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Raven AutoBoom XRT, Calibration & Operation Manual

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AutoBoom XRT Calibration & Operation Manual

HEIGHT SENSOR UPDATES

The Height Sensor Updates page allows the user to update software on the height sensors. The sensors may be 

updated individually by selecting each sensor and pressing 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 5.  Height Sensor Updates

SWAP SENSORS

Press swap sensors to open the Height Sensor Swap screen. After physically swapping sensors on the machine, 

select the two sensors that were swapped. Once both are selected, touch the Swap button.

FIGURE 6.  Swap Sensors

Swap

Summary of Contents for AutoBoom XRT

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

Page 2: ...aven Industries shall not be held responsible for any modifications or repairs made outside our facilities nor damages resulting from inadequate maintenance of this system As with all wireless and satellite signals several factors may affect the availability and accuracy of wireless and satellite navigation and correction services e g GPS GNSS SBAS etc Therefore Raven Industries cannot guarantee t...

Page 3: ...Type 9 Manual Auto 9 Sensor Reading 9 AutoBoom XRT Operation 10 Run Screen Operation 10 UT Operation 11 Chapter 4 Calibration 13 First Time Configuration 13 Chapter 5 Settings 23 Machine Settings 23 Boom Configurations 24 Display Configuration 24 Height Sensor Configuration 25 Presets Configurations 27 Boom Tuning 28 Calibrations 29 ECU Orientation 41 Alarm Settings 42 Feature Unlock Codes 42 Chap...

Page 4: ... Readings 52 CAN Bus Information 52 Fold Controls 53 Hardware Software ABM 53 Hardware Software REM 54 Height Sensor Readings 55 Machine Readings 56 System Hours 56 System Voltages 57 Variable Damper Outputs 57 Tests 58 Target Control Effort Test 58 Target Velocity Test 58 Target Position Test 59 Target Height Test 60 Terrain Compensation Test 60 Manual Valve Control Test 61 Variable Damper Test 6...

Page 5: ...ltural equipment while under the influence of alcohol or an illegal substance Remain in the operator s position in the machine at all times when AutoBoom XRT is engaged Disable XRT when exiting the operator s seat and machine Do not drive the machine with AutoBoom XRT enabled on any public road Determine and remain a safe working distance from other individuals The operator is responsible for disa...

Page 6: ...mponents which develop temperatures higher than the temperature rating of hose components Hoses should be protected or shielded if it needs to route near hot temperatures beyond hose component specifications Hoses should not have sharp bends Allow sufficient clearance from machine component operational zones such as Drive shafts universal joints and hitches i e 3 point hitch Pulleys gears sprocket...

Page 7: ...bjects such as rocks that may fall or be thrown by the unit Buildup of dirt mud snow ice submersion in water and oil Tree limbs brush and debris Damage where service personnel or operators might step or use as a grab bar Damage when passing through metal structures High pressure wash ...

Page 8: ...CHAPTER 1 4 AutoBoom XRT Calibration Operation Manual ...

Page 9: ... good safety practices Be sure to carefully read the instructions in this manual as you complete the installation process 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 Verify that the machine s hydraulic system is using fresh oil and that th...

Page 10: ...ill help shape the future of our product documentation and the overall service we provide We appreciate the opportunity to see ourselves as our customers see us and are eager to gather ideas on how we have been helping or how we can do better To serve you best please send an email with the following information to techwriting ravenind com AutoBoom XRT Calibration Operation Manual P N 016 0235 001 ...

Page 11: ...AUTOBOOM XRT HOME SCREEN AND OPERATION AUTOBOOM XRT HOME SCREEN AutoBoom XRT is a UT based application To access AutoBoom XRT screens 1 Press the UT icon FIGURE 1 Home Screen 2 Select the XRT working set icon Settings Home Diagnostics Totals XRT ...

Page 12: ...responds to the sensor target Increasing the sensitivity too high may result in unnecessary or excessive movement Decreasing the sensitivity will result in less boom movement but will make the booms slower to respond to an error in boom height TARGET HEIGHT SETTINGS Press the Target Height button to set the distance from the boom to the target This screen also allows the user to select the Target ...

Page 13: ...r rack If there is not a Manual Auto button on the center rack the center rack is not enabled When in Auto mode the XRT system will continually move the boom position to reach the target position When in Manual mode with the Master Switch on the system is ready to engage Another way to switch from Manual Auto is to press on the desired boom section SENSOR READING Sensor Height displays the height ...

Page 14: ...boom information Pressing and holding also allows the user to turn off the master switch Image Status Description Sensor Working Reading Indicates the sensor is functioning properly and reading the desired target Sensor Not Reading Malfunctioning If there is an X through the sensor the sensor is not reading a target or is malfunctioning Sensor Offline Disabled If there isn t a number below the sen...

Page 15: ...GURE 5 XRT Widget Long Hold UT OPERATION Pressing the UT widget on the run screen will open the UT interface From this screen it is possible to adjust machine settings view diagnostic information and adjust Sensitivity and Target Height FIGURE 6 UT Run Screen Interface ...

Page 16: ...CHAPTER 3 12 AutoBoom XRT Calibration Operation Manual ...

Page 17: ...mation on the ABM Hardware Software screen 4 Press Next 5 Review the information on the REM Hardware Software screen 6 Press Next 7 Select the Machine Make Machine Model and the Machine Configuration FIGURE 1 Machine Selection 8 Press Next 9 Verify the number of height sensors installed on the booms and center rack This will be three five or seven sensors depending upon the number of sensors insta...

Page 18: ...just the orientation NOTE Many of the next screens will populate with default settings based on the machine configuration selected earlier The settings will need to be changed if the actual installation deviated from the directions in the machine specific installation manual FIGURE 3 ECU Orientation 12 If required press the Location button to rotate the machine view on the ECU Orientation screen 1...

Page 19: ...d the boom in so the booms are stored in the transport position 18 Touch the Next button to continue fold calibration FIGURE 5 AutoBoom Fold Setup Fold Boom In NOTE Most machines will skip to step 25 If your screen does not match that shown in Figure 6 on page 16 proceed to step 25 19 Unfold the booms and lower the center rack 20 Touch the Next button to continue the fold calibration ...

Page 20: ...the maximum height 22 Touch the Next button to continue the fold calibration FIGURE 7 Vertical Center Sensor Calibration Maximum Height 23 Lower the center rack to the maximum operating position NOTE For RoGator this is low enough that the center rack is able to rotate freely without hitting the travel stops This is typically about 4 in 10 cm ...

Page 21: ...ck to a typical operating position and unfold the booms 26 Press Next FIGURE 9 Vertical Center Sensor Calibration Set to Spray Position 27 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 22: ...chines that use a rotary position sensor will skip to step 35 29 Verify the ECU Orientation on the machine matches the image on the ECU orientation page If needed press the rotate buttons on the right side of the tab to adjust the orientation FIGURE 11 IMU Orientation 30 If required press the Location button to rotate the machine view on the ECU Orientation screen 31 Press Next 32 Verify the machi...

Page 23: ...or lens for the identified sensor If there is a sensor above the spray tip the value will be positive If the sensor is below the spray tip this value will be negative FIGURE 13 Height Sensor Setup 36 Press Next 37 Repeat step 35 and step 36 for the remaining sensors The X dimension is measured from the boom pivot point not the machine center line to the sensor mounting location 38 Set the booms pa...

Page 24: ...ht Sensor Setup Set Booms Parallel 40 Raise the left boom until there is at least a 40 in 101 6 cm change in height 41 Press Next FIGURE 15 Height Sensor Setup Raise Left Boom 42 Raise the right boom until there is at least a 40 in 101 6 cm change in height 43 Press Next ...

Page 25: ...level the booms 46 Have an assistant manually rock the boom up and down until the Next arrow appears The Next arrow will only appear when the voltage is more than 0 25 V apart FIGURE 17 Center Rack Rotation 47 Press Next 48 Raise the center rack and set the booms level NOTE The boom will move on it s own for the next few steps Verify nobody is standing near the booms ...

Page 26: ...ary 50 If prompted manually raise or lower booms and press Next to continue calibration 51 Review the information on the Height Sensor Setup page 52 Press Next 53 Review the information on the System Summary page 54 Press Next 55 The XRT Home Screen will open NOTE If features are not visible on the XRT Home Screen it means those features are locked To unlock these features follow the directions in...

Page 27: ...CHAPTER 5 P N 016 0235 001 Rev B 23 CHAPTER5SETTINGS MACHINE SETTINGS FIGURE 1 Machine Settings ...

Page 28: ...se or lower the center rack based upon height sensor readings FIGURE 2 Boom Configuration DISPLAY CONFIGURATION The display configuration screen allows the user to create a customized view of the AutoBoom XRT home screen This may be useful for diagnostics and troubleshooting To configure the display 1 Select Display Configuration from the Machine Settings tab A page will open that represents the e...

Page 29: ...nable This page also allows the user to swap the sensors by pressing the Sensor Swap button and update sensor software by touching the Height Sensor Update button Offset X is the horizontal distance from the pivot point of that boom near the Left or Right Shoulder Offset Z is the vertical distance between the spray tip and the lens of the height sensor If the sensor is below the spray tip the Moun...

Page 30: ...cted 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 5 Height Sensor Updates SWAP SENSORS Press swap sensors to open the Height Sensor Swap screen After physically swapping sensors on the machine select the two sensors that were swapped Once both ar...

Page 31: ...he desired boom Each boom will have it s own settings from each preset selected FIGURE 7 Preset Configuration 3 Select the desired Preset Mode a Spray Mode Standard XRT operation mode b Preset 1 User customizable mode c Preset 2 User customizable mode 4 Select the Trigger Method a There is one trigger method per Preset mode 5 Select the Control To option a Height The preset will control to a user ...

Page 32: ...r to Chapter 6 AutoBoom XRT Advanced Tuning for additional information on these settings NOTE If the Machine Make is set to RoGator there is an additional value displayed on the Boom Tuning page This value called Operation Zone prevents AutoBoom from being switched to Auto mode if the center rack is too high and center rack control is disabled This is necessary due to the unique configuration on t...

Page 33: ...pted 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 1 Verify the number of height sensors detected matches the number displayed on the screen 2 If all sensors are detected touch the Next button to continue FIGURE 10 Height Sensor Setup Sensor Indexing 3 Unfold the boom and ...

Page 34: ...rallel 5 Raise the left boom 6 When all sensors on the left boom have been raised above 8 ft 2 4 m the Next button will be displayed Touch the Next button to continue FIGURE 12 Height Sensor Setup Raise Left Boom 7 Raise the right boom 8 When all sensors on the right boom have been raised above 8 ft 2 4 m the Next button will be displayed Touch the Next button to continue ...

Page 35: ...ev B 31 SETTINGS FIGURE 13 Height Sensor Setup Raise Right Boom 9 The location and offsets for each sensor are displayed on a summary page This completes the calibration FIGURE 14 Height Sensor Setup Summary Page Display ...

Page 36: ...booms level The booms must be within 5 of level to proceed with calibration 3 Toggle the master switch to the on position 4 Touch the Next button Note that the booms will begin raising and lowering while this calibration is performed 5 When calibration is complete the new values will be displayed TERRAIN COMPENSATION CALIBRATION The Terrain Compensation Calibration button allows the user to verify...

Page 37: ...on allows the user to recalibrate the boom tilt sensors This correlates the tilt sensor measurement to an angular boom position 1 Set the booms parallel and under 8 ft 2 4 m from the ground 2 Press Next FIGURE 17 Height Sensor Setup Set Booms Parallel 3 Raise the left boom until there is at least a 40 in 101 6 cm change in height 4 Press Next ...

Page 38: ...right boom until there is at least a 40 in 101 6 cm change in height 6 Press Next FIGURE 19 Height Sensor Setup Raise Right Boom 7 Lower and level the booms 8 Have an assistant manually rock the boom up and down until the Next arrow appears The Next arrow will only appear when the voltage is more than 0 25 V apart ...

Page 39: ...tch from being turned on if the booms are not unfolded 1 Fold the boom in so the booms are stored in the transport position 2 Touch the Next button to continue fold calibration FIGURE 21 AutoBoom Fold Setup Fold Boom In NOTE Most machines will skip to step 9 If your screen does not match that shown in Figure 22 on page 36 proceed to step 9 3 Unfold the booms and lower the center rack 4 Touch the N...

Page 40: ...rtical Center Sensor Calibration Minimum Height 5 Raise the center rack to the maximum height 6 Touch the Next button to continue the fold calibration FIGURE 23 Vertical Center Sensor Calibration Maximum Height 7 Lower the center rack to the maximum operating position ...

Page 41: ...lete the fold calibration FIGURE 25 Vertical Center Sensor Calibration Set to Spray Position AUTO CALIBRATION AutoBoom XRT has a library of calibrated values that are automatically used when the system is initially configured These values have been found to be good defaults specific to your Make Model and Boom Width For optimal performance some of these values should be customized to your specific...

Page 42: ...temperature Verify that the area around the machine is clear of people and obstacles The boom will move automatically during the calibration procedure 2 Heat Valve Coil The electrical coil will be energized to warm it to a typical operating temperature Touch Next to begin FIGURE 26 Auto Calibration Heat Valve 3 Base Control Effort Calibration Level the booms and toggle the Master Switch to the On ...

Page 43: ... right boom to approximately 3 below horizontal Touch the Next button to continue the boom will raise slowly FIGURE 29 Auto Calibration Right Boom Angle 6 An average speed will be displayed After 5 seconds the boom will return to 3 below horizontal Touch the Next arrow to bypass the 5 second pause ...

Page 44: ...ight Boom Angle 9 An average speed will be displayed After 5 seconds the boom will return to 5 above horizontal Touch the Next arrow to bypass the 5 second pause 10 Repeat step 8 and step 9 four more times Each test will result in a higher boom velocity 11 Repeat step 5 through step 10 for the left boom 12 At the completion of calibration a calibration summary page will be displayed Press the chec...

Page 45: ...set to Defaults allows the user to reset AutoBoom XRT to factory default settings NOTE Unlocks will not be erased during the reset ECU ORIENTATION The ECU Orientation window displays the current orientation To update the orientation perform a Terrain Compensation Calibration FIGURE 33 ECU Orientation ...

Page 46: ...nual and Manual mode to Auto FIGURE 34 Alarm Settings 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 FIGURE 35 Feature Unlock Screen...

Page 47: ...TE Dashes may be omitted letters may be entered in either upper or lower case 5 Touch the check box to submit the entered code NOTE A message will display indicating whether or not the unlock code that was entered is valid If the code is valid the padlock icon next to the feature will turn green and indicate that it is unlocked as shown in Figure 35 on page 42 After unlocking a feature a calibrati...

Page 48: ...CHAPTER 5 44 AutoBoom XRT Calibration Operation Manual ...

Page 49: ...erform a Base Control Effort Calibration after warming the hydraulic oil If possible engage AutoBoom and drive slowly for two minutes prior to performing Base Control Effort calibration This will ensure the Solenoid coils are at operating temperature and will give the most accurate Base Control Effort HYDRAULIC OIL For best results perform tuning with the hydraulic oil at normal operating temperat...

Page 50: ... Test The boom should raise When the test is complete the average velocity will display 8 Press the Settings small gear on the tab 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 2 Target Velocity Test Results 10 Repeat step 3 throug...

Page 51: ...n speed ratio accounts for this difference 1 Select Diagnostics 2 Select Tests 3 Select Target Velocity Test FIGURE 3 Target Velocity Test 4 Press Begin Test 5 Set the Target Velocity to 2 per second 6 Raise the center rack and tilt one boom so the boom is approximately 5 above horizontal 7 Press Start Test The boom should lower When the test is complete the average velocity will display 8 Press t...

Page 52: ... 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 a...

Page 53: ...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 ...

Page 54: ...CHAPTER 6 50 AutoBoom XRT Calibration Operation Manual ...

Page 55: ...STICS AND TROUBLESHOOTING SYSTEM INFORMATION To access System Information 1 Select the Diagnostics icon 2 Select the System Information tab BOOM OUTPUTS The Boom Outputs page displays the Base PWM Blocker status and Control Effort FIGURE 1 Boom Outputs ...

Page 56: ...s 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 2 Boom Readings CAN BUS INFORMATION The CAN Bus Information page displays information about CAN system FIGURE 3 CAN Bus Information ...

Page 57: ... section of the boom NOTE Depending upon your machine s configuration not all sections may be available to control on this page and some displayed sections may not be controlled via the displayed buttons HARDWARE SOFTWARE ABM Displays the AutoBoom hardware and software number and versions FIGURE 5 Hardware Software ABM ...

Page 58: ...54 AutoBoom XRT Calibration Operation Manual HARDWARE SOFTWARE REM The Hardware Software REM displays the hardware and software number and version for the Raven Expansion Module REM FIGURE 6 Hardware Software REM ...

Page 59: ... selected sensor FIGURE 7 Height Sensor Reading TABLE 1 Sensor LED Colors LED Status LED Color Sensor is in bootloader mode Flashing Red at 10 Hz Sensor is reprogramming Flashing Red at 1 Hz No CAN Communication Flashing Yellow at 10 Hz CAN Communication but no ABM detected Flashing Yellow at 1 Hz ABM detected but not indexed Flashing Pink at 1 Hz Sensor has been indexed Flashing Green at 1 Hz Boo...

Page 60: ...Machine Reading page displays the current machine Speed Chassis Roll Position Chassis Pitch Position and Chassis Roll Rate FIGURE 8 Machine Readings SYSTEM HOURS Displays the current Version Hours Version Engaged Hours Lifetime Hours Lifetime Engaged Hours FIGURE 9 System Hours ...

Page 61: ...TING SYSTEM VOLTAGES System Voltages displays the ECU Power and the Regulator voltages FIGURE 10 System Voltages VARIABLE DAMPER OUTPUTS The Variable Damper Outputs page displays the Control Effort for the variable damper FIGURE 11 Variable Damper Outputs ...

Page 62: ... down FIGURE 12 Target Control Effort Test TARGET VELOCITY TEST The Target Velocity Test tests the velocity control parameter by either manually entering the angular velocity or by using predefined options Tests are generally performed at 2 per second Before starting the test manually move the boom to a position where it can travel up or down for five seconds After running the tests an Average Vel...

Page 63: ...gned to test the boom control PID loop Enter a target position several degrees away from the current position After running the test various values will be reported These values represent how quickly the boom moved to the target position Ideally the Delay Rise Settling and Overshoot values are low FIGURE 14 Target Position Test ...

Page 64: ...w speed Next the user is asked to run the engine at typical operating RPM The test reports a pass or fail for each engine speed If the test fails engine vibrations may be having a negative impact on system performance NOTE If the test fails check the node installation Verify the node is mounted securely and has not come lose during operation Also confirm that the node is mounted as instructed in t...

Page 65: ...DIAGNOSTICS AND TROUBLESHOOTING FIGURE 16 Terrain Compensation Test MANUAL VALVE CONTROL TEST This test allows the user to manually move the sprayer booms to validate hydraulic valve function FIGURE 17 Manual Valve Control Test ...

Page 66: ...is test allows the user to manually apply a control effort to the variable damper system 1 Select Connectivity Test 2 Enter a Target Effort Percentage 3 Touch the Start button NOTE Each damper should draw between 2 0 and 2 8 amps when tested at 100 FIGURE 18 Variable Damper Test ...

Page 67: ...AND TROUBLESHOOTING DIAGNOSTIC TROUBLE CODES The Diagnostics Trouble Codes page displays the Active and Inactive trouble codes FIGURE 19 Diagnostic Trouble Codes To view information on the trouble code select the desired code and press Info ...

Page 68: ... RANGE 522949 13 RIGHT LIFT CYLINDER OFFLINE 0 1 RIGHT LINEAR POSITION SENSOR OFFLINE 522950 4 ERROR NOT RATE TABLE CALIBRATED 0 2 RIGHT LINEAR POSITION SENSOR OUT OF RANGE 522950 13 BOOM OFFLINE 0 3 FOLD 1 RIGHT OFFLINE 522951 4 LEFT LIFT UP DOWN PRESSED 0 4 FOLD 1 RIGHT OUT OF RANGE 522951 13 LEFT FOLD 1 IN OUT PRESSED 0 5 FOLD 2 RIGHT OFFLINE 522952 4 LEFT FOLD 2 IN OUT PRESSED 0 6 FOLD 2 RIGHT...

Page 69: ...P N 016 0235 001 Rev B 65 DIAGNOSTICS AND TROUBLESHOOTING SYSTEM SUMMARY The System Summary page displays the machine configuration information FIGURE 20 System Summary ...

Page 70: ... view short term performance FIGURE 21 Home Screen The Short Term performance page tab displays Deviation of Heights Average Terrain Average Error and Average Speed FIGURE 22 ABM Performance The Resettable Performance tab shows the same information as the short term performance tab but allows the user to reset the information Totals ...

Page 71: ...er s responsibility The Return Materials Authorization RMA number must appear on the box and all documentation including proof of purchase must be included inside the box to be sent to Raven Industries WHAT WILL RAVEN INDUSTRIES DO Upon confirmation of the warranty claim Raven Industries will at our discretion repair or replace the defective product and pay for the standard return freight regardle...

Page 72: ... claim and send it to Raven Industries for final approval The freight cost to Raven Industries will be the customer s responsibility The Return Materials Authorization RMA number must appear on the box and all documentation including proof of purchase must be included inside the box to be sent to Raven Industries In addition the words Extended Warranty must appear on the box and all documentation ...

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