Raven 0630172368 RGL 600 Smartbar Transmitter User Manual 936a 1 pmd

Raven Industries RGL 600 Smartbar Transmitter 936a 1 pmd

Users Manual

RGL 600SMARTBARSWATH PATH GUIDANCE SYSTEMOPERATION MANUAL
Use with firmware version ____
MANUFACTURER’S DECLARATION OF CONFORMITYWe declare under our sole responsibility that Raven Industries, to which this declaration relates,is in conformity with the following standards or other normative documents:Federal Communications Commission (FCC) Compliance Notice: Radio FrequencyNotice:DECLARATION OF CONFORMITYWe, Raven Industries, declare our sole responsibility that the RGL 600 Smartbar complies withPart 15 of FCC Rules.Operation is subject to the following two conditions:(1) this device may not cause harmful interference, and(2) this device must accept any interference received, including interference that may causeundesired operation.The Devices· Device relating to this Compliance Notice, RGL 600 Smartbar, comply with Part 15 of theFCC Rules. Operation is subject to the following two conditions: (1) This device may notcause harmful interference, and (2) this device must accept any interference received,including interference that may cause undesired operation.NOTE: This equipment has been tested and found to comply with the limits for a Class B digitaldevice, pursuant to Part 15 of the FCC Rules. These limits are designed to provide reasonableprotection against harmful interference in a residential installation. This equipment generates,uses, and can radiate radio frequency energy and, if not installed and used in accordance withthe instructions, may cause harmful interference to radio communications. However, there is noguarantee that interference will not occur in a particular installation. If this equipment does causeharmful interference to radio or television reception, which can be determined by turning theequipment off and on, the user is encouraged to try and correct the interference by on or more ofthe following measures:- Reorient or locate the receiving antenna.- Increase the separation between the equipment and receiver- Connect the equipment into an outlet on a circuit different from that to which thereceiver is connected- Consult the dealer or an experienced radio/TV technician for helpAny modification to the unit, unless expressly approved by Raven Industries could void the user’sauthority to operate the equipment.
RAVEN INDUSTRIESLIMITED WARRANTYWHAT IS COVERED?This warranty covers all defects in workmanship or materials in your RavenFlow Control Product under normal use, maintenance, and service.HOW LONG IS THE COVERAGE PERIOD?This warranty coverage runs for 12 months from the purchase date of yourRaven Flow Control Product. This warranty coverage applies only to theoriginal owner and is not transferrable.HOW CAN YOU GET SERVICE?Bring the defective part, and proof of date of purchase, to your local dealer.If your dealer agrees with the warranty claim, he will send the part, andproof of purchase to his distributor or to Raven for final approval.WHAT WILL RAVEN INDUSTRIES DO?When our inspection proves the warranty claim, we will, at our option, repairor replace the defective part and pay for return freight.WHAT DOES THIS WARRANTY NOT COVER?Raven Industries will not assume any expense or liability for repairs madeoutside our plant without written consent. We are not responsible for damageto any associated equipment or product and will not be liable for loss ofprofit or other special damages. The obligation of this warranty is in lieu ofall other warranties, expressed or implied, and no person is authorized toassume for us any liability. Damages caused by normal wear and tear, mis-use, abuse, neglect, accident, or improper installation and maintenance arenot covered by this warranty.
RAVEN INDUSTRIES FLOW CONTROL DIVISION205 East Sixth Street - P.O. Box 5107 - Sioux Falls, South Dakota 57117-5107E-mail: fcdinfo@ravenind.comwww.ravenprecision.comToll-free: 800-243-5435 - Fax: 605-331-0426RGL 600 Smartbar Operation Manual #016-0159-936 Rev a 10/03
1TABLE OF CONTENTS016-0159-936 10/03INTRODUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3SMARTBAR DISPLAY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4SMARTBAR BUTTON BOX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5GENERAL DIRECTION TO TARGET INDICATOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6DGPS RECEIVER SETUP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6NOTATIONS USED FOR DISPLAY FIGURES AND MENU NAVIGATION DIAGRAMS . . . . . . . 7SMARTBAR OPERATIONAL MODE MENU NAVIGATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8Basic Swathing Menu Navigation Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9Combined Headlands Menu Navigation Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11Separate Headlands With Tape Measure Menu Navigation Diagram . . . . . . . . . . . . . . . . 12ENTERING AND LEAVING THE CONFIGURATION MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13THE SMARTBAR CONFIGURATION MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14GPS - GPS Receiver Status Monitoring . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16SWA - Swath Configuration Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18SWT Swath Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18PMR Pivot Minimum Radius . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18CON Contour Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18SWW Swath Width . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19DIR Swath Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19SCL Guidance Offset Scale Sensitivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20ANG Angle Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20HDL Headlands Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21ATO Along Track Offset Distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21XTO Cross Track Offset Distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21SYS - System Configuration (includes BAUD rate) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22BPS BAUD Rate Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22UTS Feet, Feet Fine, or Metric Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22MSG Outgoing Transmit Message Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22TAP Tape Measurement Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22DSP Display Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22GPS GPS Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23DSP - Display Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23GPS Optional DGPS Status Configuration Format . . . . . . . . . . . . . . . . . . . . . . 23GUI Guidance Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23OFF Offset Error Display Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23SAV Save Position Distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24APR Headlands Approach Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24SPL Special Angle and Offset Error Display . . . . . . . . . . . . . . . . . . . . . . . . . . . 24CON Contour Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25SWW Swath Width Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25LSC Limit Swath Cal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25IAS - Inertial Augmentation System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25DIA - Diagnostic Built-In Testing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25DSP RGL 600 Built-In Display Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25CKS Program Memory Checksum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26SET..DEF - Reset Smartbar Configuration Settings to Default Values . . . . . . . . . 26SET..NUM - Smartbar 6 digit Unit Serial Number . . . . . . . . . . . . . . . . . . . . . . . . . 26
2BASIC SWATHING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27BACK AND FORTH SWATHING (BF) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28SNAP-TO-SWATH SWATHING (SNP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28TO BEGIN YOUR FIRST SWATH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29CLEARING THE A-B LINE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30SAVING YOUR PRESENT POSITION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31SWATHING WITH HEADLANDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32Separate Headlands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33Combined Headlands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34Double Headlands C Pattern . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35Headland Approach Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38PIVOT SWATHING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39Pivot Pattern Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40Marking the Pivot Reference Circle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41Driving the Pivot Return . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42Saving and Returning to a Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42ROW SWATHING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43Configuration Steps for Row Swathing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43CONTOUR SWATHING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44Contour Control Configuration Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45Contour Type Configuration Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45Configuration Steps for Contour Swathing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46Using Contour Swathing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47SEED SWATHING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48RACETRACK SWATHING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49SQUEEZE SWATHING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50ONE BUTTON SWATHING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51SMARTBAR TILT UPGRADE OPTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52Tilt Sensor Upgrade Option Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52IAS Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53TLT - Tilt Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53AHT - Antenna Height . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54ANG - Tilt Angle Readout and Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54SWATH CALIBRATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .55SPECIAL OFFSET AND ANGLE DISPLAYS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55ALARMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58GPS RECEIVER/SMARTBAR COMMUNICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59CARE AND CLEANING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .60TROUBLESHOOTING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .60RGL 600 MAIN UNIT CONNECTORS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61CABLE OPTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61CABLE WIRING DIAGRAMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63SMARTBAR SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66APPENDIX A - DRIVING YOUR MACHINE USING THE SMARTBAR . . . . . . . . . . . . . . . . . . . . . 67APPENDIX B - INVICTA DGPS RECEIVER SETUP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .68APPENDIX C - GLOBAL POSITIONING SYSTEM (GPS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69APPENDIX D - DIFFERENTIAL GPS (DGPS) BEACON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
3INTRODUCTIONThe RGL 600 Smart Light Bar, connected to a DGPS receiver, provides guidance control and displayfor swathing applications. The RGL 600 Smartbar receives position, speed over ground (SOG), andcourse over ground (COG) from a DGPS receiver. The Smartbar compares this COG and position tothe desired swath pattern, and produces a guidance display. This enables an equipment operator toaccurately drive a desired swath pattern.Offset error and angle error are displayed by a series of bright Light Emitting Diodes (LED’s) whichform bars on either side of the display center. Offset error is displayed as a numeric distance and asthe number of LED’s illuminated on the offset error bar in the direction the machine should travel toreduce the offset error. Angle error is displayed as the number of LED’s illuminated on the angle errorbar in the direction to correct the machine’s swath alignment.Smartbar features include:* Remote button box provides operator control and selection of the Smartbar options.* Bright LED’s ensure easy viewing even in direct sunlight.* Housing designed to operate outdoors in all weather conditions.* Data displayed on Smartbar includes:DGPS receiver status displaySwath Guidance IndicationGround SpeedCourse Over Ground* User-configurable options include:English or Metric units to display speed and distanceSwath widthSwath typeThe Smartbar monitors the GPS receiver mode, Accuracy (HDOP), and DGPS Age of Data. Shoulda problem arise, a warning is displayed to the operator so appropriate action can be taken.When the Smartbar is mounted forward on the machine’s hood, the operator can optimally viewguidance indications while looking ahead to drive.The RGL 600 Smartbar transmits output messages to indicate position, swathing sequences andconditions, operator button switch activity, and control setup and test information. These output mes-sages provide for data logging and other types of external controls.
4SMARTBAR DISPLAYA - Left alphanumeric display showing swath number 3 bright red digits/charactersB,F - Left and right GPS Status, see table under “Alarms” 3 vertical bright amber LED’s(All LED’s out is good, any LED on is a problem)C - Left Offset distance error, turn left to correct 8 horizontal bright red LED’sD - Center Guidance Status 3 vertical bright green LED’sThe center green LED is on if no offset distance error LED’s are on. The top and bottom LED’sare both on if a swath is established and the Smartbar is showing guidance (except for Head-lands and Saving Your Present Position). When a swath has been established, the Smartbarshows guidance on all but a few screens, such as the BAUD rate screen. In general, when thetop and bottom LED’s are on, it is okay to spray. The top and bottom LED’s are described in‘Saving Your Present Position’ and ‘Headlands’.E - Right Offset distance error, turn right to correct 8 horizontal bright red LED’sG - Right alphanumeric display showing offset distance 3 bright red digits/characters(The left digit shown displays a General Direction toTarget Indicator. The display shown is pointing to thetarget swath line, which is to the left).H - Left Angle error, turn left to correct 5 horizontal bright amber LED’sI - Right Angle error, turn right to correct 5 horizontal bright amber LED’sThe Smartbar shows guidance on all screens that do not use the guidance LED’s for something else.When FT (feet) or FTF (feet fine) units are selected, swath offset distance is in feet.When MT (metric) units are selected, offset distance is in decimeters.IMPORTANT:For metric units, a value of 123 is read as 123 decimeters or 12.3 meters.
5SMARTBAR BUTTON BOXSELECT/UP buttonThe SELECT button is like an Enter or Executebutton. It changes or advances data values in theConfiguration Mode and activates actions in theOperational Mode. This is the most used button.It is located at the top of the Button Box for theoperator’s easy thumb access.MENU buttonThe MENU button is used to select menu screensfrom a list. It is also used to access an action itemfrom list. This button does not change data orexecute actions. Press the MENU button tosequence through a menu list.DOWN buttonThe DOWN button is used to enter a sub-menu and, in the Configuration Mode, to decreasedata values.Sometimes actions are executed when the DOWN button is pressed. For example, the DOWNbutton is used (instead of the SELECT button) to mark the last headlands point.Navigating Menus and Sub-menusThe current menu name shows in the alphanumeric display. (see Configuration Mode MenuNavigation Diagram) Menus that have menus ‘under’ them are main menus. Menus that are‘under’ main menus are sub-menus. Pressing the MENU button displays main menu andsub-menu items in sequence. When showing a main menu, (i.e. it has a sub-menu ‘under’ it),pressing the DOWN button will display the first item in that sub-menu. Then pressing theMENU button displays this sub-menu’s items in sequence. Pressing the MENU button at thelast sub-menu item displays this sub-menu’s main menu item again. The DOWN button maynow be pressed again to re-enter this sub-menu (in case the desired sub-menu item wasskipped inadvertently) or press the MENU button to sequence to the next main menu item.Changing data valuesSome menus are data items, such as swath width (SWW). For these menus, a data value orsetting is displayed in the right alphanumeric display. There are basically two types of dataitems: numeric such as swath width and select-from-list such as headlands (OFF, SEP, CMP,DHC). If the data item is numeric, pressing the SELECT/UP button will increase the datavalue, while pressing the DOWN button will decrease the data value. Usually, theSELECT/UP button will increase by a large value and the DOWN button will decrease by asmall value. This provides for faster setting when the desired data value is far from the currentsetting. The DOWN button is then used for a precise setting.
6GENERAL DIRECTION TO TARGET INDICATORA General Direction to Target Indication is displayed on an alphanumeric display digit to showthe direction towards various targets. An example is the left most digit of the guidance offseterror display when the offset error is less than 100. From the perspective of the operator, thisis a general pointer to the swath line (or other target) that is in control.DGPS RECEIVER SETUPThe Smartbar uses position and course information provided by certain messages from yourGPS receiver. Referring to the GPS receiver documentation, configure it to output $GPGGAmessages and $GPVTG messages. Alternatively, you could configure your GPS receiver tooutput only $GPRMC messages.Note that your GPS receiver documentation may drop ‘$GP’ from the message names, andrefer to them as GGA, VTG, and RMC.Set the GPS receiver communications BAUD rate and message output rate as high aspossible. The Smartbar works with standard BAUD rates from 4800 to 38400 and messageoutput rates up to 10 position solutions per second (hertz). The Smartbar responds best whenthe GPS receiver communications is at 38400 BAUD and the message output rate is at 10hertz.If the message output rate is 10 hertz, the GPS receiver BAUD rate must be at least 19200.If the message output rate is 5 hertz, the GPS receiver BAUD rate must be at least 9600. ABAUD rate of 4800 is only practical if the message output rate is 1 hertz.See Appendix B for Invicta DGPS Receiver setup.General Direction toTarget Indicationscurrent position and COGtarget
7Notations used for display figures and menu navigation diagramsThe following notations are used to describe the Smartbar LED indicators and alphanumericdisplays:This example shows a multiple sequence alphanumeric display. In this example, 1.55 acresis displayed by alternating the right alphanumeric display between ‘ 1’ and ‘.55’. The Smart-bar display alternates between [a] and [b]. In some Configuration Mode displays, up to 5sequences are used to display large numeric values.The following notations are used for menu navigation diagrams:SWASWTSWASWTmain-menu item (Left alphanumeric display shows SWA)sub-menu item (Left alphanumeric display shows SWT)At the Swath (SWA) main-menu,press the DOWN button to move tothe Swath Type (SWT) sub-menu.Execute an action.For this example, Set the Tape Reference Point.Set TapeRefernce pointMENU Button pressed and releasedDOWN Button pressedSELECT Button pressedpress and hold the MENU Button for 3 secondsAutomatic (no button press)[a][b]- LED is OFF- LED is ON- LED is flashing ON/OFF- LED is flashing OFF/ON (used to denotate alternating flash when shown with )
8Smartbar Operational Mode Menu NavigationThe Smartbar separates Operational functions from Configuration functions. The Smartbar operatesin either the Operational Mode or the Configuration Mode. A Smartbar operator uses the OperationalMode when setting up and swathing a field. The Operational Mode is the primary operating mode.therefore, the number and complexity of all menus and sequences is minimized as much as possible.The Configuration Mode is used to setup interface and operating variables. Some of the variables setin the Congiguration Mode help to minimize button presses in the Operational Mode. An example isthe Tape Measure feature. When the Tape Measure is turned OFF, the TAP menu item is removedfrom the operational menu sequence.The Configuration Mode is entered only from the main RGL 600 screen. Press and hold the MENUbutton for approximately 3 seconds. A screen showing “TO...CFG” is displayed. Press the SELECTbutton to enter the Configuration Mode. Or press the MENU button to return to the RGL 600 screen.For more details, see the section - Entering and Leaving the Configuration Mode.There are four different sets of Menu Navigation Diagrams in this section:Basic Swathing w/Direction set to AutoBack and Forth Swathing after A-B line and direction are setupCombined HeadlandsSeparate Headlands with Tape MeasureThere are five additional sets of Menu Navigation Diagrams other sections:Pivot SwathingRow SwathingContour SwathingSeed SwathingONE SwathingThese sets are usually accompanied by a set of display figures that depict actual Light Bar displayscorresponding to the Menu Navigation Diagram.There are numerous combinations of configurable operating features and methods for using theSmartbar while covering a field with an applicator machine. These Menu Navigation Diagrams do notshow all combinations of operations. For instance, the Tape Measure is shown in the SeparateHeadlands set, but it can also be used for Basic Swathing and Combined Headlands. Look in allof the various sets of Menu Navigation Diagrams for solutions to your particular swathing require-ments.
9Basic Swathing Menu Navigation DiagramsMenu Navigation Diagram #1 conditions:Tape Measure is OFFHeadlands control is OFFDirection is AutoA-B Marks have not been setenterConfigurationModeRGL 600Operational ModeMenu Navigation Diagram #1BRTDecreaseBrightnessIncreaseBrightnessPowerON SET ASet theB MarkSetDirectionSET B AUT DIRif A is not setif A issetif A-Bare settoMenu NavigationDiagram #2press MENU Buttonpress DOWN Buttonpress SELECT Buttonpress and hold MENU ButtonAutomatic (no button press)turn towardSwath #2Set theA MarkHold 3 sec.to CFGFirmware Version *2.8SELECT increasesbrightness.DOWN decreasesbrightness.A-B LineSetupPress SELECTto mark A.Turn toward Swath 2.Direction willset Automatically.DisplayBrightnessAdjustScreenTurn Left or Right toward fieldTo mark Temp BPress SELECTto mark B.Down for temp B.SELECT increasesSwath WidthDOWN decreasesSwath Width.Hold 3 sec.to CFGFirmware Version *2.3Main ScreenRGL 600SELECT increasesbrightness.DOWN decreasesbrightness.A-B LineSetupPress SELECTto mark A.Turn toward Swath 2.Direction willset Automatically.DisplayBrightnessAdjustScreenTurn Left or Right toward fieldTo mark Temp BPress SELECTto mark B.Down for temp B.SELECT increasesSwath WidthDOWN decreasesSwath Width.
10Menu Navigation Diagram #2 conditions:Tape Measure is OFFHeadlands control is OFFA-B Marks and Direction are setenterConfigurationModeOperational ModeMenu Navigation Diagram #2BRTDecreaseBrightnessIncreaseBrightnessPowerON 2 SAVCLR SAVCLR ALLDecrementSwath #AdvanceSwath # SavePositionSkipped if a Positionis SavedSkipped if noPosition is SavedSwath NumberClearALLClearSavedPositionRGL 600fromMenu NavigationDiagram #1We are 4 feet left of Swath #2 pointing 4° to the right.Main ScreenRGL 600SwathNavigationSwath number isDisplayedSELECTadvances,DOWNdecrementsswathpress SELECT toSave currentpositionSELECT Clears A-B marksand Saved PositionSELECTClearsSaved PositionA-B (instead of ALL) is displayed if there is No Saved Positionif there is a Saved PositionSave theCurrent PositionSteer in direction of red LED's
11Combined Headlands Menu Navigation DiagramMenu Navigation Diagram #3 conditions:Tape Measure is OFFHeadlands control is Combined (CMB), DIR is MANHeadlands and A-B marks are clearenter Configuration ModeRGL600ACR 2 SAVOperational ModeMenu Navigation Diagram #3CLR SAVCLR ALLBRTDecrementSwath #AdvanceSwath #PowerONSkipped if a Positionis SavedSkipped if noPosition is SavedSwath NumberHDL 02SET ASET BSET DIRHDL 03...HDL xxHDL 00HDL 01Set DirectionClearALLClearSavedPosition SavePositionIncreaseBrightnessDecreaseBrightnessMain ScreenSwathNavigationArea defined bymarked Headlandsis 2.45 acresWe are 8 feet right of Swath #2 and pointing 11° left of it. SELECT advancesDOWN decrementsswath.Drive and press Select to mark Headland points 03...07SELECTSavesCurrent PositionSELECT Clears ABC,HDL, and Saved PositionSELECTClearsSaved Positiononlyif there is a Saved PositionSaveCurrent PositionDOWN goes to ClearSaved Positionsub-menuCenter green LED's indicate we are Outside of the Leave ZoneDOWN markslastHDL point.SELECT marks HDL points.SELECTto Set Direction.SELECT to mark B.DOWN for temp BSELECTto mark A.Mark A-BMarkHeadlandsDisplayAreapress and holdDOWN to enterConfigurationModeSet Direction
12Separate Headlands with Tape Measure Menu Navigation DiagramMenu Navigation Diagram #4 conditions:Tape Measure is ONHeadlands control is Separate (SEP)Headlands, A-B marks, and DIRection are setenter Configuration ModeRGL600 TPO ACR 2 SAVOperational ModeMenu Navigation Diagram #4CLR A-BCLR SAVDecrementSwath #AdvanceSwath #DecreaseBrightnessSet TapeReference point SavePositionIncreaseBrightnessPowerONSkipped if a Positionis SavedSkipped ifno Position is SavedSwath NumberClearALLClearHeadlandsClearA-BClearSavedPositionCLR ALLCLR HDLBRTWe are 2 feet right and parallel to the swath line. Approaching Headlands.Main ScreenSwath Navigation(Headland boundaryis 12 ft ahead)SELECT advancesDOWN decrementsswath.pressSELECT toSave current positionSELECT clearsA-B, HDL,and Saved PositionSELECTclearsSaved Positiononlyif there is a Saved PositionSaveCurrent PositionSELECTclearsHDL onlySELECTclears A-B onlySELECTsetsTape ReferencePointWe are 184 feet from theTape Reference pointwhich is left and behind.Area defined bymarked Headlandsis 1.55 acrespress DOWN to clearseparate itemsCenter green LED's indicate we are Leaving the Save Position Zonepress and holdDOWNto enterConfiguration Mode
13Entering and Leaving the Configuration ModeControlled access to the Configuration Mode prevents inadvertent entrance during normalOperational Mode activity. Once the Configuration Mode is entered, there are several mainmenus that are displayed sequentially by pressing the MENU button. Configuration Modemain menus are identified by the word “CON...FIG...URE...” displayed sequentially in the rightalphanumeric display (see the [GPS] main menu example below). The Configuration Modecan only be entered from the Operational Mode main screen [RGL 600]. To enter the Configu-ration Mode, press and hold the MENU button for approximately 3 seconds. When the[TO...CFG] screen shows (see below), the MENU button may be released. Press theSELECT button to enter the Configuration Mode or press the MENU button to return to the[RGL 600] main screen.The Configuration Mode GPS main menu is displayed first as shown here.Return to the Operational Mode from any Configuration Mode menu by pressing and holdingthe MENU button for approximately 3 seconds. When the [TO...OPR] screen shows (seebelow), the MENU button may be released. Press the SELECT button to return to theOperational Mode or press the MENU button to stay in the Configuration Mode.Press and holdMENU to enterConfigurationModeSELECTentersConfiguration ModePress MENU to cancelConfiguration Mode[c][d][a][b]Displaysequencesbetween[a], [b], [c], and[d]Typical of allConfiguration ModeMain MenusPress and holdMENU to return toOperational ModeSELECTreturns toOperational ModePress MENU to cancelOperational Mode
14The Smartbar Configuration ModeThere are normally 7 main menus in the Configuration Mode as listed here:GPS GPS Receiver Status monitoringSWA Swath Configuration parametersSYS System Configuration (includes BAUD rate)MSG Output Messages control (present only if SYS-MSG=ON)DSP Display Settings (present only if SYS-DSP=CFG)IAS Inertial Augmentation System (configuration for optional tilt compensation)DIA Diagnostic Built-In TestingPressing the MENU button at a Configuration Mode main menu will view the next Configura-tion Mode main menu. Pressing the MENU button at last main menu will view the first mainmenu [GPS]. The SELECT button is not funtional for Configuration Mode main menus. Pressthe DOWN button to go down from a main menu, into its sub-menus. Then press the MENUbutton to go through the sub-menus. After the MENU button has been pressed for all of thesub-menus, the same main menu is displayed again. This provides a quick return to a sub-menu that may have been passed unintentionally. The DOWN button will reenter the samemain menu’s sub-menus, or the MENU button will proceed to the next main menu.The Output Messages control (MSG) main menu is present only if SYS-MSG is set on ON.The Display Settings (DSP) main menu is present only if SYS-DSP is set to configure (CFG).The Inertial Augmentation System (IAS) main menu is present only if optional tilt compensa-tion is installed.
15press & release MENU Buttonpress DOWN Buttonpress SELECT Buttonpress & hold MENU ButtonAutomatic (no button press)DSPDisplay SettingsSYSSystem SettingsSWASwathNPS, G-2, G-3,D2X, D3X,right display isnumber ofsatellitesG=GPSA=AODD=DifferentialBottom 2 GPSLED alarm ifless than 2.1.secondsdegreesGPSDGPS StatusD3XReceiver PositionStatusHDPHDOP(accuracy)AODAge OfDifferential DataSOGSpeed OverGroundSWWSwath WidthSCLOffset ScaleANGAngle DisplayHDLHeadlandsUTSUnitsMSGOutput MessagesTAPTape MeasureCKSFW ChecksumSER NUMUnit Serial NumberenterConfigurationModeATOAlong Track OffConfiguration Mode Menu Navigation Diagram48, 96,192,384,AUTOFFONOFFONBF, SNP, ROW,PVT, CON, SED,RT, SQ, ONE.FIN, NRM,CRS, AUTOFFONFINOFF, SEP,CMB, DHCFT - Miles/HrMT - Km/HrFTFTFMT5-500 ft5.0-95.0 ft1-999 dmFTFTFMT(0.1-99.9 m)FTFTFMT-99 to +99 ft-19.9 to +50.0 ft-99 to +99 dm(-9.9 to +9.9 m)FTFTFMT-99 to +99 ft-19.9 to +19.9 ft-99 to +99 dm(-9.9 to +9.9 m)press and holdMENU ButtonTO...CFGDIRSwath Direction AUTMANPMRPivot Min Radius CONContour TypeNRMFINVFNCPFSNRMCFGDSPDisplay SettingsGUIGuidanceDisplayNRMADVNRMOVRCOGCourse OverGroundXTOAcross Track OffOFFONXINSwitch InputsEVTEventsGERGuidance ErrorsVCTVectorsGUPGuidanceUpdatesPLTPlot MessagesMRKManual MarksOFFONSECOFFONOFFONOFFONOFFONSECOFFONOFFONDIADiagnosticsIASInertialAugmentationSystemAHTAntenna HeightANGAngle - degreesCalibrateTilt Sensor1.0-40.0 ft0.10-9.99mt180to0to-179OFF,SLO,NRM,FSTif MSG = ON if DSP = CFG if Tilt SensorOption is installedskipped ifSWT=ROW,PVT,CON, SQ, RTif SWT = CONif SWT = PVT2BT1BT0BTonly ifSWT = CONSPLSpecial Angle/OffONOFFCONContour ControlAPRApproachDisplayONOFFFLAOFFOffset DirectionNRMREVSAVSave PosDistanceXTORNGSET DEFSet Default ConfigMSGOutput MessagesDSPDisplay TestGPSDisplay SettingSWTSwath TypeGPSAlarms BPSBAUD Rate POSPosition TLTTilt ModeRGL 600Home Screenpress and holdMENU Buttonfrom anyConfiguration Modescreenreturn toOperationalModeTO ... OPRskipped ifSWT=ROW,PVT,CON, SQ, or RTDisplaysInvictaReceiverSerial #DisplaysReceiverInvictaFirmwareSET PRN122-138or OFFSNOReceiver Serial #VERReceiverfirmwareWASWaas SatellitePRN #TRKTracking Status SYNSRHSNRSignal to NoiseRatioPPRParity Pass Ratio%0 to 100XX.XXXXINVGENGPSInv or GenSEL TO INI automatically setsinv port that LB-5 is connectedBaud 19200, GGA, VTG.SEL TO INIGPS menuSNO, VERif GPS = INVGPS menustops at COGif GPS = GENOPRCFG CFG removesSWW from OPRmodeSWWSwath widthIFGPSGENIFGPSINVCPMCorrections p/minuteLSCLimit Swath CalONOFFTPFTemp in FarenheitTPCTemp in Celsius
16The Smartbar Configuration Mode (continued)GPS - GPS Receiver Status monitoringGPS GPS Status Indication (display only)D3X GPS Mode and Number of Satellites (display only)HDP Horizontal Dilution Of Precision (HDOP) (display only)AOD Age Of Data (display only)SOG Speed Over Ground (display only)When using a Raven receiver and SYS-GPS is set to INV, the GPS Main Menu will display thefollowing screens:SNO Receiver Serial # (display only)VER Receiver Firmware (display only)WAS Waas Satellite PRN (allows setting PRN on RPR 110W and RPR 115 InvictaReceivers).Press SELECT button, ‘SET PRN’ screen will be displayed.Press SELECT button to select PRN #’s between 120 to 138 or OFF.Press MENU to send changes to Invicta Receiver.TRK Tracking Status SYN (Synchronized) or SRH (Searching) (display only)SNR Signal to Noise Ratio (display only)PPR Parity Pass Ratio % (display only)CPM Corrections Per Minute (display only)
17Receiver Position Status definitions:NPS no positionG-2 2D navigation, no differential correctionG-3 3D navigation, no differential correctionD3X 3D navigation, with differential correctionFirst GPSsub-menuReceiverPosition Status(NPS, G-2, G-3,D2X, D3X)Alarms,G=GPS,A=Accuracy,D=DifferentialShows dashes when noalarms present7 GPS Satellitesbeing usedHDOP (Accuracy)should be less than 2.1or bottom 2 GPS StatusLED’s come ONDifferential Age of Datais 3 secondsSpeed Over GroundMeters - Km/HrEnglish - Statute miles/HrCourse Over Groundin degrees**When using a Raven receiver and SYS-GPS is set to INV, the GPS Main Menu will display the following screensORReceiver Serial #Receiver FirmwareWAAS PRN - Allowssetting PRN on RPR110 and RPR 115Tracking StatusSynchronizedTracking StatusSearchingSignal to Noise RatioParity Pass RatioCorrection per Minute
18THE SMARTBAR CONFIGURATION MODE (continued)SWA - Swath Configuration parametersSWT Swath TypePress SELECT button to select Swath Type Back-and-Forth (BF), Snap-To-Swath (SNP), Row Swathing (ROW), Pivot swath pattern (PVT), ContourSwathing (CON), Seed Swathing (SED) Squeeze pattern (SQ), Racetrackpattern (RT), or One Button (ONE).Swath Type Description FunctionBF Back-and-Forth SELECT button is used (in the Operational Mode) to advance or decrease the swath number as required.SNP Snap-To-Swath The swath number is set automatically to the swath nearest the curent position.ROWRow SwathingSpecial guidance is shown for driving down crop rows.PVT Pivot pattern Sequences to mark and follow a circular pattern are used.CONContour SwathingGuidance to curved swath patterns is given.SED Seed SwathingUsed for seeding much like BF except that whenever the SELECT button is pressed to advance to the next swath, an "auto swath calibrate" occurs.SQ Squeeze pattern A special swath number sequence is used for aviation crop applications.RT Racetrack pattern A special swath number sequence is used for aviation crop applications.ONE One button swathing One button setting is the same as Snap-To-Swath operation, with no need to set point A and B.PMR Pivot Minimum RadiusThis configuration setting will only be present if SWT=PVT (Pivot Swathing). The PMRsetting controls the smallest circle to be sprayed.Press SELECT button to set the Pivot Minimum Radius as required. As you press theSELECT button the PMR increases by 10 ft (FT/FTF) or 1.0 meter (MT). The DOWNbutton decreases the PMR by 1 ft (FT/FTF) or 0.1 meter (MT). You can hold downeach button to quickly change the settings.The maximum PMR setting is 999 feet or 99.9 meters.CON Contour TypeThis configuration setting will only be present is SWT=CON (Contour Swathing).Press SELECT button to select between Contour Types CRS (Course), NRM(Normal), FIN (Fine), or VFN (Very Fine). The default setting is NRM and may beused in most applications. The FIN and VFN settings reduce the maximum lengthof a contour swath. The CRS setting increases the maximum length of a contourswath.See the section Contour Swathing - Contour Type Configuration Setting fordetails on setting the Contour Type.
19THE SMARTBAR CONFIGURATION MODE (continued)SWW Swath WidthPress SELECT button to set the Swath Width as required. The boom width of yourmachine determines the swath width. As you press the SELECT button the widthincreases by 5 ft (FT), 5.0 ft (FTF), or 10 decimeters (MT). The DOWN buttondecreases the width by 1 ft (FT), 0.1 ft (FTF), or 1 decimeter (MT). You can hold downeach button to quickly change the settings.The following table shows SWW setting ranges for each units setting (SYS UTS):units min SWW max SWWFT - feet5 ft500 ftFTF - feet fine5.0 ft95.0 ftMT - metric1 dm (0.1m)999 dm (99.9m)DIR Swath DirectionThis configuration setting is not present if the Swath Type (SWT) is set to ROW, PVT,CON, SQ, or RT.Press SELECT button to select AUT (Automatic) or MAN (Manual) Swath Directioncontrol. The default is AUT and should be used in most applications to eliminate abutton press after marking the A-B line.The Swath Direction determines on which side of the A-B line swath numbers arepositive. Generally, this is the direction you will work the field.When DIR is set to AUT, the Swath Direction is set automatically as the machine turnspast 75 degrees from the Course Over Ground (COG) when the B point was marked.After the B point is marked, the Smartbar displays ‘AUT DIR’ until the 75 degree turn iscompleted. Then the Swath Direction is set and Swath #2 guidance is displayed. TheSwath Direction may be set prior to completing the 75 degree turn, by pressing theSELECT button, if desired.When DIR is set to MAN, the Swath Direction is set by pressing the SELECT buttonafter marking the B point and turning in the desired direction to work the field. After theB point is marked, the Smartbar displays ‘SET DIR’ until the SELECT button is pressedto set the direction. Then Swath #2 guidance is displayed.
20THE SMARTBAR CONFIGURATION MODE (continued)SCL Guidance Offset Scale sensitivityPress SELECT button to select between Swath Scales Fine (FIN), Normal (NRM),Coarse (CRS), or Automatic (AUT). There are 8 offset LED’s on each side of center.LED swath offset error distances for English units in feet (FT or FTF) as follows:LED swath offset error distances for Metric units in meters (MT) as follows:LED swath offset error distances for Auto SCL in percentage of Swath Width asfollows:Custom Guidance Scales can be installed via the Raven Configuration Block (SCB).Custome Scale names can also be assigned by the SCB. If custom scale names arepresent in the SCB, those names will replace FIN, NRM, CRS, or AUT as GuidanceOffset Scale identifiers.When the SCB control “Enable Scales Display” is turned ON, the DOWN button isused to display the Offset distance for each LED of the Offset Guidance display. Pressthe DOWN button to sequence through 8 Offset settings. Corresponding Offset LED’silluminate indicating which Offset value is displayed. When “Enable Scales Display” isON, only the SELECT button may be used for selecting Swath Scales. This is be-cause the DOWN button is used to display the Scale settings.ANG Angle IndicatorsPress SELECT button to turn Angle Indicator LEDs OFF, ON, or FIN. The angle LED’sindicate the difference between your Course Over Ground (COG) and the swath lineyou are following.LED swath angle error degrees for ON and FINe as follows:NOTE: A special angle display indicates that COG is not valid and therefore the angleerror can not be displayed. This indication is all angle LED’s off except the farleft angle LED and the far right angle LED. This condition is usually caused bylow Speed Over Ground (SOG).# of LED's12345678Fine 0.31.01.52.02.53.03.55.0Normal 1.0 2.0 4.0 6.0 8.0 10.0 12.0 14.0Coarse 4.0 6.0 12.0 18.0 24.0 30.0 36.0 42.0# of LED's12345678Fine 0.1 0.2 0.4 0.6 0.8 1.0 1.2 1.4Normal 0.3 0.6 1.2 1.8 2.4 3.0 3.6 4.2Coarse 1.2 1.8 3.6 5.4 7.2 9.0 10.8 12.6# of LED's12345678Auto 0.5% 1% 2% 4% 10% 20% 40% 50%# of LED's12345ON 1 3 6 10 15FIN 0.5 1.5 3 6 10
21THE SMARTBAR CONFIGURATION MODE (continued)HDL Headlands ModeHDL configuration is not present if Swath Type (SWT) is set to ROW, PVT, CON, SQ,RT or ONE. SELECT button selects between OFF, SEP (Separate), CMB (Combined),or DHC (Double Headlands C pattern). When OFF is selected, no headlands controlfeatures are active. When CMB is selected, A-B line marking and headland markingare combined. The first two points will be A-B line swath marks. After the A-B line ismarked and the swath direction is set, the display will show “HDL” (left side) and 03(right side). The operator drives to the next headland position and presses theSELECT button. Each point is defined in this way. Pressing the DOWN button at thelast display will show ACR (Acreage) and the right display will alternate between wholeacres and decimal part of acres. If the units are metric, then “ACR” is replaced by“HET” (Hectares). When SEP is selected, headlands and A-B line marking areseparate. When DHC is selected, the Double Headlands C pattern is used. See thesection “Double Headlands C pattern” for details.ATO Along Track Offset distanceThe Along Track Offset distance adjusts the antenna position along the direction ofmachine movement (COG). This adjustment moves the DGPS antenna position rela-tive to the desired Along Track guidance point. Positive settings move the antennaahead of the guidance point. (for example: ATO set to +10 ft sets the guidance pointat the boom if the antenna is mounted 10 ft ahead of the boom). Negative settingsmove the antenna behind the guidance point. Press SELECT button to set the AlongTrack Offset distance.XTO Cross Track Offset distanceThe Cross Track Offset distance adjusts the antenna position across the direction ofmachine movement (COG). This adjustment moves the DGPS antenna position rela-tive to the desired Cross Track guidance point. Positive settings move the antennato the right of the guidance point. (for example: XTO set to +2 ft aligns the guidancepoint with the boom center if the antenna is mounted 2 ft right of center). Negativesettings move the antenna to the left of the guidance point. Press SELECT button toset the Across Track Offset distance.Note: The following setting and range details apply to both ATO and XTO offset distance setting.The SELECT button increases the offset distance by 5 ft (FT) 5.0 ft (FTF), or 10 decimeters(MT). The DOWN button decreases the width by 1 ft (FT), 0.1 ft (FTF), or 1 decimeter (MT).You can hold down each button to quickly change the settings.The following table shows ATO and XTO setting ranges for each units setting (SYS UTS):Note: If Along Track Offset and/or Cross Track Offset are not being used, be sure ATO and/or XTOare set to 0. When using ATO or XTO, an accurate machine movement direction (COG) isused to adjust the antenna position. COG measurement requires the machine to be moving.Whenever machine speed is too slow for accurate COG measurement, the Angle LED’s willshow a special pattern indicating the speed is low (only outside amble Angle LED’s are on).When the machine is stopped, the low speed indication is displayed and the previous validCOG is used for ATO and XTO antenna adjustment.Locating the antenna at the machine/boom center is recommended rather than using XTOsetting, where practical.units min ATO/XTO max ATO/XTOFT - feet -99 ft +99 ftFTF - feet fine -19.9 ft +50.0 ftMT - metric -99 dm (-9.9m) +99 dm (+9.9m)
22THE SMARTBAR CONFIGURATION MODE (continued)SYS - System Configuration (includes BAUD rate)BPS BAUD rate settingThe BAUD rate controls the data rate for messages received from the DGPS Receiverand outgoing transmit messages. Press SELECT button to select AUT (AutomaticBAUD select), 38400, 19200, 9600, or 4800. The default setting is AUT. For mostinstallations, Auto BAUD should be used. Auto BAUD automatically determines theDGPS Receiver transmission BAUD rate, then uses that BAUD setting to receive andtransmit. BPS stands for Bits Per Second.Below is a typical BAUD rate setting screen with Auto BAUD at 19200.UTS Feet, Feet Fine, or Metric UnitsPress SELECT button to set the units to FT (English feet), FTF (fee fine mode), or MT(Metric). When set to FTF, offset distance is shown in feet, and swath width (SWW),Along Track Offset (ATO), and Across Track Offset (XTO) are shown in tenths of feet(0.1 feet). When set to the metric mode, the Smartbar shows distances in decimeters(0.1 meter). A swath width of 6.5 meters would be shown as 065.Whenever UTS is changed, the Along Track Offset (ATO) and Cross Track Offset (XTO)distances are set to 0. If the new UTS setting is MT, Swath Width (SWW) is set to 18.3meters (183 decimeters). If the new UTS setting is FT or FTF, SWW is set to 60 feet.MSG Outgoing Transmit Message ControlPress SELECT button to turn outgoing Messages ON or OFF. For operation withoutdata logging or other ancillary Light Bar Data monitoring equipment, Messages shouldbe set to OFF. When SYS-MSG is set to ON, the MSG configuration main menu isenabled for selecting which messages are used.TAP Tape Measurement ControlPress SELECT button to set the Tape Measurement mode ON or OFF. When TapeMeasurement is enabled, an additional sequence is added to the Operational Mode toprovide control and monitoring of distances. If Tape Measurement will not be used, itshould be set to OFF simplifying the operator’s control sequences.DSP Display SettingsPress SELECT button to set Display Settings (DSP) to NRM (Normal) or CFG(Configurable). The default setting is Normal. When SYS-DSP is set to CFG, the DSPconfiguration main menu is enabled for configuring various Smartbar display and con-trol options.GGA message LED’sReceiveDataSignal Single Message VTG message LED’sMultiple MessagesBAUD Rate LED’s showing 19200GPS Status Alarms
23THE SMARTBAR CONFIGURATION MODE (continued)GPS GPS SettingsPress SELECT button to set GPS Settings (GPS) to GEN (generic not used) or INV(Auto configure Raven Invicta Receiver). The default setting is GEN (Generic). WhenSYS-GPS is set to INV, and MENU button is pressed ‘INV-SEL-TO-INI.’ will appear.Pressing the SELECT button will automatically set up the port of the invicta receiverthat the RGL 600 is connected.BAUD rate will be set at 19200, GGA-ON at 10HZ, VTG-ON at 10HZ.DSP - Display SettingsGPS Optional DGPS Status Configuration formatPress SELECT button to set DSP-GPS to NRM or ADV (Normal or Advanced).When DSP-GPS is set to NRM, the DGPS Status configuration main menu will displaysix configuration sub-menus: GPS, D3X, HDP, AOD, SOG, and COG.When DSP-GPS is set to ADV, the DGPS Status configuration main menu will displayfour configuration sub-menus: GPS...D3x combined, HDP...AOD combined, SOG...COGcombined, and LAT...LON combined. This advanced setting allows monitoring of twoGPS status elements together and adds a Latitude and Longitude display. The ad-vanced GPS display uses alternating display elements to show more data.GUI Guidance DisplayPress SELECT button to set DSP-GUI to NRM or OVR (Normal or Overlay).The default DSP-GUI setting is NRM. Swath offset error distance is shown in the righthand Smartbar alphanumeric display. If the offset error distance display uses lessthan two digits, a General Direction to Target Indicator digit is shown in the thirddigit. This indicator points toward the guidance target. See the section “GeneralDirection to Target Indicator”. As the offset error exceeds two digits, the third digit isno longer available to display the General Direction to Target Indicator. When DSP-GUI is set to NRM, the General Direction to Target Indicator is not displayed whenthe offset error is greater than two digits. When DSP-GUI is set to OVR, the GeneralDirection to Target Indicator is displayed alternately with the three-digit swath offseterror. (i.e. it is overlayed)OFF Offset Error display directionPress SELECT button to set DSP-OFF to NRM or REV (Normal or Reverse).The swath offset guidance Red LED bars normally light up pointing in the direction youneed to steer. This is the DSP-OFF default setting (NRM). To display the Red LEDbars in the opposite direction (the bar appears as if pointing toward the machine fromthe swath line), set DSP-OFF to REV (Reverse). When DSP-OFF is set to REV, thedirection of the angle error indicator LED bars are also reversed.
24THE SMARTBAR CONFIGURATION MODE (continued)DSP - Display Settings (continued)SAV Save Position DistancePress SELECT button to set DSP-OFF to XTO or RNG (Cross Track Distance or Range).When swathing a field, the current position can be saved by pressing the SELECTbutton at a menu “SAV POS”. the DSP-SAV configuration controls what the right handalphanumeric display is showing while leaving and returning to a Saved Position.The default setting is XTO (Cross Track Distance). When DSP-SAV is set to XTO, off-set error to the saved swath line is displayed similar to swath offset error when there isno Saved Position.When DSP-SAV is set to RNG (Range), the right hand display shows the distancefrom the current position to the Save Position. See the section “Saving Your PresentPosition” for more details.APR Headlands Approach DisplayPress SELECT button to set DSP-APR to ON, OFF, or FLA (Flash).When swathing with headlands, there are two approaches to headland boundaries.One is from within the field. You approach the boundary entering the headland area.This approach requires the spray control to be turned OFF by the operator at the head-land boundary. The other is from the headland area into the field. This happens aftermaking an end of row turn and requires the spray control to be turned ON by theoperator at the headland boundary.The Headland Approach Display indicates distance to the headland boundary as themachine is approaching it. This is an aid to help the operator control the spray at theproper point. The Headland Approach Display is shown to the operator in place ofthe swath number. (i.e. in the Smartbar left alphanumeric display).The default DSP-APR setting is ON. The DSP-APR setting allows the Approach Dis-play to be turned OFF, or to flash (FLA). When DSP-APR is set to FLA, the swathnumber and the approach distance are shown alternately in the left alphanumericdisplay. See the section “Swathing with Headlands - Headland Approach Display”for more details.SPL Special Angle and Offset error displayPress SELECT button to set DSP-SPL to ON or OFF.The Special Angle and Offset error display is used to indicate distance away from theswath target when the machine is nearly perpendicular to the swath line. In this orien-tation, it is difficult to determine which way the machine is heading. Therefore the leftor right sense of error offset indications may be unclear. See the section “SpecialOffset and Angle Displays” for more details. DSP-SPL provides a configuration toturn OFF this Special Angle and Offset error display.
25THE SMARTBAR CONFIGURATION MODE (continued)DSP - Display Settings (continued)CON Contour ControlContour Control configuration is present only if Swath Type (SWT) is set to CON.Press SELECT button to set DSP-CON to 2BT, 1BT, or 0BT (Two Button, One Button,or No Buttons). The Contour Control setting determines how much operator activity isrequired when turning between rows using Contour Swathing. See the section “Con-tour Swathing - Contour Control Configuration Setting” for more details.SWW Swath Width ControlPress SELECT button to set Display Settings SWW (Swath Width) to OPR (Opera-tional mode) or CFC (Configuration Menu). The default setting is OPR (Operationalmode). When OPR is selected, the SWW (Swath Width) menu will appear in theOperational mode and in the Configuration Menu under SWA (Swath).When CFG is selected, the SWW (Swath Width) menu will appear only in the Config-uration Menu under SWA (Swath).LSC Limit Swath CalPress SELECT button to set Settings LSC (Limit Swath Calibration) to ON or OFF.The default setting is ON.When LSC-ON is selected the Swath Calibration is limited to 1/4 of the current swathwidth setting.When LSC-OFF is selected the Swath Calibration limit is bypassed.See the section “Swath Calibration” for more details.IAS - Inertial Augmentation SystemThis IAS configuration main menu will be present if your Smartbar has the optional Tilt Sensorupgrade installed. The four sub-menus under IAS are TLT (Tilt Mode), AHT (Antenna Height),and ANG (Angle Display and Calibration). See the section “Smartbar Tilt Upgrade Option -IAS Configuration” for configuration details.DIA - Diagnostic Built-In TestingDSP RGL 600 Built-In Display TestPress the SELECT button to execute the Display Test sequence. The SELECT buttonis pressed two times in the sequence to proceed past display inspection points. TheMENU button may be pressed at any time to abort the Display Test.Shown with Boom Switch #1, #2, #3, and #5 closed
26THE SMARTBAR CONFIGURATION MODE (continued)DSP - Diagnostic Built-In Testing (continued)CKS Program Memory ChecksumPress the SELECT button to execute a program memory checksum calculation. Thecalculated 8 Hexadecimal digit checksum is displayed in 4 display cycles. (see below)Firmware program integrity is validated if the indicated checksum matches a known orpublished checksum for the current version.SET..DEF - Reset Smartbar configuration settings to default valuesWARNING: All existing Smartbar configuration settings will be erased.Press the SELECT button to reset all Smartbar configuration settings to default values.When the SELECT button is pressed, the Smartbar will restart to the home screen withdefault values for all configuration settings.SER..NUM - Smartbar 6 digit Unit Serial NumberThis Serial Number matches the Model/Serial Number tag on the back of your Smartbar.It is important to supply this Serial Number when requesting product or technicalsupport.TPF Internal Board Temperature in Fo (Farenheit).TPC Internal Board Temperature in Co (Celsius).Temperature display menu only available in RGL600 with Tilt option installed.Display sequencesbetween[a], [b], [c], [d], [e].showing theHexadecimal number'1234FE78'[a][b][c][d][e][a][b]Display sequencesbetween [a] and [b]showingSerial Number314159
27BASIC SWATHINGThe Smartbar has two basic parallel swath types: Back and Forth (BF) and Snap-to-Swath(SNP). With each pattern you must first mark point A and then point B. This defines the A-Bline, which is swath number 1. Swath number 2 will be in the direction (from the A-B line) youwill work the field. If Direction (DIR) is configured for Auto (AUT), the direction to work the fieldis established when the machine turns past 75o after marking point B. If Direction (DIR) isconfigured for Manual (MAN), the operator presses the SELECT button, after turning frommarking the B point, to set the direction to work the field. DIR may be AUT or MAN for both BFand SNP. The DIR default setting is AUT for both BF and SNP.Once the A-B line is marked and the direction to work the field is established, then the lightbar knows where the swaths are for that field based on the swath width you specified whenconfiguring the Smartbar. The swaths are numbered 1, 2, 3... with the A-B line being swath 1.Swaths on the opposite side of the A-B line than you are working are numbered -1, -2, -3, ....For example, if you are using BF and your current swath number is 1, pressing the Downbutton will decrement the current swath to -1. Pressing Down again will decrement the currentswath to -2. The offset distance is always relative to the current swath number.The offset distance from the current swath is shown on the right alphanumeric display. Theoffset distance LED’s are all off when you are on swath, and come on sequentially as youleave the swath.The offset angle LED’s are all off when you are parallel to the current swath, and come onsequentially as your angle to the current swath increases.IMPORTANT:When traveling perpendicular to the current swath line, the direction you should turn tocorrect is indeterminate. If the current Course Over Ground alignment to the swathline is greater than about 70o, the angle and offset LED’s are displayed in specialmanner. This special display aids in determining the location and orientation of theswath line when the direction is close to perpendicular and the intended direction alongthe swath line is indeterminate. See the section “Special Offset and Angle Displays”.When swathing, all Smartbar GPS status LED’s should be out, indicating the GPS receiver isoperating properly. If one or two of the status LED’s are on, the accuracy of the light bar will beimpaired. If all status LED’s are on, swathing is either unreliable or non-functional.The Guidance Status LED’s (refer to diagram item D on page 4) are used as follows:The center LED is on if no offset error LED’s are on.The top and bottom center LED’s are usually on when you are swathing (theA-B line has been established), but change states when you are either ap-proaching or within a headlands area. When the LED’s are on, it is okay tospray. When the LED’s are off, you have entered a headland area, which hasalready been sprayed. The top and bottom LED’s are also used when savingand returning to a position. See ‘Headlands’ and ‘Saving Your PresentPosition’.
28Back and Forth Swathing (BF)Back and Forth swathing is used, as the name applies, to swath the field in first one directionand then the other using swaths that are parallel to the A-B line. Below are the steps requiredfor BF swathing.The straight line defined by marks A and B must be parallel to the remaining swaths. Makesure the GPS antenna has a good view of the sky and the Smartbar shows NO alarm condi-tions.If DIR is set to Automatic (AUT), the Direction is set automatically when the machine turnspast 75o alignment to the A-B line. If DIR is set to Manual (MAN), press the SELECT button(after marking B and turning) to set the direction.The SELECT button and DOWN button are then used to choose the next swath you want torun. Swaths are numbered in order but you can run any swath you want at any time and in anydirection.ImportantThe ‘A’ and ‘B’ marks form a straight line that must be parallel to the remainingswath paths. Ensure that no alarms are present while setting the ‘A’ and ‘B’ marks.Snap-to-Swath Swathing (SNP)When using SNP, the Smartbar will find the swath nearest to the current position and set theswath number accordingly. Swath lines are numbered as in BF swath type. The SELECT/UPbutton and DOWN button do not control the swath number as in Back and Forth Swathing.With the SNP pattern, you can work the field with the least need for pressing Smartbar but-tons.First, mark the A-B line as you would with BF, and then make your turn. If (DIR) is set to Auto-matic (AUT), the Direction is set automatically when the machine turns past 75o alignment tothe A-B line. The following section leads you through a step-by-step description of swathingusing either BF or SNP swath patterns.BAEnterFieldHereExitFieldHereSwath #1 Swath #2 Swath #3 Swath #4 Swath #5 Swath #6press SET B button toMark theB pointpress SET A buttonto Mark theA pointSELSELSELIf DIR=MANpress SELECT buttonto set directionIf SWT=BFpress SELECT buttonto advance Swath #
29To Begin Your First Swath1. Make sure the GPS antenna has a good view of the sky and the system is operatingwith NO alarm conditions. Using a visible site as a point of reference, steer a straightline parallel to your intended swath paths as you mark your reference points A and B.ImportantThe Smartbar will establish all subsequent swaths as parallel to the AB line, somake sure no GPS alarms are present while establishing the A-B line.2. Press the MENU button until you see the “SET A” display.3. When you are lined up on the first swath, press the SELECT button to enter the “A”mark. ‘SET B’ is displayed.4. Continue to the end of the first swath path and press the SELECT button to enter the“B” mark. You can also use a temporary mark B to cause the Smartbar to guide youalong the A-B line. After marking A, you can press the DOWN button to set a tempo-rary B. The Smartbar will guide you along the new A-B line until you press the DOWNbutton to create a new temporary A-B line or you press the SELECT button to set thefinal A-B line.5. Turn toward the next swath path. Press the SELECT button to set the direction if DIRis set to MAN. If DIR is set to AUT, the direction is set automatically as the machineturns past 75o. The display will indicate swath 2.6. Once you reach the end of swath 2, you may press the SELECT button to advance tothe next swath (for BF). You can also select a lower numbered swath by using theDOWN button. With the SNP swath type selected, the swath number is automaticallyadvanced or decreased, as you become closer to a given swath than any other swath.7. The red offset distance LED’s indicate the direction you must steer to reach the swathnumber you have selected. Simply steer in the direction of the LED’s. That is, if theLED’s to the right of the center are on, steer right. If the LED’s to the left of center areon, steer left. The distance (feet or decimeters) to the selected swath is shown on theright side of the screen.8. The Guidance Status LED’s in the center of the Smartbar work as described in BasicSwathing, Headland Swathing, and Saving Your Present Position.9. Offset in degrees provides an approximation of the angle at which you are approach-ing the selected swath. The number of LED’s on the bottom row will increase as yourangle of approach to the selected swath increases. For example, if you are approach-ing the selected swath at a 50o angle, the maximum number of bottom-row LED’s areon. If however, you are parallel to the selected swath, these LED’s will all be off andyour distance to the next swath will not be changing. If you turn away from theselected swath at a sharp angle, the number of LED’s will again increase and, ofcourse, your distance to the selected swath will be increasing. When used together,the angle indicator and offset LED’s will help you judge your approach to the selectedswath. This provides the best indication of when to begin your turn onto the selectedpath.
3010. To enter new reference marks at the end of the current field or to change referencemarks: Pres the MENU button to display ‘CLR A-B’. Clear the current referencemarks by pressing the SELECT button.NOTE: If your GPS receiver is outputting 10 messages per second, you may noticethat as you move over bumps and dips in the field, the steering LED’s changerapidly. This is because the GPS antenna is moving from side to side and with10 updates per second the receiver sees this as a change in position. (Thisproblem shows up more at lower speeds). For better accuracy, do not chasethe LED’s but try to center them across the display.Clearing the A-B lineFrom the ‘CLR A-B’ menu screen, press the SELECT button to clear the A-B line. You willhave to enter new ‘A’ and ‘B’ marks to begin your next swathing operation. Clearing the A-Bline also clears the Save Position (SAV POS).
31Outsidedescribed areasSave Lights FLASH TOGETHERZones usedto describeLeaving and Returningto aSaved PositionLeave Zone60ft squarecentered on Saved Position point.Save LightsFLASH ALTERNATELYwhen leaving.normalreturnpathnormalreturnpathArrive Zone30ft wide x 20ft long, begins 5 ft beforeSaved Position point.Save Lights ON STEADYafter reaching this zone.Saved PositionPointCOGApproach Zone±10ft from swath lineof Saved Position.Save LightsGO OUTwhen returning.COG lineUsing the Smartbar ‘SAV POS’ function, you can leave your current swathing position and return to itlater to continue the present swathing operation. To save your current position, locate the ‘SAV POS’screen on the menu and press the SELECT button. A position may be saved after stopping. How-ever, do not back up prior to saving a position or the saved COG will be in the wrong direction.In the following description, the upper and lower center green LED’s are referred to as the ‘savelights’.After saving your current position:The Save Lights will FLASH ALTERNATELY until you exit the Leave Zone.The Save Lights will FLASH TOGETHER after you have left the Leave Zone.The Save Lights will GO OUT when you enter the Approach Zone indicating acorrect approach direction. (i.e. You are going in the same direction.)The Save Lights will come ON STEADY when you reach the Arrive Zone. TheSmartbar is then ready to continue swathing.When returning to a Saved Position Point, use normal swath guidance to find the Saved Positionswath. For BF and SNP the swath number is locked so all swath guidance indicators will guide youback to the correct swath line. Look at the swath offset LED’s and the angle LED’s to find the SavedPosition swath. If you are perpendicular to the swath line, use the Special Offset and Angle Displays(see separate section) to find your way back. Otherwise, notice if the offset distance (right alphanu-meric) is increasing or decreasing to locate the Saved Position swath. Also the General Direction toTarget Indicator (see separate section) will point back to the saved position when there are availabledigits on the offset display. Once the Saved Position Swath is located, use the diagram above tonavigate to the Saved Position point.SAVING YOUR PRESENT POSITION
32Swathing with HeadlandsThe area defined by the boom width, as you drive around a field perimeter, is known as the‘headlands’ of the field. This is the area that cannot be reached by normal swathing if the fieldis confined.The Smartbar allows you to spray the headlands and then spray the rest of the field usingnormal swathing. While swathing the part of the field that is inside of the headlands, theoperator is given indicators showing that the machine is approaching and/or crossing a head-land boundary. As the machine approaches each headland boundary, the distance to theboundary is shown to aid in accurate spray nozzle control. See the section HeadlandApproach Display for details of these indicators.The effective point where the machine crosses the headland boundary can be adjusted fromthe antenna to the boom position using the Swath Along Track Offset configuration. (seeSmartbar Configuration Mode (SWA-ATO) Swath Along Track Offset for antenna to boomadjustments).You can select either of three headland modes: Separate (SEP), Combined (CMB), or DoubleHeadlands C pattern (DHC). When using the Separate Headlands mode, mark the A-B lineand direction separately from the headland points. When using the Combined Headlandsmode, the first few headland points and the A-B line are marked together. (i.e. when A ismarked, H01 is automatically marked). Combined has the advantage of making it easy to findthe first swath, the A-B line. Separate requires you to use a visual queue, such as a fenceline, to locate the A-B line.For most jobs, Combined Headlands is the preferred method. Use the Separate Headlandsto swath fields where the A-B line does not correspond to one of the headland sections, an ir-regular shape, or other special conditions. Use the Double Headlands C pattern when alarger end-row turning radius is required.Examples below show Separate and Combined headlands applied to the same field:Shaded Area - Headland areasSolid Line - Path of antenna within Headland AreasSeparateH01H02H03H04H05 H06 H07H08H09H10H11S1 S2 S3 S4ABDIRCombinedBDIRH01H02H03H04H05 H06 H07H08H09H10H11BS1 S2 S3 S4 S5ATemp
33Separate Headlands1. If HDL configuration is not already set to SEP, enter the Configuration Mode, go toSWA main menu, HDL sub-menu, and set HDL to SEP. Exit the Configuration Mode.2. Use the MENU button to advance to the HDL guidance screen.3. Use the SELECT button to mark headlands points as you drive the headlands area.In the diagram on the previous page, you would press the SELECT button at each ofH01 through H11. At any point in marking headlands, you could press the MENUbutton and then go mark the A-B line and direction. You can then use the MENUbutton to cycle back around to the HDL guidance screen.4. As you are marking headlands, the guidance LED’s will keep you headed along astraight line. You need at least 2 points to be guided. For example, in the diagrams onthe previous page, you need at least H01 and H02 before you get guidance. Note thatthe even-numbered headlands points, (H02, H04, H06, ...) in the diagrams are used toestablish a new line along which you wish guidance. You can store up to 100 head-lands points.5. Press the DOWN button to complete headlands. This will cause the total acres, in-cluding headlands, to be calculated and displayed on the ACR screen. The ACRscreen will show whole acres and fractional acres alternately. The fractional part ofacreage is identified by a decimal point in the first display place. (If you are usingmetric units, ‘ACR’ is replaced by ‘HET’ for ‘Hectares’).6. Press the MENU button to go mark the A-B line and direction, if you haven’t alreadydone so.7. As you drive each of swaths S1 through S4, the top and bottom Guidance StatusLED’s will be on when you are not in the headlands area and will be off when you arein the headlands area (the shaded area in the diagram). When the LED’s go off, it istime to turn off the spray and make the turn. As you approach the headlands areawithin half a swath width, the top Guidance Status LED will flash. When you arrive atthe headlands area, the top and bottom LED’s will go out. The center LED stays on toindicate that you are still on the swath. Spraying can resume when the LED’s turn onagain. Angle and offset distance LED’s guide you as they would in a BF swath patternwithout headlands.IMPORTANT:Headlands along track indicator LED’s are based upon the center of the swathline.8. With Separate, you can clear the A-B line and headlands either separately or to-gether. Press the MENU button until you are at the CLR...ALL screen. Pressing theSELECT button at this point will clear both the A-B line and the headlands. To clearthe A-B line or headlands individually, press the DOWN button. The DOWN buttontakes you to the CLR sub-menu. Press the MENU button until desired item is showingin the right alphanumeric display. Then press the SELECT button to clear that item.
34Combined Headlands1. If HDL configuration is not already set to CMB, enter the Configuration Mode, go toSWA main menu, HDL sub-menu, and set HDL to CMB. Exit the Configuration Mode.2. Use the MENU button to advance to the HDL guidance screen.3. Press the SELECT button to mark A. To get guidance prior to marking B, press theDOWN button to establish a temporary B mark. As the diagram indicates, mark Aand temporary mark B also establish coincident headlands points, H01 and H02.4. Press the SELECT button to mark B. This point coincides with H03 in the ‘Combined’diagram.5. After turning in the desired swath direction, press the SELECT button to set thedirection. If the swath direction control (DIR) is set to AUT, direction is automaticallyset as the machine turns past 75o.6. As you are marking headlands, the guidance LED’s will keep you headed along astraight line. You need at least 2 points to be guided. For example, in the diagrams(on page 32), you need at least A (H01), and temporary B (H02), before you getguidance. Note that the even-numbered headlands points (H02, H04, H06,...) in thediagrams were used to establish guide lines for new headland segments when thedirection changes. You can store up to 100 headlands points.7. Press the DOWN button to complete headlands. This will cause the total acres, in-cluding headlands, to be displayed on the ACR screen. The ACR screen will showwhole acres and fractional acres alternately. (see Separate Headlands Operationstep 5).8. Press the MENU button to advance to the swathing screen. As you drive each ofswaths S2 through S5, the top and bottom Guidance Status LED’s will be on when youare not in the headlands area and will be off when you are in the headlands area (theshaded area in the diagram). When the LED’s go off, it is time to turn off the spray andmake the turn. As you approach the headlands area within half a swath width, the topGuidance Status LED will flash. When you arrive at the headlands area, the top andbottom LED’s will go out. The center LED’s turn on to indicate that you are still on theswath. Spraying can resume when the LED’s turn on again. Angle and offset distanceLED’s guide you as they would in a BF swath pattern without headlands.IMPORTANT:Headlands along track indicator LED’s are based upon the center of the swathline.9. With Combined you clear both A-B line and headlands together.
35DH 3mark DH 4markDH 1mark DH 2markBmarkAmarkEnterFieldHereThe Double Headlands C pattern provides parallel swathing between two straight doubleheadland areas. Using the C pattern, swathing progresses toward an “open” end, allowing thelast swath to easily align with the edge of the field. This pattern can be used with Swath Types(SWA) Back and Forth (BF) or Snap-To-Swath (SNP) and uses the direction (DIR) controlAUT/MAN setting to determine the layout of the C pattern.Three line segments define the Double Headlands C pattern (DHC): DH1-2, A-B, and DH3-4. (see diagram on this page). The DH1-2 line defines the first Double Headland area. The A-B line controls the orientation of all subsequent swaths between the headland areas. TheDH3-4 line defines the second Double Headland area. These three line segments may be atany angle or orientation so long as the general shape of the letter “C” is formed. Guidancealong the inside of DH1-2 and DH3-4 includes ON/OFF indicators (similar to headland con-trols) on the center top and bottom RGL 600 green LED’s. These indicators direct the opera-tor to turn the applicator ON or OFF so that the headland swath, which is inside of DH1-2, canbe the same length and alignment as the DH1-2 line, if desired. The DH3-4 inside headlandswath is controlled similarly. The exact shape of the field will determine if and how theseindicators are used. Marking of the A-B line is independent of DH1 and DH3 marks, althoughthe A mark is close to DH1 and the B mark is close to DH3. This allows some flexibility in thecorners of the field along the A-B line. The A-B line should be marked carefully as it controlsthe position and direction of all subsequent swaths between the headland areas. The areacovered by the Double Headlands C pattern and swathing is calculated and displayed at theend of guidance along the DH3-4 inside headland.Double Headlands C pattern
36Once the Double Headlands C pattern is defined, the field is sprayed using parallel swathing.BF or SNP swath types can be used as configured.As the machine crosses headland boundaries in either direction, the center top and bottomgreen LED indicate the presence and status of a headland boundary approach. The Head-land Approach Display shows the distance to near headlands that are in front of the ma-chine.Note that the line between DH2 and DH4 might not be parallel to the A-B line. ApplicatorON/OFF signals and Headland Approach Displays are shown when swaths at the end of fieldcross this boundary where there is no headland area.The following steps outline Double Headlands C pattern swathing:1. If HDL configuration is not already set to DHC, enter the Configuration Mode, go toSWA main menu, HDL sub-menu, and set HDL to DHC. Exit the Configuration Mode.2. Enter the field in the direction of the DH1-2 line segment. Determine the best positionand direction for the DH1-2 segment. This may be a fence line or field boundary inmany cases.3. Clear any previous swath setting and press the MENU button until the RGL 600display reads “SET...DH1”.4. Press the SELECT button to set the DH1 mark. Drive along the intended DH1-2 linesegment with the applicator ON. The display will indicate “SET...DH2”. Press theDOWN button for straight-line guidance as required. This is called a temp DH2.5. At the end of the DH1-2 line, press the SELECT button and turn the applicator OFF.The display will read “AUT...DIR” or “SET...DIR” depending on the direction config-uration (DIR). Turn in the desired direction for the field layout.6. For manual direction, press the SELECT button. For automatic direction, just drive inthe desired direction. The display will read “D12...offset” and the LED’s show guid-ance along the inside of the DH1-2 line segment. Notice the top and bottom greenLED’s will go on when the machine passes the DH2 point.7. Drive along the DH1-2 inside headland path. When the machine is aligned with theend of the DH1 point, the center top and bottom LED’s will go OFF. When reachingthe position for the A mark, press the SELECT button and the display will read “SET...A”.8. Turn and position the machine for the A mark. Press the SELECT button to set the Amark. The display indicates “SET...B”. Press the DOWN button for straight-lineguidance as required. This is called a temp B mark.9. Drive along the A-B line to the B reference point. Press the SELECT button to set theB mark. This display indicates “SET...DH3”.
3710. Position the machine for the desired beginnng of the DH3-4 line segment. This may bea fence line or field boundary in many cases. Press the SELECT button to set the DH3mark. This display will indicate “SET...DH4”. Press the DOWN button for straight-lineguidance as required. This is called a temp DH4.11. At the end of the DH3-4 line, press the SELECT button and turn the applicator OFF.This marks DH4. Turn toward the field and guidance is given for entering the fieldalong the DH3-4 inside headland area. Turn the applicator ON as required whenentering the field. Notice the top and bottom green LED’s will turn ON when themachine passes the DH4 point.12. Drive along the DH3-4 inside headland path. When the machine is aligned with theend of the DH3-4 line, the center top and bottom LED’s will go OFF. This completesthe A-B line and headlands marking.13. Press the SELECT button to calculate the acreage, and begin swath guidance alongthe first swath parallel to the A-B line.14. Press the MENU button to see the swath guidance screen.(swath offset error is shown on the right)15. Proceed with swathing and turn the applicator OFF and ON when turning betweenswaths.
38Headland Approach DisplayThe Headland Approach Display shows the distance to upcoming headland boundaries in-stead of the swath number in the left alphanumeric display. A symbol is also displayed whichindicates entering or leaving the headland area. When the machine is in a headland ap-proaching a boundary to the spray ON area, the approach display comes on one-quarterswath width from the boundary. When the machine is in the field approaching a boundary tothe headlands, the approach display comes ON one swath width from the boundary.See the configuration DSP-APR, which provides ON, FLA, or OFF Approach Display controlsettings. The default setting is ON as described here. When DSP-APR is set to FLA, theHeadland Approach Display and Swath Number will show alternately (i.e. FLAsh). WhenDSP-APR is set to OFF, the center top green LED still flashes to indicate an approachingheadland boundary.When operator is leaving a headland area and approaching the parallel swath area, the centertop green LED will flash (center bottom green LED is OFF). The Headland ApproachDisplay shows the distance to the headland boundary, instead of the swath number. Thisprompts the operator to prepare to turn the applicator ON. The center top and bottom greenLED’s will both go ON when the operator crosses the boundary into the parallel swath area.When the operator is approaching an upcoming headland area, the center top green LED willflash (center bottom green LED is ON). The Headland Approach Display shows thedistance to the headland boundary, instead of the swath number. This prompts the operator toprepare to turn the applicator OFF. The center top and bottom green LED’s will both go OFFwhen the operator crosses the boundary into the headland area.current position is outsidespray area of field swath offset error is 3 feettarget directionis to the rightapproachingheadland boundarydistance to headlandboundary is 12 feetindicates approach to spray areaof field from a headlandHeadland Approach to Spray ON Displaycurrent position is insidespray area of field swath offset error is 0 feettarget direction isstraight aheadapproachingheadland boundarydistance to headlandboundary is 24 feetindicates approach to headlandfrom inside the fieldHeadland Approach to Spray OFF Display
39PIVOT SWATHINGThe Pivot Pattern provides a circular swathing of fields that have a well-defined center andare shaped like a circle or a section of a circle. The requirement for circular swathing usuallyresults from use of a pivot irrigation system.There are two steps in using the Pivot Pattern:1. Determine the center of the circular pattern.2. Follow circular swath lines to cover the required area.Once the center is determined, the Smarbar lays out swath numbers starting at number one(closest to the center) and increasing outward from the center. To determine the center, theoperator marks points while driving any circular swath. These points mark the Pivot Refer-ence Circle. The Pivot Minimum Radius (SWA-PMR) is a configuration distance used onlyby the Pivot Pattern. The Pivot Reference Circle, the Swath Width (SWW), and PMRdetermine the position of circular swath #1. Subsequent swaths are numbered outward fromswath #1 and are located at Swath Width intervals.PVTMark1PVTMark2PVTMark 3guidance beginsPVTMark4PVTMark5EnterFieldHereGuidance is OK.DOWN button is pressed.Pivot Reference Circle is complete.Swath is #4PMR#1#2#3#4#5#6 Swath NumbersExitFieldHerePivot Irrigationtower tiresPivot Irrigation boomin parked position
40The Pivot Minimum Radius setting defines a circular area at center of the field. Circularswaths are assigned outside of this area. As the radius of circular swaths become smallerand smaller, the inside spray nozzle moves slower than the outside spray nozzle. The PMRsetting determines the smallest circle to be sprayed. The PMR setting may also be used todefine an unplanted area at the center of the field that is used for installed equipment orstorage.Use a known circular path to setup the Pivot Reference Circle. An example is the tire trackspreviously made by one of the pivot irrigation towers. After three points are marked, theoperator is shown guidance to the best circle, which is calculated from points marked on thePivot Reference Circle. The operator continues marking points while comparing this circularguidance to the reference path being followed. When guidance indications match the refer-ence path, the operator pushes the DOWN button to accept the current Pivot ReferenceCircle. At this time, the resultant circular swath number is displayed along with circularguidance. The operator finishes the initial swath and then traverses the field in any ordersimilar to the Snap-To-Swath procedure in parallel swathing. Care should be taken not tore-spray the swath number that is the Pivot Reference Circle. Note the swath coveragesequence shown on the diagram on the previous page.Pivot Pattern ConfigurationTo use the Pivot Pattern, enter the Configuration Mode and navigate to the Swath(SWA) menu. Set the Swath Type (SWT) to PVT. Set the Pivot Minimum Radius(PMR) to the length from the center of the field to a point on a circle where circularswathing may begin. Set the Swath Width (SWW) to the dimension across eachswath. The Swath Direction Control (DIR) is not used for the Pivot Pattern. Set theOffset Guidance Scale (SCL) and Angle display (ANG) as for parallel swathing tocontrol guidance indication displays. The Headlands Type (HDL) is not used for thePivot Pattern swathing. Set Along Track antenna Offset (ATO) and Across TrackAntenna Offset (XTO) as for parallel swathing.
41Marking the Pivot Reference CircleWhen the Smartbar is configured for Pivot Pattern and the Pivot Pattern has been cleared,press the MENU button until the left alphanumeric display reads “P1” and the right display isblank. This display prompts the operator to mark the first point on the Pivot Reference Circle.While driving the Pivot Reference Circle, mark the first point by pressing the SELECT button.The display will initially indicate “P2 0”, prompting for the second point. While markingpoints on the Pivot Reference Circle, the right display indicates difference, in degrees, be-tween the current Course Over Ground (COG) and the previous point’s COG. As you drivearound the Pivot Reference Circle away from the P1 mark, the right display will increase yourCOG changes. Continue around the Pivot Reference Circle and mark P3. When three pointsare marked, the Smartbar can calculate a center and radius for the Pivot Reference Circle.After P3 is marked, the Smartbar offset LED’s and angle LED’s will display guidance indica-tions as you drive around the Pivot Reference Circle. Each time a new point is marked, theSmartbar recalculates the center and radius of the Pivot Reference Circle. Continue markingpoints while driving around the Pivot Reference Circle. There must be at least 17 feet (5meters) distance and 12o change in COG between each pivot reference point. When theguidance indicators match the path you are driving, the center and radius have been accu-rately determined. Press the DOWN button to complete the Pivot Reference Circle markingphase.After the Pivot Reference Circle is marked, the Smartbar determines the location of circularswath #1 and the swath number of the Pivot Reference Circle. After the DOWN button waspressed to complete the Pivot Reference Circle marking, the left display shows the swathnumber and the right display shows offset error as in parallel swathing.When marking Pivot Reference Circle points, the operator should press the SELECT buttonwhen the machine is as close as possible to the circumference line being followed. PivotReference Circle accuracy is determined by the accuracy of marking these points.PVTCLRPOSSAVRGL600Operational ModePivot PatternNavigation DiagramBRTDecreaseBrightnessIncreaseBrightnessPowerONNOcircular guidanceSwath Number& Offset distance1517P1 P4P5P6 5noguidance guidance to currentReference Circle 3 031P314P2Swath #ClearPivotSavePositionPositionis Saved?YESCLR SAV ClearSaved PositionClearALLCLR ALLpress MENU Buttonpress DOWN Buttonpress SELECT ButtonAutomatic (no button press)
42Driving the Pivot PatternNo button presses are necessary after the Pivot Reference Circle is marked. Use the sametechnique as Snap-To-Swath for parallel swathing, except each swath is part of a circle. Asthe operator drives the field, the Smartbar will always give guidance indication to the closestswath.Refer to the pivot pattern diagram at the front of this section. The swath order used to coverthis example pivot pattern is #4 (Pivot Reference Circle), #1, #2, #5, and #6. The PivotReference Circle may be any swath number and the swath order can be chosen to best suitethe particular field and equipment.Offset and angle indicators are much like they are for parallel swathing. When using the pivotpattern, a new location on the current circular swath is continously calculated. Offset errorindicates distance from the target circumference. Angle error indicates variance from a linetangent to the circular swath at the current position.Saving and Returning to a PositionRefer to the section Saving Your Present Position. When Pivot Pattern is in use, Saving andReturning to a Position is very similar to parallel swathing. Imagine a line tangent to thecircular swath at the time the Save Position is done. When returning to that saved position,this tangent line is treated as a parallel swathing pattern swath line.
43ROW SWATHINGUse Row Swathing when you are driving in plowed rows and must follow the rows precisely.The SELECT button is pressed at the end of each row to advance to the next row. For RowSwathing, the Smartbar continuously memorizes the track just behind the current position.When the SELECT button is pressed at the end of a row, guidance is given to the swath ineither direction to the next row. Since the offset distance to the next row is calculated from theposition at the end of the current row, guidance into the next row will be very accurate. It isimportant to configure the swath width setting to closely match the required multiple of thedistance between each row. It may be necessary to configure SYS-UTS to FTF (see SystemConfiguration, UTS Feet, Feet Fine, or Metric Units). This will allow the swath width to be setin tenths of feet.As rows are laid out across a field, small incremental inconsistencies in the pitch (distancebetween each row) may exist. This can cause a swath position calculated from an A-B linereference to misalign with rows that are several swaths away from the A-B line. When usingRow Swathing, each swath position is based on the previous swath position and direction.This produces a precise guidance into each new row, which can minimize the time required toturn from one swath to another.The primary purpose of Row Swathing is to aid in locating the target row when turning. RowSwathing does not require the rows to be straight. As the operator is driving along eachswath, guidance is given toward a straight path based on the path just behind the currentposition. The operator will be using the row as a primary path. Smartbar guidance will aid infollowing these row patterns.Note: When using Row Swathing, Swath numbers shown in the left display are swathsequence numbers and do not necessarily represent a position on the field.Configuration Steps for Row SwathingTo use Row Swathing, enter the Configuration Mode and navigate to the Swath (SWA) menu.Set the Swath Type (SWT) to ROW. Set the Swath Width (SWW) to the dimension acrosseach swath. The Swath Direction Control (DIR) is not used for Row Swathing. Set the OffsetGuidance Scale (SCL) and Angle display (ANG) as for parallel swathing to control guidanceindication displays. The Headlands Type (HDL) is not used for the Row Swathing. Set AlongTrack antenna Offset (ATO) and Across Track Antenna Offset (XTO) as for parallel swathing.SAV POSRGL600 BEG ROWMenu Navigation Diagram for Row Swathing SavePositionClearROWClearSavedPositionCLR ALLCLR ROWClearAllCLR SAVpress MENU Buttonpress DOWN Buttonpress SELECT ButtonAutomatic (no button press)Top and BottomCenter Green LED’sare ON 1 offseterror 2 offseterror 2 offseterrorif a Positionis Savednext swathTop and BottomCenter Green LED’sare ONTop and BottomCenter Green LED’sare OFFaligned w/prevend of swath
44CONTOUR SWATHINGSome fields require Contour Swathing for application of fertilizer, chemicals, or other agricul-tural maintenance. If a field has contoured terraces, Contour Swathing may be required forswathing to follow the contour of the terraces. Some fields may have an irregular shape,which requires Contour Swathing for reasonable coverage.When Contour Swathing is used, each swath (except the first) is based on the previous swath.This allows any irregularities in one swath to be accounted for in the next swath. For example,the operator may have to drive around a tree or ground feature in the field. Guidance for thenext swath will follow the path taken by the operator when driving around the tree or groundfeature. Contour Swathing can be referred to as ‘relative’ swathing. This is because eachswath is ‘relative’ to the previous swath. Other parallel swathing can be referred to as‘absolute’ swathing. This is because each swath is an ‘absolute’ distance (swath numbermultiplied times the swath width) from the A-B reference line.To provide Contour Swathing guidance, the Smartbar memorizes each swath path as theoperator is driving. To simplify the progress through the field, each memorized swath isseparate from the other swaths. See the Contour Swathing Diagram below. Swath #1 startsat the ‘1A’ mark and ends at the ‘1B’ mark. Swath #2 starts at the ‘2A’ mark and ends at the‘2B’ mark, etc. The Smartbar memorizes the path of the two complete swaths. While drivingthe first swath, the Smartbar memorizes the path of that swath. While driving the secondswath, the Smartbar shows relative guidance to the first swath while memorizing the secondswath. While driving the third swath, guidance to the second swath is shown while memoriz-ing the third swath. This process is repeated across the field.1EnterFieldHereExitFieldHere2A3A4A5A2B3B4B5B1B1AContour Swathing Diagram
45Contour Control Configuration SettingTo mark the beginning of the first swath (1A), press the SELECT button at the BEG...CONscreen. See the Menu Navigation Diagram for Contour Swathing in this section. To markthe end of the first swath (1B), press the DOWN button. This will be done just prior to turningtoward the second swath. You may turn either direction (i.e. left or right) toward the secondswath. After making the turn, press the SELECT button to mark the beginning of the secondswath (2A). Follow the guidance indicators to complete the second swath. Press the DOWNbutton to mark the end of the second swath (2B). Repeat this process for the third swath, etcacross the field. This method of marking the beginning and end points of the second andsuccessive swaths is the default Contour Control (DSP-CON) and is called the two-button(2BT) mode. Two button presses are required when turning at the end of each row. Twoadditional Contour Control settings (1BT and 0BT) minimize and/or eliminate operator buttonpress activities at the end of rows.When the Contour Control is set to the one-button mode (DSP-CON=1BT), only one buttonpress is required at the end of each row. At the end of each row, the operator presses theDOWN button to mark the end of that swath. Then, make the end-of-row turn to the nextswath. When the machine is aligned with the previous swath end mark (position of DOWNbutton press) and one swath width away, the beginning of the next swath is automaticallymarked. If the field shape is such that the next swath should begin before alignment to theend of the previous swath, the operator can press the SELECT button to mark the next swath’sbeginning early.When the Contour Control is set to the zero-button mode (DSP-CON=0BT), no button pressesare required at the end of rows. Automatic marking of swath beginnings is the same as in theone-button mode. The zero-button mode automatically marks the end of each swath after thefirst swath. When the machine is aligned with the previous swath begin mark and one swathwidth away, the end swath is automatically marked. If the field shape is such that the end ofswath should be marked before alignment to the beginning of the previous swath, the opera-tor can press the DOWN button to mark the end swath mark early. To use the zero-buttonmode the beginning and end of swaths should generally align with the beginning and end ofthe first swath.Contour Type Configuration SettingThere are four settings for the Contour Type configuration:NRM - NormalFIN - FineVFN - Very FineCRS - CourseThe Contour Type controls how the Smartbar memorizes swath paths. Normal (NRM) is thedefault and should be used for nearly all applications. As the Contour Type is set to finersettings, the length available for each swath decreases. Swath length maximum distances foreach Contour Type are shown below:NRM - 3 milesFIN - 1.5 milesVFN - 0.5 milesCRS - 4 miles
46Configuration Steps for Contour SwathingTo use Contour Swathing, enter the Configuration Mode and navigate to the Swath (SWA)menu. Set the Swath Type (SWT) to CON. Set the Contour type (CON) to Normal (NRM),Fine (FIN), Very Fine (VFN), or Course (CRS). Set the Swath Width (SWW) to the dimensionacross each swath. The Swath Direction Control (DIR) is not used for Contour Swathing. Setthe Offset Guidance Scale (SCL) and Angle display (ANG) as for parallel swathing to controlguidance indication displays. The Headlands Type (HDL) is not used for the Contour Swath-ing. Set Along Track antenna Offset (ATO) and Across Track Antenna Offset (XTO) as forparallel swathing.Contour Control (DSP-CON) is set to two-button (2BT) by default. To use one-button (1BT)or no button (0BT) Contour Control, first navigate to the System (SYS) configuration main-menu. Set SYS-DSP to Configure (CFG)). This will activate the Display Settings (DSP)configuration main-menu. Go to the Contour Control (DSP-CON) sub-menu and select 2BT,1BT, or 0BT.
47Using Contour Swathing1. Set the Swath Type (SWT) to CON. Set the Contour type (CON) to NRM, FIN, VFN,or CRS. (Normal, Fine, Very Fine, or Course) These settings control the fineness ofcontour recording. For NRM, swaths up to 3 miles in length can be recorded. For FIN,swaths up to 1.5 miles in length can be recorded. For VFN, swaths up to 0.5 miles inlength can be recorded. For CRS, swaths up to 4 miles in length can be recorded.The VFN setting is mostly for testing. The NRM setting is used in most agricultureswathing applications.2. Contour Operational Mode starts with BEG...CON. Press the SELECT button to startthe first swath and drive as required. The left display will show 1 and the right displaywill show 0%, 1%, etc to 100% indicating the percent of available contour swath memoryremaining. For NRM setting, this will indicate 100% at about 3 miles.3. At the end of the first swath, press the DOWN button. Recording will stop and guid-ance will be given in either the right or left direction while turning to the second swathpath. While making this turn, note the swath number is flashing. This indicates thepath is not being recorded and is a prompt to press the SELECT button to begin re-cording swath 2.4. After the turn, press the SELECT button at the front of swath 2 and follow guidanceindicated that is one swath width away from swath one. During this time, the swath 2pattern is being recorded and stored. The right display shows offset error as for paral-lel swathing. Press and hold the MENU button to see the percent of available contourstorage on the right display.5. At the end of contour swath 2, press the DOWN button to end that swath. Whilemaking this turn, note the swath number is flashing. This indicates the path is notbeing recorded and is a prompt to press the SELECT button to begin recording thenext swath. Repeat steps 4-5 for each swath to complete the field.Note: Step 4 is optional if Contour Control is configured to the one-button mode.Step 4 and step 5 are optional if Contour Control is configured to the zero-button mode.SAV POSRGL600 BEG CONMenu Navigation Diagram for Contour Swathing SavePositionClearCONClearSavedPositionCLR ALL 1 10% CLR CON 2 offseterror 2 offseterrorClearAllCLR SAVif a Positionis Savedpress MENU Buttonpress DOWN Buttonpress SELECT Buttonpress & hold MENU ButtonAutomatic (no button press) 2 14%begin swath #1 end swath #1 SELECT Buttonto begin swath #2 . . .Align w/prevstart to begin swath #2 . . .Align w/prevend to end swath #2 . . .DOWN Buttonto end swath #2 . . .2A1B1A 2B
48SEED SWATHING (SED)Seed swathing (SED) is used, as the name imples, for seeding purposes using swaths thatare parallel to the A-B line.SED swathing is much like BF except that whenever the Select button is pressed to advanceto the next swath, an “auto swath calibrate” occurs. This makes the entry into the next swathvery accurate for close alignment of the wheels to the next row. The operator must be trainedto press the SELECT button at the best point to setup for the next row. The operator must besure to press the SELECT button before he starts to make his turn.Below are the steps required for SED swathing.SED - Basic OperationThe straight line defined by marks A and B must be parallel to the remaining swaths.Make sure the GPS antenna has a good view of the sky and the Smartbar shows NOalarm conditions.If DIR is set to Automatic (AUT), the Direction is set automatically when the machineturns past 75o alignment to the A-B line. If DIR is set to Manual (MAN), press theSELECT button (after marking B and turning) to set the direction.The SELECT button is then used to advance to the next swath.ImportantThe ‘A’ and ‘B’ marks form a straight line that must be parallel to the remainingswath paths. Ensure that no alarms are present while setting the ‘A’ and ‘B’ marks.BAEnterFieldHereExitFieldHereSwath #1 Swath #2 Swath #3 Swath #4 Swath #5 Swath #6press SET B button toMark theB pointpress SET A buttonto Mark theA pointSELSELSELIf DIR=MANpress SELECT buttonto set direction
49RACETRACK SWATHINGRacetrack Swathing is a special swath pattern used by aviators when crop dusting.BAEnterFieldHereExitFieldHerepress SELECT buttonto Mark theB pointpress SELECT buttonto Mark theA pointSwath#1Swath#2Swath#3Swath#4Swath#5Swath#6Swath#7Swath#8Swath#9Swath#10Swath#11Swath#12Swath#13Swath#14Swath#15Swath#16Cpress SELECT buttonto Mark theC pointSteps used to cover a field using the Racetrack Swathing pattern:1. Mark A and B points by pressing the SELECT button while spraying the firstswath.2. Go to the last swath of the field and Mark C by pressing the SELECT button.3. Press the SELECT button when exiting the field for each swath to get guidanceto the next swath.
50BAEnterFieldHereExitFieldHerepress SELECT buttonto Mark theB pointpress SELECT buttonto Mark theA pointSwath#1Swath#2Swath#3Swath#4Swath#5Swath#6Swath#7Swath#8Swath#9Swath#10Swath#11Swath#12Swath#13Swath#14Swath#15Swath#16Cpress SELECT buttonto Mark theC pointSQUEEZE SWATHINGSqueeze Swathing is a special swath pattern used by aviators when crop dusting.Steps used to cover a field using the Squeeze Swathing pattern:1. Mark A and B points by pressing the SELECT button while spraying the firstswath.2. Go to the last swath of the field and Mark C by pressing the SELECT button.3. Press the SELECT button when exiting the field for each swath to get guidanceto the next swath.
51ONE BUTTON SWATHING (ONE)One Step - Basic OperationA new Swath Type is added, which is SWT-ONE.One Step operation is basically the same as Snap-To-Swath operation, without the need to setpoint A and B.Main ScreenOne StepSwathNavigationSwath number isDisplayedIf offset errors areshowing pressSELECTto reset end MarkSELECTto CalibrateSwath LinePress DOWN to Swath CalibrationPress SELECT to Calibrate SwathReset End Mark / Turn towards Swath #2 and continue snap-to-swath.Press SELECT to Set start - End Mark (Swath #1 in guidance mode).Operational Steps:1. While moving in the direction of the reference swath, press the SELECT button at the“ONE SET” menu. This sets the Start mark to the current position and the End markahead by four swath widths in the direction of the present COG (Course Over Ground).Guidance and offset indicators are shown immediately with “ONE” showing in the leftalphanumeric display.2. Continue driving the reference swath. If offset erros are showing, press the SELECTbutton to reset the End mark.3. At the end of the reference swath, turn toward the second swath and continue Snap-To-Swath. The swath number now shows in the left alphanumeric display.4. To calibrate the reference swath position, press the DOWN button. The promp “CALSWA” will be shown immediately. To calibrate the reference swath, press the SELECTbutton. To abort, press the MENU or DOWN button.press MENU Buttonpress DOWN Buttonpress SELECT Buttonpress and hold MENU ButtonAutomatic (no button press)ONE offsetenterConfigurationModeRGL 600One Step - Basic Operational ModeMenu Navigation DiagramBRTPowerON SET ASWWSetBrightnessSnap to Nearest swath #offsetswath#Completeturn towardSwath #2SetSwath Widthonly if initialSwath Navigationhas not been setSet the A mark ResetEnd Mark CAL SWACalibrateSwath Line
52SMARTBAR TILT UPGRADE OPTIONThe Smartbar Tilt Upgrade Option provides straight parallel swath guidance on fields thatare not level. This option corrects position errors that occur when an applicator machinemoves over an uneven field.For accurate DGPS signal reception, the GPS antenna is usually placed on the highest partof the applicator machine. This may be on top of the operator’s cab. The antenna height maybe from about 8 feet to about 20 feet. If the surface of the field is not level, this antennaposition and the center of the applicator boom are not in the same place. The difference be-tween the antenna’s position and the center of the boom is tilt error (see diagram on thispage). If a field’s surface along a swath line is not uniformly at the same tilt angle, swath pathscreated by following the DGPS position will not be straight. If the field’s surface betweenadjacent swath’s is not at the same tilt angle, the swath patterns created by following theDGPS will leave gaps or overlap.The Smartbar Tilt Upgrade Option measures the machine tilt using a solid state inclino-meter. Once the machine’s tilt is determined, the “error” can be calculated and corrected.This tilt correction provides for straight parallel swathing on fields that are not level.As a machine moves along a swath path, various bumps in the field and the machine’svibration can cause erroneous inclinometer tilt readings. The Smartbar filters these tilt read-ings to eliminate most of these errors. During the Smartbar IAS (Inertial AugmentationSystem) configuration, the user can adjust this filter for very rough fields with only gradualchanges in slope or very smooth fields with abrupt changes in slope.AntennaHeightTiltAngleSTARLINKErrorErrorTilt Sensor Upgrade Option InstallationThe Tilt Sensor Upgrade Option is installed into a new or existing Smartbar at the factory byadding the Tilt Sensor (inclinometer). A Smartbar, with the Tilt Sensor Upgrade installed, canuse Smartbar firmware updates to the IAS as they become available.
53IAS ConfigurationWhen a Smartbar has a Tilt Sensor Upgrade Option installed, a new top level config-uration menu (IAS) is added just prior to the DIA top level configuration menu. Pressthe DOWN button at the IAS top level menu to enter the IAS configuration sub-menus.IAS configuration sub-menus are used to setup the tilt correction calculation para-meters and to calibrate the tilt sensor:TLT - Tilt Control ModePress SELECT button to select between Tilt Control Modes:DIADiagnosticsIASInertialAugmentation SystemAHTAntenna HeightANGAngle - degreesCalibrateTilt Sensor1.0-40.0 feet0.10-9.99 metersdegrees indication-179 to 0 to 180left level rightOFF, SLO, NRM, FST, or VFSTLTTilt ModeInertial Augmentation System Configuration Menupress MENU Buttonpress DOWN Buttonpress SELECT ButtonAutomatic (no button press)Tilt Control ModeDescription FunctionOFFOff Smartbar tilt sensors have no effect on swath guidanceSLO SlowThe tilt angle filter has the greatest effect. The effective tilt angle will change slowly. This mode is used for rough fields with gradually changing slopes.NRM NormalThe tilt angle filter will have a medium effect. The effective tilt angle will change normally. This setting is usually used for the tilt control mode.FST Fast The tilt angle filter has only a small effect. The effective tilt angle will change fast. This mode is used for smooth fields with rapidly changing slopes.
54AHT - Antenna HeightThe GPS antenna height is entered and displayed. This is an important part of the tilterror correction. It must match the measurement between the antenna mounted onthe applicator machine to the ground.The setting range is 1.0 feet to 40.0 feet or 0.10m to 9.99m.Press the SELECT button to increase the Antenna Height by 1.0 feet or by 0.10 meter.Press the DOWN button to decrease the Antenna Height by 0.1 feet or by 0.01 meter.ANG - Tilt Angle Readout and CalibrationThe measure tilt angle is displayed as -179 degrees (tilted to the left) to 180 degrees(tilted to the right). 0 degrees is displayed when level. The tilt sensors must be cali-brated after installation any time the Smartbar firmware is updated.To calibrate the tilt sensors:1. Stop the applicator machine on known level ground.2. Press the SELECT button to calibrate the tilt sensors.3. ANG display will read approximately 0 degrees.Note:The ANG display will indicate inclination for all angles. However, tilt correction calculations are limited to +20o.
55SWATH CALIBRATIONThe Swath Calibration feature is an aid for very accurate swathing requirements. The DGPSReceiver accuracy is high for short periods of time. When long time intervals occur duringswathing, small across track position drifts can be corrected using Swath Calibration. Themachine operator must be able to determine the precise corrected position of the currentswath line and position the machine to that point. Swath Calibration will adjust the AB linereference and all successive swaths to this adjusted point. Swath Calibration is limited to 1/4the current swath width setting. From the Swath Navigation screen, press and hold the MENUbutton for approximately 3 seconds. When the [CAL...SWA] screen shows, the MENU buttonmay be released. Press the SELECT button to calibrate the swath line to the current positionor press the MENU button to return to the Swath Navigation screen without changing theswath calibration.The swath calibration limit may be turned off. In the SYS configuration menu, set DSP to CFGthen in the DSP configuration menu, set DSP-LSC to OFF. When LSC-ON, the Swath Calibra-tion is limited to 1/4 of the current swath width setting. When LSC-Off, the Swath Calibrationlimit is bypassed.SPECIAL OFFSET AND ANGLE DISPLAYSSpecial offset and angle LED display patterns indicate that the Smartbar is nearly perpendicu-lar to swath line. This display pattern will usually be seen only when turning from one swath toanother or when leaving and returning from a ‘Saved Position’.See the diagram “An Ideal Turn” on page 57 for an illustration of how the angle LED’s indicateswath alignment between 70o and 110o (20o on either side of 90o, which is perpendicular).Notice the angle LED’s are all on (either left or right) from about 15o to about 70o. As theswath angle increases toward perpendicular, an additional angle LED will come for each 5ountil all angle LED’s are ON at 90o. As the swath angle continues to increase, beyond 90o,an angle LED will go off for each 5o until all angle LED’s on the original side are off. As theangle changes toward swath alignment, LED’s will begin to go off at about 15o (referenced tothe next swath line) and will all be off when alignment to the next swath is reached.Angle LED display patterns between 70o and 110o are shown in the following table.Machine Alignment with Swath Line Special Angle LED Display Pattern65707580859095100105110115
56Within this same nearly perpendicular angular alignment, the offset LED’s are displayed usinga special pattern. This pattern indicates the distance from (or to) the selected swath line.Since the machine alignment is perpendicular to the swath line, this distance is an along trackdistance indication. The offset LED’s usually indicate across track distance. The along trackdisplay pattern is different from the across track display to prevent confusion. Along trackdistance intervals for this special offset display pattern are percentages of the swath width(SWW) as shown in the table below.During turn maneuvers at the end of each swath, the machine operator can use these specialangle and offset distance displays to determine the approximate location and orientation ofthe previous and/or next swath line. This aids in smoothly setting up for alignment at thebeginning the new swath.When returning from a ‘Saved Position’ and driving down the side of the field, two elements ofthe along track offset pattern will begin to move toward each other, one half of the swath widthdistance away from the return swath line. This aids in locating the entrance line back into thefield.The Special Offset and Angle Display may be turned OFF. In the SYS Configuration Menu,set DSP to CFG (i.e. Light Bar Display options can be configured). Then in the DSP Config-uration Menu, set SPL to OFF.Along Track Offset distance % of Swath WidthSpecial Offset Display Pattern50%45%40%30%20%10%5%2%0%
57Approaching end of Swath #3,prepare to turn off spray nozzlesEdgeof fieldsprayarea#445°#310°#20°#10°#995°#680°#785° #890° #10100°#12135°#13170°#14180°Swath #4Swath #3#4 - 45°#3 - 10°#2 - 0°#1 - 0°Turn off spray nozzles, begin turning rightAngle LED's show 10° angle to Swath #3#570° #11110°Special DisplayRegion#9 - 95°#6 - 80°#7 - 85°#8 - 90°#10 - 100°Past half way to Swath #4, SNP switches toSwath #4.#5 - 70°#12 - 135°#13 - 170°#14 - 180°Angle LED's show 10° angle to swath #4,prepare to turn spray nozzles On.Turn spray nozzles On and continue onstraight line of swath #4.#11 - 110°Entering Special Display AreaLeaving Special Display AreaAn Ideal TurnUTS = FTSWT = SNPSWW = 100ftSCL = NRMAngle LED's show perpendicular to Swath #3
58ALARMSSystem performance can be adversely affected under certain operating conditions. Loss ofdifferential signal and/or poor satellite geometry can cause the accuracy of the system to fallbelow that required for precision guidance. Should conditions exist which cause the accuracyto lessen, the user is notified with one of three possible alarm conditions; GPS, Accuracy, orDifferential GPS. These alarms; G, A, D, are displayed on the far right side of the DGPSStatus Display Screen (Configuration Mode - GPS). All other screens display these alarmconditions as yellow LED’s along the far end of both sides of the Smartbar (refer to diagramitems B and F on page 4). Alarms are represented as follows:Alarm Description[G] GPS Alarm All 3 LED's on each side. Less than 4 satellites or receiver mode less than D3X.[A] Accuracy Alarm Bottom 2 LED's on each side. HDOP greater than 2.0.[D] Differential Alarm Bottom LED on each side. Age of Data greater than 120.No Alarms No LED's on each side[GPS] The system is not operating in three-dimensional Differential GPS mode. Atleast four (4) usable satellites, five (5) or more is preferable, must be commun-icating with the receiver along with a valid correction signal in order to operatein 3-dimensional DGPS mode.[Accuracy] The Horizontal Dilution of Precision (HDOP) is greater than two (2.0). HDOP isa fancy term for approximating the error in your position solution caused bypoor satellite geometry. Simply stated, it usually means that you do not haveenough satellites in view (should have a minimum of 5) or the antenna’s view ofthe sky is partially blocked. You can see the number of staellites being used bygoing to the DGPS status screen (Configuration Mode) and pressing the DOWNbutton.[Differential] The age of satellite differential correction data has exceeded 120 seconds.Your GPS receiver is not receiving the correction signal. It may be tuned to thewrong frequency, the service provider may be out of range or unavailable orthere may be some electrical noise interfering with the signal.The system should not be used when alarms are present. Many times the alarm conditionsare only temporary and will clear up by themselves. Should alarm conditions remain, refer tothe Troubleshooting section in this manual and the User’s Manual supplied with your GPSreceiver.
59GPS RECEIVER / SMARTBAR COMMUNICATIONSThe Smartbar receives communication messages from the GPS receiver. Using the BPSscreen (Configuration Mode - SYS), you can select a BAUD rate for communicating with theGPS receiver and monitor certain data communication and message conditions:If the top center green LED is on or flashing, but the middle-center and bottom-center greenLED’s are off, data is being received from the GPS receiver, but is not at the same BAUD rateas the GPS receiver. You can set the Baud rate to AUT, and the Smartbar will automaticallymatch its BAUD rate to that of the GPS receiver. Alternatively, you can select the specificBAUD rate that matches that of the GPS receiver.The bottom yellow LED’s will sequence when the BAUD rate selection is AUT and the Smart-bar is trying to match its BAUD rate with that of the GPS receiver. The bottom yellow LED’swill stop sequencing when a BAUD rate match is found. The number of yellow LED’s on foreach side indicates teh BAUD rate:If all center green LED’s are on, but the left red LED’s are not sequencing, you are receivingmessages at the correct BAUD rate, but they are not the correct messages. You need both$GPGGA and $GPVTG messages, or the single $GPRMC message.If the left red LED’s are sequencing, then $GPGGA messages are being received. The$GPGGA message contains position and GPS status information.If the right red LED’s are sequencing, then $GPVTG messages are being received. The$GPVTG message contains course and speed information.If the Smartbar is receiving $GPRMC messages, the left and right LED’s will sequence. The$GPRMC message contains position, GPS status, course, and speed information.Note: The 3 center green LED’s are used to diagnose communication problems (especiallyduring installation). The top green LED monitors the receive-data signal directly. It willcome on momentarily whenever there is any activity on the receive-data signal. Themiddle green LED indicates a properly formatted message has been received. Thebottom green LED indicates multiple properly formatted messages are being received.The top green LED will flash when the GPS position solution rate is less than 5 hertz.This is not an error condition. If using a Raven receiver, the RGL 600 may be usedto auto configure the receiver. In the SYS configuration menu, set GPS to INV.The default setting is GEN (Generic). When SYS-GPS is set to INV, and MENUbutton is pressed, ‘INV-SEL-TO-INI.’ will appear. Pressing the SELECT button willautomatically set up the port of the invicta receiver that the RGL 600 is connected.Baud rate will be set at 19200, GGA-ON at 10 Hz, VTG-ON at 10 Hz.Yellow LED's on each side BAUD rate1 48002 96003 192004 38400
60CARE AND CLEANINGThe Smartbar is designed for all-weather outdoor operation. You can clean the dirt off of theSmartbar by spraying it with a garden hose.IMPORTANT: DO NOT USE PRESSURIZED WATER TO CLEAN THE SMARTBAR.TROUBLESHOOTINGNo PowerEnsure the Smarbar power cable is securely fastened and wired properly in yourvehicle.No GPS Position1. The Smartbar interface cables should be securely fastened and connected tothe correct port on your GPS receiver.2. In order to operate properly, the Smartbar must receive two messages from theDGPS receiver. These are National Marine Electronics Association (NMEA)messages known as $GPGGA (GPS Fix Data) and $GPVTG (Course OverGround and Speed), or $GPRMC (Recommended Minimum Specific GNSSData). GNSS is an acronym for Global Navigation Satellite System.3. Ensure the BAUD rate is configured to match the output BAUD rate of yourDGPS receiver. You can set the BAUD rate to AUT, which causes the Smartbarto automatically synchronize its BAUD rate with the BAUD rate of the GPSreceiver.4. If using a Raven receiver, the RGL 600 may be used to auto configure thereceiver. In the SYS configuration menu, set GPS to INV.Erratic Swathing PatternsMake sure the straight line formed by the ‘A’ and ‘B’ marks is parallel to your desiredswath paths. Ensure that no alarms are present while establishing the ‘A’ and ‘B’marks.GPS AlarmDetermine if the alarm is the result of loss of differential signal or a low number ofsatellites. Go to the GPS Receiver Position Status screen. This is the second sub-menu under the Configuration Mode GPS main menu (see page 12 and 13). Normally,the GPS receiver is in 3D differential mode, and the left side of the screen displaysD3X. If you’ve lost differential, no “D” will be present on the far-left side of the screen.If the alarm is due to a low number of satellites, the number on the far left side will be4 or less. If this is the case, trees, buildings, or some other obstruction is blocking yourantenna.
61RGL 600 MAIN UNIT CONNECTORCABLE OPTIONS
62CABLE OPTIONS (continued)WIRELESS SMARTBAR BUTTON BOXIn addition to the standard Smartbar Button Box, the RGL 600 also has an optional wireless buttonbox. The look, feel and functionality of this button box is identical to the wired version (refer to page5 of this manual), however, no additional cables are necessary for operation.This product has been tested to comply with FCC Standards. The EUT has been evaluated and foundcompliant with the requirements as set forth in CFR 47 sections 15.203, 15.205, 15.209, and 15.231.NOTICE: Any changes or modifications not expressly approved by Raven Industries wouldvoil authority to operate this device.
63CABLE WIRING DIAGRAMS
64CABLE WIRING DIAGRAMS (continued)
65CABLE WIRING DIAGRAMS (continued)
66SMARTBAR SPECIFICATIONSSpecification DescriptionVoltage 10-32 VDCCurrent 650 milli-amps at max brightness, 100 milli-amps at min brightness, 12 VDCWeight 4.5 lbs.Environmental -40 degrees to +70 degrees CHumidity 95% non-condensing
67APPENDIX A - DRIVING YOUR MACHINE USING THE SMARTBARThere are many different driving techniques andvarious conditions encountered when followingparallel swath lines to cover a field. No singletechnique or method is likely to be suitable for allconditions. The Smartbar’s guidance displaygives the operator indications to help follow theswath line accurately. The operator can see bothoffset and angle LED indicators.In the diagram shown to the left, the machine isexactly on swath (i.e. no offset error), but is mov-ing along a line which points 3o left of the swathline being followed. The Smartbar is configuredwith SCL set to NRM (first LED is 1 ft) and ANGset to ON (first LED is 1o). If the offset LED’salone were used for guidance, the machine mustmove 20 feet forward from the position shownbefore an offset LED guidance indication is given.By using both the offset and angle LED’s, theoperator knows that the machine is on swath andneeds to turn gradually to the right. Two angle LED’s showing on the right side indicate a 3o correc-tion is needed to the right. Using this method, an operator can drive a very straight line that hasminimal offset error from the swath line.In the diagram shown to the left, the machine is2 feet right of the swath line and has the sameangle alignment as previously. The two offsetLED’s on the left are telling the operator to driveto the left. The two angle LED’s to the right aretelling the operator to turn to the right. This lookslike a problem. However, the operator can driveleft to correct the offset error, but already knowsa right turn correction will be needed very soon.In the diagram shown to the lower left, themachine is 2 feet left of the swath line and hasthe same angle alignment as previously. Thetwo offset LED’s on the right are telling theoperator to drive to the right. The two angleLED’s to the right are telling the operator to turnto the right. The operator can simply drive rightto correct the offset and angle alignment error.1 ft3°offset LED'sCOGangle LED's20 feetswath lineoffset LED'sangle LED's2 ftswath line3°offset LED'sangle LED's3°2 ftswath line
68APPENDIX B - RAVEN INVICTA DGPS RECEIVER SETUPRefer to the Invicta front panel shown below and use the following steps to setup you InvictaDGPS Receiver to operate with the RGL 600 Smartbar. Refer to the operation manualsupplied with your Invicta DGPS Receiver to clarify or modify these steps.From the HOME screen, press the LEFT ARROW (‘enter’) key once to arrive atth OUTPUT CONFIG menu screen.Press the DOWN ARROW key until you reach the Baud Rate Setting menuscreen for your chosen interface port (A or B). If the port’s baud rate is notalready displayed as “19200 bps”, press the LEFT ARROW (‘enter’) key tohightlight the field.Using the UP and DOWN ARROW keys, set the baud rate to 19200 bps andthen press the LEFT ARROW (‘enter’) key again to make your selection final.To configure the NMEA message output for use with the RGL600 lightbar, pressthe DOWN ARROW once to move from the Baud Rate menu screen to theMSGOUTPUT menu screen for the chosen port (A or B).Press the RIGHT ARROW key once to enter the message-type selection screen.Press the UP or DOWN ARROW key until “GGA” is displayed at the messagetype.Press the LEFT ARROW (‘enter’) key to hightlight the output interval.Use the UP and DOWN ARROWS to select the proper output rate (0.1 see ifyour receiver has the 10 Hz option installed, else 1.0 sec) and press the LEFTARROW (‘enter’) key to finalize your selection.Next, press the UP or DOWN ARROW key until “VTG” is displayed as themessage type.Follow the same steps shown above to set the message output interval to theVTG message.Press the UP and DOWN ARROWS simultaneously to return to the HOMEmenu screen and you’re ready to swath!
69APPENDIX C - GLOBAL POSITIONING SYSTEM (GPS)GPS is a satellite-based global navigation system created and operated by the United StatesDepartment of Defense (DOD). Originally intended solely to enhance military defensecapabilities, GPS capabilities have expanded to provide highly accurate position and timinginformation for many civilian applications.An in-depth GPS study is required to fully understand it, but not to see how it work or appreci-ate what it can do for you. Simply stated, twenty-four satellites in six orbital paths circle theearth twice each day at an inclination angle of approximately 55o to the equator. Thisconstellation of satellites continuously transmits coded positional and timing information athigh frequencies in the 1500-Megahertz range. GPS receivers with antennas located in aposition to clearly view the satellites, pick up these signals and use the coded information tocalculate a position in an earth coordinate system.GPS is the navigation system of choice for today and many years to come. While GPS isclearly the most accurate world wide all-weather navigation system yet developed, it still canexhibit significant errors. GPS receivers determine position by calculating the time it takes forthe radio signals, transmitted from each satellite, to reach earth. It’s that old “Distance = Ratex Time” equation. Radio waves travel at the speed of light (Rate). Time is determined, and thefact that the satellite’s position is reported in each coded navigation message, by using a littletrigonometry the receiver can determine its location on earth.Position accuracy depends on the receiver’s ability to accurately calculate the time it takes foreach satellite signal to travel to earth. This is where the problem lies. There are primarilyseven sources of errors that can affect the receiver’s calculation. These errors consist of:1. Ionosphere and troposhere delays on the radio signal.2. Signal multi-path.3. Receiver clock biases.4. Orbital satellite (ephemeris) position errors.5. GPS Satellite errors.6. Tracking biases (position shifts when satellites are lost and re-aquired).7. GPS Receiver performance and cost.The combination of these errors and poor satellite geometry can limit GPS accuracy of a highperformance GPS Receiver to approximately 5 meters RMS and a low cost GPS Receiver to10-15 meters RMS. Many of these errors can be reduced or eliminated through a techniqueknown as “Differential”.
70APPENDIX D - DIFFERENTIAL GPS (DGPS) BEACONDGPS works by placing a high-performance GPS receiver (reference station) at a knownlocation. Since the receiver knows its exact location, it can determine the errors in thesatellite signals. It does this by measuring the ranges to each satellite using the signalsreceived and comparing these measured ranges to the actual ranges calculated from itsknown position. The difference between the measured and calculated range is the totalerror. The error data for each tracked satellite is formatted into a correction message andtransmitted to GPS users. The correction message format follows the standard establishedby the Radio Technical Commission for Maritime Services, Special Committee 104 (RTCM-SC104). These differential corrections are then applied to the GPS calculations, thus re-moving most of the satellite signal error and improving accuracy. The level of accuracyobtained is a function of the GPS receiver. Sophisticated receivers like the Invicta 210 seriescan achieve accuracy on the order of 1 meter or less.GPS SatellitesReferenceStationCouplerDGPSRadiobeaconAntennaRTCM-SC104 CorrectionsDifferential GPS Broadcast Site

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