SEAL 1G6230 - Caterpillar

MID 039 - Machine Control Module CID 4540 - Machine Position Sensing Control Module Data Link #3 FMI 09 - Abnormal Update Rate MID 039 CID 4540 FMI 09 is active if the GNSS Receiver #1, enclosed inside of the Machine Position Sensing Control Module, is not receiving corrections from the Autonomous Control Module (Auto ECM) #1.Test Step 1. RESTART THE SYSTEM
Key cycle the Autonomous Mining Truck (AMT).
Key OFF the AMT.
Wait for autonomy mode lights to turn off.
Key ON the AMT.
Wait approximately 5 minutes (300 seconds) for the entire system to restart. Results:
The active diagnostic code does not clear after completion of the key cycle. - Proceed to Test Step 2.
The active diagnostic code clears after the completion of the key cycle. - STOPTest Step 2. CHECK CONNECTIONS ARE SECURECheck if the IO1 connector (AP-C4) is loosely latched to the mating connector on the Machine Position Sensing Control Module. Results:
The connector is found to be tight at this time. - Proceed to Test Step 3.
The connector is found to be loose at this time. - Repair: Latch the connector properly to the mating connector so the connection is no longer loose.STOPTest Step 3. CHECK THE HARNESS FOR AN OPEN
The disconnect switch is in the OFF position.
The harness is disconnected.
On the harness connecting to the PCS to the Auto ECM #1, perform the following checks:
Measure the resistance between pin 2 of the AP-C4 connector (F976-PK(Pink)) and pin 31 of the AC-C13 connector (215-BK(Black)).
Measure the resistance between pin 14 of the AP-C4 connector (215-BK(Black)) and pin 56 of the AC-C13 connector (215-BK(Black)). Results:
No open is found. Measured resistance is found to be less than 5 Ohms. - Proceed to Test Step 4.
An open is found. Measured resistance is found to be greater than 5 Ohms. - Repair: There is an Open in the circuit. Repair or replace harness as needed.STOPTest Step 4. CHECK THE HARNESS FOR SHORTS BETWEEN THE IO1 (RS232 RX AND GND) AND THE AUTONOMOUS CONTROL MODULE (AUTO ECM) #1 (RS232 TX AND GND)
On the harness connecting to the PCS to the Auto ECM #1, perform the following check:
Measure the resistance between pin 2 of the AP-C4 connector (F976-PK(Pink)) and pin 56 of the AC-C13 connector (215-BK(Black)). Measure the resistance between pin 14 of the AP-C4 connector (215-BK(Black)) and pin 31 of the AC-C13 connector (F976-PK(Pink)). Results:
No shorts are found. - Proceed to Test Step 5.
A short is found between the IO1 and the Auto ECM #1. - Repair: Repair or replace harness as needed.STOPTest Step 5. VERIFY THE PCS SETTINGSReference: Refer to Special Instruction, REHS7346, "CAT Command for Hauling - 793F CMD Onboard Autonomy and Configuration Guide", "Configuring the PCS" sectionResults:
The settings are found to be at the proper specifications. - Proceed to Test Step 6.
The settings are found to be at the improper specifications. - Repair: Return or modify the settings to the proper specifications.STOPTest Step 6. SWAP THE PCS WITH A KNOWN GOOD UNIT
Place a spare PCS on top of the current PCS in