Release Notes for Cat® Terrain v4.5 On-board Software{7605} Caterpillar

Machine Control and Guidance Products:

TERRAIN GRADING (S/N: TFE1-UP)

TERRAIN LOADING (S/N: TFL1-UP)

TERRAIN OFFICE (S/N: TER1-UP)

Introduction

This document contains the following information that was previously found in the Software Installation and Configuration Manual:

• Changes to the manuals, system, and on-board software

• Hardware considerations

• Known issues

A new system architecture diagram has been added to the introduction showing all of the major components of a machine fitted with Cat^® Terrain.

Cat^® Terrain v4.5 System Architecture

Illustration 1	g02988416

Changes to the Documentation CDs

Documents, utilities, training tools, firmware, and on-board software are contained on the 392-9004 USB Memory Module . In previous versions these items would have been found on three CDs.

Reviewing the Folders on the USB Memory Module

To review the folders on the USB memory module:

1. Place the USB memory module into the USB port on an office computer or portable computer.

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Illustration 2	g03014857

2. Using Windows Explorer, open the USB memory module. The folder structure in Illustration 2 appears.

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Illustration 3	g03014858

3. Select "Caterpillar". The folder structure in Illustration 3 appears.

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Illustration 4	g03014859
Typical "01 System Software" folder structure

4. Select "01 System Software" and view the following folders:

   Security - Excel spread sheet that can be used for storing security information

   Software - CAESultra - Folder containing the installer executable file for the on-board software in systems using METSmanager office software

   Software - Terrain - Folder containing the installer executable file for the on-board software and the mobile software in systems using Terrain office software

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Illustration 5	g03014860
Typical "02 System Software" folder structure

5. Select "02 System Documentation" to view the following:
   • Database manuals

   • Guides

   • Help files for Machine Configuration Utility and Task List Manager

   • Operator manuals

   • Service manuals

   • System diagram

   • Document list

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Illustration 6	g03014861
Typical "03 System Software" folder structure

6. Select "03 Firmware" to view:
   • Documentation for radio and receiver

   • Radio firmware

   • Receiver firmware

   • Sample GPS application files for single and dual antenna machines

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Illustration 7	g03014862
Typical "04 System Software" folder structure

7. Select "04 Utilities" to view software used to read pdf files and to view the monitor display remotely. The file also contains software and documentation for the following:
   • CSGTestSuite

   • CToolbox

   • GPS Planning Utility

   • MCG Flash

   • MS Controller

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Illustration 8	g03014865
Typical "05 System Software" folder structure

8. Select "05 Training Tools, Etc" and view the Terrain Demo tool. This demo tool does not use VPG, but does use designs and log files recorded on any machine using the on-board software.

Using the USB Stick

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Illustration 9	g03014863

1. Connect the brown 12-pin Deutch connector (1) on the main harness to the 383-3031 Harness As (machine service port) (2). The 12-pin Deutch connector has a groove that limits the type of service harness that may be attached.

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Illustration 10	g03014864
Service harness (3) Ethernet port (4) USB port (5) USB port

2. Connect the keyboard to either of the USB ports (4) (5) on the service harness.

   Note: If desired, the USB memory module can be connected to the second USB port on the service harness.

3. Connect the monitor display to power.

   The monitor display starts up and the keyboard functions.

4. Select Start > My Computer to open Windows Explorer on the monitor display. Wait for the monitor display to fully boot.

5. Select the D drive. The D drive opens with no files listed.

Changes to the Manuals

In v4.5, the on-board software has been updated to run on a G610 Display (monitor display). There have been no changes to the office software. The following manuals will be released with changes in v4.5:

• Operations and Maintenance

• Systems Operation

• Full complement of Special Instructionsfor machines, installation of the software, pertinent release notes, and related user guides.

Operations and Maintenance Manual

In v4.x, changes to the OMM include:

Manually triggering a "Digging" state - Two examples are provided of the operator manually changing the dig state to "Digging" using the Manual Dig button or switch.

Shutting down and starting up a G610 Display - A procedure is given for the startup and shutdown of the new G610 Display.

Using the light bar - Full instructions for using the new light bar have been published.

Language selection - Five languages are available for use on the monitor display.

Note: Select the language, then restart the monitor display to load the new Resource DLL file. This selection enables the monitor display to use the selected language.

Delay setup and delay end - Delays can now be entered in the office. There are new delay buttons available.

Position summary - A new diagnostics window has been added for use by installers and testers.

Roll sensor recalibration - Instructions have been added for a quick recalibration.

Machine icon color status - New icon colors for GPS accuracy have been added when using Site Awareness.

Ore Plan window - New material colors and bitmaps are available in the v4.5 ore plan window.

Reference Information

The following changes were made to the reference material in Terrain v4.5:

Wiring Diagram

The system wiring diagram was removed from the installation manuals and placed on the USB memory module.

Systems Operation Manual

• Information for altering the backlight levels on the monitor display was added.

• The Master Configuration File section was rearranged.

• NetConfig install instructions for the G610 Display were updated.

• The key definition tables from the Machine Configuration File section were removed and relocated to the MCU Help file.

Special Instructions

• Information for TightVNC was added.

• A discussion of file transfer was added because HyperTerminal is no longer available to transfer files.

Changes to PR2 Message

The following three changes apply to the PositionReport2 (PR2) messages:

VIMS

The feature "Site Awareness" uses PR2 messages. The Caterpillar VIMS application uses PositionReport (PR) messages. When Site Awareness was enabled in the MCU, the user could not enable PR messages to VIMS. The on-board software has been changed. To enable PR messages to VIMS, enter the relevant values for $ Position Broadcast <count>=<address><UDP port><broadcast interval> into the master.txt file. Enable Position Awareness in the office and Site Awareness in the on-board software through the MCU. Both Site Awareness and VIMS updates will occur.

ReferenceFor detailed information about values for address, UDP Port, and position broadcast, refer to the MCU Help file, "Position Broadcast".

Reported Accuracy

The on-board software was sending an invalid "Reported Accuracy" in the PR2 message, reporting a position accuracy of 100 m when the position accuracy was, in fact, RTK. This error occurred because the speed the on-board software sent out PR2 messages was not the same as the speed of the position updates from the receiver. This issue has been resolved. The position accuracy is now reported correctly in the PR2 message. No intervention is required by the end user or the installer.

SolutionType

Earlier versions of receivers used a "SolutionType" block of information in Location2 of the PR2 message. These receivers have now become obsolete. Therefore, the on-board software no longer uses the "SolutionType" block of information.

Office Considerations

Terrain v4.5 grading and loading on-board software supports the introduction of the G610 Display on the machine. There was no upgrade of the office software in v4.5.

Initially, sites running v4.5 were using Terrain v1.0 or v1.1 office software. However, over the next 12 months, sites may upgrade the office software to Terrain v1.2.

If the site does upgrade to Terrain v1.2 office software, note that machines running Terrain v4.5 on-board software do not offer:

• Location-based design updates

• The Navigation screen

• Playback buttons

Changes to the System

This section applies to the changes in the function of the system as a whole. The system includes radios, GPS/GNSS receivers, and software utilities interacting with the on-board software. Functional changes are a direct result of working together with customers to broaden the applications and machine types supported by the on-board software.

MS990 Receiver Firmware with the G610 Display

On the G610 Display, GPS communication occurs automatically over a CAN bus. If using a non-ARO machine type with MS990, use MS990v3.81 and CAN GPS communications. If using an ARO machine type with MS990, use MS990v3.81 with serial GPS communications.

To enable the G610 Display to use serial GPS communications, add "$ GPS Over CAN =0" to the master.txt file. This line of code disables the on-board software from using the CAN bus for GPS communications.

The recommended firmware for the MS990 receiver is v3.81 for single and dual antenna operations. If an MS990 receiver has any other firmware, refer to the following media for instruction on flashing the receiver with v3.81 software and change the configuration to CAN corrections.

ReferenceSpecial Instruction, REHS7228, "Installation and Configuration of the Cat^® Terrain v4.5 On-board Software", "Setting up a G610 Display for an MS990 Receiver "

No UDP for Sending Files to Office

Machines running CAESultra / Terrain use the File Transfer Protocol (FTP) communications protocol to send files from the machine to the office. The MCU automatically reconfigures existing machines that are upgrading and are currently using the User Datagram Protocol (UDP) communications protocol to use FTP. No intervention is required by the end user or installer. There is no notification that this change has occurred.

Velocity Data Frequency Updated

In v4.1, a slowly moving machine sometimes produced erratic productivity data. This erratic data was caused by a mismatch between the frequencies of "Position Local Zone" and "Velocity Data" signals that were output from the receiver: These signals are referred to as message subtypes. This known problem has now been resolved by updating both single and dual antenna GPS application files to include the message subtype "Velocity Data = 5Hz".

Existing GPS application file - Use CToolbox to edit Velocity Data = 5Hz

New GPS application file - No user intervention is required.

GPS application file from USB memory module - No user intervention is required.

TightVNC Added for Remote Viewing

TightVNC is free software enabling the office to view the monitor display remotely on a specified machine. The software is provided in the Terrain on-board installer during initial installation. At this stage the user chooses whether to load TightVNC.

Load TightVNC software onto each machine that will be viewed from the office. For detailed information on installing TightVNC, refer to Systems Operation, REHS7228, "Installation of the On-board Software for Terrain v4.5".

Buzzer

The new optional CAN buzzer replaces the older audible device. If used, the buzzer connects to CAN 3 of the 383-3027 Harness As (main front).

Operating System Event Logs

The event logs of the operating system are written to the D: drive on the G610 Display, not to C: drive as for the D3:C4 Nav 10.4 Display (monitor display). The event logs are:

• AppEvent.evt

• Secvent.evt

• SysEvent.evt

Use the event logs to troubleshoot errors that may be based in the operating system rather than the on-board software.

Truncated Job Codes

When a job code longer than 30 characters was selected in the "Job Code Select" dialog, the following occurred:

• An error message (Dr. Watson) appeared.

• The D3:C4 Nav 10.4 Display rebooted.

When the software used the job code in a digital window, the window crashed.

In v4.1 and v4.5, this issue has been resolved by restricting the number of characters that appear in the digital window.

Several settings associated with CAES use truncation to limit the length of fields. For reference, these settings, and the maximum length, are listed in the table below:

Productivity Conversion Service Available

Use Productivity Conversion Service to convert older productivity files to work with more recent versions of CAESultra / Terrain. Users can convert the following files to v4.5 files:

• v3.2

• v3.2.1

To update older productivity files, contact a Caterpillar Technical Communicator for additional information.

Screen Configuration Utility

The executable file for the Screen Configuration Utility (SCU) is now included on the USB memory module.

Radio Installation

Illustration 11	g03211236
389-0333 Cable As (Radio) (6) P1 to 383-3028 Wiring Harness ( main rear) (7) P2 to Ethernet of customer supplied radio for power

A machine radio is not supplied with Terrain. The 285-6654 Radio Harness As (Ethernet) connects to the 383-3028 Wiring Harness using a 12-pin (key D) connector. The opposite end of the radio harness employs a standard RJ-45 Ethernet connector with power provided through the connector for a third-party radio.

Note: The 900x radio from previous CAES systems can be replaced by the Cyan radio. If a Cyan radio is ordered, the Radio Mounting Gp (plate and hardware) will be supplied. The radio, which is country-specific, is ordered separately.

The customer determines the location and mounting procedure for the radio. Suggested mounting procedures include:

• Utilizing existing light brackets (if equipped)

• Welding bosses to the machine and using a radio mounting bracket

• Mounting the radio inside the cab and mounting an external antenna outside the cab

Ensure the following when choosing a mounting location:

• Mount the radio at least 3 feet from the satellite receiver or any other transmitting radio or antenna on the machine. This location maximizes reception of the radio.

• Ensure that the radio antenna has 360 degrees of visibility.

Using Power Over Ethernet

Power over Ethernet (PoE) technology describes a system that safely passes both electrical power and data on the same Ethernet cable.

If utilizing PoE technology, then move the following wires from the 2-pin DT connector to the 12-pin DT connector 389-0333 Harness As :

• Power: 1-BU

• Ground: 2-BK

Diagnostic Tools For Test Personnel

The Diagnostic Tools is a group of features that are built into the on-board software. Use of these tools is restricted to test personnel and software developers.

Installers or on-site staff may be asked by test personnel to add these features to the mach_cfg.txt file for short periods to diagnose errors. In future versions of the office software, all diagnostic tools will be available through the MCU.

The following diagnostic tools are available:

Debug Options - Use these MCU settings to control the level of diagnostic messages logged to the DiagMsgLog file.

Logging > GPS - Use these MCU settings to record receiver data for playback. The on-board software now logs everything that comes from the receiver, irrespective of the current GPS logging settings in the mach_cfg.txt file.

Logging > Sensors - Use these MCU settings to record sensor data.

Logging > TMAC - Add this key by hand to enable TMAC event logging. For more information about the TAMC event log, see ""New TMAC Event Logging Function" ".

Maximum Revision Number Reached

The mach_cfg.txt file contains a revision number. Each time the office sends a new mach_cfg.txt file the revision number increases by one. The maximum revision number is 65,535.

In previous versions, the on-board software sometimes sent out a startup2 message that included the maximum revision number instead of the actual revision number. When the message reached the office, the following error message appeared in the MCU:

"Max revision number reached. Please archive this machine and start fresh."

This issue has been resolved.

Changes to the On-board Software

The on-board software has been rebranded. Existing CAESultra nomenclature now uses the new brand name of (Cat^®) Terrain.

Keys

The following keys have been added in Terrain v4.5:

$ TMAC Event Log - See ""New TMAC Event Logging Function" ".

$ GPS Over CAN - See ""New CAN / Serial Connection Key" ".

No keys have been hidden in Terrain v4.5:

The following keys have become obsolete in Terrain v4.5:

• $ TMAC Trace Log

• $ TMAC Log File Count

• $ Blind Study

The default information in the $ Accuracy Move Distance key has been changed in Terrain v4.5. as listed in Table 4 to account for the slow speed of surface miner/terrain leveler machine types.

$ Start GPS Logging - The default information for this key is now the only option available. The MCU setting Diagnostic Tools > Logging > GPS > Filter has only one option, "Log everything that comes from the GPS receiver".

$ Activity Category Map <count> - The default information for this key is now the only option available. The MCU setting Mapping > Activity > Activity Mapping > Activity Category Map > File Type must be "Coverage status with time". For an existing machine, the installer must check the setting in the MCU because the default will not automatically apply. Refer to ""Swath Options" " for additional information.

Master Keys

The following master.txt key has been changed in v4.5:

• $ Calibration

ReferenceRefer to ""New Reference Material: $ Calibration Altered" " for additional information.

Menu Items

The following menu items have been added in Terrain v4.5:

Productivity > Volume - This item is now available for shovels and loaders.

System > System Snap - There is a new "CrashReport" error reporting function which adds built-in diagnostic capability for the on-board software on all machine types.

The following menu item has been deleted in Terrain v4.5:

• $ GPS Diagnostic Utility

New Icons

There are no new icons in Terrain v4.5.

New Window - Network Information

Illustration 12	g02983236

The G610 Display has two high speed data (Ethernet) ports. Open the main menu, Diagnostics > Network Info for additional details regarding these ports. The "Network Illustration" screen in Illustration 12 appears.

New CAN Port Function

The G610 Display communicates over either a serial port or a Controller Area Network (CAN) port as follows:

• The G610 Display sends messages when there is a valid device connected to a correctly configured CAN port. If there is no valid device connected to the CAN port, no messages are sent and no messages are logged in the Diagnostic File. This situation affects the ability to send and log avoidance messages.

• Regardless of the values the (serial) GPS Port and the CAN Sensor Port keys have in the mach_cfg.txt file, the Terrain v4.5 system overrides the values. The new values are GPS to CAN Port 1, Sensors to CAN Port 2, Buzzer to CAN Port 3, and Remote control functions to CAN Port 4. These defaults will be configured as explicit in the next release of the MCU.

• A CAN port is used for CMR rebroadcasting. To use CMR rebroadcasting, open the MCU and enable "CMR Rebroadcast". Enter an RX Port setting, and send the mach_cfg.txt file to the machine. The COM Port setting is now hardcoded and can be ignored.

Attach the device to the correct CAN port as listed below:

Port 1 - GPS

Port 2 - Sensor

Port 3 - Buzzer (optional)

Port 4 - Remote Control

New Serial Port Default Values

To ensure the MMS interface works with the G610 Display, the default values for serial port keys have been changed and hardcoded in the master configuration file (master.txt).

The new defaults in Table 5 override any values previously entered into the MCU for the listed settings.

New Crash Report Function

Software developers use error reports to solve the problems that cause the software to crash. CrashReport is the error reporting function which adds built-in diagnostic capability for the Terrain v4.5 on-board software.

If the on-board software crashes, the following files appear in CAES\bin\CrashReport:

• caes_IllegalShutdown.txt

• crashdump.dmp

• crashrtp.xml

• file_cfg.txt

• mach_cfg.txt

• master_cfg.txt

• A screen snap

If the on-board software crashes, the software automatically restarts and attempts to recover as follows:

• If the software recovers, the application opens and functions. The on-board software sends the CrashReport folder to the office.

• If the software crashes and does not recover, resulting in a second crash, the application will not enter a crash loop. In effect, the software does not autostart if the software has restarted in the previous 60 seconds.

Note: If the software does not recover, the operator and the office can still access the files through the monitor display.

In either case, the operator notifies the office and the office emails the CrashReport folder to the Terrain Site Champion. There is no error message sent to the office.

To update the CrashReport folder in the office, perform one of the following:

• Restart the on-board software. The CrashReport files are named with a globally unique identifier and sent to the office soon after startup.

• Use FTP to open the files from the office computer. For more information, refer to Special Instruction, REHS7228, "Installation and Configuration of the Software for Cat^® Terrain v4.5", "Transferring Files Using an FTP Client".

If the user wants to generate the CrashReport files and record certain information, use the following procedure:

1. In the main menu, select System > System Snap.

   This action saves the required files to the CrashReport folder.

2. Restart the on-board software.

   This action sends the files to the machine folder in the office software.

3. Send the files from the office to the Terrain Site Champion, describing the problem in as much detail as possible.

New TMAC Event Logging Function

Use of this function is restricted to experienced users or installers.

Adding the key creates a log of the incoming and outgoing TMAC messages and produces large files that quickly use up on-board disk space. Remove the key once the problem is resolved.

The following information applies to the TMAC event log:

• A "TerrainTMACDataLog-ID-DATE-TIME.gwm" file is recorded to the caes\temp file on the monitor display. The ID-DATE-TIME descriptor refers to the machine ID and the date and time that the *.gwm file was sent.

• The information in the *.gwm file includes message type, port, IP address of the sending or receiving machine, time sent or received, message ID, sequence number, size (bytes), and most of the original TMAC message.

• The *.gwm file contains up to 1024 TMAC event messages.

• To view the *.gwm file, load the file into the Field Comms Monitor of the Terrain office software.

• Remove the key and send a new mach_cfg.txt file from the office to clear all hash algorithm error messages.

New CAN / Serial Connection Key

In Terrain v4.5 and later, GPS communication automatically occurs over a CAN bus. Disable the on-board software system from using the CAN bus for GPS communication by adding $ GPS Over CAN =0 to the master.txt file. Communication will occur over the serial port.

Note: If using VPG, the on-board software detects VPG and communicates using the serial port.

LoadReport Messages Altered

Terrain is designed for communication between a loading machine and a truck that are working together. In earlier versions, the loading machine could trigger a LoadReport message to the office even when the loading machine was not working. For example, the loading machine could trigger a report when the machine was in a Delay state. If a truck drove past the loading machine, the loading machine would incorrectly send a LoadReport message.

This issue was resolved in v4.1 and the LoadReport message now is not sent when a loading machine is in a Delay state.

Excavator: Reported Position Now From Ground

The site supervisor uses the position elevation shown in the office software to check that machines are working the assigned bench. In this upgrade, the on-board software:

Single Antenna Machines - Reports the origin position in the PR2 messages and other report messages

Dual Antenna Machines - Reports the position of the boom pin projected to the ground in the PR2 messages and other report messages

Reported position = origin - value of "$ Boom Pin Height"

where $ Boom Pin Height is sourced from the calibration.txt file

The on-board software sends the reported position to the office and to the windows specified in Table 8.

Note: The Digital window shows the position at the center of the bucket tip on the ground. To change the Digital window to show position at the boom pin projected to ground, enable the existing MCU setting Operator Interaction > Grade Control > Enable Vertical Guidance from Boom Pin.

Maximum Revision Number Reached

The mach_cfg.txt file contains a revision number. Each time the office sends a new mach_cfg.txt file to the machine, the revision number increases by one. The maximum revision number is 65,535.

In previous versions, the on-board software sometimes sent out a startup2 message that included the maximum revision number instead of the actual revision number. When the message reached the office, the following error message appeared in the MCU.

• "Max revision number reached. Please archive this machine and start fresh."

This issue has been resolved in Terrain v4.5.

New Reference Material: $ Calibration Menu Altered

The $ Calibration Menu key in the master.txt file allowed the operator to add or remove the on-board Calibration menu. However, removing the key did not remove the menu item. Because the menu item was not removed, operators could inadvertently edit calibration files. The on-board software has been changed. When the $ Calibration Menu key is removed from the master.txt file, the Calibration menu item on the monitor display is also removed.

New Reference Material: Material Identities Can Be Hidden

Extended material identities are text strings that are contained within the material polygons in material design files. To be interpreted as extended material identities by the on-board software, the text strings must conform to the rules below:

• The text location (x, y) must lie inside the polygon.

• The value of the DXF color for the text must be 230.

• There must be only one text identifier per polygon.

• The text must be in the DXF file with the material polygon.

• The DXF layer with the text must be converted as a Display layer in Cat MineStar System.

• The tag <h> is added to enclose hidden text. This rule is new in Terrain v4.5.

Long extended material identity text strings can cover a large part of the monitor display. Use hidden text to keep information off the monitor display but still have the text appear in reports.

For example, "Hi in Gold,<h>0.3,0.2,0.7,<h>103" in the DXF file appears as:

• "Hi in Gold,103" on the monitor display

• "Hi in Gold,0.3,0.2,0.7,103" in the reports

New Reference Material: Manual Dig State

The following information describes using the Manual Dig option in the on-board software.

The dig state indicates whether the machine is Digging, Idle, or Dumping. The on-board software then uses dig state to indicate whether a bucket is loaded or unloaded. The dig state is set by information about the bucket angle combined with information from pressure switches, or else by a manual switch.

To turn on the manual switch, open the main menu and select Ore Control > Manual Dig. The dig state now indicates the machine is "Digging".

Note: The Manual Dig button can also be selected.

Manual Dig Button - Use the manual dig switch or button when a pressure sensor is not present or when more control over triggering a dig state is desired.

Below are two examples showing an operator using Manual Dig.

• When finishing a pass at the bottom of a trench or pit, the pressure might not be high enough to trigger the dig state. With no dig state indicated in the on-board software, the final pass is not swathed. Select "Manual Dig" to change the dig state to "Digging". Make the cleanup pass and select "Manual Dig" again to return the dig state to "Idle".

• When trying to groom a high wall for shape and slope, the bucket angle will not trigger the dig state. Select "Manual Dig" as the machine approaches the last pass. Closely clean the slope using the Bar graph or Digital window. When the bucket angle is curled slightly more than flat (for example, 10 degrees), select "Manual Dig" again to revert to the dig state set by the pressure switches.

Information from bucket angle and pressure switches overrides a manual dig option.

New Reference Material: MMS Interface

Sometimes the interface between MMS and the on-board software presents an error message to MMS. The on-board software can record and play back MMS data to help troubleshoot problems in the interface.

Recording MMS Data

1. In the MCU, select 3rd Party Dispatch Interface > Modular Mining System > File Options > MMS File Options.

2. Select "Write" from the drop-down menu.

3. Send the mach_cfg.txt file to the machine.

4. Check that the mach_cfg.txt file has been transferred. For example, use the file transfer messages in the office software.

5. Ensure that the on-board system and MMS system are correctly connected.

6. Restart the on-board software. The software records MMS data to the following files in the \\caes directory on the machine:

   mmsrx.bin - Contains raw binary data received from MMS

   mmsrx.txt - Contains MMS messages recorded for review

7. Stop the on-board software to stop the recording.

Playing Back MMS Data

1. In the caes directory, rename the file "mmsrx.bin" to "mmsinput.bin".

2. In the MCU, select 3rd Party Dispatch Interface > Modular Mining System > File Options > MMS File Options.

3. Select "Read" from the drop-down menu.

4. Send the mach_cfg.txt file to the machine.

5. Ensure that the mach_cfg.txt file has been transferred. For example, use the file transfer messages in the office software.

6. Restart the on-board software. The on-board software plays the MMS data contained in the mmsinput.bin file.

7. Stop the on-board software once sufficient data has displayed.

When the problem is resolved, deselect the MMS File Options checkbox, resend the mach_cfg.txt file, and restart the on-board system. These actions stop the on-board software from recording additional MMS data.

Altered Reference Material: Antenna Position

The Terrain on-board software writes position information to three types of windows:

• Position Diagnostic window

• Linkage Positions Diagnostic window

• Any Digital windows with a position option selected from the Digital windows "Options" list.

One of the position options was "Antenna Position". The software was populating "Antenna Position" with the value for "Antenna Location". The result was that the "Antenna Postion" value was always shown as "0.0000".

This issue was resolved in Terrain v4.5 by removing the "Antenna Position 0" and "Antenna Positon 1" values.

Altered: Backlight Intensity Level

Use the "Intensity Control" dialog to set the backlight intensity of the monitor display.

1. Open the "Intensity Control" dialog using one of the following methods:
   • Select System > Screen > Intensity from the main menu.

   • Press the "Intensity" button on the toolbar.

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Illustration 13	g01199258
Slide bar control for changing monitor display intensity

2. Touch the slide bar control and drag the control either left or right to change the backlighting intensity.

   The behavior is as follows:

   D3:C4 Nav 10.4 Display - Each of the ticks on the slide bar control sets a level of brightness. Use the "Backlight Levels" setting to modify the level of brightness for each tick.

   G610 Display - Each of the ticks has a default brightness level which cannot be altered. The default brightness setting for the dimmest level is set to ensure that the screen is always visible in daylight.

   Note: If the G610 screen is dimmed completely, a faint image remains that is difficult to see, especially in daylight. The screen can be returned to full intensity by touching the top right of the screen, then quickly touching the bottom left of the screen.

3. Select "OK" to set the intensity permanently.

   Ensure that the dimmest level that is set still allows the information to be viewed.

Regain Full Intensity

If the screen is dimmed completely, the following occurs:

• It will be difficult, especially in daylight, to select "OK" in the "Intensity Control" dialog

• A faint image remains, but is difficult to see.

The screen can be returned to full intensity by touching the top right of the screen, then quickly touching the bottom left of the screen.

Fixed

The following five issues were fixed in the CAESultra v4.1.674 software patch.

MMS Interface

The MMS interface in one version of the on-board software used for field follow did not work.

Fluid Values

The "Fluid" coding values were mismatched between on-board and office software.

Truck Load History Window

The "Truck" column in the Truck Load History window listed trucks as "Unknown" in situations where the name should have been known. This listing occurred because the on-board software did not look up the machine.mwf file correctly.

Caterpillar Logo Size

User may have noticed that the Caterpillar logo in the on-board software partially obscured nearby windows. This problem has been resolved, but by being resolved may have changed the size of the window again.

To resize, depending on the application that is used, do the following:

1. Open the Screen Configuration Utility in the office and reconfigure the screen to suit the requirements.

2. Save the screen.

3. Send the screen to the machine.

ReferenceFor more information about saving and sending screens, read the MCU Help, "Sending a Screen to the Machine".

Hardware Considerations

Configuring the System Drive

The "System" drive on the G610 Display, and on the D3:C4 Nav 10.4 Display, is the C drive. To protect the drive against accidental corruption, all new data on the drive is only written to RAM. This data is lost when the drive is rebooted.

Installers or other support personnel may wish to perform changes to the drive that remain after a reboot. Examples include changing Ethernet port network settings and installing a new application on the main drive.

This section describes how installers and support personnel can permanently alter the System drive on the monitor display.

G610 Display

The System drive on the G610 Display is the C drive.

To change the network settings of the Ethernet port, refer to Systems Operation, UENR2509, "Cat^® Terrain", "G610 Display Ethernet Port Activation".

To make other permanent changes to the System drive:

1. In the C drive, enter the required network data or else download the application.

2. Run the script: "D:\caes\exe\writechangestodisk.cmd". When the system reboots, the changes remain.

Note: To replace the operating system (OS) in the field, contact the Cat dealer.

D3:C4 Nav 10.4 Display

The System drive on the D3:C4 Nav 10.4 Display is the C drive.

To change the Ethernet port settings or make other permanent changes to the System drive, refer to Systems Operation, KENR8275, "CAESultra", "D3:C4 Nav 10.4 Display Ethernet Port Activation" or Systems Operation, UENR2509, "Cat^® Terrain", "D3:C4 Nav 10.4 Display Ethernet Port Activation".

Note: To replace or upgrade the OS in the field, contact the Cat dealer.

Using MSControllerCAES and MSControllerCAES for CAN

MSController allows installers and support personnel to check the configuration or behavior of a GPS/GNSS receiver.

MSController has been updated for the G610 Display to communicate with the receiver by using either serial or CAN ports.

• Use "MSControllerCAES.exe" to use a serial port.

• Use "MSControllerCAES_CAN.exe" to use a CAN bus.

Note: "MSControllerCAES_CAN.exe" is only supported for MS990 and MS992 receivers on a personal computer using PCAN-USB or ValueCAN drivers.

In order to open MSController and change the receiver configuration:

1. Shut down the on-board software.

2. Run the version of MSController that matches the installed software:
   • Use "MSControllerCAES.exe" to use a serial port.

   • Use "MSControllerCAES_CAN.exe" to use a CAN bus.

3. Perform the required changes.

4. Shut down MSController and restart the on-board software. The receiver uses the new values.

For assistance in operating MSController, continue to use the current MSController reference material. The most current reference document is:

• "GCS900 v11.20 Site Supervisor's Manual (Trimble) "

RAScm Replaced

If using Terrain v4.5 with a TC900 radio, RAScm has been replaced by a Microsoft Windows Network Connections Wizard. The following instructions describe using the wizard:

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1. Select Start> All Programs> Accessories > New Connection Wizard. The "Welcome" window appears.

2. Click Next. The "Network Connection Type" window appears.

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3. Select "Set up an advanced connection" and click "Next".

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4. Select "Connect directly to another computer" and click "Next".

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5. Select "Guest" and click "Next".

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6. Type in a name for the RAS Connection and click "Next". In Illustration 18, the specified name is "Test Connection".

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7. Select the COM port device that the connection should use. Click "Next".

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8. Click "Finish" and wait for the dialog to close.

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9. Once the dialog has closed, open Start > Control Panel > Network Connections. The "Network Connections" dialog appears with a list of connections. In Illustration 21 the connection was specified as "Test Connection".

   Note: If the specified connection does not appear, press the F5 key to refresh the window.

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10. Highlight the specified connection, right-click on the connection, and select "Properties". The "[Connection Name] Properties" dialog opens.

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11. Open the "General" tab and verify that the correct COM port appears in the drop-down box. Click "Configure... ".

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12. Use the drop-down box to select the connection speed. Use the check boxes to select any other network-specific settings and click "OK".

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13. Select the "Security" tab and select the network security settings.

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14. Select the "Options" tab. Edit the "Redialing options" to include the "Redial if the line is dropped" checkbox. This setting enables the connection to reconnect automatically when the monitor display reboots.

15. Click OK. The "[Connection Name] Properties" dialog closes.

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16. Highlight the specified connection, right click on the connection and select "Connect". The "Connect [Connection Name]" dialog appears.

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17. If security exists on the RAS connection, enter a user name and password. Otherwise, leave these fields empty. Click "Connect".

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18. The "Connecting [Connection Name]" dialog in Illustration 29 appears while the computer is trying to connect to the RAS network. Once the dialog closes, press "F5" to refresh the window.

    The "Network Connections" dialog appears with a list of connections. The specified connection name indicates "Connected".

    Note: If the dialog in Illustration 29 appears, either the settings of the RAS network connector are incorrect or a cable is unplugged.

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19. Find "startcaes.cmd". Open this file for editing and type "Redial [Connection Name]" as shown in Illustration 31.

20. Save and close the "startcaes.cmd" file.

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21. When the on-board software starts, the text in Illustration 32 appears showing that the connection is being created.

Known Issues

In Terrain v4.5, the on-board software has been updated to run on a G610 Display. There have been no changes to the office software, therefore the following known issues relating to the office software remain:

Negative GPS x Offset Incorrect

In a single antenna machine, the antenna can be located to the right or left of the origin.

Illustration 33	g02983282

The offset from the origin then takes a negative or positive sign. In Illustration 33, the GPS x offset is positive.

If the offset has a negative value, CAESultra and Terrain calculate the origin incorrectly. Both software applications apply a negative GPS x offset in the same way as a positive GPS x offset. To work around this situation, ensure that the "x" measurement (positive or negative) does not exceed half the blade width.

Previous v4.1 Known Issues

The following v4.1 known issues remain as known issues in v4.5:

Diacritic Missing in Task Server Messages

A diacritic is an ancillary mark added to letters in some languages, for example Spanish and French. When Cat MineStar System passes error messages from Task Server to CAESultra, the diacritics disappear.

Task Server Memory "Leak"

Some sites may have an issue with the TaskServerNT service using more memory than expected. This issue can cause the server to crash. If the site is experiencing this issue, contact a Caterpillar Technical Communicator to discuss the recommended action.

Running Fleet, Terrain, and CAESultra

Users may be running various combinations of Fleet, Terrain, and CAESultra. Use Table 9 to find out which new functions are supported in the various combinations. If considering running any other combinations, users should talk to a Caterpillar Technical Communicator first.

Heading Filter Field

This issue applies to surface miners and terrain levelers:

Machine heading is used in both the calculation of the swath point position and in the determination of the swath orientation. For a single receiver system, the machine heading is calculated from successive GPS/GNSS position updates. Surface mining machines use a single receiver system. The further the swath point is from the receiver, the more of an effect that an error in the heading can have.

During calibration, if the heading appears to jump around, consider using the "Heading Filter" setting. This setting filters the GPS/GNSS position values before the heading is calculated. In the MCU, select Machine > Machine Dynamics > Heading Filter. For surface miners the value will be between 0.9 and 0.99. For terrain levelers, the value will be between 0.8 and 0.99. Try different values for Heading Filter until the heading appears stable.

ReferenceFor more information about setting the Heading Filter, read the MCU Help, "Machine Heading - Reference" section.

Accuracy Move Distance

This issue applies to surface miners and terrain levelers:

For a single receiver system, the machine position is calculated from successive GPS/GNSS position updates.

There is always a certain amount of noise in GPS positioning. The amount of noise varies depending on many factors, such as the GPS satellite constellation. The GPS receiver provides an estimate of the position accuracy at all times and accuracy error limits can be set. Accuracy Move Distance for these machine types must be smaller than for other machine types (allowing more frequent position updates) so the on-board software does not confuse real movement with noise.

To increase the frequency of the position updates in the MCU, select Machine > Machine Dynamics > Accuracy Move Distance and edit the fields "High", "Medium", and "Low". For surface miners and terrain levelers the new values for "High", "Medium", and "Low" respectively are 0.01, 0.1, and 4.

Max Bucket Log Count

This issue applies to all machine types:

Max Bucket Log Count defines the maximum number of buckets that can be loaded into a truck. When the maximum number of buckets have been loaded into the truck, then the Send Truck function is automatically activated. This function primarily prevents the monitor display from running out of memory.

In the MCU, the setting Operator Interactions > Truck Loads > Max Bucket Log Count incorrectly defaults to 100 for all machine types. Use the following values:

• Surface miner / terrain leveler = 100

• All other machine types = 20

Swath Options

This issue applies to dual antenna machines:

The excavator and dual antenna front shovel Swath Options default values are incorrect in v4.1. In the MCU, select Mapping > Swath Option.

Illustration 34	g02798880
Required Swath Option values

Verify that the MCU lists the values (in any order) that are shown in Illustration 34.

The values that may be missing are associated with the Swath Point Function "Mined Out" for existing machines on a site upgrading to v4.1.

Legal Notices

This section contains legal notices and definitions related to the use, distribution, and warranty of the following software products:

• Open SSL

• NewMenu

• FastGEO

• DXgettest / gnugettest

• VirtualTrees & JCL / JVCL (Jedi libraries)

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