Machine Measure-Up And Calibration
The Cat Grade Control system is preloaded with a number of linkage dimensions. The dimensions for the boom, stick, idler link, and power link are loaded in the ECM for supported linkage part numbers. For the Grade Control system to provide accurate guidance and display the bucket orientation correctly, the system must have accurate dimensions for the following measurements:
- Stick dimensions
- Boom dimensions
- Machine body dimensions
- Bucket dimensions
- Idler Link
- Power Link
The Grade Control system is calibrated at the factory. However, in the event of replacement or disturbance of system components, Caterpillar recommends performing a calibration procedure prior to operation. The Grade Control system requires the following calibrations:
- Pitch/roll (body tilt) sensor calibration
- Front linkage position sensor calibration
All calibrations must be completed. The Grade Control system guides you step by step through these calibrations.
The completed calibration process provides the following information:
- Machine body pitch sensor offset angle
- Boom and stick angle sensor offset angles
- Boom, stick, and bucket dimensions
- Linkage control point distances and angles
| Required Items | ||
|---|---|---|
| Quantity | Part Number | Description |
| 1 | 1U-9367 | Automatic Tape Measure |
| 1 | Level(1) | |
| 1 | Plum Bob(2) | |
| 1 | Framing Square/Carpenter Square (3) | |
| (1) | Minimum length of |
| (2) | Minimum 16 oz |
| (3) | Minimum length of |
Refer to Table 1 for the items that are required for the Excavator calibration.
This section outlines the following measurements that are required for the arm:
- Stick dimensions
- Boom dimensions
- Machine body dimensions
| |
| Illustration 1 | g01357105 |
|
Example | |
Metric measurements are recommended to obtain more precise measurements. The center finder tool can be used to assist the installer with taped measurements. The center finder tool can be used for the following two purposes:
- To find the exact center of a threaded pin
- To hold a large tape measure, at the center of a threaded pin which will allow measurements to be made by one person
Available center finder tools are the following list:
Refer to Illustration 1 for an example of the center finder tool being used to find the center of the pin and to hold the tape measure.
| |
| Illustration 2 | g01176168 |
|
Example | |
Note: Use a tape measure to make the four required measurements. Measure from the center of the pivot points, and enter the values into the screen.
Note: Use a carpenter square to check the distance between two points in the plane of the centerline plane parallel of the Excavator to the centerline of the Excavator. Refer to Illustration 2.
Perform the following procedure:
- From the main menu, select "Service", "Cat Grade Control System", "Machine Dimensions" screen, select "Boom".
- Press the "OK" key when "Boom" is highlighted. A "Boom" screen will appear.
Show/hide table
Illustration 4 g02750676 - When the "Boom Selection" field is highlighted, press the "OK" key. Use the arrow keys to scroll through the available options. If the part number for the boom being used is available, press the "OK" key to select. Refer to Illustration 4.
Show/hide table
Illustration 5 g02750805 - All measurements for the boom should automatically populate in the fields. If the part number for the boom being used is not available, select "USR BOOM". Refer to Illustration 5.
The measurements for that boom will need to be collected and manually entered.
Show/hide table
Illustration 6 g02750899 Reference points - When the appropriate measurement is highlighted, press the "OK" key to adjust. Use the up and down arrow keys or the numeric key pad in the right-side console to adjust the measurement. Press the "OK" when the measurement is correct.
Show/hide table
Illustration 7 g02751456 - When the boom measurements are entered, press the back key to go back to the "Machine Dimensions" screen. Repeat Step 3, Step 4, and Step 5 for the stick, idler link, and power link.
Show/hide table
Illustration 8 g02751577 - Use the diagram above for the points on the stick. Point (L) is the center of the laser catcher. There are marks on the laser catcher, indicating the location of point (L). Point (M) is the point where the center of the LC450 and the centerline from Pins (B) and (G) form a 90-degree angle.
| |
| Illustration 3 | g02749436 |
Perform the following procedure:
- Navigate to the "Machine Dimensions" screen. Select "Machine Body". The "Machine Body" screen will appear.
- Press the "OK" key to select an offset for editing. Use the up and down arrows to adjust the selected offset.
To measure each of these parameters, the center of rotation must be located. The center of rotation, is the pivot location on the car body.
The boom pivot lateral offset is the distance, left to right, from the center of rotation to the boom centerline.
Note: If the boom centerline is to the right of the center of rotation, this number will be positive. If the boom centerline is to the left of the center of rotation, this number will be negative.
The boom pivot reach offset is the distance from the center of the boom pin centerline fore or aft of the center of rotation.
Note: If the center of the boom pin is fore of the center of rotation, this number will be positive. If the center of the boom pin is aft of the center of rotation, this number will be negative.
Show/hide table
Illustration 10 g02751680 (X) Center of rotation reference Note: As illustrated in Illustration 10, use point (X) as a center of rotation reference, not point (Y).
- When both offsets have been entered, press the escape key.
| |
| Illustration 9 | g02751637 |
Configuring a Cat ®Grade Control Bucket
Note: The appearance and operation of the "Work Tool" list changed significantly to software released April 2014 and later. This appearance changed the list of "Work Tools" from a total of 10 tools to 20 tools as well as supported a new simplified bucket measure up process.
Note: The release date for the software on a machine may be viewed on the onboard machine display in the "Service" menu under "ECM Summary". Compare the "Software Release Date" for the machine ECM with the April 2014 software change date.
To configure a bucket for guidance in the Cat ®Grade Control system, perform the following procedure:
- From the main menu, select "Work Tools". To configure a bucket, select a tool from the list. Navigate the work tool list with the up/down arrows. When the desired tool is selected, press the "OK" key.
Show/hide table
Illustration 12 g03667568 - To edit a bucket, press F3 (the third soft key from the left – Tool Dimension icon).
Show/hide table
Illustration 13 g03667681 - Press the "OK" key to acknowledge the warning.
Show/hide table
Illustration 14 g03667701 - Follow step 4.a instructions for software released before April 2014. Follow step 4.b instructions for the new simplified bucket measure up procedure from software released April 2014 and later.
Note: In software released April 2014 and later, the "Tool Type" field can only be changed from the "Simplified Bucket Measure-Up" procedure described later except for, length (J) to (J1) that can be edited to account for bucket wear.
Note: The "Simplified Bucket Measure-Up" icon is the second button from the left position. The button is only shown in newer software described in the following sections.
- For bucket configuration in legacy software, select the "Tool Type" field and use the up/down arrows to scroll through the selections. Press the "OK" key to save the selection.
- Press the "Simplified Bucket Measure-Up" button, the second softkey from the left in Figure 14, to start the measure-up process.
Show/hide table
Illustration 15 g03674334 - Select the "Tool Program Name" field and press the "OK" key. Use your arrow keys to navigate the on-screen keyboard, and the "OK" key to select the desired letter, number, or function. The tool program name is "BUCKET ONE", refer to Illustration 15. When the name is complete, press F3 (third soft key from the left) that says "Enter".
- Press the "OK" key when the "Work Tool Type" field is highlighted. Use the arrow keys to scroll through the available options. Press the "OK" key when the desired selection is highlighted. For proper Grade Control operation and retention of the bucket dimensions, the "Work Tool Type" field should show USR WT#XX corresponding to the tool number in the "Work Tool" list.
Note: If the "Work Tool Type" field shows "Disabled", then any dimensions entered for the bucket will not be retained through a machine power cycle and the system will notify the operator to "Check Linkage Dimensions" on the next machine power-up.
| |
| Illustration 11 | g03667548 |
Configuring a Cat ®Grade Control Bucket using Legacy Machine Software released before April 2014
Note: Machines upgraded with an AccuGrade or GCS900 3D system, v12.61 of the software is required for proper operation and transfer of dimensional data to the 3D grade control system.
- Below the "Work Tool Type" field are various bucket dimensions. Use the diagrams above to measure the different dimensions for the bucket being used.
Note: The points to measure on a standard bucket and a bucket with a quick-coupler will be different than those points on a tilt-bucket. Points (I) and (K) on a tilt-bucket are both required.
Note: Length (K) - (J) is not required for standard buckets but the dimension will remain shown in the list and set to 0.00.
Note: Point Q is used for the Linkage Elevation Monitor and as such does not require the same level of accuracy. Point Q will not impact the accuracy of the guidance values shown on the monitor.
Show/hide table
Illustration 18 g02794441 Entering a bucket dimension - To enter a bucket dimension, press the "OK" key when the desired dimension is highlighted. Use the up/down arrows to adjust the measurement or type in the measurement using the switch console when in numeric entry mode. When the measurement is correct, press the "OK" key.
| |
| Illustration 16 | g02752216 |
|
Points for a standard bucket or a bucket with a quick coupler | |
Note: The dimensions of any quick coupler or quick hitch are included the bucket dimensions. For machines with quick couplers, the bucket measurements to point (G) are measured to the pin between the stick linkage and quick coupler linkage. Similarly for machines with quick couplers, the bucket measurements to point (H) are to the pin between the power linkage and the quick coupler. The points where the bucket attaches to the quick coupler are ignored.
| |
| Illustration 17 | g02752217 |
|
Points for a tilt bucket | |
Note: Points (I) to (J) and (K) to (J) may or may not be parallel or overlapping.
Grade Control for Hydraulic Excavators utilizes a simplified bucket measure-up process in all software released April 2014 and later. The simplified bucket measure-up procedure in Grade Control is outlined below.
Note: "Body Tilt", "Front Linkage", "Boom Sensor", "Stick Sensor" and "Bucket Calibration" must have been completed prior to initiating the new simplified "Bucket Measure-Up" software released April 2014 and later. These calibration measurements are now completed at the factory so there should be no issue proceeding directly to the "Bucket Measure-Up".
Note: Machines upgraded with an AccuGrade or GCS900 3D system, v12.61 of the software is required for proper operation and transfer of dimensional data to the 3D grade control system.
- After configuring the "Work Tool Type" from the "Tool Dimension" screen, press the F2 softkey (second softkey from the left) to initiate the bucket measure-up procedure.
Show/hide table
Illustration 19 g03668995 - Press the "OK" key to acknowledge the warning.
Show/hide table
Illustration 20 g03669001 - Select the "Tool Type". Use the up/down arrow keys to choose the desired work tool type of a tilt bucket or a standard bucket. Press "OK" to continue.
Note: The following steps demonstrate a tilt bucket. Tilt bucket requires a few additional steps that a standard bucket does not require.
Show/hide table
Illustration 21 g03669023 Show/hide table
Illustration 22 g03674445 - After defining the bucket type, measure the distance between points (G) and (H). Refer to Illustration 17.
Note: The dimensions of any quick coupler or quick hitch are included the bucket dimensions. For machines with quick couplers, the bucket measurements to point (G) are measured to the pin between the stick linkage and quick coupler linkage. Similarly for machines with quick couplers, the bucket measurements to point (H) are to the pin between the power linkage and the quick coupler. The points where the bucket attaches to the quick coupler are ignored.
Note: If the user is not familiar with the exact locations of these points, the "F3" button (third button from the left under the "?" icon) can be pressed to see an example. This additional guidance is available anytime the "?" icon is visible.
Show/hide table
Illustration 23 g03674458 - Measure and enter the distance from Point (G) to Point (J). Follow the same steps as described previously for entering this dimension and press "OK" to continue.
Show/hide table
Illustration 24 g03674531 - Measure and enter the distance from Point (G) to Point (Q). Follow the same steps as described previously for entering this dimension, and press "OK" to continue.
Note: Point (Q) is located on the heel of the bucket. Point (Q) is not used for guidance but for the "Linkage Elevation Monitor" feature. Point (Q) can be selected based on the discretion of the user as the point that has the potential to be the highest point of the machine in certain linkage positions.
Show/hide table
Illustration 25 g03674982 - Measure and enter the distance from Point (J) to Point (Q). Follow the same steps as described previously for entering this dimension, and press "OK" to continue.
Show/hide table
Illustration 26 g03675133 - Measure and enter the width of the bucket. Follow the same steps as described previously for entering this dimension, and press "OK" to continue.
Show/hide table
Illustration 27 g03675160 - Align Point (G) vertical with Point (J). A plumb bob can be suspended from Point (G) and the bucket can be curled until Point (J) is directly below Point (G). Once the bucket is positioned correctly, press the "OK" button to continue.
Show/hide table
Illustration 28 g03675201 Note: A plumb bob may be utilized to ensure that the bucket cutting edge/floor is vertical in this step instead of a bubble level.
- Attach a magnetic bubble level to the floor of the bucket and curl the bucket or hang a plumb bob over the back of the bucket until the floor is vertical. Once the bucket is positioned correctly, press the "OK" button to continue.
Note: Positioning the bucket with the floor vertical will capture the angle of the bucket for future wear compensation.
Show/hide table
Illustration 29 g03675204 - Define an initial length of the bucket teeth or cutting edge. This dimension is utilized for the "Tooth Wear Compensation" feature. When measuring Length (J) - (J1), Point (J1) is located at the discretion of the user. Follow the same steps as described previously for entering this dimension, and press "OK" to continue.
Note: The user should select a measurement location that is not likely to be affected by bucket wear. For example, it is not advised to measure from the cutting edge to the tip of a tooth because the cutting edge can also wear over time.
Show/hide table
Illustration 30 g03675227 Note: If the bucket being measured is not a tilt bucket, the following steps related to the tilt function will not appear in the calibration.
- Level the tilt axis by curling the bucket. A magnetic level can be attached to the end of the tilt axis pin to show when the axis is level. Once the bucket is positioned correctly, press the "OK" button to continue.
Show/hide table
Illustration 31 g03675246 - Use a bubble level and position the cutting edge so that the bubble level is perfectly horizontal. Once the bucket is positioned correctly, press the "OK" button to continue.
Show/hide table
Illustration 32 g03675452 - With the tilt axis level and the cutting edge level, measure and enter the distance from Point (J) to Point (K). Depending on the bucket shape, a square can be used to assist in obtaining Length (K-J). Follow keypad number entry steps to enter this dimension, and press "OK" to continue.
Show/hide table
Illustration 33 g03675459 - Raise the left bucket tooth by around 1 foot. This height allows the system to learn the orientation of the sensor on the bucket. Once in the correct position, press the "OK" button to continue.
Show/hide table
Illustration 34 g03675479 - If the bucket was positioned correctly, then pressing the "OK" button will complete the calibration. Press the "Return" button to exit the procedure.
Editing a Cat Grade Control Bucket for Wear
The simplified bucket measure-up process supports a new feature which allows the user to edit one simple dimension allowing the machine to adjust the bucket dimensions to compensate for physical wear that occurs on the bucket cutting edge or teeth.
Note: This wear dimension must always be measured from the original reference point for all wear dimension edits.
Note: The machines upgraded with a AccuGrade or GCS900 3D system, v12.61 of the software is required for proper operation and transfer of dimensional data.
- To edit the wear on a bucket, enter the main menu and select "Work Tools"
- Press the F3 (the third soft key from the left - Tool Dimension icon) to open the bucket dimension screen.
Show/hide table
Illustration 36 g03689215 - Scroll down and select Length "J-J1"
Show/hide table
Illustration 37 g03689012 - Enter length J-J1 with the new distance measured from the original measure-up point on the bucket to the cutting edge of the bucket. Use the up/down arrows to adjust the measurement or type in the measurement using the switch console when in numeric entry mode. When the measurement is correct, press the "OK" key.
Note: If the original measure-up point for J1 is not used, inaccuracy can be introduced into the system. In some cases, the current Length J1 - J value before editing may provide some indication of the J1 point used on the bucket.
| |
| Illustration 35 | g03688730 |
