X-53x: Geometry calibration

• 3D-MC version 15.
• MC-X1 firmware 7.0 or newer.
• GT or PS total station with LPS capability.
• Geometry calibration application installed on PC or FC-5000.
• X-53x Calibration kit PN 1031278-01.
• Excavator placed an a stable surface where it may rotate and move implements freely.

It is easiest to begin by getting machine measurements before starting the calibration application.

Refer to the attached measurement guide for illustrations of each measurement. 

The manual measurements required are as follows:

• Bucket Pivot Y Offset: Distance from the middle of the stick to the edge of the bucket pivot pin.
• Bucket Width
• Bucket Depth: Distance from the cutting edge back to the farthest edge of the bucket.
• Bucket Length: Distance from cutting edge to bucket pivot pin.
• Stick Y Offset: Distance from the middle of the stick to the edge of the stick pivot pin.
• Boom Length: Distance from center of boom pivot pin to the center of the stick pivot pin.
• Boom Pivot Height: Distance from the ground up to boom pivot pin (for graphics only and does not affect position).
• Boom Pivot Behind: Horizontal distance from center of boom cylinder pivot pins to center of boom pivot pin.
• Boom Pivot Above: Vertical distance from center of boom cylinder pivot pins to center of boom pivot pin.
• Body IMU Below: Vertical distance from the center of the boom cylinder pivot pins to the reference point of the TS-i4.
• Body IMU Behind: Horizontal distance from the center of boom cylinder pivot pins to the reference point of the TS-i4.
• Body IMU Right: Horizontal distance from the centerline of the boom to the reference point of the TS-i4.
• Prism Above: Distance from the GR-i3 or GR-i3F reference point to the center of the 360° prism (if using kit, the distance is .492 ft/.15 m).

Make note of all sensor locations, orientations, and serial numbers.

The GT or PS total station must be placed in a location where it can see all of the points of interest on the excavator.

The picture below shows the Measure All pose. If the machine is placed in this configuration and all points of interest can be seen with the total station, the placement is good.

The points of interest in red are the points that should be specifically checked.

• Cylinder Stick 2 can be too high to shoot with the total station if you are too close to the machine.
• Boom IMU may be blocked by the cab depending on the placement of the IMU and total station.
• The antennas may not be visible if you are too close to the machine.

Put the total station on a tripod, and level it in a suitable location.

The GT or PS settings need to be configured properly for LPS. These are the same LPS settings for other machine control applications.

Configure the total station, and place it in External Link mode.

Refer to MC-X1: Configuring Wi-Fi for setting up the Wi-Fi on the MC-X1.

Verify the Bluetooth/Wi-Fi antenna is connected to the MC-X1. It is part of the calibration kit.

Verify 3D-MC is NOT running on the GX-55 or GX-75. 

Connect the PC or FC-5000 to the MC-X1 Wi-Fi.

Once the program starts, press Start Calibration in the bottom right corner.

In the top right corner, there are three dots. Click the dots and then Units to configure the units. 

Enter the deployment info, machine measurements, sensor IDs, and orientations. Select the total station from the MAC address list, and specify what side of the machine the total station is on.

Proceed once this page is completed. 

The following steps are abbreviated for space since the application gives step-by-step instructions on screen.

The first calibration is to calculate the center of rotation.

Follow all steps on screen.

To perform this calibration successfully, the total station needs to track the prism placed on the GR-i3/GR-i3F farthest from the center of rotation for 270° unobstructed.

This may take some time to figure out the correct starting and stopping positions, as the prism will get blocked during rotation at different points depending on how the machine is configured.

Boom up and stick in, so the implements are as close to the center of rotation as possible.

Point the total station at the prism on the GR-i3/GR-i3F.

Enable tracking in the app.

Start the calibration:

• Slowly rotate 270°, ensuring at least 300 points are captured. More than 300 is okay.
• Rotate back 270°, capturing an additional 300 points.
• A minimum of 600 points is needed.
• Calculate the error. A green check mark should be seen.

• Position the machine parallel to the tracks. Press Capture in the application.
• Rotate 180°. Press Capture.
• Rotate 180°. Press Capture.
• Press Calculate to compute the error. A green check mark should be seen.

Stick calibration is the same process as boom calibration.

There are 4 poses, and each pose has the same 4 points that need to be captured:

• Stick Pivot
• Dogbone 1
• Dogbone 3
• Dogbone 4

Proceed down the list until each point in every pose has been captured.

Calulate the error. A green check mark should be seen.

The Measure All calibration is one pose where every point of interest must be captured by the total station.

Refer to the measurement guide where each point of interest is.

Proceed down the list until all points are captured and blue.

Calculate the error. A green check mark should be present.

Disregard the Fit All Measurements calculations. 

Pressing Review Deployment will bring up a screen showing calculated boom length and hitch lengths. Measure them by hand to verify they are correct.

Save the deployment. It will be sent to the MC-X1, and it will be saved on the PC or FC-5000.

Launch 3D-MC.

Go to Control > Attachment > Add.

Perform the required Deviation From Vertical and Bucket Base Angle calibrations.

Record the Deviation From Vertical and Bucket Base Angle values. They will be required for the hydraulic calibration.

Perform position checks like a normal 3D excavator:

• Place hubs in the ground.
• Change machine implement orientations.
• Come at hubs from different directions.
• Put machine on a slope.

The northing and easting values should be within 3 cm, and the elevation values within 2 cm.

If there is a consistent X/Y bust, verify the Bucket Pivot Y Offset and Stick Joint Y Offset measurements, as those create the centerline of the machine.

If elevation is off, first try remeasuring and recalibrating the bucket. If the elevation is still off, redo the geometry calibration.