Raven RS1 Скачать руководство пользователя страница 43

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P/N 016-4010-001 Rev. A

STEERING SETUP

•

Integral Gain

- This value corrects long-term errors in the steering control loop. This setting should be adjusted

by qualified technicians only. Raven Industries does not recommend that anyone other than a qualified

technician make changes to this setting.

•

Derivative Gain

- The Derivative Gain value limits the wheel response time. A larger Derivative Gain value will

reduce the tendency to overshoot the target wheel angle position, but will limit the wheel speed.

•

Left System Gain

- Compensates for any bias or non-linearity in the steering valve while the machine is turning

to the left.

•

Right System Gain

- Compensates for any bias or non-linearity in the steering valve while the machine is

turning to the right.

WHEEL CONTROL SETTINGS

FIGURE 5. Wheel Control Setup Screen

•

Wheel Velocity

- The speed at which the wheels are moving, measured in degrees per second.

•

Control Effort

- The amount of effort the RS1 system is using to drive the wheels.

•

Left/Right Min

- The minimum Control Effort that the machine’s valve must use to turn the wheels. Values

range from 0 - 99.

NOTE:

The Min values cannot exceed the Max values.

•

Left/Right Max

- The maximum Control Effort that the machine’s valve may use to turn the wheels. Values

range from 1 - 100.

•

Help Menu Icon

- Pressing the Help Menu icon displays the Help Menu. The Help Menu contains

additional information about the settings contained within that screen.

Содержание RS1

Страница 2: ...sible 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 affec...

Страница 3: ...ation 13 GPS and Steering Calibration 16 GPS Calibration 17 Terrain Compensation Calibration 21 Resume Disengage Calibration 24 Calibrate the Wheel Angle Sensor WAS 24 Calibrate the Machine s Steering...

Страница 4: ...9 Wheel Angle Sensor 59 Operator Presence Switch 59 GPS Status 60 Diagnostic Trouble Codes DTC 61 System Health Tests 62 Step Response Test 64 Machine Test 65 Max Pulse Test 67 System Information 68 P...

Страница 5: ...or any agricultural equipment while under the influence of alcohol or an illegal substance Remain in the operator s position in the machine at all times when RS1 is engaged Disable RS1 when exiting th...

Страница 6: ...ed Any work performed on the hydraulic system must be done in accordance with the machine manufacturer s approved maintenance instructions When installing RS1 hydraulics or performing diagnostics main...

Страница 7: ...uter INSTALLATION RECOMMENDATIONS Before installing the RS1 system park the machine where the ground is level clean and dry Bleed pressure from the hydraulic system and leave the machine turned off fo...

Страница 8: ...s to provide us with feedback on this manual Your feedback will help shape the future of our product documentation and the overall service we provide We appreciate the opportunity to see ourselves as...

Страница 9: ...2 P N 016 4010 001 Rev A 5 INTRODUCTION...

Страница 10: ...CHAPTER 2 6 Raven RS1 Guidance and Steering Calibration Operation Manual...

Страница 11: ...n the field computer Guidance and Steering Allows the steering and GPS settings within the RS1 unit to be calibrated and modified Slingshot Allows the cellular Ethernet and WiFi settings within the RS...

Страница 12: ...TE THE RS1 SYSTEM NOTE The RS1 system can be used for GPS guidance only or for GPS guidance and auto steering This section explains the calibration procedure for both GPS guidance only and GPS guidanc...

Страница 13: ...ouble Codes DTC on page 61 GPS CALIBRATION NOTE The system information for the RS1 can be viewed during calibration by pressing the System Information icon To view the Diagnostic Trouble Codes DTC pre...

Страница 14: ...the RS1 unit A negative value should be entered if the RS1 unit is located behind the rear axle 4 Select the Next arrow FIGURE 7 Antenna Center Offset Screen 5 Select the value box to enter the Anten...

Страница 15: ...d to the center of the RS1 unit 8 Select the Next arrow FIGURE 9 Wheel Base Screen 9 Select the value box to enter the Wheel Base NOTE The Wheel Base is calculated by measuring from the center of the...

Страница 16: ...be available for selection in the drop down box Contact your local Raven dealer to purchase additional unlock codes 12 Select the Next arrow FIGURE 11 Position Accuracy Screen 13 Enter the desired Ac...

Страница 17: ...n Wizard 1 Drive the machine forward 33 feet and park on a flat surface NOTE The machine must detect a forward motion prior to calibration to determine which direction is forward FIGURE 13 Terrain Com...

Страница 18: ...ach wheel of the fixed axle of the machine Rear axle Front boom sprayers rear boom sprayers and front steered machines Front axle Articulated tractors rear steered machines and windrowers Center of tr...

Страница 19: ...bration 7 Turn the machine around 180 and park with the machine facing the opposite direction and the fixed axle in between the flags or markers FIGURE 18 Terrain Comp Calibration Screen 8 Select Cali...

Страница 20: ...ion is complete the following screen will appear FIGURE 21 GPS Only Home Screen GPS AND STEERING CALIBRATION NOTE The System Information DTC and Machine Test screens can be viewed during calibration F...

Страница 21: ...Make and Machine Model from the Machine Selection drop down boxes FIGURE 23 Steering Configuration Screen 2 Verify that the correct steering controller partner has been identified OEM TECU tractor s e...

Страница 22: ...the RS1 unit A negative value should be entered if the RS1 unit is located behind the rear axle 5 Select the Next arrow FIGURE 25 Antenna Center Offset Screen 6 Select the value box to enter the Ante...

Страница 23: ...d to the center of the RS1 unit 9 Select the Next arrow FIGURE 27 Wheel Base Screen 10 Select the value box to enter the Wheel Base NOTE The Wheel Base is calculated by measuring from the center of th...

Страница 24: ...be available for selection in the drop down box Contact your local Raven dealer to purchase additional unlock codes 13 Select the Next arrow FIGURE 29 Position Accuracy Screen 14 Enter the desired Ac...

Страница 25: ...e forward 33 feet and park on a flat surface NOTE The machine must detect a forward motion prior to calibration to determine which direction is forward FIGURE 31 Terrain Compensation Calibration Wizar...

Страница 26: ...ers rear boom sprayers and front steered machines Front axle Articulated tractors rear steered machines and windrowers Center of track Tracks FIGURE 33 Terrain Comp Calibration Screen 4 Select Calibra...

Страница 27: ...e machine around 180 and park with the machine facing the opposite direction and the fixed axle in between the flags or markers FIGURE 36 Terrain Comp Calibration Screen 7 Select Calibrate Once the ca...

Страница 28: ...Engage The screen should automatically advance to the next screen FIGURE 39 Disengage Calibration Screen 2 Calibrate the disengage sensor by turning the steering wheel NOTE The Disengage Status indic...

Страница 29: ...he Left button to set the left WAS value NOTE Do not turn the steering wheel until the WAS screen advances to the Center WAS setting FIGURE 41 Center WAS Calibration Screen 4 Drive forward between 1 4...

Страница 30: ...Screen 9 Review the WAS calibration information 10 Press the Next arrow CALIBRATE THE MACHINE S STEERING SYSTEM NOTE Although the RS1 steering and guidance system should be automatically calibrated to...

Страница 31: ...ake several hard left and right turns Adjust the vehicle speed and location as necessary NOTE If an error message is displayed during calibration refer to Chapter 10 Diagnostics and Troubleshooting on...

Страница 32: ...rrow to begin calibration The following screens will be displayed during the process FIGURE 45 Calibration in Process Screens 4 Once the calibration process is complete press the Next arrow FIGURE 46...

Страница 33: ...P N 016 4010 001 Rev A 29 CALIBRATION 5 Review the Calibration Wizard Summary 6 Press Accept...

Страница 34: ...CHAPTER 3 30 Raven RS1 Guidance and Steering Calibration Operation Manual...

Страница 35: ...he guidance line The Sensitivity value is used to fine tune the RS1 system Values range between 50 200 NOTE If the machine is slow to react after a steering adjustment increase the Sensitivity setting...

Страница 36: ...sponse Speed is too high the wheel movement may become jittery If the Response Speed is too low the wheel movement may wander lazily Values range between 1 255 NOTE If steering becomes jittery lower t...

Страница 37: ...uring the system calibration FIGURE 2 Machine Configuration Screen The Machine Configuration Information screen displays the machine profile that was entered during the calibration process The Machine...

Страница 38: ...of the RS1 unit A negative value should be entered if the RS1 unit is located behind the rear axle Wheel Base The Wheel Base is calculated by measuring from the center of the front tire to the center...

Страница 39: ...P N 016 4010 001 Rev A 35 MACHINE SETTINGS...

Страница 40: ...CHAPTER 5 36 Raven RS1 Guidance and Steering Calibration Operation Manual...

Страница 41: ...ring partner that the RS1 unit communicates with during steering operation The Steering Setup screen contains the functions that allow the operator to fine tune the steering system NOTE The Steering S...

Страница 42: ...s in a less aggressive response Integral Gain This value corrects long term errors in the wheel control If the system is not achieving the desired wheel angle during operation the system will re direc...

Страница 43: ...to the left Right System Gain Compensates for any bias or non linearity in the steering valve while the machine is turning to the right WHEEL CONTROL SETTINGS FIGURE 5 Wheel Control Setup Screen Whee...

Страница 44: ...ptimal steering performance in the field Before beginning the machine s steering system calibration ensure that the following conditions are met The booms are racked on self propelled units There are...

Страница 45: ...ble causes and corrective action steps to be taken 1 Park the machine on a level surface with several acres of smooth ground available FIGURE 7 Steering Control Calibration Screen 2 Drive forward at 1...

Страница 46: ...CHAPTER 6 42 Raven RS1 Guidance and Steering Calibration Operation Manual FIGURE 8 Calibration in Process Screens 4 Press Accept to complete the calibration...

Страница 47: ...ration Screen Left Center Right Displays the current calibration values These values can be modified by selecting the desired WAS value to be changed moving the wheels to the correct position and pres...

Страница 48: ...that may be displayed in this area include CAN Switch Pressure Transducer Encoder Flow Switch Disengage Status Indicates the status of the disengage switch Disengage switch status types displayed in...

Страница 49: ...RE 11 Reset Calibrated Gains Screen Reset Calibrated Gains Resets the machine s calibration settings back to factory defaults Select the check button to reset the machine s steering settings back to f...

Страница 50: ...CHAPTER 6 46 Raven RS1 Guidance and Steering Calibration Operation Manual...

Страница 51: ...GPS CONFIGURATION CONFIGURE GPS IN THE VIPER 4 VIPER 4 FIGURE 1 GPS Setup 1 Select Edit 2 Select GPS FIGURE 2 GPS Setup Screen 3 Select NMEA2000 NOTE Selecting NMEA2000 allows GPS data from the RS1 un...

Страница 52: ...uses that may be displayed in this area include No Signal Error Converging Converged Current Accuracy If the machine is positioned in exactly the same spot day after day the GPS position readings shou...

Страница 53: ...ed by the 3D terrain compensation feature Calibrate Terrain Compensation Begins the terrain compensation process FIGURE 6 3D GPS Output Radar Setup Screen 3D GPS Output Radar Allows the RS1 system to...

Страница 54: ...ction Contact your local Raven dealer to purchase additional unlock codes FIGURE 8 GPS Information Screen Latitude The angular distance of a place north or south of the earth s equator Longitude The a...

Страница 55: ...HDOP Horizontal Dilution of Precision If all of the satellites in vew are from the same direction the number will be higher and the accuracy will be reduced Heading The machine s direction of travel D...

Страница 56: ...CHAPTER 7 52 Raven RS1 Guidance and Steering Calibration Operation Manual...

Страница 57: ...ial corrections In order to activate any of these products a feature unlock code is required Contact your local Raven dealer to purchase feature unlock codes FIGURE 1 Feature Unlock Screen 1 Select th...

Страница 58: ...ature unlock code and press Send NOTE A message will appear indicating whether or not the unlock code that was entered is valid If the code is valid the padlock icon next to the feature will turn gree...

Страница 59: ...ccept responsibility for the operation of the RS1 system No A B path or guidance line has been set or an active DTC is preventing the RS1 system from engaging RS1 is detected turned on and calibrated...

Страница 60: ...allation and Operation manual P N 016 0171 539 for further information on adding widgets NOTE The operator liability waiver must be accepted before the RS1 system can be enabled for operation The RS1...

Страница 61: ...ng codes are present The RS1 system cannot be engaged in this state Active diagnostic and troubleshooting codes are present The RS1 system can be engaged in this state but performance quality may be d...

Страница 62: ...ER SWITCH RESUME SWITCH Display Message The master switch is set to road mode The RS1 system cannot be enabled until the master switch is toggled to field mode The master switch is disconnected The RS...

Страница 63: ...sensor is out of range or disconnected The RS1 disengage sensor is inactive The RS1 system can be enabled Display Message The wheel angle sensor WAS is out of range or disconnected The wheel angle sen...

Страница 64: ...erged or GPS is converged and a warning DTC is present GPS signals are converged and no warning DTCs are active NOTE Both the steering wheel and GPS icons must be green in order to engage the RS1 syst...

Страница 65: ...st Refer to Figure 3 for an example of DTCs and DTC summaries FIGURE 5 Diagnostic Trouble Codes Screen NOTE In Figure 3 above the active DTC is 522250 31 and the DTC summary is No Guidance Points The...

Страница 66: ...ressing Clear deletes the inactive DTCs from the Inactive DTC error log For a complete list of the RS1 DTCs please visit http ravenprecision force com knowledgebase articles Tech_Tip RS1 Lights and Di...

Страница 67: ...OTING FIGURE 8 Test Selection Screen System health tests are performed to diagnose and correct machine and RS1 calibration issues The following system health tests can be performed via the RS1 system...

Страница 68: ...4 Raven RS1 Guidance and Steering Calibration Operation Manual STEP RESPONSE TEST The Step Response Test is used to determine the responsiveness of the machine s steering system FIGURE 9 Step Response...

Страница 69: ...t 5 Drive forward 1 4 mph with the engine RPM set at 3 4 throttle 6 Turn the steering wheel to the right so that the Actual reading displays 20 0 degrees 7 Press the center up arrow 8 Wait for the fol...

Страница 70: ...2 Enter the desired test drive value 0 100 for the side of the machine being tested FIGURE 12 Machine Test Screen 3 Press and hold the Left arrow or Right arrow buttons below the drive the wheels at...

Страница 71: ...rward at 1 4 mph 2 Select Begin FIGURE 14 Max Pulse Test Screen 3 Press the left or right Arrow Play button to test the that side of the machine s pulse at the maximum control effort 4 Repeat steps 1...

Страница 72: ...ce and Steering Calibration Operation Manual SYSTEM INFORMATION FIGURE 15 System Information Screen 1 Select the steering control device from the drop down menu 2 Select the desired system component f...

Страница 73: ...A 69 DIAGNOSTICS AND TROUBLESHOOTING FIGURE 16 System Information Screens RS1 Information Steering Guidance Controller Information RS1 Unit Hours RS1 Hardware Diagnostics Cell Modem Information GPS R...

Страница 74: ...calibrated steering settings for the RS1 system FIGURE 18 Gains Summary Screen The Gains Summary screen displays all of the advanced steering settings used to steer the machine FIGURE 19 Preset Steeri...

Страница 75: ...rop tires Different soil types Different speeds planting vs spraying FIGURE 20 Preset Gains Settings To toggle between the settings press the button PERFORMANCE MONITOR FIGURE 21 RS1 Home Screen 1 Sel...

Страница 76: ...nual FIGURE 22 Short Term and Resettable Performance Screen NOTE The Short Term Performance screen displays the averages and 95 performance values 2 Select the tab with the watch icon to view the Rese...

Страница 77: ...LINGSHOT FIGURE 1 Home Screen To access the Slingshot home screen select the RS1 Slingshot icon on the RS1 home page BUTTON DEFINITIONS The following are common status or mode messages which may occur...

Страница 78: ...net The RS1 unit is equipped with the cellular modem but the feature has not been unlocked Contact your local Raven dealer to purchase feature unlock codes The RS1 unit is not equipped with a cellular...

Страница 79: ...TATUS FIGURE 3 Ethernet Status Screen Display Message Indicates that a connection to the field computer or a laptop is detected The Ethernet connection is functional but no connection has been establi...

Страница 80: ...Steering Calibration Operation Manual WIFI STATUS FIGURE 4 Ethernet Status Screen SLINGSHOT AND RTK STATUS FIGURE 5 Home Screen Display Message The wifi access point is active and functioning proper...

Страница 81: ...RS1 is not receiving RTK connections NOTE This icon is hidden if RTK corrections have not been unlocked in the RS1 unit RS1 Remote Diagnostics are being sent to the Slingshot portal RS1 Remote Diagno...

Страница 82: ...r Updates NOTE This will search the RS1 system for the latest software updates 3 Select the desired software update from the list 4 Select Accept NOTE The software is downloaded to the RS1 unit but is...

Страница 83: ...date Screen NOTE Select Cancel to exit the field update without performing a software update FIGURE 9 Software Update Notice 5 Press Accept to begin the software download 6 Wait for the software downl...

Страница 84: ...the software update FIGURE 11 Software Installation in Progress NOTE Pressing the Release Notes button displays the changes that were made in the selected software version SYSTEM SETTINGS CELLULAR SE...

Страница 85: ...sociated with the Slingshot account SIM Displays the identification number associated with the SIM card currently in use in the RS1 system Network Displays the cellular network on which Slingshot is r...

Страница 86: ...Hub Client Mode Select this mode when the RS1 unit is directly connected to the field hub via an Ethernet cable WIFI SETTINGS FIGURE 16 WiFi Hotspot Settings Screen SSID Displays the WiFi SSID network...

Страница 87: ...has not been unlocked in the RS1 unit this tab will display RTK Is Not Unlocked and this feature will not be available until an unlock code for RTK is entered into the system Network Select if the so...

Страница 88: ...the Status column FIGURE 19 Unlock Information Screen 3 Enter the feature unlock code 4 Select Send NOTE Once the Slingshot modem is successfully unlocked the icon next to the feature will turn green...

Страница 89: ...P N 016 4010 001 Rev A 85 SLINGSHOT SYSTEM INFORMATION FIGURE 21 System Information Screen Select the desired system component from the second drop down menu...

Страница 90: ...ance and Steering Calibration Operation Manual FIGURE 22 System Information Screens RS1 Information Steering Guidance Controller Information RS1 Unit Hours RS1 Hardware Diagnostics Cell Modem Informat...

Страница 91: ...r guidance and steering operation Once a DTC has been corrected the code moves to the inactive DTC code list Refer to Figure 3 for an example of DTCs and DTC summaries FIGURE 24 Diagnostic Trouble Cod...

Страница 92: ...CHAPTER 11 88 Raven RS1 Guidance and Steering Calibration Operation Manual...

Страница 93: ...e of the diagrams may show optional features or components not required for RS1 operation and may not necessarily apply to the RS1 system installed on the machine NOTE Contact your local Raven dealer...

Страница 94: ...CHAPTER 12 90 Raven RS1 Guidance and Steering Calibration Operation Manual FIGURE 1 RS1 with Viper 4 and MDU...

Страница 95: ...12 P N 016 4010 001 Rev A 91 SYSTEM DIAGRAMS FIGURE 2 RS1 with Gen II Cabling and MDU...

Страница 96: ...CHAPTER 12 92 Raven RS1 Guidance and Steering Calibration Operation Manual...

Страница 97: ...Step Response Test 64 System Information 68 F Feature Unlock Codes 53 G GPS Configuration 47 I Important Safety Information 1 Electrical Safety 2 Hydraulic Safety 2 Introduction 3 Installation 3 Recom...

Страница 98: ...Index 94 Raven RS1 Guidance and Steering Calibration Operation Manual...

Страница 99: ...dustries 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 ap...

Страница 100: ...ven 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...

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