789D CMD Off-Highway Trucks Caterpillar

Adjustment of the LIDAR Sensor

Required Tools

The following tools are required to adjust the Object Detection system:

• Digital Level (recommend Husky 9 inch Digital Level THD9403)

• Protractor or Angle Finder

• Metric Socket set

• Torque Wrench (55 ± 10 Nm)

Pitch Adjustment

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Illustration 1	g06203095

1. Check that nut (3) is tight on the mounting plate.

2. Check that all bolts (1) and (15) are tight on the mounting plate.

3. Place the digital level (13) on the front bumper (see illustration 2) longitudinally (front to back). Zero the level.

4. Place the digital level on the base of LIDAR sensor (2) and orient digital level longitudinally (4).

5. If the digital level reads greater than 0.25 degrees, then loosen the six bolts (1) and adjust.

6. Use the pitch adjustment bolt (3) to adjust the pitch of the LIDAR sensor to 0 ± 0.25 degrees.

7. Tighten the six cradle bolts (1) to standard torque (55 ± 10 Nm).

8. Recheck the pitch angle to ensure that the mount has not moved while tightening. Repeat adjustment if necessary.

Roll Adjustment

1. Place the digital level (16) on the front bumper (see illustration 2) laterally (left to right). Zero the level.

2. Place the digital level on the base of LIDAR sensor and orient the digital level laterally (5).

3. If the digital level reads greater than 0.25 degrees, then loosen the four adjustment bolts (6).

4. Adjust the mount to 0 ± 0.25 degrees.

5. Tighten the bolts slightly (finger tight) and recheck the roll angle.

6. Tighten the four bolts one half turn and recheck the roll.

7. Tighten the bolts to the specified torque (55 ± 10 Nm) and recheck the roll.

8. Recheck the pitch to ensure that the mount has not moved while tightening. Repeat adjusting if necessary

Illustration 2	g06359291
View of Object Detection Sensors (Radar) and front bumper

Adjustment of the Object Detection Sensors (Radar)

Yaw adjustment

Illustration 3	g03364217
Top view of Radar Yaw Angle

1. Key off the machine.

2. Verify that the front edge of the radar mounting plate is parallel with the front edge of the front bumper. If mounting plate is not parallel, adjust the plate within 0.25 degrees of parallel to the front edge of the front bumper.

3. If the radar boxes have clear protective faces installed, then protective faces will need to be removed before performing adjustments. Remove the ten cover bolts (12).

4. Loosen the yaw adjustment bolts (11) on the left, right, and center radar boxes.

5. Use a protractor (15) to set the left radar box to 16 ± 0.25 degrees.

6. Tighten the yaw adjustment bolts.

7. Repeat the process to adjust the right radar box to 16 ± 0.25 degrees.

8. Repeat the process to adjust the center radar box to be parallel with the front edge of the mounting plate.

Pitch Adjustment

Illustration 4	g03797218
Side view of Radar Pitch Angles.

1. Place the digital level (13) on the front bumper (see illustration 2) longitudinally (front to back). Zero the level.

2. Slightly loosen the four pitch adjustment bolts (8) for each radar sensor (7) inside the left radar box.

3. Place the digital level (10) on the face of the radar sensor and adjust the radar 0 ± 0.15 degrees.

4. Tighten the four pitch adjustment bolts slightly (finger tight) and recheck the pitch angle.

5. Continue tightening and rechecking the angle until the bolts are tightened to the correct torque specification (55 ± 10 Nm)

6. Repeat radar adjustment process for the center and right radar boxes.

7. If the radar boxes were equipped with clear protective faces, reinstall the protective faces.