Using a SATEL® Satelline-EASy UHF Radio Modem to Connect a Cat® AccuGrade Grade Control System or Cat® GRADE Machine to a Topcon® base station {7220, 7490} Caterpillar

Track-Type Tractor

D3K2 (S/N: KF21-UP; KL21-UP; JPJ1-UP)

D4K2 (S/N: KM21-UP; KR21-UP)

D5K2 (S/N: KW21-UP; KY21-UP; RRE1-UP)

D6T (S/N: CR31-UP; CG81-UP; SGA1-UP; RAD1-UP; STE1-UP; MEL1-UP; WRN1-UP; KMR1-UP; WES1-UP; SGT1-UP; TMY1-UP; HTZ1-UP)

D8T (S/N: AW41-UP; FMC1-UP; MLN1-UP; FCT1-UP)

D9T (S/N: REX1-UP)

Introduction

The information that is contained in this Special Instruction covers using a SATEL^® Satelline-EASy UHF Radio Modem to connect a Cat^® AccuGrade Grade Control or Cat^® GRADE machine to a Topcon^® base station.

Important Safety Information

Do not perform any procedure in this Special Instruction until the information has been read and the information is understood.

Use only proper tools and observe all precautions that pertain to the use of those tools. Failure to follow these procedures can result in personal injury. The following procedures be observed also.

Work safely. Most accidents that involve product operation, maintenance, and repair are caused by failure to observe basic safety rules or precautions. An accident can often be avoided by recognizing potentially hazardous situations before an accident occurs.

A person must be alert to potential hazards. This person should also have the necessary training, skills, and tools to perform these functions properly.

Safety precautions and warnings are provided in this instruction and on the product. If these hazard warnings are not heeded, bodily injury or death could occur to you or to other persons. Caterpillar cannot anticipate every possible circumstance that might involve a potential hazard.

Therefore, the warnings in this publication and the warnings that are on the product are not all inclusive. Ensure that any tool, procedure, work method, or operating technique, that is not recommended by Caterpillar, is safe.

Ensure that the product will not be damaged or the product will not be made unsafe by the operation, lubrication, maintenance, or repair procedures used.

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Improper operation of an access platform could result in injury or death. Operators must carry out their duties properly and follow all instructions and guidelines given for the machine and access platform.

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Be sure all personnel are clear of the equipment while the equipment is being lowered. Failure to stay clear of the equipment while the equipment is being lowered may result in personal injury.

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Do not operate or work on this machine unless you have read and understand the instructions and warnings in the Operation and Maintenance Manual. Failure to follow the instructions or heed the warnings could result in injury or death. Contact any Caterpillar dealer for replacement manuals. Proper care is your responsibility.

• Only mount the machine and dismount the machine at locations that have steps and/or handholds.

• Inspect the steps and the handholds before mounting and dismounting. Clean the steps and the handholds, if necessary. Repair the steps and the handholds, if necessary.

Illustration 1	g00037367

• Face the machine when you are mounting and dismounting.

• Maintain a three-point contact with the steps and the handholds. Three-point contact is maintained when 2 feet and one hand are in contact or 1 foot and two hands are in contact.

• Never get on a moving machine or off a moving machine.

• Never jump off the machine.

• Do not try to climb on the machine or climb off the machine when you are carrying tools or supplies. Use a hand line to pull equipment up to the operators platform.

• Do not use any of the controls as handholds as you are climbing into the machine or exiting the machine .

Note: Prior to operation of the machine read the Operation and Maintenance Manual.

Required Parts

Procedure

A SATEL^® Satelline-EASy UHF Radio Modem may be used to connect Cat^® AccuGrade and Cat^® GRADE GNSS systems to some third-party base stations. The radio modem selection depends on the third-party base station transmission of GNSS corrections.

Global Navigational Satellite System (GNSS) machine control systems require a high degree of positioning accuracy. This accuracy can only be achieved through GNSS data reaching the machine control system. Cat AccuGrade and Cat GRADE systems are designed and tested to function with Trimble branded GNSS base stations, GNSS base station data radio modems, and GNSS on-machine data radio modems. However, various other third-party base station and communication devices will function with the GNSS machine control systems.

Three important criteria must match for a functioning system:

• Base Station transmitted GNSS correction data protocol matches system expected protocol

• Base Station radio modem configuration matches On-Machine GNSS radio modem configuration

• Onboard machine control system () connection matches On-Machine GNSS radio modem transmission

Configuring mixed brand systems can be a little more difficult when selecting compatible settings and communications. However, if the GNSS Base Station provides a compatible format of GNSS correction data and that GNSS correction data is made available on the machine control system, the system will obtain a Fixed RTK position and function as designed.

Illustration 2	g06127667
D5KTrack-Type Tractors setup with a Dual GNSS AccuGrade system receiving GNSS corrections from a Topcon Hiper V base station.

Illustration 3	g06127672
SATEL® Satelline-EASy UHF Radio Modem used on the D5KTrack-Type Tractor to connect the AccuGrade system with the Topcon base station.

Illustrations 2 and 3 are of a AccuGrade dual GNSS machine control system on a D5KTrack-Type Tractor equipped with a Sateline-EASy UHF radio modem communicating GNSS correction data from a Topcon Hiper V base station with an integrated UHF radio modem.

Topcon Hiper V Base Station with UHF Radio Modem Configuration

A critical characteristic for the setup of a function system is that Base Station transmitted GNSS correction data protocol matches system expected protocol. The system can utilize the GNSS data corrections in either CMR+ or RTCM3.x formats. The preferred GNSS data correction for current Trimble base stations and systems is the CMRx GNSS data correction format. There are some exceptions where these formats do not function with systems due to the implementation of the format by different device providers.

The Topcon Hiper V Base Station with UHF Radio Modem used in the example was configured according to the following screen captures.

Note: The CMR+ selected for the format. Most of the other settings like the radio protocol, frequency, and modulation are important for matching with the on-machine radio modem.

SATEL Satelline-EASy UHF Radio Modem Configuration

Illustration 4	g06127709
SATEL Satelline-EASy UHF Radio Modem configuration screen

Note: Corrections data format should be either CMR+ or RTCM3.x

The SATEL Satelline-EASy UHF Radio Modem is configured to match the settings of the base station radio modem and the wired connection with the system. The radio frequency, frequency spacing, and protocol must match between the base station radio modem and the on-machine radio modem. Refer to Table 2 for the list of radio settings used in the example.

Note: The Radio Compatibility of Pacific Crest PacCrest-GMSK on the SATEL Satelline-EASy UHF Radio Modem matches the Radio Protocol and Modulation of PDL Rover and GMSK on the integrated Topcon UHF base station radio modem.

It is also possible to select other protocols, as long as the other protocols match on the base station transmitting radio modem and on the machine receiving modem. SATEL 3AS, Pacific CrestPacCrest-FST, and Pacific Crest PacCrest-4FSK are all more efficient protocols if available on both radio devices.

Note: Radio frequencies shown in Table 2 are example values. Other radio frequencies may be utilized successfully. The selection of the radio frequency in accordance with all local laws and regulation is the users responsibility.

The SATEL Satelline-EASy UHF Radio Modem supports a wired serial connection with the system. The On-Machine SATEL Satelline-EASy UHF Radio Modem should be configured to send the GNSS correction data with settings (Baud Rate and Parity Bit) that match the system.

Note: The SATELSATELLINE-EASy, SATELSATELLINE-EASy 869, SATEL Compact-Proof, SATELSATEL EASy-Proof, Radio Modem User Guide will provide instructions on changing radio settings. The User Guide is available on the original equipment manufacturers website.

D5KTrack-Type Tractor Connection with Radio Modem

The CB460 GRADE display manages the GNSS Radio Modem and GNSS Receiver connections for the system. Typically for Trimble SNRxxx Radio Modems, the devices connect with the system using J1939 CAN communication. However, third-party radio modems may be connected with the system using RS232 serial communication.

The GNSS Radio Modem connector supports both J1939 CAN and RS232 serial connections. For the D5KTrack-Type Tractor with the Attachment Ready Option installed from the factory and appropriate dash connector to the CB460 GRADE display, the RS232 serial lines are available for connecting the SATEL Satelline-EASy UHF Radio Modem at the rear connector for the GNSS Radio Modem connector and the Dash harness connector in the cab.

Illustration 5	g06127778
GPS radio mini schematic

Illustration 6	g06127895
AccuGrade GPS display mini schematic

The SATEL Radio DB9 Connector is the one provided from the SATEL Satelline-EASy UHF Radio Modem equipped with the CRS-2F Harness.

Illustration 7	g06127899

Machine power can be supplied to the radio via the +Vb (red wire) and the GND (black wire) wires.

AccuGrade Dual GNSS System Configuration

Trimble SNRxxx Radio Modems will be identified in the Diagnostic screen as an available component but third-party radio modems will not. The system must be configured to utilize a third-party radio modems in the Machine Settings Radios selection menu.

Illustration 8	g06127961

With the Third Party (Serial) Radio Modem configured within the Machine Settings screen in the CB460 Grade Control display, the serial communication characteristics must still be defined to match the serial communication being output from the On-Machine GNSS Radio Modem.

Illustration 9	g06127964

In this example, the SATEL Satelline-EASy UHF Radio Modem is communicating via RS232 serial over the N957 and N960 wires which is COM1 with a Baud Rate of 38400 and no Parity bit.

At this point, the system should be obtaining the CMR+ GNSS data corrections transmitted from the integrated radio on the Topcon base station through the SATEL Satelline-EASy UHF Radio Modem on the machine and obtaining an RTK Fixed position suitable for machine control.

Note: The Data Radio must have connection with the CB460 Display over serial connection on either the COM1 or COM3 lines.

Illustration 10	g06127967

The Topcon Hiper V base station communicating CMR+ corrections to the on-machine SATEL Satelline-EASy UHF Radio Modem connected with the system via the wired serial connection resulted in the achievement of a GNSS RTK Fixed position with 0.009 m (0.03 ft) vertical error.