Setting up the dozer
- Place the Machine on a flat surface. Do not move the tracks of the machine during calibration.
- Set the total station at a distance of 25-30 m away from the machine in order to measure all the necessary points, especially the rear GNSS position. Make sure to measure all the machine points in one setup. Do not move the total station during calibration.
- Make sure that the blade is levelled and aligned with the tracks.
- Make sure that the blade is perpendicular to the machine direction.
- Mount the GNSS antennas as close as possible to the centre axis of the machine and at least 1 m apart from each other.
- Mount a prism or a tape at the centre of the blade to measure the ARP points (arm rotation point). Make sure you measure always the same spot with 0 m prism height.
- When measuring the TP point, make sure to add the track thickness to the prism height offset.
Machine calibration for dozers step-by-step
- Open the MC Calibration app.
- Select On-Cab Dozer.
For detailed information on 6-Way Blade see: Measure 6 Way Blade step-by-step
For detailed information on Measure Push Blade see: Measure Push Blade step-by-step - Tap
to continue.
The calibration screen is displayed. Refer to: The calibration screen
➜ Always adhere to the instructions in the display. - Aim telescope at target point. Measure and store the target point using the measure bar buttons.
➜ To remeasure points, tap the relevant point in the map screen and confirm the warning message. - Tap Next to proceed to the next calibration step. Follow the on screen instructions. Aim telescope at target point. Measure and store the target point using the measure bar buttons.
➜ Repeat until all required points have been measured successfully. You can go back to a previous step to remeasure points. Select Back from the toolbox.
When all points have been measured successfully, the Select the used Machine Control system screen is displayed.
- Tap the system in use. The Machine calibration results screen is displayed for the selected
system. - Tap
to continue. - Before saving the calibration results, you can set the file location and change the default file name. To store the results onto a connected USB stick, tap Save to and choose USB.
• To save the results, tap
.
• To cancel the saving process and remeasure points, tap
. After successfully measuring points again, execute a recalculation using Calculate from the Toolbox. The new results are displayed.
➜ To display the calibration results again, open the MC Calibration app and tap Calibration Results.
Measure 6 Way Blade step-by-step
The 6-Way Blade calibration guides you through measuring the IMU sensor points on the cabin, the arm and the blade plus points on the blade in order to calculate the so-called ball point, that is the rotation point of the blade.
- In the Calibration Options screen switch Measure 6 Way Blade on and select the GNSS Sensors Configuration.
- Tap
to continue.
The calibration screen is displayed. Refer to: The calibration screen
➜ Always adhere to the instructions on the display. The first steps are the same as for calibration without measuring 6-Way Blade. Refer to: Machine calibration for dozers step-by-step Repeat until all required points have been measured successfully. You can go back to a previous step by selecting Back from the toolbox. - Next measure the IMU points.
➜ In case the IMU points are hidden and not visible, for example when the Cabin IMU is installed inside the cabin, measure them with off sets in X, Y, Z, with ΔX being the offset along the longitudinal axis and ΔY being the offset along the cross axis of the dozer. ΔZ is the height offset of the measured point above the IMU point. These offset value(s), ΔX,ΔY and ΔZ must be written down so that you can apply them later when calibrating the machine control system in MC1. - Continue with measuring the blade points. Mark the points on the blade, ideally with reflector tapes, and make sure that the prism height is set to zero. The same points need to measured again while the blade is rotated and tlted left and right.
When all points have been measured successfully, the Machine calibration results screen is displayed. - Tap
to continue. - Before saving the calibration results, you can set the file location and change the default file name. To store the results onto a connected USB stick, tap Save to and choose USB.
• To save the results, tap
.
• To cancel the saving process and remeasure points, tap
. After successfully measuring points again, execute a recalculation using Calculate from the Toolbox. The new results are displayed.
➜ To display the calibration results again, open the MC Calibration app and tap Calibration Results.
Measure Push Blade step-by-step
The Push Blade calibration guides you through measuring the arm and blade pivot points plus IMU sensor points on the cabin.
- In the Calibration Options screen, switch Measure Push Blade on and select the GNSS Sensors Configuration.
- Tap
to continue.
The calibration screen is displayed. Refer to: The calibration screen
➜ Always adhere to the instructions on the display. Repeat until all required points have been measured successfully. You can go back to a previous step by selecting Back from the
toolbox. - Measure 3 points on the dozer tracks (TP1...TP3), to define the horizontal plane.
- In the next steps determine the blade wear points, the cutting edge of the blade and the blade height.
- Continue with measuring the GNSS positions on the cabin and defining the centre axis of the dozer.
- Continue with measuring the arm and blade pivot points. The arm pivot point needs to be measured on both sides of the dozer. Make sure to apply the correct prism type and prism height.
- Next measure the IMU points.
➜ In case the IMU points are hidden and not visible, for example when the Cabin IMU is installed inside the cabin, measure them with off sets in X, Y, Z, with ΔX being the offset along the longitudinal axis and ΔY being the offset along the cross axis of the dozer. ΔZ is
the height offset of the measured point above the IMU point. These offset value(s), ΔX,ΔY and ΔZ must be written down so that you can apply them later when calibrating the machine control system in MC1.
When all points have been measured successfully, the Machine calibration results screen is displayed. - Tap
to continue. - Before saving the calibration results, you can set the file location and change the default file name. To store the results onto a connected USB stick, tap Save to and choose USB.
• To save the results, tap
.
• To cancel the saving process and remeasure points, tap
. After successfully measuring points again, execute a recalculation using Calculate from the Toolbox. The new results are displayed.
➜ To display the calibration results again, open the MC Calibration app and tap Calibration Results.