1. Grading Features V11.2 AccuGrade and GCS900

2. New Grading Specific Features
New Machine Support
Rough Grade Control
John Deere Enhancements
New 2D Functionality

3. New Machine Support Caterpillar D7E Support
No machine specific tuning parameters required here
Komatsu D155AX-6 (GPS only initially)
Machine specific tuning parameters required

4. 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

5. 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

6. Rough Grade Control
Select “Grade Control Method” from the Configuration Menu

7. 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.

8. Rough Grade Control
Auto 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.)

9. 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.

10. 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

11. Komatsu - D155AX-6 Support
Important to know that the ECM on the machine may need to updated
Anything above S/N – (approx)
MUST be part number or higher (could be or -2008). Number reported without dashes

12. 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)

13. 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.

14. 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.

15. 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

16. Sensor Softkey Example – Dual Laser and Cross Slope System
All these sensor combos… maybe user does not want them all at once

17. 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

18. 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”

19. 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

20. 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

21. 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

22. 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

23. Auto Tune - Dual LR410 Example

24. 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

25. 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 shown
Center of the blade’s rotation

26. 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

27. 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

28. Cross Coupling UI
Cross Coupling UI provided to replicate CB420 functionality
What does it do? See next slides….

29. 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
Start Position
Halfway Position
End Position
Elevation controlled side
Slope controlled side

30. 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
Start Position
Halfway Position
End Position
Elevation controlled side
Slope controlled side

31. Questions?