016-5030-020-D - SmarTrax MD Calibration and Operation Manual
016-5030-020-D - SmarTrax MD Calibration and Operation Manual
016-5030-020-D - SmarTrax MD Calibration and Operation Manual
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
Chapter 2 Introduction............................................................................................................. 5
SmarTrax MD Part Identification ...........................................................................................................................5
Installation ......................................................................................................................................................................6
Recommendations ................................................................................................................................................................. 6
Point of Reference ....................................................................................................................................................... 6
Updates ...........................................................................................................................................................................6
Updating the Node ......................................................................................................................................................... 6
Updating the Mechanical Drive ........................................................................................................................................ 6
INFORMATION
1
NOTICE
Read this manual and the operation and safety instructions included with your implement and/or controller
carefully before installing the SmarTrax MD™ 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 MD 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 MD, observe the following safety measures:
• Be alert and aware of surroundings.
• Do not operate SmarTrax MD or any agricultural equipment while under the influence of alcohol or an illegal
substance.
• Remain in the operator’s position or a safe working distance away from the booms at all times when SmarTrax
MD is engaged.
• Disable SmarTrax MD when exiting from the operator’s seat and machine.
• Do not drive the machine with SmarTrax MD enabled on any public road.
• Determine and remain a safe working distance from other individuals. The operator is responsible for disabling
SmarTrax MD when the safe working distance has diminished.
• Ensure SmarTrax MD is disabled prior to starting any maintenance work on SmarTrax MD or the machine.
CAUTION
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.
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
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 MD and suspension systems
• Moving linkages, cylinders, articulation joints, attachments
• Ground engaging components
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• 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.
ROADWAY HOMOLOGATION
NOTE: This section applies only to European countries where compliance to Roadway Homologation
Regulations are required.
• Roadway operation with this system installed may require additional machine inspection and testing from a
local TÜV authority. Before operating on a roadway, please contact a local TÜV authority for more information.
• The mechanical drive unit must be removed before public roadway travel is attempted. Install the protective
trim around the installed ring gear when the mechanical drive is removed.
• The field computer installation location must not obstruct the machine operator’s view in accordance with
Directive 2008/2/EC.
• Refer to Chapter 8, Roadway Homologation Certification on page 111 for Roadway Homologation certificate
information.
Congratulations on your purchase of the Raven SmarTrax MD 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 MD
system when used with the Viper 4, Viper Pro, Envizio Pro or Envizio Pro II, and Cruizer II field computers.
IMPORTANT: Installation of the SmarTrax MD system must be completed before calibrating the system. If you have
questions regarding the installation of the SmarTrax MD system, refer to the SmarTrax MD Installation
Manual provided with the installation kit.
IMPORTANT: The Raven field computer/controller must be calibrated specifically for the vehicle before being used to
operate the SmarTrax MD system. For questions about the field computer, refer to the Installation &
Operation Manual provided with the field computer.
NOTE: Machine-specific installation kits are not available for all machine makes and models.
Anti-Rotation Pin
Installation
Locations
Latch
Road Switch
Status Indicator
Node Harness
Connection Port
INSTALLATION
WARNING
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.
RECOMMENDATIONS
Before installing the SmarTrax MD system, park the machine where the ground is level, clean, and dry. 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.
POINT OF REFERENCE
The instructions in this manual assume that you are standing behind the machine, looking toward the cab.
UPDATES
Refer to the appropriate field computer manual for instructions on updating the node software:
• Viper/Viper 4+ Installation & Operation Manual (P/N 016-0171-539)
• Viper Pro Installation and Operation Manual (P/N 016-0171-122)
• Envizio Pro & Envizio Pro II Installation and Operation Manual (P/N 016-0171-148)
• Cruizer II Operation Guide (P/N 016-0171-415)
Update the mechanical drive software using a Windows-based operating system computer and the instructions
stored on the USB drive (P/N 063-0173-595) contained in the Raven Service Tool kit (P/N 117-0171-464).
When updating SmarTrax MD software, refer to the Raven Service Tool Installation Manual (P/N 016-5030-022)
located on the flash drive supplied with the installation kit. Software and manual updates are available on the
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 as
possible. 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 we
provide. We appreciate the opportunity to see ourselves as our customers see us and are eager
to gather ideas on how we have been helping or how we can do better.
2
To serve you best, please send an email with the following information to
techwriting@ravenind.com
We will not share your email or any information you provide with anyone else. Your feedback is
valued and extremely important to us.
Display Message
Display Message
Exit - Exits from the current screen without saving any changes
made to the system.
NOTE: Refer to Error Messages section on page 100 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 MD 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 MD configuration screen while language data is transferring will open a message asking
the user to try again later.
GPS CONFIGURATION
NOTE: The SmarTrax MD 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 MD
system still does not detect a GPS message.
NOTE: The steps below apply only to Viper 4 computers with an internal GPS receiver that is being used as
the primary GPS source.
3
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.
8. Select Edit.
9. Select Serial Devices. The following screen will be displayed:
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 6, Troubleshooting for further information.
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 6, Troubleshooting beginning on
page 99 for further information.
The steps below apply only to Viper 4 computers utilizing an external 600S GPS receiver.
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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 are not visible in the list, inspect cable connections to ensure they are installed
securely, then press the Retry icon again. Refer to Chapter 6, Troubleshooting beginning on page 99
for further information.
5. Press Accept.
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 6, Troubleshooting beginning on page 99 for further information.
The steps below apply only to Viper 4 computers with an external GPS receiver other than model 600S.
1. Select Edit.
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 6,
Troubleshooting for further information.
3
4. Press Accept.
NOTE: If SmarTrax GPS on DGPS is not visible and selected in the list, refer to Chapter 6, Troubleshooting
beginning on page 99 for further information.
Edit SmarTrax MD
Read and accept the Operator Liability Warning. If the operator does not accept liability, the SmarTrax MD 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.
MACHINE CONFIGURATION
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. Once New is selected, the screen will return to the Machine Type list
to allow the operator to select the appropriate tune set and continue with the calibration process. Once
the calibration process is complete, the machine will be associated with the Profile number selected.
• 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.
4. Select Next.
MACHINE-SPECIFIC CONFIGURATION
NOTE: If machine measurements (guidance width, wheel base, etc.) have not already been entered into the
field computer, it will be necessary to enter machine measurements before operating the SmarTrax
MD system. Refer to the Viper/Viper 4+ Installation and Operation Manual (P/N 016-0171-539) for
further information.
3
Before the SmarTrax MD system may be enabled, the SmarTrax MD 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 MD 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:
• SP Sprayer RBoom - Self-propelled sprayer with a rear boom
• FS Tractor - Front-steered tractor
• Articulated
• Track
• Rear Steered - Rear-steered machine
• Swather
2. 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 37 for additional information about resetting the SmarTrax MD 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 MD
system requires calibration.
NODE ORIENTATION
6
5
1
4
IMPORTANT: Selecting the incorrect node arrow number may cause poor steering performance!
NOTE: The SmarTrax MD calibration wizard will perform an initial calibration on the SmarTrax MD tilt sensors.
The wizard will automatically advance to the next step in the calibration process once the node
calibration is complete.
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 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 setting in the Viper 4 is correct. The Wheel Base
value cannot be changed.
NOTICE
The 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 MD
system performance!
ANTENNA FORE/AFT
MEASUREMENT
ANTENNA
HEIGHT
MEASUREMENT
WHEEL BASE
MEASUREMENT
ANTENNA FORE/AFT
MEASUREMENT
ANTENNA
HEIGHT
MEASUREMENT
WHEEL BASE
MEASUREMENT
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.
CORRECT
RECOMMENDED
ANTENNA FORE/AFT ANTENNA
MEASUREMENT MOUNTING
LOCATION
ANTENNA
HEIGHT
MEASUREMENT
WHEEL BASE
MEASUREMENT
Wheel base measurement taken from pivot Wheel base measurement taken with wheels
point instead of the center of the front wheel. reversed and not in the straight line operation
position.
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.
NOTICE
The Wheel Base, Antenna Position, and Antenna
Height values are critical to the operation of the
SmarTrax MD system. Measure these dimensions
accurately to ensure optimal SmarTrax MD
system performance!
1. To determine 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 determine 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.
6. Select Next.
7. To determine the Antenna Height, measure the distance from the ground to the antenna base mounting plate.
8. Select the value box to enter the Antenna Height 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.
2. Follow the on-screen instructions to begin the calibration process.
FIGURE 18. 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.
4. Select the arrow at the bottom of the screen to begin calibration. The following screen will appear:
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.
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 black.
8. Select Next.
3. Proceed to the Engage Switch section on page 27 continue with the SmarTrax system calibration.
ENGAGE SWITCH
NOTE: The SmarTrax Setup MD Wizard will automatically advance to the next step in the calibration process
when the engage switch is detected.
The WAS calibration is required on the SmarTrax MD system. Once the WAS is detected in the system, the
following screen will be displayed:
1. While driving slowly, turn the steering wheel fully to the left wheel lock.
2. Select Left.
3. Turn the steering wheel fully to the right wheel lock.
4. Select Right.
5. Select Next.
NOTE: If the steering wheel continues to turn when the wheels are turned fully to the left or right, be sure to
stop turning the steering wheel when the machine’s wheels stop moving.
WARNING
The machine’s wheels will turn automatically. Be
sure the area around the vehicle is clear of
people and equipment before engaging the
steering system.
NOTICE
The 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.
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.
1. Position the machine in an open space with several acres of smooth ground available to perform the machine’s
steering calibration.
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 the “Error Messages” section on page 100
for possible causes and corrective action to complete the calibration process.
START A JOB
Refer to the ROS (Raven Operating System) Basic Operation Manual (P/N 016-0171-539) for instructions on
starting a job and setting guidance lines.
SYSTEM ADJUSTMENTS
System tools allow fine-tuning of the system to adjust for operating conditions and improve steering accuracy. To
adjust the steering response in the field computer, press and hold the SmarTrax MD widget while within a job. The
following screen will appear:
Is there a new
screen?
NOTE: The speed of the LA mode is often limited by the speed of the machine’s hydraulic and steering
system. Increasing the LA value at the maximum vehicle speed may degrade performance of the
SmarTrax system.
NOTE: The screen in the figure above illustrates an example of a situation in which SmarTrax MD 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 when it is
traveling further than 24 inches [60 cm] from the desired path. 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 MD 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.
NOTE: The screen in the figure above illustrates an example of a situation in which SmarTrax MD 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 within 24 inches [60 cm] of 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 MD 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.
NOTE: Some features or settings are not able to be adjusted unless SmarTrax MD is in an active job.
NOTE: Some features or settings are configured during the SmarTrax MD calibration wizard and cannot be
modified or changed without resetting the SmarTrax MD system. Refer to Reset Calibration section on
page 37 for additional assistance with resetting the SmarTrax MD system to default settings.
NOTE: To change the Sensor Type, Machine Type, Control Device, or Wheel Base settings, the SmarTrax MD
system must be reset and recalibrated.
• Machine Type - Displays the machine type or model selected during the SmarTrax MD calibration wizard. This
information cannot be changed without resetting the SmarTrax MD 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
◦ Track
◦ Rear Steered - Rear-steered machine
◦ Swather
• Control Device - Displays the steering control device (SmarTrax MD) selected during the calibration wizard.
This setting cannot be changed without resetting the SmarTrax system.
• Sensor Type - Displays the primary sensor type that is providing machine feedback (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 - Enter the measured fore/aft distance from the center of the wheel axle to the GPS antenna.
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 Steering - Restarts the machine’s steering calibration process. Refer to Calibrate the Machine’s Steering
System section on page 28 for information on completing the machine’s steering calibration.
• Reset SmarTrax - Resets the SmarTrax MD system to the default values. Resetting the SmarTrax MD system
calibration will delete all system settings and adjustments that have been performed. Before resetting the
system, write down the current system settings for future reference. Recalibrate the SmarTrax MD system after
it has been reset.
NOTE: If Reset SmarTrax is selected, the SmarTrax MD system must be recalibrated before the system can be
enabled. Refer to the Calibrate the SmarTrax MD System section on page 18 for information on
completing the SmarTrax MD system calibration.
DIAGNOSTICS TAB
• Left and Right Manual Steer - Used to manually test the SmarTrax MD 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 MD 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
MD 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 MD system to adjust the PWM 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 MD system will no longer automatically adjust the PWM
minimum values unless the Learning Mode function is enabled again.
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 MD by turning the steering wheel with minimal or moderate effort. Disengage sensitivity
requires minimal adjustment.
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
MD system at the steering wheel difficult or impossible.
• Target Current and Actual Current - Current readings performed on SmarTrax systems MD. 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.
• Current Compensation - This feature is not used in SmarTrax MD systems.
• Anti-Oscillation-Articulated Machines - This feature is not used in SmarTrax MD systems.
SENSOR STATUS
Zero Yaw
Button
• The Yaw Sensor Status area of the screen displays the yaw sensor diagnostic information:
◦ Yaw Rate - Yaw sense detected by the SmarTrax node.
◦ Zero Yaw Sensor - Displays the offset currently programmed into the system to compensate for
imperfections in Yaw Rate readings.
◦ Zero Yaw Button - Recalibrates the yaw sensor to zero. The machine must be at a full stop before
recalibrating the yaw sensor. The example above shows the Zero Yaw Sensor as already been recalibrated
to 0. During normal operation, the value will likely show a value other than 0.
• Forward and Downward - Indicate the orientation of the node programmed during calibration of the
SmarTrax MD system.
• 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. 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.
• 3D Compensation - Touch the 3D Compensation status button to toggle the 3D compensation features on or
off. When disabled, the SmarTrax MD 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 23 for the calibration procedure.
• 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 MD 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 MD 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 MD software version 7.6 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.
• Error Log - Displays the last ten errors or status messages that have appeared in the SmarTrax MD status area
of the Viper 4 and the time they occurred.
• Vehicle Database Version - The vehicle database version currently installed on the SmarTrax MD control node.
It contains the list of machine tune sets with their measurements.
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.
ROUTINE OPERATION
ENGAGE SMARTRAX
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.
NOTE: The operator liability waiver must be accepted before the SmarTrax MD system can be enabled for
operation.
SYSTEM SETTINGS
Average Suggested
System Setting Function
Setting Range
The LA Aggressiveness value affects how
Line Acquisition (LA) quickly the machine steers toward a displayed
10 4 to 16
Aggressiveness guidance line when it is traveling further than
24 inches [60 cm] from the desired path.
The OL Sensitivity value affects the response of
OnLine (OL) Sensitivity 10 4 to 20 the machine while steering within 24 inches [60
cm] of the displayed guidance line.
Average Acceptable
System Setting Function
Setting Range
Indicates amount error in the internal yaw
Zero Yaw 0 -2 to 2
sensor while no yaw motion is present.
Message Frequency - GGA Displays the frequency of GGA messages from
10 Hz 10 Hz
and VTG the GPS receiver.
Displays the frequency of GGA messages from
Message Frequency - ZDA .3 Hz .3 to 10 Hz
the GPS receiver.
HDOP 2.5 N/A Indicates the quality of the GPS signal.
OPERATION
4
INTRODUCTION
SOFTWARE COMPATIBILITY
The instructions in this manual apply to Viper Pro software version 3.9.0.8 or higher. The SmarTrax node software
version must be running software version 6.1.90 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.
For SmarTrax MD swather operation, the SmarTrax MD unit must be running software version 1.3.60 or higher with
the SmarTrax node MD software version 6.3.55 or higher. Together, these node software versions support SmarTrax
MD swather control.
The current status of the SmarTrax MD system can be determined by the message displayed in the SmarTrax MD
section of the Viper Pro screen
Display Message
Display Message
INITIAL STARTUP
NOTE: During the initial startup of the SmarTrax MD system, language data must be transferred from the
SmarTrax node to the Viper Pro. Allow the data transfer several minutes to occur before calibrating
the SmarTrax MD system.
The following Operator Liability Warning will be displayed on the Viper Pro screen when the SmarTrax MD system
is detected:
The operator must select OK before the SmarTrax MD system may be enabled or calibrated. The Liability Waiver
screen will appear each time the Viper Pro is turned on or rebooted.
GPS CONFIGURATION
1. From the Home screen, select Menu.
2. Select Setup.
3. Select Comm Port. The following screen will appear:
4. Adjust the GPS settings to match the settings shown in Figure 1 above.
4
5. Select OK.
MACHINE CONFIGURATION
CALIBRATION WARNING
NOTE: The screen above should only appear the first time SmarTrax MD 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.
3. Select one of the profile options from the bottom of the Machine Type list.
4. Select Next.
5. Select New, Load, or Reset.
• New creates a new machine profile. Once New is selected, the screen will return to the Machine Type list
to allow the operator to select the appropriate tune set and continue with the calibration process. Once
the calibration process is complete, the machine will be associated with the Profile number selected.
• Load allows the operator to select an existing profile. Load will not be displayed as an option until the
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 the machine calibration has been
performed and a new profile has been set up.
6. Select Next.
MACHINE-SPECIFIC CONFIGURATION
Before the SmarTrax MD system may be enabled, the Viper Pro and SmarTrax MD 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 MD system.
1. Touch the SmarTrax area on the main Viper Pro screen. The following screen will appear:
4
FIGURE 6. SmarTrax MD Warning Screen
NOTE: The screen above should only appear the first time SmarTrax MD is accessed or if default settings
have been restored. If this prompt reappears, contact your local Raven dealer for assistance.
2. Select Yes. The following screen will appear:
3. 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
• FS Tractor - Front-steered tractor
• Articulated
• Track
• Rear Steered - Rear-steered machine
• Swather
4. Select OK.
5. Select Next Item. The following screen will appear
NOTE: The steering control device may need to be selected manually (even if SmarTrax MD is displayed in
the Control Device field) before the system will proceed with the calibration process..
7. Select Next Item.
NODE ORIENTATION
6
5
4
4
NOTE: The SmarTrax node will calibrate the internal sensors automatically. The SmarTrax MD Setup Wizard
will automatically advance to the next step in the calibration process once the node calibration is
complete.
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 MD system.
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 setting in the Viper Pro is correct. The Wheel Base
value cannot be changed.
NOTICE
The Wheel Base, Antenna Position, and Antenna
Height values are critical to the operation of the
SmarTrax MD system. Measure these dimensions
accurately to ensure optimal SmarTrax MD
system performance!
1. To determine the machine’s wheel base, measure the distance from the center of the machine’s front axle to the
center of the rear axle.
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.
ANTENNA FORE/AFT
MEASUREMENT
ANTENNA
HEIGHT
MEASUREMENT
WHEEL BASE
MEASUREMENT
ANTENNA FORE/AFT
MEASUREMENT
ANTENNA
HEIGHT
MEASUREMENT
WHEEL BASE
MEASUREMENT
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
Recommended
ANTENNA FORE/AFT Antenna
MEASUREMENT Mounting
Location
ANTENNA
HEIGHT
MEASUREMENT
4
WHEEL BASE
MEASUREMENT
Wheel base measurement taken from pivot Wheel base measurement taken with wheels
point instead of the center of the front wheel. reversed and not in the straight line operation
position.
Units of
Measure
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 determine the Antenna Height, measure the from the ground to 4” above the base of the antenna.
4
9. Select Next. The following screen will appear:
10. Allow the system to detect the GPS installed in the system.
FIGURE 18. 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.
4. Select Next.
4
5. Select Start Calibration. The following screen will appear:
6. Turn the machine around 180° and park with the machine facing the opposite direction and the rear axle in
between the markers.
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.
IMPORTANT: The switch on the bottom of the mechanical drive must be turned on before calibrating the steering
system.
4
1. Review the on-screen instructions and turn the steering wheel to verify proper operation.
NOTE: The SmarTrax MD 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 6, Troubleshooting for
troubleshooting information. If the problem persists, contact your local Raven dealer for further
information.
2. Proceed to Engage Switch Calibration below to continue with the system calibration.
NOTE: The SmarTrax MD Setup Wizard will automatically advance to the next step in the calibration process
when the engage switch is detected.
1. While driving slowly, turn the steering wheel fully to the left wheel lock.
2. Select Left.
4
4. Select Right.
5. Select Next.
WARNING
The machine’s wheels will turn automatically. Be
sure the area around the vehicle is clear of
people and equipment before engaging the
steering system.
NOTICE
The 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.
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.
1. Position the machine in an open space with several acres of smooth ground available to perform the machine’s
steering calibration.
2. Press the foot/engage switch to begin calibration.
NOTE: During calibration, the machine will turn hard to the left and then to the right. Adjust the speed and
vehicle location as necessary.
If the wheels strike the stops at the end of travel or if a high degree of effort is required to turn the wheels during
4
calibration, steering may be disengaged. If steering becomes disengaged during calibration:
• Press Stop to cancel the calibration. Adjust the amount of effort required to disengage the steering system by
pressing the Adjust Switch button.
• Press Retry to return to the calibration process. Retry is most commonly used when the system is intentionally
disengaged to avoid obstacles.
NOTICE
The 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.
NOTE: The Line Acquire Aggressiveness and On-Line Sensitivity values may be adjusted to further tune the
system or to adjust for operating conditions. Refer to the Advanced Setup Tools section below for
further information on system adjustments.
NOTE: Refer to the Viper Pro Installation and Operation Manual (P/N 016-0171-122) for information on
starting a job.
2. With the engine running at the operating RPM, drive forward at a speed of 5-7 mph [8-11 km/h].
3. Enable SmarTrax MD by pressing the steering wheel icon on the Viper Pro display or by tapping the foot/
enable switch.
NOTE: When SmarTrax MD is enabled, the steering wheel icon will turn green.
4. Allow SmarTrax MD to run while driving back and forth along the A-B guidance line.
NOTE: If the machine is not operating to specifications, manual adjustment of the SmarTrax MD system may
be necessary. Refer to the Advanced Setup Tools section below information on adjusting the SmarTrax
MD system.
Advanced setup tools allow fine-turning of the system to adjust for operating conditions and improve steering
accuracy. To adjust the steering response on the Viper Pro, touch the SmarTrax area on the Viper Pro main menu.
The following screen will appear:
4
NOTE: The speed of the LA mode is often limited by the speed of the machine’s steering system. Increasing
the LA value at the maximum vehicle speed may degrade performance of the SmarTrax MD system.
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. If the machine drives past the line and has to drive
back to it, increase the LA Aggressiveness value one increment at a time, allowing SmarTrax MD 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.
The OL Sensitivity value affects the response of the machine while steering within 24 inches [60 cm] of 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
MD 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.
NOTE: To change the Machine Type, Control Device, or Wheel Base settings, the SmarTrax MD system must
be reset and recalibrated.
• 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 57 for information on completing the machine’s steering calibration.
• Reset STX - Resets the SmarTrax MD system to the default values.
IMPORTANT: If Reset STX is selected, the SmarTrax MD system must be recalibrated before the system can be enabled.
Refer to Calibrate the SmarTrax MD System section on page 47 for information on completing the
SmarTrax MD system calibration.
• Set - Displays the Sensor Status screen.
• The Yaw Sensor Status area of the screen displays the yaw sensor diagnostic information:
4
◦ Current Wheel Angle - An approximation of the machine’s wheel angle.
◦ Current Sensor Reading - The current value of the encoder.
◦ 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. The acceptable operating range for
the Yaw Zero measurement is -2.00 to 2.00. Readings outside this range indicate that a sensor within the
node is operating outside of specifications and that the node must be repaired.
◦ Encoder Cal - The ratio of the steering wheel movement to the machine’s wheel movement.
The System Diagnostics screen contains the PWM values and system input diagnostic tools.
• PWM Values - Displays SmarTrax MD 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 MD system unless a technician instructs you to modify the settings. Pressing Modify PWM Settings
displays the PWM Setup screen to allow manual adjustments to the PWM values.
◦ Auto or Manual - Toggles between automatic and manual control of the PWM values. 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 MD 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 MD to manual mode. Raven Industries does not advise leaving the system in auto mode is the
PWM minimum values may change unpredictably.
◦ Left and Right Manual Steer - Used to manually test the SmarTrax MD 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 - Displays the expected current level for the mechanical drive to turn the steering wheel.
◦ Actual Current - Displays the amount of current the system is using to steer the machine.
◦ Exit - Returns to the System Diagnostic screen.
NEED NEW
PERFORMANCE
STATISTICS
SCREEN?
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 non-RTK systems, the values are 2”, 4”, and
8”.
◦ Version Runtime - The runtime of the current SmarTrax node software version.
◦ Exit - Returns to the System Diagnostics screen.
• View Error Log - Displays the Error Log screen, which contains the last 10 errors that have appeared in the
SmarTrax MD status area of the Viper Pro and the time they occurred.
• Exit - Returns to the System Diagnostics screen.
The Advanced Setup screen contains advanced diagnostic information used to fine-tune the SmarTrax MD system
and improve steering accuracy.
• 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 MD will allow to run. Raising
this number may degrade system performance.
• GPS Baud - The rate the system uses to communicate with the GPS receiver. This value must match the value
of the GPS receiver installed in the system.
• Anti-Oscillation - 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 MD setup. Enabling this feature with any machine that is not
articulated may degrade the system performance.
• Service Page - Used only for software programming purposes and is not accessible without a code.
• Exit - Returns to the SmarTrax MD Controller screen.
The SmarTrax MD 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.
• 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.
• Forward and Downward - Indicate the orientation of the node programmed during calibration of the
SmarTrax MD system.
• Calibrate 3D - Used to calibrate the 3D terrain compensation feature. Refer to the Enhanced Tilt Calibration
section on page 52 for the calibration procedure.
• ACTIVE/BYPASSED - Used to toggle the 3D terrain compensation feature on and off.
ROUTINE OPERATION
ENGAGING SMARTRAX MD
The steering wheel icon in the lower right corner of the Viper Pro screen indicates whether the SmarTrax MD
system is engaged or disengaged. The steering wheel is green when the system is enabled and gray when it is not.
SmarTrax MD can be engaged in two ways:
• Via the Viper Pro by pressing the steering wheel icon in the lower right corner of the display.
• By tapping the foot/enable switch.
SYSTEM SETTINGS
Average Suggested
System Setting Function
Setting Range
The LA Aggressiveness value affects how
Line Acquisition (LA) quickly the machine steers toward a displayed
10 5 to 13
Aggressiveness guidance line when it is traveling further than
24 inches [60 cm] from the desired path.
The OL Sensitivity value affects the response of
OnLine (OL) Sensitivity 10 4 to 13 the machine while steering within 24 inches [60
cm] of the displayed guidance line.
Average Acceptable
System Setting Function
Setting Range
Indicates amount error in the internal yaw
Zero Yaw 0 -2 to 2
sensor while no yaw motion is present.
Message Frequency - GGA Displays the frequency of GGA messages from
10 Hz 10 Hz
and VTG the GPS receiver.
Average Acceptable
System Setting Function
Setting Range
.3 Hz to 10 Displays the frequency of GGA messages from
Message Frequency - ZDA .3 Hz
Hz the GPS receiver.
HDOP 2.5 N/A Indicates the quality of the GPS signal.
INTRODUCTION
SOFTWARE COMPATIBILITY
The instructions in this manual apply to Envizio Pro consoles with software version 3.6.0.27 or higher and
Cruizer II consoles with software version 3.1.2.29627 or higher. The SmarTrax node must be running software
version 6.1.90 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 software versions.
For SmarTrax MD swather operation, the SmarTrax node must be running software version 1.3.60 or higher with
the SmarTrax node software version 6.3.55 or higher. Together, these node software versions support SmarTrax MD
swather control.
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.
The current status of the SmarTrax MD system can be determined by the icons displayed on the field computer
screen.
Display Message
INITIAL STARTUP
NOTE: Press the down arrow until 115,200 is displayed, then tap it to highlight it in blue.
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. Failure to allow the data transfer to
complete may require a restart of the entire SmarTrax MD 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 typically takes around two minutes, but can take up to 20
minutes.
10. Proceed to SmarTrax MD Terms of Use section on page 74.
ENVIZIO PRO
DATA TRANSFER
During the initial startup of the SmarTrax MD system, language data must be transferred from the SmarTrax node
to the Envizio Pro. Allow the data transfer several minutes to occur before calibrating the SmarTrax MD system.
NOTE: The Rx and Tx lights on the SmarTrax node will flashing 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 MD
configuration screen while language data is transferring will open a message asking the user to try again later.
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 MD Terms of Use section on page 74.
5
GPS CONFIGURATION
1. Select the Tools Menu icon on the Envizio Pro Home screen.
NOTE: The operator must agree to the terms of use before the SmarTrax MD system may be enabled or
calibrated. The Liability Waiver screen will appear each time the field computer is turned on or
rebooted.
MACHINE CONFIGURATION
3. Select one of the profile options from the bottom of the Machine Type list.
4. Select Next.
5. Select New, Load, or Reset.
• New creates a new machine profile. Once New is selected, the screen will return to the Machine Type list
to allow the operator to select the appropriate tune set and continue with the calibration process. Once
the calibration process is complete, the machine will be associated with the Profile number selected.
• Load allows the operator to select an existing profile. Load will not be displayed as an option until the
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
5
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 the machine calibration has been
performed and a new profile has been set up.
6. Select Next.
MACHINE-SPECIFIC CONFIGURATION
Before the SmarTrax MD system may be enabled, the field computer and SmarTrax MD 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 MD system.
7. 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:
NOTE: Cruizer II only - If the Machine Type list is not populated fully or at all, press the Previous (left) arrow
to reload the screen.
• SP Sprayer RBoom - Self-propelled sprayer with a rear boom
• FS Tractor - Front-steered tractor
• Articulated
• Track
• Rear Steered - Rear-steered machine
• Swather
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.
8. Select Next.
NOTE: The steering control device selection screen will be displayed only when a SmarTrax node is detected
in the system.
9. Select SmarTrax MD in the Control Device drop-down field.
NODE ORIENTATION
6
5
5
3. Allow the SmarTrax node to calibrate the internal sensors.
NOTE: The SmarTrax MD Setup Wizard will automatically advance to the next step in the calibration process
once the node calibration is complete.
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 MD system.
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 setting in the field computer is correct. The Wheel
Base value cannot be changed.
NOTICE
The Wheel Base, Antenna Position, and Antenna
Height values are critical to the operation of the
SmarTrax MD system. Measure these dimensions
accurately to ensure optimal SmarTrax MD
system performance!
1. To determine the machine’s wheel base, measure the distance from the center of the machine’s front axle to the
center of the rear axle.
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.
ANTENNA FORE/AFT
MEASUREMENT
ANTENNA
HEIGHT
MEASUREMENT
WHEEL BASE
MEASUREMENT
ANTENNA FORE/AFT
MEASUREMENT
ANTENNA
HEIGHT
MEASUREMENT
WHEEL BASE
MEASUREMENT
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
Recommended
ANTENNA FORE/AFT Antenna
MEASUREMENT Mounting
Location
ANTENNA
HEIGHT
MEASUREMENT
WHEEL BASE
MEASUREMENT
5
Wheel base measurement taken from pivot Wheel base measurement taken with wheels
point instead of the center of the front wheel. reversed and not in the straight line operation
position.
Units of
Measure
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 determine the Antenna Height, measure the from the ground to 4” above the base of the antenna.
5
10. Allow the system to detect the GPS installed in the system.
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.
4. Select Next.
5
NOTE: The calibration may take a few minutes to complete.
6. Turn the machine around 180° and park with the machine facing the opposite direction and the rear axle in
between the markers.
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 black.
8. Select Next.
IMPORTANT: The switch on the bottom of the mechanical drive must be turned on before calibrating the steering
system.
1. Review the on-screen instructions and turn the steering wheel to verify proper operation.
NOTE: The SmarTrax MD 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 6, Troubleshooting for
troubleshooting information. If the problem persists, contact your local Raven dealer for further
information.
2. Proceed to the Engage Switch Calibration section below to continue with the SmarTrax MD system calibration.
5
1. Review the on-screen instructions.
2. Press and release the foot switch or engage switch.
NOTE: The SmarTrax MD Setup Wizard will automatically advance to the next step in the calibration process
when the engage switch it detected.
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. Turn the steering wheel fully to the right wheel lock.
4. Select the Set button displayed below the right wheel value.
5. Select Next.
WARNING
The machine’s wheels will turn automatically. Be
sure the area around the vehicle is clear of
people and equipment before engaging the
steering system.
NOTICE
The 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.
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.
5
1. Position the machine in an open space with several acres of smooth ground available to perform the machine’s
steering calibration.
2. Press the foot/engage switch to begin calibration.
NOTE: During calibration, the machine will turn hard to the left and then to the right. Adjust the speed and
vehicle location as necessary.
If the wheels strike the stops at the end of travel or if a high degree of effort is required to turn the wheels during
calibration, steering may be disengaged. If steering becomes disengaged during calibration:
• Press Stop to cancel the calibration. Adjust the amount of effort required to disengage the steering system by
pressing the up or down arrow button.
• Press Back to return to the calibration process. Retry is most commonly used when the system is intentionally
disengaged to avoid obstacles.
NOTICE
The 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.
NOTE: The Line Acquire Aggressiveness and On-Line Sensitivity values may be adjusted to further tune the
system or to adjust for operating conditions. Refer to the System Adjustments section below for
further information on system adjustments.
1. Start a job and set a straight A-B guidance line.
NOTE: Refer to the Envizio Pro Installation and Operation Manual (P/N 016-0171-148) or the Cruizer II
Operation Guide (P/N 016-0171-415) for information on starting a job.
2. With the engine running at the operating RPM, drive forward at a speed of 5-7 mph [8-11 km/h].
3. Enable SmarTrax MD by pressing the steering wheel icon on the display or by tapping the foot/enable switch.
NOTE: When SmarTrax MD is enabled, the steering wheel icon will turn green.
4. Allow SmarTrax MD to run while driving back and forth along the A-B guidance line.
NOTE: If the machine is not operating to the desired specification, it may be necessary to adjust the Line
Acquire Aggressiveness and On-Line Sensitivity values. Refer to the System Adjustments section
below information on adjusting the SmarTrax MD system.
START A JOB
5
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 instructions on starting a job and setting guidance lines.
SYSTEM ADJUSTMENTS
NOTE: The speed of the LA mode is often limited by the speed of the machine’s hydraulic and steering
system. Increasing the LA value at the maximum vehicle speed may degrade performance of the
SmarTrax MD system.
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. 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 MD 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.
Mode
Guidance
Line
NOTE: The screen in Figure 27 illustrates an example of a situation in which SmarTrax MD 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 while steering within 24 inches [60 cm] of 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
MD 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.
Guidance
Line
NOTE: The screen in Figure 33 illustrates an example of a situation in which SmarTrax MD 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.
5
NOTE: In Cruizer II software, the “3D Setup” option is displayed as “Terrain Comp”.
Sensor
Set Icon
NOTE: To change the Sensor Type, Machine Type, Control Device, or Wheel Base settings, the SmarTrax MD
system must be reset and recalibrated.
• 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 - Selecting the sensor set icon next to the sensor type setting displays the Sensor Status screen.
• The Yaw Sensor Setup screen displays the yaw sensor status information:
◦ Current Wheel Angle - An approximation of the machine’s wheel angle.
◦ Current Reading - The current value of the encoder.
◦ Zero Yaw Button - Recalibrates the yaw sensor to zero. The machine must be at a full stop before
recalibrating the yaw sensor.
◦ Encoder Cal - The ratio of the steering wheel movement to the machine’s wheel movement.
The SmarTrax MD 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.
5
• 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 traveling. 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 - Used to calibrate the enhanced tilt compensation feature. Refer to the Enhanced Tilt Calibration
section on page 82 for the calibration procedure.
NOTE: Select Accept to save changes to the 3D Terrain Compensation screen and return to the SmarTrax MD
Information screen. Select Exit to exit the 3D Terrain Compensation setup screen without saving any
changes and return to the SmarTrax MD Information screen.
The Advanced Setup screen contains advanced diagnostic information used to fine-tune the SmarTrax MD system
and improve steering accuracy.
• 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 MD will allow to run. Raising
this number may degrade system performance.
• GPS Baud - The rate the system uses to communicate with the GPS receiver. This value must match the value of
the GPS receiver installed in the system.
• Disengage Setting - Controls the amount of steering input required to disengage the SmarTrax MD 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 MD Controller screen.
• 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 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 MD setup. Enabling this feature with any machine that is not
articulated may degrade the system performance.
The System Diagnostics screen contains the PWM values and system input diagnostic tools.
5
• Average Speed - Average vehicle speed over the last hour while SmarTrax MD has been running.
• Average - Average distance from the desired guidance path or line during the last hour while SmarTrax MD
has been running.
• 1 Inch, 2 Inch, and 4 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 non-RTK systems, the values are 2”, 4”, and
8”.
• PWM Values - Displays SmarTrax MD 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
MD system unless a technician instructs you to modify the settings. Pressing Modify PWM Settings displays the
PWM Setup screen to allow manual adjustments to 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 values. 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 MD 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 MD to manual mode. Raven Industries does not advise leaving the system in auto mode is the
PWM minimum values may change unpredictably.
• Left and Right Manual Steer - Used to manually test the SmarTrax MD 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 - Displays the expected current level for the mechanical drive to turn the steering wheel.
• Actual Current - Actual Current displays the amount of current the system is using to steer the machine.
RESET DEFAULT
Selecting the Reset Defaults resets the SmarTrax MD system settings to the default values.
IMPORTANT: If Reset Defaults is selected, the SmarTrax MD system must be recalibrated before the system can be
enabled. Refer to Calibrate the SmarTrax MD System section on page 77 for information on completing
the SmarTrax MD system calibration.
RECALIBRATING HYDRAULICS
Selecting Recal Hydraulics restarts the machine’s steering calibration process. Refer to Calibrate the Machine’s
Steering System section on page 86 for information on completing the machine’s steering calibration.
ROUTINE OPERATION
ENGAGING SMARTRAX MD
The steering wheel icon in the lower right corner of the screen indicates whether the SmarTrax MD system is
engaged or disengaged. The icon is green when the system is enabled and white when it is not. SmarTrax MD can
be engaged in two ways:
• Via the field computer by pressing the steering wheel icon in the lower right corner of the display.
• By tapping the foot/enable switch.
SYSTEM SETTINGS
Average Suggested
System Setting Function
Setting Range
The LA Aggressiveness value affects how
Line Acquisition (LA) quickly the machine steers toward a displayed
10 5 to 13
Aggressiveness guidance line when it is traveling further than
24 inches [60 cm] from the desired path.
The OL Sensitivity value affects the response of
OnLine (OL) Sensitivity 10 4 to 13 the machine while steering within 24 inches [60
cm] of the displayed guidance line.
Average Acceptable
System Setting Function
Setting Range
Indicates amount error in the internal yaw
Zero Yaw 0 -2 to 2
sensor while no yaw motion is present.
Message Frequency - GGA Displays the frequency of GGA messages from
10 Hz 10 Hz
and VTG the GPS receiver.
.3 Hz to 10 Displays the frequency of GGA messages from
Message Frequency - ZDA .3 Hz
Hz the GPS receiver.
HDOP 2.5 N/A Indicates the quality of the GPS signal.
NODE
The SmarTrax MD CAN control node features several green light-emitting diodes (LEDs) which may be used to
diagnose issues within the SmarTrax MD 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.
ERROR MESSAGES
6
computer. “Internal via Tilt or SmarTrax” is
selected.
• Viper 4 - Ensure “SmarTrax GPS on
DGPS” is selected.
Calibrate the SmarTrax MD system using
No Cal SmarTrax MD has not been calibrated.
the calibration wizard.
Wait a few minutes to see if the GPS
The GPS receiver has not acquired differential is acquired.
No Diff differential.
Check the receiver differential settings.
Check the receiver settings. The
No GGA No GGA messages are being received.
recommended setting is 10Hz.
Verify the GPS receiver is properly
No GPS No GPS information is being received.
installed and configured.
SMARTRAX MD OPERATION
6
There is an active error in the
page 100 to troubleshoot the error
SmarTrax MD system.
message.
SmarTrax MD will not engage by The foot/enable switch cable is not Check the foot/enable switch cable
pressing the foot/enable switch. connected or is faulty. connection.
The operator presence switch or Check the operator presence
jumper plug is disconnected. switch connections.
The SmarTrax MD master switch is Manually toggle the master switch
in the “OFF” position. to the “ON” position.
There is no guidance line set. Set a new guidance line.
The diagrams contained in this chapter may be helpful when installing or troubleshooting the SmarTrax MD
system. Some of the diagrams may show optional features or components not required for SmarTrax MD
operation and may not necessarily apply to the SmarTrax MD 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
CERTIFICATION
8
TECHNICAL REPORT
No. 13-00314-CC-GBM
Extension 00
TECHNISCHER BERICHT
Nr. 13-00314-CC-GBM
Nachtrag 00
Prüfung gemäß Richtlinie des Rates der Europäischen Gemeinschaften zur Angleichung der
Rechtsvorschriften der Mitgliedstaaten über die
and / und
§ 38 StVZO
1. General /
Allgemeines:
1.1. The Technical Report includes the test of the system SmarTrax MD of the
manufacturer Raven Industries.
SmarTrax MD is a mechanical drive unit and together with the controller
SmarTrax MD Node and the monitor SmarTrax Cruiser II Control (opt.
monitor Envizio Pro or monitor Viper Pro) it is used for the GPS based
steering of vehicles.
The testing includes the check of the conformity with the directive
2009/66/EC as well as the § 38 StVZO.
Der Technische Bericht beinhaltet die Prüfung des Systems SmarTrax MD des
Herstellers Raven Industries.
SmarTrax MD ist eine mechanische Antriebseinheit zur GPS-basierten
Lenkung von Fahrzeugen in Verbindung mit dem Rechner SmarTrax MD Node
und dem Montior SmarTrax Cruiser II Control (ww. Monitor Envizio Pro oder Mo-
nitor Viper Pro).
Die Prüfungen umfassen die Überprüfung der Konformität mit der Richtlinie
2009/66/EC sowie mit § 38 StVZO.
3. Test basis /
Prüfgrundlage
The test vehicle has been tested based on the following directives /
Das Prüffahrzeug wurde nach den folgenden Richtlinien geprüft:
EC Directive / EG Richtlinie
4. Description of tests /
Beschreibung der Prüfung
1. The mechnical drive unit will be switched off with the master switch.
The controller SmarTrax MD Node and the monitor Cruizer II
Console are still active.
3. If the driver’s seat will be left (if a driver presence sensor is installed).
Wird das SmarTrax MD automatisch durch eine der oben genannten Ursachen
abgeschaltet ertönt einmalig ein Warnton und eine Fehlermeldung erscheint auf
dem Display.
5. Range of application /
Verwendungsbereich
Das GPS basierende Lenksystem SmarTrax MD ist zum Einbau in land- oder
forstwirtschaftliche Zugmaschinen sowie in land- oder forstwirtschaftliche selbst-
fahrende Arbeitsmaschinen vorgesehen.
6. Test results /
Prüfergebnisse
Based on the realized tests and after examination of the submitted docu-
ments it can be confirmed that there are no objections against the installa-
tion of the GPS based steering system (SmarTrax MD), if all requirements
of the manufacturer are fulfilled.
Ein Einfluß des SmarTrax MD auf das konventionelle Lenksystem besteht nicht.
Die Anforderungen der Richtlinie 2009/66/EG sowie des § 38 StVZO werden
eingehalten.
7. Test Basis /
Prüfgrundlagen
8. Safety Notes /
Sicherheitshinweise
1. Das System SmarTrax MD ist nach dem Einbau durch einen amtlich aner-
kannten Sachverständigen für den Kraftfahrzeugverkehr insbesondere
hinsichtlich der folgenden Sachverhalte zu prüfen:
9. Final remark /
Schlußbemerkung
Test Laboratory
TÜV SÜD Automotive GmbH
Westendstraße 199, 80686 München
KBA-P-00001-95
accredited by accreditation authority of Kraftfahrt-Bundesamt,
Federal Republic of Germany
Prüflaboratorium
TÜV SÜD Automotive GmbH
Westendstraße 199, 80686 München
KBA-P-00001-95
akkreditiert von der Akkreditierungsstelle des Kraftfahrt-Bundesamtes,
Bundesrepublik Deutschland
München, 10.10.2013
Officially recognized expert Place and Date /
Amtlich anerkannter Sachverständiger Ort und Datum
Dipl.- Ing. (FH) H. Lechner
E S
Envizio Pro & Cruizer II 71 Software Updates 6
Advanced Setup and Diagnostics 91 Mechanical Drive 6
Advanced Setup Screen 94 Node 6
Enhanced Tilt Calibration Setup Screen 93 System Diagrams 107
Recalibrating Hydraulics 97
Resetting Defaults 97
SmarTrax MD Information Screen 92
System Diagnostics Screen 95 T
Calibrating the Machine’s Steering System 86 Troubleshooting
Calibrating the SmarTrax MD System 77 Error Messages 100
Configuring Wheel Base and Antenna Offsets 77 Mechanical Drive Diagnostics 100
Engage Switch Calibration and Node
Orientation 85
Enhanced Tilt Calibration 82
Node Orientation 77 V
Steering Switch Calibration 84
Wheel Angle Sensor (SPS) Calibration 86 Viper 4 9
Advanced Setup Tools 31
Completing the SmarTrax MD Calibration Process 88 Diagnostics Tab 33
Initial Startup 72 Error Log Tab 37
Cruizer II (If Applicable) 72
GPS Setup Tab 36
Envizio Pro 73
Reset Calibration 37
Data Transfer 73 Sensor Status 34
GPS Configuration 73 SmarTrax 3D Compensation Tab 35
Machine Configuration 74 System Information Tab 31
Machine-Specific Configuration 75 Calibrating the Machine’s Steering System 28
Calibrating the SmarTrax MD System 18
Set Up Machine Profile(s) - Node Orientation 19
Optional 74 Calibrating the SmarTrax System
SmarTrax MD Terms of Use 74 Configuring Wheel Base and Antenna Offsets 19
Introduction 71 Engage Switch 27
SmarTrax MD Status Display 71 Enhanced Tilt Calibration 23
Software Compatibility 71 Wheel Angle Sensor (WAS) Calibration 27
Routine Operation 98 Initial Startup 10
Engaging SmarTrax MD 98 Data Transfer 10
System Settings 98 GPS Configuration 10, 16
Starting a Job 89 External 600S GPS Receiver 12
System Adjustments 89
Line Acquisition Mode and Aggressiveness 89
External GPS Receiver 14
On-Line Mode and Sensitivity 90 Internal GPS Receiver 10
Machine Configuration 16
Machine-Specific Configuration 17
I Setup Machine
Optional 16
Profile(s) -
Important Safety Information SmarTrax MD Terms of Use 16
Electrical Safety
Routine Operation 38
General 1
Engage SmarTrax 38
Instructions for Wire Routing 2
Updating the Mechanical Drive 6, 39
Introduction 5 Updating the Node 6
Installation 6
Recommendations 6 Starting a Job 29
System Adjustments 29
Point of Reference 6
Line Acquisition (LA) Mode and
SmarTrax MD Part Identification 5
Aggressiveness 30
Updates 6
On-Line (OL) Mode and Senstivity 31
Updating the Mechanical Drive 6
Updating the Node 6 Widget and Button Definitions 9
Viper Pro 41
Advanced Setup Tools 60
Adv Setup Screen 66
Damages caused by normal wear and tear, misuse, abuse, neglect, accident,
or improper installation and maintenance are not covered by this warranty.