Raven AutoBoom XRT User manual

AGCO RoGator C AutoBoom®
XRT Installation Manual
P/N 016-0237-001 Rev. A 02/19 E32251
Copyright 2019

016-0171-686 Rev. A 8/18 E31924
We Solve Great Challenges.
DISCLAIMER
While every effort has been made to ensure the accuracy of this document, Raven Industries assumes no
responsibility for omissions and errors. Nor is any liability assumed for damages resulting from the use of
information contained herein.
Raven Industries shall not be responsible or liable for incidental or consequential damages or a loss of anticipated
benefits or profits, work stoppage or loss, or impairment of data arising out of the use, or inability to use, this
system or any of its components. Raven Industries shall not be held responsible for any modifications or repairs
made outside our facilities, nor damages resulting from inadequate maintenance of this system.
As with all wireless and satellite signals, several factors may affect the availability and accuracy of wireless and
satellite navigation and correction services (e.g. GPS, GNSS, SBAS, etc.). Therefore, Raven Industries cannot
guarantee the accuracy, integrity, continuity, or availability of these services and cannot guarantee the ability to
use Raven systems, or products used as components of systems, which rely upon the reception of these signals or
availability of these services. Raven Industries accepts no responsibility for the use of any of these signals or
services for other than the stated purpose.

Table of Contents
P/N 016-0237-001 Rev. A i
Chapter 1 Important Safety Information............................................................................. 1
Instructions for Hose Routing .................................................................................................... 2
Instructions for Wire Routing ..................................................................................................... 3
Chapter 2 Introduction............................................................................................................. 5
Introduction ............................................................................................................................... 5
Preparing for Installation ........................................................................................................... 5
Recommendations .................................................................................................................................................................5
Tools Needed ...........................................................................................................................................................................6
Point of Reference .................................................................................................................................................................6
Installation Overview ................................................................................................................. 6
Hydraulic Fittings ....................................................................................................................... 7
Updates ..................................................................................................................................... 7
Kit Contents ............................................................................................................................... 8
Chapter 3 Hydraulic System Installation............................................................................ 11
Mount the AutoBoom Valve .....................................................................................................12
Adjusting Installed Autoboom Valve ...........................................................................................................................12
Installation for Machines with Existing Hydraulic Valve .......................................................................................13
Damper Installation .................................................................................................................14
Large Tree ...............................................................................................................................................................................14
Small Tree ...............................................................................................................................................................................16
Chapter 4 Sensor Installation................................................................................................ 19
Mount the Boom Sensors ........................................................................................................19
Boom Sensor Mounting Locations ...............................................................................................................................19
Mount the Boom Sensors ................................................................................................................................................19
Mount the Center Sensor .................................................................................................................................................21
Center Rack Installation for Large Tree ..................................................................................21
Sensor Assembly ..................................................................................................................................................................21
Rotary Sensor Installation ................................................................................................................................................23
Center Rack Position Sensor Installation ....................................................................................................................24
Center Rack Installation Small Tree ........................................................................................25
Sensor Assembly ..................................................................................................................................................................25
Rotary Sensor Installation ................................................................................................................................................26
Center Rack Position Installation ...................................................................................................................................28
Chapter 5 Wiring Installation................................................................................................ 31
Autoboom ABM Node Installation ...........................................................................................31
REM Installation ......................................................................................................................32
Electrical Diagrams .................................................................................................................33
Connect the ABM/REM Harness .............................................................................................34

Table of Contents
ii AGCO RoGator C AutoBoom® XRT Installation Manual
Connect the Harness to the Sensors ......................................................................................36
Appendix A Kits Lists................................................................................... 37
XRT Kits ..................................................................................................................................37

CHAPTER
1
P/N 016-0237-001 Rev. A 1
CHAPTER 1 IMPORTANT SAFETY
INFORMATION
Read this manual and the operation and safety instructions included with your implement and/or controller
carefully before installing the 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 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 installation, observe the following safety measures:
• Be alert and aware of surroundings.
• Do not operate 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 the system
engaged.
• Disable the system when exiting from the operator’s seat and machine.
• Do not drive the machine with AutoBoom enabled on any public road.
• Determine and remain a safe working distance from other individuals. The operator is responsible for disabling
AutoBoom when the safe working distance has diminished.
• Ensure AutoBoom is disabled prior to starting any maintenance work on AutoBoom or the machine.
• When starting the machine for the first time after installing AutoBoom, be sure that all persons stand clear in
case a hose has not been properly tightened.
• The machine must remain stationary and switched off, with the booms unfolded and supported, during
installation or maintenance.
NOTICE
WARNING
CAUTION

CHAPTER 1
2AGCO RoGator C AutoBoom® XRT Installation Manual
INSTRUCTIONS FOR HOSE ROUTING
The word “hose” is used to mean all flexible fluid carrying components. Follow existing hoses as much as possible
and use these guidelines:
Hoses should not contact or be attached to:
• Components with high vibration forces
• Components carrying hot fluids beyond component specifications
Avoid contact with any sharp edge or abrading surfaces such as, but not limited to:
• Sheared or flame cut edges
• Edges of machined surfaces
• Fastener threads or cap screw heads
• Ends of adjustable hose clamps
Routing should not allow hoses to:
• Hang below the unit
• Have the potential to become damaged due to exposure to the exterior environment. (i.e. tree limbs, debris,
attachments)
• Be placed in areas of or in contact with machine components which develop temperatures higher than the
temperature rating of hose components
• Hoses should be protected or shielded if it needs to route near hot temperatures beyond hose component
specifications
Hoses should not have sharp bends
Allow sufficient clearance from machine component operational zones such as:
• Drive shafts, universal joints and hitches (i.e. 3-point hitch)
• Pulleys, gears, sprockets
• Deflection and backlash of belts and chains
• Adjustment zones of adjustable brackets
• Changes of position in steering and suspension systems
• Moving linkages, cylinders, articulation joints, attachments
• Ground engaging components
For hose sections that move during machine operation:
• Allow sufficient length for free movement without interference to prevent: pulling, pinching, catching or
rubbing, especially in articulation and pivot points
• Clamp hoses securely to force controlled movement to occur in the desired hose section
• Avoid sharp twisting or flexing of hoses in short distances
Protect hoses from:
• Foreign objects such as rocks that may fall or be thrown by the unit
• Buildup of dirt, mud, snow, ice, submersion in water and oil
• Tree limbs, brush and debris
• Damage where service personnel or operators might step or use as a grab bar
• Damage when passing through metal structures

P/N 016-0237-001 Rev. A 3
IMPORTANT SAFETY INFORMATION
1
• High pressure wash
INSTRUCTIONS FOR WIRE ROUTING
The word “harness” is used to mean all electrical leads and cables, bundled and unbundled. When installing
harness, secure it at least every 30 cm (12in) to the frame. Follow existing harness as much as possible and use
these guidelines:
Harness should not contact or be attached to:
• Lines and hoses with high vibration forces or pressure spikes
• Lines and hoses carrying hot fluids beyond harness component specifications
Avoid contact with any sharp edge or abrading surfaces such as, but not limited to:
• Sheared or flame cut edges
• Edges of machined surfaces
• Fastener threads or cap screw heads
• Ends of adjustable hose clamps
• Wire exiting conduit without protection, either ends or side of conduit
• Hose and tube fittings
Routing should not allow harnesses to:
•Hang below the unit
• Have the potential to become damaged due to exposure to the exterior environment. (i.e. tree limbs, debris,
attachments)
• Be placed in areas of or in contact with machine components which develop temperatures higher than the
temperature rating of harness components
• Wiring should be protected or shielded if it needs to route near hot temperatures beyond harness component
specifications
Harnessing should not have sharp bends
Allow sufficient clearance from machine component operational zones such as:
• Drive shafts, universal joints and hitches (i.e. 3-point hitch)
• Pulleys, gears, sprockets
• Deflection and backlash of belts and chains
• Adjustment zones of adjustable brackets
• Changes of position in steering and suspension systems
• Moving linkages, cylinders, articulation joints, attachments
• Ground engaging components
For harness sections that move during machine operation:
• Allow sufficient length for free movement without interference to prevent: pulling, pinching, catching or
rubbing, especially in articulation and pivot points
• Clamp harnesses securely to force controlled movement to occur in the desired harness section
• Avoid sharp twisting or flexing of harnesses in short distances
• Connectors and splices should not be located in harness sections that move

CHAPTER 1
4AGCO RoGator C AutoBoom® XRT Installation Manual
Protect harnesses from:
• Foreign objects such as rocks that may fall or be thrown by the unit
• Buildup of dirt, mud, snow, ice, submersion in water and oil
• Tree limbs, brush and debris
• Damage where service personnel or operators might step or use as a grab bar
• Damage when passing through metal structures
IMPORTANT: Avoid directly spraying electrical components and connections with high pressure water. High pressure
water sprays can penetrate seals and cause electrical components to corrode or otherwise become
damaged. When performing maintenance:
•Inspect all electrical components and connections for damage or corrosion. Repair or replace
components, connections, or cable as necessary.
•Ensure connections are clean, dry, and not damaged. Repair or replace components, connections,
or cable as necessary.
•Clean components or connections using low pressure water, pressurized air, or an aerosol electrical
component cleaning agent.
•Remove visible surface water from components, connections, or seals using pressurized air or an
aerosol electrical component cleaning agent. allow components to dry completely before
reconnecting cables.

CHAPTER
2
P/N 016-0237-001 Rev. A 5
CHAPTER 2 INTRODUCTION
INTRODUCTION
The AutoBoom XRT system is designed to provide automated boom height adjustment for agricultural equipment.
This manual applies to the following machines.
MAKE: RoGator
MODEL: 900C, 1100C, 1300C
YEAR: All
FIGURE 1. RoGator C
PREPARING FOR INSTALLATION
Before installing AutoBoom XRT, park the machine where the ground is level, clean, and dry. Leave the machine
turned off during the installation process.
Always follow good safety practices.
Carefully read the instructions in this manual as you complete the installation process.
RECOMMENDATIONS
Raven Industries recommends the following before installing or operating the AutoBoom XRT system for the first
time, at the start of the season, or when moving the AutoBoom XRT system to another machine:

CHAPTER 2
6AGCO RoGator C AutoBoom® XRT Installation Manual
• Ensure the machine’s hydraulic filters have been recently changed and there are no issues with the machine’s
hydraulic system (e.g., pump issues, faulty hydraulic motors, fine metal deposits in the hydraulic hoses, etc.).
• Operate each of the machine’s boom hydraulic functions (i.e., tilt, fold, center rack, tongue extension, or other
hydraulic valve functions) three times to ensure the machine’s hydraulic valve is using fresh oil and debris is
flushed from the hydraulic hoses, valves, and filters.
• Upon installation of the AutoBoom XRT system, operate the boom and center rack raise/lower functions
through the machine’s manual control functions first before operating them via the AutoBoom XRT controller/
field computer to ensure the hydraulic system has been installed correctly and air is released from the system.
Raven Industries recommends the following when installing the AutoBoom XRT system.
• Use part numbers to identify the parts.
• Do not remove the plastic wrap from a part until it is necessary for installation.
• Do not remove plastic caps from a part until it is necessary for installation.
TOOLS NEEDED
The following tools are recommended for installation of the AutoBoom XRT system:
• Standard-sized wrenches
• Cable ties
•Set of tools
POINT OF REFERENCE
The instructions in this manual assume that you are standing behind the machine, looking toward the cab.
INSTALLATION OVERVIEW
The image below shows approximate installation locations for the sensor and nodes. Depending on machine
configuration and desired performance some of the sensors and dampers may not be installed.
FIGURE 2. Example Component Locations
For additional information on the component installation, refer to the:
• rotary sensor installation instructions in “Center Rack Installation for Large Tree” on page 21.
Outer
Sensor
Outer
Sensor
Inner
Sensor
Inner
Sensor
Center
Sensor
Rotary Sensor and
Variable Damper REM and ABM Node (Near
Machine’s Electrical Box)
Variable Damper

2
P/N 016-0237-001 Rev. A 7
INTRODUCTION
• variable damper installation instructions in “Damper Installation” on page 14.
• REM node installation instructions in “Mount the AutoBoom XRT Valve” on page 16.
• ABM node installation instructions in “Autoboom ABM Node Installation” on page 31.
• tilt sensor installation instructions in “Mount the Boom Sensors” on page 19.
• outer sensor installation information in “Mount the Boom Sensors” on page 19.
• inner sensor installation information in “Mount the Boom Sensors” on page 19.
• center sensor installation instructions in “Mount the Center Sensor” on page 21.
HYDRAULIC FITTINGS
This manual may reference the following types of hydraulic fittings:
• SAE O-ring fittings
• ORFS (O-Ring Face Seal) fittings
• JIC fittings
UPDATES
Software and manual updates are available on the Raven Applied Tech no logy web site:
https://ravenprecision.com
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.
To serve you best, please send an email with the following information to
[e-mail]
-AGCO RoGator C AutoBoom® XRT Installation Manual
-P/N 016-0237-001 Rev. A
-Any comments or feedback (include chapter or page numbers if applicable).
-Let us know how long have you been using this or other Raven products.
We will not share your email or any information you provide with anyone else. Your feedback is
valued and extremely important to us.
Thank you for your time.
SAE O-Ring Fittings ORFS Fittings JIC Fitting

CHAPTER 2
8AGCO RoGator C AutoBoom® XRT Installation Manual
KIT CONTENTS
This section contains a list of kits available depending on machine features. For a full list of kit contents, refer to the
specific kits numbers listed in “Kits Lists” on page 37.
TABLE 1. Rogator C XRT Kits
Model Year Model Series
Boom
Material and
Length
Tree Hydraulics Kit Numbers
2017-2019 AGCO
Rogator C Steel 90’/100’ Large Yes 117-0237-040
2017-2019 AGCO
Rogator C Steel 90’/100’ Small Yes 117-0237-041
2017-2019 AGCO
Rogator C Steel 120’ Large Yes 117-0237-042
2017-2019 AGCO
Rogator CAluminum 120’/132’ Large Yes 117-0237-043
2017-2019 AGCO
Rogator CAluminum 120’/132’ Small Yes 117-0237-044
2017-2019 AGCO
Rogator C Steel 90’/100’ Large No 117-0237-045
2017-2019 AGCO
Rogator C Steel 90’/100’ Small No 117-0237-046
2017-2019 AGCO
Rogator C Steel 120’ Large No 117-0237-047
2017-2019 AGCO
Rogator CAluminum 120’/132’ Large No 117-0237-048
2017-2019 AGCO
Rogator CAluminum 120’/132’ Small No 117-0237-049

2
P/N 016-0237-001 Rev. A 9
INTRODUCTION

CHAPTER 2
10 AGCO RoGator C AutoBoom® XRT Installation Manual

CHAPTER
3
P/N 016-0237-001 Rev. A 11
CHAPTER 3 HYDRAULIC SYSTEM
INSTALLATION
WARNING
The machine must remain stationary and
switched off, with the booms unfolded and
supported, during installation or maintenance.
CAUTION
When installing hydraulics or performing
diagnostics, maintenance, or routine service,
ensure precautions are taken to prevent any
foreign material from being introduced into the
machine’s hydraulic system.
Objects or materials that are able to bypass the
machine’s hydraulic filtration system will reduce
performance and possibly cause damage to the
hydraulic valve.
NOTICE
The appearance of the hydraulic valve may vary
slightly from the images contained in this
manual. However, the fittings, hose connections,
and cable connections remain the same.

CHAPTER 3
12 AGCO RoGator C AutoBoom® XRT Installation Manual
MOUNT THE AUTOBOOM VALVE
ADJUSTING INSTALLED AUTOBOOM VALVE
FIGURE 1. Machine’s Hydraulic Valve Before AutoBoom Installation
1. Strip the factory paint from the top of the machine’s hydraulic valve using a chemical approved for paint
removal.
IMPORTANT: Do not scrape the paint from the machine’s hydraulic valve. Scraping the paint may cause damage to the
valve.
2. Remove the hydraulic test port fitting and Allen plugs from the machine’s hydraulic valve.
NOTE: The test port fitting will be installed on the AutoBoom hydraulic valve later in the procedure. Protect
the test port fitting from dust and debris to avoid contamination of the hydraulic system.
3. Clean the remaining paint from the machine’s hydraulic valve, taking care to prevent paint chips from entering
the open hydraulic ports.
Before After
Strip this
Surface
Allen
Plugs
Hydraulic
Test Port
Fitting

P/N 016-0237-001 Rev. A 13
HYDRAULIC SYSTEM INSTALLATION
FIGURE 2. O-Rings Installed on the Machine’s Hydraulic Valve
4. Install 9/16” ID Buna-N O-rings (P/N 219-0001-015) in the open ports of the machine’s hydraulic valve.
NOTE: Use grease or petroleum jelly to hold the O-rings in place during the Autoboom valve installation,
taking care to avoid contamination of the inside of the open ports.
5. Blow the hydraulic port threads of any excess oil.
6. Clean excess oil, grease, and debris from the top of the machine’s hydraulic valve.
7. Clean excess hydraulic fluid from the AutoBoom valve (P/N 334-0235-004).
8. Install the supplied hex bolts in the AutoBoom valve, placing the shorter bolt in the cut-out section of the
AutoBoom valve.
FIGURE 3. Hydraulic Valve without Needle Valves
INSTALLATION FOR MACHINES WITH EXISTING HYDRAULIC VALVE
On machines with existing AutoBoom valves, back the existing needle valves out completely then tighten the jam
nut.

CHAPTER 3
14 AGCO RoGator C AutoBoom® XRT Installation Manual
FIGURE 4. AutoBoom Valve Mounted to the Machine’s Hydraulic Valve
9. Carefully place the AutoBoom valve on the machine’s hydraulic valve, positioning it so that the cut-out section
faces the accumulator.
10. Alternately tighten each bolt a small amount to a maximum of 15-20 ft. lbs. per bolt.
11. Install the hydraulic test fitting in Port GP of the AutoBoom valve.
DAMPER INSTALLATION
LARGE TREE
1. Unfold the booms and remove the rubber bumpers that limit center rack rotation.
2. Identify the damper installation location.
FIGURE 5. Damper Installation Location (Booms Unfolded)
Needle
Valves
Damper
Installation
Location

P/N 016-0237-001 Rev. A 15
HYDRAULIC SYSTEM INSTALLATION
3. Loosen nuts on the threaded rod holding the spring to remove as much tension as possible.
4. Remove the 3/4”-10 bolt and nut holding the threaded rod and spring and remove from the machine.
FIGURE 6. Detailed Damper Installation Location
5. Install the damper mounting bracket in the location where the 3/4”-10 bolt was removed.
6. Reinstall the 3/4”-10 bolt and nut with the bolt head facing the front of the machine.
NOTE: It may be necessary to rotate the boom to ease mounting location access.
7. Install the threaded rod and spring back onto the center rack using the removed hardware. Do not tighten the
spring.
NOTE: It will be necessary to compress the dampers to fit into the spacing. To do this:
•connect two ends of a ratchet strap to each other.
•place the ratchet strap around the damper like a belt.
•tighten the ratchet strap until the damper is the desired length.
8. With the rod end of the damper at the bottom, use the provided shorter 5/8” clevis pins and spacers to install
the damper in the bottom holes on each bracket.
Threaded Rod
New Bolt
Existing Bolt

CHAPTER 3
16 AGCO RoGator C AutoBoom® XRT Installation Manual
FIGURE 7. Spacer Installation on Damper
9. Use the provided longer 5/8” clevis pin and R-clip to install the base end of the damper in the hole in the upper
bracket.
NOTE: The rack may need to be rotated to ease placing pins in the access holes.
10. Reinstall the rubber bumpers on the center rack.
NOTE: If the bumper measures 1-3/4”, install two 3” fender washers onto the back of the bumper and use the
provided countersunk bolt to secure in place.
FIGURE 8. Installed Dampers
SMALL TREE
1. Unfold the booms.
Spacer
Clevis Pin Damper
Damper
Damper
Mounting
Bracket
Existing
Hole
Insert Bolt
so the Head
Faces the
Front of
Machine