Release Notes for Cat® Terrain v5.0 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:

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

• Hardware considerations

• Known issues

Important Safety Information

Do not perform any procedure in this Special Instruction until you have read this Special Instruction and you understand this information. Use only proper tools and observe all precautions that pertain to the use of those tools. Failure to follow these procedures can result in personal injury. The following procedures should also be observed:

1. Always set the parking brake of the machine before any work is performed on the machine.

2. Always shut the engine off before loading the on-board software on the machine.

Work safely. Most accidents that involve product operation, maintenance, and repair are caused by failure to observe basic safety rules or precautions. An accident can often be avoided by recognizing potentially hazardous situations before an accident occurs.

A person must be alert to potential hazards. This person should also have the necessary training, skills, and tools in order to perform these functions properly.

Safety precautions and warnings are provided in this instruction and on the product. If these hazard warnings are not heeded, bodily injury or death could occur to you or to other persons. Caterpillar cannot anticipate every possible circumstance that might involve a potential hazard.

Therefore, the warnings in this publication and the warnings that are on the product are not all inclusive. If a tool, a procedure, a work method, or operating technique that is not specifically recommended by Caterpillar is used, ensure that it is safe for you and for other people to use.

Ensure that the product will not be damaged or the product will be made unsafe by the operation, lubrication, maintenance, or the repair procedures that are used.

Cat^® Terrain v5.0 System Architecture

Illustration 1	g03382225
The system architecture diagram shows all of the major components of a machine fitted with Cat® Terrain.

Changes to the System

New: Command for Hauling

The Command for hauling system (Command) is a tightly integrated site-level solution for the efficient operation of autonomous mining trucks (AMTs) in a mining operation.

Sites using Command will have access to the documents listed in Table 1 for install and configuration.

Table 1

Media Title	Description
Operation and Maintenance Manual, SEBU8822, "Cat® Terrain for Grading and Loading (For v5.0)"	Operators manual containing safety, maintenance, and operation material for the on-board software and hardware components of Terrain.
Operation and Maintenance Manuals	Various manuals for Command for Hauling on off-highway trucks
Systems Operation, KERN8277, "Cat® Terrain for Grading and Loading (For v5.0)"	Reference material for on-board software components and operation of the on-board software for Terrain
Special Instruction, REHS2992, "Installation and Configuration of the Cat® Terrain v5.0 On-board Software"	Instruction for the install process for Terrain software on the G610 display module, firmware matrix, and a listing of current documentation.
Special Instruction, REHS4695, "Release Notes for Cat® Terrain v5.0 On-board Software" (this manual)	Updated information on changes to the manuals, hardware considerations, and known issues.
Special Instruction, REHS7327, "Installation and Administration of Cat® Terrain"	Installation and administration instruction for Terrain office software
"Terrain On-board Commissioning Checklist v5.0"	Checklist to ensure that Cat® Terrain is installed, configured, and functioning properly on your machine
"MCU Help file"	Searchable MCU Help file (1) which contains information about using the MCU to configure Terrain software on loading machines that are used with Command.
"MCU Help file - Reference Material"	Small collection of reference material (2) in the form of a searchable MCU Help file describing lanes, mine model and lane.mwf files.
Machine hardware Special Instruction install documents (3)	G610 display module and receiver install process

( 1 )	Open the MCU Help file by opening the MCU, clicking any field in the MCU, then pressing the F1 button on your keyboard. See Illustration 2 below.
( 2 )	Refer to REHS7327 for detailed information.
( 3 )	Search in SISweb for Serial Numbers "TFE" (Terrain for Grading) and "TFL" (Terrain for Loading) depending on machine type. See Illustration 3 below.

Illustration 2	g03386800
MCU Help file

Illustration 3	g03384252
Searching for Terrain for Grading (TFE) machines in SISweb

New: Detect Proximity and Zone Awareness

Detect enables the on-board software to report position information to the office when the office is using Cat Fleet with Detect office software.

The on-board software warns the operator when other machines get close or when the operator's machine enters a restricted zone. Detect applies to all machines on the site.

Sites using Detect will have access to the documents listed in Table 2.

Table 2

Media Title	Description
Operation and Maintenance Manual, SEBU8822, "Cat® Terrain for Grading and Loading (For v5.0)"	Operators manual containing safety, maintenance, and operation material for the on-board software and hardware components of Terrain.
Operation and Maintenance Manuals	Various manuals describing Detect functionality on devices other than the G610 display module
Systems Operation, KERN8277, "Cat® Terrain for Grading and Loading (For v5.0)"	Reference material for on-board software components and operation of the on-board software for Terrain
Special Instruction, REHS2992, "Installation and Configuration of the Cat® Terrain v5.0 On-board Software"	Instruction for the install process for Terrain software on the G610 display module
Special Instruction, REHS4695, "Release Notes for Cat® Terrain v5.0 On-board Software" (this manual)	Updated information on changes to the manuals, hardware considerations, known issues, firmware matrix, and a listing of current documentation
"MCU Help file"	Searchable MCU Help file (1) which contains information about using the MCU to configure Terrain software on loading machines that are used with Command.

( 1 )

Open the MCU Help file by opening the MCU, clicking any field in the MCU, then pressing the F1 button on your keyboard. See Illustration 2 above.

Using the Cat Logo

Illustration 4	g03425187
Cat Logo

The layout of the on-board software on the screen is defined by screen configuration files. The files are stored in \CAES\data and named WinCfgXXX.txt or similar.

The logo window will not appear for a new install. If upgrading, the logo window is usually in the top right-hand side of the screen.

If upgrading, the following applies:

• Resize and move the logo window as you would normally resize and move other windows.

• Touch the logo to open the floating toolbar.

• Reboot to reinstate the window to the initial size.

Menu - Opens the main menu

To permanently remove the logo window, complete these steps:

1. Add the toolbar buttons associated with the logo window to another toolbar.

   ReferenceFor more information about adding buttons to toolbars, refer to the MCU Help file, "Toolbar - About".

2. In the main menu, select "Configuration" > "Window" > "Close". The logo reappears in the Status bar located at the bottom right of the display.

3. In the main menu, select "Configuration" > "Screens" > "Save Screens". The Cat logo window and any toolbars associated with the window are deleted and cannot be reinstated.

New Optional Alarm (Installation and Test)

Menu - Opens the main menu

To install the optional alarm, complete these steps:

Show/hide table



Illustration 5	g03461116
Alarm components (50) 383-3027 Harness As (main front) connector "P11" (51) 411-8287 Harness As connector "S1" (52) CAN connector with terminating resistor (53) 444-5691 Alarm (54) 411-8287 Harness As (alarm) connector "P2" (55) Magnetic mounts (1 on all four corners)

1. Select a metallic location within the cab to mount the alarm.

   The location must provide ready access to connector "P11" (50) of the main front wiring harness.

2. Clean and smooth the area on which the magnetic mounts (55) of the alarm (53) will attach.

3. Attach the alarm to the clean surface.

4. Connect the alarm to the main front harness as follows:

   1. Connect the alarm harness connector "P2" (54) to the alarm.

   2. Connect the alarm harness connector "S1" (51) to the main front harness connector "P11" (50) .

      Note: The CAN connector (52) comes pre-installed with a terminating resistor.

5. Verify the operation of the alarm using one of the following methods:

   Startup - Start the on-board software and listen for a short audible sound.

   Buzzer Test - Open the main menu and select "Diagnostics" > "Buzzer Test" and listen for a short audible sound.

   Notify the office if either of the following conditions exist:

   • The alarm is connected, but no audible sound is heard.

   • The alarm volume is either too loud or too quiet.

6. In the MCU, set up Machine > Alarms.

7. In the MCU, set up Detect > Alarms to allow the operator to mute, acknowledge, or filter audible alarms.

New Speaker Icon

Speaker Icon - Indicates that no buzzer exists

The Speaker icon reminds the operator that the display or Portable PC should have an alarm (buzzer), but does not have one. All G610 displays using Detect must have an alarm attached and be able to create audible alarms. All portable PCs must be able to create audible alarms using their internal speakers.

The Speaker icon appears under the following conditions:

• The speakers on the portable PC are off or are too low.

• The G610 Display is running Detect but does not have an alarm attached.

Having a alarm attached does not mean that the alarm will sound. The operator may mute or silence the audible alarm by using the Acknowledge Alarm button and the Alarms Muted button.

New: Reference Material

Loss of Heading

Most single antenna (single receiver) machines calculate the heading of the machine by comparing two positions and assuming that the machine does not rotate, crab, or slip. Single antenna machines, other than front shovels, do not rotate.

There is no change to the icon or buffers for loss of heading on a site using Position Broadcast for position sharing.

Where the site uses Site Awareness, loss of heading affects the size of the machine regions of your machine and the icon of the monitored machine.

ReferenceFor detailed information about loss of heading, including information related to front shovels, refer to Operation and Maintenance Manual, SEBU8822, "Display Module", "Loss of Heading".

Loss of Position

The icon of your machine does not change when "GPS Status" changes or when position is lost.

The icon of the monitored machine varies depending on the following position sharing methods:

• Site Awareness

• Site Awareness with Detect

• Position Broadcast

ReferenceFor detailed information about the sharing methods, refer to Operation and Maintenance Manual, SEBU8822, "Display Module", "Loss of Position".

New Welding Warning

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NOTICE
Welding on the machine or jump starting the machine can damage the electronics in the display or the battery backup unit (BBU). To avoid damaging the electronics or BBU, disconnect the BBU from the power supply before welding or jump starting. If welding, reconnect the BBU to the power supply once welding is finished. If jump starting, reconnect the BBU to the power supply once the machine starts and the jumpers have been disconnected.

Updated Images

The following system-wide images have been updated:

• All dimensions images

• Machine icons, for example on the Plan window or Profile window

• Most toolbar buttons

• Radio communication, network status, and GPS status icons

Updated Screen Configuration Utility

The Screen Configuration Utility (SCU) software has been updated for v5.0.

Updates include the following:

• New Status bars at the top and bottom of the display

• New Navigation Plan window

• New set of Supervisor Truck default screens

• Updated "Screen Configuration Utility User Guide" accessed from:

C:\\catmstar\Terrain_Screen_Configuration_ Utility_ <version number>

Use the Screen Configuration Utility (SCU) to configure windows and screens in the on-board software. Each version of the on-board software uses the SCU with the same version number as Terrain. Therefore, multiple versions of SCU may be present on a PC or portable PC. SCU is not upgraded. Instead, each new version is downloaded.

UDP for Communication

Machines using earlier software than v4.0 can only send files to the office using the FTP communications protocol. Earlier machines used UDP communications protocol. These machines, using UDP communications protocol, are automatically reconfigured by the MCU to use FTP. No intervention is required by the end user or installer. There is no notification that this change has occurred.

Cat FTP Server now a "Service"

An FTP server is a software application running the File Transfer Protocol (FTP). The on-board software uses the Cat FTP Server to exchange files over the network.

In previous versions, starting the on-board software started an FTP Server, which then ran in a separate window on the screen.

For users running the mobile software alongside other software on a portable PC, the temptation while flicking through windows was to close the FTP Server window rather than minimize the window. Closing the window stops transfer of files between the portable PC and the on-board software.

The Cat FTP Server now runs as a "service" on the G610 display or on a portable PC. A service is a long-running file that performs specific functions without interrupting the user. The Cat FTP Server service opens when the on-board software starts, then runs in the background. The user does not have to start, stop, or exit the service.

Experienced users may notice the addition of the "FTPserverApplet.exe" to the "ftp_server" folder. The on-board software automatically starts the applet, which in turn starts the FTP server which runs in the background.

To start the Cat FTP Server service, start the on-board software by the normal method.

To verify that the FTP Server on a G610 display module is turned on, complete these steps:

1. Start the on-board software.

2. Plug in a keyboard.

3. Press the Window icon to make the lower Windows task bar appear.

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Illustration 6	g03417373
FTP Server Applet showing server running

4. Select the "FTP Server Applet" symbol on the lower right corner.

   1. If "Start FTP Sever" is grayed out, the FTP server is running.

   2. If "Stop FTP Server" is grayed out, the FTP Server is stopped.

   3. An error has occurred If both "Start FTP Server" and "Stop FTP Server" are available. Reboot the on-board software and recheck if this error occurs.

To verify that the FTP Server on a portable PC is turned on, start the FTP server and complete Step 4 above.

Talk to IT support staff before stopping or exiting the Cat FTP Server.

Changes to System Documents

The Compaction section of the Operation and Maintenance Manual has been removed. Compaction is only supported on sites that are not using Cat MineStar System office software.

Fixed

• The state change message sent to the office when a delay starts now contains the delay code and the length of time, either the default time or the time entered by the operator.

• The single and dual antenna application files (app files) were updated in v4.2 to include the message subtype "Velocity Data = 5Hz" to resolve erratic productivity data when moving slowly.

Note: Within the document, the terms application file, app file, and "appfile" are synonymous.

Changes to the On-board Software

Table 3 lists a summary of the changes to the on-board software.

Table 3

Summary of Changes to the On-board Software
	Altered settings for: - Machine buffers - Avoidance zones and surfaces stored in *.cat files New toolbar buttons New status bars New alarms and symbols for alarms Detect settings for: - Machine regions - Avoidance zones stored in *.mwf files - Proximity awareness Command settings for: - Lanes - Spot locations - Sending trucks

Deleted Keys

• $ Disk Space Retries

• $ Utilization Stationary Threshold

New or Altered Keys

Installers and site supervisors configure the on-board software by using the MCU to populate the mach_cfg.txt file with "keys", and by editing keys in the master.txt file by hand. This release includes many new keys related to Detect and Command.

For more information, see the lists in the ""Machine Configuration Utility (MCU) Release Note" " section of this document and read the detailed descriptions in the MCU Help file.

Master Keys

There are no new master.txt keys in this release.

Menu Items

Menu - Opens the main menu

Select the Menu button to open the main menu and then navigate to a specific function using the menu structure displayed in Table 4.

Illustration 7	g03506016
Example of using the main menu button to access "Diagnostics" > sub-menus

Table 4

Commonly Used Menu Items

System > Select >> Select Delay Codes >> Enter Service Hours >> Operator Checklist >> Select Activity >> Select Job Code >> Select Language File >> Dimensions >> Guidance Point > Mark a Hazard Ore Control > Send Truck > Clear Truck > Set Loading Truck > Remove Truck > Clear Waiting Truck > Material Selection > Material Modifiers Diagnostics > Communications > GPS Plan > Display > > Text > > Machine Names > > Machine Buffers > > Machine Regions Plan Mark a Hazard

ReferenceFor detailed information on the use of the menu items, refer to Operations and Maintenance Manual, SEBU8822, "Cat^® Terrain for Grading and Loading" or the MCU Help file.

Windows

New Machine Images

New machine images have been added to the dimensions screens in the on-board software.

New "All Machine Positions" (Detect) Diagnostic Window

Illustration 8	g03500740

Office and on-board software can be set up to use the Detect capability set with Fleet office software. Detect relies on the All Machine Positions (AMP) messages system functioning. This diagnostic window provides the operator, supervisor, or installer with basic information about the AMP messages.

ReferenceFor detailed information about AMP messages, refer to the MCU Help file, "All Machine Positions (AMP) Messages".

Menu - Opens the main menu

To open the "All Machine Positions" window, open the main menu and select "Diagnostics" > "Detect".

Table 5 describes the headers in the "All Machine Positions" window.

Table 5

"All Machine Positions" Window
Header	Description	Example
"Name"	Machine name	MarkWL
"ID"	Machine ID	55
"Distance"	Distance in meters between your machine and the named machine	The distance between my machine and the machine with ID = "55" is 324.85 m
"Age"	The time in seconds since the office sent updated information about the machine in the selected row	selected row 0.01 - It has been 0.01 seconds since the office updated the machine with ID "55"
"East"	Easting position	48.00
"North"	Northing position	742.10
"Stopped"	Machine is sending PR2 messages and has position, but is not moving	Yes
"Off"	Machine is sending PR2 messages	No
"Accuracy"	The error value for the distance between my machine and the machine in the selected row is the Accuracy value (meters). Anything above 100 m means that this machine has lost positioning data.	0.00 - The distance between my machine and the machine with ID "55" is 384.25 m +/- 0.00 m, indicates highly accurate 100.90 - The distance between my machine and the machine with ID "63" is 730.87 m +/- 100.90 m, indicates not accurate
"Incidents"	Number of Proximity Incidents since the machine started up	1 = Since startup, my machine has been close enough to another machine to set off a proximity alarm
"Level"	Level of highest Proximity Incident	Critical = The Body region of my machine has crossed into a Body region on another machine

New "Watchdog" Diagnostic Window

Illustration 9	g03367805
"Watchdog" window

Watchdog is the response of the system to the on-board software freezing or locking up. The function adds built-in diagnostic capability for the on-board software.

Menu - Opens the main menu

To open the "Watchdog" window, open the main menu and select "Diagnostics" > "Watchdog".

Table 6 describes the headers in the "Watchdog" window.

Table 6

"Watchdog" Window
Header	Description
"Name"	Name of the segment (thread) of code
"TimeOut (sec)"	Length of time Watchdog requires to check the named thread
"Age (sec)"	Length of time since Watchdog most recently started checking the named thread
"Alerts"	How many times the check of the named thread has failed since the on-board software started

If the system locks up or freezes, Watchdog will perform the following actions:

1. Wait for a short timeout to ensure that Watchdog does not unnecessarily force a restart.

2. Force the on-board software to restart.

3. Trigger the improper shutdown process during the restart.

   ReferenceFor detailed information regarding the improper shutdown process, refer to Systems Operation, Cat Terrain for Grading and Loading, "Shutdown Improper".

4. Create a CrashReport. The Watchdog restart is not a crash, but CrashReport is an easy way to gather information about the lock-up or freeze.

   ReferenceFor more information about CrashReport, refer to Systems Operation, KENR8277, "Cat^® Terrain for Grading and Loading", "Troubleshooting" and "Crash Report".

New "Zone Diagnostics" Window

Illustration 10	g03376022
"Zone Diagnostics" window

Site managers use zones to emphasize different areas of the site and highlight dangers or delineate work areas.

Zones are created in two separate strategies:

• Detect Strategy

• Avoidance Strategy

The Avoidance Strategy uses zones and surfaces stored in *.cat files that are generated from DXF files in Terrain office software.

The Detect Strategy uses zones stored in *.mwf files created in Fleet with or without Command or Detect office systems.

The on-board software from v5.0 onwards supports both types of files. Configure each strategy separately.

Note: The "Zone Diagnostics" window specifically refers to office software with Detect enabled.

The "Zone Diagnostics" window lists all zones provided in the zone.mwf file. Each time the machine starts up, the office sends a complete and current zone.mwf file to the machine. After start-up, if the zone.mwf file in the office is updated, then the office sends an update message to the machine containing the new information.

Menu - Opens the main menu

To open the "Zone Diagnostics" window, open the main menu and select "Diagnostics" > "Zones".

Table 7 describes the headers in the "Zone Diagnostics" window.

Table 7

"Zone Diagnostics" Window
Header	Description
"Name"	When the zone.mwf file was set up in the office software, this name was entered in the "Name" field.
"Color"	The color of the zone edge and hatching, and the hexadecimal code for that color, are set up in the office software.
"Cleanup Zone"	When the zone.mwf file was set up in the office software, this zone was designated a cleanup zone.
"Speed Zone (units)"	When the zone.mwf file was set up in the office software, this zone was given a speed limit (value stated), or not (false). Units are "KPH" (kilometers per hour) independent of what units are set on the display.
"Avoidance Zone"	When the zone.mwf file was set up in the office software, the check box "Avoidance" was checked. The operator should avoid this zone. This zone produces zone violation alarms and appears on the display as a hatched area.
"Message on Entry"	If enabled in the office software, when the Body region of this machine enters the zone, a dialog appears on the display with this message.
"Message on Exit"	If enabled in the office software, when the Body region of this machine leaves the zone, a dialog appears on the display with this message.
"Zone Update Active"	The information about the zone has been updated since the last zone.mwf file arrived from the office. True = Yes, there has been an update; False = There has not been an update. Since updated information about the zone is not stored on shutdown, the operator must always wait for the new file to be sent from the office before moving.
"Proximity Alarm Silenced"	When the zone.mwf file was set up in the office software, the check box "Turn off Proximity Alarms" was checked (true). When the Avoidance regions of two machines intersect, proximity alarms will not sound, but warning icons will still appear on the lower Status bar.
"Violating Speed Limit"	This machine is currently breaking the speed limit for the zone. True = Breaking speed limit False = Traveling within speed limit.

Altered "Material Selection - All Materials" Window

This section clarifies the use of the "Material Selection" window.

When using a machine for ore control applications, the operator can select a material name and color to either:

• Assign a name to an unnamed material.

• Overwrite the material name that appears on the Plan and Digital windows.

Material Selection - Opens the "Material Selection" dialog

Menu - Opens the main menu

To designate a material name and color, use one of the following methods:

Material Selection - Touch the button.

Menu - Open the main menu and select "Ore Control" > "Material Selection".

Illustration 11	g03384263
"Material Selection - All Materials" dialog showing material names, colors, and extended material identifiers

Illustration 12	g03384258
Listing of files by "File Type" in the "Select Data Files" window

The on-board software creates the list by pulling data from two files:

• Current "Material Grade" file selected as "Prime" as shown in Illustration 12

• mach_cfg.txt file DXF color keys

The Material Design file, for example "cwk trackore1.cat" in Illustration 12 includes name, color, and extended material identifier.

Illustration 13	g03384259
List of material names and colors only sourced from the mach_cfg.txt file

With no Material Design file selected as "Prime", the mach_cfg.txt file includes the name and color only and creates a much simpler list as shown in Illustration 13.

Altered "Gauge" Window

In previous versions, the Gauge window appeared completely yellow when the Position Status (such as Fixed or Float) changed.

In v5.0, the Gauge window appears yellow when the on-board software finds a "Position Error" setting other than "High Accuracy".

ReferenceFor a detailed description of how the on-board software calculated the Position Error setting and how High Accuracy is defined, refer to the MCU Help file, "Position Error Setting - Reference". This section describes the choices an installer makes during set-up and the effect of those choices on how the Position Error is calculated.

Hierarchy of Windows

On a PC that is operating through a VPN, the "Terrain" window will appear above any other windows on the PC.

Illustration 14	g03386808
Icons that cause state changes to occur (1) Proximity Alerts (2) Zone Alerts (3) Speed Alert (4) Speaker button

The drop-down menus close when the icons in Illustration 14 change state or appear on the Status bar.

Illustration 15	g03386824
Icons that do not cause state changes to occur (5) GPS Accuracy (6) Comms (office communications)

The drop-down menus do not close when the icons in Illustration 15 change state or appear on the Status bar.

New DiagMsgLog (DML) Message

The Diagnostic Message Log file (DiagMsgLog or DML) provides information that can help diagnose problems. The DML file is stored on board in [drive name]:\caes\diag.

New messages are added each release. Some of the more important messages are described in this section.

Entry/Exit Zone

The on-board software logs information about the machine entering or exiting an avoidance zone or avoidance surface.

The DML includes:

Position - The X, Y, Z coordinates of the receiver

Boundary - The number of the machine region or machine buffer that initiated the message. All Detect Strategy machine regions have "Boundary = 0"; Avoidance Strategy machine buffers are 0-4, zero being the innermost buffer and 4 being the outermost buffer.

New Languages

The following languages have been added to the on-board software:

Mon - Mongolian

Rus - Russian

The manuals are available in the following languages:

All supported languages - Operation and Maintenance Manual, SEBU8822, "Cat^® Terrain for Grading and Loading"

English - Systems Operation, KENR8277, "Cat^® Terrain for Grading and Loading"

English - All other Special Instruction manuals

The following files and messages remain in English:

• All Cat Tools, SCU, MCU, TLMS, and CatOS,

• All *.mwf files sent from Cat MineStar System office software, for example: job codes, zones, machine type, and lanes

• All Trimble, MineStar, Aquila, and Caterpillar (TMAC) messages

• Configuration files

• Diagnostic logs

• EULA and legal notices

Installing a Language in the MCU

To install a language in the MCU, complete these steps:

1. Open the MCU.

2. Select the site name (all machines on site) or the machine name (one machine only) in the left-hand Machine pane.

3. Select "Display" > "Resource DLL".

4. Add another Resource DLL.

   1. In "Path", enter the path for the desired language:

      Russian - D:\CAES\exe\Rus_CAESipRes.dll

      Mongolian - D:\CAES\exe\Mon_CAESipRes .dll

   2. In "Description", enter the name of the language which will appear to the operator.

5. Select "File", and then select either:

   "Send to All Cat MineStar System" - All machines on site

   "Send to Cat MineStar System" - One machine only

6. Reboot each machine to use the new language.

Installing a Language in the On-board Software

Menu - Opens the main menu

Show/hide table



Illustration 16	g03354997
"Select Language File" dialog

1. From the main menu, select "System" > "Select" > "Select Language File".

   The "Select Language File" dialog appears.

2. Select the language that will be used on the display module.

   For example, to use Russian, select "5.0 Russian".

   Note: The operating system (OS) of the display module contains both Russian and Mongolian fonts.

3. Select "OK".

   Note: The display module must be restarted to load the new Resource DLL file and apply a newly selected language.

New Buttons

Illustration 17	g03386847
Renamed button icons (7) Request Surface Update (v5.0) (8) Request Surface Update (legacy v3.x and v4.x) (9) Trim Surface & Request Update

The buttons icons in Illustration 28 have been renamed but the functions stay the same.

(7) Request Surface Update - Formerly named Surface Update Request: This button is used to request a surface update for the area covered by a "Prime" design. The surface is updated, but is not truncated.

(8) Trim Surface & Request Update - Formerly named Surface Update and Trim Request: This button is used to request a surface update for the area covered by a "Prime" design. The surface is truncated to the size that is requested.

Illustration 18	g03386932
Buttons used in TerrainDemo (10) Restart (11) Play (12) Pause (13) Slower (14) Faster

The buttons in Illustration 29 have been added, but are used in the TerrainDemo software only.

New Detect Proximity and Zone Awareness

Detect enables the on-board software to report position information to the office when the office is using Cat Fleet with Detect office software.

Strategy

Illustration 19	g03385316
Blue with red proximity circles on boundary is avoidance zone, named "AZ1" Wheel loader has three regions: inner Body region, blue Avoidance region, white dashed Path region Wheel loader is stationary as shown by Path region being the minimum size

The Detect strategy works with MineStar Detect, Command, and Fleet office software to display the following:

• Avoidance zones (but not avoidance surfaces).

• Attributes associated with the Avoidance zone.

• Body, Avoidance, and Path regions

• Proximity Incidents that occur when a Body, Avoidance, or Path region around another machine cross into a machine region

• Zone Incidents that occur when a machine region crosses into an avoidance zone, as defined in the Detect Strategy

The primary function of the Detect Strategy is to detect when two machines are too close and notify the operator. The secondary function is to detect when a machine moves into an area and notify the operator.

The software runs on a G610 display module or on a portable PC. The software receives GNSS/GPS data from a 450 MHz radio and the following MS series receivers:

• MS992

• MS990

• MS980

• MS972

• MS952

Example: Displaying machine regions on start-up

To have Body, Avoidance, and Path regions appears on startup:

1. Open the MCU.

2. Select the "Display Machine Regions" check box.

3. Send out the new file.

4. Reboot the software.

Illustration 20	g03385318

The result is:

• The code "$ Display Machine Awareness Boundaries" is present in the mach_cfg.txt file.

• On startup, the Plan window shown in Illustration 20 now has a red Body region, blue Avoidance region, and white dotted Path region around all machines.

To allow toggling the machine regions on or off, complete these steps:

1. Open the MCU.

2. Deselect the "Display Machine Regions" checkbox.

3. Send out the new file.

4. Restart the on-board software.

   Machines on the display do not have Region line work.

5. Select "Plan" > "Display" > "Machine Regions" to turn on the line work.

6. Verify that the Plan window shows that the Body region is in the correct place for the site (for example, bucket inside or bucket outside).

7. If the regions are in the correct place, select "Plan" > "Display" > "Machine Regions" to turn off the line work.

Security Considerations - Detect

Detect is a specific module in a site-wide position awareness system run by Cat MineStar System.

The MCU checks that the security settings of the machine include the Detect option. If the machine has Detect security, the "Detect" MCU feature becomes available.

Selecting "Enable Detect" without Detect office software creates default machine regions on the display, but the machine cannot use zones or proximity correctly.

Troubleshooting - Detect

Table 8

Detect office running, but no Detect security? If the security keys do not include the Detect option, the on-board software will still load Detect-created zone files from the office but the following Detect features are not available: - Detect-created zones are not drawn on the plan view. - Entry / exit zone incidents cannot occur. - Hazards cannot be marked by the operator. - Speed limit incidents cannot occur. - Zone updates (including hazards) are ignored.

Detect security, Correct mach_cfg.txt file, but no Detect office? If the security keys include the Detect option, and "Enable Detect" is selected in the MCU, but the site does not run Detect in the office software, the following occurs: - Machine proximity is based on default machine dimensions which may not be correct for this machine. - Machine proximity alarms occur when two machines with the "Enable Detect" setting selected come close together. - Machine regions appear, but are not configurable. - Detect messages are not recorded or sent to the office.

Machine regions appear, but are not configurable? If the security keys include the Detect option, but the size of regions cannot be changed through the office software, complete either of the following tasks: - Ask for security keys that do not include the Detect option, and run the software without Detect. The machine regions will not appear. - Keep security keys with the Detect option and check that "Enable Position Awareness" is selected in Terrain Office. You may also add "Configure Machines to Receive Positions" and "Configure Machines to Send Positions" in the office software.

Altered: Existing Warnings

Illustration 21	g03386960
Avoidance Strategy in use (15) Avoidance surface (16) Supervisor truck with three machine buffers (17) Avoidance zone

The Avoidance strategy uses:

• Machine buffers (16) that are defined in the machine configuration file

• Avoidance surfaces (15) and avoidance zones (17) created in *.cat files in the Terrain office software

MineStar Detect, Command, and Fleet office systems have no knowledge of these zones or the machine buffers.

The method used by the machine to interact with avoidance zones and avoidance surfaces remains the same. The messages have been updated to be consistent with messages used on sites with Site Awareness.

The following messages have been updated:

• Warning messages

• "Alarm Silenced" message

• Configuration error messages

Warning Messages

Note: The messages within this section are for demonstrative purposes only and do not include all of the messages that were removed.

Legacy warning messages (v3.x and v4.x) that were created when a machine buffer crossed into a zone or surface in the Avoidance Strategy have been removed in v5.0 and replaced by icons that appear and flash depending on the nearness of the machine to the zone or surface.

Illustration 22	g03387069
Lower status bar with icons displayed

The icons appear in the right-hand side of the lower status bar.

Illustration 23	g03386986
Zone to Machine warning icons (18) Acknowledge Alarm button

The "Silence Alarm" button has been replaced by the Acknowledge Alarm button (18). When this button is selected, an acknowledgment is sent to the office from the machine. The audible alarm, if equipped, stops for the Incident.

The Acknowledge Alarm icon always appears with a flashing Stop Alarm or a flashing Stop Proximity Alarm (shown) and is used to silence the alarm for the Incident that caused the alarm.

These alarms can be configured to apply to:

• A single machine

• All machines

• All machines of one type

The following settings are available in the MCU:

• Mute Locked Alarms

• Mute Speed Alarms

• Mute Proximity Alarms

• Mute Zone Alarms

"Alarm Silenced" Message

Illustration 24	g03387046
Alarm button icons (19) Mute Alarms (sound is on when visible) (20) Unmute Alarms (sound is off when visible)

The "Alarm Silenced" message has been replaced by a Mute Alarms button (icon) that toggles to mute or unmute selected alarms. This is a Detect Strategy feature.

The Mute Alarms button (19) mutes any alarms so the alarms that the operator is allowed to mute do not sound now and in the future.

The Unmute Alarms button (20) unmutes any alarms so the alarms that the operator is allowed to mute can be heard now and in the future.

Illustration 25	g03387064
Typical muted volume icons

The Unmute Alarms icon that is associated with the button (20) is similar to the muted volume icon that is displayed on some television sets and cellular phones.

For example, if you want to turn off the volume on your television, you press the mute button (Mute Alarms) on your remote control. Your screen momentarily displays a volume or speaker symbol with a slash through the symbol. Selecting the mute button a second time (Unmute Alarms) displays the volume symbol and sound is restored.

Illustration 26	g03385250

A warning dialog asks the operator if they are sure they want to continue and mute all allowable alarms.

Once "Yes" is selected, the alarm toggles to the Alarms Muted icon (20). If this icon is selected, all previously muted alarms are unmuted.

Configuration Errors

The legacy Avoidance Strategy (v3.x and v4.x) was altered in v5.0 to make the configuration error messages more informative about the problem and actions to take to solve the problem. The color of the new messages has changed from orange to red.

The following Illustrations show the legacy message and the new message that replaces the legacy message.

Illustration 27	g03386988
The machine was incorrectly configured for the avoidance zone.

Illustration 28	g03386991
The machine was incorrectly configured for the avoidance surface.

Illustration 29	g03386993
An avoidance zone had been set to "Prime" but avoidance zones had not been enabled.

Illustration 30	g03386994
No avoidance zone file was set to "Prime".

Terrain Security with Remote Control

Illustration 31	g03387066
Security settings did not allow remote control

Remote Control Systems

This section contains information about the following:

• How the remote machine knows that it has entered a restricted zone or is near another machine

• Remote control systems running office software with Detect enabled

The Remote Control system relies on CAN messages between the on-board software and the remote control console.

Process

The on-board software will send CAN messages to a remote control console when:

• A Body, Avoidance, or Path regions around another machine cross into a machine region and cause a Proximity Incident.

• An avoidance zone, as defined in the Detect Strategy, crosses into a machine region and cause a Zone Incident

Note: Attributes of the zone, such as speed, do not initiate CAN messages.

Security

To ensure that the machine and the remote control console can communicate using CAN, order and obtain a special software activation key. Ask for "Enable Avoidance Information Output" to be included when ordering software activation keys.

If required, ensure that the machine can be configured to work with Fleet with Detect and Command office software.

Buffers and Regions

The "Enable Avoidance Information Output" setting allows the machine to use either the Avoidance Strategy or the Detect Strategy.

Detect Strategy

Once the Detect Strategy is enabled in the on-board software, a series of visible alarms and optional beeps notifies the remote operator when there is an incident. See Table 9 for a description of the machine regions.

Table 9

Detect Strategy Machine Regions
Region	Description
Body	Static region defined in machine type file
Avoidance	Static region defined in machine type file
Outer Avoidance Region	This region is a fixed size, the front of which is located midway between the Avoidance region and the Path region, linked to the Path region. The other three edges are the same as the Avoidance region.
Path	Dynamic region defined by speed, direction, and type of machine
Outer Path Region	This region is a fixed size, the front of which is located 1.5 times the length of the Path front edge, linked to the Path region. The other three edges are the same as the Path region.

Proximity Incidents (Detect Strategy only)

As the machine enters the remote control machine regions of another machine, the CAN messages in Table 10 are sent by the on-board software.

Table 10

Detect Strategy: Machine Regions of Remote Control Machine	Detect Strategy: Machine Regions of "Other" Machines	CAN Alert Message	Avoidance Zone LED	Remote Active LED	Software Stop LED
No hazard identified	No hazard identified	Level 0 (No Alarm)	The avoidance indicator LED of the operator console is off.	Green	-
Path Region	Path Region	Level 1 (Lowest Alarm)	Blinking yellow once every two seconds	Green	-
Path Region	Avoidance Region	Level 2	Blinking yellow once every two seconds	Green	-
Path Region	Body Buffer	Level 3	Blinking yellow once every two seconds	Green	-
Avoidance Region	Body Region or Avoidance Region	Level 4	Solid yellow with audible alarm sounds once per second	Green	-
Body Region	Body Region	Level 5 (Highest Alarm)	Solid red	Blinking green	-

Zone Incidents

As the machine enters a zone, the CAN messages in Table 11 are sent by the on-board software to the remote control console when using either the Avoidance Strategy or the Detect Strategy.

Table 11

Detect Strategy: Machine Regions of Remote Control Machine	Avoidance Strategy: Machine Buffers of Remote Control Machine (1)	CAN Alert Message	Avoidance Zone LED	Remote Active LED	Software Stop LED
No hazard identified	No hazard identified	Level 0 (No Alarm)	The avoidance indicator LED of the operator console is off.	Green	-
Outer Path Region	Outermost Machine Buffer	Level 1 (Lowest Alarm)	Blinking yellow once every two seconds	Green	-
Path Region	Fourth Buffer	Level 2	Blinking yellow once every two seconds	Green	-
Inner Path Region	Third Buffer	Level 3	Blinking yellow once every two seconds	Green	-
Avoidance Region	Second Buffer	Level 4	Solid yellow with audible alarm sounds once per second	Green	-
Body Region	Innermost Machine Buffer	Level 5 (Highest Alarm)	Solid red	Blinking green	-

( 1 )

In the Avoidance Strategy, the installer can alter the number of buffers. Check the MCU buffer settings to find out how many machine buffers have been configured for each machine. While we recommend configuring five buffers around a machine, the software recognizes when there are fewer than, or more than, five buffers and alarms accordingly.

Avoidance Strategy

Up to five machine buffers can be created at set distances around the machine origin. Once the Avoidance Strategy is enabled in the on-board software, a series of visible alarms and optional beeps notifies the remote operator when there is an incident.

New: Command for Hauling

Terrain is a capability set of Cat MineStar System. When used with Command for hauling, Terrain is used on grading and loading equipment to interact with the Command Center and individual autonomous mining trucks (AMTs) by using a touchscreen display.

ReferenceRefer to the MCU Help file for configuration information.

Table 12 lists the main tasks that are performed with Command. The tasks that are in bold print correspond to Titles in Operations and Maintenance Manual, SEBU8822, "Cat Terrain for Grading and Loading (For v5.O)", "Cat Command". Refer to this document for detailed information for each task.

Table 12

Requesting a Stop Truck While operating, there may be a non-urgent need for Terrain equipped machines to stop nearby AMTs. The Stop Truck button is used for this purpose.

Entering a Dynamic Area Dynamic areas, such as load and dumps areas, are areas in the autonomous zone that are expected to be constantly changing. These dynamic areas require extra caution when the machine enters. The office continuously sends the on-board system mine model updates to inform the operator which lanes the AMT has permission to use.

Locking / Unlocking a Zone for Clean Up This information explains locking and unlocking a zone to enable clean up operations. Machines equipped with Terrain for grading and loading are able to clean up around loaders, roads, and dump areas.

Collecting and Sending Survey Data This procedure explains how to collect and send survey data from Terrain equipped machines.

Setting the Location of Infrastructure This section provides a step by step list used to set new locations for infrastructure from Terrain equipped machines.

Setting up Loading Operations In setting up loading operations, first select a method of loading and then set up spot locations for loading. The following tasks are discussed in-depth within this section - Selecting a Loading Method - Setting a Spot - Removing a Spot - Erasing All Current Spot Locations - Calling a Truck - Changing Appearance of Lanes - Sending a Truck - Canceling a Call

Altered: Displaying Direction

Illustration 32	g03417119
A machine facing west, with line work for machine regions displayed

On the Plan window, the image of the machine appears facing the current direction. For example, Illustration 32 shows the machine facing west.

The on-board software employs one of the following methods to calculate the direction of the machine:

• Compare two positions to show the direction of movement.

• Use an optional physical switch wired to signal the use of the reverse gear.

• Use electronic information from the transmission Electronic Control Module (ECM)" Trans gear" parameter. This parameter describes the state of the transmission, signaling the selected gear.

• Use electronic information from the Implement ECM signaling the selected gear.

Alternatively, the operator can press the calibrate button at any stage until the correct direction appears. The software disables the Calibrate button for all dual antenna machines.

Comparing Two Positions

As the position of the machine changes, the on-board software calculates which direction is forward and which direction is backwards. No input is required from the user. This method is reliable in most situations.

Using a Physical Switch

As the machine changes direction from forward to reverse, a physical switch wired to signal the use of the reverse gear triggers the direction change. This method is unnecessary if the on-board software uses the transmission ECM.

Using the Transmission ECM

The on-board software periodically checks the trans gear "R" values and sets the machine direction as "Forward", "Reverse", "Neutral" or "Park" through CAN Port 3. No input is required from the user.

If using this method, refer to the CAN diagnostics window, Sensor tab, for information about CAN messages from the transmission ECM, stating "Forward", "Reverse", "Neutral" and "Park".

Blade Control

The ECM fitted on machines using blade control signals "Forward", "Reverse", "Neutral" or "Park" through CAN port 1. No input is required from the user. The software creates a check brake warning in the diagnostics file.

If using this method, refer to the CAN diagnostics window, Sensor tab, for information about CAN messages from the ECM, stating "Forward", "Reverse", "Neutral" and "Park".

New: Guidance Point for Supervisor Truck

The vertical guidance point for the Supervisor Truck machine type is normally the center of the front bumper projected to the ground. Use the "Guidance Point" menu item to select the center of one of the front wheels projected to the ground as the guidance point.

Menu - Opens the main menu

1. In the main menu, select "System" > "Select" > "Guidance Point".

2. Select the required guidance point. The "Guidance Point" dialog appears.

Note: The operator settings for guidance point are stored in memory when the on-board software is stopped and then started.

Note: The origin, rather than the guidance point, is used for PR2 messages.

Window Elements

With "Left Wheel" selected as the guidance point, the following user interface elements and values are taken from the center of the left front wheel projected to the ground:

Illustration 33	g03399726
Cross-hairs in Plan window

• White cross-hairs in the Plan windows (associated with profile and cross-section windows)

Illustration 34	g03399727
Values in Digital window

• Values in the Digital window used for showing Northing (N), Easting (E), and Elevation (Z)

Illustration 35	g03399729
Values in Gauge window

• Values in the Gauge window, which then provide guidance to the design relative to the left front wheel

• Height shown in the cut/fill Digital window

• Newly created points (created using the "Set Point" toolbar button)

Illustration 36	g03399730

• The profile and cross-section views do not change.

Dialogs

Illustration 37	g03399734
"Positions" diagnostic window

The guidance point is added to the DiagMsgLog file, and both the left wheel and the right wheel appear in the "Positions" diagnostic window.

The following definitions apply to Illustration 37:

Blade - Center of the left wheel

Origin - Center of the bumper on ground (half way between Swath 0 readings)

Swath 0 Blade End 1 or 2 - Center of the bumper on the ground

Swath 1 Blade End 1 or 2 - Left wheel

Swath Blade 2 End 1 or 2 - Right wheel

Fixed: Group Numbers Updated

The office sends updates to the machine, informing the machine of the Group number for the machine. Data collected from the machine can be sorted by the office software based on the Group number. A Group number might stand for an area on the mine, a bench height, or a group of machines involved in a task.

In v4.5, the updated information was not reaching the machine. The updated design file did not show the updated Group number.

This issue has been resolved in v5.0.

Training Notes

Increasing the Text Size in Digital Windows

1. On the display, start the on-board software.

2. Decide which Digital windows will have larger text.

3. Attach a keyboard and mouse to the display.

4. Scroll to the Digital window that will be edited.

Show/hide table



Illustration 38	g03384358
"Configure Digital Window" dialog

5. Right click on the Digital window.

   The "Configure Digital Window" dialog appears.

   The options in the "Selected" field will appear on the left-hand side of the Digital window.

   Note: The values in Illustration 38 are used in the default wincfg.txt file.

The numbers in the fields on the right-hand side are the text and the width of the three columns in the Digital window.

Suggested values:

"Label Width" - 4, 5 or 6: Creates a column wide enough for most Options

"Value Width" - 12: Seldom needs changing

"Unit Width" - 2 or 3: Creates space for most units

Font Size - 20 - 50: Creates text that is easy to read

"Font Weight" - 600: Creates bold text

ReferenceRefer to the MCU Help file, "Options for Digital Windows" for a detailed description of the options.

Illustration 39	g03384372
Effect of varying the Font Size and Font Weight values in the Digital window that is configured in the "Configure Digital Window" dialog

Using Productivity Data On-board

Note: Productivity Files are not available to the operator. However, some of the productivity data can be presented to the operator in real time.

Productivity data is gathered incrementally rather than cumulatively. New productivity information can be derived from the productivity data that is provided within the productivity file.

For example, by summing the changes in volumes for volume productivity records over a range of time, it is possible to calculate the rates at which volume is being cut and being filled.

List files are generated on a PC or portable PC using Cat MineStar System. Use the office software to send the file to the machine.

Note: The machine does not require a reboot to use a new list file.

Use the MCU to enable various lists such as:

• Activities

• Delays

• Operator Checklist

• Operator Login

ReferenceRefer to the MCU Help file "Configure Windows and Screens Further" for information on default screens or screens created in the Screen Configuration Utility.

The information entered by the operator helps to create useful productivity files. Operators trained to successfully use the list functions can create a more efficient site. Table 13 lists some of the ways to increase efficiency.

Table 13

Menu Item	Ways to Increase Efficiency
"Operator Login"	Customize the login process using Login settings. If the operators work in small groups, use login trees. If the operators work in large groups, login using a keypad.
"Select Delay Code" "Select Activity"	Do not make the operator scroll to select common delays or activities. The display has space for about eight items in the non-expanded view before the operator must scroll.
"Change Operator"	Encourage consistent use. The operator information is linked to Cat MineStar System, and enables multiple office software applications to use data.
"Operator Checklist"	Encourage consistent use. This list does not link into the productivity files, but maintenance staff use the report to take corrective action.
"Select Job Code"	Encourage consistent use. Think carefully about the job code titles and abbreviations.

Changing the Select Trucks Buzzer

When the operator presses the Send Truck button, the optional "Select Trucks" dialog, if configured, opens showing a list of available trucks. If the operator does not select a truck name, after a set period of time a buzzer sounds until the operator selects a truck name and closes the dialog. The buzzer cannot be muted by the operator but can be disabled by the Terrain Site Champion or configured to start after a set length of time.

To alter the length of time after the dialog opens until the buzzer sounds, complete these steps:

1. Open the MCU.

2. Select "Machine" > "Truck Loading" > "Truck List Buzzer Delay".

3. Enter the delay time (in milliseconds) for an audible alarm to be triggered after Send Truck has been activated and the list of trucks has not been closed.

   Note: Entering -1 (negative 1) disables the buzzer.

The operator cannot silence the Truck Select buzzer. The buzzer is designed to remind the operator to complete the send truck process quickly. While the "Select Trucks" dialog is open, the on-board software cannot send or receive any TMAC messages.

"Terrain Mobile" Release Notes

The following changes are covered in the release notes for the Terrain mobile software, Special Instruction, REHS7424, "Installation of Cat Terrain Mobile v5.0 Software on a Supervisor Truck".

• Added menu items

• Changes to the appearance of the software, including window borders, clocks, alarms, speakers, Cat logo, and new FTP service

• New, deleted, or obsolete keys

CAT FTPserver Release Notes

Cat FTP Server is now a service. Refer to ""Cat FTP Server now a "Service"" " earlier in this document for more information.

Cat Office Services (CatOS) Release Notes

Error Log

The MCU creates a short error message when the MCU does not function as expected. All of the messages are written to the Error Log when the message is created.

To use the Error Log:

1. Open the "Machine Configuration Utility" tab in CatOS.

2. Select the "Error Log" tab.

Show/hide table



Illustration 40	g03384753
Log from 8 August 2012

3. Select the relevant date.

   The MCU Error Log for that date opens in a new window.

   1. Use the "Filter" field to filter the list of logs by one of the following:

      Error Messages - Record of the error messages written internally by the software or externally for the MCU user

      Info Messages - Record of user actions, for example: Machine 123 has changed GPSx of Machine Dimensions from 6.5 inch to 6.4 inch

      Debug Messages - List of messages written internally for the software programmer to track the state of the software

   2. Use the "Search" field to search the MCU Error Log for a particular phrase.

   3. Use the Error Log to track down why the software is not functioning as expected.

      Contact a Cat Technical Communicator or your Terrain Site Champion for more information.

4. Close the window to change the filter or to select another MCU Error Log.

Machine Configuration Utility (MCU) Release Notes

Illustration 41	g03384754

New or Altered Settings

The settings in Table 14 are new or altered in the MCU.

ReferenceRefer to the MCU Help file for more information about each setting.

Table 14

Feature	Setting	Description of Change	Rationale	Key
"Site Settings" > "GPS Settings" >	GPS No Comm Appfile Send Time Interval	Default and range changed - Default is changed from 10 seconds to 120 seconds.	Related to serial GPS communication	$ GPS No Comm Appfile Send Time = <duration>
	GPS No Comm Appfile Resend Time Interval	Default and range changed - Default is changed from 10 seconds to 120 seconds.	Related to serial GPS communication	$ GPS No Comm Appfile Resend Time = <duration>
"Machine" > "Machine Dimensions"	Antenna Count	Obsoleted in v3.2, but brought back for v5.0	Enable the Antenna Count setting when using a dual antenna machine and make visible the Slave GPS X, Y, and Z settings.	$ Antenna Count=<number>
	Slave GPS X	Obsoleted in v3.2, but brought back for v5.0	Slave GPS X, Y, Z settings become available when Antenna Count =2. Enter the offsets distances to the slave antenna.	$ AntX 1=<offset>
	Slave GPS Y			$ AntY 1=<offset>
	Slave GPS Z			$ AntZ 1=<offset>
"Machine" > "Alarms" > "Set Up Operator Buzzers"		Was Annunciator Alarms	Set up all buzzers and alarms for delays, messages, low position accuracy grade, and reversing buzzer output.
"Machine" > "Alarms" > "Set Up Grade Buzzers"		Was Annunciator Alarms	Set up all buzzers and alarms for on/above/below grade.
"Machine" > "Alarms" > "Set Up Avoidance Buzzers"		Was Annunciator Alarms	Set up all buzzers and alarms for avoidance and incorrect configuration of Avoidance Strategy. Also sets up the avoidance buffer for the Terrain mobile software	$ Buzzer Sound File <number>=<file name>
"Machine" > "Alarms" > "Set Up Material Buzzers"		Was Annunciator Alarms	Set up all buzzers and alarms for leaving dialogs open too long - selecting material, selecting trucks. Sets up the truck load alarm.
"Machine" > "Alarms" > "Set Up Terrain Alarms"		Was Annunciator Alarms Clarifies that alarms are not related to Detect strategy	Set up all buzzers and alarms for delays, messages, on/above/below grade, accuracy, and others
"Machine" > "Alarms" > "Mute Alarms" >	"Can Mute All Alarms"	Terrain alarms only		$ Enable Alarm Muting
	"Mute Avoidance Alarms"	Was Disable Silence Avoidance Alarm		$ No Silence Avoidance Zone Alarm
	"Mute Material Buzzer"	Was Disable Material Buzzer		$ No Material Buzzer
	"Set Up Avoidance Configuration Error Buzzer"	Renamed setting		$ Buzzer Tone x =<tone bytes> $ Buzzer Max Duration xx =<time> $ Buzzer Repeat Delay xx = <delay>
"Machine" > "Avoidance Configuration" >	"Avoidance Buffer"	Low, High, Front, Back, Left, and Right now accept positive numbers with up to two decimal points	Applies to machines of all versions
"Machine" > "CGC" >	"Auto range Limit"	For Beta sites only in v5.0		$ Auto Range Limit = <number>
"Machine" > "Sensors" >	"Force Roll to Zero"	For more information refer ""Force Roll to Zero" " in this document.		$ Force Roll to Zero
"Operator Interaction" > "Operator Input" > "Delay" >	"No Delay Time Extend"	Removes the ability of the operator to increase or decrease the length of a delay		$ No Delay Time Extend
	No Delay Time Reduce	Removes the ability of the operator to increase or decrease the length of a delay.		$ No Delay Time Reduce
"Mapping" > "Collect Terrain Data"	Interval			$ Data Collection Distance Interval
	Terrain Data Type			$ Data Collection Type
"Detect" > "Set Up Detect" >	"Change Path Highlight"		Site level only	$ BeeGone
	"Enable Detect"		Machine level only	$ Enable Awareness Zones
	"Enable Detect Warning Dialogs"			$ Show Proximity Error Dialog
	"Display Machine Regions"			$ Display Machine Awareness Boundaries
"Detect" > "Alarms" > "Mute Alarms" >	"Mute Locked Zone Alarm"			$ Allow Locked Zone Violation Alarm Mute
	"Mute Proximity Alarms"			$ Allow Collision Detection Alarm Mute
	"Mute Speed Alarms"			$ Allow Speed Limit Violation Alarm Mute
	"Mute Zone Alarms"			$ Allow Restricted Zone Violation Alarm Mute
"Detect" > "Alarms" > "Acknowledge Alarms" >	"Acknowledge Locked Zone Alarms"			$ Allow Locked Zone Violation Alarm Acknowledge
	"Acknowledge Proximity Alarms"			$ Allow Collision Detection Alarm Acknowledge
	"Acknowledge Speed Limit Alarms"			$ Allow Speed Limit Violation Alarm Acknowledge
	"Acknowledge Zone Alarms"			$ Allow Restricted Zone Violation Alarm Acknowledge
"Detect" > "Alarms" > "Filter Alarms" >	"Filter Alarms"			$ Filter Alarms 0 = <option n>
	"Filter Alarms from Assigned Trucks"			$ Enable Assigned Truck Filter
	"Allow Out of Comms Proximity Incident "	Machine out of radio communications can now have full proximity alarms		$ Allow Out of Comms Machine Proximity Incident
"Command" > "Set Up Command" >	"Clean Up Zone Search Radius"			$ Clean Up Zone Search Radius =<search range>
	"Site Traffic Direction"			$ Site Traffic Direction =<number>
	"Speed Violation Tolerance"			$ Speed Violation Tolerance =<number>
	"Stop Truck Radius"			$ Stop Trucks in Distance =<number>
"Command" > "Site Traffic Direction" >	"Site Traffic Direction"			$ Site Traffic Direction = <number>
"Command" > "Lanes" > "Set Up Lanes" >	"Display Lanes"			$ Display Lanes = <value>
	"Display Lane Ends"		Site level only	$ Display End Points
	"Display Travel Path"		Site level only	$ AHS Display Travel Path
	"Display Zones"			$ AHS Display Zones
"Command" > "Lanes" > "Colors of..." >	"Lane Edges"			$ Lane Edge Color =<color number>
	"Newly Added Lane"			$ New Added Lane Color =<color number>
	"Permission Lane"			$ Permission Lane Color =<color number>
	"Updated Lane"			$ Updated Lane Color =<color number>
"Command" > "Spot Locations" >	"Color of Spot Location -Accepting"			$ Spot Location Accept Spot Color=<number>
	"Color of Spot Location - Requesting"			$ Spot Location Request Spot Color =<number>
	"Spot Distance Tolerance"			$ Spot Location XY Tolerance =<number>
	Spot Heading Tolerance			$ Spot Location Heading Tolerance =<number>

MCU Server Snapshot Folder now Written at Startup

All MCU settings at machine and site level are stored in *.xml files on the MCU Server. Each time the MCU Server restarts, the software writes a copy of all *.xml files and log files to the following location:

C:\ProgramData\MCU Snapshot\ddMMMyyyy-hhmmss

If a machine or site *.xml file becomes corrupt, recover the file by replacing the corrupt file with the copy from the "MCU Snapshot" folder on the MCU Server. Redo any changes to the file since the last MCU Server restart.

Force Roll to Zero - Example

Note: This setting applies to single antenna machines only.

Enable the "Force Roll to Zero" checkbox and force the roll value to be zero.

Given a machine with:

• AS460 sensor attached

• "Force Roll to Zero" checkbox selected in the MCU

The on-board software will calculate pitch from GPS data but will set the roll value to zero.

Syntax $ Force Roll to Zero

Go To: "Machine" > "Sensors"

ReferenceRefer to MCU Help file, "Pitch and Roll with No Sensor - Reference" for more information.

Mute or Acknowledge Annunciators

The way annunciators, if equipped, are silenced has changed. Now the operator can acknowledge and silence a specific alarm or can mute all allowable alarms, including:

• Above grade alarms

• Avoidance alarms

• Delay buzzers

• Proximity alarms

• Speed alarms

• Zone alarms

Illustration 42	g03387092
(20) Mute Alarms: All allowable alarms now and in the future (21) Unmute Alarms: All allowable alarms now and in the future (22) Acknowledge Alarm: Single alarm for this instance at this time only

ReferenceRefer to ""Altered: Existing Avoidance Zones and Surfaces" " in this document for additional information.

New Reference Material

MineStar Waypoints - The MCU Help file now describes how waypoints, LoadRequest messages, and LoadReport messages interact.

Detect - The MCU Help file now describes how Detect is implemented on the G610 display module. Zones and hazards appear on the screen. The operator can view Body, Avoidance, and Path machine regions. The operator is notified of the proximity of other Detect enabled machines. The on-board software notifies the operator of Incidents by Status bar icons and optional alarms.

Command - The MCU Help file now describes the settings used to create a loading machine that will work with Command for hauling software.

Position - There are three positioning methods used by the on-board software: Position Broadcast, Multicast snippets with positions, and PR2 messages with or without AMP Messaging. "View Machines on the Display" in the MCU Help file describes the different methods of finding position.

Machine Buffers

When using the Avoidance Strategy, use the MCU to configure between one and five fixed buffers around a machine. These buffers interact with design files that contain avoidance zones and avoidance surface in *.cat file format. Terrain office software interacts with *.cat files, but with no other Cat MineStar System office system files.

Machine Regions

Use the office software to configure two fixed regions and a single dynamic region around a machine. Ensure that machine dimensions are accurate in the MCU. These regions interact with design files that contain avoidance zones in *.mwf file format.

If the site is using Proximity Awareness, then the Detect Strategy must be used on all machines. The Avoidance Strategy as well, but this is a choice that each site will have to think about carefully and plan appropriately before choosing.

Remote Control Systems

Use the office software to configure two fixed buffers and three dynamic regions around a machine. Ensure that machine dimensions are accurate in the MCU. These regions interact with design files that contain avoidance zones in the *.mwf file format.

New in the MCU Help File

Detect

The MCU Help file now describes how Detect is implemented on the G610 display, along with reference material.

• Zones and hazards appear on the screen.

• The operator can view Body, Avoidance, and Path machine "regions" that are used.

• The operator is notified of the proximity of other Detect enabled machines.

The on-board software notifies the operator of incidents by Status bar icons and optional alarms. The on-board software notifies a remote control console operator by use of lights on the console.

If the site is using Proximity Awareness, then the Detect Strategy must be used on all machines. The Avoidance Strategy can be used as well, but this is a choice that each site will have to think about carefully and plan appropriately before choosing.

Command

The MCU Help file now describes the settings used to create a loading machine that will work with Command for hauling software, along with reference material.

Position

The following positioning methods are used by the on-board software:

• Position Broadcast

• Multicast snippets with positions

• PR2 messages, with or without AMP Messaging

"View Machines on the Display" in the MCU Help file describes the different methods of finding position.

MineStar Waypoints

The MCU Help file now describes how waypoints, LoadRequest messages, and LoadReport messages interact.

Dipper report

The MCU Help file now contains new dipper report 2 and load report 2 message reference material.

Remote Control Systems

The MCU Help file contains reference material describing using remote control systems with either the Avoidance strategy or the Detect strategy.

Fixed in v5.0

Machine Serial Number

If the user has entered a Machine Serial Number that is currently in use by another machine, the error was not picked up until the on-board software used the mach_cfg.txt file. This issue has been resolved and a validation error now appears in the MCU "Error" pane.

Inheritance and Site Level Settings

"Inherit from Parent" functionality has been removed from the following mandatory site level settings:

• "DXF Color"

• "Standard Time Date"

• "Daylight Time Date"

• "GPS Time Resync Interval"

• "GPS Time Resync Threshold"

• "Time Zone Minutes"

• "Locale Short Date"

• "File Status Filename"

• "Office FTP Address"

• "No FTP File Compression"

• "Max FTP Retries"

• "Office TMAC Address"

Note: The removal of "Inherit from Parent" functionality prevents loss of stored data in the machine Extensible Markup Language (XML) files.

CAT Tools Release Notes

This product has not been updated in this release.

CAES Database Release Notes

This product has not been updated in this release.

Task List Management System (TLMS) Release Notes

See the ""Known Issues: Spanish Diacritic Missing in Task Server Messages" " section later in this document.

Known Issues

Payload Conversion Key

The value for the Payload Conversion key in the MCU is currently set to "0.1". If using this key, reset this value to "1" or the conversion will be incorrect.

Incorrect Timestamp for Position

Timestamps are digital date and time information that are attached to digital data. Both the satellite receiver and the internal Position Report2 (PR2) messaging components of the system create timestamps.

On rare occasions, the timestamp from the satellite receiver differs from the timestamp associated with the PR2 message. The cause is unknown and the difference can persist for up to 2 minutes. There is no work-around for this known issue.

The error occurs on all machine types on a site and for all applications including:

• Drills

• Draglines

• Grading

• Loading

• Supervisor Trucks

Illustration 43	g03387093
GPS Diagnostics window (24) Position status = Autonomous (25) GPS Warning icon

When the difference between the timestamp from the satellite receiver and the timestamp associated with the PR2 message is greater than 4 seconds, the following actions occur:

• The Position status (24) changes to "Autonomous".

• The yellow or red GPS warning icon (25) in the status bar appears.

Menu - Opens the main menu

• The position error in the PR2 message is "100.90 m". In the main menu, open "Diagnostics" > "Detect". The "Accuracy" = "100.90".

• Information appears in the DiagMsgLog File. In Windows Explorer, open C:\\caes\diag and look for the information in Table 15.

Table 15

DiagMsgLog File Error - Incorrect Timestamp for Position
In Microsoft Windows Explorer open C:\\caes\diag and look for:
Warning, 17:11:30, 1400, GPS, <-- Terrain and GPS Time lagging Started DbgLvl2, 17:11:34, 1398, Postion Sent, Timer DbgLvl2, 17:11:39, 1398, Postion Sent, Timer DbgLvl2, 17:11:44, 1398, Postion Sent, Timer 'CAESip.exe': Loaded 'C:\Windows\SysWOW64\rasapi32.dll' 'CAESip.exe': Loaded 'C:\Windows\SysWOW64\rasman.dll' 'CAESip.exe': Loaded 'C:\Windows\SysWOW64\rtutils.dll' 'CAESip.exe': Loaded 'C:\Windows\SysWOW64\SensApi.dll' DbgLvl2, 17:11:49, 1398, Postion Sent, Timer DbgLvl2, 17:11:54, 1398, Postion Sent, Timer Warning, 17:11:55, 1400, GPS, Terrain, and GPS Time lagging Ended

There is no work-around for this known issue. This issue is also described in Systems Operation, KENR8277, "Cat^®Terrain for Grading and Loading", "Error Codes and Diagnostic Messages".

Machine Buffers Reappear

This known issue describes the use of machine buffers and does not describe the Body, Avoidance, or Path regions used in sites that are running office software with Detect enabled.

Menu - Opens the main menu

The operator can stop the avoidance buffers from appearing on the Plan window by opening the main menu and de-selecting "Plan" > "Display" > "Machine Buffers".

When the operator changes screens, or opens a full page window such as a diagnostic window, the buffers reappear.

Position Error = "1.022": Workaround

Illustration 44	g03417097

A system working with High accuracy will report a "Position Error" value in the GPS Diagnostics window similar to the "0.003" shown in Illustration 44. For systems working at Medium or Low accuracy, technicians and installers may notice a Position Error repeatedly reported as "1.022". They may also notice a mismatch between known accuracy and reported accuracy, and may see the machine's regions expand incorrectly as accuracy decreases. The unusual repetition of 1.022 occurs only for software with an up-to-date app file which includes a "SiteVision Position Error Stats" (SVPE Stats) GSOF output.

Illustration 45	g03417098

Users should not be concerned because the on-board software functions as intended. If the site wishes to stop this unusual repetition from occurring, edit the app file to include the Message subtype "Error Covariance data" as an additional GSOF output.

The SVPE Stats output is a small message providing Position Error values up to a maximum of 1.022. This value provides enough information to the on-board software for High accuracy positions.

If you wish to receive Position Error values for Medium and Low accuracy positions, enable the "Error Covariance data" output. The "Error Covariance data" output is a larger message containing Position Error values ("Position Sigma Info") outside the range of values contained in SVPE Stats.

ReferenceFor more information about configuring an app file, refer to the "CToolbox User Guide.pdf", which is available on the Terrain USB memory module.

BC and DC Options Reset Unnecessarily

This Known Issue applies to the following Digital window options:

Material Dipper Count (BC) - This value is the number of dippers or buckets of the predominant material (MT).

Dipper Count (DC) - This value is the total number of dippers or buckets contained in a truck.

Digital windows provide the operator with information such as the truck name and the dipper count. When the operator opens and closes, or cycles through, a diagnostic screen, the v5.0 software resets both the "BC" and "DC" values in the Digital window to "0" (zero).

The correct values appear after the next load/dump cycle.

Using Sensors on a Single Antenna Machine

When using a sensor for pitch or roll on a single antenna machine, the "GPS x", "GPS y", "GPS z" offsets in the on-board software are not applied correctly. These offsets affect position data in the "Sensors" diagnostic window and the "CAN Debug" diagnostic window.

This issue has been fixed in v5.2.

To work around the issue for v5.0, enter the following key by hand into the mach_cfg.txt file:

$ Calibration File = mach_cfg.txt

When the mach_cfg.txt file is altered by hand, the following error message appears on the display:

"Configuration warning for machine <machine name>: The machine config has been corrupted. Output a new machine config from the MCU"

Warn the office staff that this error message will occur and should be ignored in this instance.

Reducing the Distance Between Avoidance Zones

Site managers use avoidance zones and avoidance surfaces to remind the operator to avoid entering specific areas on the site. When two avoidance areas are within close proximity, the acknowledge icon and the mute alarm icon may not work as expected.

Zones are created in two separate strategies:

Avoidance Strategy - Uses zones and surfaces stored in *.cat files that are generated from DXF files in Terrain office software

Proximity Strategy - Uses zones stored in *.mwf files created in Command, Detect, and Fleet office systems

The on-board software from v5.0 onwards supports both types of files.

- Known issue

This known issue relates to the following:

• Avoidance Strategy only and may apply in systems using the Avoidance Strategy with a Remote Control Console

• Avoidance Strategy, using *.cat files, and the Status bar icons

Illustration 46	g03387092
(20) Mute Alarms: All allowable alarms now and in the future (21) Unmute Alarms: All allowable alarms now and in the future (22) Acknowledge Alarm: Single alarm for this instance

Table 16 shows the effect of moving in out of the zones for a series of operator actions for both strategies.

Note: For simplicity, both zones and surfaces are referred to as zones.

Table 16

Operator Action	Effect - Avoidance Strategy (*.cat files)	Effect - Proximity Strategy (*.mwf files)
1. Move into a zone.	Alarm sounds; Icons appear	Alarm sounds; Icons appear
2. If allowed, acknowledge and/or mute the alarm.	Alarm silenced /muted	Alarm is silenced /muted; Acknowledgment is sent to office and written to message files
3. Move out of the zone, but in doing so, move into an additional, second zone. Avoidance buffers intersect both zones.	No alarm; No icons	Alarm sounds; Icons appear
4. Move completely out of the first zone but stay in the second zone.	Undefined behavior; Alarms may or may not sound; Icons may or may not appear	No further change

To resolve this proximity issue:

• Place avoidance zones and avoidance surfaces far enough apart so that the biggest machine, with avoidance buffers configured, can move between zones at any angle.

• Train all operators to be careful when moving near or into avoidance zones or under avoidance surfaces.

• Stress to operators that the Acknowledge Alarm icon and Mute Alarm icon do not restore unless the machine moves completely outside one zone before moving into another zone.

Productivity Reset Button with Utilization Window

Productivity Reset - Select this button to reset the productivity information.

The Productivity Reset button/function when used for resetting times on a Machine Utilization screen does not perform a complete reset.

The following known issue occurs:

• If you are moving, the Productivity Reset button resets the "Stationary" time and the stationary component of "On" time to zero.

• If you are stationary, the Productivity Reset button sets the "Moving" time and the moving component of "On" time to zero.

MS740 Series Receivers with Fleet

Sites running Position Awareness (Cat MineStar System Control Center office software) and Site Awareness (Fleet) must check the series of receivers being used on machines running Terrain for grading, loading, and mobile applications.

The MS740 series receiver, and receivers older than the MS740 series, cannot send some values that are required for the messages used between the office and on-board software.

Sites must note the following:

• Sites running Site Awareness must remove MS740 (or older) receivers and use a GNSS receiver which supports "SiteVision Position Error Statistics" in the GSOF Output. Talk to your Cat dealer about which receivers to use.

• Sites running Position Awareness can continue to use old receivers but should note that the machine responds as noted in Table 17:

Table 17

Position Status	Reported Numeric Error	Appearance in Plan Window
"RTK Fixed"	2 cm	No change to size of machine regions
"RTK Float"	20 cm
"DGPS"	1 m
"Autonomous"	3 m	Whichever is bigger of: - Outer machine region - Single region, radius = 3 m
"No GPS"	100 m	Machine regions merge into a single region, radius = 100 m
"Error"	100 m	Machine regions appear as a single region, 100 m radius

Menu - Opens the main menu

To view the machine regions on the display, open the main menu and select "Plan" > "Display" > "Machine Regions".

Spanish 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 Terrain, the Spanish diacritics disappear.

Hardware Considerations

Audible Alarm (Annunciator)

The alarm, or annunciator, is normally an optional piece of hardware, but is mandatory when using the following modules:

• Command for hauling

• Detect

Menu - Opens the main menu

Use one of the following methods to verify the operation of the alarm:

Startup - Start the on-board software and listen for short audible sound.

Buzzer Test - Open the main menu and select "Diagnostics" > "Buzzer Test" and listen for a short audible sound.

Check the alarm if:

• The alarm is connected, but no audible sound is heard.

• The alarm volume is either too loud or too quiet.

Radios

There have been no changes to the radio in v5.0.

Receivers

MS Series Receivers

The Terrain software checks the receiver, captures the model and firmware version, and then functions accordingly. No user input is required.

Use v5.0 Terrain for grading, loading, and mobile applications with the minimum firmware and recommended firmware listed in Table 18.

Table 18

Receiver	Minimum firmware version	Recommended firmware version
MS980 (application / monitor)	1.5/0.04	1.62/1.10
MS990 (application / monitor)	3.9/0.42	4.49/3.21
MS992 (application / monitor) Single and Dual	4.45/0.42	4.65/3.21

MS990 Receiver

On the G610 display module, GPS communication occurs automatically over a CAN bus. If using a non-ARO machine type with MS990 receiver, use CAN GPS communications. If using an ARO machine type with MS990, use serial GPS communications.

To enable the G610 display module to use serial GPS communications, add the following line of code to the master.txt file:

$ GPS Over CAN =0

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 v4.49/3.21 for single and dual antenna operations. If an MS990 receiver has any other firmware, reflash the receiver with v4.49/3.21 software and change the configuration to CAN corrections.

ReferenceTo set up a G610 display module for and MS990 receiver, refer to Special Instruction, REHS2992, "Installation and Configuration of the Cat^® Terrain v5.0 On-board Software", "Setting up an MS990 Receiver".

Configuration Toolbox

The v5.0 release of Terrain for grading, loading, and mobile software supports Configuration Toolbox v6.9.0.5.

The enhancements in 6.9.0.5 include:

• App file names sent to the receiver forced to be all uppercase

• Autobase support for many more SPSxxx receivers

• Fixed potential problem with unknown zones being included in zone-based sites on import from a DC file (also used with SVO)

• Support for logging corrections

• Support for setting the RTCM v3 correction ID

• Support for the MS352 and SPS985 receivers, and also "Any Receiver" connection support for the SPS552 receiver

• Support for USB port output on those receivers that have a USB port

• Support for 2 second CMRx output

Swap from CAN to Serial

This information applies to dual antenna excavators and dual antenna front shovels if:

• D3:C4 Nav 10.4 monitor display on an existing machine is being replaced with a G610 display module and the satellite receiver will be recalibrated

• G610 display module and dual antenna satellite receiver system are being installed on a new machine

• Satellite receiver is recalibrated as part of maintenance

Note: A "new machine" is a machine, either newly commissioned or one that has been working already, which is being installed with Terrain for grading and loading for the first time.

On the G610 display module, GNSS communication occurs automatically over a CAN bus. However, the calibration wizard uses serial communication, so the installer must briefly change GNSS from CAN to serial communications during setup.

To enable the G610 display module to use serial GNSS communications, complete these steps:

1. Open the master.txt file.

2. Add the following key to the master.txt file to disable the on-board software from using the CAN bus for GNSS communications.

   $ GPS Over CAN =0

3. Save the master.txt file and reboot the display.

4. Install the receiver firmware in the usual manner.

   ReferenceFor more information about the MS9xx satellite receiver, read the documentation in the USB memory module, Caterpillar > "03 Firmware" > "Documentation" > "Receiver Manuals" > "MS9xx".

5. Calibrate the machine in the usual way.

   ReferenceFor more information about calibrating a dual antenna machine, refer to either Special Instruction, REHS4458, "Installation of Cat^® Terrain for Hydraulic Front Shovels" or Special Instruction, REHS4698, "Installation of Cat^® Terrain for Excavators".

6. After calibrating, open the master.txt file and edit the following key to enable the on-board software to use the CAN bus for normal communications.

   $ GPS Over CAN =1

7. Save the master.txt file and reboot the on-board software.

To recalibrate the receiver at some future date, repeat steps 1 to 7.

Resolving Problems: Before Contacting Support Personnel

The more information that can be provided to support personnel, the less time will be required to solve an issue. You must provide the following information:

• Version of applicable onboard and office software

• Screen shot or video of the error(s)

• Background details of issue

• Zip file from the CAES\CrashReport folder on the D:\ drive of the display on the machine

Note: Generating the CrashReport files on-board (available on on-board software running on G610 displays) will gather the required files from the system.

Additional files might be required depending on the issue. For further information or assistance, submit a case through the customer service web portal given below:

• http://caterpillar.my.salesforce.com/

Crash Report

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 v5.0 on-board software.

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

• A screen snap

• caes_IllegalShutdown.txt

• crashdump.dmp

• crashrtp.xml

• file_cfg.txt

• mach_cfg.txt

• master_cfg.txt

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.

• 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 can still access the files through the display module.

In either case, the operator notifies the office and the office updates the CrashReport folder and emails the 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, REHS2992, "Installation and Configuration of Cat^® Terrain v5.0 On-board Software", "Transferring Files Using an FTP Client".

Menu - Opens the main menu

To generate the CrashReport files and record certain information, complete these steps:

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.

Firmware Matrix

ReferenceRefer to Special Instruction, REHS2992, "Installation and Configuration of Cat^® Terrain v5.0 On-board Software", "Firmware Matrix".

Current Documentation

ReferenceRefer to Special Instruction, REHS2992, "Installation and Configuration of Cat^® Terrain v5.0 On-board Software", "Current Documentation".

End User License Agreements

ReferenceRefer to Special Instruction, REHS7395, "End User License Agreements for CAES and Terrain" for notices related to software usage.