Accugrade ssl
This presentation is the property of its rightful owner.
Sponsored Links
1 / 42

AccuGrade SSL PowerPoint PPT Presentation


  • 60 Views
  • Uploaded on
  • Presentation posted in: General

AccuGrade SSL. Agenda. Project Overview Machine Integration Electrical System System Offering Installation Display Requirements Preparing to Grade How AccuGrade Compares to Other Systems. Project Overview. Project goal

Download Presentation

AccuGrade SSL

An Image/Link below is provided (as is) to download presentation

Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author.While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server.


- - - - - - - - - - - - - - - - - - - - - - - - - - E N D - - - - - - - - - - - - - - - - - - - - - - - - - -

Presentation Transcript


Accugrade ssl

AccuGrade SSL


Agenda

Agenda

  • Project Overview

  • Machine Integration

  • Electrical System

  • System Offering

  • Installation

  • Display Requirements

  • Preparing to Grade

  • How AccuGrade Compares to Other Systems


Project overview

Project Overview

  • Project goal

    • Design a deeply integrated, single laser AccuGrade system for the Box Blade work tool

    • Available for C-Series SSL family only

    • System must minimize cost by utilizing existing electronics on the machine

      • A4:M1 to execute AccuGrade code

      • AMICS Display for the “Graphical” User Interface

      • Implement joystick

    • Minimize impact to machine cost

    • Accuracy of +/- 0.25 inch

    • Will be available from AccuSSL Price List


Project overview1

AMICSDisplay

Box Blade Attachment

Project Overview


How it works

Reference Elevation

How it Works

  • Laser transmitter emits laser plane (level or sloped)

  • Laser receiver on work tool detects laser strikes; communicates laser strike position to ECM

  • ECM processes position data; commands hydraulics to lift/lower blade to remain on-grade

  • Display provides grade information to operator


Machine integration joystick usage

Machine Integration – Joystick Usage

  • Utilize RH joystick as-is

    • Not adding any additional switches, etc.

  • RH Joystick Trigger

    • Supports “Float” machine feature

      • Float is a 2-step action - hold trigger and pushing joystick all the way forward

      • Just squeezing trigger currently does nothing

    • Supports Auto/Manual control for AccuGrade

      • AccuGrade usage only available when AMICS is in AccuGrade mode & joystick is in neutral position

      • Set benchmark then press/release the trigger to enable Automatic Controls

      • Press/Release trigger again to disable Automatic controls

  • Currently no method to adjust offset using joystick

    • No dedicated switches

    • Could use combination of trigger + thumb-roller

      • Concerns about overwhelming/confusing operator with button combinations


Machine integration joystick usage1

Machine Integration – Joystick Usage

  • Automatic controls temporary override

    • While automatic controls are active

      • Moving thumb-roller will override automatics and raise/lower blade as commanded by thumb-roller position

      • After releasing thumb-roller, automatics will resume if receiver is still in the laser plane


Machine integration ecm software

Machine Integration – ECM Software

  • AccuGrade software integrated into A4:M1 machine software

    • Every machine with AMICS will be capable of having AccuGrade enabled


Machine integration amics display

Machine Integration – AMICS Display

  • AMICS Display

    • Option for all C-Series machines

      • Available from factory in optional “Performance Packages”

      • Available from dealer as a kit ($715 C/L)

    • Required for AccuGrade

    • Provides operator additional machine features

      • Selectable Work Tool Control (fine, medium, coarse)

      • Selectable Hystat Control (fine, medium, coarse)

      • Creep Speed Control (Set 1-10)

      • Job Clock

      • Digital Tachometer

      • Temperatures

      • System Voltage

      • Service Mode (events, diagnostics, troubleshooting)

    • Added an “AccuGrade Mode” to the software


Electrical system

Electrical System

  • Primary change is to provide CAN & power for LR410 at a bulkhead connector

    • Utilize ECM’s CAN B for AccuGrade components

      • Initially laser receiver only

      • Additional sensors in future

  • Standard machine harness updated for AccuGrade

    • Every machine built will be “Grade Control Ready”

    • Starting in 1Q2010

  • Machine update harness created for machines built prior to AccuGrade

    • Installed by dealer

  • AccuGrade Harness runs down lift arms to bulk-head

    • Installed by dealer


Electrical system1

Electrical System

  • Routing of AccuGrade harness


System offering

System Offering

  • Top-Level Kit

    • Installation Kit

    • Electronics Kit

  • Installation kit includes

    • AccuGrade Harness, mounting plate & nuts/bolts/ties

  • Electronics Kit includes

    • Laser Receiver, Coil Cable, Carrying Case

  • Software Enabled Attachment (SEA) with Factory Password required to activate AccuGrade

  • Customer may have to purchase AMICS kit separately if machine doesn’t already have it

  • Machines built prior to 2010 will require Machine Update Harness (available on machine price page)


Installation existing machines

Installation – Existing Machines

  • Installation of an AMICS display & creep switch (if not already on machine)

    • Configure ECM to recognize display is installed

    • Update software to latest with AccuGrade support

  • Flash machine's A4M1 ECM with new machine software.

  • Configure AccuGrade SEA so that AccuGrade is installed.

  • Install the Machine Update Harness.

    • This harness will have to be ordered from the machine price page

    • Machines built 1Q2010 will have this functionality integrated into machine platform harness

      • Every machine will be considered "Grade Control Ready".

  • Install the AccuGrade “Installation Kit”

  • Attach tool & perform Valve Calibration


Installation gcr machines 1q2010

Installation – GCR Machines (1Q2010)

  • Installation of an AMICS display & creep switch (if not already on machine)

    • Configure ECM to recognize display is installed

    • Update software to latest with AccuGrade support

  • Flash machine's A4M1 ECM with new machine software.

  • Configure AccuGrade SEA so that AccuGrade is installed.

  • Install the AccuGrade “Installation Kit”

  • Attach tool & perform Valve Calibration


Display requirements user interface

Display Requirements – User Interface

  • AccuGrade Mode added to AMICS Application

  • 7-Digit, 7-Segment LCD display


Display requirements user interface1

Display Requirements – User Interface

  • Enter AccuGrade

    • Press and hold “Mode” and “Down” buttons for 2 seconds

Regular Machine Display

AccuGrade Mode


Display requirements run time screen

Display Requirements – Run-Time Screen

  • Run-time screen description

    • Elevation Data (1)

      • Value to 2 decimal places when using English (decimal-feet) units

      • Value to 3 decimal places (mm) when using Metric units

      • Offset shown when in “Reference Mode”

      • Actual error from Desired Grade shown while in “Cut/Fill”mode

    • Automatics Indicator (2)

      • Flashes repeatedly if automatics not allowed

      • “A” shown when in Automatic Control Mode

      • Duplicate Grade Indicator if in Manual Control Mode

    • On-Grade Indicator (3)


Display requirements run time screen1

Display Requirements – Run-Time Screen

  • Manual Grade Indicators

  • (Reference & Cut/Fill Modes)

Course Above Grade (Flashing)

Medium Above Grade

Fine Above Grade

On Grade

Course Below Grade (Flashing)

Medium Below Grade

Fine Below Grade

No Laser Strikes


Display requirements run time screen2

Display Requirements – Run-Time Screen

  • Automatic Grade Indicators

  • (Reference & Cut/Fill Modes)

Course Above Grade (Flashing)

Medium Above Grade

Fine Above Grade

On Grade

Course Below Grade (Flashing)

Medium Below Grade

Fine Below Grade

No Laser Strikes


Display requirements grade indicator ranges

Coarse-Below (-60 mm to end of LR)

Medium-Below (-30 mm  -60 mm)

Fine-Below (-3 mm  -30 mm)

On-Grade (+/- 3mm)

Fine-Above (3 mm  30 mm)

Medium-Above (30 mm  60 mm)

Coarse-Above (60 mm to end of LR)

Display Requirements – Grade Indicator Ranges

Consider benchmark at middle of LR


Display requirements grade indicator ranges1

Coarse-Below (-60 mm to end of LR)

Medium-Below (-30 mm  -60 mm)

Fine-Below (-3 mm  -30 mm)

On-Grade (+/- 3mm)

Fine-Above (3 mm  30 mm)

Medium-Above (30 mm  60 mm)

Coarse-Above (60 mm to end of LR)

Display Requirements – Grade Indicator Ranges

Consider benchmark off-center of LR

Bench


Display requirements run time screen3

Display Requirements – Run-Time Screen

  • Benchmark (Reference & Cut/Fill Modes)

    • Press and hold “Up” and “Down” buttons for 2 seconds

    • Value shown flashes once & resets to zero

Before Bench

After Bench


Setting the benchmark

Reference Elevation

Setting the Benchmark

  • Establishes a known elevation in the system

    • Could be desired final elevation OR a known elevation from which to offset


Display requirements run time screen4

Display Requirements – Run-Time Screen

  • Apply an offset (Reference Mode Only)

    • Use “Up” or “Down” buttons to apply an offset

Increment

Decrement


Applying an offset

New target elevation

Reference Elevation

Reference Elevation

New target elevation

Applying an Offset

Positive Offset – Raise Blade

Negative Offset – Lower blade


Display requirements run time screen5

Display Requirements – Run-Time Screen

  • Viewing Elevation Error (Cut-Fill Mode Only)

    • Real-Time display of error between blade elevation when benchmark set and current blade elevation

    • Error also includes any offset applied while in Reference Mode

      • NOTE: Can’t set an offset while in Cut-Fill Mode

ElevationError

Laser Strikes at Benchmark

Current Laser Strike Position


Display requirements user interface2

Display Requirements – User Interface

  • Automatic Controls Indicator (Reference and Cut/Fill Modes)

    • Toggle trigger on implement joystick while joystick is in neutral position

      • Safety interlocks must be met to enable automatics

      • Violating interlocks while automatic controls are active will disengage automatic controls

      • The A will flash when the system is in a inactive auto state

Manual

Auto

Trigger


Display requirements valve speed

Display Requirements – Valve Speed

  • Operator chooses responsiveness of hydraulic system

  • Options range from 10 to 200% in 10% increments

  • Pressing ‘Up’ increments the speed (faster response)

  • Pressing ‘Down’ decrements the speed (slower response)

  • Pressing ‘Up’ at 200% rolls-over to 0% and vice-versa

  • Default setting is 100%

Run-Time Screen

Valve Speed Screen

Current Valve Speed


Display requirements operating mode

Valve Speed Screen

Operation Mode Screen

Reference Mode Screen

Cut-Fill Mode Screen

Display Requirements – Operating Mode

  • Operator chooses AccuGrade mode of operation

  • Options

    • Reference: Allows operator to apply an offset to the benchmark elevation

    • Cut-Fill: “Grade Checker” mode; Shows error between blade elevation and desired elevation

      • Can’t apply offsets in this mode

  • Default setting is Reference


Display requirements valve calibration

Display Requirements – Valve Calibration

  • Allows operator to calibrate AccuGrade

    • AccuGrade learns responsiveness of hydraulics

  • First step is to define the lower limit for the tool’s range of motion

    • Determined by where the laser is striking the receiver

    • Initiate this step by pressing ‘Down’ button while on initial screen with the laser striking the receiver in the correct range

  • Second step is to define the upper limit for the tool’s range of motion

    • Determined by where the laser is striking the receiver

    • Initiate this step by pressing “Down” button while on Lower Limit screen

  • Final step is to start the automatic calibration

Operation Mode Screen

Valve Calibration Screen

Valid Lower Limit Range

Valid Upper Limit Range


Display requirements valve calibration1

Display Requirements – Valve Calibration

  • First, define lower limit for the tool’s range of motion

  • The grade indicator will give guidance for how far the laser receiver is above or below required range (course, medium, fine and on grade)

  • Pressing ‘Up’ will return to Valve Calibration screen

  • Pressing ‘Down’ will continue to Upper Limit screen

  • Position blade about an inch above the ground

  • Blade shouldn’t touch the ground during the calibration

  • Position receiver on the mast until display shows “Stop”

Lower Limit Stop

Lower Limit Down

Lower Limit Up

Lower tool

Raise tool

Tool is in correct position Press “Down” to continue


Display requirements valve calibration2

Display Requirements – Valve Calibration

  • Second, define upper limit for the tool’s range of motion

  • The grade indicator will give guidance for how far the laser receiver is above or below required range (course, medium, fine and on grade)

  • Pressing ‘Up’ will return to Upper Limit screen

  • Pressing ‘Down’ will continue to Automatic Calibration screen

  • Raise the box blade cutting edge until display shows “Stop”

Upper Limit Stop

Upper Limit Down

Upper Limit Up

Tool is in correct position Press “Down” to continue

Lower tool

Raise tool


Display requirements valve calibration3

Pulling the right trigger will start the automated calibration.

The display will show the progress of the calibration.

The operator will initially see:

Calibration Manual

Display Requirements – Valve Calibration

  • Initiate the Automated Calibration

Trigger


Display requirements valve calibration4

Display Requirements – Valve Calibration

  • Completion of Automatic Calibration

    • If an error occurs, previous calibration retained

    • Error codes listed in OMM

  • When the calibration is done (successfully or not), pressing the ‘Mode’ button returns to the Valve Calibration Screen

When the calibration is successfully completed the screen will display:

Calibration Done

If the calibration is aborted or not successful the screen will display:

Calibration Error


Display requirements return to run time screen

Display Requirements – Return to “Run-Time” Screen

  • From the Valve Calibration menu, pressing the Mode button returns the display to the “Run-Time” screen.

Run-Time Screen

Valve Calibration Screen


Display requirements user interface3

Display Requirements – User Interface

  • To Exit AccuGrade

    • Press and hold “UP” button for 2 seconds

    • Returns to previous machine screen

Machine Mode

AccuGrade Mode


Diagnostics

Diagnostics

  • Traditional AccuGrade fault codes shown on Display

    • Look-up table available in OMM

  • Traditional CAT fault IDs logged in software & shown in ET

  • LR410 Loss of Communications

    • Only available when display is in “AccuGrade” mode

    • “Active-only” if communication lost while machine is stationary

      • i.e. In case someone unplugs LR to put away at end of day, etc.

      • Minimize number of false logged diagnostics

    • “Active & Logged” if communication lost while machine is moving

  • Laser Interference

    • Active only

  • AccuGrade System Calibration Required

    • Active only

    • Only available when display is in AccuGrade Mode


Preparing to grade

Preparing to Grade

  • Setup Laser Transmitter & tripod

  • Manually position the blade at a known elevation

  • Attach laser receiver to mast, plug into machine using coil-cable and position in the laser plane

    • LR doesn’t have to be centered in the plane, but can’t be too close to the top/bottom

  • Benchmark the known (reference) elevation

    • If reference elevation is the desired grade, then operator is ready to grade

    • If reference elevation is offset from desired grade, then operator can enter offset into display before starting to grade.

      • IE – Reference Elevation is desired elevation of concrete slab that is 3” thick

      • Bench at slab finished elevation & enter -3” offset

  • Toggle trigger on implement joystick to enable automatic controls

    • Must be on Main AccuGrade screen


Lr410 led blink pattern

LR410 LED Blink Pattern

  • From LR410 User Manual


How accugrade compares to 3 rd party systems

How AccuGrade compares to 3rd Party Systems

  • Deep Integration

    • AG – Uses machine display, joystick & EH Hydraulics

    • Others – Uses blade-mounted display and hydraulic valves

    • Advantage – Ability to have features such as elevation offset, valve speed adjustments & other modes of operation; finger-tip control of the system; utilizes safety features of the machine

  • Faster Set-up

    • AG – Plug in LR & ready to go

    • Others – Must attach control box, connect 4 cables before ready to grade; potential to get connections wrong

    • Advantage – Much faster set-up/tear-down

  • Uses Machine’s EH to control elevation

    • AG – Only drives hydraulics when corrections are needed

    • Others – Require Continuous Flow to be enabled all the time so control box can meter the fluid flow via the tool-mounted valve

    • Advantage – Reduced fuel consumption, noise, frustration to the operator


How accugrade compares to 3 rd party systems1

How AccuGrade compares to 3rd Party Systems

  • Easier to Benchmark

    • AG – LR can be positioned nearly anywhere in the plane & benchmark can be established

    • Others – Benchmark is set by centering LR in the laser plane

    • Advantage – Less frustration trying to center LR in the laser plane (can’t be too close to top/bottom, though); set it & go!

  • Configure Elevation Offset

    • AG – Elevation offset can be set using the display

    • Others – Offsets are done by precisely relocating the laser receiver on the mast

    • Advantage – Faster & easier to set offsets


Questions

Questions?

  • Options for Light Bar & Audible Alarm?

    • Light Bar not an option because current LB uses serial communication bus that the ECM doesn’t have.

    • No audible alarm available on machine for AccuGrade use. Only alarm currently in machine is for machine health.

  • Can Inc/Dec amount be configured by the operator?

    • No – maybe a nice upgrade for Gen 2 unless we can find a way to use implement joystick to inc/dec offset remotely.

  • Can valve calibration work with other box blades?

    • Other box blades seen have 6” cylinder stroke just like the Level Best box blade. This is not expected to be a problem, but hasn’t been tried since we are endorsing the Level Best work tool.

  • Why not dual-laser, sonic?

    • VOC captured at start of program did not have these as highly important features for the system.


  • Login