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Raven SBGuidance Disc, Installation Manual

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Raven SBGuidance Disc Installation Manual Download Page 43

 SBGuidance Disc I Rev. A I CAN 

 

SBG-Disc CAN-EN-Rev. A 

Page 43/

50 

 

4.4.

 

Configuring the PID controllers 

Use the default settings for the PID controllers 
(PID Steer and PID Track). The default settings 
can be obtained by clicking the Restore Group 
Defaults button in tabs PID Steer and PID Track 
(

Figure 33

 and 

Figure 34

). The response of the 

controllers can be adjusted by changing the 
dealer gain percentages. 

Dealer gain PID EHV = hydraulic 
percentage 

Increase the hydraulic percentage to obtain a 
more aggressive response of the wheel position 
control. 

At low maximum speeds, the hydraulic 
percentage may need to be increased. 

With disc control, the hydraulic percentage can 
remain at 100%. If wheel control is applied at a 
low maximum control speed, the hydraulic 
percentage may have to be set to a higher level. 

Dealer gain = gain percentage 

 

Increase the gain if the deviation to the line is 
too slow to reach 0 cm. 

Determine the gain in the field.

 

 

The user can adjust the gain and the 
hydraulics in SBGuidance under Settings > 

Vehicle > Tuning > tab page Implement) 
(

Figure 35

).

Figure 33 Tab PID Steer

 

Figure 34 Tab PID Track

 

Summary of Contents for SBGuidance Disc

Page 1: ...INSTALLATION MANUAL English Original Instructions SBGuidance Disc CAN disc and wheel control 016 8000 070EN Rev A ...

Page 2: ...Page 2 50 I SBG Disc CAN EN Rev A SBGuidance Disc I Rev A I CAN Intentionally left blank ...

Page 3: ...basic components 15 2 1 Checking the hydraulic manifold 15 2 2 Mounting the hydraulic manifold 17 2 3 Mounting the Steering Controller 18 2 4 Mounting the DynamIQ ISO SGC 18 2 5 Mounting the GPS antenna 19 2 6 Installing leads cables 20 2 7 CAN implement harness Disc schematic view 22 3 Disc set assemblies 23 3 1 Mounting the Stone Protection Assembly 24 3 2 Mounting the disc leg 25 3 3 Assembly o...

Page 4: ...ntrol 35 4 Set up and calibration 37 4 1 Set up with the CAN tool 37 4 2 Determining the control speeds 39 4 3 Calibrating the angle sensor 41 4 4 Configuring the PID controllers 43 4 5 Configurator set up 44 4 6 Checking orientation of DynamIQ 44 4 7 Calibrating DynamIQ 45 4 8 Set the stone protection 46 4 9 Checking the centre 46 5 Annexe 49 5 1 Pin out STU 49 5 2 Pin OUT angle sensor 50 ...

Page 5: ...s manual has been compiled with the utmost care Raven Europe assumes no responsibility for any errors or omissions in this document Any comments or questions can be sent to service eu ravenind com Raven Europe and its suppliers will accept no liability for physical or material damage caused whilst using the SBGuidance system The installed SBG systems produces less than 70 dBA Raven Europe Hoornsew...

Page 6: ...failure or breakdown switch of the tractor and disconnect the electrical power source to avoid further damage Contact SBG for further instructions on how to repair your system Warning The safety instructions contained in the manuals of the tractor or implements must be complied with at all times Warning It is strictly prohibited to use the SBGuidance system on public roads Warning It is strictly p...

Page 7: ... the manual have been given instructions by a product specialist and who are both physically and mentally fit and able to operate the system Caution In order to prevent power surges from occurring always start the machine first before initializing the SBGuidance control system Caution Only touch the touch screen with your finger or by using a special touch screen stylus pen Operating the touch scr...

Page 8: ...Page 8 50 I SBG Disc CAN EN Rev A SBGuidance Disc I Rev A I CAN Intentionally left blank ...

Page 9: ...ake or type The SBGuidance Disc control system is to be used for disc and wheel control steering on implements Several different steering sets are possible This section provides an overview of components that can be supplied in the various disc steering sets All necessary parts are supplied including this manual Verify that all items listed on the packing list are actually present ...

Page 10: ...BRACKET MANIFOLD V3 STU 4 10630173890 DynamIQ ISO Steering ECU Implement 5 11078000007 BRACKET DYNAMIQ V1 6 11158000009 HRNS STU IMPL MANIFOLD 7 11178000311 KIT BOLT NUT UNC ANTENNA 8 11178000307 Kit WAS Link M8210 RAD RAD 9 11158000193 10638000066 HRNS WAS 1 5M WAS ASY 12V 90 10 11078000062 BRACKET MANIFOLD V3 GENERIC 11 13348000001 MANIFOLD IMPLEMENT LS 5L 12 11158000117 11158000119 CBL ANT COND...

Page 11: ...th disc Ø 45cm 1b 11168000036 13218000035 11168000037 11178000345 11078000128 11168000038 Disc leg with disc Ø 60cm 2 11078000127 MOUNTINGPLATE DISC CYLINDER 3 11078000126 WELD PLATE DISC 150X180 4 11178000344 KIT MOUNTING DISC 5 13348004001 CYLINDER 40 20 100 NON ADJ 6 13348004002 CYLINDER 40 20 100 ADJ 7 13348001002 13348001001 PRESSURE VALVE 130BAR 140BAR 8 13218000038 TOPLINK CAT0 Parts requir...

Page 12: ... EN Rev A SBGuidance Disc I Rev A I CAN Single disc steering set 1 2 3 4 and 5 Steering set dual disc mechanically connected 1 2x 2 3 2x 4 5 and 8 Steering set dual disc hydraulically connected 1 2x 2 2x 3 2x 4 2x 5 6 and 7 2x ...

Page 13: ...e 2 can be added to the disk steering set When the disk hits a rock the is disk will be able to move upward to prevent the disk from damaging The stone protection consists of one assembly for each disk leg An hydraulic accumulator should be added The accumulator absorbs the oil in the cylinder when the disc is moving up Figure 1 Stone Protection Assembly Figure 2 Stone protection with disk leg ...

Page 14: ...ption 1 13348001018 Accumulator 0 35L 210 30 bar 2 11030159018 Accumulator mounting bracket 3 14170001033 Manometer 0 250 bar 4 13330012452 Fitting Bulkhead 12L 90deg 5 13330012492 Manometer coupling 12L 6 11078000129 Bracket manometer 7 11078000130 Bracket manometer protection 1 4 Disc set assembled Steering Controller STU Hydraulic manifold Angular position sensor angle sensor DynamIQ GPS antenn...

Page 15: ...n Center OC mode A selector plug should be used depending on the type of hydraulics used Table1 Figure 5 Check the type of selector plug Figure 4 before mounting the manifold Type of hydraulics Selector plug Load Sense 13348001019 CARTRIDGE LS LONG Open Center 13348000002 CARTRIDGE OC ELP30 If the manifold is connected to an external spool valve of the tractor the manifold must be configured in Op...

Page 16: ...Page 16 50 I SBG Disc CAN EN Rev A SBGuidance Disc I Rev A I CAN Different selector plugs are required for Open Center or Load Sense ...

Page 17: ...ct the control cylinder to A and B ports of the manifold Load Sense Connect the pressure line to P the return line to T and the sensor line to LS on the manifold Use the Power Beyond connections of the tractor Ensure that the return on the tractor is pressureless Open Center Connect the pressure line to P and the return line to T on the manifold Use the external spool valve of the tractor Be sure ...

Page 18: ... to the manifold keeping the length of the STU harness in mind It is recommended to mount the STU flat or with the connectors pointed downwards to prevent water collecting in the connectors 2 4 Mounting the DynamIQ ISO SGC Mount the DynamIQ terrain compensation on a flat surface free from vibrations and preferably with the connectors pointing to the rear default configuration A good place would be...

Page 19: ...attach the GPS antenna as low as possible and at the centre of the implement Be sure to provide a clear view at an angle of 20 degrees in relation to the horizon If the cabin roof is the highest point the GPS antenna does not need to be mounted as high depending on how far it is mounted behind the tractor In addition the construction needs to be rigid to prevent the GPS antenna from being affected...

Page 20: ...e connected to the STU This hydraulic harness ensures the control of the proportional valve and the readout of the angle sensor A panel mount antenna connection mounted on the IBBC bracket is optional Figure 11 An antenna cable lead can be concealed in the cabin between the terminal and the IBBC bracket Mount the CAN implement lead in such a way that the separate conductors coming from the protect...

Page 21: ...uidance Disc I Rev A I CAN SBG Disc CAN EN Rev A Page 21 50 Tip Tie wrap the leads to ensure that they are attached free from vibration and friction Press the connectors firmly into place until they click ...

Page 22: ...Page 22 50 I SBG Disc CAN EN Rev A SBGuidance Disc I Rev A I CAN 2 7 CAN implement harness Disc schematic view Figure 12 CAN implement harness ...

Page 23: ...Discs mounted behind the implement ensure the best results The disc should cut to a depth of about 3 5 cm depending on the type and humidity of the soil If the soil has already been ploughed to a depth of 15 cm this means that the disc should cut to a depth of 20 cm Check the working depth and prevent the disc from cutting too deep into the firm soil The disc should preferably be rear mounted It s...

Page 24: ...unted between the implement and the disc leg The cylinder in the assembly must be connected to an external spool valve of the tractor using hydraulic hoses An accumulator and pressure gauge should be connected near the cylinder using t pieces Ensure that the pressure gauge is visible from the tractor cab See the diagram in Figure 13 for the hydraulic connections Figure 13 Stone protection hydrauli...

Page 25: ...ded view of how the disc leg is mounted Use the set of bolts nuts and rings washers supplied The mounting plate for the cylinder and the angle sensor are provided with several holes Different holes need to be used depending on the steering set used Table 2 Figure 15 Figure 14 Exploded view of an assembled disk leg ...

Page 26: ...CAN EN Rev A SBGuidance Disc I Rev A I CAN Symbol Description 1 Disc leg attachment 2 Angle sensor 3 Fixed cylinder 4 Adjustable cylinder Table 2 Holes in mounting plate for cylinder and angle sensor Figure 15 Mounting plate ...

Page 27: ...nes On heavier machines such as ridgers a disc with a diameter of 60 cm is required on a single disc leg Always mount a single disc leg in the centre and at the back of the implement Take account of the working depth of the disc and the position of the disc leg in the attachment The disc legs are provided with several holes in order to adjust to the required working depth Construct a sturdy frame ...

Page 28: ... be adjustable by using a spindle to be sure that both discs can be properly aligned Cut the rod supplied in two halves Determine the desired length of the track rod Weld a tube between the two track rod sections Finally in the straight forward position the discs should are parallel Check whether the distance between the discs at the front and the rear is the same If necessary make adjustments to ...

Page 29: ...EN Rev A Page 29 50 On seeders and inter row cultivators it is sometimes possible to construct a universal frame that can be transferred from one implement to another Ensure that the hydraulics STU and DynamIQ are mounted on the universal frame ...

Page 30: ...epth of the disc and the position of the disc leg on the attachment The disc legs are provided with several holes in order to adjust to the required working depth Construct a sturdy frame from thick walled tubing of at least 80 x 80 cm 3 5 1 Hydraulic system The cylinders should be mounted in mirrored positions The ports on the piston rod side of the cylinders must be connected to each other Figur...

Page 31: ...wn in the schematic Figure 22 The pressure relief valves have three ports Figure 20 Two P ports and one T port 4 The angle sensor should be mounted on the right side with the fixed cylinder 5 After installing all hydraulics flush the system by steering left and right several times Keep on steering when the cylinders are at the end of their stroke to flush all air out 6 When all air is out position...

Page 32: ...Page 32 50 I SBG Disc CAN EN Rev A SBGuidance Disc I Rev A I CAN Figure 21 Dual discs with two cylinders ...

Page 33: ...SBGuidance Disc I Rev A I CAN SBG Disc CAN EN Rev A Page 33 50 Figure 22 Hydraulic circuit dual disc with hydraulic track rod ...

Page 34: ...d below for mounting the angle sensor in the angle sensor bracket Figure 24 1 The sensor consists of a plastic cup and a plastic disc which both need to be attached to the arm and the bracket with M5 bolts The disc needs to be attached to the arm and the cup needs to be attached to the sensor bracket The triangular notches carved in the disk as well as in the cup should line up in the center posit...

Page 35: ...he threaded rod to the required length 2 Wrap the sensor lead in protective sleeve to prevent it from becoming constricted or damaged 3 6 3 Wheel control For wheel steering the angle sensor should be mounted to an angle sensor bracket Figure 26 and Figure 27 Try to benefit from the entire range 0 5 4 5V of the sensor Figure 26 Angle sensor mounted at wheel steering Figure 27 Angle sensor mounted a...

Page 36: ...Page 36 50 I SBG Disc CAN EN Rev A SBGuidance Disc I Rev A I CAN Intentionally left blank ...

Page 37: ...pe com for the most recent software and firmware versions To update the steering controller firmware see document CONFIGURATION MANUAL FIRMWARE UPDATE CANbus controllers 016 8000 031EN 4 1 Set up with the CAN tool Initialize the CAN tool After initializing the connection with the CAN bus a bus load will be displayed The received frames must be increasing The bus load and received frames are displa...

Page 38: ... disc controller Figure 30 The steering controller is recognized if the status is on Running if an SW Version is displayed and the correct type of STU is detected In addition a sensor value should be displayed and a yellow line should be visible in the graphic display The sensor value should change when the steering controller is used Check if the STU is recognized before you continue to set up an...

Page 39: ... observing whether any of the LED lights on the DIN connectors light up Before steering Check if the surroundings of the discs are clear 2 Check if steering to the left and to the right corresponds to the actual situation Otherwise check the box L R Inverted 3 Use the Test button to the right of the control percentages to determine the maximum control speeds Start with the maximum control percenta...

Page 40: ...eve that both minimum control speeds correspond to approximately 0 04 V sec The discs wheels should respond immediately if the minimum values are set Otherwise increase the minimum control values Determine the minimum control values in the central range i e from the straight forward position When minimum control values are applied the control response to the left or to the right should be just as ...

Page 41: ... set tighter This prevents the discs from being controlled far too extreme With two cylinder disc control set the left and right limits much tighter in order to avoid synchronization problems In the wheel control mode always set the left and right limits to their end positions so that the implement being drawn can be steered automatically on the line as quickly as possible 2 Determine the centre v...

Page 42: ...Page 42 50 I SBG Disc CAN EN Rev A SBGuidance Disc I Rev A I CAN Figure 32 after driving for at least 50 metres in the automatic control mode If necessary adjust the centre of the disc ...

Page 43: ...e the hydraulic percentage to obtain a more aggressive response of the wheel position control At low maximum speeds the hydraulic percentage may need to be increased With disc control the hydraulic percentage can remain at 100 If wheel control is applied at a low maximum control speed the hydraulic percentage may have to be set to a higher level Dealer gain gain percentage Increase the gain if the...

Page 44: ... and configure the system and guidance type for the AUX control Select system type CAN and Guidance type SBGuidance Disc On Orientation select DynamIQ No parameters are required on the tab page Disc On the tab page Machines enter offset A antenna height Refer to the SBGuidance Auto CAN set up and configuration manual for further information on how to install SBGuidance 4 6 Checking orientation of ...

Page 45: ...e DynamIQ ISO SGC using the two point calibration method Calibration Figure 37 can be performed in SBGuidance under INFO GPS Orientation tab page Implement Refer to the SBGuidance Auto CAN set up and configuration manual for further information on how to install DynamIQ Figure 37 DynamIQ Calibration ...

Page 46: ...oil while working If it is set too low raise the pre charge with 10 bar at a time A value between 50 and 100 bar should be sufficient for all applications 4 9 Checking the centre The centre position of the disc control is important in order to ensure the correct successive follow up of work operations If the DynamIQ is calibrated and the GPS antenna is positioned in the centre of the implement gen...

Page 47: ...ntrol steers accurately with minimal or no deviations before the distance to the next furrow is measured 5 Adjust the centre of the implement by half the measured connecting error The centre can be adjusted with the the centre adjustment Figure 38 in SBGuidance under Settings Vehicle Tuning tab page Implement Figure 38 Adjust the center offset ...

Page 48: ...Page 48 50 I SBG Disc CAN EN Rev A SBGuidance Disc I Rev A I CAN Intentionally left blank ...

Page 49: ...function 6 5V Sensor power optional 7 Angle sensor signal 8 Input 2 n function 9 ECU Power 12V sensor power 10 ECU Ground sensor ground 11 ACT Ground 12 VCC PWM Pin Description 1 Power Actuator 2 Power Actuator 3 Power ECU 4 N C 5 N C 6 CAN High 7 CAN Low 8 N C 9 N C 10 ECU Ground 11 ACT Ground 12 ACT Ground Table 3 STU B connector black Table 4 STU A connector grey ...

Page 50: ... SBG Disc CAN EN Rev A SBGuidance Disc I Rev A I CAN 5 2 Pin OUT angle sensor Pin Description Wire colour 1 5V sensor power 2 ECU ground Blue 3 Sensor signal Black 4 12V sensor power Brown Table 5 Angle sensor 12V ...

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