Cat® Command for Dozing, Operator Station Caterpillar

Emerging Symptom Information

Usage:

D11T AMA

Unmanned System Status Troubleshooting Tables

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Table 1
Machine Indicator: None or Solid Green
Remote Control ECM Unmanned Status (Cat ET): None (Remote Control ECM is Powered Down)
Input	Outputs
Action	Event Code	Diagnostic Code	Reason for Last Stop	Recommended Action	Notes
RC Enable Switch is off or Master Switch is off	N/A	N/A	N/A	Set RC/Manual Switch to RC to enable the Command for Dozing (CFD) System.	This cannot not be seen by the RCM as the system is powered down in Manual Mode. See below for a diagnostic condition on the RC/Manual Switch.

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Table 2
Machine Indicator: Solid Green
Remote Control ECM Unmanned Status (Cat ET): Manual Override
Input	Outputs
Action	Event Code	Diagnostic Code	Reason for Last Stop	Recommended Action	Notes
Manual Override Switch transitions from RC/RUN to MANUAL OVERRIDE position.	1548	N/A	Manual Override	Cycle RC/Manual Switch from RC to MANUAL and back to RC.	Going into Manual Override Mode can ONLY be undone by power cycling the system.
Manual Override Switch fault detected.	1548	4554	Diagnostic Trouble Code Active	Repair Manual Override Switch and cycle RC/Manual Switch from RC to MANUAL and back to RC.	Going into Manual Override Mode can ONLY be undone by power cycling the system.
RC/Manual Switch fault detected.	1548	3255	Diagnostic Trouble Code Active	Repair RC/Manual Switch and cycle RC/Manual Switch from RC to MANUAL and back to RC.	Going into Manual Override Mode can ONLY be undone by power cycling the system.
Mode Select Relay fault detected.	1548	3246	Diagnostic Trouble Code Active	Repair Mode Select Relay and cycle RC/Manual Switch from RC to MANUAL and back to RC.	Going into Manual Override Mode can ONLY be undone by power cycling the system.
Auxiliary Power Relay fault detected.	1548	3254	Diagnostic Trouble Code Active	Repair Auxiliary Power Relay and cycle RC/Manual Switch from RC to MANUAL and back to RC.	Going into Manual Override Mode can ONLY be undone by power cycling the system.

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Table 3
Machine Indicator: Sold Blue
Remote Control ECM Unmanned Status (Cat ET): RC Pending
Input	Outputs
Action	Event Code	Diagnostic Code	Reason for Last Stop	Recommended Action	Notes
Engine is not running and loss of communications link.	N/A	N/A	?	Reserve the machine via an Operator Console or Station.	Waiting to be reserved. The fact that this transition took place is not where the reason for last stop, event, and/or diagnostic matters.
RC/Manual Switch transitions from MANUAL to RC position.	N/A	N/A	None	Reserve the machine via an Operator Console or Station.	Waiting to be reserved.

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Table 4
Machine Indicator: Solid Blue and Flashing Red
Remote Control ECM Unmanned Status (Cat ET): RC Pending (But A Stop Activated)
Input	Outputs
Action	Event Code	Diagnostic Code	Reason for Last Stop	Recommended Action	Notes
A Stop has been activated	16008	N/A	All Stop	Clear the A Stop Remote

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Table 5
Machine Indicator: Solid Blue
Remote Control ECM Unmanned Status (Cat ET): RC Reserved
Input	Outputs
Action	Event Code	Diagnostic Code	Reason for Last Stop	Recommended Action	Notes
Operator Console is linked to the on-board transceiver or the Operator Station sends an RC Request.	N/A	N/A	UNCHANGED	Honk Horn to activate RC.	Machine is now reserved and RC can now be activated.
(Remote) Machine Power Switch is turned OFF while there is an active arbitrated communications link.	N/A	N/A	Normal	Power machine and honk horn to activate RC.	Machine is reserved and RC can be activated after powering the machine back-up.
(Remote) Machine Power Switch fault detected while there is an active arbitrated communications link.	N/A	1834	Diagnostic Trouble Code Active	Fix remote machine power switch, power machine, and honk horn to activate RC.	Machine is reserved and RC can be activated after powering the machine back-up.
Terminate function received with a reservation cancel command while reserved by Operator Station via the Station PC Heartbeat Message.	N/A	N/A	Normal	Reserve the machine via the same Operator Station or wait for the machine to shut down to reserve the machine by the Operator Console or reallocate the machine to another Operator Station.	Reservation is in the process of being canceled.
In RC Deactivated Mode for too long.	N/A	N/A	UNCHANGED	None.	Waiting to be reserved. The fact that this transition took place is not where the reason for last stop, event, and/or diagnostic matters. It was the transition into RC Deactivated (or RC Stop).
Engine is not running.	N/A	N/A	UNCHANGED	None.	Waiting to be reserved. The fact that this transition took place is not where the reason for last stop, event, and/or diagnostic matters. It was the transition into RC Deactivated (or RC Stop).

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Table 6
Machine Indicator: Solid Blue and Flashing Red
Remote Control ECM Unmanned Status (Cat ET): RC Shutdown
Input	Outputs
Action	Event Code	Diagnostic Code	Reason for Last Stop	Recommended Action	Notes
Terminate function received with an RC shutdown Stop resulting command while reserved by Operator Station either via the Station PC Heartbeat Message or Station ECM Heartbeat Message.	1912	Check diagnostics 0n Station	Remote E-Stop	Clear the remote terminate condition and press horn.	The CFD System will stay in the RC shutdown Stop Mode until the condition is reset and the horn is pressed, or the communications link to the arbitrated device is lost for a consecutive timeout period.
(Remote) E-Stop Switch pressed.	1912	N/A	Remote E-Stop	Release the E-Stop Switch and press horn.	The CFD System will stay in the RC shutdown Stop Mode until the condition is reset and the horn is pressed, or the communications link to the arbitrated device is lost for a consecutive timeout period.
(Remote) E-Stop Switch fault detected.	1912	337	Remote E-Stop	Fix E-Stop Switch and press horn.	The CFD System will stay in the RC shutdown Stop Mode until the condition is reset and the horn is pressed, or the communications link to the arbitrated device is lost for a consecutive timeout period.
E-Stop output of Operator Console receiver is not sensed to match that of receiver status message while reserved by the Operator Console.	1912	3264	Diagnostic Trouble Code Active	Fix Receiver or E-Stop circuit and press horn.	The CFD System will stay in the RC shutdown Stop Mode until the condition is reset and the horn is pressed, or the communications link to the arbitrated device is lost for a consecutive timeout period.
Ground Level Engine Shutdown Switch is sensed to have pressed (as relayed from Engine ECM via PID).	678 or 1059 (from Engine)	N/A	Ground Level Engine Shutdown	Reset Ground Level Engine Shutdown Switch and press horn.	The CFD System will stay in the RC shutdown Stop Mode until the condition is reset and the horn is pressed, or the communications link to the arbitrated device is lost for a consecutive timeout period.
Ground Level Engine Shutdown Switch is sensed to be faulted (relayed from Engine ECM as a DSI).	N/A	267 or 3791 (from Engine)	Ground Level Engine Shutdown	Fix Ground Level Engine Shutdown Switch and press horn.	The CFD System will stay in the RC shutdown Stop Mode until the condition is reset and the horn is pressed, or the communications link to the arbitrated device is lost for a consecutive timeout period.
Machine sensed to have tipped.	1394	N/A	Machine Tipped	Upright the machine and press horn, or press horn to activate and override.	The CFD System will stay in the RC shutdown Stop Mode until the condition is reset and the horn is pressed, or the communications link to the arbitrated device is lost for a consecutive timeout period. In this case, the condition is a trip condition, which is cleared right after the condition occurs.
IMU installed and faulted or not communicating.	1394	4244 (from Imp)	Diagnostic Trouble Code Active	Fix Inclinometer and press horn, or press horn to activate and override.	The CFD System will stay in the RC shutdown Stop Mode until the condition is reset and the horn is pressed, or the communications link to the arbitrated device is lost for a consecutive timeout period. In this case, the condition is a trip condition, which is cleared right after the condition occurs.

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Table 7
Machine Indicator: Solid Blue
Remote Control ECM Unmanned Status (Cat ET): Deactivated
Input	Outputs
Action	Event Code	Diagnostic Code	Reason for Last Stop	Recommended Action	Notes
System is consecutively inactive for RC Operator Inactivity Timeout.	N/A	N/A	Operator Inactive	Press horn to reactive RC.	The CFD System will stay in RC Deactivated for a certain amount of time, leaving the engine running, waiting for the operator to reactivate RC.
Loss of wireless signal to the arbitrated method of control (Operator Console or Operator Station).	1137 or 1138	N/A	Loss of Wireless Link	Check for wireless interference or get machine back into wireless range.	The CFD System will stay in RC Deactivated for a certain amount of time, leaving the engine running, waiting for the wireless signal to recover.
Loss of wireless signal.	1137 or 1138	N/A	Loss of Wireless Link	Check for wireless interference or get machine back into wireless range.	The CFD System will stay in RC Deactivated for a certain amount of time, leaving the engine running, waiting for the wireless signal to recover.
Horn pressed with RC Stop condition cleared.	Various	N/A	UNCHANGED	Honk Horn to activate RC.	The CFD System will stay in RC Deactivated for a certain amount of time, leaving the engine running, waiting for the operator to activate RC.
A subsystem level-3 diagnostic or event is raised (as defined by the Machine Subsystem Health Strategy).	2074 2115 2169 & Others	Various	Diagnostic Trouble Code Active	Fix machine subsystem issue and press horn.	The CFD System will stay in RC Deactivated for a certain amount of time, setting the engine to recommended action, waiting for the operator to reactivate RC (if condition can be overridden).
A critical CFD System fault condition occurs.	Various	Various	Diagnostic Trouble Code Active	Fix CFD System issue and press horn.	The CFD System will stay in RC Deactivated for a certain amount of time, leaving the engine running, waiting for the operator to reactivate RC (if condition can be overridden).
Terminate function received with an RC Deactivated resulting command while reserved by Operator Station either via the Station PC Heartbeat Message or Station ECM Heartbeat Message.	Check for events or popups on Station GUI.	Check for diagnostics on Station	Diagnostic Trouble Code Active	Clear the remote terminate condition and press horn.	The CFD System will stay in RC Deactivated for a certain amount of time, leaving the engine running, waiting for the operator to reactivate RC (if condition can be overridden).

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Table 8
Machine Indicator: Solid Blue and Flashing Red
Remote Control ECM Unmanned Status (Cat ET): RC Stop
Input	Outputs
Action	Event Code	Diagnostic Code	Reason for Last Stop	Recommended Action	Notes
GPS Accuracy is "LOW" with Avoidance or Proximity Awareness INSTALLED and not in Avoidance Override.	481 or 1252	N/A	Avoidance Stop or Proximity Stop (Avoidance Stop if both installed)	GPS accuracy is low. Check for satellite coverage. Press horn to see if condition still exists (Red Indicator will go off). Otherwise, hold horn to override and activate RC.	The CFD System will stay in RC Stop Mode indefinitely, unless: - The condition that caused the transition into RC Stop is cleared and the horn is pressed. - The wireless link to the arbitrated method of control is lost and the RC Deactivated Timer has expired.
AMP Message not received with Proximity Awareness INSTALLED and not in Avoidance Override.	1346	N/A	Proximity Stop	Proximity Awareness unknown. Press horn to see if condition still exists (Red Indicator will go off). Otherwise, hold horn to override and activate RC.	The CFD System will stay in RC Stop Mode indefinitely, unless: - The condition that caused the transition into RC Stop is cleared and the horn is pressed. - The wireless link to the arbitrated method of control is lost and the RC Deactivated Timer has expired.
In an Avoidance Zone Level 5 with Avoidance INSTALLED and not in Avoidance Override.	2132	N/A	Avoidance Stop	Machine is in an Avoidance Zone. Press horn to see if condition still exists (Red Indicator will go off). Otherwise, hold horn to override and activate RC.	The CFD System will stay in RC Stop Mode indefinitely, unless: - The condition that caused the transition into RC Stop is cleared and the horn is pressed. - The wireless link to the arbitrated method of control is lost and the RC Deactivated Timer has expired.
Within Proximity of other equipment Level 5 with Proximity Awareness INSTALLED and not in Avoidance Override.	1557	N/A	Proximity Stop	Machine is in proximity of another. Press horn to see if condition still exists (Red Indicator will go off). Otherwise, hold horn to override and activate RC.	The CFD System will stay in RC Stop Mode indefinitely, unless: - The condition that caused the transition into RC Stop is cleared and the horn is pressed. - The wireless link to the arbitrated method of control is lost and the RC Deactivated Timer has expired.
In Avoidance Override Mode due to being in an Avoidance Zone or Proximity (still present) and Avoidance Override Timer expires.	2132 &/or 1557	N/A	Avoidance Stop or Proximity Stop	Machine is in an Avoidance Zone. (or) Machine is in proximity of another. Press horn to see if condition still exists (Red Indicator will go off). Otherwise, hold horn to override and activate RC.	The CFD System will stay in RC Stop Mode indefinitely, unless: - The condition that caused the transition into RC Stop is cleared and the horn is pressed. - The wireless link to the arbitrated method of control is lost and the RC Deactivated Timer has expired.
Operator inactive (no controls moved) for too long.	1551	N/A	Operator Inactive	Operator has not interacted with this machine for too long. Hold horn to reactivate RC.	The CFD System will stay in RC Stop Mode indefinitely, unless: - The condition that caused the transition into RC Stop is cleared and the horn is pressed. - The wireless link to the arbitrated method of control is lost and the RC Deactivated Timer has expired.
Operator not present for too long (only valid while arbitrated to Operator Station). Note: System goes to RC Pause first from any RC Run Mode.	1553	N/A	Not In Seat	Operator has been out of the Operator Station seat for too long. Hold horn to reactivate RC.	The CFD System will stay in RC Stop Mode indefinitely, unless: - The condition that caused the transition into RC Stop is cleared and the horn is pressed. - The wireless link to the arbitrated method of control is lost and the RC Deactivated Timer has expired.
Pitch/Roll Kickout occurred (from RC Run or Auto Active).	1394	N/A	Unacceptable Machine Orientation	The machine orientation has passed a warning threshold. Hold horn to reactivate RC.	The CFD System will stay in RC Stop Mode indefinitely, unless: - The condition that caused the transition into RC Stop is cleared and the horn is pressed. - The wireless link to the arbitrated method of control is lost and the RC Deactivated Timer has expired.
A-Stop (All Stop) active.	1608	N/A	All Stop	An All Stop has been detected. Clear the All Stop and press horn to confirm that the All Stop is cleared. Then, hold horn to reactivate RC.	The CFD System will stay in RC Stop Mode indefinitely, unless: - The condition that caused the transition into RC Stop is cleared and the horn is pressed. - The wireless link to the arbitrated method of control is lost and the RC Deactivated Timer has expired.
Office Stop active.	1611	N/A	Office Site Management Stop	An Office Stop has been detected. Clear the Office Stop and press horn to confirm that the Office Stop is cleared. Then, hold horn to reactivate RC.	The CFD System will stay in RC Stop Mode indefinitely, unless: - The condition that caused the transition into RC Stop is cleared and the horn is pressed. - The wireless link to the arbitrated method of control is lost and the RC Deactivated Timer has expired.
In Avoidance Override Mode due to Low GPS Accuracy (still present) and Avoidance Override Timer expires.	481 or 1252	N/A	Avoidance Stop	GPS accuracy is low. Check for satellite coverage. Press horn to see if condition still exists (Red Indicator will go off). Otherwise, hold horn to override and activate RC.	The CFD System will stay in RC Stop Mode indefinitely, unless: - The condition that caused the transition into RC Stop is cleared and the horn is pressed. - The wireless link to the arbitrated method of control is lost and the RC Deactivated Timer has expired.

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Table 9
Machine Indicator: Flashing Blue
Remote Control ECM Unmanned Status (Cat ET): RC Run
Input	Outputs
Action	Event Code	Diagnostic Code	Reason for Last Stop	Recommended Action	Notes
Activation sequence is completed successfully.	N/A	N/A	None	None.	Engine can be started after this transition occurs. Once the engine is running, machine and/or implements can be controlled.
Activation sequence is completed successfully without a non-overridable level-3 diagnostic/event present.	N/A	N/A	None	None.	Engine can be started after this transition occurs. Once the engine is running, machine and/or implements can be controlled.
A control is moved and Auto is not selected with machine selected.	N/A	N/A	None	None.	If not already running, the engine can be started after this transition occurs. Once the engine is running, machine and/or implements can be controlled.

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Table 10
Machine Indicator: Flashing Blue and Flashing Red
Remote Control ECM Unmanned Status (Cat ET): RC Override
Input	Outputs
Action	Event Code	Diagnostic Code	Reason for Last Stop	Recommended Action	Notes
Activation sequence is completed successfully with an Avoidance or Proximity condition present.	481 1252 1317 1557 2132	N/A	None	Overriding an Avoidance Condition for a short time period.	The CFD System will allow the override (activation of RC) of an Avoidance Condition for a short time to get the machine to a location that will resolve the problem (GPS interference or out of Avoidance Zone).
Activation sequence is completed successfully with an overridable level-3 diagnostic/event active.	Various	Various	None	Overriding a Level-3 Diagnostic or Event for a short time period.	The CFD System will allow the override (activation of RC) of some Level-3 events/diagnostics for a short time to get the machine to a safe place to analyze and resolve the problem.

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Table 11
Machine Indicator: Flashing Blue
Remote Control ECM Unmanned Status (Cat ET): RC Pause
Input	Outputs
Action	Event Code	Diagnostic Code	Reason for Last Stop	Recommended Action	Notes
Operator is not present while reserved to Operator Station and machine is selected.	N/A	N/A	Not In Seat	Sit back in seat to resume RC operation.	The CFD System will stay in RC Pause for a certain amount of time waiting for the operator to be seated and resume operation.
Critical video monitoring feeds have been lost.	1552	N/A	Loss of Critical Feedback	Waiting for monitoring video feeds to recover.	The CFD System will stay in RC Pause for up to a certain duration of time. After that, the system will transition to RC Deactivated Mode. Otherwise, if the condition that caused the system to transition into RC Pause clears, the system will allow the operator to resume control.
Machine is unselected while reserved to Operator Station.	N/A	N/A	None	None (as machine is not selected).	The CFD System will stay in RC Pause for a certain amount of time waiting for the operator to select the machine and resume operation.
System is consecutively inactive for a certain amount of time (less than Operator Inactivity Timeout).	N/A	N/A	Operator Inactive	Resume RC operation.	The CFD System will stay in RC Pause for a certain amount of time waiting for the operator to resume operation.

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