18
SETTINGS
The values must be detected directly on the machine because strictly linked to the hydraulic / mechanical system of the machine.
DURING MEASURING PROCEDURES, MOVE THE BOOM ALONG THE MAXIMUM ALLOWABLE DISTANCE, COMPATIBLY WITH
THE MACHINE MECHANICAL CHARACTERISTICS AND DIMENSIONS.
Tilt aggressiveness -
BOOM LEVELING CONTROL AGGRESSIVENESS
It adjusts the power applied by the BLC control to rotate the boom.
The easiest way to adjust the aggressiveness value is to check for swingings during boom rotation.
Too high or too low values make the control unstable and cause vibrations; adjust the aggressiveness value until reaching a smooth implement control
without jerks.
Carry out this procedure with the BOOM COMPLETELY OPEN:
1
Set the boom rotation center
C
to maximum height.
2
Bring the rotation speed of the power take-off to the typical operating value.
3
Disable the BLC control: activate the MANUAL mode (
par.
14.2
).
4
Set an aggressiveness value (
Fig. 29
).
5
Bring the boom LH end to the minimum height (activate the lifting switch on the hydraulic control panel / VT / Joystick).
6
Enable the BLC control: activate the AUTOMATIC mode (
par.
14.2
).
The boom will rotate automatically to reach the horizontal position:
• If boom movement is too slow and with jerks, the aggressiveness level is too
low
.
Repeat the procedure from point 3
, increasing the value.
• If the boom moves too quickly and swinging the aggressiveness level is too
high
.
As before,
repeat the procedure from point 3
, decreasing the value.
The ideal adjustment is obtained when boom movement is smooth, without jerks.
The
Tilt aggressiveness
parameter works in combination with the following
Tilt speed damping
parameter:
if aggressiveness setup is not as desired, increase the gain and repeat the adjustment.
Height error gain -
PROPORTIONAL GAIN ON BOOM HEIGHT CONTROL
This parameter works in combination with the aggressiveness of the boom height control.
It reduces the error between the set spraying height and the one effectively reached with the BLC system.
Before entering the gain factor, set the aggressiveness (menu
Height aggressiveness
par.
12.1.5 on page 17
).
The easiest way to determine the value is to check the boom height after the BLC system has completed the correction; adjust the gain, if necessary.
Carry out this procedure with the BOOM COMPLETELY OPEN:
1
Check that the boom is perfectly horizontal to the ground.
2
Set the spraying height to the minimum value (
Spraying boom height
menu,
par.
12.1.2 on page 14
).
3
Bring the rotation speed of the power take-off to the typical operating value.
4
Disable the BLC control: activate the MANUAL mode (
par.
14.2
).
5
Bring the boom to the maximum height (activate the lifting switch on the hydraulic control panel / VT / Joystick).
6
Set a gain value (
Fig. 29
).
7
Enable the BLC control: activate the AUTOMATIC mode (
par.
14.2
).
The boom will move automatically to reach the spraying height.
Check the height reached:
• If the boom has exceeded the set height,
repeat the procedure from point 4
, decreasing the value.
• If the boom has not reached the set height,
repeat the procedure from point 4
, increasing the value.
Now, if the boom lifting control exceeds the set height, lower the aggressiveness and repeat the procedure relevant to the gain.
Tilt speed damping: -
DAMPING ON BOOM ROTATION CONTROL
This parameter works in combination with the aggressiveness of the boom leveling control.
It allows the BLC system to rotate the boom without swingings or position errors.
Before entering the damping factor, set the aggressiveness (
menu
Tilt aggressiveness
Fig. 29
):
if the setup of
Tilt aggressiveness
is not carried out properly increase the value (
Fig. 29
).
