Cat® Command For Hauling Caterpillar

EID 1394 Unacceptable Machine Orientation

Follow this procedure if an event EID 1394 Unacceptable Machine Orientation occurs. This code is triggered when information sent from the autonomy inertial measurement unit (IMU) reports an unacceptable pitch or slope. When this code is activated, the autonomous mining truck (AMT) comes to an immediate stop and shuts down the engine. There are a number of possible reasons the code is triggered. The road the AMT is traveling on is too steep (above a 27 degree grade). The autonomy IMU is misaligned. The AMT has had an incident in which the AMT is no longer in an acceptable position.

Test Step 1. VISUALLY INSPECT THE MACHINE.

1. Verify that the AMT is located where the AMT is expected and in an acceptable position.

   1. Verify Slope and pitch (roll) of the AMT.

2. Verify that the autonomy IMU is correctly mounted on the front of the AMT.

   1. Correctly attached to mounting bracket.

   2. Mounting bracket correctly mounted to the AMT.

3. Verify that the GNSS antennas are correctly mounted on the front of the AMT.

   1. Correctly attached to mounting structure.

   2. Mounting structure correctly mounted to the AMT.

Expected Result:

AMT is in an unacceptable position.

Results:

• The entire truck in not in an acceptable position. -

  Repair: Correct truck orientation.

  Proceed to Test Step 3.

• Autonomy IMU or IMU bracket has been disrupted and the unit is no longer mounted straight and securely on the front of the machine. -

  Repair: Remount and/or replace the autonomy IMU mounting bracket. Remount the autonomy IMU.

  If the IMU is damaged, contact Caterpillar Technical Support for assistance.

  Proceed to Test Step 2.

• GNSS antennas are no longer mounted straight and securely on the front of the machine. -

  Repair: Remount and/or replace the GNSS antenna mounting structure. Remount and/or replace the GNSS antennas.

  Proceed to Test Step 2.

• No visual issues found in AMT position, IMU or GNSS antennas. - Proceed to Test Step 2.

Test Step 2. PERFORM A POSITIONING CALIBRATION.

1. Perform a positioning calibration. The procedure is available in Special Instruction, REHS8845, "Autonomous Calibration Procedure for CMD4.1 on the 793F CMD Off-Highway Truck".

Expected Result:

Calibration procedure successfully completes.

Results:

• Calibration procedure successfully completes. - Proceed to Test Step 3.

• Calibration procedure fails. The cause of the problem is uncertain. Contact Caterpillar technical support with the information that has been gathered. - STOP

Test Step 3. RESTART THE AMT.

1. Key ON the AMT and verify the status of event code.

Expected Result:

EID 1394 clears.

Results:

• EID 1394 clears. - STOP

• EID 1394 remains active. Verify both GNSS antennas and IMU are correctly positioned. - Proceed to Test Step 2.

• EID 1394 remains active. The cause of the problem is uncertain. Contact Caterpillar technical support with the information that has been gathered. - STOP