797F CMD Off-Highway Trucks Caterpillar

Sensor (LIDAR) Inspect

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Rotating Parts Hazard! Prior to cleaning the Lidar, ensure that the Lidar is stopped and the lidar shut off switch in the autonomy cabinet is in the OFF position. Rotating objects could cause serious injury. Read and follow the Operation and Maintenance Manual for information on the autonomy cabinet.

1. Ensure that the machine key switch is in the OFF position and the lidar shut off switch in the autonomy cabinet is in the OFF position.

2. Rotate head (1) gently by hand.

   Note: Head should rotate freely. There should be no bearing noise or rotating resistance. If there is resistance or bearing noise, move the lidar shut off switch in the autonomy cabinet to the ON position. Turn the machine key switch to the ON position. Allow LIDAR to spin for several minutes. If noise or spinning resistance persists, then replace sensor.Before proceeding with inspection or cleaning, ensure that the machine key switch is in the OFF position and the lidar shut off switch in the autonomy cabinet is in the OFF position.

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   Illustration 1	g06203266

   1. Ensure that the mounting bolts are tight.

   2. Ensure that both ground straps are securely fastened.

   3. Ensure that isolation mounts are flexible and not cracked.

   4. Inspect IMU is straight and level.

   5. Inspect electrical connections are tight, secure, and free of cracks and corrosion.

3. Check the LIDAR for an excessive amount of mud or other materials.

   Note: When the LIDAR is covered with mud or other debris, clean the LIDAR and remove debris.

4. If the LIDAR has been moved, removed, or replaced, then refer to Operation and Maintenance Manual, "Calibrations for Maintenance"

Autonomy Camera Inspect

Illustration 2	g06203267

1. Check cameras for proper alignment. Check for paint pen marks to verify that all cameras are positioned correctly.

2. If paint pen markings are not aligned or are not visible, then verify camera alignment using the Operator Control Station (OCS). Refer to Operation and Maintenance Manual, "Camera - Adjust" for proper camera alignment.

Sensor (LIDAR) and Cameras Cleaning Instructions

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Rotating Parts Hazard! Prior to cleaning the Lidar, ensure that the Lidar is stopped and the lidar shut off switch in the autonomy cabinet is in the OFF position. Rotating objects could cause serious injury. Read and follow the Operation and Maintenance Manual for information on the autonomy cabinet.

1. Use a damp cloth with non-abrasive soap to clean the glass of the LIDAR sensors and cameras.

2. Perform a perception system calibration if glass is scratched. Refer to Special Instruction, REHS8845, "Autonomous Calibration Procedure".