Cat® Command For Hauling Caterpillar

MID 039 - Machine Control Module

CID 3710 - Office Site Management System

FMI 02 - Erratic, Intermittent, or Incorrect

This diagnostic code appears when the autonomy system cannot communicate with Cat^® MineStar System properly. The truck is not receiving All Machine Positions (AMP) messages at a fast enough rate.

Note: The "jmhDash" multicast icon can be used to assist with troubleshooting "AMP" messages. The "jmhDash" multicast icon responds to changing communication conditions more rapidly than the presence or absence of this diagnostic code. Use "jmhDash" to assist with troubleshooting.

Test Step 1. RESTART THE SYSTEM TO ENSURE THAT THE CODE REMAINS ACTIVE

1. Restart the onboard autonomy system by properly shutting down the truck.

   1. Key OFF the AMT.

   2. Wait for autonomy mode lights to turn off.

   3. Key ON the AMT.

2. Wait 300 seconds for the onboard autonomy system to start up.

3. Check the status of the MID 039 CID 3710 FMI 02 diagnostic code.

Expected Result:

MID 039 CID 3710 FMI 02 is NOT active.

Results:

• OK - The MID 039 CID 3710 FMI 02 diagnostic code is NOT active.

  STOP

• NOT OK - The MID 039 CID 3710 FMI 02 diagnostic code is still active. Proceed to Test Step 2.

Test Step 2. FROM THE OFFICE, PING THE ONBOARD ROUTER

1. Perform a ping test on the truck onboard router.

   Reference: Refer to Special Instruction, REHS7346, "Cat^® Command for Hauling - 793F CMD Onboard Autonomy and Configuration Guide" for more information regarding the ping procedure.

Expected Result:

Communications between the onboard router and the office are operating properly.

Results:

• OK - Communications between the onboard router and the office are operating properly. Confirm that this diagnostic code is still active and proceed to Test Step 3.

• NOT OK - There is a communication error between the onboard router and the office.

  Repair: Continue troubleshooting the communications error. Check all related components for the truck and office networks.

  STOP

Test Step 3. FROM ONBOARD, PING EACH ETHERNET SWITCH

1. Perform a ping test on each of Ethernet switches #1, 2 and 4.

Expected Result:

Communications with Ethernet switches #1, 2 and 4 are present.

Results:

• OK - Communications with Ethernet switches #1, 2 and 4 are present. Proceed to Test Step 4.

• NOT OK - There is a communication error with one or more of the onboard Ethernet switches.

  Repair: Continue troubleshooting the communications error. Check all related components.

  STOP

Test Step 4. FROM ONBOARD THE AMT, PING EACH AUTONOMOUS CONTROL MODULE (AUTO ECM) AND CHECK THE ETHERNET SWITCH #1, 2, 4 CONFIGURATIONS

1. Connect directly to Ethernet switch #2.

2. Ping the Autonomous Control Modules (Auto ECMs).

3. To check the configuration of the Ethernet switches properly.

   Reference: Refer to Special Instruction, REHS7346, "Cat^® Command for Hauling - 793F CMD Onboard Autonomy and Configuration Guide", Autonomy Switches Configuration for the Ethernet switch configuration settings.

Expected Result:

The modules were successfully ping-tested and the Ethernet switches are configured properly.

Results:

• OK - The modules were successfully ping-tested and the Ethernet switches are configured properly. Proceed to Test Step 5.

• NOT OK - Either one of the modules was not responsive or the configuration of one or more Ethernet switches was not correct.

  Repair: Check cables and wires between the nonresponsive unit and verify that configuration has been corrected.

  STOP

Test Step 5. CHECK THE NETWORK SETTINGS

1. Check the multicast settings in the system and in the site file the truck is using.

   Reference: Refer to Special Instruction, REHS7346, "Cat^® Command for Hauling - 793F CMD Onboard Autonomy and Configuration Guide", Appendix C: Creating a Site File for more information regarding the network settings.

Expected Result:

The settings are correct and match the setup information.

Results:

• OK - The settings are correct and match the setup information.

  Repair: Contact the site network provider to continue troubleshooting a likely office or wireless network fault.

  STOP

• NOT OK - The site file is missing or the settings are not correct.

  Repair: Use the setup information to correct the settings.

  STOP