® for Dozing, Semi-Autonomous Tractor System (SATS) and Operator Station Caterpillar

Illustration 1	g03699731

Illustration 2	g03699732
(1) Horn switch (2) Left-hand machine control (3) LCD touch screen (dealer/customer supplied) (4) Service brake pedal (5) Engine deceleration pedal (6) Right-hand implement control (7) Cup holder (8) Fire suppression switch (9) Operator station remote shutdown switch (10) Operator not present sensor (within seat bottom cushion) (11) Right-hand side console (12) Armrests

Illustration 3	g03699733
(13) Operator station disconnect switch (14) Fuse holder (15) T-C10 power supply plug (16) Ethernet connectors

Illustration 4	g03699734
(17) Service port (18) Serial number plate

Illustration 5	g03699736
(1) Horn switch (19) Left steering control (20) Right steering control (21) Transmission direction selector (22) Up shift button (23) Down shift button (24) Blade / ripper automation control button (25) Blade / ripper automation control button (26) Thumb rocker blade pitch switch

Illustration 6	g03699737
(26) Thumb rocker blade pitch switch (27) Momentary control (blade/ripper) trigger

Reference: For information on operating the Operator Station, refer to the Operation and Maintenance Manual, SEBU8519, "Operator Controls"

Manual Operation

When the Manual/Remote Mode switch on the Ground Level Service Center (GLSC) is in the MANUAL position, the Command for dozing system is powered down. All relays are in an inactive (normally closed) state. In this state the machine acts as if the Command for dozing system is not installed on the machine.

Remote Operation

Note: The following information describes what occurs onboard the machine when the Manual/Remote Mode switch on the GLSC is placed in the Remote position.

The System Master (RCM) energizes the following relays by switching contact 85 of the relays to ground:

• Cab Key Disable

• Parking Brake Switch Disable

• Implement Lockout Switch Bypass

• Mode Select

• RC Auxiliary

This action will bypass, on the machine the following:

• Key Switch

• Parking Brake Switch

• Implement Lockout Switch

The Command for dozing system can now override each of these functions.

The mode select relay puts the ECMs of the machine into RC Mode. The RC Auxiliary relay supplies power to the indication system mounted on the ROPS. All 5 of these relays remain energized until the machine is put back into "Manual Mode" via the Manual/Remote Mode switch on the Ground Level Service Center (GLSC) or into manual override mode via the switch in the cab of the machine.

Illustration 7	g03795329

The "Parking Brake Switch Disable" relay is used to disable parking brake switch of the machine. Disabling this switch must be done in order for the Command System to be able to take over control of both states of the parking brake solenoid. Due to the importance of this feature, the parking brake solenoid is controlled redundantly via the switch and the power train ECM. Refer to Illustration 7 . This relay not only disconnects the machine parking brake switch from the solenoid circuit, but also redirects that solenoid to the RCM to be driven redundantly (with the power train ECM).

Illustration 8	g03795339

The "Implement Lockout Switch Bypass" relay is used to bypass/disable the machine implement lockout switch. Disabling the switch must be done in order for the Command System to be able to take over control of both states of the implement lockout solenoid.

The RCM also energizes the following relay by switching contact 85 of the relay to ground. The "Mode Select" relay energizes, contact 47 of the power train ECM and contact 62 of the implement ECM, which modifies the ECM harness codes enabling Remote Control operation. These relays remain energized when the Command System is enabled.

Indicator Control Electronic Control Module

Blue remote status indicators, mounted on the ROPS, are turned on solid when the System Master powers up.

Note: Now the System Master is powered. The Machine ECMs will be powered via the Operator Station.

Establishing a Link & Powering the Machine

The following information describes the interaction of the remote control component on and off board.

Note: The Operator Station retrieves some information from the machine, if a link has not been established, this information will not be available. For example, the dash display will show, **** in data locations that are populated with feed back from the machine. The asterisks are an indicator the operator station is not receiving this data. This status is normal behavior.

The operator or service technician is required to perform the initialization procedure on the Operator Station. Initialization is required to establish the communication link with the onboard RCM.

Note: The following steps assume that the machine has been placed into RC mode and is ready to accept communication from the Operator Station.

1. Pull out the Operator Station Remote Shutdown switch on the Operator Station.

2. Place the Operator Station Disconnect switch in the ON position.

3. Power on the touch screen and touch screen PC.

4. Power on the Vision monitor and Vision PC. (if equipped with cameras)
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   Illustration 9	g03699769

5. Open the Command for Dozing, User Interface on the Touch Screen by double-clicking the icon.
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   Illustration 10	g06034121
   Start Screen

6. The Start Screen as shown in Illustration 10 will show on the touch screen.

7. The Command for Dozing, User Interface will ask the user to verify the operation of the Remote Shutdown Switch. Perform the following steps to verify the operation:
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   Illustration 11	g06034129
   Start screen with the remote shutdown switch in.

   1. Push in the Remote Shutdown switch.
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      Illustration 12	g06034131

   2. Pull out the Remote Shutdown switch.
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   Illustration 13	g06034137
   Start screen with the remote shutdown switch out.

8. If the operation of the Remote Shutdown switch faults, as shown in Illustration 13, the program will require the operator to perform Steps 7 through 7.b again.

9. Once the Remote Shutdown switch operation has been verified, the program will allow the user to continue to Step 10.
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   Illustration 14	g06025050
   Start screen (28) Remote control button

10. Configure the desired program settings using the navigation buttons at the bottom of the screen for:

    • Program Settings

    • Remote Control (28)
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    Illustration 15	g03884284

    1. On the Program Settings screen, the operator can select the following items:

       • "Software Information"

       • "Units"

       • "Pitch/Roll Assist"

       • "Machine Allocation"

       • "Language"

       • "Camera Config"
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       Illustration 16	g03884286
       "License Agreement"

    2. The "Software Information" section allows the operator to view the "License Agreement".
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       Illustration 17	g03875030

    3. The "Units" section allows the operator to change the units of measurement displayed in the User Interface. The operator must choose either English or Metric.
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       Illustration 18	g03884290

    4. The "Pitch/Roll Assist" section allows the operator to change the pitch and roll assist limits (as a percentage).
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    Illustration 19	g03887334

11. Press the "Machine Allocation" button on the "Program Settings" screen.

12. Press the "+" button.
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    Illustration 20	g03887335

13. Enter IP address of the machine (external address of the router) and press "OK".
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    Illustration 21	g06017866

14. If the address is not found, make sure that the condition has been cleared, the machine is available for allocation, and reenter the Machine IP address.

    The address not being found could be caused by:

    • The machine being off

    • The radio link is down

    • No Ethernet router installed (configured in Cat ET, Contact the Cat Dealer)

    • The machine not being available for allocation
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    Illustration 22	g03887369

15. If successful, press "OK" when the user interface shows the machine information.
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    Illustration 23	g03887372

16. When the machine is available for allocation, a white check box will pop up next to the machine name.
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    Illustration 24	g03887373

17. If the machine is not available for allocation, nothing more can be done until the machine is put in the correct state. The machine will show up in the machine list without any way to select the machine.
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    Illustration 25	g03887375

18. Click the box to check the box. The machine is now allocated and will show up on the machine selection screen.
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    Illustration 26	g03887382

19. Once the "Program Settings" have been set, the operator will press the "OK" button at the bottom of the screen to apply and save the settings.
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    Illustration 27	g06025050
    Start screen (28) Remote control button

20. Select the machine to communicate with using the buttons provided on the left-hand side of the Start screen.

21. Press the "Remote Control" button (28).

22. The user interface will proceed to the Main screen of the Command for dozing, User Interface program.

23. Press the Keyswitch ON/OFF button on the Main Screen.
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    Illustration 28	g03765598
    Steering/transmission control (1) Horn switch

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    Illustration 29	g03703050

24. Hold the Horn switch (1) on the operator station until the machine horn stops sounding (approximately 3 seconds).

    Note: The horn is a purely electrical feature on the machine and is controlled via a push-button switch in the cab of the machine. The horn is also controlled via a push-button switch on the RC station when in RC Mode.

    Note: Horn control is wired such, that either the button on the machine or the RC System can control the horn. So, if the horn button on the machine is ON, then the RC System cannot turn the horn OFF. This way, a person in the cab of the machine can audibly alert the remote operator that someone is in the cab of the machine.

    Note: The horn is controlled via the horn relay. The RCM energizes the horn relay by switching contact 85 of the relay to ground.

25. Release the Horn switch (1).

    The horn will sound two times and machine lights will flash two times.

    Note: On machines with serial number prefixes RJG, ; GEB, and ; TPB the fender lights may not flash.

    Note: The machine will be powered on and the RC system status field (RH side of the main screen) will show "RC Active", after the machine responds back

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    Illustration 30	g06034213
    Left - hand side of the main screen (29) Active "Work Group" machines (30) Machine selection button (31) Work light select button (32) Work light on/off button (33) "Right Hand Control" selected indicator

26. Press and hold the Engine Crank button (31) until the machine starts.

    Note: When cranking the engine, the Terrain display on the machine may restart. Reestablishing the connection to the machine VNC server for Navigator manually may be necessary if communication is lost during this process. Consult your VNC implementation for options on automatically reestablishing a connection.

The Keyswitch On/Off button, the OFFand ON positions are maintained positions, but Engine Crank Button is momentary, and must be held to the ON position. The Machine Power relay is energized when the Keyswitch On/Off button is in the ON position.

Once the Remote Shutdown Switch has been cycled (only required upon starting the Operator Station software), the Operator Station "Machine Selection Screen" is active. When a machine has been chosen, the Remote Control Button will become available, if the machine is able to be remotely controlled. After the Remote Control Button is pressed, the Machine horn sounds for one second indicating the operator station and the machine. The horn sound only happens if an active RC session is not already in progress. The"Main Screen" will then be displayed and the Keyswitch On/Off button must be turned on prior to activating RC.

The RCM energizes the Engine Start relay by switching contact 85 of the relay to ground when the Engine Crank button on the Operator Station is placed in the ENGINE START position. (Press and hold).

Note: The Machine Power relay remains energized when the Engine Start relay is energized.

Note: When cranking the engine, the Terrain display on the machine may restart. It may be necessary to reestablish the connection to the machine VNC server for Terrain display manually if communication is lost during this process. Consult your VNC implementation for options on automatically reestablishing a connection.

Main Screen

Illustration 31	g06034311
Main screen (34) Left - hand side of the main screen (refer to illustration 32) (35) Dash cluster section of the main screen (refer to illustration 34) (36) Center section of the main screen (refer to illustration 38) (37) Right - hand section of the main screen (refer to illustration 35) (38) Bottom section of the main screen (refer to illustration 39)

The Main Screen appears after the operator enables the communication to the machine through the Operator Station. The Main Screen has five basic sections of the screen that include:

• Left - hand side of the main screen (34)

• Dash cluster section of the main screen (35)

• Center section of the main screen (36)

• Right - hand section of the main screen (37)

• Bottom section of the main screen (38)

Left - Hand Side of the Main Screen

Illustration 32	g06034213
Left - hand side of the main screen (29) Active "Work Group" machines (30) Machine selection button (31) Work light select button (32) Work light on/off button (33) "Right Hand Control" selected indicator

In the left-hand side of the active "Work Group" machines, is the active diagnostics / events indicator.

Illustration 33	g06034350
"Work Group" active diagnostics / events indicator (29) Active "Work Group" machines (39) Active diagnostics indicator (40) RC connection status indicator (41) Unmanned system status

Active diagnostics / events indicators are on the left-hand side of the Active "Work Group" machines display.

This indicator is intended to make an operator aware of machine-specific diagnostic events. When a diagnostic event has occurred, the indicator will begin flashing and change to a color appropriate to the level of the event.

Level 1 Warning

Level 2 Warning

Level 3 Warning

For more information regarding Active Diagnostics Events refer to the "Active Diagnostics Events, and Terrain Avoidance Level Warnings Window" section of the Operation and Maintenance Manual, SEBU8519, "Cat^® Command for Dozing, Remote Control Operator Station", "Indicators" chapter.

Reference: For more information on the icons used to display the status of the remote control session in the Active "Work Group" machines button refer to the "Unmanned System Status" section.

Dash Cluster Section of the Main Screen

Illustration 34	g03886004
Dash cluster section of the main screen (42) Engine coolant temperature gauge (43) Engine speed gauge (44) Fuel level gauge (45) Torque converter outlet oil temperature gauge (46) Bi - directional auto shift mode indicator (47) Digital engine speed indicator (48) Operator requested gear indicator (49) Status bar (50) Hydraulic oil temperature gauge

The Dash Cluster section is located in the top center of the Main Screen and contains the following indicators and gages:

Right - Hand Section of the Main Screen for Machines with Serial Number Prefixes AMA, ; JEL, ; JNS, and ; MDG

Illustration 35	g06034389
Right - hand section of the main screen (AMA, ; JEL, ; JNS, and ; MDG) (51) Delayed engine shutdown override button (52) Keyswitch on/off button (53) Engine crank button (54) Park brake button (55) Implement lockout button (56) "Engine Speed" toggle button (57) Unmanned system status message (58) Reason for last stop message

The Right - Hand Section of the Main Screen (AMA, ; JEL, ; JNS, and ; MDG) contains the following controls and indicators:

Right - Hand Section of the Main Screen for Machines with Serial Number Prefixes GEB, ; RJG, and ; TPB

Illustration 36	g06034391
Right - hand section of the main screen (GEB, ; RJG, and ; TPB) (52) Keyswitch on/off button (53) Engine crank button (54) Park brake button (55) Implement lockout button (56) "Engine Speed" toggle button (57) Unmanned system status message (58) Reason for last stop message

The Right - Hand Section of the Main Screen (GEB, ; RJG, and ; TPB) contains the following controls and indicators:

Unmanned System Status

If communications are considered lost, no icon shall be displayed except when the last received status is either Manual Override or Manual. In these instances, the icon will be on until a valid Unmanned System Status (within the Machine Heartbeat Message) OR the Machine Available Message is received.

The icon shall remain regardless of whether the Operator Station considers the Reservation terminated. When the icon is latched, the Operator Station PC is also responsible for transmitting the latched value to each of the Operator Station subsystems (OBV, Video Decoder, and so on).

Loss of Communications - There is no communication between the machine And the Operator Station.

If the last known Unmanned System Status is Manual Override ($061C), this icon will continue to be displayed until either the:

• Operator Station considered the Reservation terminated

• Communications with the machine are established once more (that includes either Machine Available or Machine Heartbeat messages)

Note: If the last known unmanned state is Manual Override, the Manual Override icon shall continue to be displayed until the reservation is considered terminated or communication with the machine is reestablished.

Off - None

Manual - The machine must be controlled from within the cab and the RC System is powered down.

(Unmanned) Manual Override - The machine is being or can only be controlled from within the cab. The RC System is still powered but not active.

Remote Control Pending - The machine is powered down (engine off). The RC System is waiting assignment to a method of RC control.

Remote Control Reserved - The machine is powered down (with engine off). The RC System has been assigned to a method of control. The machine is not able to be assigned to another control method in this state.

Remote Control Shutdown - This state has the same behavior as "Remote Control Reserved" with a separate state used to determine why the RC System stopped the machine.

Remote Control Deactivated - The machine is powered with engine running (if already running before entry into this state) with park brake and implement lockout engaged.

In this state, the RC System can be reactivated. If not reactivated the mode will be changed to RC Reserved.

Remote Control Stop - This state has the same behavior as RC Idle in a separate state used to determine why the RC System stopped the machine.

Remote Control Run - In this state, a remote operator has control of the machine from the console or station.

Remote Control Override - The remote operator has complete control of the machine from the console or station when overriding either an Avoidance Condition or a (overridable) Level 3 Event/Diagnostic.

• This state will transition to RC Idle if the Level 3 condition persists beyond the Level 3 Override Timeout Period

• This state will transition to Idle Stop if the Avoidance condition persists beyond the Avoidance Override Timeout Period

Remote Control Pause - The machine power and engine are left running (if already running from RC Active) with the park brake and implement lockout engaged.

This state is entered from RC Active when an RC session is made dormant from the Operator Station switching to a different machine (for multiple machine RC). (Blink back and forth between the two symbols)

The status message is displayed in text below the Engine Speed Toggle in the Run state text (58) as shown in Illustrations 35 and 36.

Illustration 37	g06034213
Left - hand side of the main screen (29) Active "Work Group" machines (30) Machine selection button (31) Work light select button (32) Work light on/off button (33) "Right Hand Control" selected indicator

Note: The status icon is displayed in the Active "Work Group" machines button (29).

Reason for Last Stop Message

The Reason for Last Stop message is always generated by the last Active to Inactive Mode transition. The Reason for Last Stop is unchanged when modes change from one inactive mode to another inactive mode. When in an active mode The Reason for Last Stop is "None".

The following table contains the different Reasons for Last Stop of the RC machine. The Reasons for Last Stop Message will appear on the right-hand side of the Machine Control Screen underneath the Unmanned System Message, as seen in Illustrations 35 and 36.

Center Section of the Main Screen

Illustration 38	g03875295
Center section of the main screen (34) Machine pitch and roll indicators (35) Track slip indicator (36) Ground speed indicator (37) Track speed indicator

The Center Section of the Main Screen contains the following:

Bottom Section of the Main Screen

Illustration 39	g03875297
Bottom section of the main screen (38) Active diagnostics and events window (39) Automation control button (40) Settings screen button (41) Parameters screen button (42) Control Instructions screen button

The Bottom Section of the Main Screen contains the following:

Refer to "Indicators" section for more information on the Active Diagnostics and Events Window.

Work Light Select Button Screens

Illustration 40	g03875301
Work light buttons (13) Work light select button (14) Work light on/off button

The Work Light On / Off button (14) allows the operator to turn the work lights on and off. When the Work Light Select Button (13) is pressed, the user interface program takes the operator to the Work Light Select screen.

Illustration 41	g03886940

The Work Light Select screen is accessible when the Work Light Select Button (13) is pressed. The Work Light Select screen allows the operator to select an individual work light to turn on or off as needed.

Operator Station Controls and Machine Response

Operator Station Remote Shutdown Switch

The Operator Station Remote Shutdown Switch is used to shut down the machine electronic controls in an emergency. The Shutdown command causes the Machine to be placed into commanded stop Mode. Remote Shutdown Mode is a subset of RC Reserved.

The following will be observed on the Operator Station:

• The Machine is brought to a controlled stop, park brake and implement are locked, Engine is brought to low idle.

• The "Remote Control Status Indicator / Reason For Last Stop Field" will show "Command Stop" for the last stop activated for the system.

• The Machine Remote indicators will be Solid Blue, Flashing Red.

• An event is logged by the RCM and Operator Station when the Operator Station Remote Shutdown Switch is used to shut down the machine.

Implement Controls

The Implement Controls of the Operator Station are listed here:

• Implement Control Blade Control (raise/ lower, tilt left/right, pitch forward/back, float)

• Single/Dual Tilt Blade Mode (assuming dual tilt is installed on machine)

• Auto Blade Assist Mode (If installed)

• AutoRip if installed and equipped (AMA, ; JEL, ; JNS, and ; MDG only)

• Implement Control / Ripper Control (raise/ lower, in/out, AutoStow, AutoRip ) (if installed and enabled)

• Implement Select Switch (trigger on Implement handle)

• Implement Lockout

The implement commands from the Operator Station are sent to the Remote Control ECM. The Remote Control ECM then relays the implement commands to the machine Implement ECM via the machine CAN circuit. The system utilizes the existing implement system of the machine to control the implement.

Power Train Controls

The power train Controls of the Operator Station are listed here:

• Steer/Direction control (Direction (FNR), and Steering finger tip controls)

• Gear Selection (1 or 2)

• Bi-directional / Enhanced Autoshift (configured from the touch screen) (AMA, ; JEL, ; JNS, and ; MDG only)

• AutoKickdown (configured from the touch screen)

• Service Brake pedal

• Parking Brake (on the touch screen application)

The power train commands from the Operator Station are sent to the Remote Control ECM. The Remote Control ECM then relays the implement commands to the machine Implement ECM via the machine CAN circuit. The system utilizes the existing implement system of the machine to control the implement.

Engine Controls

The Engine Controls of the Operator Station are listed here:

• Engine Start

• Engine Speed (via touch screen application, high/low toggle and maximum engine speed percentage selector.)

• Engine Shutdown button (on touch screen application)

• Engine Deceleration pedal

The engine commands that are not functions of the RCM are sent from the Operator Station to the RCM. The RCM then relays the engine commands to the machine engine ECM via the machine CAN circuit. The system utilizes the existing engine controls of the machine to control the machine.

Light Switch

The D10T and D11T uses eight sets of lights and, therefore, eight lighting circuits. Only seven of these circuits are controlled by the Command System. The Command System does not control the on-board backlighting (of switches and instruments). Of those seven, only six of the circuits are purely electrical and, therefore, require relays to be controlled. The fender lights are controlled via the power train ECM, which reads a switch and controls the lights via an on-board relay controlled via one of the power train ECM output drivers. The RC System controls the machine lights via the Machine Light Button on the Operator Station. When the Machine Light Button is sensed ON, the Command system sends a message to the power train ECM to activate lighting.

The D8T uses six sets of lights that are controlled via sinking drivers on the power train ECM. The RC System controls the machine lights via the Machine Light Button on the Operator Station. When the Machine Light Button is sensed ON, the Command system sends a message to the power train ECM to activate lighting

Illustration 42	g02458761

The lights can be controlled either from the switch on the machine or with the Command System. If either the machine switch controlling a lighting circuit is ON or the Operator Station light switch is turning the light ON, the light will be ON. So, if a switch on the machine is controlling a lighting circuit is ON, then the Command System cannot turn that circuit OFF. So, that a person in the cab of the machine can visually alert the remote operator that someone is in the cab of the machine.

The RC System controls the lights via one switch on the RC station touch screen. When this switch is sensed ON, the Command system energizes all six of the lighting relays. These are Cylinder Lights, Ripper Lights, Forward ROPS 1, Forward ROPS 2, Rear ROPS 1, and Rear ROPS 2. The two Forward ROPS relays (1 and 2) are energized via one output of the RCM. This energizing is also true for the two Rear ROPS relays (1 and 2).The lights can be selected independently using the Work Light Select button. When using this button a pop-up box showing a profile of the machine and the lights available to be selected.

Because the fender lights are controlled electronically (and not electrically), those lights are controlled via a CAN message sent from the RCM to the power train ECM. When in Remote Mode, the power train ECM ignores the lighting circuit and uses RCM commands to control the fender lights.

Fire Suppression

Since Caterpillar does not provide Fire Suppression Systems to customers, the Command System provides a means to electrically or electronically actuate a fire suppression system. Because most Fire Suppression Systems are costly to recharge and clean up after once activated, Fire Suppression is activated by a guarded toggle switch on the Operator Station. The guard must be lifted prior to actuating the 2-position maintained Fire Suppression switch. Fire suppression is actuated via a relay. The RC System only controls the relay coil. The common, NC, and NO pins are provided to the customer via a 3-pin connector in the RC System harness.

Illustration 43	g06031556

When the Fire Suppression Switch is turned to the ON position, the Operator Station sends the command to the RCM which then energizes the coil of the fire suppression relay.

Illustration 44	g03704141

As a warning to the operator, fire suppression switch film should be installed around the guarded toggle. Refer to Illustration 43.