SEBU8278-01

October 2009

Operation and
Maintenance
Manual
AccuGrade® for Skid Steer Loaders

SAFETY.CAT.COM
 i03684547

Important Safety Information

Most accidents that involve product operation, maintenance and repair are caused by failure to observe
basic safety rules or precautions. An accident can often be avoided by recognizing potentially hazardous
situations before an accident occurs. A person must be alert to potential hazards. This person should also
have the necessary training, skills and tools to perform these functions properly.
Improper operation, lubrication, maintenance or repair of this product can be dangerous and
could result in injury or death.
Do not operate or perform any lubrication, maintenance or repair on this product, until you have
read and understood the operation, lubrication, maintenance and repair information.
Safety precautions and warnings are provided in this manual and on the product. If these hazard warnings
are not heeded, bodily injury or death could occur to you or to other persons.
The hazards are identified by the “Safety Alert Symbol” and followed by a “Signal Word” such as
“DANGER”, “WARNING” or “CAUTION”. The Safety Alert “WARNING” label is shown below.

The meaning of this safety alert symbol is as follows:

Attention! Become Alert! Your Safety is Involved.
The message that appears under the warning explains the hazard and can be either written or pictorially
presented.
A non-exhaustive list of operations that may cause product damage are identified by “NOTICE” labels
on the product and in this publication.
Caterpillar cannot anticipate every possible circumstance that might involve a potential hazard.
The warnings in this publication and on the product are, therefore, not all inclusive. You must
not use this product in any manner different from that considered by this manual without first
satisfying yourself that you have considered all safety rules and precautions applicable to the
operation of the product in the location of use, including site-specific rules and precautions
applicable to the worksite. If a tool, procedure, work method or operating technique that is not
specifically recommended by Caterpillar is used, you must satisfy yourself that it is safe for you
and for others. You should also ensure that the product will not be damaged or become unsafe by
the operation, lubrication, maintenance or repair procedures that you intend to use.
The information, specifications, and illustrations in this publication are on the basis of information that
was available at the time that the publication was written. The specifications, torques, pressures,
measurements, adjustments, illustrations, and other items can change at any time. These changes can
affect the service that is given to the product. Obtain the complete and most current information before you
start any job. Caterpillar dealers have the most current information available.

When replacement parts are required for this

product Caterpillar recommends using Caterpil-
lar replacement parts or parts with equivalent
specifications including, but not limited to, phys-
ical dimensions, type, strength and material.

Failure to heed this warning can lead to prema-

ture failures, product damage, personal injury or
death.

In the United States, the maintenance, replacement, or repair of the emission control devices and
systems may be performed by any repair establishment or individual of the owner's choosing.
SEBU8278-01 3
Table of Contents

Table of Contents
Foreword ................................................................. 4

Safety Section
Safety Messages .................................................... 5

Product Information Section

General Information ................................................ 8

Operation Section
Getting Started ...................................................... 12

Operation .............................................................. 19

Service Information Section

Troubleshooting .................................................... 21

Reference Information Section

Reference Materials .............................................. 23

Index Section
Index ..................................................................... 26
4 SEBU8278-01
Foreword

Foreword
Literature Information
This manual should be stored in the operator's
compartment in the literature holder or seat back
literature storage area.

This manual contains safety information, operation

instructions, and maintenance recommendations.

Some photographs or illustrations in this publication

show details or attachments that can be different
from your product.

Continuing improvement and advancement of

product design might have caused changes to your
product which are not included in this publication.
Read, study and keep this manual with the product.

Whenever a question arises regarding your product,

or this publication, please consult your Caterpillar
dealer for the latest available information.

Safety
The safety section lists basic safety precautions. In
addition, this section identifies the text and locations
of warning signs and labels used on the machine.

Operation
The operation section is a reference for the new
operator and a refresher for the experienced
operator. This section includes a discussion of
gauges, switches, product controls, attachment
controls, and programming information.

Photographs and illustrations guide the operator

through correct procedures of checking, starting,
operating and stopping the product.

Operating techniques outlined in this publication are

basic. Skill and techniques develop as the operator
gains knowledge of the product and its capabilities.

Maintenance
The maintenance section is a guide to equipment
care.
SEBU8278-01 5
Safety Section
Safety Messages

Safety Section Note: The warnings for the movement of the blade
while the machine is in automatic mode have been
incorporated into this manual in order to address the
i03510621 portability of the display. These warnings apply when
the display has been removed from an excavator and
Safety Messages placed on a machine that incorporates automatic
modes.
SMCS Code: 7405

Unexpected blade movement may occur when the

Do not operate or work on this machine unless blade control system is in automatic mode. Unex-
you have read and understand the instructions pected blade movements that occur while mount-
and warnings in the Operation and Maintenance ing or dismounting the machine may result in in-
Manuals. Failure to follow the instructions or heed jury or death. Before dismounting the machine,
the warnings could result in injury or death. Con- always place the automatic blade control system
tact your Caterpillar dealer for replacement manu- into manual mode and follow the machine park-
als. Proper care is your responsibility. ing procedures specified in the machine Opera-
tion Manual.
This warning label is located on the electric masts.
The warning label is placed to the rear of the masts
at eye level.
Once the system is placed in automatic mode,
blade movement may occur. Blade movement
may exceed 21 cm (8 inches). Injury or death from
crushing could occur. Ensure that all personnel
are clear of the blade before you place the system
in automatic mode.

This warning label is located on the tripod. The label

is placed in a location on each leg of the tripod in
order to be easily seen.

g01069921
Illustration 1
Warning decal that is located on the electric masts

To prevent possible personal injury during instal-

lation and removal of the laser receivers, lower the
mast to the minimum height and use an approved
access system to reach the mounting locations of
the laser receivers at the top of the mast. Do not
climb on the blade. Illustration 2
g01073304

Warning decal that is located on the legs of the laser transmitter

6 SEBU8278-01
Safety Section
Safety Messages

Chips or other debris can fly off objects when you

strike the objects. Make sure that no one can be
injured by flying debris before striking any object.
Movement of the transmitter could cause unex-
pected blade movement. Death or serious injury
could occur. Turn off the transmitter before you Operation
move the transmitter or before you adjust the
transmitter. Clear all personnel from the machine and from the
area.

Safety (Laser) Clear all obstacles from the machine's path. Beware
of hazards (wires, ditches, etc).
• Never look into a laser beam or point the beam into
the eyes of other people. Set the laser at a height Adjust the mirrors (if equipped) for the best visibility
that prevents the beam from flashing directly into close to the machine.
people's eyes.
Make sure that the horn, the travel alarm (if
• Do not remove any warning signs from the laser. equipped), and all other warning devices are working
properly.
• Use of this product by personnel that are not
trained on this product may result in exposure to Fasten the seat belt securely.
hazardous laser light.
Warm up the engine and the hydraulic oil before
• If initial service requires the removal of the outer operating the machine.
protective cover, removal of the cover must be
performed by trained personnel. Only operate the machine while you are in a seat.
The seat belt must be fastened while you operate the
machine. Only operate the controls while the engine
Crushing Prevention and Cutting is running.
Prevention
While you operate the machine slowly in an open
Support the equipment properly when you work area, check for proper operation of all controls and
beneath the equipment. Do not depend on the all protective devices. Before you move the machine,
hydraulic cylinders to hold up the equipment. An you must make sure that no one will be endangered.
attachment can fall if a control is moved, or if a
hydraulic line breaks. Do not allow riders on the machine unless the
machine has the following equipment:
Unless you are instructed otherwise, never attempt
adjustments while the machine is moving. Also, never • Additional seat
attempt adjustments while the engine is running.
• Additional seat belt
Whenever there are attachment control linkages,
the clearance in the linkage area will increase or • Rollover Protective Structure (ROPS)
the clearance in the linkage area will decrease with
movement of the attachment. Stay clear of all rotating Note any needed repairs during machine operation.
and moving parts. Report any needed repairs.

Keep objects away from moving fan blades. The fan Maintain control of the machine.
blade will throw objects or cut objects. Do not use a
kinked wire cable or a frayed wire cable. Never straddle a wire cable. Never allow other
personnel to straddle a wire cable.
Wear gloves when you handle wire cable. When you
strike a retainer pin with force, the retainer pin can Before you maneuver the machine, make sure that
fly out. The loose retainer pin can injure personnel. no personnel are between the machine and the
Make sure that the area is clear of people when you trailing equipment.
strike a retainer pin.
Read the Operation and Maintenance Manual for the
In order to avoid injury to your eyes, Wear protective AccuGrade System and become familiar with the
glasses when you strike a retainer pin. components before you use the AccuGrade System.
SEBU8278-01 7
Safety Section
Safety Messages

Read the Owner's Manual for the Level Best Box

Blade. Become familar with the components, the
operation, and the maintenance of the work tool
before using the work tool with AccuGrade.

Working around heavy construction equipment can

be dangerous. Always use extreme caution on the
job site.

Do not allow any AccuGrade System component to

limit the visibility of the operator.
8 SEBU8278-01
Product Information Section
General Information

Product Information Advanced Machine Information

Section Control System (AMICS) Display

General Information
i03493681

General Information
SMCS Code: 7220

The AccuGrade Grade Control System for Skid Steer

Loaders is an integrated machine control and a
guidance system that is designed to operate with the
Level Best single cylinder box blade. The AccuGrade
System utilizes the electrohydraulic capabilities of
the C-Series machines in order to automate control
of the box blade. The system will utilize the following
components in order to allow the operator to use the
system:
g01830473
Illustration 3
• The machine control module is used in order to
execute the AccuGrade software. (1) Up Arrow Button
(2) Down Arrow Button
(3) Mode Button
• The Advanced Machine Information Control
System (AMICS) display is used as the user
interface. The AccuGrade user interface has been integrated
into the AMICS LCD display software. The AMICS
display allows the operator to view machine
• The switches on the right hand joystick information such as engine speed. Additionally,
the AMICS display allows the operator to change
i03493690 machine settings such as Creeper Speed and Work
Tool Control.
System Components
SMCS Code: 7220

The AccuGrade System on the Caterpillar Skid

Steer Loader is composed of following three main
components:

• “Advanced Machine Information Control System Illustration 4

g01830477
(AMICS) Display”
The information that is shown on the display is limited
• “Laser Receiver” due to the limitation of only seven digits available in
a seven segment format.
• “Electronic Control Module”
SEBU8278-01 9
Product Information Section
General Information

Laser Receiver i03494111

Display Description
SMCS Code: 7220

g01830473
Illustration 6
(1) Up Arrow Button
(2) Down Arrow Button
g01927613
Illustration 5 (3) Mode Button
Laser Receiver
(4) Laser Detection Windows LCD Information
(5) Status LEDs
(6) Receiver Clamp
(7) 6-Pin Connector

A laser receiver that is mounted on a fixed mast

above the box blade is used to detect the laser beam.
During grade set-up, the box blade cutting edge is
placed at the desired finish elevation. Then, the laser
receiver is adjusted to detect the laser plane. While
the system is in automatic operation, as the box
blade moves above or below finish grade elevation,
the information that is received by the AccuGrade
System is sent to the electrohydraulic system which
automatically adjusts the elevation of the box blade.

Electronic Control Module Illustration 7

g01845348

(4) Elevation Data

The Electronic Control Module uses information from (5) Status Indicator For Automatic/Manual Controls
the laser receiver and the Display to perform the (6) Grade Indicator
following tasks:
Overview
• Execute the AccuGrade logic
The AccuGrade operating screen is the screen that
• Control the blade position is used by the operator most frequently while the
AccuGrade System is being used. The AccuGrade
• Communicate the information to be shown to the operating screen is the first screen that appears
operator on the AMICS display when the operator enters the AccuGrade mode
of the Display. This screen includes the following
information:
10 SEBU8278-01
Product Information Section
General Information

• Elevation offset or elevation error The AMICS display may show a screen that is similar
to Illustration 9 when there is an error in the system.
Note: The elevation offset or the elevation error is The gray digit represents all segments of the seven
dependant on the operating mode that is selected segment digit that are turned off. The operator
by the operator. would then be able to cross-reference this code in
the Operation and Maintenance Manual in order to
• Automatic Control Status troubleshoot the problem.

• Grade Indicator (above, below or on-grade) Auto/Manual Indicator

Refer to Illustration 7 for a representation of the The sixth digit is used to represent the auto/manual
primary AccuGrade screen. status indicator. When the system is operating in
automatic control mode, this digit shows an “A”.
This image represents how the AccuGrade screen When the system is operating in manual control
looks when the operator has chosen to use metric mode, this digit replaces the “A” with a second grade
units. When the operator has chosen to operate in indicator. Refer to the information in the “Grade
feet, then all the segments of the digit between the Indicator” section.
“5” and the “A” remains off at all times.
When operating in automatic control mode and the
When the operator has configured the system to work system is operating with no errors, the “A” will be on
in metric units, then the elevation data is displayed all the time.
in meters and the value is shown to three decimal
places (thousandths of a meter). When the operator When the operator attempts to enter automatic
has configured the system to operate in English control mode, and conditions exist which prevent the
units, then the elevation data is displayed in decimal system from entering automatic control mode, the
feet and the value is shown to two decimal places. All “A” blinks at a rate of 2 Hz. This is known as Inactive
segments of the fifth seven-segment digit remain off Automatics.
at all times when using English units.
Note: A laser beam that is not detected is an example
Units are configured in “Service Mode” on the display. of a condition that prevents the system from entering
Upon entering “Service Mode”, press the Mode the automatic control mode.
button (3) until a “C” or an “F” is illuminated on the
display. Press the Up arrow (1) or the Down arrow
(2) in order to change the setting. When the “C” is
displayed, data is shown in meters. When the “F” is
displayed, data is shown in English units (decimal
feet for elevation data).

g01854339
Illustration 10

When the elevation data from the laser receiver is not

received, then the display will turn off the Elevation
Data. For example, the LCD will display information
similar to Illustration 10. A gray seven-digit segment
g01854339
Illustration 8 represents all segments turned off.

Under certain operating conditions the display

shows all dashes for the offset/elevation data. For
example, the LCD will display the information that is
represented in Illustration 8. The gray digits represent
all segments of the seven-segment digit turned off.

g01854344
Illustration 9
SEBU8278-01 11
Product Information Section
General Information

Grade Indicator The grade indicator is only off when there is an error
or the laser receiver does not detect the laser plane. If
the AccuGrade System has determined that the laser
receiver has dropped below the laser plane, then the
top horizontal segment turns on and off at a rate of
1 Hz. If the AccuGrade System has determined that
the laser receiver has risen above the laser plane,
then the bottom horizontal segment will turn on and
off at a rate of 1 Hz. The grade indicators flash for 5
seconds. Then, the grade indicators turn off entirely.

Illustration 11 summarizes the various states of the

grade indicators. The information from Illustration
11 does not include the information when the laser
receiver has lost the laser plane.

g01846654
Illustration 11

The grade indicator represents how near or far away

the cutting edge of the blade is from the desired
elevation. Regardless of the auto/manual state of
the system, the seventh seven-segment digit of this
screen is used as a grade indicator. When the system
is in manual mode, the sixth seven-segment digit
mirrors the behavior of the seventh seven-segment
digit. Illustration 11 represents the various states of
the seven-segment digits.
12 SEBU8278-01
Operation Section
Getting Started

Operation Section When you enter the Operating Mode Configuration

screen, Operating mode (Op Mode) is displayed. The
current setting is displayed the first time the up arrow
or down arrow is pressed. Each subsequent button
Getting Started press changes the setting. After the setting has not
changed for 2 seconds, the current value chosen
by the operator flashes on the screen once and is
i03535365 configured into the AccuGrade control module. If the
operator presses the Mode button (3) to navigate to
Setting Up for Operation the next screen prior to the expiration of the 2 second
timer, the new setting is accepted and configured into
SMCS Code: 7220 the AccuGrade controller.

Setting Up The Display For Reference Mode

Operating Mode

g01854559
Illustration 14

Reference mode is the default mode of operation

and allows the operator to benchmark the system
and apply an offset to the reference elevation. When
the system is in Reference Mode, the AccuGrade
run-time screen displays the elevation offset value.

Cut-Fill Mode

g01830473
Illustration 12
(1) Up Arrow Button
(2) Down Arrow Button
g01880625
(3) Mode Button Illustration 15

From the main AccuGrade operating screen, pressing Cut-Fill mode allows the operator to check the
the Mode button (3) twice takes the operator to the grade of the surface. When the system is in Cut-Fill
Operating Mode Configuration screen. Use this mode, the AccuGrade run-time screen displays the
screen in order to configure the mode of operation for elevation error.This error value indicates how far the
the AccuGrade system. The choices for this screen blade is above or below the desired grade. When
include Reference mode and Cut-Fill mode. Refer to the operator is operating in the Cut-Fill mode, the
Illustration 14 and Illustration 15. operator can perform a benchmark of the system and
enable automatic controls. However, the operator
cannot apply an elevation offset.

g01854564
Illustration 13
SEBU8278-01 13
Operation Section
Getting Started

Setting Up The Laser Receiver Use the LEDs on the top of the guidance
information when the strikes are hitting the laser
receiver.

Note: Fast LEDs (5 Hz) flashes means the strikes

To prevent possible personal injury during the in- are above the center of the receiver and slow LED
stallation and the removal of the laser receiver, re- (2.5 Hz) flashes means that the strikes are below
move the mast from the work tool. Place the mast the center of the receiver. When the LEDs are on
at ground level. Secure the receiver to top of mast. continuously, the laser is striking in the middle of the
Then, return the mast to the work tool and se- receiver.
cure the mast by applying sufficient torque to the
mounting hardware in order to prevent the mast Note: The laser does not need to strike the exact
from turning and/or vibrating loose. center of the receiver in order to set the benchmark.
However, depending on your worksite, it may be
When adjusting the position of the receiver on the advantageous to have the laser strike near the center
mast, use the nonslip tread on the machine and of the receiver in order to allow for extra flexibility
work tool in order to access the mounting loca- when applying offsets.
tion of the laser receiver at the top of the mast.
Maintain three points of contact while adjusting
the laser receiver. Do not step on the work tool Benchmarking
where nonslip tread has not been provided.
1. Navigate to the main AccuGrade screen.
Benchmark the system by simultaneously
1. Attach the Laser Receiver to mast. pressing and holding the up arrow and the down
arrows for 2 seconds.

When these buttons are pressed, the received

strikes from the laser are considered to be the set
point for on-grade. The elevation offset resets to
0.00 and the grade indicators should indicate the
blade is “On Grade”.

Note: If the grade indicator does not show “On

Grade” when you are attempting to benchmark, then
the laser is striking too close to the top or bottom of
the receiver to allow a benchmark to occur. Raise or
lower the laser transmitter and try again.

Note: The benchmark elevation is retained when

the machine is shut down. This allows the operator
to resume operation without reestablishing the
benchmark if the elevation of the laser transmitter
and receiver have not changed.

Use the up or down arrow on the in cab display in

Illustration 16
g01863360 order to increment or decrement the offset value. If
the display is configured to Metric Units (meters),
(10) AccuGrade connector
then the offset increments by 0.001 meter. If the
display is configured to English Units (feet), then
2. Use the coil cable in order to connect the laser
the offset increments by 0.01 feet.
receiver to the AccuGrade connector (10) on the
machine.
2. Press and release the trigger on the right joystick
for Auto mode.
Setting Up For Operation
Note: For best performance, the engine speed
1. Move the machine/implement to the work area. should be set to 1800 RPM or above.

2. Position the implement so that it is on grade. 3. Press and release the trigger on the right joystick
for Manual mode.
3. Manually raise or lower the laser transmitter until
laser strikes are hitting the laser receiver.
14 SEBU8278-01
Operation Section
Getting Started

Valve Speed Configuration Note: The second bullet only applies to certain steps.

• At the “V Calib” Screen, pressing the Mode button

continues to the main AccuGrade screen.

• At any screen other than the “V Calib” Screen,

pressing the Mode button aborts the calibration.
The Display will display “CALStop”.

Illustration 17
g01880626 • If at any time a fatal error condition occurs, then the
Display indicates an error code. The Display will
Press the Mode button (3) once in order to access the display the error code in the format “ERRXXXX”
Valve Speed Configuration screen from AccuGrade where the “XXXX” represents the four-digit error
Run-Time screen. This screen allows an operator to code. This error code can then be referenced in
manually adjust the response speed of the control Operation and Maintenance Manual, SEBU8278,
system. The choices for this screen represent a “Troubleshooting”.
percentage from 10 to 200, in 10 percent increments.
The default value is 100 percent. A lower number Initial Screen
causes a slower response and a higher number
causes a faster response.

When this screen is entered, “V Speed” is displayed.

The current setting is displayed the first time the
up arrow button (1) or the down arrow button (2) is
pressed. Each subsequent button press changes the
setting by 10. After the setting has not changed for
2 seconds, then the current value that is chosen by Illustration 18
g01880629
an operator will flash on the screen once and is set in
the system. If the Mode button (3) is pressed prior to Upon entering the Valve Calibration screen, the
the 2 second timer expiring, then the new setting is abbreviation for valve calibration is displayed. Refer
accepted and configured in the AccuGrade system. to Illustration 18.

The operator must press the down arrow button to

i03509972
proceed to the next step in the calibration process,
Configuration which is to define the laser strike lower limit.
(Valve Calibration) Lower Limit Definition Screen
SMCS Code: 7220

From the main AccuGrade operating screen, press

the Mode button three times in order to enter the
Valve Calibration screen. This screen allows the
operator to perform a valve calibration routine that
optimizes the performance of the AccuGrade System.
If the calibration does not complete, then the previous
g01880631
calibration values are retained. The Display will step Illustration 19
through the calibration process and keep the Display
synchronized with the progress of the calibration in From the initial screen, the operator must push the
the machine ECM. down arrow button in order to proceed to the step
that allows the laser strike lower limit to be defined.
The following requirements apply to the calibration Illustration 19 is an example of what the operator
procedure: may see on the Display when the laser strike lower
limit is reached.
• The down arrow button is used to proceed to the
next step. LL – “LL” indicates that this is the lower limit
definition screen.
• The up arrow button is used to return to the
previous step. Then, the operator can press the
down button to proceed to the next step.
SEBU8278-01 15
Operation Section
Getting Started

_ – The third seven-segment character from the left _ – The third seven-segment character from the left
indicates whether the blade needs to move up or indicates whether the blade needs to move up or
down to be in the required range. When the grade down to be in the defined limit area. When the grade
indicator is in the middle, the blade is within the indicator is in the middle, the blade is within in the
required range. required range. Then, the operator can press the
down button in order to proceed to the next step.
Up – When “UP” appears on the display, the operator
must raise the blade in order to get into the required UP – When “UP” is shown, the operator to know
range. This is meant to be used in conjunction with that the blade must be raised to get into the required
the grade indicator. range. This is meant to be used in conjunction with
the grade indicator.
Down – When “DOWN” appears on the display,
the operator must lower the blade in order get into Down – When “DOWN” is shown, the operator
the required range. This is meant to be used in knows that the blade must be lowered to get into
conjunction with the grade indicator. the required range. This is meant to be used in
conjunction with the grade indicator.
Stop – When “STOP” appears on the Display, the
operator needs to stop moving the blade because Stop – When STOP is shown, the operator to know
the blade is inside the required range. At this point, that he needs to stop moving the blade because the
the operator should press the down button in order to blade is inside the required range. At this point the
proceed to the next step. operator should press the down button in order to
proceed to the next step.
ErrXXXX – An error has occurred that has stopped
the lower limits from being defined. ErrXXXX – An error has occurred that has stopped
the upper limits from being defined.
The status that is shown will depend upon the
conditions when this step is entered. The following The status that is shown depends upon the conditions
status indicators are shown depending upon the when this step is entered. The following status
grade indicator message: “Up”, “Down”, and “Stop”. If indicators are shown depending upon the grade
the grade indicator indicates the laser receiver is too indicator message: “Up”, “Down”, and “Stop”. If the
low, then “Up” is shown on the Display. If the grade grade indicator indicates the laser receiver is too low,
indicator indicates the laser receiver is too high, then then “Up” is shown. If the grade indicator indicates
“Down” is shown. If the grade indicator indicates the the laser receiver is too high, then “Down” is shown.
laser receiver is in the correct range, then “Stop” is If the grade indicator indicates the laser receiver is in
shown. the correct range, then “Stop” is shown.

Once the laser receiver is detecting the laser plane Once the laser receiver is detecting the laser plane in
in the required lower limit range, the operator must the required upper limit area, the operator must press
press the down arrow button to establish the lower the down arrow button to establish the upper limit and
limit and proceed to the next step in order to establish proceed to the Valve Calibration Progress Screen in
the upper laser strike limit is established. the valve calibration wizard. The operator may press
the up arrow button to return to the previous screen.
Upper Limit Definition Screen
Valve Calibration Screen

g01880633
Illustration 20
g01880635
Illustration 21
From the Lower Limit Definition Screen, the operator
must push the down arrow button to begin to define From the Upper Limit Definition Screen, the operator
the upper limit. Illustration 19 is an example of what must push the down arrow button to view the
the operator may see on the Display when the laser Valve Calibration screen. Upon entering the Valve
strike lower limit is reached. Calibration screen, “Cal Man” is displayed in order to
indicate that the system is ready to proceed to the
UL – “UL” is an indicator for the upper limit definition automated step in the calibration process.
screen.
16 SEBU8278-01
Operation Section
Getting Started

Aborting the Calibration

Once the automated portion of the calibration has
started, the operator may stop the calibration by any
one of the following methods:

• Pressing any button on the Display

Illustration 22
g01880645
• Pressing the trigger on the right-hand joystick
Press and release the trigger of the right-hand • Rolling the thumb-roller on the right-hand joystick
joystick in order to begin the automated step of the out of the neutral position (or pressing the buttons
calibration. Upon pressing and releasing the trigger, that could be used instead of the thumb-roller)
the automated calibration step begins. Then, the
display will update from “Cal Man” to “CAL 0”. • Moving either joystick out of the neutral position.
• “CAL” represents the Calibration Wizard
• “0” represents the progress of the calibration as a
percentage. This value will range from 0 percent
to 100 percent.

Note: The “%” indicator is illuminated during this

portion of the procedure. Illustration 26
g01880649

When the operator presses any button on the Display,

the calibration is aborted. When this happens, the
Display will show “CALStop”.

If the operator aborts the calibration using any other

method, for example, violating one of the machine
safety interlocks, the Display will indicate an error
g01880647 code. The error code is shown in the following format:
Illustration 23
“ERRXXXX”. The “XXXX” represents a four-digit
error code that can be used to determine the cause
of the error by referencing the correct documentation.

g01880648
Illustration 24

g01880629
Illustration 27

After aborting the calibration, the operator may

press any button to return to the start of the valve
calibration procedure (“U Calib”).
g01880629
Illustration 25
Calibration Failure
When the calibration has completed successfully,
the Display shows “CAL 100” for two seconds. The
Display will show “CALDONE” in order to represent
that the calibration is complete. After the calibration
has completed, the operator may press the Mode
button to return to the “V Calib” screen.

g01880650
Illustration 28
SEBU8278-01 17
Operation Section
Getting Started

In the event that any other condition occurs which If any of the conditions in the previous list are not
causes the calibration to fail, for example, a lost met, then an error code is displayed.
beam or a solenoid that is faulty, the calibration
is aborted. The Display will show the error codes Defining The Lower Limit
in the following format: “ERRXXXX”. The “XXXX”
represents a four-digit error code that can be used 1. Press the “Down” button to begin defining the
to determine the cause of the error by referencing Lower Limit.
the correct documentation. If there is more than one
error, then one error code is displayed for 5 seconds If the laser is striking the laser receiver, then the
before displaying the next error code. screen will show one of the following states:

• The receiver is in the correct range by showing

“Stop”

• The receiver is too low by showing “Up”

• The receiver is too high by showing “Down”
g01880629 Raise or lower the laser receiver on the mast
Illustration 29
until the display shows “Stop”. The laser receiver
The operator may press any button while the error must remain in this position on the mast for the
codes are displayed to return to the start of the valve remainder of the calibration.
calibration procedure (“U Calib”).
2. Press the “Down” button to establish the lower
limit. Proceed to “Defining the Upper Limit”.
Valve Calibration Procedure
Before proceeding to the next step, all of the
Preparation conditions that are stated in “Preparation” must be
met and the following conditions must be satisfied:
1. Position machine in an flat, open area away from
personnel. • A laser signal must be detected.
2. Warn personnel in the area of automated worktool • The machine must recognize that an operator is
movement. present. The door must be closed. The arm-rest
must be down. The operator must be in the seat.
3. Setup the laser transmitter on a tripod no closer
than 4.6 m (15 ft) to the receiver. Turn the laser If any of the conditions in the previous list are not
transmitter on. met, then an error code is displayed.
4. Attach laser receiver to mast. Connect to machine
using coiled cable.
Defining the Upper Limit
1. Upon entering this screen, the display should
5. Position the blade so that it is approximately
indicate that the laser receiver is too low by
2.54 cm (1.0 inch) above the ground.
showing “Up”. Use the auxiliary hydraulic controls
on the implement joystick to raise the box blade
6. Warm up the machine hydraulics to 45 Degrees
until the display shows “Stop”.
Celsius (113 Degrees Fahrenheit).
2. Press the “Down” button to establish the Upper
7. Use the AMICS display in order to navigate to the
Limit and proceed to “Initiating The Automated
valve calibration screen.
Calibration”.
To continue to “Defining The Lower Limit”, the
Before proceeding to the next step, all of the
following conditions must be met:
conditions that are stated in “Preparation”
and “Defining The Lower Limit” must be met.
• The park brake must be enabled. Additionally, both joysticks and the associated
switches/thumbrollers must be released.
• Engine speed must be at the top engine speed
limit.
If any of the conditions that are mentioned above
are not met, then an error code is displayed.
• The implements must be enabled.
18 SEBU8278-01
Operation Section
Getting Started

Initiating The Automated Calibration

After pressing the “Down” button, the display should
show “Cal Man”. This indicates that the system is in
manual mode.

1. Press and release the trigger on the implement

joystick to enable the automated calibration.

The display will change from “CalMan” to “Cal

0”. The blade will begin to move, but the first
steps in the automated calibration moves the
blade very slowly and it may appear that nothing
is happening. As the calibration progresses,
the blade will move faster. This portion of the
calibration shouldn't last more than 5 minutes.

Upon successful completion of the calibration, the

display will show “Cal 100”, then “CalDone”.

2. Press the Mode button to return to the “V Calib”

screen.

The calibration can be performed again at this

point, if desired.

3. Press the Mode button again to return to the main

AccuGrade screen.
SEBU8278-01 19
Operation Section
Operation

Operation Operating Mode

General Screen Navigation Information
i03494081
When the machine is in AccuGrade operating mode,
Operation an operator is able to navigate to other AccuGrade
related menus by pressing the Mode button (3). Upon
SMCS Code: 7220
entering a menu, text that represents the menu will
be displayed. At each of these menus the operator
will use the up arrow button (1) and down arrow
button (2) in order to change settings or step through
the valve calibration procedure. The first time the
operator presses the up arrow button (1) or the down
arrow button (2) the menu name will be replaced by
the current configured setting. Each additional press
of the up arrow button (1) or the down arrow button
(2) will change the setting. The selected value is
accepted after the value has not been changed for 2
seconds. The selected value is also accepted when
the operator presses the Mode button (3) in order to
navigate to the next menu. The selected value will
flash once after the 2 second timer expires and the
value is set in the system.

Pressing and holding the up arrow button (1) and

down arrow button (2) together will reinstate the
default setting for the screen that is being displayed.

g01830473
Pressing the Mode button (3) and down arrow button
Illustration 30 (2) together, and holding the buttons for 2 seconds,
(1) Up Arrow Button will return the operator to the main AccuGrade
(2) Down Arrow Button screen. This provides a method to return to the
(3) Mode Button
run-time screen without having to cycle through the
remaining menus.
AccuGrade Display Mode
The AccuGrade mode is only accessible if AccuGrade
Enabling The Automatic Controls
has been configured as “Installed” on the machine Or The Manual Controls
ECM. To enter the AccuGrade mode, the operator
must press and hold the Mode button (3) and the After the system has been benchmarked, the
down arrow button (2) simultaneously for 2 seconds. operator can enable the automatic controls by
pressing and releasing the trigger on the right hand
Upon entering the AccuGrade Mode, the current joystick. If all required conditions are met, an “A” will
machine feature mode will be remembered for later be displayed on the screen to indicate the AccuGrade
use. Once in AccuGrade mode, the main operating system is controlling the blade position. Automatic
screen is shown. The AccuGrade System will not controls can be disabled by pressing and releasing
allow the operator to enable automatic controls until the trigger of the right-hand joystick again. The “A” is
the display is on the AccuGrade screen. then replaced with a grade indicator.

To exit AccuGrade and return to the previous machine

operating mode, the operator must press and hold
the up arrow button (1) for at least 2 seconds. This
may be done from any AccuGrade related screen.
Upon exiting the AccuGrade screen the AccuGrade
System will disengage automatic controls of the
blade, if active.
20 SEBU8278-01
Operation Section
Operation

Applying An Offset
After setting a benchmark and while viewing the
AccuGrade run-time screen, the operator may
enter an elevation offset by pressing and releasing
the up arrow button (1) or the down arrow button
(2) on the display. This sets an offset above or
below the benchmarked elevation. If the system is
configured to display the elevation offset in meters,
then each button press will increment or decrement
the elevation offset by “0.001 m”. If the system is
configured to display the elevation offset in feet, then
each button press will increment or decrement the
elevation offset by “0.01 ft”. The new value chosen
by the operator will then be communicated to the
AccuGrade control module.
SEBU8278-01 21
Service Information Section
Troubleshooting

Service Information Section

Troubleshooting
i03712820

Troubleshooting
SMCS Code: 7220

Calibration Error Identifier

Table 1

Calibration Error Identifier

Error ID Description Information
Calibration Fault, Internal Failure. A properly working device should not end up in this state.
1
Restart Replace device upon repeated occurences.
Active diagnostic A system fault is active which is preventing the calibration from executing. This
2
present needs to be diagnosed by a technician.
Calibration aborted by Typically accompanied by another error, such as hydraulic oil temperature too
9
ECM low. Resolve underlying error condition and try again.
The blade has moved out of the calibration limits during calibration. Reset limits
103 Set Limits Fault
to a wider span and re-calibrate
Implement supply is A condition is active which has turned the implement supply off. Check door (if
110B
off equipped), arm rests and implement lockout switch before continuing.
Park Brake Not
1018 Engage park brake
Engaged
Implement Lockout
1042 Turn off implement lockout switch
Switch On
Hydraulic Oil
1048 Temperature Too Warm machine hydraulics
Low
1053 Wrong Blade Motion The hydraulics are reversed. Replumb the cylinder and recalibrate.
Hydraulic Oil
The hydraulic oil has exceeded the upper limit. Allow the machine to idle for five
1054 Temperature Too
minutes, then turn it off until the temperature is within the correct range.
High
Some step in the valve calibration is hung because the cylinder is at end of
travel, or because of a faulty cable, and the state times out. Check setup of
105F Calibration Timed Out
system and calibration limits and try again.
The system requested blade movement but it took too long.
Controls Not
1060 Release both joysticks and joystick inputs/switches.
Released
Engine Speed Too
1074 Set engine speed to high idle
Low
Make sure door is closed (if equipped), seat belt is on, operator is seated and
10C8 Operator Not Present
arm rests are down.
The blade is moving too fast for the system to collect enough data points
Not Enough Data
114C Verify that the laser transmitter is stable and operational
Points
Widen the calibration limits and recalibrate°
(continued)
22 SEBU8278-01
Service Information Section
Troubleshooting

(Table 1, contd)
Calibration Error Identifier
Error ID Description Information
Set Limits Fault, The calibration limits were incorrectly set. Reset the limits and recalibrate the
114D
Restart system
The system is not receiving laser sensor data
Elevation Data Not Verify that the laser transmitter is operating
114E
Available Verify that the receivers are in the laser beam
Verify that the laser beam is not being blocked - Check all of the cables

System Error Identifiers

Table 2

System Error Identifiers

Error ID Description Information
13 Valve Calibration Required Perform the system's valve calibration
System detected a right laser receiver
Invalid Laser Receiver Function
23 when a left was expected. A technician
Instance
should check the harness.
Reached the limit (upper or lower) of
25 Elevation Limit Reached
the elevation sensor.
Laser receiver is providing unreliable
elevation data. Check for laser quality
40 Poor elevation data be ensuring laser is stable and is not
reflecting off of other surfaces. Confirm
laser is at least 6 feet from receiver.
Multiple laser signals detected by laser
receiver or change elevation of laser
43 Laser Interference plane.
Turn off additional transmitters, remove
potential for reflected signals.
Multiple laser signals detected by laser
receiver or change elevation of laser
44 Laser Interference plane.
Turn off additional transmitters, remove
potential for reflected signals.
Confirm laser receiver is connected and
47 Laser receiver not detected getting power by examining cables and
connectors.
Confirm required interlock conditions
59 Blade Control Not Allowed are met (door, seat, hydraulic lock out,
etc).
SEBU8278-01 23
Reference Information Section
Reference Materials

Reference Information
Section

Reference Materials
i03515580

Operation Quick Reference

SMCS Code: 7220
24 SEBU8278-01
Reference Information Section
Reference Materials

Quick Reference Card

g01846873
Illustration 31
SEBU8278-01 25
Reference Information Section
Reference Materials

Screen Flow

g01925973
Illustration 32
26 SEBU8278-01
Index Section

Index
C R

Configuration (Valve Calibration)........................... 14 Reference Information Section .............................. 23

Aborting the Calibration ..................................... 16 Reference Materials .............................................. 23
Calibration Failure.............................................. 16
Initial Screen ...................................................... 14
Lower Limit Definition Screen ............................ 14 S
Upper Limit Definition Screen ............................ 15
Valve Calibration Procedure .............................. 17 Safety Messages ..................................................... 5
Valve Calibration Screen.................................... 15 Crushing Prevention and Cutting Prevention....... 6
Operation ............................................................. 6
Safety (Laser) ...................................................... 6
D Safety Section ......................................................... 5
Service Information Section................................... 21
Display Description.................................................. 9 Setting Up for Operation........................................ 12
LCD Information................................................... 9 Setting Up For Operation ................................... 13
Setting Up The Display For Operating Mode ..... 12
Setting Up The Laser Receiver.......................... 13
F Valve Speed Configuration ................................ 14
System Components ............................................... 8
Foreword ................................................................. 4 Advanced Machine Information Control System
Literature Information........................................... 4 (AMICS) Display................................................. 8
Maintenance ........................................................ 4 Electronic Control Module.................................... 9
Operation ............................................................. 4 Laser Receiver..................................................... 9
Safety................................................................... 4

T
G
Table of Contents..................................................... 3
General Information................................................. 8 Troubleshooting..................................................... 21
Getting Started ...................................................... 12 Calibration Error Identifier .................................. 21
System Error Identifiers ..................................... 22

Important Safety Information ................................... 2

Operation............................................................... 19
AccuGrade Display Mode .................................. 19
Applying An Offset ............................................. 20
Enabling The Automatic Controls Or The Manual
Controls............................................................ 19
Operating Mode ................................................. 19
Operation Quick Reference ................................... 24
Quick Reference Card ....................................... 24
Screen Flow ....................................................... 25
Operation Section.................................................. 12

Product Information Section .................................... 8

Product and Dealer Information
Note: For product identification plate locations, see the section “Product Identification Information” in the Operation
and Maintenance Manual.

Delivery Date:

Product Information
Model:

Product Identification Number:

Engine Serial Number:

Transmission Serial Number:

Generator Serial Number:

Attachment Serial Numbers:

Attachment Information:

Customer Equipment Number:

Dealer Equipment Number:

Dealer Information
Name: Branch:

Address:

Dealer Contact Phone Number Hours

Sales:

Parts:

Service:
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All Rights Reserved trade dress, as well as corporate and product identity used herein, are trademarks
of Caterpillar and may not be used without permission.