Slope Assist Setup and Calibration on Certain D3K2, D4K2, D5K2, D6K, and D6K2 Track-Type Tractors {1408, 7220} Caterpillar

Track-Type Tractor

D3K2 (S/N: KF22000-6999; KL22000-6999; FT32000-6999; LT32000-6999; JPJ2000-6999)

D4K2 (S/N: KM22000-6999; KR22000-6999; MT32000-6999; RT32000-6999)

D5K2 (S/N: KW22000-6999; KY22000-6999; WT32000-6999; YT32000-6999; RRE2000-6999)

D6K (S/N: 6S61-2999; 7P61-2999; MP71-153,155-2999; ZLJ1-2999)

D6K2 (S/N: EL71-361,363-371,373-2999; MGM1-2999; JTR1-2999)

Introduction

This Special Instruction outlines the setup and calibration of Slope Assist on a standard Small Track-Type Tractor after all the components installed for Slope Assist. All the setup is done on the machine primary display and will be done in Service Mode which is password-protected. Once the machine is in Service Mode, the machine will remain there until the key is cycled.

Do not perform any procedure in this Special Instruction until you have read the information and you understand the information.

Machine Setup

Parking the machine on concrete of known mainfall and crossslope is recommended.Important: Set the blade to the intended pitch angle. Power pitch machines must have the blade set to maximum pitch angle (cylinder at full extension). Mechanical pitch machines must have the pitch link at center pitch position. Gently lower the blade to rest firmly on the concrete. Shut off the engine and turn the key back to the ON position

Entering Service Mode

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1. Press the menu button from the main screen to access the menu.

2. Scroll down to "Service" and press the "OK" button.

3. Scroll down to "Service Mode" and press the "OK" button.
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   Illustration 2	g06127293

4. Enter the password, 32768. Then press the "OK" button.
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5. Scroll down to "Enable" and press the "OK" button.

Slope Assist Installation

In the Service menu under Configurations you will find a Slope Assist parameter that will need to be installed. This must be done with the engine off and the key in the ON position.

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1. Press the menu button from the main screen to access the menu.

2. Scroll down to "Service" and press the "OK" button.

3. Scroll down to "Configurations" and press the "OK" button.
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4. Scroll down to "Slope Assist" and press the "OK" button.
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5. With "Installed" highlighted, press the check mark button.

Factory Blade Sensor Calibration - New Sensor Install

The factory blade sensor calibration is required to provide the proper orientation of the sensor to the blade once the blade has been installed. There is an operator calibration that is available in the Grade Control menu that is not password-protected that has the same format as the factory calibration. The factory calibration is used to set the default values for the machine that can always be recalled after an operator has done a calibration. This calibration can also be done with the engine off and the key in the ON position.

Note: Whenever a new sensor is installed, this calibration must be performed.

Illustration 7	g06127378
Slope Assist Sensor

Note: This calibration is for the slope assist sensor, not for the stable blade sensor

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1. Press the menu button from the main screen to access the menu.

2. Scroll down to "Service" and press the "OK" button.

3. Scroll down to "Calibration" and press the "OK" button.
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4. Scroll down to "Factory Grade Control" and press the "OK" button.
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5. Scroll down to "Blade Sensor Calibration" and press the "OK" button.
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   Calibrate sensor warning screen

6. The calibration sensor warning screen will appear. Press the "OK" button to proceed.
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   Calibrate sensor set-up screen

7. Follow the instructions and then press the "Next" button at the bottom right corner of the screen.
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   Calibrate sensor blade wear screen

8. Enter the measurement of the cutting edge length and then press the "Next" button. For new machines, the factory blade measurements are listed below.

   • D5K2 XL blade is 0.101 m

   • D3K2, D4K2, and D5K2 LGP blades are 0.083 m

   • D6K blades are 0.100 m
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   Calibrate sensor grouser screen

9. Enter the measurement for the grouser distance then press the "Next" button. For new D3K, D4K, and D5K machines.

   • The standard shoes have a grouser height of 0.047 m

   • The ES shoes have a grouser height of 0.057 m

   For new D6K machines.

   • The MS (Medium service) shoes have a grouser height of 0.048 m

   • The ES(Extreme Service) shoes have a grouser height of 0.057 m

   • The  Self Clean LGP shoes have a grouser height of 0.070 m 
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   Illustration 15	g06127430
   Calibrate sensor slope screen

10. Enter in the measurement for blade slope and press the "Next" button. The picture on the monitor shows the front view of the blade with a level on the cutting edge. Right-hand blade tip-up would be a positive value.
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    Calibrate mainfall left screen

11. Enter in the measurement for the left track mainfall, then press the "Next" button. If the front of the machine is higher, the value would be positive.
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    Calibrate mainfall right screen

12. Enter in the measurement for the right track mainfall, then press the Next" button. If the front of the machine is higher, the value would be positive.
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    Calibrate complete screen

13. Press the "OK" button to complete the calibration.

For D3K, D4K, and D5K machines see reference below.

Reference: If the machine is parked on a flat pad of concrete, the blade slope value should read 0.0%. The mainfall value should read 2.5% downhill for standard shoes and 3.0% downhill for ES shoes. If a flat concrete pad is not available, do a turn around procedure to check the calibration values. Refer to the following section for instructions.

For D6K see reference below.

Reference: The mainfall value should read 2.0% downhill for standard shoes and 2.4% downhill for ES shoes.

Turn Around Calibration Procedure

1. If the slope is not known, move the machine onto the flattest ground available with full grouser penetration. Lower the blade to the ground and read the slope values from the display. Record the values and denote as values (A).

2. Drive from the area where the machine was sitting on. Turn around and drive back onto the same area. Lower the blade to the ground and read the slope values from the display again. Record the values and denote as values (B).

3. If the values are not equal and opposite (within a few tenths of a percentage point), calculate the new values (C) that should be entered while the machine is still in the same position (B). To calculate, subtract A from B. Then divide the remainder by 2. The remainder is value (C). The formula for this calculation is [ (B-A)/2=C ].

4. Enter the new mainfall and blade slope values in the appropriate screens. As in the calibration, downhill values for mainfall and right blade tip down values will be treated as negative for the calculation.

   Note: If on a surface that does not allow full grouser penetration, the blade must be blocked up to the height of the bottom of the shoes. Enter in zero for the distance between the bottom of the track shoe and the ground in the monitor when using this calibration technique.

Calibration examples:

• A = 3% downhill, B = 1% uphill. The adjusted value of B should be (1-(-3))/2) = +2% uphill.

• A = 3% downhill, B = 1% downhill. The adjusted value of B should be (-1-(-3))/2) = +1% uphill.

• A = 2% left, B = 1% left. The adjusted value of B should be (1-2)/2) = -0.5% right.

Factory Blade Velocity Calibration

Valve calibration is done to map the command to cylinder velocity relationship for lift and tilt functions. The valve calibration is a fully automated process with only a few user interactions. Start the machine. Exercise both lift and tilt functions to get the hydraulic temperature between 30° C to 80° C (86° F to 176° F).

Keep the area clear of personnel before starting the calibration. Machine movement will occur during the calibration.

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1. Press the menu button from the main screen to access the menu.

2. Scroll down to "Service" and press the "OK" button.

3. Scroll down to "Calibrations" and press the "OK" button.
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4. Scroll down to "Factory Grade Control" and press the "OK" button.
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5. With "Valve Calibration" highlighted press the "OK" button.
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   Pre-calibration notification screen

6. The valve calibration will move the blade from ground level to full raise and will move tilt to the full extent of the cylinder. Press the "OK" button to start the valve calibration and proceed to the valve calibration screen

   Keep the area clear of personnel and other objects before starting the calibration. Machine movement will occur during the calibration.

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   Set up conditions screen

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   Set up conditions screen with errors

7. In some early versions of software, the red stoplight may not change until the "Next" button is pressed. If the setup conditions are not met when the "Next" button is pressed, an error will show in the bottom message screen alerting the operator what needs to be changed. Refer to Illustration 24
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   Blade position instruction screen

8. Follow the instructions and press the "Next" button.
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   Valve calibration initiation acknowledgement screen

9. Press the "Next" button to enable the calibration.
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   Valve calibration initiation acknowledgement screen

10. Follow the instructions on the screen. After, there is no further action required by the operator. The calibration will automatically move both the lift and tilt functions until the calibration has been completed. Pressing the abort button or moving the joystick out of center will cancel the calibration.

    Note: The operator may need to keep a hand on the joystick to prevent the joystick from moving while the blade goes through the calibration routine.

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Automatic lift calibration

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Automatic tilt calibration

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Calibration complete

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Calibration complete with warnings

After calibration, if any abnormalities were found, the warnings screen will display the list. If any warnings are listed, exercise the function in question and rerun the blade velocity calibration. If warnings are still shown, recalibrate the solenoid for that function. Use the visual-based calibration in Cat^® Electronic Technician (Cat ET) and rerun the blade velocity calibration.

Note: AccuGrade has its own valve calibration. The calibration must be performed anytime a new slope assist valve calibration is performed.