Operación de Sistemas

120M Series 2, 120M2, 12M Series 2, 12M Series 2, 140M Series 2 and 160M
Series 2 Motor Graders Implement Electronic Control System

Número de medio -KENR9041-03 Fecha de publicación -01-12-2012 Fecha de actualización -27-02-2013

Electronic Joystick Control

 g02118653
Illustration 1

Functions of the left and right joystick that are controlled by the modules of the Implement ECM

Note: The illustration above shows the functions that are controlled by the Implement
ECM. The functions that are controlled by the Transmission/Chassis ECM are not called
out in this manual. Refer to the manual for the Transmission/Chassis ECM for the joystick
functions that are controlled by the Transmission/Chassis ECM.

The Implement ECM on the Series M2 Motor Graders enables the operator to use the
electronic left and right joysticks. The joysticks control movement of an implement or
function. The joysticks are equipped with position sensors and switch-to-ground type
switches that send input signals to the ECM.

Operation of the Position Sensor

Any movement of the joystick handle on a specific axis is detected by an internal position
sensor for that axis. When the position sensor is powered up, the sensor will continuously
send a Pulse Width Modulated (PWM) signal to the ECM. The duty cycle of the PWM
signal from the sensor will change in response to the direction and the amount of movement
of the joystick. The duty cycle is the comparison between the percentage of time that the
signal is high and time the signal is low for one cycle. The ECM will recognize a valid duty
cycle that ranges from 10 ± 5 percent to 90 ± 5 percent. A joystick that is in the center or
the neutral position would result in a duty cycle signal of approximately 50 ± 6 percent. For
more information on PWM sensor signals, refer to Diagnostic System Procedures, "Pulse
Width Modulated Sensor".

In most cases, the Implement ECM will send a specific level of electrical current output to
the appropriate proportional solenoid valve. For the position sensors of the steering axis,
the Implement ECM 2 will send a control signal to the steering control module. The ECM
relates a specific duty cycle value to a specific position of the joystick.

The amount of current applied to a proportional solenoid determines the amount of pilot oil
pressure that is applied to a control valve. An increase in the amount of electrical current
that is applied to the solenoid will increase the movement of a valve spool. The increase of
current will result in an increase of hydraulic flow to a cylinder.

When movement of more than one joystick axis is detected, the ECM will send output
current signals to multiple solenoids or controls. These signals will move the implement in
several directions at the same time.

Operation of the Left Joystick

All of the internal components and the harness circuits have assigned diagnostic codes. The
Implement ECM, or Implement ECM 2, activate a diagnostic code for a component when
abnormal conditions are detected in the involved circuit.

Two ground sources are connected to all of the internal components of the joystick. Both of
the ground circuits must fail, internally or externally, in order for the component not to
function due to loss of ground connections.

Primary Steer Position Sensors

The left/right axis of the left joystick is assigned to the primary steering function. The
left/right axis does not have the "return to center" type of axis movement. Since this axis
controls the steering function, the joystick will stay in a position until the joystick is moved
to another position.

Three sensors for the steer position are connected to this axis in order to provide
uninterrupted operation of the primary steering system. The loss of one of the power supply
circuits or one of the ground circuits will not cause the primary steering system to fail.

Each sensor of the steer position outputs a PWM signal. The frequency of the sensor signal
is approximately 500 ± 100 Hz. The position sensor sends the PWM signal to the
Implement ECM 2 and to the Transmission/Chassis ECM. The duty cycle will vary from
full left position to full right positions of the joystick, 10 ± 5 to 90 ± 5 percent, respectively.
When the joystick is in the center position, the duty cycle will be approximately 50 percent.

The Implement ECM 2 and the Transmission/Chassis ECM monitor the PWM signals from
each of the steer sensors. The Implement ECM 2 will use the signal from the steer sensor to
determine the correct command signal to send to the steering control module. The signals
of the PWM duty cycle from each of the three steer position sensors must match within 5
percent of each other. If not, both of the ECM modules will activate a diagnostic code for
the sensor that does not match the other two.

The Implement ECM 2 will use the signal from steer sensor 1 to determine the requested
steering command. When the Steer Position 1 does not match the other two Steer sensor
signals that do match: The ECM uses Steer sensor 2 as the good signal. If the Steer sensors
1 and 2 are both incorrect: The ECM will use the signal from Steer sensor 3 as the good
signal.

Blade Lift, Articulation, Wheel Lean Position Sensors

The blade left lift position sensor, the machine articulation position sensor and the wheel
lean position sensor are located in theleft joystick. The axis assignments and details are
listed below:

Blade Left Lift Position Sensor - Assigned to the forward/rearward axis. The position
sensor outputs a PWM signal. The signal frequency of the sensor is approximately 500 ±
100 Hz. The position sensor sends a PWM input signal to the Implement ECM. The duty
cycle of the signal will vary from full rearward to full forward positions of the joystick, 10
± 5 to 90 ± 5 percent, respectively. When the lever is in the center position, the duty cycle
will be approximately 50 ± 6 percent. When the joystick is moved to a full forward detent
position, the ECM will enable the float mode for the left lift hydraulic valve.

Position Sensor for Machine Articulation - Assigned to the twist left/right axis. The
position sensor outputs a PWM signal. The frequency of the sensor signal is approximately
500 ± 100 Hz. The position sensor sends a PWM input signal to the Implement ECM 2.
The duty cycle of the signal will vary from the full rotate left position to the full rotate right
position, 10 ± 5 to 90 ± 5 percent, respectively. When the joystick is in the center (neutral)
position, the duty cycle will be approximately 50 ± 7 percent.

Position Sensor for Wheel Lean - Assigned to the left/right rocker button axis on the
joystick handle. The position sensor outputs a PWM signal. The frequency of the sensor
signal is approximately 500 ± 100 Hz. The position sensor sends a PWM input signal to the
Implement ECM. The duty cycle of the signal will be approximately 10 ± 5 percent when
the joystick left button for the wheel lean is fully depressed. The duty cycle of the signal
will be approximately 90 ± 5 percent when the joystick right button for the wheel lean is
fully depressed. When neither button is depressed, the duty cycle will be approximately 50
± 7 percent.

Joystick Switches

The neutral articulation switch is the only switch on the left joystick that provides inputs to
the Implement ECM. The switch provides two ground types of input to the ECM. The
switch is connected to two of the four return circuits of the sensor. The switch must lose
both of the ground circuits in order to cause a circuit failure.

Since there is ECM pull-up voltage present at the contacts of the switch input, the switch
contact that is not grounded will be pulled high. The ECM expects to detect one switch
circuit that is grounded and one switch circuit that is high at all times. If both of the circuits
are high or grounded at the same time, the ECM will activate a diagnostic code for the
switch.

Operation of the Right Joystick

The right joystick receives power connections and ground connections from two separate
10 V sensor power supply circuits. One power supply from the Implement ECM and one
power supply from the Transmission/Chassis ECM. As shown in the illustration above,
each position sensor is internally connected to both of the power supply circuits. The
position sensors are inside of the joystick. Each switch is connected to both of the return
circuits of the sensor that are inside of the joystick.
All of the internal components and the harness circuits that are controlled by the Implement
ECM have diagnostic codes that are assigned. The ECM will activate the diagnostic code
for a component when an abnormal condition is detected in the involved circuit.

When two power and ground sources connect to a component, both power circuits must
fail, or both ground circuits must fail. These events must occur, in order for the component
to fail to function correctly.

Position Sensors

The position sensors that are located on the inside of the assembly of the right joystick send
a PWM signal to the Implement ECM. Each of the position sensors will output a PWM
signal at a frequency of approximately 500 ± 100 Hz to the Implement ECM. The
assignments for the axis and the details are listed below:

Blade Right Lift Position Sensor - Assigned to the forward/rearward axis. The duty cycle
will vary from full rearward to the full forward position of the lever at 10 ± 5 percent to 90
± 5 percent, respectively. When the lever is in the center position, the duty cycle will be
approximately 50 ± 6 percent. When the joystick is moved to a full forward detent position,
the ECM will enable the float mode for the right lift hydraulic valve.

Blade Side Shift Position Sensor - Assigned to the left/right axis. The sensor signal duty
cycle will be approximately 10% (± 5) when the joystick is at the full left position. The
duty cycle will be approximately 90% (± 5) when the joystick is at the full right position.
When the joystick is in the center position, the duty cycle will be approximately 50 ± 7
percent.

Blade Circle Drive Position Sensor - Assigned to the twist left/right axis. The sensor
signal duty cycle will be approximately 10% (± 5) when the joystick is rotated to the full
left position. The duty cycle will be approximately 90% (± 5) when the joystick is rotated
to the full right position. When the joystick is in the center position, the duty cycle will be
approximately 50% (± 5).

Blade Center Shift Position Sensor - Assigned to the left/right axis on the "thumbrocker"
switch on the handle of the joystick. The sensor signal duty cycle will be approximately
10% (± 5) when the "thumbrocker" switch is at the full left position. The duty cycle will be
approximately 90% (± 5) when the "thumbrocker" switch is at the full right position. When
the "thumbrocker" switch is in the center position, the duty cycle will be approximately
50% (± 5).

Blade Pitch Position Sensor - Assigned to the forward/rearward axis on the "thumbrocker"
switch on the handle of the joystick. The sensor signal duty cycle will be approximately
10% (± 5) when the "thumbrocker" switch is at the full lower position. The duty cycle will
be approximately 90% (± 5) when the "thumbrocker" switch is at the full upper position.
When the "thumbrocker" switch is in the center position, the duty cycle will be
approximately 50% (± 5).
Electronic Primary Steering Control

Ver imagen

g02345542
Illustration 2

The Implement ECM 2 controls the primary steering system. The Implement ECM 2 uses a
"closed loop" system for the position feedback to control the position of the front wheels on
the motor grader. The ECM sends a control signal to the control module for the steering
valve that is based on the left position of the joystick. Then, the ECM monitors the position
of the steer cylinders and the position of the steering valve spool in order to adjust the
command accordingly. As the steering cylinders approach and reach the commanded
position: the ECM decreases the control signal to the steering valve control module until
movement of the valve spool, and the cylinders, stop. The cycle repeats as steering input
from the joystick changes.

The Implement ECM 2 outputs to the steering valve control module are for operating power
and the steering command/control signal. The ECM receives inputs from the control
module for the steering valve for the position sensor of the spool and the error signal.

The Implement ECM 2 is used to supply the machine power to the control module of the
steering valve through an ON/OFF output driver. The steering module will operate within a
power supply range of between 8.5 VDC and 36 VDC. The ECM will not allow the system
voltage to go below 18.0 VDC without activating a diagnostic code for low system voltage.

When the key start switch is in the ON position: Implement ECM 2 turns ON the power for
the control module of the steering valve. The ECM will not enable the operation of the
steering system until certain machine conditions are met. The conditions that must be
satisfied before the Implement ECM will enable the steering system are listed below:

 Engine ON - The engine must be operating.

 Hydraulic Pressure OK - The main hydraulic pump pressure sensor must be
indicating sufficient pressure.
 Operator In Seat - The operator in seat switch must be indicating that an operator
is in the seat in order to enable steering.
 Parking Brake ON, Transmission in Neutral
 Steer Cylinder Position Sensor Signals OK - The signals from both steer
cylinders must not be faulty.

When the above conditions are satisfied, the left joystick must be aligned with the front
wheels before the ECM allows the steering system to operate. To align the joystick, the
operator slowly "sweeps" the joystick through the full range of travel, for the left/right axis.
When the Implement ECM 2 detects that the joystick has been aligned with the front
wheels, the primary steering system will be enabled. This procedure must be performed
every time the engine is started. This procedure must also be performed every time the
parking brake is engaged and the operator leaves and returns to the seat.

Providing that the required conditions listed above are correct, other conditions that will
prevent the ECM from enabling the steering system are listed below:

 Sweeping The Joystick Too Fast - The left joystick must be swept from side to
side in a steady motion. The full side to side sweeping motion should not be done in
less than 4 seconds.
 Not Sweeping The joystick Through the Full Range Of Motion - Ensure that the
left joystick is being swept from stop to stop. If the travel of the joystick is
inhibited, the joystick may not reach the correct position for alignment.
 Front Wheel Position Out of Range - If the front wheels are positioned at an
extreme left or right angle: Sweeping the joystick may not align the wheels. If this
condition does occur: Manually move the wheels back into an acceptable position,
before the ECM will align with the joystick. Actuating the wheel lean function to
the left and to the right may help move the wheels into an accepted range.

Steering Control Signal

When the steering valve control module is powered up, the Implement ECM 2 outputs a
PWM signal of 5000 Hz to the module. The duty cycle of the control signal is dependent on
the following:
  The signal that the position sensor for the steering is sending from the left joystick.
 The input signal that is received from the position sensors for the steering cylinder.

The steering control module will adjust the position of the valve spool based on the duty
cycle of the control signal.

The control signal circuit is connected to a sinking driver output on the ECM. At the
steering valve control module harness connector, a pull-up resistor is connected between
the control signal circuit and the power circuit. The pull-up resistor causes the circuit for
the control signal to be held high until the ECM turns ON the sinking driver output. The
sinking driver output will ground the control signal and the output will cause the signal to
go low. The cycling ON and OFF of the output by the ECM will result in a PWM duty
cycle signal. The ECM adjusts the output signal according to two signal conditions: The
input signal from the left joystick, and the input signal from the steering cylinder position
sensors.

The duty cycle of the control signal will range between 25 ± 5 percent and 75 ± 5 percent.
When the left joystick is stationary, the duty cycle will be 50 ± 5 percent until the joystick
is moved to another position.

Moving the joystick to the left of center increases the control signal duty cycle from 50 (±5)
to 75 (±5) percent (maximum). Moving the joystick to the right of center decreases the
control signal duty cycle from 50 (±5) to 25 (±5) percent (maximum).

The control signal can be measured as a voltage, but that is not a simple measurement. The
reason being that the voltage range of the control signal from the ECM will change as the
system voltage is changed.

When measuring the control signal as a voltage: The signal must be between 15 to 85
percent of the system voltage the Implement ECM is supplying to the steering module for
operating power.

For example, if the ECM output supply voltage is 24.0 VDC: The control signal voltage
must be between approximately 3.5 VDC and 20.0 VDC during movement of the left
joystick.

When the left joystick is not moving, the voltage should be approximately 50 percent of the
system voltage or approximately 12.0 VDC.

The Implement ECM 2 does not monitor the signal circuit for diagnostics. The steering
control module will detect a problem, such as a high voltage or low voltage in the signal
circuit. If that happens, the module will send an error signal to Implement ECM 2. When
that event happens, Implement ECM 2 turns OFF supply power to the steering valve
control module. Implement ECM 2 will also send a request to the Transmission/Chassis
ECM, to activate the secondary steering system.
Spool Position Signal

The Implement ECM 2 receives an input from the control module of the steering valve in
order to indicate the position of the valve spool. The ECM uses this information to help
determine if the control module of the steering valve is responding correctly to the steering
control signal.

In order to indicate the position of the valve spool, the position sensor supplies an analog
voltage signal to the ECM. The voltage of the signal will range from 1.25 VDC to 3.75
VDC. When the joystick is stationary and is in any position, a signal of between 2.2 VDC
and 2.8 VDC will be supplied to the ECM.

The Implement ECM 2 monitors the sensor voltage for the spool position for diagnostics. If
the ECM detects that the voltage at the signal is too high or too low, the ECM will activate
a diagnostic code.

The steering valve control module also monitors the external and internal circuits. This
control module will detect an internal failure of the position sensor for the spool.

If there is an active diagnostic code from the position circuit of the spool: The Implement
ECM 2 turns OFF the supply power to the steering valve control module. When that
happens, the ECM sends a request to the Transmission/Chassis ECM to activate the
secondary steering system. The Implement ECM 2 will perform the same actions when
there is an error signal received from the steering module.

Steering Control Module Error Signal

The control module of the steering valve is a self-diagnosing module. A number of

abnormal conditions, if detected by the control module, will make the module signal the
Implement ECM 2 to indicate an error.

The error signal circuit is connected to the Implement ECM 2 at a switch to ground type of
input. An internal pull up voltage in the ECM holds this contact high. During normal
operation, the steering valve control module grounds this circuit, holding the signal low, to
indicate that the system is OK. When a problem is detected, the steering valve control
module removes the ground on the error circuit. The signal is pulled high by the ECM pull-
up voltage indicating to the ECM that there is a problem. When that happens, the
Implement ECM 2 turns OFF supply power to the steering valve control module. The
Implement ECM 2 also sends a signal to the Transmission/Chassis ECM, requesting
activation of the secondary steering system.

If the steering valve control module activates an error signal, follow the troubleshooting
procedure identified with code MID 145 - CID 2202 - FMI 12.

Auxiliary Hydraulics
Ver imagen

g01372895
Illustration 3

"Auxiliary Control Pod" with Mini Joystick with control levers 1, 2, 3, 4, 5, and 6

Ver imagen
 g01316090
Illustration 4

"Auxiliary Levers No. 6 and No. 7"

Note: The illustrations show all possible components that can be installed in the auxiliary
hydraulic system. The components that are installed on your machine are dependent on the
machine configuration.

The Implement ECM modules control the attachment auxiliary hydraulic system. Different
combinations of auxiliary control levers that control the hydraulic valves can be installed
on the machine. A full complement of auxiliary control levers and valves will allow seven
separate auxiliary hydraulic circuits to be available for the control of implement
attachments. The Implement ECM can be configured to allow any one auxiliary control
lever to control any one of the auxiliary hydraulic valves on the machine.

Note: Auxiliary hydraulic valve 7 is controlled by ON/OFF solenoids. All of the other
auxiliary hydraulic valves are controlled by proportional solenoids.

The Implement ECM can be configured using Cat ET. Configuring the auxiliary hydraulic
system enables assignment of any one auxiliary control lever to control any one of the
hydraulic valves on the machine. Refer to "Configuring Auxiliary Hydraulic Control".

The configuration of the auxiliary hydraulic system will determine if the "Implement ECM
3" is installed. The Implement ECM controls the auxiliary #7 valve. The solenoid outputs
for two auxiliary hydraulic valves are controlled by the "Implement ECM 2". "Implement
ECM 3" controls the solenoid outputs for the other four possible auxiliary hydraulic valves.
If only two auxiliary hydraulic control levers for control of the two valves are installed on
the machine, "Implement ECM 3" is not needed.
Depending on the auxiliary hydraulic configuration of your machine, some (not all) of the
following components could be installed for control of the system:

 The Implement ECM, "Implement ECM 2", "Implement ECM 3"

 Auxiliary Control Pod (control lever no's. 1, 2, 3 and 4)
 Stand alone auxiliary "thumbrocker" switch control lever no. 7
 Stand-alone auxiliary "thumbrocker" control combination lever no. 7 and lever no. 6
(available only if no auxiliary control pod is installed)
 Mini Joystick (only available with auxiliary control pod - adds lever no's. 5 and 6)
 Two proportional solenoids and a valve for each auxiliary control lever installed

The different combinations of auxiliary hydraulic control levers that can be installed in the
system are:

 The stand-alone "thumbrocker" lever no. 7

 The stand-alone "thumbrocker" levers no. 6 and no. 7
 The auxiliary control pod (without the mini joystick)
 The auxiliary control pod (without the mini joystick) and the stand-alone
"thumbrocker" lever no. 7

Status all auxiliary hydraulic valves on the machine must be "installed" in the Cat ET
configuration screen, before the ECM will enable operation. Also, the "Auxiliary Control
Pod" enable status must be set to "enabled".

Auxiliary Hydraulic Control Operation

Each control lever installed on the machine contains an internal position sensor. When
powered up, that sensor sends a constant Pulse Width Modulated (PWM) signal to either
the Implement ECM or the "Implement ECM 2". The ECM that the particular signal circuit
is connected to depends on the control levers that are installed. Each installed lever position
sensor circuit is monitored by the ECM for diagnostics. If the ECM detects a problem in the
signal circuit, the ECM will activate a diagnostic code for the circuit.

The duty cycle of the control lever PWM sensor signal changes depending on the direction
and the amount of lever movement. Duty cycle is the percentage of time a signal is high,
compared to the percentage of time the signal is low, for one full cycle. The duty cycle
signal from a typical position sensor the ECM will recognize as valid is from 10 (±5)
percent to 90 (±5) percent. That range of Duty Cycle percentage is measured at the extreme
ends of lever travel. A control lever that is in the center or the neutral position would result
in a duty cycle signal of approximately 50 ± 5 percent. For more information on PWM
sensor signals, refer to Diagnostic System Procedures, "Pulse Width Modulated Sensor".

The ECM uses the PWM duty cycle signals received from a control lever to control two
proportional solenoids, for an assigned auxiliary hydraulic valve. The ECM will use a
PWM output signal in order to control the amount of electrical current that is sent to the
solenoids. When the PWM duty cycle signal from the lever position sensor changes, the
ECM adjusts the amount of current that is sent to the solenoids. The current sent to the
solenoids determines the amount of pilot oil pressure directed to the hydraulic valve to
move the valve spool. An increase in the amount of electrical current that is applied to the
solenoids will increase the movement of the valve spool. The movement of the valve spool
will result in more hydraulic oil flow to the hydraulic cylinder for the implement. When the
lever is in the neutral position, the duty cycle is approximately 50 percent. At this level, the
ECM outputs a small current which is not enough to cause the valve spool to move. This
small current output to the solenoid enables quicker response time when a move is
requested.

Hydraulic Float Function

A hydraulic float function is available for the auxiliary hydraulic valves that are assigned to
auxiliary control lever #1, #4, and #6. Auxiliary control levers #1 and #4 are only available
if the auxiliary control pod is installed. If the auxiliary control pod is not installed, stand-
alone control lever #6 can be installed along with a stand-alone control lever #7. The mini
joystick control cannot be installed independent of the auxiliary control pod.

To enable "Float" functions for auxiliary control levers: The status of the float function
needs to be "installed" in the Cat ET configuration screen. This action must be performed
when the status of the control lever is "installed".

Control levers #1, #4 and #6 have a "Soft Detent" position on the lever travel. If the lever is
moved through the Soft Detent position: The ECM sends a current signal to the assigned
proportional solenoids that move the valve spool to the float position. Each control lever
has corresponding LED indicators that are located on the control pod. If control lever #6 is
installed "stand alone": An LED indicator is installed in the cab to indicate when the lever
is in "Float" position. The Implement ECM will illuminate the LEDs when the auxiliary
valves are in the float mode.

The power for the LED float indicators is supplied directly from the "Implement Control"
fuse. The LED circuits are connected to the Implement ECM sinking driver contacts. The
ECM turns ON the sinking circuit for a particular LED in order to provide a ground path
and illuminate the LED.

Configuring Auxiliary Hydraulic Control

Machines shipped from the factory with an attachment implement installed have factory-
default auxiliary control lever and valve assignments. The Implement ECM can be
configured to allow any auxiliary control lever installed on the machine to control any
auxiliary hydraulic valve on the machine. The electronic assignment of specific control
levers to control specific valves can be accomplished using the Caterpillar Electronic
Technician (Cat ET) service tool.

Note: When a machine is equipped with an attachment auxiliary hydraulic function: The
factory default for the "Auxiliary Control Pod Enable Status" in the configuration menu
will be "ENABLED". That happens regardless of whether the Auxiliary Pod Control is, or
is not, installed on the machine. The Auxiliary Control Pod Enable Status must remain in
the ""ENABLED" configuration for the auxiliary hydraulic system to function correctly.

For the procedure of assigning specific control levers to specific valves and a table of the
factory default assignments, refer to Testing and Adjusting, "Auxiliary Hydraulic System -
Configure" in this manual.

Operación de Sistemas
Cat® Grade Control Cross Slope for Motor Graders

Número de medio -UENR1797-01 Fecha de publicación -01-04-2012 Fecha de actualización -19-04-2012

i04874190

General Information
SMCS - 7220

Warnings

Do not operate or work on this machine unless you have read and
understand the instructions and warnings in the Operation and
Maintenance Manuals. Failure to follow the instructions or heed the
warnings could result in injury or death. Contact your Cat dealer for
replacement manuals. Proper care is your responsibility.

Once the system is placed in automatic mode, blade movement may

occur.

Ensure that all personnel are clear of the blade before you place the
system in automatic mode.
 Personal injury or death from crushing could occur.

Do not operate this system unless you are fully trained on this
equipment. To avoid injury, the machines park brake must be engaged
prior to starting the calibration. Maintain adequate clearance from
people and objects as the blade may move abruptly during automatic
hydraulic valve calibration.

Introduction
The purpose of this document is to detail the interactions between the individual
components used for the Cat® Grade Control Cross Slope system. This document will also
explain the usage of the graphical user interface and controls.

The Cross Slope system is a high technology earthmoving tool that allows the operators to
grade and fill with increased accuracy. This system also reduces the use of traditional
stakes, stringers, or grade checkers. The blade control system provides precise slope
feedback to achieve accurate blade positioning.

System Components

Ver imagen
 g02177719
Illustration 1

Components of the Cat® Grade Control Cross Slope system

(1) Messenger display

(2) Right joystick

(3) Mainfall sensor

(4) Blade rotation sensor

(5) Blade slope sensor

(6) Articulation sensor

(7) Service connector

(8) ECM

(9) Left joystick

Messenger display (1) is used to provide information to the operator.

Right joystick (2) and left joystick (9) are inputs for controlling the following functions:
machines propulsion, steering and implement system. Additional switches have been added
to provide switch inputs that allow the operator to adjust the target cross slope and engage
Auto/Manual mode.

This system uses three sensors to determine the position of the blade:

Mainfall sensor (3) - Measures the front to back pitch of the machine.

Blade rotation sensor (4) - Measures the rotation of the blade with respect to the blade A-
Frame.

Blade slope sensor (5) - Measures the left and right angle of the blade.

When the operator places the system in auto mode, the blade will be positioned to the target
slope. The operator controls one end of the blade while the Cross Slope system controls the
other end. When the blade is perpendicular to the frame, 0 degrees of rotation is achieved.
These sensors allow an accurate slope of the blade even when the blade is rotated and the
machine is not level.

Remote Switch Controls For Cross Slope

Ver imagen
 g02446496
Illustration 2

(10) Automatic/Manual switch (right side)

Ver imagen

g02446502
Illustration 3

(11) Automatic/Manual switch (left side)

(12) Increment/Decrement switch (right side)

(13) Increment/Decrement switch (left side)

(14) Side shift automatic/manual switch (3D systems only)

Pinch Point

Stay clear of this area!

Serious personal injury may occur.

Note: Refer to Illustration 3. The bracket below the joystick is optional. Be aware of
possible pinch point with bracket.

Ver imagen

g02446510
Illustration 4

(15) Increment for the left side of the blade

(16) Decrement for the left side of the blade

(17) Decrement for the right side of the blade

(18) Increment for the right side of the blade

(19) Auto side shift for the blade

Illustration 4 is a close up view of the graphics for the switches that were called out in
Illustration 8.

Note: Auto side shift is not used for cross slope.

Ver imagen

g02419156
Illustration 5

Automatic/Manual switch (left side)

Illustration 5 is a close up view of the symbol used for the Automatic/Manual switch for the
left side.

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g02419177
Illustration 6
Automatic/Manual switch (right side)

Illustration 6 is a close up view of the symbol used for the Automatic/Manual switch for the
right side.

When set on automatic mode, a Cross Slope system drives the blade to an operator defined
cross slope.

Each side of the blade has an assigned switch for toggling between the automatic and
manual controls. Pressing the right auto/manual switch (10) will put the right lift cylinder in
automatic control. Similarly, pressing the left auto/manual switch (11) will put the left lift
cylinder in automatic control. The side that does not indicate "AUTO" must be controlled
by the operator in order to maintain proper elevation. The most recently toggled
auto/manual switch enables automatic control for the side of the blade corresponding to that
switch. Auto/manual switches (10) and (11) commands will only be processed when the
display is showing the "Measured Slope/Target Slope" screen or the "Measured Slope"
screen.

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g02409698
Illustration 7

"Measured Slope/Target Slope" screen

The system has increment/decrement switches in the left switch pod. To change the target
slope when in manual mode, press and release the increment/decrement switch on the side
showing the hand symbol on the display. The left increment/decrement switch would be
used when the display is as shown in Illustration 7. Each click of increment/decrement
switches (12) and (13) will adjust the target cross slope angle by 0.1%.

When in Auto mode, pressing either Inc/Dec switch will adjust the target slope by 0.1%.

Slope Toggle Function

The slope toggle function provides a quick and easy way to swap the direction of the target
grade while maintaining the target angle. To change the sign of the target cross slope angle,
press both decrement buttons at the same time. The system automatically swaps the sign of
the target cross slope angle. Example: When a target grade of +3% has been set, the
operator turns the machine 180 degrees to make a second pass. The operator presses both
decrement buttons. The target cross slope will be set to -3%.

Setting the Target Blade Cross Slope Angle

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g02446502
Illustration 8

(11) Automatic/Manual switch (left side)

(12) Increment/Decrement switch (right side)

(13) Increment/Decrement switch (left side)

(14) Side shift automatic/manual switch (3D systems only)

With the system in manual mode, position the blade at the desired angle. Toggle and hold
both right increment/decrement switch (12) and left increment/decrement switch (13) in the
Increment position. The target blade cross-slope angle is now set to the current blade angle.
If both increment/decrement switches are pressed in the Increment position while the
system is in automatic mode, then no action is taken.

M-Series Auto/Manual Switches

The auto/manual switches for system are single pole single throw switches. This design is a
momentary switch that allows the operator to request automatic or manual control of the
Cross Slope system. The switch has a normally open input and a normally closed input to
the implement/valve control ECM. Refer to Table 1 for normal switch operation.

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g01329483
Illustration 9

Table 1
 Wiring Table

Pin Circuit Color

A N/C White

B N/O Brown

C Common Black

Note: The auto/manual switches are sensor side dependent. For example, if you set the
cross slope control for the right side, the right auto/manual switch controls cross slope on
the right side. If you set the cross slope control for the left side, the left auto/manual switch
controls the cross slope on the left side.

M-Series Increment/Decrement Switches

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 g01329587
Illustration 10

Note: Increment/decrement switches are sensor side dependent. For example, if you set the
cross slope control for the right side, the right side increment/decrement switch controls
cross slope. If you set the cross slope control for the left side, the left side
increment/decrement switch controls cross slope.

Cross Slope System Sensors

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 g02446997
Illustration 11

(3) Main-fall sensor

(4) Blade rotation sensor

(5) Blade slope

Main-fall Sensor

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 g02446999
Illustration 12

For M-Series Motor Graders

Main-fall sensor (3), mounted underneath the front-main frame of the machine, provides
the pitch orientation of the machine to the Cross Slope system.

The mainfall sensor (3) measures the slope of the machine in relation to the front of the
machine. The sensor is mounted on the frame rail of the Motor Grader.

Contact Description of the Mainfall Sensor

Illustration 13 shows the pinout information for the 6-Pin socket receiver on the mainfall
sensor.

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 g01507398
Illustration 13

Connector (Mainfall Sensor)

Table 2

Contact Description Of The Mainfall Sensor

Connector 1

A Switched Power

B Switched Power Return

C CAN High

D CAN Low

E Switched Power Return

F Switched Power Return

Blade Rotation Sensor

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g02447003
Illustration 14

(4) Blade rotation sensor

Blade rotation sensor (4) is mounted to the top center of the circle. This sensor provides the
rotation angle of the blade to the Cross Slope system.

The blade rotation sensor measures the angle of the blade relative to the frame of the
machine. When the blade is perpendicular to the frame, zero degree rotation is achieved.
This angle measurement is measured to ensure proper cross slope of the blade even when
the blade is rotated.

Contact Description of the Rotation Sensor

Illustration 15 shows the pinout information for the 6-Pin socket receiver on the rotation
sensor.

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 g01507398
Illustration 15

Connector (Rotation Sensor)

Table 3

Contact Description of the Rotation Sensor

A Switched Power

B Switched Power Return

C CAN High

D CAN Low

E Switched Power Return

F Switched Power Return

Blade Slope Angle Sensor

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g02447002
Illustration 16

(5) Blade slope sensor

The blade slope sensor (5) is mounted to the rear of the circle and measures the actual slope
of the blade.

Contact Description of the Blade Slope Sensor

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 g01507398
Illustration 17

Connector (Blade Slope Sensor)

Illustration 17 shows the pinout information for the 6-Pin socket receiver on the blade slope
sensor.

Table 4

Contact Description of the Blade Slope Sensor

A Switched Power

B Switched Power Return

C CAN High

D CAN Low

E Switched Power Return

F Switched Power Return

Implement Control ECM (M series)

The Cross Slope system resides in the Implement ECM. The ECM monitors the cross slope
inputs in order to calculate the cross slope and control the blade to maintain the target
slope. Refer to the Systems Operation manual for the machine for more details.

Table 5

Partial Contact Description Of Implement Control #1

J1 Connector

J1 - 10 Cat Data Link +

J1 - 20 Cat Data Link -

J1 - 45 Right Inc/Dec Switch (Neutral)

J1 - 46 Right Inc/Dec Switch (Inc)

J1 - 47 Right Inc/Dec Switch (Dec)

J1 - 52 Right Auto/Manual Switch (N.O.)

J1 - 53 Right Auto/Manual Switch (N.C.)

J1 - 54 Left Inc/Dec Switch (Neutral)

J1 - 55 Left Inc/Dec Switch (Inc)

J1 - 58 Left Inc/Dec Switch (Dec)

J1 - 59 Left Auto/Manual Switch (N.O.)

 J1 - 60 Left Auto/Manual Switch (N.C.)

J1 - 64 AccuGrade CAN High

J1 - 65 AccuGrade CAN Low

Technical Assistance
Contact your Caterpillar technical communicator if you have a problem and you are unable
to find the information you need in this manual.

This manual describes the uses of the Cross Slope system. The Cross Slope system
simplifies the grading process. The advantages of the Cross Slope system are listed here:

 Increases accuracy
 Saves time
 Reduces the amount of material that is required
 Maintains roadways

Use this manual to get started with the system. Then, you can use the document as a
reference manual. Once you master the basic techniques, you can apply these techniques
whenever you use the system.

Localización y Solución de Problemas

120M Series 2, 120M2, 12M Series 2, 12M Series 2, 140M Series 2 and 160M
Series 2 Motor Graders Implement Electronic Control System

Número de medio -KENR9041-03 Fecha de publicación -01-12-2012 Fecha de actualización -13-12-2012

i04617518

Utilización del Técnico Electrónico Caterpillar para

determinar los códigos de diagnóstico
SMCS - 0785-UE ; 7569

Realice los siguientes pasos para usar la herramienta de servicio Técnico Electrónico
Caterpillar® (Cat® ET) para determinar los códigos de diagnóstico:

1. Conecte el Cat ET a la máquina.

 2. Gire el interruptor de llave a la posición conectada.

3. Inicie el Cat ET.

El Cat ET iniciará la comunicación con los módulos de control electrónico (ECM)

de la máquina. Después de establecer la comunicación, el Cat ET indicará cada
ECM.

4. Seleccione el Módulo de Control Electrónico (ECM) que desea.

5. Después de determinar los códigos de diagnóstico con Cat ET, consulte el

procedimiento de prueba para el código correspondiente.

ReferenciaLocalización y Solución de Problemas, "Herramientas de servicio"

Códigos de diagnóstico activos

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 g02355999
Ilustración 1

Pantalla habitual de Cat® ET para códigos de diagnóstico activos

Cat ET tiene una pantalla de código de diagnóstico activo. La pantalla muestra identificador
del componente (CID), identificador de modalidad de falla (FMI) y texto de descripción del
problema.

Los siguientes procedimientos pueden hacer que se registren nuevos códigos de

diagnóstico. Antes de realizar cualquier procedimiento, haga una lista de todos los códigos
de diagnóstico activos. Realice el procedimiento deseado, luego borre cualquier código de
diagnóstico causado por dicho procedimiento.

Nota: Antes de efectuar un procedimiento, revise siempre todos los disyuntores. Repare la
causa de los disyuntores desconectados.

Códigos de diagnóstico registrados

Ver imagen

g02356001
Ilustración 2

Pantalla típica de Cat ET para los códigos de diagnóstico registrados

Cat ET tiene una pantalla de códigos de diagnóstico registrados. Cat ET registrará los
códigos de diagnóstico que son intermitentes. Los datos de diagnóstico registrados incluyen
el identificador de componente (CID), identificador de la modalidad de falla (FMI) y el
texto de descripción del problema. Además, los datos de diagnóstico registrados incluirán la
cantidad de sucesos del problema y dos registros de fecha y hora. Los sellos de la hora
muestran la primera vez que sucedió y la aparición más reciente del problema.

Los códigos de diagnóstico se registran en la memoria no volátil. En el momento de

activación, el Módulo de Control Electrónico (ECM) borra todos los códigos de diagnóstico
que no se detectaron o que no se activaron en las últimas 1000 horas de la operación de la
máquina.
Localización y Solución de Problemas
120M serie 2, 12M serie 2, 140M serie 2 y 160M serie 2 Motoniveladoras
Sistema Monitor

Número de medio -KSNR9039-03 Fecha de publicación -01-10-2011 Fecha de actualización -03-01-2012

i04617502

Herramientas de servicio
SMCS - 0785

Se deben utilizar las siguientes herramientas de servicio para facilitar la localización y

solución de problemas del sistema eléctrico.

Tabla 1
Herramientas de servicio

Número de pieza Pieza

Técnico Electrónico CAT

6V-7070 Multímetro Digital

9U-7330

8T-3224 Grupo de Punta de Aguja

7X-1710 Grupo de Sonda de Multímetro

8T-8726 Conjunto de Cable Adaptador

6V-3000 Juego de Reparación de Conectores (Sure Seal)

9U-7246 Juego de Reparación de Conectores (Deutsch DT)

4C-3406 Juego de Reparación de Conectores (Deutsch)

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 g01028164
Ilustración 1

Conexiones para el adaptador de comunicaciones II y para el Técnico Electrónico (ET)

A continuación, se indican los componentes que se necesitan para utilizar el adaptador de comunicaciones II y
el Técnico Electrónico CAT para determinar los códigos de diagnóstico:

(1) Cable

(2) Adaptador de Comunicaciones II 171-4400

(3) Cable de diagnóstico de servicio.

(4) Versión actual del software del Técnico Electrónico de Caterpillar y una computadora personal
COMPATIBLE con IBM

ReferenciaConsulte la Publicación Especial, NEHS0758, "Manual del usuario del

adaptador de comunicaciones II, contiene software".

Nota: El Técnico Electrónico (ET) de Caterpillar es un software que se puede utilizar en

una computadora personal compatible con IBM.

Para utilizar el Técnico Electrónico (ET) de Caterpillar, pida los siguientes materiales:
Publicación Especial, JERD2124, "Licencia individual del programa ET", Publicación
Especial, JEHP1026, "Hoja de información y requisitos", Cable del enlace de datos 7X-
1425 y la suscripción de datos y Publicación Especial, JERD2142, "Suscripción de datos".
La Publicación Especial, JEHP1026, "Hoja de información y requisitos" enumera las
características del ET y el hardware requerido.
No se necesita el Técnico Electrónico (ET) para determinar o borrar los códigos de
diagnóstico. Sin embargo, el proceso para determinar los códigos de diagnóstico es más
fácil y rápido con el uso del ET. El ET también puede mostrar información sobre el
historial de un código de diagnóstico y el estado del parámetro de los códigos de
diagnóstico. Estas características permiten que el ET sea una herramienta útil para localizar
y solucionar problemas.

Se utiliza el Técnico Electrónico (ET) para comunicarse con el módulo de control

electrónico por el enlace de datos al conectar el conector de diagnóstico de la máquina. Para
obtener información adicional y conocer las ubicaciones de los conectores, consulte
Localización y Solución de Problemas, "Ubicaciones de los componentes eléctricos y de los
conectores" y el Diagrama del sistema eléctrico en el Manual de Servicio de la máquina.

Para obtener instrucciones sobre cómo realizar las tareas de servicio de los conectores Sure
Seal, consulte la Instrucción Especial, SMHS7531. Para obtener instrucciones para hacer el
mantenimiento de los conectores Deutsch DT, consulte la Instrucción Especial, SEHS9615.

Utilice el multímetro digital para hacer comprobaciones de continuidad o mediciones de

voltaje. Para obtener instrucciones sobre el uso del Multímetro Digital 6V-7070, consulte la
Instrucción Especial, SEHS7734. La Sonda de Multímetro 7X-1710 mide el voltaje en los
conectores sin desconectar los conectores. Los cables de la sonda se introducen en la parte
posterior del conector junto con el cable. El Cable Adaptador 8T-8726 tiene una conexión
en T de 3 clavijas. El cable adaptador se utiliza para efectuar mediciones en los circuitos de
sensores.

Nota: Con excepción de las pruebas de mazos de cables, no se recomienda el uso de

probadores de continuidad como el Probador de Continuidad 8T-0500 o probadores de
voltaje como el Probador de Voltaje 5P-7277 para los circuitos eléctricos actuales de
Caterpillar.