Object Detection - Check/Adjust - Autonomy Perception
Note: A portable access system may be required.
Adjustment of the LIDAR Sensor
The following tools are required to adjust the Object Detection system:
- Digital Level (recommend Husky 9 inch Digital Level THD9403)
- Protractor or Angle Finder
- Metric Socket set
- Torque Wrench (55 ± 10 Nm)
- Check that nut (3) is tight on the mounting plate.
- Check that all bolts (1) and (15) are tight on the mounting plate.
- Place the digital level (13) on the front bumper (see illustration 2) longitudinally (front to back). Zero the level.
- Place the digital level on the base of LIDAR sensor (2) and orient digital level longitudinally (4).
- If the digital level reads greater than 0.25 degrees, then loosen the six bolts (1) and adjust.
- Use the pitch adjustment bolt (3) to adjust the pitch of the LIDAR sensor to 0 ± 0.25 degrees.
- Tighten the six cradle bolts (1) to standard torque (55 ± 10 Nm).
- Recheck the pitch angle to ensure that the mount has not moved while tightening. Repeat adjustment if necessary.
Show/hide table
Illustration 1 | g06203095 |
- Place the digital level (16) on the front bumper (see illustration 2) laterally (left to right). Zero the level.
- Place the digital level on the base of LIDAR sensor and orient the digital level laterally (5).
- If the digital level reads greater than 0.25 degrees, then loosen the four adjustment bolts (6).
- Adjust the mount to 0 ± 0.25 degrees.
- Tighten the bolts slightly (finger tight) and recheck the roll angle.
- Tighten the four bolts one half turn and recheck the roll.
- Tighten the bolts to the specified torque (55 ± 10 Nm) and recheck the roll.
- Recheck the pitch to ensure that the mount has not moved while tightening. Repeat adjusting if necessary
Show/hide table
Illustration 2 | g06203226 |
View of Object Detection Sensors (Radar) and front bumper |
Adjustment of the Object Detection Sensors (Radar)
Show/hide table
Illustration 3 | g03364217 |
Top view of Radar Yaw Angle |
- Key off the machine.
- Verify that the front edge of the radar mounting plate is parallel with the front edge of the front bumper. If mounting plate is not parallel, adjust the plate within 0.25 degrees of parallel to the front edge of the front bumper.
- If the radar boxes have clear protective faces installed, then protective faces will need to be removed before performing adjustments. Remove the ten cover bolts (12).
- Loosen the yaw adjustment bolts (11) on the left, right, and center radar boxes.
- Use a protractor (15) to set the left radar box to 16 ± 0.25 degrees.
- Tighten the yaw adjustment bolts.
- Repeat the process to adjust the right radar box to 16 ± 0.25 degrees.
- Repeat the process to adjust the center radar box to be parallel with the front edge of the mounting plate.
Show/hide table
Illustration 4 | g03797218 |
Side view of Radar Pitch Angles. |
- Place the digital level (13) on the front bumper (see illustration 2) longitudinally (front to back). Zero the level.
- Slightly loosen the four pitch adjustment bolts (8) for each radar sensor (7) inside the left radar box.
- Place the digital level (10) on the face of the radar sensor and adjust the radar 0 ± 0.15 degrees.
- Tighten the four pitch adjustment bolts slightly (finger tight) and recheck the pitch angle.
- Continue tightening and rechecking the angle until the bolts are tightened to the correct torque specification (55 ± 10 Nm)
- Repeat radar adjustment process for the center and right radar boxes.
- If the radar boxes were equipped with clear protective faces, reinstall the protective faces.
Caterpillar Information System:
986K Wheel Loader Fuel System Secondary Filters - Replace
New Muffler Group Is Now Used on Certain 24M Motor Graders {1062} New Muffler Group Is Now Used on Certain 24M Motor Graders {1062}
797F CMD Off-Highway Trucks Calibrations for Maintenance
An Improved Routing of the Auxiliary Drain Hose is Now Used on Certain 232D Skid Steer and 249D Compact Track Loaders {5057} An Improved Routing of the Auxiliary Drain Hose is Now Used on Certain 232D Skid Steer and 249D Compact Track Loaders {5057}
New Location for the Pilot Check Valve Group and the Union Is Now Used on Certain Knuckleboom Loaders {5057, 5067} New Location for the Pilot Check Valve Group and the Union Is Now Used on Certain Knuckleboom Loaders {5057, 5067}
986K Wheel Loader Fuel Tank Cap and Strainer - Clean
24M Motor Grader Power Train Torque Converter Stall - Test
24M Motor Grader Power Train Torque Converter Stall - Test
An Improved Stabilizer Control Valve Group Is Now Used on Certain Backhoe Loaders {5051} An Improved Stabilizer Control Valve Group Is Now Used on Certain Backhoe Loaders {5051}
427F2 Backhoe Loader Lubricant Viscosities - Fluids Recommendations
Service Replacements for the Water Separator Element in Certain Overhaul Kits Are Now Available on Certain 416D and 416E Backhoe Loaders {1000} Service Replacements for the Water Separator Element in Certain Overhaul Kits Are Now Available on Certain 416D and 416E Backhoe Loaders {1000}
Service Replacements for the Gasket Kit in Certain Overhaul Kits Are Now Available on Certain 416D Backhoe Loaders {1000} Service Replacements for the Gasket Kit in Certain Overhaul Kits Are Now Available on Certain 416D Backhoe Loaders {1000}
797F CMD Off-Highway Trucks Object Detection Sensor (Radar) - Check/Clean - Autonomy Perception
797F CMD Off-Highway Trucks Sensor (LIDAR) and Camera - Check/Clean
793F CMD Off-Highway Trucks Perception System - Calibrate
730,735 and 730 EJECTOR Articulated Truck Systems Window Wiper - Rear
745 and 740 GC & 740 EJECTOR Articulated Truck Systems Walkway
745 and 740 GC & 740 EJECTOR Articulated Truck Systems Walkway - Auto-Lube
Certain Off-Highway Truck Engines May Experience Overcooling {1000, 1350, 7490, 7610, 7620} Certain Off-Highway Truck Engines May Experience Overcooling {1000, 1350, 7490, 7610, 7620}
745 and 740 GC & 740 EJECTOR Articulated Truck Systems Flood Lamp - (24 Volt), (Suspended)
745 and 740 GC & 740 EJECTOR Articulated Truck Systems Solenoid Valve - Park Brake Control, Brake Charge Control
730,735 and 730 EJECTOR Articulated Truck Systems Solenoid Valve
745 and 740 GC & 740 EJECTOR Articulated Truck Systems Solenoid Valve
The Accumulator Discharging and Charging Procedures are Updated {5077} The Accumulator Discharging and Charging Procedures are Updated {5077}