Excavator X63 Verification

•
This Webinar is LISTEN only
QUESTIONS?
Questions will be answered in writing at the end of the
Webinar.


Correction on installation information

No software termination for bucket sensor

Hardware termination on bucket sensor

CAN filter for GX60
7010-0916
Last Week Webinar Update
Bucket Termination
CAN Isolator

7010-0697
Reference Material
Excel Verification

Webinar September 11 th , 2009
•
Verification Excel Work Sheets
•
TS-1 Calibration Verification
•
MC-A1 Position Verification

Excel Verification Work Sheet

Verification
No Verification
(Rotation error)
Graphics only
Not critical

TS-1 Calibration and Implement Length Verification

Start 3DMC and enter simulation mode.

TS-1 Calibration and Implement Length Verification

In Simulation

Set Level String

Match Elevation

Antenna Measurements (using GPS)

Compare GPS measured distance to the physical measured distance to adjust
Main/Aux Antenna position

RTK Solution (Single point localization )

Planner Surface

Rover with Pocket 3D

Verifying Main Antenna to Boom Length

Position the machine directly North

Mark bucket location and record Northing value

Rotate 180 o

Position the machine directly North
 Mark bucket location and record Northing value

Verifying Main Antenna to Boom Length

Subtract the two Northing values to get a GPS distance
• 15.50’

Using a tape or Rover measure the actual distance
• 15.30’

Subtract the two values and divide by 2
•
(15.50-15.30 = .20)/2 = .10

If the GPS measured(Northing) value is larger shorten the length in 3D-MC

If the tape measured value is larger lengthen the length in
3D-MC

Excel Verifying Main Antenna to Boom Length


Rotational Heading
Verifying Aux Antenna to Boom Length

Verifying Aux Antenna to Boom Length

Position the machine directly North

Curl the bucket in and record:
•
3DMC Easting of a bucket corner (position screen)
•
Easting with Rover and Pocket 3D

Extend the bucket to its fullest and record:
•
3DMC Easting of the same corner (position screen)
•
Easting with Rover and Pocket 3D

Verifying Aux Antenna to Boom Length
 Curled bucket Easting:
• 3DMC 520.35
• Rover 520.38
 Extended bucket Easting:
• 3DMC 520.36
• Rover 520.51
 The difference in curled position
• 520.38 - 520.35 = .03
 The difference in extended position
• 520.51 – 520.36 = .15
 Measured distance from curled to extended
• 20’

Verifying Aux Antenna to Boom Length
 Determine the Aux antenna correction amount using this formula:
A(Distance Between Antennas) C(Ext Easting – D (Curl Easting)
=
X B (Curl To Ext Distance)
7.5
=
.15 - .03
X 20
X=.045
Rover Easting's larger (decrease)
3DMC Easting’s larger (Increase)

Curled bucket Easting:
•
3DMC 520.35
•
Rover 520.38

Extended bucket Easting:
•
3DMC 520.36
•
Rover 520.51

Excel Verifying Aux Antenna to Boom Length

Verifying Main Antenna Offset

Position the machine directly North

Curl the bucket in and record:
•
3DMC Easting of a bucket corner (position screen)
•
Easting with Rover and Pocket 3D

Extend the bucket to its fullest and record:
•
3DMC Easting of the same bucket corner (position screen)
•
Easting with Rover and Pocket 3D

Verifying Main Antenna Offset
 Curled bucket Easting:
• 3DMC 520.35
• Rover 520.38
 Extended bucket Easting:
• 3DMC 520.48
• Rover 520.51
 The difference in curled position
• 520.38 - 520.35 = .03
 The difference in extended position
• 520.51 – 520.48 = .03

If Rover Easting's are larger (increase)
 If 3DMC Easting’s are larger (decrease)

Excel Verifying Main Antenna Offset

Verifying Main Antenna Height

Record several 3DMC bucket elevations and corresponding survey rover elevations

Subtract the elevations and find the average
•If 3DMC elevations are higher than the rover increase the antenna height
•If 3DMC elevations are lower than the rover decrease the antenna height.

Excel Verifying Main Antenna Height

Testing Machine Sensors for Accuracy

Elevation/Position Errors
Wedge errors or Inconsistent elevation errors

Perform Elevation Accuracy Verification to check machine and sensor calibration
Overall bias between machine and rover

Perform Main Antenna Height Verification
Northing Errors:

Perform Main Antenna to Boom Length Verification
Rotational Errors: (curled to extended)
 Perform Aux Antenna to Boom Length Verification
Easting Errors:
 Perform Main Antenna Offset Verification

Questions?
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Five
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