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Raven Case IH AutoBoom XRT Calibration & Operation Manual

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Case IH AutoBoom XRT
Calibration & Operation
Manual
016-0235-002 Rev. B
12/2021
E40048
Copyright 2020, 2021

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  • Page 1 Case IH AutoBoom XRT Calibration & Operation Manual 016-0235-002 Rev. B 12/2021 E40048 Copyright 2020, 2021...
  • 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

    ..........................10 Target Type ................................10 Manual/Auto ................................11 Sensor Reading ..............................11 AutoBoom XRT Operation on Raven Operating Software (ROS) ............12 Run Screen Operation ............................. 12 AutoFold Operation ..............................13 AutoFold Out to Spray Position ........................13 AutoFold In to Transport Position ......................
  • Page 4 Terrain Compensation Test ..........................57 Manual Valve Control Test ..........................58 Variable Damper Test ............................58 Diagnostic Trouble Codes (DTCs) ........................59 DTC List ..................................60 Radar LED Codes ...............................63 REM LED Codes ................................64 System Summary ...............................64 Totals ....................................65 Case IH AutoBoom XRT Calibration & Operation Manual...

  • Page 5: Chapter 1 Important Information

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

  • Page 6: Hydraulic Safety

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

  • Page 7: Recommendations And Best Practices

    The word “hose” is used to describe any flexible, fluid carrying components. Use the following guidelines and recommendations when connecting and routing hoses while installing or maintaining this Raven system: • Leave protective caps/covers over hose ends until connecting the end into the hydraulic system to help prevent contaminants from entering the system.
  • Page 8 CHAPTER 1 Case IH AutoBoom XRT Calibration & Operation Manual...

  • Page 9: Introduction

    Raven Industries recommends the following best practices when installing or operating the XRT system for the first time, at the start of the season, or when moving the AutoBoom XRT system to another machine: •...

  • Page 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 UT OPERATION Pressing the UT widget on the run screen will open the UT interface. From this screen it is possible to adjust machine settings, view diagnostic information, and adjust Sensitivity and Target Height. FIGURE 1.

  • Page 12: Home Screen

    2. Select the XRT working set icon. XRT HOME SCREEN OPERATION FIGURE 3. XRT Home Screen Master Sensitivity Sensitivity Target Height Switch Settings Target Height Settings Target Type Manual/ Auto Sensor Reading Case IH AutoBoom XRT Calibration & Operation Manual...

  • Page 13: Master Switch

    AUTOBOOM XRT HOME SCREEN AND OPERATION MASTER SWITCH Press the Master Switch to toggle between enabled and disabled states. If enabled, the system is ready to transition to auto mode. If disabled, auto mode is locked out. NOTE: The Master Switch status will automatically toggle On after completing an AutoFold Out cycle to the spray position.

  • Page 14: Height Sensory Sensitivity

    : This target type will use the canopy signal as the primary target, but will use the ground signal if it has a higher confidence level. • Canopy Locked : This target type will only use the canopy signal as a target. Case IH AutoBoom XRT Calibration & Operation Manual...

  • Page 15: Manual/Auto

    AUTOBOOM XRT HOME SCREEN AND OPERATION 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. If the center rack only displays a Manual button, center rack control is not enabled.

  • Page 16: Autoboom Xrt Operation On Raven Operating Software (Ros)

    2. Press and hold the desired widget to open additional boom information. Pressing and holding also allows the user to turn on or off the master switch. FIGURE 7. XRT Widget Long Hold Case IH AutoBoom XRT Calibration & Operation Manual...

  • Page 17: Autofold Operation

    AUTOBOOM XRT HOME SCREEN AND OPERATION AUTOFOLD OPERATION NOTE: Ensure the machine propulsion lever is in the neutral position. AutoFold is disabled if the machine propulsion lever is not in neutral. AUTOFOLD OUT TO SPRAY POSITION 1. Press and hold the AutoFold switch in the UP position. NOTE: Release the AutoFold switch at any time to abort the AutoFold cycle.
  • Page 18 Update Cradle Position. Recalibrates the boom tilt cradle position based on current boom position. Boom should be resting in cradle. The target positions for inner/outer fold joints and the center rack position are not updated. FIGURE 10. Set Cradle Position Case IH AutoBoom XRT Calibration & Operation Manual...

  • Page 19: Chapter 4 Calibration

    C ALIBRATION CHAPTER C H A P T E R 4 FIRST TIME CONFIGURATION NOTE: Depending upon configuration settings and installed unlocks, the following steps may vary. After installing the XRT system: 1. Park the machine on a level surface. 2.
  • Page 20 6. Verify the orientation of the ABM (ECU) on the machine matches the downward/forward orientation of the controller on the ABM Orientation page. NOTE: Many of the next screens will populate with default settings based on the machine configuration selected earlier. FIGURE 3. ABM Orientation Case IH AutoBoom XRT Calibration & Operation Manual...
  • Page 21 CALIBRATION 7. If required, press the Redetect Orientation button to redetect the orientation of the ABM on the Downward Orientation page. NOTE: The downward and forward orientations can be entered in the appropriate fields. 8. Press Next. 9. Verify the machine is parked on a level surface. FIGURE 4.
  • Page 22 15. Move the booms to a typical spray position. The center rack should be well below the travel stops and the inner booms unfolded. 16. Touch the Next button to continue the fold calibration. FIGURE 6. Vertical Center Sensor Calibration - Set to Spray Position Case IH AutoBoom XRT Calibration & Operation Manual...
  • Page 23 CALIBRATION 17. Enter the Center Rack Width. The center rack width is measured from the left boom pivot point to the right boom pivot point. The pivot point is where the boom rotates as it is raised/lowered. The pivot point is generally a horizontal steel pin.
  • Page 24 25. Raise the left boom until there is at least a 40 in. [101.6 cm] change in height. 26. Press Next. FIGURE 10. Height Sensor Setup - Raise Left Boom 27. Raise the right boom until there is at least a 40 in. [101.6 cm] change in height. Case IH AutoBoom XRT Calibration & Operation Manual...
  • Page 25 CALIBRATION 28.Press Next. FIGURE 11. Height Sensor Setup - Raise Right Boom 29.If an IMU (Inertial Measurement Unit) is installed on the machine, skip to step 32. 30. Lower and level the booms. 31. 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 39. The XRT Home screen will be displayed. NOTE: If features are not visible on the XRT Home screen, it means those features are locked. To unlock these features, follow the directions in Chapter 6, Feature Unlock Codes. Case IH 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 FIGURE 2. Machine Settings Drop-down Menu 016-0235-002 Rev. B...

  • Page 28: Boom Configurations

    1. Select Display Configuration from the Machine Settings tab. A window will open that represents the editable sections of the AutoBoom XRT Home screen. FIGURE 4. Display Configuration Selected Readout Desired Value Drop-Down Done Case IH AutoBoom XRT Calibration & Operation Manual...
  • Page 29 SETTINGS 2. Select the desired value for that location from the drop-down at the bottom of the page. 3. Select the Readout drop-down window and select Advanced Options NOTE: These options can also be edited from the Home page by selecting the readout box to be updated. 4.

  • Page 30: Height Sensor Configuration

    Reprogram Selected. Alternatively, all sensors my be programmed by pressing Reprogram All. Height sensor software is bundled with the XRT ABM software. No external file is needed for updating height sensor software. FIGURE 9. Height Sensor Updates Case IH AutoBoom XRT Calibration & Operation Manual...

  • Page 31: Rem Updates

    SETTINGS SWAP SENSORS Press Swap Sensors to open the Height Sensor Swap window. After physically swapping sensors on the machine, select the two sensors that were swapped. Once both are selected, touch the Swap button. FIGURE 10. Swap Sensors Swap REM UPDATES The REM software is included with the ABM software and updated through the object pool.

  • Page 32: Presets Configurations

    6. If desired, select the Joysticks checkbox. Selecting Joystick enables or disables joystick shortcuts for mode changing. 7. To activate the preset, press the joystick button in the direction selected as the trigger type and press it the number of times selected as number of taps. Case IH AutoBoom XRT Calibration & Operation Manual...

  • Page 33: Boom Tuning

    SETTINGS BOOM TUNING Boom tuning displays boom settings based on machine configuration (Make, Model, Boom Width) options selected during initial calibration. If needed, the user can adjust Speed to Duty Cycle, Down Speed Ratio, Base Duty Cycle, Height Deadband, and PID gain settings. Use the Boom Gains and Boom Speed Tuning buttons to toggle between the two screens.

  • Page 34: Fold Tuning

    AutoFolding In or Out. The Min/Max values do not affect manual folding operations. NOTE: These settings are only available for boom joints that have proportional hydraulic cartridges. FIGURE 14. Preset Configuration CALIBRATIONS FIGURE 15. Calibrations Case IH AutoBoom XRT Calibration & Operation Manual...
  • Page 35 SETTINGS 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 36 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. FIGURE 19. Height Sensor Setup - Raise Right Boom Case IH AutoBoom XRT Calibration & Operation Manual...
  • Page 37 SETTINGS 9. The location and offsets for each sensor are displayed on a summary page. This completes the calibration. FIGURE 20. Height Sensor Setup - Summary Page Display BASE CONTROL EFFORT CALIBRATION Press the Base Control Effort Calibration button to recalibrate the pressure required to hold the booms level and stationary.
  • Page 38 1. Set the booms parallel and under 8 ft. [2.4 m] from the ground. 2. Press Next. FIGURE 23. Height Sensor Setup - Set Booms Parallel Case IH AutoBoom XRT Calibration & Operation Manual...
  • Page 39 SETTINGS 3. Raise the left boom until there is at least a 40 in. [101.6 cm] change in height. 4. Press Next. FIGURE 24. Height Sensor Setup - Raise Left Boom 5. Raise the right boom until there is at least a 40 in. [101.6 cm] change in height. 6.
  • Page 40 AutoFold is not completing an AutoFold IN or AutoFold OUT sequence. 1. Fold the boom and lower the booms completely into the cradle. FIGURE 27. Set Folded Position Case IH AutoBoom XRT Calibration & Operation Manual...
  • Page 41 SETTINGS 2. Raise the booms above the cradle lips and inward to contact the vertical stops. The Booms will control to the set-point when cradling. FIGURE 28. 3. Unfold the left and right inner joints fully. Leave the outer joints folded. Tilt the booms down to the fullest travel extent.
  • Page 42 The booms may be raised up to complete this step. FIGURE 30. Fold Tips Out 5. Raise the center rack to the maximum height and tilt the booms up to the full travel extent. FIGURE 31. Raise Center Rack and Booms Case IH AutoBoom XRT Calibration & Operation Manual...
  • Page 43 SETTINGS 6. Move the booms and center rack to the desired spray position. This is the position the boom will move to when AutoFolding out. Note that the center rack height will be relearned each time an AutoFold in operation is performed.

  • Page 44: Alarm Settings

    ALARM SETTINGS The Alarm Settings tab provides the option to sound audible beeps from the display when AutoBoom transitions from Auto mode to Manual and Manual mode to Auto. FIGURE 34. Alarm Settings Case IH AutoBoom XRT Calibration & Operation Manual...

  • Page 45: Feature Unlock Codes

    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 46 HAPTER Case IH AutoBoom XRT Calibration & Operation Manual...

  • Page 47: 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 48: Boom Speed To Control Effort Scale

    6. Raise the center rack with one boom lowered near the ground (but at least 24” above the ground). 7. Press Start Test. The boom should raise. When the test is complete, the average velocity will display. 8. Press the Settings (small gear) on the tab. Case IH AutoBoom XRT Calibration & Operation Manual...

  • Page 49: Down Speed Ratio

    AUTOBOOM XRT ADVANCED TUNING 9. If the boom moved faster than the desired 2° per second, decrease the Boom Speed to control effort value. If the boom moved slower than the desired 2° per second, increase the Boom Speed to control effort value. FIGURE 3.
  • Page 50 At this point most machines should be performing optimally. If further tuning is necessary, continue through these additional steps. Test the machine performance in the field before adjusting Boom Gains. Case IH AutoBoom XRT Calibration & Operation Manual...

  • Page 51: Boom Gains

    AUTOBOOM XRT ADVANCED TUNING BOOM GAINS After verifying all of the previous configuration steps and Boom Speed tuning is complete, the following values may be adjusted by going to Machine Settings and then Boom Tuning. PROPORTIONAL GAIN Larger proportional gain (P-Gain) values result in higher velocity for the same error in height. Typical values are 1.0 - 1.8.
  • Page 52 HAPTER Case IH AutoBoom XRT Calibration & Operation Manual...

  • Page 53: Diagnostics And Troubleshooting

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

  • Page 54: Fold Outputs

    Press the desired boom or center rack boom to view the information for that section. Voltage and angular position should change smoothly through the range of movement. Angular Position should be close to zero when the boom section is horizontal. FIGURE 3. Boom Readings Case IH AutoBoom XRT Calibration & Operation Manual...

  • Page 55: Can Bus Information

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

  • Page 56: Fold Sensor Readings

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

  • Page 57: Height Sensor Readings

    DIAGNOSTICS AND TROUBLESHOOTING HEIGHT SENSOR READINGS The Height Sensor Reading window displays the sensor Serial Number, Distance to Canopy, Distance to Ground, Canopy Confidence, and Ground Confidence percentages for the selected sensor. FIGURE 8. Height Sensor Reading MACHINE READINGS The Machine Readings window displays the current machine Speed, Chassis Roll Position, Chassis Pitch Position, and Chassis Roll Rate.

  • Page 58: System Hours

    The System Hours window displays the current Version Hours, Version Engaged Hours, Lifetime Hours, Lifetime Engaged Hours. FIGURE 10. System Hours SYSTEM VOLTAGES The System Voltages window displays the ECU Power and the Regulator voltages. FIGURE 11. System Voltages Case IH AutoBoom XRT Calibration & Operation Manual...

  • Page 59: Variable Damper Outputs

    DIAGNOSTICS AND TROUBLESHOOTING VARIABLE DAMPER OUTPUTS The Variable Damper Outputs window displays the Control Effort for the variable damper. FIGURE 12. Variable Damper Outputs TESTS TARGET CONTROL EFFORT TEST The Target Control Effort Test tests boom function with a static control effort. Entering a Control Effort value equal to the Base Duty Cycle should result in no, or very slow boom movement.

  • Page 60: Target Velocity Test

    Target Angle field. After running the test, various values will be reported. These values represent how quickly the boom moved to the target position. Ideally, the Delay, Rise, Settling, and Overshoot values are low. FIGURE 15. Target Position Test Case IH AutoBoom XRT Calibration & Operation Manual...

  • Page 61: Target Height Test

    DIAGNOSTICS AND TROUBLESHOOTING TARGET HEIGHT TEST This test is similar to the Target Position Test but incorporates all of the sensors on the machine to control the ground height. FIGURE 16. Target Height Test TERRAIN COMPENSATION TEST The Terrain Compensation Test analyzes data from the inertial sensors in the XRT ABM ECU. At the start of the test, the user is asked to have the engine idling at low speed.

  • Page 62: Manual Valve Control Test

    3. Touch the Start button. NOTE: Variable Dampers are optional. Test is only valid if equipped. Each damper should draw between 2.0 and 2.8 amps when tested at 100%. FIGURE 19. Variable Damper Test Case IH AutoBoom XRT Calibration & Operation Manual...

  • Page 63: Diagnostic Trouble Codes (Dtcs)

    DIAGNOSTICS AND TROUBLESHOOTING DIAGNOSTIC TROUBLE CODES (DTCS) FIGURE 20. Diagnostic Trouble Codes Screen The Diagnostic Trouble Code screen displays active and previous diagnostic trouble codes (DTCs) that occur during XRT system operation. Active DTCs must be fixed before the XRT system can be enabled for operation. Once a DTC has been corrected, the code moves to the inactive DTC code list.

  • Page 64: Dtc List

    LEFT FOLD 3 POSITION VOLTAGE LOW 522949.4 522926.5 LEFT FOLD 3 POSITION VOLTAGE RIGHT FOLD 1 IN SOLENOID CURRENT 522949.3 522927.5 HIGH LEFT FOLD 3 OUT SOLENOID RIGHT LIFT POSITION VOLTAGE LOW 522950.4 522928.5 CURRENT LOW Case IH AutoBoom XRT Calibration & Operation Manual...
  • Page 65 DIAGNOSTICS AND TROUBLESHOOTING TABLE 1. Trouble Code Reference Table Error Error Error Error Code Code RIGHT FOLD 3 OUT SOLENOID RIGHT LIFT POSITION VOLTAGE HIGH 522950.3 522929.5 CURRENT LOW RIGHT FOLD 1 POSITION VOLTAGE LEFT FOLD 2 OUT SOLENOID 522951.4 522930.5 CURRENT LOW RIGHT FOLD 1 POSITION VOLTAGE...
  • Page 66 RIGHT STABILIZING SOLENOID IS RIGID CENTER RACK TOO HIGH 520302.6 CURRENT HIGH LEFT LIFT UP SOLENOID CURRENT ISO AUTOFOLD NEEDS UPDATE 522918.6 HIGH RIGHT LIFT UP SOLENOID CURRENT BOOMS ARE FOLDED 522919.6 HIGH Case IH AutoBoom XRT Calibration & Operation Manual...

  • Page 67: Radar Led Codes

    ABM LOSS OF COMMUNICATION 522964.31 524082.31 DETECTED WITH UT RADAR LED CODES FIGURE 24. Raven Height Sensor LED TABLE 2. Radar LED Colors LED Status LED Color Sensor is in bootloader mode Flashing Red at 10 Hz Sensor is reprogramming...

  • Page 68: Rem Led Codes

    LED C is functional and there are Green Solid - No Error no other LED C states to report. SYSTEM SUMMARY The System Summary window displays the machine configuration information. FIGURE 25. System Summary Case IH AutoBoom XRT Calibration & Operation Manual...

  • Page 69: Totals

    DIAGNOSTICS AND TROUBLESHOOTING TOTALS The Totals icon on the right side of the run screen allows the user to view short-term performance. FIGURE 26. Home Screen Totals The Short-Term Performance window displays Deviation of Heights, Average Terrain, Average Error, and Average Speed.
  • Page 70 HAPTER Case IH 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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