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Product: EXCAVATOR
Model: 320 EXCAVATOR YBP
Configuration: 320 Excavator YBP00001-UP (MACHINE) POWERED BY C7.1 Engine
Testing and Adjusting

2D, 2D Advanced, and 3D GRADE System for Next Gen Hydraulic Excavators
Media Number -M0082989-04 Publication Date -01/09/2018 Date Updated -28/09/2018
i07184472
System Accuracy - Test

SMCS - 7220-081
Be sure all personnel are clear of the equipment while the equipment is
being lowered.
Failure to stay clear of the equipment while the equipment is being

lowered may result in personal injury.
Personal injury or death can result from sudden machine movement.
Sudden movement of the machine can cause injury to persons on or

near the machine.
To prevent injury or death, make sure that the area around the machine
is clear of personnel and obstructions before moving the machine to
perform the test that follows.
Testing the accuracy of how closely the system indication on the machine or the 3D GRADE display
matches the actual surface or the design used by the Cat ® GRADE system is one of the most critical
aspects of the system. If the system grade indication of the cutting edge of the bucket does not match the
actual elevation of the cutting edge of the bucket in relation to the reference point or a design file, the cause
could be:
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• the inability of the system to determine the location of the bucket cutting edge correctly would be
considered an accuracy problem.
Checking the accuracy of the GRADE system is important. Measuring the system accuracy in certain
machine positions or at certain points on the machine can mask a potential contributor to the GRADE
system position accuracy degradations.
A measured or known reference point on a surface is the best point to check the accuracy and performance
of the GRADE system. Comparing the actual elevations (distance) or positioning of the bucket cutting edge
in relation to that reference point or to corresponding locations on the design will properly represent the
accuracy and performance of the machine at those points under those machine circumstances.
Troubleshooting Cat® GRADE System Accuracy

The GRADE system calculates the Boom, Stick, and the front Cylinder positions using the sensors output
signals in relation to the Body tilt (Pitch and roll) of the machine chassis.
The system will populate the body and the linkage engineering dimensions based on the machine models
and the linkages part numbers in addition to the selected bucket dimensions from the work tool.
The engineering dimensions of the linkages can be edited if an installation of custom manufactured or
modified linkages is done. In these cases the system require a complete measurements and calibrations to
be performed on the machine.
Note: The system will require a complete measurement and calibrations if a custom, manufactured or
modified linkage is used.
The factory will complete the required initial calibrations of the Body Tilt Angle Sensor to determine the
pitch and roll of the machine chassis before performing the Front Linkage Position Sensors calibrations
(Boom, Stick, and the Bucket Position Sensing Cylinder). The calibration will map the Boom angle, Stick
Angle, and the Bucket Cylinder length to their default positions in the system software in relation to the
chassis pitch and roll angle and the system dimensions, to calculate the system linkage angles and the
bucket orientation to determine the cutting edge of the bucket to a reference elevations.
When the Rotary Position Sensor (RPS) for the Boom and the Stick or the front Position Sensing Cylinder
(PSC) sensor replaced or reinstalled, a proper installations process must be followed. Also, an individual
calibrations of that sensor should be performed.
When the body tilt sensor is replaced or reinstalled, a calibration of the body angle sensor must be
performed first then a complete system calibrations will be required.
Reference: Refer to Special Instruction, REHS7312, "Instructions for Installing Rotary Position Sensor for
Cat® Grade Control on Certain Series E and Series F Excavators".
Reference: Refer to Special Instruction, M0069852, "Troubleshooting Guide for the Rotary Position
Sensor for Cat® Grade Control on Certain Series E and Series F Excavators".
Reference: Refer to Special Instruction, M0064526, "Troubleshooting Procedure For Bucket Cylinder
Position Sensing Unit on Certain Hydraulic Excavators Equipped With Cat® Grade Control".
Reference: Refer to Special Instruction, M0082996, "GRADE System Setup and Calibration Procedure for
the 2D and 3D on Next Gen Hydraulic Excavators".
The front linkage position sensor calibration performed at the factory will populate the first value in the
boom stick and the bucket sensor calibrations screen fields.
System Accuracy
The GRADE system on the Series F Hydraulic Excavators will be configured, measured, and calibrated
from factory prior shipping the machine except for the work tool measurements.
The system accuracy could be affected by any of the GRADE system components.
The GRADE system consists of the machine body and linkage dimensions, system setting, system sensors,
system calibrations and the machine ECM, R2 ECM, machine monitor and the 3D GRADE display, any of
these sections of the system are interdependent and any improper or error or malfunction of any parts of
these sections may impact the system functionality or affect the system accuracy.
The system utilizes linkages and bucket measurement settings to characterizes the geometry of each
individual linkage and the range of motions and limitation of the linkages.
A proper physical installation of the system sensor and their alignments is critical to provide the system
with the accurate geometry angles.
The calibration relies on an accurate measurements setting and a proper physical installation of the sensors,
the result calibrations are unique calibration their mounting.
System Accuracy Validation
Illustration 1 g06189152
When a degradation of the system accuracy encountered with the 3D or the 2D system, a system validation
is needed to determine which component, dimensions or calibration is the cause.
The following tools in Table 1 are required for performing an accuracy system check.
Table 1
Required Items
Quantity Part Number Description
1 1U-9367 Automatic Tape Measure (1)
1 177-3935 Pin As
1 - Level (2)
1 - Plumb Bob (3)
1 - Framing Square / Carpenter Square (4)
1 - Self-leveling Laser
Center Finder Test Kit
1 177-3938 Bushing
1 177-3939 Bushing
1 177-3940 Bushing
(1)
Minimum length of 15.24 m (50.000 ft) for measuring the 349E or 30.48 m (100.000 ft) for long reach boom/ stick
arrangement.
(2)
Minimum length of 1.2 m (3.94 ft)
(3)
Minimum 473.6 mL (16.0 oz)
(4)
Minimum length of 0.6 m (1.97 ft)
Bucket Validations
The selected work tool (buckets) dimensions or calibrations could affect the system accuracy, when the
GRADE system experience a degradation in its accuracy. We recommend that the bucket validations to be
the starting point when troubleshooting the system to ensure that the bucket dimensions and calibrations are
correct.
A quick accuracy check of the bucket can be done by the following of these two methods to determine if
the system operating properly and machine has the proper selected bucket.
Note: The bucket selection, measurements, and calibration functions could only be performed through the
2D GRADE system machine display for both the 2D and 3D systems.
Using a Self-Leveling Base
Using a self-leveling laser is the proper methods and the more accurate way of checking the bucket. Follow
the steps below to Validate the Bucket:
1. Park the machine on a hard and leveled surface.
2. Position the self-leveling laser between the tracks.
3. Position the bucket teeth where the laser beam is on the lower tip of the focus point side that was
selected on the cutting edge of the bucket.
4. Set, bench to the laser reference point then test the system in three different positions (near mid and
far from the cab).
5. Ensure that the laser beam is touching the same lower tip of the bucket in all positions.
6. The system should be accurate near zero in all positions ± 2.0 cm (± 0.79 inch).
7. If the value displayed on the machine display for the bucket elevations to the bench reference is not
zero or close to zero ± 2.0 cm (± 0.79 inch), ensure that the system is using the proper work tool
(bucket) and all the selected work tool dimensions related to it are correct.
Refer to the bucket dimensions table and the Special Instruction, M0082996, "GRADE System Setup
and Calibration Procedure for the 2D and 3D on Next Gen Hydraulic Excavators" on measuring the
bucket.
8. If the bucket dimensions are correct, proceed to the Section "System Accuracy Test" on this
Accuracy Troubleshooting procedure.
Using a Bench Point Reference on the Ground.
Note: The following method is less rigorous check if the self-leveling laser is not available.
To validate the bucket using a bench point reference on the ground, follow the steps below:
1. Park the machine on hard leveled surface.
2. Position the bucket closer to the cab.
3. Set a bench to known surface reference on the hard level surface as shown in the Illustration 4.
4. Test the system by positioning the bucket in various orientations and keeping the bucket teeth on the
original bench reference as shown in the Illustration 4.
5. The elevation value displayed on the machine display should be zero or very close to zero ± 2.0 cm
(± 0.79 inch).
6. Retest the system by reposition the bucket to mid and far-range from the cab.
7. Set a bench to a known surface reference on the hard level surface and repeat Step 2 to 4 in the mid
and far positions of the bucket from the cab position.
8. If the value is different from the displayed value on the machine monitors display in any of the
bucket positions. Ensure that the system is using the proper work tool (bucket) and all the selected
work tool dimensions and calibrations related to it are correct.
Refer to the bucket dimensions table and the Special Instruction, M0082996, "GRADE System Setup
and Calibration Procedure for the 2D and 3D on Next Gen Hydraulic Excavators" on measuring the
bucket.
9. If the bucket dimensions are correct, proceed to the Section "System Accuracy Test".
Bucket dimensions validations

When the system accuracy is not within 2.0 cm (0.79 inch), a bucket dimensions check is need to ensure
that the selected bucket dimensions are correct.
Bucket Verifications
Table 2
Bucket Dimensions
"G" to "H"
"G" to "I"
"G" to "J"
"G" to "Q"
"J" to "Q"
"J" to "K"
Width
"J" to "J1"
Ensure that the work tool contains an accurate dimensions for the selected bucket, by remeasuring it and
entering the above mentioned dimensions using the work tool menu. Refer to the Table 2 and Special
Instruction, M0082996, "GRADE System Setup and Calibration Procedure for the 2D and 3D on Next Gen
Hydraulic Excavators" on measuring the bucket.
Note: (J) to (J1) is for the bucket teeth wear, and this value should be checked frequently and readjusted to
ensure an accurate system indication of the bucket tooth.
Standard Bucket
With a quick coupler
Tilt Bucket
Refer to Special Instruction, M0082996, "GRADE System Setup and Calibration Procedure for the 2D and
3D on Next Gen Hydraulic Excavators" for complete detailed instruction on measuring up and calibrating
the bucket.
If the measurement of the bucket dimensions was entered correctly and the system still not accurate,
proceed to Section "System Accuracy Test".
System Accuracy Test
2D / 3D GRADE System Accuracy Check Using the 3D GRADE System Display
To verify the machine dimensions, use either two known good points or use a GNSS Survey tool to
measure points.
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(1) Survey Marked Point B
(2) Survey Marked Point A
1. Park the machine on even surface with a clear view of the sky.
2. From the 3D GRADE display, press the "Next" key until the second text window appears that shows
"Northern", "Eastern", and "Elevation".
3. Verify the GRADE display set for "Bucket Center".
4. Place the front linkage in the air and swing the machine 90+ degrees or track the machine forward
approximately 1.0 m (3.28 ft) to ensure that the GNSS receivers have an RTK position and location
history.
5. With the bucket near the track, place the "Bucket Center" focus point on the known location survey
point A (2).
Note: The known location could be replaced with a surveying Rover except the machine linkage can
obstruct the clear view of the sky and the satellites without getting multi-path from signal reflections.
6. Picture shows the Northing, Easting, and Elevation for the focus point of the bucket. The focus point
is shown with the center selected.
Compare the values from the Northern, Eastern, and the Elevation of the center focus point of the
bucket that are shown on the 3D GRADE display and ensure that the values are within two tenth of a
foot.
Note: The 3D GRADE display rounds off the values and the surveying values will carry out the
values to more digits. If the values are not within two tenth of a foot, then the calibration and
measure-up process of the body calibration and vector measurements are required. Refer to Special
Instruction, M0082996, "GRADE System Setup and Calibration Procedure for the 2D and 3D on
Next Gen Hydraulic Excavators" for instructions.
7. Relocate the bucket by extending the front linkage and the bucket and placing the center of the
bucket center focus points on the second know location survey point B (1). Refer to Illustration 10.
8. Compare the values from the Northern, Eastern, and the Elevation of the center focus point of the
bucket that is shown on the 3D GRADE display and ensure that the values are within two tenth of a
foot.
Note: The 3D GRADE display rounds off the values and the surveying values will carry out the
values to more digits. If the values are not within two tenth of a foot, then the calibration and
measure-up process of the body calibration and vector measurements are required. Refer to Special
Next Gen Hydraulic Excavators" for instruction on how to complete these requirements.
If the recalibration and measure-up process of the body calibrations and vector measurement does not
increase the system accuracy, an individual validations of the system components (sensors) in
addition to rechecking the machine and the linkage dimensions are required to locate the root cause
of the system accuracy degradation.
Testing the Machine Component Separately

Boom Verification
The small hole in the red circle is the center of the rotation on the Boom sensor and the measurements are
taken from it.
Follow the steps below for Boom accuracy verification, using the Stick Elevation difference, Tip-A
Vertical:
1. Park the machine on hard level surface.
2. Position the Linkages above the ground in midrange from the cab and visually ensure that the stick
near the vertical position and the Bucket pin (G) on the stick are above the Boom Rotary position
sensor.
3. Using a self-leveling rotating laser, create a vertical laser plan from Pin (A) the center of the rotation
of the Boom Rotary Position Sensor.
4. Using the center finder tool to locate the center of Pin (G) measure the distance between the Pin (G)
and the vertical laser line.
5. Without moving or the changing the machine and the linkage positions, using the machine display
service menu, select "Cat Grade Control System > CGC Status > CGC Distances", and view "Tip-A
Vert." field value.
6. Ensure that the actual measurement is within 2.0 cm (0.79 inch) from the value on the machine
display.
7. Repeat this validations for Pin (G) in two more location (near the cab and far from the cab).
Note: If total station or self-leveling laser is not available, the less rigorous Boom elevation test could be
performed to validate the Boom.
Checking the Bench Elevations
(3) The tip of the bucket tooth after elevating using the Boom function, only about 1.0 m (3.28 ft).
(4) The distance between the bench mark on the ground and the tip of the bucket after the boom elevation.
(5) The bench mark
Note: All measurement should be taken from the bucket focus point that is selected on the system.
1. Position the machine on hard level surface with the Stick near vertical position.
2. Open the bucket and position the teeth near vertical position.
3. Using Boom function lower only the bucket teeth to the ground.
4. Set bench of that reference point (5).
5. Using only Boom function raise the bucket about 1.0 m (3.28 ft) to reach point (3) from the reference
point on the ground (5).
6. Measure the distance between the reference point (5) on the ground and the tip of the bucket teeth (3)
using a tape measurement.
7. The measured distance should be the same as the value displayed on the machine display for depth to
grade ± 2.0 cm (± 0.79 inch).
The difference in value greater than ± 2.0 cm (± 0.79 inch) between the actual elevations and the value
displayed on the machine display, indicates that the Boom dimensions, Sensor calibrations, or Sensor
alignments are inaccurate.
Following the recommended test steps below, to isolate and found the root cause of this accuracy
degradations:
1. Observe the Boom sensor through its full range of motions, ensure that there is no objects hitting or
rubbing against the sensor.
2. Using the machine monitor display select "Service menu > Cat Grade Control system menu > CGC
status > CGC Sensors" and select the "Boom Angle Sensor Duty Cycle Value".
3. In constant slow speed fully lower the Boom and fully raise it to put the Boom through a full range of
motion.
4. Monitor the duty cycle value on the machine monitor display. Ensure that the duty cycle value that is
displayed on the machine monitor display continues without breaking in its values.
5. Verify the Boom dimensions, ensure that the correct part number for the Boom is used on the
machine is selected. Also, ensure that all Boom dimensions are correct. Refer to the Special
Next Gen Hydraulic Excavators" for the specific model and their selected Boom part numbers
dimensions.
6. Remove the sensor and inspect.
Ensure proper installation of the sensor before reinstalling the sensor on the machine.
Note: A centering tool kit is need to ensure and complete a proper installation of the sensor when the
sensor is removed or reinstalled. Refer to Special Instruction, REHS7312, "Instructions for Installing
Rotary Position Sensor for Cat® Grade Control on Certain Series E and Series F Excavators" or
Special Instruction, M0082996, "GRADE System Setup and Calibration Procedure for the 2D and
3D on Next Gen Hydraulic Excavators" for information on the tool and instruction on reinstalling the
Boom sensor.
7. A recalibration of the Boom is needed when the sensor is removed and reinstall or replaced. Refer to
3D on Next Gen Hydraulic Excavators" for instruction on calibration the boom sensor.
Stick Validations
Three positions of the A to G points of stick: near, mid, and far (extended) from the cab.
Illustration 13 shows the three positions of the A to G Points of stick, near, mid, and far (extended) from
the cab.
1. Park the machine on solid surface.
2. Align the Boom to be close to vertical with ground.
3. Use only stick function to bring the stick near the cab.
4. Using the center finding tool to locate the center of point (G) (Bucket Pin) and measure the center of
the Boom Rotary Position sensor point (A) and record the measurements.
5. Without moving any of the linkages positions, using the machine display from main menu option,
press "Setting" then select "Service Menu > Status > Grade Distances > Length" and select "A - G".
6. Compare the recorded value with the displayed value.
7. Both values should be within ± 2.0 cm (± 0.79 inch) when compared.
8. Repeat Steps 2 to 6 by moving the stick to about mid-range from the cab using only stick function,
and compare the values with the measured value between the Bucket pin center point (G) and the
center of the Boom Rotary Position Sensor point (A), both values must be same with a tolerable
difference of ± 2.0 cm (± 0.79 inch).
9. Repeat these steps for one or two more stick positions by following the stick further away from the
cab and measure the value between the Bucket pin center point (G) and the center of the Boom
Rotary Position Sensor point (A), and compare the value with the value displayed on the machine
display, both values must be same with a tolerable difference of ± 2.0 cm (± 0.79 inch).
Note: If the display value and the actual measure value are different, refer to the Special Instruction,
M0082996, "GRADE System Setup and Calibration Procedure for the 2D and 3D on Next Gen Hydraulic
Excavators" to recalibrate the Stick sensor.
When there is a difference in values greater than ± 2.0 cm (± 0.79 inch) between the actual distance and the
displayed A to G distance value on the machine monitor display, it indicates that the Stick Sensor
calibrations or Sensor alignments or the Stick dimensions are inaccurate.
Following the recommended test steps below to isolate and find the root cause of this accuracy
degradations:
1. Observe the Stick sensor through its full range motions, ensure that there is no objects hitting or
rubbing against the sensor.
2. Using the machine monitor display select "Service Menu > Cat Grade Control system menu > CGC
status > CGC Sensors" and select the "Boom Angle Sensor Duty Cycle Value".
3. In constant slow speed fully extend the Stick and fully retract it to put the Stick through a full range
of motion and monitor the duty cycle value on the machine monitor display. Ensure that the value
continues without breaking.
4. Verify that the machine has the correct Stick dimensions by ensuring that the correct part number for
the Stick that is used on the machine is selected. Also, ensure that all Stick dimensions are correct.
Refer to Special Instruction, M0082996, "GRADE System Setup and Calibration Procedure for the
2D and 3D on Next Gen Hydraulic Excavators" for the specific model and there selected Stick part
numbers dimensions.
5. Remove the sensor and inspect.
Ensure proper installation of the sensor before reinstalling on the machine.
Note: A centering tool kit is needed to ensure a complete and proper installation of the sensor when
the sensor is removed or reinstalled. Refer to Special Instruction, REHS7312, "Instructions for
Installing Rotary Position Sensor for Cat® Grade Control on Certain Series E and Series F
Excavators" or Special Instruction, M0082996, "GRADE System Setup and Calibration Procedure
for the 2D and 3D on Next Gen Hydraulic Excavators" for information on the tool and instruction on
reinstalling the Stick Sensor.
6. A recalibration of the Stick is needed when the sensor is removed and reinstall or replaced. Refer to
3D on Next Gen Hydraulic Excavators" for instruction on calibration the Stick sensor.
Note: If repeated attempts are made to recalibrate the stick sensor, do not provide expected results.
Use a tape measure to confirm actual idler link, power link, and bucket dimensions match the software
configuration.
1. Park the machine on solid surface.
2. With the front bucket cylinder is full retracted (Bucket opened) extend the stick and lower the Boom
until the bucket teeth touch the ground.
3. Using the center finder tool measure the distance between points C and F.
4. From the machine display service menu, select "Cat Grade Control System > CGC Status > CGC
Distances" and select "Length C-F".
5. Compare the measured value with the value that is displayed on the machine monitor, both values
should be the same ± 2.0 cm (± 0.79 inch).
6. Readjust the bucket orientation by extend the front bucket cylinder to the mid position.
7. Re measure point (C) to (F) and compare the measured value with the value that is displayed on the
machine monitor, both values should be the same ± 2.0 cm (± 0.79 inch).
8. Fully extend the front bucket cylinder (Close bucket).
9. Re measure point (C) to (F) and compare the measured value with the value that is displayed on the
machine monitor, both values should be the same ± 2.0 cm (± 0.79 inch).
If the displayed value on the machine monitor and the actual measured value difference is greater than
± 2.0 cm (± 0.79 inch) in any or all the previous tests, a recalibrations of the Front Position Sensing
Cylinder Sensor is needed. Refer to the Special Instruction, M0082996, "GRADE System Setup and
Calibration Procedure for the 2D and 3D on Next Gen Hydraulic Excavators" for instruction to recalibrate
the Front Position Sensing Cylinder Sensor.
• The measurement taken from the front cylinder when it is fully retracted (Bucket open) should also
match the value shown on the machine display under "CGC Setting" menu for the "Bucket Cylinder
Minimum Retraction length". The measurement for the front cylinder when it is fully extended
(Bucket closed) should match the value shown on the machine display under "CGC Setting" menu
for the "Bucket Cylinder Maximum Extension length".
• Measure and update the "Bucket Cylinder Minimum Retraction Length" and "Bucket Cylinder
Maximum Retraction Length" with the measured values between point C and F on the Front Position
Sensing Cylinder. If the measured value is different from the values that is displayed, then on the
distances menu press ± 1.00 mm (± 0.039 inch) in the machine monitor display, and repeat the bucket
sensor calibration.
Laser Catcher LC450 Validations Test
1. Park the machine on a solid, level surface.
2. Ensure that the selected work tool (Bucket) dimensions are accurately programmed in the work tool
screen. Refer to Special Instruction, M0082996, "GRADE System Setup and Calibration Procedure
for the 2D and 3D on Next Gen Hydraulic Excavators" for instruction on how to inspect the bucket
dimensions.
3. Use the laser to project a level plane approximately 0.3 m (0.98 ft) above the ground.
4. Use the laser receiver to locate the tooth tip (J) in the laser plane.
5. Move the linkage in and out to different points, returning the system to where the elevation deviation
is 0.00 m ().
6. Use the laser receiver and tape measure to determine how closely the selected tooth tip is to the laser
plane.
If the actual elevation of the tooth tip above or below the laser plane is within 2.0 cm (0.79 inch) of the
elevation deviation displayed on the monitor, then the system is performing as expected.
If system indicates unacceptable accuracy, then one or more of the additional sensor calibration values may
be affecting the result. Confirm that all bucket sensor calibration values are accurate. Navigate to "CGC
Angles" screen to confirm "Bkt Cyl Length Offset" is less than 0.3 m (0.98 ft). If measurement is more than
0.3 m (0.98 ft), delete all cylinder sensor calibrations and start over. Refer to Special Instruction,
M0082996, "GRADE System Setup and Calibration Procedure for the 2D and 3D on Next Gen Hydraulic
Excavators" for Front Positions Sensing Cylinder Sensor Calibrations.
Note: Be aware of and account for the taper in the linkage.
Machine Body and Linkage Dimensions
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 pivots 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.
Table 3
Boom Dimensions Stick Dimensions
Length Measurements Length Measurements
A to B B to C
A to T B to D
A to R B to G
B to T B to S
B to R C to D
A to X C to G
X to B C to S
- D to G
- B to L
- L to M
Checking the GNSS Position Accuracy

While Machine Measurements impact the guidance accuracy of the Cat GRADE system, the system is also
dependent on the quality of the GNSS position that the GNSS Receivers receive. The quality of the GNSS
position is typically impacted by various factors including the number of satellites connected, the timeliness
of the GNSS corrections, the quality of the GNSS corrections, and where the satellites are located in the
sky.
The GNSS Diagnostics screen provides various key pieces of information regarding the Left and Right
GNSS Receivers position quality. The Illustration provides a view of the Left Receiver GNSS Diagnostics
screen and Right Receiver Diagnostics screen is similar.
The GNSS error both vertical and horizontal are the first items of interest about the receiver. The GNSS
error vertical and horizontal are approximations of the accuracy of the GNSS receiver position. The GNSS
error will typically go up as the number of Satellites Used goes down. The accuracy approximation
impacted by the individual satellites, can depend on the frequency band the satellite used to connect but
typically you will see various satellites in each satellite band (L1, G1, L2, G2).
For the GRADE system to control the blade automatically, the GNSS Receivers must achieve an RTK
fixed position. The status of the GNSS receiver and whether it has achieved is indicated in the GNSS
Diagnostic screen. To reach an RTK fixed state, the GNSS receiver must connect with a minimum of 4
satellites and be receiving GNSS corrections.
The Datalink tab in the GNSS Diagnostic screen provides information regarding the status of the datalink
over which the GNSS corrections are sent.
The Datalink tab in the GNSS Diagnostic screen provides information on the quality of the GNSS receiver
to GNSS correction source connection. Low Integrity indicates a poor connection or no connection during
the time period specified for each GNSS receiver. The 100s Integrity percentage is the best indicator of the
current connection quality and is typically higher than the 3hr Integrity percentage which will show missed
corrections or disconnections over the last 3hrs of system operation. High Latency can create an accuracy
problem by relating GNSS corrections from the past to current position calculations when the environment
conditions may have changed. Low Integrity or High Latency can both cause the GNSS receiver to fail in
reaching an RTK fixed position. Good Integrity values typically exceed 95% in the 100s period.
Earlier the Low GNSS Accuracy (Left) and Low GNSS Accuracy (Right) messages were discussed about
the GNSS receiver connectivity, but not regarding the Vertical and Horizontal GNSS Error shown on the
GNSS Diagnostic screen. The GRADE system utilizes the error approximation for each receiver to trigger
the Low GNSS Accuracy (Left) and Low GNSS Accuracy (Right) messages.
The GNSS Accuracy screen is the interface for setting the system behavior based on the GNSS error
approximated for each GNSS receiver. The GNSS Accuracy screen has no control over the accuracy that
the GNSS receivers experience but only over the limit at which it will trigger the Low GNSS Accuracy
(Left) and Low GNSS Accuracy (Right) messages. The GNSS accuracy that each receiver experience is
based on the conditions discussed earlier regarding satellite connections and GNSS corrections.
When site, infrastructure, and environment conditions drop the GNSS receiver accuracy but the accuracy is
still within site tolerances, it may become necessary to adjust the error limit from Fine to Medium or
Coarse on the system to suppress the Low GNSS Accuracy (Left) and Low GNSS Accuracy (Right)
messages and allow the system to maintain automatic control of the blade.
The horizontal and vertical error limits for the three Accuracy Modes may be customized depending on
operator or site manager preference.
Pre-Delivery Measure-up Dimension Verification

To verify the machine dimensions, use either two known good points or use a GNSS survey tool to
compare the points.
1. Park the machine on a level surface that has a clear view of the sky.
2. To enter "Manager Mode", hold down the "OK" key as the display powers up.
3. Press the Next key until the second text window appears that shows Northing, Easting, and Elevation.
4. Verify which blade tip the system is using for the GRADE display text items: "Blade: Left" or
"Blade: Right".
5. Place the blade in the air and move the machine forward approximately 1 m (3.3 ft).
6. Lower the blade until the blade touches the ground or known survey point.
7. Note the values of the Northing, Easting, and Elevation from the display for the right and left tips of
the blade.
8. Use the GNSS survey tool or the known survey point to measure the blade tip. Compare the values
from the GNSS survey tool (or known point) and the values from the GRADE display for the left and
right tips of the blade. The elevation values should be within one tenth of a foot.
Note: The display rounds off the values. The survey tool will carry out the values to more digits. If
the values are not within one tenth of a foot, then the calibration and measure-up process will need to
be repeated.
9. Repeat Step 3 through Step 8 to verify the right blade tip.
10. Park the machine on a side slope of greater than 10%.
11. Press the "Next" key from the main screen on the CB460 to view the text window showing the
"Northing", "Easting", and "Elevation".
12. Verify which blade tip the system is using for the GRADE display text items: "Blade: Left" or
"Blade: Right".
13. Place the blade in the air and move the machine forward approximately 1 m (3.3 ft) on the side slope.
14. Lower the blade until the blade tip touches the ground or known point.
15. Note the values of the Northing, Easting, and Elevation from the GRADE display for the right and
left tips of the blade.
16. Use the GNSS survey tool or the known survey point to measure the blade tip. Compare the values
from the GNSS survey tool (or known point) and the values from the GRADE display for the left and
right tips of the blade. The elevation values should be within one tenth of a foot.
17. Repeat Step 10 through Step 16 with the machine facing the opposite direction on the side slope so
that if previously the machine sloped to the right, the machine would now slope to the left.
18. If the checks for both blade tips showed that the Grade Control values were higher than the values
from GNSS survey tool or known point for one orientation of the machine on a side slope and
showed that the Grade Control values were lower than the values from the GNSS survey tool or
known point for the opposite orientation of the machine on the side slope, it is likely that a Body
Sensor Adjustment will improve the accuracy of the system. Refer to the Section Body Sensor
Adjustment for more details.
Copyright 1993 - 2019 Caterpillar Inc. Mon Jul 15 00:15:10 UTC+0700 2019
All Rights Reserved.
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320 Excavator YBP00001-UP (MACHINE) POWERED BY C7.1 Engine(M0092767 - 0...

Testing and Adjusting

System Accuracy - Test

Failure to stay clear of the equipment while the equipment is being

Personal injury or death can result from sudden machine movement.

Sudden movement of the machine can cause injury to persons on or

Troubleshooting Cat® GRADE System Accuracy

System Accuracy Validation

Using a Self-Leveling Base

1. Park the machine on a hard and leveled surface.

2. Position the self-leveling laser between the tracks.

Using a Bench Point Reference on the Ground.

1. Park the machine on hard leveled surface.

2. Position the bucket closer to the cab.

Bucket dimensions validations

System Accuracy Test

2D / 3D GRADE System Accuracy Check Using the 3D GRADE System Display

3. Verify the GRADE display set for "Bucket Center".

Testing the Machine Component Separately

1. Park the machine on hard level surface.

Checking the Bench Elevations

4. Set bench of that reference point (5).

6. Remove the sensor and inspect.

1. Park the machine on solid surface.

2. Align the Boom to be close to vertical with ground.

6. Compare the recorded value with the displayed value.

7. Both values should be within ± 2.0 cm (± 0.79 inch) when compared.

5. Remove the sensor and inspect.

Ensure proper installation of the sensor before reinstalling on the machine.

1. Park the machine on solid surface.

8. Fully extend the front bucket cylinder (Close bucket).

Laser Catcher LC450 Validations Test

1. Park the machine on a solid, level surface.

Note: Be aware of and account for the taper in the linkage.

Machine Body and Linkage Dimensions

Checking the GNSS Position Accuracy

Pre-Delivery Measure-up Dimension Verification

9. Repeat Step 3 through Step 8 to verify the right blade tip.

10. Park the machine on a side slope of greater than 10%.

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