Raven Case IH AutoBoom XRT Use and care manual

Copyright 2020, 2021
Case IH AutoBoom XRT
Calibration & Operation
Manual
016-0235-002 Rev. B 12/2021 E40048

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
016-0235-002 Rev. B i
Chapter 1 Important Information.......................................................................................... 1
Safety ...............................................................................................................................................................................1
Displays and Control Consoles .......................................................................................................................1
Hydraulic Safety ....................................................................................................................................................2
Electrical safety .....................................................................................................................................................2
Touch Screen ..........................................................................................................................................................2
Recommendations and Best Practices ................................................................................................................3
Hose Routing .........................................................................................................................................................3
Chapter 2 Introduction............................................................................................................. 5
Installation ......................................................................................................................................................................5
Recommendations ...............................................................................................................................................5
Point of Reference .......................................................................................................................................................5
Updates ...........................................................................................................................................................................6
Chapter 3 AutoBoom XRT Home Screen and Operation................................................. 7
UT Operation .................................................................................................................................................................7
Home Screen .................................................................................................................................................................8
XRT Home Screen Operation ..................................................................................................................................8
Master Switch ........................................................................................................................................................9
Sensitivity Settings ..............................................................................................................................................9
Target Height Settings .......................................................................................................................................9
Height Sensory Sensitivity .............................................................................................................................10
Target Type ..........................................................................................................................................................10
Manual/Auto ........................................................................................................................................................11
Sensor Reading ...................................................................................................................................................11
AutoBoom XRT Operation on Raven Operating Software (ROS) ...........................................................12
Run Screen Operation .....................................................................................................................................12
AutoFold Operation .................................................................................................................................................13
AutoFold Out to Spray Position ..................................................................................................................13
AutoFold In to Transport Position ..............................................................................................................13
Chapter 4 Calibration.............................................................................................................. 15
First Time Configuration ........................................................................................................................................15
Chapter 5 Settings................................................................................................................... 23
Machine Settings ......................................................................................................................................................23
Boom Configurations ......................................................................................................................................24
Display Configuration .....................................................................................................................................24
Height Sensor Configuration .......................................................................................................................26
REM Updates ......................................................................................................................................................27
Presets Configurations ....................................................................................................................................28
Boom Tuning ......................................................................................................................................................29
Fold Tuning .........................................................................................................................................................30
Calibrations .........................................................................................................................................................30

Table of Contents
ii Case IH AutoBoom XRT Calibration & Operation Manual
Alarm Settings ............................................................................................................................................................40
Feature Unlock Codes .............................................................................................................................................41
Chapter 6 AutoBoom XRT Advanced Tuning ................................................................... 43
Preparation ..................................................................................................................................................................43
Sensor Dimensions ............................................................................................................................................43
Boom Angle Sensor ..........................................................................................................................................43
Hydraulic Oil ........................................................................................................................................................43
Base Control Effort Calibration .....................................................................................................................43
Target Control Effort Test .......................................................................................................................................43
Boom Speed to Control Effort Scale ..................................................................................................................44
Down Speed Ratio ....................................................................................................................................................45
Boom Gains .................................................................................................................................................................47
Proportional Gain ..............................................................................................................................................47
Integral Gain ........................................................................................................................................................47
Derivative Gain ....................................................................................................................................................47
System Gain .........................................................................................................................................................47
Chapter 7 Diagnostics and Troubleshooting.................................................................... 49
System Information ..................................................................................................................................................49
Boom Outputs ....................................................................................................................................................49
Fold Outputs ........................................................................................................................................................50
Boom Readings ..................................................................................................................................................50
CAN Bus Information .......................................................................................................................................51
Fold Controls .......................................................................................................................................................51
Fold Sensor Readings .......................................................................................................................................52
Hardware/Software (ABM) .............................................................................................................................52
Height Sensor Readings ..................................................................................................................................53
Machine Readings .............................................................................................................................................53
System Hours ......................................................................................................................................................54
System Voltages .................................................................................................................................................54
Variable Damper Outputs ...............................................................................................................................55
Tests ................................................................................................................................................................................55
Target Control Effort Test ................................................................................................................................55
Target Velocity Test ...........................................................................................................................................56
Target Position Test ...........................................................................................................................................56
Target Height Test ..............................................................................................................................................57
Terrain Compensation Test .............................................................................................................................57
Manual Valve Control Test ..............................................................................................................................58
Variable Damper Test .......................................................................................................................................58
Diagnostic Trouble Codes (DTCs) ........................................................................................................................59
DTC List ..................................................................................................................................................................60
Radar LED Codes .......................................................................................................................................................63
REM LED Codes ..........................................................................................................................................................64
System Summary .......................................................................................................................................................64
Totals ..............................................................................................................................................................................65

CHAPTER
1
Important Information: 1
CHAPTER 1 IMPORTANT INFORMATION
SAFETY
Follow the operation and safety instructions included with the implement and/or controller and read this manual
carefully before installing or operating this Raven system.
• Follow all safety information presented within this manual. Review implement operation with your local dealer.
• Contact a local Raven dealer for assistance with any portion of the installation, service, or operation of Raven
equipment.
• Follow all safety labels affixed to system components. Be sure to keep safety labels in good condition and
replace any missing or damaged labels. Contact a local Raven dealer to obtain replacements for safety labels.
Observe the following safety measures when operating the implement after installing this Raven system:
• Do not operate this Raven system or any agricultural equipment while under the influence of alcohol or an
illegal substance.
• Be alert and aware of surroundings and remain in the operator seat at all times when operating this Raven
system. •Do not operate the implement on any public road with this Raven system enabled.
•Disable this Raven system before exiting the operator seat.
•Determine and remain a safe working distance from obstacles and bystanders. The operator is
responsible for disabling the system when a safe working distance has diminished.
•Disable this Raven system prior to starting any maintenance work on the implement or components
of this Raven system.
• Do not attempt to modify or lengthen any of the system control cables. Extension cables are available from a
local Raven dealer.
DISPLAYS AND CONTROL CONSOLES
• If the display will not be used for an extended period, it is best to remove the display from the machine and
store it in a climate controlled environment. This may help to extend the service life of electronic components.
• To prevent theft, secure the display and GPS antenna when leaving the machine unattended.
NOTICE
WARNING

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2 Case IH AutoBoom XRT Calibration & Operation Manual
HYDRAULIC SAFETY
When installing or servicing a hydraulic system or hydraulic components, be aware that hydraulic fluid may be
extremely hot and under high pressure. Caution must be exercised.
• Always wear appropriate personal protective equipment when installing or servicing hydraulic systems.
• Never attempt to open or work on a hydraulic system with the implement running.
• Any work performed on the hydraulic system must be done in accordance with the machine manufacturer’s
approved maintenance instructions.
• Care should always be taken when servicing or opening a system that has been pressurized.
• The implement or machine must remain stationary and switched off with booms or implement sections
unfolded and supported during installation or maintenance.
• Take precautions to prevent foreign material or contaminants from being introduced into the implement
hydraulic system. Contaminants that are able to bypass the hydraulic filtration system will reduce performance
and may damage hydraulic components.
• Stand clear of the implement when starting the system for the first time after installing or servicing hydraulic
components in case a hose has not been properly connected or tightened.
ELECTRICAL SAFETY
• Always verify that power leads are connected to the correct polarity as marked. Reversing the power leads
could cause severe damage to the Raven system or other components.
• To prevent personal injury or fire, replace defective or blown fuses with only fuses of the same type and
amperage.
• Do not connect the power leads to the battery until all system components are mounted and all electrical
connections are completed.
• Always start the machine before initializing this Raven system to prevent power surges or peak voltage.
• To avoid tripping and entanglement hazards, route cables and harnesses away from walkways, steps, grab bars,
and other areas used by the operator or service personnel when operating or servicing the equipment.
TOUCH SCREEN
• Only touch the touch-screen with your finger or by using a special touch-screen stylus/pen. Operating the
touch-screen with sharp objects may cause permanent damage to the screen.
• Only clean the screen using a damp cloth. Never use caustic or other aggressive substances.
CAUTION

Important Information: 3
IMPORTANT INFORMATION
RECOMMENDATIONS AND BEST PRACTICES
HOSE ROUTING
The word “hose” is used to describe any flexible, fluid carrying components. Use the following guidelines and
recommendations when connecting and routing hoses while installing or maintaining this Raven system:
• Leave protective caps/covers over hose ends until connecting the end into the hydraulic system to help
prevent contaminants from entering the system.
• Follow existing hose runs already routed on the implement as much as possible. Proper hose routing should:
•Secure hoses and prevent hoses from hanging below the implement.
•Provide sufficient clearance from moving components and operational zones around shafts;
universal joints and suspension components; pulleys, gears, belts, and chains; moving linkages,
cylinders, articulation joints, etc.
•Protect hoses from field debris and surrounding hazards (e.g. tree limbs, fence posts, crop stubble,
dirt clumps or rocks that may fall or be thrown by the implement).
•Protect hoses from sharp bends, twisting, or flexing over short distances and normal implement
operation.
•Ensure sufficient length for free movement of the implement during normal operation and prevent
pulling, pinching, catching, or rubbing, especially in articulation and pivot points. Clamp hoses
securely to force controlled movement of the hose.
•Avoid abrasive surfaces and sharp edges such as sheared or flame cut corners, fastener threads or
cap screw heads, hose clamp ends, etc.
•Avoid areas where the operator or service personnel might step or use as a grab bar.
• Do not connect, affix, or allow hoses to come into contact with components with high vibration forces, hot
surfaces, or components carrying hot fluids beyond the temperature rating of hose components.
•Hoses should be protected or shielded if routing requires the hose to be exposed to conditions
beyond hose component specifications.
• Avoid routing hoses in areas where damage may occur due to build up of material (e.g. dirt, mud, snow, ice,
etc.).

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4 Case IH AutoBoom XRT Calibration & Operation Manual

CHAPTER
2
016-0235-002 Rev. B 5
CHAPTER 2 INTRODUCTION
Raven’s latest advancement in boom controls is AutoBoom® XRT. Industry-leading radar sensor technology uses
simultaneous ground and canopy detection to maintain optimal spray height for maximum product efficacy.
Pressure-based control allow for smooth movement and quicker reaction time while center rack stability
technology with optional dampers gives the operator complete control, maximizing boom life.
INSTALLATION
RECOMMENDATIONS
Before installing the AutoBoom XRT system, park the machine where the ground is level, clean, and dry. Bleed
pressure from the hydraulic system and leave the machine turned off for the duration of the installation process.
During the installation process, follow good safety practices. Be sure to carefully read the instructions in this
manual as you complete the installation process.
Raven Industries recommends the following best practices when installing or operating the XRT system for the first
time, at the start of the season, or when moving the AutoBoom XRT system to another machine:
• Verify that the machine’s hydraulic system is using fresh oil and that the filters have been recently changed
• Ensure there are no issues with the machine’s hydraulic system (e.g., pump issues, faulty hydraulic motors, fine
metal deposits in the hydraulic hoses, etc.).
POINT OF REFERENCE
The instructions in this manual assume that you are standing behind the machine, looking toward the cab.
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.

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6 Case IH AutoBoom XRT Calibration & Operation Manual
UPDATES
Software and manual updates are available on the Raven Applied Technology website.
https://portal.ravenprecision.com/
Sign up for email alerts, and you will be automatically notified when updates for your Raven products are available
on the website!
At Raven Industries, we strive to make your experience with our products as rewarding 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]
-Case IH AutoBoom XRT Calibration & Operation Manual
-016-0235-002 Rev. B
-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.

CHAPTER
3
016-0235-002 Rev. B 7
CHAPTER 3 AUTOBOOM XRT HOME
SCREEN AND OPERATION
UT OPERATION
Pressing the UT widget on the run screen will open the UT interface. From this screen it is possible to adjust
machine settings, view diagnostic information, and adjust Sensitivity and Target Height.
FIGURE 1. UT Run Screen Interface

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8 Case IH AutoBoom XRT Calibration & Operation Manual
HOME SCREEN
AutoBoom XRT is a UT based application. To access AutoBoom XRT screens:
1. Press the UT icon.
FIGURE 2. Home Screen
2. Select the XRT working set icon.
XRT HOME SCREEN OPERATION
FIGURE 3. XRT Home Screen
Settings
Home
Diagnostics
Totals
XRT
Sensor
Reading
Manual/
Auto
Sensitivity Target Height
Sensitivity
Settings Master
Switch
Target
Type
Target Height
Settings

016-0235-002 Rev. B 9
AUTOBOOM XRT HOME SCREEN AND OPERATION
MASTER SWITCH
Press the Master Switch to toggle between enabled and disabled states. If enabled, the system is ready to
transition to auto mode. If disabled, auto mode is locked out.
NOTE: The Master Switch status will automatically toggle On after completing an AutoFold Out cycle to the
spray position. The status will automatically toggle to Off when AutoFold begins to fold booms to the
transport position. Without AutoFold, the status will automatically toggle to Off when the booms are
near the folded position.
SENSITIVITY SETTINGS
Use the Sensitivity Settings buttons to increase or decrease the system sensitivity. Increasing the
sensitivity will increase how quickly the boom responds to the sensor target. Increasing the sensitivity too high
may result in unnecessary or excessive movement. Decreasing the sensitivity will result in less boom movement
but will make the booms slower to respond to an error in boom height.
TARGET HEIGHT SETTINGS
Press the Target Height button to set the distance from the boom to the target. This screen also allows
the user to select the Height Sensor Sensitivity. This information can also be changed on the XRT Home screen
using the +/- buttons or typing the value into the Target Height field.
FIGURE 4. Target Height

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10 Case IH AutoBoom XRT Calibration & Operation Manual
HEIGHT SENSORY SENSITIVITY
Height Sensor Sensitivity can be adjusted by typing the value into the Height Sensory Sensitivity field. This value
affects the ability of the radar sensor to distinguish between spray, crop, and ground.
NOTE: A Height Sensory Sensitivity range of 1-20 is ideal for reduced canopy detection or high spray drift
suppression.
A Height Sensory Sensitivity range of 20-100 allows the sensor to be more sensitive in detecting a
canopy, however, as the Height Sensory Sensitivity value increases, drift suppression decreases.
The Height Sensory Sensitivity value is set to 45 by default.
TARGET TYPE
FIGURE 5. Target Type
Press the Target Type to select between the desired measurement target:
•Ground : This target type will use the ground signal as the primary target, but will use the canopy signal
if it has a higher confidence level.
•Ground Locked : This target type will only use the ground signal as a target.
•Canopy : This target type will use the canopy signal as the primary target, but will use the ground signal
if it has a higher confidence level.
•Canopy Locked : This target type will only use the canopy signal as a target.

016-0235-002 Rev. B 11
AUTOBOOM XRT HOME SCREEN AND OPERATION
MANUAL/AUTO
Depending on the machine configuration, there can be up to three Manual/Auto toggle buttons. Each Manual/
Auto toggle button controls a boom (left/right) or the center rack. If the center rack only displays a Manual
button, center rack control is not enabled. Pressing this button will still transition the left and right booms into
Auto mode. When in Auto mode, the XRT system will continually move the boom position to reach the
target position. When in Manual mode with the Master Switch on, the system is ready to engage. Another
way to switch from Manual/Auto is to press on the desired boom section.
SENSOR READING
Sensor Height displays the height for each of the sensors. The number of sensors displayed will match the number
of sensors on the machine. The table below describes the Sensor Height reading in more detail.
TABLE 1. Sensor Reading States
Image Status Description
Sensor Working/Reading Indicates the sensor is functioning properly and reading
the desired target.
Sensor Not Reading/
Malfunctioning If there is an X through the sensor, the sensor is not reading a target or is malfunctioning.
Sensor Offline/Disabled If there isn’t a number below the sensor location, the
sensor may be offline or was disabled by the user.

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12 Case IH AutoBoom XRT Calibration & Operation Manual
AUTOBOOM XRT OPERATION ON RAVEN OPERATING SOFTWARE
(ROS)
RUN SCREEN OPERATION
FIGURE 6. Run Screen
1. Press the desired boom on the XRT widget to enable or disable AutoBoom XRT.
2. Press and hold the desired widget to open additional boom information. Pressing and holding also allows the
user to turn on or off the master switch.
FIGURE 7. XRT Widget Long Hold
ISO
AutoBoom
Widget

016-0235-002 Rev. B 13
AUTOBOOM XRT HOME SCREEN AND OPERATION
AUTOFOLD OPERATION
NOTE: Ensure the machine propulsion lever is in the neutral position. AutoFold is disabled if the machine
propulsion lever is not in neutral.
AUTOFOLD OUT TO SPRAY POSITION
1. Press and hold the AutoFold switch in the UP position.
NOTE: Release the AutoFold switch at any time to abort the AutoFold cycle.
FIGURE 8. AutoFold Button
2. Release the AutoFold switch after the boom has reached the spray position.
AUTOFOLD IN TO TRANSPORT POSITION
1. Press and hold the AutoFold switch in the DOWN position.
NOTE: Release the AutoFold switch at any time to abort the AutoFold cycle.
2. Release the AutoFold switch after the boom has reached the transport position.
FIGURE 9. AutoFold Operation Main Screen
NOTE: It is not necessary to view the AutoFold Operation Main screen to perform automatic folding or
unfolding functions.

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14 Case IH AutoBoom XRT Calibration & Operation Manual
Update Boom Height Limit. Adjusts the boom height limit above the cradle to prevent contacting the mirrors.
Update Spray Position. Saves the current boom tilt position as the new target for folding OUT operation. This
setting affects tilt only. The target positions for inner/outer fold joints and the center rack position are not
updated.
Update Cradle Position. Recalibrates the boom tilt cradle position based on current boom position. Boom should
be resting in cradle. The target positions for inner/outer fold joints and the center rack position are not
updated.
FIGURE 10. Set Cradle Position

CHAPTER
4
016-0235-002 Rev. B 15
CHAPTER 4 CALIBRATION
FIRST TIME CONFIGURATION
NOTE: Depending upon configuration settings and installed unlocks, the following steps may vary.
After installing the XRT system:
1. Park the machine on a level surface.
2. Machine Make, Machine Model, and Machine Configuration will automatically populate into the three fields.
FIGURE 1. Machine Selection
3. Press Next.

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16 Case IH AutoBoom XRT Calibration & Operation Manual
4. Verify the number of height sensors installed on the booms and center rack. This will be three, five, or seven
sensors depending upon the number of sensors installed.
If there are no Height Sensors Detected, press to re-detect the number of sensors.
FIGURE 2. Height Sensors Detected
5. Press Next.
NOTE: If the AutoFold feature is unlocked, AutoFold will be calibrated at this time. Refer to the AutoFold
Calibration section on page 36 for assistance with calibrating the AutoFold system. Once the
AutoFold calibration is complete, proceed with step 6 to continue the AutoBoom XRT calibration.
6. Verify the orientation of the ABM (ECU) on the machine matches the downward/forward orientation of the
controller on the ABM Orientation page.
NOTE: Many of the next screens will populate with default settings based on the machine configuration
selected earlier.
FIGURE 3. ABM Orientation