Autonomous Calibration Procedure for Off-Highway Trucks Equipped with the Command Package {7008, 7605, 79AU} Caterpillar

Machine Control and Guidance Products

CMD FOR HAULING (S/N: CM41-UP; CM51-UP; AT61-UP)

Off-Highway Truck/Tractor

789D (S/N: SPD1-UP)

793F (S/N: SSP1-UP; D3T1-UP; RBT1-UP)

797F (S/N: LAJ1-UP; LTZ1-UP)

Introduction

This Special Instruction contains the necessary procedures on the 793F CMD (S/N: RBT1-UP) Off-Highway Truck for the calibration.

Note: The photographs in this publication are for illustrative purposes.

Do not perform any procedures in this publication or order any parts until you understand the information that is contained in this publication.

The calibration procedure for the 793F CMD Off-Highway Truck document contains all the necessary information for calibrating the positioning, perception, and planning systems. This document will provide:

• A better understanding of each system

• List the required tools for performing each calibration procedure

• Provide the steps necessary to perform the calibrations

• Provide troubleshooting if any of the calibrations do not perform properly

This document begins with a fully assembled truck with all third-party systems installed. The following must be completed before starting this manual:

• Disassembly and Assembly, UENR2257, "793F Off-Highway Truck Field Assembly"

• Special Instruction, REHS6121, "Commissioning Procedure for the 793F and the 793F CMD Off-Highway Truck"

• Special Instruction, REHS8622, "Conversion Procedure for the 793F CMD Off-Highway Truck"

• Special Instruction, REHS6108, "Assembly Procedure for the 793F CMD Off-Highway Truck"

• Special Instruction, REHS7346, "Cat Command for Hauling - Autonomous Mining Truck Setup and Configuration Guide"

Important Safety Information

Work safely. Most accidents that involve product operation, maintenance, and repair are caused by failure to observe basic safety rules or precautions. An accident can often be avoided by recognizing potentially hazardous situations before an accident occurs. A person must be alert to potential hazards. This person should also have the necessary training, skills, and tools to perform these functions properly.

Safety precautions and warnings are provided in this instruction and on the product. If these hazard warnings are not heeded, bodily injury or death could occur to you or to other persons. Caterpillar cannot anticipate every possible circumstance that might involve a potential hazard. Therefore, the warnings in this publication and the warnings that are on the product are not all inclusive.

When a tool, procedure, work method, or operating technique that Caterpillar does not recommend is used, ensure that you and others are safe during use. Also, ensure that the product will not be damaged or made unsafe by the operation, lubrication, maintenance, or repair procedures that are used.

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Do not operate or work on this machine unless you have read and understand the instructions and warnings in the Operation and Maintenance Manuals. Failure to follow the instructions or heed the warnings could result in injury or death. Contact your Cat dealer for replacement manuals. Proper care is your responsibility.

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While operating in autonomous mode, the machine may move without warning. Serious injury or death may occur. Maintain a safe distance from the machine. Personnel who may need to work in the area of an autonomous machine must understand the external autonomous mode indicator lights and job site procedures. Approach the machine when conditions are safe.

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Failure to use appropriate caution while operating the machine in autonomous mode can result in a potential crushing hazard. Serious injury or death may occur. Operate in autonomous mode only in authorized access restricted autonomous operations areas. Do not approach machine with a solid blue or flashing blue autonomous mode indicator light.

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Personal injury or death can result from sudden machine movement. Sudden movement of the machine can cause injury to persons on or near the machine. Prevent possible injury by performing the procedure that follows before working on the machine. Move the machine to a smooth and level location that is away from working machines and personnel. Engage the parking brake. Stop the engine. To avoid accidental engine starting, turn the battery disconnect switch to the OFF position. Remove the key for the battery disconnect switch. Use a secure padlock in order to lock the battery compartment access door. Place a "Do Not Operate" tag at the Start/Stop switch location to inform personnel that the equipment is being worked on.

Illustration 1	g00037860

Use steps and handholds whenever you mount the machine. Use steps and handholds whenever you dismount the machine. Before you mount the machine, clean the step and the handholds. Inspect the step and handholds. Make all necessary repairs.

Face the machine whenever you mount the machine and whenever you dismount the machine. Maintain a three-point contact with the step and with handholds.

Note: Three-point contact can be both feet and one hand or a single foot and two hands.

Do not mount a moving machine. Do not dismount a moving machine. Never jump off the machine. Do not try to mount the machine when you carry tools or supplies. Do not try to dismount the machine when you are carrying tools or supplies. Use a hand line to pull equipment onto the platform. Do not use any controls as handholds when you enter the cab or when you exit the cab.

Reference

Reference: Special Instruction, REHS6121, "Commissioning Procedure for the 793F and the 793F CMD Off-Highway Truck"

Reference: Testing and Adjusting, UENR2227, "793F CMDOff-Highway Truck Steering Electronic Control System", "Calibration" to perform the steering calibration and for extra steering information.

Reference: Testing and Adjusting, UENR2210, "793F CMD Off-Highway Truck Braking System" to perform the braking calibration.

Reference: Special Instruction, REHS7346, "Cat Command for Hauling - Autonomous Mining Truck Setup and Configuration Guide" to perform the setup and configuration and for additional information.

Reference: Special Instruction, REHS8622, "Conversion Procedure for the 793F CMD Off-Highway Truck"

Overview of Equipment and Hardware

Steering System

The electro-hydraulic steering system calibration procedures are designed to:

1. Set the physical length of the steering cylinders via a trim file.

2. Set the full extension and full retraction steering cylinders position sensor duty cycle.

3. Calibrate the control current of the steering cylinder solenoids.

4. Calibrate the current control output for straight travel.

The steering calibrations will need to be performed when any steering component has been replaced or removed. These components include the steering ECM, steering cylinder position sensors, and steering cylinders.

Note: The steering system will show active diagnostics if the steering calibration has NOT been performed.

Positioning System

Illustration 2	g03358881

The primary and secondary GNSS antennas are mounted on the mounting fixture on the front of the truck. The Inertial Measuring Unit (IMU) is located near the front left side of the truck.

Illustration 3	g02994336

The Transmission Output Sensor (TOS) is located inside the center of the rear axle on the truck.

Illustration 4	g02994401
Front view of the "PCS" inside the autonomy cabinet

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Rear view of the "PCS" inside the autonomy cabinet

Illustration 6	g03358898
Inertial Measurement Unit (IMU)

The IMU is on the front near the top center of the truck. Whereas facing the front of the truck, the IMU should always be positioned so that the cable is coming out the side, pointing towards the cab of the truck.

Perception System

The perception system is made of three front-mounted radars and the front-mounted light detection and ranging sensor (LiDAR sensor).

Illustration 7	g03358908

The three radars are on the center of the front bumper above the chock blocks.

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The LiDAR sensor is located near the front center of the machine next to the positioning systems IMU.

Illustration 9	g03358912

Planning System

The planning system helps confirm that the individual machine behavior conforms to basic safety requirements and acts as the planning system expects the machine to. The system also determines if certain components or systems need to be calibrated again. The Planning Checkout Task is run when the truck is initially assembled on the mine site or when the machine undergoes pertinent maintenance or repair.

Tools Required

Steering System Calibration

• Cat Communication Adapter

• PC with Cat^® Electronic Technician (Cat^® ET)

Positioning System Calibration

• Operator Control Station (OCS) laptop with matching autonomy software installed on the Autonomous Mining Truck (AMT)

• Cat Authorization Codes spreadsheet

• Windows^® operating system PC with LV-POSView^TM software

• GNSS receiver flash cable 398-3075 Cable As (If GNSS receiver firmware update is required.)

• Survey device with GNSS corrections (customer supplied)

• Measuring Tape (at least 5 m (16.4 ft) length)

• Plumb bob

Perception System Calibration

• Operator Control Station (OCS) laptop with matching autonomy software installed on the Autonomous Mining Truck (AMT)

• Calibration Pole (Mounted at the calibration pad location.)

Planning System Calibration

• Operator Control Station (OCS) laptop with matching autonomy software installed on the Autonomous Mining Truck (AMT)

• Planning checkout task track with lanes set up according to the required specifications

Positioning System Precalibration Procedure

Perform the LV-POSView Positioning Portion of the Calibration Procedure

Verify Software Versions

1. Connect the laptop to the VIMS service port in the cab using the Ethernet connection on the VIMS service cable 305-5528 Cable As.

2. Configure your laptop to a static IP. Refer to "Appendix A: Set Static IP Address" for more information on setting a static IP address.

3. The truck is powered on by placing the key start switch to the ON position and transmission control in the PARKING BRAKE APPLIED position.

4. Launch the system.
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   1. Click the Launcher Icon.
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5. Select "Launcher Web".
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6. Click "Configuration".

7. The Site Configuration Utility will open.
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8. Click "Import and save config from Truck…". This action will retrieve the configuration from another Auto ECM (A5N6), populate the fields in the Site Configuration Utility, and save the configuration files to the specified directory.

9. Click "Save Configuration to File".

10. Click Launcher.

Checking the IMU

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1. Select Positioning Checkout.

2. At the launcher window, select "Connect".
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3. In the OCS window, select Positioning Checkout.
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4. Verify under Positioning Status that the Positioning Mode is either "FIXED_RTK" or "FLOAT_RTK".

5. Verify that there are no active events or diagnostics associated with the IMU.

Perform the Operator Control Station (OCS) Portion of the Positioning Calibration Procedure

Check the Ethernet Connection

1. The truck remains powered on with the key start switch in the ON position and transmission control in the PARKING BRAKE APPLIED position.

2. Connect the laptop to the VIMS service port in the cab using the Ethernet connection on the VIMS service cable 305-5528 Cable As.

3. Configure your laptop to a static IP. Refer to "Appendix A: Set Static IP Address" for more information on setting a static IP address.

4. Launch the system.
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   1. Click the Launcher Icon.
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5. Select "Launcher Web".
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6. Click "Configuration".

7. The Site Configuration Utility will open.
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8. Click "Import and save config from Truck…". This action will retrieve the configuration from another Auto ECM (A5N6), populate the fields in the Site Configuration Utility, and save the configuration files to the specified directory.

9. Click "Save Configuration to File".

10. Return to the "Launcher" page and select "Positioning Checkout".

11. In the Launcher window, select "Connect".

12. Select "Positioning Checkout" in the OCS window.
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13. If the "ApplanixComms" is not a green status, check the Ethernet connection on the back of the positioning module unit. Ensure that there are no active Ethernet connection diagnosis or events.

Checking BD960 to Autonomy Serial Connection

Checking the BD960 to autonomy serial connections verifies that there is GNSS data present in the serial communications and making sure that the serial connections are correct. This test will need to be performed with the OCS laptop connected to the onboard network.

Note: The OCS software may display "BD950" or "BD960" terminology regarding the GNSS receivers.

1. The truck remains powered on with the key start switch in the ON position and transmission control in the PARKING BRAKE APPLIED position.

2. Connect the laptop to the VIMS service port in the cab using the Ethernet connection on the VIMS service cable 305-5528 Cable As.

3. Configure your laptop to a static IP. Refer to "Appendix A: Set Static IP Address" for more information on setting a static IP address.

4. Launch the system.
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   1. Click the Launcher Icon.
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5. Select "Launcher Web".
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6. Click "Configuration".

7. The Site Configuration Utility will open.
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8. Click "Import and save config from Truck…". This action will retrieve the configuration from another Auto ECM (A5N6), populate the fields in the Site Configuration Utility, and save the configuration files to the specified directory.

9. Click "Save Configuration to File".

10. Return to the "Launcher" Menu.

11. Select "Connect" on the "Launcher" window.

12. Select the "Position Checkout" tab.
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    Illustration 26	g03628477

13. Park the truck. Make sure that the "BD960 Primary Sensor" and "BD960 Secondary Sensor" values are both receiving data. Use the "Heading" box for reference and make sure that both sensors heading is changing. If the heading is not changing, then the "BD960" serial connections are not working.

    Note: These numbers will be changing drastically. This changing is normal.

14. Unplug the primary receiver "IO1" by pulling the metal sleeve away from the unit and removing the connector.
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    Illustration 27	g03654803

15. When "IO1" is unplugged, the signals on the "BD960 Primary Sensor" should stop changing (the data no longer is updating). If the "Heading" keeps changing, check the "Heading" in the "BD960 Secondary Sensor". If the "Heading" of the "BD960 Secondary Sensor" stopped, then the serial connections are most likely swapped. Proceed to the Step 16 if so.

    If the "BD960 Primary Sensor" stopped properly, when the "IO1" is unplugged, the check procedure is complete.

    Note: Only perform this step if Step 15 has failed.

16. Swap IO1 with IO2. To connect the cable, align the colored mark on the connector with the mark on the rear of the unit. With the marks aligned, push the connector in towards the unit. Once the cables are swapped, repeat the "Checking BD960 to Autonomy Serial Connection" section.

Confirming the Antenna Connections are Connected Correctly

This antenna connection test places the truck in the North direction of the mine site coordinate system and checks the system to see if the primary and secondary GNSS antenna coaxial cables are connected correctly to "POSView". This test is performed because the antenna coaxial cables are not keyed differently and could potentially be swapped.

1. Launch the system.
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   1. Click the Launcher Icon.
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2. Select "Launcher Web".
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3. Click "Configuration".

4. The Site Configuration Utility will open.
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5. Click "Import and save config from Truck…". This action will retrieve the configuration from another Auto ECM (A5N6), populate the fields in the Site Configuration Utility, and save the configuration files to the specified directory.

6. Click "Save Configuration to File".

7. Return to the "Launcher" Menu, select "Position Checkout".

8. In the launcher window select "Connect".

9. Navigate to the "Positioning Information".

10. Confirm that the "Mode" of both BD960 receivers is "RtkFix".

11. Point the truck north within 10 degrees (in mine site coordinate system, "Mine Site North"). Do not use "OCS" or "POSView" to determine the north direction because that value is assumed inaccurate. Once north is determined, use "OCS" to check that the "Local Zone North" is within 0.5 m (1.64 ft) for both the "Primary BD960" and the "Secondary BD960".

12. Check the "Local Zone East" for the "Primary BD960". The "Local Zone East" for the "Secondary BD960" should be 2 ± 0.5 m (6.56 ± 1.64 ft) greater than the "Primary BD960". This checks that the primary antenna east position is less than the secondary east position.

13. If Step 12 fails, then the antenna connections are most likely swapped.

14. Follow the lines attached to the microPOS all the way to the GNSS antennas. If the lines are visually swapped, then swap "A1" and "A2".

    After the connections are swapped, repeat Steps 11 and 12 to confirm that the positions are now displaying correctly.

GPS Azimuth Heading Measurement System Calibration (GAMS Calibration)

The GAMS calibration serves as a calibration for the heading (yaw) of the truck. The calibration also calibrates the baseline between two GNSS antennas and the IMU. The GAMS calibration and perception calibration is required whenever a GNSS antenna, GNSS antenna mast, or IMU is moved, replaced, or repaired.

Note: For the GAMS calibration, the autonomy software is assumed running while in manual mode since the truck was keyed on. The software must be running to receive the GNSS corrections needed for this calibration.

Note: The launcher must be set to positioning checkout.

1. The truck remains powered on with the key start switch in the ON position and transmission control in the PARKING BRAKE APPLIED position.

2. Connect the laptop to the VIMS service port in the cab using the Ethernet connection on the VIMS service cable 305-5528 Cable As.

3. Launch the system.
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   1. Click the Launcher Icon.
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4. Select "Launcher Web".
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5. Select "Positioning Checkout".

6. In the launcher window select "Connect".
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7. In the OCS window, select "GAMS Calibration".
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8. Select "Start Calibration".
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9. Wait for the GAMS Calibration process to start and follow the instructions in the GAMS Calibration Status window.
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10. When the GAMS Calibration Status window says "DRIVE", safely drive the truck around normally at speeds safe for conditions.
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11. Repeat Step 10 until the calibration is complete. A progress bar displays the progress of the calibration.
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12. When the calibration is complete, the GAMS Calibration Status window will say "COMPLETE".

13. After the calibration is complete, a Perception Calibration is required.

    Note: If a GAMS calibration fails, check if the GPS antenna cables are switched first.

Checking the Distance Measurement Instrument (DMI)

The Distance Measurement Instrument (DMI) check confirms that the actual movement of the truck agrees with what the positioning system perceives as movement.

1. Connect the OCS laptop.

2. Launch the system.
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   1. Click the Launcher Icon.
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3. Select "Launcher Web".
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4. Select "Production".

5. In the launcher window select "Connect".
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6. In the OCS window, select the "Positioning Tab".

   Verify that the DMI speed is close to the Transmission Output Speed, and Rear Wheel Speed Sensors when stationary and when moving.

Verify that the Rear ABS IMU is Installed Properly

Refer to Operation and Maintenance Manual, SEBU8751, "793F CMD (Command for Hauling) Off-Highway Truck", "Cable (Truck Body Retaining)" for information on raising and retaining the truck body before servicing the Rear ABS IMU.

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When it is necessary to work under the machine with the body (bed) raised, attach the body (bed) retaining cables to the body retaining pins. Install the body retaining pins through the ends of the retaining cables. Always use both retaining cables. Failure to properly secure the body (bed) may result in personal injury or death.

Illustration 45	g03413581
Rear ABS IMU location

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Rear ABS IMU location

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Rear ABS IMU orientation (shown with block off plate)

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Rear ABS IMU orientation (shown without block off plate)

The rear ABS IMU is on the center tube frame support beneath a step. Use Illustrations 45,46,47, and 48 to help locate the ABS IMU. Refer to Illustration 47 to verify that the connector is facing the rear of the truck.

If the ABS IMU is not installed properly, correct the orientation before proceeding.

Positioning System Checkout Procedure

The positioning system checkout procedure is the final verification that the positioning system is providing an accurate position.

1. Launch the system.
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   1. Click the Launcher Icon.
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2. Select "Launcher Web".
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3. Click "Configuration".

4. The Site Configuration Utility will open.
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5. Click "Import and save config from Truck…". This action will retrieve the configuration from another Auto ECM (A5N6), populate the fields in the Site Configuration Utility, and save the configuration files to the specified directory.

6. Click "Save Configuration to File".

7. Return to the main menu and change to positioning checkout.

8. In the launcher window select "Connect".

9. Drive the truck straight for at least 100 m (330 ft).

10. Stop the truck on a level surface with the tires straight and facing forward.

11. Place the transmission in the PARKING BRAKE APPLIED position.
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12. Click the Freeze Pose button on the OCS computer.

13. Exit the machine. Follow site procedures for safe access on and off the truck.
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14. Measure the distance from location where the Front IMU is mounted to the mounting bracket down to the ground, in meters. Enter the measurement in the "Positioning Checkout" tab of OCS in the "IMU Distance to Ground (M)" field.
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15. Find the center of the Front IMU projected to the ground.

    Note: Do not use a magnetic mount on the IMU.

    1. Measure and record the length from the center of the Front IMU to the front face. This offset will allow the plumb bob string to reach the ground without obstruction from any other parts on the machine.
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    2. Tape a plumb bob string to the front face of the Front IMU and lower the plumb bob down to the ground. At the point where the plumb bob hits the ground, measure back a distance equal to the center-to-front-face length that was recorded in Step 15a.

    3. Mark this point on the ground.

16. Remove the plumb bob and string and proceed to Step 17.
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    Illustration 58	g03793858
    Bottom of rear axle (A) 44 cm (17.3 inch) (B) Center of rear axle

17. Find the bottom center of the rear axle. To do this, Measure 44 cm (17.3 inch) (A) forward from the bottom center of the drain plug face along the line shown in Illustration 58. Hang the plumb bob from this point (B).

18. Using the plumb bob attached to the center of the rear axle, mark a location on the ground where the plumb bob is touching. Remove the plumb bob magnet mount and proceed to the next step.
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    Illustration 59	g03112336

19. Place the plumb bob mount at the center of the bumper on the underside of the chock block mount as shown. Place the plumb bob on the direct center of the bumper.

20. Mark a spot on the ground where the plumb bob is touching.

21. Drive the truck out of the way of the three marked locations. Make sure that the marked locations are not lost when the truck is moved out of the way.

22. Using surveying equipment, record the marked location of the IMU from Step 15.

    For performing a survey using a Trimble tablet with SCS900 installed, refer to the "Survey With Trimble Tablet SCS900.pdf" on the Command for hauling publications webpage.

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23. Enter the IMU location into the Positioning Checkout OCS tabs IMU Northing, Easting, and Elevation fields. If any of the differences are out of tolerance, the results from Measurements section fields will highlight in red.

24. Using surveying equipment and the points from Steps 18 and 20, record the locations of the center front bumper and center of the rear axle projected to the ground.
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25. Enter the front bumper locations into the Northing, Easting. Enter the rear axle locations into the Northing, Easting, and Elevation fields.
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26. In the results from measurements section, make sure that the values are all within tolerance of each other. If the difference values are green, then the values are within tolerance. If the values are in red, then the values are out of tolerance.

27. If the "Control Point" values are all out of tolerance, remeasure the values to verify that the measurements were correct. If the values are still out of tolerance, confirm that the IMU is orientated correctly by performing the adjustment procedure located in, Operation and Maintenance Manual, SEBU8751, "793F CMD (Command for Hauling) Off-Highway Truck", "Object Detection - Check/Adjust - Autonomy Perception". If the control point is reading a high elevation, the IMU is likely pitched forward, if the control point is reading a low elevation, the IMU is likely pitched rearward.

28. Once all calculated values are within tolerance of the software values, the checkout is complete.

Return to the Production Scenario

1. Launch the system.
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   1. Click the Launcher Icon.
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2. Select "Launcher Web".
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3. Configure to the Production Checkout scenario by clicking "Production".

Perception System Calibration

This procedure involves driving the AMT toward the Perception Calibration Pole at low speeds along a path section. Then maneuvering the truck so that the truck is positioned at the start of the next path section. Four path sections are driven during this procedure. This procedure takes approximately 30 to 60 minutes to complete after everything is set up correctly.

Note: the Perception Calibration area should be clear of all other machines, persons, and obstacles while this procedure is being performed.

The calibration process is essential to make sure the observations made by the sensors mounted on the truck are correctly processed by the onboard software. The person responsible for calibration must make sure that all the necessary steps have been performed to obtain a successful calibration result. This document provides detailed instructions on how to set up the system prior to performing the calibration. The document also provides step-by-step directions on how to perform a calibration procedure. A troubleshooting section is provided to help you overcome common issues that may arise during the process.

Reference: Refer to Operation and Maintenance Manual, SEBU8751, "793F CMD (Command for Hauling) Off-Highway Truck", "Object Detection - Adjust" for the adjustment procedure of the #1 object detection sensor (LiDAR sensor). Ensure that the LiDAR sensor is adjusted properly before the perception system calibration is performed.

A surveyed pole that contains mounted radar reflectors is used to calibrate these seven sensors. Refer to "Appendix B: Setup and Installation of Surveying Calibration Pole and Pad" for information on setting up the calibration pole. The calibration procedure accounts for 6 degrees of freedom: x, y, z, roll, pitch, and yaw. The procedure calibrates the following variables:

Table 1

	X	Y	Z	Roll	Pitch	Yaw
LiDAR	x	x		x	x	x
Radars	x	x	x			x

Starting the Calibration Procedure

Note: If this procedure is being performed due to a LiDAR (long range LiDAR detection sensor #1) replacement, refer to Special Instruction, REHS7346, "Cat Command for Hauling - Autonomous Mining Truck Setup and Configuration Guide" for replacement and setup instructions.

1. Check that all pre-calibration checks have been performed:

   1. Obtain the pole position. Refer to "Appendix B: Setup and Installation of Surveying Calibration Pole and Pad"

2. Set a static IP address and connect that PC to the onboard truck network. Refer to "Appendix A: Set Static IP Address" if more information on setting a static IP address is needed.

3. Launch the system.
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   1. Click the Launcher Icon.
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4. Select "Launcher Web".
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5. Click "Configuration".

6. The Site Configuration Utility will open.
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7. Click "Import and save config from Truck…". This action will retrieve the configuration from another Auto ECM (A5N6), populate the fields in the Site Configuration Utility, and save the configuration files to the specified directory.

8. Click "Save Configuration to File".

9. Return to the main launcher page.

Running the Calibration

1. Using the launcher, enter the "Production" scenario.

2. In the launcher window select "Connect".
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3. Navigate to the "Positioning Summary" tab and wait until the Position Interface Module (PIM) has a green light.

4. Change the scenario to "Perception Calibration".

5. The calibration GUI window should display the calibration pole coordinates from the Site Configuration Utility. If the truck is within 50 m (164.0 ft) of the pole and the truck does not show up in the calibration GUI window, confirm your pole coordinates in the Site Configuration Utility.
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6. The calibration screen has 4 health checks at the top of the screen for GPS position, LiDAR health, Radar health, and Logger health. If these health checks fail the icon background will turn red, and the calibration will not be successful. To troubleshoot any of the health indicators, look for Events and Diagnostic codes being displayed on the VIMS Advisor or in Cat ET. Troubleshoot these codes using Troubleshooting, UENR5448, "793F Off-Highway Truck Command for Hauling".

7. Drive within 60 m (197 ft) of the calibration pole. Doing so will save time at the beginning of the log and will save time while post-processing.
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   Illustration 72	g06292441
   Calibration Path

8. Drive the truck into any of the four starting circles, pointing towards the appropriate ending circle. When the truck is within a starting circle and facing the correct direction, the circle will turn yellow, there will be an arrow indicating the path to drive, and the ending circle will turn yellow. There will be four icons indicating the health of the driving path. The first icon indicates the pitch, the second indicates, roll, the third indicates yaw, and the fourth indicates speed ( 11 km/h (6.8 mph)- 14 km/h (8.6 mph) is acceptable). If any of these parameters exceed tolerances the parameters will turn yellow and the path will need to be redone.
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   Illustration 73	g06292444
   Calibration path heading error

9. When the end location is successfully reached, the path leg will turn green. Choose another path and repeat the procedure for all remaining paths. When the calibration system accepts all four paths, the system will automatically start processing the data.

   Note: When driving from an end circle to the next start circle, you do not need to drive at the same slow speed.

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   Illustration 74	g06292447

10. Wait while the calibration system processes the data. This process should take between 20 and 30 minutes. The calibrating sensor progress bar may appear to be frozen while the data is being processed. This occurrence is expected behavior. If the Calibration Client GUI remains on this screen without updating the status for longer than 35 minutes, check the "Troubleshooting" section for details on how to proceed.
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    Illustration 75	g06292453

11. When the calibration system has finished processing the data, if the calibration was successful an option to Install the calibration will be available. Refer to the below section if there was an issue with the calibration.
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    Illustration 76	g06302466

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    Illustration 77	g06302519

12. If the calibration is out of tolerance a graphic will indicate which area is out of tolerance. An adjustment may be required.

    Use the following list to assist with adjustments:

    • X = Front to Back position of the LiDAR/IMU plate.

    • Y = Left to Right position of the LiDAR/IMU plate.

    • Z = Vertical position of the LiDAR/IMU plate.

    • Roll = Left to Right Angle of the LiDAR/IMU plate.

    • Pitch = Front to Back angle of the LiDAR/IMU plate.

    • Yaw = Rotation of the LiDAR/IMU plate.
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    Illustration 78	g06302465

13. If any of the calibrations have a result of "Insufficient Data", this result could indicate that the pattern was driven too fast, or not accurately enough. The recommendation is to run the calibration again and verify that the GPS had a green light prior to entering the Perception Calibration scenario. If the results again show "Insufficient Data", contact Caterpillar Technical Support.

14. After the calibration has been installed, return to the main launcher page.
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    Illustration 79	g06292462

15. Configure to the production scenario by clicking "Production".

The calibration is now complete, perform a Perception Verification prior to allowing the machine to be used for normal operation.

Troubleshooting

The following section should be referenced in the event there are issues performing a successful calibration.

Problem: Calibration fails due to pole position errors.

Use the following steps to assist with troubleshooting calibrations that fail due to perception calibration pole position errors:

1. Resurvey the calibration pole.

2. Physically inspect the front of the machine, including the radiator and handrail assembly. Inspect for proper placement and fitment.

3. Verify that the dowel pins are installed on the LiDAR/IMU plate.

4. Perform a positioning checkout.

5. Perform a GAMS calibration.

6. Contact Caterpillar technical support before replacing a LiDAR.

Problem: Calibration fails due to insufficient data.

Use the following steps to troubleshoot a calibration that fails due to insufficient data:

1. Repeat the calibration but drive at a slower speed.

2. Resurvey the calibration pole.

Perception Verification

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NOTICE
Planning System Checkout must be done prior to the perception verification if the user is commissioning the AMT.

For commissioning, proceed to "Planning System Checkout". The commissioning procedure will instruct the user to the perception verification when appropriate to do so.

This procedure is the independent check on perception system and the ability of the system to detect and stop for an unknown object.

During this test, the truck will travel in a fully loaded state at top speed, stop for an obstacle then resume operation after the obstacle is moved from the path of the AMT. The below procedure must be completed successfully 3 times to complete a Perception Verification.

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Illustration 80	g06233568
Retro-reflective barrel (1) High visibility reflective tape

1. Set up a retro-reflective barrel on the side of the lane.

   Note: The barrel must be located in an area where the truck is capable of reaching the site approved speed limit.

   The barrel must be inside the lane but should be placed out of the tire tracks of the truck. During this test, a person must be on the ground and safely outside the traveling area of the AMT. Attach a rope to the barrel so the barrel can be safely pulled from the path of the truck after the AMT has stopped for the barrel.

2. A check driver may be in the cab of the AMT during this test.

3. When the AMT encounters the barrel, the AMT must be:

   • Traveling at site approved speed limit on a straight, level road

   • Fully loaded

   • Registered as a "loaded" truck

   These conditions ensure a worst case condition within reason. This verification does not expect adverse road conditions. The road used can be dry and level.

   Note: Good road conditions are critical to the successful completion of this test. In the event the road is bumpy or not level, the truck may not reach top speed which is required to pass the test successfully.

4. Assign the AMT from Cat MineStar System client to travel to a dump location and ensure that the load state is "loaded".

   The AMT should stop before the barrel, at a distance sufficient to resume the assignment once the barrel is removed.

5. Once the AMT comes to a complete stop, the person on the ground will pull the barrel from the path of the AMT using the attached rope. This person has 30 seconds from the time the AMT stops to pull the barrel from the path.

   If the AMT resumes the assignment, the run was successful. If the assignment was not resumed, the run was not successful.

   Note: If the barrel was not removed from the path within 30 seconds, the AMT will not resume the assignment. The run will have to be repeated and should not count as a pass or fail.

Planning System Checkout

Before starting the planning system checkout, refer to "793F CMD Onboard System Commissioning Checklist"

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NOTICE
Do NOT proceed until instructed to do so by the commissioning checklist. The truck is not ready to be operated autonomously.

Planning System Checkout Overview

The planning system checkout covers the steps to complete a planning checkout. The checkout confirms that the autonomous controls of each autonomous truck act as expected and are within tolerance. The checkout also confirms that the interaction between the autonomy software and the machine software interacts as expected. Another calibration or repair of the machine is required if any of the planning checkout tests fail.

This process is meant to check:

• The relationship between the planning system and machine response is as expected.

• The truck steering, brake, and power train system perform as expected.

• Trajectory prediction is accurate, such that the system can predict how the truck will track, drive, and stop so that lane breaches can be predicted .

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Do not run the checkout procedure before machine assembly is complete. Running the checkout before the assembly and all commissioning procedures are complete can cause the truck to operate in an unexpected manner which may result in serious injury or death.

This checkout procedure should be run after machine assembly and each time a steering, suspension, or braking component is repaired, adjusted, or replaced. For more information, refer to Operations and Maintenance Manual, SEBU8751, "Calibrations for Maintenance".

Table 2

System	Test Required
	Stopping	Steering	Tracking
Brake	X
Steering		X	X
Suspension		X	X
After Assembly	x	x	x

Note: If the machine is stopped due to an A-Stop activation signal, the machine will fail the planning checkout and will need to be restarted.

Note: Table 2 describes when the planning checkout task needs to be performed. For example, if the brake system is modified, then the stopping test should be run.

Note: When doing the post assembly planning system checkout, complete the stopping, steering, and tracking test in sequential order, immediately following one another.

Note: When the test is finished, there will be feedback indicating the highest speed recorded for at least 10 seconds. This speed is the maximum speed trucks have been validated to operate at. The site speed limit for autonomous trucks should not be set higher than this value in Cat^® MineStar Office.

Table 3

Test	Sub-Test	Description
Stopping Test	Stopping Latency/Map	The stopping latency test/map test will ensure that the stopping latency is within thresholds of the nominal value, and that the relationship between desired deceleration rate and the resultant deceleration rate is roughly 1:1 on level ground. This test also ensures that the truck can achieve and maintain maximum deceleration.
	Target Stopping	The target stopping test will ensure that the truck is able to hit a stopping location accurately and repeatedly and is obeying the commanded deceleration.
	Model Prediction	The model prediction checks that the modeling prediction is accurate within the required thresholds.
	Obey Speed Commands	The obey speed commands test ensures that the commanded speeds are obeyed as the truck speeds up and comes to a stop.
Steering Test	Steering Latency/Map	The steering latency/map test will ensure that the steering latency is within thresholds of the nominal value, and that the relationship between the command curvature and resultant state-feedback curvature, as well as the relationship between state-feedback curvature and resultant curvature on the ground is 1:1 on a level surface. Typically the result is not 1:1 when accounting for cornering at higher speeds, however, there is still very close to a 1:1 relationship.
	Slew Rate	The slew rate test will ensure that a large change in command curvature will result in changing the steering angle at the expected rate.
	Steer Bias	The steer bias test will ensure that the steering bias is negligible.
	Model Prediction	The model prediction test will check that the modeling prediction is accurate within the required thresholds.
	Obey Curvature Commands	The obey curvature commands test will ensure that the command curvatures are obeyed as the truck drives through the turns.
Tracking Test	Tracking Test	The tracking test will ensure that the truck can track a path with minimal cross-track error and heading error or without oscillatory behavior.

Table 3 shows the description of the test groups

Test Course Requirements and Setup

The test course requirements and setup are the specific tests an operator will complete with the autonomous machine through for each class of test. The requirements include the route the machine will take and instances where an event will occur, such as braking to a stop. A mine site should have space available to run these procedures. Regular mine roads are not required for these procedures.

These test courses should not intersect with the regular production mine roads Where possible, the courses should share the space with the perception calibration pad.

Note: Prior to creating or changing the design of a calibration pad at a site, contact Cat Technical Support for assistance with Calibration Pad design.

Configuring the Software

The lanes used by planning checkout can be pre-loaded using the Site Configuration Utility. Refer to Special Instruction, REHS7346, "Cat ^® Command for Hauling 793F CMD Onboard Autonomy and Configuration Guide" - Appendix C: Entering Site Specific Configuration Parameters.

Before Running the Checkout

In a designated area safe for autonomous mode change, park the truck:

• Following the site mode change safe work procedure, put the machine fully into autonomous mode and then back into manual mode.

This procedure confirms that there are no system faults that will prevent the machine from going into autonomous mode once the planning checkout process has begun.

Running the Checkout

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While operating in autonomous mode, the machine may move without warning. Serious injury or death may occur. Maintain a safe distance from the machine. Personnel who may need to work in the area of an autonomous machine must understand the external autonomous mode indicator lights and job site procedures. Approach the machine when conditions are safe.

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Failure to use appropriate caution while operating the machine in autonomous mode can result in a potential crushing hazard. Serious injury or death may occur. Operate in autonomous mode only in authorized access restricted autonomous operations areas. Do not approach machine with a solid blue or flashing blue autonomous mode indicator light.

Prior to starting the planning checkout task, there are some important precautions that must be taken to ensure that the test runs successfully:

• Only one truck is allowed on the planning checkout course at a time.

• No other people, machines, or objects can be on the planning checkout course whereas testing.

• MineStar should not apply any derates to the truck.

• MineStar should not modify any of the selected lanes used for planning checkout tests whereas tests are being executed.

• The Planning Checkout Task must be performed with a Check Driver in the cab of the truck.

Planning Checkout Task

1. Launch the system.
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   Illustration 81	g03654702

   1. Click the Launcher Icon.
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   Illustration 82	g06293172

2. Select "Launcher Web".
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   Illustration 83	g06292462

3. Click "Configuration".

4. The Site Configuration Utility will open.
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   Illustration 84	g06292461

5. Click "Import and save config from Truck…". This action will retrieve the configuration from another Auto ECM (A5N6), populate the fields in the Site Configuration Utility, and save the configuration files to the specified directory.

6. Click "Save Configuration to File".

7. Return to the main launcher page and select "Planning Checkout".

8. In the launcher window select "Connect".

Resetting the Camera View

If the OCS map display needs to be centered on the truck, press the "Reset Camera" button. Refer to Illustration 85.

Illustration 85	g03116699

Pausing the Planning Checkout Task

Illustration 86	g03116701

Illustration 87	g03116702

If for any reason the test needs to be paused, the "PAUSE" button can be pressed. Refer to Illustration 86.

The "PAUSE" button will stop the truck and pause the planning checkout task. To resume the task, press the "UNPAUSE TEST" button, which is at the same location of the "PAUSE" button. Refer to Illustration 87. The processes should resume where the process was left before the pause. There is no time-out for the pause button. The truck will sit where the test was paused until the test is unpaused or aborted.

Aborting the Planning Checkout Task

Illustration 88	g03116703

Illustration 89	g03116980

Illustration 90	g03116705

If the test needs to be stopped completely for any reason, the "ABORT TEST" button can be pressed. Refer to Illustration 88. Pressing this button will stop all progress on the planning checkout task. Once the button is pressed, the checkout task will have to be restarted. Pressing this button will bring the truck to a hard stop. Once the test has been stopped, press "Acknowledge". Pressing this button will stop the autonomy logger and return to the "PLEASE SELECT TEST" menu.

Currently, perform a mode change using the system and the in-cab mode change switch back to manual mode.

Closing the Planning Checkout Task (PCT) Software

Whenever closing the software is desired, allow Planning Checkout Task (PCT) to finish the test first or Abort the test first before the software is stopped. If the Planning Checkout Procedure is aborted prior to finishing, the results may not be saved and will have to start the procedure over again. Closing the software may also cause the truck to perform a hard stop.

1. Launch the system.
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   Illustration 91	g03654702

   1. Click the Launcher Icon.
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   Illustration 92	g06293172

2. Select "Launcher Web".
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   Illustration 93	g06292462

3. Configure to the production scenario by clicking "Production".

Troubleshooting (Common Problems)

Test Immediately Aborts

If the test aborts immediately after hitting "Begin Tests", then there are several things that can easily be checked. Check that all the required lanes are there and that the lanes follow the correct geometry. Ensure that none of the lanes the left and right boundaries swapped, or are oriented in the wrong direction. It is also possible that not all the lanes connect to the system. Use the Cat MineStar System to ensure that all the lanes are connected correctly.

Test Aborts With "Out of Memory" Error

If the test aborts with an "Out of Memory" error, then there are several things that can easily be checked. Check that all the required lanes are there, the lanes are selected, and that the lanes follow the correct geometry. Ensure that none of the lanes the left and right boundaries are swapped, or are oriented in the wrong direction. It is also possible that not all the lanes connect to the system. Use the Cat MineStar System to ensure that all the lanes are connected correctly.

Test Aborts With "Lanes do Not Meet Requirements" Error

If the test aborts with a "Lanes do Not Meet Requirements" error, then there are several things that can easily be checked. Check that all the required lanes are there, the lanes are selected, and that the lanes follow the correct geometry. Ensure that none of the lanes the left and right boundaries are swapped, or are oriented in the wrong direction. It is also possible that not all the lanes connect to the system. Use the Cat MineStar System to ensure that all the lanes are connected correctly.

"OBI Aborted Process" Error

The "OBI Aborted Process" message is displayed due to OBI process not receiving updates from the planning checkout. If this message occurs, collect truck logs and contact Caterpillar Technical Support.

Test Aborts After Validation Passes

Check that the survey data is recent and accurate. Check if any of the lanes have a grade or bank that is greater than the allowed amount (recommended limit is 1 percent). If the grade or bank is required for the test, the test will abort immediately.

The following are messages you can receive:

Certain lanes are not level

• A list of problem lane IDs will be displayed

• The list of lanes has grades that violate the limit

• Use lane ID and the highlighted area on the OCS screen to troubleshoot. If lanes were not snapped to survey, then the lanes should be snapped. If the survey is accurate, then the grader will need to be run to get lanes into specification (no more than 1 percent grade and cross slope)

• Reimporting the mine model will not help

Lane elevations could not be verified, check mine model

• A list of problem lane IDs will be displayed

• The list of lanes indicates that the surface could not be verified in those areas

1. If the survey data is not recent or accurate, resurvey the Planning Checkout area, and snap all lane elevations to the updated survey data. Go to Step 2

2. From MineStar, resend the problem lanes. Run PCT tests again.

3. If the problem lanes still exist after performing Step 1 and Step 2. Using the instructions located in the Command Office OMM, delete the surface file from the truck. This process will cause the truck to drive derated until the truck can validate the lanes in the production area of the mine again.

4. Where lanes are traveling in both direction but overlapping, insure lane points overlap exactly. The overlap will insure the same surface is being utilized for both directions.

Intelligent Driver Pauses

The Intelligent Driver may stop the truck for various reasons, including a site awareness object, an obstacle, or for position uncertainty. Once the truck comes to a stop for one of these three reasons, PCT will indicate in the GL window which stop is active. For this reason, keep obstacles and site awareness objects outside of the test course unless instructed too specifically.

If stopped due to position uncertainty, then the positioning error is too large, or lane boundaries are too tight. In this case, wait to see if the situation improves so testing can continue. If this situation is repeatable, check to see if the lane is too narrow. If the lane is too narrow (not 1.75 times effective truck width, with the travel path biased inside the turn such that the truck footprint is centered) then the lane boundaries can be changed in the Cat MineStar System client.

Failures During Testing

If an Assignment Response failure occurs, then the test will not be able to continue, and will be relayed to PCT as a test abort. This test can be caused by a malformed lane or for another reason that causes the Assignment Manager Task to be unable to process the assignment. PCT is unable to troubleshoot this issue. The error is normally visible in the "Health" Tab and in the "DiagnosticDetails" message sent to MineStar.

If an Intelligent Driver failure occurs, PCT will try to resend the assignment to continue testing up to ten times. The error is normally visible as an Autonomy Condition, so if after ten times the testing is not able to continue and causes PCT to abort the test, check the Autonomy Condition to troubleshoot.

If a Vehicle Observer failure occurs, then PCT will stop the truck and resend the assignment to continue testing up to ten times. This most likely cause of this problem is due to missing assignment information in the Vehicle Observer software.

Test Termination

The test can either terminate with a Pass, Fail, or Aborted state. If aborted, information may be present in the GL window and in the tab under the operator feedback browser. In this state, the test cannot be restarted and the only option is to acknowledge.

If the test passes, then nothing else is required. If the test fails, then the GL window will describe what system failed and more information about how the failure occurred will be in the operator feedback browser.

PCT Will Stop for Various Things

When PCT stops for either an obstacle or a site awareness object, the system will inform the operator on the screen. Operator acknowledgment is not needed.

When PCT stops and fails for an obstacle, the system should inform the operator that PCT is stopped for an obstacle. PCT will create a regulation. The ground crew can now attempt to remove the obstacle. Remove the obstacle following site safety procedures. Once clear, the operator can click "Acknowledge" so that PCT can remove the regulation and attempt the assignment again. PCT will abort after ten retries.

When PCT stops for position uncertainty or narrow roads, the system will inform the operator on screen. Operator acknowledgment is not needed.

When PCT stops for a regulation other than the PCT regulations, the system will inform the operator on screen. Operator acknowledgment is not needed.

Failure Messages

The Planning Checkout Task will display a failure message during the tests if a parameter failed to meet desired thresholds. The failure message will correspond to one of the systems tested, and will describe what steps to take next. At minimum, the message will indicate to the operator to check the calibration for the specific group tested, and related groups.

Brake Latency

PCT will check to ensure that the brake latency error is within range, otherwise the system will report:

• Failure: Brakes actuated too early (if error value is large negative value)

• Failure: Brakes actuated too late (if error value is large positive value)

Brake Map

PCT will check to ensure that the brake map ratio is within range, otherwise the system will report:

• Failure: Brakes do not actuate as hard as normal (if error value is too small)

• Failure: Brakes actuate harder than normal (if error value is too large)

Command Speed

PCT will check to ensure that the commanded speed is less than the road speed limit, otherwise the system will report:

• Failure: Commanded speed is too large.

Command to State-Feedback Curvature Map

PCT will check to ensure that the command to state-feedback curvature map error is within range, otherwise the system will report:

• Failure: Steering predictions from commanded to state-feedback steering does not fit model

Drive Wear Metric

PCT will check to ensure that the drive wear metric error is within range, otherwise the system will report:

• Failure: truck changed speed more than desired.

Maximum Curvature

PCT will check to ensure that the maximum curvature error is within range, otherwise the system will report:

• Failure: Steering cannot reach maximum (left-most) curvature

Maximum Deceleration

PCT will check to ensure that the maximum deceleration error is within range, otherwise the system will report:

• Failure: Brakes cannot stop truck as fast as possible (if error value is large negative value)

• Failure: Brakes can stop truck too fast (if error value is large positive value)

Maximum Slew Rate

PCT will check to ensure that the maximum slew rate error is within range, otherwise the system will report:

• Failure: Steering cannot steer truck as fast as possible (if error value is large negative value)

• Failure: Steering can steer truck too fast (if error value is large positive value)

Minimum Curvature

PCT will check to ensure that the minimum curvature error is within range, otherwise the system will report:

• Failure: Steering cannot reach minimum (right-most) curvature

Model Prediction Scores

PCT will check to ensure that the model prediction scores are within range. This check includes simulated trajectory cross-track error, displacement distance error, along-track distance error, heading error, state-feedback speed error, state-feedback curvature error, actual path speed error, and actual path trajectory error. If a failure occurs, the system will report:

• Failure: System unable to predict trajectory

Rollover and Directional Stability Metric

PCT will check to ensure that the rollover and directional stability metric is within range, otherwise the system will report:

• Failure: truck drove too aggressively.

Slew Latency

PCT will check to ensure that the slew latency error is within range, otherwise the system will report:

• Failure: Steering actuated too early (if error value is large negative value)

• Failure: Steering actuated too late (if error value is large positive value)

Slew Rate Map

PCT will check to ensure that the slew rate map ratio is within range, otherwise the system will report:

• Failure: Steering does not steer as fast as expected (if error value is too small)

• Failure: Steering steers faster than expected (if error value is too large)

State-Feedback Curvature

PCT will check to ensure that the state-feedback curvature is almost equal then the commanded curvature, otherwise the system will report:

• Failure: truck did not steer as commanded.

State-Feedback Speed

PCT will check to ensure that the state-feedback speed is less than the commanded speed, for regular driving and for secondary brake, otherwise the system will report:

• Failure: truck drove faster than desired.

State-Feedback to Path Curvature Map

PCT will check to ensure that the state-feedback to path curvature map error is within range, otherwise the system will report:

• Failure: Steering predictions from state-feedback to actual path trajectory does not fit model

Steering Bias for Curvature State-Feedback

PCT will check to ensure that the Steering Bias for Curvature State-Feedback error is within range. This parameter is unique in that the system will ALWAYS report this value. If informational only, the system will indicate "Info Only" instead of "Failure".

• Failure: Steering is biased to the right by N degrees (if error value is large negative value)

• Failure: Steering is biased to the left by N degrees (if error value is large positive value)

Steering Bias for Curvature Command

PCT will check to ensure that the steering bias for curvature command error is within range, otherwise the system will report:

• Failure: Steering commands are biased to the right by N degrees (if error value is large negative value)

• Failure: Steering commands are biased to the left by N degrees (if error value is large positive value)

Steer Wear Metric

PCT will check to ensure that the steer wear metric error is within range, otherwise the system will report:

• Failure: truck changed steer angle more than desired.

Target Stopping Position

PCT will check to ensure that the target stopping position error is within range, otherwise the system will report:

• Failure: truck unable to hit desired stopping location

Tracking Cross-Track Error

PCT will check to ensure that the tracking cross-track error is within range, otherwise the system will report:

• Failure: truck tracks too far to the left (if error value is large positive)

• Failure: truck tracks too far to the right (if error value is large negative)

Appendixes

Appendix A: Set Static IP Address

For a PC with Windows XP operating system, use the following instructions.

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Illustration 94	g03007476

1. In Windows XP, open up "Network Connections" under "Start" > "Network Connections".
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   Illustration 95	g03007516

2. Select the appropriate Ethernet connection from the list of devices.
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   Illustration 96	g03007596

3. Right-click the proper connection and select "Properties".
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   Illustration 97	g03007617

4. A window will pop up. Scroll down to the bottom of the scroll area and double-click "Internet Protocol (TCP/IP)".
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   Illustration 99	g03345831

5. Another window will pop up.

   Note: Click "Obtain an IP address automatically" to return the setting to a non-static IP.

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   Illustration 100	g03345891

6. Click "Use the Following IP Address" to make the IP static.

   Enter in the IP address and subnet mask designated for the static IP of the laptop on the desired network. Click "OK".

7. Click "OK" on the following window. Click "Close".

8. The IP settings are now configured for a static IP on the desired network.

For a PC using Windows 7 operating system, use the following instructions:

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Illustration 101	g03345897

1. In the Windows 7operating system, find the internet access icon, normally in the lower right corner.

   Right-click the network connections image shown in Illustration 101.

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   Illustration 102	g03345906

2. Left-click "Open Network and Sharing Center".

   This click will open the "Network and Sharing" window.

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   Illustration 103	g03345918

3. Left-click "Change adapter settings" located below "Control Panel Home".

   This click will open the Network Connections window.

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   Illustration 104	g03345929

4. Double left-click "Local Area Connection".

   This action opens the "Local Area Connection Status" window.

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   Illustration 105	g03345944

5. Click "Properties".

   The "Local Area Connections Properties" window will appear.

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   Illustration 106	g03346003

6. Scroll down to the bottom of the scroll window and double left-click on "Internet Protocol Version 4 (TCP/IPv4)".

   The "Internet Protocol Version 4 (TCP/IPv4) Properties" window will appear

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   Illustration 107	g03346016

7. Click "Use the following IP address:" Enter the IP address and subnet mask designated for the static IP of the laptop on the desired network.

   Note: To return from the static IP, click "Obtain an IP address automatically" instead.

8. Once the values are entered, click "OK". Click "OK" on the following window too. Then click "Close" on the next window.

   The IP settings are now configured for a static IP on the desired network.

For a PC using Open Suse, Unixor Linux use the following instructions.

Note: This setting will not permanently change the IP. The IP will change after each new connection. This procedure will need to be repeated with each connection. Ensure that after all changes the static IP is the final one.

1. Connect the laptop PC.

2. Go to the terminal and Type "/sbin/ifconfig". This action will display your current IP settings.

   Verify that your laptop "eth0" is set to an unused static IP address on the desired network.

3. If not set to unused static IP, type "su" to become a super user.

   1. Enter the super user password.

   2. Type "ifconfig eth0 XXX.XXX.XXX.XXX netmask SSS.SSS.SSS.SSS broadcast BBB.BBB.BBB.BBB".

      Desired, unused static IP: XXX.XXX.XXX.XXX.

      Network subnet Mask "SSS.SSS.SSS.SSS" and broadcast "BBB.BBB.BBB.BBB" found in Special Instruction, REHS7346, "Cat Command for Hauling - Autonomous Mining Truck Setup and Configuration Guide".

4. Type "ifconfig".

Appendix B: Setup and Installation of Surveying Calibration Pole and Pad

Illustration 108	g03341793

Assembly of 387-6906 Calibration Pole

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Illustration 109	g03348409

1. Install the four square-base feet (2) onto the all thread adjustable legs (1). Refer to Illustration 109 for more details on proper assembly.

   Level the ground that the assembly will sit on within 10 cm (3.94 inch).

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   Illustration 110	g03348407

2. Install the pole (3) into the base (6) and tighten with T-handle set screws (5).

3. Align one of the stand legs to face North. If the alternate path configuration, the 45 degree rotation, will be used align one of the stand legs to Northwest.

   This alignment will allow for easier setup and give the heading for where the reflectors need to face. The legs and reflectors will face the direction of the paths.

4. Attach the radar reflectors (4) to the pole (3). Align the radar reflectors to the stand legs. The lower reflectors should be mounted at approximately the same height as the lower autonomy radars at the front of the AMT. For a 793F CMD truck this is 1.85 m (6.069 ft). The upper reflectors should be mounted 0.5 m (1.64 ft) above the lower reflectors. Secure the reflectors into position.

5. With the calibration pole assembled and placed in the center of the calibration pad, adjust the legs of the base to level the calibration pole.

   Using a digital level, ensure that the pole is within 1/4 degree of 90 degrees from the ground. Measure the level on multiple places around the circumference of the pole to ensure accuracy.

Setup Pole

Illustration 111	g03397040
Default path configuration for perception calibration (3) Calibration pole

Illustration 112	g03384488
Rotated alternate path configuration for perception calibration (3) Calibration pole

The calibration pole assembly should be located in the center of the calibration pad. The calibration pad area should be 200 m (656.2 ft) x 200 m (656.2 ft) in the default arrangement. If there is less than 200 m (656.2 ft) x 200 m (656.2 ft) area available, rotate the path configuration as shown in Illustration 112. The minimum calibration area is 100 m (328.1 ft) x 100 m (328.1 ft).

Mark the spot on the ground where the calibration pole will be centered and survey this location using the surveying instrument. Survey the location within 10 cm (3.9 inch) accuracy. This survey information will be needed for the site file. With the calibration pole assembled, place the assembly such that the pole (3) is centered over the surveyed point. Adjust the legs (1) of the base (6) to level the calibration pole. Use a digital level to ensure that the pole (3) is within 1/4 degree of 90 degrees from the ground. Measure the level on multiple places around the circumference of the pole to ensure accuracy.

To perform the calibration procedure, a pole with radar reflectors installed is needed. Refer to"Assembly of 387-6906 Calibration Pole"to ensure that the pole is assembled properly. The following sections detail how to obtain the pole position depending on your truck.

If the calibration pole is in a permanent position, enter the pole position in the Site Configuration Utility. The three numbers to modify within the file are:

• "poleEASTING"

• "poleNORTHING"

• "poleALTITUDE"

Reference: Refer to Special Instruction, REHS7346, "Cat Command for Hauling - Autonomous Mining Truck Setup and Configuration Guide" for more information on modifying the site file.

Setup Pad

The area surrounding the pole is approximately 10 m (32.8 ft) by 10 m (32.8 ft) and is level within 10 cm (3.94 inch). The default settings for the calibration pad are a rotation of zero degrees (paths line up N,S,E,W) and a path length of 70 m (230 ft). If your site cannot accommodate the recommended 200 m (656 ft) by 200 m (656 ft) calibration pad and it is smaller, you may need to rotate the paths by 45 degree. In this case the Site Configuration Utility must be modified. Make the following changes:

• distanceFromStartingEllipseToCenterOfPole_m => 70 m (229.7 ft)

• pathRotation_Deg => 45.0 m (147.63 ft)

Note: With rotated paths, the absolute minimum pad size is 100 m (328.1 ft) by 100 m (328.1 ft) to accommodate the absolute minimum path length of 55 m (180.4 ft).

If your calibration pad is small enough that you cannot fit a path length of 70 m (229.7 ft), determine the maximum path length that you can accommodate. To determine this, first change the path length to 65.0 m (213.25 ft) and start the calibration normally. Try to drive each path. If any of the legs are not drivable because the start ellipse is outside of the calibration pad, then edit the ruby file and lower it to 60.0 m (196.85 ft). Repeat this step and if the path is still not drivable, decrease the path length by an increment of 5 m (16.4 ft).