Raven Case IH AutoBoom XRT, Calibration & Operation Manual, Page: 60 / 72

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56 Case IH AutoBoom XRT Calibration & Operation Manual
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
Velocity will display. This should be within 20% of the Target Velocity. If additional adjustments are required, refer
to “AutoBoom XRT Advanced Tuning” on page 43.
FIGURE 14. Target Velocity Test
TARGET POSITION TEST
This test is designed to test the boom control PID loop. Enter a target position several degrees away from the
current position in the Target Angle field. After running the test, various values will be reported. These values
represent how quickly the boom moved to the target position. Ideally, the Delay, Rise, Settling, and Overshoot
values are low.
FIGURE 15. Target Position Test