Calibrations for Maintenance
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| Calibration | Radar and LIDAR check and adjust | Perception Verification | Perception Calibration | Positioning | Planning Checkout |
|---|---|---|---|---|---|
| Type of Calibration | Mechanical | Running | Autonomy OCS | ||
| Documentation | M0082032 | REHS8845 | |||
| Time | 30-60 min. | 30-60 min (rear diff. 104 deg) | 30-45 min. | 60 min. | 60 min. |
| # of people required | 1 | 2 | 2 | 2 | 2 |
| Service Performed | Calibrations Required | ||||
| Brake System | |||||
| Brake solenoids - remove/replace/adjust | x | x | |||
| Brake relay valve - remove/replace/adjust | x | x | |||
| Brake ECM - remove/replace | x | ||||
| Any brake system part replacement or adjustment that may affect brake performance or response. | x | x | |||
| Suspension | |||||
| Suspension cylinder front or rear - remove/replace/adjust | x(1) | x, if radar or LIDAR adjusted | x, if radar or LIDAR adjusted | x, Steering and tracking tests only | |
| Any adjustment or replacement of a suspension system component that affects alignment. | x, Steering and tracking tests only | ||||
| Any adjustment or replacement of a suspension system component that affects the pitch of the truck. | x | x | x | x | |
| Steering | |||||
| Steering Cylinder - replace/reseal/remanufacture | x | ||||
| Primary steering ECM - remove/replace | x | ||||
| Steering valves or steering solenoid - remove/replace | x | ||||
| Steering flow amplification valve - remove/replace | x | ||||
| Perception | |||||
| LIDAR or LIDAR mounting bracket - move/remove/replace | x | x | x | ||
| Radar or radar box - move/remove/replace | x | x | x | ||
| Positioning | |||||
| GPS antenna - move/remove/replace | x | ||||
| Any modification or adjustment to the mounting structure for the GPS mast. | x | x | x | ||
| IMU or IMU mounting bracket - move/remove/replace | x | x | x | ||
| Other | |||||
| Wash LIDAR sensor area | (1) | x, LIDAR adjusted | x, LIDAR adjusted | ||
| Move to run in manned area outside of operations team control | (1) | x, LIDAR adjusted | x, LIDAR adjusted | x | x |
| Lube/Preventive Maintenance or moved outside of autonomous area outside of operations team control | Refer to above table for required calibrations | ||||
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| (1) | If the check procedure results in an adjustment of the LIDAR / IMU mount a perception calibration and perception verification must be performed. |
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| Calibration | Arm Steering System/Solenoid Calibration | Steering Cylinder Position Sensors Calibration (steering straight ahead) | Left/Right steering cylinder Trim Data Upload | Brake Solenoid Calibration |
|---|---|---|---|---|
| Type of Calibration | Cat Electronic Technician | |||
| Documentation | UENR2227 | UENR2210 | ||
| Time | 10-15 min. (Steering Oil Hot) | 10-15 min. | 15 min. | 30 min. (Brake Oil Hot) |
| # of people required | 1 | 2 | 1 | 1 |
| Service Performed | Calibrations Required | |||
| Brake System | ||||
| Brake solenoids - remove/replace/adjust | x | |||
| Brake relay valve - remove/replace/adjust | x | |||
| Brake ECM - remove/replace | x | |||
| Any brake system part replacement or adjustment that may affect brake performance or response. | ||||
| Suspension | ||||
| Suspension cylinder front or rear - remove/replace/adjust | ||||
| Any adjustment or replacement of a suspension system component that affects alignment. | ||||
| Any adjustment or replacement of a suspension system component that affects the pitch of the truck. | ||||
| Steering | ||||
| Steering Cylinder - replace/reseal/remanufacture | x | x | ||
| Primary steering ECM - remove/replace | x | x | x | |
| Steering valves or steering solenoid - remove/replace | x | |||
| Steering flow amplification valve - remove/replace | x | |||
| Perception | ||||
| LIDAR or LIDAR mounting bracket - move/remove/replace | ||||
| Radar or radar box - move/remove/replace | ||||
| Positioning | ||||
| GPS antenna - move/remove/replace | ||||
| IMU or IMU mounting bracket - move/remove/replace | ||||
| Other | ||||
| Wash LIDAR sensor area | ||||
| Move to run in manned area outside of operations team control | See Steering section above | See Steering section above | See Steering section above | See Brake System section above |
| Lube/Preventive Maintenance or moved outside of autonomous area outside of operations team control | Refer to above table for required calibrations | |||
Assumption
- Software upgrade specific instructions must be followed any time software updates are performed. Instructions may be specific to each individual software release.
- It is assumed the operation team understands precisely what service was performed when a truck is returned from service.
Time Estimate Assumptions
- Calibrations do not fail or significant problems are not encountered
- Service tools are working and properly configured (ie laptop with Cat ET 2013A or later, and an OCS laptop with current software)
- Experienced technician and/or installer running the calibrations
- Additional individual in driver's seat who has been briefed on calibration procedures or who has performed the procedures previously (operator of machine cannot operate laptop at same time)
- Machine that has been properly inspected and warmed to operating temperature.
- For perception verification test haul road dust must be minimized to ensure that the truck will reach full speed
- Since the perception verification is a loaded run it can be productive work
Caterpillar Information System:
An Improved Routing of the Auxiliary Drain Hose is Now Used on Certain 232D Skid Steer and 249D Compact Track Loaders {5057} An Improved Routing of the Auxiliary Drain Hose is Now Used on Certain 232D Skid Steer and 249D Compact Track Loaders {5057}
New Location for the Pilot Check Valve Group and the Union Is Now Used on Certain Knuckleboom Loaders {5057, 5067} New Location for the Pilot Check Valve Group and the Union Is Now Used on Certain Knuckleboom Loaders {5057, 5067}
986K Wheel Loader Fuel Tank Cap and Strainer - Clean
24M Motor Grader Power Train Torque Converter Stall - Test
24M Motor Grader Power Train Torque Converter Stall - Test
An Improved Stabilizer Control Valve Group Is Now Used on Certain Backhoe Loaders {5051} An Improved Stabilizer Control Valve Group Is Now Used on Certain Backhoe Loaders {5051}
427F2 Backhoe Loader Lubricant Viscosities - Fluids Recommendations
Service Replacements for the Water Separator Element in Certain Overhaul Kits Are Now Available on Certain 416D and 416E Backhoe Loaders {1000} Service Replacements for the Water Separator Element in Certain Overhaul Kits Are Now Available on Certain 416D and 416E Backhoe Loaders {1000}
Service Replacements for the Gasket Kit in Certain Overhaul Kits Are Now Available on Certain 416D Backhoe Loaders {1000} Service Replacements for the Gasket Kit in Certain Overhaul Kits Are Now Available on Certain 416D Backhoe Loaders {1000}
Instructions to Subscribe to Advanced Productivity From the Dealer Service Portal (DSP) After Upgrading to 2016A or Later Product Link Firmware {7606} Instructions to Subscribe to Advanced Productivity From the Dealer Service Portal (DSP) After Upgrading to 2016A or Later Product Link Firmware {7606}
Service Replacements for the Piston Kit and the Water Separator and Fuel Filter As in Certain Overhaul Kits Are Now Available on Certain 416E Backhoe Loaders {1213, 1214, 1215, 1218, 1219, 1225, 1239, 1258, 1260, 1261} Service Replacements for the Piston Kit and the Water Separator and Fuel Filter As in Certain Overhaul Kits Are Now Available on Certain 416E Backhoe Loaders {1213, 1214, 1215, 1218, 1219, 1225, 1239, 1258, 1260, 1261}
The Hydraulic Fluid Return Hose Material Has Been Improved on Certain F and F2 Series Backhoe Loaders. {5057} The Hydraulic Fluid Return Hose Material Has Been Improved on Certain F and F2 Series Backhoe Loaders. {5057}
New Muffler Group Is Now Used on Certain 24M Motor Graders {1062} New Muffler Group Is Now Used on Certain 24M Motor Graders {1062}
986K Wheel Loader Fuel System Secondary Filters - Replace
797F CMD Off-Highway Trucks Object Detection - Check/Adjust - Autonomy Perception
797F CMD Off-Highway Trucks Object Detection Sensor (Radar) - Check/Clean - Autonomy Perception
797F CMD Off-Highway Trucks Sensor (LIDAR) and Camera - Check/Clean
793F CMD Off-Highway Trucks Perception System - Calibrate
730,735 and 730 EJECTOR Articulated Truck Systems Window Wiper - Rear
745 and 740 GC & 740 EJECTOR Articulated Truck Systems Walkway
745 and 740 GC & 740 EJECTOR Articulated Truck Systems Walkway - Auto-Lube
Certain Off-Highway Truck Engines May Experience Overcooling {1000, 1350, 7490, 7610, 7620} Certain Off-Highway Truck Engines May Experience Overcooling {1000, 1350, 7490, 7610, 7620}
745 and 740 GC & 740 EJECTOR Articulated Truck Systems Flood Lamp - (24 Volt), (Suspended)
745 and 740 GC & 740 EJECTOR Articulated Truck Systems Solenoid Valve - Park Brake Control, Brake Charge Control