Procedure for Machine Dimension Measure-Up for Mining Sites with Cat® Command For Hauling {7605, 79AU} Caterpillar

Procedure for Machine Dimension Measure-Up for Mining Sites with Cat® Command For Hauling {7605, 79AU}

Usage:

- CM4

Machine Control and Guidance Products: CMD FOR HAULING (S/N: CM41-UP)
Off-Highway Truck/Tractor: 789D (S/N: SPD1-UP); 793F (S/N: D3T1-UP; RBT1-UP); 797F (S/N: LAJ1-UP; LTZ1-UP)

Introduction

This Special Instruction is intended to provide a detailed instruction procedure to produce accurate and complete machine position and dimension inputs for the Cat^® MineStar System.

Note: Failure to measure the machine accurately could result in performance and safety degradation. Be sure that all measurements are accurate to within 10.0 cm (3.94 inch).

The machine dimensions entered into Command must accurately reflect the true dimensions of the machine. Consistency between the values entered into Cat MineStar System office software and actual machine dimensions are crucial to ensure the system functions correctly.

Note: Record all dimensions accurately in meters.

Important Safety Information

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 must 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 of a potential hazard.

Therefore, the warnings in this publication and the warnings that are on the product are not all inclusive. Avoid using a tool, a procedure, a work method, or operating technique that is not recommended by Caterpillar. If used, ensure the safety of the operating personnel and others.

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

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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 Manuals. Failure to follow the instructions or heed the warnings could result in injury or death. Contact your Cat dealer for replacement manuals. Proper care is your responsibility.

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Electrocution Hazard! Keep the machine and attachments a safe distance from electrical power. Stay clear 3 m (10 ft) plus twice the line insulator length. Read and understand the instructions and warnings in the Operation and Maintenance Manual. Failure to follow the instructions and warnings will cause serious injury or death

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Accidental engine starting can cause injury or death to personnel working on the equipment.
To avoid accidental engine starting, turn the battery disconnect switch to the OFF position. Remove the key for the battery disconnect switch. Use a secure padlock in order to lock the battery compartment access door.

Place a Do Not Operate tag at the Start/Stop switch location to inform personnel that the equipment is being worked on.

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Personal injury or death can result from sudden machine movement.
Sudden movement of the machine can cause injury to persons on or near the machine.
Prevent possible injury by performing the procedure that follows before working on the machine.
Move the machine to a smooth horizontal location. Move away from working machines and personnel and lower the implement to the ground.
Permit only one operator on the machine. Keep all other personnel away from machine or in view of the operator.
Engage the parking brake. Stop the engine.

Move the hydraulic control levers to all positions to release the pressure in the hydraulic system.

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Personal injury or death can result from fumes, gases and ultraviolet rays from the weld arc.
Welding can cause fumes, burn skin and produce ultraviolet rays.
Keep your head out of the fumes. Use ventilation, exhaust at the arc, or both, to keep fumes and gases from your breathing area. Wear eye, ear and body protection before working.
Protect yourself and others; read and understand this warning. Fumes and gases can be dangerous to your health. Ultraviolet rays from the weld arc can injure eyes and burn skin. Electric shock can cause death.
Read and understand the manufacturer's instructions and your employer's safety practices. Do not touch live electrical parts.
See "American National Standard Z49.1, Safety in Welding and Cutting" published by the American Welding Society.
American Welding Society
2501 N.W. 7th Street
Miami, Florida 33125

See "OSHA Safety and Health Standards, 29 CFR 1910", available from U.S. Department of Labor.
U.S. Department of Labor
Washington, D.C. 20210

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Illustration 1	g00037860

Use steps and handholds whenever you mount the machine. Use steps and handholds whenever you dismount the machine. Before you mount the machine, clean the step and the handholds. Inspect the step and handholds. Make all necessary repairs.

Face the machine whenever you mount the machine and whenever you dismount the machine. Maintain a three-point contact with the step and with handholds.

Note: Three-point contact can be both feet and one hand or a single foot and two hands.

Do not mount a moving machine. Do not dismount a moving machine. Never jump off the machine. Do not try to mount the machine when you carry tools or supplies. Do not try to dismount the machine when you are carrying tools or supplies. Use a hand line to pull equipment onto the platform. Do not use any controls as handholds when you enter the cab or when you exit the cab.

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Personal injury or death can occur if personnel are trapped between the wheel and the frame.
The steering system is hydraulically controlled and wheels can crush personnel during movement.

Use caution when working between the wheels and the frame. If the wheels must be turned, ensure that all personnel are clear of the machine before any movement.

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Inaccurate measurement of a machine (including light vehicles) can result in performance and safety degradation. Personal injury or death can result.
Measurements smaller than the machine will result in the positioning system being unaware of extruding portions of the machines. This could result in physical contact between machines. Dimensions larger than the actual machine dimensions will result in blockage and false perceptions by the autonomous positioning and perception systems. This will result in improper stoppages and truck redirections.

To avoid these and other situations, ensure that this measure up procedure and verification procedure are performed accurately.

Definitions

Articulating Machine - Any machine which has a pivot point that allows the machine to articulate, including but not limited to Wheel Loaders, and Articulated Trucks.

Avoidance Area - The area used by the Detect Proximity Awareness and Autonomous Mining Trucks (AMT). AMTs will stop if any other machine avoidance area boundary is within proximity to the path of the AMT. Detect Proximity Awareness equipment will notify if the avoidance area boundary contacts an AMT avoidance area boundary or another piece of equipment with Detect Proximity Awareness installed.

Body Area - The bounding box of the machine body measured at the widest and longest dimensions of the machine for linear machines or at the longest radius of the machine for rotational machines.

Buffer - A length added to the Body Area and Avoidance Area dimensions to account for any small errors in measurements or small variations in GPS location reporting.

GPS Antenna Position - The location of the center of the GPS antenna as measured from the Machine Origin.

Linear Machine - Any machine which primarily moves in a linear direction, including but not limited to Mining Trucks, Light Trucks, and Track Type Tractors.

Machine Origin - The location from which the machine reports position. This location is NOT the same as the right rear corner of the machine.

Machine Origin Offset - The distance along the X- or Y-axis from the Machine Origin to the right rear corner of the machine.

Machine Length - The distance from rear-most point of the machine to the front-most point on the machine, including any bumpers, hitches, or other additions to the machine, including customer or dealer attachments.

Machine Width - The widest dimension of the overall machine, including mirrors or any additions to the machine.

Right Rear Corner - The point that extends from the right-most point of the machine along the X-axis and from the rear-most point of the machine along the Y-axis from the perspective of the operator station of the machine when facing the front of the machine.

Rotational Machine - Any machine which can rotate about an axis while the base remains stationary, including but not limited to Draglines, Excavators, and Shovels.

Note: This type is also used for machines that are unable to resolve a reliable heading due to the configuration of or typical operation of the machine.

Standard Machine Type Information

The information contained within Table 1 is the standard or typical machine type information. This information includes origin point, measure-up type, and body/avoidance area shape. Individual machines origin positions may differ. Confirm the position that is being broadcast by the machine.

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Table 1
Standard Machine Type Information
Machine Type	Measure-Up Type	Machine Origin / Reported Position	Body / Avoidance Area Shape
Articulated Truck	Articulated	Center of Front Axle	Rectangular (including range of articulation)
Cable Shovel (Single Antenna)	Rotational	Center of Rotation	Rectangular body / Circular avoidance
Compactor (Soil and Landfill)	Linear	Center of Front Axle	Rectangular
Compactor (Roller)	Linear	Center of Front Axle	Rectangular
Dragline	Rotational	Center of Rotation	Circular
Drill	Linear	Center of Bit or Drill Shaft	Rectangular
Dual Antennae Front Shovel or Excavator	Rotational for Dual Antenna	Center of Boom Pin	Rectangular body / Circular avoidance
Fuel Truck	Linear	Center of Rear Axle	Rectangular
Haul Truck	Linear	Center of Rear Axle	Rectangular
Haul Truck (Autonomous)	Use predefined measurements. If predefined measurements do not validate, contact Caterpillar Technical Support.⁽¹⁾
Hydraulic Shovel (Single Antenna)	Rotational	Center of Rotation	Circular
Infrastructure	Linear	Center of Body	Either
Light Vehicle	Linear	Center of Rear Axle	Rectangular
Motor Grader	Articulated	Center of Rear-most Axle	Rectangular
On Highway Truck	Linear	Center of Rear Axle	Rectangular
Other No Heading	Rotational	Center of Body	Circular
Other With Heading	Linear	Center of Body	Either
Scraper	Linear	Center of Rear Axle	Rectangular
Soil Compactor	Linear	Center of Rear Axle	Rectangular
Surface Miner	Linear	Center of Cutting Head	Rectangular
Terrain Leveler	Linear	Center of Cutting Head	Rectangular
Track Dozer	Linear	Center of Rear Axle	Rectangular
Track Excavator (non-loading tools)	Rotational	Center of Rotation	Circular
Track Loader	Linear	Center of Rear Axle	Rectangular
Tractor	Linear	Center of Rear Idler	Rectangular
Underground LHD	Linear	Center of Rear Axle	Rectangular
Underground Truck	Linear	Center of Rear Axle	Rectangular
Water Truck	Linear	Center of Rear Axle	Rectangular
Wheel Dozer	Articulated	Center of Front Axle	Rectangular (including range of articulation)
Wheel Excavator (Single Antenna)	Rotational	Center of Rotation	Circular
Wheel Loader	Articulated	Center of Front Axle	Rectangular (including range of articulation)

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⁽¹⁾	If additional features or equipment are added to the machine that increase the length or width, greater than the predefined measurements, then the larger measurements are to be entered for the body and avoidance boundaries.

Required Tools

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Table 2
Tools
GPS rover survey device⁽¹⁾
Plumb bob
Wood stakes or other ground markers
15 m (50 ft) tape measure

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⁽¹⁾	Always verify calibration of the GPS rover with a known survey point prior to using.

Measure Up Guidelines

This section describes guidelines for acquiring accurate measurements from the machine. Failure to make accurate measurements could adversely affect machine performance or result in safety hazards.

Move the machine to level ground that is outside the normal working area of the mine and away from other operating machines.
Accuracy to ± 10.0 cm (± 3.93 inch) is required.
When using the GPS rover device, no measurements can be taken while the machine is next to buildings, or other obstructions that may result in GPS signal degradation. Large vehicles such as Large Mining Trucks can also cause signal degradation.
When using the GPS rover device, the device is required to be plumb and level before recording measurements.
When measuring Machine Width, measure at the widest points of the machine, including all attachments to the machine (such as mirrors, stabilizers, and other such attachments).
When measuring Machine Length, all implements are to be extended to the furthest reach. Include all attachments to the machine when measuring (such as chucks, stabilizers, buckets, and other such attachments).
For points that cannot be measured using the GPS rover device directly (such as the center of the rear differential), use a plumb bob to transfer the point to the ground. Mark the spot on the ground with a wooden stake. Move the machine out of the way then measure the point using the GPS rover device.

Measuring Linear Machines

This section describes the dimensions that are needed for Linear Machines. This section applies to but is not limited to Mining Trucks, Light Vehicles, and any other machines that operate in a linear method.

Perform the following procedures to populate Table 3:

Note: Before measuring the machine, move the machine to level ground away from other working machines. Working at heights may be necessary to access parts of the machine. Make sure that there are no obstructions nearby that may hinder the operation of the GPS rover device.

Note: Autonomous Mining Trucks (AMTs) have predefined value requirements and should not use the standard measure up procedure.

Note: Autonomous Mining Trucks (AMTs) may have additional width or length given the application of special mirrors, custom bodies, and so on. The additional width must also be entered in the site configuration utility for the respective machines.

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To avoid these and other situations, ensure that this measure up procedure and verification procedure are performed accurately.

Linear Machine Dimensions

Perform the following procedure:

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Illustration 2	g03200317
Machine axes (1) Right rear corner

Locate the right rear corner (1) of the machine. This point is the point that extends from the right-most point of the machine along the X-axis and from the rear-most point of the machine along the Y-axis. All other dimensions of the machine will be based from this point. Mark the location of the right rear corner on the ground using a stake.

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Illustration 3	g03473016
Linear machine dimensions (1) Right rear corner (5) Machine origin (6) GPS antenna (A) Machine origin X coordinate (B) Machine length (C) GPS antenna X (D) GPS antenna Y (E) Machine width (F) Machine origin Y coordinate

Measure the machine length (B). This dimension is the distance from rear-most point of the machine to the front-most point on the machine, including any bumpers, hitches, or other additions to the machine, including customer or dealer attachments. Record this value in Table 3.
Note: For Drills, the mast should be in the down position.
Measure the machine width (E). This dimension is the widest dimension of the overall machine, including mirrors or any additions to the machine. Record this value in Table 3.
Measure the machine origin X coordinate (A) and the machine origin Y coordinate (F) in relation to the right rear corner. Typically for linear machines the machine origin will be the center of the rear differential. Refer to Table 1 for standard machine origin locations. Record these values in Table 3.
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Illustration 4 g03473020

(5) Machine origin
Measure the GPS antenna X and GPS antenna Y position in relation to the machine origin. Record these values in Table 3.
Note: These values may be entered as positive (+) or negative (-) values. If the GPS antenna is located in front of the machine origin, the X value will be positive (+). If the GPS antenna is located behind the machine origin, the X value will be negative (-). Likewise, if the GPS antenna is located to the left of the machine origin, the Y value will be positive (+). If the GPS antenna is located to the right of the machine origin, the Y value will be negative (-). Reference Illustration 4 for further explanation.
Note: The GPS antenna offset, as recorded in Cat MineStar System, is not currently used by machines equipped with Terrain, but may be used in future versions.
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Illustration 5 g03409749

(G) GPS Antenna Z (Offset)
Measure the GPS antenna Z position (G) in relation to the ground level. This measurement should be from the center of phase. Record these values in Table 3.
Note: This value is used for any machine running Detect Proximity Awareness. This value is not entered directly into Cat MineStar System.
Note: The center of phase can be found on the specification documentation for the antenna. For the MS992, the center of phase is where the yellow meets the white on the plastic casing.

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Table 3
Linear Machine Dimensions
Name	Description	Value (in Meters) (1 ft = 0.3048 m)
Machine Length	The distance from the right rear corner to a point that is perpendicular to the front-most point of the machine along the X-axis. Extend any implements to the furthest reach and include all attachments in the measurement.
Machine Width	The distance from the right rear corner to a point that is perpendicular to the left-most point of the machine along the Y-axis. Include any attachments in the measurement.
Machine Origin X Coordinate	The distance from the right rear corner to a point that is perpendicular to the Machine Origin along the X-axis.
Machine Origin Y Coordinate	The distance from the right rear corner to a point that is perpendicular to the machine origin along the Y-axis.
GPS Antenna X	The distance from the machine origin to the center of the GPS antenna along the X-axis. This value can be positive or negative.
GPS Antenna Y	The distance from the machine origin to the center of the GPS antenna along the Y-axis. This value can be positive or negative.
GPS Antenna Z	The distance from the center of the GPS antenna to the ground.

Linear Machine Body and Avoidance Areas

Perform the following procedure:

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Illustration 6	g06292888
Linear machine body area (H) Body area left length (J) Body area right length (K) Body area back length (L) Body area front length

Measure the body area left length (H) and the body area right length (J). Refer to Illustration 6. This dimension is the distance from the machine origin Y coordinate to a point that is perpendicular to the left-most or right-most point of the machine. If the machine origin is on the centerline of the machine, the body area left (H) and body area right (J) lengths will be the same. Add a 0.5 m (1.64 ft) buffer to the body area left length and to the body area right length. Record the values in Table 4.

Measure the body area front (K) and body area back length (J). Refer to Illustration 6. This dimension is the distance from the machine origin X coordinate to a point that is perpendicular to the rear-most or front-most point of the machine. Add a 0.5 m (1.64 ft) buffer to the body area front length (K) and to the body area back length (J). Record the values in Table 4.

Note: For Drills, the mast should be in the down position.

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Illustration 7	g06292858
Linear machine avoidance area (8) Body area polygon (M) Avoidance area back length (N) Avoidance area left length (P) Avoidance area front length (R) Avoidance area right length

For Avoidance Area lengths, use 2.0 m (6.56 ft) for all sides. Refer to Illustration 7. Record the values in Table 4.

Note: For Track Dozer and Wheeled Dozer machines, the rear avoidance area length (M) should be 5 m (16.4 ft).

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Table 4
Linear Machine Body and Avoidance Areas
Name	Description	Value (in Meters) (1 ft = 0.3048 m)
Body Area Left Length	The distance from the Machine Origin to a point that is perpendicular to the left-most point of the machine plus buffer.
Body Area Right Length	The distance from the Machine Origin to a point that is perpendicular to the right-most point of the machine plus buffer.
Body Area Back Length	The distance from the Machine Origin to a point that is perpendicular to the rear-most point of the machine plus buffer.
Body Area Front Length	The distance from the Machine Origin to a point that is perpendicular to the front-most point of the machine plus buffer.
Avoidance Area Lengths	The distance of the Avoidance Area that extends past the Body Area on each side of the machine. Typically 2.0 m (6.56 ft) on each side.

Measuring Articulated Machines

This section describes the dimensions that are needed for Articulated Machines. This section applies to Wheel Loaders, Articulated Trucks, Motor Graders, and any other machines that have a point of articulation. Articulated Machine dimensions need to account for the complete range of articulation.

Perform the following procedure to populate Table 5.

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To avoid these and other situations, ensure that this measure up procedure and verification procedure are performed accurately.

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NOTICE

If the body area polygon does not cover all parts of the machine, there is potential for part of the machine to be viewed as an obstacle by an AMT and may cause an AMT to stop or slow down. This could also result in physical contact between machines. If using this alternative body area polygon, ensure that machine operators are aware of these limitations.

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Illustration 8	g03200877
Articulated machine dimensions (1) Right rear corner (2) GPS antenna (3) Machine origin (A) Machine origin X coordinate (B) Machine length (C) GPS antenna X (D) GPS antenna Y (E) Machine origin Y coordinate (F) Machine width

Straighten the machine to a non-articulated state, or as close as possible. Locate the right rear corner (1) of the machine. This point is the point that extends from the right-most point of the machine along the X-axis and from the rear-most point of the machine along the Y-axis. All other dimensions of the machine will be based from this point. Mark the location of the right rear corner on the ground using a stake.
Measure the machine length (B). This dimension is the distance from rear-most point of the machine to the front-most point on the machine, excluding any bumpers, hitches, other additions to the machine. Record this value in Table 5.
Measure the machine width (F). This dimension is the widest length of the overall machine. Record this value in Table 5.
Measure the machine origin X coordinate (A) and the machine origin Y coordinate (E) in relation to the right rear corner. Refer to Table 1 for standard machine origin locations. Record these values in Table 5.
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Illustration 9 g03729137
Measure the GPS antenna X (C) and GPS antenna Y (D) position in relation to the machine origin. Record these values in Table 5.
Note: These values may be entered as positive (+) or negative (-) values. If the GPS antenna is located in front of the machine origin, the X value will be positive (+). If the GPS antenna is located behind the machine origin, the X value will be negative (-). Likewise, if the GPS antenna is located to the left of the machine origin, the Y value will be positive (+). If the GPS antenna is located to the right of the machine origin, the Y value will be negative (-). Refer to Illustration 9.
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Illustration 10 g03409767

(G) GPS Antenna Z (Offset)
Measure the GPS antenna Z position in relation to the ground level. This measurement should be from the center of phase. Record these values in Table 5.
Note: This value is used for any machine running Detect Proximity Awareness. This value is not entered directly into Cat MineStar System.
Note: The center of phase can be found on the specification documentation for the antenna. For the MS992, the center of phase is where the yellow meets the white on the plastic casing.

Articulated Machine Dimensions

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Table 5
Articulated Machine Dimensions
Name	Description	Value (in Meters) (1 ft = 0.3048 m)
Machine Length	The distance from the rear most point of the machine to the front most point of the machine excluding any bumpers, hitches, or other additions to the machine, including customer or dealer attachments.
Machine Width	The distance from the right rear corner to a point that is perpendicular to the left-most point of the machine along the Y-axis.
Machine Origin X Coordinate	The distance from the right rear corner to a point that is perpendicular to the Machine Origin along the X-axis.
Machine Origin Y Coordinate	The distance from the right rear corner to a point that is perpendicular to the Machine Origin along the Y-axis.
GPS Antenna X	The distance from the machine origin to the center of the GPS antenna along the X-axis. This value can be positive or negative.
GPS Antenna Y	The distance from the machine origin to the center of the GPS antenna along the Y-axis. This value can be positive or negative.
GPS Antenna Z	The distance from the center of the GPS antenna to the ground.

Articulated Machine Body and Avoidance Area

Perform the following procedure to populate Table 7.

Ensure that all implements, such as buckets, are centered and extended to the full reach.
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Illustration 11 g06292860

Front and rear articulating lengths
(3) Machine origin
(H) Body area back length
(J) Body area front length
Locate the machine left rear point and the machine right rear point. These points are the points that are located the farthest rear and farthest left (or right) on the machine, for example the left rear corner of the rear bumper. Refer to Illustration 11.
Measure the distance between the machine origin and the machine left rear point. Measure the distance between the machine origin and the machine right rear point. Use the larger of these two values as the body area back length (H). Refer to Illustration 11. Record this value in Table 6.
Locate the machine left front point and the machine right front point. Refer to Illustration 11.
Note: For Wheel Loaders, this point will be the front left and right corners of the wheels.
Note: For Motor Graders, the body area must consider the range of articulation for the machine, the extension of the mould board, and articulation of the front wheels. Each new operation is advised to review the normal operating configuration of the motor graders to determine the typical ranges of articulation used when transporting or when operating alongside autonomous equipment. Machine dimensions should be established based on normal operating configurations and care must be taken to not allow the operation of autonomous equipment near any equipment not operating within the configuration that was used to establish these machine awareness boundaries.
Measure the distance between the machine origin and the machine left front point. Measure the distance between the machine origin and the machine right front point. Use the larger of these tow values as the body area front length. Refer to Illustration 11. Record this value in Table 6.
Articulate the machine fully to the right.
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Illustration 12 g06292867

Articulating machine body area width
(5) Machine center line
(6) Full right articulation point
(K) Body area right length
Measure the distance along the Y-axis between the machine center line and the full right articulation point from step 6. Add 0.5 m (1.64 ft) to this value. Refer to Illustration 12. This dimension will be used for the body area right length (K) and body area left length. Record these values in Table 6.
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Illustration 13 g06292868

Articulated machine avoidance area
(L) Avoidance area back length
(M) Avoidance area left length
(N) Avoidance area right length
(P) Avoidance area front length
For articulated loading tools, reducing the body area polygon size to reduce nuisance alarms while loading may be desirable. Using a smaller body area polygon may also allow the machine to work in a tighter loading area without negatively affecting production. It is important that the operator station and all access and egress points of the machine remain covered by the body polygon. This procedure may be used as an alternative to the standard body and avoidance area measurements for articulated loading machines. This process is similar to the process for measuring a linear machine.
Note: For this procedure, the steps for measuring an Articulated machine must still be performed to determine the correct size for the avoidance area. The values from Table 6 will be used with the values obtained during this procedure.
Note: MineStar does not have fields for Minimum Body Area Length. The values from Table 7 will be entered into MineStar in the Body Area fields.
1. Measure the minimum body area left length (A). Refer to Illustration 14. This dimension is the distance from the machine origin Y coordinate to a point that is perpendicular to the left-most point of the egress or operator enclosure location. Add a 0.5 m (1.64 ft) buffer to the minimum body area left length. Record these values in Table 7.
2. Measure the minimum body area right length (B). Refer to Illustration 14. This dimension is the distance from the machine origin Y coordinate to a point that is perpendicular to the right-most point of the egress or operator enclosure location. Add a 0.5 m (1.64 ft) buffer to the minimum body area right length. Record these values in Table 7.
3. Measure the minimum body area back length (C). Refer to Illustration 14. This dimension is the distance from the machine origin X coordinate to a point that is perpendicular to the rear-most of the egress or operator enclosure location. Add a 0.5 m (1.64 ft) buffer to the minimum body area back length. Record these values in Table 7.
4. Measure the minimum body area front length. Refer to Illustration 14. This dimension is the distance from the machine origin X coordinate to a point that is perpendicular to the front-most of the egress or operator enclosure location. This dimension must include any egress catwalks in front of the cab enclosure. Add a 0.5 m (1.64 ft) buffer to the minimum body area front length. Record these values in Table 7.
  Note: If the front-most of the egress or operator enclosure location is behind the machine origin, this dimension will be a negative number.
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Illustration 14 g03725274

Minimum body area
For avoidance area lengths, use 2.0 m (6.56 ft) for all sides. Refer to Illustration 13. Record the values in Table 6.
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Illustration 15 g03725301

Avoidance area with minimum body area
(9) Minimum body area
(10) Avoidance area
(11) Standard body area
For Articulating Loading Tools, the use of the minimum body area adjusts the avoidance area dimensions. Follow this step to define the adjusted avoidance area dimensions for an Articulating Loading tool.
1. For the left avoidance area, take the left body length minus the left minimum body length. This number plus the standard 2.0 m (6.56 ft) will be the left avoidance area. Record these values in Table 7.
2. For the right avoidance area, take the right body length minus the right minimum body length. This number plus the standard 2.0 m (6.56 ft) will be the right avoidance area. Record these values in Table 7
3. For the rear avoidance area, take the rear body length minus the rear minimum body length. This number plus the standard 2.0 m (6.56 ft) will be the rear avoidance area. Record these values in Table 7
4. For the front avoidance area, take the front body length minus the front minimum body length. This number plus the standard 2.0 m (6.56 ft) will be the front avoidance area. Record these values in Table 7

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Table 6
Articulated Machine Body and Avoidance Area
Name	Description	Value (in Meters) (1 ft = 0.3048 m)
Body Area Right Length	The distance from the machine center line to a point that is perpendicular to the right-most point of operator station position (at full articulation) including all access and egress points plus a 0.5 m (1.64 ft) buffer.
Body Area Left Length	The distance from the machine center line to a point that is perpendicular to the left-most point of operator station position (at full articulation) including all access and egress points plus a 0.5 m (1.64 ft) buffer. This dimension will be the same as the body area right length.
Body Area Back Length	The distance from the machine origin to the farthest rear point of the machine, typically the right, or left rear corner of the bumper plus a 2.0 m (6.56 ft) buffer.
Body Area Front Length	The distance from the machine origin to the front of the front wheels plus 0.5 m (1.64 ft).
Avoidance Area Lengths	The distance of the avoidance area that extends past the body area on each side of the machine including bumpers, hitches, implements, and customer or dealer attachments. Typically 2.0 m (6.56 ft) to the rear and 2.5 m (8.20 ft) to the front and sides at the furthest most point of the articulation.

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Table 7
Alternative Body and Avoidance Area for Articulated Loading Tool
Name	Description	Value (in Meters) (1 ft = 0.3048 m)
Minimum Body Area Right Length	Measure the minimum body area right length. This dimension is the distance from the machine origin Y coordinate to a point that is perpendicular to the right-most point of the egress or operator enclosure location. Add a 0.5 m (1.64 ft) buffer to the minimum body area right length.
Minimum Body Area Left Length	Measure the minimum body area left length. This dimension is the distance from the machine origin Y coordinate to a point that is perpendicular to the left-most point of the egress or operator enclosure location. Add a 0.5 m (1.64 ft) buffer to the minimum body area left length.
Minimum Body Area Front Length	Measure the minimum body area front length. This dimension is the distance from the machine origin X coordinate to a point that is perpendicular to the front-most point of the egress or operator enclosure location. Add a 0.5 m (1.64 ft) buffer to the minimum body area front length. Note: If the front-most of the egress or operator enclosure location is behind the machine origin, this dimension will be a negative number.
Minimum Body Area Back Length	Measure the minimum body area back length. This dimension is the distance from the machine origin X coordinate to a point that is perpendicular to the rear-most point of the egress or operator enclosure location. Add a 0.5 m (1.64 ft) buffer to the minimum body area back length.
Avoidance Area Right Length	For the right avoidance area, take the body area right length minus the minimum body area right length. This number plus the standard 2.0 m (6.56 ft).
Avoidance Area Left Length	For the left avoidance area, take the body area left length minus the minimum body area left length. This number plus the standard 2.0 m (6.56 ft).
Avoidance Area Front Length	For the front avoidance area, take the body area front length minus the minimum body area front length. This number plus the standard 2.0 m (6.56 ft).
Avoidance Area Back Length	For the rear avoidance area, take the body area rear length minus the minimum body area rear length. This number plus the standard 2.0 m (6.56 ft).

Measuring Single Antenna Rotational Machines

This section describes the dimensions that are needed for Rotational Machines. This section applies to Excavators, Shovels, Draglines, and any other machines that operate in a rotational manner.

Perform the following procedure to populate Table 8.

Show/hide table

To avoid these and other situations, ensure that this measure up procedure and verification procedure are performed accurately.

Straighten the machine so that the boom is parallel with the tracks.

Show/hide table




Illustration 16	g03381046
Rotational machine measurements (1) Right rear corner (2) Primary (master) GPS antenna (3) Machine origin / Center of rotation (A) Machine width (B) Machine origin Y coordinate (C) Machine origin X coordinate (D) GPS antenna X (E) Machine length

Locate the right rear corner of the machine. This point is the point that extends from the right-most point of the machine along the X-axis and from the rear-most point of the machine along the Y-axis. All other dimensions of the machine will be based from this point. Mark the location of the right rear corner on the ground using a stake.
Extend any buckets or implements to the farthest reach. Measure the machine length. This dimension is the distance from rear-most point of the machine to the front-most point on the machine, including any bumpers, hitches, or other additions to the machine, including customer or dealer attachments. Record this value in Table 8.
Measure the machine width. This dimension is the widest length of the overall machine, including mirrors or any additions to the machine. Record this value in Table 8.
Measure the machine origin X coordinate and the machine origin Y coordinate in relation to the right rear corner. Typically for rotational machines this point will be the center of the rotation. Refer to Table 1 for standard machine origin locations. Record these values in Table 8.
For machines where the machine origin is NOT the center of rotation, measure the center of rotation X coordinate and the center of rotation Y coordinate in relation to the right rear corner. Typically for rotational machines, the machine origin is the center of the rotation.
Measure the GPS Antenna X and GPS Antenna Y position in relation to the Machine Origin. For a dual antenna system, these values will be based on the primary (master) GPS antenna. For a single antenna system, the antenna should be at the center of rotation. Record these values in Table 8.
Note: These values may be entered as positive (+) or negative (-) values. If the GPS antenna is located in front of the machine origin, the X value will be positive (+). If the GPS antenna is located behind the machine origin, the X value will be negative (-). Likewise, if the GPS antenna is located to the left of the machine origin, the Y-value will be positive (+). If the GPS antenna is located to the right of the machine origin, the Y value will be negative (-). Refer to Illustration 3.
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Illustration 17 g03409779

(F) GPS Antenna Z (Offset)

Measure the GPS antenna Z position in relation to the ground level. This measurement should be from the center of phase. Record this value in Table 8.

Note: This value is used for any machine running Detect Proximity Awareness. This value is not entered directly into Cat MineStar System.

Note: The center of phase can be found on the specification documentation for the antenna. For the MS992, the center of phase is where the yellow meets the white on the plastic casing.

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Illustration 18	g06292918
(3) Center of rotation (5) Outer edge of track (6) Outer corner of the operator station (7) Furthest point (G) Distance to outer edge of track (H) Distance to outer corner of operator station (J) Distance to furthest point (K) Distance to further edge of implement (L) Body Area (M) Lane planning avoidance area (N) Avoidance area

Measure the distance from the center of rotation to the outer corner of the operator station (H) and the furthest access or egress point. Refer to Illustration 18. Take the larger of these values and add a buffer of 0.5 m (1.64 ft) to this measurement. This dimension will be the body area radius. Record this value in Table 8.
Determine the nearest proximity that a lane may be relative to the center of rotation of the loading unit. This value should be established based on the worst case truck dimension given the compatible hauler classes.In normal spotting orientations, this value should keep the body of the rotational machine out of the lane established on behalf of the spot being requested.This dimension only applicable to rotational machines that can spot and load AMTs. This dimension will be the lane planning avoidance radius. Record this value in Table 8.
Note: For machines with a circular body polygon, this dimensional value should not be less than the body area radius.This parameter is intended to provide a buffer between the body and lane to prevent planning lanes with the body inside while in the loading position.
Measure the distance from the center of rotation to the end of the longest implement, fully extended boom, shovel, or bucket. Add a buffer of 2.0 m (6.56 ft) to this measurement. This dimension will be the avoidance area radius. Record this value in Table 8.

Rotational Machine Measurements

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Table 8
Rotational Machine Measurements
Name	Description	Value (in Meters) (1 ft = 0.3048 m)
Machine Length	The distance from the right rear corner to a point that is perpendicular to the front-most point of the machine along the X-axis. Fully extend the bucket, stick, and boom and measure to the front of the teeth.
Machine Width	The distance from the right rear corner to a point that is perpendicular to the left-most point of the machine along the Y-axis.
Machine Origin X Coordinate	The distance from the right rear corner to a point that is perpendicular to the machine origin along the X-axis.
Machine Origin Y Coordinate	The distance from the right rear corner to a point that is perpendicular to the machine origin along the Y-axis.
Center of Rotation X Coordinate	The distance from the right rear corner to a point that is perpendicular to the center of rotation along the X-axis. This value may be the same as the Machine Origin.
Center of Rotation Y Coordinate	The distance from the right rear corner to a point that is perpendicular to the center of rotation along the Y-axis. This value may be the same as the Machine Origin.
GPS Antenna X	The distance from the machine origin to the center of the GPS antenna along the X-axis. This value can be positive or negative.
GPS Antenna Y	The distance from the machine origin to the center of the GPS antenna along the Y-axis. This value can be positive or negative.
GPS Antenna Z	The distance from the center of the GPS antenna to the ground.
Body Area Radius	The distance from the center of rotation to the outer edge of the operator station, access and egress points, whichever is larger. For more information refer to Step 9 and Illustration 18.
Lane Planning Avoidance Area Radius	The distance from the center of rotation to a radius agreed to by the operations team that provides a minimum proximity of the lane to the center of rotation of the rotational loading unit. Applicable only to prime loading machines.This value should not be less than the Body Area Radius.
Avoidance Area Radius	The distance from the center of rotation to the end of the fully extended bucket tip plus 2 m.

Measuring Dual Antenna Rotational Machines

This section describes the dimensions that are needed for Rotational Machines with high accuracy heading. This section applies to Dual Antenna Excavators and Shovels.

Perform the following procedure to populate Table 9.

Show/hide table

To avoid these and other situations, ensure that this measure up procedure and verification procedure are performed accurately.

Straighten the machine so that the boom is parallel with the tracks.

Show/hide table




Illustration 19	g03381046
Rotational machine measurements (1) Right rear corner (2) Primary (master) GPS antenna (3) Center of rotation (4) Machine Origin Not shown (refer to Table 1) (A) Machine width (B) Machine origin Y coordinate (C) Machine origin X coordinate (D) GPS antenna X (E) Machine length

Locate the right rear corner of the machine. This is the point at right-most point of the machine along the X-axis and from the rear-most point of the machine along the Y-axis. All other dimensions of the machine will be based from this point. Mark the location of the right rear corner on the ground using a stake.
Note: The right-rear corner may not be physically on the machine. It is the corner point of a rectangle that will encompass the machine.
Extend any buckets or implements to the farthest reach. Measure the machine length. This dimension is the distance from rear-most point of the machine to the front-most point on the machine, including any bumpers, hitches, or other additions to the machine, including customer or dealer attachments. Record this value in Table 9.
Measure the machine width. This dimension is the widest dimension of the overall machine, including mirrors or any additions to the machine. Record this value in Table 9.
Measure the machine origin X coordinate and the machine origin Y coordinate in relation to the right rear corner. Refer to Table 1 for standard machine origin locations. Record these values in Table 9.
For machines where the machine origin is NOT the center of rotation, measure the center of rotation X coordinate and the center of rotation Y coordinate in relation to the right rear corner.
This step is only required for Tope Machines. Measure the GPS Antenna X and GPS Antenna Y position in relation to the Machine Origin. For a dual antenna system, these values will be based on the primary (master) GPS antenna. Record these values in Table 9.
Note: These values may be entered as positive (+) or negative (-) values. If the GPS antenna is located in front of the machine origin, the X value will be positive (+). If the GPS antenna is located behind the machine origin, the X value will be negative (-). Likewise, if the GPS antenna is located to the left of the machine origin, the Y-value will be positive (+). If the GPS antenna is located to the right of the machine origin, the Y value will be negative (-). Refer to Illustration 3.
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Illustration 20 g03409779

(F) GPS Antenna Z (Offset)

Measure the GPS antenna Z position in relation to the ground level. This measurement should be from the center of phase. Record this value in Table 9.

Note: This value is used for any machine running Detect Proximity Awareness. This value is not entered directly into Cat MineStar System.

Note: The center of phase can be found on the specification documentation for the antenna. For the MS992, the center of phase is where the yellow meets the white on the plastic casing.

Show/hide table




Illustration 21	g06292918
(3) Center of Rotation (5) Furthest point (G) Distance to further edge of implement (H) Lane planning avoidance area (J) Distance to furthest point (K) Distance to further edge of implement (L) Body Area (M) Lane planning avoidance area (N) Avoidance area

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Illustration 22	g06292506
(P) Body area left length (R) Body area right length (S) Body area rear length (T) Body area front length

Measure the body area left length (P) and the body area right length (R). Refer to Illustration above. This dimension is the distance from the machine origin Y coordinate to a point that is perpendicular to the left-most or right-most point of the machine. If the machine origin is on the centerline of the machine, the body area left (P) and body area right (R) lengths may be the same. Add a 0.5 m (1.64 ft 7.68 inch) buffer to the body area left length and to the body area right length. Record the values in Table 9.
Measure the body area front (T) and body area back length (S). Refer to Illustration above. This dimension is the distance from the machine origin X coordinate to a point that is perpendicular to the rear-most or front-most point of the machine. Add a 0.5 m (1.64 ft 7.68 inch) buffer to the body area front length (K) and to the body area back length (J). Record the values in Table 9.
Determine the nearest proximity that a lane may be relative to the center of rotation of the loading unit. This value should be established based on the worst case truck dimension given the compatible hauler classes. In normal spotting orientations, this value should keep the body of the rotational machine out of the lane established on behalf of the spot being requested. This dimension only applicable to rotational machines that can spot and load AMTs. This dimension will be the lane planning avoidance radius. Record this value in Table 9.
Note: This dimensional value should not be less than the body area radius. This parameter intended to provide a buffer between the body and lane to prevent planning lanes with the body inside while in the loading position.
Measure the distance from the center of rotation to the end of the longest implement, fully extended boom, shovel, or bucket. Add a buffer of 2.0 m (6.56 ft 6.74 inch) to this measurement. This dimension will be the avoidance area radius. Record this value in Table 9.

Show/hide table

Table 9
Rotational Machine Measurements
Name	Description	Value (in Meters) (1 ft = 0.3048 m)
Machine Length	The distance from the right rear corner to a point that is perpendicular to the front-most point of the machine along the X-axis. Fully extend the bucket, stick, and boom and measure to the front of the teeth.
Machine Width	The distance from the right rear corner to a point that is perpendicular to the left-most point of the machine along the Y-axis.
Machine Origin X Coordinate	The distance from the right rear corner to a point that is perpendicular to the machine origin along the X-axis.
Machine Origin Y Coordinate	The distance from the right rear corner to a point that is perpendicular to the machine origin along the Y-axis.
Center of Rotation X Coordinate	The distance from the right rear corner to a point that is perpendicular to the center of rotation along the X-axis. This value may be the same as the Machine Origin.
Center of Rotation Y Coordinate	The distance from the right rear corner to a point that is perpendicular to the center of rotation along the Y-axis. This value may be the same as the Machine Origin.
GPS Antenna X	The distance from the machine origin to the center of the GPS antenna along the X-axis. This value can be positive or negative.
GPS Antenna Y	The distance from the machine origin to the center of the GPS antenna along the Y-axis. This value can be positive or negative.
GPS Antenna Z	The distance from the center of the GPS antenna to the ground.
Lane Planning Avoidance Area Radius	The distance from the center of rotation to a radius agreed to by the operations that provides a minimum proximity of the lane to the center of rotation of the rotational loading unit. Applicable only to prime loading machines. Must be established based on all compatible AMTs.
Avoidance Area Radius	The distance from the machine center of rotation to the end of the fully extended bucket tip plus 2 m (6.5 ft).
Body Area Right Length	The distance right of the origin, normal to the centerline excluding loading implements but including the body, the operator station, and all access and egress points plus a 0.5 m (1.64 ft 7.68 inch) buffer.
Body Area Left Length	The distance left of the origin, normal to the centerline excluding loading implements but including the body, the operator station, and all access and egress points plus a 0.5 m (1.64 ft 7.68 inch) buffer.
Body Area Rear Length	The distance from the machine origin to the farthest rear point of the body excluding loading implements but including the body, the operator station, and all access and egress points plus a 0.5 m (1.64 ft 7.68 inch) buffer.
Body Area Front Length	The distance from the machine origin to the farthest forward point of the body excluding loading implements but including the body, the operator station, and all access and egress.

Measuring Data Collection Points

For the data collection and surveying features of the Cat MineStar System to function properly, data collection points must be established and measured for each machine. Each machine can have up to four points designated. Follow the procedure below for each data point designated.

Note: These measurements are only used for machines running Detect Proximity Awareness. These values are not entered directly into Cat MineStar System.

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Illustration 23	g03416078
(1) Rear left data collection point (2) Front left data collection point (3) Front right data collection point (4) Rear right data collection point

Establish four data collection points for the machine. There should be one point for each quadrant of the machine as shown in illustration 23. Examples of possible points would include mirrors, bumper corners, tires, or other such easily identifiable positions.
Note: Site standards may more fully define the location of these points.
Note: For this example, a light vehicle will be used with the front mirrors and rear bumper corners as the data collection points.
For each data collection point an X and Y dimension value will be required. These values should be measured in centimeters to one decimal place.
Note: These values may be entered as positive (+) or negative (-) values. If the data collection point is located in front of the machine origin, the X value will be positive (+). If the data collection point is located behind the machine origin, the X value will be negative (-). Likewise, if the data collection point is located to the left of the machine origin, the Y-value will be positive (+). If the data collection point is located to the right of the machine origin, the Y value will be negative (-).
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Table 10
Data Collection X.x value Y.y value

Rear Left

Front Left

Front Right

Rear Right
Collect the rear left data collection point measurements and record in table 10
1. For the rear left data collection point X.x value (A), measure from the machine origin to the rear of the machine, perpendicular to the data collection point. Refer to Illustration 24
  Note: In this example, the X.x value is negative.
2. For the rear left data collection point Y.y value (B), measure from the machine origin to the left side of the machine, perpendicular to the data collection point. Refer to Illustration 24.
Collect the front left data collection point measurements and record in Table 10.
1. For the front left data collection point X.x value (C), measure from the machine origin to the front of the machine, perpendicular to the data collection point. Refer to Illustration 25.
2. For the front left data collection point Y.y value (D), measure from the machine origin to the left side of the machine, perpendicular to the data collection point. Refer to Illustration 25.
Collect the front right data collection point measurements and record in table 10.
1. For the front right data collection point X.x value (E), measure from the machine origin to the front of the machine, perpendicular to the data collection point. Refer to Illustration 26.
2. For the front right data collection point Y.y value (F), measure from the machine origin to the right side of the machine, perpendicular to the data collection point. Refer to Illustration 26.
  Note: In this example, the Y.y value is negative.
Collect the rear right data collection point measurements and record in table 10.
1. For the rear right data collection point X.x value (G), measure from the machine origin to the rear of the machine, perpendicular to the data collection point. Refer to Illustration 27.
  Note: In this example, the X.x value is negative.
2. For the rear right data collection point Y.y value (H), measure from the machine origin to the right side of the machine, perpendicular to the data collection point. Refer to Illustration 27.
  Note: In this example, the Y.y value is negative.
The values recorded in Table 10 will be used to populate the Data Collection tags in the "topeConfig" file as directed in the "Command Office Configuration Guide".

Appendix A

Autonomous Machine Dimensions

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Table 11
793F Autonomous Truck Dimensions
Name	Value (in Meters) (1 ft = 0.3048 m)
Machine Length	14.26 m (46.784 ft)
Machine Width	8.3 m (27.23 ft)
Machine Origin X Coordinate	4.26 m (13.976 ft)
Machine Origin Y Coordinate	4.15 m (13.615 ft)
GPS Antenna X	0 m - This dimension does not apply to autonomous vehicles.
GPS Antenna Y	0 m - This dimension does not apply to autonomous vehicles.
Body Area Left Length	4.15 m (13.615 ft)
Body Area Right Length	4.15 m (13.615 ft)
Body Area Back Length	4.26 m (13.976 ft)
Body Area Front Length	10.0 m (32.80 ft)
Avoidance Area Lengths	0.5 m (1.64 ft)

Caterpillar Information System:

C1.5 and C2.2 Industrial Engines Belts - Inspect/Replace - Air Pump belt

C32 Marine Engine Coolant Temperature Is High

3508B, 3512B, and 3516B High Displacement Generator Sets Fuel Filter Differential Pressure - Check

C175-16 Engine Coolant Temperature Control Module - Test

C1.5 and C2.2 Industrial Engines Belts - Inspect/Adjust/Replace - Air Pump Belt

3508B, 3512B, and 3516B High Displacement Generator Sets Engine Valve Lash - Check

2012/10/26 New Software Is Used for a 3512C Petroleum Engine {1901, 1920}

C1.5 and C2.2 Industrial Engines Alternator and Fan Belts - Replace

C175-16 Engine Configuration Parameters

C32 Marine Engine Coolant Level Is Low

C32 Marine Engine Alternator Problem - Charging Problem and/or Noisy Operation

C175-16 Generator Set Engine Inlet and Exhaust Valves - Remove and Install

C32 Marine Engine Cylinder Is Noisy

C32 Marine Engine ECM Does Not Communicate with Other Modules

C32 Marine Engine Engine Cranks but Does Not Start

3512B and 3512C Petroleum Generator Set Engines Air Shutoff - Test

C175-16 Engine Diagnostic Trouble Codes

3508B, 3512B, and 3516B High Displacement Generator Sets Refill Capacities

3508B, 3512B, and 3516B High Displacement Generator Sets Fluid Recommendations

C32 Marine Engine Engine Has Mechanical Noise (Knock)

C32 Marine Engine Engine Misfires, Runs Rough or Is Unstable

C13, C15, and C18 Tier 4 Final Engines DEF Temperature Is Low

2012/11/01 Medium Pressure Circuit Control Valves have been Improved for Certain Excavators and Mobile Hydraulic Power Units {5051}

C32 Marine Engine Engine Overspeeds




Illustration 11	g06292860
Front and rear articulating lengths (3) Machine origin (H) Body area back length (J) Body area front length




Illustration 12	g06292867
Articulating machine body area width (5) Machine center line (6) Full right articulation point (K) Body area right length




Illustration 13	g06292868
Articulated machine avoidance area (L) Avoidance area back length (M) Avoidance area left length (N) Avoidance area right length (P) Avoidance area front length




Illustration 15	g03725301
Avoidance area with minimum body area (9) Minimum body area (10) Avoidance area (11) Standard body area




Illustration 9	g03729137

Procedure for Machine Dimension Measure-Up for Mining Sites with Cat&reg; Command For Hauling {7605, 79AU} Caterpillar

Usage:

Introduction

Important Safety Information

Definitions

Standard Machine Type Information

Required Tools

Measure Up Guidelines

Measuring Linear Machines

Linear Machine Dimensions

Linear Machine Body and Avoidance Areas

Measuring Articulated Machines

Articulated Machine Dimensions

Articulated Machine Body and Avoidance Area

Measuring Single Antenna Rotational Machines

Rotational Machine Measurements

Measuring Dual Antenna Rotational Machines

Measuring Data Collection Points

Appendix A

Autonomous Machine Dimensions

Caterpillar Information System:

Procedure for Machine Dimension Measure-Up for Mining Sites with Cat® Command For Hauling {7605, 79AU} Caterpillar