Troubleshooting the Start Up Procedure for RC
Cannot Establish a Link with the Machine
Perform the steps listed prior to checking voltage.
- Disable the "Manual Overide" switch (1) in the cab. (place in Remote Control position)
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Illustration 2 g03194178 (2) "GLSC" Engine shutdown switch
(3) "GLSC" Manual/remote mode switch - Pull out the "GLSC Engine Shutdown" switch. Refer to illustration 2.
- Arm remote control on machine. Refer to illustration 2.
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Illustration 3 g03799142 Operator console
(4) Parking brake switch
(5) Implement lockout switchShow/hide table
Illustration 4 g03799555 Right side of operator console
(6) Operator console power button
(7) Operator console power off / commanded stop switch - Set the following Console switches
- Parking Brake Engaged (4)
- Implement Lockout Enabled (5)
- Operator Console Power button Off (6)
- Move the Machine Power / Engine Crank switch to Machine Power On, the middle position.
- Release the Operator Console Power Off / Commanded Stop switch (7) on the console. Refer to illustration 4.
- Push the Operator Console Power On button (6). Refer to illustration 4. The Remote Control (RC) Connection indicator on the Status Display will flash green.
| |
| Illustration 1 | g03799139 |
| (1) Manual override switch | |
Voltage should be measured as battery on the following: "L906" (pin 2 on RCM), "C980" (pin 3 on RCM), and "A318" (pin 23 on RCM.
Once you perform "Turn on Machine Power", L906 and C980 should be measured as battery voltage.
Note: "A318" will be measured as ground.
If the measurements do not meet the listed voltages, the issue has been found. Then narrow down the location in the sub harness by the following readings.
- All 3 are not battery voltage, a link issue is the cause. Check antenna, receiver LEDs on the machine and Note the LEDs on console.
- "L906" is battery, "C908", and A318 are not battery voltage, check for the "2 contact" loop back connector in the "ROPS" enclosure
- "L906" and "C908" are battery voltage and "A318" is not, check the relay. These readings should raise a CID 3252 - FMI 06.
Note: These measurements are done prior to turning on machine power.
| Machine Power Relay Diagnostic (1) | |||
|---|---|---|---|
| Diagnostic CID 3252 | L906-3 | C980-3 | A318 |
| Suppressed | 0 | 0 | 0 |
| CID 3252 - FMI 14 | 0 | 0 | 1 |
| CID 3252 - FMI 14 | 0 | 1 | 0 |
| CID 3252 - FMI 14 | 0 | 1 | 1 |
| Suppressed | 1 | 0 | 0 |
| CID 3252 - FMI 14 | 1 | 0 | 1 |
| CID 3252 - FMI 05 | 1 | 1 | 0 |
| None | 1 | 1 | 1 |
| (1) | Value of 1 means the circuit sensed high battery voltage |
Remote Control Console with RFID
When a machine is reserved by the Operator Station and an attempt to establish RC with the Operator Console is made, communication between the Operator Station is lost and "OpSt" shows on the Operator Console Machine status display. This begins a period of 5 minutes in which communications can be re-established with Operator Station. After 5 minutes has elapsed, the machine will automatically shutdown.
Once Delayed Engine Shutdown (Engine Idle Cool Down) is complete (times for completion will vary) and the machine is restarted, connection to and operation of that machine with the Operator Console is possible. After the machine enters Delayed Engine Shutdown, the console will need to be Powered Down and then Powered up before the console will connect to the machine.
When a machine is reserved by the Operator Station and an attempt to establish RC with the Operator Console is made, communication between the Operator Station is lost. This begins a period of 5 minutes in which communications can be re-established with Operator Station. After 5 minutes has elapsed, the machine will automatically shutdown.
Once Delayed Engine Shutdown (Engine Idle Cool Down) is complete (times for completion will vary) and the machine is restarted, connection to and operation of that machine with the Operator Console is possible. After the machine enters Delayed Engine Shutdown, the console will need to be Powered Down and then Powered up before the console will connect to the machine.
One Indicator Light Remains Illuminated at All Times
To troubleshoot the indicators:
- Disconnect the signal connection for the indicator that is not Illuminated at the harness connector.
- Using a Multimeter verify that the indicator is receiving signal voltage at the connector.
- If the indicator is receiving signal voltage, replace the indicator. If the indicator is not receiving signal voltage, proceed to Step 4.
- Check the indicator operation.
- Check the harness and connectors between the Indicator and the RCM for:
- Wire to wire shorts
- Shorts to ground
- Shorts to power
- Open circuits
- Repair or replace the harness and or connectors.
- Check the indicator operation.
Manual / Remote Control Mode Switch
Place the mode switch for the remote control system on the GLSC in the Remote Control position.
- Verify that the remote active and connection status indicators for the remote control system are illuminated.
- Verify that Receiver is on and the indicators are illuminated on the face of the receiver.
- The indicators on the machine should both be blue. In addition, none of the controls in the cab should work, except the horn and the lights.
The Red Indicator is Flashing Quickly and Continuously
When the RC/Manual Switch is moved to RC, upon start-up of the RCM, the red indicator is flashing quickly and continuously, make sure Pin 1 on J2 (J2-1) has battery voltage on it.
- Use AVSpare Electronic Technician (Cat ET) to check for diagnostics in the RCM. If the RCM is seen by Cat ET, the module is receiving power.
- Check the fuse for the remote control system.
- If Receiver is not ON, try the other position of the remote control mode switch. The mode switch for the remote control system could be mounted or wired incorrectly.
- If the Receiver is powered, check the indicator light. The wiring for the indicator light could be incorrect.
- If power is not present at the RCM, check to ensure that pin 2 of the connector for the mode switch of the remote control system is receiving power. With the switch in the remote position, test the continuity between pin 1 and pin 2 of the switch. If pin 2 of the connector in the remote control harness that connects to this switch is not powered, the fuse for the remote control system is open. If pin 2 has power and the switch has continuity between pin 1 and pin 2, then the wire that connects pin 1 of the connector for the switch in the remote control harness will need to be traced back to the remote control system.
- If the indicator light is also not on, refer to the "The Indicator Light is Not ON" section within this document to verify power to the system.
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Illustration 5 g03817995 - If the indicator light is on, verify that there is power on pin D of the gray connector of Receiver.
- Verify that pin A of the connector for Receiver has good continuity to ground.
- If the power and ground are OK, replace Receiver. Otherwise, trace the harness to determine the problem.
This procedure will test the communications of the radio receivers that are in the system. The following components are radio receivers:
- Operator Console
- Receiver
This procedure assumes that the mode switch for the remote control system on the GLSC has been validated and that the machine is in remote control mode.
Prepare the Operator Console (Before Power-Up)
Before powering the Operator Console, some of the switches should be in the default position. These defaults include having the joysticks and all return to center switches in the centered position, having the implement lockout switch in the ON position, having the parking brake switch in the ON (engaged) position, having the Machine Power / Engine Crank switch in the OFF position, and having the Commanded Stop switch in the OFF position.
Scanning Command for Dozing Operator Console Access Card for Start Up
- Ensure that the Parking Brake, the Implement Lockout, and the Machine Power switches are in the default states, and all controls are neutralized.
- Release Operator Console Commanded stop switch.
- Press Operator Console Power button to power up the console.
- Within 8 seconds, scan the Operator Console Access Card on the front-right corner of the Operator Console where the indicator label is.
Note: If the Access Card is not scanned within 8 seconds, the Operator Console will power off, and the procedure will require repeated.
Note: The Engine On / Crank switch on the console is either in the default state of OFF or in the Engine ON position. Either way the Software Stop LED will be flashing now.
- To activate the RC, press the horn for 3 seconds. After pressing the horn for 3 seconds and the horn has sounded 3 times, then the Software Stop LED should go out.
Verify that the Software Stop LED turns off. If the communication link is successfully established with the receiver, the Remote Control (RC) Connection indicator on the Status Display will flash green.
The battery does not have enough charge, the power circuit of the Operator Console is faulty.
Confirm that the machine engine shutdown switch on the GLSC is not on, the machine is not reporting a Level 3 fault or has not entered an Avoidance Zone 5 boundary set by Terrain if equipped. Otherwise something is wrong with the operator console.
Press the Operator Console Power Off / Commanded Stop Switch (IN)
If the Parking Brake switch, Implement Lockout switch, and Machine Power / Engine Crank switch on the console are all in the default position when the Operator Console Power Off / Commanded Stop switch is pressed in, there will not be a "Commanded Stop Indicator" flashing on the machine. The switches are in the default state. Pressing the Operator Console Power Off / Commanded Stop switch is part of the normal shutdown procedure for the console. Once the console is powered off, only the blue indicator on the machine will be on solid, indicating the RC system is enabled but not active.
If the Machine Power / Engine Crank switch has been put in the "ON" position and the Operator Console Power Off / Commanded Stop switch is pressed the Commanded Stop (red) indicator on the machine will flash red and the blue indicator will be lit solid. The red indicator will flash for approximately 30 seconds. After the 30 seconds have elapsed, the Commanded Stop (red) indicator will time out and turn off.
Commanded Stop Red Indicator on the Machine Does Not Time Out To An Off State and Remains Flashing
Either the Operator Console Power Off / Commanded Stop switch or the circuit for the Operator Console Power Off / Commanded Stop switch on the Operator Console is faulty, or the firmware on the Operator Console is not loaded or correct.
Release or Pull the Operator Console Commanded Stop Switch
The green Battery / Antenna LED on the console should be ON. The indicator will appear solid first and then start flashing, and the red Commanded Stop indicator on the console should be OFF. After a few seconds, the indicator for the software Commanded Stop ("SW ESTOP ON") will turn red. Some other indicators may turn on also. The display should also show something other than three dashes. The "LINK" indicator on the Receiver should be green (may be flashing), and the "ESTOP" indicator on Receiver should be green.
Commanded Stop Indicator Not OFF
Check the positions of all the switches and joysticks, refer to "Prepare the Operator Console (Before Power-Up)". If the defaults are not set, set the defaults, and the Commanded Stop indicator should go OFF. Otherwise, there is either a faulty circuit on the Operator Console or the firmware on the Operator Console is not loaded or correct.
This indicator should come on regardless of the status of the receiver. Indicator not "ON" means that there is either a faulty circuit on the Operator Console or the firmware on the Operator Console is not loaded or correct.
RCM (RCM) and Receiver Communications
This procedure confirms that the RCM is communicating with the Receiver.
After following and successfully validating the radio communications procedure, the Operator Console LCD display should display the first status display parameter, which should be "Fnr".
Operator Console LCD Display Displaying "nodt"
"NODT" means that Receiver is communicating with the Operator Console. However, Receiver is not receiving any data from the RCM. Ensure that the RCM is detected by Cat ET. If the RCM is not detected, the software for the RCM is not loaded or correct. Otherwise, check the power circuitry for the RCM and the CAN connections between Receiver and the RCM.
Remote Control is Ready to be Activated
The RCM, the Operator Console, and Receiver should be powered up now. All the components are communicating successfully.
The system should be in a Commanded Stop state. This state is represented by the indicator for the system Commanded Stop being red. The audible alarm on the Operator Console should not be sounding. The fault indicator should not be ON.
The Fault Indicator is Red or the Audible Alarm on the Operator Console is Sounding
There is a hardware fault in the system that is specific to the RCM. This could indicate a faulty relay or a missing relay. A switch could also be bad. Confirm that all relays are in place and that all connectors are properly connected. Check for diagnostics in the RCM with Cat ET.
Software Commanded Stop Indicator is Not Red
There is either a faulty circuit on the Operator Console or the firmware on the Operator Console is not loaded or correct.
Activating Remote Control Mode
This procedure assumes that remote control is ready to be activated.
Place the key start switch for the machine that is on the Operator Console in the ON (middle) position.
The fault indicator is OFF and the audible alarm on the Operator Console is not sounding. The dash in the machine and the Advisor should power up, and the alert audible alarm in the cab should sound for about one second.
If any steps of the validation failed, check the following items. Confirm that the "LINK" and "STATUS" on Receiver are green and that the "ESTOP" indicators are OFF. If this is not true, there is a link failure between the transceivers. See the "Radio Communications" section above for the validation of the radio communications. Confirm that the status of the implement ECM and power train ECM shows a value of "1" via the Operator Console LCD display under the "Iid" and "Pid" parameters. If either of these parameters show a value of "0", then the remote control feature has not been installed and enabled on that ECM, the harness code line for the remote control system is not set or connected correctly to that ECM, the CAN connection between the RCM and that of the machine is faulty, or that ECM does not contain the correct version of software.
If a problem still exists, use Cat ET to check for diagnostics on the RCM. This check will ensure that the RCM is receiving power. Use a multimeter and a spoon lead to confirm power at the following:
- Remote/Manual Mode Switch pin 2 (on Ground Level Service Center)
- Remote/Manual Mode Switch pin 1 (on Ground Level Service Center)
- Receiver Gray Connector pin 5
- Receiver Gray Connector pin 4
- Keyswitch Power Relay pin 5
- Keyswitch Power Relay pin 2
- RCM pin 23
Sound the horn. Press the horn button on the Operator Console for approximately 3 seconds.
After 3 seconds, the horn should stop sounding. The horn will then sound an extra three times and the lights will come on. During this time, the "REMOTE ACTIVE" and "SW ESTOP ON" indicators on the Operator Console should flash green about once per second. After these indicators are complete, the "SW ESTOP" should turn OFF and the "REMOTE ACTIVE" indicator should be solid green. Remote control is now active.
The Horn Does Not Stop Sounding After 3 Seconds
A fault has occurred. Check all the parameters via the display. Check all relays and connections. Check for diagnostics on the RCM with Cat ET.
"SW ESTOP" Indicator Becomes Red and "REMOTE ACTIVE" Indicator Turns OFF
A condition that requires a Commanded Stop by the software has occurred during this time. Refer to the Operation and Maintenance Manual, SEBU8453 to see possible causes.
"REMOTE ACTIVE" Indicator Turns OFF and "AVOIDANCE ZONE" Indicator Becomes Red
The machine has entered an avoidance zone. Confirm the setup of the Terrain system in the RCM and the Terrain system.
Place the key start switch for the machine that is on the Operator Console in the Start (momentary) position. This step assumes that the machine is powered when in remote control mode.
The engine should start. The amount of time required to start the engine will vary, this amount of time depends on the temperature. Starting the engine should not take any more than 2 to 3 seconds.
Ensure that the machine has power. If the machine does not have power, refer to "Power the Machine"topower the machine. Check both of the Commanded Stop buttons that are on the machine. Verify that the buttons are pulled out. If the button is pushed in, pull the button and cycle the power on the machine via the key start switch for the machine on the Operator Console. If the button is not pushed in, ensure that a fault has not occurred. Check all parameters via the display. Check the "Engine Start" relay. The relay should be a 248-2841 Relay As. The relay is 24 VDC. If the relay is correct, check the connections. Pay special attention to the connections at the relay board.
Remote/Manual Switch In The Cab
Start the machine. Then, press the Remote/Manual switch on the right station inside the cab of the machine. When the emergency stop switch in the cab is pushed in, the remote control system places control of the machine to Manual Mode.
The machine should be able to controlled manually from the cab. The green indicator light for the remote control system is no longer ON. Remote control of the machine can only be restored by cycling the mode switch for the remote control system in the ground level service center. Cycle the switch to the MANUAL position and back to the REMOTE CONTROL position.
Remote Control System Does Not Relinquish Control to Manual
Check all the harness connections. Check for diagnostics on the RCM with Cat ET.
Engine Shutdown Switch on the Ground Level Service Center
Start the machine. Push in the engine shutdown switch on the ground level service center.
The engine stops. Power is left connected to the machine. To restart the machine, turn the key start switch on the Operator Console to the OFF position and then turn the switch to the ON position. When the power is cycled, the machine will beep the horn and then turn on the lights before remote control is restored. The engine can then be restarted after this validation is complete.
Check all the harness connections. Check for diagnostics on the RCM with Cat ET.
Commanded Stop Switch on the Operator Console
Start the machine. Then, press the Commanded Stop switch on the Operator Console.
The power is cut to the machine which causes the engine to stop. The Commanded Stop indicator on the Operator Console becomes red and the remote active indicator flashes green. The remote control system is left powered. The "STOP" indicator on the Receiver becomes red. The entire activation must be performed to regain remote control of the machine again.
Clearing Injection Disabled Status Engine Start Blocker
Deactivate Commanded Stops. Allow the engine ECM to complete its power down cycle. Restart engine as needed.
When Command Stops are deactivated, the engine ECM must completely power down with the engine shutdown switch in the pulled out position for no less than 30 seconds. This will clear the Injection Disabled status. After 30 seconds the operator can re-establish Remote Control mode of operation. Failing to completely power down the ECM as instructed, will result in the Injection Disabled status remaining active. An active Injection Disabled status will prevent injection which prevents engine start.
This issue is exclusive to remote control modes of operation. This issue does not occur in manual mode, when GLSC shutdown is tried.
Power to the Machine is Not Cut
Check the "ESTOP" indicator on the Receiver. The indicator should be red. If the indicator is red, the relay in the Receiver may be bad. If the "ESTOP" indicator is not red, the emergency stop switch on the Operator Console may be bad. Check for diagnostics on the RCM with Cat ET.
Power Switch for the Remote Operator Console
Start the machine. Place the machine in remote control mode. Then, turn off keyswitch (Operator Console power) the Operator Console.
Power is cut to the machine, which causes the engine to stop. The remote control system is left powered. The "ESTOP" indicator on the Receiver becomes red. The activation must be performed again to use the remote control system. This validates a loss of power to the Operator Console, and therefore loss of communications with Receiver (including exceeding range of communications between the Operator Console and the Receiver).
Power to the Machine is Not Cut
Check the "ESTOP" indicator on the Receiver. The indicator should be red. If the indicator is red, the relay in Receiver may be bad. If the "ESTOP" indicator is not red, the keyswitch for the Operator Console may be bad. Ensure that the console is powering down.
Note: Most fire suppression systems spray caustic chemicals. For this reason, the switch for the fire suppression system on the console is mechanically protected with a mechanism that will confirm physical activation of this switch.
This test confirms that the relay for the fire suppression system is working properly. Disconnect the fire suppression system from the connector for the fire suppression system on the harness for the remote control system. Install the optional test harness for the fire suppression system. Start the machine. With Cat ET, override the status of the relay for the fire suppression system.
The relay for the fire suppression system will activate. When the relay switches, the red indicator on the test harness for the fire suppression system will illuminate. In addition, an emergency stop is performed. Power is cut to the machine, which causes the engine to stop. The "SW ESTOP" indicator on the Operator Console becomes red and the remote active indicator flashes green. The remote control system is left powered. The "ESTOP" indicator on the Receiver becomes red. The entire activation must be performed again to regain remote control of the machine.
The Relay for the Fire Suppression System does not Activate
Confirm the status of the relay for the fire suppression system with Cat ET. Confirm that there are no diagnostics on the RCM.
Power to the Machine is Not Cut
Check the "ESTOP" indicator on the Receiver. The indicator should be red. If the indicator is red, the relay in Receiver may be bad. If the "ESTOP" indicator is not red, the emergency stop switch on the Operator Console may be bad.
Automatic Shut Down of the Operator Console
Start the machine. Then, do not touch the console for more than 15 minutes.
The Operator Console powers down. Power is cut to the machine, which causes the engine to stop. The Console will be powered off. No indicators will be illuminated. The remote active indicator flashes Blue. The remote control system is left powered. The E-Stop relay indicator on the receiver is off when E-Stop is active. The indicator is Green when an E-Stop is not active. The entire activation must be performed again to regain remote control of the machine.
The Operator Console Does Not Power Down Within 15 Minutes
Check the configured time for the automatic shutdown of the Operator Console with Cat ET.
Power to the Machine is Not Cut
Check the Commanded Stop indicator on the Receiver. The indicator should be off when Commanded Stop is active. If the receiver Commanded Stop green indicator is off, the relay in the Receiver may be bad. If the Commanded Stop indicator is not off, the Operator Console Power Off / Commanded Stop switch on the Operator Console may be bad.
Once radio communications have been established and the machine is powered via the Machine Power / Engine Crank switch on the Operator Console, the horn should work via remote control. To sound the horn, press the horn button on the Operator Console.
The horn sounds when the button is pressed.
Check the 248-2841 Relay As for the horn. If the relay is correct, check the harness connections. Pay special attention to the connections at the relay board.
All lights will come on. If installed, these lights include the following lamps:
- Flood lamps on tilt cylinders
- Front facing flood lamps on the ROPS
- Rear facing flood lamps on the ROPS
- Front facing flood lamps on the fender
- Rear facing flood lamps on the fenders
- Flood lamps on the ripper
Flood Lamps on the Fender Do Not Turn On
The flood lamps on the fender are the only lights that are controlled via the power train ECM. Confirm the status of the power train ECM via the Operator Console LCD display. This parameter is labeled "Pid". If the value for this parameter is zero, then the remote control feature has not been configured in the power train ECM (via Cat ET), the harness code line for remote control is not set or connected correctly to the power train ECM, the CAN connection between the RCM and that of the machine is bad, or the power train ECM does not contain the correct version of software.
Cylinder, ROPS, or Ripper Lights Do Not Turn On
Check the corresponding relays. Confirm that the relay is a 248-2841 Relay As. Confirm that the relay for the ripper light is a 146-9439 Relay As. If the relay is correct, check the connections. Pay special attention to the connections at the relay board.
With the engine on, and the machine in remote control mode, confirm that each parameter that is displayed on the Operator Console LCD display is of a reasonable value. Use the display select button on the Operator Console to scroll through the parameter list. The Operator Console LCD display will display the name of the parameter for approximately one second. Next, the Operator Console LCD display will display the value of that parameter for approximately one second. The display will then show the name of the parameter. Refer to Operation and Maintenance Manual, SEBU8835 for a list of all the parameters that are displayed.
The value of each parameter corresponds to the value that is shown by the machine. Use the gauges that are located in the cab of the machine to compare the values or use the status information for the ECM in Cat ET to compare the values.
Unsuccessful Validation of Values
Confirm that the implement ECM and power train ECM status have a value of "1" via the Operator Console LCD display under the "Iid" and "Pid" parameters. If either of these parameters show a value of "0", then the remote control feature has not been installed and enabled into that ECM, the harness code is not correct on that ECM, the CAN connection between the RCM and that of the machine is bad, or that ECM does not contain the correct version of software. If the parameter is an engine parameter, the engine ECM may not contain the correct version of software.
The Operator Console LCD Display Displays Three Dashes
The Operator Console is not successfully communicating with the Receiver. Check to make sure that Receiver is powered by checking to see if the status indicator is green. If no indicators are illuminated on the Receiver refer to the "Remote Control Mode" section above. If Receiver is powered, the receiver may not have a matching RFID chip installed on the console to communicate with the particular Operator Console that is being used.
Operator Console LCD Display Displaying "nodt"
This signifies that Receiver is communicating with the Operator Console. However, Receiver is not receiving any data from the RCM. Check that the RCM is detected by Cat ET. If the module is not detected, the software for the RCM is not loaded or correct. Otherwise, check the connections at the RCM and the CAN bus connections between Receiver and the RCM.
Display on Operator Console LCD Display is Blank
Either the Operator Console LCD display circuit is faulty, or the firmware on the Operator Console is not loaded or correct.
All the tests below assume that the machine is running in remote control mode, which implies that remote control was activated successfully. Run the tests below in the order that is shown. Before you start the test, rotate the engine speed dial on the Operator Console fully to the right.
Toggle the Throttle to High Idle
With the engine running at low idle, press the engine high/low idle button. The button is on top of the left joystick of the Operator Console.
The throttle is at high idle.
The Throttle does not go to High Idle
Ensure that the engine speed dial on the Operator Console is fully rotated to the right. The engine ECM may not contain the correct version of software. If the software is correct, check the CAN bus connection between the RCM and the engine ECM.
When the engine is at high idle, rotate the engine speed dial slowly to the left until the dial stops. Then, rotate the dial slowly to the right until the dial stops.
The engine idle speed varies between low idle and high idle proportionally to the position of the dial.
The engine ECM may not contain the correct version of software. If the software is correct, check the CAN bus connection between the RCM and the engine ECM.
With the engine at high idle, push forward or pull back the engine decelerator paddle on the Operator Console. Push or pull the paddle slowly in one direction all the way, then, slowly bring the paddle back to the center.
The engine idle speed varies between low idle and high idle proportionally to the position of the paddle, the center of the paddle provides high idle and either extreme (forward or backward) provides low idle.
The engine ECM may not contain the correct version of software. If the software is correct, check the CAN bus connection between the RCM and the engine ECM.
Toggle the Throttle to Low Idle
With the engine at high idle, press the engine high/low idle button on the left side of the Operator Console.
The throttle is at low idle.
The Throttle does not go to Low Idle
The engine ECM may not contain the correct version of software. If the software is correct, check the CAN bus connection between the RCM and the engine ECM.
All the tests below assume that the machine is running in remote control mode, which implies that remote control was activated successfully. To use remote control to operate the ripper, the software enabled attachment must be activated. If the software enabled attachment is not activated, the ripper will only work when the machine is placed in the NEUTRAL position. The auto stow function will work at any time.
Toggle the implement lockout switch on the Operator Console to the OFF position.
The LED for the implement lockout on the Operator Console is off. In addition, the implement lockout should be disengaged.
The LED for the Implement Lockout on the Console does not Turn Off
Confirm with Cat ET that the implement ECM is not disengaging the implement lockout. Confirm the status of the implement and the power train ECM either via the Operator Console LCD display or via Cat ET. The status is under the "Remote Control Installation Satus" parameter. Confirm that the software for the Remote Control Module (RCM) is the correct version. Check wiring and connections.
Implement Lockout is Still Engaged
Confirm through Cat ET that the implement ECM is disengaging the implement lockout. If the implement ECM is not disengaging the lockout, confirm the status of the implement ECM via the Operator Console LCD display. The status is labeled as "Iid". If the value for this parameter is zero, then the remote control feature has not been configured in the power train ECM with Cat ET, the harness code line for remote control is not set or connected correctly to the implement ECM, the CAN bus connection between the RCM and that of the machine is bad, or the implement ECM does not contain the correct version of software. If the implement ECM status has a value of "1", check the 146-9439 Relay As for the implement shutoff switch located in the cab. The relay is 12 VDC. If the relay is correct, check the connections. Pay special attention to the connections at the relay board.
To test the blade, the machine must first meet the following conditions:
- Remote control mode active
- Engine on
- Implement lockout disengaged
- Dual/Single Tilt switch is on
- Ripper/Blade switch on the Operator Console is in the blade position
- Blade is below the upper stop (enough to see a full raise command)
Pull the Implements control of the Operator Console backward slowly.
The blade raises with a speed that is proportional to the angle of the joystick. The command for the blade raise solenoid can be verified with the engine on or off. Use the status information that is displayed by Cat ET to verify the command.
Confirm with Cat ET that the implement ECM is disengaging the implement lockout and outputting the proper blade command. If everything is correct and the value is changing, but not as expected, calibration of the blade raise solenoid may be required. If the implement lockout is not being disengaged, cycle the switch on the Operator Console. If the implement lockout will not disengage, refer to the "Implement Lockout" section of this document. If this is not the issue, verify that the version of software on the implement ECM is correct.
To test the lower function of the blade, the machine must first meet the following conditions:
- Remote control mode active
- Engine on
- Implement lockout is disengaged
- Dual/Single Tilt switch is on
- Ripper/Blade switch on the Operator Console is in the blade position
- Blade is off the ground (enough to see a full lower command)
Push the Implements control of the Operator Console forward slowly.
The blade lowers with speed that is proportionate to the angle of the joystick. The command for the blade lower solenoid can be verified with the engine on or off. Use the status information that is displayed in Cat ET to verify the command.
Confirm with Cat ET that the implement ECM is disengaging the implement lockout and outputting the proper blade command. If everything is correct and the value is changing, but not as expected, a calibration of the blade lower solenoid may be required. If the implement lockout does not disengage, cycle the switch on the Operator Console. If the implement lockout does not disengage, refer to the "Implement Lockout" section of this document. If the lockout is not engaged, verify that the version of software on the implement ECM is correct.
To test the blade tilt left, the machine must first meet the following conditions:
- Remote control mode is active.
- The engine is on.
- Implement lockout is disengaged.
- Dual/Single tilt switch is on.
- Ripper/Blade switch on the Operator Console is in the blade position.
- The blade is above the ground (enough to tilt the blade using a full tilt command).
Push the Implements control of the Operator Console toward left slowly.
The blade tilts left. The command for the blade tilt left solenoid can be verified with the engine on or off. Use the status information that is displayed with Cat ET to verify the command.
Use Cat ET to confirm that the implement ECM is disengaging the implement lockout. Also confirm that the implement ECM is outputting the proper blade command. If all the parameters are correct and the value changes, but not as expected, a calibration of the blade tilt left solenoid may be required. If the implement lockout does not disengage, cycle the switch on the Operator Console. If the implement lockout does not disengage, refer to the "Implement Lockout" section of this document. If the implement lockout disengages, verify that the version of software for the implement ECM is correct.
To test the blade tilt right, the machine must first meet the following conditions:
- Remote control mode is active.
- The engine is on.
- Implement lockout is disengaged.
- Dual/Single tilt switch is on.
- Ripper/Blade switch on the Operator Console is in the blade position.
- The blade is above the ground (enough to tilt the blade using a full tilt command).
The blade tilts right. The command for the blade tilt right solenoid can be verified with the engine on or off. Use the status information that is displayed in Cat ET to verify the command.
Use Cat ET to confirm that the implement ECM is disengaging the implement lockout. Also, confirm that the implement ECM outputs the proper command for the blade. A calibration of the blade tilt right solenoid may be required if the parameter is changing but the value of the parameter is different than expected. If the implement lockout does not disengage, cycle the switch on the Operator Console. If the implement lockout does not disengage, refer to the "Implement Lockout" section of this document. If the implement lockout disengages, verify that the version of software on the implement ECM is correct.
- The machine must be configured for use with dual tilt blade.
- Remote control mode is active.
- The engine is on.
- Implement lockout is disengaged.
- Dual/Single tilt switch is on.
- Ripper/Blade switch on the Operator Console is in the blade position.
- The blade is above the ground (enough to pitch the blade using a full pitch command).
Turn the knob on top of the Implement Control clockwise to pitch the blade forward.
The blade pitches forward. The command for the blade pitch forward solenoid can be verified with the engine on or off. Use the status information that is displayed in Cat ET to verify the command.
Use Cat ET to confirm that the implement ECM is disengaging the implement lockout. Also, confirm that the implement ECM outputs the proper command for the blade. A calibration of the blade pitch forward solenoid may be required if the parameter is changing, but the value of the parameter is different than expected. If the implement lockout does not disengage, cycle the switch on the Operator Console. If the implement lockout does not disengage, refer to the "Implement Lockout" section of this document. If the implement lockout disengages, verify that the version of software on the implement ECM is correct. Also, ensure that the machine has a dual tilt blade, and that the machine is configured for a dual tilt blade in Cat ET.
Note: If the issue still exists, perform the calibration within Cat ET. Follow the instructions that are provided on the screen.
To test the functionality of the blade, the machine must first meet the following conditions:
- The machine must be configured for a dual tilt blade and have the blade installed.
- Remote control mode is active.
- The engine is on.
- Implement lockout is disengaged.
- Dual/Single tilt switch is on.
- Ripper/Blade switch on the Operator Console is in the blade position.
- The blade is above the ground (enough to pitch the blade using a full pitch command).
Turn the knob on top of the Implement Control counter clockwise to pitch the blade backward.
The blade pitches back. The command for the blade pitch back solenoid can be verified with the engine on or off. Use the status information that is displayed in Cat ET to verify the command.
Use Cat ET to confirm that the implement ECM is disengaging the implement lockout. Also, confirm that the implement ECM outputs the proper command for the blade. A calibration of the blade pitch back solenoid may be required if the parameter is changing, but the value of the parameter is different than expected. If the implement lockout does not disengage, cycle the switch on the Operator Console. If the implement lockout does not disengage, refer to the "Implement Lockout" section of this document. If the implement lockout disengages, verify that the version of software on the implement ECM is correct. Also, ensure that the machine has a dual tilt blade, and that the machine is configured for a dual tilt blade in Cat ET.
Note: If the issue still exists, perform the calibration within Cat ET. Follow the instructions that are provided on the screen.
To test the blade float, the machine must first meet the following conditions:
- Remote control mode is active.
- The engine is on.
- The implement lockout is disengaged.
- Ripper/Blade switch on the Operator Console is in the blade position.
- Blade is off the ground (enough to see a full lower command).
Press the Blade Float Button on the console to enable the Blade Float feature.
The blade drops to the ground. The command for the blade float solenoid can be verified with the engine on or off. Use the status information that is displayed in Cat ET to verify the command.
Use Cat ET to confirm that the implement ECM is disengaging the implement lockout. Also confirm that the implement ECM is outputting the proper blade command. If all the parameters are correct and the value changes, but not as expected, a calibration of the blade float solenoid may be required. If the implement lockout does not disengage, cycle the switch on the Operator Console. If the implement lockout does not disengage, refer to the "Implement Lockout" section of this document. If the implement lockout disengages, verify that the version of software for the implement ECM is correct.
To test the functionality of the blade, the machine must first meet the following conditions:
- The machine must be configured for a dual tilt blade and have the blade installed.
- Remote control mode is active.
- The engine is on.
- Implement lockout is disengaged.
- Dual/Single tilt switch is in the single position
- Ripper/Blade switch on the Operator Console is in the blade position.
- The blade is above the ground (enough to pitch the blade using a full pitch command).
When in single tilt mode, the blade will tilt when the blade pitches. When in dual tilt mode, the blade will only pitch when pitching. Also, the range of the tilt motion range will be doubled when using the dual tilt configuration versus what it is when in single tilt mode.
Cannot Get Blade to Pitch Without Tilting
Confirm via Cat ET that the implement ECM has disengaged the implement lockout and is engaging and disengaging dual tilt mode appropriately. If the implement lockout is not disengaged, cycle the switch on the Operator Console. If the implement lockout does not disengage, refer to the "Implement Lockout" section of this document. Verify that the machine is configured for dual tilt via Cat ET. If the implement lockout disengages, verify that the version of software on the implement ECM is correct.
To raise the ripper, the machine must first meet the following conditions:
- Remote control mode is active.
- The engine is on.
- The Implement lockout is disengaged.
- Ripper/Blade switch on the Operator Console is in the ripper position
- Ripper is below the upper stop (enough to see a full raise command)
Pull the Implements control of the Operator Console backward slowly.
The ripper raises. The command for the ripper raise solenoid can be verified with the engine on or off. Use the status information that is displayed in Cat ET to verify the command.
Use Cat ET to confirm that the implement ECM is disengaging the implement lockout. Also confirm that the implement ECM is outputting the proper blade command. If all the parameters are correct and the value changes, but not as expected, a calibration of the ripper raise solenoid may be required. If the implement lockout does not disengage, cycle the switch on the Operator Console. If the implement lockout does not disengage, refer to the "Implement Lockout" section of this document. If the implement lockout disengages, verify that the version of software for the implement ECM is correct. The remote ripper control will need to be enabled via a software enabled attachment before the ripper control will work when the machine is in gear. Otherwise, control of the ripper will only work in the NEUTRAL position. The auto stow function will work at any time.
To test this functionality, the machine must first meet the following conditions:
- Remote control mode is active.
- The engine is on.
- The implement lockout is disengaged.
- Ripper/Blade switch on the Operator Console is in the ripper position
- Ripper is off the ground (enough to see a full lower command)
Push the Implements control of the Operator Console forward slowly.
The ripper lowers. The command for the ripper lower solenoid can be verified with the engine on or off. Use the status information that is displayed with Cat ET to verify the command.
Use Cat ET to confirm that the implement ECM is disengaging the implement lockout. Also confirm that the implement ECM is outputting the proper command. If everything is correct and the value is changing, but not as expected, calibration of the ripper lower solenoid may be required. If the implement lockout is not being disengaged, cycle the switch on the Operator Console. If the implement lockout does not disengage, refer to the "Implement Lockout" section of this document. If the implement lockout disengages, verify that the version of software for the implement ECM is correct. The remote ripper control will need to be enabled through a software enabled attachment before control of the ripper will work when the machine is in gear. Otherwise, control of the ripper will only work in the NEUTRAL position. The auto stow function will work at any time.
To move the ripper inward, the machine must first meet the following conditions:
- Remote control mode is active.
- The engine is on.
- The implement lockout is disengaged.
- Ripper/Blade switch on the Operator Console is in the ripper position
- Ripper is off the ground (enough to move the shank in or out).
- Ripper shank is out (enough to move the shank in with maximum command).
Pull the Implements control of the Operator Console to the left slowly.
The ripper shank moves in. The command for the ripper shank in solenoid can be verified with the engine on or off. Use the status information that is displayed in Cat ET to verify the command.
Use Cat ET to confirm that the implement ECM is disengaging the implement lockout. Also confirm that the implement ECM is outputting the proper command. If everything is correct and the value is changing, but not as expected, calibration of the ripper lower solenoid may be required. If the implement lockout is not being disengaged, cycle the switch on the Operator Console. If the implement lockout does not disengage, refer to the "Implement Lockout" section of this document. If the implement lockout disengages, verify that the version of software for the implement ECM is correct. The remote ripper control will need to be enabled through a software enabled attachment before control of the ripper will work when the machine is in gear. Otherwise, control of the ripper will only work in the NEUTRAL position. The auto stow function will work at any time.
To move the ripper outward, the machine must first meet the following conditions:
- Remote control mode is active.
- The engine is on.
- The implement lockout is disengaged.
- Ripper/Blade switch on the Operator Console is in the ripper position
- Ripper is off the ground (enough to move the shank in or out).
- Ripper shank is in (enough to move out the shank with maximum command).
Pull the Implements control of the Operator Console to the right slowly.
The ripper shank moves out. The command for the ripper shank out solenoid can be verified with the engine on or off. Use the status information that is displayed in Cat ET to verify the command.
Use Cat ET to confirm that the implement ECM is disengaging the implement lockout. Also, confirm that the implement ECM outputs the proper command for the blade. Calibrate the ripper shank out solenoid if the value changes but the value of the parameter is different than the value that is expected. If the implement lockout does not disengage, cycle the switch on the Operator Console. If the implement lockout does not disengage, refer to the "Implement Lockout" section of this document. If the implement lockout disengages, verify that the version of software on the implement ECM is correct. The remote ripper control will need to be enabled through a software enabled attachment before control of the ripper will work when the machine is in gear. Otherwise, control of the ripper will only work in the NEUTRAL position. The auto stow function will work at any time.
To the auto stow function, the machine must first meet the following conditions:
- Remote control mode is active.
- The engine is on.
- The implement lockout is disengaged.
- Ripper/Blade switch on the Operator Console is in the ripper position.
- Ripper is below the upper stop (enough to see a full raise command).
Turn the knob on top of the Implements control counter-clockwise.
The ripper will automatically stow. The command for the ripper raise solenoid can be verified with the engine on or off. Use the status information that is displayed in Cat ET to verify the command.
Use Cat ET to confirm that the implement ECM is disengaging the implement lockout. Also, confirm that the implement ECM outputs the proper command for the blade. A calibration of the blade tilt right solenoid may be required if the parameter is changing but the value of the parameter is different than expected. If the implement lockout does not disengage, cycle the switch on the Operator Console. If the implement lockout does not disengage, refer to the "Implement Lockout" section of this document. If the implement lockout disengages, verify that the version of software on the implement ECM is correct.
All the tests below assume that the machine is running in remote control mode. Before the technician runs this test, ensure that all the implements have been validated.
Flip the Parking Brake switch on the Operator Console to the OFF position.
The LED for the parking brake on the Operator Console is off. In addition, the parking brake should be disengaged. Confirm the status information that is provided by Cat ET.
The LED for the Parking Brake does not Turn off
Use Cat ET to confirm that the power train ECM is not disengaging the parking brake. Confirm that the software for the RCM is the correct version. Check wiring and connections.
The Parking Brake is Still Engaged
Use Cat ET to confirm that the power train ECM is disengaging the parking brake. If the ECM is not disengaging the brake, confirm the status of the power train ECM via the Operator Console LCD display. The "Pid" parameter is the status of the parking brake. If the value for this parameter is zero, then the remote control feature has not been configured in the power train ECM with Cat ET, the harness code line for remote control is not set or connected correctly to the power train ECM, the CAN bus connection between the RCM and that of the machine is bad, or the power train ECM does not contain the correct version of software. If the status of the power train ECM has a value of "1", check the relay for the parking brake. The relay should be a 146-9439 Relay As. The relay is 12 VDC. If the relay is correct, check the connections. Pay special attention to the connections at the relay board.
To move the machine forward, the machine must first meet the following conditions:
- The machine is on level ground.
- Remote control mode is active.
- The engine is running at an idle level high enough to move the machine over the terrain the machine is on.
- Parking brake disengaged
- The gear must be NEUTRAL and the machine is not moving.
Push the left joystick of the Operator Console forward.
The machine is now moving forward, in first gear. The gear can be checked on the Operator Console LCD display, which should have a value of 1 for the "Fnr" parameter.
Use Cat ET to confirm that the power train ECM is disengaging the parking brake. Also, confirm that the ECM is placing the transmission in FORWARD. If the parking brake does not disengage, cycle the switch on the Operator Console. If the parking brake will not disengage, refer to the "Parking Brake" section of this document. If the parking brake will disengage, verify that the version of software on the power train ECM is correct.
To place the machine in NEUTRAL, the machine must first meet the following conditions:
- The machine is on level ground.
- Remote control mode is active.
- The engine is running at an idle level high enough to move the machine over the terrain.
- The parking brake is disengaged.
- The machine is moving in either a forward or a reverse gear.
Release the left joystick of the Operator Console.
The machine is now in neutral and rolling to a stop. The gear can be checked on the Operator Console LCD display, which should have a value of "0" for the "Fnr" parameter.
The Machine does not Stop Moving
Use Cat ET to verify that the power train ECM disengages the parking brake. Also, confirm that the power train ECM places the transmission in NEUTRAL. If the parking brake is not being disengaged, cycle the switch on the Operator Console. If the parking brake will not disengage, refer to the "Parking Brake" section of this document. If the parking brake will disengage, verify that the version of software on the power train ECM is correct.
To move the machine in reverse, the machine must first meet the following conditions:
- The machine is on level ground.
- Remote control mode is active.
- The engine is on, and at a speed high enough to move the machine over the terrain it is on.
- The parking brake is disengaged.
- The machine must be in NEUTRAL and the machine is not moving.
Pull the left joystick on the Operator Console backward.
The machine is now moving reverse in first gear. The gear can be checked on the Operator Console LCD display, which should have a value of "1" for the "Fnr" parameter, unless the bidirectional auto shift is ON. If the bidirectional auto shift is ON, the gear should have a value of 2.
Use Cat ET to confirm that the power train ECM is disengaging the parking brake. Also, confirm that the power train ECM is placing the transmission in REVERSE. If the parking brake does not disengage, cycle the switch on the Operator Console. If the parking brake will not disengage, refer to the "Parking Brake" section of this document. If the parking brake will disengage, verify that the version of software on the power train ECM is correct.
To test the auto hold function, the machine must first meet the following conditions:
- The machine is on level ground.
- Remote control mode is active.
- Engine is running at an idle level high enough to move the machine over the terrain the machine is on.
- The parking brake is disengaged.
- The machine is moving in either a forward or reverse gear.
Release the left joystick of the Operator Console.
The machine is now in NEUTRAL and rolling to a stop. The gear can be checked on the Operator Console LCD display, which should have a value of "0" for the "Fnr" parameter. The service brakes are applied to bring the machine to a stop. After 3 seconds in NEUTRAL, the parking brake is applied. Use Cat ET to confirm that the parking brake was applied.
The Machine does not Stop Moving
Use Cat ET to confirm that the power train ECM is disengaging the parking brake. Also, confirm that the power train ECM is placing the transmission in NEUTRAL. If the parking brake does not disengage, cycle the switch on the Operator Console. If the parking brake will not disengage, refer to the "Parking Brake" section of this document. If the parking brake will disengage, verify that the version of software on the power train ECM is correct.
Brakes do not Apply Satisfactorily
Use Cat ET to verify that the power train ECM is placing the transmission in NEUTRAL. Then, verify that the power train ECM is applying the service brake after 3 seconds. After the service brake is applied, the power train ECM will apply the parking brake. If the parking brake does not engage, verify that the version of software on the power train ECM is correct. Confirm the status of the power train ECM via the Operator Console LCD display. This parameter is called "Pid". If the value for this parameter is zero, then the remote control feature has not been configured in the power train ECM, the harness code line for remote control is not set or connected correctly to the power train ECM, the CAN bus connection between the RCM and that of the machine is bad, or the power train ECM does not contain the correct version of software.
To test the bidirectional autoshift, the machine must first meet the following conditions:
- The machine is on level ground.
- Remote control mode is active.
- The engine is running at high idle.
- The parking brake is disengaged.
- The machine must be in NEUTRAL and the machine is not moving.
- Press the bidirection enable button on the operator console.
- The Operator Console LCD display bidirectional icon will show a 1, indicating the bidirection autoshift is enabled.
- Pull the Steering / Direction Control back so the machine is moving in reverse.
The machine is now in second gear and moving in reverse. The gear can be checked on the Operator Console LCD display, which should have a value of "2" for the "Fnr" parameter. Also, you can use Cat ET in order to check the value.
Use Cat ET to confirm that the power train ECM is disengaging the parking brake. Also, confirm that the ECM is placing the transmission in second gear reverse. If the parking brake will not disengage, cycle the switch on the Operator Console. If the parking brake will not disengage, refer to the "Parking Brake" section of this document. If the parking brake disengages, verify that the version of software on the power train ECM is correct.
Confirm via Cat ET that the "Bidirectional Auto Shift Status" is set. Verify that the power train ECM has the correct version of software. If the software and firmware versions are correct, there may be a problem with the button on the Operator Console.
To the auto kickdown, the machine must first meet the following conditions:
- The machine is on level ground.
- Remote control mode is active.
- The engine is running at high idle.
- The parking brake is disengaged.
- The Auto Kickdown switch is in the ON position.
- The machine is moving forward, in second gear.
- Press the Auto Kickdown enable button on the operator console.
- The Operator Console LCD display auto kickdown icon will show a 1, indicating the Auto Kickdown is enabled.
Apply the service brake to lug the engine. If the service brake will not lug the engine, load the blade until the engine lugs.
The machine will automatically shift the transmission into first gear. The gear can be checked on the Operator Console LCD display, which should have a value of "1" for the "FNR" parameter. You can also check the gear with Cat ET.
The Transmission does not Shift into First Gear
Use Cat ET to verify that the auto kickdown status is set correctly. Verify that the power train ECM has the correct version of software. Check Cat ET to check for diagnostics on the RCM.
Shift the Transmission Up a Gear
This test assumes that the machine is moving forward or reverse in first gear. Once the machine is placed into reverse, the machine will begin moving in second gear, if bidirectional auto shift is enabled. Turn the knob on top of the Steering / Direction Control clockwise.
The machine is now in second gear. The gear can be checked on the Operator Console LCD display, which should have a value of 2 for the "FNR" parameter.
Confirm via Cat ET that the gear is being set to "2". Verify that the version of software on the power train ECM is correct. Verify that the Operator Console has the correct version of firmware. The gear up switch on the Operator Console may not be working properly.
This test assumes that the machine is moving forward or reverse in second gear. Turn the knob on top of the Steering / Direction Control counter-clockwise.
The machine is now in first gear. The gear can be checked on the Operator Console LCD display, which should have a value of "1" for the "FNR" parameter.
Use Cat ET to verify that the gear is set to "1". Verify that the version of software on the power train ECM is correct. Verify that the Operator Console has the correct version of firmware. The gear down button on the Operator Console may not be working properly.
To test the steering, the machine must first meet the following conditions:
- Remote control mode is active.
- The engine running at an idle level high enough to move the machine over the terrain the machine is on.
- The parking brake is disengaged.
- The machine should be moving in forward or reverse.
Push the left joystick of the Operator Console slowly, then slowly back to center, then slowly to the right extreme, then slowly back to center.
The machine proportionally steers with the direction and angle of the left joystick. The command can be verified with the engine on or off. Use the status information that is displayed in Cat ET.
Use Cat ET to verify that the power train ECM is disengaging the parking brake. Also, verify that the power train ECM places the machine into the desired gear and outputs the proper steering commands. If all the parameters are correct and the value is changing, but not as expected, a calibration of the steering may be required. If the parking brake is not being disengaged, cycle the switch on the Operator Console. If the parking brake does not disengage, refer to the "Parking Brake" section of this document. If this is not the issue, verify that the version of software on the power train ECM is correct.
To test the service brake, the machine must first meet the following conditions:
- The machine is on level ground.
- Remote control mode is active.
- Engine is on at an idle level high enough to move the machine over the terrain the machine is on.
- The parking brake is disengaged.
- The machine should be moving in forward or reverse.
- On the Operator console apply the service break by pushing the service brake control paddle either forward or backwards.
The machine is braking proportionally to the angle of the paddle off center. The command for the service brake solenoid can be verified with the engine on or off. Use the status information that is displayed in Cat ET.
The Brakes are not being Applied
Use Cat ET to verify that the power train ECM disengages the parking brake. Also, confirm that the power train ECM is placing the machine in the desired gear. Confirm that the power train ECM outputs the proper command for the service brake. If everything is correct and the value is changing, but not as expected, calibration of the service brake may be required. If the parking brake is not being disengaged, cycle the switch on the Operator Console. If the parking brake does not disengage, refer to the "Parking Brake" section of this document. If the brake disengages, verify that the version of software on the power train ECM is correct.
The typical dozing cycle has four segments:
- Load
- Carry
- Spread
- Return
The dozer mode (shown as "d0" on the Operator Console LCD display) parameter values are as follows:
0 - Auto Load (not yet supported)
1 - Auto Carry
2 - Auto Spread
3 - Ready to Return
4 - Ready to Carry
5 - Manual Operation
7 - Not Reset
8 - Auto Pitch (Resetting)
9 - Auto Return
10 - Implement Lockout
12 - Float Active
To enable the Auto Blade Assist, the engine must be at high idle. For purposes of this validation, the gear should be in neutral. Press the Auto Blade Assist Enable button on the Operator Console.
The ABA Enabled icon is on. The Operator Console LCD display has a value of 7 for the Dozer Mode parameter, which corresponds to Not Reset.
The ABA feature may have been interrupted, in which case, the ABA Enabled icon is OFF. If interrupted, the operator will need to cycle though the ABA modes by pressing the auto blade assist mode select button. Check to see that none of the following conditions are true:
| Low Engine Speed | Override indicating that the engine speed is not high enough to run ABA functions |
| Advisor Data Link Communication Failure | Override indicating that Advisor communication is lost |
| Engine ECM Data Link Communication Failure | Override indicating that Engine ECM communication is lost |
| Power train ECM Data Link Communications Failure | Override indicating that power train ECM communication is lost |
| Blade Control Handle Failure | Override indicating that one of the joystick sensors has failed |
| Mode Select Switch Failure | Override indicating that the mode select button switch has failed |
| Manual Select Switch Failure | Override indicating that the manual select button switch has failed |
| Tilt Pump Pressure Sensor Failure | Override indicating that tilt pump pressure is no longer available |
| Main Pump Pressure Sensor Failure | Override indicating that main pump pressure is no longer available |
| Pitch Solenoid Failure | Override indicating that the blade pitch function is no longer available |
| Tilt Right Solenoid Failure | Override indicating that the blade tilt right function is no longer available |
| Tilt Left Solenoid Failure | Override indicating that the blade tilt left function is no longer available |
| Blade Raise Solenoid Failure | Override indicating that the blade raise function is no longer available |
| Blade Lower Solenoid Failure | Override indicating that the blade lower function is no longer available |
| Lift Cylinder Position Sensor Failure | Override indicating that height information is no longer available |
With the machine still in high idle and the gear in neutral, push the Auto Blade Assist Mode Select button until the ABA mode advances to AutoPitch mode.
Note: Do not interfere by adjusting the blade pitch during this process.
The ABA Enabled indicator is still ON. AutoPitch automatically adjusts the blade. The dozer mode parameter on the Operator Console LCD display has a value of 8, which corresponds to AutoPitch. Once the cylinders are retracted fully for a time, the mode will change to Ready To Carry. This is denoted by a value of 4 for the dozer mode parameter on the Operator Console LCD display.
Refer to the "Enable the Auto Blade Assist" section within this document.
Sequence Is Not Executed Correctly
Confirm that all machine software and RCM firmware are the correct versions.
Loading is done manually. The ABA system waits in the Ready To Carry state during this time. The gear should be forward to load. The idle must remain high to keep ABA active.
The ABA Enabled indicator is still ON. The dozer mode parameter still has a value of 4 (ready to carry).
Refer to the "Enable the Auto Blade Assist" section within this document.
Sequence Is Not Executed Correctly
Confirm that all machine software and RCM firmware are the correct versions.
Once the following conditions are met, push the Auto Blade Assist Mode Select button.
- Gear in FORWARD.
- Engine at high idle.
- The track speed has exceeded 250mm/sec.
- The service brake has been disengaged.
The ABA Enabled indicator is still ON. Only the blade pitch is automatically adjusted, unless AutoCarry is also enabled (in which case blade level is also adjusted). The dozer mode parameter value changes to 1 (AutoCarry).
Refer to the "Enable the Auto Blade Assist" section within this document.
Sequence Is Not Executed Correctly
Confirm that all machine software and RCM firmware are the correct versions.
Once the carry is complete (and the machine remains in forward gear and high idle), push the Auto Blade Assist Mode Select button.
The ABA enabled indicator is still ON. AutoSpread automatically adjusts the blade. The dozer mode parameter on the Operator Console LCD display changes to a value of 2 (AutoSpread). Once the blade height reaches a certain height or the auto function button is pressed, the mode will change to ready to return. This is denoted by a value of 3 for the dozer mode parameter on the Operator Console LCD display.
Refer to the "Enable the Auto Blade Assist" section within this document.
Sequence Is Not Executed Correctly
Confirm that all machine software and RCM firmware are the correct versions.
When in high idle, place the machine in "REVERSE".
The ABA Enabled indicator is still ON. AutoReturn automatically adjusts the blade. The dozer mode parameter on the Operator Console LCD display changes to a value of 9 (AutoReturn). Once the blade reaches a certain height or the Auto Blade Assist Mode Select button is pressed, the mode will change to ready to carry. This is denoted by a value of 4 for the dozer mode parameter on the Operator Console LCD display.
Refer to the "Enable the Auto Blade Assist" section within this document.
Sequence Is Not Executed Correctly
Confirm that all machine software and RCM firmware are the correct versions.
Turn off ABA by pushing the Auto Blade Assist Enable button again.
The ABA enabled indicator is OFF.
The automatic functions can be scrolled through and selected using the Auto Blade Assist Mode Select button. When the tractor is in any of the auto functions and is shifted into a reverse gear state, the tractor will automatically go into the blade resetting mode and then proceed to the autoreturn mode.
Forward to Reverse and Reverse to Forward
A forward gear state and the ready to carry mode will transition to the ready to return mode when shifted into a reverse gear state. If the machine is shifted back into forward gear the machine will transition to the ready to carry mode. When in either the AutoReturn or Blade Resetting mode the tractor will transition back to the ready to carry mode if shifted into a forward gear state.
Neutral to Reverse and Reverse to Neutral
The neutral gear state starts with the ready to carry mode. Upon shifting into a reverse gear state the tractor will transition to the ready to return mode. When shifted back into the neutral gear state the tractor will transition back to the ready to carry mode. If the tractor is shifted into a reverse gear state from any neutral automatic function, the tractor will automatically transition to the blade resetting mode and proceed to the autoreturn mode. If shifted back to the neutral gear state when still in the blade resetting mode then the tractor will be in the blade resetting mode. If the tractor is allowed to finish the autoreturn cycle and is, then shifted into the neutral gear state, the tractor will automatically transition into a ready to carry mode.
Neutral to Forward and Forward to Neutral
Both neutral and forward gear states start with the ready to carry mode. When in the neutral gear state and in autocarry, autospread, or ready to carry mode the tractor will retain current mode when shifted into a forward gear state. If the tractor is in the neutral gear state and either the ready to return mode or the blade resetting mode the tractor will automatically transition to the ready to carry mode when shifted into a forward gear state.
AutoLoad is not supported.
AutoCarry will not work unless ABA is enabled, AutoCarry is physically installed on the machine, and AutoCarry is configured via Cat ET.
To enable AutoCarry, the engine must be at high idle. ABA must be enabled. For purposes of this validation, the gear should be in neutral. Ensure that the Implement Select Switch is in Blade position then press the AutoRip Enable / AutoCarry Enable button.
The AutoCarry enabled icon is on in the Operator Console LCD display.
ABA Enabled or AutoCarry Enabled Icons Not ON
Refer to the "Enable the Auto Blade Assist" section within this document.
Refer to the "Enable the Auto Blade Assist" section within this document.
The ABA enabled and AutoCarry enabled icon on the Operator Console LCD display is still on. The blade pitch and (lift) level is automatically adjusted. The dozer mode parameter value changes to 1 (AutoCarry).
ABA Enabled or AutoCarry Enabled Icons Not ON
Refer to the "Enable the Auto Blade Assist" section within this document.
Sequence Is Not Executed Correctly
Confirm that all machine software and RC Console firmware is the correct version.
Turn off AutoCarry by pushing the AutoRip Enable / AutoCarry Enable button again. The operator can also use the implements joystick to override AutoCarry temporarily.
The AutoCarry enabled icon on the Operator Console LCD display is OFF.
If Terrain is installed on the machine under test, Terrain can be used in accordance with the RC system to provide avoidance zones, including work area boundaries.
A simulated test can be set up easily. This simulated test will test that the hardware is installed correctly and in proper working order. To ready this test, pull up the buzzer test screen on the Terrain Navigator or G610 display.
Activate the RC system.
Turn on the buzzer via the Terrain Navigator or G610 buzzer test screen by pressing the button.
The tractor will automatically shift to neutral, switch into low idle, ramp the brakes to slow the machine, and engage the parking brake. The remote active indicator will flash blue, and the avoidance zone indicator will be red.
Ensure that Terrain is installed in the RCM. Check the wiring of the 487 circuit wire.
Regaining Remote Control of the Machine
To regain control of the machine, hold the horn until horn stops sounding (3 seconds) and release. The horn will sound an additional three times. The tractor will now be given 3 minutes of normal operation to move out of the avoidance zone. To release the parking brake and shift out of neutral, the operator must cycle the parking brake and direction switches. If the buzzer test is left on past the 3 minute time frame, the process will start again. Stop the buzzer test to clear this condition.
Remote control is restored. The avoidance zone indicator is OFF. The remote active indicator is flashing blue.
Confirm all conditions related to "Activating Remote Control Mode" within the document.
To return the tractor to manual operation mode, use the Operator Console to do the following:
- Move the tractor to a safe area.
- Put the machine (direction) in neutral using the left joystick.
If the machine is moving forward, pull back on the joystick, and then return joystick to center position.
If the machine is moving backwards, push the joystick forward, and then return joystick to center position.
- Engage the parking brake using the parking brake switch on the Operator Console.
- Lower the implements (blade and ripper).
- Lockout the implements by setting the implement lockout switch on the Operator Console to the ON position.
- Place the Machine Power / Engine Crank switch in the Machine Power OFF position.
- Turn off the Operator Console by pushing in the Operator Console Power Off / Commanded Stop red button on the right side of the console.
- Walk to the ground-level service center and flip the remote/manual mode switch to the manual position.