1. Home
  2. Caterpillar
  3. Special Instruction
  4. #i05189057

Cat® Command for Hauling - 793F CMD Onboard Autonomy Setup and Configuration Guide {7605, 7610, 7620} Caterpillar


Cat® Command for Hauling - 793F CMD Onboard Autonomy Setup and Configuration Guide {7605, 7610, 7620}

Usage:

- AT6
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)

Introduction

These Special Instructions are intended to help with the commissioning of the autonomous components. These Special Instructions include software installation and configuration for the controllers, switches, and other control systems. These Special Instructions are intended to provide a list of the required tools for performing each configuration procedure, and the steps necessary to perform the setup or configuration.

This document begins with a fully assembled truck with all third-party systems installed.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", and/or Special Instruction, REHS8622-00, "Conversion Procedure for the 793F CMD Off-Highway Truck" Autonomy Conversion have already been completed.

Following this document (REHS7346, "Cat® Command for Hauling - 793F CMD Onboard Autonomy Setup and Configuration Guide"), commissioning will continue using the Special Instruction, REHS8845, "Calibration Procedure For the 793F CMD Off-Highway Truck" and conclude with the completion of the 793F CMD Onboard System Commissioning Checklist.

Note: These commissioning steps must be completed successfully to maintain the safety integrity of the system.

Note: During the entire commissioning process, the autonomous system must maintain proper voltage. If the voltage is below 24V (or 12V on the 12V circuit), low voltage could lead to inconsistent system behavior. To prevent, maintain the voltage using a 24V charger that is sized appropriately for the AMT or periodically leave the AMT running for 1-2 hours to recharge the batteries.

Note: Do not perform any procedures in this publication or order any parts until the information contained in this publication is understood in its entirety.

Note: Graphic illustrations in this manual are for reference only and may not match displayed screen in entirety.

Prerequisites

The table below shows what is required prior to starting.

Show/hide table
Table 1
Requirements 
Completion of the 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", and/or Special Instruction, REHS8622, "Conversion Procedure for the 793F CMD Off-Highway Truck". 
Cat® MineStar System office software installed and functional at site. 
Truck must be set up and configured in the Cat MineStar System office software. 
The site Base Station and Truth Positioning System must be fully commissioned and functional. 
Availability of Cat MineStar System servers. 
Completion of Radio Network Configuration. 

Show/hide table
Table 2
Material Requirements 
OCS (Operator Control Station) Laptop (Linux)- System requirements listed below 
Windows-based Laptop 
12-pin DT to USB adapter ( 343-8456 Adapter Cable As) 
Blank USB flash drive (Min 2GB required) 
Cat LiDAR Flash Cable ( 416-5066 Wiring Harness) 
VIMS Service Cable ( 305-5528 Wiring Harness) 
Caterpillar Communications II Adapter (Comm Adapter) 
Switch Serial Programming Cable ( 417-0549 Harness) 
USB to Serial adaptor ( 370-8059 Adapter Kit) 
Tire Sensor Reader ( 389-7004 Tool) 
Serial Service Harness ( 398-3075 Wiring Harness) 

Required Software

Show/hide table
Table 3
Software Requirements 
OCS Pathfinder - Installed on OCS (Linux) Laptop 
Cat® Electronic Technician (Cat ET) (newest release) - Installed on Windows Laptop 
VIMS (newest release) - Installed on Windows Laptop 
Trimble WinFlash - Installed on Windows Laptop 

File Requirements

Downloading all software and associated files required for this document before beginning may be helpful. Downloading all contents of the release-specific files to a USB flash drive is recommended. The software release can be found on the following website:

https://dealer.cat.com

Validate and Update ECM Software Versions

The purpose of this section is to verify the current version of software on each base truck ECM and the Autonomy MCM. The process of were to obtain the correct version and a procedure on how to update (flash) the new software.

It is important to ensure that the updated autonomy-related software is installed on each of the truck ECMs. The truck ECMs directly interact with the autonomy system. Correct interaction is necessary to ensure safe autonomous operation.

Show/hide table
Table 4
ECM  Software 
Engine (C175)   
Transmission   
Brake   
Chassis   
Steering   
VIMS Main Module (Communications Gateway #1)   
VIMS Application Module (Communications Gateway #2)   
Machine Control Module (MCM)   
MCM Slave (Input/Output Module #1   
Monitor (Advisor)   

The currently installed software part number and version can be found using the OCS laptop.

  1. Load the system.
      Show/hide table
      Illustration 1g06025464

    1. Click the "launcher icon".

  2. Select "Connect" and make sure the machine is in the "Production" scenario.
    Show/hide table
    Illustration 2g06359394

  3. Select "Version Report".

  4. Review the currently installed software versions.

For procedure on how to flash the new software versions, see Special Instruction, REHS3692, "Procedure to Flash an Electronic Control Module".

The currently installed software part number and version can also be found using Cat ® Electronic Technician (Cat ET).

  1. Connect the Cat ET equipped laptop to the truck network.

    1. Connect the Comm Adapter to the Cat ET service port.

    2. Connect the Comm Adapter to a windows laptop.

    3. Launch Cat ET.

    4. Connect to the truck via Cat ET.

  2. Select any ECM from ECM list.
    Show/hide table
    Illustration 3g03699341

  3. Select the "WinFlash" button.

  4. The following application will launch within Cat ET.
    Show/hide table
    Illustration 4g03699343

  5. The red boxes indicate the location of software versions.

The correct versions to flash to the ECMs can be found on the following website.

Website: https://dealer.cat.com

Note: Anytime the chassis ECM software is flashed, the body position sensor must be recalibrated. To recalibrate, fully raise the bed and then fully lower the bed.

Note: If an Auto ECM is unable to be successfully flashed using Cat ET, use the USB stick procedure described in the "Auto ECM (A5N6) Image Update Procedure" section.

For procedure on how to flash the new software versions, refer to Special Instruction, REHS3692, "Procedure to Flash an Electronic Control Module".

Onboard Radio

The onboard radio (and router, when necessary) must be installed and configured prior to all processes and procedures in this document.

Documents may be available for the setup and configuration of the radio (and router, when necessary).

Note: Prior to any radio or router installation or updates, all power or Ethernet connections should be removed from the radio. Power or Ethernet connections being removed from the radio will alleviate any disruption to site communications whereas these procedures are being performed.

Any available documents can be found on SIS Web or on the following website.

Website: https://dealer.cat.com

Machine Inspection

Inspect Fuses and Circuit Breakers

Prior to commissioning the onboard system, a second check of the cabinet circuit breaker (2) and fuse/fuse sockets (1) is required.

Circuit Breaker

  • Verify the lugs (1) on the back of circuit breaker are secure.

  • Tighten if necessary ( 6.3 ± 0.5 N·m (4.65 ± 0.37 lb ft)).

Fuses and Fuse Sockets

  • Open both fuse boxes (2) on the outside of the cabinet.

  • Manually check that each fuse is secure in the socket. Fuses should have little to no movement when touched.

  • Replace or repair any sockets found to be loose.
Show/hide table
Illustration 5g03699347
Show/hide table
Illustration 6g03699352

Machine Dimension Measure-up Procedure

The measure up procedure must be completed prior to creating the truck in the Cat MineStar System office software, or any client applications of Cat MineStar System.

For information on the measure up, refer to the Special Instruction, REHS7347, "Procedure for Machine Dimension Measure-Up for mining sites with Cat Command For Hauling".

Event Response Configuration

The AMT may be configured in the initial site configuration to have user-controlled responses. The following responses may be configured and then a configuration file is uploaded in the Cat MineStar System Office Software.

  • High Left Front Brake Oil Temperature

  • High Right Front Brake Oil Temperature

  • High Left Rear Brake Oil Temperature

  • High Right Rear Brake Oil Temperature

  • Low Left Front Tire Pressure (Level 1 and 2)

  • Low Right Front Tire Pressure (Level 1 and 2)

  • Low Left Rear Inner Tire Pressure (Level 1 and 2)

  • Low Left Rear Outer Tire Pressure (Level 1 and 2)

  • Low Right Rear Inner Tire Pressure (Level 1 and 2)

  • Low Right Rear Outer Tire Pressure (Level 1 and 2)

  • High Left Front Tire Pressure (Level 1 and 2)

  • High Right Front Tire Pressure (Level 1 and 2)

  • High Left Rear Inner Tire Pressure (Level 1 and 2)

  • High Left Rear Outer Tire Pressure (Level 1 and 2)

  • High Right Rear Inner Tire Pressure (Level 1 and 2)

  • High Right Rear Outer Tire Pressure (Level 1 and 2)

Onboard Interface Setup

Introduction

The purpose of this section is to set up the interfaces for the AMT in the Cat MineStar System office software.

Note: Improper configuration of autonomy switches may result in being unable to communicate with the switch using the methods outlined in this procedure.

Procedure

To set up the interfaces correctly for the AMT in the Cat MineStar System office software, follow these steps:

    Note: The AMT must be shut down during this process.

  1. Obtain the IP address for the AMT.

  2. Refer to the Cat Fleet Administration & Configuration Manual, and configure the AMT to have the following settings:

    1. Operator Interface: Autonomous

    2. Onboard Health Platform: VIMS 3G with xIM

    3. Interfaces:

      Show/hide table
      Table 5
      Interface Name  Interface URL 
      Assignment  tmac://<truck IP>: 10001 
      Config  ftp://minestar:mStarpasS@<truck IP>: 21 
      Machine Broadcast  tmac://<truck IP>: 10001 
      VIMS Wireless  tmac://<truck IP>: 51889 

Autonomy Switches IP Address Change

Introduction

The switches in the cabinet should come pre-setup upon install of cabinet. If a switch is configured incorrectly or needs to be replaced, the following information will be used.

There are two ways to change the IP. There are four switches associated with the autonomous system that need to be changed. Switches 1-3 are in the autonomy enclosure (Cabinet) and the fourth switch 4 is located behind the driver seat in the cab.

Network Configuration

There are two networks configured on the Autonomous Truck. These networks are illustrated in the Section "Appendix F: Network Setup and Connections".

Direct Connect Method

Required service tools:

  • Switch Serial Programming cable ( 417-0549 Harness)

  • USB to serial cable ( 370-8059 Adapter Kit) is required if a serial connection is unavailable on PC.

These steps require direct access to the truck.

  1. Connect autonomy switch to a Windows laptop.

    1. Use Switch Serial Programming cable ( 417-0549 Harness). If no serial port is available, use a USB to serial adaptor ( 370-8059 Adapter Kit) to connect serial plug through a USB port.

  2. Use HyperTerminal, PuTTY, or some other serial communication program to connect to the switch.
      Show/hide table
      Illustration 7g03699358

    1. The following example uses Windows XP desktop and HyperTerminal, click "Start/Programs/Accessories/Communications/HyperTerminal" to open the Hyper Terminal program.

    2. If necessary, set up the COM port and parameters.

      Select the appropriate COM port, and set the parameter as (9600 for Baud Rate, 8 for Data Bits, None for Parity, 1 for Stop Bits, and None for Flow Control).

  3. Log in to the autonomy switch

    1. Press Enter for login screen.

      Note: If log in screen does not appear, press Enter until the screen appears.

  4. Display the current IP and configuration.

    1. Type at the prompt: show config

    2. Press enter to view and move out of display (Press enter a few times to get back to a switch> prompt)

  5. To enter CLI management interface.
      Show/hide table
      Illustration 8g03699377

    1. Type at the prompt enable

  6. Navigate to the configuration setup

    1. Type at the prompt configure

  7. Set the IP address:

    1. Type at the prompt (switch(config)#): ip address XXX.XXX.XXX.XXX SSS.SSS.SSS.SSS GGG.GGG.GGG.GGG

      The following must be typed in this exact order: Switch IP (XXX.XXX.XXX.XXX), Subnet (SSS.SSS.SSS.SSS), Gateway (GGG.GGG.GGG.GGG).

  8. Exit the setup:

    1. Type at the prompt (switch(config)#): exit

  9. Save the configuration to permanent memory

    1. Type at the prompt (switch) write memory

  10. Confirm IP change with the command:

    1. Type at the prompt (switch) show ip

  11. Repeat Steps 1 through 10 for each switch.

Once all switches are updated to the correct IP, the update to the IPs for the AHS is complete.

Web page method

Web page method is an alternate method to the Direct Connect Method described above.

These steps require direct access to the truck.

Use VIMS service cable ( 305-5528 Wiring Harness):

  1. The laptop must be on the same network as the autonomy switch.

    1. Configure the laptop to a static IP. Refer to Section "Appendix A: Set Static IP".

  2. Once laptop is set to a static IP on the appropriate network, then connect to the switch through the network:

    1. Ping IP of the switch

      1. Default IP: 192.168.16.1 (out of box)

      2. AHS Default: found in "Appendix E: IP Network Design".

    2. If the desired switch cannot be pinged:

      1. Laptop could be configured to the incorrect network (remember that there are two separate networks on the AMT).

      2. Laptop is using an incorrect IP.

      3. If still unable to ping, the Direct (DB9 Connector) Connect Method may be required to verify the switches IP.

  3. Open a web browser:

    1. Type the switch's IP address (from previous step) in the Address/URL text box.

    2. Type the User Name and Password in the appropriate text boxes.

      Note: The factory default IP, user admin, and password admin are shown.

    Show/hide table
    Illustration 9g03699390

  4. Click the OK button.

  5. Select System >IP Configuration:

    1. In the corresponding text boxes change the IP Address, Subnet Mask, and Gateway to match the autonomy network. Refer to Section "Appendix E: IP Network Design".
      Show/hide table
      Illustration 10g03699394

    2. Once done changing, click the "Apply" button.

  6. Once applied, reconnect to switch.

    1. If able to connect, continue.

    2. If not, connect through the web browser:

      1. Laptop could be configured to the incorrect network (remember that there are two separate networks on the AMT). Correct and repeat Step 5.

      2. Laptop is using an incorrect IP. Correct and repeat Step 5.

      3. If still unable to connect, the Direct (DB9 Connector) Connect Method may be required.
    Show/hide table
    Illustration 11g03699402

  7. Select Save configuration: Click the "Save" button.

  8. Select system reboot:

    1. Click the "Reboot" button and wait for the system to reboot.

  9. Verify that the system is on the correct network by pinging.

    1. For instructions for on how to Ping, Refer to Section "Appendix B: Ping an IP Address".

  10. Repeat Steps 1 through 9 for each autonomous switch. Change the static IP on the laptop back to the original network between each change.

Once all switches are updated to the correct IP, the update to the IPs for the AHS is complete.

Autonomy Switches Configuration

Introduction

Each of the autonomous switches has a unique configuration and port settings. Incorrect configuration of these switches can cause problems with the autonomous operations of the AMT. An illustration of Switch and ECM locations is provided in the Section "Appendix F: Network Setup and Connections".

Assumptions:

Ensure that the IP address for each switch has been set to the appropriate switch-specific IP address. Refer to Section "Autonomy Switches IP Address Change" for assistance.

Switch 1 Configuration

These steps require direct access to the truck.

Note: Prior to beginning configuration of the switch, ensure that the IP address has been set to the appropriate IP address.

Reset Switch:

  1. The laptop must be on the same network as the autonomy switch.

    1. Configure the laptop to a static IP. Refer to Section "Appendix A: Set Static IP".

  2. Connect the laptop to the VIMS Service port in the cab using the Ethernet connection on the VIMS service cable ( 305-5528 Wiring Harness).

  3. Open a web browser:

    1. Type the IP address for Switch 1 in the Address/URL text box.

    2. Type the User Name and Password in the appropriate text boxes.

    3. Click the "OK" button.

  4. Change the username and password.

    1. Select "System" and then "User Authentication".

    2. Change the User Name and Password and then click the "Apply" button.

    3. A login screen will appear. Log in with the new credentials created.

    4. Select "Save Configuration" and then click the "Save" button.

    5. Select "System Reboot" and then click the "Reboot" button.

    6. Wait for the switch to reboot and repeat Step 3 to connect to the switch again.
    Show/hide table
    Illustration 12g03699417

  5. Select "Factory Default" as from left-hand menu.

  6. Check both: "Keep current IP address setting?" &"Keep current username & password?" options.

  7. Click the "Reset" button.
    Show/hide table
    Illustration 13g03699420

  8. On the next page click "Reboot" button.

Set Configuration

  1. On the left-hand side, click "Port" > "Port Control".

    1. Ensure Port 1 and Port 2 have no speed reduction (Speed =100).

    2. Ensure Port 1 and Port 2 are set with a duplex of full (Duplex =Full).

    3. Click "Apply".

  2. On the left menu, click "Port" > "Port Mirroring".

    1. Ensure that no ports have been set with mirroring.

  3. Click "Apply" button at bottom.

  4. On Left menu, select "Save Configuration".

  5. Click "Save" button.

Switch 2 Configuration

These steps require direct access to the truck.

Note: Prior to beginning configuration of the switch, ensure that the IP address has been set to the appropriate IP address.

Reset Switch:

  1. The laptop must be on the same network as the autonomy switch.

    1. Configure the laptop to a static IP. Refer to "Appendix A: Set Static IP".

  2. Connect the laptop to the VIMS Service port in the cab using the Ethernet connection on the VIMS service cable ( 305-5528 Wiring Harness).

  3. Open a web browser:

    1. Type the IP address for Switch 2 in the Address/URL text box.

    2. Type the User Name and Password in the appropriate text boxes.

    3. Click the "OK" button.

  4. Change the username and password.

    1. Select "System" and then "User Authentication".

    2. Change the User Name and Password and then click the "Apply" button.

    3. A login screen will appear. Log in with the new credentials created.

    4. Select "Save Configuration" and then click the "Save" button.

    5. Select "System Reboot" and then click the "Reboot" button.

    6. Wait for the switch to reboot and repeat Step 3 to connect to the switch again.
    Show/hide table
    Illustration 14g03699429

  5. Select "Factory Default" as from left-hand menu.

  6. Check both: "Keep current IP address setting?" & "Keep current username & password?" options.

  7. Click the "Reset" button.
    Show/hide table
    Illustration 15g03699457

  8. On the next page click "Reboot" button.

Set Configuration

    Show/hide table
    Illustration 16g03699481

  1. On the left-hand side, click Port > Port Control.

    1. Change "Negotiation" to "Force" to allow changes to other settings.

    2. Set Port 7 with a speed reduction (Speed =10).

  2. Click "Apply" button at bottom.

  3. On the left menu, click "Port" > "Port Mirroring".

    1. Ensure that no ports have been set with mirroring.

  4. Click "Apply" button at bottom.

  5. On Left menu, select "Save Configuration".

  6. Click "Save" button.

Switch 3 Configuration

These steps require direct access to the truck.

Note: Prior to beginning configuration of the switch, ensure that the IP address has been set to the appropriate IP address.

Reset Switch:

  1. The laptop must be on the same network as the autonomy switch.

    1. Configure the laptop to a static IP. Refer to Section "Appendix A: Set Static IP".

  2. Connect the laptop to the VIMS Service port in the cab using the Ethernet connection on the VIMS service cable ( 305-5528 Wiring Harness).

  3. Open a web browser:

    1. Type the IP address for Switch 3 in the Address/URL text box.

    2. Type the User Name and Password in the appropriate text boxes.

    3. Click the "OK" button

  4. Change the username and password.

    1. Select "System" and then "User Authentication".

    2. Change the User Name and Password and then click the "Apply" button.

    3. A login screen will appear. Log in with the new credentials created.

    4. Select "Save Configuration" and then click the "Save" button.

    5. Select "System Reboot" and then click the "Reboot" button.

    6. Wait for the switch to reboot and repeat Step 3 to connect to the switch again.
    Show/hide table
    Illustration 17g03699492

  5. Select "Factory Default" as from left-hand menu.

  6. Check both: "Keep current IP address setting?" & "Keep current username &password?" options.

  7. Click the "Reset" button.
    Show/hide table
    Illustration 18g03699504

  8. On the next page click "Reboot" button.

Set Configuration

  1. On the left-hand side, click "Port" > "Port Control".

    1. Ensure Port 1 and Port 2 have no speed reduction (Speed =100).

    2. Ensure Port 1 and Port 2 with a duplex of full (Duplex =Full).

    3. Click "Apply".

  2. On the left menu, click "Port" > "Port Mirroring".

    1. Ensure that no ports have been set with mirroring.

  3. Click "Apply" button at bottom.

  4. On Left menu, select "Save configuration".

  5. Click "Save" button.

Switch 4 Configuration

These steps require direct access to the truck.

Note: Prior to beginning configuration of the switch, ensure that the IP address has been set to the appropriate IP address.

Reset Switch:

  1. The laptop must be on the same network as the autonomy switch.

    1. Configure the laptop to a static IP. Refer to Section "Appendix A: Set Static IP".

  2. Connect the laptop to the VIMS Service port in the cab using the Ethernet connection on the VIMS service cable 305-5528 Wiring Harness.

  3. Open a web browser:

    1. Type the IP address for Switch 4 in the Address/URL text box.

    2. Type the User Name and Password in the appropriate text boxes

    3. Click the "OK" button.

  4. Change the username and password.

    1. Select "System" and then "User Authentication".

    2. Change the User Name and Password and then click the "Apply" button.

    3. A login screen will appear. Log in with the new credentials created.

    4. Select "Save Configuration" and then click the "Save" button.

    5. Select "System Reboot" and then click the "Reboot" button.

    6. Wait for the switch to reboot and repeat Step 3 to connect to the switch again.
    Show/hide table
    Illustration 19g03700017

  5. Select "Factory Default" as from left-hand menu.

  6. Check both: "Keep current IP address setting?" & "Keep current username & password?" options.

  7. Click the "Reset" button.
    Show/hide table
    Illustration 20g03700021

  8. On the next page click "Reboot" button.

Set Configuration

    Show/hide table
    Illustration 21g03700025

  1. On the left-hand side, click "Port" > "Port Control"

    1. Change "Negotiation" to "Force" to allow changes to other settings.

    2. Set Port 1 and Port 2 with a speed reduction (Speed =10).

    3. Set Port 1 and Port 2 with a duplex of half (Duplex = Half).

    4. Click "Apply".

  2. On the left menu, click "Port" > "Port Mirroring".

    1. Ensure that no ports have been set with mirroring.

  3. Click "Apply" button at bottom.

  4. On Left menu, select "Save configuration".

  5. Click "Save" button.

Auto ECM (A5N6) Image Update Procedure

Introduction

This purpose of this section is to aide in the process of creating or updating the flash file on the Auto ECM (A5N6).

The normal update procedure is for the Auto ECM (A5N6) to be updated using Ethernet Flashing in Cat ET. When flashing an Auto ECM - Use the Serial Number and Location Code to determine the correct ECM.

Note: For assistance with Ethernet Flashing, refer to the Cat ET Help within Cat ET. Refer to IP Flash over Ethernet.

Show/hide table
Table 6
Auto ECM  Location Code 
Auto ECM 1  Loc: 1 
Auto ECM 2  Loc: 2 
Auto ECM 3  Loc: 4 
Auto ECM 4  Loc: 7 
Auto ECM 5  Loc: 6 
Show/hide table
Illustration 22g06025502

The first time an Auto ECM (A5N6) is installed or configured, or updated from version 4.3.x or lower to 4.4.x or higher, use the following procedure:

Note: When the following procedure is completed, there is a requirement to use Ethernet Flashing in Cat ET to complete the update.

Assumptions:

  1. The image has been delivered in a .zip file containing both the installer file for the updater, and the package image file. (ahs-u1204--XXXX-XX-XX-v2.zip, where XXXX-XX-XX represents the release date, YYYY-MM-DD)

  2. A 12-pin DT to USB adapter cable is available (Cat PN 343-8456 Adapter Cable As).

  3. A blank USB flash drive is available.

  4. User must have Administrative Rights for the Windows laptop.

Note: During the entire commissioning process, the autonomous system must maintain proper voltage. If the voltage is below 24V (or 12V on the 12V circuit), low voltage could lead to inconsistent system behavior. To prevent inconsistent system behavior, maintain the voltage using a 24V charger that is sized appropriately for the AMT or periodically leave the AMT running for 1-2 hours to recharge the batteries.

Creating a USB Updater Flash Drive

This section illustrates how to create the bootable USB update tool, from a normal USB flash drive. If a bootable USB update tool has already been done, or a USB Updater flash drive has been provided, skip to "Running the USB Adapter" section. All steps prior to the "Running the USB Updater" section do not need performed at the truck location.

Show/hide table
NOTICE

Only use trusted USB drives when upgrading Auto ECM Firmware. Follow your sites IT security guidelines when using USB drives. Only use files that have been obtained from a trusted source. USB drives and files that are not obtained from a trusted source could potentially be malicious.

Format the USB Flash Drive

From a Windows laptop, plug in the USB flash drive, and use the Windows format utility to format the USB flash drive.

    Show/hide table
    Illustration 23g03700033

  1. From the My Laptop, right-click the removable USB flash Drive.
    Show/hide table
    Illustration 24g03700034

  2. Select Format.
    Show/hide table
    Illustration 25g03700036

  3. Set the File system to "FAT32"
    Show/hide table
    Illustration 26g03700037

  4. Click Start.

    The bar at the bottom will display the completion status.

    Show/hide table
    Illustration 27g03700041

  5. When the Format Complete dialog box displays, click "OK".

  6. Click "Cancel" when the Format Removable Disk box reappears.

USB-Updater Installer

Note: User must have Administrative Rights to the laptop when creating this USB flash drive install.

  1. Obtain and extract the latest Auto ECM image .zip file.

    Note: The file can be found on the following website.

    Website: https://dealer.cat.com

  2. Run the ahs-u1204-USB-UPDATER-WINDOWS.exe.

    Note: Depending on Windows security configuration, a window may appear asking for permission to make changes to the laptop. If a window appears to be asking for permission to make changes to the laptop, click "Yes".

    Show/hide table
    Illustration 28g03700047

  3. Select the correct drive where the USB flash drive is plugged in, and click "OK".
    Show/hide table
    Illustration 29g03700055

  4. When the process is complete, the following will display.

    DO NOT reboot, simply exit the program by clicking the exit button.

Create UPDATE directory on the USB flash drive

  1. Open up the newly created USB flash drive.

  2. Create a directory called UPDATE.

    1. Right-click below the last Icon

    2. Select "New"

    3. Select "Folder"
      Show/hide table
      Illustration 30g06025508

    4. Name UPDATE

Update the package file on the USB Updater

  1. Copy the.package file from the ahs-u1204--XXXX-XX-XX-v2.zip file (where XXXX-XX-XX represents the release date, YYYY-MM-DD).

    Note: This file was extracted in the previous steps.

  2. Navigate to the UPDATE directory on the USB flash drive.
    Show/hide table
    Illustration 31g03700056

  3. Paste the.package file in UPDATE directory. This file contains the latest Linux image.

    Note: If a.package file exists, remove the file first, there should only ever be one package file in the UPDATE directory when running the update.

Running the USB Image Updater

These steps require direct access to the truck.

Perform the update

Note: This process will erase all the data present on the Auto ECM (A5N6) before an operating system is installed. If necessary, save all the required application data.

This process will need to be completed on each of the five Auto ECMs:

  1. With the truck keyed off:
      Show/hide table
      Illustration 32g03700062
      (1) J1
      (2) J2
      (3) J3
      (4) J4

    1. Connect the 12-pin DT to USB adapter cable to the J3 port on the Auto ECM (A5N6).

      Note: There may be a cable that is already connected to port J3 on the Auto ECM (A5N6). Remove this cable before connecting the adapter cable.

  2. Plug the USB updater flash drive into the adapter cable.

  3. Configure the laptop to a fixed IP address on the truck network. Refer to "Appendix A: Set Static IP".

  4. Connect the laptop to the VIMS Service port in the cab using the Ethernet connection on the VIMS service cable ( 305-5528 Wiring Harness).

    As the Auto ECM (A5N6) (with the updater USB flash drive plugged in) is booting up, try to ping (Refer to Section "Appendix B: Ping an IP Address") the Auto ECM that is being programmed. See site network architecture file.

  5. Key on the truck. Keying on the truck will power the Auto ECM (A5N6).
      Show/hide table
      Illustration 33g03700098

    1. Monitor the progress through a web browser.

      Once the ECM starts responding to a ping, open a web browser and navigate to the IP address.

      IP Address: http://XXX.XXX.XXX.XXX

      Refer to Section "Appendix E: IP Network Design".

      Make sure that there is no proxy server setup in the browser.

      A status of the update will be available.

  6. The process is complete when the web browser shows complete. Once the process is complete:

    1. Key off the truck.

    2. Wait for the autonomy system to shut down.

      Note: After the mode lights turn off, wait approximately 30 seconds and the autonomy system will be shut down.

    3. Remove the USB Updater.

Note: If updating all Auto ECMs (A5N6), begin at Step 1 of the Running the USB Image Updater for the next Auto ECM (A5N6). This process can be done at the same time as the Verify Boot Image of the previous Auto ECM (A5N6).

Verify the Boot Image

  1. Key on the AMT.

  2. Verify that the Boot Image is running.

    1. Plug the OCS laptop into the truck network.

      Note: The OCS laptop should be configured to use a static IP address on the truck's local network. Refer to Section "Appendix A: Set Static IP" on setting a static IP.

      1. Connect the OCS laptop to the VIMS Service port in the cab using the Ethernet connection on the VIMS service cable ( 305-5528 Wiring Harness).

    2. Open Terminal on the OCS laptop and use command to connect to an Auto ECM. ssh pf@autoX (Where X represents the Auto ECM to be verified).
      Show/hide table
      Illustration 34g03702920

    3. Verify that the correct version is displayed.

If commissioning or updating all ECMs, repeat the Running the USB Image Updater section for the remaining Auto ECM's.

On completion of this procedure, reflash the ECM using Ethernet Flashing in Cat ET.

Auto ECM (A5N6) Commissioning (Initial)

Introduction

The purpose of this section is to set the site and truck-specific parameters for the Command for hauling product onto each of the Auto ECM (A5N6).

Assumptions:

  1. The Auto ECM (A5N6) is new with no prior configuration OR has been reimaged.

  2. The Auto ECM (A5N6) Image Update has been performed.

  3. An approved Autonomy Software release has been installed.

  4. An OCS laptop is available.

Setting up Truck Specific Parameters

These steps require direct access to the truck.

  1. Connect the OCS laptop to the Truck Network.

    Note: The OCS laptop should be configured to use a static IP address on the truck's local network. Refer to "Appendix A: Set Static IP".

    1. Connect the OCS laptop to the VIMS Service port in the cab using the Ethernet connection on the VIMS service cable ( 305-5528 Wiring Harness).

Find the Cat MineStar System Machine ID for the truck being configured

These steps do NOT require direct access to the truck.

The Cat MineStar System machine ID will be created when a particular autonomous truck is configured in Cat MineStar System.

To find out this number, use the following steps:

    Show/hide table
    Illustration 35g03702962

  1. Open the Machine Finder window in the MineStar Client.
    Show/hide table
    Illustration 36g03702963

  2. Right-click the truck that is being configured, and select "Quick View".
    Show/hide table
    Illustration 37g03702973

  3. The machine ID will be listed under the ID tag.

Configure the Truck

  1. Load the system.
      Show/hide table
      Illustration 38g03702933

    1. Click the launcher Icon.
    Show/hide table
    Illustration 39g06293172

  2. Select "Launcher Web".
    Show/hide table
    Illustration 40g06359401

  3. Click "Configuration".
    Show/hide table
    Illustration 41g06359451

  4. The configuration GUI will open. All the fields will be either empty or set to the default values.

  5. Enter each field using one of the following methods:

    1. Enter each field manually. Refer to "Appendix C: Entering Site Specific Configuration Parameters".

    2. If a configuration has been previously saved for reuse, click "Import Config From File". Then select the directory where the previous settings were saved.

  6. Enter the MineStar machine ID.

  7. Click the "Install" button. This action will install the configuration to each Auto ECM (A5N6).

    Note: The configuration will not take effect until the truck is restarted.

Restart the truck

The AMT must be restarted twice.

  1. Key cycle the truck.

    1. Key OFF the truck.

    2. Wait for mode lights to turn OFF.

    3. Key On the truck.

    4. Wait for 5 minutes.

      Note: The AMT requires this step to gather and apply information.

  2. Key cycle the truck a second time.

    1. Key OFF the truck.

    2. Wait for mode lights to turn OFF.

    3. Key On the truck.

Auto ECM (A5N6) Commissioning (Single A5N6 Replacement)

Introduction

The purpose of this section is to set the site and truck-specific parameters for the Command for Hauling product onto a single Auto ECM (A5N6).

Assumptions:

  1. The Auto ECM (A5N6) is new with no prior configuration OR has been reimaged.

  2. The Auto ECM (A5N6) Image Update has been performed.

  3. An approved Autonomy Software release has been installed.

  4. An OCS laptop is available.

Setting up Truck Specific Parameters

This section will copy configuration and calibrations from an existing, functional Auto ECM.

Note: When replacing a single Auto ECM, a full commissioning procedure (as shown in Auto ECM (A5N6) Commissioning (Initial or All A5N6)) can be completed, but, if that procedure is used, ALL calibration procedures (Perception, positioning, and planning) will need to be repeated to provide the Auto ECM with correct configuration. Using this method (Auto ECM (A5N6) Commissioning (Single A5N6 Replacement)) procedure, removes the need to repeat all the calibrations.

Note: If the Auto2 is replaced (or reimaged), the perception calibration will need to be repeated.

These steps require direct access to the truck.

  1. Connect the OCS laptop to the Truck Network

    Note: The OCS laptop should be configured to use a static IP address on the truck's local network. Refer to Section "Appendix A: Set Static IP".

    Connect the OCS laptop to the VIMS Service port in the cab using the Ethernet connection on the VIMS service cable ( 305-5528 Wiring Harness).

  2. Launch the system.
      Show/hide table
      Illustration 42g03654702

    1. Click the Launcher Icon.
    Show/hide table
    Illustration 43g06293172

  3. Select "Launcher Web".
    Show/hide table
    Illustration 44g06359401

  4. Click "Configuration".

  5. The Site Configuration Utility will open.

  6. Select the "Load Config From Truck". Select "Apply" after the configuration has been loaded. This action will retrieve the configuration from another Auto ECM (A5N6), populate the fields in the Site Configuration Utility, and save the config files to the specified directory.

  7. Select the directory where the configuration should be saved to.

    Note: To create a New folder, click the folder icon with a "+" on the icon.

  8. Confirm that importing the configuration from the truck was successful and parameters are correct.

  9. Click "Install" button to reinstall configuration on all Auto ECMs (A5N6).

Restart the truck

The AMT must be restarted twice.

  1. Key cycle the truck.

    1. Key OFF the truck.

    2. Wait for mode lights to turn OFF.

    3. Key On the truck.

    4. Wait for 5 minutes.

      Note: The AMT requires this step to gather and apply information.

  2. Key cycle the truck a second time.

    1. Key OFF the truck.

    2. Wait for mode lights to turn OFF.

    3. Key On the truck.

Auto ECM (A5N6) Update (All A5N6)

Introduction

The purpose of this section is to set the site and truck-specific parameters for the Command for Hauling product onto each of the Auto ECM (A5N6) during a software upgrade.

Assumptions:

An OCS laptop is available.

Setting up Truck Specific Parameters

This section will save the configuration and calibrations prior to an image update. After an image update is complete, the configuration and calibration will be reinstalled.

These steps require direct access to the truck.

  1. Connect the OCS laptop to the Truck Network

    Note: The OCS laptop should be configured to use a static IP address on the truck's local network. Refer to Section "Appendix A: Set Static IP".

    Connect the OCS laptop to the VIMS Service port in the cab using the Ethernet connection on the VIMS service cable ( 305-5528 Wiring Harness).

  2. Launch the system.
      Show/hide table
      Illustration 45g03654702

    1. Click the Launcher Icon.
    Show/hide table
    Illustration 46g06293172

  3. Select "Launcher Web".
    Show/hide table
    Illustration 47g06359401

  4. Click "Configuration".

  5. The Site Configuration Utility will open.

  6. Select the "Load Config From Truck". Select "Apply" after the configuration has been loaded. This action will retrieve the configuration from another Auto ECM (A5N6), populate the fields in the Site Configuration Utility, and save the config files to the specified directory.

  7. Select the directory where the configuration should be saved to.

    Note: To create a folder, click the folder icon with a "+" on the icon.

  8. Confirm that importing the configuration from the truck was successful and parameters are correct.

  9. Keep the Site Configuration Utility window open.

  10. Perform the Auto ECM (A5N6) Image Update as directed in Auto ECM (A5N6) Image Update Procedure section of this document.

  11. Install the Autonomy Software release as directed in Auto ECM (A5N6) Autonomy Software Installation section of this document.

  12. If a perception calibration file was saved in previous step and reuse of the perception calibration is desired, then import the appropriate file in the "TransformNetwork File:" field.

  13. Click "Install" button to reinstall configuration on all Auto ECMs (A5N6).

Restart the truck

The AMT must be restarted twice.

  1. Key cycle the truck.

    1. Key OFF the truck.

    2. Wait for mode lights to turn OFF.

    3. Key On the truck.

    4. Wait for 5 minutes.

      Note: The AMT requires this step to gather and apply information.

  2. Key cycle the truck a second time.

    1. Key OFF the truck.

    2. Wait for mode lights to turn OFF.

    3. Key On the truck.

Cabinet Fan Configuration Procedure

Show/hide table
Illustration 48g06213922

These steps require direct access to the truck.

  1. Connect the Truck to a Laptop with Cat ET using a Comm Adapter.

  2. Select "Chassis" from ECM list.

  3. Select "Configuration Group 1" from the list.

  4. If the Cat Cabinet fan is being used, set the value to "Installed", if a different cabinet fan is being used, set the value to "Not Installed".

Configure Automatic Retarder Control (ARC)

Show/hide table
Illustration 49g06213921

These steps require direct access to the truck.

  1. Connect Truck to Laptop with Cat ET using a Comm Adapter.

  2. Select "Brake" from the ECM lists.

  3. Select "Brake System".

  4. Set the Maximum Desired Engine Retard Speed to 1950 rpm.

Tire Monitor Configuration

Introduction

The tire monitor system independently monitors the tire pressure of all haul truck tires. This system will trigger diagnostic events if it detects a rapid air pressure change or low air pressure. Such events will result in the truck stopping operation and alerts being sent to the MineStar controller. This process configures the tire pressure system.

Procedure

These steps require direct access to the truck.

  1. Connect Truck to Laptop with Cat ET using a Comm Adapter.

  2. Select "Chassis" from ECM list.
    Show/hide table
    Illustration 50g03703048

  3. Click the "Configuration Tool".

  4. Select "Tire Monitoring System Installation".
    Show/hide table
    Illustration 51g03703065

  5. Select "Tire Monitoring System Installation Status" and change to "Installed".

  6. Restart the system.

    1. Key off the truck.

    2. Wait for truck mode lights to turn off.

    3. Key the truck back on.

  7. Restart Cat ET.

  8. Select "Chassis" from ECM list.
    Show/hide table
    Illustration 52g03703048

  9. Click the "Configuration Tool".

  10. Select "Tire Monitoring System Installation".
    Show/hide table
    Illustration 53g03703072

  11. Select each Sensor and change to "Installed".

    • "Left Front Tire Pressure/Temperature Sensor Installation"

    • "Right Front Tire Pressure/Temperature Sensor Installation"

    • "Left Rear Outer Tire Pressure/Temperature Sensor Installation"

    • "Right Rear Outer Tire Pressure/Temperature Sensor installation"

    • "Left Rear Inner Front Tire Pressure/Temperature Sensor Installation"

    • "Right rear Inner Front Tire Pressure/Temperature Sensor Installation"

    Note: If unable to change to Installed, review active fault codes for CID3473. Reference Systems Operation, Troubleshooting, and Testing and Adjusting, UENR2211 for assistance.

  12. Restart the system.

    1. Key off the truck.

    2. Wait for truck mode lights to turn off.

    3. Key the truck back on.

  13. Restart Cat ET.

  14. Configure Tire IDs and Trigger Points using Tire Sense system.

  15. Log in to the Tire Sense system.
    Show/hide table
    Illustration 54g06064061

  16. Select the machine that requires configuration.
    Show/hide table
    Illustration 55g06064062

  17. Once the machine is selected, click "Configuration Update".
    Show/hide table
    Illustration 56g06064064

  18. Now, click "General Settings" option.

  19. Then click "Global Alert Parameters" section and confirm that both check boxes are selected for "Pressure Alerts" and "Temperature Alerts".

  20. And also confirm that the "RF alert timeout" is 60 minutes.

  21. Now click "Apply" to save the settings.
    Show/hide table
    Illustration 57g06064065

  22. Now Select "Advanced settings" on the side left pane.

  23. Now click "Management Protocol/Interface" section, and confirm that the selection dropdown is "Generic_0210_VIA_AUX/RS232".

  24. Select "Apply" to save the settings.

Setup VIMS

Introduction

This section is a guide to the VIMS setup and configuration of the autonomous truck specific to Command for hauling.

Software and documentation for the setup of VIMS can be found on SIS Web, and on the following website.

Website: https://dealer.cat.com

Flash VIMS Software

Update the VIMS Main and VIMS App software. Reference Special Instruction, REHS7412, "VIMS 3G Software Installation Guide For Large Off-Highway Truck (LOHT) Using VIMSpc 2011A or Later". The procedure to flash this software can be found in the Installing the Production Flash section. The installation flash files can be found on the following website.

Website: https://dealer.cat.com

Upload Configuration File

Update the VIMS Main and VIMS App configuration files. Reference Special Instruction, REHS7412, "VIMS 3G Software Installation Guide For Large Off-Highway Truck (LOHT) Using VIMSpc 2011A or Later". The procedure to update the configuration files can be found in the Installing the Production Configuration Files section. The configuration files can be found on the following website.

Website: https://dealer.cat.com

Cat ET Configuration for VIMS Main

There are multiple steps required for the Configuration the VIMS Main. These steps should be completed in the order listed below. Reference Special Instruction, REHS7342, "Procedure to Configure VIMS 3G On Certain Cat ® Products for instructions". Each procedure can be found in the sections noted below. Any settings specific for autonomy are also noted below.

IP address setup

  • Reference Internet Protocol Screen section.

  • For Autonomy set the IP address to the IP address specified for VIMS Main in Section "Appendix E: IP Network Design".

Data Acquisition System Installation

  • Reference the Software Enabled Attachment Screen section.

  • For Autonomy set the Data Acquisition System Installation Status to "Installed".

Data Acquisition System Customer Enable Status

  • Reference the Software Enabled Attachment Screen section

  • For Autonomy set Data Acquisition System Customer Enable Status to "Enabled".

Web Server Administrator Password

Show/hide table
Illustration 58g06214463

  • Enter a new password in the "New" value Field

Note: The maximum password length is 8 characters.

  • Select the "OK" button.

Restart

  • Key OFF truck.

  • Wait for mode lights to turn off

  • Key ON truck.

TMAC Protocol Port Selection

  • Reference Enabling Telemetry/TMAC section.

  • For Autonomy set the Telemetry Port to "Disabled".

  • For Autonomy set the TMAC Protocol Port to "Ethernet".

Time Zone set-up

  • Reference VIMS ECM Date, Time, and Time Zone section.

  • For Autonomy set to local time.

Cat ET Configuration for VIMS App

There are multiple configurations required for the Configuration the VIMS App. Special Instruction, REHS7342, "Procedure to Configure VIMS 3G On Certain Cat ® Products for instructions". The procedure can be found in the section noted below. Any settings specific for autonomy are also noted below.

Pay load monitoring setup

  • Reference Payload Control System section

  • For Autonomy set Target Payload to "240 ton (217.7 tonne)" Note this value is for 793F truck applications.

  • For Autonomy set Payload Overload Limit to "120%".

  • For Autonomy set the IP address to the IP address specified for VIMS App in the "Appendix E: IP Network Design" section.

VIMS web page

The GPS source configuration required for the Configuration the VIMS App. Reference Special Instruction, REHS7342, "Procedure to Configure VIMS 3G On Certain Cat ® Products for instructions". The section is noted below. Any settings specific for autonomy are also noted below. Connect to the VIMS 3G Connect web application.

NMEA position input setup

  • Reference GPS Info Tab section.

  • For Autonomy set GPS Info to "NMEA".

Ftp files push set up

  • Reference Settings section

  • For Autonomy set this information to match FTP server in the Cat MineStar System software.

MineStar settings

  • An extra setup is required for the MineStar FTP connection.

  • Connect to the VIMS 3G Connect web application.

  1. Select XIM tab at the top of screen.

  2. Select MineStar configuration along left-hand side.

  3. Set the IP address and port to match the FTP server in the Cat MineStar System software.

MineStar for VIMS

Once all onboard setup is complete, ensure that VIMS truck settings are correctly configured within the Cat MineStar System. This procedure can be found in the Command Office Configuration Guide. Part of this verification will include the need to Synchronize VIMS Clock with Office. This procedure can be found in the Cat Fleet User Manual.

Verifying the Machine Positioning Sensing Control Module and GNSS Version

Introduction

This section is a guide to determine what software version is installed. There will be active diagnostics for the Machine Position Sensing Control Module and the GNSS (GPS) Receivers when the firmware version is not correct. This section covers how to check the version manually on these components.

Assumptions:

  1. The GNSS antenna and IMU are properly connected to the Machine Positioning Sensing Control Module.

Verifying the Machine Positioning Sensing Control Module Software

Version Verification

  1. The laptop must be on the autonomy network.

    1. Configure the laptop to a static IP. Refer to Section "Appendix A: Set Static IP".

  2. Connect the laptop to the VIMS Service port in the cab using the Ethernet connection on the VIMS service cable ( 305-5528 Wiring Harness).

  3. Select the "Production" scenario from the "Launcher Web" page.

  4. Select "Version Report".
    Show/hide table
    Illustration 59g06359460

  5. Select "Applanix".

  6. Verify that the installed version matches the version found in the downloaded files.

    1. If the POS version does not match, complete Updating the Machine Positioning Sensing Control Module Version section contained in this document.

    2. If the GNSS receivers do not match, complete Updating the GNSS Receivers section contained in the document.

    3. If both the POS version and the GNSS receiver versions do not match, complete Updating the Machine Positioning Sensing Control Module Version section contained in this document. Then complete Updating the GNSS Receivers section contained in the document.

    4. If both the POS version and the GNSS receiver versions are found to be correct, continue to next step.

Change Scenario

These steps require direct access to the truck.

  1. Change Scenario.

    1. Launch the system.
        Show/hide table
        Illustration 60g03654702

      1. Click the Launcher Icon.
      Show/hide table
      Illustration 61g06293172

    2. Select "Launcher Web".

    3. Select the "Production" button.

Updating the GNSS Receivers

Introduction

This section is a step by step procedure for updating the GNSS receivers.

Note: For BD970 receivers, if a legacy password is not available proceed with updating normally.

Assumptions:

  1. The GNSS antenna and IMU are properly connected to the Machine Positioning Sensing Control Module.

Show/hide table
NOTICE

During the entire commissioning process, the autonomous system must maintain proper voltage. If the voltage is below 24V (or 12V on the 12V circuit), it could lead to inconsistent system behavior. To prevent, maintain the voltage using a 24V charger that is sized appropriately for the AMT or periodically leave the AMT running for 1-2 hours to recharge the batteries.

Procedure

  1. If not already done, download and install the current Trimble WinFlash.

    Note: This file can be found on the following website.

    Website: https://dealer.cat.com

Change Scenario

These steps require direct access to the truck.

  1. The OCS laptop must be on the autonomy network.

    1. Configure the laptop to a static IP. Refer to Section "Appendix A: Set Static IP".

  2. Connect the laptop to the VIMS Service port in the cab using the Ethernet connection on the VIMS service cable 305-5528 Wiring Harness.

  3. If scenario has not already been changed:

    1. Launch the system.
        Show/hide table
        Illustration 62g03654702

      1. Click the Launcher Icon.
      Show/hide table
      Illustration 63g06293172

    2. Select "Launcher Web".

    3. Select the "Connect" button.

    4. Select the "Positioning Checkout" button.
    Show/hide table
    Illustration 64g06359279

  4. Select "GNSS Firmware Flashing Setup".
    Show/hide table
    Illustration 65g06359417

  5. Select "Enable GNSS Flashing Mode".

  6. Wait for both receivers to indicate "Ready to Flash".
    Show/hide table
    Illustration 66g03703961
    (1) 398-3075 Wiring Harness
    (2) 370-8059 Adapter Kit

  7. Unplug the Machine Positioning Sensing Control Module harness from the main autonomy cabinet harness. Connect the serial service cable ( 398-3075 Wiring Harness (1)) to the Machine Positioning Sensing Control Module harness. Connect the other end of serial service harness ( 398-3075 Wiring Harness) to the laptop. A USB to Serial adaptor ( 370-8059 Adapter Kit (2)) may be required for connection to laptop without a serial port.

  8. Open Trimble WinFlash.

    Note: This file can be found on the following website.

    Website: https://dealer.cat.com
    Show/hide table
    Illustration 67g03703965

  9. Select the "BD9xx Receiver".

    Select the laptops appropriate serial port for flashing the device and click "Next".

    Note: To determine USB to serial port ID, go to Device Manager and look at Ports.

    Show/hide table
    Illustration 68g06025981

  10. For BD960 Receivers, proceed to the Step 11. For BD970 Receivers, perform the following substeps:

    1. Select "Update receiver options" and click "Next".
      Show/hide table
      Illustration 69g06025982

    2. Select "Legacy Passwords", enter the code from "Cat Auth Codes_BD9X0 Warranty Extension", for the relevant BD970 serial number, and click "Next".

      Note: The code from "Cat Auth Codes_BD9X0 Warranty Extension" is available in on the following website.

      Website: https://dealer.cat.com
      Show/hide table
      Illustration 70g06025983

    3. Click "Finish" and WinFlash will start the process.

    4. Open Trimble WinFlash.
      Show/hide table
      Illustration 71g03703965

    5. Select the "BD9xx Receiver". Select the laptop's appropriate serial port for flashing the device and click "Next".

      Note: To determine USB to serial port ID, go to Device Manager and look at Ports.

      Show/hide table
      Illustration 72g06025984

    6. Select "Verify Receiver Options" and click "Next".
      Show/hide table
      Illustration 73g06025985

    7. A window with a list of all the option keys will open. If the options were modified successfully, the "Brand" in the list should be "None".

    8. Go back to Step 10d (Open Trimble WinFlash) and then proceed forward to Step 11.
    Show/hide table
    Illustration 74g06025988

  11. Select "Load GPS Software" and click "Next".
    Show/hide table
    Illustration 75g03703970

  12. For BD960, select the "BD960 FW" option and click "Next". For BD970, select the "BD970 FW" option and click "Next".

    Note: Ensure that the "Turn Off Outputs before updating firmware" box is checked.

    Show/hide table
    Illustration 76g03703971

  13. Review the settings and click "Finish".

    Note: If a message appears stating that the firmware could not be loaded because of out-of-date authorization or warranty codes, refer to Section "Appendix D: Extending Authorization on BD960 Receivers" for details on how to enter the codes. After entering the codes, start the Firmware upgrade process again.

    Show/hide table
    Illustration 77g03703972

  14. A "Software Upgrade" window will appear. The upgrade can take up to 15 minutes to complete.
    Show/hide table
    Illustration 78g03703973

  15. Once the software upgrade is complete, click "Exit".

  16. Unplug the service cable from the laptop. Connect the unused serial connection (secondary receiver) to the laptop. Click "Menu" on the finished software upgrade message.

  17. Repeat Step 10 through Step 16 for the secondary receiver.

  18. When finished updating the secondary receiver, unplug the service cable and reconnect the Machine Positioning Sensing Control Module harness to the main autonomy cabinet harness.

Change Scenario

  1. The OCS laptop must be on the autonomy network.

    1. Configure the laptop to a static IP. Refer to "Appendix A: Set Static IP".

  2. Connect the laptop to the VIMS Service port in the cab using the Ethernet connection on the VIMS service cable 305-5528 Wiring Harness

  3. If scenario has not already been changed:

    1. Launch the system.
        Show/hide table
        Illustration 79g03654702

      1. Click the Launcher Icon.
      Show/hide table
      Illustration 80g06293172

    2. Select "Launcher Web".

    3. Select the "Connect" button.

    4. Select the "Production" button.

LiDAR Firmware Update

Introduction

The purpose of this section is to update the LiDAR to the most current version software.

Show/hide table
NOTICE

During the entire commissioning process, the autonomous system must maintain proper voltage. If the voltage is below 24V (or 12V on the 12V circuit), it could lead to inconsistent system behavior. To prevent, maintain the voltage using a 24V charger that is sized appropriately for the AMT or periodically leave the AMT running for 1-2 hours to recharge the batteries.

Procedure

This step does not require direct access to the truck.

  1. Download the "Velodyne Firmware XX.zip" file.

    Note: This file can be found on the following website.

    Website: https://dealer.cat.com

    These steps require direct access to the truck.

    Show/hide table
    Illustration 81g03704040

  2. Disconnect the main power connector on the LiDAR and connect the Cat LiDAR Flash Cable ( 416-5066 Wiring Harness). This cable has a serial connection that should be connected to the port on the laptop. A USB to ( 370-8059 Adapter Kit) may be required.

  3. Power up the truck and verify that the Velodyne is spinning

  4. Run the executable file from the Velodyne Firmware XX.zip folder.
    Show/hide table
    Illustration 82g03704044

  5. Click "OK".
    Show/hide table
    Illustration 83g03704047

  6. Click "Setup".
    Show/hide table
    Illustration 84g03704058

  7. Verify the COM Port.

    Note: To determine USB to serial port ID can be made through Device Manager, looking at the Port settings.

    Show/hide table
    Illustration 85g03704060

  8. Click "Update" and the Firmware will be flashed into the sensor. When the Firmware is done, the following will pop up.

  9. To ensure that all updates were installed correctly, repeat Firmware Verification procedure from the LiDAR Version Verification section of this document.

Autonomous Enable Status Configuration

Introduction

The Autonomous Control System enable status needs set to enable, to communicate to the truck that the autonomous hardware is installed. This action allows the truck to acknowledge that the truck needs to function as an autonomous vehicle. Setting this on the Chassis ECM will communicate it throughout the truck systems.

The following diagnostics are expected before the autonomous enable status is activated.

Show/hide table
Table 7
Active Diagnostic Codes - Machine Control 793 
Code  Description 
247-9  SAE J1939 Data Link : Abnormal Update Rate 
248-9  Cat Data Link not communicating 
296-9  Transmission Control : Abnormal Update Rate 
533-9  Brake control : Abnormal Update Rate 
1273-9  Chassis Control Module : Abnormal Update Rate 
3434-9  Steering Control Module : Abnormal Update Rate 
3724-9  Autonomous Control Module #1 : Abnormal Update Rate 
3900-9  Ethernet Data Link #1 : Abnormal Update Rate 

Procedure

These steps require direct access to the truck.

  1. Connect Truck to Laptop with Cat ET using Comm Adapter.

  2. Open Cat ET.

  3. Select "Chassis" from ECM list.
    Show/hide table
    Illustration 86g03703048

  4. Select the "Configuration Tool" button.
    Show/hide table
    Illustration 87g03703051

  5. Click the "Machine Configuration" on the left. Then, select the Autonomous Control System Enable Status.
    Show/hide table
    Illustration 88g03703057

  6. Ensure that the parameter is set to "Enabled". If set to "Disable" , change to "Enable".
    Show/hide table
    Illustration 89g06025525

  7. Set the "Machine Speed Limit" parameter under the Transmission ECM to 0 km/h.

    Note: Autonomous speed limits should be set using the MineStar Command for Hauling Office Software system.

    Show/hide table
    Illustration 90g06025533

  8. Select "OHT Payload Re-weigh" under "Payload Control System Settings".
    Show/hide table
    Illustration 91g06025535

  9. Enable the Second Gear Reweigh feature. Do not use the Speed Based Reweigh feature.

  10. Restart the system.

    1. Key OFF the truck.

    2. Wait for mode lights to turn OFF.

    3. Key On the truck.

Active Diagnostics Expected

On completion of this guide, there is a possibility that several diagnostics could be active. The table below shows diagnostics that are expected if the AMT has not yet been calibrated.

Show/hide table
Table 8
MID  CID  FMI  Description 
39  3588  13  Long Range Object Detection Sensor #1 - Out of Calibration 
39  4532  13  Position Sensing Control Module - Out of Calibration 
81  2200  13  Left Steering Cylinder Position Sensor - Out of Calibration - Secondary Steering 
81  \2201  13  Right Steering Cylinder Position Sensor - Out of Calibration - Secondary Steering 
116  1607  13  Front ARC Control Solenoid - Out of Calibration 
116  1608  13  Rear ARC Control Solenoid - Out of Calibration 
150  2200  13  Left Steering Cylinder Position Sensor - Out of Calibration - Primary Steering 
150  2201  13  Right Steering Cylinder Position Sensor - Out of Calibration - Primary Steering 
150  3284  13  Primary Steering System Steer Left Solenoid - Out of Calibration 
150  3285  13  Primary Steering System Steer Right Solenoid - Out of Calibration 
162  2183  13  Payload Monitoring System Out of Calibration 

If any diagnostics not on this list are active, follow the appropriate troubleshooting guide for the diagnostic and resolve it prior to calibrating the AMT.

Appendix A: Set Static IP

Static IP - Ubuntu or UNIX / Linux

The following instructions will change the IP to static but will not make the IP static permanently.

Note: The OCS Laptop should default to a static IP ensure after all changes the static IP is the final one.

Pseudo Static IP Change

The IP will change after each new reconnection. This procedure will need to be repeated with each connection.

  1. Connect Laptop.

  2. Go to the terminal and type:

    1. Type: /sbin/ifconfig (this action will display the current IP settings).

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

    2. If not set to unused static IP

      1. Type: su(Become Super User)

      2. Type in Super User Password

        Type:ifconfig eth0 XXX.XXX.XXX.XXX netmask SSS.SSS.SSS.SSS broadcast BBB.BBB.BBB.BBB

      3. Desired, unused static IP (XXX.XXX.XXX.XXX)

      4. Network subnet Mask (SSS.SSS.SSS.SSS) found in Section "Appendix E: IP Network Design".

      5. Broadcast (BBB.BBB.BBB.BBB) found in Section "Appendix E: IP Network Design".

    3. Type: ifconfig.

Static IP - Windows XP

The following instructions will change the IP to static in Windows XP.

    Show/hide table
    Illustration 92g03704096

  1. In Windows XP, open up "Network Connections under Start" > "Network Connections".
    Show/hide table
    Illustration 93g03704105

  2. Select the appropriate Ethernet connection from the list of devices.
    Show/hide table
    Illustration 94g03704107

  3. Right-click the proper connection and select Properties.
    Show/hide table
    Illustration 95g03704158

  4. A window will pop up. Scroll down to the bottom of the scroll area and double-click the "Internet Protocol (TCP/IP)".
    Show/hide table
    Illustration 96g03704167

  5. Another window will pop up.
    Show/hide table
    Illustration 97g03704163

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

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

    Show/hide table
    Illustration 98g03704170

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

  8. Once the values are entered, click "OK".

  9. Click "OK" on the following window too.

  10. Click "Close".

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

Static IP - Windows 7

The following instructions will change the IP to static in Windows XP.

  1. In Windows 7, find the internet access icon normally in the lower right corner.
      Show/hide table
      Illustration 99g03704188
      Show/hide table
      Illustration 100g03704196
      Show/hide table
      Illustration 101g03704221

    1. Click the network connections image.

      1. Right-clicking will display:

      2. Left-clicking will display:

  2. In either display above: Left-click on the "Open Network and Sharing Center".

    1. The "Network and Sharing Center" window will open .
      Show/hide table
      Illustration 102g03704486

    2. Once in the Network Sharing Center Left Click "Change adapter settings" located below Control Panel Home.

  3. The Network connections window opens.
      Show/hide table
      Illustration 103g03704487

    1. In Network Connections double-click "Local Area Connection".

  4. Double-clicking "Local Area Connection" opens up the "Local Area Connection Status" window.
      Show/hide table
      Illustration 104g03704488

    1. In the "Local Area Connections" Status, click "Properties".
    Show/hide table
    Illustration 105g03704489

  5. The "Local Area Connection Properties" window will pop up. Scroll down to the bottom of the scroll area and double-click "Internet Protocol version 4 (TCP/IPv4)".

  6. The Internet Protocol Version 4 (TCP/IPv4) Properties window will pop up.

    1. Click "Use the Following IP Address".

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

      Show/hide table
      Illustration 106g03704490

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

  7. Once the values are entered, click "OK".

  8. Click "OK" on the following window too.

  9. Click "Close".

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

Appendix B: Ping an IP Address

Ping an IP - Windows XP

The following instructions will cover how to Ping a specified IP using Windows XP.

  1. Click the "Start Menu".
    Show/hide table
    Illustration 107g03704491

  2. Select "Run".
    Show/hide table
    Illustration 108g03704493

  3. Type "cmd", and hit "Enter".
    Show/hide table
    Illustration 109g03704495

  4. At the command prompt, type

    ping XXX.XXX.XXX.XXX

    Hit "Enter".

    Note: The use of XXX.XXX.XXX.XXX represents the desired IP address.

    Desired IP addresses to ping can be found in Section "Appendix E: IP Network Design".

Ping an IP - Windows 7

The following instructions will cover how to Ping a specified IP using Windows XP.

  1. Click the "Start Menu".
    Show/hide table
    Illustration 110g03704496

  2. Type run in the "search bar".
    Show/hide table
    Illustration 111g03704499

  3. Type "cmd", and hit "Enter".
    Show/hide table
    Illustration 112g03704495

  4. At the command prompt, type

    ping XXX.XX.XXX.XXX

    Hit "Enter".

    Note: The use of XXX.XX.XXX.XXX represents the desired IP address.

    Desired IP addresses to ping can be found in "Appendix E: IP Network Design".

Appendix C: Entering Site Specific Configuration Parameters

The site configuration tells the software which configuration file to load containing all the release-specific parameters. Enter each parameter into the Site Configuration Utility.

Enter the MineStar Configuration Settings

This section contains variables. These variables affect the interaction with the Cat MineStar System. Verify that these variables are set according to the information shown below.

Show/hide table
Illustration 113g06359451

Site Name

This value should match the name of the mine site and should be the same on all trucks on site.

minestarTmacIP:

This value should match the Field IP Office Address MineStar Supervisor Setting. This value can be found by opening MineStar Supervisor session and clicking the following:

    Show/hide table
    Illustration 114g03704507

  1. Options (1) -> System Options.

  2. Under the pull-down menu, select Platform (2).

  3. Click the System (3).

  4. Click the Server tab (4).

  5. The Field IP Office Address (5) setting is show highlighted above.

MineStar TMAC Port

This value should match the TMAC Port MineStar Supervisor Setting. This value can be found by opening MineStar Supervisor session and clicking the following:

    Show/hide table
    Illustration 115g03704514

  1. Options (1) -> System Options.

  2. Under the pull-down menu, select Pit Link (6).

  3. Click the Comms Server (7).

  4. The TMAC Port (8) setting is highlighted above.

tmacServerConfig:

These values should be set to the TMAC port and any multicast IP addresses and ports needed.

Note: The default truck TMAC port is 10001.

Note: A multicast IP address and port should match the related Multicast IP address(es) and Port(s) in MineStar Supervisor.

Enter the Web Feature Service (WFS) Settings

This section contains Web Feature Service (WFS) settings. These settings affect the interaction with the GIS Server. Verify that these variables are set according to the information below:

wfsIP, wfsPort, wfsUser, geoPassword:

These values should match the WFS IP address, port, user name, and password which are listed in WFS Settings.

minestarInstacePrefix:

This value should match the Name Prefix MineStar Supervisor setting. The value can be found by opening MineStar Supervisor session and clicking the following:

  1. Options > System Options.

  2. Under the pull-down menu, select "Platform".

  3. Click the "System".

  4. Click the "Database tab".
    Show/hide table
    Illustration 116g06025586

  5. Click the "Instance Templates" button.

progressLinePublishMode

progressLinePublishMode is used to configure LiDAR survey mode.

networkMonitorIP:

Network Monitor IP is the IP address of a network monitoring system (if in place).

Network Monitor Port is the Port of a network monitoring system (if in place).

Note: Fields cannot be left blank. If the feature is not being used the user can select an unused IP address

additionalTruckWidth_m:

If using an aftermarket truck body then add in the extra width in meters.

Note: Additional width should be measured as the extra width on one side. Or as additional total width divided by two.

DC File:

This is the site coordinate file.

Gams File:

This file is generated by performing a GAMS checkout.

TransformNetwork File:

This file contains the results of the perception calibration.

Note: This field should only be used if performing an ECM replacement or and image update.

minestarMachineID:

The ID assigned to the machine in Cat MineStar System Office .

Enter the Truck Perception Configuration Parameters

This section contains three required variables. These variables are site-specific. Verify that these variables are set according to the information shown below. There are other optional variables that are described below.

Show/hide table
Illustration 117g06292461

Enter the Truck Calibration Pole Location

Pole Easting (m) is the GNSS easting of the perception calibration pole and is a site-specific value.

Pole Northing (m) is the GNSS northing of the perception calibration pole and is a site-specific value.

Pole Altitude (m) is the GNSS Altitude of the perception calibration pole and is a site-specific value.

Distance From Starting Ellipse Center to Pole and Path Rotation

These variables are site-specific. Verify that these variables are set according to variations in the size and orientation of the calibration pad. The defaults will be used if a standard calibration pad is used that meets all specified dimensions.

distanceFromStartingEllipseCenterToPole (m) is the distance to drive straight at the calibration pole during calibration. This distance MUST be greater than 50 m (164 ft); 70 m (230 ft) is standard.

pathRotation (deg) is the degrees of rotation of offset from the cardinal directions required during calibration. The path rotation (deg) regarding the calibration pole, where positive values result in a CCW rotation and negative values result in a CW rotation. By default (0 deg), the legs of the calibration path lie in the cardinal directions.

Geoserver PEM File:

Geoserver PEM File: is the security certificate to allow the truck to communicate with the HTTPS Geoserver.

Refer to the MineStar configuration and deployment guides for information on how to generate this file.

Select "Import" and select the appropriate PEM file.

Note: Multiple security certificates may be present in a single PEM file. Prior to the expiration of a security certificate verify that an updated certificate is present in the PEM file.

Enter the Truck Planning Checkout Configuration Parameters

If a list of lane IDs to be used by the planning checkout is available, the list of lane IDs can be entered here. To enter lane IDs, click the "Include Usable Lane IDs" check box. Then enter a comma-separated list of lane IDs. Only numbers and commas are acceptable. for example, 207,325,157,485

Note: If no list is available, then lanes can be manually selected in the Planning Checkout procedure.

Export Configuration

The site-specific parameters can be exported to a file so parameters can be reused on ALL trucks commissioned on a site.

  1. Click the "Save Configuration To File" button.

  2. Select or create a directory to export the config to, and click "OK". To create a folder, click the folder icon with a "+" on the icon.

    Note: This directory and associated files may need to be saved to a site-specific file location for use when commissioning other trucks.

Appendix D: Extending Authorization on BD960 Receivers

Warranty Codes can be obtained by accessing the "Cat Auth Codes_BD9X0 Warranty Extension" and can be found on the following website:

https://dealer.cat.com

If the serial number of the unit is not listed, contact Cat Technical Support for Product Support assistance.

Extending Authorization on BD960 Receivers

Use only if the BD960 receivers require authorization extension.

  1. Run "WinFlash" from "Programs > WinFlash > WinFlash.exe".
    Show/hide table
    Illustration 118g06025592

  2. Select "BD9xx Receiver" and the computer's appropriate serial port for flashing the device and click "Next".
    Show/hide table
    Illustration 119g06025596

  3. Select "Update receiver options" and click "Next".
    Show/hide table
    Illustration 120g06025598

  4. Select "Legacy Passwords", and enter the code from "CAT Auth Codes BD960 Warranty Extention.xlsx" for the relevant BD960 serial number and click "Next".
    Show/hide table
    Illustration 121g06025602

  5. Click "Finish" and WinFlash will start the process.

    Note: WinFlash shall notify you of the "Option Block" updating successfully.

Appendix E: IP Network Design

Show/hide table
Table 9
Name  IP Address  Comments 
Router Eth0  165.26.78.1  Default Gateway for all onboard devices 
Switch1 Eth0  165.26.79.2  Cabinet Switch 1 - Connected to Router 
Switch2 Eth0  165.26.79.3  Cabinet Switch 2 
Switch3 Eth1  192.168.3.4  Cabinet Switch 3 
Switch4 Eth0  165.26.79.5  Cab Switch 
Positioning System Eth0  165.26.79.6  Machine Positioning Sensing Control Module (Applanix MicroPOS) 
Auto 1 Eth0  165.26.79.7  A5N6- Auto 1 Ethernet 0 Interface 
Auto 1 Eth1  192.168.3.7  A5N6- Auto 1 Ethernet 1 Interface 
Auto 2 Eth0  165.26.79.9  A5N6- Auto 2 Ethernet 0 Interface 
Auto 2 Eth1  192.168.3.9  A5N6- Auto 2 Ethernet 1 Interface 
Auto 3 Eth0  165.26.79.11  A5N6- Auto 3 Ethernet 0 Interface 
Auto 3 Eth1  192.168.3.11  A5N6- Auto 3 Ethernet 1 Interface 
Auto 4 Eth0  165.26.79.13  A5N6- Auto 4 Ethernet 0 Interface 
Auto 4 Eth1  192.168.3.13  A5N6- Auto 4 Ethernet 1 Interface 
Auto 5 Eth0  165.26.79.15  A5N6- Auto 5 Ethernet 0 Interface 
Auto 5 Eth1  192.168.3.15  A5N6- Auto 5 Ethernet 1 Interface 
LiDAR  192.168.3.043  This broadcasts on the Eth 1 Interfaces and is UDP 
LiDAR Broadcast  192.168.3.255   
MCM  165.26.79.21  A4N4 on the Eth 0 interface 
Onboard Display  165.26.79.22  Fleet onboard Display 
Broadcast  165.26.79.255  System Broadcast Address 
Subnet Mask Eth0  255.255.254.0   
Subnet Mask Eth1  255.255.254.0   
Recommended Service IP Address Eth0  165.26.78.133   
Recommended Service IP Address Eth1  192.168.3.133   
VIMS Main  165.26.79.218   
VIMS App  165.26.79.226   

Appendix F: Network Setup and Connections

Show/hide table
Illustration 122g06113213
Show/hide table
Illustration 123g03704545

Show/hide table
Table 10
Command for Hauling Truck Topology 793F T4 CMD 
  Switch 1  Switch 2  Switch 3  Cab Switch (Switch 4) 
Port 1  Empty  Auto 1 Eth 0  Auto 1 Eth 1  Cat® Minestar Telematics ECM 
Port 2  Empty  Auto 2 Eth 0  Auto 2 Eth 1  Empty 
Port 3  Empty  Auto 3 Eth 0  Auto 3 Eth 1  Empty 
Port 4  Empty  Auto 4 Eth 0  Auto 4 Eth 1  Reserved for TIM 
Port 5  Cab Switch (Switch 4)  Auto 5 Eth 0  Auto 5 Eth 1  Empty 
Port 6  Switch 2 Connection  Machine Positioning Sensing Control Module  LiDAR  Empty 
Port 7  Empty  MCM  Empty  Empty 
Port 8  Radio  Switch 1 Connection  Empty  Autonomy service port cab 
Port 9  Empty  Empty  Empty  Switch 1 Connection 

Show/hide table
Table 11
Command for Hauling Truck Topology for 793F CMD 
  Switch 1  Switch 2  Switch 3  Cab Switch (Switch 4) 
Port 1  Empty  Auto 1 Eth 0  Auto 1 Eth 1  VIMS Main 
Port 2  Empty  Auto 2 Eth 0  Auto 2 Eth 1  VIMS App 
Port 3  Empty  Auto 3 Eth 0  Auto 3 Eth 1  Empty 
Port 4  Empty  Auto 4 Eth 0  Auto 4 Eth 1  Reserved for TIM 
Port 5  Cab Switch (Switch 4)  Auto 5 Eth 0  Auto 5 Eth 1  Empty 
Port 6  Switch 2 Connection  Machine Positioning Sensing Control Module  LiDAR  Empty 
Port 7  Empty  MCM  Empty  VIMS service port cab 
Port 8  Radio  Switch 1 Connection  Empty  VIMS service port bumper 
Port 9  Empty  Empty  Empty  Switch 1 Connection 
Show/hide table
Illustration 124g03704547

Caterpillar Information System:

C280 Marine and Petroleum Engines Solenoid Valve - Test
C280 Marine and Petroleum Engines Electrical Power Supply - Test
3516B and 3516C Engines For MT4400D AC Off-Highway Trucks Electronic Service Tool Does Not Communicate
C1.5 and C2.2 Engines for Caterpillar Built Machines Electric Starting Motor
C1.5 and C2.2 Engines for Caterpillar Built Machines Alternator and Regulator
C1.5 and C2.2 Engines for Caterpillar Built Machines Engine Oil Pressure Switch
C1.5 and C2.2 Engines for Caterpillar Built Machines Exhaust Manifold
C1.5 and C2.2 Engines for Caterpillar Built Machines Fuel Injection Pump
C1.5 and C2.2 Engines for Caterpillar Built Machines Fuel Injection Nozzles
C1.5 and C2.2 Engines for Caterpillar Built Machines Gear Group (Front)
C18 Marine Auxiliary and Marine Generator Set Engines Cooling System
Set up Procedure for the Low-Pressure Fuel System of 3600 and C280 Diesel Engines{1250} Set up Procedure for the Low-Pressure Fuel System of 3600 and C280 Diesel Engines{1250}
C1.5 and C2.2 Engines for Caterpillar Built Machines Coolant Temperature Sensor
3516B Engine for the MT4400D Off-Highway Truck Air Lines - Aftercooler
C1.5 and C2.2 Engines for Caterpillar Built Machines Speed/Timing Sensor
TA2 Technical Inspection for 3516B and 3516C Engines For MT4400D AC Off-Highway Trucks{1000} TA2 Technical Inspection for 3516B and 3516C Engines For MT4400D AC Off-Highway Trucks{1000}
C1.5 and C2.2 Engines for Caterpillar Built Machines Boost Pressure Sensor - If equipped
CG137-08 and CG137-12 Engines Engine Oil Filter Base - Remove and Install - G3408B
C1.5 and C2.2 Engines for Caterpillar Built Machines Inlet Manifold Temperature Sensor
Procedure to Rework Exhaust Shield and Seal on Certain Machine and Commercial Engines {1059, 7555} Procedure to Rework Exhaust Shield and Seal on Certain Machine and Commercial Engines {1059, 7555}
2012/12/06 A New Pre-Chamber Spark Plug is Available for Certain G3500 Engines {1550}
Marine Multi-Station Control System ECM CID 1383 - FMI 11
3512B and 3512C Petroleum Generator Set Engines Exhaust Flange
3512B and 3512C Petroleum Generator Set Engines Exhaust Manifold
Back to top
Contacts My AVS
The names Caterpillar, John Deere, JD, JCB, Hyundai or any other original equipment manufacturers are registered trademarks of the respective original equipment manufacturers. All names, descriptions, numbers and symbols are used for reference purposes only.
CH-Part.com is in no way associated with any of the manufacturers we have listed. All manufacturer's names and descriptions are for reference only.