There is absolutely nothing you need to do to the truck to burn waste motor oil. It's all in the processing of the oil. It is getting hard to come by. Here in Florida SafetyClean goes around and collects oil and filters from shops and takes it to Jacksonville where it is cleaned up a little and loaded on a barge bound for the power plants in East Palatka & Sanford. Basically they pick up the filters, which is a disposal issue for shops in exchange for the oil.
Its pretty simple to do. What I use is a Tuthill oil transfer pump that has a hydraulic hose on the suck side connected to a 4 foot piece of 3/4 galvanized pipe. I use a hydraulic hose because it's what I had on hand at the time plus it won't collapse. On the end of the pipe I have a cap and then a couple of holes drilled into the pipe about two inches above the cap. This keeps me from sucking crap out of the bottom of whatever container I am drawing oil from. The output of the pump goes to a filter chassis and the output of that goes to the dieselcraft centrifuge.
So here's what I do...
I have a 55 gallon drum positioned under the drain of the centrifuge. I dump whatever oil I am going to process into the drum. If it has a lot of 15w-40 or other heavy oil then I add some diesel to thin it out. Used hydraulic oil and oil from gas cars is generally thin enough already. Once I have put my oil in the drum I put my pickup pipe into the oil and turn the pump on. The oil is pumped through the filter and then to the centrifuge. The oil pressurizes the internal drum of the device which have two small jets on the bottom. The oil squirts out those jets causing the centrifuge to spin - really fast like 30,000 RPM with 90 psig of oil applied. The oil fills the inside of this spinning drum and particles are slung to the wall of it. Every so often it has to be taken apart and cleaned, which is really a bad job to have to do,
Anyhow, the oil that comes from the centrifuge drains back into the 55 gallon drum so it can go through it several times. I usually set it up and then let it run for 5-6 hours. As long as I let it run for a while I don't have any problems. It's when I get in a hurry and try to rush it is when I have problems with the fuel.
Once its finished I pump the oil out of the drum and into the front take of the truck - usually I will run the tank empty, add 8-10 gallons of diesel and then fill it the rest of the way up with oil.
I've never really noticed any improvement in the color or clarity of the oil. I know its working because there is always about an inch of crud built up on the inside of the centrifuge after I run 30-40 gallons of oil through it.