Check the LADAR on Cat® Command for Underground Equipped Machines {1439, 7600} Caterpillar

Check the LADAR on Cat® Command for Underground Equipped Machines {1439, 7600}

Usage:

- MXX

Machine Control and Guidance Products: COMMAND (S/N: MXY1-UP); MINEGEM (S/N: MXX1-UP)

Introduction

The problem that is identified below does not have a known permanent solution. Until a permanent solution is known, use the solution that is identified below.

Problem

Field service reports indicate a high incidence of contamination of Laser Detection and Ranging (LADAR) sensors, on Cat^® Command for Underground Equipped Machines. Pollution of a 379-9820 Sensor may cause machine conditions described on Table 1, dependent on the severity of contamination.

Check the notification log on the tactical monitor for a diagnostic code, following potential contamination of a LADAR sensor.

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Illustration 1	g03745466
Typical example Notification log on the tactical monitor

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Table 1
Machine Automation System (MAS) Diagnostic Code List
Code	Screen Message	Description / Conditions
9170	Rear LADAR Pollution (3)	Rear LADAR is reporting major screen pollution. Machine under Copilot control type will be placed in to standby mode. Machine using tele-remote control type will not change mode. LADAR may not correctly scan some measurements while diagnostic code is active Operation may continue while machine is in tele-remote control.
9171	Rear LADAR Pollution (2)	Rear LADAR is reporting screen pollution. Machine mode remains unchanged. LADAR may not correctly scan some measurements while diagnostic code is active
9172	Rear LADAR Pollution (1)	Rear LADAR is reporting screen pollution. Machine mode remains unchanged. LADAR may not correctly scan some measurements while diagnostic code is active
9173	Rear LADAR Pollution (4)	Rear LADAR is reporting critical screen pollution. Machine under Copilot control type will be placed in to standby mode. Machine using tele-remote control type will not change mode. LADAR may not correctly scan some measurements while diagnostic code is active Operation may continue while machine is in tele-remote control.
9180	Front LADAR Pollution (3)	Front LADAR is reporting major screen pollution. Machine under Copilot control type will be placed in to standby mode. Machine using tele-remote control type will not change mode. LADAR may not correctly scan some measurements while diagnostic code is active Operation may continue while machine is in tele-remote control.
9181	Front LADAR Pollution (2)	Front LADAR is reporting screen pollution. Machine mode remains unchanged. LADAR may not correctly scan some measurements while diagnostic code is active
9182	Front LADAR Pollution (1)	Front LADAR is reporting screen pollution. Machine mode remains unchanged. LADAR may not correctly scan some measurements while diagnostic code is active
9183	Front LADAR Pollution (4)	Rear LADAR is reporting critical screen pollution. Machine under Copilot control type will be placed in to standby mode. Machine using tele-remote control type will not change mode. LADAR may not correctly scan some measurements while diagnostic code is active Operation may continue while machine is in tele-remote control.

Solution

Caterpillar is aware of the problem, but an interim repair has not yet been defined. In the event of a "LADAR Pollution" error code listed on Table 1, complete the following steps.

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Illustration 2	g06247225
Typical front LADAR

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Illustration 3	g06247226
Typical rear LADAR

Remove dust and foreign material from the LADAR sensor lens with a clean and soft brush.
Clean the LADAR sensor lens with a non-abrasive cloth. Check for dust, dirt, scratches, and other contamination.
Note: Do not use aggressive detergents or abrasive cleaning agents on the LADAR sensor lens.
Note: Do not use high-pressure hoses on the LADAR.
Replace the LADAR sensor with a new 379-9820 Sensor if cleaning does not remove diagnostic code.