ENGINE AR 3181683 - Caterpillar

MID 039 - Machine Control Module CID 3588 - Long Range Object Detection Sensor #1 FMI 14 - Special Instruction
Illustration 1 g03391845 MID 039 CID 3588 FMI 14 appears during startup of the system. There are two causes for MID 039 CID 3588 FMI 14. The first, and most common, is incorrect firmware installed on the sensor. The second is a missing file, called the "Intrinsics" file, internal to the Long Range Object Detection Sensor #1. The second failure reason is rare.Test Step 1. VERIFY THE CORRECT FIRMWARE VERSION
Refer to Special Instruction, REHS7346, "Cat Command for Hauling - 793F CMD Onboard Autonomy and Configuration Guide", "LiDAR Firmware Verification" to check the firmware version. Expected Result:Firmware is correct.Results:
OK - Firmware is correct. Proceed to Test Step 2.
NOT OK - Firmware is not correct.Repair: Refer to Special Instruction, REHS7346, "Cat Command for Hauling - 793F CMD Onboard Autonomy and Configuration Guide", "LiDAR Firmware Verification" to check the firmware version.STOPTest Step 2. CONFIRM "INTRINSICS" FILE IS MISSING WITH CATERPILLAR TECHNICAL SUPPORTNote: This step being required is rare. This step will require close communication with Caterpillar Technical Support. Every sensor has a unique "Intrinsics" file that is to be flashed at the factory.Note: Never use the same file for a different sensor than the file was created for.
Retrieve the serial number from the sensor.
Take a short autonomy log (approximately 15 seconds) and name the log file “TruckName_LiDARSerial_before” (For Example: "RBTxxxxx_ 701721011_before").
Contact Caterpillar Technical Support, provide the serial number of the affected unit and the short autonomy log. Inform Caterpillar Technical Support you need Caterpillar Technical Support to confirm if a new "Intrinsics" file for the Long Range Object Detection Sensor #1 is required. Expected Result:Caterpillar Technical Support confirms a new "Intrinsics" file is required.Results:
OK - Caterpillar Technical Support confirms a new "Intrinsics" file is required. Proceed to Test Step 3.
NOT OK - Caterpillar Technical Support confirms "Intrinsics" files is already present.Repair: Caterpillar Technical Support will provide further guidance.STOPTest Step 3. INSTALL THE MISSING INTERNAL FILE TO THE LONG RANGE OBJECT DETECTION SENSOR #1
Disconnect the main power connector on the LiDAR and connect the LiDAR Flash Cable inline. The technician will need to have a Serial to USB connector. The software expects this port to be COM1. If COM1 is not being used, the flash file will not tell the technician that anything is wrong. The technician must verify that the port is COM1. If the technician cannot make the port COM1, the technician can edit the batch file to write to the serial port. The batch file will be included from Caterpillar Technical Support.
Power up the truck and verify that the LiDAR is spinning
Flash the LiDAR with .XML file.
Uncompress the "your_site.zip" file
Change directory to the LiDAR that you need to flash.
Run the "LoadCalibrationTo_XX.BAT" file. Note: It may be necessary to run as administrator if Windows 7 operating system is being run.
It should take just 5 to 10 seconds to copy the data over the serial port.
The technician will get a "Flash Complete"