MOUNT 2488905 - Caterpillar

Bucket Position Estimation for a Single Antenna Front Shovel
CAESultra is used on both the Hydraulic Front Shovel and the Cable Front Shovel. Regardless of the shovel type, the same dimensions (i.e. bucket height, machine width, and track length) are used in order to determine bucket position. The Front Shovel dimensions shown in Illustration1 are defined in METSmanager. Three of the Front Shovel dimensions (maximum bucket reach, toe radius, and point sheave) are best determined by trial and error. These dimensions, which are determined to suit the machine's most common activity, can be changed according to the activity of the Front Shovel.
Illustration 1 g01194781
Front Shovel dimensionsThe point sheave position for a Cable Front Shovel usually remains fixed. Although the Hydraulic Front Shovel does not have a point sheave, a point sheave must still be defined. Because the point sheave is not fixed for a Cable Front Shovel, bucket position estimates are likely to be less consistent than those for a Hydraulic Front Shovel.Other parameters are calculated, such as the GPS antenna position, the arc length between successive GPS antenna positions, and the center of radius. These calculations are used in order to update the machine position. The calculated center of radius is multiplied by the factor set in the following key. If the result of this factor, times the calculated radius, is greater than or equal to the calculated arc length, then the calculated center of radius is validated and the machine position is updated. $ Front Shovel COR Movement - Defines the minimum arc length between successive points that is required in order to determine the center of rotation of the machineFront Shovel Loading and Rotation Parameters
There are several parameters that are used in order to determine when the Front Shovel is loading and also in order to determine the center of rotation of the Front Shovel. CAESultra automatically uses the default parameters. The following keys allow the default parameters to be customized for different Front Shovel machine types.$ Front Shovel Stop Velocity - Sets the maximum rotational velocity$ Front Shovel Load Distance - Sets the angle that the machine must rotate before the shovel is loaded$ Front Shovel Load Time - Sets the minimum time that a shovel must be stopped in the face to be considered loading$ Front Shovel COR Position Count - Sets the number of arc positions that are used in order to determine the center of rotation$ Front Shovel COR Movement - Sets the minimum arc length required between COR arc positionsFront Shovel Activity Selection
The following keys are used in conjunction with Front Shovel activity selection.$ Front Shovel Activity Params - Used in order to modify the maximum bucket reach, the toe radius, and the point sheave. The dimensions are changed when the Front Shovel activity is changed.$ Save Activity - When CAESultra is stopped and restarted, this key is used in order to restore the current Front Shovel activity. Without this key, CAESultra restarts with no activity set.Reference: For additional details on Front