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

Raven Industries RGL 600 Smartbar Transmitter 936a 1 pmd

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0630172368 User Manual HTML Version

Users Manual

RGL 600

SMARTBAR

SWATH PATH GUIDANCE SYSTEM

OPERATION MANUAL

Use with firmware version ____

MANUFACTURER’S DECLARATION OF CONFORMITY

We 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 Frequency

Notice:

DECLARATION OF CONFORMITY

We, Raven Industries, declare our sole responsibility that the RGL 600 Smartbar complies with

Part 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 cause

undesired operation.

The Devices

· Device relating to this Compliance Notice, RGL 600 Smartbar, comply with Part 15 of the

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 cause undesired operation.

NOTE: This equipment has been tested and found to comply with the limits for a Class B digital

device, pursuant to Part 15 of the FCC Rules. These limits are designed to provide reasonable

protection 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 with

the instructions, may cause harmful interference to radio communications. However, there is no

guarantee that interference will not occur in a particular installation. If this equipment does cause

harmful interference to radio or television reception, which can be determined by turning the

equipment off and on, the user is encouraged to try and correct the interference by on or more of

the 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 the

receiver is connected

- Consult the dealer or an experienced radio/TV technician for help

Any modification to the unit, unless expressly approved by Raven Industries could void the user’s

authority to operate the equipment.

RAVEN INDUSTRIES

LIMITED WARRANTY

WHAT IS COVERED?

This warranty covers all defects in workmanship or materials in your Raven

Flow 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 your

Raven Flow Control Product. This warranty coverage applies only to the

original 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, and

proof 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, repair

or 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 made

outside our plant without written consent. We are not responsible for damage

to any associated equipment or product and will not be liable for loss of

profit or other special damages. The obligation of this warranty is in lieu of

all other warranties, expressed or implied, and no person is authorized to

assume for us any liability. Damages caused by normal wear and tear, mis-

use, abuse, neglect, accident, or improper installation and maintenance are

not covered by this warranty.

RAVEN INDUSTRIES FLOW CONTROL DIVISION

205 East Sixth Street - P.O. Box 5107 - Sioux Falls, South Dakota 57117-5107

E-mail: fcdinfo@ravenind.com

www.ravenprecision.com

Toll-free: 800-243-5435 - Fax: 605-331-0426

RGL 600 Smartbar Operation Manual #016-0159-936 Rev a 10/03

TABLE OF CONTENTS

016-0159-936

10/03

INTRODUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

SMARTBAR DISPLAY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

SMARTBAR BUTTON BOX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

GENERAL DIRECTION TO TARGET INDICATOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

DGPS RECEIVER SETUP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

NOTATIONS USED FOR DISPLAY FIGURES AND MENU NAVIGATION DIAGRAMS . . . . . . . 7

SMARTBAR OPERATIONAL MODE MENU NAVIGATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Basic Swathing Menu Navigation Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Combined Headlands Menu Navigation Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Separate Headlands With Tape Measure Menu Navigation Diagram . . . . . . . . . . . . . . . . 12

ENTERING AND LEAVING THE CONFIGURATION MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

THE SMARTBAR CONFIGURATION MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

GPS - GPS Receiver Status Monitoring . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

SWA - Swath Configuration Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

SWT Swath Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

PMR Pivot Minimum Radius . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

CON Contour Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

SWW Swath Width . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

DIR Swath Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

SCL Guidance Offset Scale Sensitivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

ANG Angle Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

HDL Headlands Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

ATO Along Track Offset Distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

XTO Cross Track Offset Distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

SYS - System Configuration (includes BAUD rate) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

BPS BAUD Rate Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

UTS Feet, Feet Fine, or Metric Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

MSG Outgoing Transmit Message Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

TAP Tape Measurement Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

DSP Display Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

GPS GPS Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

DSP - Display Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

GPS Optional DGPS Status Configuration Format . . . . . . . . . . . . . . . . . . . . . . 23

GUI Guidance Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

OFF Offset Error Display Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

SAV Save Position Distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

APR Headlands Approach Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

SPL Special Angle and Offset Error Display . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

CON Contour Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

SWW Swath Width Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

LSC Limit Swath Cal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

IAS - Inertial Augmentation System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

DIA - Diagnostic Built-In Testing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

DSP RGL 600 Built-In Display Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

CKS Program Memory Checksum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

SET..DEF - Reset Smartbar Configuration Settings to Default Values . . . . . . . . . 26

SET..NUM - Smartbar 6 digit Unit Serial Number . . . . . . . . . . . . . . . . . . . . . . . . . 26

BASIC SWATHING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

BACK AND FORTH SWATHING (BF) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

SNAP-TO-SWATH SWATHING (SNP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

TO BEGIN YOUR FIRST SWATH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

CLEARING THE A-B LINE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30

SAVING YOUR PRESENT POSITION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

SWATHING WITH HEADLANDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Separate Headlands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Combined Headlands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Double Headlands C Pattern . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Headland Approach Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

PIVOT SWATHING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Pivot Pattern Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Marking the Pivot Reference Circle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Driving the Pivot Return . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42

Saving and Returning to a Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

ROW SWATHING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Configuration Steps for Row Swathing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

CONTOUR SWATHING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44

Contour Control Configuration Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Contour Type Configuration Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Configuration Steps for Contour Swathing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Using Contour Swathing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

SEED SWATHING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

RACETRACK SWATHING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

SQUEEZE SWATHING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

ONE BUTTON SWATHING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

SMARTBAR TILT UPGRADE OPTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Tilt Sensor Upgrade Option Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

IAS Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

TLT - Tilt Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

AHT - Antenna Height . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

ANG - Tilt Angle Readout and Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54

SWATH CALIBRATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .55

SPECIAL OFFSET AND ANGLE DISPLAYS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

ALARMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

GPS RECEIVER/SMARTBAR COMMUNICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

CARE AND CLEANING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .60

TROUBLESHOOTING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .60

RGL 600 MAIN UNIT CONNECTORS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

CABLE OPTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

CABLE WIRING DIAGRAMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

SMARTBAR SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

APPENDIX A - DRIVING YOUR MACHINE USING THE SMARTBAR . . . . . . . . . . . . . . . . . . . . . 67

APPENDIX B - INVICTA DGPS RECEIVER SETUP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .68

APPENDIX C - GLOBAL POSITIONING SYSTEM (GPS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

APPENDIX D - DIFFERENTIAL GPS (DGPS) BEACON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

INTRODUCTION

The RGL 600 Smart Light Bar, connected to a DGPS receiver, provides guidance control and display

for swathing applications. The RGL 600 Smartbar receives position, speed over ground (SOG), and

course over ground (COG) from a DGPS receiver. The Smartbar compares this COG and position to

the desired swath pattern, and produces a guidance display. This enables an equipment operator to

accurately drive a desired swath pattern.

Offset error and angle error are displayed by a series of bright Light Emitting Diodes (LED’s) which

form bars on either side of the display center. Offset error is displayed as a numeric distance and as

the number of LED’s illuminated on the offset error bar in the direction the machine should travel to

reduce the offset error. Angle error is displayed as the number of LED’s illuminated on the angle error

bar 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 display

Swath Guidance Indication

Ground Speed

Course Over Ground

* User-configurable options include:

English or Metric units to display speed and distance

Swath width

Swath type

The Smartbar monitors the GPS receiver mode, Accuracy (HDOP), and DGPS Age of Data. Should

a 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 view

guidance indications while looking ahead to drive.

The RGL 600 Smartbar transmits output messages to indicate position, swathing sequences and

conditions, operator button switch activity, and control setup and test information. These output mes-

sages provide for data logging and other types of external controls.

SMARTBAR DISPLAY

A - Left alphanumeric display showing swath number 3 bright red digits/characters

B,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’s

D - Center Guidance Status 3 vertical bright green LED’s

The center green LED is on if no offset distance error LED’s are on. The top and bottom LED’s

are 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 Smartbar

shows guidance on all but a few screens, such as the BAUD rate screen. In general, when the

top 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’s

G - Right alphanumeric display showing offset distance 3 bright red digits/characters

(The left digit shown displays a General Direction to

Target Indicator. The display shown is pointing to the

target swath line, which is to the left).

H - Left Angle error, turn left to correct 5 horizontal bright amber LED’s

I - Right Angle error, turn right to correct 5 horizontal bright amber LED’s

The 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.

SMARTBAR BUTTON BOX

SELECT/UP button

The SELECT button is like an Enter or Execute

button. It changes or advances data values in the

Configuration Mode and activates actions in the

Operational Mode. This is the most used button.

It is located at the top of the Button Box for the

operator’s easy thumb access.

MENU button

The MENU button is used to select menu screens

from a list. It is also used to access an action item

from list. This button does not change data or

execute actions. Press the MENU button to

sequence through a menu list.

DOWN button

The DOWN button is used to enter a sub-menu and, in the Configuration Mode, to decrease

data values.

Sometimes actions are executed when the DOWN button is pressed. For example, the DOWN

button is used (instead of the SELECT button) to mark the last headlands point.

Navigating Menus and Sub-menus

The current menu name shows in the alphanumeric display. (see Configuration Mode Menu

Navigation 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 and

sub-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 the

MENU button displays this sub-menu’s items in sequence. Pressing the MENU button at the

last sub-menu item displays this sub-menu’s main menu item again. The DOWN button may

now be pressed again to re-enter this sub-menu (in case the desired sub-menu item was

skipped inadvertently) or press the MENU button to sequence to the next main menu item.

Changing data values

Some menus are data items, such as swath width (SWW). For these menus, a data value or

setting is displayed in the right alphanumeric display. There are basically two types of data

items: 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 data

value, while pressing the DOWN button will decrease the data value. Usually, the

SELECT/UP button will increase by a large value and the DOWN button will decrease by a

small value. This provides for faster setting when the desired data value is far from the current

setting. The DOWN button is then used for a precise setting.

GENERAL DIRECTION TO TARGET INDICATOR

A General Direction to Target Indication is displayed on an alphanumeric display digit to show

the direction towards various targets. An example is the left most digit of the guidance offset

error display when the offset error is less than 100. From the perspective of the operator, this

is a general pointer to the swath line (or other target) that is in control.

DGPS RECEIVER SETUP

The Smartbar uses position and course information provided by certain messages from your

GPS receiver. Referring to the GPS receiver documentation, configure it to output $GPGGA

messages and $GPVTG messages. Alternatively, you could configure your GPS receiver to

output only $GPRMC messages.

Note that your GPS receiver documentation may drop ‘$GP’ from the message names, and

refer to them as GGA, VTG, and RMC.

Set the GPS receiver communications BAUD rate and message output rate as high as

possible. The Smartbar works with standard BAUD rates from 4800 to 38400 and message

output rates up to 10 position solutions per second (hertz). The Smartbar responds best when

the GPS receiver communications is at 38400 BAUD and the message output rate is at 10

hertz.

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. A

BAUD rate of 4800 is only practical if the message output rate is 1 hertz.

See Appendix B for Invicta DGPS Receiver setup.

General Direction to

Target Indications

current position and COG

target

Notations used for display figures and menu navigation diagrams

The following notations are used to describe the Smartbar LED indicators and alphanumeric

displays:

This example shows a multiple sequence alphanumeric display. In this example, 1.55 acres

is 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 5

sequences are used to display large numeric values.

The following notations are used for menu navigation diagrams:

SWA

SWT

SWA

SWT

main-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 to

the Swath Type (SWT) sub-menu.

Execute an action.

For this example, Set the Tape Reference Point.

Set Tape

Refernce point

MENU Button pressed and released

DOWN Button pressed

SELECT Button pressed

press and hold the MENU Button for 3 seconds

Automatic (no button press)

[

- LED is OFF

- LED is ON

- LED is flashing ON/OFF

- LED is flashing OFF/ON (used to denotate alternating flash when shown with

)

Smartbar Operational Mode Menu Navigation

The Smartbar separates Operational functions from Configuration functions. The Smartbar operates

in either the Operational Mode or the Configuration Mode. A Smartbar operator uses the Operational

Mode 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 set

in the Congiguration Mode help to minimize button presses in the Operational Mode. An example is

the Tape Measure feature. When the Tape Measure is turned OFF, the TAP menu item is removed

from the operational menu sequence.

The Configuration Mode is entered only from the main RGL 600 screen. Press and hold the MENU

button for approximately 3 seconds. A screen showing “TO...CFG” is displayed. Press the SELECT

button 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 Measure

There are five additional sets of Menu Navigation Diagrams other sections:

Pivot Swathing

Row Swathing

Contour Swathing

Seed Swathing

ONE Swathing

These sets are usually accompanied by a set of display figures that depict actual Light Bar displays

corresponding to the Menu Navigation Diagram.

There are numerous combinations of configurable operating features and methods for using the

Smartbar while covering a field with an applicator machine. These Menu Navigation Diagrams do not

show all combinations of operations. For instance, the Tape Measure is shown in the Separate

Headlands set, but it can also be used for Basic Swathing and Combined Headlands. Look in all

of the various sets of Menu Navigation Diagrams for solutions to your particular swathing require-

ments.

Basic Swathing Menu Navigation Diagrams

Menu Navigation Diagram #1 conditions:

Tape Measure is OFF

Headlands control is OFF

Direction is Auto

A-B Marks have not been set

enter

Configuration

Mode

RGL 600

Operational Mode

Menu Navigation Diagram #1

BRT

Decrease

Brightness

Increase

Brightness

Power

ON SET A

Set the

B Mark

Set

Direction

SET B AUT DIR

if A is

not set

if A is

set

if A-B

are set

Menu Navigation

Diagram #2

press MENU Button

press DOWN Button

press SELECT Button

press and hold MENU Button

Automatic (no button press)

turn toward

Swath #2

Set the

A Mark

Hold 3 sec.

to CFG

Firmware Version *2.8

SELECT increase

brightness.

DOWN decreases

brightness.

A-B Line

Setup

Press SELEC

to mark A.

Turn toward

Swath 2.

Direction will

set Automatically.

Display

Brightness

Adjust

Screen

Turn Left or Right toward field

To mark Temp B

Press SELECT

to mark B.

Down for temp B

SELECT increase

Swath Width

DOWN decreases

Swath Width.

Hold 3 sec.

to CFG

Firmware Version *2.3

ain Screen

RGL 600

SELECT increase

brightness.

DOWN decreases

brightness.

A-B Line

Setup

Press SELEC

to mark A.

Turn toward

Swath 2.

Direction will

set Automatically.

Display

Brightness

Adjust

Screen

Turn Left or Right toward field

To mark Temp B

Press SELECT

to mark B.

Down for temp B

SELECT increase

Swath Width

DOWN decreases

Swath Width.

Menu Navigation Diagram #2 conditions:

Tape Measure is OFF

Headlands control is OFF

A-B Marks and Direction are set

enter

Configuration

Mode

Operational Mode

Menu Navigation Diagram #2

BRT

Decrease

Brightness

Increase

Brightness

Power

ON 2 SAV

CLR SAV

CLR ALL

Decrement

Swath #

Advance

Swath # Save

Position

Skipped if a Position

is Saved

Skipped if no

Position is Saved

Swath Number

Clear

ALL

Clear

Saved

Position

RGL 600

from

Menu Navigation

Diagram #1

We are 4 feet left of Swath #2 pointing 4° to the right.

Main Screen

RGL 600

Swath

Navigation

Swath number is

Displayed

SELECT

advances,

DOWN

decrements

swath

press SELECT to

Save current

position

SELECT Clears

A-B marks

and Saved Position

SELECT

Clears

Saved Position

A-B (instead of ALL) is displayed if there is No Saved Position

if there is a Saved Position

Save the

Current Position

Steer in direction of red LED's

Combined Headlands Menu Navigation Diagram

Menu Navigation Diagram #3 conditions:

Tape Measure is OFF

Headlands control is Combined (CMB), DIR is MAN

Headlands and A-B marks are clear

enter Configuration Mode

RGL

600

ACR

2 SAV

Operational Mode

Menu Navigation Diagram #3

CLR SAV

CLR ALL

BRT

Decrement

Swath #

Advance

Swath #

Power

Skipped if a Position

is Saved

Skipped if no

Position is Saved

Swath Number

HDL 02SET A

SET B

SET DIR

HDL 03...

HDL xx

HDL 00

HDL 01

Set Direction

Clear

ALL

Clear

Saved

Position

Save

Position

Increase

Brightness

Decrease

Brightness

Main Screen

Swath

Navigation

Area defined by

marked Headland

is 2.45 acres

We are 8 feet right of Swath #2 and pointing 11° left of it. SELECT advances

DOWN decrements

swath.

Drive and press Select to mark Headland points 03...07

SELECT

Saves

Current Position

SELECT

Clears ABC,

HDL, and

Saved Position

SELECT

Clears

Saved Position

only

if there is a Saved Position

Save

Current Position

DOWN goes to Clear

Saved Position

sub-menu

Center green LED's indicate we are Outside of the Leave Zone

DOWN marks

last

HDL point.

SELECT marks

HDL points.

SELECT

to Set Direction.

SELECT to mark B

DOWN for temp B

SELECT

to mark A.

Mark A-B

Mark

Headlands

Display

Area

press and hold

DOWN to enter

Configuration

Mode

Set Direction

Separate Headlands with Tape Measure Menu Navigation Diagram

Menu Navigation Diagram #4 conditions:

Tape Measure is ON

Headlands control is Separate (SEP)

Headlands, A-B marks, and DIRection are set

enter Configuration Mode

RGL

600 TPO ACR 2 SAV

Operational Mode

Menu Navigation Diagram #4

CLR A-B

CLR SAV

Decrement

Swath #

Advance

Swath #

Decrease

Brightness

Set Tape

Reference point Save

Position

Increase

Brightness

Power

Skipped if a Position

is Saved

Skipped if

no Position

is Saved

Swath Number

Clear

ALL

Clear

Headlands

Clear

A-B

Clear

Saved

Position

CLR ALL

CLR HDL

BRT

We are 2 feet right and parallel to the swath line. Approaching Headlands.

Main Screen

Swath Navigation

(Headland boundary

is 12 ft ahead)

SELECT advances

DOWN decrements

swath.

press

SELECT to

Save current positio

SELECT clears

A-B, HDL,

and Saved Position

SELECT

clears

Saved Position

only

if there is a Saved Position

Save

Current Position

SELECT

clears

HDL only

SELECT

clears

A-B only

SELECT

sets

Tape Reference

Point

We are 184 feet from the

Tape Reference point

which is left and behind.

Area defined by

marked Headlands

is 1.55 acres

press DOWN to clear

separate items

Center green LED's indicate we are Leaving the Save Position Zone

press and hold

DOWN

to enter

Configuration Mode

Entering and Leaving the Configuration Mode

Controlled access to the Configuration Mode prevents inadvertent entrance during normal

Operational Mode activity. Once the Configuration Mode is entered, there are several main

menus that are displayed sequentially by pressing the MENU button. Configuration Mode

main menus are identified by the word “CON...FIG...URE...” displayed sequentially in the right

alphanumeric display (see the [GPS] main menu example below). The Configuration Mode

can 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 the

SELECT 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 holding

the MENU button for approximately 3 seconds. When the [TO...OPR] screen shows (see

below), the MENU button may be released. Press the SELECT button to return to the

Operational Mode or press the MENU button to stay in the Configuration Mode.

Press and hold

MENU to enter

Configuration

Mode

SELECT

enters

Configuration Mod

Press MENU to cancel

Configuration Mode

[

]

[

Display

sequences

between

[a], [b], [c], and

[d]

Typical of all

Configuration Mode

Main Menus

Press and hold

MENU to return to

Operational Mode

SELECT

returns to

Operational Mod

Press MENU to cancel

Operational Mode

The Smartbar Configuration Mode

There are normally 7 main menus in the Configuration Mode as listed here:

GPS GPS Receiver Status monitoring

SWA Swath Configuration parameters

SYS 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 Testing

Pressing 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 main

menu [GPS]. The SELECT button is not funtional for Configuration Mode main menus. Press

the DOWN button to go down from a main menu, into its sub-menus. Then press the MENU

button to go through the sub-menus. After the MENU button has been pressed for all of the

sub-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 same

main 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.

press & release MENU Button

press DOWN Button

press SELECT Button

press & hold MENU Button

Automatic (no button press)

DSP

Display Settings

SYS

System Settings

SWA

Swath

NPS, G-2, G-3,

D2X, D3X,

right display is

number of

satellites

G=GPS

A=AOD

D=Differential

Bottom 2 GPS

LED alarm if

less than 2.1.

seconds

degrees

GPS

DGPS Status

D3X

Receiver Position

Status

HDP

HDOP

(accuracy)

AOD

Age Of

Differential Data

SOG

Speed Over

Ground

SWW

Swath Width

SCL

Offset Scale

ANG

Angle Display

HDL

Headlands

UTS

Units

MSG

Output Messages

TAP

Tape Measure

CKS

FW Checksum

SER NUM

Unit Serial Number

enter

Configuration

Mode

ATO

Along Track Off

Configuration Mode Menu Navigation Diagram

48, 96,

192,

384,

AUT

OFF

BF, SNP, ROW,

PVT, CON, SED,

RT, SQ, ONE.

FIN, NRM,

CRS, AUT

OFF

FIN

OFF, SEP,

CMB, DHC

FT - Miles/Hr

MT - Km/Hr

FTF

5-500 ft

5.0-95.0 ft

1-999 dm

FTF

(0.1-99.9 m)

FTF

-99 to +99 ft

-19.9 to +50.0 ft

-99 to +99 dm

(-9.9 to +9.9 m)

FTF

-99 to +99 ft

-19.9 to +19.9 ft

-99 to +99 dm

(-9.9 to +9.9 m)

press and hold

MENU Button

TO...CFG

DIR

Swath Direction AUT

MAN

PMR

Pivot Min Radius CON

Contour Type

NRM

FIN

VFN

CPFS

NRM

CFG

DSP

Display Settings

GUI

Guidance

Display

NRM

ADV

NRM

OVR

COG

Course Over

Ground

XTO

Across Track Off

OFF

XIN

Switch Inputs

EVT

Events

GER

Guidance Errors

VCT

Vectors

GUP

Guidance

Updates

PLT

Plot Messages

MRK

Manual Marks

OFF

SEC

OFF

SEC

OFF

DIA

Diagnostics

IAS

Inertial

Augmentation

System

AHT

Antenna Height

ANG

Angle - degrees

Calibrate

Tilt Sensor

1.0-40.0 ft

0.10-9.99

180

-179

OFF,

SLO,

NRM,

FST

if MSG = ON if DSP = CFG if Tilt Sensor

Option is installed

skipped if

SWT=ROW,PVT,

CON, SQ, RT

if SWT = CON

if SWT = PVT

2BT

1BT

0BT

only if

SWT = CON

SPL

Special Angle/

Off

OFF

CON

Contour Control

APR

Approach

Display

OFF

FLA

OFF

Offset Direction

NRM

REV

SAV

Save Pos

Distance

XTO

RNG

SET DEF

Set Default Config

MSG

Output Messages

DSP

Display Test

GPS

Display Setting

SWT

Swath Type

GPS

Alarms BPS

BAUD Rate POS

Position TLT

Tilt Mode

RGL 600

Home Screen

press and hold

MENU Button

from any

Configuration Mode

screen

return to

Operational

Mode

TO ... OPR

skipped if

SWT=ROW,

PVT,CON,

SQ, or RT

Displays

Invicta

Receiver

Serial #

Displays

Receiver

Invicta

Firmware

SET PRN

122-138

or OFF

SNO

Receiver Serial #

VER

Receiver

firmware

WAS

Waas Satellite

PRN #

TRK

Tracking Status SYN

SRH

SNR

Signal to Noise

Ratio

PPR

Parity Pass Ratio

%0 to 100

XX.X

XXX

INV

GEN

GPS

Inv or Gen

SEL TO INI automatically sets

inv port that LB-5 is connected

Baud 19200, GGA, VTG.

SEL TO INI

GPS menu

SNO, VER

if GPS = INV

GPS menu

stops at COG

if GPS = GEN

OPR

CFG CFG removes

SWW from OPR

mode

SWW

Swath width

GPS

GEN

GPS

INV

CPM

Corrections p/

minute

LSC

Limit Swath Cal

OFF

TPF

Temp in Farenheit

TPC

Temp in Celsius

The Smartbar Configuration Mode (continued)

GPS - GPS Receiver Status monitoring

GPS 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 the

following screens:

SNO Receiver Serial # (display only)

VER Receiver Firmware (display only)

WAS Waas Satellite PRN (allows setting PRN on RPR 110W and RPR 115 Invicta

Receivers).

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)

Receiver Position Status definitions:

NPS no position

G-2 2D navigation, no differential correction

G-3 3D navigation, no differential correction

D3X 3D navigation, with differential correction

First GPS

sub-menu

Receiver

Position Status

(NPS, G-2, G-3,

D2X, D3X)

Alarms,

G=GPS,

A=Accuracy,

D=Differential

Shows dashes when no

alarms present

7 GPS Satellites

being used

HDOP (Accuracy)

should be less than 2.1

or bottom 2 GPS Statu

LED’s come ON

Differential Age of Data

is 3 seconds

Speed Over Ground

Meters - Km/Hr

English - Statute miles/Hr

Course Over Ground

in degrees

**When using a Raven receiver and SYS-GPS is set to INV, the GPS Main Menu will display the following screens

Receiver Serial #

Receiver Firmware

WAAS PRN - Allows

setting PRN on RPR

110 and RPR 115

Tracking Status

Synchronized

Tracking Status

Searching

Signal to Noise Ratio

Parity Pass Ratio

Correction per Minut

THE SMARTBAR CONFIGURATION MODE (continued)

SWA - Swath Configuration parameters

SWT Swath Type

Press SELECT button to select Swath Type Back-and-Forth (BF), Snap-To-

Swath (SNP), Row Swathing (ROW), Pivot swath pattern (PVT), Contour

Swathing (CON), Seed Swathing (SED) Squeeze pattern (SQ), Racetrack

pattern (RT), or One Button (ONE).

Swath

Type Description Function

BF 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.

ROW

Row Swathing

Special guidance is shown for driving down crop rows.

PVT Pivot pattern Sequences to mark and follow a circular pattern are

used.

CON

Contour Swathing

Guidance to curved swath patterns is given.

SED Seed Swathing

Used 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 Radius

This configuration setting will only be present if SWT=PVT (Pivot Swathing). The PMR

setting controls the smallest circle to be sprayed.

Press SELECT button to set the Pivot Minimum Radius as required. As you press the

SELECT button the PMR increases by 10 ft (FT/FTF) or 1.0 meter (MT). The DOWN

button decreases the PMR by 1 ft (FT/FTF) or 0.1 meter (MT). You can hold down

each button to quickly change the settings.

The maximum PMR setting is 999 feet or 99.9 meters.

CON Contour Type

This 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 be

used in most applications. The FIN and VFN settings reduce the maximum length

of a contour swath. The CRS setting increases the maximum length of a contour

swath.

See the section Contour Swathing - Contour Type Configuration Setting for

details on setting the Contour Type.

THE SMARTBAR CONFIGURATION MODE (continued)

SWW Swath Width

Press SELECT button to set the Swath Width as required. The boom width of your

machine determines the swath width. As you press the SELECT button the width

increases 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 SWW setting ranges for each units setting (SYS UTS):

units min SWW max SWW

- feet

500

FTF

- feet fine

5.0

95.0

- metric

dm (0.1m)

999

dm (99.9m)

DIR Swath Direction

This 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 Direction

control. The default is AUT and should be used in most applications to eliminate a

button press after marking the A-B line.

The Swath Direction determines on which side of the A-B line swath numbers are

positive. 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 turns

past 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 is

completed. Then the Swath Direction is set and Swath #2 guidance is displayed. The

Swath Direction may be set prior to completing the 75 degree turn, by pressing the

SELECT button, if desired.

When DIR is set to MAN, the Swath Direction is set by pressing the SELECT button

after marking the B point and turning in the desired direction to work the field. After the

B point is marked, the Smartbar displays ‘SET DIR’ until the SELECT button is pressed

to set the direction. Then Swath #2 guidance is displayed.

THE SMARTBAR CONFIGURATION MODE (continued)

SCL Guidance Offset Scale sensitivity

Press 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 as

follows:

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 are

present in the SCB, those names will replace FIN, NRM, CRS, or AUT as Guidance

Offset Scale identifiers.

When the SCB control “Enable Scales Display” is turned ON, the DOWN button is

used to display the Offset distance for each LED of the Offset Guidance display. Press

the DOWN button to sequence through 8 Offset settings. Corresponding Offset LED’s

illuminate indicating which Offset value is displayed. When “Enable Scales Display” is

ON, 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 Indicators

Press SELECT button to turn Angle Indicator LEDs OFF, ON, or FIN. The angle LED’s

indicate the difference between your Course Over Ground (COG) and the swath line

you 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 angle

error can not be displayed. This indication is all angle LED’s off except the far

left angle LED and the far right angle LED. This condition is usually caused by

low Speed Over Ground (SOG).

# of LED's

Fine 0.31.01.52.02.53.03.55.0

Normal 1.0 2.0 4.0 6.0 8.0 10.0 12.0 14.0

Coarse 4.0 6.0 12.0 18.0 24.0 30.0 36.0 42.0

# of LED's

Fine 0.1 0.2 0.4 0.6 0.8 1.0 1.2 1.4

Normal 0.3 0.6 1.2 1.8 2.4 3.0 3.6 4.2

Coarse 1.2 1.8 3.6 5.4 7.2 9.0 10.8 12.6

# of LED's

Auto 0.5% 1% 2% 4% 10% 20% 40% 50%

# of LED's

ON 1 3 6 10 15

FIN 0.5 1.5 3 6 10

THE SMARTBAR CONFIGURATION MODE (continued)

HDL Headlands Mode

HDL 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 control

features are active. When CMB is selected, A-B line marking and headland marking

are combined. The first two points will be A-B line swath marks. After the A-B line is

marked 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 the

SELECT button. Each point is defined in this way. Pressing the DOWN button at the

last display will show ACR (Acreage) and the right display will alternate between whole

acres 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 are

separate. When DHC is selected, the Double Headlands C pattern is used. See the

section “Double Headlands C pattern” for details.

ATO Along Track Offset distance

The Along Track Offset distance adjusts the antenna position along the direction of

machine movement (COG). This adjustment moves the DGPS antenna position rela-

tive to the desired Along Track guidance point. Positive settings move the antenna

ahead of the guidance point. (for example: ATO set to +10 ft sets the guidance point

at the boom if the antenna is mounted 10 ft ahead of the boom). Negative settings

move the antenna behind the guidance point. Press SELECT button to set the Along

Track Offset distance.

XTO Cross Track Offset distance

The Cross Track Offset distance adjusts the antenna position across the direction of

machine movement (COG). This adjustment moves the DGPS antenna position rela-

tive to the desired Cross Track guidance point. Positive settings move the antenna

to the right of the guidance point. (for example: XTO set to +2 ft aligns the guidance

point with the boom center if the antenna is mounted 2 ft right of center). Negative

settings move the antenna to the left of the guidance point. Press SELECT button to

set 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 XTO

are set to 0. When using ATO or XTO, an accurate machine movement direction (COG) is

used 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 will

show 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 valid

COG is used for ATO and XTO antenna adjustment.

Locating the antenna at the machine/boom center is recommended rather than using XTO

setting, where practical.

units min ATO/XTO max ATO/XTO

FT - feet -99 ft +99 ft

FTF - feet fine -19.9 ft +50.0 ft

MT - metric -99 dm (-9.9m) +99 dm (+9.9m

)

THE SMARTBAR CONFIGURATION MODE (continued)

SYS - System Configuration (includes BAUD rate)

BPS BAUD rate setting

The BAUD rate controls the data rate for messages received from the DGPS Receiver

and outgoing transmit messages. Press SELECT button to select AUT (Automatic

BAUD select), 38400, 19200, 9600, or 4800. The default setting is AUT. For most

installations, Auto BAUD should be used. Auto BAUD automatically determines the

DGPS Receiver transmission BAUD rate, then uses that BAUD setting to receive and

transmit. 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 Units

Press 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 18.3

meters (183 decimeters). If the new UTS setting is FT or FTF, SWW is set to 60 feet.

MSG Outgoing Transmit Message Control

Press SELECT button to turn outgoing Messages ON or OFF. For operation without

data logging or other ancillary Light Bar Data monitoring equipment, Messages should

be set to OFF. When SYS-MSG is set to ON, the MSG configuration main menu is

enabled for selecting which messages are used.

TAP Tape Measurement Control

Press SELECT button to set the Tape Measurement mode ON or OFF. When Tape

Measurement is enabled, an additional sequence is added to the Operational Mode to

provide control and monitoring of distances. If Tape Measurement will not be used, it

should be set to OFF simplifying the operator’s control sequences.

DSP Display Settings

Press 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 DSP

configuration main menu is enabled for configuring various Smartbar display and con-

trol options.

GGA message LED’s

Receive

Data

Signal Single Message VTG message LED’s

Multiple Messages

BAUD Rate LED’s showing 19200

GPS Status Alarms

THE SMARTBAR CONFIGURATION MODE (continued)

GPS GPS Settings

Press 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). When

SYS-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 receiver

that the RGL 600 is connected.

BAUD rate will be set at 19200, GGA-ON at 10HZ, VTG-ON at 10HZ.

DSP - Display Settings

GPS Optional DGPS Status Configuration format

Press 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 display

six configuration sub-menus: GPS, D3X, HDP, AOD, SOG, and COG.

When DSP-GPS is set to ADV, the DGPS Status configuration main menu will display

four configuration sub-menus: GPS...D3x combined, HDP...AOD combined, SOG...COG

combined, and LAT...LON combined. This advanced setting allows monitoring of two

GPS 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 Display

Press 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 right

hand Smartbar alphanumeric display. If the offset error distance display uses less

than two digits, a General Direction to Target Indicator digit is shown in the third

digit. This indicator points toward the guidance target. See the section “General

Direction to Target Indicator”. As the offset error exceeds two digits, the third digit is

no 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 when

the offset error is greater than two digits. When DSP-GUI is set to OVR, the General

Direction to Target Indicator is displayed alternately with the three-digit swath offset

error. (i.e. it is overlayed)

OFF Offset Error display direction

Press 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 you

need to steer. This is the DSP-OFF default setting (NRM). To display the Red LED

bars in the opposite direction (the bar appears as if pointing toward the machine from

the swath line), set DSP-OFF to REV (Reverse). When DSP-OFF is set to REV, the

direction of the angle error indicator LED bars are also reversed.

THE SMARTBAR CONFIGURATION MODE (continued)

DSP - Display Settings (continued)

SAV Save Position Distance

Press 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 SELECT

button at a menu “SAV POS”. the DSP-SAV configuration controls what the right hand

alphanumeric 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 is

no Saved Position.

When DSP-SAV is set to RNG (Range), the right hand display shows the distance

from the current position to the Save Position. See the section “Saving Your Present

Position” for more details.

APR Headlands Approach Display

Press 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 after

making an end of row turn and requires the spray control to be turned ON by the

operator at the headland boundary.

The Headland Approach Display indicates distance to the headland boundary as the

machine is approaching it. This is an aid to help the operator control the spray at the

proper point. The Headland Approach Display is shown to the operator in place of

the 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 swath

number and the approach distance are shown alternately in the left alphanumeric

display. See the section “Swathing with Headlands - Headland Approach Display”

for more details.

SPL Special Angle and Offset error display

Press SELECT button to set DSP-SPL to ON or OFF.

The Special Angle and Offset error display is used to indicate distance away from the

swath 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 left

or right sense of error offset indications may be unclear. See the section “Special

Offset and Angle Displays” for more details. DSP-SPL provides a configuration to

turn OFF this Special Angle and Offset error display.

THE SMARTBAR CONFIGURATION MODE (continued)

DSP - Display Settings (continued)

CON Contour Control

Contour 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 is

required when turning between rows using Contour Swathing. See the section “Con-

tour Swathing - Contour Control Configuration Setting” for more details.

SWW Swath Width Control

Press SELECT button to set Display Settings SWW (Swath Width) to OPR (Opera-

tional mode) or CFC (Configuration Menu). The default setting is OPR (Operational

mode). When OPR is selected, the SWW (Swath Width) menu will appear in the

Operational 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 Cal

Press 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 swath

width setting.

When LSC-OFF is selected the Swath Calibration limit is bypassed.

See the section “Swath Calibration” for more details.

IAS - Inertial Augmentation System

This IAS configuration main menu will be present if your Smartbar has the optional Tilt Sensor

upgrade 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 Testing

DSP RGL 600 Built-In Display Test

Press the SELECT button to execute the Display Test sequence. The SELECT button

is pressed two times in the sequence to proceed past display inspection points. The

MENU button may be pressed at any time to abort the Display Test.

Shown with Boom Switch #1, #2, #3, and #5 closed

THE SMARTBAR CONFIGURATION MODE (continued)

DSP - Diagnostic Built-In Testing (continued)

CKS Program Memory Checksum

Press the SELECT button to execute a program memory checksum calculation. The

calculated 8 Hexadecimal digit checksum is displayed in 4 display cycles. (see below)

Firmware program integrity is validated if the indicated checksum matches a known or

published checksum for the current version.

SET..DEF - Reset Smartbar configuration settings to default values

WARNING: 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 with

default values for all configuration settings.

SER..NUM - Smartbar 6 digit Unit Serial Number

This 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 technical

support.

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 sequences

between

[a], [b], [c], [d], [e

showing the

Hexadecimal numb

'1234FE78'

[

Display sequence

between [a] and [b

]

showing

Serial Number

314159

BASIC SWATHING

The 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-B

line, which is swath number 1. Swath number 2 will be in the direction (from the A-B line) you

will work the field. If Direction (DIR) is configured for Auto (AUT), the direction to work the field

is established when the machine turns past 75o after marking point B. If Direction (DIR) is

configured for Manual (MAN), the operator presses the SELECT button, after turning from

marking the B point, to set the direction to work the field. DIR may be AUT or MAN for both BF

and 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 light

bar knows where the swaths are for that field based on the swath width you specified when

configuring 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 Down

button will decrement the current swath to -1. Pressing Down again will decrement the current

swath 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. The

offset distance LED’s are all off when you are on swath, and come on sequentially as you

leave the swath.

The offset angle LED’s are all off when you are parallel to the current swath, and come on

sequentially as your angle to the current swath increases.

IMPORTANT:

When traveling perpendicular to the current swath line, the direction you should turn to

correct is indeterminate. If the current Course Over Ground alignment to the swath

line is greater than about 70o, the angle and offset LED’s are displayed in special

manner. This special display aids in determining the location and orientation of the

swath line when the direction is close to perpendicular and the intended direction along

the 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 is

operating properly. If one or two of the status LED’s are on, the accuracy of the light bar will be

impaired. 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 (the

A-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 to

spray. When the LED’s are off, you have entered a headland area, which has

already been sprayed. The top and bottom LED’s are also used when saving

and returning to a position. See ‘Headlands’ and ‘Saving Your Present

Position’.

Back and Forth Swathing (BF)

Back and Forth swathing is used, as the name applies, to swath the field in first one direction

and then the other using swaths that are parallel to the A-B line. Below are the steps required

for BF swathing.

The 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 NO alarm condi-

tions.

If DIR is set to Automatic (AUT), the Direction is set automatically when the machine turns

past 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 to

run. Swaths are numbered in order but you can run any swath you want at any time and in any

direction.

Important

The ‘A’ and ‘B’ marks form a straight line that must be parallel to the remaining

swath 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 the

swath number accordingly. Swath lines are numbered as in BF swath type. The SELECT/UP

button 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 to

the A-B line. The following section leads you through a step-by-step description of swathing

using either BF or SNP swath patterns.

Enter

Field

Here

Exit

Field

Here

Swath #1 Swath #2 Swath #3 Swath #4 Swath #5 Swath #6

press SET B button to

Mark the

B point

press SET A button

to Mark the

A point

SEL

If DIR=MAN

press SELECT button

to set direction

If SWT=BF

press SELECT button

to advance Swath #

To Begin Your First Swath

1. Make sure the GPS antenna has a good view of the sky and the system is operating

with NO alarm conditions. Using a visible site as a point of reference, steer a straight

line parallel to your intended swath paths as you mark your reference points A and B.

Important

The Smartbar will establish all subsequent swaths as parallel to the AB line, so

make 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 you

along 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 DOWN

button to create a new temporary A-B line or you press the SELECT button to set the

final A-B line.

5. Turn toward the next swath path. Press the SELECT button to set the direction if DIR

is set to MAN. If DIR is set to AUT, the direction is set automatically as the machine

turns 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 to

the next swath (for BF). You can also select a lower numbered swath by using the

DOWN button. With the SNP swath type selected, the swath number is automatically

advanced 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 swath

number you have selected. Simply steer in the direction of the LED’s. That is, if the

LED’s to the right of the center are on, steer right. If the LED’s to the left of center are

on, steer left. The distance (feet or decimeters) to the selected swath is shown on the

right side of the screen.

8. The Guidance Status LED’s in the center of the Smartbar work as described in Basic

Swathing, 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 your

angle 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 are

on. If however, you are parallel to the selected swath, these LED’s will all be off and

your distance to the next swath will not be changing. If you turn away from the

selected swath at a sharp angle, the number of LED’s will again increase and, of

course, 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 selected

swath. This provides the best indication of when to begin your turn onto the selected

path.

10. To enter new reference marks at the end of the current field or to change reference

marks: Pres the MENU button to display ‘CLR A-B’. Clear the current reference

marks by pressing the SELECT button.

NOTE: If your GPS receiver is outputting 10 messages per second, you may notice

that as you move over bumps and dips in the field, the steering LED’s change

rapidly. This is because the GPS antenna is moving from side to side and with

10 updates per second the receiver sees this as a change in position. (This

problem shows up more at lower speeds). For better accuracy, do not chase

the LED’s but try to center them across the display.

Clearing the A-B line

From the ‘CLR A-B’ menu screen, press the SELECT button to clear the A-B line. You will

have to enter new ‘A’ and ‘B’ marks to begin your next swathing operation. Clearing the A-B

line also clears the Save Position (SAV POS).

Outside

described areas

Save Lights

FLASH TOGETHER

Zones used

to describe

Leaving and Returning

to a

Saved Position

Leave Zone

60ft square

centered on Saved Position point.

Save Lights

FLASH ALTERNATELY

when leaving.

normal

return

path

normal

return

path

Arrive Zone

30ft wide x 20ft long,

begins 5 ft before

Saved Position point.

Save Lights

ON STEADY

after reaching this zone.

Saved Position

Point

COG

Approach Zone

±10ft from swath line

of Saved Position.

Save Lights

GO OUT

when returning.

COG line

Using the Smartbar ‘SAV POS’ function, you can leave your current swathing position and return to it

later 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 ‘save

lights’.

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 a

correct approach direction. (i.e. You are going in the same direction.)

The Save Lights will come ON STEADY when you reach the Arrive Zone. The

Smartbar is then ready to continue swathing.

When returning to a Saved Position Point, use normal swath guidance to find the Saved Position

swath. For BF and SNP the swath number is locked so all swath guidance indicators will guide you

back to the correct swath line. Look at the swath offset LED’s and the angle LED’s to find the Saved

Position 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 to

Target Indicator (see separate section) will point back to the saved position when there are available

digits on the offset display. Once the Saved Position Swath is located, use the diagram above to

navigate to the Saved Position point.

SAVING YOUR PRESENT POSITION

Swathing with Headlands

The 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 field

is confined.

The Smartbar allows you to spray the headlands and then spray the rest of the field using

normal swathing. While swathing the part of the field that is inside of the headlands, the

operator 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 the

boundary is shown to aid in accurate spray nozzle control. See the section Headland

Approach Display for details of these indicators.

The effective point where the machine crosses the headland boundary can be adjusted from

the antenna to the boom position using the Swath Along Track Offset configuration. (see

Smartbar Configuration Mode (SWA-ATO) Swath Along Track Offset for antenna to boom

adjustments).

You can select either of three headland modes: Separate (SEP), Combined (CMB), or Double

Headlands C pattern (DHC). When using the Separate Headlands mode, mark the A-B line

and direction separately from the headland points. When using the Combined Headlands

mode, the first few headland points and the A-B line are marked together. (i.e. when A is

marked, H01 is automatically marked). Combined has the advantage of making it easy to find

the first swath, the A-B line. Separate requires you to use a visual queue, such as a fence

line, to locate the A-B line.

For most jobs, Combined Headlands is the preferred method. Use the Separate Headlands

to 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 a

larger end-row turning radius is required.

Examples below show Separate and Combined headlands applied to the same field:

Shaded Area - Headland areas

Solid Line - Path of antenna within Headland Areas

Separate

H01

H02

H03

H04

H05 H06 H07

H08

H09

H10

H11

S1 S2 S3 S4

DIR

Combined

DIR

H01

H02

H03

H04

H05 H06 H07

H08

H09

H10

H11

S1 S2 S3 S4 S5

Temp

Separate Headlands

1. If HDL configuration is not already set to SEP, enter the Configuration Mode, go to

SWA 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 of

H01 through H11. At any point in marking headlands, you could press the MENU

button and then go mark the A-B line and direction. You can then use the MENU

button to cycle back around to the HDL guidance screen.

4. As you are marking headlands, the guidance LED’s will keep you headed along a

straight line. You need at least 2 points to be guided. For example, in the diagrams on

the previous page, you need at least H01 and H02 before you get guidance. Note that

the even-numbered headlands points, (H02, H04, H06, ...) in the diagrams are used to

establish 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 ACR

screen will show whole acres and fractional acres alternately. The fractional part of

acreage is identified by a decimal point in the first display place. (If you are using

metric 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 already

done so.

7. As you drive each of swaths S1 through S4, the top and bottom Guidance Status

LED’s will be on when you are not in the headlands area and will be off when you are

in the headlands area (the shaded area in the diagram). When the LED’s go off, it is

time to turn off the spray and make the turn. As you approach the headlands area

within half a swath width, the top Guidance Status LED will flash. When you arrive at

the headlands area, the top and bottom LED’s will go out. The center LED stays on to

indicate that you are still on the swath. Spraying can resume when the LED’s turn on

again. Angle and offset distance LED’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 swath

line.

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 the

SELECT button at this point will clear both the A-B line and the headlands. To clear

the A-B line or headlands individually, press the DOWN button. The DOWN button

takes you to the CLR sub-menu. Press the MENU button until desired item is showing

in the right alphanumeric display. Then press the SELECT button to clear that item.

Combined Headlands

1. If HDL configuration is not already set to CMB, enter the Configuration Mode, go to

SWA 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 the

DOWN button to establish a temporary B mark. As the diagram indicates, mark A

and 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 the

direction. If the swath direction control (DIR) is set to AUT, direction is automatically

set as the machine turns past 75o.

6. As you are marking headlands, the guidance LED’s will keep you headed along a

straight 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 get

guidance. Note that the even-numbered headlands points (H02, H04, H06,...) in the

diagrams were used to establish guide lines for new headland segments when the

direction 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 show

whole acres and fractional acres alternately. (see Separate Headlands Operation

step 5).

8. Press the MENU button to advance to the swathing screen. As you drive each of

swaths S2 through S5, the top and bottom Guidance Status LED’s will be on when you

are not in the headlands area and will be off when you are in the headlands area (the

shaded area in the diagram). When the LED’s go off, it is time to turn off the spray and

make the turn. As you approach the headlands area within half a swath width, the top

Guidance Status LED will flash. When you arrive at the headlands area, the top and

bottom LED’s will go out. The center LED’s turn on to indicate that you are still on the

swath. Spraying can resume when the LED’s turn on again. Angle and offset distance

LED’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 swath

line.

9. With Combined you clear both A-B line and headlands together.

DH 3

mark DH 4

mark

DH 1

mark DH 2

mark

Enter

Field

Here

The Double Headlands C pattern provides parallel swathing between two straight double

headland areas. Using the C pattern, swathing progresses toward an “open” end, allowing the

last 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) control

AUT/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. The

DH3-4 line defines the second Double Headland area. These three line segments may be at

any angle or orientation so long as the general shape of the letter “C” is formed. Guidance

along 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, can

be the same length and alignment as the DH1-2 line, if desired. The DH3-4 inside headland

swath is controlled similarly. The exact shape of the field will determine if and how these

indicators are used. Marking of the A-B line is independent of DH1 and DH3 marks, although

the A mark is close to DH1 and the B mark is close to DH3. This allows some flexibility in the

corners of the field along the A-B line. The A-B line should be marked carefully as it controls

the position and direction of all subsequent swaths between the headland areas. The area

covered by the Double Headlands C pattern and swathing is calculated and displayed at the

end of guidance along the DH3-4 inside headland.

Double Headlands C pattern

Once 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 bottom

green 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. Applicator

ON/OFF signals and Headland Approach Displays are shown when swaths at the end of field

cross 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 to

SWA 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 position

and direction for the DH1-2 segment. This may be a fence line or field boundary in

many cases.

3. Clear any previous swath setting and press the MENU button until the RGL 600

display reads “SET...DH1”.

4. Press the SELECT button to set the DH1 mark. Drive along the intended DH1-2 line

segment with the applicator ON. The display will indicate “SET...DH2”. Press the

DOWN 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 in

the 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 green

LED’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 the

end of the DH1 point, the center top and bottom LED’s will go OFF. When reaching

the 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 A

mark. The display indicates “SET...B”. Press the DOWN button for straight-line

guidance 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 the

B mark. This display indicates “SET...DH3”.

10. Position the machine for the desired beginnng of the DH3-4 line segment. This may be

a fence line or field boundary in many cases. Press the SELECT button to set the DH3

mark. This display will indicate “SET...DH4”. Press the DOWN button for straight-line

guidance 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 field

along the DH3-4 inside headland area. Turn the applicator ON as required when

entering the field. Notice the top and bottom green LED’s will turn ON when the

machine passes the DH4 point.

12. Drive along the DH3-4 inside headland path. When the machine is aligned with the

end of the DH3-4 line, the center top and bottom LED’s will go OFF. This completes

the A-B line and headlands marking.

13. Press the SELECT button to calculate the acreage, and begin swath guidance along

the 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 between

swaths.

Headland Approach Display

The 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 which

indicates 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-quarter

swath width from the boundary. When the machine is in the field approaching a boundary to

the 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 control

settings. The default setting is ON as described here. When DSP-APR is set to FLA, the

Headland Approach Display and Swath Number will show alternately (i.e. FLAsh). When

DSP-APR is set to OFF, the center top green LED still flashes to indicate an approaching

headland boundary.

When operator is leaving a headland area and approaching the parallel swath area, the center

top green LED will flash (center bottom green LED is OFF). The Headland Approach

Display shows the distance to the headland boundary, instead of the swath number. This

prompts the operator to prepare to turn the applicator ON. The center top and bottom green

LED’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 will

flash (center bottom green LED is ON). The Headland Approach Display shows the

distance to the headland boundary, instead of the swath number. This prompts the operator to

prepare to turn the applicator OFF. The center top and bottom green LED’s will both go OFF

when the operator crosses the boundary into the headland area.

current position is outside

spray area of field swath offset error

is 3 feet

target direction

is to the right

approaching

headland boundary

distance to headland

boundary is 12 feet

indicates approach to spray area

of field from a headland

Headland Approach to Spray ON Display

current position is inside

spray area of field swath offset error

is 0 feet

target direction is

straight ahead

approaching

headland boundary

distance to headland

boundary is 24 feet

indicates approach to headland

from inside the field

Headland Approach to Spray OFF Display

PIVOT SWATHING

The Pivot Pattern provides a circular swathing of fields that have a well-defined center and

are shaped like a circle or a section of a circle. The requirement for circular swathing usually

results 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, the

operator 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 only

by the Pivot Pattern. The Pivot Reference Circle, the Swath Width (SWW), and PMR

determine the position of circular swath #1. Subsequent swaths are numbered outward from

swath #1 and are located at Swath Width intervals.

PVT

Mark

PVT

Mark

PVT

Mark 3

guidance begins

PVT

Mark

PVT

Mark

Enter

Field

Here

Guidance is OK.

DOWN button is pressed.

Pivot Reference Circle is complete.

Swath is #4

PMR

#6 Swath Numbers

Exit

Field

Here

Pivot Irrigation

tower tires

Pivot Irrigation boom

in parked position

The Pivot Minimum Radius setting defines a circular area at center of the field. Circular

swaths are assigned outside of this area. As the radius of circular swaths become smaller

and smaller, the inside spray nozzle moves slower than the outside spray nozzle. The PMR

setting determines the smallest circle to be sprayed. The PMR setting may also be used to

define an unplanted area at the center of the field that is used for installed equipment or

storage.

Use a known circular path to setup the Pivot Reference Circle. An example is the tire tracks

previously made by one of the pivot irrigation towers. After three points are marked, the

operator is shown guidance to the best circle, which is calculated from points marked on the

Pivot Reference Circle. The operator continues marking points while comparing this circular

guidance 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 Reference

Circle. At this time, the resultant circular swath number is displayed along with circular

guidance. The operator finishes the initial swath and then traverses the field in any order

similar to the Snap-To-Swath procedure in parallel swathing. Care should be taken not to

re-spray the swath number that is the Pivot Reference Circle. Note the swath coverage

sequence shown on the diagram on the previous page.

Pivot Pattern Configuration

To 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 circular

swathing may begin. Set the Swath Width (SWW) to the dimension across each

swath. The Swath Direction Control (DIR) is not used for the Pivot Pattern. Set the

Offset Guidance Scale (SCL) and Angle display (ANG) as for parallel swathing to

control guidance indication displays. The Headlands Type (HDL) is not used for the

Pivot Pattern swathing. Set Along Track antenna Offset (ATO) and Across Track

Antenna Offset (XTO) as for parallel swathing.

Marking the Pivot Reference Circle

When 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 is

blank. 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 marking

points 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 drive

around the Pivot Reference Circle away from the P1 mark, the right display will increase your

COG changes. Continue around the Pivot Reference Circle and mark P3. When three points

are 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, the

Smartbar recalculates the center and radius of the Pivot Reference Circle. Continue marking

points while driving around the Pivot Reference Circle. There must be at least 17 feet (5

meters) distance and 12o change in COG between each pivot reference point. When the

guidance 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 marking

phase.

After the Pivot Reference Circle is marked, the Smartbar determines the location of circular

swath #1 and the swath number of the Pivot Reference Circle. After the DOWN button was

pressed to complete the Pivot Reference Circle marking, the left display shows the swath

number and the right display shows offset error as in parallel swathing.

When marking Pivot Reference Circle points, the operator should press the SELECT button

when the machine is as close as possible to the circumference line being followed. Pivot

Reference Circle accuracy is determined by the accuracy of marking these points.

PVTCLRPOSSAV

RGL

600

Operational Mode

Pivot Pattern

Navigation Diagram

BRT

Decrease

Brightness

Increase

Brightness

Power

circular guidance

Swath Number

& Offset distance

P1 P4

P6 5

guidance guidance to current

Reference Circle

3 0

31P3

14P2

Swath #

Clear

Pivot

Save

Position

is Saved?

YES

CLR SAV Clear

Saved Position

Clear

ALL

CLR ALL

press MENU Button

press DOWN Button

press SELECT Button

Automatic (no button press)

Driving the Pivot Pattern

No button presses are necessary after the Pivot Reference Circle is marked. Use the same

technique as Snap-To-Swath for parallel swathing, except each swath is part of a circle. As

the operator drives the field, the Smartbar will always give guidance indication to the closest

swath.

Refer to the pivot pattern diagram at the front of this section. The swath order used to cover

this example pivot pattern is #4 (Pivot Reference Circle), #1, #2, #5, and #6. The Pivot

Reference Circle may be any swath number and the swath order can be chosen to best suite

the particular field and equipment.

Offset and angle indicators are much like they are for parallel swathing. When using the pivot

pattern, a new location on the current circular swath is continously calculated. Offset error

indicates distance from the target circumference. Angle error indicates variance from a line

tangent to the circular swath at the current position.

Saving and Returning to a Position

Refer to the section Saving Your Present Position. When Pivot Pattern is in use, Saving and

Returning to a Position is very similar to parallel swathing. Imagine a line tangent to the

circular 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.

ROW SWATHING

Use 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 Row

Swathing, 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 in

either direction to the next row. Since the offset distance to the next row is calculated from the

position at the end of the current row, guidance into the next row will be very accurate. It is

important to configure the swath width setting to closely match the required multiple of the

distance between each row. It may be necessary to configure SYS-UTS to FTF (see System

Configuration, UTS Feet, Feet Fine, or Metric Units). This will allow the swath width to be set

in tenths of feet.

As rows are laid out across a field, small incremental inconsistencies in the pitch (distance

between each row) may exist. This can cause a swath position calculated from an A-B line

reference to misalign with rows that are several swaths away from the A-B line. When using

Row 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 to

turn from one swath to another.

The primary purpose of Row Swathing is to aid in locating the target row when turning. Row

Swathing does not require the rows to be straight. As the operator is driving along each

swath, guidance is given toward a straight path based on the path just behind the current

position. The operator will be using the row as a primary path. Smartbar guidance will aid in

following these row patterns.

Note: When using Row Swathing, Swath numbers shown in the left display are swath

sequence numbers and do not necessarily represent a position on the field.

Configuration Steps for Row Swathing

To 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 across

each swath. The Swath Direction Control (DIR) is not used for Row Swathing. Set the Offset

Guidance Scale (SCL) and Angle display (ANG) as for parallel swathing to control guidance

indication displays. The Headlands Type (HDL) is not used for the Row Swathing. Set Along

Track antenna Offset (ATO) and Across Track Antenna Offset (XTO) as for parallel swathing.

SAV POS

RGL

600 BEG ROW

Menu Navigation Diagram for Row Swathing

Save

Position

Clear

ROW

Clear

Saved

Position

CLR ALL

CLR ROW

Clear

All

CLR SAV

press MENU Button

press DOWN Button

press SELECT Button

Automatic (no button press)

Top and Bottom

Center Green LED’s

are ON

1 offset

error 2 offset

error

if a Position

is Saved

next swath

Top and Bottom

Center Green LED’s

are ON

Top and Bottom

Center Green LED’s

are OFF

aligned w/prev

end of swath

CONTOUR SWATHING

Some 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 for

swathing 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 the

next swath will follow the path taken by the operator when driving around the tree or ground

feature. Contour Swathing can be referred to as ‘relative’ swathing. This is because each

swath 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 number

multiplied times the swath width) from the A-B reference line.

To provide Contour Swathing guidance, the Smartbar memorizes each swath path as the

operator is driving. To simplify the progress through the field, each memorized swath is

separate from the other swaths. See the Contour Swathing Diagram below. Swath #1 starts

at 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 driving

the first swath, the Smartbar memorizes the path of that swath. While driving the second

swath, the Smartbar shows relative guidance to the first swath while memorizing the second

swath. 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.

Enter

Field

Here

Exit

Field

Here

Contour Swathing Diagram

Contour Control Configuration Setting

To mark the beginning of the first swath (1A), press the SELECT button at the BEG...CON

screen. See the Menu Navigation Diagram for Contour Swathing in this section. To mark

the end of the first swath (1B), press the DOWN button. This will be done just prior to turning

toward the second swath. You may turn either direction (i.e. left or right) toward the second

swath. After making the turn, press the SELECT button to mark the beginning of the second

swath (2A). Follow the guidance indicators to complete the second swath. Press the DOWN

button to mark the end of the second swath (2B). Repeat this process for the third swath, etc

across the field. This method of marking the beginning and end points of the second and

successive 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. Two

additional Contour Control settings (1BT and 0BT) minimize and/or eliminate operator button

press activities at the end of rows.

When the Contour Control is set to the one-button mode (DSP-CON=1BT), only one button

press is required at the end of each row. At the end of each row, the operator presses the

DOWN button to mark the end of that swath. Then, make the end-of-row turn to the next

swath. When the machine is aligned with the previous swath end mark (position of DOWN

button press) and one swath width away, the beginning of the next swath is automatically

marked. If the field shape is such that the next swath should begin before alignment to the

end of the previous swath, the operator can press the SELECT button to mark the next swath’s

beginning early.

When the Contour Control is set to the zero-button mode (DSP-CON=0BT), no button presses

are required at the end of rows. Automatic marking of swath beginnings is the same as in the

one-button mode. The zero-button mode automatically marks the end of each swath after the

first swath. When the machine is aligned with the previous swath begin mark and one swath

width away, the end swath is automatically marked. If the field shape is such that the end of

swath 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-button

mode the beginning and end of swaths should generally align with the beginning and end of

the first swath.

Contour Type Configuration Setting

There are four settings for the Contour Type configuration:

NRM - Normal

FIN - Fine

VFN - Very Fine

CRS - Course

The Contour Type controls how the Smartbar memorizes swath paths. Normal (NRM) is the

default and should be used for nearly all applications. As the Contour Type is set to finer

settings, the length available for each swath decreases. Swath length maximum distances for

each Contour Type are shown below:

NRM - 3 miles

FIN - 1.5 miles

VFN - 0.5 miles

CRS - 4 miles

Configuration Steps for Contour Swathing

To 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 dimension

across each swath. The Swath Direction Control (DIR) is not used for Contour Swathing. Set

the Offset Guidance Scale (SCL) and Angle display (ANG) as for parallel swathing to control

guidance 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 for

parallel 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.

Using Contour Swathing

1. 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 of

contour 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 in

length 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 agriculture

swathing applications.

2. Contour Operational Mode starts with BEG...CON. Press the SELECT button to start

the first swath and drive as required. The left display will show 1 and the right display

will show 0%, 1%, etc to 100% indicating the percent of available contour swath memory

remaining. 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 swath

path. While making this turn, note the swath number is flashing. This indicates the

path 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 guidance

indicated that is one swath width away from swath one. During this time, the swath 2

pattern 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 contour

storage on the right display.

5. At the end of contour swath 2, press the DOWN button to end that swath. While

making this turn, note the swath number is flashing. This indicates the path is not

being recorded and is a prompt to press the SELECT button to begin recording the

next 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 POS

RGL

600 BEG CON

Menu Navigation Diagram for Contour Swathing

Save

Position

Clear

CON

Clear

Saved

Position

CLR ALL

1 10% CLR CON

2 offset

error

2 offset

error

Clear

All

CLR SAV

if a Position

is Saved

press MENU Button

press DOWN Button

press SELECT Button

press & hold MENU Button

Automatic (no button press)

2 14%

begin

swath #1 end

swath #1 SELECT Button

to begin

swath #2 . . .

Align w/prev

start to begin

swath #2 . . .

Align w/prev

end to end

swath #2 . . .

DOWN Button

to end

swath #2 . . .

1B1A 2B

SEED SWATHING (SED)

Seed swathing (SED) is used, as the name imples, for seeding purposes using swaths that

are parallel to the A-B line.

SED swathing is much like BF except that whenever the Select button is pressed to advance

to the next swath, an “auto swath calibrate” occurs. This makes the entry into the next swath

very accurate for close alignment of the wheels to the next row. The operator must be trained

to press the SELECT button at the best point to setup for the next row. The operator must be

sure to press the SELECT button before he starts to make his turn.

Below are the steps required for SED swathing.

SED - Basic Operation

The 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 NO

alarm conditions.

If DIR is set to Automatic (AUT), the Direction is set automatically when the machine

turns past 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 is then used to advance to the next swath.

Important

The ‘A’ and ‘B’ marks form a straight line that must be parallel to the remaining

swath paths. Ensure that no alarms are present while setting the ‘A’ and ‘B’ marks.

Enter

Field

Here

Exit

Field

Here

Swath #1 Swath #2 Swath #3 Swath #4 Swath #5 Swath #6

press SET B button to

Mark the

B point

press SET A button

to Mark the

A point

SEL

If DIR=MAN

press SELECT button

to set direction

RACETRACK SWATHING

Racetrack Swathing is a special swath pattern used by aviators when crop dusting.

Enter

Field

Here

Exit

Field

Here

press SELECT button

to Mark the

B point

press SELECT button

to Mark the

A point

Swath

#10

Swath

#11

Swath

#12

Swath

#13

Swath

#14

Swath

#15

Swath

#16

press SELECT button

to Mark the

C point

Steps used to cover a field using the Racetrack Swathing pattern:

1. Mark A and B points by pressing the SELECT button while spraying the first

swath.

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 guidance

to the next swath.

Enter

Field

Here

Exit

Field

Here

press SELECT button

to Mark the

B point

press SELECT button

to Mark the

A point

Swath

#10

Swath

#11

Swath

#12

Swath

#13

Swath

#14

Swath

#15

Swath

#16

press SELECT button

to Mark the

C point

SQUEEZE SWATHING

Squeeze 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 first

swath.

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 guidance

to the next swath.

ONE BUTTON SWATHING (ONE)

One Step - Basic Operation

A 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 set

point A and B.

Main Screen

One Step

Swath

Navigation

Swath number is

Displayed

If offset errors ar

showing press

SELECT

to reset end Mark

SELECT

to Calibrate

Swath Line

Press DOWN to Swath Calibration

Press SELECT to Calibrate Swath

Reset 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 mark

ahead 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 left

alphanumeric display.

2. Continue driving the reference swath. If offset erros are showing, press the SELECT

button 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 “CAL

SWA” will be shown immediately. To calibrate the reference swath, press the SELECT

button. To abort, press the MENU or DOWN button.

press MENU Button

press DOWN Button

press SELECT Button

press and hold MENU Button

Automatic (no button press)

ONE off

set

enter

Configuration

Mode

RGL 600

One Step - Basic Operational Mode

Menu Navigation Diagram

BRT

Power

ON SET ASWW

Set

Brightness

Snap to Nearest swath #

off

set

swath

Complete

turn toward

Swath #2

Set

Swath Width

only if initial

Swath Navigation

has not been set

Set the A mark Reset

End Mark CAL SWA

Calibrate

Swath Line

SMARTBAR TILT UPGRADE OPTION

The Smartbar Tilt Upgrade Option provides straight parallel swath guidance on fields that

are not level. This option corrects position errors that occur when an applicator machine

moves over an uneven field.

For accurate DGPS signal reception, the GPS antenna is usually placed on the highest part

of the applicator machine. This may be on top of the operator’s cab. The antenna height may

be from about 8 feet to about 20 feet. If the surface of the field is not level, this antenna

position 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 this

page). If a field’s surface along a swath line is not uniformly at the same tilt angle, swath paths

created by following the DGPS position will not be straight. If the field’s surface between

adjacent swath’s is not at the same tilt angle, the swath patterns created by following the

DGPS 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’s

vibration can cause erroneous inclinometer tilt readings. The Smartbar filters these tilt read-

ings to eliminate most of these errors. During the Smartbar IAS (Inertial Augmentation

System) configuration, the user can adjust this filter for very rough fields with only gradual

changes in slope or very smooth fields with abrupt changes in slope.

Antenna

Height

Tilt

Angle

STA

RLINK

Error

Tilt Sensor Upgrade Option Installation

The Tilt Sensor Upgrade Option is installed into a new or existing Smartbar at the factory by

adding the Tilt Sensor (inclinometer). A Smartbar, with the Tilt Sensor Upgrade installed, can

use Smartbar firmware updates to the IAS as they become available.

IAS Configuration

When 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. Press

the 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 Mode

Press SELECT button to select between Tilt Control Modes:

DIA

Diagnostics

IAS

Inertial

Augmentation System

AHT

Antenna Height

ANG

Angle - degrees

Calibrate

Tilt Sensor

1.0-40.0 feet

0.10-9.99 meters

degrees indication

-179 to 0 to 180

left level right

OFF, SLO, NRM, FST, or VFS

TLT

Tilt Mode

Inertial Augmentation System Configuration Menu

press MENU Button

press DOWN Button

press SELECT Button

Automatic (no button press)

Tilt

Control

Mode

Description Function

OFF

Off Smartbar tilt sensors have no effect on swath guidance

SLO Slow

The 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 Normal

The 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.

AHT - Antenna Height

The GPS antenna height is entered and displayed. This is an important part of the tilt

error correction. It must match the measurement between the antenna mounted on

the 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 Calibration

The 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.

SWATH CALIBRATION

The Swath Calibration feature is an aid for very accurate swathing requirements. The DGPS

Receiver accuracy is high for short periods of time. When long time intervals occur during

swathing, small across track position drifts can be corrected using Swath Calibration. The

machine operator must be able to determine the precise corrected position of the current

swath line and position the machine to that point. Swath Calibration will adjust the AB line

reference and all successive swaths to this adjusted point. Swath Calibration is limited to 1/4

the current swath width setting. From the Swath Navigation screen, press and hold the MENU

button for approximately 3 seconds. When the [CAL...SWA] screen shows, the MENU button

may be released. Press the SELECT button to calibrate the swath line to the current position

or press the MENU button to return to the Swath Navigation screen without changing the

swath calibration.

The swath calibration limit may be turned off. In the SYS configuration menu, set DSP to CFG

then 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 Calibration

limit is bypassed.

SPECIAL OFFSET AND ANGLE DISPLAYS

Special 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 to

another 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 indicate

swath 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 the

swath angle increases toward perpendicular, an additional angle LED will come for each 5o

until 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 the

angle changes toward swath alignment, LED’s will begin to go off at about 15o (referenced to

the 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 Pattern

100

105

110

115

Within this same nearly perpendicular angular alignment, the offset LED’s are displayed using

a 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 track

distance indication. The offset LED’s usually indicate across track distance. The along track

display pattern is different from the across track display to prevent confusion. Along track

distance 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 special

angle and offset distance displays to determine the approximate location and orientation of

the previous and/or next swath line. This aids in smoothly setting up for alignment at the

beginning the new swath.

When returning from a ‘Saved Position’ and driving down the side of the field, two elements of

the along track offset pattern will begin to move toward each other, one half of the swath width

distance away from the return swath line. This aids in locating the entrance line back into the

field.

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 Width

Special Offset

Display Pattern

50%

45%

40%

30%

20%

10%

Approaching end of Swath #3,

prepare to turn off spray nozzles

Edge

of field

spray

area

45°

10°

0°

95°

80°

85° #8

90° #10

100°

#12

135°

#13

170°

#14

180°

Swath #4Swath #3

#4 - 45°

#3 - 10°

#2 - 0°

#1 - 0°

Turn off spray nozzles, begin turning right

Angle LED's show 10° angle to Swath #3

70° #11

110°

Special Display

Region

#9 - 95°

#6 - 80°

#7 - 85°

#8 - 90°

#10 - 100°

Past half way to Swath #4, SNP switches to

Swath #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 on

straight line of swath #4.

#11 - 110°

Entering Special Display Area

Leaving Special Display Area

An Ideal Turn

UTS = FT

SWT = SNP

SWW = 100ft

SCL = NRM

Angle LED's show perpendicular to Swath #3

ALARMS

System performance can be adversely affected under certain operating conditions. Loss of

differential signal and/or poor satellite geometry can cause the accuracy of the system to fall

below that required for precision guidance. Should conditions exist which cause the accuracy

to lessen, the user is notified with one of three possible alarm conditions; GPS, Accuracy, or

Differential GPS. These alarms; G, A, D, are displayed on the far right side of the DGPS

Status Display Screen (Configuration Mode - GPS). All other screens display these alarm

conditions as yellow LED’s along the far end of both sides of the Smartbar (refer to diagram

items 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 receive

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. At

least 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 operate

in 3-dimensional DGPS mode.

[Accuracy] The Horizontal Dilution of Precision (HDOP) is greater than two (2.0). HDOP is

a fancy term for approximating the error in your position solution caused by

poor satellite geometry. Simply stated, it usually means that you do not have

enough satellites in view (should have a minimum of 5) or the antenna’s view of

the sky is partially blocked. You can see the number of staellites being used by

going to the DGPS status screen (Configuration Mode) and pressing the DOWN

button.

[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 the

wrong frequency, the service provider may be out of range or unavailable or

there may be some electrical noise interfering with the signal.

The system should not be used when alarms are present. Many times the alarm conditions

are only temporary and will clear up by themselves. Should alarm conditions remain, refer to

the Troubleshooting section in this manual and the User’s Manual supplied with your GPS

receiver.

GPS RECEIVER / SMARTBAR COMMUNICATIONS

The Smartbar receives communication messages from the GPS receiver. Using the BPS

screen (Configuration Mode - SYS), you can select a BAUD rate for communicating with the

GPS 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 green

LED’s are off, data is being received from the GPS receiver, but is not at the same BAUD rate

as the GPS receiver. You can set the Baud rate to AUT, and the Smartbar will automatically

match its BAUD rate to that of the GPS receiver. Alternatively, you can select the specific

BAUD 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’s

will stop sequencing when a BAUD rate match is found. The number of yellow LED’s on for

each side indicates teh BAUD rate:

If all center green LED’s are on, but the left red LED’s are not sequencing, you are receiving

messages 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 (especially

during installation). The top green LED monitors the receive-data signal directly. It will

come on momentarily whenever there is any activity on the receive-data signal. The

middle green LED indicates a properly formatted message has been received. The

bottom 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 used

to 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 MENU

button is pressed, ‘INV-SEL-TO-INI.’ will appear. Pressing the SELECT button will

automatically 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 rate

1 4800

2 9600

3 19200

4 38400

CARE AND CLEANING

The Smartbar is designed for all-weather outdoor operation. You can clean the dirt off of the

Smartbar by spraying it with a garden hose.

IMPORTANT: DO NOT USE PRESSURIZED WATER TO CLEAN THE SMARTBAR.

TROUBLESHOOTING

No Power

Ensure the Smarbar power cable is securely fastened and wired properly in your

vehicle.

No GPS Position

1. The Smartbar interface cables should be securely fastened and connected to

the correct port on your GPS receiver.

2. In order to operate properly, the Smartbar must receive two messages from the

DGPS receiver. These are National Marine Electronics Association (NMEA)

messages known as $GPGGA (GPS Fix Data) and $GPVTG (Course Over

Ground and Speed), or $GPRMC (Recommended Minimum Specific GNSS

Data). GNSS is an acronym for Global Navigation Satellite System.

3. Ensure the BAUD rate is configured to match the output BAUD rate of your

DGPS receiver. You can set the BAUD rate to AUT, which causes the Smartbar

to automatically synchronize its BAUD rate with the BAUD rate of the GPS

receiver.

4. If using a Raven receiver, the RGL 600 may be used to auto configure the

receiver. In the SYS configuration menu, set GPS to INV.

Erratic Swathing Patterns

Make sure the straight line formed by the ‘A’ and ‘B’ marks is parallel to your desired

swath paths. Ensure that no alarms are present while establishing the ‘A’ and ‘B’

marks.

GPS Alarm

Determine if the alarm is the result of loss of differential signal or a low number of

satellites. 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 displays

D3X. 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 be

4 or less. If this is the case, trees, buildings, or some other obstruction is blocking your

antenna.

RGL 600 MAIN UNIT CONNECTOR

CABLE OPTIONS

CABLE OPTIONS (continued)

WIRELESS SMARTBAR BUTTON BOX

In addition to the standard Smartbar Button Box, the RGL 600 also has an optional wireless button

box. The look, feel and functionality of this button box is identical to the wired version (refer to page

5 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 found

compliant 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 would

voil authority to operate this device.

CABLE WIRING DIAGRAMS

CABLE WIRING DIAGRAMS (continued)

SMARTBAR SPECIFICATIONS

Specification Description

Voltage 10-32 VDC

Current 650 milli-amps at max brightness,

100 milli-amps at min brightness, 12 VDC

Weight 4.5 lbs.

Environmental -40 degrees to +70 degrees C

Humidity 95% non-condensing

APPENDIX A - DRIVING YOUR MACHINE USING THE SMARTBAR

There are many different driving techniques and

various conditions encountered when following

parallel swath lines to cover a field. No single

technique or method is likely to be suitable for all

conditions. The Smartbar’s guidance display

gives the operator indications to help follow the

swath line accurately. The operator can see both

offset and angle LED indicators.

In the diagram shown to the left, the machine is

exactly on swath (i.e. no offset error), but is mov-

ing along a line which points 3o left of the swath

line being followed. The Smartbar is configured

with SCL set to NRM (first LED is 1 ft) and ANG

set to ON (first LED is 1o). If the offset LED’s

alone were used for guidance, the machine must

move 20 feet forward from the position shown

before an offset LED guidance indication is given.

By using both the offset and angle LED’s, the

operator knows that the machine is on swath and

needs 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 has

minimal offset error from the swath line.

In the diagram shown to the left, the machine is

2 feet right of the swath line and has the same

angle alignment as previously. The two offset

LED’s on the left are telling the operator to drive

to the left. The two angle LED’s to the right are

telling the operator to turn to the right. This looks

like a problem. However, the operator can drive

left to correct the offset error, but already knows

a right turn correction will be needed very soon.

In the diagram shown to the lower left, the

machine is 2 feet left of the swath line and has

the same angle alignment as previously. The

two offset LED’s on the right are telling the

operator to drive to the right. The two angle

LED’s to the right are telling the operator to turn

to the right. The operator can simply drive right

to correct the offset and angle alignment error.

1 ft

3°

offset LED'

COG

angle LED'

20 feet

swath line

offset LED'

angle LED'

2 ft

swath line

3°

offset LED'

angle LED'

3°

2 ft

swath line

APPENDIX B - RAVEN INVICTA DGPS RECEIVER SETUP

Refer to the Invicta front panel shown below and use the following steps to setup you Invicta

DGPS Receiver to operate with the RGL 600 Smartbar. Refer to the operation manual

supplied with your Invicta DGPS Receiver to clarify or modify these steps.

From the HOME screen, press the LEFT ARROW (‘enter’) key once to arrive at

th OUTPUT CONFIG menu screen.

Press the DOWN ARROW key until you reach the Baud Rate Setting menu

screen for your chosen interface port (A or B). If the port’s baud rate is not

already displayed as “19200 bps”, press the LEFT ARROW (‘enter’) key to

hightlight the field.

Using the UP and DOWN ARROW keys, set the baud rate to 19200 bps and

then press the LEFT ARROW (‘enter’) key again to make your selection final.

To configure the NMEA message output for use with the RGL600 lightbar, press

the DOWN ARROW once to move from the Baud Rate menu screen to the

MSGOUTPUT 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 message

type.

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 if

your receiver has the 10 Hz option installed, else 1.0 sec) and press the LEFT

ARROW (‘enter’) key to finalize your selection.

Next, press the UP or DOWN ARROW key until “VTG” is displayed as the

message type.

Follow the same steps shown above to set the message output interval to the

VTG message.

Press the UP and DOWN ARROWS simultaneously to return to the HOME

menu screen and you’re ready to swath!

APPENDIX C - GLOBAL POSITIONING SYSTEM (GPS)

GPS is a satellite-based global navigation system created and operated by the United States

Department of Defense (DOD). Originally intended solely to enhance military defense

capabilities, GPS capabilities have expanded to provide highly accurate position and timing

information 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 the

earth twice each day at an inclination angle of approximately 55o to the equator. This

constellation of satellites continuously transmits coded positional and timing information at

high frequencies in the 1500-Megahertz range. GPS receivers with antennas located in a

position to clearly view the satellites, pick up these signals and use the coded information to

calculate a position in an earth coordinate system.

GPS is the navigation system of choice for today and many years to come. While GPS is

clearly the most accurate world wide all-weather navigation system yet developed, it still can

exhibit significant errors. GPS receivers determine position by calculating the time it takes for

the radio signals, transmitted from each satellite, to reach earth. It’s that old “Distance = Rate

x Time” equation. Radio waves travel at the speed of light (Rate). Time is determined, and the

fact that the satellite’s position is reported in each coded navigation message, by using a little

trigonometry the receiver can determine its location on earth.

Position accuracy depends on the receiver’s ability to accurately calculate the time it takes for

each satellite signal to travel to earth. This is where the problem lies. There are primarily

seven 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 high

performance GPS Receiver to approximately 5 meters RMS and a low cost GPS Receiver to

10-15 meters RMS. Many of these errors can be reduced or eliminated through a technique

known as “Differential”.

APPENDIX D - DIFFERENTIAL GPS (DGPS) BEACON

DGPS works by placing a high-performance GPS receiver (reference station) at a known

location. Since the receiver knows its exact location, it can determine the errors in the

satellite signals. It does this by measuring the ranges to each satellite using the signals

received and comparing these measured ranges to the actual ranges calculated from its

known position. The difference between the measured and calculated range is the total

error. The error data for each tracked satellite is formatted into a correction message and

transmitted to GPS users. The correction message format follows the standard established

by 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 accuracy

obtained is a function of the GPS receiver. Sophisticated receivers like the Invicta 210 series

can achieve accuracy on the order of 1 meter or less.

GPS Satellites

Reference

Station

Coupler

DGPS

Radiobeacon

Antenna

RTCM-SC104 Corrections

Differential GPS Broadcast Site

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

Raven Industries RGL 600 Smartbar Transmitter 936a 1 pmd

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