Cat® Command Station for Construction Industries Commissioning Guide {7623}

2024/04/08
(M0109390-03)

SMCS - 7623 i10136895

Excavator
PIP
-
320 (S/N: BR61-UP; KFE1-UP; MYK1-UP; ZBN1-UP; YBP1-UP; YCP1-UP; XAR1-UP; FMS1-UP;

202 1088
HEX1-UP)

RAZ1-UP) 4
15: 11/0 482
/ 7
323 (S/N: BR91-UP; DWF1-UP; NDL1-UP; YBL1-UP; LTN1-UP; HDT1-UP; GKW1-UP; KTY1-UP;

325 (S/N: JWL1-UP; TEL1-UP)

1
M0 9:25- 4
326 (S/N: MFJ1-UP; KCK1-UP; JYM1-UP; HKP1-UP)

1
© 2 0939 03:00
330 (S/N: XNB1-UP; TJH1-UP; WCH1-UP; MGK1-UP; KEL1-UP; PFN1-UP; YCS1-UP; LHW1-UP)

335 (S/N: XBE1-UP)

024 0
336 (S/N: SP91-UP; HDF1-UP; WFF1-UP; TPK1-UP; FEL1-UP; YBN1-UP; DKS1-UP; MYX1-UP;
GDY1-UP)
Cat
340 (S/N: TYH1-UP; GMJ1-UP; WDN1-UP)
erp
illa
349 (S/N: LKG1-UP; RYG1-UP; KMP1-UP; DYS1-UP; RBY1-UP)

rI nc.
352 (S/N: HDA1-UP; R8B1-UP; WXB1-UP; JPC1-UP; XRC1-UP; KXH1-UP; SZH1-UP; JYK1-UP;
MZL1-UP; TPN1-UP; MGR1-UP; SYR1-UP; ERW1-UP; HLW1-UP; RWX1-UP; KZY1-UP; DYZ1-UP;
HSZ1-UP)
355 (S/N: FJA1-UP; EFB1-UP; GKH1-UP; MZS1-UP)

374 (S/N: KHH1-UP; RGM1-UP; NLN1-UP; JGP1-UP)

395 (S/N: MZA1-UP; SGD1-UP; RNG1-UP; LTK1-UP)

Machine Control and Guidance Products

COMMAND STATION (S/N: R4S1-UP)
Track-Type Tractor
D1 (S/N: XT31-UP; XKF1-UP; XKL1-UP)
D2 (S/N: XKM1-UP; XKR1-UP)

D3 (S/N: XT51-UP; XKW1-UP; XKY1-UP)

D5 (S/N: HR71000-UP; HL91000-UP; RG91000-UP; KTA1-UP; Z6A1000-UP; ZDA1000-UP;
Z2K1000-UP; KML1-UP; Z2N1000-UP; Z2P1000-UP)

D6 (S/N: KD51000-UP; LB51000-UP; WH51000-UP; JJ61000-UP; SG61000-UP; TB61000-UP;

AG91000-UP; GZ91000-UP; HR91000-UP; LF91000-UP; RA91000-UP; SA91000-UP; RDC1000-UP;
HNK1000-UP; RBP1000-UP; KMT1000-UP; KEW1000-UP; KTW1000-UP)
D6 XE (S/N: B721000-UP; ES91000-UP; LNC1000-UP; XEC1000-UP; HFE1000-UP; LRG1000-UP;
HMH1000-UP; HZL1000-UP; TPL1000-UP; D5M1000-UP; HLY1000-UP; WGY1000-UP)
D7 (S/N: EW71-UP; CM91-UP; HXA1-UP; HPM1-UP)
D7R Series II (S/N: KNA1-UP; DJT1-UP)
Wheel Loader
926M (S/N: W5L1-UP)
930M (S/N: KTG1-UP; F5K1-UP; J5K1-UP; HEY1-UP)
938M (S/N: P5K1-UP; J3R1-UP)
962 (S/N: ZD81-UP)

Revision History:
Table 1

Revision Summary of Changes

03 Added D1, D2, and D3 Track-Type Tractor prefixes.
02 Added D5 Effectivity.
Reference section, website, and verbiage updates. Addition of commissioning for
01
Excavators and Medium Tractors.

Introduction
This Special Instruction outlines the instructions for commissioning the Cat® Command Station for
Construction Industries.

Reference Section
Note: Prior to commissioning the Command Station system, make sure that the on-board and off-board
components are installed.

Reference: Operation and Maintenance Manual, M0106422 , "Cat® Command Station For Construction
Industries"

Reference: Special Instruction, M0117666 , "Field Installation and Configuration of Line of Sight and
Non-Line of Sight Remote Control Systems on Certain Small Wheel Loaders"

Reference: Special Instruction, M0122783 , "Ethernet Flashing and Programming Routers on Cat®
Command for Dozing System Devices and Cat® Command for Construction Industries System Devices"

Off-Board Component Installation References

Reference: Special Instruction, M0118415 , "Assembly and Installation of the Cat® Command Station
for Construction Industries"
On-Board Component Installation References
Refer to Cat® Service Information System (SIS) for the machine-specific installation instructions.

Reference: Special Instruction, M0116816 , "Installation of the Cat® Command Remote Control (RC)
System on 320, 323, 326, 330, 336, and 340 Excavators"

Reference: Special Instruction, M0121943 , "Cat® Command for Construction Industries Customer
Requirements"

Safety Section
Note: Prior to commissioning the machine. The managers and chief inspector shall approve a plan to
ensure only applicable and intended machines are controlled by the station.

Do not perform any procedure in this Special Instruction until you have read this Special Instruction and
you understand this information.

Use only proper tools and observe all precautions that pertain to the use of those tools. Failure to follow
these procedures can result in personal injury. The following procedures should be observed.

Work safely. Most accidents that involve product operation, maintenance, and repair are caused by
failure to observe basic safety rules or precautions. An accident can often be avoided by recognizing
potentially hazardous situations before an accident occurs.

A person must be alert to potential hazards. This person must also have the necessary training, skills,
and tools to perform these functions properly.

Safety precautions and warnings are provided in this instruction and on the product. If these hazard
warnings are not heeded, bodily injury or death could occur to you or to other persons. Caterpillar
cannot anticipate every possible circumstance of a potential hazard.

Therefore, the warnings in this publication and the warnings that are on the product are not all inclusive.
Avoid using a tool, a procedure, a work method, or operating technique that is not recommended by
Caterpillar.

Ensure that the operation, lubrication, maintenance, or repair procedures used will not create an unsafe
condition or damage the product.

Do not operate or work on this product unless you have read

and understood the instructions and warnings in the relevant
Operation and Maintenance Manuals and relevant service
literature. Failure to follow the instructions or heed the warnings
could result in injury or death. Proper care is your responsibility.
Failure to follow all safety guidelines prescribed in this
document and by governing authorities and regulatory agencies
could result in severe injury or death of personnel or machine
damage.

When removing a major component or attachment, ensure that it

is properly blocked or secured before removing mounting
hardware. An assembly that is disconnected without proper
blocking could shift or fall, resulting in serious injury or death of
personnel or machine damage.

Personal injury or death can result from improper maintenance

procedures. To avoid injury or death, follow the procedures
exactly as stated below.

Personal injury or death can result from sudden movement.

Prevent possible injury by performing the following procedures

before work begins:

Move the product or equipment to a smooth, level surface.

When applicable, lower equipment/work tools to the ground.

Engage the parking brake, system brakes and/or hydraulic

lockout control. When applicable, stop the engine and remove
the ignition key.

Release system pressure from pressurized systems.

If applicable, block the wheels/tracks.

Turn the battery disconnect switch to the OFF position and, if

applicable, remove the battery disconnect key. If not equipped
 with a battery disconnect switch, disconnect all positive (+) and
negative (−) battery cables. Install an appropriate battery cable
lockout device and protect the battery posts to prevent
accidental contact and shorting.

Attach a “Do Not Operate” or similar warning tag at the battery

disconnect switch location and as defined by site rules and/or
local regulations.

Illustration 1 g06276183

Access to this service point may require climbing on the

equipment. Slipping or falling while climbing on the equipment
could result in personal injury or death. Refer to the Operation
and Maintenance Manual, "Mounting and Dismounting" topic,
for safety information.

Failure to use an approved access system during component

installation and removal, could result in slipping and falling,
which could result in personal injury or death. To prevent injury
or death, use an approved access system to reach the
appropriate component mounting locations. Do not climb on the
machine. Maintain three-points of contact and/or use a safety
harness.
Do not operate the machine if any guards or covers are missing
or inadequately secured. Personnel could be seriously injured
or machine damage could occur.

Be sure all personnel are clear of the equipment while the

equipment is being lowered.

Failure to stay clear of the equipment while the equipment is

being lowered may result in personal injury.

Do not service the machine while the machine is in remote

mode. Failure to place the machine in manual mode for service
can result in a crushing hazard. Death or injury may occur if the
machine is in remote mode while servicing. Put the machine in
manual mode. Verify that the machine is in manual mode prior to
servicing the machine.

Personnel who are within the operation area of a remote control

machine may be struck by the remote control machine. Being
struck by a remote control machine may result in personal injury
or death. Clearly mark the operation area for the remote control
machine to warn personnel to stay clear of the operation area of
the remote control machine. Ensure that personnel have an
understanding of the mode indicators on the machine to know
when safe to approach the machine.

Failure to use appropriate caution while operating the machine

in remote mode can result in a potential crushing hazard and
serious injury or death may occur. Operate in an open area away
from other equipment and personnel until you become familiar
with the controls.
 While operating under active remote control, the machine may
move without warning which could result in serious personal
injury or death. Maintain a safe distance from the machine when
the machine is operated in remote control mode. Personnel who
may need to work in the area of a remote control machine must
know and understand the external remote control mode
indicators, job site procedures, and approach the machine only
when it is safe to do so.

Do not enter the area where the remote control machine is

operating. Entering the area of a remote control machine while
the machine is in remote control may result in serious injury or
death. Stay clear of the area where the remote control machine
is operating.

Failure to use appropriate caution while operating the machine

in remote mode can result in a potential crushing hazard and
serious injury or death may occur. Operate in an open area away
from other equipment and personnel until you become familiar
with the controls.

Required Parts
Required Hardware
Table 2

Required Parts for Commissioning the Remote Control System

Location Hardware
Service PC with the latest version of Cat® Electronic Technician (ET) 2020C or later
Onboard Communication Adapter (CA3)
 Ethernet Cable with RJ45 Connectors ( 385-8492 Cable As)
Communication Adapter (CA3)
Off-board
Ethernet Cable with RJ45 ( 385-8492 Cable As) Connectors

Required Software
All system software is available in the Cat SIS.

Perform the following procedure:

1. Download the most recent ECM flash files according to the software compatibility matrix for the
machine being commissioned.
For an up-to-date matrix of software for your application, model, and serial number, refer to the
following link:

https://catdealer.com/en/products/digital-products-technology/construction-technology/
command.html#tabs-b2a36ba9fa-item-ff7f7d6042-tab

Illustration 2 g06786493
"Command Station Software Compatibility Matrix"

2. To access, perform the following procedure:

a. Scroll down the page and select the "Product Support" tab.

b. Select the "Command Station Software Compatibility Matrix".

Note: Do not click any of the Command product circles.

3. Open Cat SIS, and select "Search by File Name". Use the file names listed from the compatibility
 matrix.
Note: For any machine Electronic Control Module (ECM) not detailed in the matrix, use Cat SIS to
download the most up-to-date flash file based on the machine serial number.

4. Download the system software from Cat SIS and save the files to a folder.

Site Communication Requirements

https://catdealer.com/en/products/digital-products-technology/construction-technology/command.html

Illustration 3 g06761462
"Site Communication Requirements"

Illustration 4 g06761433
"Site Communication Requirements"
To access, perform the following procedure:

1. Scroll down the page and select the "Product Support" tab.
 2. Select the "Site Communication Requirements".
Note: Do not click any of the Command product circles.

Reference: Operation and Maintenance Manual, M0106422 , "Cat® Command Station For Construction
Industries"

Reference: Special Instruction, M0117666 , "Field Installation and Configuration of Line of Sight and
Non-Line of Sight Remote Control Systems on Certain Small Wheel Loaders"

Procedure for Configuring IP Address of Service PC

Perform the following procedure for configuring IP address of Service PC:

Note: This procedure is not required in all instances. The LAN of certain routers is equipped with
Dynamic Host Configuration Protocol (DHCP). Setting a service PC with an IP address may be required,
if the router lacks DHCP capabilities.

Illustration 5 g03673487
Control panel
 Illustration 6 g03673488
Control panel

1. From the "Start" menu, click "Control Panel" or perform a search for "Control Panel".

2. If the "Control Panel" view looks like Illustration 5, proceed to Step 3.

If the "Control Panel" view looks like Illustration 6, proceed to Step 5.

Illustration 7 g03673492

3. Click "Network and Internet".

 Illustration 8 g03673493

4. Click "Network and Sharing Center".

Illustration 9 g03673497

5. Click "Network and Sharing Center".

 Illustration 10 g03673503

6. Click the "Local Area Connection" under "View your active networks". Refer to Illustration 10.
Note: The network must be connected for the "Local Area Connection" to be configured.

Illustration 11 g03673506

7. Click the "Properties" button.

 Illustration 12 g03673509

8. Select "Internet Protocol Version 4 (TCP/IPv4)", and then click the "Properties" button.

Illustration 13 g03673511
 9. Select the "Use the following IP address" button.
Note: Take a screenshot of these settings prior to change. The PC may need to be reverted.

Illustration 14 g06254178

10. Enter the following information:

"IP address:" 165.26.79.10

"Subnet mask:" 255.255.0.0

"Default gateway:" 165.26.78.1

Click "OK"

Note: The IP address should be changed now.

Procedure to Ping a Device

Perform the following procedure to ping a device:

Illustration 15 g03674001

1. From the "Start" menu, click in the "Search Programs and Files" area.
 Illustration 16 g03674002

2. Type "cmd" and press the "Enter" key on the keyboard.

Illustration 17 g03674003

3. A command prompt window should appear.

Illustration 18 g03674004

4. Type "ping" followed by a space and then the device IP address, and press the "Enter" key on the
keyboard. Refer to Table 3, and Table 4.

◦ A proper ping command should look like "ping xxx.xxx.xxx.xxx".

◦ A proper continuous ping command should look like "ping xxx.xxx.xxx.xxx -t".

◦ A successful ping will indicate that all packets have been received.

◦ An unsuccessful ping will indicate that all packets have not been received.
Note: To initiate a continuous ping, type "ping" followed by a space, the device IP address, a space,
"-t", and press the "Enter" key on the keyboard.
Table 3

Component IP Matrix

On-Board

On-Board Machine On-

Service PC Router Board Router Remote Control
(TCP/IPv4) (Internal Lan (External Wan Module (RCM)
side) (1) side)
IP
165.26.79.10(2) 165.26.78.1(2) (3)
165.26.79.2(2)
Address
Settings Subnet
255.255.0.0(2) 255.255.254.0(2) (3)
255.255.254.0(2)
Mask
Gateway 165.26.78.1(2) N/A (3)
165.26.78.1(2)
(1) Can only access from the Ethernet service port (LAN)
(2) System defined IP information (Do not change)
(3) Customer defined IP information

Table 4

Component IP Matrix

Off-board

Off-board Off-board
Service Command Command
Router Router
PC Station ECM Station PC
(Internal (External
(TCP/IPv4) (1)
(TCP/IPv4)
Lan side) (1) Wan-side)
IP 165.26.79.10 165.26.79.3
165.26.78.1 (2) (3)
165.26.79.2 (2)
Address (2)
165.26.79.4(2)
Subnet 255.255.0.0 255.255.254.0 255.255.254.0 255.255.254.0
Settings (3)
Mask (2) (2) (2) (2)

165.26.78.1
Gateway (2) N/A (3)
165.26.78.1 (2) 165.26.78.1 (2)
(1) Can only access from the (LAN) Ethernet service port
(2) System defined IP information (Do not change)
(3) Customer defined IP information

Note: Site IP addresses for the Wide Area Network (WAN) side of the on-board and off-board routers
must be defined prior to commissioning the system.

This section concludes the Introduction, Procedure for Configuring IP Address of Service PC, Procedure
to Ping a Device. Before moving to the next step, use the notes space below to record vital information.

Notes
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Station Overview
Illustration 19 g06637764
Cat® Command station electronics enclosure
(1) Command station power switch
(2) Service port
(3) Wireless port
(4) Ethernet port 1
(5) Ethernet port 2
(6) Information plate
(7) Command station input harness
(8) Power connector
(9) Fuse holder
Command Station Power Switch (1) - Used to power the Command Station ON and OFF (shown in
the ON position). Includes a lockout tagout tab.

Note: Some components remain powered to perform background processes. To fully power down the
station for maintenance purposes:

Perform the following procedure:

1. End any remote sessions by following the procedure in Operation and Maintenance Manual,
M0106422 , Return to Manual Operation.

2. Shut down the Command Station PC and Site Camera PC.

3. Turn station power switch (1) to OFF. Wait 5 minutes to allow systems to complete background
tasks.

4. Disconnect the Power connector from the Command Station. Wait 3 minutes for all systems to
discharge fully before performing maintenance.

Service Port (2) - For use with Cat ET and commissioning the station.

Wireless Port (3) - Must be plugged into the network devices to communicate to the machine through
wireless.
Ethernet Port 1 (4) - Used to plug in the Command Station PC.

Ethernet Port 2 (5) - An auxiliary port for later use.

Information Plate (6) - Details the serial number, make, model, and other information about the station.

Command Station Input Harness (7) - Responsible for transmitting the station inputs to the station
ECM.

Power Connector (8) - Used to connect power supply to the Command Station.

Fuse Holder (9) - Holds the station fuse.

Station PC Assembly
Prior to performing any further action the station must be assembled by following Special Instruction,
M0118415 , "Assembly and Installation of the Cat® Command Station for Construction Industries"

Commissioning the Command Station Router and ECM

Refer to Special Instruction, M0118415 , "Assembly and Installation of the Cat® Command Station for
Construction Industries" for installing the Command Station hardware.

The Command for Construction Industries Software Compatibility Matrix, which details correct and up-
to-date software specific to the machine and Command Station can be found here:

https://catdealer.com/en/products/digital-products-technology/construction-technology/command.html

ECM Software
Perform the following procedure:

1. Using a communication adapter and Ethernet cable connect to the Command Station by the service
port on the back of the ECM enclosure.

2. In Cat ET, select "WinFlash" from the "Utilities" Menu.

3. Select the folder icon for the ECM to be flashed.

4. From the drop-down menu, locate the flash files folder that contains the downloaded files from Cat
SIS, and select "Open".

5. Information about files will be shown and the "Begin Flash" icon will be highlighted. Click the "Begin
Flash" icon to start the flashing process. Follow this procedure for the remaining ECMs.

6. Flash the Gateway ECM.

7. Flash the Station ECM.

Router Software
Refer to Special instruction, M0122783 , "Ethernet Flashing and Programming Routers on Cat®
Command for Dozing System Devices and Cat® Command for Construction Industries System Devices"
for directions for setup and flashing instruction for Commissioning the Off-board Router.

This guide should be used to Flash, Program, and Configure Routers on Both Offboard (Command
Station) and Onboard (Machine).

Note: The Offboard router and Command Station ECM can be flashed through the service port on the
ECM enclosure by an Ethernet connection.

Command Station System Configuration

Perform the following procedure:

1. Using a Communication Adapter 3 and Ethernet cable connect to the Command Station service
port. Start Cat ET.

Illustration 20 g03677015
Command station configuration

2. Select the Configuration button.

3. Select the "General Information" tab in the right window pane.

4. Double-click the "Value" field of "Product ID".

5. Enter the serial number of the Command Station.

The serial number is on a metal placard on the back of the Command Station ECM enclosure.

Note: If two or more stations are set to identical Product IDs, the Operator Interface will raise an
exception and not allow remote operations. Ensure that the Product ID is entered properly to avoid
this issue.

6. Select "OK" to save the value.

 Illustration 21 g03677021
Command station configuration

7. Select the "Remote Control" tab in the right window pane.

Illustration 22 g03677022
Command station configuration

8. Double-click the "Value" field of "Remote Control Operator Station Installation Status".
Note: The Software Enabled Attachment (SEA) has costs associated with the SEA, which will be
reverted to the dealer. The SEA will be charged at the time of receiving factory passwords. Confirm
with the associated salesmen that the dealer/customer is willing to accept the charge.

Illustration 23 g03677023
Command station configuration

9. Select "Installed" from the drop-down and click "OK". Input the necessary factory password at the
follow-up screen.
 Illustration 24 g03677024
Command station configuration

10. Select "Yes" to program the parameter, once the factory password has been input.

Illustration 25 g03677025
Command station configuration

11. Verify that the "Value" field contains "Installed" status. Once confirmed, power cycle the Command
station.

Notes
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Command Station PC Software Installation

The PC needs to be properly set up and configured in accordance with the customer requirements
document. Refer to Special Instruction, M0121943 , "Customer Requirements for Cat® Command for
Construction Industries".

Note: Refer to section for more information on the required software for the system. The Command for
Construction Industries Software Compatibility Matrix, which details correct and up-to-date software
specific to the machine and command station can be found in the website below:

https://catdealer.com/en/products/digital-products-technology/construction-technology/command.htmll

Installing Operating System (OS)

The Command Operator Interface and Video Decoder runs within the Ubuntu Operating System (OS),
which needs to be installed on the Command Station PC.

Note: Ubuntu is a registered trademark of Canonical Ltd . The Ubuntu Operating System (OS) will be
referenced from here on in this document as the Operating System or OS.
 NOTICE
This installation will wipe out any data that is on the PC, make
sure to back up anything to another PC before continuing.

Operating System (OS) is retrieved from:

http://releases.ubuntu.com/focal/

On that web page, scroll down to locate and download the file named "ubuntu-20.04.xx-desktop-
amd64.iso". If you are not installing the 20.04.xx version of the OS on the computer you download the
file to, the file can be transferred using a USB drive or written to a DVD to transfer to the station PC you
are installing to.

The USB bootable load can be created using direction from the following link:

https://www.ubuntu.com/download/desktop/create-a-usb-stick-on-windows

Note: Confirm the version of OS being installed is the 64-bit variation. The video decoder software is not
compatible with 32-bit version. The 32-bit version of the OS is not supported.

Note: The file size is 3GB.

There is no restriction on the password, the technician can make the password simple if desired. But
choose something that can be remembered.

Perform the following procedure:

1. Connect the PC to a wired Ethernet connection to allow for OS updates and third-party video
drivers to be installed.

2. Boot the PC with the DVD or USB drive.

 Illustration 26 g06469992
"Install" screen
(1) "Install Ubuntu"

3. Once the loading window has completed use the arrow keys to navigate and highlight Install
Ubuntu (1). Press Enter to begin the install.

Illustration 27 g06469996
"Welcome" screen
(2) "Continue" button

4. Choose "English" from the "Welcome" screen. Click the "Continue" button (2) to proceed.

NOTICE
The install of the remote applications must be completed in
English to avoid potential issues. Only after the applications
have been installed can the language be changed.

Illustration 28 g06469999
"Install" screen
(2) "Continue" button
5. Place a check in the "Download updates while installing Ubuntu" box and "Install third-party
software for graphics and Wi-Fi hardware . . ." box.
Note: This PC should be connected to an internet connection while installing the OS.

6. Click the "Continue" button (2).

Illustration 29 g06470000
"Install" screen
(2) "Continue" button
(3) "Erase disk and install Ubuntu"

7. Choose to "Erase disk and install Ubuntu" (3). Click "Continue" button (2).
Note: Depending on what is on the hard disk, these options may be different.

8. A confirmation pop-up will appear describing changes to the hard drive partitions, press "Continue".

Illustration 30 g03808197
"Install" screen
(2) "Continue" button

9. Choose the proper time zone and click "Continue" button (2).
 Illustration 31 g03808344
"Install" screen
(2) "Continue" button

10. Choose the appropriate keyboard and click "Continue" button (2).

Illustration 32 g03808345
"Install" screen
(2) "Continue" button
(5) "Login automatically" option

11. Fill out the information in the "Who are you?" screen. Choose a secure password that will be
remembered. Typically strong passwords contain at least 12 digits containing upper and lower case
with numbers, letters, and special characters.

12. Choose the "Require My Password to login" option (5) (the system will then ask for a password
 while rebooting). Click the "Continue" button (2).
Note: This password will be required for "SUDO" commands in Terminal such as "sudo apt-get
update". Ensure that the password will be remembered before pressing the "Continue" button (2).

13. Once the OS install is complete, the system will require a reboot.

Operating System Updates

Note: Do not update to a new version of the OS, the video decoder is only functional on the 20.04
version of the OS.

Perform the following procedure:

Note: Connect the PC to the Internet, to perform the OS updates. After updates are installed, an
internet connection is no longer required for OS to work.

1. Press the windows key to open the search menu. Type "Software Updater", click the Software
Updater icon to launch.

Illustration 33 g06471997
"Software Updater" window
(1) "Details of updates"
(2) "Settings..." button
(3) "Install Now" button

2. Click the "Settings..." button (2) in the bottom left-hand corner of the "Software Updater" window.
 Illustration 34 g06472000
"Software & Updates" window "Ubuntu Software" tab

3. Access the "Ubuntu Software" tab, ensure that all boxes are checked.

4. Select a relevant server.

Illustration 35 g06472003
"Software & Updates" window "Updates" tab

5. Click the "Updates" tab, check the three boxes by clicking the boxes. Set the remainder of the
settings to site specifications.
Note: Under "Notify me of a new Ubuntu version," ensure that the "For long-term support versions"
is selected.

6. Accept any changes by clicking the "Close" button and return to the "Software Updater" window.
Note: If settings were changed, a pop-up will ask the technician to reload the updater, do so.

7. Click "Install Now" button (3).

Note: To learn more about each update click "Details of updates" (1). From this drop down menu
individual updates can be selected for install.

Elo Multi-touch Configuration

Note: EloMapping is a registered trademark of Elo.

Perform the following procedure:

1. Download "EloMapping_v1.1.zip" file from CatSIS and copy to USB flash drive.
Note: Do not extract any zip files in Windows.

2. Copy files to documents folder on Ubuntu PC.

Illustration 36 g06780182
"EloMapping_v1.1.zip" file

3. Right-click "EloMapping_v1.1.zip" file and select "Extract Here".

 Illustration 37 g06780203
"Properties"

4. Open the extracted "EloMapping_v1.1" folder. Right-click the "EloMapping" file and click
"Properties".

Illustration 38 g06780233

5. Select "Allow executing file as program" and then close the window.

Illustration 39 g06780236
"EloMapping_v1.1" folder

6. In the "EloMapping_v1.1" folder right-click and select "Open in Terminal".

 Illustration 40 g06780240
Terminal window

7. Drag and drop the "EloMapping" file from the "EloMapping_v1.1" folder into the terminal window
and press enter.

Illustration 41 g06780261
Command entry

8. To configure "EloMapping" type in the above command. Refer to Illustration 41 .

Note: In this example there is one Elo touchscreen mapped between USB 0 and Video 1. If using 2
Elo touchscreens, you must map both touchscreens separately. The first touchscreen to 0:1 and the
second touchscreen to 1:2. You may need to experiment with the usb and video number
combinations to identify the correct configuration.
 Illustration 42 g06780263
"Properties"

9. In the Documents folder open the "EloMapping_v1.1" folder. Right-click the EloMapping file and
click "Properties".

Illustration 43 g06780265
Parent folder location

10. In the "Basic" section, highlight the parent folder location, right-click, and then copy.

Illustration 44 g06780269
"Startup Application"

11. On the Ubuntu Desktop, click the Show Application icon in the lower left corner and search for
startup. Click the "Startup Application".
 Illustration 45 g06780271
"Startup Application Preferences" window

12. In the "Startup Application" window, click "Add".

Illustration 46 g07766515
"Edit Startup Program" window

13. Add the following contents in the "Edit Startup Program" window:

a. Name = ELO Mapping

b. Command = /home/command/Documents/EloMapping_v1
(This location is the folder location from Step 6 above.)

c. Add 0:1 1:2 to the end of the folder location.

(This location represents a 2 Elo touchscreen setup.)

d. Comment = ELO Mapping

14. When procedure completed, close all windows and reboot the PC to enable the new EloMapping
configuration.
Note: After restart, verify that touch is in the correct spot. If the touchscreen is not in the correct
spot, run the EloMapping and modify the 0:1 and 1:2 usb/video selection until correct then restart
the PC.

Video Driver Selection

A video driver must be installed that is compatible with the OS and video card of the PC.

Note: Some drivers may have unique instructions given by the manufacturer, if so follow the
manufacturer instructions and skip this section.

Video driver selection can be performed through different methods. For option through Graphical User
Interface (GUI) method, refer to "GUI". For option through Terminal Window method, refer to "Install
Nvidia Driver through Terminal".

GUI
Perform the following procedure:

1. Once the video driver is installed, reboot the PC.

2. Log in and press the windows key on your keyboard. Type "Software & Updates" and click the icon
to launch.

Illustration 47 g06472026
"Software & Updates" window "Additional Drivers" tab

3. Select the "Additional Drivers" tab, the video drivers should be displayed on this page, select the
appropriate driver.

4. Click "Apply Changes" wait for the process to finish, a progress bar should be displayed where the
"Apply Changes" button was.

5. When finished, close the menu and reboot the PC. Check that the change is still in effect after the
reboot.

Install Nvidia Driver through Terminal

Note: The following procedure requires internet access on the PC.

Note: Nvidia is a registered trademark of Nvidia Corporation.

Perform the following procedure:

1. Navigate to the following website:

https://phoenixnap.com/kb/install-nvidia-drivers-ubuntu

2. Search Nvidia drivers:

a. Open the terminal by searching for "terminal" in the search menu.

b. Run the following command:

apt search nvidea-driver

c. Search for available Nvidia drivers using the terminal in Ubuntu 20.04. The output shows a list
of available drivers.

3. Update the System Package Repository Before installing the driver, make sure to update the
package repository. Run the following commands:

sudo apt update

sudo apt upgrade

4. Install the right driver for your Graphics Processing Unit (GPU):

a. Choose a driver to install from the list of available GPU drivers. Refer to the Nvidia website for
the most accurate driver to select.

b. The command for installing the driver is:

sudo apt install

[driver_name]

5. Reboot the PC.

Setting Display Sound

Perform the following procedure:
 Illustration 48 g06763745

1. Right-click the OS desktop and click "Settings".

Illustration 49 g06763751
 2. From the "Settings" menu on the left, click "Sound".

3. In the "Sound" window that opens, configure the "Output" options as follows:

Illustration 50 g06763756

a. Configuration: Digital Stereo (HDMI) Output

4. Close the window and restart the PC.

Configuring Network Settings in Ubuntu

Perform the following procedure:

Illustration 51 g06780689
"Wired Connected"

1. From the Ubuntu Desktop, click the network connection icon in the upper right corner. Then click
"Wired Connected" to expand the menu, then click "Wired Settings". This selection will open the
 "Network" settings window.

Illustration 52 g06780711
Selecting + symbol
(1) "+" symbol

2. Click "+" symbol (1) to add a Wired connection.

Illustration 53 g06780726
New profile window

3. In the New Profile window that opens, click the "IPv4" option at the top of the window.

4. In the IPv4 method section, select manual and enter the below Address information:
Address - 165.26.79.3 and 165.26.79.4
 Netmask - 255.255.254.0

Gateway - 165.26.78.1

Illustration 54 g06780733
"Add"

5. Click "Add".
The window will close and the Network window should display a Wired connection 1 and a Profile 1
connection.

6. Close the Network window and restart the PC.

Network configuration setup is complete.

Computer Settings
Illustration 55 g06616272
OS desktop
(4) Drop down arrow
(5) Settings button
The following options can be found in the Settings menu which can be reached by clicking the drop-
down arrow (4) then click the Settings button (5).

"Displays"
Perform the following procedure:

1. Select "Devices" from the Settings menu. In the Devices menu, select "Displays".

Illustration 56 g06639409
 "Displays" screen
(6) Arrangement area
(7) "Primary Display"
(8) Selected display settings

2. Each display should have a tag in the top-left corner that matches one of the screens shown in
Arrangement Area (6).

3. Click and drag the screens to the desired positions. The line where two displays touch is the
interface where the mouse can move between displays.

4. To adjust the settings of a display, select the screen from arrangement area (6). The selected
screen will be highlighted orange. The settings below the arrangement area can then be adjusted
for that screen.

5. If a display is plugged in and powered ON but not being shown in Arrangement Area (6), perform
the below procedure:

a. Close the settings menu.

b. Turn OFF the screen.

c. Unplug the display from the station PC.

d. Wait several seconds then plug the display back in.

6. The primary display (7) setting will place the application bar on the indicated screen. Selecting a
touchscreen to be the primary display is recommended.

Illustration 57 g06492651
Configuration window

7. Certain changes to the displays may result in the displays resetting and Illustration 57 being
presented to the operator. Click either "Restore Previous Configuration" or "Keep This
Configuration" button.

"Screen Lock"
Perform the following procedure:
 Illustration 58 g06616839
Settings menu with "Screen Lock" popup window open

1. Select "Privacy" from the system "Settings" menu. Select "Screen Lock" from the "Privacy" menu.

2. Select the desired screen lock setting, when OFF the screen will not lock. Close the window to save
changes.

Setting the "Automatic Screen Lock" category to "OFF" from the popup window is recommended. This
setting will avoid the possibility of the screen powering down during operation.

Turning the Lock setting to OFF is recommended. This way the operator does not need to remember the
password of the PC to sign in.

Audio
Perform the following procedure:

1. Select "Sound" from the System "Settings" menu.

Illustration 59 g06616847
"Sound" settings screen
(9) "Choose a device for sound output:" list
(10) "Test Speakers" button

2. Select the proper audio output device from "Choose a device for sound output:" list (9) on the
 "Sound" settings screen.

3. Adjust the settings using the sliders and press "Test Speakers" button (10). Ensure the "Output
volume" is ON.
Note: Muting or lowering the volume of the display using a remote is possible. If no sound can be
heard, ensure that the volume from the device is turned up and not muted.

4. To save the changes, close the "Sound" settings screen.

"Date & Time"

Perform the following procedure:

1. Select "Details" from the left-hand panel of the "Settings" screen.

Illustration 60 g06616867
"Date & Time" set window

2. Select "Date & Time" from the "Details" menu.

3. If the computer is connected to the Internet, ensure the "Automatic Date & Time" option is ON.

4. If the computer is not connected to the Internet, turn the "Automatic Date & Time" setting to OFF.
Click the "Date & Time" option and adjust as desired. Close the popup using the red x in the top-
right corner to save the changes.

Installing Command Station Software

Installing Command Station Application
Note: All other commissioning should be accomplished prior to installation of the Command Station
Operator Interface (OI).

Note: Refer to "Required Software" for more information on the required software for the system.

Note: The Command Station ECM and router may come flashed with software from Cat. Confirm that
the ECMs are flashed with the most current version. Software can be downloaded from Cat SIS and
flashed on the ECM using Cat ET. The Command for Construction Industries Software Compatibility
Matrix, which details correct and up-to-date software specific to the machine and Command Station can
be found in the below website:

https://catdealer.com/en/products/digital-products-technology/construction-technology/command.html

Note: Approve any Anti-virus software warning popups. Anti-Virus software may need to be disabled to
install software and configure the PC properly.

Note: If upgrading or rolling back software, uninstall the currently installed software before continuing.
Failure to do so could cause program errors.

Note: Command Station Operator Interface (OI) can be downloaded from Cat SIS.

Perform the following procedure for commissioning the off-board:

1. Download the PC software to a flash drive or other media and copy to the Documents folder on
station PC.
Note: Do not extract Tech Client zip file in Windows.

Illustration 61 g06780744
"Extract Here"

2. After the file has been copied, right-click the compressed file and click "Extract Here". Clicking
 "Extract Here" will produce a new folder of the same name.

Illustration 62 g06780748
"Extract Here"

3. In the new folder open the "Data Images" folder. Then right-click the CatDecode-xxx.tar.gz file and
select "Extract Here". Clicking "Extract Here" will produce a new folder of the same name.

Illustration 63 g06780775
"Install_UROS-x86_64.AppImage"

4. In the new UROS_PC-xxx folder, open the release builds folder and the "Install_UROS-
x86_64.AppImage" file.
 Illustration 64 g06780778
Terminal window

5. A terminal window will open. Type in the Sudo password and Enter.

Illustration 65 g06780779
Command Station Application

6. The program will be installed. When installation is complete, click the "OK" button and the station
PC will be restarted.
Note: After the PC restarts, an operator interface icon will have been added to the QuickStart bar.
Clicking the icon will launch the OI.

Cat Remote Vision Application

Note: Command Station Video Decoder can be downloaded from Cat SIS.

Perform the following procedure:

1. Download PC software to a flash drive or other media and to Documents folder on station PC.
Note: Approve any Anti-virus software warning popups. Anti-Virus software may need to be
disabled to install software and configure the PC properly.

Note: Do not extract Tech Client zip file in Windows.

 Illustration 66 g06780744
"Extract Here"

2. After the file has been copied, right-click the compressed file and click "Extract Here". Clicking
"Extract Here" will produce a new folder of the same name.
 Illustration 67 g06780748
"Extract Here"

3. In the new folder open the "DataImages" folder. Then right-click the CatDecode-xxx.tar.gz file and
select "Extract Here". Clicking "Extract Here" will produce a new folder of the same name.

Illustration 68 g06780758
Decoder Launcher

4. Within the new folder, the "Install_Cat_Decoder_Launcher".

5. A terminal window will open. Type in the Sudo password and Enter.
 Illustration 69 g06780782
Command Station Application

6. The program will be installed. When installation is complete, click the "OK" on the "Information"
pop-up. Press Enter and restart the station PC.
Note: After the PC restarts, an operator interface icon will have been added to the QuickStart bar.
Clicking the icon will launch the OI.

7. Installation has completed the compressed folder and install folder can be deleted.

8. Access the folders menu and search for "Catdecoder". A folder icon should appear, copy, and paste
this folder to the desktop. The "Catdecoder" folder will be the destination for all videos, images, and
crash reports from the video decoder.
Note: Installing the decoder turns OFFauto lock and the screen saver to prevent operations
interruption from these features being activated. Reactivating these features is not recommended.

Decoder Software Settings

Perform the following procedure:

1. Start the video decoder application.

Illustration 70 g06780787
License Selection
 2. Select "Station C" from the popup and click "OK". Clicking "OK" will close the Decoder.

3. Upon first launch a popup will prompt the operator to trust and launch this application, click trust
and launch. An End User License Agreement (EULA) will then display. Read the EULA and accept
to continue.

4. Installation is complete.

Video Decoder Screen Resolution Settings

Perform the following procedure:

1. Relaunch the Decoder.

Illustration 71 g06616730
Screen settings in console and RC decoders

2. Illustration 71 shows the possible screen layouts that can be used with the Decoder. Select the
proper aspect ratio to match the display aspect ratio according to the maker. Select the appropriate
RC or autonomous view for the work being done.

Camera Settings
Illustration 72 g06207496
"Camera Settings" screen
Camera Settings options can be found in "Global Camera Settings". "Global Camera Options" will
change settings on all the cameras. Click "OK" to save changes and close, click "Cancel" to close and
discard changes. The following options are available:

BLC (Back Light Control) - Helps in visualization of dark objects in front of bright backgrounds.

AGC (Auto Gain Control) - Helps in low light conditions by making the picture brighter. Automatically
adjusts gain when the illuminance of the main subject becomes too dark.

Day/Night Mode - Provides visual clarity for day and night time operation to improve low light
conditions.
Illustration 73 g06616739
Setting Brightness

Right-clicking a camera feed will pull up a menu. In this menu the brightness of only that camera can be
adjusted. The camera can also be reset or turned OFF.

Installing Command Tech Client

Note: Command Station Machine Technology Client can be downloaded from Cat SIS.

Perform the following procedure:

1. Download the Machine Technology Client software to a flash drive or other media and copy to the
Documents folder on station PC.
Note: Approve any Anti-virus software warning popups. Anti-Virus software may need to be
disabled to install software and configure the PC properly.

Note: Do not extract Tech Client zip file in Windows.

2. Copy file to USB flash drive and transfer to the Documents folder on Ubuntu PC.

Illustration 74 g06780744
"Extract Here"

3. After the file has been copied, right-click the compressed file and click "Extract Here". Clicking
"Extract Here" will produce a new folder of the same name.
 Illustration 75 g06780748
"Extract Here"

4. In the folder that is created, right-click the compressed file and select "Extract Here". Clicking
"Extract Here" will produce a new folder of the same name.
In the new folder, open the "Data Images" folder and right-click the "TechClient.AppImage" program
and click "Properties".

Note: Permissions may be required to run "TechClient.AppImage" program.

 Illustration 76 g06763727
TechClient.AppImage

5. In the "Properties" window, check the box to "Allow executing file as program" the close the window.

Illustration 77 g06780753
Installation of TechClient.AppImage

6. Double-click the "Install_MachineTechnologyClient-x86_64.AppImage" file to run the program.

Note: This action will install the virtual box dependencies and any virtual machines that have been
corrupted or not running.

Illustration 78 g06763729
Terminal Window

7. A terminal window will open. Type in Sudo password and press enter.
 Illustration 79 g06763738
Machine Technology Client Installation

8. When installation completes, press enter to close the window and then restart the PC.
Machine Technology Client installed successfully.

Command Station Commissioning Verification

Introduction
This part of this Special Instruction outlines the instructions for commissioning the Command Station.

Do not perform any procedure in this Special Instruction until you have read this Special Instruction and
you understand this information.

Commissioning Procedure

Operating the machine with an unsafe distance between the

machine and the remote operator can be dangerous and may
result in severe injury or death. A safe operating distance must
be maintained between the machine and the remote operator.

The purpose of this information is to validate the system after installation. This information should be
used along with the Operation and Maintenance Manual that is provided with the kit. This manual
provides more detail about the various modules, specific controls, and feedback provided by the system.
Table 5

Date:____________________________ Site:_____________________________
Machine Model:____________________ Serial Number:_____________________

Before Operation

Operating the machine with an unsafe distance between the

machine and the remote operator can be dangerous and may
result in severe injury or death. A safe operating distance must
be maintained between the machine and the remote operator.

While operating under active remote control, the machine may

move without warning which could result in serious personal
injury or death. Maintain a safe distance from the machine when
the machine is operated in remote control mode. Personnel who
may need to work in the area of a remote control machine must
know and understand the external remote control mode
indicators, job site procedures, and approach the machine only
when it is safe to do so.

If communication between the remote control machine and the

operator station is lost, the machine will continue to execute the
last valid command for 2.0 seconds. After a period of 2.0
seconds, the remote control machine will transition to an
immediate stop state. The maximum expected travel distance of
any remote control Wheel Loader, on level ground with no load,
would be 10.0 m (32.8 ft) in forward or reverse.

Personal injury or death may occur if the machine travels into a

hazard zone or towards personnel after losing communication.

Maintain a safe distance from the machine. Maintain clear line-

of-sight with the machine. Understanding the distances stated
above, avoid situations that would place the machine in close
proximity to the hazard zone, for example, pushing material over
a high wall, or operating near infrastructure.
 NOTICE
Caterpillar recommends that each customer conducts their own
risk assessment for remote control operation and establish
layers of protection in and around the area of the remote
controlled machine and establish safe job site procedures.
Examples may include personnel training, warning signs, and
barricades.

Before using the machine in remote control, perform a walk around inspection. Check the levels of the
oil and water and check for leaks and damage.

Operate the machine manually to ensure that all the controls operate normally and the brakes operate
effectively.

Be sure all personnel are clear of the equipment while the

equipment is being lowered.

Failure to stay clear of the equipment while the equipment is

being lowered may result in personal injury.

Do not operate or work on this machine unless you have read

and understand the instructions and warnings in the Operation
and Maintenance Manual. Failure to follow the instructions or
heed the warnings could result in injury or death. Contact any
Caterpillar dealer for replacement manuals. Proper care is your
responsibility.

Do not service the machine while the machine is in remote

mode. Failure to place the machine in manual mode for service
can result in a crushing hazard. Death or injury may occur if the
machine is in remote mode while servicing. Put the machine in
manual mode. Verify that the machine is in manual mode prior to
servicing the machine.

Personnel who are within the operation area of a remote control

machine may be struck by the remote control machine. Being
struck by a remote control machine may result in personal injury
or death. Clearly mark the operation area for the remote control
machine to warn personnel to stay clear of the operation area of
the remote control machine. Ensure that personnel have an
understanding of the mode indicators on the machine to know
when safe to approach the machine.

Failure to use appropriate caution while operating the machine

in remote mode can result in a potential crushing hazard and
serious injury or death may occur. Operate in an open area away
from other equipment and personnel until you become familiar
with the controls.

While operating under active remote control, the machine may

move without warning which could result in serious personal
injury or death. Maintain a safe distance from the machine when
the machine is operated in remote control mode. Personnel who
may need to work in the area of a remote control machine must
know and understand the external remote control mode
indicators, job site procedures, and approach the machine only
when it is safe to do so.

Do not enter the area where the remote control machine is

operating. Entering the area of a remote control machine while
the machine is in remote control may result in serious injury or
death. Stay clear of the area where the remote control machine
is operating.
Machine Preparation
Perform the following procedure:

1. Park the machine in a convenient and safe location within network coverage to start remote control
operation.

2. Engage the Parking Brake on the machine.

3. Lower the Implements to the ground and engage the Hydraulic Lockout switch on the machine.

4. Do not press the throttle control pedal while the engine runs for 5 minutes at Low Idle for cool down
while the machine is stopped.

5. Turn the machine keyswitch to the OFF position after the cool down period is complete.

6. Proceed to the Ground Level Service Center (GLSC).

Do not attempt to access the ground level service center when

the machine is in motion, the BLUE Remote Active indicator is
flashing, or the BLUE Remote Active indicator is on solid.
Serious injury or death may occur. Ask the remote control
operator to place the implements on the ground, apply the
implement lockout, and apply the parking brake before
accessing the ground level service center.
 Illustration 80 g06654664
930 Ground Level Control Center (GLSC)
(14) Manual/Remote mode switch

7. Turn the Manual/Remote Mode switch (14) to the MANUAL position.

8. Turn the machine master power disconnect to the OFF position.

9. Confirm that the Emergency Engine Shutdown switch is in the OFF position if present on the
machine model.

10. Place the Manual/Remote Mode switch (14) in the REMOTE (vertical) position.
Note: With the engine running, placing the Manual/Remote mode switch in Remote mode will shut
down the engine.

11. Turn the machine master power disconnect to the ON position.

Note: The remote mode indicator lights will begin flashing to test operation, inspect each mode
indicator light functions. Lights will flash for several seconds.

NOTICE
Stopping the engine immediately after it has been working
under load, can result in overheating and accelerated wear of
the engine components.

Refer to the following procedure, to allow the engine to cool,

and to prevent excessive temperatures in the turbocharger
housing (if equipped), which could cause oil coking problems.

12. Confirm the Blue Mode Indicator Light on top of the machine is on, solid (not flashing).

Preliminary Command Station Checks

Perform the following procedure:
 Illustration 81 g06639776
Rear view of the Command Station
(18) Remote shutdown switch
(19) Command Station disconnect switch

1. Pull out Remote Shutdown switch (18) on the Command Station.

2. Place the Command Station Disconnect switch (19) in the ON position.

3. Power on the station PC and any monitors if necessary.

4. Launch the Vision Decoder Software .

Illustration 82 g03783918
Operator Station Integrator

5. Open the Operator Interface (OI) by double-clicking the icon.

Note: If a "Communication Error, Restore video communications" message appears on the OI.
Close both the OI and video decoder programs. Start the video decoder first, then start the OI. If the
message persists, refer to troubleshooting.
 Illustration 83 g06430821
Start Screen

6. The Start Screen as shown in Illustration 83 will show on the OI.

7. The OI will ask the operator to verify the operation of the Remote Shutdown switch. Perform the
following steps to verify the operation:

Illustration 84 g06430824
Start screen with the remote shutdown switch in.

a. Push in the Remote Shutdown switch (18).

 Illustration 85 g06430827

b. Pull out the Remote Shutdown switch (18).

Illustration 86 g06430830
Start screen with the remote shutdown switch out.

8. If the operation of the Remote Shutdown switch faults, as shown in Illustration 86, the program will
require the operator to perform Steps 7 through 7b again.
Note: If the fault continues consult the troubleshooting manual.

9. Once the Remote Shutdown switch operation has been verified, the program will allow the Operator
to continue to Step 1.

Command Station Configuration

Illustration 87 g06463330
Start screen
(21) Command Station name
(22) "Work Group" section
(23) Machine button
(24) "Machine Selection" button
(25) Station diagnostics window
(26) Machine search drop-down menu
(27) Submenu button
(28) Add machine button
(29) Return button
(30) "OK" button

Allocating a Machine
Perform the following procedure:
1. Press add machine button (28) on the "Start" screen.

2. Enter IP address of the machine (machine on-board router (external wan side), refer to Table 3 )
and press "OK".

Illustration 88 g06472815
"Add Machine" window
(10) Return button
(11) "OK" button

3. If the address is not found, ensure that the machine is in network coverage area and RC Enabled
(blue mode indicators are ON and not flashing).
Check that the IP address is correct then repeat the allocation process.

The address not being found could be caused by:

◦ The machine being OFF

◦ The radio link is down

◦ No Ethernet router installed (configured in Cat ET (contact theCat dealer)

◦ The machine not being available for allocation

 Illustration 89 g06472840
"Add Machine" window
(10) Return button
(11) "OK" button

4. If successful, the machine should be added to the "Work Group" section (22) on the left of the
screen. If not, use the Machine search drop-down menu (26) and select "all", click the newly added
machine to add the machine to the work group.

5. If the machine is not available for allocation, the machine will appear in the reserved list. The
machine will need to be placed in the proper state before the machine can be selected for remote
control operation.

Confirm Communications Between Components

If any issues occur, these steps will help in verifying that all the devices are properly powered up and
communicating. Troubleshoot the devices, if the devices are not communicating with other components.

Perform the following procedure:

1. Power the machine in RC by following the "Machine Preparation" section.

2. Activate manual override by pressing the in cab switch.

3. Connect to the machine service port with the service PC.

4. Using the method in the "Procedure to Ping a Device" section, ping the following IP addresses:

◦ 165.26.78.1 (machine router LAN)

◦ 165.26.79.2 (RCM)

◦ 165.26.79.11 (front camera)

◦ 165.26.79.12 (rear camera)

◦ 165.26.79.13 (left camera)

◦ 165.26.79.14 (right camera)

5. Power on the Command Station and Command Station PC.

6. On the station PC, search for "terminal" and launch the application.

7. Ping the following IP addresses:

◦ 165.26.78.1 (station router LAN)

◦ 165.26.79.2 (station ECM)

 ◦ Machine router WAN (site defined)

8. If all pings respond, all RC systems are communicating as intended. If a component does not
respond, perform the below procedure:

a. Check that the device has power.

b. Check the IP address, subnet mask, and gateway on the device.

c. Check the Ethernet connector between the devices for loose pins and loose connectors.

d. Ensure all SEA and install statuses were set properly.

Activating a Machine in Remote control

Perform the following procedure:

Illustration 90 g06463330
Start screen
(21) Command Station name
(22) "Work Group" section
(23) Machine button
(24) "Machine Selection" button
(25) Station diagnostics window
(26) Machine search drop-down menu
(27) Submenu button
(28) Add machine button
(29) Return button
(30) "OK" button

1. Select the machine to communicate with by clicking the proper Machine button (23).
Note: Up to five machines can be listed in the "Work Group" section.
 Illustration 91 g06463366
Main screen
(31) Left - hand side of the main screen
(32) Center section of the main screen
(33) Right - hand section of the main screen
(34) Bottom section of the main screen

Illustration 92 g06463374
Right - hand section of the main screen
(35) Submenu button
(36) Keyswitch ON/OFF button
(37) Engine crank button
(38) Engine status message
(39) Remote control status message
(40) Machine status message
(41) Work light ON/OFF button

2. At the main screen press the Keyswitch ON/OFF button (36) to activate all the machine ECMs (the
 key switch button should now be green). The vehicle horn should sound once to confirm the
vehicles reservation. The remote control status message (39) should now read "RC reserved".

Illustration 93 g06616966
Left control
(42) Horn button

3. Hold the Horn button (42) on the Command Station until the machine horn stops sounding
(approximately 3 seconds).
Note: Ensure that the horn sounds when the station horn button is pressed. If the horn does not
sound, nearby personnel may not get a warning that the machine is entering RC. Terminate the
remote session and repair the horn before continuing.

4. Release Horn button (42).

The horn will sound two times and machine lights will flash two times.

Note: The machine will be powered on and the RC system status field (right-hand side of the main
screen) will show "RC Active" after the machine responds back.

5. Press and hold Engine Crank button (37) until the engine starts.

Note: If equipped, the access ladder must be raised prior to using the Command Station.

The procedure for checking the functionality of machine controls for the Cat® Command Station for
Construction Industries is provided by in the following sections of this manual. Continue to section
"Command Station Validation for Wheel Loaders" for checking the functionality of machine controls on
Wheel Loaders. Continue to section "Command Station Validation for Excavators" for checking the
functionality of machine controls on Excavators. Continue to section "Command Station Validation for
Medium Track Type Tractors" for checking the functionality of machine controls on Medium Tractors. For
A-Stop validation continue to section "A-Stop Validation".

Note: Prior to performing the steps outlined in the following sections, ensure that the operator reads the
relevant Operation and Safety sections of the machine-specific Operation and Maintenance Manual.

Do not operate or work on this machine unless you have read

and understand the instructions and warnings in the Operation
and Maintenance Manual. Failure to follow the instructions or
heed the warnings could result in injury or death. Contact any
Caterpillar dealer for replacement manuals. Proper care is your
responsibility.

Be sure all personnel are clear of the equipment while the

equipment is being lowered.

Failure to stay clear of the equipment while the equipment is

being lowered may result in personal injury.

Personnel who are within the operation area of a remote control

machine may be struck by the remote control machine. Being
struck by a remote control machine may result in personal injury
or death. Clearly mark the operation area for the remote control
machine to warn personnel to stay clear of the operation area of
the remote control machine. Ensure that personnel have an
understanding of the mode indicators on the machine to know
when safe to approach the machine.
 Failure to use appropriate caution while operating the machine
in remote mode can result in a potential crushing hazard and
serious injury or death may occur. Operate in an open area away
from other equipment and personnel until you become familiar
with the controls.

Command Station Validation for Wheel Loaders

Table 6

Signature
Step Instruction Result
and Date
Electronic / Commanded Stops
Command Station Remote Shutdown
Switch
Power to the machine is disabled,
which causes the engine to stop.
The red mode indicator on the
machine flashes red at two times
per second, the blue indicator on
the machine is solid blue.
Push in the Command Station Remote
6 The remote control system is left
Shutdown Switch.
powered, electrical power to the
remote system onboard the
machine is still on.
The remote control system status
will read "Remote Control
Shutdown".
Cab Manual Override Switch
The Green mode indicator on the
This step must be performed with a person
machine will turn on solid, the
in the cab of the machine to activate the
Blue mode indicator on the
switch. Do not approach the machine unless
machine will turn OFF.
safe to do so and the Command Station
Manual control of the machine
Remote Shutdown Switch is pushed in. To
should now be possible from
ensure the safety of the operator, an
within the cab (cab key switch
operator must be seated in the cab. An
enabled to power up and start the
operator wears seatbelt on and doors closed
7 machine). The remote session is
prior to placing the machine in the remote
terminated and the operator
control mode. Pull out the Command Station
interface returns to the machine
Remote Shutdown Switch and Repeat the
select screen. Remote control of
entire activation sequence to regain remote
the machine can only be restored
control of the machine again but do not start
by cycling the remote/manual
engine.
mode switch in the ground-level
Press the Manual Override Switch in the
service center (to manual and
machine cab.
remote control).
 Implement Control
Have the operator exit the cab and access
the ground level service center. Turn the The engine starts.
remote/manual switch to manual, then back The blue mode indicator flashes
to remote. The operator should retreat to a in a heartbeat pattern.
safe distance before proceeding. The implement lockout indicator
8
Repeat the entire activation sequence to on the operator interface turns
regain remote control of the machine again OFF, the implement lockout
and start the engine. button will return to initial
On the right-hand console of the Command position.
Station press the implement lockout switch.
Pull the right control backward to raise the The Implement raises and lowers
9 Implement. Then push the right control as commanded by the right
forward to lower the Implement. control.
The implement racks and then
Push the right control left. Then push the
10 dumps as commanded by the
right control right.
control.
Implement Float
1. Select implement float on the Automation
The implement float button
Control screen of the operator interface.
illuminates green. The implement
2. Press and hold the kickout trigger, while
float indicator turns gray.
pushing the right control all the way forward.
The implement lowers to the
11 Then release the right control and the
ground. The implement float
kickout trigger.f
indicator turns green.(1)
3. Pull the right control backwards from
The implement float disengages
neutral to disengage the implement float
and the indicator turns gray.
function.
Implement Kickouts
Open the automation control screen. Enable Each of the kickout buttons is
12 the Lower kickout, Raise Kickout, and Tilt now green, signifying each
kickout by clicking each button. kickout is enabled.
Using the right control position the
The set button will flash indicating
13 implement at a point above the ground. Hold
the position is saved.
the lower kickout set button for 2 seconds.
Raise the implement to another height below
the maximum height allowed by the The set button will flash indicating
14
machine. Hold the raise kickout set button the position is saved.
for 2 seconds.
While holding the kickout trigger push the
The implement moves to the
15 right control fully forward, then release the
lower kickout.
right control and trigger.
While holding the kickout trigger pull the right
The implement moves to the raise
16 control fully backward, then release the right
kickout.
control and trigger
 With the implement at any height above the
ground to be freely rotated, set the angle of The set button will flash indicating
17
the implement with the right control. Hold the the position is saved.
tilt kickout set button for 2 seconds.
Using the right control, dump the implement
below the tilt point. While holding the kickout
The implement moves to the
18 trigger move the right control to the furthest
kickout point.
right position, then release the right control
and trigger.
Using the right control rack the implement
above the tilt point. While holding the kickout
The implement moves to the
19 trigger move the right control to the furthest
kickout point.
left position, then release the right control
and trigger.
Transmission Controls
With the engine running:
1. On the right-hand side console, Press the
Parking Brake switch to unlock the parking
The parking brake indicator on
brake.
the operator interface turns OFF.
2. Put the direction control switch in the F
The machine moves in the
20 position and use the throttle pedal to move
direction that is commanded by
forward. Use the left control to steer the
the Machine control (Forward,
machine.
Reverse, Left and Right).
3. Put the direction control switch in the R
position to place the machine in reverse. Use
the left control to steer the machine.
Throttle Lock
NOTE: Perform this step with the machine
on level ground.
Ensure that the machine is in remote mode.
The throttle lock button and
Disengage the parking brake.
indicator turn green. The pedal is
Open the settings screen on the operator
released but throttle is
interface.
maintained. Throttle lock is
21 Set the direction of travel with the direction
disengaged and the machine
select switch.
coasts to a stop. The throttle lock
Use the throttle pedal to achieve the desired
button turns gray and the
throttle, click the throttle lock button. Release
indicator turns OFF.
the throttle pedal.
Click the throttle lock button or place the
direction select switch to N to disengage.
Auxiliary Controls
Lights
All lights will come on and the
On the operator interface main screen, click
work lights button will turn green
22 the work lights ON/OFF button. Click the
All lights will turn OFF, and the
work lights button again.
work lights button will turn gray.
Operator Interface Dash Cluster
 With the engine running in remote control
The value of each parameter
mode.
corresponds to what is shown by
Confirm that the dash can display all status
the machine. The parameter can
bar icons (consult the OMM for a full list of
either be estimated from the
23 icons and how to activate).
gauges or other indicators, or the
Check all gauges and readouts are
value can be compared with
functional and reporting (refer to the OMM
shown ECM status information
for a full list). Open the parameters screen
using Cat ET.
and check that all values are reporting.
(1) Need to ensure that this action is through the float function and not the result of a powered lower.

Setting Up Cameras
Note: When setting up the cameras on any RC Machine, ensure to discuss the application with the
customer before proceeding.

When setting up cameras, ensure that the following primary objectives are met:

- Visibility

• View should be unobstructed.

• Part of the machine should be in the shot providing a reference for the operator.

• Avoid angling cameras toward the sky. On level ground, only a small part of the shot should include
the sky if necessary.

• Ensure the Pitch or Roll gauge does not blend in with the background of the shot.

- Placement

• Cameras should be in a serviceable place where the cameras can be cleaned and maintained
properly.

• High priority targets should be visible in camera image.

Camera Angle and Adjustments

For Small Wheel Loader (SWL) Non-Line of Sight (NLOS) operation, ensure the following key points:

Front Camera

- Navigation

• Determining heading and position

- Awareness

• Seeing objects or obstacles in front of the machine

 • Front tires are fully visible, placed at the bottom of the image

• Horizon is visible for pitch and roll

- Bucket Operation

• Blade Reference "Zero"

• Blade depth

• Cut angle

• "Green Line" is centered on the machine

• Green "Backup Lines" are visible and centered on machine

Rear Camera

- Navigation

• Determining heading and position

- Awareness

• Seeing objects or obstacles behind the machine

• Rear camera is angled such that machine is visible and Cat logo is visible

Right/Left Camera (Sides)

- Ground Conditions

• Wheel slipping

- Awareness

• Seeing objects or obstacles on sides of machine

• Detecting any objects impairing wheel movement

• Front and rear tires are visible (or the platform above the tires is)

• HVAC is barely visible on right-hand side

• Cat yellow platform is visible on left-hand side

Illustration 94 g06780649
Camera views
(1) Front camera
(2) Left camera
(3) Right camera
(4) Rear camera

Illustration 95 g06782635
Camera locations
(1) Front camera
(2) Left camera
(3) Right camera
(4) Rear camera
Refer to Illustration 94 and Illustration 95. Ensure the following camera targets:

• Horizon is visible for pitch and roll

• Both wheels and guards are visible

• Platform is visible

• Green line is centered on the machine

• HVAC is visible

• Rear of machine is visible

 • Green "backup lines" are visible and centered on machine

Illustration 96 g06780637
Adjusting the bolts

Illustration 97 g06780638
Adjusting the camera
Perform the following procedure to adjust the cameras:

1. Loosen the two 8T-4970 Bolts on the camera on each side.

2. Tilt the camera up or down to the desired position.

3. Tighten the two 8T-4970 Bolts to lock the camera in position on each side.
 4. Loosen the single bolt on the camera bracket.

5. Rotate the camera to the desired position.

6. Tighten the single bolt on the camera bracket.

7. Check the Vision System to confirm that the camera angle is sufficient.

This procedure concludes the Command Station validation for Wheel Loaders. Use the notes space
below to record vital information.

Command Station Validation for Excavators

Table 7

Signature
Step Instruction Result
and Date
Electronic / Commanded Stops
Command Station Remote Shutdown
Switch
Power to the machine is disabled,
which causes the engine to stop. The
red mode indicator on the machine
flashes at two times per second, the
On the right-hand side console of the blue mode indicator on the machine is
6 command station push in the remote on solid. The remote control system is
shutdown switch. left powered, electrical power to the
remote system onboard the machine is
still on. The remote control system
status will read "Remote Control
Shutdown".
Cab Manual Override
This step must be performed with a The Green mode indicator on the
person in the cab of the machine to machine will turn on solid, the Blue
activate the manual override. Do not mode indicator on the machine will turn
approach the machine unless safe to do OFF. Manual control of the machine
so. Do not approach the machine unless should now be possible from within the
the remote shutdown switch is pushed in cab (cab key switch enabled to power
at the command station. To ensure the up and start the machine). The remote
7 safety of the operator, an operator must session at the station will be
be seated in the cab, seatbelt on and terminated, and the operator interface
doors closed prior to placing the machine will return to the machine select screen.
in the remote control mode. Pull out the Remote control of the machine can
remote shutdown switch then repeat the only be restored by cycling the remote/
entire activation sequence to regain manual mode switch in the ground-
remote control. In the cab hold a control level service center (to manual and
out of center for 2 seconds. back to remote control).
Transmission control
 Engine Speed
Have the operator exit the cab and
access the ground level service center.
Turn the remote/manual switch to
The engine starts. The blue mode
manual, then back to remote. The
indicators on the machine flash in a
operator should retreat to a safe distance
8 heartbeat pattern. The engine RPM
before repeating the entire activation
increases and decreases as the
sequence at the command station. On
selector is moved.
the operator interface drag the Engine
RPM selector up. Drag the Engine RPM
selector down.
Track Control
Ensure that the bucket is lifted to a height
The parking brake indicator on the
to avoid contact with the ground during
operator interface turns OFF, the
9 travel. On the right-hand side console of
parking brake switch returns to the
the command station press the parking
initial position.
brake switch.
Ensure that the undercarriage and upper The left track moves forward and
structure are properly aligned. Press the backward and at a speed proportional
left track pedal forward. Press the left to the distance the pedal is pressed.
10
track pedal backward. Press the right The right track moves forward and
track pedal forward. Press the right track backward at a speed proportional to the
pedal backward. distance the pedal is pressed.
Straight Travel
Ensure that the undercarriage and upper
structure are properly aligned. Use the
Both tracks move in unison in the
11 directional control switch to decide the
direction and speed commanded.
direction of straight travel. Use the right
track pedal to control the tracks speed.
Implement Control
The implement lockout indicator on the
On the right-hand side console of the
operator interface turns OFF, the
12 command station press the implement
implement lockout switch returns to
lockout switch.
initial position.
Pull the right control backward. Push the The boom raises and lowers as
13
right control forward commanded.
With the bucket OFF the ground. Push
The bucket dumps and closes as
14 the right control right. Push the right
commanded.
control left.
With the bucket OFF the ground. Push
The stick moves out and in as
15 the left control forward. Pull the left
commanded.
control backward.
With the bucket OFF the ground. Push
The machine swings left and right as
16 the left control left. Push the left control
commanded
right.
Auxiliary Control
Lights
All lights will come on and the work
On the operator interface main screen,
lights button will turn green
17 click the work lights ON/OFF button. Click
All lights will turn OFF, and the work
the work lights button again.
lights button will turn gray.
Operator Interface Dash Cluster
With the engine running in remote control
mode.
Confirm that the dash can display all The value of each parameter
status bar icons (consult the OMM for a corresponds to what is shown by the
full list of icons and how to activate the machine. This parameter can either be
18 icons). estimated from the gauges or other
Check all gauges and readouts are indicators in the cab, or the value can
functional and reporting (refer to the be compared to what is shown using
OMM for a full list). Open the parameters ECM status information using Cat ET.
screen and check that all values are
reporting.

Setting Up Cameras
Note: When setting up the cameras on any RC Machine, ensure to discuss the application with the
customer before proceeding.

When setting up cameras, ensure that the following primary objectives are met:

- Visibility

• View should be unobstructed.

• Part of the machine should be in the shot providing a reference for the operator.

• Avoid angling cameras toward the sky. On level ground, only a small part of the shot should include
the sky if necessary.

• Ensure the Pitch or Roll gauge does not blend in with the background of the shot.

- Placement

• Cameras should be in a serviceable place where the cameras can be cleaned and maintained
properly.

• High priority targets should be visible in camera image.

Camera Angle and Adjustments

For Excavators (HEX) Non-Line of Sight (NLOS) operation, ensure the following key points:
Front Camera

- Navigation

• Determining heading and position

- Awareness

• Seeing objects or obstacles in front of the machine

• Pitch and roll indicator

• Track visibility

- Bucket Operation

• Blade depth

• Cut angle

Rear Camera

- Awareness

• Seeing objects or obstacles in behind of the machine

Right/Left Camera (Sides)

- Ground Conditions

• Track slipping

- Awareness

• Seeing objects or obstacles on sides of machine

• Detecting any objects impairing wheel movement

• Track visibility
Illustration 98 g06782653
Camera views
(1) Front camera
(2) Left camera
(3) Right camera
(4) Rear camera

Illustration 99 g06782655
Camera locations
(1) Front camera
(2) Left camera
(3) Right camera
(4) Rear camera
Refer to Illustration 98 and Illustration 99. Ensure the following camera targets:

• Bucket and stick are visible

• Near full length tracks are visible when machine is square

• Left track: 1-2 grousers are visible

• Right track: half of 1-2 grousers are visible

• Lookout for objects or obstacles around the machine

• See equal yellow paint in bottom corners of camera

Note: Target image should be checked upon daily usage of the machine. If the image does not include
all required items, adjust the cameras.

Perform the following procedure to adjust the cameras:

Rear and Side

Illustration 100 g06783181

(A) View of bolts area

1. Loosen the two 8T-4171 Bolts on each side of camera (A).

2. Tilt the camera up or down to the desired position.

 3. Tighten the two 8T-4171 Bolts on each side to lock the camera in position.

Illustration 101 g06783184

(B) View of bolts area

4. Loosen the two 8T-4970 Bolts below and to the side of camera (B).

5. Rotate the camera to the desired position.

6. Tighten the two 8T-4970 Bolts to lock the camera in position.

Front

Illustration 102 g06783185

(C) View of bolts area

1. Loosen the two 8T-4171 Bolts on top of camera (C).

2. Tilt the camera up or down to the desired position.

3. Tighten the two 8T-4171 Bolts on each side to lock the camera in position.
 Illustration 103 g06783190
(D) View of bolts area

4. Loosen the single 8T-4171 Bolt on the side of camera (D).

5. Rotate the camera to the desired position.

6. Tighten the 8T-4171 Bolt to lock the camera in position.

Illustration 104 g06783201

(E) View of bolts area

7. Loosen the single 8T-4171 Bolt on each side of camera (E).

8. Pitch the camera up and down to the desired position.

 9. Tighten the 8T-4171 Bolts to lock the camera in position.

10. Check the Vision System to confirm that the camera angle is sufficient.

This procedure concludes the Command Station validation for Excavators (HEX). Use the notes space
below to record vital information.

Command Station Validation for Medium Track Type Tractors

Table 8

Signature
Step Instruction Result
and Date
Electronic / Commanded Stops
Command Station Remote Shutdown
Switch
Power to the machine is disabled,
which causes the engine to stop.
The red mode indicator on the
machine flashes at two times per
second, the blue mode indicator on
On the right-hand side console of the
the machine is solid blue. The
6 command station push in the remote
remote control system is left
shutdown switch.
powered, electrical power to the
remote system onboard the machine
is still on. The remote control system
status will read "Remote Control
Shutdown".
Cab Manual Override Switch
This step must be performed with a The Green mode indicator on the
person in the cab of the machine to machine will turn on solid, the Blue
activate the manual override. Do not mode indicator on the machine will
approach the machine unless safe to do turn OFF. Manual control of the
so. Do not approach the machine unless machine should now be possible
the remote shutdown switch is pushed in from within the cab (cab key switch
at the command station. To ensure the enabled to power up and start the
safety of the operator, an operator must machine). The remote session at the
7
be seated in the cab, seatbelt on, and station will be terminated, and the
doors closed prior to placing the machine operator interface will return to the
in the remote control mode. Pull out the machine select screen. Remote
remote shutdown switch. Then repeat the control of the machine can only be
entire activation sequence to regain restored by cycling the remote/
remote control of the machine again but manual mode switch in the ground-
do not start the engine. Press the Manual level service center (to manual and
Override Switch in the machine cab back to remote control).
Implement Control
 Have the operator exit the cab and access
the ground level service center. Turn the
remote/manual switch to manual, then
The engine starts.
back to remote. The operator should
The blue mode indicator flashes in a
retreat to a safe distance before
heartbeat pattern.
proceeding. Repeat the entire activation
8 The implement lockout indicator on
sequence to regain remote control of the
the operator interface turns OFF, the
machine again and start the engine. On
implement lockout button will return
the right-hand console of the command
to the initial position.
station, press the implement lockout
switch. Select the Blade with the right
control.
Pull the right control backward to raise the
The blade raises and lowers as
9 Blade. Then push the right control forward
commanded by the right control.
to lower the blade.
Push the right control left. Then push the The blade tilts left and right as
10
right control right. commanded by the control.
The Implement indicator turns green
11 Select the Rear Implement Control.
for Ripper.
Pull the right control backward to raise the
The ripper raises and lowers as
12 Ripper. Then push the right control
commanded by the right control.
forward to lower the Ripper.
Pull the right control left to shank in. Then The ripper shanks in then out as
13
push out the shank. commanded by the control.
Blade Float
a) Press and hold the blade float trigger
on the right control, while pushing the right The blade lowers to the ground and
control all the way forward. Then release float is enabled. The implement float
14 the right control and blade float trigger. indicator turns green.
b) Pull the right control backwards from The blade float disengages and the
neutral to disengage the blade float indicator turns gray.
function.
Transmission Controls
Perform this step with the machine on
level ground with the engine running:
a) On the right-hand side console, Press
the Parking Brake switch to unlock the
parking brake. The parking brake indicator on the
b) With blade OFF the ground and Service operator interface turns OFF. The
Brake pressed, Put the direction control machine moves in the direction that
15
switch in the F position. Use the left is commanded by the Machine
control to steer the machine. control (Forward, Reverse, Left and
c) With blade OFF the ground and Service Right).
Brake pressed, put the direction control
switch in the R position to place the
machine in reverse. Use the left control to
steer the machine.
Throttle Control
Perform the following procedure:
a) Ensure that the machine is in remote
run mode and engine running. The throttle setting screen updates
b) Open the throttle settings screen on the with the selected option. The engine
16 operator interface. Select high throttle. throttle varies with the decel pedal.
c) Use the decel pedal to achieve the The throttle setting screen updates
desired throttle. Release the decel pedal. with the selected option.
d) Open the throttle settings screen on the
operator interface. Select low throttle.
Auxiliary Controls
Lights
Work lights will come ON, and the
On the operator interface main screen,
work lights button will turn green
17 click the work lights ON button. Click the
Work lights will turn OFF, and the
work lights button again OFF.
work lights button will turn gray.
Operator Interface Dash Cluster
With the engine running in remote control
mode: The value of each parameter
Confirm that the dash can display all corresponds to what is shown by the
status bar icons (consult the OMM for a machine. This parameter can either
full list of icons and how to activate the be estimated from the gauges or
18
icons). other indicators in the cab, or the
Check all gauges and readouts are value can be compared to what is
functional and reporting (refer to the OMM shown using ECM status information
for a full list). Open the parameters screen using Cat ET.
and check that all values are reporting.

Setting Up Cameras
Note: When setting up the cameras on any RC Machine, ensure to discuss the application with the
customer before proceeding.

When setting up cameras, ensure that the following primary objectives are met:

- Visibility

• View should be unobstructed.

• Part of the machine should be in the shot providing a reference for the operator.

• Avoid angling cameras toward the sky. On level ground, only a small part of the shot should include
the sky if necessary.

• Ensure the Pitch or Roll gauge does not blend in with the background of the shot.

- Placement
 • Cameras should be in a serviceable place where the cameras can be cleaned and maintained
properly.

• High priority targets should be visible in camera image.

Camera Angle and Adjustments

For Medium Track Type Tractors Non-Line of Sight (NLOS) operation, ensure the following key points:

Front Camera

- Navigation

• Determining heading and orientation

- Awareness

• Seeing objects or obstacles in front of the machine

• Pitch and roll indicator

- Blade Operation

• Blade reference "Zero" (hood and blade should be visible to help level blade)

Rear Camera

- Navigation

• Determining rear heading and orientation

- Awareness

• Seeing objects or obstacles in behind of the machine

- Rear Implement Operation

• Rear implement should be visible

Right/Left Camera (Sides)

- Blade Operation

• Blade height

• Blade orientation (tilt, angle, pitch)

• Spillage visible on sides and top of blade

 • Engine enclosure is in view (used for blade height reference)

• Relative height of blade and engine enclosure are level from across both images

• Blade is centered across both images when blade is grounded

- Ground Conditions

• Ensure two to three track shoes are visible to detect track slipping

Illustration 105 g06783202

Camera views
(1) Front camera
(2) Left camera
(3) Right camera
(4) Rear camera
Illustration 106 g06786502
Camera location
(1) Front camera

Illustration 107 g06786500

Camera locations - left
(2) Left camera

Illustration 108 g06786497

Camera locations - right
(3) Right camera

Illustration 109 g06787369

Camera location
(4) Rear camera
Refer to Illustration 105 through Illustration 109. Ensure the following camera targets:

• Pitch and roll indicator should be visible

• Blade and hood are visible

• Rear implement and fuel tank are visible

• Both sides of blade visible

• Blade cut angle and blade depth

• Track visible (track slipping)

This procedure concludes the Command Station validation for Medium Track Type Tractors. Use the
notes space below to record vital information

A-Stop Validation

Illustration 110 g06060993

A-Stop transmitter
(1) A-Stop button
(2) Stop LED indicator
(3) Reset indicator
(4) Clear button
(5) A-Stop reset button
(6) Test button
(7) Test/Power Indicator
(8) Alarm silence
(9) Low battery indicator
(10) Battery charge indicator
(11) Charging port

Table 9

Signature
Step Instruction Result
and Date
Electronic / Commanded Stops
A-Stop
Place the machine in RC Pending The machine responds back with horn,
6 with engine OFF. Press A-Stop with RC acknowledging the A-Stop test
Test Button on the transmitter. button was pressed.
Place the machine in RC Run with The Transmitter beeps, transmitting the
Engine OFF. On the A-Stop A-Stop. The machine responds by going
7
Transmitter, press the A-Stop to RC Stop. The A-Stop Event becomes
button on the transmitter. active through the station.
On the A-Stop transmitter, Press The Transmitter stopping beeping and
8
the A-Stop Reset Button. transmitting.
On the A-Stop transmitter, press The Transmitter beeps and transmits a
9
the A-Stop Clear Button. clear message for 3 seconds.
On the operator station, press the
10 The A-Stop event becomes inactive.
horn button.

Notes
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PIP-10887482
2024/11/04
15:19:07-03:00
i07831584
© 2024 Caterpillar Inc.