Cat® Command For Hauling Caterpillar

MID 039 - Machine Control Module

CID 4538 - Machine Position Sensing Control Module Data Link #1

FMI 09 - Abnormal Update Rate

MID 039 CID 4538 FMI 09 is active if the GNSS Receiver #1, enclosed inside of the Machine Position Sensing Control Module, is not receiving corrections from the Autonomous Control Module (Auto ECM) #1

Test Step 1. RESTART THE SYSTEM

1. Key cycle the Autonomous Mining Truck (AMT).

   1. Key OFF the AMT.

   2. Wait for autonomy mode lights to turn off.

   3. Key ON the AMT.

2. Wait approximately 5 minutes (300 seconds) for the entire system to restart.

Results:

• The active diagnostic code does not clear after completion of the key cycle. - Proceed to Test Step 2.

• The active diagnostic code clears after the completion of the key cycle. - STOP

Test Step 2. CHECK CONNECTIONS ARE SECURE

Check if the IO1 connector (AP-C4) is loosely latched to the mating connector on the Machine Position Sensing Control Module.

Results:

• The connector is found to be tight at this time. - Proceed to Test Step 3.

• The connector is found to be loose at this time. -

  Repair: Latch the connector properly to the mating connector so the connection is no longer loose.

  STOP

Test Step 3. CHECK THE HARNESS FOR AN OPEN

1. The disconnect switch is in the OFF position.

2. The harness is disconnected.

3. On the harness connecting to the PCS to the Auto ECM #1, perform the following checks:

   1. Measure the resistance between pin 4 of the AP-C4 connector (F946-OR(Orange)) and pin 37 of the AC-C13 connector (F946-OR(Orange)).

   2. Measure the resistance between pin 14 of the AP-C4 connector (215-BK(Black)) and pin 56 of the AC-C13 connector (215-BK(Black)).

Results:

• No open is found. Measured resistance is found to be less than 5 Ohms. - Proceed to Test Step 4.

• An open is found. Measured resistance is found to be greater than 5 Ohms. -

  Repair: There is an Open in the circuit. Repair or replace harness as needed.

  STOP

Test Step 4. CHECK THE HARNESS FOR SHORTS BETWEEN THE IO1 (RS232 RX AND GND) AND THE AUTONOMOUS CONTROL MODULE (AUTO ECM) #1 (RS232 TX AND GND)

1. On the harness connecting to the PCS to the Auto ECM #1, perform the following check:

   1. Measure the resistance between pin 4 of the AP-C4 connector (F946-OR(Orange)) and pin 56 of the AC-C13 connector (215-BK(Black)).Measure the resistance between pin 14 of the AP-C4 connector (215-BK(Black)) and pin 37 of the AC-C13 connector (F946-OR(Orange)).

Results:

• No shorts are found. - Proceed to Test Step 5.

• A short is found between the IO1 and the Auto ECM #1. -

  Repair: Repair or replace harness as needed.

  STOP

Test Step 5. VERIFY THE PCS SETTINGS

Reference: Refer to Special Instruction, REHS7346, "CAT Command for Hauling - 793F CMD Onboard Autonomy and Configuration Guide", "Configuring the PCS" section

Results:

• The settings are found to be at the proper specifications. - Proceed to Test Step 6.

• The settings are found to be at the improper specifications. -

  Repair: Return or modify the settings to the proper specifications.

  STOP

Test Step 6. SWAP THE PCS WITH A KNOWN GOOD UNIT

1. Place a spare PCS on top of the current PCS in the autonomy cabinet.

2. Connect the cables from the old PCS to the new PCS one at a time to avoid a wrong connection.

3. Turn the keyswitch and the disconnect switch to the ON position.

4. Restart the AMT and wait 5 minutes (300 seconds).

5. Check the status of the diagnostic code.

Results:

• The diagnostic code is still active. -

  Repair: Turn off the AMT by turning the keyswitch and the disconnect switch to the OFF position. Connect the cables from the new PCS to the original PCS, one at a time to avoid a wrong connection. Contact Caterpillar technical support for further troubleshooting.

  STOP

• The diagnostic code is no longer active. Contact Caterpillar technical support with the information that was gathered. - STOP