Cat® GRADE 3D System Setup for D6 Build 20A Track-Type Tractors {7220} Caterpillar

Track-Type Tractor

D6 (S/N: B721-UP; KD51-UP; LB51-UP; WH51-UP; JJ61-UP; SG61-UP; TB61-UP; AG91-UP; ES91-UP; GZ91-UP; HR91-UP; LF91-UP; RA91-UP; SA91-UP; LNC1-UP; RDC1-UP; XEC1-UP; HFE1-UP; LRG1-UP; HMH1-UP; HNK1-UP; HZL1-UP; TPL1-UP; D5M1-UP; RBP1-UP; KMT1-UP; KEW1-UP; KTW1-UP; HLY1-UP; WGY1-UP)

Introduction

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

This Special Instruction will aid in the Cat^® Grade Control calibration and measure-up procedure for certain Track-Type Tractors.

Reference

Reference: Refer to Operation and Maintenance Manual, M0085283, "D6T Track-Type Tractors".

Reference: Refer to Special Instruction, M0092319, "Set-Up and Measure-Up Process of a Universal Total Station (UTS) for Cat^® Grade Control".

Reference: Refer to , M0099587, "Installation of 6S and 6SU Bulldozer and Slope Assist on D6 Track-Type Tractors".

Reference: Refer to Special Instruction, M0099589, "Installation of the Variable Pitch, Angle, and Tilt Blade and Slope Assist on a D6 Track-Type Tractors".

Reference: Refer to Special Instruction, M0099975, "Slope Assist Calibration On Certain D6 Track-Type Tractors".

Safety Section

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 you use 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.

Show/hide table

Do not operate or work on this product unless you have read and understood the instruction and warnings in the relevant Operation and Maintenance Manuals and relevant service literature. Failure to follow the instructions or heed the warnings could result in injury or death. Proper care is your responsibility.

Show/hide table

Failure to follow all safety guidelines prescribed in this document and by governing authorities and regulatory agencies may result in severe injury or death of personnel or machine damage.

Show/hide table

When removing a major component or attachment, ensure that it is properly blocked or secured before removing mounting hardware. An assembly that is disconnected without proper blocking may shift or fall, resulting in serious injury or death of personnel or machine damage.

Show/hide table

Personal injury or death can result from improper maintenance procedures. To avoid injury or death, follow the procedures exactly as stated below.

Show/hide table

Show/hide table

Show/hide table

Show/hide table

Observe the safe working load limits of all lifting and blocking devices and keep a safe distance from suspended/blocked loads. Personnel may be seriously injured or killed by falling loads.

Required Tools

Items in the following list are available through your Cat dealer.

Note: Display firmware and Implement ECM software should be updated to latest available released version prior to performing the measure up procedure.

Items in the following list are available through your SITECH dealer or local survey equipment retailer.

Note: The GNSS data radio is not included as part of the Cat^® GRADE package. A device for acquiring GNSS corrections for RTK-Fixed accuracy must be purchased separately depending on the requirements and regulations of each work site. Ensure that this device is installed and configured according to the suppliers specifications. Contact your Caterpillar Technical Communicator or SITECH Dealer for possible radio solutions.

Calibrations and Measure-up Procedure

Machines delivered from the factory arrive without the blade installed. Before configuring, calibrating, and measuring-up the GRADE 3D system, the blade must be installed.

Refer to Special Instruction, M0099587, "Installation of 6S and 6SU Bulldozer and Slope Assist on D6 Track-Type Tractors" for instructions on installing the bulldozer and slope assist.

Refer to Special Instruction, M0099589, "Installation of the Variable Pitch, Angle, and Tilt Blade and Slope Assist on a D6 Track-Type Tractors" for instructions on installing the variable pitch, angle, and tilt blade and slope assist.

Refer to Special Instruction, M0099975, "Slope Assist Calibration On Certain D6 Track-Type Tractors" for instructions on calibrating the slope assist.

Note: The slope assist calibrations specified in the Special Instruction are not necessary because these same calibrations will be fulfilled in the GRADE 3D setup instructions.

This document contains the complete Cat GRADE 3D Calibration and Measure-Up information, although only a portion of it is necessary on new machines from the factory.

The following are the configuration, calibration, and measure-up procedures:

• GRADE System settings verification.

• Slope Assist, Blade Control, and Grade Control installation status verification.

• Calibrating Machine Inclination Sensor (Cat^® Electronic Technician (Cat ET or machine display).

• Completing Measure-up procedure (with total station in the Web Interface - Installation Assistant)

• Adjusting the Body Slope Adjustment (if available in the Web Interface - Installation Assistant, only available for VPAT configured machines).

• Completing Blade Solenoid Calibrations in Cat^® Electronic Technician (Cat ET) (pressure based).

• Completing the Tool Automation Valve Calibration in Cat ET or on the machine display.

• Configuring User Permissions for Operator.

• Configuring GNSS Correction Source.

GRADE System Settings Verification

The GRADE System settings in the EC520 controller must be configured properly for the calibrations to set the proper sensor values. The settings can be verified in the Web Interface.

The EC520 Controller is not configurable from Cat^® Electronic Technician (Cat ET) and must be configured using a web portal called the Web Interface. The Web Interface can be connected to the EC520 Controller in two different ways, explained below:

• using the supplied GRADE display in the cab which connects directly to the EC520 Controller via Ethernet wires.

• using a service connector to connect a laptop computer directly to the EC520 Controller via Ethernet wires.

The GRADE display is preloaded with the GRADE application and the Web Interface button. The GRADE display is wired directly to the EC520 Controller. Starting the Web Interface application will access the EC520 Controller webpage at "192.168.168.1".

Follow the below procedure to verify the GRADE System settings:

Show/hide table

Illustration 1	g06379187

1. Access the Web Interface by pressing the Web Interface application in the TD520 GRADE display.
   Show/hide table

   Illustration 2	g06379189

2. First time access of the Web Interface application will prompt the user to configure the Admin login password for the EC520 controller. Itis recommended to discuss the password selection for the region with the supporting organizations to maintain a consistent "Admin" password for easy access.

3. Unlock the Web Interface by pressing the "Unlock" Icon.
   Show/hide table

   Illustration 3	g06379201

4. Navigate to "Configure > Installation Assistant" and verify the setup. Most of the settings will be pre-configured from the factory. Radio is left unconfigured at the time of factory setup as it is not known.
   Show/hide table

   Illustration 4	g06372866

5. Press "Start Section" to begin the configuration.

   Note: This section will configure the GNSS Data Radio. Be aware of the intented GNSS Radio type to be installed on the machine.

   Show/hide table

   Illustration 5	g06379202

6. Configure the machine name and machine type. The machine name can be any identifiable name. Choose "Dozer" for machine type from the drop-down.
   Show/hide table

   Illustration 6	g06379203

7. Select the following options for the D6 Build 20 Tractors with GRADE 3D and press "Next":

   Manufacture - Caterpillar

   Size - Medium

   Model/Series/Build - D6 LGP S (20A), D6LGP VPAT (20A), D6 XL SU (20A), D6 XW SU (20A), or D6 XW VPAT (20A)

   Revision/Serial Number - Ensure that the selected model lists the option that matches the machine serial number. The serial number prefixes for different machines models are listed below:
   

   D6 LGP S (20A) - Prefixes S/N:KEW, S/N:GZ9, S/N:ES9, S/N:HLY

   D6LGP VPAT (20A) - Prefixes S/N:KTW, S/N:AG9, S/N:LNC, S/N:WGY

   D6 XL SU (20A) - Prefixes S/N:HNK, S/N:SA9, S/N:HZL, S/N:TPL

   D6 XW SU (20A) - Prefixes S/N:KMT, S/N:LF9, S/N:B72, S/N:HFE

   D6 XW VPAT (20A) - Prefixes S/N:RDC, S/N:HR9, S/N:HMH, S/N:LRG

   Blade Type - S, SU, or VPAT

   Note: Check the selections for serial number against the serial number communicated by the machine. Mismatch of the serial number and the selection made here will result in an error.

   Show/hide table

   Illustration 7	g06372871

8. Select the following for the GRADE 3D configuration and press "Next":

   3D Sensors - Dual GNSS

   Location - Cab Mount

   Show/hide table

   Illustration 8	g06379205

9. Select the GNSS Data Radio type used as the GNSS Correction Source. The "Cat Network Manager" is selected by default as all machines are equipped. Select if a SNRxxx for 450MHz, 900MHz, or 2.4 GHz is used. If an SNM94x is used, select SNMxxx device type. Press "Next" to proceed.
   Show/hide table

   Illustration 9	g06379205

10. Standard machines do not come equipped with external light bars. For additional guidance external light bars can be physically installed and connected. Press "Next" to proceed.
    Show/hide table

    Illustration 10	g06372879

11. This step completes the GRADE system setting selection. Press "Finsh & Save" to complete the Installation Assistant - Setup section.
    Show/hide table

    Illustration 11	g06379207

12. These factory standard settings may be configured by loading the 561-2947 Monitor Software Gp (.machine) file. The file can be downloaded from SISweb Service Flash Files section and loaded to the EC520 Controller through the "Web Interface Advanced > Machine Setting" option.
    Show/hide table

    Illustration 12	g06379208

13. Extract the.machine file from the "5612947V00.ZIP" folder on SISweb and upload to the Web Interface using the "Upload" button. Click the check box and press "Apply" to load the saved settings to the GRADE system.
    Show/hide table

    Illustration 13	g06379213

14. The "5612947V00.machine" file also includes a manufacture code that is necessary if configuring a blank ECM that has been reset or a replacement EC520. All other settings can be configured in the Installation Assistant - Setup except for this parameter.

Slope Assist, Blade Control, and Grade Control Installation Status Verification

Follow the below procedure to verify the slope assist, blade control, and Grade control installation status:

1. Connect Cat ET 2018C or newer to the machine service port through a COM adapter. Once the connection is completed, the service person may interface with the machine system settings and calibrations.

2. Select the "Implement ECM" as the ECM of focus.

3. Select "Configurations" from the Service menu.

4. Verify that the following parameters are set:

   Blade Control Installation Status - Installed

   Blade Control Enable Status - Auto Detect

   Slope Assist Installation Status - Installed

   Grade Control Installation Status - Installed

   Grade Control Enable Status - Enabled

Illustration 14	g06379215

These configurations influence the behavior of the remaining setup steps, so these configurations must match the configuration of the machine. GRADE 3D system could be setup without Slope Assist being set to "Installed", but all GRADE 3D tractors include the Slope Assist system.

Blade Control Installation Status set to "Installed" and Blade Control Enable Status set to "Auto Detect" will allow the machine to detect a third-party Grade Control System automatically, claim a predefined source address for Grade Control Systems and enable the machine to accept land leveling valve commands for lift, lower, and tilt of the implements for automatic control. If the third-party Grade Control System does not utilize the expected source address, it may be necessary to set Blade Control Enable Status to "Enabled" for the machine to accept the land leveling valve commands from the third-party Grade Control System.

Calibrating Machine Inclination Sensor (Cat Electronic Technician (Cat ET) or Machine Display)

The Inertial Measuring Unit (IMU) sensor internal to the EC520 Controller is important for an accurate Measure-Up and GRADE 3D operation. The calibration is completed by moving the machine through three positions and capturing the sensor data at each location in two orientations. Three positions capture data with the machine facing one direction. The remaining three sensor data captures are completed on those same positions but with the machine facing in the opposite direction.

For GRADE 3D machines, this process calibrates both the IMU inside the EC520 controller and the IMU used by the powertrain system. For slope assist only machines without GRADE 3D, this calibration only calibrates the IMU for the powertrain. The GRADE 3D system will experience problems if the machine ECM is mistakenly configured as a slope assist only machine, as it will not calibrate the EC520 inertial IMU if the machine is truly a GRADE 3D machine. To avoid the machine ECM being mistakenly configured as slope assist only machine, the "Installation" and "Enable" status should be checked in the previous steps prior to completing the Machine Inclination Sensor Calibration.

Note: If the Machine Inclination sensor does not calibrate the IMU internal to the EC520 controller before the Measure-Up process is completed, the GRADE 3D system will be inaccurate.

Illustration 15	g06379216

If the Web Interface is still active, the Install Assistant will indicate that the Machine Inclination Sensor calibration is required by showing the Body section as "Not Started" or incomplete.

Note: It is critical to the success of the Machine Inclination Sensor calibration that the Web Interface with the EC520 controller is not active. Users should log out of the Web Interface and close prior to starting the Machine Inclination Sensor calibration on either the machine display or through Cat ET. If the Web Interface remains active, the Machine Inclination Sensor calibration will only calibrate the powertrain IMU.

Caterpillar recommends completing the Machine Inclination Sensor calibration on hard, even, firm ground, preferably concrete. If such a surface is not available, a case where the machine achieves consistent, full grouser penetration in soft and loose material can lead to acceptable results. If concrete is not available, ensure that the track disturbance of the ground surface is minimized for best calibration results.

Note: The ground should be relatively close to level and even. The ground does not have to be perfectly level and even as long as the tracks/machine do not rock in the different positions.

Illustration 16	g06379217

The Machine Inclination Sensor calibration in the Machine display is the procedure that completes the Body Section in the Web Interface - Install Assistant.

Follow the procedure below to perform the Machine Inclination Sensor calibration in the Machine Display:

1. Enable service mode (default password is "1234") and navigate to the "Calibration" screen. Refer to Illustration 16.

2. Press the "Machine Inclination Sensor" option, to start the calibration procedure.
   Show/hide table

   Illustration 17	g06379222

   Show/hide table

   Illustration 18	g06379223

3. Acknowledge the warning on the screen, after reading.
   Show/hide table

   Illustration 19	g06379226

4. Complete the following setup conditions:

   1. Place the machine in an open area with firm, level ground.

   2. Position the blade parallel with the front of the machine.

   3. Gently lower the blade to rest on the ground. Place all other implement controls in the neutral position. The blade will later be raised for recording data so this may be skipped if the operator does not need to climb off the tractor to mark the machine position.

   4. Set engine speed to low idle.

   5. Set the parking brake.

   6. Engage the implement lockout switch.

5. Press the "Next" button when ready to proceed.

   Note: The Machine Pitch and Machine Roll values will show "***" when first calibrating the sensors. For instances where the sensors have already been calibrated, the Machine Pitch and Machine Roll will show the proceeding calibrated values. The Machine Inclination Sensor calibration will fail if the sensors are not communicating.

   Note: The machine will request most of these setup conditions for each of the positions that capture sensor data.

   Show/hide table

   Illustration 20	g06379227

6. Mark the ground at the front and rear of the left and right tracks for position #1 then press the "Next" button.
   Show/hide table

   Illustration 21	g06379229

7. The machine should already be in the marked position for recording sensor data. If the blade was previously lowered to the ground, raise the implement off the ground and re-engage the Implement Lockout. When ready, press the "Next" button to start recording data from the sensors.
   Show/hide table

   Illustration 22	g06379236

8. The system will record data from the sensors and when completed will automatically proceed to the next step.
   Show/hide table

   Illustration 23	g06379245

9. Move the machine forward to a new position #2 and repeat the previous steps to record data for position #2.

10. When completed with capture data for position #2, repeat the same steps for a position #3.
    Show/hide table

    Illustration 24	g06379247

11. When the system acquires enough data from the position #3, the machine can be moved forward a sufficient distance to allow turning the machine without disturbing the position #3 surface.

    Turn the machine around and align with the last position but facing the opposite direction. For best accuracy of the Machine Inclination Sensor calibration, align the tracks 180 degree position from the previous point. If the machine position is not aligned and positioned well in the marked position, do not turn the track in place. Instead, move back the machine away that position and realign before tracking back to the marked position.

    Show/hide table

    Illustration 25	g06379271

12. Once the machine is aligned with the previously captured data points but facing the reverse direction, move the machine forward so that it is facing 180 degrees but in the same position when data was captured for position #3. Complete the following setup conditions:

    1. Position the blade parallel with the front of the machine.

    2. Gently lower the blade to rest on the ground. Place all other implement controls in the neutral position. Blade will later be raised for recording data.

    3. Set engine speed to low idle.

    4. Set the parking brake.

    5. Engage the implement lockout switch.
    Show/hide table

    Illustration 26	g06379274

13. Allow the system to collect sensor data for this position.
    Show/hide table

    Illustration 27	g06379633

14. Move the machine forward while still facing in the reverse direction until the machine is aligned with the position #2 marks where sensor data was previously collected. When aligned and positions, press the "Next" button to collect sensor data for this position again.

15. When the system finishes collecting data for position #2, move the machine forward and repeat the steps to collect sensor data at position #1.

    Note: If the system does not detect that the EC520 with internal IMU is not present (e.g. the Web Interface is active), the calibration procedure may complete early and not require data from position #1; If this happens for a GRADE 3D machine, the Machine Inclination Sensor calibration must be re-run.

    Show/hide table

    Illustration 28	g06379635

16. If the data collected for the three positions are consistent for both directions that the machine faced during the procedure, the calibration will complete successfully and record offset values for the machine pitch and roll related to the powertrain IMU and the EC520 internal IMU.

17. If the Machine Inclination Sensor calibration fails and does not complete successfully, then the values recorded for each of the three positions must not have been consistent and a more consistent surface should be used or more care should be taken in positioning the machine. An active diagnostic from one of the IMU's could also trigger the calibration to fail.

18. An accurate Machine Inclination Sensor calibration is critical to accurate machine control and guidance. Before the machine measure-up can be completed using a universal tracking station, a Machine Inclination Sensor calibration is required. Without a Machine Inclination Sensor calibration, the machine measure-up process will not calculate the correct machine dimensions relating the GNSS antenna positions to the blade cutting edge.

    The Machine Inclination Sensor calibration can be validated by positioning the machine and verifying that positive values for machine pitch and/or roll change to negative values with the same magnitude when the machine faces the opposite direction (180 degree). Failing to position the machine in the same exact position, exact opposite direction, or on soft, unstable ground, can affect the accuracy of this validation exercise.

Completing the Measure-Up With a Total Station in the Web Interface - Installation Assistant

The Measure-Up Process for the Machine Measurements of the Cat GRADE allows the system to calculate the Machine Measurements between the coordinate locations of two GNSS antenna points and the six cutting edge points. The system then relates those measurements to sensor values. A Trimble Universal Tracking System (UTS) or a similar total station is necessary to measure the coordinate location of the antenna points and cutting edge points.

After completing the Machine Inclination Sensor calibration, follow the below procedure to complete the Measure-Up of the system:

Show/hide table

Illustration 29	g06379636

1. From the web interface, access "Configure>>Installation Assistant" to start the measure-up process.
   Show/hide table

   Illustration 30	g06379637

2. The measure-up process is an interface to enter coordinate points into the system, so that the essential system dimensions can be calculated and related to the sensors.

   Refer to Table 3 for the list of the required equipment. The equipment required to complete this section are listed below:

   • A total station

   • A digital level

   • A measure-up target (Trimble part number 10-5568 or Cat part number 492-4425 Tool Gp)

   • Acrylic targets

   To begin the process, press "Start Section". Refer to Illustration 30.

   Show/hide table

   Illustration 31	g06379638

3. Position the machine on a smooth hard surface with the space to set up a total station in front of the blade. The total station should have visibility to all blade and antenna points.

   Note: Concrete surface is preferred, but other surfaces can also provide an accurate system.

   Ensure that the blade rotation has the blade square with the machine. Also ensure that the blade can be blocked at the full grouser penetration height with the blade pitch set to the desired operator preference.

   Note: As the blade pitch leaves this measure-up blade pitch in normal operation, the system accuracy can be impacted.

   Note: Take care when mounting and dismounting the machine, follow safe practices. Refer to Operation and Maintenance Manual Mounting and Dismounting section.

4. Position the blade cutting edge so that it is approximately at the same location as the underside of both track shoes. Blocks can be used to assist in positioning the blade if necessary. At this stage, keep the machine and blade in this position until the measure-up process is completed.
   Show/hide table

   Illustration 32	g06379640

5. Begin the setup of the total station used for coordinate measurement by positioning the total station in front of the blade. The total station should have line of sight with the entire blade cutting edge and the measure up target placed on the GNSS antennas on the cab. This can usually be achieved by placing the tripod for the total station 2x blade widths from the cutting edge.

Measure Control Points for Install Assistant

Note: Any coordinate measurement device may be utilized to measure the AR, AL, BR, BL, CR, CL, DR, & DL points as long as it supports high accuracy measurements. Refer to Special Instruction, M0092319, "Set-Up and Measure-Up Process of a Universal Total Station (UTS) for Cat^® Grade Control" for instructions on setting up and utilizing a SPS900 series Universal Total Station from Trimble with a SCS900 controller.

Follow the below procedure to complete the Measure-Up section in the Web Interface - Installation Assistant:

Show/hide table

Illustration 33	g06379641
GNSS Antenna

1. Place the Measure-Up tool (Trimble Part Number 10-5568or Cat Part Number 492-4425 Tool Gp) on the antenna. Ensure that the base of tool engages the shape of the antenna top properly and the tool is centered on the antenna. Position the tool cross hair to face the front of the machine.

   If two measure-up tools are available, both the tools may be placed one each on the left and right antenna simultaneously. Otherwise, a single measure-up tool will need to be moved between measurements.

   Show/hide table

   Illustration 34	g06379642
   GNSS Antenna

2. The Measure-Up process accounts for the offset of the "AL" and "AR" points when using the Measure-Up tool. If attempts are made to measure "AL" and "AR" points without the Measure-Up tool, the offset from the top of the antenna dome to the tool crosshairs ( 201.0 mm (7.91 inch)) must be maintained.
   Show/hide table

   Illustration 35	g06379643

   Show/hide table

   Illustration 36	g06379644

3. Place the acrylic targets on the blade as shown in Illustration 35.

   Note: Points DR and DL should mark the outer most spot on the blade. Points DR and DL will be used to calculate the blade width.

   Note: Points CL and CR should measure to the actual cutting edge. Align the target so that the measured point is in line with the actual cutting edge. Each acrylic targets should be positioned approximately 300.0 mm (11.81 inch) in from the tips of the blade.

   Note: Points BL and BR are not subject to wear of the cutting edge. Points BL and BR measure to the dead center of the bolt hole. Align the target so that the target aligns appropriately. The BL and BR points should be positioned on bolt heads that are equally spaced from the center of the blade.

   Show/hide table

   Illustration 37	g06379646

4. The acrylic target positioned on bolt heads (points BR and BL) should be as far out on the straight section of the blade cutting edge and be equal distance from the blade center.

   The cutting edge points (points CR and CL) should be placed 300.0 mm (11.81 inch) in from the tips of the blade. The target cross hairs should be placed in-line with the cutting edge.

View Universal Total Station (UTS) Measurements

Follow the below procedure to enter the measure-up values:

Show/hide table

Illustration 38	g06379647

1. Once all the coordinates have been measured for points AR, AL, BR, BL, CR, CL, DR, and DL, enter the points into the measure-up section of the Installation Assistant started earlier.
   Show/hide table

   Illustration 39	g06379648

2. Enter the Easting, Northing, and Elevation coordinates for the antenna AL and antenna AR points.

   Note: Ensure that the machine does not move during this portion of the measure-up process.

3. After entering the coordinates for the AL and AR, the system will check the coordinates before saving them by pressing "Take Reading" button.

   The slope distance should match the distance between the antennas. The elevation difference will be fairly small for machines sitting on a relatively level cross slope.

   Show/hide table

   Illustration 40	g06379667

4. Enter the Easting, Northing, and Elevation coordinates for the Bolt Head BL and Bolt Head BR points.

   Note: Ensure that the machine does not move during this portion of the measure-up process.

5. After entering the coordinates for the BL and BR, the system will check the coordinates before saving them with the "Next" button.

   The Slope distance should match the distance between the bolt head centers. The elevation difference will be fairly small for machines with the blade sitting on a relatively level slope.

   Show/hide table

   Illustration 41	g06379669

6. Enter the Easting, Northing, and Elevation coordinates for the cutting edge CL and Cutting Edge CR points.

   Note: Ensure that the machine does not move during this portion of the measure-up process.

   After entering the coordinates for the CL and CR, the system will check the coordinates before saving them with the "Next" button.

   The Slope distance should match the distance between the CL and CR points and the elevation difference will be fairly small for machines with the blade sitting on a relatively level slope. For evenly worn cutting edges, the elevation difference for CL/CR will be close to the elevation difference for BL/BR.

   Show/hide table

   Illustration 42	g06379678

7. Enter the Easting, Northing, and Elevation coordinates for the blade tip DL and blade tip DR points.

   Note: Ensure that the machine does not move during this portion of the measure-up process.

8. After entering the coordinates for the DL and DR, the system will check the coordinates before saving them with the "Next" button.

   The Slope distance should match the blade width. The elevation difference will be fairly small for machines with the blade sitting on a relatively level slope.

   Show/hide table

   Illustration 43	g06379670

9. Take the digital level reading of the C-frame angle. Place a digital level on the smooth underside of the C-frame and read the angle. The angle will be negative if the C-frame is sloped down towards the front.

   Note: Make sure that there are no obstructions on the measured surfaces from dirt or debris.

   Show/hide table

   Illustration 44	g06379681

10. Take the digital level reading of blade pitch angle. Place a digital level on a flat surface on the back side of the blade and measure the angle from horizontal.

    If the blade is tipped back past vertical, the angle definition can be changed with the dropdown menu to select a Backward angle definition.

    This is not a high accuracy measurement. If a smooth surface is difficult to achieve due to welds on the back of the blade, it is usually sufficient to measure across the welds.

    Show/hide table

    Illustration 45	g06379682

11. Raise the blade without changing the blade rotation or tilt function for the final zeroing of the IMUs. This will set any small IMU orientation discrepancies that are not calibrated already.

    Do not raise blade to the full lift position, instead stop short of the maximum cylinder travel length. Doing this to one or the other of the lift cylinders can create a small amount of flex or in the case of push arm machines it can cause some blade tilt.

    Once the blade is raised, press "Take Reading" to complete this step.

    Show/hide table

    Illustration 46	g06379683

12. This completes the Measure-Up process of the Installation Assistant. Press "Finish & Save" to return to the Installation Assistant interface.

Adjusting the Body Slope Adjustment

The Machine Inclination Sensor Calibration and the Measure-Up do not fully calibrate the positioning system for the GRADE system if the IMU inside the EC520 controller is not perfectly aligned with the machine centerline. To compensate for cases when the EC520 controller is rotated slightly (yawed) from the machine centerline, there are procedures implemented to compensate for this mounting.

If this procedure is not completed on a machine, the GRADE system will likely perform as expected on flat ground but will not pass match when making a pass in the reverse direction on a side slope.

The procedure to compensate for the small differences in EC520 mounting orientation is different depending on the bulldozer configuration. VPAT and push arm configuration are equipped with different IMU sensors and support different procedures to adjust the Body Slope.

Body Slope Adjustment for VPAT Machines

Show/hide table

Illustration 47	g06379702

1. Navigate to the "Configure > Install Assistant" in the Web Interface and select "Body Slope Adjustment".
   Show/hide table

   Illustration 48	g06379703

2. Park the machine on a mainfall slope of greater than seven degrees and ground the blade. The blade should be in roughly the same plane as the tracks and grounding the blade ensures that there is no drift in the IMU values.
   Show/hide table

   Illustration 49	g06379705

3. Record the sensor values in this position by pressing the "Begin Reading" button.
   Show/hide table

   Illustration 50	g06379708

4. When sufficient data from the IMU's to compare the C-Frame IMU and EC520 IMU is collected, the procedure will complete and any potential misalignment of the EC520 will be compensated in the GRADE system.

Body Slope Adjustment for Push Arm S/SU Machines

The Body Slope Adjustment on push arm S/SU machines can be completed in the operator runtime GRADE app screens and not just through the service Web Interface.

Show/hide table

Illustration 51	g06379709

1. Select "Body Slope Adjustment" from the System Settings Menu.

   Note: Make sure that the machine is stationary while adjusting the slider.

2. Grade across a slope on which escalation error can be seen.

3. Make the first pass with the slope increasing to the left, then turn around 180 deg and make a return pass (the slope should be increasing to the right) directly over the first pass.

   • If the blade does not match the first pass and the blade is positioned higher or lower, adjust the slider then test again.

   • If the blade is low (cutting into the first pass), stop, then adjust the slider to a larger number and re-test.

   • If the blade is high (filling above the first pass), stop, then adjust the slider to a smaller number and re-test.

Completing the Blade Solenoid Calibrations in Cat Electronic Technician (Cat^® ET) (Pressure Based)

The Blade Solenoid Calibrations are required by any modern Caterpillar Track-Type Tractor regardless of whether the machine has the GRADE 3D. The purpose of these calibrations is to determine the electrical current characteristics for each solenoid movement. This can vary depending on hydraulic fluid temperature, wear occurring on solenoids and valve, and the blade mass mounted on the machine. This is why it is critical to achieve the appropriate operating temperature before the calibration records the solenoid characteristics.

The Blade Solenoid Calibrations can only be completed using Cat ET and not through the Web Interface.

Connect Cat ET 2018C or newer to the machine service port through a COM adapter. Once the connection is completed, the service person may interface with the machine system settings and calibrations.

Follow the below procedure to calibrate the Blade Solenoid:

1. Select "Service" from the toolbar and select "Calibrations" from the drop-down menu.
   Show/hide table

   Illustration 52	g03815774

2. Double-click Blade Solenoid Calibration or highlight Blade Solenoid Calibration and click "Start".
   Show/hide table

   Illustration 53	g03815775

3. Read and acknowledge the warning associated with this calibration.
   Show/hide table

   Illustration 54	g03815777

4. Select the desired solenoid calibrations (typically all of them) and click the "Begin" button.
   Show/hide table

   Illustration 55	g03815779

5. Complete the calibration setup conditions:

   • Set the parking brake.

   • Engine must be running and set to high idle.

   • Implement Lockout Switch must be in the Not Locked position.

   • Hydraulic Oil Temperature must be between 50° C (122° F) and 80° C (176° F) (Hydraulic Oil may be heated by stalling the cylinders and working the cylinders back and forth through their working range).

   • Position the blade solidly on the ground.
   Show/hide table

   Illustration 56	g03815782

6. Release the blade control handle, if held, and allow it to return to its neutral position before clicking the "Next >" button.
   Show/hide table

   Illustration 57	g03815783

   Show/hide table

   Illustration 58	g03815789

7. Move and hold the Blade Control Handle into the full raise position.

   Note: The system will calibrate the solenoid while the blade control handle is being held. Illustration 58 shows "CALIBRATING" during this part of the process.

   Note: During this part of the calibration, the current values for the Blade Solenoid Current shown on the Cat ET screen will ramp up through the prescribed range.

   Show/hide table

   Illustration 59	g03815790

8. When the step has been completed (indicated by the check mark for the step in Cat ET), the Blade Control Handle should be released. Click the "Next >" button to continue.
   Show/hide table

   Illustration 60	g03816345

9. The specific Blade Solenoid Calibration should complete successfully and the dialog to continue to the next listed Blade Solenoid Calibration should be shown. Click the "Continue" button to the next Blade Solenoid Calibration.

   Note: The remaining Blade Solenoid Calibrations are similar to the Blade Raise Solenoid Calibration shown in Step 5 through Step 9.

10. Repeat similar steps as shown in Steps 5 -9 for the remaining listed Blade Solenoid Calibrations for each solenoid and Blade Control Handle function.
    Show/hide table

    Illustration 61	g03816348

11. When all the listed Blade Solenoid Calibrations have been successfully completed, click the "Finish" button to exit the successfully completed calibrations.

    Note: The S/SU blade configured machines will not show the same number of Blade Solenoid Calibrations. Machines configured with an S/SU blade will only show the Blade Raise Solenoid, Blade Lower Solenoid, Blade Tilt Left Solenoid, and Blade Tilt Right Solenoid Calibrations.

Completing the Tool Automation Valve Calibration in Cat ET or on the Machine Display

The Tool Automation Implement Valve Calibration is necessary for the GRADE system. The Tool Automation Valve Calibration provides customized GRADE hydraulic system mapping between the valve solenoids and the physical blade movement. This calibration utilizes the Blade Solenoid Calibrations completed previously. Because the Tool Automation Valve Calibration results are dependent on the Blade Solenoid Calibrations, Caterpillar recommends that the Blade Solenoid Calibrations be completed immediately preceding the Tool Automation Calibration for optimum GRADE System performance.

Note: Completing the Blade Solenoid Calibrations immediately preceding the Tool Automation Valve Calibration minimizes the system response differences due to the calibrations having been completed on hydraulic fluid at different temperatures and valve or solenoid wear.

Regardless of whether the GRADE D6 machines are configured with an S/SU or VPAT blade, the system will only have one Tool Automation Valve Calibration.

The Tool Automation Valve Calibration should be completed using Cat ET 2015B or newer.

Note: The Tool Automation Valve Calibration will move the blade automatically once initiated. A portion of the calibration will push the blade down into the ground and lift the machine. Refer to the warning description when the calibration is started.

Follow the below procedure to perform the Tool Automation Valve Calibration using Cat ET:

Show/hide table

Illustration 62	g03816351

1. To start the Tool Automation Valve Calibration, select Service from the toolbar and select Calibrations from the drop-down menu. Cat ET will populate the calibrations that are available and the Tool Automation Implement Valve Calibration can be started by double-clicking the name or highlighting it and pressing start in the lower left-hand corner of the screen.
   Show/hide table

   Illustration 63	g03816352

2. Read and Acknowledge the warning associated with this calibration by clicking the OK button.

   Do not proceed with this calibration unless you have read and understand the following instructions and warnings. Failure to follow the instructions or heed the warning could result in injury or death.

   • Automatic Lowering may Cause the Front/Rear of the machine to raise off the ground.

   • This calibration may be aborted with any blade control lever command or by setting the implement lockout switch to the lockout position

   Before Calibrating follow the steps below:

   • Park the machine in an open area on level ground.

   • Provide adequate clearance for full tilt and lift blade functions.

   • Beware of hazards such as wires, fences.

   • Clear all personnel from the machine and from the area.

   • Check visibility and adjust mirrors for best vision close to the machine.

   • Before leaving the machine or allowing others to approach the area, ensure that the park brake is on and all implements are neutralized and locked out.

   • Fasten the seat belt securely and remain in the seat throughout the procedure.
   Show/hide table

   Illustration 64	g03816355

   Show/hide table

   Illustration 65	g03816359

3. Setup calibration conditions listed:

   • Place the machine in an open area on firm ground and probably not concrete where the blade driving into the ground and lifting the machine tracks will not damage the tractor or surface.

   • Verify that the implement solenoid calibrations (Blade Solenoid Calibrations) are complete.

   • Set the Parking Brake.

   • Switch the Implement Lockout Switch to the Not Locked Position.

   • Verify that the Hydraulic Temperature is between 50 deg C and 80 deg C.

   • Raise the ripper fully.

   • Set Engine to High Idle.

   Note: The calibration will move the blade through its entire range of motion.

   Note: If the setup conditions are not satisfied when the "Next >" button is clicked, the calibration may trigger an error code specifying which setup condition is out of the required state. Illustration 65 shows that the Hydraulic Oil Temperature is Too Low, the Implement Lockout Switch is On, and the Engine RPM is set Too Low to meet the conditions.

   Show/hide table

   Illustration 66	g03816360

4. Level the blade (eyeball level) and position it slightly (approximately 1-5 cm) above the ground and click the "Next >" button.

   Note: If the calibration is being completed on a machine with a VPAT blade, the blade angle must be set so that it is square with the machine.

   Show/hide table

   Illustration 67	g03816361

5. Read and Acknowledge the warning by clicking the "Accept" button.
   Show/hide table

   Illustration 68	g03816365

   Show/hide table

   Illustration 69	g03816388

6. Click the "Next >" button and then Move the blade handle to the full lower position and return it to the center position. Leave the blade handle lever in the center position while the calibration automatically performed.

   Note: The calibration may be halted at any time in this step by moving the blade handle or clicking the Cancel button.

   Note: After completing the blade lift and lower portion of the calibration, the system maps the tilt right characteristics at both high and low speed blade movements and tilt left characteristics at both high and low speed blade movements.

   Show/hide table

   Illustration 70	g03816396

7. Click the "Finish" button as the Tool Automation Valve Calibration should have completed successfully.

Follow the below procedure to perform the Tool Automation Valve Calibration using the machine display:

Show/hide table

Illustration 71	g06379819

1. Enable "Service Mode" (default password is "1234") and navigate to the "Calibration" screen. Refer to Illustration 71.
   Show/hide table

   Illustration 72	g06379820

2. Read and acknowledge the warning for the Tool Automation Valve calibration.
   Show/hide table

   Illustration 73	g06379821

3. Press "OK".
   Show/hide table

   Illustration 74	g06379822

4. Complete the following setup conditions:

   1. Place the machine in an open area with firm level ground.

   2. Verify the implement solenoid calibrations are complete.

   3. Set the parking brake.

   4. Unlock the implements.

   5. Hydraulic oil temperature must be between 50° C (122° F) and 80° C (176° F).

      Note: If the hydraulic oil temperature is just over 50° C (122° F) and then the implement cylinders are cycles, the overall hydraulic oil temperature will likely drop.

   6. Set the engine speed to high idle.
   Show/hide table

   Illustration 75	g06379823

5. Level the blade and position it slightly above the ground. If this is a VPAT blade, angle the blade so that it is square to the machine. Then click the "Next" button
   Show/hide table

   Illustration 76	g06379825

6. Read and acknowledge the final warning before the blade starts automatically moving.
   Show/hide table

   Illustration 77	g06379826

7. Move the lever to the full lower position and return it to the center position to start the calibration and the blade will start to move when this action is completed.
   Show/hide table

   Illustration 78	g06379827

8. The blade lift and lower portion of the Tool Automation Valve calibration will progress through the calibration procedure automatically.
   Show/hide table

   Illustration 79	g06381188

9. The tilt left and tilt right portion of the Tool Auto Valve calibration will progress through the calibration procedure automatically.
   Show/hide table

   Illustration 80	g06381191

10. The Tool Automation Valve calibration will complete successfully when all the conditions are finished. If the calibration was not able to achieve all the desired valve speeds to map the hydraulic system, the calibration may complete unsuccessfully and not the solenoid calibrations that need to be re-completed before retrying the Tool Automation Valve calibration.

Remaining Configurations in the Web Interface

Note: The only way to recover access to the EC520 Controller with a forgotten password is to reset the device, which causes all onboard data to be lost.

Illustration 81	g06279058

Once the initial setup or returning login credentials are entered, the page will land on the main Web Interface page. Once the main Web Interface page opens, the following should be completed with the machine setup.

• Resetting the EC520 controller

• Checking loaded licenses

• Enter operator and technician credentials

• Configure the GNSS Radio

Resetting the EC520 controller

The EC520 Controller should be configured (if unconfigured). The EC520 Controller will arrive from the factory fully configured and usually these steps will not be necessary.

Illustration 82	g06224514

If the password has already been configured and is unknown, the only way to restore system access is to reset the EC520 Controller.

Reset to default page can be directly accessed on the EC520 Controller using the link below:

or

Illustration 83	g06279055

After the EC520 controller has been reset, the TD520 GRADE display will open the EC520 controller address at "http://192.168.168.1", and the technician can configure the new "Admin" password for the EC520 controller.

Note: The Admin password should be saved. If this password is lost the only way to recover the system is to perform a factory reset and reconfigure the entire system. All data except licenses will be lost from the EC520 controller. The factory Machine Setting file ( 561-2947 Monitor Software Gp) should also be loaded. Refer to Section "GRADE System Settings Verification", Steps 12 and 13 to load the Machine Setting file in order to reapply Caterpillar factory-specific information.

Checking Loaded Licenses

Illustration 84	g06271408

When the web UI is accessed for the first time, the licenses on the system should be verified. If the list is blank, the licenses should be added. Obtain the .license files and select "Add License File".

If any of the following listed licenses is missing from a factory machine, contact the Dealer Solution Network (DSN) to obtain the necessary licenses.

• Core License – Tractor

• Module License – 3D Guidance

• Module License – Infield Designs

• Software Maintenance Until XX XXX XXXX

• Left GNSS Receiver

• Right GNSS Receiver

The License tile will appear black as all the licenses have been properly configured in the Web Interface. The above licenses will be available on the Cat GRADE machines from the factory:

Illustration 85	g06224518

When it is necessary to add a license, select the .license file and apply it to the "System ECM" device. This will store the license file on the EC520 Controller.

Once the licenses are applied, the list of applicable licenses will appear under the device. The "Core License" must be installed on the EC520 Controller. The other licenses can be installed on the TD520 GRADE display, but for factory-integrated machine where the display remains with the machine, the licenses are installed on the EC520 Controller rather than the TD520 GRADE display.

Configuring User Permissions for Operator

To configure the operators and technician credentials use the "User Permissions" interface to Add, Edit, or Delete users.

Illustration 86	g06380084
(1) "Advanced" tab

To access the User Permissions from the Tech UI, select the "Advanced" menu and then "User Permissions" submenu. In the "User Permissions" interface, users can be added, edited, or deleted. The "Admin" has Technician and Management permissions, by default meaning the "Admin" user can access the Tech UI and make changes to the User Permissions.

To set up an operator for the GRADE app, select "+Add" and give a name, password, and assign operator permissions. If desired, Technician and Management permissions can be granted to an operator.

Illustration 87	g06380087

Illustration 88	g06380088

The password can be turned off for the operator interface through the GRADE app by turning "Require Operator Password" to OFF. Not requiring a password will impact all the operators in the list and none of the individual operators will be required to enter a password when accessing the GRADE interface.

Installing a Customer Supplied Radio

The Cat GRADE System for 3D GNSS must use a radio that is compatible with the local GNSS base station radio. Local Trimble/SITECH dealers currently offer radios compatible with the Cat GRADE System.

The GRADE 3D arrive from the factory with the bolts, bracket, and connector for Trimble 450MHz, 900MHz, or 2.4GHz SNRxxx GNSS Radio Modems.

Illustration 89	g06380089

The intended installation location is on the exterior right side rear of the cab as shown in Illustration 89. The radio modem is installed so that the component is hidden under the paneling but the connector and diagnostic lights can be seen from below and the whip antenna clears the roof.

For sites that are not using radios with the Trimble infrastructure, customer supplied radios may be connected to the GRADE System. However, the customer supplied radio will need to be configured for use with the GRADE System.

If an alternative radio is used, the following information should be considered when connecting such a radio. Caterpillar makes no claim to compatibility with all radios. Also, Caterpillar assumes no responsibility for the performance of the system integrating customer supplied radios.

The following recommendations must be considered when installing a customer supplied radio:

• 18-gauge wire is recommended for all lines. Avoid narrower gauge wire.

• Machine pinouts may vary. Refer to the Electrical Schematic for each machine to determine correct pinouts.

• These instructions do not address any unique power requirements that may apply to individual customer supplied radios.

Power to a customer supplied radio is provided through the GRADE harness at a nominal 24 VDC (15 amp max). Power may vary from 22 - 28 VDC during radio operation. If regulated power is required by the customer supplied radio, the customer must provide a power converter to the radio. Also, the customer must wire the power converter to the radio.

1. Locate the schematic for the connector for the customer supplied radio. Refer to the owner manual or the documentation from the manufacturer.

   1. Verify that 24 V DC nominal power is acceptable.

Configuring GNSS Correction Source

The active GNSS Radio is selected via the operator interface in the GRADE app, but the system connectivity must be configured in the Web Interface. The connectivity of the system will define the available options, over which the system can obtain GNSS corrections to obtain a high accuracy RTK GNSS fixed position.

Illustration 90	g06279079

Illustration 91	g06279081

To configure the "Connectivity", select the "Connectivity" menu. This will provide an interface within which a Trimble SNM940 or a Trimble SNRxxx cellular radio may be configured.

Note: A correction source must be physically connected to the system in order for the correction source to appear in the "Source" drop-down menu.

Starting the GRADE Application

From the factory the TD520 GRADE display comes preloaded with the GRADE application.

Illustration 92	g06279062

The Cat GRADE application and the Cat GRADE Web Interface are loaded to the TD520 GRADE display main page. The GRADE application may now be accessed, if the configurations required have already been completed in the Web Interface.

Illustration 93	g06224548

On entering the GRADE application for the first time or after updating the EC520 Controller software, the Grade Application must sync with the EC520 Controller. Selecting the "Download" option will match the Grade Application with the software on the EC520 Controller.

Illustration 94	g06224550

Downloading the relevant information from the EC520 Controller to the TD520 GRADE display may take a moment.

Illustration 95	g06224552

Once the relevant information is downloaded, it will automatically update and allow login.

Illustration 96	g06224553

If the password requirement has been lifted in the Web Interface, the user can simply log in after selecting the proper user. Only users configured in the Web Interface with Operator Permissions will appear in this list.

Illustration 97	g06279063

The GRADE application will show the Dashboard immediately following the login. When entering the application for the first time on a properly configured machine, most of the "Dashboard" tiles will appear black. If there is a configuration problem in the tile category, the "Dashboard" tile will appear red. When the Dashboard appears on a first login, no project will be selected so the "Job Setup" tile will appear red.

The "System Status" tile will appear black as long as all components are communicating correctly and updated to required software. If the system is not configured as a Cat GRADE machine, this tile may appear red as the system searches for other style sensors.

Illustration 98	g06279065

For a Cat GRADE machine, the "System Status" tile will accept the following devices to be available. The devices may be viewed by selecting the "System Status" tile or by viewing the"Onboard Devices" in the Web Interface

Machine ECM - TTT Machine ECM

System ECM - EC520 Controller

Machine Radio - Correction Source (for example: SNR930)

GNSS Receiver – Left - MS955

GNSS Receiver – Right - MS955

Audible Alarm - Alarm for the GRADE system

Blade Sensor - Blade Mounted GS520 IMU

C-Frame Sensor - C-Frame Mounted GS510 IMU

Illustration 99	g06271408

The "License" tile will appear black as all the licenses have been properly configured in the Web Interface. The following licenses should be available on Cat GRADE machines from the factory:

• Core License – Earthmoving

• Module License – 3D Guidance

• Module License – 'Dozer, Design Automatics

• Software Maintenance Until XX XXX XXXX

• Left GNSS Receiver

• Right GNSS Receiver

If a listed license is missing from a Cat GRADE machine, contact the Dealer Solution Network (DSN) for a resolution. If Software Maintenance has expired or another additional license is desired, renewals and add-on licenses are available from SITECH.

The "Attachment" tile will appear black if the blade has been properly configured for the GRADE system on the machine. All GRADE information related to the attachment is stored in the EC520 Controller and is dependent on the machine being measured up properly.

Illustration 100	g06273350

The "Job Setup" tile will appear red until a Project has been selected.

Illustration 101	g06273500

A Project may be created in "Depth and Slope" mode within the TD520 GRADE display but Projects with 3D Designs must be loaded to the system prior to selection.

To load a Project to the GRADE system, load the Design files to a USB storage device and transfer to the system via the USB port on the TD520 GRADE display.

The .DSZ design files and the.CAL calibration file must be placed in the USB storage device in a predefined structure.

Illustration 102	g06224565

The .DSZ design file produced from Trimble Business Center 3.80 or greater must be loaded to the "OfficeData>Design folder" and the corresponding .CAL calibration file must be loaded to the "OfficeData" Folder.

Illustration 103	g06288033

Once the files are placed in the appropriate file structure on the USB storage device, the USB storage device may be inserted into the TD520 GRADE display USB port.

Illustration 104	g06279073

When the USB storage device is plugged into the USB port on the TD520 GRADE display with the GRADE application active, a File Transfer interface will appear. Select "Import Files TO Machine" from "USB" to import the files.

The "Export Files FROM Machine" option in the "Transfer Type" dialog can also be selected to transfer files from the machine to a USB stick. However, in cases of new machines where no files are existing on the EC520 Controller, no files will be transferred from the machine. Files can also be transferred to and from the TD520 GRADE display using this interface.

Illustration 105	g06279074

When importing files such as design files, the Projects can be collectively selected or individual projects can be selected using the drop-down tab. If the desired project name is not seen, examine the Project folder for the.DSZ design file.

Illustration 106	g06279063

Illustration 107	g06279077

With a Project selected in the "Job Setup" tile, none of the "Dashboard" tiles should be red and the GRADE system can be started.

Check Cutting Edge Length and Accuracy of the GRADE 3D System

Follow the below procedure to validate machine measurements:

1. Ensure that the correction source is configured to match the base station and is working properly. Refer to Section "Configuring GNSS Correction Source", Cat Dealer GNSS specialist, or SITECH for extra assistance.

2. Validate the cutting edge length.

   1. Follow all safety procedures outlined in this manual and the machine Operation and Maintenance Manual. Be certain the blade is in the down position before performing the following procedure.

   2. With the blade of the machine in the down position on the ground, measure the height of the cutting edge. Measure to the center of the bolt holes.
      Show/hide table

      Illustration 108	g06273351

   3. Access the "Work Settings > Attachment" menu to view the Cutting Edge Length.

      Note: Be aware of the units. If the display is set up in metric units, the blade measurement must be entered in metric units. If the display is set up in feet, the blade measurement must be entered in tenths of feet.

   4. Verify that the Cutting Edge Length A and Length B match the measurements. If the measurements do not match the values shown in the machine after the blade has worn, adjusting the value can restore the system accuracy.

      Note: Blade wear is calculated during the measure up. Error between the displayed blade wear value and the measured blade wear, indicates an error in the entered measure-up value. Double check values entered against values measured for keyin mistakes or improper units. If the source of any gross error cannot be identified, repeat the measure-up.

3. Validate the GRADE System accuracy with rover checks.

   Show/hide table

   Failure to use an approved access system during installation and removal of components could result in slipping and falling which could result in personal injury or death. To prevent injury or death, use an approved access system to reach the appropriate mounting locations of the components. Do not climb on the machine. Maintain three-points of contact and/or use a safety harness.

   1. Ensure that the acrylic targets are removed from the blade.

   2. Ensure that the measure-up tool has been removed from the GNSS antennas.

   3. Load a Project in the GRADE application with a design surface and site calibration that matches the design surface and site calibration on a GNSS rover which can be used to check the GRADE system.

      • Check that all dashboard tiles are in working order and allow the main screen to be started.

      • Confirm that the GRADE system has high precision GNSS accuracy.

      • Confirm that the site calibration used in the project on the GRADE system matches the site calibration used in the GNSS rover. Also, confirm that the GRADE system and GNSS rover are connected to the same base station or equivalent correction source.
      Show/hide table

      Illustration 109	g06076947
      Right blade tip

      Show/hide table

      Illustration 110	g06076798
      Left blade tip

   4. Using the GNSS rover, measure and record the Northing, Easting, and Elevation values at the tips of the blade. Refer to Illustration 109 and Illustration 110 for the measurement location on the blade tips.
      Show/hide table

      Illustration 111	g06279628

   5. The Northing, Easting, and Elevation of the selected focus point can be viewed in the text banner of the main screen. If the text banner is not showing the Northing, Easting, or Elevation details, it can be configured by pressing and holding the text banner area.

   6. Compare the difference in the GRADE system values versus GNSS rover values for the Northing, Easting, and Elevation at the left and right blade tips. If the GNSS rover values are not within the average error 30.0 mm (1.18 inch) from the focus point coordinates displayed on the GRADE display, repeat the measure-up procedure.

   7. Turn the machine approximately 135 degrees to the right or left and repeat Step 3c through Step 3f.

   8. The values should match to within 30.0 mm (1.18 inch) or desired accuracy. If the values do not match to within 30.0 mm (1.18 inch) or desired accuracy, repeat the calibration measure-up procedure, if necessary.

Save Machine Settings File

Follow the below procedure to save the machine settings file:

Note: This file should be stored in a safe place to help in the recovery of machine settings in the event of changing the display.

1. Enter "Web Interface" and navigate to "Advanced > Machine Settings".

2. Save the "Machine Setting file".

3. Insert USB with the GRADE application active and Transfer Earthworks Data.

Save ECM Replacement File

Follow the below procedure to save the ECM replacement file:

1. Connect Caterpillar ET to the machine and select ECM.
   Show/hide table

   Illustration 112	g03797677

2. Click the Service tab, Copy Configuration selection, and select the ECM Replacement option. Refer to Illustration 112.

   Note: The measure-up dimensions of the machine are stored in the ECM. If the ECM is replaced during machine service, measure and calibrate the machine again if the Implement ECM configuration data is not downloaded and saved.

   Show/hide table

   Illustration 113	g03797678

3. Click "Yes" button to acknowledge that the data must be loaded from the ECM.

4. Acknowledge the ECM data was loaded.

5. Select "Save to File" and name/store appropriately.