SmarTrax 3D Comprehensive

SmarTrax 3D is a legacy Raven auto-steering system that operates on Raven's proprietary CANBUS communication protocol. It takes a GNSS correction source, compensates it for changes in terrain, and then steers the machine to a set guidance path.

The control method for SmarTrax 3D can either be hydraulic through the use of a hydraulic steering valve or mechanical through a mechanical drive unit installed on the machine's steering column.

And importantly, SmarTrax 3D can only be as accurate as the GNSS source, and it cannot perform better than the capabilities of the machine.

We will go into more detail of these points throughout this resource.

A Raven proprietary CAN system uses Raven-specific communication protocols. This system configuration only works with Raven CAN devices and does not support other manufacturers' devices unless specifically coded to work on the CANBUS.

Raven CAN devices include field computers like the Cruizer II, Envizio Pro, Viper Pro, and Viper 4, and CAN ECUs like AutoBoom, SmarTrax 3D, and Sidekick Pro.

the user interface

The field computer is how the user interacts with the other devices in the system. For SmarTrax 3D, you will perform all configuration, calibration, and fine tuning through the field computer. One thing to note is that unlike ISO systems where the configuration screens for an ISO device appear in the Universal Terminal, the screens for SmarTrax 3D are coded into the field computer software. If a setting is available in a version of software for SmarTrax 3D, you will only be able to see and adjust that setting if it is also available in the field computer software version.

The guidance line types used with SmarTrax 3D will also depend on the field computer's capabilities and software version.

Field computers compatible with SmarTrax 3D include:

• Cruizer and Cruizer II
• Envizio Pro and Envizio Pro II
• Viper Pro
• Viper 4 and Viper 4+
• CR7*

*Does not include the CR7+ as it does not have the functionality necessary for communicating with SmarTrax 3D.

the navigation system

The GNSS receiver provides the navigation used for auto-steering. SmarTrax 3D is compatible with any GNSS receiver capable of configuring its NMEA message output (commonly pronounced as "KNEE-muh"). The receiver can either be an external device, such as the Phoenix 200, Phoenix 300, and 600S, or from a receiver built into the field computer like the Cruizer II or some Viper 4 models.

To use RTK with SmarTrax, the following requirements must be met:

• RTK capable GNSS receiver with RTK unlock
• RTK capable SmarTrax node
• Active RTK subscription

Note: We can send an RTK signal to any SmarTrax node, but not every SmarTrax node can perform at an RTK level of accuracy. This is why we call out that an RTK capable SmarTrax node is required.

the steering controller

The SmarTrax 3D node is the electronic control unit (ECU) for SmarTrax 3D steering. It takes the GNSS signal from the receiver, compensates it for changes in the terrain, and then passes the terrain-compensated signal to the field computer. From there, the guidance path is set in the field computer and then the SmarTrax 3D node controls the machine’s steering along that guidance path.

There are inertial sensors built into the SmarTrax 3D node that measure the roll, pitch, and yaw of the machine. This will be an important factor in installation, calibration, and operation.

what drives the machine

The steering mechanism can either be a hydraulic valve or a mechanical drive unit (MDU). The hydraulic valve directly controls the machine’s hydraulic steering system. The MDU installs onto the steering column under the steering wheel.

Some machines can be “steer ready.” SmarTrax 3D may work on a steer-ready machine if it has been validated to work and has a tune-set for the valve. For these machines, SmarTrax 3D will tie into the machine's existing hydraulic valve for control.

used on some SmarTrax Installations

Some installations require the use of either a flow switch or pressure switch. These switches are hydraulic check valves used for detecting a change in flow or pressure in the machine's steering system when the steering wheel is manually turned. When the switch detects a change in flow or pressure, or a pressure differential in some cases, it will send a signal back to the SmarTrax 3D node telling it to disengage auto-steering.

These switches also allow for SmarTrax 3D to auto-steer when there is no change in flow or pressure.

real-time feedback for wheel position or machine heading

While there are inertial sensors built into the SmarTrax 3D node, it is still beneficial—and even required in some cases—to use physical sensors to measure what the wheels are doing. The two main physical sensors used are steering position sensors (SPS) and wheel angle sensors (WAS). These sensors are highly recommended for use in low-speed operations and front boom sprayers. The internal yaw reading from the SmarTrax 3D node will have difficulty operating in these situations.

connecting it all together

All communication between the CAN devices on the system happens over the system's cabling. With SmarTrax 3D, we use three to four specific cables.

1. Field computer or console cable

2. Chassis cable *
This can be a SmarTrax-only chassis cable, or a "regular" chassis cable used with other systems like product control.

3. SmarTrax node cable
Some node cables come as a "tee" cable to connect between the field computer cable and the chassis cable.

4. SmarTrax tee cable (when applicable)
This cable is sometimes used when also running product control in a system with a "regular" chassis cable. It typically installs between the field computer cable and the chassis cable.

* The chassis cable and SmarTrax tee cable are not used in a Generation 1 CANBUS system. Refer to the GNSS Signal Routing Examples section for some examples of the different generations of Raven CAN systems.

Gen 2 and newer cabling will use a chassis cable to provide power to the CANBUS components. Connect this cable directly to the battery and not to a power bar or other auxiliary power source. We want to make sure we are getting clean power to all devices for communication and control functionality.

The antenna position on the roof is vital for operation. Give the antenna an unobstructed view of the sky. Do not place it next to anything that can get in the way of this view. Some antennas have a more "outward" view whereas other antennas have a more "up-and-out" view.

You also want to avoid positioning any other devices, especially other receivers or transmitters, as they can interfere with GNSS signal reception.

If you are using magnet mounts for your antenna, it may be a good idea to clearly mark the mount location in case the antenna ever gets moved. That way you will know exactly where to place the antenna, and have it match the offsets and measurements you will have stored during setup and calibration.

There are many things that are important to "get right" when installing and calibrating SmarTrax 3D, and mounting the node is no exception. The node must be installed so that one of the six numbers is pointing straight forward in the direction of travel and another arrow is pointing straight down to the ground. The front of the node will have four arrows numbered 1 through 4, and then number 5 will be the front of the node and 6 will be the back. Knowing these numbers is very important as they are required during setup.

When securing the node, whether it is on the floor, behind the seat, or in a storage compartment, be sure to use all three mounting points. You will want to make sure there is no "wiggle" in the node because it can introduce error in the internal sensor readings and cause erratic steering performance. You also do not want to use rubber washers or any other type of shock absorber as this can also cause the node to "wiggle."

It is also a good idea to mount the node someplace where you can see what the lights are doing. These lights are helpful in diagnostics and troubleshooting.

You will want the machine in good working condition before calibrating SmarTrax 3D. Check for and address any issues with the machine such as the hydraulic hoses and connections, steering linkages, the steering column if using SmarTrax MD, and tire pressure.

Remember, SmarTrax 3D can only perform within the capabilities of the machine, so it is best practice to make sure the machine is in the best possible operating condition.

The components shown below represent the difference between external GNSS (top) and internal GNSS (bottom). Understanding the GNSS signal paths is important for installation and troubleshooting if something goes wrong.

The drop-down sections below will have examples of the different generations of Raven cabling with internal and external GNSS receiver options. The colors shown in the arrows and the legend in the upper-right corner will help us visualize the signal path for the CAN communication between the field computer and SmarTrax 3D. Here, we are referring to the GNSS “IN” and “OUT” as they relate to the SmarTrax 3D node. This does not always apply to what is shown on connector labels, however, so keep this in mind. For example, the GNSS IN above is really a combination of the receiver’s output and the steering node’s input. Here it is easier to simplify these “IN” and “OUT” connections as they relate to SmarTrax 3D.

Gen 1 - Envizio Pro / Viper Pro with External Receiver

In this Gen 1 system, the GNSS signal goes from the receiver directly to the SmarTrax 3D node. The node provides terrain compensation and then routes the signal to the field computer. Here we are labeling the “GNSS IN” and “GNSS OUT” as they relate to the SmarTrax node.

“Gen 1” of Raven cabling has each component getting its power separately. In the drawing, you can see the power wires for the field computer, GNSS receiver, CAN network (on the CAN power tee cable), and SmarTrax 3D. Future generations of cabling will have most components getting their power from the main chassis cable. The exception is typically the GNSS receiver.

Gen 2 - Envizio Pro / Viper Pro with External Receiver

In this Gen 2 system, the GNSS signal now goes directly to the console cable via the “GPS Receiver / DGPS” connector. It then passes through the chassis cable to the SmarTrax 3D cable. Here the node filters the signal for terrain compensation and then passes the signal back to the field computer through the same cabling. Everything is integrated into the Gen 2 cables.

Here you can see the main power leads for the system are on the 115-4001-085 chassis cable. The Phoenix 300 receiver still uses its own power wires.

A Viper 4 can adapt to Envizio Pro / Viper Pro cabling with the 115-0172-023 adapter cable. A CR7 can also adapt to the cabling with the 115-0172-390 adapter cable.

Gen 2 - CR7 with External Receiver

Same situation as the previous Gen 2 cabling example. This drawing demonstrates different external receiver options as well as options between hydraulic and mechanical drive SmarTrax 3D systems.

Gen 1 & 2 Combined - Envizio Pro / Viper Pro with External Receiver

The console cable and chassis cable are both Gen 2, but the SmarTrax cable is Gen 1. The GNSS signal will be routed through the cabling in the same way as a fully Gen 1 system. This is because the SmarTrax cable does not connect to the chassis cable or a SmarTrax interface cable like it would in a fully Gen 2 system.

Gen 2 - Envizio Pro II with Internal Receiver

In this Gen 2 system, the receiver is built into the Envizio Pro II so we must connect the “Internal GPS Receiver Output” and “GPS Receiver / DGPS” connectors together. This creates the same signal “loop” we would have had with an external receiver.

Gen 2 - Viper 4 with Internal Receiver

Viper 4 with an internal GNSS receiver on Gen 2 cabling works the same way. This SmarTrax 3D node cable is an example of a node cable that tees between the field computer cable and the chassis cable.

Gen 2 - Cruizer II with Internal Receiver

This system is similar to the other Gen 2 systems with an internal receiver. However, instead of needing to connect any “GPS In” and “GPS Out” connectors together, that connection is made inside the Cruizer II.

Gen 2 & 3 Combined - CR7 with External Receiver

This Gen 3 system works the same as Gen 2 as far as SmarTrax 3D is concerned. In fact, the SmarTrax 3D node cable will be from the Gen 2 architecture and connects to the Gen 3 system with the Gen 3 SmarTrax tee cable. There is no true Gen 3 version of SmarTrax.

External GNSS still goes into the console cable and then gets passed to the SmarTrax 3D node through a SmarTrax tee cable. Gen 3 is a combination of Gen 2 CANBUS and ISO cabling.

Before you can proceed with calibration, you will need to configure the communication pathways for the GNSS receiver to SmarTrax, and then for SmarTrax to the field computer.

We will only cover the generally required settings for the GNSS receiver to SmarTrax in this document. Refer to the calibration and operation manuals for specific information.

The three NMEA messages SmarTrax needs are GGA, VTG, and ZDA. The table below has the required message rates along with a description for what the message provides.

You will also want to set the baud rates as follows:

• 19200 - Receiver to SmarTrax
• 115200 - SmarTrax to field computer
• If using a 600S, 115200 for both directions

There are minimum software requirements for using a 600S receiver with SmarTrax 3D and either an Envizio Pro or Viper 4.

You will want to calibrate on flat, solid ground. Gradual slopes may not cause any issues during calibration, but you may need to be more thorough in your fine tuning later.

Very soft soil, whether it is just very loose dirt, mud, or covered in snow, can introduce extra error in the steering calibration process. It causes wheel slippage, and it can also cause the machine to need to work harder to steer through it.

Loose gravel and crushed rock can add error through jittery reactions in addition to slippage and extra effort like with loose soil or mud.

If you must calibrate on concrete or any sort of paved surface, you may need to dial down the minimum effort when you fine tune the system. These surfaces add more resistance to the tires, requiring extra effort when turning. You will want to take extra care in fine tuning if you calibrate on these surfaces.

You will need to configure the following items with the calibration wizard:

• Machine type
• Control device
• Disengage setting
• Engage switch
• Node orientation
• Steering Position Sensor (SPS) / Wheel Angle Sensor (WAS)
• Machine and antenna measurements
• 3D / Tilt compensation

Before you start calibrating, don't forget to turn on the road switch if one is installed. If using SmarTrax MD, the MDU has a road switch on the back of the device.

The machine type is where you will pick the specific type of machine such as a rear boom self-propelled sprayer, front-steer tractor, or articulated tractor.

The control device is the option for what is actually steering the machine.

• "SmarTrax MD" if using mechanical drive
• "Raven Hydraulic" if a SmarTrax hydraulic valve is controlling the vehicle steering
• "Steer-Ready" if SmarTrax is connected to an optional steering control system that was installed at the factory

The disengage calibration screen will be different depending on if you have a flow/pressure switch installed or if your valve has a pressure transducer. If using a flow/pressure switch, you may need to adjust the steering switch pressure on the hydraulic block. If you have a pressure transducer, you will have a disengage setting that can be adjusted directly in the calibration screen.

For the engage switch calibration, start with the switch in the OFF position if using a rocker switch. SmarTrax will then look for a change in status for the type of switch you have installed (foot switch or rocker switch).

Node orientation gets set during calibration and the forward and down arrows must keep pointing forward and down. This is why securely mounting the node, and without rubber washers, is so important.

You tell SmarTrax which arrow is pointing forward, and it will automatically detect which arrow is pointing down.

If an SPS or WAS is installed, you must calibrate it. The SmarTrax MDU will have a built-in sensor, and it will be part of the calibration process.

Here you will calibrate the Left, Center, and Right positions for the sensor. We highly recommend for you to be moving while doing this part of the calibration. Driving slowly will be fine for this part, and it will make it easier to get accurate measurements for the sensor.

The range of the SPS/WAS values is limited to 10-1010 to prevent damage to certain types of sensors. Ensure the sensor is mounted securely to prevent damage during operation. The difference between the Left and Center values and Center and Right values must exceed 100.

For this part of calibration, we need to know where the antenna is located on the machine. You will set the left/right, fore/aft, and height measurements for the antenna, and then you will enter the machine dimensions. The machine dimensions are used to position the fixed axle of the machine and the application point.

We recommend placing flags or markers outside of each rear wheel and aligned with the axle.

After you start the 3D calibration, drive forward and then make a turn in the shape of a light bulb. It doesn't matter which way you turn around as long as you only turn in one direction. Then bring the machine back to the wheel markers but facing the opposite direction. You can proceed once all numbers go back to the original text color in the display.

Once you get to the part of the calibration process where SmarTrax will take control to learn what control efforts are needed for auto-steering, you will want to make sure the machine is ready. You will want to make sure the machine's hydraulics are at operating temperature, which it should already be warmed up after getting situated in the field and calibrating SPS/WAS values and 3D compensation. Set the engine RPM to a typical operating level.

For self-propelled sprayers, have the booms racked. Even though you will be operating SmarTrax while applying product to the field, we want to avoid introducing any steering "whiplash" from the booms being extended. SmarTrax will make several gradual and sharp turns during steering calibration and having the booms extended will require SmarTrax to use more effort as the baseline. It is similar to needing good field conditions in that regard.

For tractors, do not have any trailers or implements connected. We want to calibrate the baseline for just the machine here. You can fine tune for each implement condition later.

If you are calibrating in a small area, or if the field has obstacles present, be prepared to disengage steering and try again. As a note, you will want to limit the number of stops and starts during calibration. If you need to stop and start multiple times, then you may need to find a more ideal place to calibrate.

Before you start fine tuning SmarTrax settings, we recommend checking the values for the steering gains first. Look for a large difference between the gains for the left and right sides. It is not unusual to have a difference between the left and right, especially on older machines. However, a difference of 30% or greater may indicate a bad calibration or potential issue with the machine.

Steering gains are locked with SmarTrax 3D and are not user adjustable.

The next step in fine tuning SmarTrax is to make adjustments to the PWM values. You will want to do this before making any changes to the Sensitivity and Line Acquire settings because those settings work within the PWM values.

The SmarTrax PWM values determine the voltage level or duty cycle (%) that is sent to the solenoid on the steering valve to engage the hydraulics. The Min and the Max are set based on the initial calibration. Mins will vary by machine, but they normally range between 20-45. Values around 20 are typically found in steer-ready machines and machines with very light/sensitive steering. Values of 40 and above are normally found in harder steering machines or machines with larger tires. The Max will typically be in the high 80 to 100 range.

You can use the "Min" button in the manual steering settings to test the minimum steering output. When making changes to the Mins, wait 30 seconds before you try steering again. This will make sure the setting has been fully accepted by SmarTrax.

When steering a machine manually through the SmarTrax screens on a field computer, it is good to know that the Min button will apply at the Min PWM setting while the Max applies at the Max PWM setting. The other manual options are numbered 1 through 6. Each number will apply by the following approximate values: 1 is 20%; 2 is 30%; 3 is 40%; 4 is 60%; 5 is 80%; 6 is 100%.

The Maxes usually do not need to be adjusted from what they are set to during calibration.

You should only need to adjust the PWM values right after a calibration or at the beginning of a season. From there, you can adjust Sensitivity and Line Acquire as needed between different operators, fields, and more.

• Will allow you to perform the steering calibration again.
• Does not require you to redo the machine and antenna measurements.
• Is used for only recalibrating steering.

• Will completely reset SmarTrax 3D settings and calibrations.
• Will require you to redo the machine and antenna measurements. Write down all measurements before resetting!
• Is used as a last resort or as part of troubleshooting.

Below is the basic troubleshooting checklist we would use if we were troubleshooting a system. There is more information on troubleshooting in the SmarTrax calibration and operation manual. The troubleshooting section will have information on error messages and operation issues along with possible causes and how to correct the problem.

Machine

• Loose linkages
• Low tires
• Other mechanical issues

Settings

• PWM values
• Aggressiveness and/or Sensitivity

Installation

• Are the hoses secure?
• Is the node mounted properly?

Measurements

• Are the machine measurements correct?
• Are the antenna measurements correct?

GNSS Informaton

• High HDOP?
• What is the GGA Mode / Quality?

Node

• What are the lights doing?

Valve

• Can you steer manually using the field computer?

The Diag 1 light cannot be used to verify if the field computer is receiving the GNSS signal. This light only indicates if the SmarTrax node is receiving the signal from the GNSS receiver. If the node is getting the signal but the field computer is not, check settings and cabling between the node and field computer.

The HC Power light is not used with steer-ready installations or with SmarTrax MD.

In general, it is recommended to be at the latest software version for all legacy devices in a Raven SmarTrax steering system.

Exceptions include:

• Using a Cruizer display serially connected to the SmarTrax node (instead of CAN communication)
• Serial communication is supported in SmarTrax versions 6.0.41 and below and version 6.0.82.
• Controlling a SmartSteer mechanical drive unit with a SmarTrax node

SmartSteer is supported in SmarTrax versions 6.0.41 and below and version 6.0.82.

This system drawing is an example of a Cruizer being serially connected to a SmartSteer node. The 115-4001-010 cable also works with the SmarTrax node, so this also can be an example of using the SmarTrax node with a SmartSteer MDU.

The main thing to remember with this drawing is that the connection between the steering cable and the display is using serial. Notice how this is labeled as “Display” on the steering cable. This is different than the “GPS IN” and “GPS OUT” connections being serial for GNSS communication which is typical for SmarTrax systems. In more recent SmarTrax systems with Cruizer II, Envizio Pro, Viper Pro, and Viper 4, the display connection uses CAN. You can go back to the Cruizer II Gen 2 cabling slide to see it is using CAN communication even though the connector going into the Cruizer II is a serial connector. This Cruizer system is using serial communication throughout.