Caterpillar®

Grade Control Information

for
®
Cat Motor Graders
and
Track-Type Tractors
Version: 1.5

Date: 09/02/2014
 CATERPILLAR® GRADE CONTROL INFORMATION FOR CAT® EQUIPMENT MANUAL
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Caterpillar Grade Control Information (v1.5) 09/02/2014

1 INTRODUCTION......................................................................................................... 1
1.1 OPENING STATEMENT ........................................................................................... 1
1.2 DOCUMENT PURPOSE ............................................................................................ 1
1.3 DOCUMENT SCOPE ................................................................................................ 1

2 GENERAL SYSTEM OPERATION .......................................................................... 2

2.1 PRODUCT PERSPECTIVE ......................................................................................... 2

3 GENERAL INTERFACE DETAILS .......................................................................... 3

3.1 INTRODUCTION ...................................................................................................... 3
3.2 GENERAL MACHINE INTERACTIONS ...................................................................... 3
3.3 CAN INTERFACE ................................................................................................... 4

4 ELECTRICAL CONNECTOR DETAILS ................................................................. 7

4.1 QUICK CONNECTORS ............................................................................................. 7
4.2 FRONT HARNESS CONNECTOR ............................................................................ 10
4.3 DASH CONNECTOR .............................................................................................. 11
4.4 DATA RADIO CONNECTOR .................................................................................. 12
4.5 EXPANSION CONNECTOR ..................................................................................... 13
4.6 J1939 DIAGNOSTIC CONNECTOR ......................................................................... 14
4.7 POWER MODULE PASS THRU CONNECTORS ................................................... 15
4.8 POWER MODULE CONNECTORS ...................................................................... 15
4.9 GCR CAN CONNECTOR ON TTT ARO MACHINES ............................................. 16
4.10 GCR POWER CONNECTOR ON TTT ARO MACHINES .......................................... 17
4.11 GCR CONNECTOR ON MG ARO MACHINES........................................................ 17

5 ELECTRICAL INFORMATION.............................................................................. 19
5.1 COMPLETE SIGNAL LIST ...................................................................................... 19

6 REFERENCE MATERIAL ....................................................................................... 20

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1 Introduction

1.1 Opening Statement

Caterpillar manufacturers and sells construction equipment that is ready for or includes integrated machine
guidance systems. These machine guidance systems are engineered, developed and tested in cooperation
with Caterpillar Trimble Control Technologies, a machine guidance systems joint venture company
between Caterpillar and Trimble Navigation Ltd. While Cat machines will support interface to other
machine guidance systems, Caterpillar’s preferred aftermarket machine guidance system is Cat
AccuGrade™ – which is specifically engineered and tested for use on Cat machines. Caterpillar’s
preferred technology partner is Trimble Navigation Ltd. Caterpillar does not have partnerships with other
3rd party machine guidance system providers, and has not validated these systems on Cat equipment.

1.2 Document Purpose

The purpose of this document is to share, information related to Cat machines and machine guidance
systems to allow better machine integration with other providers of machine guidance.

1.3 Document Scope

The scope of this document is to specify some technical information regarding the aftermarket machine
control and guidance systems on Cat machines that will facilitate better integration of other providers of
aftermarket machine control and guidance on Cat machines. This information will include descriptions of
some machine control and guidance features, pin information, harnesses, layout, and software protocol
utilized.

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2 General System Operation

2.1 Product Perspective

2.1.1 Machine Guidance Control for Cat Track-Type Tractor Operation

The purpose of this function is to provide automatic blade control for Cat Track-Type Tractor machines.
The feature automatically controls the lift and tilt solenoids on the machine to maintain a given grade.

The system is either:

2D System – Referenced to Laser, sonic or slope sensor that defines the desired grade
3D System – Referenced to an internal electronic file in the display that defines the desired grade (GPS or
total station)

2.1.2 Machine Guidance Control for Cat Motor Grader Operation

The purpose of this function is to provide automatic blade control for Cat Motor Grader machines. The
feature automatically controls the lift solenoids on the machine to maintain a given grade.

The system is either:

2D System – Referenced to Laser, sonic or slope sensor that defines the desired grade
3D System – Referenced to an internal electronic file in the display that defines the desired grade (GPS or
total station)

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3 General Interface Details

3.1 Introduction
Many Cat machine models have an electronic control module (ECM) that controls the blade on the
machine. Grade control systems can communicate with this ECM to provide automatic control of the
blade.

3.2 General Machine Interactions

3.2.1 Software Enabled Attachment

To operate a grade control system on a Cat machine the AccuGrade software enabled
attachment (SEA) must be installed into the machine or implement ECM. This SEA enables
grade control systems (AccuGrade as well as other 3rd party systems) to work with the
machine or implement ECM to control the blade.

Most machines built after January 2013, have this SEA installed from the factory.

This SEA is available free of charge from any Cat dealer. The dealer uses the Caterpillar
Feature Protection System (FPS) to generate the SEA and the Caterpillar Electronic
Technician (ET) service tool to install the SEA onto the ECM.

3.2.2 Grade Control Logic

Arbitration logic in the ECM is used to decide which signal is used to drive the implement
valves that move the blade.

A summary of the logic is:

Automatic Mode
Implement handle (of the automatically controlled function) in neutral position
 Grade control system commands drive the valves
Implement handle (of the automatically controlled function) out of the neutral position
 Operator implement handle commands drive the valves
Manual Mode
 Operator implement handle commands drive the valves

3.2.3 Machine Interlocks

There are machine interlocks that prevent the ECM from allowing automatic control in
certain conditions.
To allow grade control, the following interlocks must be met:
 Parking brake must be off
 Implements must be unlocked
 No active diagnostics on grade control switches or implement solenoids
 Operator must put the grade control system into Automatic mode (The system
defaults to the Manual mode on each power up of the machine)
 There may be other machine specific interlocks

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To allow grade control calibrations (Land Leveling(LOI) Service Mode)

 Parking brake can be on

3.3 CAN Interface

3.3.1 CAN Physical Layer

Caterpillar typically uses unshielded twisted pair for the CAN bus. See J1939/15 for more
information on the physical CAN bus characteristics.

Caterpillar dedicates a CAN bus specifically for grade control. The grade control CAN bus is
separate from the machine CAN bus. It is physically accessible through the Grade Control
Ready (GCR) connector which is described in this grade control electrical interface
document. A grade control system must not splice into a non-grade control machine CAN
bus.

3.3.2 CAN Data Rate

The Caterpillar ECM CAN bus runs at 250k bits/second.

3.3.3 CAN Bus Termination

A properly terminated CAN bus has a 120 ohm terminator at each end of the harness. So the
CAN bus must have a 60 ohm impedance between the CAN Hi and CAN Lo wires.

3.3.4 CAN Bus Load

In general the steady state bus load of the grade control system should be less than 35%.
Note that excessive CAN bus loads can degrade the machine ECM performance.

3.3.5 J1939 Address Claim

All components on the CAN bus should use J1939 source address arbitration to prevent
address conflicts on the CAN bus. Address claim information is also used in the auto-
detection function (see below).
PGN 60928
See J1939/81 for definitions of PGN

3.3.6 J1939 Land Leveling System Operational Information (LOI)

This CAN message is used to communicate operational information from the Caterpillar
ECM to the grade control system. This includes machine status and switch information.

PGN 61453
For Cat Track Type Tractors:
SPN 3156 – Blade Control Mode Switch
SPN 3157 – Desired Grade Offset Switch
SPN 3158 – Blade Auto Mode Command

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For Cat Motor Graders:

SPN 3158 – Blade Auto Mode Command
SPN 3334 – Left Blade Control Mode Operator Control
SPN 3336 – Left Desired Blade Offset Operator Control
SPN 3335 – Right Blade Control Mode Operator Control
SPN 3337 – Right Desired Blade Offset Operator Control
SPN 3338 – Side-shift Blade Control Mode Operator Control

Note: Error Indicator and Not Installed states will be sent if the system is not installed or if
there is an error with the switch.

See J1939/71 for definitions of PGN and SPN

3.3.7 ISO 11783 Auxiliary Valve Command

This CAN message is used to communicate valve commands from the grade control system
to the Caterpillar ECM.
PGN 65073, 65074 and 65075
For Cat Track Type Tractors:
PGN 65073 controls blade lift
PGN 65074 controls blade tilt

For Cat Motor Graders:

PGN 65073 controls blade left lift cylinder
PGN 65074 controls blade right lift cylinder
PGN 65075 controls blade side shift

See ISO 11783-07 for full definition of PGN

Note: that Caterpillar ECM’s use loop based (not interrupt driven) tasks to process the valve
commands. The period of the processing task can vary by machine model.

Note: The machine ECM will timeout the Auxiliary Valve Commands if they are not seen for
250ms. The machine ECM will turn off current to the solenoid valves until a valid auto
command or manual input is seen

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3.3.8 Grade Control Auto-Detection

Some machine implement handle switches have multiple uses. For example on some Cat
Track-Type Tractors, the grade control Auto/Manual switch is used for blade shake when a
grade control system is not connected. The Caterpillar ECM uses auto-detection to sense if a
grade control system is connected to change the function of these switches.
The Auto-detection feature has three modes, Automatic, Enabled and Disabled. The Enabled and
Disabled modes should only be used for trouble shooting purposes.
Automatic – This is the default mode.
Grade control is enabled, if a J1939 Address claim is made for specific grade control system
components listed in the table below. (See J1939 Table B12 for more details on Name Functions.)

Industry Vehicle Name Description

Group System Function
03 00 129 Laser Receiver
03 00 131 Electric Mast
03 00 130 Land Leveling System Display
03 00 144 Survey Total Station Target
03 00 160 GPS Receiver (not assigned in J1939)

If no corresponding address claims are seen, the grade control feature is disabled and alternate
implement handle switch features (like blade shake) are available for use.
Enabled – Auto-Detection is disabled and the grade control feature is set to be always
enabled. Machine switches are dedicated to grade control and any secondary feature (like
blade shake) is disabled.
Disabled - Auto-Detection is disabled and the grade control feature is set to be always
disabled. Machine switches are dedicated to non-grade control features (like blade
shake) and the grade control feature is disabled.

These modes can be programmed using the Caterpillar ET service tool or using button presses at power
up. Access to Caterpillar ET service tool is available upon request through your local Cat dealer.
 Automatic - Press and hold Auto/Manual for at least 5 seconds. but no more than 15
seconds at machine power up
 Enabled - Press and hold Increment for at least 5 seconds. but no more than 15
seconds at machine power up
 Disabled - Press and hold Decrement for at least 5 seconds. but no more than 15
seconds at machine power up

Note: If needed, see Operation and Maintenance Manual for button locations

3.3.9 Other Machine Information

Additional machine specific information (direction, gear, parking brake) is also available on the grade
control CAN bus. Information is available in J1939 format.

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4 Electrical Connector Details

The following list of connectors and connections used in the system. Provisions must be made to
electrically connect these components and adjoining harnesses

 Quick connectors for coil cords

 Front harness / main fall connections
 Dash connector
 Lightbar connector
 Data Radio connector
 Expansion connector
 J1939 diagnostic connector
 Power module pass thru connectors
 Power module connectors
 GCR CAN connector
 GCR Power connector
Note – the power module is a device specific for use with the Cat AccuGrade machine guidance system.

The following sections outline the detailed mechanical requirements, starting from the front of the machine
and moving back.

4.1 Quick Connectors

Cat AccuGrade Ready Option (ARO) Track-Type Tractors (TTT) have three Quick Connectors on the front
of the machine. Cat AccuGrade Ready Option (ARO) Motor Graders (MG) have four Quick Connectors
on each side of the gooseneck on the machine. These connectors are used to connect to blade mounted
position sensors via coil cables.

4.1.1 Connector Information

Quick connector p/n - 230-2566

4.1.2 Connector Locations

 For Cat ARO TTT machines, mounting positions for left, right and slope connectors are placed in
accessible locations for connecting the coil cables near the front of the machine. Left and slope are
often located on the same side.
 For Cat ARO MG machines, mounting positions are located with two connectors on the right side
of the gooseneck and two connectors on the left side of the gooseneck

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4.1.3 Connector Pinouts

Figure 1: Left/Right and Slope Connector Pinouts for Cat TTT machines

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LH QC Interface 1
230-2566
L873-GY-16 A
B
L854-YL-16 C
L855-GN-16 D
E
T745-YL-16 F
T748-PK-16 G
L874-OR-16 H
L857-GN-16 I
L856-YL-16 J

LH QC Interface 2
230-2566
L873-GY-16 A
B
L854-YL-16 C
L855-GN-16 D
E
T745-YL-16 F
T748-PK-16 G
L874-OR-16 H
L857-GN-16 I
L856-YL-16 J

RH QC Interface 1
230-2566
L873-GY-16 A
T745-YL-16 B
L854-YL-16 C
L855-GN-16 D
E
T745-YL-16 F
T748-PK-16 G
L874-OR-16 H Note: Pin B is
L857-GN-16 I grounded to define
L856-YL-16 J right side function
instance.

RH QC Interface 2
230-2566
L873-GY-16 A
T745-YL-16 B
L854-YL-16 C
L855-GN-16 D
E
T745-YL-16 F
T748-PK-16 G
L874-OR-16 H
L857-GN-16 I
L856-YL-16 J

Figure 2: Left/Right Quick Connector Pinouts for Cat MG machines

4.1.4 Model Variations

 Smaller Cat TTT machines may mount the connectors on the front of the radiator housing.
 Larger Cat TTT machines may mount the connectors on the sides of the lift cylinders.

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4.2 Front Harness Connector

Cat TTT ARO machines have a 12-pin front harness connector. Cat MG ARO machines have a 14-pin
front harness connector. Common front harness connectors are used to provide signals to the front of the
machine. This connector contains CAN signals and switched power and can also be used to connect a main
fall (machine pitch) sensor.

4.2.1 Connector Information

155-2252 – Machine / chassis side (TTT)
3E-5179 – Quick connect side (TTT)
359-5180 – Machine / chassis side (MG)
359-5179 – Quick connect side (MG)

4.2.2 Connector Location

For Cat TTT ARO machines, the 12-socket connector is mounted outside the cab engine compartment. This
allows a mainfall sensor to be mounted on the frame in the engine compartment and allows for access to the
front nose connectors.
For Cat MG ARO machines, the 14 pin bulkhead connector is located at the front of the cab, typically on
the right side.

4.2.3 Connector Pinout

Figure 3: Cat TTT ARO Machine Front Harness Connector Pinout

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Figure 4: Cat MG ARO Machine Front Harness Connector Pinout

4.2.4 Model Variations

Usual locations for the connectors on Cat TTT ARO machines are near the radiator (on the engine side).
Usual location for the connectors on Cat MG ARO machines are near the lower right of the front of the cab

4.3 Dash Connector

Cat TTT and MG ARO machines have a 31-pin Dash connector.
A common dash connectors is used provide signals to the display.

4.3.1 Connector Information

Connector p/n’s (pick connector appropriate for type of wire used)
 225-3861
 331-3595

4.3.2 Connector Location

This 31-pin connector is a bulk-head mounted connector that allows a single hole through which all the
signals can enter the cab. In most instances the connector will be located in the dash to allow for a dash
mounted display.

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4.3.3 Connector Pinout

Figure 5: Dash Connector Pinout

4.4 Data Radio Connector

Cat TTT and MG ARO machines have a 12-pin Data Radio connector to provide signals to various radios.
This connector contains serial, CAN and Ethernet signals as well as power.

4.4.1 Connector Information

Connector p/n – 237-0164

4.4.2 Connector Locations

This 12-socket connector is usually mounted outside the cab so that the radio can be installed on
the roof.

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4.4.3 Connector Pinout

Figure 6: Data Radio Connector Pinout

4.4.4 Model Variations

Note: The Data Radio and Expansion connector are typically grouped in the same location.
Note: This connector is usually near the end of the CAN bus meaning the terminating resistor is
often installed nearby

4.5 Expansion Connector

Cat TTT and MG ARO machines have a 12-pin expansion connector.
This common “expansion” connector provides signals to third party radios, cab mounted GPS and other
components. This connector contains serial and CAN signals as well as power. It also can provide signals
relevant for cab mounted GPS applications.

4.5.1 Connector Information

Connector p/n – 155-2253

4.5.2 Connector Location

This 12-socket connector is mounted outside the cab next to the Data Radio connector. This allows
connecting third party radio to be placed on the roof, or provides connectivity to a cab/roof mounted GPS
receiver.

4.5.3 Connector Pinout

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Figure 7: Expansion Connector Pinout

4.5.4 Model Variation

Note: The Data Radio and Expansion connector are typically grouped in the same location.
Note: This connector is usually near the end of the CAN bus meaning the terminating resistor is
often installed nearby

4.6 J1939 Diagnostic Connector

Cat TTT ARO machines have a 9-pin J1939 connector to be used for diagnostics.

4.6.1 Connector Information

P/N 210-8950

4.6.2 Connector Location

If included, this 9-socket connector is typically located inside the cab.

4.6.3 Connector Pinout

Figure 8: J1939 Diagnostic Connector Pinout

4.6.4 Model Variations

On some machines, this service connector may be wired as a CAN drop-on-a-drop without negative impact.

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4.7 Power Module Pass Thru Connectors

Cat TTT ARO machines use a 12-pin power module pass thru connectors.
Common power module connector are used to provide signals to the power module. This connector
contains Power signals as well as an awake signal to turn on the power module. The design allows the
connectors to be plugged in and by-pass the power module for standard machines (providing only sensor
power).

4.7.1 Connector Information

230-4009 IN from GCR power
230-4010 OUT from power module

4.7.2 Connector Location

The 12-pin power module pass thru connector is located near the power module. Typically this is under the
cab in TTT ARO machines and in the headliner on Cat MG ARO machines.

4.7.3 Connector Pinout

Figure 9: POWER MODULE Pass Thru Connector Pinout

4.7.4 Model Variation

Note: The power module is currently offered as part of the ARO (factory and Cat dealer installed)

4.8 POWER MODULE Connectors

The power module supplies conditioned switched power for grade control system components.

4.8.1 Connector Information

155-2252 – Machine / chassis side
3E-5179 – Quick connect side

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4.8.2 Connector Location

The 12-pin power module pass thru connector is located near the power module. Typically this is under the
cab in Cat TTT ARO machines and in the headliner on Cat MG ARO machines.

4.8.3 Connector Pinout

Figure 10: POWER MODULE Connector Pinout on TTT ARO machines

Figure 11: POWER MODULE Connector Pinout on MG ARO machines

4.9 GCR CAN Connector on TTT ARO machines

Cat TTT ARO machines have the Standard 6-pin GCR CAN connector. This connects the machine
guidance system to the implement ECM.

Note: If a Stable Blade sensor is included on the machine, it will have connectivity to the machine guidance
system. This system needs to have a fully terminated CAN bus without Machine guidance installed.

4.9.1 Connector Information

174-0502 – Machine / chassis side
133-0973– ARO connection side

4.9.2 Connector Location

This 3-pin connector is located in an accessible area on the machine outside the cab so that a dealer
installed system can be easily installed. The GCR CAN and GCR Power connectors should be mounted
close to each other.

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4.9.3 Connector Pinout

Figure 12: Standard GCR CAN Connector Pinout

4.10 GCR Power Connector on TTT ARO machines

Cat TTT ARO machines have the Standard 6-pin GCR Power connector.

4.10.1 Connector Information

155-2273 – Machine / chassis side
3E-3382 – ARO / POWER MODULE… connected side

4.10.2 Connector Location

This 6-pin connector is located in an accessible area on the machine outside the cab so that a dealer
installed system can be easily installed. The GCR CAN and GCR Power connectors should be mounted
close to each other.

4.10.3 Connector Pinout

Figure 13: Standard GCR Power Connector

4.11 GCR Connector on MG ARO machines

Cat MG ARO have the Standard 8-pin GCR connector. This connects the machine guidance system to the
implement ECM through CAN B as well as supplying machine switched power, unswitched power, and
ground.

4.11.1 Connector Information

3E-3388– ARO connection side

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4.11.2 Connector Location

This 8-pin connector should be located in an accessible area on the machine so that a dealer installed
system can be easily installed.

4.11.3 Connector Pinout

3E-3388

Ground A274-BK-14 1
Switched Power 156-YL-14 2
Unswitched Power 121-RD-14 3
4
5
Machine CAN B Lo L855-GN-18 6
Machine CAN B Hi L854-YL-18 7
8

Figure 14: Standard GCR Connector Pinout

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5 Electrical Information

5.1 Complete Signal List

The following figure summarizes the signals utilized by the Machine guidance system.

Figure 15: Complete Signal List

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6 Reference Material
For model specific information on machine operation consult the Cat machine Operations and Maintenance
Manual, or contact your local Cat Dealer.

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7 History
Table of document changes for tracking content
Date Version Author Description
11/27/2013 1.0 B. Hobbs Addition of button timeout info on the Auto Detection Modes
4/1/2014 1.1 B. Hobbs Addition of document change history table
6/4/2014 1.2 B. Hobbs Removal of inaccurate interlock condition and addition of
interlock exceptions in service mode
6/18/2014 1.3 B. Hobbs Corrected Function Name for Land Leveling System Display
used in Auto-Detection
7/25/2014 1.4 J. Thomas Final review and Opening Statement addition
9/02/2014 1.5 J. Dodge Brand/Trademark edits, Cat, Caterpillar

CAT, CATERPILLAR, their respective logos, “Caterpillar Yellow,” AccuGrade, 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.

©2014 Caterpillar All Rights Reserved.

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