Grading Features V11.2AccuGrade and GCS900

New Grading Specific Features

– New Machine Support– Rough Grade Control– John Deere Enhancements– New 2D Functionality

New Machine Support• Caterpillar D7E Support

– No machine specific tuning parameters required here

• Komatsu D155AX-6 (GPS only initially)– Machine specific tuning parameters required

Rough Grade Control• Cat integrated feature - D7E only

– Needs correct A4M1 firmware as well as V11.2

• Not included in initial release of V11.2 – not quite enough testing has been completed here– A4M1 update– CD700 option key update

• Idea – operator has full control when the center of the blade is above design

• Auto controls (lift only) is only engaged when blade is on or below design

• Tilt is always controlled by the operator – to allow the for tilt steer capabilities

• Operator cannot push the center of the blade through the design – joystick cease to work– Float still works

Rough Grade Control

• Use cases– Bulk earth works – operator has full control to

maximize earth moving without jeopardizing the design

– Hybrid controls – maybe a good way to introduce this to a new operator

Rough Grade Control

• Select “Grade Control Method” from the Configuration Menu

Rough Grade Control

Blade is below the design – the system is in Manual and the operator icon is shown

Blade is on or below grade – the Auto icon is green and the operator icon is unfilled

This indicates that autos are active and being used.

Remember – center of blade auto guidance only here.

Rough Grade ControlAuto button has been pressed but the center of the blade is above the design above – so operator is in control.

Auto text is black and the operator icon is green

The blade is below the design but the automatics are in an inactive auto state (due to some condition – e.g. the operator has just exited the Setup Menu.)

Rough Grade Control – Data Points

• When working in a “fill” situation the configured automatic control range limits is used (e.g. 0.2m / 0.8FT)

• When working in a “cut” situation autos are engaged when the A4M1 receives a “lift the blade up” command from the CD700.– Auto will continue to be used until any “lower the

blade down” command is received from the operator – via the joystick.

– This means that the blade will try and “stick” to the design (use both up and down automatics commands) until there is operator input.

Komatsu D155AX-6 Support• Initially Dual GPS only• Machine specific tuning parameters required• Benefits:

– Simpler and cheaper to install– Cleaner install– Trimble/Caterpillar now supports what Topcon does

• Which means we now can’t be sold against by Topcon

Komatsu - D155AX-6 Support

• Important to know that the ECM on the machine may need to updated– Anything above S/N – 80206 (approx) – MUST be part number 7830-54-2005 or higher (could

be -2007 or -2008). Number reported without dashes

John Deere Enhancements

• Auto / Manual indicator in the Test Valves screen• No time out potential when in valve speed, valve

calibrations and test valve screens• Correct version of the ECM firmware is now shown

in Diagnostics (introduced in V11.10B)

New 2D Functionality• Reorganizing and modularizing the controls code for

ease of future development (internal feature)– Used the CB420 controls algorithms for all 2D applications on

dozers and graders

• Dozers – left / right blade tip mounting option• Auto Tune capability for laser dozers• Cross Coupling UI• Optimized Valve Speed UI• New Machine measurements • New “sensor” softkey functionality on main screen allows

existing v11.1 2D sensor combinations to be accessed more easily.

Blade Tip Mounted Masts• No longer required to mount laser mast in

the middle of the blade– Provides mounting flexibility– Provides more accuracy across the blade for

a dual laser system

Note – “Blade Center and Right” option is still available if required.

New 2D “Sensor” Softkey Functionality

• Sensor softkey shows the current sensor configuration

• Press to toggle through all combinations of 2D sensors detected

• New – all sensors detected are available in V11.2

V11.1 V11.2

Sensor Softkey Example – Dual Laser and Cross Slope System

All these sensor combos… maybe user does not want them all at once

Shortcut on Sensor Softkey• “Press and hold” the Sensor softkey for quick

access to Vertical Guidance Method screen• Shows all sensor combinations available• Provides ability to limit sensor combos on

Sensor softkey

Shortcut on Sensor Softkey• Use the “Tick / Cross” softkey to select your favorite

combos• E.g. To only use “Linked Dual Laser”, “Laser Left /

Cross Slope Right”, and “Laser Right / Cross Slope Left”

2D Sensor Combos Data Point

• 2D dozer with blade slope / mainfall / rotation sensor configured– Now gives Cross Slope guidance

• Before was Blade Slope guidance only

Auto Tune for Dozers

• Produces machine specific kPs / kDs for the sides of the blade controlled by any laser receiver - LR410 and SR300 (ala CB420)

• No support for graders – auto tune rarely used here

2D Controls Data Point

• Specific machine tuned values (.PSF files) for 2D systems will not be used in V11.2– System uses the valve cal with default tuning

values– Can auto tune laser configurations

Auto Tune - Dual LR410 Example

Press to start initial search Press again to reverse search direction Press again to stop search

Arrows define laser strikes

Laser strike window goes green when strike requirements are met

Auto Tune - Dual LR410 Example

New Machine Measurements• New 2D controls algorithms on the CB430

require the A-frame length of the grader• If this is not entered and you attempt to change

the valve speed a message is posted

New Machine Measurements

• A-Frame length – where to measure?

Locate a point at the front of the A-frame Measure the distance from this point to the center of the hydra swivel joint as shownCenter of the blade’s rotation

2D Valve Speed UI – Grader• Left and Right Elevation valve speed is tied to left / right

side of the machine• Slope valve speed is used to speed up/slow down the

slope control– Tracks the side that the slope control works on and is

independent of the elevation valve speed

• Allows user to swap sensor combinations quickly without having to change valve speeds

2D / 3D Valve Speed Data Point

• Valve speed values are different between 2D and 3D configurations– Due to difference in 2D / 3D controls algorithms – Need to set values for both if swapping between

2D/3D modes

Cross Coupling UI• Cross Coupling UI provided to replicate

CB420 functionality

• What does it do? See next slides….

Explanation of Cross Coupling

• With Cross Coupling “On”, when elevation is corrected, the cylinder controlled by the Slope Sensor changes by the same amount as the cylinder controlled by the Elevation Sensor

• So when height is told to change, the cross slope side changes as well to keep cross slope true.

• Default setting and is used in most applications.

Elevation Change

Elevation controlled side

Slope controlled side

Start PositionHalfway PositionEnd Position

Explanation of Cross Coupling

• With Cross Coupling “Off”, the cylinder controlled by the Slope Sensor only reacts to the Slope Sensor

• So when height changes, the cross slope also changes until the Slope Sensor detects it and changes the Slope cylinder

• Good in hard cut situations.

Elevation Change

Elevation controlled side

Slope controlled side

Start PositionHalfway PositionEnd Position

Questions?