Cat® Command For Hauling Caterpillar

EID E1497 Unacceptable Machine Trajectory Prediction

Event code EID E1497 Unacceptable Machine Trajectory Prediction occurs with varying levels of severity. Based on the severity, the autonomous mining truck (AMT) will respond in different ways: logging and continuing normal operation, limiting machine speed, or AMT coming to a complete stop. This event code could be caused by wear in the wheels, tires or suspension systems, incorrect calibration, poorly maintained roads, or a significant variance in machine speed vs the ground speed read directly by the Machine Position Sensing Control Module. Follow this procedure if an event EID E1497 Unacceptable Machine Trajectory Prediction occurs.

Test Step 1. VISUALLY INSPECT CONDITION OF WHEELS, TIRES, AND SUSPENSION.

1. Wheels.

   • No misalignment as viewed from ahead or behind.

   • No damaged, bent, or broken components.

2. Tires.

   • Free of numerous major pock marks on the tread.

   • Minimal cracks in the tread and sidewall, and If there are tracks, no steel ply visible.

3. Suspension.

   • Chrome is not damaged.

   • Minimal amounts of caked on or solid debris.

   • Only insignificant amounts of leakage.

Expected Result:

No visually apparent problems or defects noticeable.

Results:

• Problems visually apparent with the wheels. - Proceed to Test Step 2.

• Problems visually apparent with the tires. - Proceed to Test Step 3.

• Problems visually apparent with the suspension. - Proceed to Test Step 4.

• No visually apparent problems or defects noticeable. - Proceed to Test Step 7.

Test Step 2. CORRECT VISUAL PROBLEMS WITH THE WHEELS.

1. Correct visually found defects

   • No misalignment as viewed from ahead or behind.

   • No damaged, bent, or broken components.

2. Reference Front Wheels base truck manual.

   • Disassembly and Assembly, UENR1142, "793F Off-Highway Truck (Command For hauling) Machine Systems"

   • Troubleshooting, UENR2227, "793F Series CMD Off-Highway Truck/Tractor (Command for hauling) Steering Electronic Control System"

3. Reference Rear Wheels base truck manual.

   • Disassembly and Assembly, UENR1143, "793F Off-Highway Truck (Command For hauling) Power Train"

   • Troubleshooting, UENR2209, "793F CMD Off-Highway Truck (Command for hauling) Power Train Electronic Control System"

Expected Result:

Visual problems and defects corrected.

Results:

• Visual problems and defects corrected for wheels only. - Proceed to Test Step 10.

• Visual problem and defects corrected for wheels but remain for tires and suspension. - Proceed to Test Step 3.

Test Step 3. CORRECT VISUAL PROBLEMS WITH THE TIRES.

1. Check tires.

   • Free of numerous major pock marks on the tread.

   • Minimal cracks in the tread and sidewall, and If there are tracks, no steel ply visible.

2. Correct problems.

   • Consult documentation from tire manufacturer.

   • Front Wheels: Disassembly and Assembly, UENR1142, "793F Off-Highway Truck (Command For hauling) Machine Systems"

   • Rear Wheels: Disassembly and Assembly, UENR1143, "793F Off-Highway Truck (Command For hauling) Power Train"

Expected Result:

Visual problems and defects corrected.

Results:

• Visual problems and defects corrected for tires only. - Proceed to Test Step 10.

• Visual problem and defects corrected for wheels and /or tires but problems remain with suspension. - Proceed to Test Step 4.

Test Step 4. CORRECT VISUAL PROBLEMS WITH THE SUSPENSION.

1. Check suspension and correct problems.

   1. Special Instruction, SEHS9411, "Servicing the Suspension Cylinders for Off-Highway Trucks"

Expected Result:

Visual problems and defects corrected.

Results:

• Visual problems and defects corrected for suspension only. - Proceed to Test Step 10.

• Visual problem and defects corrected for wheels, tires, and /or suspension. - Proceed to Test Step 10.

Test Step 5. VISUALLY INSPECT ROAD CONDITIONS.

1. Ensure that physical roads are clear of excessive bumps, ruts, undulations, and other such signs of excessive wear.

2. In Cat MineStar System client, ensure that roads and path of travel on the map are not misshapen.

Expected Result:

No apparent problems or defects noticeable on road.

Results:

• No apparent problems or defects noticeable on road. - Proceed to Test Step 7.

• Roads show signs excessive wear. - Repair roads and proceed to Test Step 10.

• In Cat MineStar System, the road is misshapen. - Correct map and proceed to Test Step 10.

Test Step 6. CONFIRM THE DMI SIGNAL

1. Connect an OCS laptop to the onboard network and launch the Production OCS software.

2. Navigate to the Positioning tab.

3. While operating the truck at a safe speed for at least 500 m (1640.4 ft), have a second person monitor the "Ground Speed Signal Data" section for loss or inconsistency of the Speed From DMI Signal.

Expected Result:

The Speed from DMI Signal is consistent with Transmission Output Speed and Average of Rear Wheel speeds.

Results:

• OK - The Speed From DMI Signal is consistent with Transmission Output Speed and Average of Rear Wheel speeds. Proceed to Test Step7

• NOT OK - The Speed From DMI Signal is not consistent with Transmission Output Speed and Average of Rear Wheel speeds.

  Repair: Carry out the troubleshooting procedure for MID 039 CID 0084 FMI 02.

  1. On completion of the troubleshooting procedure for MID 039 CID 0084 FMI 02, ensure that the EID E1497 diagnostic is still active.

     1. If EID E1497 is active, proceed to Test Step7.

     2. If EID E1497 is NOT active

  STOP

Test Step 7. COLLECT DIAGNOSTIC DETAIL INFORMATION.

1. Open Cat MineStar System client.

2. Go to Contents > pit link > Field Communications Monitor.

3. Select the comms item that displays EID 1497.

   • Collect EID time from Cat ET and match to time in Cat MineStar System client.

   • In the diagnostic detail: "ComponentID" = "1497"

   • In the diagnostic detail: "FailureModeDescription" = Reduced Trajectory Prediction
   Show/hide table

   Illustration 1	g03326973

4. Once selected, the diagnostic detail message will display in the bottom left of the screen. Record the information under "extendedTexts" section.

5. This information will be helpful when proceeding through this process.

Expected Result:

Diagnostic details collected.

Results:

• Diagnostic details collected. - Proceed to Test Step 9.

• Diagnostic details are not available. The cause of the problem is uncertain. Contact Caterpillar technical support with the information that has been gathered. - STOP

Test Step 8. CREATE A DATA CLIP FROM THE DATA LOGGER.

1. Create a file clip including all data for 10 minutes prior to the event code activation until 2 minutes after activation.

   Note: Refer to the Service Tool section or the Command Office Operation and Maintenance Manual for information on creating a data clip or truck "snapshot".

Expected Result:

Data file clip created.

Results:

• Data file clip created for live event. - Correct map and proceed to Test Step 9.

• Data file clip created for activation during planning checkout. - Correct map and proceed to Test Step 10.

Test Step 9. RUN PLANNING CHECK OUT PROCEDURE.

1. Perform the Planning System Checkout in Special Instruction, REHS8845, "Autonomous Calibration Procedure for CMD4.1 on the 793F CMD Off-Highway Truck". This procedure can be found on the Command for hauling publications box site.

Expected Result:

Planning checkout is completed successfully.

Results:

• Planning checkout is completed successfully. - Proceed to Test Step 10.

• Unable to complete the planning checkout successfully. The cause of the problem is uncertain. Contact Caterpillar technical support with the information that has been gathered. - STOP

Test Step 10. RESTART SYSTEM.

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

Expected Result:

EID 1497 cleared.

Results:

• EID 1497 cleared. - STOP

• EID 1497 is still active. Wheels, tires, and suspension have been visually inspected and corrected where necessary but code remains active. - Proceed to Test Step 5.

• EID 1497 is still active. Wheels, tires, and suspension have been visually inspected and corrected where necessary. Roads have been inspected in Cat MineStar System and physically, corrective actions taken where necessary but code remains active. - Proceed to Test Step 7.

• EID 1497 is still active. Wheels, tires, and suspension have been visually inspected and corrected where necessary. Roads have been inspected in Cat MineStar System and physically, corrective actions taken where necessary but code remains active. Diagnostic details have been recorded and planning checkout procedure has been successfully completed but code remains active. - Proceed to Test Step 8.

• EID 1497 is still active after completing all above steps. The cause of the problem is uncertain. Contact Caterpillar technical support with the information that has been gathered. - STOP