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| Illustration 1 | g02799818 |
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A-Stop Receiver (8) Antenna connector | |
| A-Stop Connector | |
|---|---|
| Pin Location | Signal Identification |
| 1 | + Battery |
| 2 | - Battery |
| 3 | NC |
| 4 | NC |
| 5 | NC |
| 6 | NC |
| 7 | NC |
| 8 | CAN High |
| 9 | CAN Low |
| 10 | CAN Shield |
| 11 | NC |
| 12 | NC |
There are two A-Stop receivers per autonomous truck and one per autonomous Track Type Tractor. The receiver is powered from the machine 24V supply. The receiver receives and transmits at 919 MHz through the antenna which connects with a cable to the antenna connector (8) located on the side of the receiver. Each receiver communicates with the autonomous system using a CAN bus.
On Autonomous Trucks, a heartbeat message is continuously sent between the two receivers. The heartbeat messages allow for a full system test that checks from the antenna down to the receiver. The test verifies proper functionality of the system. If at any time the heartbeat stops, an event code is activated and the machine will stop.
On Track Type Tractors, a heartbeat message is continuously sent between the receiver and the RCM. The heartbeat message tests the ability of the receiver to send an A-Stop signal to the RCM. The test verifies proper functionality of the A-Stop communication system. If at any time the heartbeat stops, an event code is activated and the machine will come to a stop.