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Raven DirecSteer Calibration And Operation Manual

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DirecSteer Calibration
and Operation Manual
P/N 016-0171-729-B Feb 2024
Copyright © 2023, 2024 E48568

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Summary of Contents for Raven DirecSteer

  • Page 1 DirecSteer Calibration and Operation Manual P/N 016-0171-729-B Feb 2024 Copyright © 2023, 2024 E48568...

  • Page 2: Disclaimer

    Raven Industries shall not be held responsible for any modifications or repairs made outside our facilities, nor damages resulting from inadequate maintenance of this system.

  • Page 3: Table Of Contents

    Table of Contents Disclaimer Table of Contents Important Safety Information Field Computers, Displays, and Control Consoles Hydraulic Safety Electrical Safety Machine Safety Systems Touch Screen Recommendations and Best Practices Point of Reference Preparing for Install Aerials and Signal Interference Hose Routing Harness Routing Introduction Device Specifications...
  • Page 4 Machine Calibration Preparation and Best Practices Guidance and GNSS Calibration Terrain Compensation Calibration Auto-Steer Calibration Roadway Homologation Terms Resume/Disengage Calibration Calibrate the Wheel Angle Sensor (WAS) Steering Control Calibration Auto-Steer Calibration External Device Settings Viper® 4 and Viper® 4+ External GNSS Settings Message Types and Frequencies Configure the TrimbleAG-372 with AgRemote GNSS Configuration...
  • Page 5 Steering Status Page Master Switch Resume Switch Disengage Sensor Wheel Angle Sensor Operator Presence Switch Engage Steering Feature Unlocks Tab Yellow Green Widget Definitions Not Engaged - Liability Not Accepted Not Engaged - No Guidance Path or Active DTC Detected Turned On and Calibrated Detected and In Operation Detected - Non-Critical Active DTC Detected and Calibrated - Non-Critical Active DTC...
  • Page 6 Position Integral Gain Yaw Error Compensation Proportional Gain Integral Gain Derivative Gain Left System Gain Right System Gain Steering Backlash (DirecSteer Only) Wheel Speed Compensation Wheel Control Settings Informational Readouts Velocity or Wheel Velocity Control Effort Motor or Valve Current...
  • Page 7 Min and Max Buttons Minimum Percent Maximum Percent PWM Table Steering Control Calibration Preparation Perform a Calibration Guidance Setup Menu Guidance Partner Guidance Mode Automation Level Guidance Path Partner Wheel Angle and Implement Position Sensor Settings Informational Readouts Wheel Angle Sensor Applications Left, Center, and Right Values Current Sensor Voltage Current Wheel Angle...
  • Page 8 Encoder Rate Disengage Threshold Reset Calibrated Gains Operator Presence Sensor Informational Readouts Current Voltage Status Operator Presence Sensor Type Lower Limit Upper Limit GPS (GNSS) Setup Tab GPS Shutdown Timer (if equipped) Position Accuracy Setup Status Current Accuracy Accuracy Threshold GNSS Terrain Compensation Roll, Pitch, Yaw Rate, and Heading Calibrate Terrain Compensation...
  • Page 9 Elevation (MSL) Speed GGA Quality (Mode) Number of Satellites HDOP Heading Differential ID Age of Differential Slingshot® Universal Terminal Overview Slingshot® Home Page Overview Slingshot® Name Remote Diagnostics Field Update Connectivity Status Cellular Modem Status Ethernet Status Wi-Fi® Status Hotspot Client Slingshot®...
  • Page 10 Assigned IP RS1™ Field Update Slingshot® System Settings Cellular Information Modem Status IMEI Phone Number Ethernet Settings Tab Raven Field Computer (Server Mode) Field Hub (Client Mode) Wi-Fi® Settings SSID Encryption Type Mode Wi-Fi® Channel RTK Source Settings Base Station Name...
  • Page 11 Cell Modem Hours Hardware Diagnostics Diagnostics and Troubleshooting Diagnostic Trouble Codes (DTCs) DTC List for RS1™ and SC1™/TC1™ DTC List for DirecSteer, HDU, MDU, and IDU Performance Monitor Online Performance Line Acquire Performance Online Curve Performance System Tests Step Response Test...
  • Page 12 Control Effort Test Disengage Test Machine Info Readouts Switches Test SGC System Information SGC Information Hardware/Software Cell Modem Hours Hardware Diagnostics GPS Receiver Update DirecSteer Unit Performance Monitor Online Performance Line Acquire Performance Online Curve Performance Certification and Compliance Roadway Homologation Certifications...
  • Page 13 Safety Notes ANATEL Compliance Statement xiii...

  • Page 15: Important Safety Information

    Review equipment operation with your local dealer and follow all safety information presented on this site. Contact a local Raven dealer for assistance with any portion of the installation, service, or operation of Raven equipment. Follow all safety labels affixed to system components. Be sure to keep safety labels in good condition and replace any missing or damaged labels.

  • Page 16: Field Computers, Displays, And Control Consoles

    The operator is responsible for disabling the system when a safe working dis- tance has diminished. Do not operate the implement on any public road with this Raven system enabled. Maintain control of the vehicle at all times during operation. For example, Remain in the operator seat while the system is enabled and disable auto- mated Raven controls before exiting the operator seat.

  • Page 17: Electrical Safety

    Electrical Safety Always verify that power leads are connected to the correct polarity as marked. Revers- ing the power leads could cause severe damage to the Raven system or other com- ponents. To prevent personal injury or fire, replace defective or blown fuses with only fuses of the same type and amperage.

  • Page 18: Machine Safety Systems

    Machine Safety Systems Use all provided safety systems on the machine when operating the machine with the Raven system. Seat belts and restraints must be used when an operator is in the cab. Do not disable any machine-provided safety systems, including but not limited to aud- ible alarms, alarm lights, etc.

  • Page 19: Hose Routing

    GNSS aerials within this area. Hose Routing 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:...

  • Page 20: Harness Routing

    Harness Routing The word “harness” is used to describe any electrical cables and leads, both bundled and unbundled. Use the following guidelines and recommendations when connecting and routing harnesses while installing or maintaining this Raven system:...
  • Page 21 Important Safety Information Leave protective caps/covers over harness connectors until needed to avoid dirt and moisture from contaminating electrical circuits. Secure the harness to the frame or solid structural members at least every 12 in [30 cm]. Follow existing harness runs already routed on the implement as much as possible. Proper harness routing should: Secure harnessing and prevent the harness from hanging below the implement.
  • Page 22 Chapter 1 Avoid routing harnesses in areas where the operator or service personnel might step or use as a grab bar. Note: Avoid applying direct spray or pressure washing of electrical components and connections. High pressure streams and sprays can penetrate seals, cause corrosion, or otherwise damage electrical components.

  • Page 23: Introduction

    Introduction The instructions in this manual are designed to assist in the proper calibration and operation of the DirecSteer system when connected with a Raven SGC (e.g. RS1™, SC1™, or TC1™). Note: Installation of the DirecSteer and SGC must be completed before calibrating the system.

  • Page 24: Device Specifications

    Chapter 2 Device Specifications RS1™ Dimensions Overall (LxWxH): 30.48 x 23.5 x 11.13 cm 12 x 9.25 x 4.38 in. Mounting (LxW): 19.05 x 12.7 cm 7.5 in. x 5 in. Power Operating Voltage (DC): 7 - 28 Volts Max. Current (7 VDC): 6 Amps Nom.

  • Page 25: Connectivity And Gnss Signals

    Introduction Connectivity and GNSS Signals Communication: 2x RS232, 2x CANbus, Cellular, Wi-Fi, Bluetooth®, Ethernet Transmitted Antenna Method Band Power Data Rate How Used Gain (Avg.) LTE B4 23 dBm -3 dB Slingshot® connectivity for (1700) 10 MB Down RTK, file transfer, Cellular OTA updates, and dia- 5 MB Up...

  • Page 26: Approvals And Certifications

    Approvals and Certifications E-Mark - E8 10R-05 9484 FCC 47 CRF Part 15 Subpart B ISED Canada ICES-003 Issue 6 DirecSteer Dimensions Motor (WxH): Ø16.5 cm [6.5 in.] (outer) x Ø 4.05 cm [1.5 in.] (inner) x 8.05 cm [3.2 in.] Weight: 5.5 kg [12.1 lbs.]...

  • Page 27: Environmental

    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 Raven products are available. At Raven Industries, we strive to make your experience with our Applied Technology products as rewarding as possible.
  • Page 28 Chapter 2...

  • Page 29: Machine Calibration

    Installation of the system must be fully completed before calibrating the system. Refer to the machine-specific installation manual or contact your local Raven dealer for assistance with installing the system. A profile wizard starts automatically and must be completed the first time which the steering module is accessed after installation or any time the ECU is reset.

  • Page 30: Preparation And Best Practices

    Chapter 3 "Wheel Angle and Implement Position Sensor Settings" on page 88 Note: The Machine Test icon will only be displayed if a steering partner is detected. Preparation and Best Practices For best performance, the steering system must be calibrated specifically for each machine configuration (e.g.
  • Page 31 Machine Calibration WARNING The machine will steer automatically. Be sure the area around the vehicle is clear of people and obstacles before engaging the auto-steer system. To disengage auto-steering at any time, turn the steering wheel or select the on-screen Stop button. WARNING During the auto-steering calibration, the machine will make sev- eral hard left and right turns.
  • Page 32 Chapter 3 Note: The SC1™/TC1™ system can be used for GPS only or for GPS and auto-steering. The following sections walk through the calibration procedures for both GPS only as well as GPS guidance and auto-steering.

  • Page 33: Guidance And Gnss Calibration

    Machine Calibration Guidance and GNSS Calibration Note: The following steps are intended to outline the calibration procedure. Some options shown will be dependent upon settings and options selected. 1. Open the UT menu of the display or field computer. 2. During the initial start-up of system, the operator will be presented with the Operator Liability prompt.
  • Page 34 Chapter 3 5. The Machine Selection page will be displayed. Note: System information, DTCs, and system test pages may be viewed during the initial calibration. For further information on these settings, review the following topics: "SGC System Information" on page 194 "Diagnostic Trouble Codes (DTCs)" on page 145 "Feature Unlocks"...
  • Page 35 6. Use the drop-down options to set the Machine Type. DirecSteer - Select "Front Steered Tractor" for the Machine Type when steering the machine using a DirecSteer unit. The Make and Model options must be set to "Generic" when auto-steering with the DirecSteer electric drive unit.
  • Page 36 Chapter 3 8. On the next page, use the drop-down to select one of the following options for the Autonomy Level drop-down. GPS Only Stream GNSS correction information only. Select this option for guidance only applications or to stream corrections to a separate automated steering system. Steering Only Use the guidance and automated steering features of the device.
  • Page 37 Machine Calibration 9. Select the Next page button to proceed. Note: The following prompt is displayed if the SCU software is not compatible with the SGC. Select the Install button to update to the indicated software version. The SCU update must be completed to proceed with the calibration process. Once the update is complete, the system will attempt to detect the steering partner and allow the operator to proceed with the initial calibration process.
  • Page 38 If a steering partner is detected, select the Next button to calibrate both the GNSS and auto-steering features of the system. Recognized steering partners include: DirecSteer 11. Enter the Antenna Fore/Aft measurement in the units displayed on the page. 12. Select the Next page button.
  • Page 39 Machine Calibration 13. Enter the Antenna Center offset measurement in the units displayed on the page. 14. Select the Next page button. 15. Enter the Antenna Height measurement in the units displayed on the page. 16. Select the Next page button to proceed.
  • Page 40 Chapter 3 17. Enter the wheel base measurement in the units displayed on the page. Note: The Wheel Base is the measurement between the center of the front tire to the center of the rear tire on both sides of the machine. Add these measurements together and then divide by two to get the average Wheel Base value.
  • Page 41 Satellite GS or Satellite GS Pro Note: Depending upon the number of feature unlocks purchased, all options may not be available for selection in the drop-down box. Contact your local Raven dealer to purchase additional unlock codes. 20. Select the Next page button.
  • Page 42 Chapter 3 21. Review the GPS Status Information page. Note: The system must detect a converged GNSS status and display a green shield to successfully complete the terrain compensation calibration procedure. 22. Select the Next arrow to proceed to the "Terrain Compensation Calibration" on the facing page procedure.

  • Page 43: Terrain Compensation Calibration

    Machine Calibration Terrain Compensation Calibration 1. Set the orientation of the SC1™/TC1™. Use the rotation buttons until the on-screen display matches the orientation of the SC1™/TC1™ ECU. The SC1™/TC1™ ECU must be mounted in a horizontal orientation (mounting surface parallel to the ground). Note: The RS1™...
  • Page 44 Chapter 3 4. Place flags or markers on the outside of each wheel of the fixed axle of the machine. Rear axle - Front boom sprayers, rear boom sprayers, and front-steered machines. Front axle - Articulated tractors, rear-steered machines, and wind rowers. Center of track - Tracked tractors.
  • Page 45 Machine Calibration 6. Select the Calibrate button and wait for the gyro calibration to complete. Note: Do not move the machine or implement during the calibration. Wait for the calibration process to complete before moving the machine. 7. After the gyro calibration is complete, drive forward and turn the machine around (180°).
  • Page 46 Chapter 3 8. Select the Calibrate button again and allow the gyro calibration to complete. 9. Select the Next arrow. 10. Begin driving forward at approximately 8 km/h [5 mph]. Turn and hold the steering wheel at a constant steer rate and select the Calibrate button. 11.

  • Page 47: Auto-Steer Calibration

    Machine Calibration Auto-Steer Calibration Roadway Homologation Terms 1. If prompted to review and accept roadway homologation terms, review the on-screen text and toggle the check-box option. Note: Some machine tunesets and operational regions may require that the operator accept the roadway homologation terms. Refer to "Certification and Compliance" on page 203 for additional details and certification information.

  • Page 48: Resume/Disengage Calibration

    Chapter 3 5. The Status icon displays the current state of the sensor. Presence sensor is disconnected. Connect the sensor to the system before proceeding. Presence sensor does not detect an operator. Presence sensor detects that the operator is present. Resume/Disengage Calibration 1.

  • Page 49: Calibrate The Wheel Angle Sensor (Was)

    Machine Calibration 3. Select the Use DirecSteer Button Disengage option to allow the operator to disable the auto-steer using the physical button on DirecSteer. Note: This option cannot be enabled after the calibration wizard is complete. To enable this feature, restart the initial calibration wizard.
  • Page 50 Chapter 3 4. Turn the steering wheel all the way to the left steering lock. 5. Select the Left voltage button to set the left WAS value. Note: Do not turn the steering wheel until the WAS page advances to the Right WAS setting.
  • Page 51 Machine Calibration 8. Review the calibration values shown on the Sensor Calibration Complete page. While driving, turn the steering wheel and use the Current WAS Sensor Voltage value to confirm left and right steering lock and center positions. 9. Select the Next page button.
  • Page 52 Chapter 3 10. Continue driving forward at a speed between 1.6 - 6.4 km/h [1 and 4 mph]. WARNING Steering wheel will not disengage for resistance. Do not grasp or try to impede the steering wheel during the dis- engage switch calibration. 11.
  • Page 53 Machine Calibration 13. Select the Start/Play button. Note: Select the Back arrow to return to the previous page to manually adjust the Disengage Threshold value if necessary. 14. Turn the steering wheel to check the calibrated value. The status icon will change if the input is detected and the calibration will automatically proceed to the next page.
  • Page 54 17. Select the Start/Play button on the Steering Backlash Calibration page to begin the backlash calibration. DirecSteer will begin turning the steering wheel until the system detects the minimum effort required to move the steering wheel. 18. The calibrated backlash value will display on the page when the calibration is complete.

  • Page 55: Steering Control Calibration

    Machine Calibration Steering Control Calibration The steering control calibration process allows the auto-steering system to learn the hydraulic or mechanical capabilities of the machine for optimal steering performance in the field. Note: When operating with a generic tuneset, the steering control calibration must be performed to tune the auto-steer system to the machine.
  • Page 56 Chapter 3 WARNING Always remain in control of the machine. During the auto- steering calibration, the machine will make several hard left and right turns. Adjust the vehicle speed and location as necessary. 1. Begin driving forward at a speed between 1.6 and 6.4 km/h [1 and 4 mph]. 2.
  • Page 57 Machine Calibration 5. Review the steering effort information shown on the page. Select the Next page but- ton to proceed. 6. Review the information presented on the Calibration Wizard Summary page. 7. Select the Accept button to confirm the calibration and proceed to the Home page.
  • Page 58 Chapter 3...

  • Page 59: External Device Settings

    External Device Settings Chapter 4: External Device Settings The following sections offer information on setting up external devices or displays to utilize GNSS messages from the auto-steer system. Viper® 4 and Viper® 4+ To configure Viper® 4 or Viper® 4+ to use GNSS messages from the auto-steer system: Note: If RS1™...

  • Page 60: External Gnss Settings

    The ROS device will automatically select NMEA 2000. If there are multiple devices outputting NMEA messages, be sure to select the correct device to ensure proper operation of the auto-steer system. External GNSS Settings SC1™/TC1™ will automatically configure the following Raven receivers to output the correct messages and message rates:...

  • Page 61: Message Types And Frequencies

    Refer to "Configure the TrimbleAG-372 with AgRemote" below for assistance with these settings when using a Trimble receiver. Configure the TrimbleAG-372 with AgRemote This procedure is only necessary when using a Trimble AG-372 receiver with the Raven auto- steering system. Note: Connect AgRemote to Port B on the AG-372 receiver.

  • Page 62: Radio Mode Configuration

    Chapter 4 5. Press the Right button to set the "Position Rate" to 10 Hz. 6. Press the Enter button to save the settings. Radio Mode Configuration 1. Press the Right button until "Configuration" displays on the screen. 2. Press the Down button to select "Configuration." 3.
  • Page 63 External Device Settings 3. Press the Right button until “Port A Config” displays. 4. Press the Down button to select “Port A Config.” 5. Verify the Input (I) messages are set to None and the baud rate is set to 115k. 6.
  • Page 64 Chapter 4 12. Verify that VTG and ZDA are capitalized so they are turned on. 13. Press the Down button to continue configuring Port A. 14. Press the Down button until “CFG: Port A Out RTS_CTS” displays. 15. Verify “CFG: Port A Out RTS_CTS” is off. 16.

  • Page 65: Port B Configuration

    External Device Settings 20. Verify that “NEMA” out and TSIP out are set to ASAP. 21. Press the Enter button to save the settings. 22. Press the Down button until “CFG: NEMA QUALITY” displays. 23. Verify the setting is Report True Mode. 24.
  • Page 66 Chapter 4 6. Verify the Output (O) messages are set to 8N1 and the TSIP and baud rate are set to 115K. 7. Press the Enter button to save the settings.

  • Page 67: Operation

    The ISO UT must be calibrated specifically for the machine and implement before being used to operate the steering system (RS1™, SC1™, or TC1™). Refer to the UT display or Raven field computer operation manual for assistance with setting up and starting a job, setting guidance lines, and other guidance settings during in-field operations.

  • Page 68: Steering Status

    Chapter 5 Steering Status Machine Steering The color of the steering wheel icon in the upper left-hand corner indicates the status of the steering system. Steering Status Indicators The color of the steering wheel icon in the upper left-hand corner indicates the status of the steering system:...

  • Page 69: Critical Dtcs

    Operation Note: Tap the steering wheel icon to display additional details about the auto-steer system and functionality. Refer to the Steering Status page for additional information. Critical DTCs Active diagnostic and troubleshooting codes are present. The steering system cannot be engaged in this state.

  • Page 70: Master Switch

    Chapter 5 Press the Info button on the bottom of the Steering Status History page to display a description of the disengagement code. Master Switch The master switch is set to "road mode". The steering system cannot be enabled until the master switch is toggled to "field mode".

  • Page 71: Resume Switch

    Operation Resume Switch The status of the enable switch used to engage the steering system. The resume switch is set in the OFF position. The resume switch is set in the ON position. Disengage Sensor Status of the pressure used to disable steering when the steering wheel is turned. The steering disengage sensor is active.

  • Page 72: Operator Presence Switch

    Chapter 5 The wheel angle sensor (WAS) is calibrated and ready to operate. Operator Presence Switch Displays the status or presence of the operator presence switch. The presence switch is not available or not used with the selected machine profile. The operator is not present in the seat. The operator presence switch is disconnected.

  • Page 73: Feature Unlocks Tab

    The steering system offers additional capabilities for optional features and services which are not enabled from the factory. These features require an unlock code to enable or activate these features or services. Contact a local Raven dealer for additional information on available unlock codes.

  • Page 74: Red

    Feature is unlocked but requires a subscription to activate and use the feature during in-field operations. Green Feature is unlocked and an active subscription, if required, is detected. 4. Confirm the unlock information and enter the code received from a local Raven dealer.
  • Page 75 Operation 5. Select either the Send or Accept button depending upon the system. A message is displayed indicating whether or not the unlock code that was entered is valid.

  • Page 76: Widget Definitions

    Review the GNSS Correction Options for additional information on available correction types for your Raven GNSS equipment. Contact a local Raven dealer for additional assistance. Widget Definitions The following are common status or mode information which may be displayed in the RS1™...

  • Page 77: Not Engaged - Liability Not Accepted

    Operation Not Engaged - Liability Not Accepted - ROS Steering System - CRX Steering System - CRX Implement Steering System The steering system node is detected, but the operator must accept the operator liability waiver before the system can be enabled. Not Engaged - No Guidance Path or Active DTC - ROS Steering System - CRX Steering System...

  • Page 78: Detected - Non-Critical Active Dtc

    Chapter 5 Detected - Non-Critical Active DTC - ROS Steering System - CRX Steering System - CRX Implement Steering System Steering system is detected and in operation. A non-critical DTC is present. Detected and Calibrated - Non-Critical Active DTC - CRX Steering System - CRX Implement Steering System Steering system is detected, turned on and calibrated.

  • Page 79: System Settings

    Setup tab: Feature Unlocks Tab The Raven auto-steering system may offer optional features which are not enabled from the factory. These features require an unlock code to enable or activate these features or services. To review or enter unlock codes for optional features: Note: Contact a local Raven dealer for additional information on available unlock codes.

  • Page 80: Ut Navigation

    Chapter 6 UT Navigation The following buttons are common navigational buttons when navigating the UT. Accept Saves the changes made to the system at the end of the setup process and returns to the Tools Menu. Next Saves the changes made to the system and proceeds to the next step in the setup process. Previous Returns to the previous screen in the setup process.

  • Page 81: Change The Machine Profile

    System Settings 2. Select the Machine Settings tab. The Machine Settings page displays the machine-specific measurements which were entered during the initial system calibration and provides access to machine tuneset and configurations. Change the Machine Profile Note: Some pages and options may differ based upon how the machine or implement is configured.
  • Page 82 Chapter 6 1. From the auto-steer Home page, select the Tools button. 2. Select the Machine Settings tab.
  • Page 83 System Settings 3. Select the Change Profile button. The Select Profile page allows the operator to perform the following changes to the tuneset profiles: To calibrate a tuneset profile a. Select a profile labeled Available. b. Select the Accept button in the lower, right corner of the page. The tuneset calibration wizard will begin.

  • Page 84: Review The Machine Configuration

    Chapter 6 c. Select the Accept button in the lower, right corner of the page to load the selected tun- eset and return to the Machine Settings tab. To delete a tuneset profile a. Select the Delete button and confirm that the profile should be removed. b.

  • Page 85: Machine Offset Setup

    System Settings 2. Select the Machine Settings tab. 3. Select the Machine Configuration Information button. This page displays the current machine type, make, and model information which was entered during the tuneset calibration process. Review "Change the Machine Profile" on page 67 for assistance with editing or changing the tuneset profile. 4.
  • Page 86 Chapter 6 1. From the auto-steer Home page, select the Tools button. 2. Select the Machine Settings tab.

  • Page 87: Help Menu Icon

    System Settings 3. Select the Machine Offsets Setup button. Help Menu Icon Note: Select the Help Menu icon to access the Help Menu. The Help Menu may contain additional information about the features and options displayed on the page. Antenna Height The Antenna Height is calculated by measuring from the ground to the center of the GNSS antenna.

  • Page 88: Wheel Base (Machine Steering Only)

    Chapter 6 Wheel Base (Machine Steering Only) The Wheel Base is calculated by measuring from the center of the front tire to the center of the rear tire. Note: The Wheel Base is calculated by measuring from the center of the front tire to the center of the rear tire on both sides of the machine.

  • Page 89: Advanced Tuning

    System Settings 2. Select the Steering Setup tab. The Steering Setup tab displays the steering partner with which the auto-steer system communicates during steering operations. Note: The Steering Setup tab is hidden from view if the 'GNSS Only Calibration' option was selected during the profile setup.
  • Page 90 Chapter 6 1. From the auto-steer Home page, select the Tools button. 2. Select the Steering Setup tab. 3. Select the Advanced Tuning Menu button. Review the following sections for additional information regarding the available tune settings and options for the auto-steering application. Note: Use the next and previous page buttons at the bottom of the page as necessary to access additional settings.

  • Page 91: Position Gain

    System Settings Note: Use the next and previous page buttons at the bottom of the page as necessary to access additional settings. Position Gain Determines how aggressively auto-steer responds to an off-track error. A higher Position Gain value results in a more aggressive response to an off-track error, while a lower value indicates a less aggressive response.

  • Page 92: Yaw Rate Gain

    Chapter 6 a less aggressive response. Yaw Rate Gain Determines the impact of the yaw rate on tracking performance. A higher Yaw Rate Gain value results in a more aggressive response to yaw rate, while a lower value results in a less aggressive response.

  • Page 93: Left System Gain

    If the backlash value is too high, DirecSteer will constantly chatter while engaged. If the backlash value is too low, the machine will weave across the desired guidance path.
  • Page 94 Chapter 6 1. From the auto-steer Home page, select the Tools button. 2. Select the Steering Setup tab.

  • Page 95: Informational Readouts

    System Settings 3. Select the Wheel Control Settings button. Informational Readouts The Wheel Control Setup page displays the following information: Note: Select the Help Menu icon to access the Help Menu. The Help Menu may contain additional information about the features and options displayed on the page. Velocity or Wheel Velocity The speed at which the wheels are moving, measured in degrees per second.The speed at which the implement steering actuator is moving, measured in voltage per second.

  • Page 96: Control Effort

    Chapter 6 Control Effort The amount of effort the system is using to drive the wheels.The amount of effort the SC1™/TC1™ system is using to drive the implement steering actuator. Motor or Valve Current Displays the current (amps) draw of the steering valve or motor. Reverse Hydraulics Enable this option if control inputs have the opposite effect on the steering axle or implement actuator.

  • Page 97: Steering Control Calibration

    System Settings Steering Control Calibration The steering control calibration process allows the auto-steering system to learn the hydraulic or mechanical capabilities of the machine for optimal steering performance in the field. Note: When operating with a generic tuneset, the steering control calibration must be performed to tune the auto-steer system to the machine.

  • Page 98: Perform A Calibration

    Chapter 6 The machine measurements are correctly entered into the UT or field computer. The machine hydraulic fluid is at the normal operating temperature. NOTICE Calibration of the machine steering system should be performed in a field or other large, open space and with conditions similar to normal vehicle operation.

  • Page 99: Guidance Setup Menu

    System Settings 3. Select the Steering Setup tab. 4. Select the Steering Control Calibration button. Follow the on-screen instructions and review "Steering Control Calibration" on page 41 for additional assistance with com- pleting the calibration. Guidance Setup Menu The Guidance Setup Menu to configure auto-steering options for in-field guidance. Note: Some pages and options may differ based upon how the machine or implement is configured.
  • Page 100 Chapter 6 1. From the auto-steer Home page, select the Tools button. 2. Select the Steering Setup tab.

  • Page 101: Guidance Partner

    System Settings 3. Select the Guidance Setup Menu button. Review the following sections for assistance with selecting the appropriate guidance options for your application. Guidance Partner Use the drop-down list to select the desired guidance partner. Guidance Mode Select one of the following modes for guidance operations: GPS - Guidance is performed via GNSS guidance points only.

  • Page 102: Automation Level

    Autonomy Driverless - Select this option to enable features for autonomous systems such as OMNiDRIVE™. Note: DirecSteer does not support Autonomous operations. Guidance Path Partner Displays the recognized device which provides a guidance path for the automated steering system.

  • Page 103: Informational Readouts

    System Settings 2. Select the Steering Setup tab. 3. Select the Wheel Angle Sensor button. Informational Readouts The Wheel Angle Sensor or Implement Position Sensor page displays the following information:...

  • Page 104: Wheel Angle Sensor Applications

    Chapter 6 Wheel Angle Sensor Applications Left, Center, and Right Values Displays the current sensor voltage set point value for each sensor position. Current Sensor Voltage Displays the current voltage of the wheel angle or implement position sensor. When the operator turns the steering wheel, this value will increase or decrease, depending upon which way the wheel is turned, through the sensor range.

  • Page 105: Steering Disengage Settings

    System Settings 4. Select the Right position button again to save the new Right position value. Steering Disengage Settings Note: Some pages and options may differ based upon how the machine or implement is configured. 1. From the auto-steer Home page, select the Tools button.

  • Page 106: Informational Readouts

    Yellow - No disengage switch is detected in the system. Turn the steering wheel to activate the disengage switch. If the disengage switch is not activated, check cabling for loose or missing connections. Note: DirecSteer does not support testing the disengage sensor from the Disengage Settings page.

  • Page 107: Pressure 1

    This rate displays for steering wheel encoder disengage types and displays the rate of steering in degrees per second. When connected with a DirecSteer unit, this display provides a calculated, non-dimenisional rotation rate through the DirecSteer unit. Measured PWM Encoder Change Rate This rate displays for steering wheel encoder disengage types.
  • Page 108 Chapter 6 1. From the auto-steer Home page, select the Tools button. 2. Select the Steering Setup tab.

  • Page 109: Operator Presence Sensor

    System Settings 3. Select the Reset Calibrated Gains button. Select the Check button to reset the auto-steer settings back to a factory default condition. Select the X button to keep the current system configuration and return to the Steering Setup tab. Operator Presence Sensor Note: Some pages and options may differ based upon how the machine or implement is...
  • Page 110 Chapter 6 1. From the auto-steer Home page, select the Tools button. 2. Select the Steering Setup tab.

  • Page 111: Informational Readouts

    System Settings 3. Select the Operator Presence Sensor button. Informational Readouts The Operator Sensor Type Selection page displays the following information: Current Voltage Displays the current switch voltage. This display may be useful to adjust the upper and lower voltage limits if necessary. Status Displays the operator presence switch status.

  • Page 112: Lower Limit

    GPS (GNSS) Setup Tab Note: Some pages and options may differ based upon how the machine or implement is configured. To access the GNSS correction settings and options available for Raven auto-steer applications.
  • Page 113 System Settings 1. From the auto-steer Home page, select the Tools button.

  • Page 114: Gps Shutdown Timer (If Equipped)

    Chapter 6 2. Select the GPS Setup tab. GPS Shutdown Timer (if equipped) The GPS Shutdown Timer value determines the length of time the RS1™ unit remains powered after the machine switched power is turned off. The GPS remains converged for the length of time selected.
  • Page 115 System Settings 1. From the auto-steer Home page, select the Tools button.

  • Page 116: Status

    Chapter 6 2. Select the GPS Setup tab. 3. Select the Position Accuracy Setup button. The Position Accuracy page displays the following information: Status Displays the status of the GPS/GNSS solution. Statuses that may be displayed in this area include: No Signal Error Converging Converged...

  • Page 117: Gnss Terrain Compensation

    System Settings GNSS Terrain Compensation Note: Some pages and options may differ based upon how the machine or implement is configured. 1. From the auto-steer Home page, select the Tools button.

  • Page 118: Roll, Pitch, Yaw Rate, And Heading

    Chapter 6 2. Select the GPS Setup tab. 3. Select the Terrain Compensation Setup button. The following terrain compensation diagnostic information is displayed. 4. When finished reviewing the displays, or after completing a calibration, select the Accept button in the lower, right corner of the page to return to the GPS Setup tab. Roll, Pitch, Yaw Rate, and Heading Real-time measurement data used by the 3D terrain compensation feature.
  • Page 119 System Settings 1. From the auto-steer Home page, select the Tools button.
  • Page 120 Chapter 6 2. Select the GPS Setup tab. 3. Select the GPS Serial Output or Serial Output Configuration button. 4. Use the Config Types drop-down to toggle between the following options: Radar Out Output a simulated radar speed. This mode outputs a fixed frequency and there are no further user settings to tune this output.

  • Page 121: Baud Rate

    Allows the operator to configure required and desired NMEA message types and frequency. Note: Changing message types and rates may cause poor system performance. It is not recommended to change message rates unless instructed by documentation or the Raven Technical Service team. Radio Modem...

  • Page 122: Modem Status

    Chapter 6 Modem Status The modem status may display as: No Comm: No modem detected. Configuring: Modem is detected. Connected: Modem is connected to the steering guidance controller (SGC). Modem Type The detected radio modem type will display here. Modem type options are: 450 MHz 900 MHz Radio Base...

  • Page 123: Differential Configuration Setup

    System Settings Differential Configuration Setup Note: Some pages and options may differ based upon how the machine or implement is configured.
  • Page 124 Chapter 6 1. From the auto-steer Home page, select the Tools button.

  • Page 125: Gps Information Page

    3. Select the Differential Configuration Setup button. Note: Differential Source options will vary depending upon the GNSS receiver connected, authorized or unlocked correction sources or subscriptions, and etc. Contact a local Raven dealer for additional assistance with feature unlock codes and activation. GPS Information Page The steering guidance controller (SGC) provides some general GNSS diagnostic data from the GNSS receiver.
  • Page 126 Chapter 6 1. From the auto-steer Home page, select the Tools button.

  • Page 127: Latitude

    System Settings 2. Select the GPS Setup tab. 3. Select the GPS Information button. The following diagnostic information is displayed: The GPS Information page displays the following data: Latitude The angular distance of a point north or south of the earth equator. Longitude The angular distance of a point east or west of the meridian at Greenwich, England.

  • Page 128: Number Of Satellites

    Chapter 6 2 = SBAS converged, GLIDE®, GS-Lite converged, Satellite GS converging. 3 = N/A 4 = RTK converged, Satellite GS (500S) converged. 5 = RTK Float, Satellite GS converged. 6 = Dead Reckoning. Number of Satellites The number of satellites currently in view by the GNSS receiver. HDOP If all of the satellites in view are from the same direction, the number will be higher and the accuracy will be reduced.

  • Page 129: Slingshot® Universal Terminal Overview

    Slingshot® Universal Terminal Overview Chapter 7: Slingshot® Universal Terminal Overview The Slingshot® universal terminal provides an interface for the Field Hub module built into the RS1™ unit. To access the Slingshot® UT: 1. Select the Slingshot® button from the UT menu. 2.

  • Page 130: Slingshot® Home Page Overview

    Remote Diagnostics Select the Remote Diagnostics button and accept the End User License Agreement (EULA) to allow RS1™ to send usage logs to Raven. Statistics shared through Slingshot® will be used by Raven to monitor RS1™ performance. Note: The EULA must be accepted each time the RS1™...

  • Page 131: Connectivity Status

    The RS1™ unit is equipped with a cellular modem, but the feature has not been unlocked. Contact a local Raven dealer for additional assistance with feature unlock codes and activation. The RS1™ unit is not equipped with a cellular modem.

  • Page 132: Ethernet Status

    Indicates that a valid connection has been established between the RS1™ and a field computer or Field Hub. No Ethernet connection has been made or the RS1™ does not recognize that an Ethernet has been made. Ethernet device failure. Contact the Raven Technical Service team for support.

  • Page 133: Wi-Fi® Status

    Slingshot® Universal Terminal Overview Wi-Fi® Status Note: Select the Wi-Fi® status icon to access the Wi-Fi® Status page. Refer to the "Wi-Fi® Connection and Hotspot Status Page" on page 121 for additional details on the information shown on this status page. Hotspot Note: The following status icons are displayed when RS1™...

  • Page 134: Slingshot® Feature Status

    Slingshot® RTK Note: RTK corrections must be unlocked for the RS1™ to display this status icon. Contact a local Raven dealer for additional assistance with feature unlock codes and activation. RS1™ is receiving RTK corrections. RS1™ is not receiving RTK connections.

  • Page 135: Device Ip Address

    Slingshot® Universal Terminal Overview Device IP Address Displays the IP address which the RS1™ will broadcast to connected devices. Link Speed The speed data can pass from the RS1™ to connected devices. Wi-Fi® Connection and Hotspot Status Page Select the Wi-Fi® Status icon to view either the Wi-Fi® Connection or Hotspot Status pages.

  • Page 136: Connection Status

    Chapter 7 Connection Status Note: The Wi-Fi® Connection Status page is displayed when the RS1™ is configured as a Wi-Fi® client device and will connect to available Wi-Fi® networks. Service Set Identifier (SSID) The name of any available Wi-Fi® networks detected by the RS1™. Signal Signal strength of each network detected by the RS1™.

  • Page 137: Rs1™ Field Update

    Slingshot® Universal Terminal Overview RS1™ Field Update 1. Select the Slingshot® button from the UT menu. 2. On the Slingshot® home page, select the Field Update button. Note: A status icon will display in the upper, left corner of the Slingshot® home page when an update is in progress.
  • Page 138 Chapter 7 3. Select the Check for Server Updates button to view the latest software updates avail- able for the RS1™ unit. 4. Use the scrolling list to select the desired software version to apply to the RS1™. 5. Select the Download and Install button. 6.

  • Page 139: Slingshot® System Settings

    Slingshot® Universal Terminal Overview 8. Select the Accept to install the software version. Note: Do not power off the RS1™ or field computer during the software update. Slingshot® System Settings Open the Tools menu to review or adjust current Slingshot® communication options and settings and RTK correction information.

  • Page 140: Cellular Information

    Chapter 7 2. From the Slingshot® Home page, select the Tools button. 3. The Tools menu page displays with the various tabs. Review the following sections for additional assistance with the available settings, features, and options. Cellular Information The Cellular Information page provides cellular features, options, and configuration of the RS1™...
  • Page 141 Slingshot® Universal Terminal Overview Note: Refer to Slingshot® Cellular Settings and Cellular Settings for additional assistance with available modem configuration and setttings. 1. From the Slingshot® Home page, select the Tools button. 2. Select the Cellular Settings tab.

  • Page 142: Modem Status

    Chapter 7 3. Select the Cellular Information button. 4. The Cellular Information page displays the following modem configuration details. Modem Status Review the following for a description of the possible modem status messages. Cellular APN - The current APN used by the cell modem. If "Not Avaiable" is displayed, either no cellular connection is established or the user did not enter an APN.

  • Page 143: Imei

    Slingshot® Universal Terminal Overview Cell Signal - Displays the current RSSI (signal strength) of the cell modem. Cell Service - Displays the current cell service connection type. Roaming Status - Cell modem is roaming. IMEI Displays the International Mobile Equipment Identity number (IMEI#) with the modem installed in the RS1™...

  • Page 144: Raven Field Computer (Server Mode)

    3. Select the Ethernet Settings tab. 4. Use the toggle option to set the modes for the Ethernet connection in the RS1™ unit. Raven Field Computer (Server Mode) Select this mode when the RS1™ unit is directly connected to the field computer via an...

  • Page 145: Field Hub (Client Mode)

    Slingshot® Universal Terminal Overview Field Hub (Client Mode) Select this mode when the RS1™ unit is directly connected to the field hub via an Ethernet cable. Wi-Fi® Settings 1. Select the Slingshot® button from the UT menu. 2. From the Slingshot® Home page, select the Tools button.

  • Page 146: Ssid

    Select Manual Hotspot to broadcast a hotspot for local Wi-Fi® devices. Raven Auto Select Raven Auto to allow the system to automatically select the best Wi-Fi® network connection. To change which Wi-Fi® network the system is connected to, select the Manual...

  • Page 147: Wi-Fi® Channel

    Slingshot® Universal Terminal Overview Client mode. Note: When set to Raven Auto, a small “A” indicator will be displayed to indicate Raven is controlling the Hotspot and Wi-Fi® settings for the system. Wi-Fi® Channel Displays the channel the Wi-Fi® hot spot is currently using. If the operator is experiencing a issues with connectivity or staying connected, adjusting these settings may improve connectivity issues.
  • Page 148 Note: RTK must be unlocked to display the settings and information below. Contact a local Raven dealer for additional assistance with feature unlock codes and activation. Review "Feature Unlocks" on page 138 for assistance with entering an unlock code if this tab displays the "RTK Is Not Unlocked" message.

  • Page 149: Base Station Name

    Generally, the RTK Source should be set to “Auto.” However, this setting may be locked to a “Serial” setting if RTK corrections are provided via a non-Raven source or Slingshot®Field Hub connected serially. This setting may be set based upon location or customer.

  • Page 150: Radio Link Settings

    Chapter 7 Radio Link Settings 1. Select the Slingshot® button from the UT menu. 2. From the Slingshot® Home page, select the Tools button.

  • Page 151: Connection Point

    Slingshot® Universal Terminal Overview 3. Select the Radio Link tab. The following options and settings are presented. Connection Point Calibrates the RS Lite for the types of radio data to transmit and receive during autonomous operation. Radio Channel Set the radio channel for autonomous vehicle operations. The radio channel may be set between 1 and 18 and must be set to the same value for each vehicle operating as part of the autonomous system.

  • Page 152: Non-Controlling Combine Present

    Chapter 7 Non-Controlling Combine Present Use the drop down list to set the number of non-controlling combines present during field operations. Note: The value set for the number of non-controlling combines present must be set on the Radio Link tab on each machine in the OMNiDRIVE™ system (e.g. the tractor, the controlling combine, and each non-controlling combine).
  • Page 153 Slingshot® Universal Terminal Overview 2. From the Slingshot® Home page, select the Tools button. 3. Select the Feature Unlocks tab. 4. To unlock an available feature, select the red Padlock icon in the Status column.

  • Page 154: Slingshot® Diagnostic System Information

    Chapter 7 5. Enter the feature unlock code. 6. Select the Send button Note: If the code is invalid, a message is displayed below the unlock code field. 7. Select the Accept button to return to the Feature Unlocks page. Once the feature is suc- cessfully unlocked, the icon next to the feature will turn green.
  • Page 155 Slingshot® Universal Terminal Overview 2. From the auto-steer home page Home page, select the Diagnostic button. 3. Select the System Information tab. Use the drop-down list at the top of the page to select the desired system information for display and review.

  • Page 156: Rs1™ Information

    Chapter 7 RS1™ Information GPS Receiver...

  • Page 157: Steering Guidance Controller

    Slingshot® Universal Terminal Overview Steering Guidance Controller Cell Modem...

  • Page 158: Hours

    Chapter 7 Hours Hardware Diagnostics...

  • Page 159: Diagnostics And Troubleshooting

    Note: Refer to "DTC List for RS1™ and SC1™/TC1™" on page 147 or "DTC List for DirecSteer, HDU, MDU, and IDU " on page 161 for a complete list of DTCs. 1. From the auto-steer home page Home page, select the Diagnostic button.
  • Page 160 Chapter 7 2. Select the Diagnostic Trouble Codes tab to view active and inactive DTCs. Note: Active DTCs are conditions currently detected by the system. Inactive DTCs are conditions which have been detected, but are not currently active during steering system operations. Active DTCs may require attention before the auto-steering operations can be enabled.

  • Page 161: Dtc List For Rs1™ And Sc1™/Tc1

    Diagnostics and Troubleshooting 4. Select the Clear button to delete the DTCs from the Inactive DTC error log. 5. Select the Log Error toggle to record a random failure condition. DTC List for RS1™ and SC1™/TC1™ An operator may encounter the following Diagnostic Trouble Codes (DTCs) when using the Steering Guidance Controller (SGC) during auto-steering operations.
  • Page 162 46.7 km/h [29 mph] for units capable of high- speed steering and not subject to homologation terms. Note: Contact a local Raven dealer for additional assistance with high-speed steering unlocks. Machine speed is approaching the maximum auto- steer speed. To maintain auto-steer operation, do not exceed the maximum auto-steering speed (refer to ID 74.0 above).
  • Page 163 LNA failure. GPS receiver error: antenna 1. Cycle power to the machine. power. GPS receiver 2. If the error persists, contact your local Raven error: antenna dealer or the Raven Technical Service team. shorted. GPS receiver error: antenna open.
  • Page 164 Chapter 7 Code ID Description Recommended Actions Steering cal- Complete a steering control calibration. Review the ibration recom- "Steering Control Calibration" on page 83 for addi- mended. tional assistance. 1. Check the resume switch cabling and con- nections. Resume switch stuck on. 2.
  • Page 165 Diagnostics and Troubleshooting Code ID Description Recommended Actions 1. Check the steering guidance controller (SGC) cabling is properly connected. Authorization 3045 denied. 2. Check connectors for bent or pins pushed in and not making proper connection. 1. Check cabling and connections to the steering partner (steering valve).
  • Page 166 Chapter 7 Code ID Description Recommended Actions 4. Check the sensor voltage (5 V) and current (4 - 20 mA). Review the "Steering Disengage Set- tings" on page 91 for assistance with disengage switch settings. 1. Toggle the master switch ON or to field mode. Master switch is 2.
  • Page 167 1. Cycle power to the Raven field computer or 522250 UT display. No guidance 2. Ensure the Raven field computer is used for guid- path. ance. 3. Start a job and create an A-B guidance path. 1. Recalibrate the auto-steer system, including the hydraulic calibration.
  • Page 168 (SGC) including CAN terminators and wir- ing. DirecSteer is unable to move for too long. For example, holding the steering wheel when the unit is trying to steer. 1. DirecSteer steering effort is too high.
  • Page 169 Diagnostics and Troubleshooting Code ID Description Recommended Actions Hardware failure. DirecSteer hall 1. Contact a local Raven dealer for additional error. assistance. DirecSteer supply voltage is too high. DirecSteer over- 1. Check the power and ground connections. volt error. 2. Check cabling for shorts or loose connections.
  • Page 170 (UT). Selected machine tuneset does not support four- No four wheel 522815 wheel steering. Contact a local Raven dealer for addi- support. tional assistance. 1. Check hydraulic connections. Brake connection 2. Check pressure sensor cabling and connections.
  • Page 171 SmarTrax™ MD unit. Select a different GNSS correction type or Contact a GPS mode not 523832 local Raven dealer for additional assistance with fea- unlocked. ture unlock codes and activation. Select a different GNSS correction type or Contact a GPS mode not...
  • Page 172 Chapter 7 Code ID Description Recommended Actions error: COM2 buf- fer overrun. GPS receiver 523850 error: COM3 buf- fer overrun. GPS receiver 523851 error: link over- run. GPS receiver 523852 error: auxiliary transmit overrun. GPS receiver 523853 error: AGC out of range. GPS receiver 523854 error: almanac. GPS receiver 523855 error: position...
  • Page 173 Raven Technical Service team for additional assistance. 1. Cycle power to the machine.  Memory com- 523874 2. If the error persists, contact your local Raven munication error. dealer or the Raven Technical Service team. SCU software out Update the steering guidance controller (SGC) or steer- 523875 of date.
  • Page 174 Chapter 7 Code ID Description Recommended Actions SC1™ software Update the steering guidance controller (SGC) softare 523916 out of date. version. GPS receiver 523918 error: input over- run. GPS receiver 523919 error: jammer detected. GPS receiver error: IMU com- 523920  Cycle power to the machine. munication fail- ure.

  • Page 175: Dtc List For Direcsteer, Hdu, Mdu, And Idu

    523928 2. Contact a local Raven dealer for additional ibration. assistance. VSN® only job Start a job on the Raven field computer or universal 573927 required. terminal (UT) to use VSN® guidance. DTC List for DirecSteer, HDU, MDU, and IDU An operator may encounter the following Diagnostic Trouble Codes (DTCs) with a Steering Controller Unit (SCU) in auto-steering systems.
  • Page 176 2. Check the machine battery voltage. 1. Cycle power to the machine. NVM (non-volat- ile memory) 2. If the error persists, contact your local Raven warning. dealer or the Raven Technical Service team. 1. Cycle power to the machine. NVM (non-volat- ile memory) 2.
  • Page 177 Recommended Actions Update the steering guidance controller (SGC) soft- Incompatible 2901 ware version. Refer to the Raven field computer oper- hardware. ation manual for assistance with ECU updates. Wheel angle sensor (WAS) center position calibration is incomplete. To complete the calibration: 1.
  • Page 178 WAS supply low. cedure. 2. Check mounting of the WAS or for damage to the WAS. 3. If the error persists, contact your local Raven dealer or the Raven Technical Service team. The disengage sensor signal (#1) is above the upper limit.
  • Page 179 The input guidance line or path for auto-steering is not valid. 1. Check that GNSS corrections are converged. 2. Close the active job or task. Invalid com- 3. Cycle power to the Raven field computer or mand. UT display. 5237 4. Resume the previous job or task.
  • Page 180 523877 pheral 1. Cycle power to the machine. interface) error. 2. If the error persists, contact your local Raven dealer or the Raven Technical Service team. Logic power input to the HDU is out of range. If the Logic SW power...
  • Page 181 Diagnostics and Troubleshooting Code ID Description Recommended Actions 3. Contact a local Raven dealer for additional assistance. Amperage supplied to the left or right PWM valve does not match return. PWM Out ! = 1. Ensure cable connections are properly seated.
  • Page 182 1. Ensure cable connections are properly seated. DB Out ! = DB in. 2. Check for supply voltage on the connections to the machine steering valve. 3. Contact a local Raven dealer for additional assistance. Amperage supplied to double blocker solenoid too low.
  • Page 183 Diagnostics and Troubleshooting Code ID Description Recommended Actions Unexpected amperage supplied to the double blocker solenoid while auto-steering is not active. DB pwr (power) 1. Ensure cable connections are properly seated. 523892 current fail. 2. Check cabling for shorts or loose connections. 3.
  • Page 184 Description Recommended Actions 1. Cycle power to the machine. comm err. 2. If the error persists, contact your local Raven dealer or the Raven Technical Service team. 1. Check the wheel angle sensor (WAS) and sensor mounting for damage. WAS 1 signal 2.
  • Page 185 Wheels turning 523903 1. Ensure cable connections are properly seated. no SID. 2. Contact a local Raven dealer for additional assistance. No wheel angle sensor (WAS) change detected while commanding the valve (HDU) or motor (MDU). 1. Ensure cable connections are properly seated.

  • Page 186: Performance Monitor

    Logic LDO (lin- The logic power supplied to the ECU is out of range. If 583879 ear and low drop the error persists, contact your local Raven dealer or out) power error. the Raven Technical Service team. Performance Monitor The steering guidance controller (SGC) offers auto-steering performance metrics.

  • Page 187: Line Acquire Performance

    Diagnostics and Troubleshooting The column labeled 95% may be read as 95% of the elapsed time, the error distance or degrees is less than the value shown. Note: Select the Reset icon to reset the online performance metrics. Line Acquire Performance Line Acquire Performance offers metrics for the last line acquisition performed by the auto- steer system as well as average metrics for line acquisition.

  • Page 188: Online Curve Performance

    Select the Reset icon to reset the online curve performance metrics. System Tests System tests may be used to help diagnose and correct poor machine and steering calibration issues. The Raven auto-steer systems offer the operator and technicians the following system tests.

  • Page 189: Step Response Test

    Diagnostics and Troubleshooting Step Response Test WARNING The machine will steer automatically. Be sure the area around the vehicle is clear of people and obstacles before engaging the auto-steer system. To disengage auto-steering at any time, turn the steering wheel or select the on-screen Stop button.
  • Page 190 Chapter 7 2. Select the Tests tab along the top of the page. 3. Select the Machine Test from the drop-down options on the Tests page. 4. Select the Begin button. 5. Drive forward at a speed between 1.6 - 6.4 km/h [1 - 4 mph] with the engine RPM set at approximately 3/4 throttle.
  • Page 191 Note: Once the Step Response Test has been completed, the machine performance reading should fall within the recommended system settings. Provide the collected data to a Raven Technical Service team to verify that machine performance falls within the recommended settings.
  • Page 192 Chapter 7 2. Select the Tests tab along the top of the page. 3. Select the Machine Test from the drop-down options on the Tests page. 4. Select the Begin button. 5. Drive forward at a speed between 1.6 - 6.4 km/h [1 - 4 mph] with the engine RPM set at approximately 3/4 throttle.
  • Page 193 Note: Once the Step Response Test has been completed, the machine performance reading should fall within the recommended system settings. Provide the collected data to a Raven Technical Service team to verify that machine performance falls within the recommended settings.
  • Page 194 Chapter 7 2. Select the Tests tab along the top of the page. 3. Select the Machine Test from the drop-down options on the Tests page. 4. Select the Begin button. 5. Drive forward at a speed between 1.6 - 6.4 km/h [1 - 4 mph] with the engine RPM set at approximately 3/4 throttle.

  • Page 195: Machine Test

    Note: Once the Step Response Test has been completed, the machine performance reading should fall within the recommended system settings. Provide the collected data to a Raven Technical Service team to verify that machine performance falls within the recommended settings.

  • Page 196: Control Effort Test

    Chapter 7 2. Select the Tests tab along the top of the page. 3. Select the Machine Test from the drop-down options on the Tests page. 4. Select the Begin button. 5. The Machine Test page displays with the Control Effort test at the top of the page. Use the drop-down list to select the Disengage, Machine Info, Readouts, or Switches test pages.

  • Page 197: Disengage Test

    Diagnostics and Troubleshooting To test control effort: 1. Enter a test value for the control effort in the left and right test percent fields. 2. Use the Left and Right arrow buttons to manually steering the wheels left or right using the set control effort value.

  • Page 198: Machine Info

    Chapter 7 Note: Refer to the "Steering Disengage Settings" on page 91 for assistance with changing the Disengage Threshold. Machine Info Select the Machine Info test page to review basic tune-set profile information. Note: To change tune-set selections, refer to the Initial Tuneset Calibration and restart the tune-set calibration wizard.

  • Page 199: Switches Test

    Diagnostics and Troubleshooting Switches Test The switches page allows the operator to test the steering master switch, the resume foot switch, and the operator presence switch. Toggle the switch and monitor the status icons. The switch status icon should change when the switch is toggled.
  • Page 200 Chapter 7 Implement Steering 1. From the auto-steer home page Home page select the Diagnostic icon. 2. Select the Tests tab along the top of the page. 3. Select the Machine Test from the drop-down options on the Tests page.

  • Page 201: Control Effort Test

    Diagnostics and Troubleshooting 4. Select the Begin button. 5. The Machine Test page displays with the Control Effort test at the top of the page. Use the drop-down list to select the Disengage, Machine Info, Readouts, or Switches test pages. Note: Review the following sections for assistance with each test page.

  • Page 202: Disengage Test

    Chapter 7 1. Enter a test value for the control effort in the left and right test percent fields. 2. Use the Left and Right arrow buttons to manually steering the wheels left or right using the set control effort value. 3.

  • Page 203: Readouts

    Diagnostics and Troubleshooting Note: To change tune-set selections, refer to the Initial Tuneset Calibration and restart the tune-set calibration wizard. Readouts Select the Readouts page to review the following display information: Switches Test The switches page allows the operator to test the steering master switch, the resume foot switch, and the operator presence switch.
  • Page 204 Chapter 7 Plough Steering 1. From the auto-steer home page Home page select the Diagnostic icon.

  • Page 205: Control Effort Test

    Diagnostics and Troubleshooting 2. Select the Tests tab along the top of the page. 3. Select the Machine Test from the drop-down options on the Tests page. 4. Select the Begin button. 5. The Machine Test page displays with the Control Effort test at the top of the page. Use the drop-down list to select the Disengage, Machine Info, Readouts, or Switches test pages.

  • Page 206: Disengage Test

    Chapter 7 To test control effort: 1. Enter a test value for the control effort in the left and right test percent fields. 2. Use the Left and Right arrow buttons to manually steering the wheels left or right using the set control effort value. 3.

  • Page 207: Machine Info

    Diagnostics and Troubleshooting Note: Refer to the "Steering Disengage Settings" on page 91 for assistance with changing the Disengage Threshold. Machine Info Select the Machine Info test page to review basic tune-set profile information. Note: To change tune-set selections, refer to the Initial Tuneset Calibration and restart the tune-set calibration wizard.

  • Page 208: Switches Test

    Chapter 7 Switches Test The switches page allows the operator to test the steering master switch, the resume foot switch, and the operator presence switch. Toggle the switch and monitor the status icons. The switch status icon should change when the switch is toggled. SGC System Information Note: Some pages and options may differ based upon how the machine or implement is...
  • Page 209 Diagnostics and Troubleshooting 1. From the auto-steer home page Home page, select the Diagnostic button. 2. Select the System Information tab. 3. Use the drop-down list at the top of the page to select the Steering Controller option. 4. Use the second drop-down list to review the available system information pages.

  • Page 210: Sgc Information

    Chapter 7 SGC Information Hardware/Software Cell Modem...

  • Page 211: Hours

    Diagnostics and Troubleshooting Hours Hardware Diagnostics GPS Receiver...

  • Page 212: Update Direcsteer Unit

    Note: Some pages and options may differ based upon how the machine or implement is configured. To update the firmware of the DirecSteer electric drive unit: 1. From the auto-steer home page Home page, select the Diagnostic button. 2. Select the System Information...
  • Page 213 Diagnostics and Troubleshooting 3. Use the drop-down list at the top of the page to select the DirecSteer option and use the second drop-down list to select DirecSteer Information. 4. Select the Check for Updates button at the bottom of the page.

  • Page 214: Performance Monitor

    7. Once the software update is complete, select the X in the lower, left corner of the page to return to the DirecSteer Information page. Note: Select the Check for Updates button again to confirm that the DirecSteer unit has been updated. Performance Monitor The steering guidance controller (SGC) offers auto-steering performance metrics.

  • Page 215: Line Acquire Performance

    Diagnostics and Troubleshooting The column labeled 95% may be read as 95% of the elapsed time, the error distance or degrees is less than the value shown. Note: Select the Reset icon to reset the online performance metrics. Line Acquire Performance Line Acquire Performance offers metrics for the last line acquisition performed by the auto- steer system as well as average metrics for line acquisition.

  • Page 216: Online Curve Performance

    Chapter 7 Online Curve Performance Online Curve Performance metrics depict the average, maximum, and 95% metrics for auto- steer system performance. The column labeled 95% may be read as 95% of the elapsed time, the error distance or degrees is less than the value shown. Note: Select the Reset icon to reset the online curve performance metrics.

  • Page 217: Certification And Compliance

    Certification and Compliance Chapter 8: Certification and Compliance Roadway Homologation The Accept Roadway Homologation Terms page will be displayed during the initial calibration of the RS1™ system in either of the following conditions: Operating with a generic tune-set Operating on the European continent Carefully review the on-screen disclaimer before proceeding.

  • Page 218: Certifications

    2009/66/EC, § 38 StVZO (EU) 2015/208 IV and V incl. all amendments up to (EU) 2015/208. By GTÜ No. GTÜ 2015/208/V-19002.00. A copy of the full report may be requested by contacting Raven Europe. Safety Notes The system “RS1™/SC1™” can be installed by authorized dealers/workshops only.

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