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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. Too high of value will make the boom twitchy or unstable. Too low of a value and the boom will not move
quickly enough to changes in ground/crop height.
INTEGRAL GAIN
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.
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.
SYSTEM GAIN
System Gain (S-Gain) makes the complete system more or less responsive. This is equivalent to the Sensitivity value
on the XRT Home screen.
016-0235-002 Rev. B
47
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