SmarTrax™ Calibration and Operation Manual

P/N 016-0171-277 Rev. L 03/18 E30676

Copyright 2009, 2010, 2011, 2012, 2013, 2017, 2018

SmarTrax™ Calibration and Operation Manual

While every effort has been made to ensure the accuracy of this document, Raven Industries assumes no responsibility for omissions and errors. Nor is any liability assumed for damages resulting from the use of information contained herein.

Raven Industries shall not be responsible or liable for incidental or consequential damages or a loss of anticipated benefits or profits, work stoppage or loss, or impairment of data arising out of the use, or inability to use, this system or any of its components. Raven Industries shall not be held responsible 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 availability of these services and cannot guarantee the ability to use Raven systems, or products used as components of systems, which rely upon the reception of these signals or availability of these services. Raven Industries accepts no responsibility for the use of any of these signals or services for other than the stated purpose.

Disclaimer

Table of Contents

P/N 016-0171-277 Rev. L i

Chapter 1 Important Safety Information............................................................................. 1Hydraulic .........................................................................................................................................................................2

General ....................................................................................................................................................................................... 2Instructions for Hose Routing ........................................................................................................................................... 2

Electrical ..........................................................................................................................................................................3General ....................................................................................................................................................................................... 3Instructions for Wire Routing ............................................................................................................................................ 3

Chapter 2 Introduction............................................................................................................. 7Installation ......................................................................................................................................................................7

Recommendations ................................................................................................................................................................. 7Antenna Installation .............................................................................................................................................................. 8

Antenna Left/Right Offset (Antenna X Position) ..........................................................................................................................8Antenna Fore/Aft Offset (Antenna Y Position) .............................................................................................................................8Antenna Height (Antenna Z Position) ..............................................................................................................................................8

Point of Reference .......................................................................................................................................................9Updates ...........................................................................................................................................................................9

Chapter 3 CR7 Calibration and Operation......................................................................... 11

Buttons and Definitions ..........................................................................................................................................11Initial Startup .............................................................................................................................................................. 12

Data Transfer ..........................................................................................................................................................................12GPS Configuration ...............................................................................................................................................................12SmarTrax Terms of Use ......................................................................................................................................................13Machine Configuration ......................................................................................................................................................14

Set Up Machine Profile(s) - Optional ............................................................................................................................................ 14Machine-Specific Configuration ..................................................................................................................................................... 14

Calibrate the SmarTrax System ........................................................................................................................... 15System Disengage Calibration ........................................................................................................................................16

SmarTrax Systems with a Pressure Switch or Flow Switch Installed ................................................................................. 16SmarTrax Systems with a Pressure Transducer Installed ....................................................................................................... 17

Engage Switch and Node Orientation .........................................................................................................................17Wheel Angle Sensor (WAS) Calibration - If Applicable .........................................................................................18Configuring Wheel Base and Antenna Offsets .........................................................................................................193D Compensation Calibration .........................................................................................................................................23

Calibrate the Machine’s Steering System ....................................................................................................... 25System Adjustments ................................................................................................................................................ 27

Line Acquisition and Aggressiveness (LA) Mode .....................................................................................................27On-Line (OL) Mode and Sensitivity ...............................................................................................................................28

Advanced Setup Tools and System Diagnostics .......................................................................................... 28System Information Tab ....................................................................................................................................................29Sensor Setup Tab .................................................................................................................................................................303D Compensation Tab ........................................................................................................................................................31Advanced Setup Tab ...........................................................................................................................................................32Diagnostics Tab .....................................................................................................................................................................33

Routine Operation ................................................................................................................................................... 34Engage SmarTrax ..................................................................................................................................................................34Updating the Node ..............................................................................................................................................................35

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ii SmarTrax™ Calibration & Operation Manual

Reset Calibration ..................................................................................................................................................................35

Chapter 4 Viper 4/4+ Calibration and Operation ........................................................... 37

Widget and Button Definitions ............................................................................................................................37Initial Startup ...............................................................................................................................................................38

Data Transfer .........................................................................................................................................................................38GPS Configuration ...............................................................................................................................................................38

Internal GPS Receiver ...........................................................................................................................................................................38External 600S GPS Receiver ...............................................................................................................................................................40External GPS Receiver ..........................................................................................................................................................................42

SmarTrax Terms of Use ......................................................................................................................................................44Machine Configuration ......................................................................................................................................................44

Set Up Machine Profile(s) - Optional .............................................................................................................................................44Machine-Specific Configuration ......................................................................................................................................................45

Calibrate the SmarTrax System ............................................................................................................................46System Disengage Calibration ........................................................................................................................................46

SmarTrax Systems with a Pressure Switch or Flow Switch Installed ..................................................................................46SmarTrax Systems with a Pressure Transducer Installed ........................................................................................................47

Engage Switch and Node Orientation .........................................................................................................................49Wheel Angle Sensor (WAS) Calibration - If Applicable .........................................................................................50Configuring Wheel Base and Antenna Offsets .........................................................................................................50Enhanced Tilt Calibration ..................................................................................................................................................54

Calibrate the Machine’s Steering System ........................................................................................................57System Adjustments .................................................................................................................................................58

Line Acquisition and Aggressiveness (LA) Mode .....................................................................................................59On-Line (OL) Mode and Sensitivity ...............................................................................................................................60

Advanced Setup Tools and System Diagnostics ...........................................................................................60System Information Tab ....................................................................................................................................................60Diagnostics Tab ....................................................................................................................................................................62Sensor Status .........................................................................................................................................................................64SmarTrax 3D Compensation Tab ...................................................................................................................................65GPS Setup Tab .......................................................................................................................................................................66Error Log Tab .........................................................................................................................................................................67

Routine Operation ....................................................................................................................................................67Engage SmarTrax .................................................................................................................................................................67Updating the Node .............................................................................................................................................................68System Settings ..................................................................................................................................................................69Reset Calibration ..................................................................................................................................................................69

Chapter 5 Viper Pro Calibration and Operation .............................................................. 71

Introduction .................................................................................................................................................................71Software Compatibility ......................................................................................................................................................71SmarTrax Status Display ....................................................................................................................................................71

Initial Startup ...............................................................................................................................................................72Data Transfer .........................................................................................................................................................................72GPS Configuration ...............................................................................................................................................................72SmarTrax Terms of Use ......................................................................................................................................................73Machine Configuration ......................................................................................................................................................74

Calibration Warning .............................................................................................................................................................................74

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P/N 016-0171-277 Rev. L iii

Set Up Machine Profile(s) - Optional ............................................................................................................................................ 74Machine-Specific Configuration ..................................................................................................................................................... 75

Calibrate the SmarTrax System ........................................................................................................................... 76System Disengage Calibration ........................................................................................................................................77

SmarTrax Systems with a Pressure Transducer Installed ....................................................................................................... 77SmarTrax Systems with a Flow Switch or Pressure Switch Installed ................................................................................. 78

Engage Switch Calibration and Node Orientation ..................................................................................................79Wheel Angle Sensor (WAS) Calibration - If Applicable .........................................................................................80Configuring Wheel Base and Antenna Offsets .........................................................................................................81Enhanced Tilt Calibration ..................................................................................................................................................85

Calibrate the Machine’s Steering System ....................................................................................................... 89System Adjustments ................................................................................................................................................ 90

Line Acquisition (LA) Mode and Aggressiveness .....................................................................................................91On-Line (OL) Mode and Sensitivity ...............................................................................................................................91

Advanced Setup Tools ............................................................................................................................................ 92STX Setup Screen .................................................................................................................................................................92Sys Diag Screen .....................................................................................................................................................................94Adv Setup Screen .................................................................................................................................................................973D Setup Screen ...................................................................................................................................................................98

Routine Operation ................................................................................................................................................... 99Engaging SmarTrax ..............................................................................................................................................................99Updating the Node ..............................................................................................................................................................99System Settings ...............................................................................................................................................................100

Chapter 6 Envizio Pro and Cruizer II Calibration and Operation .............................. 101

Introduction ..............................................................................................................................................................101Software Compatibility ....................................................................................................................................................101SmarTrax Status Display .................................................................................................................................................101

Initial Startup ............................................................................................................................................................102Cruizer II Connecting to SmarTrax via CAN Communication ...........................................................................102Envizio Pro ............................................................................................................................................................................103

Data Transfer ........................................................................................................................................................................................103GPS Configuration ..............................................................................................................................................................................103SmarTrax Terms of Use .....................................................................................................................................................................106

Machine Configuration ...................................................................................................................................................106Set Up Machine Profile(s) - Optional ..........................................................................................................................................106Machine-Specific Configuration ...................................................................................................................................................107

Calibrate the SmarTrax System .........................................................................................................................109System Disengage Calibration - SmarTrax Only ...................................................................................................109

SmarTrax Systems with a Pressure Transducer Installed .....................................................................................................109SmarTrax Systems with a Flow Switch or Pressure Switch Installed ............................................................................... 110

Engage Switch Calibration and Node Orientation ................................................................................................111Wheel Angle Sensor (WAS) Calibration - If Applicable ...................................................................................... 112Configuring Wheel Base and Antenna Offsets ...................................................................................................... 112Enhanced Tilt Calibration ............................................................................................................................................... 116

Calibrate the Machine’s Steering System .....................................................................................................119System Adjustments ..............................................................................................................................................121

Line Acquisition (LA) Mode and Aggressiveness ..................................................................................................121On-Line (OL) Mode and Sensitivity ............................................................................................................................122

Advanced Setup and Diagnostics ....................................................................................................................123

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iv SmarTrax™ Calibration & Operation Manual

SmarTrax Information Screen ....................................................................................................................................... 124Enhanced Tilt Calibration Setup Screen ................................................................................................................... 125Advanced Setup Screen .................................................................................................................................................. 126System Diagnostics Screen ........................................................................................................................................... 128Reset Default ...................................................................................................................................................................... 129

Routine Operation .................................................................................................................................................130Engaging SmarTrax .......................................................................................................................................................... 130Updating the Node .......................................................................................................................................................... 130System Settings ................................................................................................................................................................. 131Recalibrating Hydraulics ................................................................................................................................................. 131

Chapter 7 Troubleshooting................................................................................................. 133

Node ............................................................................................................................................................................133Error Messages .......................................................................................................................................................134SmarTrax Operation ..............................................................................................................................................136

Chapter 8 System Diagrams ............................................................................................... 141

CHAPTER

1

P/N 016-0171-277 Rev. L 1

CHAPTER 1IMPORTANT SAFETY INFORMATION

Read this manual and the operation and safety instructions included with your implement and/or controller carefully before installing the SmarTrax™ system.

• Follow all safety information presented within this manual.• If you require assistance with any portion of the installation or service of your Raven equipment, contact your

local Raven dealer for support.• Follow all safety labels affixed to the SmarTrax system components. Be sure to keep safety labels in good

condition and replace any missing or damaged labels. To obtain replacements for missing or damaged safety labels, contact your local Raven dealer.

When operating the machine after installing SmarTrax, observe the following safety measures:

• Be alert and aware of surroundings.• Do not operate SmarTrax 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 SmarTrax is engaged.• Disable SmarTrax when exiting the operator’s seat and machine.• Do not drive the machine with SmarTrax enabled on any public road.• Determine and remain a safe working distance from other individuals. The operator is responsible for disabling

SmarTrax when the safe working distance has diminished.• Ensure SmarTrax is disabled prior to starting any maintenance work on the system or the machine.

• Carefully read and follow all safety requirements and precautions contained in this manual and the machine-specific Installation Manual. Failure to follow safety instructions may lead to equipment damage, personal injury, or death.

• When starting the machine for the first time after installing SmarTrax, be sure that all persons stand clear in case a hose has not been properly tightened.

• The machine must remain stationary and switched off during SmarTrax installation or maintenance.

NOTICE

WARNING

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2 SmarTrax™ Calibration & Operation Manual

HYDRAULIC

GENERAL• Raven Industries recommends that appropriate protective equipment be worn at all times when working on the

hydraulic system.• Never attempt to open or work on a hydraulic system with the equipment running. Care should always be

taken when opening a system that has been previously pressurized.• When disconnecting the hydraulic hoses or purging is required, be aware that the hydraulic fluid may be

extremely hot and under high pressure. Caution must be exercised.• Any work performed on the hydraulic system must be done in accordance with the machine manufacturer’s

approved maintenance instructions.• When installing SmarTrax hydraulics or performing diagnostics, maintenance, or routine service, ensure that

precautions are taken to prevent any foreign material or contaminants from being introduced into the machine’s hydraulic system. Objects or materials that are able to bypass the machine’s hydraulic filtration system will reduce performance and possibly damage the SmarTrax hydraulic valve.

INSTRUCTIONS FOR HOSE ROUTING

The word “hose” is used to mean all flexible fluid carrying components. Follow existing hoses as much as possible and use these guidelines:

Hoses should not contact or be attached to:

• Components with high vibration forces• Components carrying hot fluids beyond component specifications

Avoid contact with any sharp edge or abrading surfaces such as, but not limited to:

• Sheared or flame cut edges• Edges of machined surfaces• Fastener threads or cap screw heads• Ends of adjustable hose clamps

Routing should not allow hoses to:

• Hang below the unit• Have the potential to become damaged due to exposure to the exterior environment. (i.e. tree limbs, debris,

attachments)• Be placed in areas of or in contact with machine components which develop temperatures higher than the

temperature rating of hose components• Hoses should be protected or shielded if it needs to route near hot temperatures beyond hose component

specifications

Hoses should not have sharp bends

CAUTION

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IMPORTANT SAFETY INFORMATION

Allow sufficient clearance from machine component operational zones such as:

• Drive shafts, universal joints and hitches (i.e. 3-point hitch)• Pulleys, gears, sprockets• Deflection and backlash of belts and chains• Adjustment zones of adjustable brackets• Changes of position in SmarTrax and suspension systems• Moving linkages, cylinders, articulation joints, attachments• Ground engaging components

For hose sections that move during machine operation:

• Allow sufficient length for free movement without interference to prevent: pulling, pinching, catching or rubbing, especially in articulation and pivot points

• Clamp hoses securely to force controlled movement to occur in the desired hose section• Avoid sharp twisting or flexing of hoses in short distances

Protect hoses from:

• Foreign objects such as rocks that may fall or be thrown by the unit• Buildup of dirt, mud, snow, ice, submersion in water and oil• Tree limbs, brush and debris• Damage where service personnel or operators might step or use as a grab bar• Damage when passing through metal structures• High pressure wash

ELECTRICAL

GENERAL• Always verify that the power leads are connected to the correct polarity as marked. Reversing the power leads

could cause severe damage to the equipment.• Ensure that the power cable is the last cable to be connected.• A minimum of 12 VDC is required for system operation with a maximum of 15 VDC.

INSTRUCTIONS FOR WIRE ROUTING

The word “harness” is used to mean all electrical leads and cables, bundled and unbundled. When installing harness, secure it at least every 30 cm (12in) to the frame. Follow existing harness as much as possible and use these guidelines:

Harness should not contact or be attached to:

• Lines and hoses with high vibration forces or pressure spikes• Lines and hoses carrying hot fluids beyond harness component specifications

Avoid contact with any sharp edge or abrading surfaces such as, but not limited to:

• Sheared or flame cut edges• Edges of machined surfaces• Fastener threads or cap screw heads

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• Ends of adjustable hose clamps• Wire exiting conduit without protection, either ends or side of conduit• Hose and tube fittings

Routing should not allow harnesses to:

• Hang below the unit• Have the potential to become damaged due to exposure to the exterior environment. (i.e. tree limbs, debris,

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:

• Drive shafts, universal joints and hitches (i.e. 3-point hitch)• Pulleys, gears, sprockets• Deflection and backlash of belts and chains• Adjustment zones of adjustable brackets• Changes of position in SmarTrax and suspension systems• Moving linkages, cylinders, articulation joints, attachments• Ground engaging components

For harness sections that move during machine operation:

• Allow sufficient length for free movement without interference to prevent: pulling, pinching, catching or rubbing, especially in articulation and pivot points

• Clamp harnesses securely to force controlled movement to occur in the desired harness section• Avoid sharp twisting or flexing of harnesses in short distances• Connectors and splices should not be located in harness sections that move

Protect harnesses from:

• Foreign objects such as rocks that may fall or be thrown by the unit• Buildup of dirt, mud, snow, ice, submersion in water and oil• Tree limbs, brush and debris• Damage where service personnel or operators might step or use as a grab bar• Damage when passing through metal structures

IMPORTANT:

• Avoid directly spraying electrical components and connections with high pressure water. High pressure water sprays can penetrate seals and cause electrical components to corrode or otherwise become damaged. When performing maintenance:

• Inspect all electrical components and connections for damage or corrosion. Repair or replace components, connections, or cable as necessary.

• Ensure connections are clean, dry, and not damaged. Repair or replace components, connections, or cable as necessary.

• Clean components or connections using low pressure water, pressurized air, or an aerosol electrical component cleaning agent.

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IMPORTANT SAFETY INFORMATION

• 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.

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CHAPTER

2

P/N 016-0171-277 Rev. L 7

CHAPTER 2INTRODUCTION

Congratulations on your purchase of the Raven SmarTrax system! This system is designed to provide cutting-edge, hands-free steering of the machine via Global Positioning System (GPS) coordinates.

The instructions in this manual are designed to assist in the proper calibration and operation of the SmarTrax system when used with the CR7™, Viper® 4/4+, Viper Pro™, Envizio Pro™ or Envizio Pro™ II, and Cruizer™ II series field computers.

IMPORTANT: Installation of the SmarTrax system must be completed before calibrating the system. If you have questions regarding the installation of the SmarTrax system, refer to the machine-specific SmarTrax Installation Manual provided with the installation kit.

IMPORTANT: The Raven field computer must be calibrated specifically for the vehicle before being used to operate the SmarTrax system. For questions about the field computer, refer to the Installation & Operation Manual provided with the field computer.

INSTALLATION

RECOMMENDATIONS

Before installing the SmarTrax system, park the machine where the ground is level, clean, and dry. Bleed pressure from the hydraulic system and leave the machine turned off for the duration of the installation process.

During the installation process, follow good safety practices. Be sure to carefully read the instructions in this manual as you complete the installation process.

Raven Industries recommends the following best practices when installing or operating the SmarTrax system for the first time, at the start of the season, or when moving the SmarTrax system to another machine:

• Verify that the machine’s hydraulic system is using fresh oil and that the filters have been recently changed • Ensure there are no issues with the machine’s hydraulic system (e.g., pump issues, faulty hydraulic motors, fine

metal deposits in the hydraulic hoses, etc.).

WARNINGCarefully read and follow all safety requirements and precautions contained in this manual and the machine-specific Installation Manual. Failure to follow safety instructions may lead to equipment damage, personal injury, or death.

CHAPTER 2


ANTENNA INSTALLATION

The machine presets loaded into the SmarTrax system software are based on the location of the antenna at the time the SmarTrax system was developed for your particular machine. If the antenna is not positioned exactly in the position configured in the software, the system will not acquire and remain on the desired path and/or system performance may degrade over time.

ANTENNA LEFT/RIGHT OFFSET (ANTENNA X POSITION)

The antenna left/right offset position is the distance from the antenna to the center of the machine. The antenna left/right offset position is measured parallel to the machine’s axle. Refer to Figure 1 below.

NOTE: It may be necessary to make adjustments to the left/right offset if the implement being used does not align or track properly with the machine.

FIGURE 1. Antenna Left/Right Offset Measurement

ANTENNA FORE/AFT OFFSET (ANTENNA Y POSITION)

The antenna fore/aft offset position is the distance from the GPS antenna to the rear axle of the machine. The antenna fore/aft offset position is measured perpendicularly from the antenna to the machine’s rear axle. Refer to Figure 2 below.

FIGURE 2. Antenna Fore/Aft Offset Measurement

ANTENNA HEIGHT (ANTENNA Z POSITION)

The antenna height value is the measurement from the ground to the base of the antenna.

Antenna

Left/Right Offset Measurement

Antenna

Rear Axle of Machine

Fore/Aft Measurement

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P/N 016-0171-277 Rev. L 9

INTRODUCTION

FIGURE 3. Antenna Height Measurement

POINT OF REFERENCE

The instructions in this manual assume that you are standing behind the machine, looking toward the cab.

UPDATES

Software and manual updates are available on the Raven Applied Technology website.

https://portal.ravenprecision.com

Sign up for email alerts, and you will be automatically notified when updates for your Raven products are available on the website!

At Raven Industries, we strive to make your experience with our products as rewarding aspossible. One way to improve this experience is to provide us with feedback on this manual.

Your feedback will help shape the future of our product documentation and the overall service weprovide. We appreciate the opportunity to see ourselves as our customers see us and are eagerto 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

[email protected]

-SmarTrax™ Calibration & Operation Manual-P/N 016-0171-277 Rev. L-Any comments or feedback (include chapter or page numbers if applicable).-Let us know how long have you been using this or other Raven products.

We will not share your email or any information you provide with anyone else. Your feedback isvalued and extremely important to us.

Thank you for your time.

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CHAPTER

3

P/N 016-0171-277 Rev. L 11

CHAPTER 3CR7 CALIBRATION AND OPERATION

BUTTONS AND DEFINITIONS

The following are common status or mode information which may be displayed while the SmarTrax system is engaged.

Display Message

The SmarTrax node is detected, but no guidance line had been set or there is an error in the system. The operator may need to accept responsibility for the operation of the SmarTrax system.

SmarTrax is not engaged, and there are no errors detected in the system.

SmarTrax is engaged, with no errors detected.

SmarTrax is engaged, but a system warning is detected.

SmarTrax is not engaged, and a system error is detected.

Previous - Returns the CR7 display to the previous screen in the setup process.

Next - Saves the changes made to the SmarTrax system and proceeds to the next step in the setup process.

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INITIAL STARTUP

DATA TRANSFER

During the initial startup of the SmarTrax system, language data must transfer from the SmarTrax node to the CR7. Allow several minutes for the data transfer to complete before calibrating SmarTrax.

NOTE: The Rx and Tx diagnostic LEDs on the SmarTrax node will flash rapidly during the data transfer. The Rx and Tx lights will flash slowly or turn off when the data transfer is complete. Attempting to access the SmarTrax configuration screen while language data is transferring will open a message asking the user to try again later.

GPS CONFIGURATION

NOTE: The SmarTrax 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 on external GPS equipment. Contact your local Raven dealer for additional assistance if the SmarTrax system still does not detect a GPS message.

Increase - Allows the indicated value to be manually adjusted incrementally.

Decrease - Allows the indicated value to be manually adjusted incrementally.

Accept - Saves the changes made to the SmarTrax system at the end of the setup process and returns the to the Tools Menu.

Exit - Exits from the current screen without saving any changes made to the system.

Display Message

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CR7 CALIBRATION AND OPERATION

FIGURE 1. Serial Device Setup Screen

1. Select Serial Port from the CR7 main menu. 2. Select the appropriate serial device tab on the left side of the screen.3. Verify that SmarTrax is listed in the Device/Device Type field.

NOTE: If SmarTrax is not listed, press the Detect Device button in the middle of the screen. If these devices still do not appear, inspect cable connections to ensure they are installed securely, then press the Detect Device button again. If the devices still do not appear, refer to Chapter 7, Troubleshooting for further information.

4. Press Accept.

SMARTRAX TERMS OF USE

FIGURE 2. Operator Liability Warning Screen

1. Select SmarTrax.2. Read the SmarTrax Liability Waiver.3. Select Yes, I agree.

NOTE: If the operator does not accept liability, the SmarTrax system will disable and cannot be re-engaged until the liability waiver is accepted. The SmarTrax Liability Waiver screen will appear each time the CR7 is turned on.

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MACHINE CONFIGURATION

SET UP MACHINE PROFILE(S) - OPTIONAL

FIGURE 3. Machine Configuration Menu

1. Select the Advanced tab on the left side of the screen.2. Select Next.3. Select Reset SmarTrax.4. Select one of the Profile options from the bottom of the Machine Type list.5. Select Next.6. Select New, Load, or Reset.

• New creates a new machine profile.• Load allows the operator to select an existing profile. Load will not be displayed as an option until a

machine calibration 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 operator must select the machine

from the Machine Type list and the calibration process 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.

7. Select Next.

MACHINE-SPECIFIC CONFIGURATION

NOTE: It may be necessary to configure the GPS com port in the field computer to allow GPS communication with the SmarTrax. Refer to the CR7 Installation and Operation Manual (P/N 016-0171-664) for information on com port configuration and additional machine measurements (such as guidance width) that must be entered into the field computer.

Before the SmarTrax system may be enabled, the SmarTrax system must be calibrated for the specific vehicle being used. Complete the following steps to configure the machine specifications in the CR7 and the SmarTrax system.

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FIGURE 4. Vehicle Selection Screen

1. Select the specific machine type from the Machine Type list. If the specific machine is not listed, choose the generic machine type that best fits the machine:• SP Sprayer RBoom - Self-propelled sprayer with a rear boom• SP Sprayer FBoom - Self-propelled sprayer with a front boom• FS Tractor - Front-steered tractor• Articulated• Rear Steered - Rear-steered machine

2. Select Next.

FIGURE 5. Steering Control Device Selection Screen

NOTE: The steering control device selection screen will display a (-) until a steering control device is selected from the drop-down box.

3. Select the device being used to control the SmarTrax system.• Raven Hydraulic - SmarTrax hydraulic valve is controlling the vehicle steering.• Steer-Ready - SmarTrax is connected to an optional steering control system that was installed at the

factory.4. Select Next.

CALIBRATE THE SMARTRAX SYSTEM

NOTE: The calibration wizard will be displayed the first time the SmarTrax system is accessed after installation or any time the Reset SmarTrax option is selected. Refer to “Reset Calibration” on page 35 for additional information on resetting the SmarTrax system.

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1. Park the machine on a flat surface.2. Locate and select the SmarTrax module. The calibration wizard will start automatically if the SmarTrax system

requires calibration.3. Select Next.

SYSTEM DISENGAGE CALIBRATION

SMARTRAX SYSTEMS WITH A PRESSURE SWITCH OR FLOW SWITCH INSTALLED

NOTE: This section applies only to SmarTrax systems utilizing a pressure or flow switch to disengage the SmarTrax system when the steering wheel is turned. If a pressure transducer is installed in the SmarTrax system, refer to “SmarTrax Systems with a Pressure Transducer Installed” on page 17 to calibrate the SmarTrax system.

FIGURE 6. Steer Switch Test Screen

1. Verify that the steering wheel icon is green when the steering wheel is not being touched.

NOTE: If the steering wheel icon is red, increase the disengage setting on the pressure switch to require more steering input to disengage SmarTrax.

2. Turn the steering wheel. The following screen will appear:

FIGURE 7. Disengage Calibration Screen

3. Verify that the steering wheel icon is red when the steering wheel is being turned.

NOTE: If the steering wheel icon is green, decrease the disengage setting on the pressure switch to require less steering input to disengage SmarTrax.

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4. Proceed to “Engage Switch and Node Orientation” on page 17 to continue with the SmarTrax system calibration.

SMARTRAX SYSTEMS WITH A PRESSURE TRANSDUCER INSTALLED

NOTE: This section applies only to SmarTrax systems utilizing pressure transducers to disengage the SmarTrax system when the steering wheel is turned. If a pressure or flow switch is installed in the SmarTrax system, refer to “SmarTrax Systems with a Pressure Switch or Flow Switch Installed” on page 16 to calibrate the SmarTrax system.

FIGURE 8. Transducer Calibration Screens

1. When prompted, turn the steering wheel 90° to allow the SmarTrax system to detect the hydraulic pressure change. Once the system has detected the static and differential pressures, a screen displaying the steering wheel status will appear.

NOTE: “Steering wheel is stationary” is displayed until the wheel is manually turned, at which point the “Steering wheel is moving” will be displayed.

2. Verify that the CR7 displays the correct steering operation.

NOTE: It may be necessary to increase the disengage setting to require more steering input to disengage SmarTrax or to decrease the disengage setting to require less steering input.

3. If the system setting is correct, select Next to proceed to the next step in the calibration procedure.

ENGAGE SWITCH AND NODE ORIENTATION

FIGURE 9. Engage Switch Calibration Screen

1. Review the on-screen instructions.

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2. Press and release the foot/engage switch.

NOTE: The SmarTrax Setup Wizard will automatically advance to the next step in the calibration process when the engage switch is detected.

FIGURE 10. Node Orientation Screen

3. Ensure that the machine is parked on a level surface.4. Select the number that corresponds with the node arrow number pointing toward the front of the machine.

IMPORTANT: Selecting the incorrect node arrow number may cause poor steering performance!

NOTE: The SmarTrax Setup Wizard will perform an initial calibration on the SmarTrax tilt sensors. The wizard will automatically advance to the next step in the calibration process once the node calibration is complete.

WHEEL ANGLE SENSOR (WAS) CALIBRATION - IF APPLICABLE

IMPORTANT: The range of the WAS values is limited to 10-1010 to prevent damage to certain types of sensors. Ensure the sensor is mounted securely to prevent damage during operation. The difference between the Left and Center values and Center and Right values must exceed 100.

The WAS calibration is required only if a WAS is installed in the SmarTrax system. If no WAS is detected by SmarTrax, the SmarTrax Setup Wizard will proceed to the next step in the calibration process. If a WAS is installed, the following screen will be displayed:

65

1

2

3

4

P/N 016-0171-277 Rev. L 19


FIGURE 11. WAS Calibration Screen

1. While driving slowly, turn the steering wheel fully to the left wheel lock.2. Select Set Left.3. Continue driving slowly and straighten the wheel until the machine is driving straight forward.4. Select Set Center.5. Turn the steering wheel fully to the right wheel lock.6. Select Set Right.

NOTE: The wizard will automatically advance to the next step in the calibration process.

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 system.

IMPORTANT: If a specific machine profile was selected during the machine configuration process, the Wheel Base, Antenna Position, and Antenna Height values will be automatically populated on the screen. However, the antenna mounting position may vary on the machine, so it is important to re-measure the Antenna Position and Antenna Height to verify that the settings in the CR7 are correct.

NOTICEThe Wheel Base, Antenna Position, and Antenna Height values are critical to the operation of the SmarTrax system. Measure these dimensions accurately to ensure optimal SmarTrax system performance!

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FIGURE 12. Articulated Machine Measurements

NOTE: For articulated machines, measure 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



ANTENNA HEIGHT

MEASUREMENT

P/N 016-0171-277 Rev. L 21


FIGURE 13. Swather 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.

CORRECT

INCORRECT WHEEL BASE 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.

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FIGURE 14. Wheel Base Configuration Screen

1. To figure the machine’s Wheel Base, measure the distance from the center of the machine’s front axle to the center of the rear axle.

2. Select the value box to enter the Wheel Base measurement using the on-screen keypad.

NOTE: If the Wheel Base value is edited, the system will automatically advance to the next stage of the calibration process. If the value is not edited, the operator must select Next to continue.

FIGURE 15. Antenna Position Configuration Screen

3. To figure the GPS Antenna Position, measure the distance from the antenna to the center of the rear axle. 4. 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


P/N 016-0171-277 Rev. L 23


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 rear axle.

NOTE: If the Antenna Position value is edited, the system will automatically advance to the next stage of the calibration process. If the value is not edited, the operator must select Next to continue.

FIGURE 16. Antenna Height Configuration Screen

5. To figure the Antenna Height, measure the distance from the ground to the middle of the GPS antenna.6. Select the value box to enter the Antenna Height measurement using the on-screen keypad.

NOTE: If the Antenna Height value is edited, the system will automatically advance to the next stage of the calibration process. If the value is not edited, the operator must select Next to continue.

3D COMPENSATION CALIBRATION

NOTE: The calibration may take a few minutes to complete.

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.

2. Follow the on-screen instructions to begin the calibration.

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.

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FIGURE 18. Tilt Calibration Screen

4. Select Begin Calibration. The following screen will appear:

FIGURE 19. Calibration in Progress Screen

5. Wait for the calibration process to be completed.

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 flags or markers.

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FIGURE 21. Finish Calibration

7. After the calibration is complete and the values on the screen have turned black, select End 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 turn black.

FIGURE 22. Calibration Complete

8. Select Next.

CALIBRATE THE MACHINE’S STEERING SYSTEM

NOTE: On certain machines, it may not be necessary to calibrate the steering system. If calibration is not required for the machine’s configuration, proceed to “System Adjustments” on page 27.

After the initial calibration of the SmarTrax system is complete, it is necessary to calibrate the machine’s steering system. This allows the SmarTrax system to learn the hydraulic capabilities of the machine for optimal steering performance in the field.

Before beginning the machine’s steering system calibration, ensure:

• The booms are racked on self-propelled units.• There are no implements connected to the hitch.• The machine’s engine is running at the normal operating RPMs.• The machine’s measurements are correctly entered into the CR7.

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NOTE: To ensure the calibration is successful, 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.

FIGURE 23. Steering Calibration Screens

1. Position the machine in an open space with several acres of smooth ground available to perform the machine’s steering calibration.

WARNINGThe machine’s wheels will turn automatically. Be sure the area around the vehicle is clear of people and equipment before engaging the steering system.

NOTICEThe calibration of the machine’s steering system should be performed in a field or other large, open space and during conditions similar to normal vehicle operation.

If the ground or surface is slippery, muddy, or freshly tilled, the SmarTrax system may learn incorrect steering responses for normal operating conditions.

Ensure that the machine’s hydraulics are operating properly and there are no other mechanical issues that may affect the performance of the SmarTrax system.

P/N 016-0171-277 Rev. L 27


2. Press the foot/engage switch to begin calibration.

NOTE: During calibration, the machine will turn hard to the left or right and progressively turn in the opposite direction, then turn hard in that direction and progressively turn back in the opposite direction. Adjust the speed and vehicle location as necessary.

NOTE: If an error message is displayed during calibration, refer to “Error Messages” on page 134 for possible causes and corrective action to complete the calibration process.

SYSTEM ADJUSTMENTS

NOTE: While system adjustments can be made either during the SmarTrax system setup or within a job, it is recommended that adjustments be made within a job so that the operator can determine the effectiveness of the adjustments during system operation.

Refer to the CR7 Calibration & Operation Manual (P/N 016-0171-664) for instructions on starting a job and setting guidance lines.

FIGURE 24. System Information Screen

LINE ACQUISITION AND AGGRESSIVENESS (LA) MODE

NOTE: The speed of the machine’s hydraulic and steering system may limit the LA performance. Increasing the LA value at the maximum vehicle speed may degrade performance of the SmarTrax system.

FIGURE 25. LA Mode

The LA Aggressiveness value affects how quickly the machine steers toward a displayed guidance line. If the machine does not approach the guidance line as quickly as desired, increase the LA Aggressiveness value one

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increment at a time, allowing SmarTrax at least 30 seconds between adjustments to adjust to the change in the value.

Setting the LA Aggressiveness value too high may cause the machine to steer into the guidance line too quickly and weave around the guidance line. Lowering the value in these situations will allow the machine to settle on the line.

ON-LINE (OL) MODE AND SENSITIVITY

FIGURE 26. OL Mode Indicator

The OL Sensitivity value affects the response of the machine while steering on the displayed guidance line. If the machine tends to slowly weave across the guidance line and does not remain on the desired path, increase the OL Sensitivity value one increment at a time, allowing SmarTrax at least 30 seconds between adjustment to adjust to the change in the 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 the operating conditions and improve steering accuracy.

NOTE: Some features or settings are not able to be adjusted unless SmarTrax is in an active job.

NOTE: Some features or settings are configured during the SmarTrax Setup Wizard and cannot be modified or changed without resetting the SmarTrax system. Refer to the Reset Calibration section on page 35 for additional assistance with resetting the SmarTrax system to default settings.

P/N 016-0171-277 Rev. L 29


SYSTEM INFORMATION TAB

FIGURE 27. System Information Screen

• System Status/Alarm Field - Displays system status messages (OnLine,Ready, etc.) and system warnings (Too Slow, 3D Hot, etc.) when the SmarTrax widget is indicating an alarm state.

• OL Sensitivity - Displays the OL Sensitivity value and allows the setting to be adjusted while in a job.• Line Acquire - Displays the LA Aggressiveness value and allows the setting to be adjusted while in a job.• 2”, 4”, and 8” - The percentage of time the machine has been within the distance of the guide line during the

last hour. Press Reset Performance Stats to set the fields to zero.

NOTE: On RTK systems, the values are 1”, 2”, and 4”.

FIGURE 28. Device Information Screen

NOTE: To change the Sensor Type, Machine Type, Control Device, or Wheel Base settings, the SmarTrax system must be reset and recalibrated.

• Machine Type - Displays the machine type or model selected during the SmarTrax calibration wizard. This information cannot be changed without resetting the SmarTrax system. Generic machine types which may be displayed in this area include:◦ SP Sprayer RBoom - Self-propelled sprayer with a rear boom◦ SP Sprayer FBoom - Self-propelled sprayer with a front boom◦ FS Tractor - Front-steered tractor◦ Articulated◦ Rear Steered - Rear-steered machine

• Control Device - Displays the steering control device selected during the calibration wizard. This setting cannot be changed without resetting the SmarTrax system. Available control devices include:◦ Raven Hydraulic - SmarTrax hydraulic valve is controlling the vehicle steering.

System Status/Alarm Field

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◦ Steer Ready - An optional steering control system was installed at the factory - available on select machines only.

• Sensor Type - Displays the primary sensor type that is providing machine feedback (yaw sensor or wheel angle sensor). The sensor type is automatically detected by the system and cannot be changed.

• Versions - Displays the database and software versions of SmarTrax running on the machine. This information is automatically detected by the 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 - The measured horizontal distance between the antenna and the rear axle. The fore/aft

offset distance must be measured parallel with the direction of travel.

FIGURE 29. Device Information Screen

• Reset - The reset button clears the accuracy information from the System Information screen, setting the values to 0.

SENSOR SETUP TAB

FIGURE 30. Sensor Setup Screen 1

NOTE: If the SmarTrax system detects a WAS during calibration, the Wheel Angle Sensor Status area of the screen displays the WAS sensor status information. If no WAS was detected, this field will remain blank.

NOTE: SmarTrax nodes 016-0173-031 and 016-0173-042 only - The SmarTrax node must be hardware version C or higher to utilize the WAS.

No WAS Installed WAS Installed

P/N 016-0171-277 Rev. L 31


• Sensor Type - Displays the primary sensor type that is providing machine feedback (yaw sensor or wheel angle sensor). The sensor type is automatically detected by the system and cannot be changed.

• Current Wheel Angle - An approximation of the steering inputs detected by the yaw sensor.• Current Sensor Reading - The total yaw detected by the sensor.• Yaw Rate - Real-time measurement used by the 3D terrain compensation feature.• Zero Yaw Sensor - Recalibrates the yaw sensor to zero. The machine must be at a full stop before recalibrating

the yaw sensor. During normal operation, the value will likely show a value other than 0.

FIGURE 31. Sensor Setup Screen 2

• Set Left, Set Center, and Set Right - Used to change the designated sensor set points. To set the sensor values, turn the steering to the appropriate point (left lock, center, or right lock) and press the corresponding button.

• Left, Center, and Right Values - Displays left, center, and right calibrated sensor readings. If the sensor is repositioned or replaced, these values should be recalibrated before operating the SmarTrax system.

• WAS Auto Center - When set to Active, the SmarTrax system automatically recalibrates the WAS center position during operation to adjust for slight shifts in the sensor’s center position. Bypassing this feature leaves the WAS center position at its current value.

NOTE: Refer to the Wheel Angle Sensor (WAS) Calibration - If Applicable section on page 18 for sensor calibration information.

3D COMPENSATION TAB

FIGURE 32. 3D Compensation Screen

• Forward and Downward - Indicate the orientation of the node programmed during calibration of the SmarTrax system.

• Yaw Rate, Roll, Pitch, and Yaw - Real-time measurement data used by the 3D terrain compensation feature.

Current Direction Indicator

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• Current Direction Indicator - Indicates the direction in which the machine is traveling. Verify that the direction of travel is displayed correctly when the machine is being driven in both forward and reverse.

• 3D Compensation - Check the 3D Compensation box to toggle the 3D compensation features on or off. When disabled, the SmarTrax system will not adjust the displayed guidance path for any machine tilt during field operations.

• Calibrate - Used to calibrate the 3D terrain compensation feature. Refer to the 3D Compensation Calibration section on page 23 for the calibration procedure.

ADVANCED SETUP TAB

FIGURE 33. GPS 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 are distributed evenly throughout the sky, diminishing the accuracy of the guidance system. The number displayed is the maximum number SmarTrax 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 to disengage more often.

• Baud Rate - The rate the system uses to communicate with the GPS receiver. This value is typically set to 19200 or 115200, but it can be changed to match the baud rate of receivers that cannot be easily changed.

• Min 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.

• GPS Frequency - The GGA message update frequency in Hertz (Hz).

FIGURE 34. Advanced Setup Screen

P/N 016-0171-277 Rev. L 33


• Current Compensation - Used only with certain non-steering ready machines. This feature is automatically enabled or disabled during the calibration process and cannot be modified.

• Anti-Oscillation - This feature is used only with articulated machines and should not be enabled with any other type of machine. Anti-Oscillation automatically turns on when an articulated machine is selected during the machine configuration stage of the SmarTrax setup. Enabling this feature with any machine that is not articulated may degrade the system performance.

• Reset SmarTrax - Resets the SmarTrax system to the default values.

NOTE: If Reset SmarTrax is selected, the SmarTrax system must be recalibrated before the system can be enabled. Refer to the Calibrate the SmarTrax System section on page 15 for information on completing the SmarTrax system calibration.

• Recal Hydraulics - Restarts the machine’s steering calibration process. Refer to the Calibrate the Machine’s Steering System section on page 25 for information on completing the machine’s steering calibration.

• Raven Service Menu - Used only for software programming purposes and is not accessible without a code.

DIAGNOSTICS TAB

FIGURE 35. Diagnostics PWM Screen

• Foot Switch Icon - Indicates the state of the foot switch. The foot switch image will appear black if there is no activity, and will turn white if the foot switch is being pressed.

• Steering Wheel Icon - Indicates the state of the steering wheel. The steering wheel image will appear black if there is no activity, and will turn white if the steering wheel is being turned.

• Left/Right Minimum, Left/Right Maximum - Displays the SmarTrax valve Minimum and Maximum values. Adjustment of these values is not typically necessary. Raven Industries recommends leaving these values as configured by the SmarTrax system unless a technician instructs you to modify the settings.

• Left/Right Gain - Displays the Left and Right Gain values. These values cannot be adjusted.• Test - Used to manually test the hydraulic components of the SmarTrax system. To perform a test, select the

desired Test button to steer the machine. If it does not respond as expected, the Minimum or Maximum values may need to be adjusted.

• Disengage Sensitivity - Proper tuning of the Disengage Sensitivity value allows the equipment operator to disengage SmarTrax by turning the steering wheel with minimal or moderate effort. Disengage Sensitivity requires minimal adjustment. The default Disengage Sensitivity value when a pressure or flow switch are present is 150. When one pressure transducer is present in the system, this value represents the PSI value that must be reached before the system is able to disengage. If two pressure transducers are present, the value represents the difference between the readings of the transducers.

NOTE: If the sensitivity value is too low, the steering system may disengage in rougher fields without any input from the operator. Raising the sensitivity value too high may make disengaging the SmarTrax system at the steering wheel difficult or impossible.

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FIGURE 36. Diagnostics Screen

• Target Current and Actual Current - Target Current is what the system expects to read. Actual Current displays the amount of current the system is using to steer the machine. These values are used to adjust system performance.

• Pressure 1 and Pressure 2 - Readings from the pressure transducers installed in the system.

ROUTINE OPERATION

ENGAGE SMARTRAX

FIGURE 37. SmarTrax Status Widget

NOTE: If the SmarTrax status widget does not appear on the screen, refer to the CR7™ Installation and Operation manual (P/N 016-0171-664) for further information on adding widgets.

• Touch the left half of the SmarTrax status widget during field operations to engage and disengage the SmarTrax features as desired during field operations.

NOTE: The SmarTrax status widget may not engage SmarTrax steering on some types of machines.

FIGURE 38. System Information Settings

P/N 016-0171-277 Rev. L 35


• Touch the right half of the SmarTrax status widget to view the System Information settings. These screens can be used to:◦ Adjust Online Sensitivity and Line Acquisition settings during operation.◦ Review SmarTrax system performance.◦ View device information.

NOTE: The operator liability waiver must be accepted before the SmarTrax system can be enabled for operation.

The SmarTrax steering may also be engaged using the following methods:

• Tap the foot switch or rocker switch to engage SmarTrax features without touching the CR7 display.• Press the SmarTrax on-screen status widget to engage the SmarTrax during field operation.

NOTE: The option to engage SmarTrax via the on-screen widget may not be available on some steering-ready machines. In this case, the manufacturer-supplied engage switch must be used to engage SmarTrax.

UPDATING THE NODE

Refer to the CR7 Installation & Operation Manual (P/N 016-0171-664) for instructions on updating the node software.

RESET CALIBRATION

FIGURE 39. Reset Calibration

Resetting the SmarTrax system calibration will delete all system settings and adjustments that have been performed. Before resetting the SmarTrax calibration, write down the current system settings for reference later. Recalibrate the SmarTrax system after the system is reset.

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CHAPTER

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P/N 016-0171-277 Rev. L 37

CHAPTER 4VIPER 4/4+ CALIBRATION AND OPERATION

WIDGET AND BUTTON DEFINITIONS

The following are common status or mode information which may be while the SmarTrax system is engaged:

Display Message

The SmarTrax node is detected, but the operator must accept responsibility for the operation of the SmarTrax system.

No A-B path or guidance line has been met.

SmarTrax is detected, turned on, and calibrated.

SmarTrax is detected and in operation in the Online or Line Acquisition Aggressiveness mode. Adjusting these settings 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 slow for SmarTrax operation and the system will disengage.

Previous - Returns the Viper 4 display to the previous screen in the setup process.


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NOTE: Refer to Error Messages section on page 134 for additional status conditions which may be displayed in the SmarTrax on-screen widget.

INITIAL STARTUP

DATA TRANSFER

During the initial startup of the SmarTrax system, language data must transfer from the SmarTrax node to the Viper 4. Allow several minutes for data transfer to complete before calibrating SmarTrax.

NOTE: The Rx and Tx diagnostic LEDs on the SmarTrax node will flash rapidly during the data transfer. The Rx and TX lights will flash slowly or turn off when the data transfer is complete. Attempting to access the SmartTrax configuration screen while language data is transferring will open a message asking the user to try again later.

GPS CONFIGURATION

NOTE: The SmarTrax 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 equipment. Contact your local Raven dealer for additional assistance if the SmarTrax system still does not detect a GPS message.

INTERNAL GPS RECEIVER

NOTE: The steps below apply only to Viper 4 computers with an internal GPS receiver that is being used as the primary GPS source.



Display Message

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P/N 016-0171-277 Rev. L 39

VIPER 4/4+ CALIBRATION AND OPERATION

FIGURE 1. GPS Setup Screen

1. Press Edit.2. Press GPS Setup.3. Select GPS Settings.4. Select the 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.


Edit GPS Setup GPS OutputGPS Settings

Edit Serial Devices

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8. Select Edit. 9. Select Serial Devices. The following screen will be displayed:

FIGURE 3. Serial Device Detection Screen

NOTE: If Integrated, SmarTrax, and SmarTrax GPS are not listed, press the Retry icon on the bottom-right corner of the screen. If these 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 7, 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 again. Refer to Chapter 7, Troubleshooting beginning on page 133 for further information.

EXTERNAL 600S GPS RECEIVER

The steps below apply only to Viper 4 computers utilizing an external 600S GPS receiver.

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P/N 016-0171-277 Rev. L 41



1. Select Edit. 2. Select Serial Devices.3. Press the Retry button in the bottom-right corner of the screen. 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 is not visible in the list, inspect cable connections to ensure they are installed securely, then press the Retry icon again. Refer to Chapter 7, Troubleshooting beginning on page 133 for further information.

5. Press Accept.

Edit Serial Devices

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6. Select GPS Setup.7. Verify that 600S on DGPS is visible and selected.

NOTE: If 600S on DGPS is not visible or selected in the list, inspect cable connections to ensure they are installed securely. Refer to Chapter 7, Troubleshooting beginning on page 133 for further information.

EXTERNAL GPS RECEIVER

The steps below apply only to Viper 4 computers with an external GPS receiver other than model 600S.


1. Select Edit.

Edit GPS Setup

Edit Serial Devices

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P/N 016-0171-277 Rev. L 43


2. Select Serial Devices..

3. Verify that the SmarTrax and SmarTrax GPS are listed in the Serial Device Setup screen.

NOTE: If SmarTrax and SmarTrax GPS are not listed, press the Retry icon on the bottom-right corner of the screen. If these 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 7, 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 7, Troubleshooting beginning on page 133 for further information.

Edit GPS Setup

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Read and accept the Operator Liability Warning. If the operator does not accept liability, the SmarTrax 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.


SET UP MACHINE PROFILE(S) - OPTIONAL


1. Select one of the Profile options from the bottom of the Machine Type list. 2. Select Next.3. Select New, Load, or Reset.

• New creates a new machine profile.

Edit SmarTrax

4

P/N 016-0171-277 Rev. L 45


• Load allows the operator to select an existing profile. Load will not be displayed as an option until a machine calibration 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




4. Select Next.


NOTE: It may be necessary to configure the GPS com port in the field computer to allow GPS communication with the SmarTrax. Refer to the Viper/Viper 4+ Installation and Operation Manual (P/N 016-0171-539) for information on com port configuration and additional machine measurements (such as guidance width) that must be entered into the field computer.

Before the SmarTrax system may be enabled, the SmarTrax system must be calibrated for the specific vehicle being used. Complete the following steps to configure the machine specifications in the Viper 4 and the SmarTrax system.

FIGURE 9. Vehicle Selection Screen

1. Select the specific machine type from the Machine Type list. If the specific machine is not listed, choose the generic machine type that best fits the machine:• SP Sprayer RBoom - Self-propelled sprayer with a rear boom• SP Sprayer FBoom - Self-propelled sprayer with a front boom• FS Tractor - Front-steered tractor• Articulated• Rear Steered - Rear-steered machine

2. Select Next.

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NOTE: The steering control device selection screen will display a (-) until a steering control device is selected from the drop-down box.

3. Select the device being used to control the SmarTrax system.• Raven Hydraulic - SmarTrax hydraulic valve is controlling the vehicle steering.• Steer-Ready - SmarTrax is connected to an optional steering control system that was installed at the

factory.4. Select Next.


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 69 for additional information about resetting the SmarTrax system.

1. Park the machine on a level surface.2. Locate and select the SmarTrax module. The calibration wizard will start automatically if the SmarTrax system

requires calibration.


SMARTRAX SYSTEMS WITH A PRESSURE SWITCH OR FLOW SWITCH INSTALLED

IMPORTANT: This section applies only to SmarTrax systems utilizing a pressure or flow switch to disengage the SmarTrax system when the steering wheel is turned. If a pressure transducer is installed in the SmarTrax system, refer to the SmarTrax Systems with a Pressure Transducer Installed section on page 47 to calibrate the SmarTrax system.

1. Select Next in the SmarTrax Setup Wizard. The following screen will appear:

P/N 016-0171-277 Rev. L 47


FIGURE 11. Disengage Calibration Screen

2. Turn the steering wheel. The following screen will appear:

FIGURE 12. Disengage Calibrating Screen

NOTE: It may be necessary to increase the disengage setting on the pressure switch to require more steering input to disengage SmarTrax and to decrease the disengage setting to require less steering input. This adjustment can be made during the hydraulic system calibration or after the SmarTrax system calibration. On flow switch systems, the system is either on or off and cannot be adjusted.

3. Proceed to the Engage Switch and Node Orientation section on page 49 continue with the SmarTrax system calibration.


IMPORTANT: This section applies only to SmarTrax systems utilizing pressure transducers to disengage the SmarTrax system when the steering wheel is turned. If a pressure or flow switch is installed in the SmarTrax system, refer to the SmarTrax Systems with a Pressure Switch or Flow Switch Installed section on page 46 to calibrate the SmarTrax system.

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FIGURE 13. Transducer Calibrating Screen

1. Select Next. The following screen will appear:


2. When prompted, turn the steering wheel 90° to allow the SmarTrax system to detect the hydraulic pressure change. Once the system has detected the static and differential pressures, a screen displaying the steering wheel status will appear.

NOTE: The steering wheel icon should appear green until the wheel is manually turned, at which point the icon should turn red.

3. Verify the Viper 4 displays the correct steering operation.


4. If the system setting is correct, select Next.5. Proceed Engage Switch and Node Orientation section on page 49 to continue with the SmarTrax system

calibration.

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ENGAGE SWITCH AND NODE ORIENTATION

1. Review the on-screen instructions.2. Press and release the foot switch or engage switch.






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1

2

3

4

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IMPORTANT: The range of the WAS values is limited to 10-1010 to prevent damage to certain types of sensors. Ensure the sensor is mounted securely to prevent damage during operation. The difference between the Left and Center values and Center and Right values must exceed 100.

The WAS calibration is required only if a WAS is installed in the SmarTrax system. If no WAS is detected by SmarTrax, the system calibration wizard will proceed to the next step in the calibration process. If a WAS is installed, the following screen will be displayed:

FIGURE 16. WAS Calibration Screen

1. While driving slowly, turn the steering wheel fully to the left wheel lock.2. Select Left.3. Continue driving slowly and straighten the wheel until the machine is driving straight forward.4. Select Center.5. Turn the steering wheel fully to the right wheel lock.6. Select Right.7. Select Next.



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 on the screen. However, the antenna mounting position may vary on the machine, so it is important to re-measure the Antenna Position and Antenna Height to verify that the settings in the Viper 4 are correct. The Wheel Base value cannot be changed.

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ANTENNA HEIGHT

MEASUREMENT



ANTENNA HEIGHT

MEASUREMENT

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CORRECT




ANTENNA HEIGHT

MEASUREMENT




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1. To figure the machine’s Wheel Base, measure the distance from the center of the machine’s front axle to the center of the rear axle.

2. Select the value box to enter the Wheel Base measurement using the on-screen keypad.3. Select Next.4. To figure the GPS Antenna Position, measure the distance from the antenna to the center of the rear axle.


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


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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 rear axle.

6. Select Next.7. To figure the Antenna Height, measure the distance from the ground to the middle of the GPS antenna.


8. Select the value box to enter the Antenna Height measurement using the on-screen keypad.9. Select Next.

ENHANCED TILT CALIBRATION


FIGURE 22. Enhanced Tilt Calibration Wizard



2. Follow the on-screen instructions to begin the calibration process.

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3. Place flags or markers on the outside of each rear wheel aligned with the axle.


4. Select the arrow at the bottom of the screen to begin calibration. The following screen will appear:


5. Wait for the calibration process to be completed.

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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 blue.


8. Select Next.

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NOTE: On certain machines, it may not be necessary to calibrate the steering system. If calibration is not required for the machine’s configuration, proceed to Advanced Setup Tools and System Diagnostics section on page 60.



• The booms are racked on self-propelled units.• There are no implements connected to the hitch.• The machine’s engine is running at the normal operating RPMs.• The machine’s measurements are correctly entered into the Viper 4.






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FIGURE 29. Steering Calibration Screens




NOTE: If an error message is displayed during calibration, refer to the “Error Messages” section on page 134 for possible causes and corrective action to complete the calibration process.

SYSTEM ADJUSTMENTS


Refer to the ROS (Raven Operating System) Calibration & Operation Manual (P/N 016-0171-539) for instructions on starting a job and setting guidance lines.

To adjust the steering response in the field computer, press and hold the SmarTrax widget while within a job. The following screen will appear:

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FIGURE 30. SmarTrax Adjustments Screen

LINE ACQUISITION AND AGGRESSIVENESS (LA) MODE


FIGURE 31. LA Mode

NOTE: The screen in the figure above illustrates an example of a situation in which SmarTrax is operating in LA mode. This mode will remain active until the 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. 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 at least 30 seconds between adjustments to adjust to the change in the value.


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NOTE: The screen in the figure above illustrates an example of a situation in which SmarTrax is operating in OL mode. This mode will remain active as long as the machine steers within 24 inches [60 cm] of the displayed guidance line.

The OL Sensitivity value affects the response of the machine while steering on the displayed guidance line. If the machine tends to slowly weave across the guidance line and does not remain within 24 inches [60 cm] of the desired path, increase the OL Sensitivity value one increment at a time, allowing SmarTrax at least 30 seconds between adjustment to adjust to the change in the value.


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 settings are not able to be adjusted unless SmarTrax is in an active job.

NOTE: Some features or settings are configured during the SmarTrax Setup Wizard and cannot be modified or changed without resetting the SmarTrax system. Refer to Reset Calibration section on page 69 for additional assistance with resetting the SmarTrax system to default settings.

SYSTEM INFORMATION TAB


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• Machine Type - Displays the machine type or model selected during the SmarTrax Setup Wizard. This information cannot be changed without resetting the SmarTrax system. Generic machine types which may be displayed in this area include:◦ SP Sprayer RBoom - Self-propelled sprayer with a rear boom◦ SP Sprayer FBoom - Self-propelled sprayer with a front boom◦ FS Tractor - Front-steered tractor◦ Articulated◦ Rear Steered - Rear-steered machine

• Control Device - Displays the steering control device selected during the calibration wizard. This setting cannot be changed without resetting the SmarTrax system. Available control devices may include:◦ Raven Hydraulic - SmarTrax hydraulic valve is controlling the vehicle steering.◦ Steer Ready - An optional steering control system was installed at the factory - available on select

machines only.• Sensor Type - Displays the primary sensor type that is providing machine feedback (yaw sensor or wheel angle

sensor). The sensor type is automatically detected by the 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 - The measured horizontal distance between the antenna and the rear axle. The fore/aft

offset distance must be measured parallel with the direction of travel.

NOTE: The antenna position measurement will normally be entered as a positive value. If the antenna is mounted behind the rear axle, enter a negative value for the antenna fore/aft position.

• Recal Hydraulics - Restarts the machine’s steering calibration process. Refer to Calibrate the Machine’s Steering System section on page 57 for information on completing the machine’s steering calibration.

• Reset SmarTrax - Resets the SmarTrax system to the default values.

NOTE: If Reset SmarTrax is selected, the SmarTrax system must be recalibrated before the system can be enabled. Refer to the Calibrate the SmarTrax System section on page 46 for information on completing the SmarTrax system calibration.

Edit SmarTrax System Information

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DIAGNOSTICS TAB

• Left and Right Manual Steer - Used to manually test the SmarTrax system. Select one of the numeric settings (1 being very low, 6 being very high) positioned around the steering wheel graphic or the Min or Max button to steer the machine. If it does not respond as expected, the PWM values may need to be adjusted.

• PWM Values - Displays SmarTrax valve PWM minimum, maximum, and gain values. Adjustment of these values is not typically necessary. Raven Industries recommends leaving these values as configured by the SmarTrax 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 system to adjust the PWM valve and Minimum values during field operation to continuously tune the steering response for monitored field conditions. Disable learning mode to keep the system from automatically tuning the PWM minimum values and disable automatic system response adjustment. Raven Industries does not typically recommend enabling learning mode to avoid unexpected changes to PWM values.

NOTE: If the PWM values are adjusted, the SmarTrax system will no longer automatically adjust the PWM Minimum values unless the Learning Mode function is enabled again.

Edit SmarTrax System Diagnostic

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Use the scroll button at the bottom of the Diagnostics prompt to toggle between the following PWM values and steering system settings and options:

• Disengage Sensitivity - Proper tuning of the Disengage Sensitivity value allows the equipment operator to disengage SmarTrax by turning the steering wheel with minimal or moderate effort. Disengage Sensitivity requires minimal adjustment. The default Disengage Sensitivity value when a pressure or flow switch are present is 150. When one pressure transducer is present in the system, this value represents the PSI value that must be reached before the system is able to disengage. If two pressure transducers are present, the value represents the difference between the readings of the transducers.

NOTE: If the sensitivity value is too low, the steering system may disengage in rougher fields without any input from the operator. Raising the sensitivity value too high may make disengaging the SmarTrax system at the steering wheel difficult or impossible.



• Anti-Oscillation-Articulated Machines - This feature is only used with articulated machines and should not be enabled with any other type of machine. Anti-Oscillation automatically turns on when an articulated machine is selected during the machine configuration stage of the SmarTrax setup. Enabling this feature with any machine that is not articulated may degrade the system performance.

• Anti-Oscillation-RoGator B, TerraGator B, and New Holland Front Booms Only - Enables and disables terrace mode for improved terrace performance. Enabling this feature while not working on terraces may degrade system performance.

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SENSOR STATUS

• The Yaw Sensor Status area of the screen displays the yaw sensor diagnostic information:◦ Current Wheel Angle - An approximation of the steering inputs detected by the yaw sensor.◦ Current Sensor Reading - The total yaw detected by the sensor.◦ Zero Yaw Button - Recalibrates the yaw sensor rate to zero. The machine must be at a full stop before

recalibrating the yaw sensor. The example above shows the yaw sensor rate as already been recalibrated to 0. During normal operation, the value will likely show a value other than 0.

• If the SmarTrax system detects a WAS during calibration, the Wheel Angle Sensor Status area of the screen displays the WAS status information. If no WAS was detected, this field will remain blank.

NOTE: SmarTrax nodes 016-0173-031 and 016-0173-042 only - The SmarTrax node must be hardware version C or higher to utilize the WAS.

◦ Left, Center, and Right - Displays sensor readings. If the sensor is repositioned or replaced, these values should be recalibrated before operating the SmarTrax system.

◦ Current Wheel Angle - The current wheel angle detected by the WAS.◦ Current Sensor Reading - Current value registered by the sensor.◦ Steering Position Sensor Auto Center - When set to Active, the SmarTrax system automatically

recalibrates the WAS center position during operation to adjust for slight shifts in the sensor’s center position. Bypassing this feature leaves the WAS center position at its current value.


Edit SmarTrax Sensor Status

Zero Yaw Sensor

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SMARTRAX 3D COMPENSATION TAB


• 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. Verify that the direction of travel

is displayed correctly when the machine is being driven in both forward and reverse.• 3D Compensation - Touch the 3D Compensation status button to toggle the 3D compensation features on or

off. When disabled, the SmarTrax system will not adjust the displayed guidance path for any machine tilt during field operations.

• Calibrate - Used to calibrate the 3D terrain compensation feature. Refer to the Enhanced Tilt Calibration section on page 54 for the calibration procedure.

Edit SmarTrax 3D Compensation

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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 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 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 software version 7.4 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 GPS

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ERROR LOG TAB

• Error Log - Displays the last 10 errors that have appeared in the SmarTrax status area of the Viper 4 and the time they occurred.

• Vehicle Database Version - The vehicle database version currently installed on the SmarTrax control node. It contains the list of machine tune sets, measurements, and driving devices available.

ROUTINE OPERATION

ENGAGE SMARTRAX

FIGURE 33. SmarTrax Status 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.

Edit SmarTrax Error Log

SmarTrax Status Widget

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Touch the SmarTrax status widget during field operations to engage and disengage the SmarTrax features as desired during field operations.



• Tap the foot switch or rocker switch to engage SmarTrax features without touching the Viper 4 display.• Press the SmarTrax on-screen status widget to engage the SmarTrax during field operation.

UPDATING THE NODE

Refer to the Viper 4 Installation & Operation Manual (P/N 016-0171-539) for instructions on updating the node software.

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SYSTEM SETTINGS

RESET CALIBRATION

Resetting the SmarTrax system calibration will delete all system settings and adjustments that have been performed. Before resetting the SmarTrax calibration, write down the current system settings for reference later. Recalibrate the SmarTrax system after the system is reset.

System Setting Average Setting

Suggested Range Function

Line Acquisition (LA) Aggressiveness 10 4 to 16

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 20The OL Sensitivity value affects the response of the machine while steering within 24 inches [60 cm] of the displayed guidance line.


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.

Message Frequency - ZDA .3 Hz .3 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.

Edit SmarTrax System Information

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CHAPTER

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CHAPTER 5VIPER PRO CALIBRATION AND OPERATION

INTRODUCTION

SOFTWARE COMPATIBILITY

The instructions in this manual apply to Viper Pro software version 3.9 or higher. The SmarTrax node software version must be 7.6 or higher. If the Viper Pro or node is running with an older version of software, refer to the Viper Pro Installation & Operation Manual (P/N 016-0171-122) for instructions on updating the field computer and node software versions.

SMARTRAX STATUS DISPLAY

The current status of the SmarTrax system can be determined by the message displayed in the SmarTrax section of the Viper Pro screen

Display Message

The SmarTrax node is detected, but the operator must accept responsibility for the operation of the SmarTrax system.

SmarTrax is detected but not calibrated. The system must be calibrated before it can be used.

SmarTrax is detected, turned on, and calibrated.

SmarTrax is detected and in operation in the Online Sensitivity adjustment mode.

SmarTrax is detected and in operation in the Line Acquisition Aggressiveness adjustment mode.

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INITIAL STARTUP

DATA TRANSFER

During the initial startup of the SmarTrax system, language data must transfer from the SmarTrax node to the Viper Pro. Allow several minutes for data transfer to complete before calibrating SmarTrax.


GPS CONFIGURATION1. From the Home screen, select Menu.2. Select Setup.3. Select Comm Port. The following screen will appear:

FIGURE 1. GPS Comm Port Setup Screen

4. Adjust the GPS settings to match the settings shown in Figure 2 above.

SmarTrax is detected and turned on, but is not enabled. Tap the foot switch or touch the steering wheel icon to enable the SmarTrax system.

SmarTrax is detected and in operation, with no errors detected.

Display Message

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VIPER PRO CALIBRATION AND OPERATION

5. Select OK.


The following Operator Liability Warning will be displayed on the Viper Pro screen when the SmarTrax system is detected:


The operator must select OK before the SmarTrax system may be enabled or calibrated. The Liability Waiver screen will appear each time the Viper Pro is turned on or rebooted.

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CALIBRATION WARNING

FIGURE 3. SmarTrax Warning Screen

NOTE: The screen above should only appear the first time SmarTrax 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.

SET UP MACHINE PROFILE(S) - OPTIONAL1. Touch the SmarTrax area on the main Viper Pro screen.2. Select Yes. The following screen will appear:


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• New - Creates a new machine profile. • Load - Allows the operator to select an existing profile. Load will not be displayed as an option until a



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



NOTE: It may be necessary to configure the GPS com port in the field computer to allow GPS communication with the SmarTrax. Refer to the Viper Pro Installation and Operation Manual (P/N 016-0171-122) for information on com port configuration and additional machine measurements (such as guidance width) that must be entered into the field computer.

Before the SmarTrax system may be enabled, the SmarTrax system must be calibrated for the specific vehicle being used. Complete the following steps to configure the machine specifications in the Viper Pro and the SmarTrax system.


1. Select the specific machine type from the Machine Type list. If the specific machine is not listed, choose the generic machine type that best fits the machine:• FS Tractor - Front-steered tractor• SP Sprayer RBoom - Self-propelled sprayer with a rear boom• Articulated

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• SP Sprayer FBoom - Self-propelled sprayer with a front boom• Rear Steered - Rear-steered machine

2. Select OK.3. Select Next. The following screen will appear


NOTE: The Control Device field will display a (-) until a valid control device is selected.

4. SmarTrax Node Control Systems Only - Select the steering control device:• Raven Hydraulic - SmarTrax hydraulic valve is controlling the vehicle steering.• Steer Ready - An optional steering control system was installed at the factory.

5. Select OK.6. Refer to the appropriate System Disengage Calibration section on the following pages for the machine’s

specific system configuration.


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.

1. Park the machine on a level surface.2. Locate and select the SmarTrax module. The calibration wizard will start automatically if the SmarTrax system

requires calibration.

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IMPORTANT: This section applies only to SmarTrax systems utilizing a pressure transducer to disengage the SmarTrax system when the steering wheel is turned. If a flow or pressure switch is installed in the SmarTrax system, refer to the SmarTrax Systems with a Flow Switch or Pressure Switch Installed section on page 78 to calibrate the SmarTrax system.

1. Select Next in the SmarTrax Setup Wizard. The following screen will appear:

FIGURE 7. Transducer Calibration Screen

2. Select Start. The following screen will appear:


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3. When prompted, turn the steering wheel 90° to allow the SmarTrax system to detect the hydraulic pressure change. Once the system has detected the static and differential pressures, the following screen will be displayed:

FIGURE 9. Transducer Calibration Verification

4. Verify the Viper Pro displays the correct steering operation message as indicated in Figure 9 above.


5. If the system setting is correct, select Next Item.6. Proceed Engage Switch Calibration and Node Orientation section on page 79 to continue with the SmarTrax

system calibration.

SMARTRAX SYSTEMS WITH A FLOW SWITCH OR PRESSURE SWITCH INSTALLED

IMPORTANT: This section applies only to SmarTrax systems utilizing a flow switch or pressure switch to disengage the SmarTrax system when the steering wheel is turned. If a pressure transducer is installed in the SmarTrax system, refer to the System Disengage Calibration section on page 77 to calibrate the SmarTrax system.

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1. Select Next Item in the SmarTrax Setup Wizard. The following screen will appear:

FIGURE 10. Steering Switch Calibration Screen

2. Review the on-screen instructions and turn the steering wheel to verify proper operation.

NOTE: The SmarTrax 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 7, Troubleshooting for troubleshooting information. If the problem persists, contact your local Raven dealer for further information.

3. Proceed to Engage Switch Calibration and Node Orientation section on page 79 to continue with the SmarTrax system calibration.

ENGAGE SWITCH CALIBRATION AND NODE ORIENTATION


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FIGURE 12. TC Orientation Screen





IMPORTANT: The range of the SPS/WAS values is limited to 10 - 1010 to prevent damage to certain types of sensors. Ensure the sensor is mounted to prevent damage during operation. The difference between the Left and Center values and Center and Right values must exceed 100.

The SPS/WAS calibration is required only if a SPS/WAS is installed in the SmarTrax system. If no SPS/WAS is detected by SmarTrax, the system calibration wizard will proceed to the next step in the calibration process. If a SPS/WAS is installed, the following screen will be displayed:

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5

1

2

3

4

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FIGURE 13. SPS/WAS Calibration Screen

1. While driving slowly, turn the steering wheel fully to the left wheel lock.2. Select Left.3. Continue driving slowly and straighten the wheel until the machine is driving straight forward.4. Select Center.5. Turn the steering wheel fully to the right wheel lock.6. Select Right.7. Select Next Item.



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 on the machine, so it is important to re-measure the Antenna Position and Antenna Height to verify that the settings in the Viper Pro are correct. The Wheel Base value cannot be changed.


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ANTENNA HEIGHT

MEASUREMENT



ANTENNA HEIGHT

MEASUREMENT

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P/N 016-0171-277 Rev. L 83




CORRECT




ANTENNA HEIGHT

MEASUREMENT

Recommended Antenna Mounting Location



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1. To figure the machine’s wheel base, measure the distance from the center of the machine’s front axle to the center of the rear axle.

2. Select the value box to enter the Wheel Base measurement using the on-screen keypad.3. Select Next Item.4. To figure the GPS Antenna Position, measure the distance from the antenna to the center of the rear axle.


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 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 rear axle.

Units of Measure

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6. Select Next Item.7. To figure the Antenna Height, measure the distance from the ground to the antenna base mounting plate.


8. Enter the Antenna Height measurement.9. Select Next Item.


FIGURE 19. Establishing Heading Screen

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3. Place flags or markers on the outside of each rear wheel aligned with the axle.4. Select Next.

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5. Select Start Calibration. The following screen will appear:




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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 turn black.


8. Select OK.

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NOTE: On certain steering-ready machines, it may not be necessary to calibrate the steering system. If calibration is not required for the machine’s configuration, proceed to “Advanced Setup Tools” on page 92.



• The booms are racked on self-propelled units.• There are no implements connected to the hitch.• The machine’s engine is running at the normal operating RPMs.• The machine’s measurements are correctly entered into the Viper Pro.






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FIGURE 27. Steering Calibration Screen





NOTE: After calibration is complete, the SmarTrax menu will be displayed.

SYSTEM ADJUSTMENTS


Refer to the Viper Pro Calibration & Operation Manual (P/N 016-0171-122) for instructions on starting a job and setting guidance lines.

To adjust the steering response on the Viper Pro, touch the SmarTrax area on the Viper Pro main menu. The following screen will appear:

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FIGURE 28. SmarTrax Information Screen

LINE ACQUISITION (LA) MODE AND AGGRESSIVENESS


FIGURE 29. LA Mode Indicator





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The OL Sensitivity value affects the response of the machine while steering on the displayed guidance line. If the machine tends to slowly weave across the guidance line and does not remain within 24 inches [60 cm] of the desired path, increase the OL Sensitivity value one increment at a time, allowing SmarTrax at least 30 seconds between adjustment to adjust to the change in the value.


ADVANCED SETUP TOOLS

Advanced setup tools allow fine-turning of the system to adjust for operating conditions.

STX SETUP SCREEN


FIGURE 31. SmarTrax Setup Screen

• Sensor Type - Displays the primary sensor type that is providing machine feedback (yaw sensor or wheel angle sensor/). The sensor type is automatically detected by the system and cannot be changed.

• Machine Type - Displays the machine type or model selected during the SmarTrax Setup Wizard. This information cannot be changed without resetting the SmarTrax system. Generic machine types which may be displayed in this area include:◦ SP Sprayer RBoom - Self-propelled sprayer with a rear boom◦ SP Sprayer FBoom - Self-propelled sprayer with a front boom◦ FS Tractor - Front-steered tractor◦ Articulated◦ Rear Steered - Rear-steered machine

• Control Device - Displays the steering control device selected during the calibration wizard. This setting cannot be changed without resetting the SmarTrax system. Available control devices may include:

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◦ Raven Hydraulic - SmarTrax hydraulic valve is controlling the vehicle steering.◦ Steer Ready - An optional steering control system was installed at the factory.

• 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’s Steering

System section on page 89 for information on completing the machine’s steering calibration.• Reset STX - Resets the SmarTrax system to the default values.

NOTE: If Reset STX is selected, the SmarTrax system must be recalibrated before the system can be enabled. Refer to Calibrate the SmarTrax System section on page 76 for information on completing the SmarTrax system calibration.

• Set - Displays the Sensor Status screen.

FIGURE 32. Sensor Status Screen

• The Yaw Sensor Status area of the screen displays the yaw sensor diagnostic information:◦ Current Wheel Angle - An approximation of the steering inputs detected by the yaw sensor.◦ Current Sensor Reading - The total yaw detected by the sensor.◦ Zero Yaw Button - Recalibrates the yaw sensor 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. Due to variations in the yaw sensors,

this value may not be exactly zero.• If the SmarTrax system contains a SPS/WAS, the SPS Sensor Status area of the screen displays the SPS/WAS

sensor status information. If no SPS/WAS was detected, this field will remain blank.

NOTE: SmarTrax nodes 016-0173-031 and 016-0173-042 only - The SmarTrax node must be hardware version C or higher to utilize the SPS/WAS.

◦ Left, Center, and Right - Displays sensor readings. If the sensor is repositioned or replaced, these values should be recalibrated before operating the SmarTrax system.

◦ Current Wheel Angle - The current wheel angle detected by the SPS/WAS.◦ Current SPS - Current value registered by the sensor.

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◦ Center Learning - When set to Active, the SmarTrax system automatically recalibrates the SPS/WAS center position during operation to adjust for slight shifts in the sensor’s center position. Bypassing this feature leaves the SPS/WAS center position at its current value.


SYS DIAG SCREEN

The System Diagnostics screen contains the PWM values and system input diagnostic tools.

FIGURE 33. SmarTrax Controller and System Diagnostics Screens

• Input Sensors - Displays yaw and SPS/WAS calibration values.• Steer Switch and Foot Switch - Displays the input status of the disengage switch/transducer and foot/engage

switches installed in the system. Lower-case letters indicate no input from the switches. Upper-case letters indicate activation of the switches.

• Message Frequency - Displays GPS NMEA input message rate, specifically GGA.• Node Information - Displays node hardware version, software version, and serial number.• Exit - Returns to the SmarTrax Controller screen.

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FIGURE 34. System Diagnostics and PWM Setup Screens

• PWM Values - Displays SmarTrax valve PWM Minimum, Maximum, and Gain values. Adjustment of these values is not typically necessary. Raven Industries recommends leaving these values as configured by the SmarTrax system unless a technician instructs you to modify the settings. Raven Industries also recommends leaving the system in manual mode. Auto mode could cause instability, causing poor system performance. Pressing PWM Setup displays the PWM Status screen to allow manual adjustments of the PWM values. ◦ Auto or Manual - Toggles between automatic and manual control of the PWM valves. If “Manual” 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 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 to manual mode. Raven Industries recommends leaving the system in manual mode and not using auto mode.

◦ Left and Right Manual Steer - Used to manually test the SmarTrax system. Select one of the values or the Min or Max button to steer the machine. If it does not respond as expected, the PWM values may need to be adjusted.

◦ Target Current and Actual Current - Target Current is what the system expects to read. Actual Current displays the amount of current the system is using to steer the machine. These values are used to adjust system performance.

◦ Exit - Returns to the System Diagnostic screen.

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FIGURE 35. System Diagnostics and SmarTrax Performance Statistics Screens

• Performance Stats - Displays the SmarTrax system performance statistics.◦ Elapsed Time - Length of time the SmarTrax system has been engaged.◦ Average Speed - Average vehicle speed over the last hour while SmarTrax has been running.◦ Average Error - Average distance from the desired guidance path or line during the last hour while

SmarTrax has been engaged.◦ 2”, 4”, and 8” - The percentage of time the machine has been within the distance of the guide line during

the last hour. Press Reset Performance Stats to set the fields to zero.

NOTE: The error percentages are always displayed in inches, regardless of the Display Unit selection. The equivalent metric values are 5 cm, 10 cm, and 20 cm. On RTK systems, the values are 1”, 2”, and 4”.

◦ Version Runtime - The runtime of the current SmarTrax node software version.◦ Exit - Returns to the System Diagnostics screen.

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FIGURE 36. SmarTrax Diagnostics and Error Log Screens

• View Error Log - Displays the Error Log screen, which contains the last 10 errors that have appeared in the SmarTrax status area of the Viper Pro and the 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 system.

FIGURE 37. Advanced Setup Screen


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• 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.

• Anti-Oscillation-Articulated Machines - This feature is only used with articulated machines and should not be enabled with any other type of machine. Anti-Oscillation automatically turns on when an articulated machine is selected during the machine configuration stage of the SmarTrax setup. Enabling this feature with any machine that is not articulated may degrade the system performance.

• Anti-Oscillation-RoGator B, TerraGator B, and New Holland Front Booms Only- Enables and disables terrace mode for improved terrace performance. Enabling this feature while not working on terraces may degrade system performance.


• Service Page - Used only for software programming purposes and is not accessible without a code.• Exit - Returns to the SmarTrax Controller screen.

3D SETUP SCREEN

The SmarTrax 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 38. Terrain Compensation Information Screen

• Roll, Pitch, Yaw, and Yaw Rate - Real-time measurement data used by the 3D terrain compensation feature.• Direction of Travel - 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 being driven in both forward and reverse.


• Calibrate TC - Used to calibrate the 3D terrain compensation feature. Refer to the Enhanced Tilt Calibration section on page 85 for the calibration procedure.

• ACTIVE/BYPASSED - Used to toggle the 3D terrain compensation feature on and off.

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ROUTINE OPERATION

ENGAGING SMARTRAX

FIGURE 39. SmarTrax System Engaged

The steering wheel icon in the lower right corner of the Viper Pro screen indicates whether the SmarTrax system is engaged or disengaged. The steering wheel is green when the system is enabled and gray when it is not.



• Tap the foot switch or rocker switch to engage SmarTrax features without touching the Viper Pro display.• Press the SmarTrax on-screen status button to engage the SmarTrax during field operation.

UPDATING THE NODE

Refer to the Viper Pro Installation & Operation Manual (P/N 016-0171-122) for instructions on updating the node software.

Not Enabled Enabled

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SYSTEM SETTINGS










the GPS receiver.



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CHAPTER 6ENVIZIO PRO AND CRUIZER II CALIBRATION AND OPERATION

INTRODUCTION

SOFTWARE COMPATIBILITY

The instructions in this manual apply to Envizio Pro field computers with software version 3.6 or higher and Cruizer II field computers with software version 3.1.2.29627 or higher. The SmarTrax node must be running software version 6.0 or higher. If the field computer or node is running with an older version of software, refer to the Installation & Operation Manual included with the field computer for instructions on updating software versions.

SMARTRAX STATUS DISPLAY

FIGURE 1. Main Menu

NOTE: The images contained in this chapter are taken from the Envizio Pro display. If a Cruizer II is being used, the images may vary slightly from the those referenced in this chapter.

Tools Start Exit Button

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The current status of the SmarTrax system can be determined by the icons displayed on the field computer screen.

INITIAL STARTUP

CRUIZER II CONNECTING TO SMARTRAX VIA CAN COMMUNICATION1. Select the Tools Menu icon on the main menu.2. Select the Show All icon in the upper-right corner of the screen.3. Change the Port B baud rate to 115,200.

NOTE: Press the down arrow until 152,000 is highlighted in blue.

4. Ensure all message sliders are at the 0 position to the left.

Display Message

The SmarTrax node is detected, but no guidance line has been set or there is an error in the system.

The SmarTrax node is detected and turned on, but the current speed is outside of the acceptable operating range. This display may also indicated a system warning.

SmarTrax is detected and turned on, with no errors detected.

SmarTrax is detected and turned on, but is not enabled. Tap the foot switch or touch the steering wheel icon to enable the SmarTrax system.

SmarTrax is detected and in engaged, with no errors detected.

Previous - Returns the Envizio Pro or Cruizer display to the previous screen in the setup process.




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ENVIZIO PRO AND CRUIZER II CALIBRATION AND OPERATION

5. Select the green Home button in the lower-right corner of the screen.6. Shut down and restart the Cruizer.7. Select the Tools Menu icon on the main menu.8. Select the Show All icon.

NOTE: The light blue Steering icon should appear in the System row of the menu.

9. Inspect the SmarTrax node to ensure the data transfer is taking place.

IMPORTANT: Allow the data transfer to complete before entering the steering menu in the. Failure to allow the data transfer to complete may require a restart of the entire Smartrax system. If the Rx and Tx lights on the SmarTrax node are flashing rapidly, the data transfer is in progress. The Rx and Tx lights will flash slowly or turn off when the data transfer is complete. This process can take up to 20 minutes.

10. Proceed to SmarTrax Terms of Use section on page 106.

ENVIZIO PRO

DATA TRANSFER

During the initial startup of the SmarTrax system, language data must transfer from the SmarTrax node to the Envizio Pro. Allow several minutes for data transfer to complete before calibrating SmarTrax.


NOTE: The steps in this section apply only to Envizio Pro field computers that contain internal GPS. If internal GPS is not present in the Envizio Pro, proceed to “SmarTrax Terms of Use” on page 106.

GPS CONFIGURATION

FIGURE 2. Tools Menu

1. Select the Tools Menu icon on the Envizio Pro Home screen.

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FIGURE 3. Source Icon

2. Select the Source icon.

FIGURE 4. GPS Source Screen

3. Select Internal GPS Receiver.4. Select Accept.5. Select Output.

FIGURE 5. GPS Configuration Screen

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6. Adjust the GPS settings to match the settings shown in Figure 5 above.7. Select Accept.

FIGURE 6. Source Icon

8. Select the Source icon.

FIGURE 7. GPS Source Selection Screen

9. Select Internal GPS Receiver (Via Tilt or SmarTrax).10. Select Accept.11. Proceed to the SmarTrax Terms of Use section below.

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FIGURE 8. Steering Icon

1. Select the Steering icon.

FIGURE 9. Terms of Use

2. Review the Liability Waiver and select Yes, I agree.

NOTE: The operator must agree to the terms of use before the SmarTrax system may be enabled or calibrated. The Liability Waiver screen will appear each time the field computer is turned on or rebooted.


SET UP MACHINE PROFILE(S) - OPTIONAL1. Touch the Steering icon on the main Envizio Pro screen.2. Select Yes. The following screen will appear:

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• New creates a new machine profile. • Load allows the operator to select an existing profile. Load will not be displayed as an option until a





6. Select Next.


NOTE: 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 information on additional machine measurements (such as guidance width) that must be entered into the field computer.

Before the SmarTrax system may be enabled, the SmarTrax system must be calibrated for the specific vehicle being used. Complete the following steps to configure the machine specifications in the field computer and the SmarTrax system.

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FIGURE 11. Machine Type Screen

1. Select the specific machine type from the Machine Type list. If the specific machine is not listed, choose the profile that best fits the machine:• SP Sprayer RBoom - Self-propelled sprayer with a rear boom• SP Sprayer FBoom - Self-propelled sprayer with a front boom• FS Tractor - Front-steered tractor• Articulated• Rear Steered - Rear-steered machine

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.

2. Select Next.

FIGURE 12. Driving Device Selection Screen

3. SmarTrax Node Control Systems Only - Select the steering control device:• Raven Hydraulic - SmarTrax hydraulic valve is controlling the vehicle steering.• Steer-Ready - An optional steering control system was installed at the factory.

4. Select Next.

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SYSTEM DISENGAGE CALIBRATION - SMARTRAX ONLY


IMPORTANT: This section applies only to SmarTrax systems utilizing a pressure transducer to disengage the SmarTrax system when the steering wheel is turned. If a flow or pressure switch is installed in the SmarTrax system, refer to the SmarTrax Systems with a Flow Switch or Pressure Switch Installed section on page 110 to calibrate the SmarTrax system.

FIGURE 13. Transducer Calibration Screen

1. Press Start. The following screen will appear:


2. When prompted, turn the steering wheel to allow the SmarTrax system to detect the hydraulic pressure change. Once the system has detected the static and differential pressures, the following screen will be displayed:

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FIGURE 15. Transducer Calibration Verification

3. Verify the field computer displays the correct steering operation message as indicated in Figure 15 above.

NOTE: It may be necessary to increase the disengage setting to require more steering input to disengage SmarTrax and to decrease the disengage setting to require less steering input.

4. If the system setting is correct, select Next.5. Proceed to the Engage Switch Calibration and Node Orientation section on page 111 continue with the

SmarTrax system calibration.

SMARTRAX SYSTEMS WITH A FLOW SWITCH OR PRESSURE SWITCH INSTALLED

IMPORTANT: This section applies only to SmarTrax systems utilizing a flow switch or pressure switch to disengage the SmarTrax system when the steering wheel is turned. If a pressure transducer is installed in the SmarTrax, system, refer to the SmarTrax Systems with a Pressure Transducer Installed section on page 109 to calibrate the SmarTrax system.

FIGURE 16. Steering Pressure Switch Calibration Screen

1. Review the on-screen instructions and turn the steering wheel to verify proper operation.

NOTE: The SmarTrax 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 7, Troubleshooting for troubleshooting information. If the problem persists, contact your local Raven dealer for further information.

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2. Proceed to the Engage Switch Calibration and Node Orientation section on page 111 to continue with the SmarTrax system calibration.

ENGAGE SWITCH CALIBRATION AND NODE ORIENTATION



NOTE: The SmarTrax Setup Wizard will automatically advance to the next step in the calibration process when the engage switch it detected.


3. Ensure that the machine is parked on a level surface.4. Select the number that corresponds with the node arrow number pointing forward on the machine.

65

1

2

3

4

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IMPORTANT: The range of the /WAS values is limited to 10 - 1010 to prevent damage to certain types of sensors. Ensure the sensor is mounted to prevent full extension or compression during operation. The difference between the Left and Center values and Center and Right values must exceed 100.

The /WAS calibration is accessible only if a /WAS is installed in the SmarTrax system. If installed, the following screen will be displayed:

FIGURE 19. Sensor Setup Calibration Screen

1. While driving slowly, turn the steering wheel fully to the left wheel lock.2. Select the Set button displayed below the left wheel value.3. Continue driving slowly and straighten the wheel until the machine is driving straight forward.4. Select the Set button below the center wheel value.5. Turn the steering wheel fully to the right wheel lock.6. Select the Set button below the right wheel value.7. Select Next.



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 on the machine, so it is important to re-measure the Antenna Position and Antenna Height to verify that the settings in the field computer are correct. The Wheel Base value cannot be changed.

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ANTENNA HEIGHT

MEASUREMENT



ANTENNA HEIGHT

MEASUREMENT

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1. To figure the machine’s wheel base, measure the distance from the center of the machine’s front axle to the center of the rear axle.

CORRECT




ANTENNA HEIGHT

MEASUREMENT




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2. Enter the Wheel Base measurement using the on-screen keypad.3. Select Next.4. To figure the GPS Antenna Position, measure the distance from the antenna to center of the rear axle.


5. Select the value box to enter the Wheel Base 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 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 rear axle.

6. Select Next.7. To figure the Antenna Height, measure the distance from the ground to the antenna base mounting plate.

Units of Measure

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8. Select the value box to enter the Antenna Position measurement using the on-screen keypad.9. Select Next.


NOTE: The machine must detect a forward motion prior to calibration to determine which direction it is facing.

FIGURE 25. Establishing Heading Screen



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3. Place flags or markers on the outside of each rear wheel aligned with the axle.4. Select Next.


5. Select Start Calibration. The following screen will appear:

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7. After the calibration is complete and the values on the screen have turned white, select Finish Calibration.

NOTE: In order for the values to turn 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 white.


8. Select Next.


NOTE: On certain steering-ready machines, it may not be necessary to calibrate the steering system. If calibration is not required for the machine’s configuration, proceed to “Advanced Setup and Diagnostics” on page 123.



• The booms are racked on self-propelled units.• There are no implements connected to the hitch.• The machine’s engine is running at the normal operating RPMs.• The machine’s measurements are correctly entered into the field computer.


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NOTE: To ensure the calibration is successful, 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. Touch the Back button and tap the foot/enable switch again to resume calibration.

FIGURE 33. Steering Calibration Screen





NOTE: After calibration is complete, the SmarTrax menu will be displayed.




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SYSTEM ADJUSTMENTS


Refer to the Envizio Pro and Envizio Pro II Installation & Operation Manual (P/N 016-0171-148) or Cruizer II Operation Guide (P/N 016-0171-415) for instructions on starting a job and setting guidance lines.

To adjust the steering response in the field computer, touch the SmarTrax icon on the main menu. The following screen will appear:

FIGURE 34. SmarTrax Adjustments Screen

LINE ACQUISITION (LA) MODE AND AGGRESSIVENESS


FIGURE 35. LA Adjustment Panel



SmarTrax Status Shield

SmarTrax Enable/Disable Icon

SmarTrax Sidebar

Current System Status

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FIGURE 36. LA Mode

NOTE: The screen in Figure 27 illustrates an example of a situation in which SmarTrax is operating in LA mode. This mode will remain active until the machine steers within 24 inches [60 cm] of the displayed guidance line.



The OL Sensitivity value affects the response of the machine on the displayed guidance line. If the machine tends to slowly weave across the guidance line and does not remain within 24 inches [60 cm] of the desired path, increase the OL Sensitivity value one increment at a time, allowing SmarTrax at least 30 seconds between adjustment to adjust to the change in the value.


Guidance Line

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FIGURE 38. OL Mode

NOTE: The screen in Figure 33 illustrates an example of a situation in which SmarTrax is operating in OL mode. This mode will remain active as long as the machine steers within 24 inches [60 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 screens. The SmarTrax 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 sidebar.

FIGURE 39. SmarTrax Settings Screen

NOTE: In Cruizer II software, the “3D Setup” option is displayed as “Terrain Comp”.

Guidance Line

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SMARTRAX INFORMATION SCREEN

FIGURE 40. SmarTrax Settings and SmarTrax Information Screens


• Antenna Height - Selecting the Set icon next to the Antenna Height setting allows the Antenna Height measurement to be changed.

• Antenna Fore/Aft - Selecting the Set icon next to the Antenna Fore/Aft setting allows the Antenna Fore/Aft position measurement to be changed.

• Sensor Type - Displays the primary sensor type that is providing machine feedback (yaw sensor or wheel angle sensor/). The sensor type is automatically detected by the system and cannot be changed.

FIGURE 41. SmarTrax Information and Yaw Sensor Setup Screen

• The Yaw Sensor Setup screen displays the yaw sensor status information:◦ Current Wheel Angle - An approximation of the steering inputs detected by the yaw sensor.◦ Current ADC Reading - The total yaw detected by the sensor.◦ Zero Yaw Button - Recalibrates the yaw sensor to zero. The machine must be at a full stop before

recalibrating the yaw sensor.

NOTE: Select Accept to save changes to the YAW Sensor Setup screen and return to the SmarTrax Information screen. Select Exit to exit the YAW Sensor Setup screen without saving any changes and return to the SmarTrax Information screen.

Sensor Set Icon

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FIGURE 42. Sensor Status Screens

• If the SmarTrax system contains a /WAS, the Sensor Setup screen displays the /WAS sensor status information.

NOTE: SmarTrax nodes 016-0173-031 and 016-0173-042 only - The SmarTrax node must be hardware version C or higher to utilize the /WAS.

◦ Current Wheel Angle - The current wheel angle detected by the /WAS.◦ Current ADC Reading - Current value registered by the sensor.◦ Left, Center, and Right - Displays sensor readings. If the sensor is damaged or replaced, these values

should be recalibrated before operating the SmarTrax system.◦ Center Learning - When set to Active, the SmarTrax system automatically recalibrates the /WAS center

position during operation to adjust for slight shifts in the sensor’s center position. Bypassing this feature leaves the /WAS center position at its current value.


NOTE: Select Accept twice to save changes to the Sensor Setup screen and return to the SmarTrax Information screen. Select Exit twice to exit the Sensor setup screen without saving any changes and return to the SmarTrax Information screen.

ENHANCED TILT CALIBRATION SETUP SCREEN

The SmarTrax 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.

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FIGURE 43. SmarTrax Settings and 3D Terrain Compensation Screens

1. Select 3D Setup. The following screen will be displayed:

FIGURE 44. 3D Terrain Compensation Screen

• 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 machine is travelling. If the direction is incorrect, drive

forward and press the Current Direction arrow icon to toggle the direction of the machine. Verify the direction of travel is displayed correctly when the machine is being driven in both forward and reverse.

• Active/Bypassed - Used to toggle the 3D terrain compensation feature on and off.• Calibrate 3D/Calibrate TC - Used to calibrate the 3D terrain compensation feature. Refer to the Enhanced Tilt

Calibration section on page 116 for the calibration procedure.

NOTE: Select Accept to save changes to the 3D Terrain Compensation screen and return to the SmarTrax Information screen. Select Exit to exit the 3D Terrain Compensation setup screen without saving any changes and return to the SmarTrax Information screen.

ADVANCED SETUP SCREEN

The Advanced Setup screen contains advanced diagnostic information used to fine-tune the SmarTrax system.

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FIGURE 45. SmarTrax Settings and Advanced Setup Screen #1


• 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, SmarTrax 7.6, and Envizio Pro 3.10 software version, the GPS baud will automatically change to 115200 to allow communication with the 600S for configuration or changing settings.

• Steer Switch Delay - Controls the amount of steering input required to disengage the SmarTrax system. Higher values require more input.

• Service Mode - Used only for software programming purposes and is not accessible without a code.• Exit - Returns to the SmarTrax Controller screen.

FIGURE 46. Advanced Setup #1 and Advanced Setup #2 Screens


• Anti-Oscillation Articulated Machines - This feature is only used with articulated machines and should not be enabled with any other type of machine. Anti-Oscillation automatically turns on when an articulated machine is selected during the machine configuration stage of the SmarTrax setup. Enabling this feature with any machine that is not articulated may degrade the system performance.

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• Anti-Oscillation-RoGator B, TerraGator B, and New Holland Front Booms Only - Enables and disables terrace mode for improved terrace performance. Enabling this feature while not working on terraces may degrade system performance.

SYSTEM DIAGNOSTICS SCREEN

The System Diagnostics screen contains the PWM values and system input diagnostic tools.

FIGURE 47. SmarTrax Settings and System Diagnostics Screen

• Average Speed - Average vehicle speed over the last hour while SmarTrax has been engaged.• Average - Average distance from the desired guidance path or line during the last hour while SmarTrax has

been engaged.• 2 Inch, 4 Inch, and 8 Inch - The percentage of time the machine has been within the distance of the guide line

during the last hour. Press Reset to set the fields to zero.

NOTE: The error percentages are always displayed in inches, regardless of the Display Unit selection. The equivalent metric values are 5 cm, 10 cm, and 20 cm. On RTK systems, the values are 1”, 2”, and 4”.

• Message Frequency - Displays GPS NMEA input message rate, specifically GGA.

FIGURE 48. System Diagnostics and PWM Setup Screens

• PWM Values - Displays SmarTrax valve PWM Minimum, Maximum, and Gain values. Adjustment of these values is not typically necessary. Raven Industries recommends leaving these values as configured by the SmarTrax system unless a technician instructs you to modify the settings. Raven Industries also recommends

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leaving the system in manual mode. Auto mode could cause instability, causing poor system performance. Pressing PWM Setup displays the PWM Status screen to allow manual adjustments of the PWM values. ◦ Modify PWM Settings - Displays the PWM Status screen to allow manual adjustments of the PWM

values. ◦ Auto or Manual - Toggles between automatic and manual control of the PWM valves. If “Manual” 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 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 to manual mode. Raven Industries recommends leaving the system in manual mode and not using auto mode.

FIGURE 49. PWM Setup and Manual Steering Screens

• Left and Right Manual Steer - Used to manually test the SmarTrax system. Select one of the values or the Min or Max button to steer the machine. If it does not respond as expected, the PWM values may need to be adjusted.


RESET DEFAULT


Selecting the Reset Defaults resets the SmarTrax system settings to the default values.

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IMPORTANT: If Reset Defaults is selected, the SmarTrax system must be recalibrated before the system can be enabled. Refer to Calibrate the SmarTrax System section on page 109 for information on completing the SmarTrax system calibration.

ROUTINE OPERATION

ENGAGING SMARTRAX

FIGURE 51. SmarTrax System Engaged

The steering wheel icon in the lower right corner of the screen indicates whether the SmarTrax system is engaged or disengaged. The icon is green when the system is enabled and white when it is not.



• Tap the foot switch or rocker switch to engage SmarTrax features without touching the Envizio Pro display.• Press the SmarTrax on-screen status button to engage the SmarTrax during field operation.

UPDATING THE NODE

Refer to the Installation & Operation Manual for the specific field computer being used for instructions on updating the node software.

Not Enabled Enabled

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SYSTEM SETTINGS

RECALIBRATING HYDRAULICS


Selecting Recal Hydraulics restarts the machine’s steering calibration process. Refer to Calibrate the Machine’s Steering System section on page 119 for information on completing the machine’s steering calibration.










the GPS receiver.



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CHAPTER

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CHAPTER 7TROUBLESHOOTING

NODE

The SmarTrax CAN control node features several green light-emitting diodes (LEDs) which may be used to diagnose issues within the SmarTrax system.

NOTE: If the LEDs are not displayed as outlined in the figure below or are all on continuously, check the CAN connections and the control cable connections on the node. If the issue persists, contact your local Raven dealer for additional technical support.

FIGURE 1. SmarTrax CAN Control Node LEDs

LOGIC POWER - Lit when +12 V current is supplied to the node.

HC (High Current) POWER - Lit when High 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 messages. This light must be lit in order to engage SmarTrax. This light cannot be used to verify that the field computer is receiving GPS signals.

DIAG 2 - Lit when the 3D terrain compensation is activated, but does not indicate 3D terrain compensation is actively receiving GPS signal for correction. To verify 3D terrain compensation is engaged, access the 3D terrain compensation menu on the field computer.

CHAPTER 7


ERROR MESSAGES

Message Possible Cause Corrective Action

Cal The /WAS has been detected but not calibrated. Calibrate the /WAS.

GAIN DIFFERENTIAL HIGH

The Gain values are too far apart.NOTE: Continued system operation is possible, but system performance may be degraded.

• Verify that the SmarTrax hydraulic hose, fitting, and valve connections are secure and no leaks are present.

• Verify that the machine’s hydraulic hose, fitting, and valve connections are secure and no leaks are present.

Guide Com Guidance points are no longer received by SmarTrax.

Verify connections between SmarTrax and the field computer.Viper Pro Only - Verify that the “Send Guidance Message” option is on the Lightbar Setup screen.

HDW FailH/HDW FailL Improper valve voltage output from the node

Check for a short in the valve harnessCycle power to the node to clear the failure. Replace the node.

High HDOP Insufficient GPS signal is being received. Wait a few minutes to see if signal improves.

HYDRAULICS BACKWARDS

The hydraulic components are not hooked up properly.

Verify that the hydraulic components are installed correctly and hoses are connected properly.

Feedback from the /WAS or node is inconsistent.

Verify that the node and /WAS connections are correct and connected securely.

Hyd Stuck or HYDRAULICS_STUCK

Insufficient or no wheel movement is detected by the field computer.

Check all valve hydraulic connections.Check all valve electrical connections.Check the /WAS sensor and connections.Replace the node.

Low Stats The GPS receiver is not receiving signal from enough satellites.

Wait a few minutes to see if more satellites are found.

No A-B Msg

The A-B line has not been set on the field computer. Set the A-B line in the field computer.

No communication from the field computer.

Verify cabling is correct and secure.Ensure the “Send Guidance” message is selected.

No Cal SmarTrax has not been calibrated. Calibrate the SmarTrax system using the calibration wizard.

No Diff The GPS differential signal has not been found.

Wait a few minutes to see if the GPS differential signal is found.Check the receiver differential settings.

No GGA No GGA messages are being received. Check the receiver settings. The recommended setting is 10Hz.

7

P/N 016-0171-277 Rev. L 135

TROUBLESHOOTING

No GMS SmarTrax has lost communication with the machine’s steering system.

• Ensure the machine’s roading switch is turned on.

• Turn the steering wheel to restart the machine’s steering system.

• Verify that the field computer is set up to communicate with the SmarTrax system.

• Ensure that the correct GPS source is selected in the field computer, if applicable.

No GPS No GPS information is being received. Verify the GPS receiver is properly installed and configured.

No HC Pwr High current power is not being detected.

Check the high current cable connections.Check the fuse.

No VTG No GGA messages are being received. Check the receiver settings. The recommended setting is 10Hz.

Road Mode The roading switch is in the off position. Switch the roading switch to the on position.

Swath JmpThe guidance points being sent from the field computer has jumped swaths, causing the system to disengage.

Verify the guidance line on the field computer is not switching between lines.

TC Error3D terrain compensation has been disabled because a gyro has failed but SmarTrax may still be used.

The SmarTrax node must be repaired or replaced. Contact your local Raven dealer.

3D ColdThe system is significantly cooler than when terrain compensation was calibrated.

Recalibrate terrain compensation.

Too FastThe vehicle speed is above 27 mph [45 km/h] and SmarTrax will be disengaged in five seconds.

Decrease the vehicle speed.

Too FAST

The vehicle speed is above 29 mph [45 km/h] or has been above 27 mph for more than 5 seconds and SmarTrax has been disengaged.

Decrease the vehicle speed and re-engage the SmarTrax system.

3D HotThe system is significantly warmer than when terrain compensation was calibrated.

Recalibrate terrain compensation.

Too Slow The vehicle speed is too slow and SmarTrax has been disengaged.

Increase the vehicle speed and re-engage the SmarTrax system.

VALID POINTS LOWNot enough valid measurements are being received by the steering control device during calibration.

• Verify that the SmarTrax hydraulic hose, fitting, and valve connections are secure and no leaks are present.

• Verify that harness cable connections are correct and securely installed.

• Check the steering linkages to ensure they are connected securely and meet the machine manufacturer’s factory specifications.


CHAPTER 7


SMARTRAX OPERATION

Vlve Flt Communication could not be established with the Steering Ready ISO valve.

Verify the proper software version is installed on the machine’s ISO CANbus.Verify that the system is connected to a Raven-supported, ISO-compatible valve.

Wrong HDW The software and hardware versions of the node are not compatible.

Update the node software to the proper version.

XDucer Er A problem with the pressure transducer or cabling has been detected.

Verify the PSI values on the System Diagnostics screen.Verify pressure transducer connection and cabling.Replace the transducer(s).

Yaw Error Yaw rate sensor values are out of range. Replace the SmarTrax node.

Problem Possible Cause Corrective Action

SmarTrax will not power up.

The power connections are loose or not properly connected.

Check the power connections to ensure they are secure and properly connected.

The 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 or cabling is defective.

• Test the cable voltage from the field computer to the node.

• Replace the field computer.


7

P/N 016-0171-277 Rev. L 137

TROUBLESHOOTING

SmarTrax will not engage by pressing the foot/enable switch.

The node is not communicating properly.

Check the LEDs on the node to ensure proper communication.

There is an error in the SmarTrax system. Identify and correct system errors.

The steer switch override is active.

Test the voltage (12V) and ground at the disengage switch and pressure transducers.Adjust the disengage settings and/or pressure switch knob.• Replace the pressure switch.• Replace the flow disengage switch.

• Replace the transducer.

The foot/enable switch cable is not connected or is faulty.

Test the voltage (12V) and ground on the foot/enable switch cable connection, using a jumper wire to simulate foot/enable switch function.

SmarTrax will not disengage when the steering wheel is turned.

The Disengage Setting is incorrect. Adjust the Disengage Setting in the field computer.

The knob on the pressure switch is turned in too far. (SmarTrax hydraulic valve part numbers 334-0003-056 through 334-0003-079 only)

Turn the knob on the pressure switch out.

The pressure disengage switch has failed.

Replace the faulty pressure disengage switch.

SmarTrax will disengage only when the steering wheel is turned one way.

The flow disengage switch has failed on one side.

Replace the faulty flow disengage switch.

The wheels turn the wrong way when the steering wheel is turned.

The hydraulic hose connections are reversed.

Reverse the left and right steering hoses on the machine’s steering orbital.

Valve makes noise in stand-by mode.

The pressure relief adjustment on the SmarTrax valve is set incorrectly.

Adjust the relief valve on the SmarTrax valve until the noise stops.

Valve makes noise all of the time.

The load sense orifice in the valve is plugged.

Inspect the load sense orifice for blockage.

The incorrect SmarTrax valve is installed.

Install the SmarTrax hydraulic valve recommended for the machine being used.


CHAPTER 7


Cannot manually steer left or right from the System Diagnostics screen.

Hydraulic connections are plugged or not properly connected. Check the hose connections.

No high current power

• Check the node status lights for high current (HC) power.

• Check the power/ground fuses and connections.

Cable is improperly or not connected.

Check the solenoids on the SmarTrax valve for proper connection and voltage.

There is a short or break in the cable.

Inspect the cable for shorts or breaks.

The PWM Max settings are incorrect.

Verify PWM Max settings are set correctly in the field computer.

Flow control valve is closed. (SmarTrax hydraulic valve part numbers 334-0003-056 through 334-0003-079 only)

Verify FC adjustment is turned all the way out. Typically eight or nine threads are visible beyond the jam nuts.

System manually steers the wrong way from the System Diagnostics screen.

The left and right proportional solenoid connections are reversed.

Verify all solenoid connections are connected to the correct coils. Reverse if necessary.

The left and right hydraulic connections to the SmarTrax valve are reversed.

Verify all hydraulic connections are connected to the correct ports. Reverse if necessary, if applicable.

The steering wheel turns by itself when the power is on and SmarTrax is not engaged.

There is an internal leak in the machine’s steering orbital.

Check for and fix leaks in the steering orbital.

A SmarTrax valve cartridge is leaking.

• Swap the left and right proportional cartridge (if applicable).

• Replace the SmarTrax valve.

The machine may have a reactive steering unit.

• Verify the steering unit type functions properly.

• Verify the blocking valve is installed correctly.

There is a failure in the dual counter-check valve (if applicable to the SmarTrax kit installed).

Replace the dual counter-balance valve or dual check valve.

SmarTrax will not find the guidance line.

SmarTrax is not engaged. Engage the SmarTrax system.The GPS signal is hindered by the GL1DE speed filter.

Disable the GL1DE speed filter. (Phoenix 300 receivers only)

The LA Aggressiveness setting is too low.

Increase the LA Aggressiveness setting.

The OL Sensitivity setting is too low.

Increase the OL Sensitivity setting in increments of 1, allowing at least 40 seconds between adjustments.


P/N 016-0171-277 Rev. L 139

TROUBLESHOOTING

Wheels are jittery while on-line.

The OL Sensitivity setting is too high.

Decrease the OL Sensitivity setting in increments of 1, allowing at least 40 seconds between adjustments.

PWM Min values are too high.

Lower PWM Min values until the front wheels steer very slowly manually and with minimum buttons.

System slowly oscillates while on-line.

The OL Sensitivity setting is too low.

Increase the OL Sensitivity setting in increments of 1, allowing at least 40 seconds between adjustments.

PWM Min values are too high.

Lower PWM Min values until the front wheels steer very slowly manually and with minimum buttons.

Machine consistently drives to the left or right of the guidance line.

The yaw or /WAS sensor is out of calibration.

• Recalibrate the yaw sensor to zero while the machine is stationary.

• Reset the /WAS center calibration.

The left or right PWM Min value is too high.

Lower the appropriate PWM Min value until the front wheels steer very slowly manually and with minimum buttons.



The OL Sensitivity setting is too low. Increase the OL Sensitivity setting.

Machine consistently skips or overlaps in the field.

Antenna is position entered in the field computer does not correlate with the position on the roof.

Physically re-measure the antenna height and offset. Adjust the values in the field computer.

The system disengages when the auxiliary hydraulic functions (including boom and pump functions, raising and lowering an implement) are operated.

The knob on the pressure release switch is turned out too far.

Turn the knob on the pressure switch in, if applicable.

The Disengage setting is too low. Increase the Disengage setting.

Wheels do not turn fast enough in LA mode.



Steering wheel is difficult to turn when attempting to disengage SmarTrax.

The pressure switch knob or disengage setting is set incorrectly.

Turn the knob out on the pressure switch and/or decrease the disengage setting.

Steering wheel is difficult to turn when attempting to turn the vehicle while SmarTrax is not engaged.

Load sense hose connections are installed incorrectly.

Verify the load sense hoses are installed correctly on the SmarTrax valve.


CHAPTER 7


The hydraulic disengage switch or transducer is not detected during calibration.

The priority valve in the open center valve is stuck.

• Replace the cartridge.• Replace the open center valve.

Cable connection(s) to the disengage switch is improperly connected or loose.

Verify disengage switch connections are correct and secure.

The cable connection to the transducer is improperly connected or loose.

Verify the connection to the transducer is correct and secure.


CHAPTER

8

P/N 016-0171-277 Rev. L 141

CHAPTER 8SYSTEM DIAGRAMS

The diagrams contained in this chapter may be helpful when installing or troubleshooting the SmarTrax system. Some of the diagrams may show optional features or components not required for SmarTrax operation and may not necessarily apply to the SmarTrax 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

CHAPTER 8


FIGURE 1. SmarTrax 3D with Envizio Pro or Viper Pro and Phoenix 300

8

P/N 016-0171-277 Rev. L 143

SYSTEM DIAGRAMS

FIGURE 2. SmarTrax 3D with Envizio Pro or Viper Pro and Phoenix 300

CHAPTER 8


FIGURE 3. SmarTrax Control Box to CAN SmarTrax Upgrade with Viper Pro or Envizio Pro, Phoenix 200 and TM-1

8

P/N 016-0171-277 Rev. L 145

SYSTEM DIAGRAMS

FIGURE 4. SmarTrax with Envizio Pro and RGL 600

CHAPTER 8


FIGURE 5. Envizio Pro/Viper Pro with Slingshot Gen II Cabling

Index

P/N 016-0171-277 Rev. K 147

CCR7 11

Advanced Setup Tools and System Diagnostics 283D Compensation Tab 31Advanced Setup Tab 32Diagnostics Tab 33Sensor Setup Tab 30System Information Tab 29

Buttons and Definitions 11Calibrating the Machine’ 25Calibrating the SmarTrax System 15

3D Compensation Calibration 23Configuring Wheel Base and Antenna Offsets 19Engage Switch and Node Orientation 17System Disengage Calibration 16

SmarTrax Systems with a Pressure or FlowSwitch Installed 16

SmarTrax Systems with a Pressure TransducerInstalled 17

Wheel Angle Sensor ( 18Initial 12Initial Startup

Data Transfer 12GPS Configuration 12Machine Configuration 14

Machine-Specific Configuration 14Set Up Machine Profile(s) - Optional 14

SmarTrax Terms of Use 13Routine Operation 34

Engage SmarTrax 34Reset Calibration 35Updating the Node 35

System Adjustments 27Line Acquisition and Aggressiveness (LA) Mode 27On-Line (OL) Mode and Sensitivity 28

EElectrical Safety 3Envizio Pro & Cruizer II 101

Advanced Setup and Diagnostics 123Advanced Setup Screen 126Enhanced Tilt Calibration Setup Screen 125Resetting Defaults 129SmarTrax Information Screen 124System Diagnostics Screen 128

Calibrating the Machine’s Steering System 119Calibrating the SmarTrax System 109

Configuring Wheel Base and Antenna Offsets 112Engage Switch Calibration and Node

Orientation 111Enhanced Tilt Calibration - Cruizer II and Envizio Pro

Only 116System Disengage Calibration - SmarTrax Only 109

Systems with a Flow Switch or Pressure SwitchInstalled 110

Systems with a Pressure TransducerInstalled 109

Wheel Angle Sensor (WAS) Calibration 112Initial Startup 102

Cruizer II Connecting the SmarTrax via CANCommunication 102

Data Transfer 103Envizio Pro 103GPS Configuration 103Machine Configuration 106

Machine-Specific Configuration 107Setting Up Machine Profiles 106

SmarTrax Terms of Use 106Introduction 101

SmarTrax Status Display 101Software Compatibility 101

Routine Operation 130Engaging SmarTrax 130Recalibrating Hydraulics 131System Settings 131Updating the Node 130

Starting a Job 119System Adjustments 121

Line Acquisition Mode and Aggressiveness 121On-Line Mode and Sensitivity 122

HHydraulic Safety 2

IImportant Safety Information 1

Electrical Safety 3General 3Instructions for Wire Routing 3

Hydraulic Safety 2General 2Instructions for Hose Routing 2

Introduction 7Installation 7

Antenna Installation 8Antenna Fore/Aft Offset 8Antenna Height 8Antenna Left/Right Offset 8

Recommendations 7Point of Reference 9Updates 9

SSystem Diagrams 141

TTroubleshooting

Error Messages 134

Index


VViper 4 37

Advanced Setup Tools 60Diagnostics Tab 62Error Log Tab 67GPS Setup Tab 66Sensor Status 64SmarTrax 3D Compensation Tab 65System Information Tab 60


Configuring Wheel Base and Antenna Offsets 50Engage Switch and Node Orientation 49Enhanced Tilt Calibration 54System Disengage Calibration

Systems with a Pressure Switch or Flow SwitchInstalled 46


Wheel Angle Sensor (WAS) Calibration 50Initial Startup 38

Data Transfer 38GPS Configuration 38, 44

External 600S GPS Receiver 40External GPS Receiver 42Internal GPS Receiver 38

Machine Configuration 44Machine-Specific Configuration 45Setup Machine Profile(s) - Optional 44

SmarTrax Terms of Use 44Routine Operation 67

Engage SmarTrax 67Reset Calibration 69Tuning SmarTrax Performance 68Updating the Mechanical Drive 69Updating the Node 68

System Adjustments 58Line Acquisition and Aggressiveness (LA) Mode 59On-Line (OL) Mode and Sensitivity 60

Widget and Button Definitions 37Viper Pro 71

Advanced Setup Tools 923D Setup Screen 98Adv Setup Screen 97Line Acquisition Mode and Aggressiveness 91On-Line Mode and Sensitivity 91STX Setup Screen 92Sys Diag Screen 94


Configuring Wheel Base and Antenna Offsets 81Engage Switch Calibration and Node

Orientation 79Enhanced Tilt Calibration 85System Disengage Calibration 77

Systems with a Flow Switch or Pressure SwitchInstalled 78


Wheel Angle Sensor (WAS) Calibration 80

Completing the Calibration Process 92Initial Startup 72

Data Transfer 72GPS Configuration 72Machine Configuration 74

Calibration Warning 74Machine-Specific Configuration 75Setting Up Machine Profiles 74

SmarTrax Terms of Use 73Introduction 71

SmarTrax Status Display 71Software Compatibility 71

Routine Operation 99Engaging SmarTrax 99System Settings 69, 100Updating the Mechanical Drive 100Updating the Node 99

System Adjustments 90

Raven Industries will not assume any expense or liability for repairs made outside our facilities without written consent. Raven Industries is not responsible for damage to any associated equipment or products and will not be liable for loss of profit, labor, or other damages. The obligation of this warranty is in lieu of all other warranties, expressed or implied, and no person or organization is

authorized to assume any liability for Raven Industries.

Damages caused by normal wear and tear, misuse, abuse, neglect, accident, or improper installation and maintenance are

not covered by this warranty.

What is not Covered by this Warranty?

Upon confirmation of the warranty claim, Raven Industries will (at our discretion) repair or replace the defective product and pay for the standard return freight, regardless of the inbound shipping method.

Expedited freight is available at the customer’s expense.

What Will Raven Industries 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 purchase) must be included inside

the box to be sent to Raven Industries.

How Can I Get Service?

Raven Applied Technology products are covered by this warranty for 12 months from the date of retail sale. In no case will the Limited Warranty period exceed 24 months from the date the product was issued by Raven Industries Applied Technology Division. This warranty coverage

applies only to the original owner and is non-transferable.

How Long is the Coverage Period?

This warranty covers all defects in workmanship or materials in your Raven Applied Technology Division product under normal use,

maintenance, and service when used for intended purpose.

What Does this Warranty Cover?

Limited Warranty

016-0171-537 Rev. A, E19889

Raven Applied Technology products that have been registered online are covered for an additional 12 months beyond the Limited Warranty for a total coverage period of 24 months from the date of retail sale. In no case will the Extended Warranty period exceed 36 months from the date the product was issued by Raven Industries Applied Technology Division. This Extended Warranty coverage applies only to the

original owner and is non-transferable.

How Long is the Extended Warranty Coverage Period?

To register, go online to www.ravenhelp.com and select Product Registration.Where Can I Register My Product for the Extended Warranty?

Yes. Products/systems must be registered within 30 days of retail sale to receive coverage under the Extended Warranty. If the component does not have a serial

tag, the kit it came in must be registered instead.

Do I Need to Register My Product to Qualify for the Extended Warranty?

This warranty covers all defects in workmanship or materials in your Raven Applied Technology Division product under normal use, maintenance, and service when

used for intended purpose.

What Does this Warranty Cover?

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 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 Service?

Upon confirmation of the product’s registration for the Extended Warranty and the claim itself, Raven Industries will (at our discretion) repair or replace the defective product and pay for the standard return freight, regardless of the inbound shipping

method. Expedited freight is available at the customer’s expense.

What Will Raven Industries Do?

Raven Industries will not assume any expense or liability for repairs made outside our facilities without written consent. Raven Industries is not responsible for damage to any associated equipment or products and will not be liable for loss of profit, labor, or other damages. Cables, hoses, software enhancements, and remanufactured items are not covered by this Extended Warranty. The obligation of this warranty is in lieu of all other warranties, expressed or implied, and no person

or organization is authorized to assume any liability for Raven Industries.

Damages caused by normal wear and tear, misuse, abuse, neglect, accident, or improper installation and maintenance are not covered by this warranty.

What is Not Covered by the Extended Warranty?

Extended Warranty

016-0171-536 Rev. A, E19889

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SmarTrax™ Calibration and Operation Manual

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