Implement Joystick and Remote Switches (User Input)
The Implement Joystick allows the user to override the automatic control at any time and lift the blade off the design plan as well as manipulate the blade tilt and blade angle (if equipped). The remote switches can be used to toggle the Auto/Manual state of the grade control system. Also the switches increment or decrement the offset from the design plane.
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| Illustration 1 | g06055884 |
The left push button on the joystick is the Manual Select Switch. Pushing the Manual Select Switch (Auto/Manual button) will toggle the state of the Cat® Grade Control system. The Auto/Manual switch uses pins 6 and 7 on the 12-pin connector to the joystick handle.
| Function | Wire/Color | Pin Number |
|---|---|---|
| Normally Open Circuit | J943/Green | Pin 6 |
| Normally Closed Circuit | J944/Blue | Pin 7 |
The right push button on the joystick is the Mode Select Switch and only performs a Cat Grade Control function if the Joystick trigger is also pressed. The Mode Select Switch uses pins 8 and 9 on the 12-pin connector to the joystick handle.
| Function | Wire/Color | Pin Number |
|---|---|---|
| Normally Open Circuit | J945/White | Pin 8 |
| Normally Closed Circuit | J946/Orange | Pin 9 |
The trigger button on the joystick is the Blade Control Handle Trigger Switch and enables secondary Cat Grade Control function in the left and right buttons when the trigger is pressed. The Blade Control Handle Trigger Switch uses pins 11 and 12 on the 12-pin connector to the joystick handle.
| Function | Wire/Color | Pin Number |
|---|---|---|
| Normally Open Circuit | J991/Orange | Pin 10 |
| Normally Closed Circuit | J996/Brown | Pin 11 |
The status of the Auto/Manual State can be seen on the CB460 Cat Grade Control display but it can also depend other machine conditions like Parking Brake status and having the blade tips touching the design. The status of the Manual Select Switch can be viewed in Cat® Electronic Technician (Cat ET) service tool under the Implement Status Parameters. If the connectivity of the switch is suspected, check that the status indicating whether the switch is communicating with the Implement ECM and indicating whether the switch is depressed or released. The status of the Mode Select Switch and the Blade Control Handle Trigger Switch may also be viewed in Cat ET. More details regarding the Blade Control Handle Trigger Switch CID:2114, the Mode Select Switch CID:874, and the Manual Select Switch CID:875 in the Connectivity Troubleshooting section.
The CB460 Cat Grade Control Display (User Input and Interface)
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| Illustration 2 | g06055889 |
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Machine Message Display and the CB460 Cat Grade Control Display | |
The CB460 Cat Grade Control Display ( 349-4610 Display Module) is a part of the Cat Grade Control system and is the primary interface by which the system communicates to the operator. The CB460 Cat Grade Control Display may be used to configure system settings, to view and manipulate a design plan, to service the grade control components, and to monitor the Global Navigational Satellite System (GNSS) information.
For more information on operating the CB460 Cat Grade Control Display refer to Operation and Maintenance Manual , SEBU8851 , "Cat® Grade Control 3D for the D6T Track Type Tractor".
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| Illustration 3 | g06040438 |
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CB460 Cat Grade Control Display Connector Pinout | |
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| Illustration 4 | g06040440 |
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CB460 Cat Grade Control Display Connector | |
As an integral component of the Cat Grade Control system, the CB460 Cat Grade Control display is connected directly to a large portion of the Cat Grade Control components. The CB460 Cat Grade Control Display manages the GNSS Receivers communication on two different CAN buses, one CAN bus between the two GNSS Receivers and the CB460 Cat Grade Control Display and one CAN bus solely between the two GNSS Receivers. The CB460 Cat Grade Control display is also the sole device on the system used to manage the installed GNSS correction device whether it is an SNM940 Cellular Radio, SNRxxx Radio, or third party radio.
The CB460 Cat Grade Control display supports various connection types to accomplish the guidance and indication tasks. The CB460 Cat Grade Control display supports 2 CAN buses, Ethernet, and 3 serial connections in addition to some different power management configurations.
| Function | Wire Number | Pin Number (Connector) | Pin Number (Display) |
|---|---|---|---|
| Unswitched Power (24V DC) | 121/Red | Pin 1 | Pin D |
| Ground | T744/White or 200/Black | Pin 2 | Pin F |
| Keyswitch Power (24V DC) | 116 /Brown | Pin 3 | Pin X |
| CAN B Low (Impl) (CB460 CAN0) | L855/Green | Pin 21 | Pin J |
| CAN B High (Impl) (CB460 CAN0) | L854/Yellow | Pin 20 | Pin K |
| CAN D High (GNSS) (CB460 CAN1) | L856/Yellow | Pin 22 | Pin L |
| CAN D Low (GNSS) (CB460 CAN1) | L857/Green | Pin 23 | Pin M |
| Serial (RS232) COM2 TXD – Radio | N961/Orange | Pin 24 | Pin N |
| Serial (RS232) COM2 RXD – Radio | N958/Pink | Pin 25 | Pin P |
| Serial (RS232) COM1 RXD – Lightbars | E753/ White | Pin 26 | Pin T |
| Serial (RS232) COM1 TXD – Lightbars | E752/ Yellow | Pin 27 | Pin U |
| Ethernet 10/100 Rx+ | U804/Brown | Pin 19 | Pin a |
| Ethernet 10/100 Rx- | U805/Blue | Pin 30 | Pin b |
| Ethernet 10/100 Tx+ | U802/White | Pin 18 | Pin c |
| Ethernet 10/100 Tx- | U803/Green | Pin 31 | Pin d |
| Serial (RS232) COM0 RXD – Radio | N957/Pink | Pin 15 | Pin h |
| Serial (RS232) COM0 TXD – Radio | N960/Orange | Pin 14 | Pin I |
| Awake Ground | T744/White | Pin 4 | Pin n |
| Awake Output | L870/Yellow | Pin 11 | Pin p |
| Ground | T744/White or 200/Black | Pin 2 | Pin q |
The Cat Grade Control system communicates with the GS420 Chassis IMU, the Left GNSS Receiver, the Right GNSS Receiver, and the Implement Electronic Control Module (ECM) over the machine CAN B (CB460 CAN0) bus. The Cat Grade Control system communicates through the CB460 monitor display with a data radio that provides GNSS CMR corrections that enable an RTK GNSS fixed position for each receiver. The CB460 display can be configured to connect to the data radio via Serial (RS232) transmit and receive lines or via the CAN B (CB460 CAN0) bus depending on the radio type. The display will support external light bars indicating cut and fill values. External light bars are not standard on Cat Grade Control machines.
Global Navigation Satellite System
Global Navigational Satellite System (GNSS) Receivers
The Cat Grade Control system utilizes two GNSS Receivers mounted in the headliner of the cab to determine the precise machine position for guidance purposes. The GNSS receivers must be connected to antennas on the top of the cab where a clear view of satellites in the sky can be obtained. Separating the GNSS receiver and the GNSS antenna allows better protection of the more valuable GNSS receiver component from theft and external damage.
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| Illustration 5 | g06055892 |
The MS952 GNSS Receiver ( 391-2010 Satellite Receiver Gp) mounted towards the front of the cab headliner is the Right MS952 GNSS Receiver while the GNSS Receiver mounted towards the rear left corner of the headliner is the Left MS952 GNSS Receiver. The system can identify different MS952 GNSS receivers by the function instance pins 11 and 12. The Cat Grade Control system identifies the MS952 GNSS receiver with no ground on Pin 11 or Pin 12 as the Left MS952 GNSS Receiver while the system identifies the MS952 GNSS receiver with Pin 11 grounded as the Right MS952 GNSS Receiver.
| Function | Wire/Color | Pin |
|---|---|---|
| Power (24V DC) | 116/Brown | Pin 1 |
| Ground | T744/White or
200/Black |
Pin 2 |
| CAN B (CB460 CAN0) High | L854/Yellow | Pin 4 |
| CAN E (CB460 CAN1) High | Y959/ Yellow | Pin 6 |
| CAN E (CB460 CAN1) Low | Y960/Green | Pin 7 |
| CAN B (CB460 CAN0) Low | L855/Green | Pin 9 |
| Ground (Front GNSS Receiver Only) | 200/ Black | Pin 11 |
The CAN E (CB460 CAN1) bus is not connected to the CAN D (CB460 CAN1) bus but the purpose is the same. These dedicated CAN buses are intended to share data between the two GNSS receivers whether MS992 GNSS Receivers are mounted on the blade or the system is utilizing the MS952 GNSS Receivers mounted in the headliner of the cab.
Global Navigational Satellite System (GNSS) Antennas
The GNSS Antennas ( 386-7311 Antenna) are mounted on top of the cab of the machine and inset slightly into the structure to give them a low profile while maintaining a clear view of the satellite constellations. The GNSS antennas must be connected to the GNSS receivers mounted in the headliner of the cab. Separating the GNSS receiver and the GNSS antenna allows better protection of the more valuable GNSS receiver component from theft and external damage. Each antenna is connected to the corresponding GNSS receiver by a cable.
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| Illustration 6 | g06055894 |
The cable ( 460-0168 Cable As) that connects the GNSS antenna to the GNSS receiver must be connected securely to the GNSS receiver. The GNSS receiver unit, not the GNSS antenna, identifies the intended antenna mounting location. The Left GNSS Antenna should be connected to the Left MS952 GNSS Receiver mounted towards the left rear of the headliner in the cab. The Right GNSS Antenna should be connected to the Right MS952 GNSS Receiver mounted towards the front center of the headliner in the cab.
GS420 Chassis Inertial Measuring Unit (IMU)
The Cat Grade Control system utilizes the GS420 ( 433-6936 Inertial Sensor) Chassis Inertial Measuring Unit (IMU) to determine the pitch and the roll of the machine chassis to translate the known GNSS Antenna locations out to the blade tips. The GS420 Chassis IMU does more than measure simple pitch and roll angles as it is a 6 degree of freedom (DOF) sensor that will measure the angular and rotational rate. This allows more accurate measurement of the machine position in rapidly changing machine positions.
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| Illustration 7 | g06040447 |
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GS420 Chassis IMU with 6 DOF | |
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| Illustration 8 | g06055896 |
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Access GS420 Chassis IMU from the rear of the machine | |
The GS420 Chassis IMU mounting location on top of the transmission underneath the cab floor can be reached usually from the rear of the machine. The connector can be unscrewed to check the pinout.
| Function | Wire/Color | Pin Connector |
|---|---|---|
| Power (24V DC) | 116/Brown or 709/Orange | Pin A |
| Select A (Grounded Function Instance) | T744 White or J764/Brown | Pin B |
| CAN B (CB460 CAN0) High | L854/Yellow | Pin C |
| CAN B (CB460 CAN0) Low | L855/Green | Pin D |
| Select B (Grounded Function Instance) | T744 White or J764/Brown | Pin E |
| Ground | T744 White or J764/Brown | Pin F |
The GS420 Chassis IMU communicates with the system over J1939 CAN and will provide frequent updates regarding the pitch and roll of the chassis. The system expects the sensor to identify itself as the Chassis-mounted GS420 IMU based on providing ground signals to Select A and Select B function instance pins on the device. The Cat Grade Control system expects the GS420 Chassis IMU to be mounted in the factory orientation where the connector is directed towards the left side of the machine.
The Position Sensing Cylinders used by the Cat Grade Control system on tractors regardless of the blade configuration provide the system information on the length of the cylinder at any point throughout the entire cylinder range of motion. The Cat Grade Control system requires the cylinder lengths to determine accurately the position of the blade in relation to the chassis.
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| Illustration 9 | g06055897 |
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Position Sensing Cylinder Sensor Cable attaches near the top of the cylinder on S/SU machines. | |
The number of Position Sensing Cylinders are different depending on the machine models. Straight(S) and Semi-Universal(SU) blade configured machine models use two Position Sensing Cylinders for the two lift cylinders. The sensors inside the cylinders are connected to the Implement ECM. Variable Pitch Power Angle Tilt (VPAT) blade configured machine models use three Position Sensing Cylinder. One cylinder with a sensor for the Left Lift Cylinder, one cylinder with a sensor for the Right Angle Cylinder, and one cylinder with a sensor for the Tilt Cylinder. The Right Lift Cylinder does not require independent sensing because the C-Frame maintains both lift cylinders at the same extension. The Left Angle Cylinder does not require sensing because the cylinder mirrors the Right Angle Cylinder.
The cables for the Position Sensing Cylinders for S/SU machine models attach to the cylinder sensor connector at the top of the cylinder. The cables are routed down the cylinder to the cylinder trunnion mounts. At that point, the cables are then routed under the hood and back to the Implement ECM.
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| Illustration 10 | g06055899 |
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Position Sensing Cylinder Cables connection in the Stable Blade Box on VPAT machines | |
The cables for the Position Sensing Cylinders for VPAT machine models are routed differently. The Left Lift Cylinder cable attaches to the cylinder sensor connector at the top of the cylinder. The cable is routed down the cylinder to the cylinder trunnion mounts at which point it is routed under the hood and back to the Implement ECM similar to the S/SU machine models. The sensors inside the Right Angle Cylinder and the Tilt Cylinder connect to cables at the base of each cylinder but the cable is routed to the Stable Blade Box mounted on the C-Frame where the sensor cables are connected to the machine harness and routed back to the Implement ECM.
| Function | Wire/Color | Sensor Connector Pin | Implement ECM Pin |
| Power (10V DC) | 709/Orange | Pin 1 | Connector 1 – Pin 69 |
| Ground (10V Return) | J764/Brown | Pin 2 | Connector 1 – Pin 56 |
| Signal | J950/Purple | Pin 3 | Connector 2 – Pin 49 |
| Function | Wire/Color | Sensor Connector Pin | Implement ECM Pin |
| Power (10V DC) | 709/Orange | Pin 1 | Connector 1 – Pin 69 |
| Ground (10V Return) | J764/Brown | Pin 2 | Connector 1 – Pin 56 |
| Signal | J949/Brown | Pin 3 | Connector 2 – Pin 48 |
| Function | Wire/Color | Sensor Connector Pin | Implement ECM Pin |
|---|---|---|---|
| Power (10V DC) | 709/Orange | Pin 1 | Connector 1 – Pin 69 |
| Ground (10V Return) | J764/Brown | Pin 2 | Connector 1 – Pin 56 |
| Signal | L925/Purple | Pin 3 | Connector 2 – Pin 51 |
The sensor inside each Position Sensing Cylinder is powered by a 10V DC power source supplied by the Implement ECM. Each sensor directs a pulse width modulated signal back to the Implement ECM that can be correlated to the length of the cylinder. The duty cycle of the signal will vary as the cylinder extents and retracts.
The Blade Valve Solenoids modulate the amount of hydraulic fluid flow to the controlled blade cylinder. For normal blade operation, an operator provides an Implement Joystick command that the Implement ECM receives and maps to the proper current to be sent to the corresponding Blade Valve Solenoid. Similarly for automatic blade operation by the Cat Grade Control system, when blade movement is determined to be necessary by the system, the Implement ECM will send the proper current to the corresponding Blade Valve Solenoid based on the calibrated map for the Cat Grade Control system.
| Hydraulic Solenoid Function | Wire/Color | Implement ECM Pin |
|---|---|---|
| Blade Raise | H713/Pink | Connector 1 – Pin 48 |
| Blade Lower | H714/Orange | Connector 1 – Pin 49 |
| Blade Tilt Right | M928/Blue | Connector 1 – Pin 52 |
| Blade Tilt Left | M929/White | Connector 1 – Pin 51 |
| Blade Angle Right (VPAT Only) | K789/Yellow | Connector 1 – Pin 62 |
| Blade Angle Left (VPAT Only) | K788/Gray | Connector 1 – Pin 61 |
The individual solenoids are controlled by the current commands from the Implement ECM. There is a minimum amount of current necessary to crack the solenoid open and allow hydraulic flow and as the current increases the solenoid will open wider to allow more hydraulic fluid flow.
The Implement ECM is an A5:M4 ECM ( 365-6773 Electronic Control Module) and is the processing center for the Cat Grade Control system. All the Cat Grade Control components connect to the Implement ECM via different connection methods. The GNSS Receivers, GS420 Chassis IMU, and CB460 Cat Grade Control Display connect to the Implement ECM over the CAN B (CB460 CAN0) bus while the Position Sensing Cylinders, Implement Joystick Buttons, and Blade Valve Solenoids connect to the Implement ECM over digital inputs or outputs.
The schematic will show the complete connection of all components with the Implement ECM but the Position Sensing Cylinder and the Blade Valve Solenoids connections to the Implement ECM can be seen in those respective component sections and outlined in Table 6 to Table 9.
In addition to maintaining connections with all the components, the Implement ECM stores all the Cat Grade Control measurements and calibration values.
Cat Grade Control Machine Measurements include:
- Left GNSS Antenna to Cutting Edge Bolts:
- Height to cutting edge bolts
- Back from cutting edge bolts
- In from left blade tip
- Right GNSS Antenna to Cutting Edge Bolts:
- Height to cutting edge bolts
- Back from cutting edge bolts
- In from right blade tip
- Left GNSS Antenna to Track:
- Height to bottom of track shoe
- Back from track pivot point ( - = forward)
- In from outside edge of left track
- Left outside track to right outside track
The Cat Grade Control Machine Measurements should not be changed or modified outside of the measure-up process. Refer to Special Instruction , REHS9783 , "Cat Grade Control Calibration and Measure-Up Procedure for Certain Track Type Tractors".
The Implement ECM will also store the GS420 Chassis IMU Calibration offsets produced from the GS420 Chassis IMU Calibration and the Yaw Adjustment.
Note: The Yaw Adjustment may not be necessary on all machines but is intended to compensate for any small mounting deviations of the GS420 Chassis IMU.
PM410 Power Module and Quick Connects for Blade Mounted Components
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| Illustration 11 | g06055902 |
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PM410 Power Module mounted next to the Transmission ECM inside the cab on the left side | |
The Cat Grade Control system includes Quick Connects on the nose of the machine to support the installation of blade-mounted components and a PM410 Power Module to provide power to those blade-mounted components.
Blade-mounted components may include:
- Single or Dual GNSS Receivers on Fixed Masts
- Single or Dual Laser Receivers on Electronic Masts
- Single MT900 Machine Target for Total Station Control
- Blade Mounted GS420 Pitch Sensor for GradeMax run with Blade Mounted GNSS
The PM410 Power Module is important when Electronic Masts are installed on the blade.
Note: The machine supports 3D machine control to a loaded design without these additional components installed. Some applications and operator preferences may create the desire for these additional components to be installed and supported by the Cat Grade Control system.
| Input Connector | Input Wire/Color | Connector Pin | Output Connector | Output Wire/Color |
|---|---|---|---|---|
| Voltage Supply 1 | 116/Brown | Pin A | Switched Power 1 | L872/Blue |
| Voltage Return 1 | 216/Black | Pin B | Ground 1 | T744/White |
| Voltage Supply 2 | 184/Blue | Pin C | Switched Power 2 | L873/Gray |
| Voltage Return 2 | 216/Black | Pin D | Ground 2 | T745/Yellow |
| Pin E | Awake | 200/Yellow | ||
| Pin F | 200/Blue | |||
| Voltage Supply 3 | Pin G | Switched Power 3 | ||
| Voltage Return 3 | Pin H | Ground 3 |
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| Illustration 12 | g06055903 |
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Quick Connects for Blade Mounted Components | |
The PM410 Power Module hardware supports three independent power circuits but only two are necessary on the Cat Grade Control tractors. The Power 1 Circuit is used to power the GNSS Receivers and the GS420 Chassis IMU while the Power 2 Circuit is available on the Quick Connects on the front of the machine for any installed electronic masts.
There are two Quick Connect connectors on the left side of a Cat Grade Control machine and one Quick Connect connector on the right side of the Cat Grade Control machine. These three connectors will accommodate up to two GNSS Receivers and a Blade Pitch Sensor and have similar pinouts.
| Function | Connector | Wire/Color | Connector Pin |
|---|---|---|---|
| Power (24V DC) | RH GNSS, LH GNSS, & IMU | L872/Blue | Pin A |
| Ground 1 (RH Only) Select A | RH GNSS | T744/White | Pin B |
| CAN B (CB460 CAN0) High | RH GNSS, LH GNSS, & IMU | L854/Yellow | Pin C |
| CAN B (CB460 CAN0) Low | RH GNSS, LH GNSS, & IMU | L855/Green | Pin D |
| Ground 1 | RH GNSS, LH GNSS, & IMU | T744/White | Pin F |
| Ground 2 (Electric Mast Circuit) | RH and LH GNSS | T745/Yellow | Pin G |
| Switched Power 2 (Electric Mast Circuit) | RH and LH GNSS | L873/Gray | Pin H |
| CAN D (CB460 CAN1) High | RH and LH GNSS | L856/Yellow | Pin I |
| CAN D (CB460 CAN1) Low | RH and LH GNSS | L857/Green | Pin J |
One of the left side connectors is only intended for use with a blade-mounted IMU and does not contain CAN D lines or the second power circuit intended for use with electric masts.
Global Navigation Satellite System Correction Data Radio
The GNSS Correction Data Radio is necessary for the GNSS Receivers on the Cat Grade Control system to achieve a high accuracy fixed position. The Cat Grade Control system cannot enter an automatic control state unless the GNSS Receivers achieve a high accuracy (Real-Time Kinematic Fixed) position.
A GNSS Correction Data Radio is not supplied with Cat Grade Control machines from the factory primarily due to the variety of supported radios and regional regulations surrounding such devices.
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| Illustration 13 | g06055906 |
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450MHz, 900MHz, or 2.4GHz SNRxxx Trimble Radio | |
While there are various supported radio devices, two common GNSS Correction Data Radios are the SNRxxx Trimble radios and the Trimble SNM940 radio.
The SNRxxx Trimble radio can be a 450MHz, 900MHz, or 2.4 Ghz radio that communicates with a local base station radio for local GNSS corrections. The SNRxxx Trimble radio connects to the Cat Grade Control system via J1939 CAN communication. Cat Grade Control tractors support a 12-pin connector on the Roll Over Protection (ROPS) structure on the left side of the machine. A radio bracket is supplied as part of the Cat Grade Control system.
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| Illustration 14 | g06055907 |
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SNM940 Trimble Radio | |
The SNM940 Trimble radio is a cellular communication device that can access subscription-based Virtual Reference Station (VRS) regional GNSS corrections feeds. The SNM940 Trimble Radio can connect to the Cat Grade Control system via serial (RS232) or ethernet available on the 12-pin connector on the Roll Over Protection (ROPS) structure on the left side of the machine. Ethernet is the preferred method of connection due to faster data transfer capability. A radio bracket is supplied as part of the Cat Grade Control system.
| Function | Wire/Color | Connector Pin |
|---|---|---|
| Switched Power 1 (24V DC) | L872/Blue | Pin 1 |
| Ground 1 | T744/White | Pin 2 |
| Radio Serial (RS232) COM0 TXD | N960/Orange | Pin 3 |
| CAN B (CB460 CAN0) High | L854/Yellow | Pin 4 |
| Ethernet 10/100 Tx+ | U802/White | Pin 5 |
| Ethernet 10/100 Tx- | U803/Green | Pin 6 |
| Ethernet 10/100 Rx+ | U804/Brown | Pin 7 |
| Ethernet 10/100 Rx- | U805/Blue | Pin 8 |
| CAN B (CB460 CAN0) Low | L855/Green | Pin 9 |
| Radio Serial (RS232) COM0 RXD | N957/Pink | Pin 10 |
| Unswitched Power (24V DC) | 121/Red | Pin 12 |
Various harnesses paired with the communication type of the radio may be connected to the GNSS Correction Data Radio connector at the base of the ROPS on the left side of the machine. Which supports serial communication, J1939 CAN communication, and Ethernet communication with the CB460 Cat Grade Control display.