- 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: D3T1-UP; RBT1-UP)
- 797F (S/N: LAJ1-UP; LTZ1-UP)
- 793F (S/N: D3T1-UP; RBT1-UP)
Introduction
The purpose of this special instruction is to ensure that Cat® Terrain Onboard for Command is installed, configured, and functioning properly on the machine.
Some procedures can be handled remotely. Some require an operator present. Some procedures require the use of a computer with a wireless connection to Cat® MineStar System office and use of a client user interface.
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 must 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 of a potential hazard.
Therefore, the warnings in this publication and the warnings that are on the product are not all inclusive. Avoid using a tool, a procedure, a work method, or operating technique that is not recommended by Caterpillar. If used, ensure the safety of the operating personnel and others.
 |
|
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. |
 |
|
Electrocution Hazard! Keep the machine and attachments a safe distance from electrical power. Stay clear 3 m (10 ft) plus twice the line insulator length. Read and understand the instructions and warnings in the Operation and Maintenance Manual. Failure to follow the instructions and warnings will cause serious injury or death |
|
|
Accidental engine starting can cause injury or death to personnel working on the equipment. 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. |
|
|
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 horizontal location. Move away from working machines and personnel and lower the implement to the ground. Permit only one operator on the machine. Keep all other personnel away from machine or in view of the operator. Engage the parking brake. Stop the engine. Move the hydraulic control levers to all positions to release the pressure in the hydraulic system. |
|
|
Personal injury or death can occur if personnel are trapped between the wheel and the frame. The steering system is hydraulically controlled and wheels can crush personnel during movement. Use caution when working between the wheels and the frame. If the wheels must be turned, ensure that all personnel are clear of the machine before any movement. |
| |
| 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.
Prerequisites
The following procedures assume that all parties involved possess the appropriate approvals, skills, health and safety practices, documentation, Personal Protection Equipment (PPE), and tools to perform these actions.
Note: The images used in this document are for examples and should only be used as a general frame of reference.
Power up the machine and leave the machine running until all these procedures have been completed.
The following conditions must be met prior to starting these procedures:
- The Site Requirements Checklist has been completed.
- The Terrain installation and configuration has been completed. Refer to Special Instruction, REHS2992, "Installation and Configuration of the Cat® Terrain v.5.0 Onboard Software."
- The site networking has been completed.
- CatMineStar system office login availability.
- Keyboard and service cable are available (optional: see the Terrain service kit).
- A qualified operator is available to operate the machine and help in the process.
- The machine is outside, with an unobstructed view of the sky, in a location with strong, and reliable radio network coverage for accurate GNSS*.
*GNSS (Global Networking Satellite System) is a satellite navigation system with global coverage which includes the Navistar- US Global Positioning System (GPS), and Russian GLONASS (Global Navigation Satellite System). Depending upon the world location, other positioning systems may be included. In this document, GPS is referred to as “GNSS” unless referring to a specific screen display titled “GPS”.
Terrain Checklist
| Machine ID: | Serial Number: | ||
|---|---|---|---|
| Truck Number: | Equipment Type: | ||
| Step | Procedure | Reference | Complete |
| Verify Display powers ON - login to the system | Ensure that GNSS Receiver and the Radio have power.
Open Terrain Office on a connected computer and login to the system. When the timer pops up, tap to skip and begin start up. |
Operation and Maintenance Manual, M0078762, "Cat® Terrain v6 for Grading and Loading." | |
| Check Comms, GPS Accuracy, & Lanes | Verify that no Comms-related warnings are active.
Verify that GPS Accuracy is acceptable and no related warnings are active. Verify that Lanes Definitions are current and no related warnings are active. |
Operation and Maintenance Manual, M0078762, "Cat® Terrain v6 for Grading and Loading.", System Startup and Shutdown | |
| Verify Onboard Software and Licensing | On the Display select:
"Menu" >"System">"About Terrain" OR "Menu" >"System">"About CAESultra" |
Refer to "Verify Onboard Software and Licensing". | |
| Verify GNSS Antenna Firmware Version | Firmware Version reference is in the GPS section on the About Terrain/ "About CAESultra" window. | Refer to "Verify GNSS Antenna Firmware Version". | |
| Verify Onboard and Cat MineStar System Maps | On the Display, touch the Plan Map icon (this pops up a menu with a zoom out button). Ensure that the icons are correct.
In Cat MineStar System office go to: "Contents" >"Machine Tracking" >"Site Monitor" If the maps show the same general information, the machine is receiving updated files from Cat MineStar System. The similarity between the maps also indicates that FTP is functioning correctly. |
Operation and Maintenance Manual, M0078762, "Cat® Terrain v6 for Grading and Loading." or IM4.4 Command Office Operations and Maintenance Manual. | |
| Verify Tight VNC Security | On the display exit the Terrain application and enter the Tight VNC Service Configuration. Verify that "Require VNC authentication" is checked and that passwords are set. | Special Instruction, M0076206, "Installation and Configuration for Cat® Terrain v6.0 On-board Software". | |
| Verify FTP Security | Exit the Terrain application and navigate to "D:\CAES\config\ftpparameters.cfg". Verify that the user name and password lines are populated with an appropriate user name and password. | Special Instruction, M0076206, "Installation and Configuration for Cat® Terrain v6.0 On-board Software". | |
| Verify Onboard Site Awareness | On the Onboard Display, look for other nearby machines. Verify that the position of the other machine is accurately displayed. | ||
| Verify Command Center Site Awareness | On the CatMineStar System office menus, select: "Contents">"Pit Link">"Site Awareness Monitor"
Find the machine on the screen. Look at the data for the machine. If the timestamp is current, the machine and Cat MineStar System are communicating. |
Operation and Maintenance Manual, M0078762, "Cat® Terrain v6 for Grading and Loading." or IM4.4 Command Office Operations and Maintenance Manual. | |
| Reverse Switch functionality | On the Display, select: Information Menu icon > Diagnostics > Switches. | Refer to "Reverse Switch Checkout". | |
| Body and Avoidance Boundaries | Verify that the broadcast position of the machine provides the correct precise position of the machine to Cat MineStar System and, in turn, to all machines site wide.
Prerequisites: This procedure requires driving and maneuvering the machine. Only trained operators should perform this task. Determine a flat, open area away from obstacles, and other machinery. This procedure requires that a person be on the ground with the machine turned on. Be sure to use wheel chock blocks before doing any survey measurements. |
Refer to "Body and Avoidance Boundaries". | |
| Survey Validation | Prerequisites
Machines must have access to collect survey data of a berm that is already surveyed and in the Mine model. The berm should have at least one inside corner and one outside corner. Driving and maneuvering the machine is required for this task. Only trained operators should perform this task. Follow any standard work procedures or site procedures for operations and collecting survey data. |
Refer to "Survey Validation". | |
| Verify Display powers OFF and machine powered down. | Turn the key to turn the engine OFF, then remove the key from the ignition.
Turn the isolator OFF. |
Operation and Maintenance Manual, M0078762, "Cat® Terrain v6 for Grading and Loading.". | |
Verify Onboard Software and Licensing
Note: Consult the Integration Lead, or whoever is responsible for custom configurations for the site and verify that the display matches the site customized preferences, if any.
Perform the following steps to verify onboard software and licensing.
- Verify the version of software that is running On the Display, select:
"Menu"> "System">"About Terrain"
- Check for the Version Number on the "About Terrain" window. Refer to Illustration 3
| |
| Illustration 2 | g06292002 |
| |
| Illustration 3 | g06292001 |
Verify GNSS Antenna Firmware Version
- Verify the version of software that is running on the display, then select:
"Menu">"System" >"About Terrain"
- Check for the Firmware Version reference in the GPS section of the "About Terrain" window.
- Record the Firmware Version and press "OK" to close the window.
|
| |
| Illustration 4 | g06292002 |
|
| |
| Illustration 5 | g06292001 |
Reverse Switch Checkout
Perform the following steps to check out the reverse switch:
- Click the Information menu icon and the menu opens, Refer to illustration 6.
- Click "Diagnostics" >"Switches"
- The "Switches" window will open, Refer to Illustration 7.
Show/hide table
Illustration 8 g06292013 - Observe the switch configuration while the machine is in a forward gear and a reverse gear. The configuration status displays FORWARD when the machine is in a forward gear and displays REVERSE when the machine is in a reverse gear.
| |
| Illustration 6 | g06292005 |
| |
| Illustration 7 | g06292007 |
Body and Avoidance Boundaries
To create Body and Avoidance Boundaries perform the following steps:
- Key on machine and drive approximately 20 meters to obtain an accurate heading and position.
- Park machine, apply parking brake and place wheel chock blocks. DO NOT TURN OFF MACHINE.
Show/hide table
Illustration 9 g06041088 Show/hide table
Illustration 10 g06041092 - In Cat MineStar System office software, open the Site Editor window by navigating to
Machine Tracking> Site Editor
and then
Select:
"Create Rectangle"
Then select: "Create Zone".
Show/hide table
Illustration 11 g06041097 - Move cursor on the Plan view to the general area where the zone is to be placed, then click to set the zone location:
Name zone "machine_X_virtual_size"
Note: X represents the machine number. (For example"machine_52_virtual_size")
Show/hide table
Illustration 12 g06041103 - Zoom in to a level where the zone can be created, the exact size and shape of the body boundary then drag the corners of the zone to the exact corners of the body boundary.
- Double-click the new zone to open the Zone Editor.
- Press the Apply button in the Zone Editor window.
Show/hide table
Illustration 13 g06041107 Note: The body boundary is indicated on the Plan view as a red dashed line around the machine.
- Physically mark the location of the projected 4 corners of the machine (use stakes, cones, or other similar device to mark the corners of the machine on the ground.) These points are shown in the illustration 13as green dots.
- Move the machine to a position away from the marked points (approximately 20-30 meters). Park and apply parking brake. Then take precautions to not disturb the marked corner locations.
Note: The machine can be turned OFF at this point.
Note: Obtain survey coordinates for the marked four corners of the machine body area.
Show/hide table
Illustration 14 g06041114 Show/hide table
Illustration 15 g06041116 - In Cat MineStar System office software, open the Site Editor window by navigating to
"Machine Tracking" >"Site Editor"
and then
Select:
"Create Rectangle"
Then select: "Create Zone".
Show/hide table
Illustration 16 g06041119 - Move cursor on the Plan view to the general area where the zone is to be placed, then click to set the zone location:
Name zone "machine_X_virtual_size"
Note: X represents the machine number. (For example "machine_52_virtual_size")
Show/hide table
Illustration 17 g06041122 - Double-click the new zone to open the Zone Editor.
- On the General tab, set the "Zone Display Color"
- Ensure that all options are unchecked.
Show/hide table
Illustration 18 g06041126 - Next click the Polygon tab.
- Set Unit: Centimeter.
Note: Only whole numbers are allowed.
- Set corners for the zone to match the survey points taken earlier.
Show/hide table
Illustration 19 g06041140 - Press the Apply button in the Zone Editor window.
Show/hide table
Illustration 20 g06041146 - Set Unit: Centimeter.
- In Cat MineStar System office software, open the Site Monitor window.
Machine Tracking >Site Monitor then Locate the new zone.
Now verify that the "machine_X_virtual_size" zone completely covers the "machine_X_actual_size" zone.
Survey Validation
Perform the following steps for survey validation:
Prerequisites
| |
| Illustration 21 | g06041150 |
- Machines must have access to collect survey data of a berm that is already surveyed and in the Mine model. The berm should have at least one inside corner and one outside corner as shown in Illustration 21.
- Driving and maneuvering the machine is required for this task. Only trained operators should perform this task.
- Follow any standard work procedures or site procedures for operations and collecting survey data.
Validation Procedure
- On the display panel, press the Data Collection icon, Refer to Illustration 22 or 23.
Show/hide table
Illustration 24 g06041613 - Select any of the Reference Side positions and press the Start button.
Show/hide table
Illustration 25 g06041614 Note: If the configuration key has not been set, reference Operation and Maintenance Manual, SEBU8822, "Cat®Terrain v5 for Grading and Loading", for information on measuring and entering machine dimensions.
- Next Drive along the edge of the berm to collect data. Confirm that the collection process has started by observing points on the display following the machine as it moves.
The "Data Collecting"windows will appear.
Show/hide table
Illustration 26 g06041615 - When you have completed recording data, press the Stop button.
Use the pop-up window to save the data collected.
- Use MineStar to verify that the collected data points are within ±1.0 m of the existing survey data.
For more information reference, IM4.4 Command Office Operations and Maintenance Manual.
- Repeat these steps for "Reference Side"positions.
| |
| Illustration 22 | g06041176 |
|
Data collection icon | |
| |
| Illustration 23 | g06041189 |
|
Data collection icon | |
