Raven AutoBoom XRT, Calibration & Operation Manual

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48 AutoBoom XRT Calibration & Operation Manual
FIGURE 4. Down Speed Ratio Test Results
10. Repeat step 3 through step 9 until the speed matches the target velocity (+/- 20%).
11. Repeat step 3 through step 10 for the other boom.
NOTE: Test results are affected by coil temperature. Perform the tests three or more times in rapid succession
for best results.
At this point most machines should be performing optimally. If further tuning is necessary, continue
through these additional steps. Test the machine performance in the field before adjusting Boom
Gains.
BOOM GAINS
After verifying all of the previous configuration steps and Boom Speed tuning is complete, the following values
may be adjusted by going to Machine Settings and then Boom Tuning.
PROPORTIONAL GAIN
Larger proportional gain (P-Gain) values result in higher velocity for the same error in height. Typical values are 1.0
- 1.8. Too high of value will make the boom twitchy or unstable. Too low of a value and the boom will not move
quickly enough to changes in ground/crop height.
INTEGRAL GAIN
Integral Gain (I-Gain) compensates for changes in Base control effort over time. This could be caused by oil
temperature, valve coil temperature, boom weight, or other system changes. This is generally set between 0.001
and 0.003. To disable this feature, set the value to 0.000.