruizer II Console bleiben aktiv. Durch Überschreiten von 45 km/h Fahrgeschwindigkeit. Durch das Verlassen des Fahrersitzes (sofern ein Sitzbelegungssensor eingebaut ist).
  • Page 126 The GPS based steering system SmarTrax MD is designed for the installation on agricultural or forestry tractors and agricultural or forestry self-propelled working machines. / Das GPS basierende Lenksystem SmarTrax MD ist zum Einbau in land- oder forstwirtschaftliche Zugmaschinen sowie in land- oder forstwirtschaftliche selbst- fahrende Arbeitsmaschinen vorgesehen.
  • Page 127 13-00314-CC-GBM-00 AM-HZSF Manufacturer / Hersteller: Raven Industries Page / Seite: 11 / 14 Type / Typ: SmarTrax MD Test Basis / Prüfgrundlagen The assessment is based on the following documents: Der Beurteilung liegen folgende Dokumente zugrunde: Title / Date /...
  • Page 128 Type / Typ: SmarTrax MD Safety Notes / Sicherheitshinweise The system SmarTrax MD has to be inspected by an official recognised expert after the installation especially regarding the following issues: a) Clearance around operating levers and switches acc. to 80/720/EEC, annex I, section I.3, I.4 and I.6 as wells as acc.
  • Page 129 Page / Seite: 13 / 14 Type / Typ: SmarTrax MD Das System SmarTrax MD ist nach dem Einbau durch einen amtlich aner- kannten Sachverständigen für den Kraftfahrzeugverkehr insbesondere hinsichtlich der folgenden Sachverhalte zu prüfen: a) Freiraum der Betätigungseinrichtungen gem.
  • Page 130 Type / Typ: SmarTrax MD Final remark / Schlußbemerkung The GPS based steering system SmarTrax MD corresponds to the mentioned test basis. Das GPS basierte Lenksystem entspricht den genannten Prüfgrundlagen. This report consists of page 1 to 14. / Der Bericht umfaßt Blatt 1 bis 14.
  • Page 131 ROADWAY HOMOLOGATION CERTIFICATION P/N 016-5030-020 Rev. D...
  • Page 132 HAPTER SmarTrax™ MD Calibration & Operation Manual...
  • Page 133 Node Orientation 77 Steering Switch Calibration 84 Viper 4 Wheel Angle Sensor (SPS) Calibration 86 Advanced Setup Tools Completing the SmarTrax MD Calibration Process Diagnostics Tab 33 Initial Startup Error Log Tab 37 Cruizer II (If Applicable) 72 GPS Setup Tab 36...
  • Page 134 Steering Switch Calibration 55 Wheel Angle Sensor (SPS) Calibration 56 Calibrating the SmarTrax System Configuring Wheel Base and Antenna Offsets 47 Completing the SmarTrax MD Calibration Process Initial Startup GPS Configuration 42 Machine Configuration 43 SmarTrax MD Terms of Use 42...
  • Page 135 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 136 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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