The DirecSteer Calibration and Operation Manual describes a system designed for automated steering in agricultural applications, primarily when connected with a Raven Steering Guidance Controller (SGC) such as the RS1™, SC1™, or TC1™. The system facilitates precise machine control through GNSS guidance and auto-steering features, with specific calibration procedures required for optimal performance.
Function Description
The DirecSteer system provides automated steering capabilities for various agricultural machines, including tractors and sprayers. It integrates with Raven SGC units to process GNSS (Global Navigation Satellite System) data and control the machine's steering. The system supports different autonomy levels, from streaming GNSS correction information only (GPS Only) to full automated steering (Steering Only). It is designed to learn the machine's hydraulic or mechanical capabilities through a calibration process, ensuring optimal steering performance in the field. The system also incorporates terrain compensation to maintain accuracy on uneven terrain and includes features for managing differential correction sources like GLIDE®, SBAS, GS-Lite, and RTK.
Important Technical Specifications
RS1™ Unit:
- Dimensions (LxWxH): 30.48 x 23.5 x 11.13 cm (12 x 9.25 x 4.38 in.)
- Mounting (LxW): 19.05 x 12.7 cm (7.5 x 5 in.)
- Operating Voltage (DC): 7 - 28 Volts
- Max. Current (7 VDC): 6 Amps
- Nom. Current (12 VDC): 1.5 Amps
- Operating Temperature: -40° to 70° C (-40° to 158° F)
- Storage Temperature: -40° to 70° C (-40° to 158° F)
- Humidity (relative): 10% - 95%
- Environmental Rating: IP67
- Communication: 2x RS232, 2x CANbus, Cellular, Wi-Fi, Bluetooth®, Ethernet, RS485
- GNSS Signals Supported: GPS L1, L2, L2C, L5; Glonass L1, L2; Galileo E1, E5A, E5B; Beidou B1, B2; L-Band; SBAS
- Position Accuracy:
- Single Point L1: 1.5 m
- Single Point L1/L2: 1.2 m
- SBAS: 0.6 m
- Satellite GS: 4 cm
- RTK: <2.56 cm
- Cellular Connectivity (LTE):
- LTE B4 (1700): 23 dBm transmitted power (Avg.), -3 dB antenna gain, 10 MB Down / 5 MB Up data rate.
- LTE B13 (700C): 23 dBm transmitted power (Avg.), -3 dB antenna gain.
- Wi-Fi Connectivity (2.4 GHz): 10.5 dBm transmitted power (Avg.), 4 dB antenna gain, 54 MB/sec data rate.
- Ethernet Connectivity: 10/100/1000 MB/sec data rate.
- Approvals and Certifications: CE, E-Mark - E8 10R-05 9484, FCC 47 CRF Part 15 Subpart B, ISED Canada ICES-003 Issue 6.
DirecSteer Unit:
- Motor (WxH): Ø16.5 cm [6.5 in.] (outer) x Ø 4.05 cm [1.5 in.] (inner) x 8.05 cm [3.2 in.]
- Weight: 5.5 kg [12.1 lbs.]
- Steering Wheel: Ø42 cm [16.5 in.]
- Operating Voltage (DC): 9 - 32 V
- Operating Temperature: -20° to 60° C (-4° to 140° F)
- Storage Temperature: -40° to 85° C (-40° to 185° F)
- Environmental Rating: IP65
- Communication: RS485, CAN
Usage Features
- Initial Calibration Wizard: Guides the operator through the initial setup, including machine type selection (e.g., "Front Steered Tractor" with "Generic" make/model for DirecSteer), autonomy level (GPS Only or Steering Only), and detection of steering partners.
- Machine Offset Setup: Allows input of critical measurements like Antenna Fore/Aft, Antenna Center Offset, and Antenna Height for accurate positioning.
- Wheel Base Measurement: Requires input of the distance between the center of the front tire to the center of the rear tire for precise steering control.
- GNSS Differential Source Selection: Supports various correction sources (GLIDE®, SBAS, GS-Lite, Satellite GS/Pro, RTK) depending on purchased feature unlocks.
- Terrain Compensation Calibration: Calibrates the system to account for machine roll, pitch, yaw rate, and heading, ensuring accurate steering on uneven ground.
- Auto-Steer Calibration: A process where the machine performs hard left and right turns to learn its hydraulic/mechanical capabilities for optimal steering.
- Roadway Homologation Terms: Requires acceptance of terms for operating on public roads, which may impose speed limits for auto-steering engagement and disengagement.
- Operator Presence Sensor Configuration: Allows selection of the sensor type (Single Pole, Double Pole, CAN Switch, Touch Screen Activity Monitor) to detect operator presence, a safety requirement for auto-steering.
- Resume/Disengage Calibration: Calibrates the resume button or foot switch and the disengage sensor (e.g., steering wheel turn) for safe system operation.
- Wheel Angle Sensor (WAS) Calibration: Calibrates the WAS by setting left, center, and right steering lock positions while driving.
- Steering Backlash Calibration: Tunes auto-steering response to account for free play in the vehicle's mechanical steering linkages.
- Advanced Tuning: Provides fine-tuning options for auto-steer inputs, including Position Gain, Heading Gain, Yaw Rate Gain, Position Integral Gain, Yaw Error Compensation, Proportional Gain, Integral Gain, Derivative Gain, Left/Right System Gain, Steering Backlash, and Wheel Speed Compensation.
- Wheel Control Settings: Displays and allows adjustment of minimum and maximum control effort percentages for steering actuators.
- Guidance Setup Menu: Configures auto-steering options for in-field guidance, including Guidance Partner (e.g., DirecSteer) and Guidance Mode (GPS, Vision, Vision+).
- GPS Shutdown Timer: (RS1™ only) Determines how long the unit remains powered after machine power-off, allowing GPS to stay converged.
- Position Accuracy Setup: Displays GNSS solution status (No Signal, Error, Converging, Converged) and allows setting an Accuracy Threshold to trigger DTCs if exceeded.
- GPS Serial Output: Configures serial output for GPS data, including Baud Rate and NMEA message types (GGA, VTG, GSV, ZDA, GSA, GST, GRS).
- Radio Modem Configuration: Configures radio modems for RTK corrections, including Connection Point, Radio Channel, and Radio Tx (Transmit) Power.
- RTK Source Settings: Allows selection of RTK correction sources (Auto, Network, Serial, None) and setting the Baud Rate.
- Slingshot® Universal Terminal Overview: Provides an interface for the Field Hub module in the RS1™ unit, displaying connectivity status (Cellular, Ethernet, Wi-Fi®) and allowing remote diagnostics and field updates.
- Feature Unlocks Tab: Manages optional features and services that require unlock codes, with status indicators (Red for locked, Yellow for unlocked but requires subscription, Green for unlocked and active subscription).
- Steering Status Page: Displays the current status of the steering system, including Critical DTCs (system cannot engage), Active DTCs (performance may be degraded), No DTCs (ready to engage), and No DTCs - Steering Engaged. It also shows the last exit code and reason for disengagement.
Maintenance Features
- Diagnostic Trouble Codes (DTCs): Provides a comprehensive list of active and inactive diagnostic codes for RS1™, SC1™, TC1™, DirecSteer, HDU, MDU, and IDU units, along with recommended actions for troubleshooting.
- Performance Monitor: Offers metrics for auto-steer system performance, including Online Performance (average and 95% metrics for position error, heading error, yaw rate error, speed, elapsed time), Line Acquire Performance (metrics for last line acquisition and average), and Online Curve Performance (average, maximum, and 95% metrics for various parameters on curves).
- System Tests: Includes various tests to diagnose and correct calibration issues:
- Step Response Test: Evaluates machine steering performance by commanding specific steering angles and measuring response.
- Control Effort Test: Allows testing the control effort (percent) for left and right steering, useful for diagnosing hydraulic issues.
- Disengage Test: Reviews the disengage switch threshold and confirms its functionality based on steering wheel inputs.
- Machine Info Test: Displays basic tune-set profile information.
- Readouts Test: Provides real-time display of various system parameters like velocity, control effort, valve current, pressure, and sensor voltage.
- Switches Test: Allows testing the steering master switch, resume foot switch, and operator presence switch to confirm their status and functionality.
- SGC System Information: Displays detailed information about the Steering Guidance Controller, including hardware/software versions, cell modem details (firmware, IMEI, phone number, SIM), hours of operation (powered on, engaged), and hardware diagnostics (voltages, temperatures).
- Update DirecSteer Unit: Provides a procedure for updating the firmware of the DirecSteer electric drive unit.
- Regular System Updates: Software and manual updates are available from the Raven Applied Technology website, with email alerts for new releases.
- Hydraulic System Checks: Emphasizes ensuring the machine hydraulic system is free of issues (pump, motors, metal deposits), uses fresh oil, and has changed filters before installation or servicing.
- Steering System Checks: Recommends ensuring the steering system is free of issues like worn bushings, faulty tie rod ends, or improperly adjusted components.
- Cable and Harness Routing Guidelines: Provides detailed instructions for routing hoses and electrical harnesses to prevent damage, interference, and ensure safety.
- Electrical Component Inspection: Advises regular inspection of electrical components and connectors for corrosion, damage, and ensuring they are clean and dry.
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