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®®

AccuGrade® Systems for Track-Type AccuGrade Laser, Tractors AccuGrade GPS

Machine CompatibilityMachine Model D3G, D4G, D5G, D5N, D6K,

D6N, D6R II, D6R III, D7R II, D8T, D9T

AccuGrade®

Grade ControlSystem forTrack-Type Tractors

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AccuGrade® Grade Control System for Track-Type TractorsAccuGrade® Grade Control Systems simplify grading, improve accuracy, increase productivity,minimize material use and lower operating costs.

Fine grade and doze the plan with greateraccuracy and control using AccuGradetechnology solutions for track-type tractors.System flexibility allows the systems to beeasily interchanged to meet a wide rangeof application and site-specific graderequirements.

• AccuGrade Laser – 2D elevation control• AccuGrade GPS – 3D elevation control

AccuGrade® GPS

The GPS System uses Global PositioningSystem satellites to determine preciseblade positioning. The system featuresfully automated blade adjustments forautomatic elevation control, and verticaland horizontal guidance light bars formanual control. pg. 8

AccuGrade® Laser

The Laser System leverages lasertechnology to create an accurate gradeelevation reference over the work area.The system features automated bladeadjustments for elevation control withtight tolerances and built-in elevation/grade display indicators for manualcontrol. pg. 6

AccuGrade® Attachment Ready Option(ARO) Machine

The AccuGrade ARO machine simplifiessystem installation and reduces machinedowntime. The AccuGrade system isdesigned and integrated into the machinesystems and controls to optimizeperformance and reliability. pg. 4

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Features and Benefits

AccuGrade delivers a wide range ofcustomer benefits designed to increaseoperator efficiency and productivity,improve accuracy, reduce materialcosts, reduce surveying and labor costs,and lower overall operating costs. pg. 10

AccuGrade for Track-Type Tractors.Caterpillar is helping customersrevolutionize the way they move materialwith new technology solutions forearthmoving machines – solutionsthat provide greater accuracy, higherproductivity, lower operating costsand more profitability.

The AccuGrade System is designed andintegrated into the machine and hydraulicsystems to create an automated bladecontrol system that allows operatorsto grade with increased accuracy.

The system uses machine-mountedsensors to calculate precise bladeslope and elevation information.

The integrated electrohydraulic valvecontrol module uses the informationreceived from the sensors to automaticallyadjust the blade to maintain grade.

Automated blade control allowsoperators to improve efficiency andproductivity by achieving grade fasterand in fewer passes than ever before,reducing the need for traditional surveystakes or grade checkers.

AccuGrade Attachment Ready Option(ARO) Machine. The factory AccuGradeARO machine makes system installationand setup quick and easy, and optimizesperformance and reliability.

• Hydraulic control systems areintegrated into the machine hydraulicsfor maximum performance anddependability.

• AccuGrade controls are integratedinto the machine controls and leversfor reliable operation and precisecontrol.

• Wiring harnesses and cables arerouted during assembly for improvedwear protection and better reliability.

• System is designed to withstandvibration for long life in ruggedworking environments.

• Safety interlock feature is built in foradded protection during automatedoperation.

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Integrates the AccuGrade system into the machine systems and controls to optimizeperformance and reliability.

AccuGrade® Attachment Ready Option (ARO) Machine

Plug and Play Capability. The systemuses a Controller Area Network (CAN),designed for plug-and-play capability.This allows components to be quicklyand easily added or removed. Commonconnectors provide a flexible system,fully upgradeable from two to threedimensional control, on one or bothsides of the blade. Moving the add-onsystems from one machine to anotheris easy. Simply mount the components,connect, calibrate, and the system isready to operate.

Applications. The AccuGrade® Systemis designed for a wide range ofconstruction earthwork applications,from bulk earth moving with highproduction rates to finish grading withtight tolerances. Field-proven andversatile, the two-dimensional gradecontrol systems are ideal for fine gradingof sites with flat surfaces, single slopes

and dual slopes, such as building padsand parking lots. The three-dimensionalsystems are ideal for complex 3D designs,such as golf courses and roads withsuperelevations.

AccuGrade System Technologies.

• AccuGrade Laser – single or dual2D elevation control

• AccuGrade GPS – single or dual3D elevation control

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Operation. AccuGrade Laser is designedfor precise grade control using a lasertransmitter and receiver.

A laser transmitter is set up on thework site and creates a constant gradereference over the work area. A digitallaser receiver is mounted on the machineand captures the laser signal as themachine moves across the work site.

The system captures information andcalculates the blade adjustmentsnecessary to achieve grade. The systemmakes automatic elevation adjustmentstypically performed by the operatorand provides automatic blade control.The operator simply steers the machine.The system also calculates cut/fillrequirements for manual blade control.

Single Laser System. The single lasersystem provides automated bladeadjustments to the center of the bladefor automatic elevation control.

Dual Laser System. When two laserreceivers are used, the system providesautomatic elevation and slope controlto both sides of the blade.

Laser Transmitter. A laser transmitteris mounted on a tripod so the laserbeam can rotate unobstructed above themachine. The laser transmits a plane oflight above the work area, which allowsseveral machines to work effectively inany direction using one laser transmitter.

Laser Receiver. An all-new digital laserreceiver is mounted on an electric mastabove the cutting edge and is used todetect the laser beam. The receiverpicks up the position relative to finishgrade and measures height deviationfrom the on-grade location to the laserbeam strike. The receiver sends bladeposition information back to the systemto calculate necessary adjustments.

A full 360 degrees of laser detectionrange allows the receiver to pick up thelaser signal from any direction on thework site while the machine is working.

Electric Mast. An electronicallyadjustable, telescopic mast is usedfor mounting the laser receiver abovethe blade’s cutting edge. The mast ispowered by an electric motor, whichallows the operator to raise and lowerthe mast from inside the cab to preciselyposition the receiver above the cab forunobstructed laser reception.

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A laser transmitter creates a grade elevation reference plane over the work area to maintainprecise grade control.

AccuGrade® Laser

In-Cab 2D Display. The CB420 or all-newCD610 in-cab displays with easy-to-read grade indicators and elevationdisplay delivers all system informationto the cab for easy viewing by theoperator. Simple controls offer easysetup, operation and access to systemmenus, allowing the operator to focuson productivity. Grade indicatorsprovide vertical guidance to theoperator and indicate which directionto move the blade to achieve grade.The monitor numerically displayscut/fill requirements for manual control.Refer to technical specification pagesfor compatibility chart.

Controls. System controls are integratedinto the machine controls and levers foreasy access and control. Push buttonoperation allows the operator toeasily switch from manual modeto automatic mode.

Automatic/Manual Mode Button.Allows the operator to toggle betweenautomatic and manual mode.

• In automatic mode, the systemautomatically controls bladeelevation adjustments.

• In manual mode, the operatormanually controls the blade whileusing cut/fill information on thein-cab display and grade indicatorsto guide blade movements.

Remote Offset Switch. Allows theoperator to set elevation offsets at apreset distance from the design plan tooptimize cutting depth in various soilconditions or accommodate sub basefill requirements.

Applications.

• Flat Planes

• Single Slopes

• Dual Slopes

• Building Pads

• Parking Lots

• Sports Fields

• Indoor Applications

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Operation. AccuGrade GPS usesadvanced Global Positioning System(GPS) technology to deliver preciseblade positioning information to the cab.Using machine-mounted components,an off-board GPS base station andReal-Time Kinematic (RTK) positioning,GPS provides the information necessaryfor the system to accurately determineblade positioning with centimeter-level accuracy.

AccuGrade GPS computes thepositioning information on the machine,compares the position of the bladerelative to the design plan and deliversthat information to the operator via anin-cab display. Information, such asblade elevation, necessary cut/fill toachieve grade, visual indication of theblade’s position on the design surfaceand a graphical view of the designplan with machine location.

AccuGrade GPS puts all the informationthe operator needs to complete the jobin the cab, resulting in a greater levelof control. Vertical and horizontalguidance tools visually guide the operatorto the desired grade.

Automated features allow the hydraulicsystem to automatically control bladeadjustments to move the blade to grade.The operator simply uses the light barsto guide the machine for consistent,accurate grades and slopes, resultingin higher productivity with less fatigue.

Single GPS System with Blade Slope.The single GPS system with blade slopeprovides 3D grade control across thefull width of the blade. The system usesa 3D position from the GPS receiver incombination with information from theblade angle sensor to automaticallycontrol blade elevation and blade slope.

Dual GPS System. The dual GPS systemprovides 3D grade control across the fullwidth of the blade. Dual GPS receiversallow the system to automaticallycontrol blade elevation.

GPS Receivers – MS980C. The receiversare mounted on masts above the cuttingedge. GPS satellite signals are receivedby the GPS receivers to generate a 3Dposition. This information, in conjunctionwith machine dimension information, isused to determine the precise horizontaland vertical position of the blade inreal-time.

GPS Receivers – MS990C. The all-newMS990C is the next generation GPSreceiver designed as a modular componentin the AccuGrade grade control system.Its rugged design includes features tomaximize the new modernized GPSsignal structure including L2C andL5 tracking capabilities. The MS990Cis also able to use satellites in theGLONASS satellite constellation toaugment the GPS solution and provideincreased availability and up time tothe operator. The MS990C includesimproved technology that providesfaster RTK initialization times, bettertracking and accuracy characteristicsover a broader range of operatingenvironments.

Mast. A rugged steel mast is used formounting the GPS receiver above theblade’s cutting edge for optimum GPSsatellite reception.

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Global Positioning System satellites provide precise location information for elevationcontrol with centimeter-level accuracy.

AccuGrade® GPS

Radio. The communications radio ismounted on the cab of the machineto ensure maximum signal reception.The radio receives real-time CompactMeasurement Record (CMR) data fromthe GPS base station radio for calculatinghigh accuracy GPS positions. Radiobroadcast frequencies work in all weatherconditions and can penetrate clouds,rain and snow. This allows AccuGradeGPS to accurately control blade operationin fog, in dust and at night.

In-Cab 3D Display. An all-new displayhas a 27 percent larger screen, with aprocessor that is five times faster andimproved display buttons. The displaywith keypad allows the operator tointerface with the system using pushbuttons and a color monitor. As themachine operates the operator can viewreal-time information, such as machinelocation, blade position and elevationrelative to the design plan. The systemuses 3D design files that are stored ona compact flash data card and insertedinto a slot next to the keypad. The newdisplay provides improved access to thedata card, with a quick-release door andenvironmentally sealed card slot.

Light Bars. Three light bars are mountedin the machine cab and provide verticaland horizontal guidance to the operator.

• Two vertical guidance light barsvisually indicate where the bladetips are relative to grade.

• The horizontal guidance light barindicates blade location relative tothe selected horizontal alignment.

Controls. System controls are integratedinto the machine controls and leversfor easy access and control. Push buttonoperation allows the operator to easilyswitch from manual mode toautomatic mode.

GPS Satellites. Positioning informationfrom GPS satellites is received by theGPS base station and the machine-

mounted GPS receivers. The satellitesconstantly transmit their positions,identities and times of signal broadcasts.

GPS Base Station. The GPS base stationis located within radio range of thework site. It consists of a GPS receiver,GPS antenna and radio. The horizontalposition (latitude and longitude) andthe vertical position (height) of the basestation are fixed to known referencepoints. The base station receivesinformation from the GPS satellites.This information, along with the base

station’s known position, is sent to themachine via the communications radioand is used by the machine’s GPSreceivers to calculate centimeter-levelaccuracy positioning.

3D Design Software. Flat and slopingplanar surface design files can be createdon-board the machine. More complexdesigns require 3D design software.

Office Software. The office softwaremanages and converts engineeringsurvey data for use in machine format.It is the interface between the machinesystem, site managers and designengineers. Design data is exportedfrom the office software onto a datacard for use by the AccuGrade system.AccuGrade Office software is therecommended software for managingand converting design files.

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Increases Productivity and Efficiency.

• Increases productivity by up to 50%

• Reduces guesswork and costlyrework by moving dirt right thefirst time

• Reduces survey costs up to 90%

• Improves material utilization

• Reduces operating costs

• Extends the work day

Worksite Safety.

• Removes grade stakers and checkersfrom the worksite and keeps themaway from the heavy equipment

• Designs include avoidance zoneswith audible warnings

Assists with Labor Shortage.

• Reduces labor requirements and costs

• Customers can get the job donemore quickly and efficiently

• Reduces need for staking and gradecheckers

• Empowers operator, and improvesoperator confidence by deliveringgrading information to the cab

Improves Employee Satisfactionand Retention.

• In-cab display brings elevationcontrol to the cab

• Empowers operator with real-timeresults

• Real-time feedback on progressincreases job satisfaction, eliminatesguesswork and reduces operator stress

• Improves operator skills and takesperformance to the next level

• Investing in the latest technologyleads to a sense of value and trustby the operator

Increases Equipment Versatility.

• Plug-and-play connections allowfast, easy conversion from laserto GPS grade control system

• Provides consistency and accuracy,turning your production machineinto a fine grading machine

Integrated into Cat® Machines.

• Proven, optimized on-boardelectronics and hydraulics systems

• Components designed into machineto maximize reliability

• Integration into cab and controllevers increases ease of use

• Safety interlock (park brake, systemhealth, idle time)

• Cat® Dealer Network providesunmatched service and support

Customer Support. For more than25 years, Caterpillar has been providingelectronic and electrical componentsand systems for the earthmovingindustry – real-world technologysolutions that enhance the value ofCat products, making customers moreproductive and profitable. Your Catdealer is ready to assist you withmatching machine and grade controlsystems to the application and obtainingresponsible, knowledgeable support.

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Features and BenefitsAccuGrade® is easy to use and delivers a wide range of customer benefits.

Traditional Grading

Grading with AccuGrade Laser

11AccuGrade® Grade Control System for Track-Type Tractors specifications

2D Display – CD610

Display screen 320 �240 pixel, LCDOn-grade indicator GreenAbove/below grade indicator AmberOperating temperature –40° C to 85° C

–40° F to 185° FStorage temperature –40° C to 85° C

–40° F to 185° FHumidity 100%Sealing IP68 sealed to

34.48 kPa (5 psi)Electrical input 9 to 32V DCNetwork connector 70-pinLength 221 mm 8.7 inWidth 140 mm 5.51 inDepth 71 mm 2.8 inWeight 1.59 kg 3.51 lbLanguage capabilities Chinese, Danish, Dutch,

English (UK & US),Finnish, French,German, Italian,Norwegian, Portuguese,Spanish, Swedish

Laser Receiver

Detection angle 360ºDetection range 231 mm 9.1 inDetection accuracy 1.5 mm 0.06 inTransmitter speed 270 to 1,320 rpmGrade display LED grade indicatorsOperating temperature –40° C to 71° C


–67° F to 185° FSealing IP68 sealed to

34.48 kPa (5 psi)Electrical input 9 to 32V DCNetwork connector 6-pinHeight 292 mm 11.5 inWidth 168 mm 6.6 inDepth 213 mm 8.4 inWeight 2.8 kg 6.3 lb

AccuGrade Systems

for Track-Type Tractors AccuGrade Laser,AccuGrade GPS

Emissions and susceptibility CE compliant

Machine Compatibility

Machine Model D3G, D4G, D5G, D5N,D6K, D6N, D6R II, D6R III, D7R II, D8T, D9T

2D Display – CB420

Display screen 128 � 64 pixel, LCDOn-grade indicator GreenAbove/below grade indicator AmberOperating temperature –29° C to 60° C


–40° F to 176° FHumidity 100%Sealing IP54 sealedElectrical input 9 to 32V DCInput connector 6-pinNetwork connector 6-pinRemote connector switch 6-socketData connector 9-socketLength 295 mm 7.7 inWidth 130 mm 5.1 inDepth 102 mm 4 inWeight 1.4 kg 3 lbLanguage capabilities Chinese, Dutch, English

(UK & US), Finnish,French, German, Italian,Norwegian, Portuguese,Spanish, Swedish

12 AccuGrade® Grade Control System for Track-Type Tractors specifications

3D Display – CD700

Display screen 177.8 mm (7 in) QVGA,480 �234 pixel, LCD

Electrical input 9 to 32V DCNetwork connector 39-pinMemory drive Compact flashOperating temperature –20° C to 80° C


–40° F to 185° FSealing IP68, sealed to

34.48 kPa (5 psi)Width 230 mm 9.06 inHeight 170 mm 6.69 inDepth 101 mm 3.98 inWeight 3 kg 6.61 lbLanguage capabilities Chinese, Danish, Dutch,

English (UK & US),Finnish, French,German, Italian,Norwegian, Portuguese,Spanish, Swedish

GPS Receiver – MS980C

Horizontal accuracy 20 mm 0.78 inVertical accuracy 30 mm 1.2 inOperating range Up to 10 km (6.2 miles)Network connector 16-pinElectrical input 9 to 32V DCOperating temperature –40° C to 70° C


–67° F to 185° FHeight 147 mm 5.8 inWidth 232 mm 9.1 inDepth 251 mm 9.9 inWeight 3.8 kg 8.3 lb

Electric Mast

Position repeatability ±1 mm ±0.04 in

Typical speed 30 mm/sec (1.2 in/sec)Operation 12 and 24 VOperating temperature –29° C to 60° C


–40° F to 176°FHumidity 100%Sealing IP54 sealedElectrical input 9 to 32V DCNetwork connector 10-pinInput connector 6-pinHeight retracted 1640 mm 5 ft 5 inHeight extended 2900 mm 9 ft 7 inBase diameter 240 mm 9.4 inWeight 25 kg 55 lb

Angle Sensor

Working range 45°Electrical input 9 to 32V DCNetwork connector 6-pinReverse voltage protection to 36V DCLoad dump protected ISO 7637 compliantHumidity 100%Sealing IP68 sealed to

34.48 kPa (5 psi)Operating temperature –40° C to 85° C


–40° F to 212° FHeight 68 mm 2.7 inWidth 93 mm 3.7 inLength (with connector) 104 mm 4.1 inWeight 0.8 kg 1.8 lb


Communications Radio

Operating range Up to 10 km (6.2 miles)Technology Spread spectrumData rate High speedInput Connector 8-pinOperating temperature –40° C to 70° C


–67° F to 158° FHumidity 100%Height 216 mm 8.5 inWidth 86 mm 3.4 inLength 260 mm 10.3 inWeight 0.9 kg 2 lb

GPS Receiver – MS990C

Horizontal accuracy 10 mm 0.39 inVertical accuracy 20 mm 0.79 inOperating range Up to 10 km (6.2 miles)Network connector 16-pinElectrical input 9 to 32V DCOperating temperature –40° C to 70° C


–67° F to 185° FHeight 147 mm 5.8 inWidth 232 mm 9.1 inDepth 251 mm 9.9 inWeight 3.8 kg 8.3 lb

Light Bars

Input connector 4-pinOperating temperature –40° C to 85° C


–40° F to 212° FSealing IP68, sealed to

34.48 kPa (5 psi)Height 174 mm 6.9 inWidth 53 mm 2.1 inDepth 32 mm 1.2 inWeight 0.22 kg 0.5 lb

14 AccuGrade® Grade Control System for Track-Type Tractors specifications

AccuGrade® Systems

Dual Laser System

ARO Machine

AngleSensor

(Optional)

Single Laser System

AccuGrade Attachment Ready Option (ARO) Machine

Laser Receiver Electric MastsLaser Receivers 2D Display – CB420 or CD610

See compatibility table.

Electric Mast 2D Display – CB420 or CD610

See compatibility table.

Single GPS System with Blade Slope Dual GPS System

GPS Receivers – MS980C or

MS990C

MastsCommunications Radio

3D Display –

CD700

AngleSensor

GPS Receiver – MS980C or

MS990C

MastCommunications Radio

3D Display –

CD700

Compatibility Chart

Technology and Display ConfigurationsModel Single Laser Dual Laser Single GPS with blade slope Dual GPSD3G, D4G, D5G CB420 CB420 CD700 CD700D5N CD610 CD610 CD700 CD700D6K CD610 CD610 CD700 CD700D6N CD610 CD610 CD700 CD700D6R II, D6R III CD610 CD610 CD700 CD700D7R II CD610 CD610 CD700 CD700D8T, D9T — — — CD700

CB420 CD610 CD700


AccuGrade® System KitsStandard equipment may vary. Consult your Caterpillar dealer for details.

3D Kits:AccuGrade GPS Kit

Communications RadioSingle GPS with Blade Slope

CD700 Display, Carrying CaseGPS Receiver, Carrying CaseRigid MastLight Bars (3)Coiled Cable (2)Angle Sensor

Dual GPSCD700 Display, Carrying CaseGPS Receiver (2), Carrying CaseRigid Mast (2)Light Bars (3)Coiled Cable (2)Angle Sensor and Coiled Cable (Optional)

AccuGrade® Attachment Ready Option (ARO) MachineWeldmentsWiring HarnessHydraulic ValvesPlumbingElectronic Control ModuleRemote Switches

2D Kits:AccuGrade Laser Kits

Single LaserCB420 or CD610 DisplayLaser Receiver, Carrying CaseElectric MastShock MountCoiled Cable (2)

Dual LaserCB420 or CD610 DisplayLaser Receiver (2), Carrying CaseElectric Mast (2)Shock Mount (2)Coiled Cable (4)

R

For more complete information on Cat products, dealer services, and industry solutions, visit us on the web at www.cat.com

© 2006 CaterpillarAll Rights Reserved

Printed in U.S.A.

Materials and specifications are subject to change without notice.Featured machines in photos may include additional equipment.

See your Caterpillar dealer for available options.

CAT, CATERPILLAR, their respective logos, “Caterpillar Yellow,” and the POWER EDGE™ trade dress, as well as corporate and product identity used herein,

are trademarks of Caterpillar and may not be used without permission.AEHQ5703-01 (10-06)

AccuGrade® Grade Control System for Track-Type Tractors

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