When the Machine ECM activates an event code, the operator or the technician will be alerted. Most active events will be logged by the ECM. Some events are not logged to the ECM. The active events and the logged events can be viewed with the Operator Monitor or the Cat® Electronic Technician (Cat ET)
The ECM will assign one of the three warning levels to an active event code according to the severity of the abnormal system condition. Each warning level requires a specific response from the operator. The warning levels and required operator response are listed below.
Warning Level 1 alerts the operator that a machine system requires attention. The operator should check the involved system. Perform any necessary maintenance to the system at the earliest possible time.
Warning Level 2 requires changing the operation of the machine or performing a maintenance procedure. Failure to correct the problem behind this warning will damage the components that are involved. The problem that caused the event requires correction, before the machine can resume operation.
Warning Level 3 requires an immediate safe shutdown of the machine to avoid damage to the machine or injury to personnel around the machine. The problem that caused the event must be corrected before machine operation can resume.
Indications and System Response
| WARNING OPERATION | |||
|---|---|---|---|
| Warning Level | Action Alarm | Action Indicator | Information Display Pop Up Message |
| 1 | OFF | OFF | Depends on the event type |
| 2 | OFF | Flash ON and OFF | Depends on the event type |
| 3 | Pulse ON and OFF | Flash ON and OFF | ON |
Cat ® Electronic Technician (Cat ET)
When an abnormal operating condition occurs, the status screen on the Operator Monitor or Cat ET indicates that there is an active event.
Event codes are displayed on Cat ET or the monitor 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 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.
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| Illustration 1 | g06107612 |
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Typical Cat ® Electronic Technician (Cat ET) screen for logged event codes | |
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| Illustration 2 | g06107615 |
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Typical Cat ET screen for active 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 has not reoccurred for 150 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.
Perform the following steps in order to troubleshoot an event:
- Obtain the following information from the operator monitor and the machine operator:
- The event and the time of the event
- Determine the operating conditions before and after 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.
- Some of the events below can become active during normal system operation. Verify that the event is not due to error of the operator.
- Check all fluid levels and all oil levels.
- Troubleshoot and repair any active diagnostic codes.
The following table lists the event codes that apply to the control system of the machine. The recommended response is listed. Use the Cat ET service tool to determine the event codes that are active or logged.
| Event Codes for the Remote Control Module (RCM) (MID 126) | |||
|---|---|---|---|
| EID | Warning
Level |
Description | Possible Cause
Recommended Response |
| 0119 | 1 | Low Fuel Level | Fuel Level has dropped below 5 percent Refuel the machine |
| 0387 | 2 | Excessive Track Slip | Auto Active terminated due to stuck machine (via spinning tracks) |
| 0395 | 2 | Transmission Stall Condition | Auto Active terminated due to stuck machine (via stall out) |
| 0481 | 1 | DGPS Correction Signal Lost | When GPS is not received during the start-up of the Navigator or G610 |
| 0481 | 2 | DGPS Correction Signal Lost | When GPS accuracy mode is worse than RTK and accuracy is calculated to more than |
| 0861 | 1 | Clock Manual Alignment Required | The ECM service meter clock is out of synchronization with the other ECM clocks. Automatic adjustment is not possible. |
| 1132 | 3 | Inconsistent Configuration Detected | RCM software version is on wrong machine (for Gen1/2 only) |
| 1137 | 3 | Remote Control System Shutdown Due to Signal Interference | Shutdown due to signal interference |
| 1138 | 3 | Remote Control System Shutdown Due to Low Signal Strength | RC Console and Transceiver lose acceptable communications due to range or interference. - Move machine / console to know good location - Restart system |
| 1252 | 1 | Low Machine Position Accuracy | POSE Solution Degraded beyond Autonomy limit. Only raised if Autonomy is selected – Refer to latest CFD Mode Spec for limits |
| 1252 | 2 | Low Machine Position Accuracy | POSE Solution Degraded beyond RC limit. Refer to latest CFD Avoidance spec for details |
| 1317 | 1 | Avoidance System Override Activated | RC is reactivated while EID 0481, EID 1557, or EID 2132 are active. - Clear noted event codes, and restart RC |
| 1337 | 3 | Access Ladder Lowered | Ladder is detected to not be in the up and locked position |
| 1346 | 2 | Other Equipment Position within Proximity Undetermined | When AMP message isn't received for too long. The position of other equipment of interest (within Proximity) is unknown or have low accuracy. |
| 1372 | 2 | Machine Speed Not Responding to Command | Raised when autonomous machine is attempting to upshift or downshift but transmission is not responding or changing gears as desired |
| 1394 | 2 | Unacceptable Machine Orientation | Machine detected to be at "high" pitch or roll |
| 1394 | 3 | Unacceptable Machine Orientation | Machine or Onboard IMU is in an unacceptable position. - Visually verify that the machine and IMU are correctly positioned - Restart the system |
| 1497 | 2 | Unacceptable Machine Trajectory Prediction | Excessive slope detected in the Terrain to be traveled over |
| 1548 | 2 | Manual Override Activated | This event code is active any time the Manual Override mode is active on the machine. - Switch must be in RC position AND the machine must be cycled at the ground level service center |
| 1549 | 2 | Remote Control Fire Suppression System Commanded | This event will be active any time the fire suppression system is active, even when testing the fire suppression system. - Verify that the fire suppression system has deployed - Restart the system |
| 1549 | 3 | Remote Control Fire Suppression System Commanded | This event will be active any time the fire suppression system is active, even when testing the fire suppression system. - Verify that the fire suppression system has deployed - Restart the system |
| 1550 | 3 | Remote Control Gateway Not Detected | The Remote Control Gateway is not configured correctly in Cat ET. Reference the Configuration guide for details. |
| 1551 | 2 | Operator Inactive | The station operator has remained inactive for too long. - Initiate the start-up sequence again |
| 1552 | 3 | Loss of Video Feedback | This event is active when the camera is set to installed and critical video feed is not received. Critical video feed is the feed from the camera for the current direction of travel. - Troubleshoot connections and harness between the camera and the RCM |
| 1553 | 3 | Remote Operator Not Present | The station operator seat sensor has remained inactive for too long. - Initiate the start-up sequence again |
| 1554 | 3 | Avoidance System Configuration File Invalid | Avoidance is installed and turned on, but there is no valid configuration file. - Check the Terrain/CAES configuration and setup - Turn off avoidance |
| 1555 | 3 | Avoidance System Design File Invalid | Avoidance is installed and turned on, but there is no valid design file. - Check the Terrain/CAES configuration and setup - Turn off avoidance |
| 1556 | 3 | Avoidance System Configuration File Bounding Boxes Invalid | Avoidance is installed and turned on, but the bounding boxes are not valid. - Check the Terrain/CAES configuration and setup - Turn off avoidance |
| 1557 | 1 | Mobile Object Detected within Machine Proximity | Machine is too close to an object in the proximity system. -Verify position of machine and the detected object - Move away from avoidance zone, or correct zone locations |
| 1557 | 2 | Mobile Object Detected within Machine Proximity | Machine is too close to an object in the proximity system. -Verify position of machine and the detected object - Move away from avoidance zone, or correct zone locations |
| 1608 | 3 | All Stop Activated | Denotes that an A-STOP has been activated. - Clear the A-STOP on all activating devices (Refer to the A-stop documentation) |
| 1609 | 2 | <Machine> Unable to Stay on Path | Cross Track Error too high. Could use EID 1482, 1497, or 497 |
| 1610 | 2 | <Machine> Not Aligned to Path | Too far misaligned to path (machine's heading vs. path direction) |
| 1611 | 3 | Office Site Management System Stop Activated | Stopped due to Office Stop |
| 1612 | 2 | Office Site Management System Pause Activated | Paused due to Office Pause |
| 1613 | 2 | Office Site Management System Communications Lost | Waiting for Office Communications to recover |
| 1614 | 2 | Autonomous Assignment Timeout | Waiting for Navigation Points, Cut Points, or ABA Not Reset |
| 1615 | 2 | Unexpected End of Path Detected | Detected the crest before the crest was expected |
| 1616 | 2 | Terrain Not Mapped for Current Trajectory | Unmapped terrain detected within current planned trajectory |
| 1901 | 1 | Invalid Operator Remote Control Channel | The machine has not been properly allocated by the station. - Go through the proper allocation process for the station and machine connection |
| 1909 | 1 | Multiple Operator Remote Control Signals Detected | RCM is detecting multiple controllers (multiple stations or consoles). - Verify users and reservations (active use by console, or active use or reservation by station) |
| 1911 | 3 | Operator Remote Control Signal Lost | This event code signifies a network connectivity issue. - Troubleshooting wireless network and Ethernet router Refer to MID 126 CID 4563 FMI 09 |
| 1912 | 3 | Operator Remote Control Stop Activated | A Stop has been activated from the station or console. - Troubleshoot MID 126 CID 3246 FMI 03 or other diagnostics first - Deactivate the STOP on the station or console - Initiate the start-up sequence again |
| 2074 | 3 | Engine Shutdown Due to Diagnostic | Loss of heartbeat signal from Engine ECM. - Troubleshoot diagnostic on CAN or on engine ECM - Verify that software versions are compatible - Verify that the RC enable pin is grounded at the Engine ECM - Verify that RC installation is set to installed and enabled on the Power Train ECM |
| 2115 | 3 | Implements Disabled Due to System Fault | Loss of heartbeat signal from Implement ECM. - Troubleshoot diagnostic on CAN or on Implement ECM - Verify that software versions are compatible - Verify that the RC enable pin is grounded at the Implement ECM - Verify that RC installation is set to installed and enabled on the Power Train ECM |
| 2132 | 1 | Geographical Exclusive Zone Boundary Violation | Machine has left the acceptable zone. - Manually return machine to the designated zone |
| 2169 | 3 | Power Train Disabled Due to System Fault | Loss of heartbeat signal from Power Train ECM. - Troubleshoot diagnostic on CAN or on Power Train ECM - Verify that software versions are compatible - Verify that the RC enable pin is grounded at the Power Train ECM - Verify that RC installation is set to installed and enabled on the Power Train ECM |
The following table lists the event codes that apply to the control system of the machine. The recommended response is listed. Use the Cat ET service tool to determine the event codes that are active or logged.
| Event Codes for the Operator Station ECM (MID 156) | |||
|---|---|---|---|
| EID | Warning
Level |
Description | Possible Cause
Recommended Response |
| 1549 | 3 | Remote Control Fire Suppression Commanded | This event will be active any time the fire suppression system is active, even when testing the fire suppression system. - Verify that the fire suppression system has deployed - Restart the system |
| 1912 | 3 | Operator Remote Control Stop Activated | A Stop has been activated from the station or console. - Troubleshoot MID 126 CID 3246 FMI 03 or other diagnostics first - Deactivate the STOP on the station or console - Reinitiate start-up sequence |
The following table lists the event codes that apply to the Semi-Autonomous Tractor system. The recommended response is listed. Use Cat ET to determine the event codes that are active or logged.
| Event Codes for the Planner ECM (MID ?) | |||
|---|---|---|---|
| EID | Warning
Level |
Description | Possible Cause
Recommended Response |
| 1480 | 2 | GPS Receiver Antenna Separation Out of Range | GPS Receiver Antenna position has changed from initial installation: GPS Antenna Separation Out of Range
Conduct a physical check to make sure the antenna positioning and the connectivity have not been compromised. |
| 1536 | 2 | Autonomous Control Module not receiving GPS Correction | Autonomous ECM is not receiving GPS corrections from base station
Replace IMU with an IMU known to be fully functioning and retest. |
| 1567 | 2 | Low Machine GPS Position Accuracy | Accuracy of Machine Position information from GPS is too low for operation: GPS Accuracy Not Sufficient
Reboot Terrain to make sure that Terrain has loaded correctly. If problem persists, check the integrity of the GPS system on board the machine. |
| 1703 | 2 | Inertial Measurement Sensor Accuracy Insufficient | Accuracy of Machine Orientation information from IMU is too low for operation: IMU Accuracy Insufficient |
Retrieving Log Files from the Operator Station PC
To retrieve log files, go to the Log Files folder by following the file path:
C:\Program Files (x86)\Caterpillar Inc\Operator Station\LogFiles- Logging starts only after receiving the first $30(Operator Station ECM Configuration) message from ROS ECM
- Log files are captured and stored in a raw text format to reduce file size
- All messages sent between the ROC ECM and ROC PC indicating status input of :
- Joysticks
- Switches
- Foot pedals
- All operator input from the GUI.
- All output commands sent to the connected machine.
- All incoming Machine heartbeat and status messages.
- All other messages.
- The Operator Station’s Machine Time Offset for All reserved machines.
- A time stamped screen shot bit map image is also created and stored whenever a machine has:
- A gage red zone is reached
- A pop-up is raised
- A level 3 diagnostic or event is raised
- An avoidance/proximity threat level 4 is detected
- An avoidance/proximity threat level 5 is detected
- All exceptions
Note: The PC Logger will provide descriptions for each of the screenshot bit map images.
Note: PC logs the messages between ROS PC<->OBV and ROS PC<->Video Decoder only if they are enabled.
Note: The Operator Station PC Data Logger will record all the reserved machines Time Offset (along with the machines Product ID) each time any one of the offsets changes. For more information regarding the Operator Station PC’s Machine Time Offset, refer to the latest Time Syncing Speclet (GPS UTC PC).