Cat® Command For Hauling Caterpillar

Event codes alert the controller and/or the technician that an abnormal operating condition exists in one of the machine systems.

Most active events will be logged by one of the ECMs. Some events are active only. Active only events are not logged. The events that are active and the events that are logged can be viewed with the following equipment:

• Cat^® Electronic Technician (Cat ET)

• Cat MineStar System software

Truck Action Codes

Every event code triggers a specific truck action code that results in a specified action on the truck and a corresponding response in Cat MineStar System office software. The truck action codes and the specified responses are listed in the table below.

Table 1

Truck Action Code	Truck Action Code Description	Cat MineStar System Office Software Response
0	No Recommended Action	Logged
1	Failed but Functional, Continue Operation	Logged
2	Failed and Non-Functional, Continue Operation	Logged
3	Limit machine Speed	Logged
4	Stop Machine Safely	Popup alert in office client
5	Stop Machine Safely and Shutdown the Engine	Popup alert in office client

Cat Electronic Technician (Cat ET) Service Tool

When an abnormal operating condition occurs, the status screen on Cat ET indicates that there is an active event.

Event codes are displayed on Cat ET in the following format:

EXXXX Description of the code

The "E" means that the code is an event code. The "XXXX" is a numeric identifier. The numeric identifier is followed by a description of the code.

Active event codes are listed according to the corresponding ECM in ascending numerical order. The code with the lowest number is listed first. The active event code is removed from the list when the condition is no longer present.

Logged Event Codes

Some event codes are logged in the ECM memory. Some event codes are active only. The logged event codes are listed in chronological order. The most recent code is listed first.

A logged code is cleared from memory when one of the following conditions occur:

• The service technician manually clears the code.

• The code does not reoccur for 1000 hours.

• A new code is logged and there are already ten logged codes in memory. In this case, the oldest logged code is cleared.

Note: Always clear logged event codes after investigating and correcting the problem which generated the code.

Troubleshooting

Perform the following steps in order to troubleshoot an event:

1. Obtain the following information from the Cat MineStar System operator:

   • The event and the time of the event

   • Determine the engine operating conditions at the time of the event. Conditions such as engine rpm and load may be important.

   • Determine if there are any systems that were installed by the dealer or by the customer that could cause the event.

   Note: This information should all be available through Cat MineStar System office software and snapshots from the autonomous logger.

2. Verify that the event is not due to normal machine operation.

3. Check all fluid levels and all oil levels.

4. Troubleshoot and repair any active diagnostic codes.

List of Event Codes for the Machine Control Module (MCM)

The following table lists the event codes that apply to the autonomous system on the truck. Use the Cat ET service tool in order to determine the event codes that are active or logged.

Table 2

List of Event Codes (EID) for the Machine Control Module (MCM)
CMD 4.2 Event Codes (EID)	Description	Trigger Description
181	Limited Mobility Mode	Code triggered on start up to limit truck functionality until startup is complete.
353	Machine Configuration Changed	There are software updates, site or machine configuration changes, that will require a power or key cycle of the machine.
861	Clock Manual Alignment Required	Internal ECM clock does not coincide with other ECM reported times.
1153	Autonomous Steering Enable Valve Not Responding to Command	Steering valve is not reacting as expected to commands.
1231	Long Range Object Detection Sensor #1 Blockage Detected	The long range Laser sensor on front of the truck is blocked.
1232	Long Range Object Detection Sensor #2 Blockage Detected	The bottom right radar sensor on front of the truck does not have clear visibility.
1233	Long Range Object Detection Sensor #3 Blockage Detected	The top right radar sensor on front of the truck does not have clear visibility.
1234	Long Range Object Detection Sensor #4 Blockage Detected	The bottom middle radar sensor on front of the truck does not have clear visibility.
1235	Long Range Object Detection Sensor #5 Blockage Detected	The top middle radar sensor on front of the truck does not have clear visibility.
1236	Long Range Object Detection Sensor #6 Blockage Detected	The bottom left radar sensor on front of the truck does not have clear visibility.
1237	Long Range Object Detection Sensor #7 Blockage Detected	The top left radar sensor on front of the truck does not have clear visibility.
1241	Long Range Object Detection Sensor #1 Rotational Speed Not Responding to Command	The long range laser sensor on front of the truck is not rotating correctly.
1252	Low Machine Position Accuracy	Truck is not reporting an accurate GPS position.
1286	Fire Suppression System Activated	The fire suppression system on the truck has activated.
1320	Real Time Clock Incorrect	This is a data collection diagnostic only. No troubleshooting is expected for this event.
1330	High Autonomous Cabinet Temperature	The temperature in the autonomous cabinet is registering too high.
1346	Other Equipment Position within Proximity is Undetermined	Vehicles in the surrounding area not reporting accurate positions.
1372	Machine Speed Not Responding to Command	Unexpected Machine Rollback Detected
1393	Machine Sliding	Anti-Lock Braking System (ABS) or Traction Control System (TCS) has activated on the truck.
1394	Unacceptable Machine Orientation	The autonomy inertial measurement unit (IMU) is reporting an unacceptable truck position or orientation.
1480	GPS Receiver Antenna Separation Distance Out of Range	The reported distance between the primary and secondary antennas are out of the acceptable range.
1481	Operator Input Detected While in Autonomous Mode	Pedals were activated in the cab while functioning autonomously.
1482	Invalid Path Data From Autonomy Control Module	A second check of the path found the path unacceptable.
1483	Low Autonomous Cabinet Fan Speed	Fan was activated but fan speed is too low.
1484	Secondary Steering Automatic Test Required	Regularly scheduled test of secondary steering system must be performed.
1485	Autonomous Stop Receiver Radio Not Receiving Radio <RF> Signals	The A-stop receivers are not communicating as expected.
1486	Autonomy Mass Storage Drive Not Accessible	External hard drive is not connected in the autonomous cabinet.
1487	High Autonomous Control Module Core Temperature	One or more of the autonomous control modules is overheating.
1488	Autonomous Machine not in Autonomous Zone	Autonomous machine is reporting a position outside of the autonomous area.
1489	Aggressive Brake System Response	The braking system is not responding as expected.
1490	Reduced Brake System Response	The braking system is not responding as expected.
1491	Aggressive Steering System Response	The steering system is not directing the truck as expected.
1492	Reduced Steering System Response	The steering system is not directing the truck as expected.
1493	Aggressive Machine Speed Control System Response	The truck is not adjusting and maintaining speed as expected.
1494	Reduced Machine Speed Control System Response	The truck is not adjusting and maintaining speed as expected.
1495	Machine Not Obeying Speed Limit	The truck is not obeying site defined speed limits.
1496	Machine Stability Limits Exceeded	Truck control system is operating in a manner that is unexpected.
1497	Unacceptable Machine Trajectory Prediction	Truck is not able to predict future location effectively.
1509	High Long Range Object Detection Sensor # 1 Temperature	The long range Laser sensor on front of the truck is reporting a high internal temperature.
1510	Low Long Range Object Detection Sensor # 1 Temperature	The long range Laser sensor on front of the truck is reporting a low internal temperature.
1536	GPS Corrections Are Not Received	GPS corrections are not received by the truck for a defined period of time.
1537	Excessive Wheel Slip Detected	Excessive wheel slippage detected, occurs with varying levels of severity.
1540	Unexpected Machine Rollback Detected	Unexpected Machine Rollback Detected occurs with varying levels of severity.
1669	High Front Inertial Measurement Sensor Temperature	The Inertial Measurement Unit (IMU) sensor on the front of the machine is reporting an internal temperature above the acceptable range.
1670	Low Front Inertial Measurement Sensor Temperature	The Inertial Measurement Unit (IMU) sensor on the front of the machine is reporting an internal temperature below the acceptable range.
1671	Excessive Inertial Measurement Sensor Acceleration Detected	Excessive Inertial Measurement Sensor Acceleration Detected occurs when a truck is receiving large acceleration information from the IMU.
1672	Progress Monitor Stop Event	The truck has been commanded to move but no motion is occurring.
1976	Base Machine Speed Error	The base machine reports a speed fault to the autonomy system.
2074	Engine Shutdown Due to Diagnostics	The purpose of this event is to alert a service technician of why the engine shutdown.
2126	Payload Overload Limit Exceeded	The setup and calibration of the Payload system is incorrect.
2139	Snapshot Memory Full	The log drive on the Autonomous Mining Truck (AMT) is registering at full capacity.
2290	Primary GPS Accuracy Insufficient	Primary GNSS receivers are experiencing low accuracy.
2291	Secondary GPS Accuracy Insufficient	Secondary GNSS receivers are experiencing low accuracy.
9950	Switch on the Fly Not Ready	The driver fails to activate Switch on the Fly Ready mode
10012	Engineering Data Gathering Condition #12 Occurred	One of the autonomy processes is not responding as expected.
10013	Engineering Data Gathering Condition #13 Occurred	One of the autonomy processes is not responding as expected.
10014	Engineering Data Gathering Condition #14 Occurred	Autonomy system memory is too low to operate correctly.
10015	Engineering Data Gathering Condition #15 Occurred	The Planning Module (PIM) does not get the base machine estimated speed information.
10016	Engineering Data Gathering Condition #15 Occurred	The Planning Module (PIM) module does not get perception information over the SCS.
10017	Engineering Data Gathering Condition #17 Occurred	Perception information is not received over the SCS.