AccuGrade® GPS Using The CD550A Display (GPS/ATS/Sonic/Cross Slope) Caterpillar

The AccuGrade System is an upgradable control system that allows increased flexibility from the base level system. This allows matching the devices and the machines to the level of control required. The system configuration depends on the devices that are connected to the system.

The AccuGrade System consists of the following components:

• Display

• Light Bars

• Switches (Auto/Manual - Elevation Offset)

• Sonic Tracer

• Location Sensors (GPS Receiver/ATS Target)

• Electric Mast (ATS only)

• Angle Sensors

• Rotation Sensor

• Radio

• Grade Slope Control ECM

• Power Supply Module

• Hydraulic Valves

• GPS Base Station

• Relays

The components of the AccuGrade System are described below.

Display

The Display is a computer that runs the AccuGrade software in order to display the information that is obtained from the GPS Receivers. The Display has a color LCD screen to display guidance and other information, and push button controls to operate the AccuGrade System. In addition, the display has a data card slot for loading and saving machine and display configuration data, and for loading and saving designs.

Illustration 2 shows the pinout information for the connector on the Display.

Illustration 1	g01213807
AccuGrade® Display (1) LCD Screen (2) Soft Key Labels (3) Soft Keys (4) Escape Key (5) Next Key (6) Power Key (7) "+" Key (8) Arrow Keys (9) "-" Key (10) "OK" Key (11) Menu Key (12) Slot for Data Card

Contact Description Of The Display

Illustration 2	g01219650
Display connector that is located on the back of the Display

Power Key

Press the Power Key (6) in order to turn on the Display.

Note: If the system detects upgrade files or other system files on the data card, press the "ESC" key to continue without updating software.

Press the Power Key and hold the Power Key (6) for several seconds in order to shut down the Display. This delay reduces the risk of inadvertently shutting off the power. You can turn off the AccuGrade System from any screen or from any dialog.

Soft Key Labels And Soft Keys

The Soft Key Labels (2) are graphical "keys" that appear at the bottom of the screen. Refer to Illustration 1.

The Soft Keys (3) are the six physical keys immediately below the screen of the Display. The function of these physical keys depend on the information displayed on the screen of the Display, and is identified by the Soft Key Label that is displayed above the key.

By convention, this manual will refer to a Soft Key/function combination by the Soft Key Label.

In order to activate the displayed function, press the appropriate Soft Key that is located directly below the Soft Key Label. For example, in order to change the blade focus, press the Soft Key that is located below the "Blade: Left" Soft Key Label.

The text on a Soft Key Label can show one of the following details:

• When the Soft Key is pressed one time, a description of the soft key function will be shown. For example, "Zoom Machine" enlarges the view in order to show the machine.

• The option or the setting that has been selected

Some Soft Key Labels appear in more than one screen, in which case the function of the Soft Key that the Soft Key Label identifies is always the same.

As a function (Soft Key) relates to particular screens or dialogs, that functionality is only available when the appropriate screen or dialog is displayed. For example the New Level function is only available when the Design Selection screen is displayed, as that function relates only to that screen.

If a Soft Key has no function in a screen or a dialog, the Soft Key Label is blank.

The text changes when you press the Soft Key in order to select options. The top line of this Soft Key ends with a colon ":" and the bottom line shows the current option or setting. For example, the Soft Keys "Blade: Left" and "Blade: Right" show the side of the blade that has focus. The current focus (Left or Right) shows on the bottom line of the Soft Key.

Arrow keys

Use the arrow keys (8) to perform the following actions:

• Move within menus and lists.

• Enter text or numbers into the data fields in the dialogs.

• Pan the "Plan View".

• Pan the "Cross Section View".

• Pan the "Profile View".

Navigating within menus and lists

In order to choose an item from a menu or a list, complete the following steps:

1. Press the up arrow or the down arrow in order to highlight the desired option.

2. Press the "OK" key (10) .

Entering data

In text and number fields in any of the dialogs, complete the following actions:

• Press the up arrow or the down arrow in order to scroll through the available characters.

• Press the left arrow in order to delete the last character.

• Press the right arrow in order to add additional characters.

Panning around the screen

Press the arrow keys in order to control the position of the "Plan View" screen, "Cross Section View" screen, or the "Profile View" screen:

• Press the right arrow in order to move the view to the right.

• Press the left arrow in order to move the view to the left.

• Press the up arrow in order to move the view up.

• Press the down arrow in order to move the view down.

Working With Display Information

Before you can begin work you must enter the configuration and setup information into the system, and view the current system state. You do this by working with screens called menus and dialogs. Menus allow you to select a dialog. Dialogs permit you to perform the following tasks:

• Specify Information

• Setup Information

• Configure Information

Additionally, dialogs allow you to view information about the state of the system components.

Illustration 3	g01213807
AccuGrade Display (1) LCD Screen (2) Soft Key Labels (3) Soft Keys (4) Escape Key (5) Next Key (6) Power Key (7) "+" Key (8) Arrow Keys (9) "-" Key (10) "OK" Key (11) Menu Key (12) Slot for Data Card

When you are working with the Display, you will be using a mix of keys, soft keys, menus, dialogs and guidance screens. The availability of many of these items is determined by the following factors:

• The sensors installed on the machine. Some configuration screens, for example, are only available when particular sensors are installed.

• The guidance configuration of the system. Your selection of guidance method will affect the guidance information available on the display and the guidance configuration options you get.

• The operator configuration of the system.

Note: The selection of menus and screens that are set up by your site manager will affect the items that you can view and modify.

Working with Dialogs

The following screens are called dialogs:

• "Setup Menu-Configuration"

• "Select Design File"

• "Guide to Horizontal Alignment"

• "Horizontal Offset"

• "Elevation Offset"

• "Vertical Guidance Set"

• "Vertical Offset"

• "GPS" option screens

Use the dialogs in order to enter data. Use the dialogs in order for the AccuGrade System to be set up according to your requirements. The selected field in a dialog is identified by the blue background color.

Press the arrow keys on the Display in order to enter data:

• Upper case letters

• numbers "0" through "9"

• the decimal point "."

• the negative sign "–"

• the positive sign "+"

• a space

• back to "A"

Note: Available values will depend on the type of field that is selected. For example, the only values that are available for number fields are 0 through 9, the decimal point ".", "–", and "+".

The down arrow is used in order to step through the same set of characters, but in reverse.

When you change a character in a field, the up arrow and the down arrow start stepping from the existing character.

The right arrow steps to the next character to the right. In fields that allow spaces, press the right arrow twice in order to insert a space.

The left arrow is used in order to move back one character to the left. This deletes the character in the space to the left.

Dialogs may contain any of the following items:

Text fields - Use the text fields in order to enter your own information. For example, when you set up the name of your level surface design or sloping surface design, use the arrow keys in order to enter this data.

Number fields - Use the number fields in order to enter required values. For example, when you set up the vertical and horizontal offset, use the arrow keys in order to enter values into these fields.

List boxes - Lists of options or possible selections Use the arrow keys in order to select the listed item.

Warnings

An error such as the loss of GPS data will cause inaccurate guidance. When an error occurs, a warning message flashes on the screen. Guidance via the light bars is not provided under these conditions. For more information, refer to Systems Operation/Troubleshooting/Testing and Adjusting, RENR8088, "Flashing Messages". Illustration 4 is an example of a warning message.

The "NO GPS Receiver Data" warning appears when the receiver has stopped outputting data for at least 1.5 seconds.

Illustration 4	g01239348

Hourglass

When the system performs an operation that takes more than a few seconds, an hourglass appears.

• The hourglass appears in the "Plan View", the "Cross Section View", or the "Profile View", while the software updates the display after a pan or zoom.

• The hourglass will appear in the "Select Design File" dialog while a design is being loaded from the data card.

The following dialog shows the hourglass while the AccuGrade System loads a design file:

Illustration 5	g01239371

Data Card And Data Storage

Show/hide table

NOTICE
When the data card is in use, a small orange LED indicator beside the slot is illuminated. Wait until this light goes out before you remove the data card, otherwise the data card may be corrupted.

Construction Designs are developed in the office with AccuGrade Office Software. The Construction Designs are saved onto a data card in order to be read by the AccuGrade System. The software interprets the designs. The software uses the light bars in order to guide your position while you are working.

A data card is a microchip that can store large amounts of data without the need for a permanent power supply.

Data cards are used in order to transfer designs between the office, where the designs are created, and the field, where the designs are used in order to generate guidance information.

You can use AccuGrade Office Software in order to view and retrieve the files on a data card.

Data cards also store the following configuration files:

• Machine configuration

• Display settings

When the data card is active, a small amber LED indicator beside the slot is illuminated. Do not remove the data card until this light is off. The data card may be corrupted.

In order to insert a data card, complete the following steps:

Show/hide table



Illustration 6	g01239714
(12) Slot for Data Card

1. Open the access door in order to access the slot for the data card. The slot is below the keypad on the Display. Refer to Item (12) in Illustration 6.

2. Insert a data card.

Show/hide table



Illustration 7	g01239719
(15) Data Card (16) Adapter for Data Card

Show/hide table



Illustration 8	g01239759
(15) Data Card

3. Close the access door.

   You can use the AccuGrade Office Software in order to view files that are on a data card. You can use AccuGrade Office Software in order to retrieve the files that are on a data card.

Machine Configuration Files

Information about specific machines can be saved to a data card. This information is held in a machine settings file, and is used in order to configure the AccuGrade System for a specific machine, if the Display is being shared with several machines.

The machine settings file includes information about the following settings:

• the machine type

• the machine dimensions

• the sensors installed on the machine

Ensure that you restore the correct machine settings file for your machine.

Note: When you restore Display or machine settings, the GPS Receiver configuration settings and brightness settings of the Display are not changed.

Display Settings Files

Information about the guidance methods and configuration dialogs that can be accessed by the operators can be saved to a data card by your site manager. This information is held in a Display settings file, and is used to configure the Display for a specific operator if the machine is being used by several operators.

The Display settings file includes information about the following settings:

• the text items that are displayed in the guidance screens

• configuration tasks that can be performed

• guidance settings that can be changed

Light Bars

The light bars are mounted on the inside of the cab.

The AccuGrade System uses three light bars. Each of the light bars show different information for your blade position:

• Two vertically-mounted light bars give cut/fill guidance to the blade tip on each side.

• A horizontally-mounted light bar gives horizontal guidance. Horizontal guidance is given to the blade tip that has focus. Guidance is relative to the currently selected alignment or a defined horizontal offset.

There are seven sets of LEDs on each light bar. Refer to Illustration 9.

Illustration 9	g01239373

Table 1

Light Bar Connector
PIN	SIGNAL
A	POWER
B	GROUND
C	RS232 RX
D	RS232 TX

Switches

Illustration 10	g01116987

Illustration 11	g01239726
(20) Left "Auto/Manual" Switch (21) Left Remote Elevation Offset Switch (22) Right Remote Elevation Offset Switch (23) Right "Auto/Manual" Switch

The remote switch assemblies are a set of switches that plug into the harness so that the system controls can be placed in a more convenient location. The switches are configured to perform the following system operations:

• Switch between Auto and Manual control

• Set an elevation offset

• Set a Cross Slope offset

Auto/Manual Switches

Illustration 12	g01289603
Right Hand Auto/Manual Switch and Left Hand Auto/Manual Switch

Illustration 13	g01184759
Auto/Manual Switch Schematic

The Auto/Manual Switches for the AccuGrade System are single pole single throw switches. This is a momentary switch that allows the operator to request Automatic Control or Manual Control. The switch has a normally open input and a normally closed input to the Grade Slope Control ECM. Refer to Table 2 for normal switch operation.

Table 2

Contact A (N/C)	Contact C (N/O)	Switch State
Closed	Closed	Invalid State, Short to Ground
Closed	Open	Switch Not Pressed
Open	Closed	Switch Pressed
Open	Open	Invalid State, Short to Battery

Note: The Auto/Manual Switches are sensor side dependent. An example of this would be if you set the Cross Slope control for the right side, the Right "Auto/Manual" Switch controls Cross Slope on the right side. If you set the Cross Slope control for the left side, the Left "Auto/Manual" Switch controls the Cross Slope on the left side.

Using The Auto/Manual Switch

Press the Auto/Manual switch in order to change the current state of automatic/manual blade movement.

For example, if the system is currently not automatically driving to grade, press the "Auto/Manual" switch to provide automatic blade movement. The "Auto/Manual" indicator on the display will change from "Manual" to "Auto". The Auto indicator is green when the system is functioning correctly.

Alternatively, if the blade is automatically driving to grade, press the "Auto/Manual" switch in order to stop the system from providing automatic blade movement. The "Auto/Manual" indicator on the display will change from "Manual" to "Auto". The Auto indicator is green when the system is functioning correctly.

Note: The Auto/Manual Switches are sensor side dependent. An example of this would be if you set the Cross Slope control for the right side, the Right "Auto/Manual" Switch controls Cross Slope on the right side. If you set the Cross Slope control for the left side, the Left "Auto/Manual" Switch controls the Cross Slope on the left side.

Elevation Offset Switches

Illustration 14	g01289612
Right Elevation Offset Switch and Left Hand Elevation Offset Switch

Illustration 15	g01202877
Elevation Offset Switch Schematic

The Elevation Offset Switch is a rocker switch. The switch is a single pole double throw that has three positions. The momentary rocker switch allows the operator to request an increase or decrease in the Elevation or Cross Slope offset. The three switch outputs are inputs to the Grade Slope Control ECM. Refer to Table 3 for normal operation of the switch.

Table 3

Increment Contact 3	Neutral Contact 4	Decrement Contact 1	Switch State (1)
0	1	0	No Button Pressed (Neutral)
1	0	0	Increment Button Pressed (Increment)
0	0	1	Decrement Button Pressed (Decrement)
0	0	0	Invalid State, STB
1	1	1	Invalid State, STG
Any other combination			Invalid State, Data Erratic

( 1 )

All measurements are to the ground (Contact 2). 0 equals an open. 1 equals a short.

Note: Offset switches are sensor side dependent. An example of this would be if you set the Cross Slope control for the right side, the right side offset switch controls Cross Slope. If you set the Cross Slope control for the left side, the left side offset switch controls Cross Slope.

Using The Elevation Offset Switches To Adjust Elevation

Toggle the Remote Elevation Offset Switch on the remote switch assembly to increase or decrease the elevation offset applied to the reference elevation.

The reference elevation that is shown on the Display changes when the remote elevation offset switch is toggled.

To configure the amount by which the remote elevation offset switch increments or decrements the reference elevation, use the Elevation Offset screen in Setup mode.

Using The Elevation Offset Switches To Adjust Slope

Toggle the Remote Elevation Offset Switch on the remote switch assembly to increase or decrease the slope offset applied to the reference slope percentage.

The reference slope percentage shown on the Display changes when the remote slope offset switch is toggled.

To configure the amount by which the remote slope offset switch increments or decrements the reference slope, use the Slope Offset screen in Setup mode.

Note: Offset switches are sensor side dependent. An example of this would be if you set the Cross Slope control for the right side, the right side offset switch controls Cross Slope. If you set the Cross Slope control for the left side, the left side offset switch controls Cross Slope.

Switch To ECM Schematic

Illustration 16	g01276079

Sonic Tracer

Illustration 17	g01239734

The AccuGrade System can be configured to use one or two Sonic Tracers. This sensor emits ultrasonic sound waves to track its position relative to an external reference such as a string line, curb, or previous pass. The amber arrows indicate that the blade is above or below grade. The green line indicates the blade is on grade.

Table 4

Features and Functions of the Sonic Tracer
Callout	Feature	Function
(25)	Above Grade LEDs	Arrow indicates that the cutting edge of the machine is above grade.
(26)	On Grade LEDs	Green line indicates that the cutting edge of the machine is on grade.
(27)	Below Grade LEDs	Arrow indicates that the cutting edge of the machine is below grade.
(28)	Sonic Transducer	Emits ultrasonic sound wave used to deterime the position of the cutting edge of the machine.

Contact Description Of The Sonic Tracer

Illustration 18	g01225886
Connector (Sonic Tracer)

Table 5

Contact Description Of Sonic Tracer
A	Switched Power
B	Switched Power Return
C	CAN 0 High
D	CAN 0 Low
E	Switched Power Return
F	Switched Power Return

Location Sensors

Location sensors are able to determine their position in 3 dimensional space. The following location sensors are used by the AccuGrade System.

• Global Positioning System (GPS) Receiver

• Advanced Tracking Sensor (ATS)

GPS Receiver

Illustration 19	g01239735
(30) GPS Receiver (31) Mast (32) Thumb Wheel On Quick Release Bracket

GPS Receivers are able to calculate their location using information broadcast from satellites that are orbiting the earth. GPS Receivers must be configured into the system before the information they provide can be used for guidance.

Location sensors are able to determine position in 3 dimensional space. In order to position the machine blade, the AccuGrade System uses one or two GPS Receivers. The GPS Receivers are able to calculate the location of the machine blade with information broadcast from satellites that are orbiting the earth. The GPS Receivers must be configured into the system before the information the receivers provide can be used for machine guidance. A GPS Receiver is mounted on a mast at each end of the machine's blade.

Refer to "Contact Description Of The GPS Sensor"for the pinout information for the connector (14) on the GPS Receiver.

Illustration 20	g01284886
(14) Connector On The GPS Receiver

Contact Description Of The GPS Receiver

Illustration 21	g01225523

Table 6

Contact Description Of GPS Receiver
A	SPARE
B	GND
C	CAN 2 L
D	CAN 2 S
E	SPARE
F	RS232-TX1
G	PWR
H	SPARE
I	RS232-RX1
J	CAN 1 S
K	CAN 1 L
L	ID PIN
M	CAN 2 H
N	CAN 1 H
O	RX232-RX2
P	RX232-TX2

Status LEDs

The GPS Receivers have three LEDs next to the harness connector. The behavior of these LEDs indicate the status of the receiver. These LEDs are shown in Illustration 22.

Table 7

Status LED Activity On The GPS Receiver
LED	Off	Slow Flash	Fast Flash	On Solid
Power	No Power			Power on
Data Link	No CMRs received or too few satellites	Left receiver receiving CMRs		Right receiver receiving CMRs
Satellite	No satellites being tracked	Tracking 4 Satellites or more	Tracking 3 satellites or less	Monitor Code (1)

( 1 )

In addition to the satellite LED, the power LED will also be on solid, and the data link LED will be flashing.

Illustration 22	g01219454
(17) Power (18) Data Link (19) Satellite

Advanced Tracking Sensor (ATS)

Illustration 23	g01181307
ATS Target

The ATS System uses a robotic theodolite in order to track an ATS Target that is attached to the blade of the machine. The ATS System reports the location of the ATS Target over a wireless link. An ATS must be configured into the system before the information it provides can be used for guidance. Refer to the Systems Operation/Testing And Adjusting, "Connector Contact Description" for information about the connectors on the ATS.

A single ATS System, used with cross slope sensors, is able to provide high precision 3D guidance to both cutting edge tips. An ATS based system is able to provide higher accuracy positioning than GPS, and can continue to work in circumstances that would degrade GPS performance.

How ATS Works

There are three main parts to an ATS System. These are as follows:

• ATS Target

• ATS Robotic Station

• A Data Radio Link

The ATS Target

Illustration 24	g01181307
ATS Target

Illustration 25	g01239922
(35) Connector on the ATS Target

The ATS Target is mounted on the part of the machine for which you need position information. Typically, this will be a point at one end of the blade. The ATS Target has two sections:

An LED unit - which acts as the target for the ATS Robotic Station

A prism unit - which acts as a target for the electronic distance measuring (EDM) system

ATS Robotic Station

Illustration 26	g01239887

The ATS Robotic Station is capable of making high precision measurements of the azimuth, altitude and distance of the ATS Target. Specially designed servomotors work with the tracking software to allow the ATS Robotic Station to track the ATS Target moving at typical machine speeds. If the ATS Target is lost, then the ATS Robotic Station will try to predict how the ATS Target is moving, so that it can attempt to reacquire the ATS Target.

A Data Radio Link

The data radio link consists of two data radios, one at the ATS Robotic Station, and one on the machine. The link carries the position of the ATS Target, as measured by the ATS Robotic Station, back to the AccuGrade System on the machine. The system combines the position of the ATS Target, relative to the ATS Robotic Station, with the known position of the ATS Robotic Station, to generate 3D target positions.

The link also lets the AccuGrade System send commands back to the ATS Robotic Station.

In order to track the ATS Target reliably over a wide range of machine operating speeds, the ATS Robotic Station should be no closer than 15.0 m (49.0 ft) to the machine, nor farther than 300.0 m (984.0 ft) from the machine.

The ATS Robotic Station must be mounted so that it is free from vibration due to wind or vehicle movements, and with a clear line of sight to the ATS Target over the full work area.

The ATS Target is mounted so that the prism unit is vertically above the LED unit.

Contact Descriptions Of The ATS

Harness Connector

Illustration 27	g01234484
Connector (ATS)

Table 8

Contact Description Of The ATS
A	Switched Power
B	Not Used
C	Not Used
D	Not Used
E	Not Used
F	Switched Power Return

ATS Cable

Illustration 28	g01234475

Electric Mast

The AccuGrade System uses one Electric Mast. The Electric Mast is a telescopic receiver mount that is driven by an electric motor. The mast vertically raises and lowers the ATS Target in order to locate the laser beam from the ATS Robotic Station.

Illustration 29	g01043265
Electric Mast

Refer to Table 9 for the features and functions of the electric mast:

Table 9

Features and Functions of the Electric Mast
Callout	Feature	Function
20	Inner mast tube	Raises and lowers the ATS Target in order to locate the laser beam and to change an existing elevation setting
21	6-Pin socket receiver cable connector	Connects the coiled cable from the ATS Target to the electric mast
22	10-pin control cable connector	Connects the electric mast to the main harness

Contact Description Of The Electric Mast

Illustration 30	g01182809
Connector 1

Table 10

Contact Description Of Electric Mast
Connector 1
A	Switched Power
B	Switched Power Return
C	CAN 0 High
D	CAN 0 Low
E	Switched Power Return
F	Switched Power Return

Illustration 31	g01182808
Connector 2

Table 11

Contact Description Of Electric Mast
Connector 2
A	Switched Power
B	Switched Power Return
C	CAN 0 High
D	CAN 0 Low
E	Switched Power Return
F	Switched Power Return
G	Switched Power Return
H	Switched Power
I	NC
J	NC

Radio

Illustration 32	g01178442
Data Radio

A data radio is used to receive data from a GPS reference station or an ATS Robotic Station. Both the GPS position sensors and ATS position sensors require the data radio to be working correctly before they can be used in the system. The GPS data radio can also be used to send and receive files and other types of data from the office.

Illustration 33	g01219510

Illustration 33 shows the pinout information for the connector on the Angle Sensor.

Refer to Table 12 for compatibility of the radios.

Table 12

	GPS	ATS
TC900C	X	X
TC4500	X
TC2400	X	X

A third party radio may be used. However, the accuracy of the system may be affected. See customer supplied radio for more details.

Data Radio Status Indicator

The data radio bottom cap is fitted with a power and I/O connector (41) and an LED indicator (40). See Illustration 34.

Illustration 34	g01234466
(40) Data/Power LED Indicator (41) Power I/O connector

The LED indicator can be orange and/or green depending on the situation, as shown in Table 13.

Table 13

Radio Status LED Indicator Activity
Color of LED Indicator (40)	Status
Orange (solid)	Power is available.
Orange and Green (both solid)	With the TCxxxC configured as a radio.
Orange and green (both flashing at 1 Hz together)	Radio is in flashloader mode. To resolve this, turn the power off and on. If this mode returns when the radio is turned back on, use MCG Flash to configure the radio.

Mainfall Sensor

Illustration 35	g01078326

The Mainfall Sensor (41) measures the slope of the machine in relation to the front of the machine. The sensor is mounted on the left side of the machine beneath the cab.

Contact Description Of The Mainfall Sensor

Illustration 36 shows the pinout information for the 6-Pin Socket Receiver on the Mainfall Sensor.

Illustration 36	g01201576
6-Pin Socket Receiver Cable Connector

Blade Slope Sensor

Illustration 37	g01138230

The Blade Slope Sensor is mounted to the rear of the circle and measures the actual slope of the blade.

Contact Description Of The Blade Slope Sensor

Illustration 38 shows the pinout information for the 6-Pin Socket Receiver on the Blade Slope Sensor.

Illustration 38	g01201576
6-Pin Socket Receiver Cable Connector

Rotation Sensor

Illustration 39	g01138233

The Rotation Sensor measures the angle of the blade relative to the frame of the machine. When the blade is perpendicular to the frame, zero degree rotation is achieved. This angle measurement is measured to ensure proper cross slope of the blade even when the blade is rotated.

Contact Description Of The Rotation Sensor

Illustration 38 shows the pinout information for the 6-Pin Socket Receiver on the Rotation Sensor.

Illustration 40	g01201576
6-Pin Socket Receiver Cable Connector

Grade Slope Control ECM

Illustration 41	g01209286
(32) J1 Connector (33) J2 Connector

The Grade Slope Control ECM provides valve control for the Blade Lift valves.

The Grade Slope Control ECM reads the switches and provides switch status information to the Display and also provides the machine interlock status in order to ensure that the AccuGrade System is disabled when the machine is in park or stationary without an operator.

The Grade Slope Control ECM stores the calibration values and the machine information for the Display in order to allow the Display to be moved from one machine to another.

Refer to "Contact Description Of Grade Slope Control ECM" for additional information on each of the connection points for the connectors.

Contact Description Of Grade Slope Control ECM

Illustration 42	g00554751

Illustration 43	g01237967

Refer to Table 14 and Table 15 for additional information on each of the connection points for the connectors.

Table 14

Contact Description Of Implement/Valve Control ECM
J1 Connector (32)
J1 - 1	Keyswitch On
J1 - 10	Cat Data Link +
J1 - 13	-Batt
J1 - 20	Cat Data Link -
J1 - 23	-Batt
J1 - 26	Right Auto/Manual Switch (N.C.)
J1 - 27	Left Auto/Manual Switch (N.C.)
J1 - 31	+ Batt
J1 - 32	Right Inc/Dec Switch (Dec)
J1 - 33	Right Inc/Dec Switch (Inc)
J1 - 34	Left Inc/Dec Switch (Dec)
J1 - 35	Left Inc/Dec Switch (Inc)
J1 - 38	+ Batt
J1 - 39	+ Batt
J1 - 40	Right Auto/Manual Switch (N.O.)
J1 - 41	Left Auto/Manual Switch (N.O.)
J1 - 42	Right Inc/Dec Switch (Neutral)
J1 - 43	Left Inc/Dec Switch (Neutral)
J1 - 46	+ Batt
J1 - 47	+ Batt
J1 - 55	Blade Solenoid Return
J1 - 56	Switch to Ground Return
J1 - 57	-Batt
J1 - 65	Blade Left Raise Solenoid
J1 - 66	Blade RightRaise Solenoid
J1 - 67	Blade Left Lower Solenoid
J1 - 68	Blade Left Lower Solenoid
J1 - 70	-Batt

Table 15

Contact Description Of Implement/Valve Control ECM
J2 Connector (33)
J2 - 2	CTCT Status Indicator
J2 - 4	Indicator Return
J2 - 6	Implement Enable Relay
J2 - 8	Implement Enable Relay Return
J2 - 67	CAN 0 High
J2 - 68	CAN 0 Low

Power Supply Module

The Power Supply Module supplies power to the following components: the Display, the Electric Masts, the ATS Target, the Grade Slope Control ECM, the GPS Receivers and the Sonic Tracer. The Power Supply Module includes power conditioning and control circuits, as well as overcurrent and load dump protection.

Illustration 44	g01140237

Table 16 shows the features and the functions of the Power Supply Module.

Table 16

Features and Functions of the Power Supply Module
Callout	Feature	Function
29	8-socket power input connector	Connects the Power Supply Module to the machine power
30	8-pin main harness Connector	Connects the Power Supply Module to the main harness

Contact Description Of The Power Supply Module

Illustration 45	g01193396
Connector A

Table 17

Contact Description Of Power Supply Module
Connector A
A	+Battery 1
B	Ground
C	+Battery 2
D	Ground
E	Over-Current Fault
F	Unused
G	+Battery 3
H	Ground

Illustration 46	g01193393
Connector B

Table 18

Contact Description Of Power Supply Module
Connector B
A	Switched Power 1
B	Switched Power Return 1
C	Switched Power 2
D	Switched Power Return 2
E	Awake
F	Awake Return
G	Switched Power 3
H	Switched Power Return 3

Relays

MPT Relay

The MPT Relay is located on the Display Harness. The relay controls the awake pin on the PM400 module.

Power Module Enable Relay

The Power Module Enable Relay is located near the Grade/Slope ECM. The relay provides power to the display and Power Module.

Implement Enable Relay

The Implement Enable Relay is located near the Grade/Slope ECM. The relay opens the solenoid return wire in order to prevent unexpected blade movement.

Hydraulic Valves

Illustration 47	g01201584

Illustration 48	g01201585

The AccuGrade System uses 2 hydraulic valves to automatically control the blade.

Illustration 49	g01276229
Blade Lift (Right) (51) Head-end Counterbalance Valve (52) Rod-end Counterbalance Valve (53) Load Sense Check (54) Flow Compensator Valve (55) Load Sense Shuttle (56) EH Control Valve (57) Bank Valve

One hydraulic valve controls the lift and lower for the left cylinder. The other hydraulic valve controls the lift and lower for the right cylinder.

GPS Base Station

The AccuGrade System is an RTK rover configuration. The system requires a GPS Base Station somewhere near the project.

Note: GPS Base Stations are not supplied by Caterpillar.

A GPS Base Station consists of the following components.

• GPS Receiver

• GPS antenna

• Radio

• Cables

• Power supply

There may also be a tripod or mast for the GPS antenna and the radio, depending on the particular site. For construction sites where work can continue for a long time, use a semi-permanent location such as the roof of the site office. A reliable power supply is needed.

Make sure that the base GPS antenna is clear of obstructions, reflected GPS signals (multipath), and sources of electro-magnetic interference such as power lines.

The base station's data radio must be elevated several meters off the ground in order to provide optimum coverage.

The GPS base station requires a starting location. For best results set up the base GPS Receiver on a surveyed point. In order to establish this survey point, use a site calibration or a professional surveyor experienced with GPS equipment.

You must correctly set the GPS antenna type at your base station. If you do not, the GPS position is degraded.