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HAPTER

SmarTrax™ MD Calibration & Operation Manual

GPS SETUP TAB

•

SmarTrax HDOP Limit

- Horizontal Dilution of Precision (HDOP) is an indicator of the quality of the GPS signal.

A high HDOP indicates that not enough satellites are distributed evenly throughout the sky, diminishing the

accuracy of the guidance system. The number displayed is the maximum number SmarTrax MD will allow to

run. Raising this number may degrade system performance.

NOTE:

The default SmarTrax HDOP limit is 2.5. Increasing the HDOP limit may degrade SmarTrax

performance. Decreasing the HDOP limit may cause SmarTrax MD to disengage more often.

•

SmarTrax GPS Baud

- The rate the system uses to communicate with the GPS receiver. This value is typically set

to 19200, but it can be changed to match the baud rate of receivers that cannot be easily changed to 19200.

NOTE:

With the 600S GPS Receiver and SmarTrax MD software version 7.6 and newer, the GPS baud will

automatically change to 115200 to allow communication with the 600S for configuration or changing

settings.

•

SmarTrax GPS Frequency

- The GGA message update frequency in hertz (Hz).

•

Minimum GPS Correction

- This setting is used to select the correction source providing the minimum

accuracy allowable for SmarTrax operation. This selection may be used to prevent the SmarTrax system from

sudden course changes if the desired correction source is lost. For example, selecting RTK for this feature will

disengage SmarTrax if RTK corrections are lost.

Edit

SmarTrax MD

GPS

Summary of Contents for SmarTrax MD

Page 2: ...nsible 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 the accuracy integrity continuity or ava...

Page 3: ... 16 Machine Configuration 16 Set Up Machine Profile s Optional 16 Machine Specific Configuration 17 Calibrate the SmarTrax MD System 18 Node Orientation 19 Configuring Wheel Base and Antenna Offsets 19 Enhanced Tilt Calibration 23 System Disengage Calibration 26 Engage Switch 27 Wheel Angle Sensor WAS Calibration 27 Calibrate the Machine s Steering System 28 Start a Job 29 System Adjustments 29 Li...

Page 4: ...Calibration 56 Calibrate the Machine s Steering System 57 Complete the SmarTrax MD Calibration Process 59 Advanced Setup Tools 60 Line Acquisition LA Mode and Aggressiveness 61 On Line OL Mode and Sensitivity 61 STX Setup Screen 62 Sys Diag Screen 63 Adv Setup Screen 66 Enhanced Tilt Setup Screen 67 Routine Operation 68 Engaging SmarTrax MD 68 System Settings 68 Chapter 5 Envizio Pro and Cruizer I...

Page 5: ...tments 89 Line Acquisition LA Mode and Aggressiveness 89 On Line OL Mode and Sensitivity 90 Advanced Setup and Diagnostics 91 SmarTrax MD Information Screen 92 Enhanced Tilt Calibration Setup Screen 93 Advanced Setup Screen 94 System Diagnostics Screen 95 Reset Default 97 Recalibrating Hydraulics 97 Routine Operation 98 Engaging SmarTrax MD 98 System Settings 98 Chapter 6 Troubleshooting 99 Node 9...

Page 6: ...Table of Contents iv SmarTrax MD Calibration Operation Manual ...

Page 7: ...and aware of surroundings Do not operate SmarTrax MD or any agricultural equipment while under the influence of alcohol or an illegal substance Remain in the operator s position or a safe working distance away from the booms at all times when SmarTrax MD is engaged Disable SmarTrax MD when exiting from the operator s seat and machine Do not drive the machine with SmarTrax MD enabled on any public ...

Page 8: ...ris attachments Be placed in areas of or in contact with machine components which develop temperatures higher than the temperature rating of harness components Wiring should be protected or shielded if it needs to route near hot temperatures beyond harness component specifications Harnessing should not have sharp bends Allow sufficient clearance from machine component operational zones such as Dri...

Page 9: ...ctions using low pressure water pressurized air or an aerosol electrical component cleaning agent Remove visible surface water from components connections or seals using pressurized air or an aerosol electrical component cleaning agent allow components to dry completely before reconnecting cables NOTE This section applies only to European countries where compliance to Roadway Homologation Regulati...

Page 10: ...CHAPTER 1 4 SmarTrax MD Calibration Operation Manual ...

Page 11: ...D system must be completed before calibrating the system If you have questions regarding the installation of the SmarTrax MD system refer to the SmarTrax MD Installation Manual provided with the installation kit IMPORTANT The Raven field computer controller must be calibrated specifically for the vehicle before being used to operate the SmarTrax MD system For questions about the field computer ref...

Page 12: ...de software Refer to the appropriate field computer manual for instructions on updating the node software Viper Viper 4 Installation Operation Manual P N 016 0171 539 Viper Pro Installation and Operation Manual P N 016 0171 122 Envizio Pro Envizio Pro II Installation and Operation Manual P N 016 0171 148 Cruizer II Operation Guide P N 016 0171 415 UPDATING THE MECHANICAL DRIVE Update the mechanica...

Page 13: ... 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 SmarTrax MD Calibration Operation Manual P N 016 5030 020 Rev D Any comments or feedback include ch...

Page 14: ...CHAPTER 2 8 SmarTrax MD Calibration Operation Manual ...

Page 15: ...A B path or guidance line has been set SmarTrax is detected turned on calibrated and ready to be engaged SmarTrax is detected and in operation in the Online Sensitivity or Line Acquisition Aggressiveness mode Adjusting the OL Sensitivity or LA Aggressiveness will affect performance while in this mode Press and hold to determine in which mode the system is operating Vehicle speed is too fast or too...

Page 16: ...s transferring will open a message asking the user to try again later GPS CONFIGURATION NOTE The SmarTrax MD system will automatically attempt to detect GPS position information and will proceed with the calibration wizard if GPS is present If GPS messages cannot be detected a GPS error message will be displayed Check any external receiver connections and verify settings in any external GPS equipm...

Page 17: ...he GPS Output tab 5 Select GPS Out from the Ports drop down box 6 Select the Set for SmarTrax box so that the blue check mark is present 7 Verify that the GPS settings match the settings shown in the right picture in Figure 1 above FIGURE 2 Serial Device Setup Screen Edit GPS Setup GPS Output GPS Settings Edit Serial Devices ...

Page 18: ...hen press the Retry icon again If the devices still do not appear refer to Chapter 6 Troubleshooting for further information FIGURE 4 GPS Global Settings Screen 10 Verify that SmarTrax GPS on DGPS is displayed and selected as shown in Figure 4 above NOTE If SmarTrax GPS on DGPS is not visible in the list inspect cable connections to ensure they are installed securely then press the Retry icon agai...

Page 19: ...The following screen will appear 4 Verify that the SmarTrax and 600S are listed in the Serial Device Setup screen NOTE If SmarTrax and 600S are not visible in the list inspect cable connections to ensure they are installed securely then press the Retry icon again Refer to Chapter 6 Troubleshooting beginning on page 99 for further information 5 Press Accept Edit Serial Devices ...

Page 20: ...ected in the list inspect cable connections to ensure they are installed securely Refer to Chapter 6 Troubleshooting beginning on page 99 for further information EXTERNAL GPS RECEIVER The steps below apply only to Viper 4 computers with an external GPS receiver other than model 600S FIGURE 6 Serial Device Setup Screen 1 Select Edit Edit GPS Setup Edit Serial Devices ...

Page 21: ...devices still do not appear inspect cable connections to ensure they are installed securely then press the Retry icon again If the devices still do not appear refer to Chapter 6 Troubleshooting for further information 4 Press Accept 5 Select GPS Setup 6 Verify that SmarTrax on DGPS is visible and selected NOTE If SmarTrax GPS on DGPS is not visible and selected in the list refer to Chapter 6 Troub...

Page 22: ...arTrax MD system will disable and cannot be re engaged until the liability warning is accepted The Operator Liability Warning screen will appear each time the Viper 4 is turned on or rebooted MACHINE CONFIGURATION SET UP MACHINE PROFILE S OPTIONAL FIGURE 8 Machine Configuration Menu 1 Select one of the Profile options from the bottom of the Machine Type list 2 Select Next 3 Select New Load or Rese...

Page 23: ...s must be completed as outlined in the following sections in this manual Reset will not be displayed as an option until a machine calibration has been performed and a new profile has been set up 4 Select Next MACHINE SPECIFIC CONFIGURATION NOTE If machine measurements guidance width wheel base etc have not already been entered into the field computer it will be necessary to enter machine measureme...

Page 24: ...calibrating the SmarTrax MD system NOTE The calibration wizard will be displayed the first time the SmarTrax module is accessed after installation or any time the Reset SmarTrax option is selected Refer to Reset Calibration section on page 37 for additional information about resetting the SmarTrax MD system 1 Park the machine on a level surface 2 Locate and select the SmarTrax module The calibrati...

Page 25: ...c machine profile was selected during the machine configuration process the Wheel Base Antenna Position and Antenna Height values must be entered into the SmarTrax system IMPORTANT If a specific machine profile was selected during the machine configuration process the Wheel base Antenna Position and Antenna Height measurements will be automatically populated in the screen However the antenna mount...

Page 26: ...asure from the center of the front tire to the center of the rear tire on both sides of the machine Add the values together and divide the number by two to find the average WHEEL BASE MEASUREMENT ANTENNA FORE AFT MEASUREMENT ANTENNA HEIGHT MEASUREMENT WHEEL BASE MEASUREMENT ANTENNA FORE AFT MEASUREMENT ANTENNA HEIGHT MEASUREMENT ...

Page 27: ...o figure the wheelbase distance measure from the center of the rear tire to the center of the front tire CORRECT INCORRECT WHEEL BASE MEASUREMENT WHEEL BASE MEASUREMENT ANTENNA FORE AFT MEASUREMENT ANTENNA HEIGHT MEASUREMENT RECOMMENDED ANTENNA MOUNTING LOCATION Wheel base measurement taken from pivot point instead of the center of the front wheel Wheel base measurement taken with wheels reversed ...

Page 28: ...he antenna to the center of the rear axle FIGURE 15 Antenna Position Configuration Screen 5 Select the value box to enter the Antenna Position measurement using the on screen keypad IMPORTANT If the antenna is in front of the rear axle the number entered must be positive If the antenna is behind the rear axle the number must be entered as negative using a before the number For example if the NOTIC...

Page 29: ...e FIGURE 16 Antenna Height Configuration Screen 8 Select the value box to enter the Antenna Height measurement using the on screen keypad 9 Select Next ENHANCED TILT CALIBRATION NOTE The calibration may take a few minutes to complete FIGURE 17 Enhanced Tilt Calibration Wizard 1 Drive the machine forward 33 feet and park on a flat surface NOTE The machine must detect a forward motion prior to calib...

Page 30: ...ibration 3 Place flags or markers on the outside of each rear wheel aligned with the axle FIGURE 19 Tilt Calibration Screen 4 Select the arrow at the bottom of the screen to begin calibration The following screen will appear FIGURE 20 Calibration in Progress Screen 5 Wait for the calibration process to be completed ...

Page 31: ...h Calibration 7 After the calibration is complete and the values on the screen have turned blue select Finish Calibration NOTE In order for the values to turn blue the COG value must be less than 10 the Left Right must be less than 3 ft and the Fore Aft must be less than 3 ft The rear wheels will not necessarily end up aligned exactly with the markers to get the Fore Aft number to turn black FIGUR...

Page 32: ... in the SmarTrax MD Setup Wizard The following screen will appear FIGURE 24 Disengage Calibration Screen 2 Turn the steering wheel The following screen will appear FIGURE 25 Disengage Calibrating Screen 3 Proceed to the Engage Switch section on page 27 continue with the SmarTrax system calibration ...

Page 33: ...AS calibration is required on the SmarTrax MD system Once the WAS is detected in the system the following screen will be displayed FIGURE 26 WAS Calibration Screen 1 While driving slowly turn the steering wheel fully to the left wheel lock 2 Select Left 3 Turn the steering wheel fully to the right wheel lock 4 Select Right 5 Select Next NOTE If the steering wheel continues to turn when the wheels ...

Page 34: ...ul the number of starts and stops during the calibration process should be limited If it is necessary to pause the calibration process turn the steering wheel or tap the foot enable switch Tap the foot enable switch again to resume calibration WARNING The machine s wheels will turn automatically Be sure the area around the vehicle is clear of people and equipment before engaging the steering syste...

Page 35: ...on Adjust the speed and vehicle location as necessary NOTE If an error message is displayed during calibration refer to the Error Messages section on page 100 for possible causes and corrective action to complete the calibration process START A JOB Refer to the ROS Raven Operating System Basic Operation Manual P N 016 0171 539 for instructions on starting a job and setting guidance lines SYSTEM AD...

Page 36: ...machine steers within 24 inches 60 cm of the displayed guidance line The LA Aggressiveness value affects how quickly the machine steers toward a displayed guidance line when it is traveling further than 24 inches 60 cm from the desired path If the machine does not approach the guidance line as quickly as desired increase the LA Aggressiveness value one increment at a time allowing SmarTrax MD at l...

Page 37: ...he value Setting the OL Sensitivity value too high may cause the machine to over correct or become jittery while on the line Lowering the value in these situations will allow the vehicle to remain on the desired path ADVANCED SETUP TOOLS AND SYSTEM DIAGNOSTICS Advanced setup tools allow fine tuning of the system to adjust for operating conditions and improve steering accuracy NOTE Some features or...

Page 38: ...he system and cannot be changed Wheel Base The measured distance between the front and rear axles on the equipment Antenna Height The measured distance from the ground to the antenna base mounting plate Antenna Position Enter the measured fore aft distance from the center of the wheel axle to the GPS antenna The fore aft offset distance must be measured parallel with the direction of travel NOTE T...

Page 39: ...aximum and gain values Adjustment of these values is not typically necessary Raven Industries recommends leaving these values as configured by the SmarTrax MD system unless a technician instructs you to modify the settings Learning Mode Enable the learning mode feature to allow the system to automatically adjust system response during operation This feature allows the SmarTrax MD system to adjust ...

Page 40: ... system may disengage in rougher fields without any input from the operator Raising the sensitivity value too high may make disengaging the SmarTrax MD system at the steering wheel difficult or impossible Target Current and Actual Current Current readings performed on SmarTrax systems MD Target Current is what the system expects to read Actual Current displays the amount of current the system is u...

Page 41: ... node programmed during calibration of the SmarTrax MD system Yaw Rate Roll Pitch and Yaw Real time measurement data used by the 3D terrain compensation feature Current Direction Indicates the direction in which the machine is traveling If the direction is incorrect drive forward and press the Send Forward Command button Verify the direction of travel is displayed correctly when the machine is bei...

Page 42: ... the system uses to communicate with the GPS receiver This value is typically set to 19200 but it can be changed to match the baud rate of receivers that cannot be easily changed to 19200 NOTE With the 600S GPS Receiver and SmarTrax MD software version 7 6 and newer the GPS baud will automatically change to 115200 to allow communication with the 600S for configuration or changing settings SmarTrax...

Page 43: ...d in the SmarTrax MD status area of the Viper 4 and the time they occurred Vehicle Database Version The vehicle database version currently installed on the SmarTrax MD control node It contains the list of machine tune sets with their measurements RESET CALIBRATION Edit SmarTrax MD Error Log Edit SmarTrax System Information ...

Page 44: ...s Widget NOTE If the SmarTrax steering widget does not appear on the screen refer to the Viper Viper 4 Installation and Operation manual P N 016 0171 539 for further information on adding widgets The SmarTrax MD system may be engaged using the following methods Tap the foot switch or rocker switch to engage SmarTrax MD system without touching the Viper 4 display Press the SmarTrax MD on screen sta...

Page 45: ... 4 to 20 The OL Sensitivity value affects the response of the machine while steering within 24 inches 60 cm of the displayed guidance line System Setting Average Setting Acceptable Range Function Zero Yaw 0 2 to 2 Indicates amount error in the internal yaw sensor while no yaw motion is present Message Frequency GGA and VTG 10 Hz 10 Hz Displays the frequency of GGA messages from the GPS receiver Me...

Page 46: ...CHAPTER 3 40 SmarTrax MD Calibration Operation Manual ...

Page 47: ... version 1 3 60 or higher with the SmarTrax node MD software version 6 3 55 or higher Together these node software versions support SmarTrax MD swather control SMARTRAX MD STATUS DISPLAY The current status of the SmarTrax MD system can be determined by the message displayed in the SmarTrax MD section of the Viper Pro screen Display Message The SmarTrax node is detected but the operator must accept...

Page 48: ... the SmarTrax MD system is detected FIGURE 1 Operator Liability Warning Screens The operator must select OK before the SmarTrax MD system may be enabled or calibrated The Liability Waiver screen will appear each time the Viper Pro is turned on or rebooted GPS CONFIGURATION 1 From the Home screen select Menu 2 Select Setup 3 Select Comm Port The following screen will appear SmarTrax MD is detected ...

Page 49: ...above 5 Select OK MACHINE CONFIGURATION CALIBRATION WARNING FIGURE 3 SmarTrax Warning Screen NOTE The screen above should only appear the first time SmarTrax MD is accessed or if default settings have been restored Select Yes to continue If this prompt continues to appear and the default settings have not been restored contact your local Raven dealer for assistance ...

Page 50: ...alibration has been performed and a new profile has been set up If the profile chosen has previously been calibrated on the machine the calibration process is complete If the profile chosen has not been calibrated on the machine the calibration process must be completed as outlined in the following sections in this manual Reset clears the previous profile settings Once Reset is selected the operat...

Page 51: ...e main Viper Pro screen The following screen will appear FIGURE 6 SmarTrax MD Warning Screen NOTE The screen above should only appear the first time SmarTrax MD is accessed or if default settings have been restored If this prompt reappears contact your local Raven dealer for assistance 2 Select Yes The following screen will appear ...

Page 52: ... not listed choose the profile that best fits the machine SP Sprayer RBoom Self propelled sprayer with a rear boom FS Tractor Front steered tractor Articulated Track Rear Steered Rear steered machine Swather 4 Select OK 5 Select Next Item The following screen will appear FIGURE 8 Steering Control Device Selection Screen 6 Select SmarTrax MD in the Control Device drop down field ...

Page 53: ... internal sensors automatically The SmarTrax MD Setup Wizard will automatically advance to the next step in the calibration process once the node calibration is complete CONFIGURING WHEEL BASE AND ANTENNA OFFSETS If a generic machine profile was selected during the machine configuration process the Wheel Base Antenna Position and Antenna Height values must be entered into the SmarTrax MD system IM...

Page 54: ... sides of the machine Add the values together and divide the number by two to find the average FIGURE 10 Articulated Machine Measurements NOTICE The Wheel Base Antenna Position and Antenna Height values are critical to the operation of the SmarTrax MD system Measure these dimensions accurately to ensure optimal SmarTrax MD system performance WHEEL BASE MEASUREMENT ANTENNA FORE AFT MEASUREMENT ANTE...

Page 55: ...istance measure from the center of the rear tire to the center of the front tire FIGURE 11 Swather Machine Measurements CORRECT INCORRECT WHEEL BASE MEASUREMENT WHEEL BASE MEASUREMENT ANTENNA FORE AFT MEASUREMENT ANTENNA HEIGHT MEASUREMENT Recommended Antenna Mounting Location Wheel base measurement taken from pivot point instead of the center of the front wheel Wheel base measurement taken with w...

Page 56: ... the Antenna Position measurement IMPORTANT If the antenna is in front of the rear axle the number entered must be positive If the antenna is behind the rear axle the number must be entered as negative using a before the number For example if the antenna is located 3 feet behind the rear axle the value would be entered as 3 Raven Industries recommends mounting the antenna in front or even with the...

Page 57: ...TION AND OPERATION FIGURE 14 Antenna Height Configuration Screen 8 Enter the Antenna Height measurement 9 Select Next The following screen will appear FIGURE 15 Checking for GPS Screen 10 Allow the system to detect the GPS installed in the system ...

Page 58: ...on Operation Manual ENHANCED TILT CALIBRATION FIGURE 16 Establishing Heading Screen 1 Drive straight ahead 33 feet to allow SmarTrax MD to acquire a heading FIGURE 17 Enhanced Tilt Calibration Wizard 2 Park the machine on a flat surface ...

Page 59: ...nhanced Tilt Calibration 3 Place flags or markers on the outside of each rear wheel aligned with the axle 4 Select Next FIGURE 19 Tilt Calibration Screen 5 Select Start Calibration The following screen will appear FIGURE 20 Calibration in Progress Screen NOTE The calibration may take a few minutes to complete ...

Page 60: ...URE 22 Finish Calibration 7 After the calibration is complete and the values on the screen have turned black select Finish Calibration NOTE In order for the values to turn black the COG value must be less than 10 the Left Right must be less than 3 ft and the Fore Aft must be less than 3 ft The rear wheels will not necessarily end up aligned exactly with the markers to get the Fore Aft number to tu...

Page 61: ...iew the on screen instructions and turn the steering wheel to verify proper operation NOTE The SmarTrax MD Setup Wizard will automatically advance to the next step in the calibration process when the steering wheel is turned If it does not refer to Chapter 6 Troubleshooting for troubleshooting information If the problem persists contact your local Raven dealer for further information 2 Proceed to ...

Page 62: ...ions 2 Press and release the foot switch or engage switch NOTE The SmarTrax MD Setup Wizard will automatically advance to the next step in the calibration process when the engage switch is detected WHEEL ANGLE SENSOR SPS CALIBRATION FIGURE 26 SPS Calibration Screen 1 While driving slowly turn the steering wheel fully to the left wheel lock 2 Select Left ...

Page 63: ...his allows the SmarTrax MD system to learn the steering capabilities of the machine to allow SmarTrax MD to properly steer it in the field Before beginning the machine s steering system calibration ensure The implement sections are folded in and the booms are racked The machine s engine is running at the normal operating RPM The machine s measurements are correctly entered into the Viper Pro WARNI...

Page 64: ...round available to perform the machine s steering calibration 2 Press the foot engage switch to begin calibration NOTE During calibration the machine will turn hard to the left and then to the right Adjust the speed and vehicle location as necessary NOTE After calibration is complete the SmarTrax MD menu will be displayed NOTICE The calibration of the machine s steering system should be performed ...

Page 65: ...o avoid obstacles COMPLETE THE SMARTRAX MD CALIBRATION PROCESS NOTE The Line Acquire Aggressiveness and On Line Sensitivity values may be adjusted to further tune the system or to adjust for operating conditions Refer to the Advanced Setup Tools section below for further information on system adjustments NOTICE The calibration of the machine s steering system should be performed in a field or othe...

Page 66: ... the steering wheel icon will turn green 4 Allow SmarTrax MD to run while driving back and forth along the A B guidance line NOTE If the machine is not operating to specifications manual adjustment of the SmarTrax MD system may be necessary Refer to the Advanced Setup Tools section below information on adjusting the SmarTrax MD system ADVANCED SETUP TOOLS Are these necessary since they also appear...

Page 67: ...hine steers toward a displayed guidance line when it is traveling further than 24 inches 60 cm from the desired path If the machine drives past the line and has to drive back to it increase the LA Aggressiveness value one increment at a time allowing SmarTrax MD at least 30 seconds between adjustments to adjust to the change in the value Setting the LA Aggressiveness value too high may cause the m...

Page 68: ...le to remain on the desired path STX SETUP SCREEN FIGURE 34 SmarTrax MD Setup Screen NOTE To change the Machine Type Control Device or Wheel Base settings the SmarTrax MD system must be reset and recalibrated Set Antenna Measurements Allows the Antenna Height and Antenna Position measurements to be changed Recal Hyd Restarts the machine s steering calibration process Refer to Calibrate the Machine...

Page 69: ... to zero The machine must be at a full stop before recalibrating the yaw sensor Yaw Zero The yaw sensor reading while the machine is stationary The acceptable operating range for the Yaw Zero measurement is 2 00 to 2 00 Readings outside this range indicate that a sensor within the node is operating outside of specifications and that the node must be repaired Encoder Cal The ratio of the steering w...

Page 70: ...hes Message Frequency Displays GGA input message rate Node Information Displays node hardware version software version and serial number Exit Returns to the SmarTrax MD Controller screen Machine DB The database stores the information that was entered into the Viper Pro during initial startup In the SmarTrax MD system there is only one database version FIGURE 37 System Diagnostics and PWM Setup Scr...

Page 71: ...Target Current Displays the expected current level for the mechanical drive to turn the steering wheel Actual Current Displays the amount of current the system is using to steer the machine Exit Returns to the System Diagnostic screen FIGURE 38 System Diagnostics and SmarTrax MD Performance Statistics Screens Performance Stats Displays the SmarTrax MD system performance statistics Elapsed Time Len...

Page 72: ...time they occurred Exit Returns to the System Diagnostics screen ADV SETUP SCREEN The Advanced Setup screen contains advanced diagnostic information used to fine tune the SmarTrax MD system and improve steering accuracy FIGURE 40 Advanced Setup Screen HDOP Limit Horizontal Dilution of Precision HDOP is an indicator of the quality of the GPS signal A high HDOP indicates that not enough satellites a...

Page 73: ... to the SmarTrax MD Controller screen ENHANCED TILT SETUP SCREEN The SmarTrax MD 3D terrain compensation feature adjusts incoming GPS messages compensating for roll side to side tilting pitch front to rear tilting and yaw twisting or turning of the machine FIGURE 41 Terrain Compensation Information Screen Roll Pitch Yaw and Yaw Rate Real time measurement data used by the 3D terrain compensation fe...

Page 74: ... SETTINGS System Setting Average Setting Suggested Range Function Line Acquisition LA Aggressiveness 10 5 to 13 The LA Aggressiveness value affects how quickly the machine steers toward a displayed guidance line when it is traveling further than 24 inches 60 cm from the desired path OnLine OL Sensitivity 10 4 to 13 The OL Sensitivity value affects the response of the machine while steering within ...

Page 75: ...CALIBRATION AND OPERATION Message Frequency ZDA 3 Hz 3 Hz to 10 Hz Displays the frequency of GGA messages from the GPS receiver HDOP 2 5 N A Indicates the quality of the GPS signal System Setting Average Setting Acceptable Range Function ...

Page 76: ...CHAPTER 4 70 SmarTrax MD Calibration Operation Manual ...

Page 77: ...n older version of software refer to the Installation Operation Manual included with the field computer for instructions software versions For SmarTrax MD swather operation the SmarTrax node must be running software version 1 3 60 or higher with the SmarTrax node software version 6 3 55 or higher Together these node software versions support SmarTrax MD swather control SMARTRAX MD STATUS DISPLAY F...

Page 78: ...the system The SmarTrax node is detected and turned on but the current speed is outside of the acceptable operating range SmarTrax MD is detected and turned on with no errors detected SmarTrax MD is detected and turned on but is not enabled Tap the foot switch or touch the steering wheel icon to enable the SmarTrax MD system SmarTrax MD is detected and in engaged with no errors detected Previous R...

Page 79: ... complete This process typically takes around two minutes but can take up to 20 minutes 10 Proceed to SmarTrax MD Terms of Use section on page 74 ENVIZIO PRO DATA TRANSFER During the initial startup of the SmarTrax MD system language data must be transferred from the SmarTrax node to the Envizio Pro Allow the data transfer several minutes to occur before calibrating the SmarTrax MD system NOTE The...

Page 80: ...aiver and select Yes I agree NOTE The operator must agree to the terms of use before the SmarTrax MD system may be enabled or calibrated The Liability Waiver screen will appear each time the field computer is turned on or rebooted MACHINE CONFIGURATION SET UP MACHINE PROFILE S OPTIONAL 1 Touch the SmarTrax area on the main screen 2 Select Yes The following screen will appear ...

Page 81: ...en set up If the profile chosen has previously been calibrated on the machine the calibration process is complete If the profile chosen has not been calibrated on the machine the calibration process must be completed as outlined in the following sections in this manual Reset clears the previous profile settings Once Reset is selected the operator must select the machine from the Machine Type list ...

Page 82: ...yer RBoom Self propelled sprayer with a rear boom FS Tractor Front steered tractor Articulated Track Rear Steered Rear steered machine Swather NOTE The Machine Test option should only be selected if calibration problems are encountered Contact your local Raven dealer for assistance with using the Machine Test option 8 Select Next FIGURE 7 Steering Control Driving Device Selection Screen NOTE The s...

Page 83: ...lected during the machine configuration process the Wheel Base Antenna Position and Antenna Height values must be entered into the SmarTrax MD system IMPORTANT If a specific machine profile was selected during the machine configuration process the Wheel Base Antenna Position and Antenna Height measurements will be automatically populated in the screen However the antenna mounting position may vary...

Page 84: ...s together and divide the number by two to find the average FIGURE 9 Articulated Machine Measurements NOTE For swather machines the rear wheels MUST be positioned behind the pivot point and pointing forward to reflect the tire position during normal straight line operation To figure the wheelbase distance measure from the center of the rear tire to the center of the front tire WHEEL BASE MEASUREME...

Page 85: ...T INCORRECT WHEEL BASE MEASUREMENT WHEEL BASE MEASUREMENT ANTENNA FORE AFT MEASUREMENT ANTENNA HEIGHT MEASUREMENT Recommended Antenna Mounting Location Wheel base measurement taken from pivot point instead of the center of the front wheel Wheel base measurement taken with wheels reversed and not in the straight line operation position ...

Page 86: ...he Antenna Position measurement IMPORTANT If the antenna is in front of the rear axle the number entered must be positive If the antenna is behind the rear axle the number must be entered as negative using a before the number For example if the antenna is located 3 feet behind the rear axle the value would be entered as 3 Raven Industries recommends mounting the antenna in front or even with the r...

Page 87: ...ND CRUIZER II CONSOLES CALIBRATION AND OPERATION FIGURE 13 Antenna Height Configuration Screen 8 Enter the Antenna Height measurement 9 Select Next FIGURE 14 Checking for GPS Screen 10 Allow the system to detect the GPS installed in the system ...

Page 88: ... Screen 1 Drive straight ahead 33 feet to allow SmarTrax MD to acquire a heading FIGURE 16 Enhanced Tilt Calibration Wizard 2 Park the machine on a flat surface FIGURE 17 Machine s Rear Axle Marked Before Enhanced Tilt Calibration 3 Place flags or markers on the outside of each rear wheel aligned with the axle ...

Page 89: ... 5 Select Start Calibration The following screen will appear FIGURE 19 Calibration in Progress Screen NOTE The calibration may take a few minutes to complete FIGURE 20 Machine Orientation After Tilt Calibration 6 Turn the machine around 180 and park with the machine facing the opposite direction and the rear axle in between the markers ...

Page 90: ...rn white the COG value must be less than 10 the Left Right must be less than 3 ft and the Fore Aft must be less than 3 ft The rear wheels will not necessarily end up aligned exactly with the markers to get the Fore Aft number to turn black FIGURE 22 Calibration Complete 8 Select Next STEERING SWITCH CALIBRATION IMPORTANT The switch on the bottom of the mechanical drive must be turned on before cal...

Page 91: ...f it does not refer to Chapter 6 Troubleshooting for troubleshooting information If the problem persists contact your local Raven dealer for further information 2 Proceed to the Engage Switch Calibration section below to continue with the SmarTrax MD system calibration ENGAGE SWITCH CALIBRATION FIGURE 24 Engage Switch Calibration Screen 1 Review the on screen instructions 2 Press and release the f...

Page 92: ...ibration of the SmarTrax MD system is complete it is necessary to calibrate the machine s steering system This allows the field computer to learn the steering capabilities of the machine to allow SmarTrax MD to properly steer it in the field Before beginning the machine s steering system calibration ensure The implement sections are folded in and the booms are racked The machine s engine is runnin...

Page 93: ...ion 2 Press the foot engage switch to begin calibration NOTE During calibration the machine will turn hard to the left and then to the right Adjust the speed and vehicle location as necessary NOTE After calibration is complete the SmarTrax MD menu will be displayed NOTICE The calibration of the machine s steering system should be performed in a field or other large open space and during conditions...

Page 94: ... Sensitivity values may be adjusted to further tune the system or to adjust for operating conditions Refer to the System Adjustments section below for further information on system adjustments 1 Start a job and set a straight A B guidance line NOTE Refer to the Envizio Pro Installation and Operation Manual P N 016 0171 148 or the Cruizer II Operation Guide P N 016 0171 415 for information on start...

Page 95: ... desired specification it may be necessary to adjust the Line Acquire Aggressiveness and On Line Sensitivity values Refer to the System Adjustments section below information on adjusting the SmarTrax MD system START A JOB Refer to the Envizio Pro and Envizio Pro II Installation and Operation Manual P N 016 0171 148 or Cruizer II Operation Guide P N 016 0171 415 for instructions on starting a job a...

Page 96: ... The screen in Figure 27 illustrates an example of a situation in which SmarTrax MD is operating in LA mode This mode will remain active until the machine steers within 24 inches 60 cm of the displayed guidance line ON LINE OL MODE AND SENSITIVITY FIGURE 31 OL Mode Indicator The OL Sensitivity value affects the response of the machine while steering within 24 inches 60 cm of the displayed guidance...

Page 97: ...0 cm of the displayed guidance line ADVANCED SETUP AND DIAGNOSTICS This section provides detailed information on the various settings and options available in the SmarTrax MD screens The SmarTrax MD Settings screen may be accessed in two ways From the Home screen select the Tools Menu icon then the Steering icon In an active job select Next in the SmarTrax MD sidebar FIGURE 33 SmarTrax MD Settings...

Page 98: ... Antenna Fore Aft setting allows the Antenna Fore Aft position measurement to be changed Sensor Type Selecting the sensor set icon next to the sensor type setting displays the Sensor Status screen FIGURE 35 SmarTrax MD Information and Sensor Setup Screen 1 The Yaw Sensor Setup screen displays the yaw sensor status information Current Wheel Angle An approximation of the machine s wheel angle Curren...

Page 99: ...or roll side to side tilting pitch front to rear tilting and yaw twisting or turning of the machine FIGURE 37 SmarTrax MD Settings and 3D Terrain Compensation Activation Screens Forward and Downward Indicate the orientation of the SmarTrax node Roll Pitch Yaw and Yaw Rate Real time measurement data used by the 3D terrain compensation feature Current Direction Indicates the direction in which the m...

Page 100: ... 38 SmarTrax MD Settings and Advanced Setup Screen 1 HDOP Limit Horizontal Dilution of Precision HDOP is an indicator of the quality of the GPS signal A high HDOP indicates that not enough satellites are distributed evenly throughout the sky diminishing the accuracy of the guidance system The number displayed is the maximum number SmarTrax MD will allow to run Raising this number may degrade syste...

Page 101: ... any machine that is not articulated may degrade the system performance SYSTEM DIAGNOSTICS SCREEN The System Diagnostics screen contains the PWM values and system input diagnostic tools FIGURE 40 SmarTrax MD Settings and System Diagnostics Screen Average Speed Average vehicle speed over the last hour while SmarTrax MD has been running Average Average distance from the desired guidance path or line...

Page 102: ... is displayed in the icon the system is in manual mode and is no longer learning the PWM minimum values Pressing the button will switch SmarTrax MD to automatic mode If Auto is displayed the system is in automatic mode and is learning the PWM minimum values Adjusting a PWM Minimum value will switch SmarTrax MD to manual mode Raven Industries does not advise leaving the system in auto mode is the P...

Page 103: ... SmarTrax MD system must be recalibrated before the system can be enabled Refer to Calibrate the SmarTrax MD System section on page 77 for information on completing the SmarTrax MD system calibration RECALIBRATING HYDRAULICS FIGURE 44 SmarTrax MD Settings Screen Selecting Recal Hydraulics restarts the machine s steering calibration process Refer to Calibrate the Machine s Steering System section o...

Page 104: ... Aggressiveness 10 5 to 13 The LA Aggressiveness value affects how quickly the machine steers toward a displayed guidance line when it is traveling further than 24 inches 60 cm from the desired path OnLine OL Sensitivity 10 4 to 13 The OL Sensitivity value affects the response of the machine while steering within 24 inches 60 cm of the displayed guidance line System Setting Average Setting Accepta...

Page 105: ...igh Current Power is supplied to the node MICRO 1 Hz Flashes once every second during processor activity CAN RX Flashes to indicate CAN or Cruizer II messages are being received by the node This light typically flashes rapidly CAN TX Flashes to indicate CAN or Cruizer messages are being transmitted from the node The flash speed of this light varies DIAG 1 Indicates the node is receiving valid GGA ...

Page 106: ... drive BadCurvtr No Curvtr No Yaw Poor communication between the SmarTrax node and SmarTrax mechanical drive Check harness connections to ensure they are secure Cycle power to the entire system Encod Fail The hardware inside the mechanical drive is damaged 1 Navigate to the SmarTrax Sensor Setup screen 2 Manually turn the steering wheel while monitoring the Wheel Angle value If no wheel angle chan...

Page 107: ...found MsSw Fail The hardware inside the mechanical drive is damaged Manually toggle the master switch on the mechanical drive between ON and OFF Replace the SmarTrax mechanical drive MsSw Off The master switch is in the OFF position Manually toggle the master switch on the mechanical drive to the ON position No A B Msg The A B line has not been set on the field computer Set the A B line in the fie...

Page 108: ... Fail The foot engage switch cable connection has been disconnected Ensure the foot engage switch cable connection is connected to the node harness Replace the foot engage switch RsSw StOn The foot engage switch is stuck in the ON position Ensure the foot engage switch cable and connection to the node harness is not damaged Replace the foot engage switch Swath Jmp The guidance points being sent fr...

Page 109: ...ure they are secure and properly connected A fuse is blown Replace the fuse The battery connections are loose corroded or not properly connected Check the battery connections to ensure they are secure and properly connected The machine does not have proper voltage to run the system Test for 12VDC using a voltmeter The field computer is defective Replace the field computer SmarTrax MD will not enga...

Page 110: ...m manually steers the wrong way from the System Diagnostics screen The motor hardware inside the mechanical drive is damaged 1 Navigate to the SmarTrax Manual Steering screen 2 Toggle the master switch on and off verifying that the Raven LED logo changes from white steady to blue steady 3 Drive the motor at various settings while monitoring the Actual Current value If no current is drawn and the p...

Page 111: ...OL Sensitivity setting is too low Increase the OL Sensitivity setting in increments of 1 allowing at least 30 seconds between adjustments Machine consistently drives to the left or right of the guidance line One of the PWM Min values is set too low Recalibrate the hydraulics The LA Aggressiveness setting is too low Manually adjust the PWM Min values Recalibrate the hydraulic system The OL Sensitiv...

Page 112: ...CHAPTER 6 106 SmarTrax MD Calibration Operation Manual ...

Page 113: ...me of the diagrams may show optional features or components not required for SmarTrax MD operation and may not necessarily apply to the SmarTrax MD system installed on the machine NOTE Contact your local Raven dealer for ordering information on any optional features or components Additional system diagrams are available on the Raven Industries web site http www ravenhelp com ...

Page 114: ...CHAPTER 7 108 SmarTrax MD Calibration Operation Manual FIGURE 1 Cruizer II with Phoenix 300 and Slingshot Steering Only ...

Page 115: ...7 P N 016 5030 020 Rev D 109 SYSTEM DIAGRAMS FIGURE 2 Envizio Pro or Viper Pro with Slingshot Steering Only ...

Page 116: ...CHAPTER 7 110 SmarTrax MD Calibration Operation Manual ...

Page 117: ... H T Nr 13 00314 CC GBM Nachtrag 00 Examination in accordance to the European Communities directive on the approximation of the laws of the Member States relating to the Steering Equipment of Wheeled Agricultural or Forestry Tractors as well as the Steering Systems of Vehicles Prüfung gemäß Richtlinie des Rates der Europäischen Gemeinschaften zur Angleichung der Rechtsvorschriften der Mitgliedstaa...

Page 118: ...ting includes the check of the conformity with the directive 2009 66 EC as well as the 38 StVZO In addition the electromagnetic compatibility of components of the system has been proved Der Technische Bericht beinhaltet die Prüfung des Systems SmarTrax MD des Herstellers Raven Industries SmarTrax MD ist eine mechanische Antriebseinheit zur GPS basierten Lenkung von Fahrzeugen in Verbindung mit dem...

Page 119: ...d Art GPS based steering system installed on agricultural or forestry tractors and on agricultural or forestry self propelled working machines GPS gestütze Lenkanlage eingebaut in land oder forstwirtschaftliche Zugmaschinen und land oder forstwirtschaftliche Arbeits maschinen 2 2 Manufacturer Hersteller Raven Industries 205 E 6th Street Sioux Falls SD 57104 USA 2 3 Type Typ 2 3 1 Type of System Ty...

Page 120: ...The mechanical drive unit is mounted with special brackets to the steering column It uses a ring gear which is installed with an adapter to the serial steering column of the vehicle and finally the original steering wheel will be fixed An anti rotation pin between the special brackets and the mechanical drive unit prevents the rotating of the mechanical drive unit The controller SmarTrax MD Node i...

Page 121: ...ad des Fahrzeugs fixiert Ein Bolzen der eine Drehbewegung der me chanischen Antriebseinheit verhindet wird zw dieser und den speziellen Haltern verschraubt Der Rechner SmarTrax MD Node wird neben dem Fahrer montiert und mit der mechanischen Antriebseinheit sowie dem Monitor SmarTrax Cruiser II Control ww Monitor Envizio Pro oder Monitor Viper Pro verbunden Die erforderlichen GPS Antennen werden au...

Page 122: ...tlinie des Rates über die Lenkanlage von land oder forstwirtschaftlichen Zugmaschinen auf Rädern German national Standard deutsche nationale Verordnung 38 StVZO Steering system Lenkanlage ECE and EN ISO Standards ECE und EN ISO Richtlinien ECE R10 Uniform provisions concerning the approval of vehicles with regard to the radio interference suppression Einheitliche Vorschriften für die Genehmigung d...

Page 123: ...üfung Raven Ind 254th Street 47513 Baltic SD USA EMC EMV TÜV SÜD America Inc 1775 Old Hwy 8 NW New Brighton MN USA 4 2 Date Datum 19 20 03 2013 EMC EMV 15 04 2013 EMC EMV 27 09 2013 Safety Sicherheit 4 3 Tests carried out Umfang der durchgeführten Prüfungen Check of the installation in respect to the installation manual Driving test with examination of the safety functions EMC Überprüfung des Einb...

Page 124: ...d off with the master switch The controller SmarTrax MD Node and the monitor Cruizer II Console are still active 2 The vehicle speed will exceed 45 kph 3 If the driver s seat will be left if a driver presence sensor is installed 4 If the steering wheel will be turned 5 Breakdown of the electric energy supply the battery 6 If the ignition will be switched off 7 If the GPS signal will be lost longer...

Page 125: ...eschaltet Der Rechner SmarTrax MD Node und der Monitor Cruizer II Console bleiben aktiv 2 Durch Überschreiten von 45 km h Fahrgeschwindigkeit 3 Durch das Verlassen des Fahrersitzes sofern ein Sitzbelegungssensor eingebaut ist 4 Durch eine Lenkbewegung am Lenkrad 5 Durch Ausfall der Stromversorgung der Batterie 6 Durch Abschalten der Zündung 7 Durch Verlust des GPS Signals länger als 5 sek Wird das...

Page 126: ...hat there are no objections against the installa tion of the GPS based steering system SmarTrax MD if all requirements of the manufacturer are fulfilled There is no influence of the SmarTrax MD on the conventional steering system The requirements of the directive 2009 66 EC as well as the 38 StVZO are fulfilled The standards of the electromagnetic compatibility ECE R10 and EN ISO 14982 2009 are ke...

Page 127: ...t is based on the following documents Der Beurteilung liegen folgende Dokumente zugrunde Title Titel Date Datum 1 Installation Manual No Einbauanleitung Nr 016 5030 021 Rev A 2013 2 Operator s Manual No Bedienungsanleitung Nr 016 5030 020 Rev A 2013 3 TÜV SÜD America Inc EMC Test Result Summary ECE R10 EMV Prüfergebnisse ECE R10 03 06 2013 4 TÜV SÜD America Inc EMC Test Result Summary EN ISO 14982...

Page 128: ...nce around operating levers and switches acc to 80 720 EEC annex I section I 3 I 4 and I 6 as wells as acc to 30 StVZO guideline 8 section 6 b Visibility of the driver 2008 2 EC annex I section 2 1 as wells as acc to 35b 2 StVZO guideline 1 and 11 c Covering of required control lamps acc to 2009 61 EC as wells as acc to 49a 53d StVZO 2 Before driving on public roads a the mechanical drive unit mus...

Page 129: ... prüfen a Freiraum der Betätigungseinrichtungen gem 80 720 EWG Anhang I Absatz I 3 I 4 und I 6 sowie gem 30 StVZO Richtlinie 8 Absatz 6 b Sichtfeld des Fahrers gem 2008 2 EG Anhang I Absatz 2 1 sowie gem 35b 2 StVZO Richtlinie 1 bzw 11 c Verdeckung von vorgeschriebenen Kontrollleuchten gem 2009 61 EG sowie gem 49a 53d StVZO 2 Vor Fahrt auf öffentlichen Straßen müssen a Die mechanische Antriebseinh...

Page 130: ...undlagen This report consists of page 1 to 14 Der Bericht umfaßt Blatt 1 bis 14 Test Laboratory TÜV SÜD Automotive GmbH Westendstraße 199 80686 München KBA P 00001 95 accredited by accreditation authority of Kraftfahrt Bundesamt Federal Republic of Germany Prüflaboratorium TÜV SÜD Automotive GmbH Westendstraße 199 80686 München KBA P 00001 95 akkreditiert von der Akkreditierungsstelle des Kraftfah...

Page 131: ...P N 016 5030 020 Rev D 125 ROADWAY HOMOLOGATION CERTIFICATION ...

Page 132: ...CHAPTER 8 126 SmarTrax MD Calibration Operation Manual ...

Page 133: ...l 1 Instructions for Wire Routing 2 Introduction 5 Installation 6 Recommendations 6 Point of Reference 6 SmarTrax MD Part Identification 5 Updates 6 Updating the Mechanical Drive 6 Updating the Node 6 S Software Updates 6 Mechanical Drive 6 Node 6 System Diagrams 107 T Troubleshooting Error Messages 100 Mechanical Drive Diagnostics 100 V Viper 4 9 Advanced Setup Tools 31 Diagnostics Tab 33 Error L...

Page 134: ...ion and Node Orientation 56 Enhanced Tilt Calibration 52 Node Orientation 47 Steering Switch Calibration 55 Wheel Angle Sensor SPS Calibration 56 Calibrating the SmarTrax System Configuring Wheel Base and Antenna Offsets 47 Completing the SmarTrax MD Calibration Process 59 Initial Startup 42 GPS Configuration 42 Machine Configuration 43 SmarTrax MD Terms of Use 42 Introduction 41 SmarTrax MD Statu...

Page 135: ...ndustries Do Bring the defective part and proof of purchase to your Raven dealer If the dealer approves the warranty claim the dealer will process the 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 purchas...

Page 136: ...aven 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 if the failure is between 12 and 24 months from the retail sale How Can I Get S...

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