Cat® Command For Hauling Caterpillar

MID 039 - Machine Control Module

CID 1893 - Inertial Measurement Sensor

FMI 02 - Data Erratic, Intermittent, or Incorrect

Illustration 1	g03394613

This diagnostic code is active when the positioning and orientation (POS) computer system (PCS) determines the data from the inertial measurement sensor (IMU) is incorrect. The PCS then notifies the machine control module (MCM) of the error.

Test Step 1. CYCLE THE KEYSWITCH TO ENSURE THE CODE IS ACTIVE.

1. Turn the keyswitch to the OFF position and wait for proper shutdown, indicated by the AMT mode lights turning off.

2. Turn the keyswitch to the ON position and wait 5 minutes (300 seconds).

3. Check the status of the MID 039 CID 1893 FMI 02 code.

Expected Result:

The code is no longer active but an active CID 1035 FMI 09 has now appeared.

Results:

• OK - The CID 1893 FMI 02 is no longer active but an active CID 1035 FMI 09 has now appeared. The CID 1893 FMI 02 code will no longer be active but the problem still exists, indicated by the active CID 1035 FMI 09. Continue in this troubleshooting procedure. After completing, check the status of the CID 1035 FMI 09 to verify that the problem has been corrected. Proceed to Test Step 2.

• NOT OK - Neither active code is present. The code can be caused by an intermittent issue related to the software or hardware. The problem cannot be diagnosed if the code is not active. Continue normal operation.

  STOP

• NOT OK - The CID 1893 FMI 02 code is still active. Proceed to Test Step 2.

Test Step 2. VISUALLY INSPECT THE HARDWARE.

1. Inspect the LiDAR and IMU mounting structure on the front of the AMT.

2. Check the components and mounting hardware for tightness and any cracks or damage.

3. Check all associated fasteners to ensure proper installation and tightness.

Results:

• OK - The components, mounting structure, and fasteners are in good working condition, free of any corrosion or damage. Proceed to Test Step 3.

• NOT OK - Damage or misalignment was found on a component, mounting hardware, or fasteners.

  Repair: Repair or replace damaged items as necessary. Replacing, removing, or adjusting the mounting structure will require another calibration of the IMU.

  STOP

Test Step 3. CHECK THE STATUS OF THE CODE WITH A SPARE IMU CONNECTED.

1. Turn the keyswitch and the battery disconnect to the OFF position.

2. Disconnect the cable from the current IMU.

3. Connect the cable to a known good IMU.

4. Turn the keyswitch to the ON position and wait 5 minutes (300 seconds).

5. Check the status of the MID 039 CID 1893 FMI 02 code.

Expected Result:

The code is no longer active.

Results:

• OK - The code is no longer active.

  Repair: The IMU may be faulted in some way and causing the active diagnostic. Contact Caterpillar technical support for further troubleshooting and support.

  STOP

• NOT OK - The code is still active. Reconnect the original IMU. Proceed to Test Step 4.

Test Step 4. CHECK THE STATUS OF THE CODE WITH A SPARE PCS CONNECTED.

1. Turn the keyswitch and the battery disconnect to the OFF position.

2. Disconnect the cables from the current PCS.

3. Place a known good PCS on top of the existing PCS. Connect the cables to the new PCS.

4. Turn the keyswitch to the ON position and wait 5 minutes (300 seconds).

5. Check the status of the MID 039 CID 1893 FMI 02 code.

Expected Result:

The code is no longer active.

Results:

• OK - The CID 1035 FMI 09 code is no longer active.

  Repair: The PCS may be faulted in some way and causing the active diagnostic. Contact Caterpillar technical support for further troubleshooting and support.

  STOP

• NOT OK - The CID 1035 FMI 09 code is still active.

  Repair: Reconnect the original PCS.

  Proceed to Test Step 5.

Test Step 5. REPLACE THE IMU HARNESS WITH A KNOWN GOOD HARNESS.

1. Turn the keyswitch and disconnect switch to the OFF position.

2. Disconnect the MV-C2 connector from the IMU for damage. Leave the harness in place.

3. Disconnect the PCS connector for the IMU. Leave the harness in place.

4. Connect the known good harness to the components.

5. Turn the keyswitch to the ON position and wait 5 minutes (300 seconds).

6. Check the status of the MID 039 CID 1893 FMI 02 code.

Expected Result:

The code is no longer active.

Results:

• OK - The code is no longer active.

  Repair: Remove the failed harness and install the new harness. Reboot the system and allow time for proper startup. Ensure that enough time is given to allow the components to establish proper communications.

  STOP

• NOT OK - The code is still active.

  Repair: Collect the autonomy logs and the logs from the PCS. Contact Caterpillar technical support for further troubleshooting and support.

  STOP