2 New Grading Specific Features New Machine SupportRough Grade ControlJohn Deere EnhancementsNew 2D Functionality
3 New Machine Support Caterpillar D7E Support No machine specific tuning parameters required hereKomatsu 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 V11.2Not included in initial release of V11.2 – not quite enough testing has been completed hereA4M1 updateCD700 option key updateIdea – operator has full control when the center of the blade is above designAuto controls (lift only) is only engaged when blade is on or below designTilt is always controlled by the operator – to allow the for tilt steer capabilitiesOperator cannot push the center of the blade through the design – joystick cease to workFloat still works
5 Rough Grade Control Use cases Bulk earth works – operator has full control to maximize earth moving without jeopardizing the designHybrid controls – maybe a good way to introduce this to a new operator
6 Rough Grade ControlSelect “Grade Control Method” from the Configuration Menu
7 Rough Grade ControlBlade is below the design – the system is in Manual and the operator icon is shownBlade is on or below grade – the Auto icon is green and the operator icon is unfilledThis indicates that autos are active and being used.Remember – center of blade auto guidance only here.
8 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 greenThe 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 requiredBenefits:Simpler and cheaper to installCleaner installTrimble/Caterpillar now supports what Topcon doesWhich means we now can’t be sold against by Topcon
11 Komatsu - D155AX-6 SupportImportant to know that the ECM on the machine may need to updatedAnything 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 screenNo time out potential when in valve speed, valve calibrations and test valve screensCorrect version of the ECM firmware is now shown in Diagnostics (introduced in V11.10B)
13 New 2D FunctionalityReorganizing and modularizing the controls code for ease of future development (internal feature)Used the CB420 controls algorithms for all 2D applications on dozers and gradersDozers – left / right blade tip mounting optionAuto Tune capability for laser dozersCross Coupling UIOptimized Valve Speed UINew Machine measurementsNew “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 bladeProvides mounting flexibilityProvides more accuracy across the blade for a dual laser systemNote – “Blade Center and Right” option is still available if required.
15 New 2D “Sensor” Softkey Functionality Sensor softkey shows the current sensor configurationPress to toggle through all combinations of 2D sensors detectedNew – all sensors detected are available in V11.2V11.1V11.2
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 screenShows all sensor combinations availableProvides ability to limit sensor combos on Sensor softkey
18 Shortcut on Sensor Softkey Use the “Tick / Cross” softkey to select your favorite combosE.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 configuredNow gives Cross Slope guidanceBefore was Blade Slope guidance only
20 Auto Tune for DozersProduces 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 PointSpecific machine tuned values (.PSF files) for 2D systems will not be used in V11.2System uses the valve cal with default tuning valuesCan 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 searchArrows define laser strikesLaser strike window goes green when strike requirements are met
24 New Machine Measurements New 2D controls algorithms on the CB430 require the A-frame length of the graderIf 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-frameMeasure the distance from this point to the center of the hydra swivel joint as shownCenter 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 machineSlope valve speed is used to speed up/slow down the slope controlTracks the side that the slope control works on and is independent of the elevation valve speedAllows 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 configurationsDue to difference in 2D / 3D controls algorithmsNeed to set values for both if swapping between 2D/3D modes
28 Cross Coupling UICross Coupling UI provided to replicate CB420 functionalityWhat 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 SensorSo 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 ChangeStart PositionHalfway PositionEnd PositionElevation controlled sideSlope controlled side
30 Explanation of Cross Coupling With Cross Coupling “Off”, the cylinder controlled by the Slope Sensor only reacts to the Slope SensorSo when height changes, the cross slope also changes until the Slope Sensor detects it and changes the Slope cylinderGood in hard cut situations.Elevation ChangeStart PositionHalfway PositionEnd PositionElevation controlled sideSlope controlled side