COUPLING 1971332 - Caterpillar

MID 039 - Machine Control Module CID 4532 - Machine Positioning Sensing Control Module FMI 13 - Out of CalibrationThis diagnostic code can be activated for multiple reasons. The reasons can be either the lever arms are not received by the autonomy system or the received lever arms from the POS system do not match the lever arms in the autonomy configuration settings.If MID 039 CID 4532 FMI 09 is active with MID 039 CID 4532 FMI 13, follow troubleshooting steps for MID 039 CID 4532 FMI 09 prior to starting this procedure for MID 039 CID 4532 FMI 13.Run GAMS Calibration Procedure and Perception Calibration using OCS laptop.Test Step 1. CHECK THE ALIGNMENT OF THE IMU
Turn off the Autonomous Mining Truck (AMT).
Key OFF the AMT.
Wait for autonomy mode lights to turn off.
Check the pitch and roll alignment of the IMU by checking the alignment of the LiDAR sensor. Refer to Operation and Maintenance Manual, SEBU8751, "793F CMD (Command for Hauling) Off-Highway Truck" , Object Detection - Check/Adjust - Autonomy Perception.
Verify that the IMU yaw has not been affected by the use of incorrect mounting bolts or twisting of mounting plates.Expected Result:The IMU alignment is within tolerance, and the yaw has not been affected.Results:
OK - The IMU alignment is within tolerance, and the yaw has not been affected. Ensure that the diagnostic is still active.Repair: The cause of the problem is uncertain, contact Caterpillar technical support with any information that has been gathered.STOP
NOT OK - The IMU alignment is out of tolerance, or the yaw has been affected.Repair: Correct the alignment and yaw of the IMU. Refer to Operation and Maintenance Manual, SEBU8751, "793F CMD (Command for Hauling) Off-Highway Truck" , Calibrations for Maintenance section to determine what calibrations will be required. Carry out the calibrations and ensure that the diagnostic code is NOT active.STOP