Steerable Hitch Installation and Operation Manual for FAST … · 2020. 10. 28. · The Steerable...

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Steerable Hitch Installation and Operation Manual for FAST Sprayers and A-Series Applicators

016-4001-137 Rev. C 11/2018 E31992

016-0171-686 Rev. A 8/18 E31924

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DISCLAIMER 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.

Table of Contents

P/N 016-4001-137 Rev. C i

Chapter 1 Important Safety Information............................................................................. 1Instructions for Hose Routing ................................................................................................................................2Instructions for Wire Routing .................................................................................................................................3

Chapter 2 Introduction............................................................................................................. 5Preparing for Installation ..........................................................................................................................................5

Recommendations ................................................................................................................................................................. 5Point of Reference ................................................................................................................................................................. 5Tools Needed ........................................................................................................................................................................... 5

Hydraulic Fittings .........................................................................................................................................................6Updates ...........................................................................................................................................................................6Kit Contents ...................................................................................................................................................................6

Installation Kit Contents .............................................................................................................................................. 7Installation Components Provided by FAST - sprayers .........................................................................................10

Chapter 3 Steerable Hitch Component Installation ........................................................ 13

Install the Hydraulic System - Sprayers ........................................................................................................... 13Hydraulic System Installation - A Series Applicators .................................................................................. 16Hillside Compensation Installation .................................................................................................................... 18

External Tilt Sensor ..............................................................................................................................................................18Pressure Sensor Installation .............................................................................................................................................19Reverse Detection Sensor for CAMSO TTS Tracks ..................................................................................................20Reverse Detection Sensor for 15K Hubs .....................................................................................................................21Reverse Sensor Detection Installation for 20K Hubs ..............................................................................................23

Install the Steerable Hitch Node - Sprayers ................................................................................................... 24Install the Steerable Hitch ECU - A-Series Applicators .............................................................................. 26Install the Rotary Sensor ........................................................................................................................................ 26Install the Proximity Switch .................................................................................................................................. 27Install the Steerable Hitch Wiring - Gen III Cabling .................................................................................... 28

Connect Steerable Hitch to a Raven ISO Product Control System (If Applicable) ......................................28Connect Steerable Hitch to John Deere Rate Controller (If Applicable) .........................................................28Connect the Steerable Hitch Harness to the Valve and Sensors .......................................................................28

Install the Steerable Hitch Wiring - GEN II Cabling .................................................................................... 29Gen I ISO Connections .......................................................................................................................................................29

System Diagrams ...................................................................................................................................................... 31

Chapter 4 ISO Calibration & Operation ............................................................................. 37

ISO Screens ................................................................................................................................................................. 37Calibrating the Steerable Hitch System ........................................................................................................... 40

Program the Machine Settings .......................................................................................................................................41Program the Left and Right Min Steer Settings .......................................................................................................41Program the Steering Position Sensor (SPS) Settings ............................................................................................42Zero the Yaw Sensor and Accelerometer ....................................................................................................................43

Operating the Steerable Hitch System ............................................................................................................ 44Hillside Compensation Operation ...................................................................................................................... 46

Enabling Hillside Compensation ....................................................................................................................................46

Table of Contents

ii Steerable Hitch Installation & Operation Manual - FAST Sprayers and A-Series Applicators

Reverse Detection Operation ..........................................................................................................................................48

Chapter 5 System Features ................................................................................................... 51

Feature Descriptions ................................................................................................................................................51Safety Features ...........................................................................................................................................................54

Chapter 6 Troubleshooting................................................................................................... 55

Troubleshooting ........................................................................................................................................................55Node .........................................................................................................................................................................................55System Alarms .......................................................................................................................................................................56System Issues .........................................................................................................................................................................56

CHAPTER

1

P/N 016-4001-137 Rev. C 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 Steerable Hitch™ 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 Steerable Hitch 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 Steerable Hitch, observe the following safety measures:

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

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

NOTICE

CHAPTER 1

2 Steerable Hitch Installation & Operation Manual - FAST Sprayers and A-Series Applicators

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

• The machine must remain stationary and switched off, with the booms unfolded and supported, during installation or maintenance.

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

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 steering and suspension systems• Moving linkages, cylinders, articulation joints, attachments

WARNING

CAUTION

P/N 016-4001-137 Rev. C 3

IMPORTANT SAFETY INFORMATION

• 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

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• 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:

CHAPTER 1


• 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 steering 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.

• 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.

CHAPTER

2

P/N 016-4001-137 Rev. C 5

CHAPTER 2INTRODUCTION

The Steerable Hitch system is designed to actively steer the implement’s hitch in response to various driving conditions such as speed, turning rate, and field terrain.

PREPARING FOR INSTALLATION

Before installing the Steerable Hitch 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.

RECOMMENDATIONS

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

• Ensure the machine’s hydraulic filters have been recently changed and 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.).

• Ensure the machine’s hydraulic valve is using fresh oil and debris is flushed from the hydraulic hoses, valves, and filters.

Raven Industries recommends the following best practices when installing the Steerable Hitch system:

• Use part numbers to identify the parts.• Do not remove the plastic wrap from a part until it is necessary for installation.• Do not remove plastic caps from a part until it is necessary for installation.

POINT OF REFERENCE

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

TOOLS NEEDED

The following tools are recommended for installation of the Steerable Hitch system:

• SAE standard-sized wrenches• Cable ties• Side cutters

CHAPTER 2


HYDRAULIC FITTINGS

This manual may reference the following types of hydraulic fittings:

• SAE O-ring fittings• ORFS (O-Ring Face Seal) fittings• JIC fittings

UPDATES

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

https://portal.ravenprecision.com

KIT CONTENTS

This section contains a list of the components that are included in the Steerable Hitch kit. Before beginning the system installation, compare the items in the Steerable Hitch kit with the components on this list.

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]

-Steerable Hitch Installation & Operation Manual - FAST Sprayers and A-Series Applicators-P/N 016-4001-137 Rev. C-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.

JIC fitting (M)ORFS fittingSAE O-ring fitting

2

P/N 016-4001-137 Rev. C 7

INTRODUCTION

INSTALLATION KIT CONTENTS

TABLE 1. Gen III Installation Kit (P/N 117-4001-134)

Item Description Part Number Qty.

Manual - Steerable Hitch Installation & Operation 016-4001-137 1

Node - Steerable Hitch 063-0173-892 1

Valve - Open Center Hydraulic 063-0131-130 1

Cable -FAST Steerable Hitch Gen III 115-7302-034 1

Sensor - Inductive Proximity 412-6000-007 1

Kit, Hydraulic 117-0199-154 1

Kit, Reverse Detection, FAST, 15K Hubs or Camso Track 117-4001-137 1

Kit, Transducer, Pressure, 0 to 5 PSI, 1/4” MNPT 422-0000-126 1

Kit, Sensor, Inclinometer, Dual Axis, +/- 45° 416-0001-061 1

TABLE 2. Gen II Installation Kit (P/N 117-4001-135)





Cable -FAST Steerable Hitch Gen II 115-4001-262 1


Cable - 12” ISO Implement Tee 115-0171-960 1

CHAPTER 2






TABLE 2. Gen II Installation Kit (P/N 117-4001-135)


2

P/N 016-4001-137 Rev. C 9

INTRODUCTION

TABLE 3. Gen I ISO Sprayer Kit (P/N 117-4001-136)

TABLE 4. Gen I ISO Kit for A-Series (P/N 117-4001-139)





Cable - Node, Steerable Hitch, Fast Sprayer, Gen 1 ISOBUS 115-7100-019 1







Manual, Installation, Steerable Hitch, FAST Sprayer 063-4001-137 1

Valve, Hydraulic, O.C., Steerable Hitch, 160 PSI Spring 063-0131-156 1

Node, Steerable Hitch, ISO, FAST 063-0173-892 1

Cable, Node, Steerable Hitch, FAST Applicators, Gen I ISO 115-7100-031 1

Sensor, Proximity, Inductive 412-6000-007 1

Sensor, Inclinometer, Dual Axis, +/- 45°, 5 - 4.5 V Out 416-0001-061 1

CHAPTER 2


INSTALLATION COMPONENTS PROVIDED BY FAST - SPRAYERS

NOTE: Some brackets depend on the sprayer model number.

Kit, Transducer, Pressure, 0 to 5 PSI, 1/4” MNPT, DT, SS 422-0000-126 1

Kit, Reverse Detection, FAST, 15K Hubs or Camso Tracks 117-4001-137 1

TABLE 5. Components from FAST - Sprayers


Cylinder 620028 1

Cylinder Pin 21207 2

Rotary Position Sensor 21495 1

Bracket - Rotary Sensor Mount (Chassis) 26190 1

Bracket - Rotary Sensor Mount (Tongue) 21273 1

Rod - Rotary Sensor Level 22906 1

Bracket - Node Mount (1800/2400) 26327 1

Bracket - Node Mount (1050/1350) 26710 1

Bracket - Support Strap (1050/1350) 26711 2

Bracket - Proximity Sensor (Truss Boom) 26344 1

Bracket - Proximity Sensor (Standard Boom)‘ 26494 1

Bracket - Cylinder Lock 21199 1


P/N 016-4001-137 Rev. C 11

INTRODUCTION

TABLE 7. Components from FAST - A-Series Applicator

TABLE 6. Reverse Detection Kits for FAST Sprayers and A-Series Applicators (117-4001-137)


Sensor, Quadratrue, Two Channel Magnet Sensor 422-0000-143 1

Washer, External Tooth, 5/8” 313-3000-036 2

Magnet Assembly, South Pole, 1/2” - 20 x 3/4” L 163-5000-074 5

Magnet Assembly, North Pole, 1/2” - 20 x 3/4” L 063-5000-075 5

Nut, Lock, Nylon Insert, 1/2” - 20 312-4000-066 10


Cylinder 6200057 2

Cylinder Pin 620072 4

Rotary Sensor Position 21495 1

Bracket - Sensor Mount 27132 1

Rod - Sensor Level 22906 1

Node Mount 27093 1

CHAPTER 2


CHAPTER

3

P/N 016-4001-137 Rev. C 13

CHAPTER 3STEERABLE HITCH COMPONENT INSTALLATION

INSTALL THE HYDRAULIC SYSTEM - SPRAYERS

FIGURE 1. Hydraulic Valve Installed

1. Install the hydraulic valve (P/N 063-0131-130) to the Steerable Hitch tongue using the supplied hardware.2. Install the fittings into all of the valve ports:

a. Ports P/T/EF: -10 SAE O-Ring (M) to -6 JIC (M)b. Ports A/B: -6 SAE O-Ring (M) to -6 JIC (M)

3. Install the -8 SAE O-Ring (M) to -6 JIC (M) fittings into the steering cylinder’s open ports.4. Locate the two long hoses provided in the kit and install the hydraulic quick coupler fittings.

FIGURE 2. Machine’s Selective Control Valve

5. Install a hydraulic hose in the pressure port of the machine’s selective control valve.

CHAPTER 3


6. Route the new pressure hose from the machine’s selective control valve and connect it to Port P of the Steerable Hitch valve.

7. Install a hydraulic hose in the tank port of the machine’s selective control valve.

FIGURE 3. Tank Hose Installed

8. Install a tee fitting in Port T of the Steerable Hitch valve.9. Install the -6 JIC check valve fitting onto the top end of the tee fitting in Port T. 10. Connect the new tank hose to the check valve installed at Port T.11. Locate a short hose with a straight end and a 90° end (P/N 214-1001-169). 12. Install the straight end onto the tee fitting at Port T.13. Connect the 90° end of the installed hydraulic hose to Port EF of the Steerable Hitch valve.

FIGURE 4. Left and Right Steering Hoses Installed

14. Locate the hose with straight ends (P/N 214-1001-170). Install one end if the open port at the rod-end of the cylinder.

Tee

Check Valve

Port P

Port EF

To Port B

To Port A

P/N 016-4001-137 Rev. C 15

STEERABLE HITCH COMPONENT INSTALLATION

15. Connect the other end of the installed hydraulic hose to Port A. Use a 45° or 90° fitting as needed.16. Locate the short hydraulic hose with a straight end and a 90° end (P/N 214-1001-169). Connect the 90° end to

the open port at the base-end of the cylinder.17. Connect the other end of the installed hydraulic hose to Port B. Use a 45° or 90° fitting as needed.

FIGURE 5. Hydraulic Schematic - Sprayers

CHAPTER 3


HYDRAULIC SYSTEM INSTALLATION - A SERIES APPLICATORS1. Install the Hydraulic Valve (P/N 063-0131-156) to the steerable hitch tongue.

FIGURE 6. Hydraulic Valve on Steerable Hitch Tongue

2. Install -10 SAE O-ring (M) to -6 JIC (M) fittings into ports P, T, and EF. 3. Install -6 SAE O-ring (M) to -6 (JIC) M fittings into port A and B. 4. Install a 90° fitting into the fitting installed in port P. 5. Install a 45° fitting into the fitting installed in port P. 6. Route the pressure hose from the tractors SCV and connect the hose to the 45° fitting installed on port P of the

steerable hitch valve. 7. Install a tee fitting into the hydraulic fitting installed in port T. 8. Install the -6 JIC check valve fitting into the 90° port of the tee fitting. 9. Install a 45° fitting into the check valve installed step 8. 10. Route the tank hose from the tractors SCV and connect the hose to the 45° fitting installed in port P of the

steerable hitch valve. 11. Install 90° fitting into the fitting installed in port EF. 12. Route EF hose from the open port of the tee in port T. 13. Route the other end of the EF hose to the 90° fitting installed in port EF. 14. Install a tee fitting to the fitting installed in port B. 15. Install a tee fitting into the fitting installed in port A.16. Route the left steer hose from the 90° port of the tee installed in step 14 to the base end of the left steering

cylinder. 17. Route the left steer hose from the rod end of the left steering cylinder and route it to the top of the tee fitting

installed in port A. 18. Route a right steer hose from the 90° port of the tee installed in step 15 to the base end of the right steering

cylinder.

P/N 016-4001-137 Rev. C 17


19. Route a right steer hose from the rod end of the right steering cylinder and route it to the top of the tee fitting installed in port B.

FIGURE 7. Hydraulic Schematic - A-Series Applictors

CHAPTER 3


HILLSIDE COMPENSATION INSTALLATION

EXTERNAL TILT SENSOR1. Locate the Steerable Hitch ECU on the implement and disconnect the two electrical connections from the ECU. 2. Remove the ECU mounting plate from the implement. 3. Orient the sensor so it resembles that in Figure 8 on page 18. The sensor should be oriented upside down with

the cabling pointing towards the tank when installed correctly.

FIGURE 8. Tilt Sensor Orientation

4. Mark the two hole locations and drill two 1/4” holes.

NOTE: Ensure the sensor is square with the Steerable Hitch ECU.

5. Mount the sensor to the mounting plate using two 1/4” - 20 x 1” bolts and nyloc nuts (not included). 6. Reinstall the ECU mounting plate on the implement. 7. Reinstall the two electrical connections removed in step 1.8. Connect the external tilt sensor to the steerable hitch harness breakout labeled Tilt.

P/N 016-4001-137 Rev. C 19


PRESSURE SENSOR INSTALLATION

NOTE: Prior to installing the pressure sensor, ensure the liquid system has been rinsed and drained to avoid contact with chemicals. Wear proper Personal Protective Gear (PPE) when working on sprayer plumbing.

1. Locate the M200 tank fitting at the bottom of the tank sump and disconnect the fitting. 2. Install a M200 tee fitting (not included).

FIGURE 9. Tee Fitting

3. Reinstall the fitting removed in step 1.4. On the open 90° port of the installed tee fitting, install a M200 cap with 1/4” gauge port (not included). 5. Apply sealant to the threads of the pressure sensor and install the pressure sensor into the 1/4” gauge port.

NOTE: If a liquid sealant is used on the threads of the pressure sensor, ensure no sealant is allowed into the hole end of the pressure sensor.

6. Connect the pressure sensor to the steerable hitch harness breakout labeled Tank Level Sensor.

CHAPTER 3


REVERSE DETECTION SENSOR FOR CAMSO TTS TRACKS

MAGNET INSTALLATION

NOTE: The magnet bolts must be installed in an alternating pattern around the radius of the bracket for the system to function properly. The designated pole of each magnetic bolt is etched on the bottom of the bolt shaft.

FIGURE 10. CAMSO TTS Tracks Installation

1. Install the South Pole Bolts (P/N 063-5000-074) onto the magnet mount plate (P/N 27242).

NOTE: When installing, leave one open hole between each magnet as you work around the bracket.

2. Install the North Pole Bolts (P/N 063-5000-075) onto the magnet mount plate (Fast P/N 27242) in the open holes between the South Pole bolts.

BRACKET AND SENSOR INSTALLATION1. On the right-hand track assembly, locate the top bogie wheel on the inside of the track assembly. 2. Locate the grease zerk on the bogie wheel and remove the two original wheel bolts that are on either side of

the grease zerk.

P/N 016-4001-137 Rev. C 21


3. Remove the other wheel bolt located directly across the bearing assembly face from the grease zerk. 4. Orient the hub bracket so the cut out aligns with the grease zerk. This will allow access to the zerk for routine

maintenance. 5. Apply Loctite to the bolt threads.6. Install the hub bracket to the bogie wheel assembly using three M12 - 1.75 x 60 mm cap bolts and three 1.25”

spacers (not included) and torque to 100 ft-lb. 7. On the right-hand track assembly, locate and remove the two plastic hole plugs closest to the upper bogie

wheel. 8. Install two vertical support brackets (Fast P/N 27239) using two 1” - 8 x 5.5” bolts and nyloc nuts (not included). 9. Install the sensor support bracket (Fast P/N 27240) onto the vertical support brackets using four 3/8” - 16 x 1”

bolts and nyloc nuts (not included). 10. Install the reverse sensor (Raven P/N 422-0000-143) onto the sensor support bracket. 11. Orient the sensor so that the two flat surfaces are vertical and the etched “HL1Q-L5” number is facing towards

the front for the implement. 12. Position the sensor so there is a 1/16” to 3/16” air gap between the sensor and the magnet face and tighten the

two retaining nuts. 13. Secure the cable to the axle tube to avoid damage. 14. Connect the reverse sensor connector to the steerable hitch harness breakout labeled REVERSE.

REVERSE DETECTION SENSOR FOR 15K HUBS

MAGNET INSTALLATION


CHAPTER 3


FIGURE 11. 15K Hub Installation



Install the North Pole Bolts (P/N 063-5000-075) onto the magnet mount plate (Fast P/N 27238) in the open holes between the South Pole bolts.

BRACKET AND SENSOR INSTALLATION1. On the right hand wheel hub assembly, locate the six threaded holes on the backside of the hub assembly.

NOTE: It may be necessary to clean out threaded holes with compressed air and/or a 1/2-20 clean out tap.

2. Install the magnet mount plate to the hub assembly using six, 1/2” - 20 x 1” bolts (not included).3. Install the reverse sensor bracket by either:

a. Position the reverse sensor bracket on the axle flange so the magnet face will pass directly through the two flat surfaces of the reverse sensor. Mark the bolt hole location and drill a 3/8” hole and secure bracket to axle flange using a 3/8” - 16 x 1.25” bolt and nyloc nut (not included).

P/N 016-4001-137 Rev. C 23


b. Position the reverse sensor bracket on the axle flange so the magnet face will pass directly through the two flat surfaces of the reverse sensor. Clamp the bracket to the axle flange and weld around the slot of the reverse sensor bracket.

NOTE: Take special precautions to disconnect or remove electronic devices if method b is used.

4. Install the reverse sensor (P/N 422-0000-143) onto the reverse sensor bracket (P/N 27237).5. Orient the sensor so that the two flat surfaces are horizontal and the etched HL1Q-L5 number is facing down. 6. Position the sensor so there is a1/8 to 3/16” air gap between the sensor and the magnet face and tighten the

two retaining nuts. 7. Secure the cable to the axle tube to avoid damage. 8. Connect the reverse sensor connector to the steerable hitch harness breakout labeled Reverse.

REVERSE SENSOR DETECTION INSTALLATION FOR 20K HUBS

MAGNET INSTALLATION


FIGURE 12. 20K Hub Installation

CHAPTER 3




Install the North Pole Bolts (P/N 063-5000-075) onto the magnet mount plate (Fast P/N 27234) in the open holes between the South Pole bolts.

BRACKET AND SENSOR INSTALLATION1. Remove the right wheel from the axle/hub assembly.

NOTE: Take special precautions to support implement when elevating and removing wheel and rim assembly.

2. Install the 20K hub side bracket (Fast P/N 27236) onto the hub assembly, over the wheel studs. Ensure the four mounting tabs are facing towards the tank.

3. Reinstall the right wheel and torque lug nuts to 265 ft-lb.4. Install the magnet mount plates to the 20K hub side bracket installed in step 2 using four, 3/8”-16 X 3/4" bolts

and nyloc nuts (not included). 5. Install the reverse sensor bracket by either:

a. Position the reverse sensor bracket on the axle flange so the magnet face will pass directly through the two flat surfaces of the reverse sensor. Mark the bolt hole location and drill a 3/8” hole and secure bracket to axle flange using a 3/8” - 16 x 1.25” bolt and nyloc nut (not included).

b. Position the reverse sensor bracket on the axle flange so the magnet face will pass directly through the two flat surfaces of the reverse sensor. Clamp the bracket to the axle flange and weld around the slot of the reverse sensor bracket.

NOTE: Take special precautions to disconnect or remove electronic devices if method b is used.

6. Install the reverse sensor (P/N 422-0000-143) onto the reverse sensor bracket. 7. Orient the sensor so that the two flat surfaces are horizontal and the etched HL1Q-L5 number is facing down. 8. Position the sensor so there is roughly a 1/16” to 3/16” air gap between the sensor and the magnet face and

tighten the two retaining nuts. 9. Secure the cable to the axle tube to avoid damage.10. Connect the reverse sensor connector to the steerable hitch harness breakout labeled REVERSE.

INSTALL THE STEERABLE HITCH NODE - SPRAYERS1. Locate the node mounting location near the product pump. Depending on the pump configuration, there may

be a flow compensating valve installed.

P/N 016-4001-137 Rev. C 25


FIGURE 13. Node Mounting Location

2. Mount the Steerable Hitch node (P/N 063-0173-892) to the node mounting bracket using 3/8” - 16 bolts and locking nuts.

FIGURE 14. Steerable Hitch Node

NOTE: Use FAST P/N 26327 for 1800 and 2400 models. Use FAST P/N’s 26710 and P/N 26711 (QTY 2) for 1050 and 1350 models.

3. Attach the node mounting bracket to the machine.

NOTE: Position the node so that the cable connectors face the center of the machine and the glass faces down (arrow #2 forward and #5 downward).

CHAPTER 3


INSTALL THE STEERABLE HITCH ECU - A-SERIES APPLICATORS1. Locate the node mounting bracket location behind the goose neck hitch on the implement.

FIGURE 15. A-Series Node and Tilt Sensor Locations

2. Mount the steerable hitch ECU to the plate using three 3/8” - 16 bolts and locking nuts.

NOTE: Use Fast mounting plate (Fast P/N 27093)

INSTALL THE ROTARY SENSOR

FIGURE 16. Rotary Sensor Installed

P/N 016-4001-137 Rev. C 27


1. Position the hitch so that it is in the straight position.2. Install the rotary position sensor (FAST P/N 21495) onto the chassis mounting bracket (FAST P/N 26190).3. Attach the lever rod (FAST P/N 22906) to the rotary sensor shaft.

NOTE: Use Fast P/N 27132 for A-Series Applicators

4. Attach the sensor’s tongue mounting bracket (FAST P/N 21273) to the tongue.

NOTE: Use Fast P/N 22906 for A-Series Applicators

5. Insert the lever rod into the hole on the tongue mounting bracket.

IMPORTANT: Orient the components so the sensor’s connector is pointed to the right of the sprayer and the flat face of the sensor’s shaft is opposite from the connector.

FIGURE 17. Rotary Sensor Alignment

6. Secure the sensor’s chassis mounting bracket to the sprayer’s chassis.

INSTALL THE PROXIMITY SWITCH

FIGURE 18. Proximity Switch Installed

Flat Face on Sensor Shaft

Forward

ApplicatorSprayer

CHAPTER 3


1. Install the proximity switch (P/N 412-6000-007) on the switch mounting bracket using the supplied hardware.

NOTE: The mounting bracket varies for Truss booms versus Standard booms.

2. Mount the switch mounting bracket on the machine’s center section.3. Position the proximity switch so that it is located within 1/4” of metal when the machine’s booms are unfolded

and no metal is near the sensor surface when booms are folded.

INSTALL THE STEERABLE HITCH WIRING - GEN III CABLING

NOTE: In addition to the steps below, refer to the system drawings at the end of this chapter for further details.

CONNECT STEERABLE HITCH TO A RAVEN ISO PRODUCT CONTROL SYSTEM (IF APPLICABLE)1. Locate and disconnect the machine’s main power harness and the Raven ISO product control cable connection.2. Install the Steerable Hitch harness (P/N 115-7302-034) between the main power harness and product control

cable connection.

CONNECT STEERABLE HITCH TO JOHN DEERE RATE CONTROLLER (IF APPLICABLE)1. Locate and remove the existing ISO terminator from the John Deere rate control cable’s 2-pin and 12-pin

connectors.2. Install the John Deere ISO to Raven ISO adapter cable (P/N 115-7300-066) on the rate control cable.

NOTE: Adapter cable ordered separately.

3. Connect the Steerable Hitch harness (P/N 115-7302-034) to the John Deere ISO to Raven ISO adapter cable.4. Install a Raven ISO terminator cable (P/N 115-7300-044) on the remaining end of the Steerable Hitch harness.

NOTE: Terminator sold separately.

CONNECT THE STEERABLE HITCH HARNESS TO THE VALVE AND SENSORS1. Connect the large, rectangular connectors of the Steerable Hitch harness into the correct ports of the Steerable

Hitch node (P/N 063-0173-892), tightening the bolts to secure the connections.2. Connect the SPS connector on the Steerable Hitch harness cable to the rotary sensor on the king pin.3. Route the valve connections toward the Steerable Hitch valve.4. Connect the LEFT/OUTER connection of the Steerable Hitch harness cable to the top coil of the stack on the

Steerable Hitch valve.5. Connect the RIGHT/INNER connection to the bottom coil of the stack on the Steerable Hitch valve.6. Connect the remaining unlabeled cable connections to Port 1A and 1B of the Steerable Hitch valve.7. Route the ENABLE connector to the right side folding joint and connect it to the installed proximity switch.8. Route the tilt sensor connector to the external tilt sensor mounted on the node plate.

NOTE: For extreme terrain conditions, use kit FAST P/N 27611 to mount the external tilt sensor to the tractor drawbar. Use cable Raven P/N 115-0172-544 to connect the external tilt sensor to the node harness.

9. Route the Tank Level connector to the pressure transducer installed in the bottom of the tank. 10. Route the Reverse Connector to the right wheel or track assembly. 11. Connect the reverse connector to the reverse sensor.

P/N 016-4001-137 Rev. C 29


INSTALL THE STEERABLE HITCH WIRING - GEN II CABLING1. Remove the terminator from the product control cable. 2. Connect the large, round connector on the Steerable Hitch harness (P/N 115-4001-262) to the 12” tee adapter

cable (P/N 115-0171-960).3. Connect one end of the 12” tee adapter cable to the rate controller cable.

NOTE: If the Steerable Hitch system is being connected to a John Deere rate controller, use a John Deere rate controller to Raven ISO adapter cable (P/N 115-0171-991) to achieve the connection.

4. Install the terminator removed in step 1 on the remaining connector of the 12” tee adapter cable.

NOTE: Use and ISO adapter cable (P/N 115-0171-963) to connect the terminator.

5. Connect the SPS connector on the Steerable Hitch cable to the rotary sensor on the king pin.6. Route the valve connections toward the Steerable Hitch hydraulic valve.7. Connect the LEFT/OUTER connection of the Steerable Hitch harness cable to the top coil of the stack on the

Steerable Hitch valve. 8. Connect the RIGHT/INNER connection to the bottom coil of the stack on the Steerable Hitch valve. 9. Connect the remaining unlabeled cable connections to Port 1A and 1B of the Steerable Hitch valve.10. Route the ENABLE connector to the right side folding joint and connect it to the installed proximity switch.11. Connect the large, rectangular connectors of the Steerable Hitch cable into the correct ports of the Steerable

Hitch node (P/N 063-0173-892). Tighten the bolts to secure the connection.12. Route the tilt sensor connector to the external tilt sensor mounted on the node plate.


13. Route the Tank Level connector to the pressure transducer installed in the bottom of the tank. 14. Route the Reverse Connector to the right wheel or track assembly. 15. Connect the reverse connector to the reverse sensor.

GEN I ISO CONNECTIONS1. Locate and disconnect the main power harness and the Raven ISO product control ECU harness. 2. Install the Steerable Hitch harness (P/N 115-7100-019) between the main harness and the product control ECU

connection. 3. Connect the large, rectangular connectors of the Steerable Hitch harness into the correct ports of the Steerable

Hitch node (P/N 063-0173-892), tightening the bolts to secure the connections.4. Connect the SPS connector on the Steerable Hitch harness cable to the rotary sensor on the king pin.5. Route the valve connections toward the Steerable Hitch valve.6. Connect the LEFT/OUTER connection of the Steerable Hitch harness cable to the top coil of the stack on the

Steerable Hitch valve.7. Connect the RIGHT/INNER connection to the bottom coil of the stack on the Steerable Hitch valve.8. Connect the remaining unlabeled cable connections to Port 1A and 1B of the Steerable Hitch valve.9. Route the ENABLE connector to the right side folding joint and connect it to the installed proximity switch.10. Route the tilt sensor connector to the external tilt sensor mounted on the node plate.


11. Route the Tank Level connector to the pressure transducer installed in the bottom of the tank.

CHAPTER 3


12. Route the reverse connect to the right wheel or track assembly. 13. Connect the Reverse Connector to the reverse sensor.

P/N 016-4001-137 Rev. C 31


SYSTEM DIAGRAMS

FIGURE 19. Gen III with Old ISO Rate Node

CHAPTER 3


FIGURE 20. Gen III with Hawkeye

P/N 016-4001-137 Rev. C 33


FIGURE 21. Gen III with Deere Rate Control

CHAPTER 3


FIGURE 22. Get II with Old ISO Rate Node

P/N 016-4001-137 Rev. C 35


FIGURE 23. Gen II with John Deere Rate Control

CHAPTER 3


FIGURE 24. Raven 47-Pin Cabling for Applicators

CHAPTER

4

P/N 016-4001-137 Rev. C 37

CHAPTER 4ISO CALIBRATION & OPERATION

ISO SCREENS

Refer to the ISO screen layout on the following pages for assistance during calibration and operation of the ISO Steerable Hitch system.

CHAPTER 4


ISOM

ain Menu

Safety SettingsM

anual Control - Sprayers

Diagnostics Screen

Proximity Sw

itch Alarm

Machine Settings

Sensor Setup

Reset Alarm

4

P/N 016-4001-137 Rev. C 39

ISO CALIBRATION & OPERATION

Manual Control - Applicator Machine Settings

SPS Out of Range Alarm

Max Roll Rate Alarm

Max Pitch Angle Alarm

Max Speed Alarm

CHAPTER 4


CALIBRATING THE STEERABLE HITCH SYSTEM

Once the Steerable Hitch system has been installed it must be calibrated to provide optimal steering performance. To begin the calibration process, locate the Steerable Hitch Main Menu by pressing the Steerable Hitch icon on the ISO Menu.

Pressure Sensor Alarm Tilt Sensor Alarm

Reverse Sensor Alarm

4

P/N 016-4001-137 Rev. C 41


FIGURE 1. Steerable Hitch Icon

PROGRAM THE MACHINE SETTINGS

FIGURE 2. Main Menu

1. Navigate to the Machine Settings Screen by selecting the Tools icon and then the Implement icon.2. Measure the distance from the tractor axle to the hitch pin.

NOTE: For articulated tractors, measure from the tractor’s front axle.

3. Enter the distance value in the Tractor Axle To Hitch Length field.4. Measure the distance from the hitch pin to sprayer axle.5. Enter the distance value in the Hitch to Sprayer Length field.

PROGRAM THE LEFT AND RIGHT MIN STEER SETTINGS1. Navigate to the Manual Control Screen by selecting the Manual button along the right side of the Home

screen.

CHAPTER 4


FIGURE 3. Manual Control Screen

2. Turn the master switch On by toggling the master switch icon in the top right corner of the screen.

NOTE: The booms must be unfolded.

3. From the Manual Control Screen, select Engage Min (located between the Left and Right values).4. Manually drive the hitch to the left at the minimum pulse width by holding the Left button located at the right

edge of the screen.

NOTE: If the hitch does not move, raise the Left Min value until the cylinder just starts to move. If the hitch moves easily, lower the Left Min value until the cylinder just starts to move when the button is engaged.

5. Manually drive the hitch to the right at the minimum pulse width by holding the Right button located at the right edge of the screen.

NOTE: If the hitch does not move, raise the Right Min value until the cylinder just starts to move. If the hitch moves easily, lower the Right Min value until the cylinder just starts to move when the button is engaged.

6. Press the Home button to accept the values and return to the Home Screen.

PROGRAM THE STEERING POSITION SENSOR (SPS) SETTINGS

NOTE: If the calibration values are set incorrectly, they can be reset at the SPS Calibration Screen.

4

P/N 016-4001-137 Rev. C 43


FIGURE 4. Sensor Setup Screen

1. Set the left SPS position.a. Navigate to the Manual Control Screen and enable manual steering at the maximum value.b. Steer the machine left at the maximum value until the hitch reaches its maximum left position.c. Navigate back to the Sensor Setup Screen.d. Select Set Left SPS Max to accept the new left position. The system is now programmed to recognize the

maximum left hitch position.2. Set the right SPS position.

a. Steer the machine right at the maximum value until the hitch reaches its maximum right position.b. Select Set Right SPS Max to accept the new right position. The system is now programmed to recognize

the maximum right hitch position.3. Set the center SPS position.

a. Navigate to the Manual Control Screen.b. Enable manual steering at the minimum value.c. Steer the machine left or right at the minimum values until the sprayer’s tongue is straight.d. Navigate to the Sensor Setup Screen.e. Select Set Center Position to accept the new center position. The system is now programmed to recognize

the center hitch position.

ZERO THE YAW SENSOR AND ACCELEROMETER

Complete the following steps to clear the yaw sensor value, which measures the turning speed of the vehicle (degrees/second).

1. Navigate to the Sensor Setup Screen.2. Stop the vehicle on flat, level ground.

IMPORTANT: It is very important that this section is performed on level ground.

3. Press the Zero Yaw Offset button and confirm the displayed yaw offset value.

NOTE: The yaw rate should now display 0.

CHAPTER 4


4. Press the Zero Accel Offset button and confirm the displayed roll and pitch values.

NOTE: The roll and pitch values should now display zero.

NOTE: The Zero Accel Offset button will also zero out the external tilt sensor used for Auto Hillside Compensation.

OPERATING THE STEERABLE HITCH SYSTEM

There are seven modes of operating the Steerable Hitch control node: Auto, Auto-3D, Center, Center-R, Bump, Min, and Max.

IMPORTANT: The booms must be unfolded to activate the proximity sensor. None of the control modes are available unless the boom is unfolded for field use.

NOTE: If the modes do not engage as described below, a condition may have occurred that requires the master switch to be toggled.

• AUTO MODE - When the Steerable Hitch node is in AUTO MODE, the implement will compensate for turns made by the tractor to maintain track alignment between the tractor and the implement. When AUTO mode is enabled, the system will default to it when the master switch is toggled. To enable AUTO MODE:.

1. From the Home Screen, ensure the master switch is activated under CONTROL MODE. If not, verify that the boom is unfolded and the proximity sensor is detecting metal.

FIGURE 5. Home Screen

2. Toggle the master switch ON and verify that the control mode changes to AUTO.

NOTE: To return to AUTO mode from another mode, either press the AUTO button or cycle the master switch OFF and then ON again.

• CENTER MODE - When the Steerable Hitch node is in CENTER MODE, the implement will align itself as closely as possible to the calibrated zero position. To enable CENTER MODE:

4

P/N 016-4001-137 Rev. C 45


FIGURE 6. Home Screen

1. From the Home Screen, ensure the master switch is activated under CONTROL MODE.2. Toggle the master switch ON.3. Select CENTER.

IMPORTANT: Once CENTER mod is used to shift the tongue, the steerable hitch system will maintain that tongue position. To resume AUTO mode, toggle the master switch OFF and then ON again.

• BUMP MODE- When the Steerable Hitch node is in BUMP mode, the implement will move a fixed number of degrees. The bump value is set in the Home Screen under Bump Rate. To enable BUMP MODE:

FIGURE 7. Main Menu

1. From the Home screen, ensure the master switch is activated under CONTROL MODE.2. Toggle the master switch ON.3. Select BUMP.4. Use the LEFT or RIGHT buttons at the side of the screen.

NOTE: A single button press will result in a shift at the selected bump rate. Press the button multiple times to repeat the bump. Ex. For a five degree bump rate, two button presses in the same direction will result in a ten degree bump.

IMPORTANT: Once BUMP mode is used to shift the tongue, the steerable hitch system will maintain that tongue position. To resume AUTO mode, toggle the master switch OFF and then ON again or select AUTO mode.

CHAPTER 4


• MIN MODE- When the Steerable Hitch node is in MIN MODE, the implement is manually driven to the left or the right at the preset minimum pulse width (refer to the Manual Control Screen). To enable MIN MODE:

1. Ensure the master switch is activated under CONTROL MODE.2. Toggle the master switch ON.3. Navigate to the Manual Control Screen.4. Select Engage Min.5. Manually drive the implement to the left or right by holding the LEFT or RIGHT button on the right edge of the

screen.

NOTE: The system will continue to drive the coils at the minimum pulse width while the LEFT or RIGHT button is held.

• MAX MODE- When the Steerable Hitch node is in MAX MODE, the implement is manually driven to the left or the right at the preset maximum pulse width (refer to the Manual Control Screen). To enable MAX MODE:

1. Ensure the master switch is activated under CONTROL MODE.2. Toggle the master switch ON.3. Navigate to the Manual Control Screen.4. Select Engage Max.5. Manually drive the implement to the left or right by holding the LEFT or RIGHT button on the right edge of the

screen.

NOTE: The system will continue to drive the coils at the maximum pulse width while the LEFT or RIGHT button is held.

HILLSIDE COMPENSATION OPERATION

With the pressure transducer (P/N 422-0000-126) and the external tilt sensor (P/N 416-0001-061) installed, the steerable hitch ECU will compensate for side hill conditions based on tank volume. There are three predefined field condition settings that can be fine tuned with the 3D sensitivity setting on the main run screen.

• Flat• Mild• Extreme

The tilt threshold gain setting can also be adjusted to set the degree of tilt in which the Auto Hillside Feature will turn on.

ENABLING HILLSIDE COMPENSATION1. Press Tools on the UT screen.

P/N 016-4001-137 Rev. C 47


FIGURE 8. Tools

2. Select the Implement tab.

FIGURE 9. Implement Tab

3. Select the Auto Hillside Compensation checkbox. The control mode will display Auto-3D when the Master Switch is on. An icon will flash on the UT screen when the Auto Hillside control is compensating for implement drift.

Enable

CHAPTER 4


FIGURE 10. Hillside Compensation Active

REVERSE DETECTION OPERATION

With the installation of the reverse detection kit (P/N 117-4001-137), the steerable hitch ECU will automatically command the hitch to the center mode (Center-R) and allow the operator to back the implement up without counteraction from the pivot point of the implement tongue.

When a forward direction is detected, the control mode will automatically resume normal AUTO or AUTO-3D operation and allow the steerable hitch to automatically compensation when turning.

TO ENABLE REVERSE DETECTION1. Press Tools on the UT screen.

FIGURE 11. Tools

2. Select the Implement tab.

P/N 016-4001-137 Rev. C 49


FIGURE 12. Implement Tab

3. Select the Reverse Detection checkbox. The control mode will display Center-R any time the Master Switch is on and a rearward direction is detected.

FIGURE 13. Rearward Direction Detected

NOTE: If the control mode displays Center-R while driving forward, rotate the reverse sensor 180°.

Enable

CHAPTER 4


CHAPTER

5

P/N 016-4001-137 Rev. C 51

CHAPTER 5SYSTEM FEATURES

FEATURE DESCRIPTIONS

Field Description

3D%Percentage of time in the last 15 minutes the hitch angle has been within +/- three degrees of the target angle. This value is calculated only when the system is active and is zeroed out when the system is powered down.

6D%Percentage of time in the last 15 minutes the hitch angle has been within +/- six degrees of the target angle. This value is calculated only when the system is active and is zeroed out when the system is powered down.

3D Sensitivity

Used to set the system aggressiveness when changing the target angle used to counteract implement drift on side hill conditions when Auto Hillside Compensation is active. By increasing the value, the system will add a larger SPS target counter-correction angle, By decreasing this value, the system will have less of an effect on the target counter-correction angle used to compensate for side hill conditions. The default setting is ten.

Actual Angle The current angle of the hitch.

Actual Current The actual current at which the coil is being driven. A negative number indicates this value is for the left coil. A positive number indicates this value is for the right coil.

Auto When the master switch is on, this feature automatically turns the hitch to align with the tractor wheels.

Auto-3DWhen the master switch is on, this feature allows the system to automatically counteract implement drift on side hill conditions to keep the implement and tractor wheels aligned. This feature must be enabled under the Machine Setup tab.

Bootloader Version The bootloader version in the node.

BumpWhen the master switch is on, this feature bumps the hitch out to a fixed angular amount on each left/right key toggle. It continues to steer to that position until another position is set.

Bump Rate Displays the degrees the hitch will change when the steering mode is set to bump and the left or right toggle is engaged. The default setting is 5.0.

CenterWhen the master switch is on, this feature automatically turns the hitch to a centered position. Once the hitch is centered, the master switch must be toggled to re-engage steering.

Center-R

When the master switch is on, this feature will automatically center, and hold, when a rearward direction is detected. They system will automatically return to Auto or Auto-3D when a forward direction is detected. This feature must be enabled under the Machine Setup tab.

Control Mode This feature displays the current steering mode (Auto/Manual/Min/Max/Center).

CHAPTER 5


Control SpeedThis feature is used to set the aggressiveness of the control response. If the system is turning too aggressively, lower the value. If the system appears sluggish, increase the value. The default setting is 10.

Engaged Hours Amount of time the node has been engaged during the life of the node.

Engage Max Once engaged, this feature allows manual steering of the hitch in either the left or right direction at the current maximum pulse-width setting.

Engage Min Once engaged, this feature allows manual steering of the hitch in either the left or right direction at the current minimum pulse-width setting.

HC Voltage The high current voltage of the node.

Hitch to Sprayer Axle Length from the center of the hitch pin to the center of the sprayer axle (inches or centimeters). The default setting is 180.

Implement TypeThis feature changes the control settings base on the implement selected to accommodate either a signal hydraulic cylinder (sprayer) or dual hydraulic cylinders (applicator).

Left Max Sets the maximum pulse-width to drive the left steering valve. The default setting is 70 for sprayers and 80 for applicators.

Left Min Sets the minimum pulse-width to drive the left steering valve. The default setting is 33 for sprayers and 35 for applicators.

Max Pitch Angle The maximum downward slope the vehicle can be driven before steering disengages and centers. The default setting is 40.0.

Max Roll Rate The maximum change in the vehicle’s tilt angle per second that is allowed before the steering disengages. The default setting is 20.0.

Max SpeedThis feature sets the maximum speed the vehicle can travel before steering disengages and centers. The default setting is 16.0 mph (25.75 kph) with the option to increase to 18 mph (28.97 kph).

Node Direction

This feature identifies the correct directions for measurement of pitch and roll. The default setting is 2.

NOTE: There are six arrows engraved into the node enclosure. The number entered into the Node Orient field should be the number of the arrow pointing forward, toward the tractor.

Node Part Number The enclosure assembly number of the node.Node Revision The current node hardware version.Node Serial Number The serial number of the node.Pitch The current pitch angle of the node.Pressure Voltage The current voltage reading from the tank level pressure transducer.

PWMThe current pulse-width being driven to the steering coils. A negative number indicates this value is for the left coil. A positive number indicates the value is for the right coil.

RD Direction The current direction detected by the reverse detection sensor.

Right Max Sets the maximum pulse-width to drive the right steering valve. The default setting is 70 for sprayers and 80 for applicators.

Right Min Sets the minimum pulse-width to drive the right steering valve. The default setting is 28 for sprayers and 35 for applicators.

Roll The current roll angle of the node.Roll Rate The current roll rate measurement on the node.

Field Description

5

P/N 016-4001-137 Rev. C 53

SYSTEM FEATURES

Sensitivity

Used to set the system’s responsiveness in changing the target angle to compensate for changes in the vehicle’s direction. By increasing this value, the system will be more responsive to changes in vehicle direction. By decreasing this value, the system will be less responsive to changes in vehicle direction. The default setting is 10.

Service Menu This is an advanced feature for product support diagnostics.

Set Center Position

Sets and displays the current offset value from the expected zero position. When set, the value will define the actual center position of the hitch. The default setting is 0.

NOTE: The value determines the position to which the hitch is centered. It is important to set this value correctly as it determines how straight the sprayer drives in relation to the tractor.

Set Left SPS Max Sets and displays the left-most hitch angle the system will control before stopping. The default setting is -35.0.

Set Right SPS Max Sets and displays the right-most hitch angle the system will control before stopping. The default setting is 35.0.

Software Hours Amount of time the node has been engaged while running the current software version.

Software Part Number The part number of the software specification.Software Versions The current node program version.Speed The current speed of the vehicle.Target Angle The current angle the hitch is targeting.Target Current The coil current the hitch is targeting.

Terrain Type Changes the control settings of the Auto Hillside Compensation feature based on terrain type. Choose the terrain type that fits the field conditions.

Tilt Sensor The current degree of tilt detected by the external tilt sensor.

Tilt Threshold

The current threshold in which Auto Hillside Compensation will begin to counteract the effect of implement drift on side hill conditions. The higher threshold, the more slope needed to activate Auto Hillside Compensation. The lower the threshold, the less slope needed to activate Auto Hillside Compensation.

Tilt Threshold GainThis setting allows the operator to set the threshold in which the Auto Hillside feature will turn on. The degree at which the feature will turn on is listed under Tilt Threshold on the System Diagnostic Screen.

Tilt Voltage The current voltage reading from the external tilt sensor.

Tractor Axle to Hitch Length from the center of the hitch pin to the center of the tractor axle (inches or centimeters). The default setting is 45.0.

Yaw Rate The current yaw rate measurement on the node.

Zero Accel Offsets This feature manually sets the zero position for the roll and pitch sensor measurements. This procedure should be performed on level ground.

Zero Yaw Offset

This feature displays the current yaw offset value in degrees/seconds. If selected, the operator can manually set the zero position of the yaw sensor. The default setting is 0.0.

NOTE: The vehicle must be stopped and the hitch stationary before adjusting this value.

Field Description

CHAPTER 5


SAFETY FEATURES

The Steerable Hitch system comes with three safety settings that can be modified through the console when maneuvering challenging terrain: max speed (default 16 mph), max pitch angle (default 40 degrees), and max roll (default 20 degrees/second). These features cannot be increased from the default setting, but can be decreased to reduce risk. When the max speed and max pitch angle conditions are met, the hitch will begin steering to a centered position and then shut off all control to ensure the hitch is in a safe position during transport and when turning on steep terrain. When the max roll rate condition is met, the hitch will stop controlling all together to prevent compensation for a false yaw measurement when the implement drops into a hole in the field. After any of the three of these conditions are met, a master switch toggle is required to re-engage steering.

CHAPTER

6

P/N 016-4001-137 Rev. C 55

CHAPTER 6TROUBLESHOOTING

TROUBLESHOOTING

NODE

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

HC (High Current) Power - Lit when High Current Power is supplied to the node.Micro 1 Hz - Flashes once every second when CAN communication is active between the node and the console. Flashes five times a second when CAN communication is inactive between the node and console.

CAN Rx - Flashes to indicate CAN messages are being received by the node. This light typically flashes rapidly.

CAN Tx - Flashes to indicate CAN messages are being transmitted from the node. The flash speed of this light varies.

Diag 1 - Lit when the node is receiving speed on the CAN bus or directly from a speed sensor.

Diag 2 - Lit when the proximity switch is active.

Logic Power - Lit when +12V current is supplied to the node

CHAPTER 6


SYSTEM ALARMS

SYSTEM ISSUES

To obtain satisfactory hitch steering, all of the sensors must be fully operational. Verify the following sensors are operational: speed sensor, position sensor, proximity switch, and node sensors (yaw, roll, pitch). If the system is not operating satisfactorily after verifying sensor operation, refer to the following table to improve hitch steering performance.

Alarm Cause

Proximity Sw Off The user attempted to engage Auto/Manual mode with the proximity switch turned off.

Invalid Hardware The node hardware is not compatible with the current software version.Bad Yaw Sensor The yaw sensor in the node is damaged.Bad Accelerometer The accelerometer in the node is damaged.

SPS Out of Range The SPS sensor is damaged or the SPS was not properly calibrated and the actual tongue position exceeded the expected maximum position..

Safety-Max Speed A max speed condition has been detected.Safety-Max Roll Rate A max roll rate condition has been detected.Safety-Max Pitch Ang A max pitch angle condition has been detected.Current Comp Bad Pwr The system voltage is out of range for the node.

Hitch Not Responding There is a problem with the hydraulics, cabling, or node that is not allowing steering to engage.

SH HC Pwr Disconnect The node does not have high current power connected.Tilt Sensor Out of Range

The system does not see a voltage reading from the external tilt sensor or the external tilt sensor has exceeded 4.5v.

Pressure Sensor Out of Range

The system does not see a voltage reading from the pressure sensor or has fallen below the defined threshold.

Reverse Sensor Out of Range The system has not determined a forward or backward direction.

Symptom Possible Cause Solution

System too aggressive upon initial startup

Hydraulics not up to operating temperature

Allow system hydraulics to warm up before enabling Steerable Hitch

Speed parameter is set too high

Decrease Speed parameterEnable Current Compensation

6

P/N 016-4001-137 Rev. C 57

TROUBLESHOOTING

System too sluggish or too aggressive during routine operation

Speed parameter is set too low (sluggish) Increase Speed parameter

Speed parameter is set too high (aggressive) Decrease Speed parameter

System hydraulics set too low (sluggish) Increase tractor hydraulic flow

System hydraulics set too high (aggressive) Decrease the tractor hydraulic flow

System PWM mins set too low (sluggish)

Increase PWM mins on Right and Left by one until achieving satisfactory performance

System PWM mins set too high (aggressive)

Decrease PWM mins on Right and Left by one until achieving satisfactory performance

System does not return to the center of the tow vehicle track when driving straight ahead

Sensitivity parameter too high Lower Sensitivity parameter

Yaw sensor is offset too far

1. Stop the vehicle 2. Inspect YR value on diagnostics Screen 3. Re-zero on Setup Screen if greater than

1 or less than -1

Hitch center position offsetRe-center hitch, lock center locking mechanism, and reset SPS center position on Setup Screen

Hitch does not respond to controls

Hydraulics not engagedEngage hydraulics (verify the SCV is engaged in the correct direction to pressurize the valve).

Booms not unfolded (proximity switch) Unfold booms

Hitch locking mechanism in place Remove hitch locking mechanism

Insufficient high current power Inspect node high current lights and check fuses

Master switch not toggled Toggle the master switch off and on

No speed input to systemCheck speed on Diagnostics Screen and check speed source connections and functionality

Reverse detection feature does not center and hold the hitch. Center-R control mode is not displayed.

Ensure the Reverse Detection feature is active. Inspect the wheel magnets and sensor for obstruction.

Enable the Reverse Detection feature.Remove any obstructions from the magnet and sensor area.

System displays Center-R when driving forward

Reverse sensor is mounted incorrectly Rotate the sensor 180°


CHAPTER 6


Hydraulic Flow Limitations – If there are additional features using hydraulic fluid on the machine (example: boom leveling), there may be conditions where the hitch steering valve will require significant amounts of hydraulic fluid (e.g., while turning). During these conditions, there may be limited hydraulic flow to other components, which can result in reduced performance.

Still Having Problems? Contact your local distributor for more information.

Auto Hillside Compensation does not move implement up the slope

Ensure Auto Hillside Compensation is active.Current tilt threshold is higher than the slope being driven.3D Sensitivity is too low.

Enable Auto Hillside Compensation.Lower the Tilt Threshold GainRaise the 3D Sensitivity setting.

Auto Hillside Compensation moves the implement too far up the slope.

Terrain type selected too aggressive for slope being driven. 3D Sensitivity too high. External Tilt Sensor zero point is inaccurate.

Select a different terrain type. Lower 3D Sensitivity setting.External Tilt Sensor zero point is inaccurate.


IIntroduction

Hydraulic Fittings 6Kit Contents 6Preparing for Installation 5

Point of Reference 5Recommendations 5Tools Needed 5

Updates 6ISO Calibration & Operation 37

Calibrating the Steerable Hitch System 40ISO Screens 37Operation 44Programming the Left and Right Min Steer Settings 41Programming the Machine Settings 41Programming the SPS Settings 42Zeroing the Yaw Sensor and Accelerometer 43

KKit Contents 6SSafety Features 54Steerable Hitch Component Installation 13

Installing the Hydraulic System 13Installing the Proximity Switch 27Installing the Rotary Sensor 26Installing the Steerabl Hitch Wiring

Connecting Steerable Hitch Harness to Valve and Sensors 28Connecting Steerable Hitch to John Deere Rate Controller 28Connecting Steerable Hitch to Raven ISO Product Control System 28

Installing the Steerable Hitch Node 24System Diagrams 31

System Features 51TTroubleshooting 55

Node 55System Alarms 56System Issues 56

016-0171-537 Rev. H, E19889

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LIMITED WARRANTY

WHAT DOES THIS WARRANTY COVER?

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.

HOW LONG IS THE COVERAGE PERIOD? 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 CAN I GET SERVICE? 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.

WHAT WILL RAVEN INDUSTRIES DO? 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 IS NOT COVERED BY THIS WARRANTY? 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.

016-0171-536 Rev. B, E29761

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EXTENDED WARRANTY WHAT DOES THIS WARRANTY COVER? 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.

DO I NEED TO REGISTER MY PRODUCT TO QUALIFY 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.

WHERE CAN I REGISTER MY PRODUCT FOR THE EXTENDED WARRANTY? To register, go online to www.ravenhelp.com and select Product Registration.

HOW LONG IS THE EXTENDED WARRANTY COVERAGE PERIOD? 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 CAN I GET SERVICE? 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.

WHAT WILL RAVEN INDUSTRIES DO? 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 IS NOT COVERED BY THE EXTENDED WARRANTY? 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.

Steerable Hitch Installation and Operation Manual for FAST … · 2020. 10. 28. · The Steerable...

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Transcript of Steerable Hitch Installation and Operation Manual for FAST … · 2020. 10. 28. · The Steerable...