930E-3AT Shop Manual

Autonomous Haulage System for 930E-3
930E-3AT
Outline
Specifications .....................................................................................................01- 2
General view of Autonomous Truck ..................................................................01- 3
Controller configuration .....................................................................................01- 4
Drive control system ..........................................................................................01- 6
Safety control system ........................................................................................01- 8
930E-AT Component Layout ..............................................................................01-10
01-1
Outline Specifications
Specifications
Item Contents Standard
Model Truck model 930E-3
Dimensions Overall length (mm) 15,600
Overall width (mm) 8,690
Overall height (mm) 7,370
Wheel base (mm) 6,350
Front wheel (mm) 6,150
Tread
Rear wheel (mm) 5,300
Minimum ground clearance 940
Weight Operating weight (kg) 202,232
Hauling capacity (kg) 296,728
Gross vehicle weight (kg) 498,960
Dump
Struck (m3) 171
body
Heaped (m3) 211
capacity
Function Operation mode Automatic operation
Selectable
Manual operation
AHT operation function • Travel (Tracking)
Guiding trucks to target course automatically based on
GPS navigation
• Speed control
Control traveling speed based on speed profile from
Fleet control system
• Dumping
Automatic Dumping when receive Dump behave from
Fleet control system
• Safety
Obstacle Detection System check obstacle on path
Monitor truck Red and Yellow caution
Performance Maximum travel speed • Forward Max. 50km/h
• Reverse Max. 5 km/h
Tracking Accuracy (m) • Haul Road +/-1.9
(m) • Inside of Location +/-2.7
Stopping Accuracy (m) • Loading +/-1.5
(m) • Dumping +/-1.5 (Paddock Dump)
+/-1.5 (High Dump)
+/-1.0 (Hopper)
Site Requirement Climate • Weather Same as Manual
• Temperature -30 to 50 degC
• Altitude Same as Manual
Minimum road width • 2-way (Facing traffic) Min 31m
• 1-way (Single lane) Min 16m
Grandest • Haul Road Max. 10%
• Loading area Max. 10% (inside Location)
Max．2% (Stopping Point)
• Dumping area Max. 10% (inside Location)
Max．2% (Stopping Point)
Roughness • Haul Road Rank B or better
• Loading area Rank C or better
• Dumping area Rank C or better
01-2
Outline General view of Autonomous Truck
General view of Autonomous Truck
Operation controller
GPS antenna General view of autonomous dump truck module
Steering and
Brake control
module
Operation
mode lamp
Obstacle
Detection
Radar SSR antenna
Control module
・Fleet control by Central

・Manual interaction
・Collision Detection System
・Man- machine interface
・ Position measurement ・ Obstacle detection by radar

・ Travel control ・ Health monitoring
・ Control of auxiliary devices ・ Control of auxiliary devices
Drive control module Safety control module
01-3
Outline Controller configuration
Controller configuration
Standard truck system
CENSE G/E
I/F VHMS PLM3
Indicator Lamp
CAN
Autonomous system
SS Radio
M/L HUB CGC MBI
CANA
CANB
LH LH
RS232C Drive Safe
GSP Radar
RS232C GSP Radar

RS232C
REG GYRO LX GSP Radar
Motor GSP Radar
01-4
Outline Controller configuration
Explanation of terms
・Device of Standard Truck
1) Indicator Lamp ························ Truck Status Caution Lamp
2) GE ··········································· GE Controller
3) CENSE···································· Cummins Engine Controller
4) VHMS······································ Vital Health Monitoring System Controller
5) PLM3······································· Payload Meter Controller
6) I/F ············································ Interface Module Controller
・Devices for autonomous operation
1) M/L HUB·································· MasterLink Radio with built-in GPS
2) MBI·········································· CAN protocol translation controller for PLM3
3) GSP········································· CAN protocol translation controller for ODS
4) CGC ········································ Color Graphic Console, Controller with touch panel
5) Drive Controller ······················· Controller including Position measurement module and travel
control module
6) Safety controller ······················ Controller including safety control module
7) Radar ······································ Scanning millimeter wave radar
8) REG ········································ Road Edge Guidance System
9) LX············································ Mechanical radar steering mechanism controller
・Communication method
1) CAN-A ····································· Controller Area Network Type A
2) CAN-B ····································· Controller Area Network Type B
3) RS232C··································· Serial data communication
01-5
Outline Drive control system
Drive control system
Drive control
Position
GPS GPS in HUB
measurement
Dead
GYRO
reckoning
R. Pulse Sensor
F. Pulse Sensor
REG Laser range sensor
Travel Steering
S/T control valve
control Control
S/T potentiometer
Speed
GE controller
Control
Brake control valve
PLM3
Auxiliary device
Body position control
control
01-6
Outline Drive control system
・Position Measurement ···················· To measure position of each truck

1) GPS········································· Global Positioning System
(Measurement of absolute position)
2) Dead reckoning ······················· Relative position measurement system
3) GYRO······································ Heading angle sensor
4) R.Pulse Sensor ····················· Rear tire revolution sensor
5) F.Pulse Sensor ························ Front tire revolution sensor
6) REG ········································ Road Edge Guidance System
7) Laser range sensor ················· Laser sensor to measure the distance to bank
・Travel control ·································· Guidance for truck to target
1) Steering control ······················· Control to follow the target path
2) S/T control valve ····················· Controls steering system
3) S/T potentiometer···················· Steering angle sensor
4) Speed control ·························· Control to follow the target speed
5) Brake control valve ················· Control of front, rear, parking, and emergency brakes
・Auxiliary device control ··················· Body position control
01-7
Outline Safety control system
Safety control system
Safety control
Obstacle Detection GSP Scanning millimeter-wave

System radar
GSP Scanning millimeter-wave

radar

radar

radar
Mechanical Steering Motor Unit

Radar Control Unit
Truck Monitoring Caution lamp
Auxiliary devices
Operation mode lamps
control
Engine stop
Headlight
Horn
01-8
Outline Safety control system
・Obstacle Detection System ············ Detection of obstacle on target course in travel direction of truck
1) Scanning millimeter-wave Millimeter-wave radar which scans all area in front

radar of truck to detect obstacle
2) Steered radar ·························· Millimeter-wave radar mounted on mechanical steering unit.
3) GSP········································· Generic Signal Professor, CAN protocol translator
4) Motor unit ······························ Motor unit for steered radar
・Truck Monitoring ··························· Monitoring of condition of truck
1) Caution lamp ························· Sensing of caution for truck
2) MBI (GSP)······························· Generic Signal Professor, CAN protocol translator
・Auxiliary devices control ················· Control of functions of auxiliary devices
1) Operation mode lamps············ Lamps to indicate truck mode
2) Engine stop ····························· Function to stop engine remotely
3) Head Light······························· Function to turn on/off head light
4) Horn ········································ Function to drive horn
01-9
Outline 930E-AT Component Layout
930E-AT Component Layout
930E-AT on-board control system network schematic

CAN-bus(A)
MBI GPS
CAN-bus(B) (GSP5)
DRIVE SAFETY HUB CGC
(LH) (LH)
CAN
GE Flight
RS232C
System RS232C Recorder
IFM PLM3 VHMS
Standard Truck
REG RS232C
Controller
LX GSP1 GSP2 GSP3 GSP4
CAN
Radar(R) Radar(C) Radar(L) Radar(S)

ODS
01-10
Drive Control / Position Measurement Module Outline
Current
GPS (in HUB) CAN S/T Valve (R)
Current
PPS (ON/OFF) S/T Valve (L)
Volt(0-5V)
S/T angle sensor (R)
DC-DC 12V RS232 Volt(0-5V)
GYRO S/T angle sensor (L)
Converter
Volt(0-5V) S/T pressure sensor (R)
Pulse
Pulse Sensor (FR) Volt(0-5V) S/T pressure sensor (L)
Share with
GE system Pulse Sensor (FL) Pulse
S/T Control
Pulse Sensor (RR) Pulse
AHT
specific Pulse Sensor (RL) Pulse Drive GE Controller
Volt(0-5V)
Accel
Inclinometer (roll)
Volt (0-5v) Controller Volt(0-5V)
Retard
Volt (0-5v)
Inclinometer (pitch) ON/OFF Retard Active Signal
RS232 ON/OFF
Shift Forward Request
Laser Optic Fiber REG
Head Controller Volt (0-5v) ON/OFF
Shift Reverse Request
DC-DC 24V ON/OFF
Move Forward
Converter
ON/OFF Move Reverse
Position Measurement
Accel/Retard Control
Current
ON/OFF Front Brake Valve
Hoist Valve(Up)
Current Rear Brake Valve
Hoist Valve(Down) ON/OFF
Volt (0-5V)
Brake Pressure Sensor (FR)
ON/OFF
Hoist Signal Cut Volt (0-5V)
Brake Pressure Sensor (FL)
Volt (0-5V) Volt (0-5V)
Hoist Pressure Sensor
Brake Pressure Sensor (RR)
Volt (0-5V)
Brake Pressure Sensor (RL)
ON/OFF
Hoist Limit SW ON/OFF
ON/OFF Service Brake ON
Body up SW
Drive
ON/OFF
Hoist Control Brake Lock
ON/OFF
Controller Brake Lock Applied
ON/OFF
ON/OFF Parking Brake
A/M Key (Auto)
ON/OFF Parking Brake Pressure SW
A/M Key (Manual) ON/OFF
ON/OFF Auto Apply Brake

CAN CAN ON/OFF
PLM3 MBI(GSP5) Auto Apply Brake Monitor
Brake Control
01-11
Safety Control Module Outline
DC-DC 12V
Converter
12V ON/OFF
Head light
CAN CAN ON/OFF
Radar (Right) GSP1 Horn
CAN CAN
Radar (Center) GSP2
CAN CAN ON/OFF
Radar (Left) GSP3 Mode Lamp (Green)
CAN CAN ON/OFF
Radar (Steer) GSP4 Mode Lamp (Amber)
ON/OFF
Mode Lamp (Red)
Stepping
Motor
LX RS232 ON/OFF E/G Stop
Volt (5v) Controller
Angle sensor ON/OFF
Safety Radar Power Relay
Obstacle Detection System ON/OFF Turn Light (R)

Controller
ON/OFF Turn Light (L)
Caution Indicator ON/OFF

Auxiliary Control
ON/OFF
A/M Key (Auto)
ON/OFF
A/M Key (Manual)
Truck Caution
01-12
Components location
Hydraulic Cabinet AT-Cabinet
Operator Cabinet
Component name Location Component name Location

Master Link HUB Operator Cab REG power unit In AT-cabinet
CGC Operator Cab ODS power unit In AT-cabinet
Auto/Manual switch Operator Cab GSP 5(MBI) for PLM3 In AT-cabinet
Monitor LH Operator Cab Steering Valve In Hydraulic cabinet
Emergency switch Operator Cab Brake Valve In Hydraulic cabinet
GPS antenna Right corner of RH deck Hoist Valve In Hydraulic cabinet
M/L Radio antenna Both sides of truck deck Brake pressure sensors In Hydraulic cabinet
Mode Lamp Both corners of truck front Steering pressure sensors In Hydraulic cabinet
ODS sensors the front part of truck Hoist pressure sensor In Hydraulic cabinet
ODS Motor unit In the ODS steered unit Hoist Limit switch Above the rear axle
GSP (1-4) for ODS Left side of ODS unit Body up switch Frame rail near the front
body.
REG sensor head Left side of truck front Rear Mode Lamp Above the rear axle
LH Drive controller In AT-cabinet Rear speed sensors In the rear axle hausing
LH Safety controller In AT-cabinet Front speed sensors Both front wheel HUB
LX controller In AT-cabinet Steering Potentiometers Both ends of Tie Rod
Gyro sensor In AT-cabinet
Gyro power unit In AT-cabinet
REG controller In AT-cabinet
01-13
Modular 104867 GPS Antenna Komatsu 7821-29-2002
Modular 301582 M/L Radio
Komatsu 23S-P40-2111
Komatsu 7839-20-2100
Komatsu 7839-20-3100 Inclinometer 7862-92-6330
Modular 301435 M/L Hub
Fuse Box Komatsu 561-86-7S360 Power unit for PC
GPS Battery
Speed(F.L)
Sensor
PC1561 Brake (RF)
M/L Radio Pressure
Controller
7861-93-1610
SAFETY LX
Speed(RR)
Steering (R) Sensor
Sensor PC1561 Brake (RR)
7861-92-8101 Pressure
DRIVE 7861-93-1610
AT Cabinet
M/L HUB
MMW/R Steering(R.H.) Body
Hoist
Pressure UP SW
LIMIT SW
7861-993-1610
HOIST Komatsu 561-86-6M260
Indicator Pressure KES 08154-12400
Power Power KES 08154-22400
Lamp 7861-93-1610
Signal Power Monitor
GSP
Controller
ODS UNIT
REG Steering(L.H.)
Komatsu 7839-20-6110 ODS Steered unit
VHMS Steering EPC Valve

Komatsu 561-86-7W140 GSP for ODS
Controller Pressure
Komatsu 7839-20-6310 ODS Sensor
7861-93-1610 (Uchida:1DPS04T1P)
PLM3 7839-20-5110
GYRO Power Brake (LR)
Speed(LR) Pressure
Steering (L)
Sensor 7861-93-1610
Sensor
Ope CAB or AT Cabinet PC1561
7861-92-8101
Auto/Manual
Select SW
Laser
Head
Speed(F.L) Brake (F.L)

Sensor Pressure
M/L Radio PC1561 7861-93-1610
in Hydraulic Cabinet
Modular 300975 CGC Komatsu Monitor LH 7839-20-9100

Modular 105785 E. Stop sw
Komatsu 7839-20-4610 Power unit for Gyro
Komatsu Cable 7839-20-4130 Komatsu 561-86-7W140 GSP for PLM3
Komatsu Head 7839-20-4120 Komatsu 7839-20-6810 Power unit for ODS
Komatsu 7839-20-4210 Power Unit for REG
Komatsu 23S-P40-2111 Auto/Manual selector switch
Modular 301582 M/L Radio Komatsu 7839-20-4510 Gyro Sensor
Komatsu 7839-20-4110 REG controller
01-14
Structure and function
Selection of manual/auto operation mode........................................................................................10-2
Embedded module for supervisory system.......................................................................................10-4

HUB ..................................................................................................................................................10-5
CGC..................................................................................................................................................10-6
Drive control system .............................................................................................................................10-11

Position measurement system......................................................................................................10-14
GYRO (Measurement of yaw of truck) ...................................................................................10-16
Rear Pulse sensor (Measurement of rear tire revolution) ....................................................10-18
Front Pulse sensor (Measurement of front tire revolution)...................................................10-19
Pitch angle sensor.....................................................................................................................10-20
Roll angle sensor.......................................................................................................................10-21
REG(Road Edge Guidance System)......................................................................................10-22
Travel control system......................................................................................................................10-31
Steering control ..........................................................................................................................10-32
Steering control EPC valve.......................................................................................................10-37
Steering potentiometer sensors...............................................................................................10-39
Acceleration control...................................................................................................................10-40
Retard brake control..................................................................................................................10-41
F-N-R Selector Switch...............................................................................................................10-42
Brake control ..............................................................................................................................10-45
Front brake............................................................................................................................10-45
Rear brake ............................................................................................................................10-48
Parking brake........................................................................................................................10-52
Brake lock .............................................................................................................................10-55
Auto Apply brake..................................................................................................................10-58
Dump control system......................................................................................................................10-62
MBI for Payload Meter....................................................................................................................10-65
Safety control system ...........................................................................................................................10-81

Obstacle detection system.............................................................................................................10-84
ODS Diagram.............................................................................................................................10-89
Radar steering mechanism......................................................................................................10-91
Warning Indicator Monitoring.........................................................................................................10-95
Auxiliary device control ...................................................................................................................10-98
Operation mode lamp ...............................................................................................................10-100
Engine stop.................................................................................................................................10-103
Headlight.....................................................................................................................................10-104
Horn.............................................................................................................................................10-104
Auto Apply Brake.......................................................................................................................10-105
Turn Indicator light ...................................................................................................................10-105
Flight Recorder system ........................................................................................................................10-121
10-1
Structure and function Selection of auto/manual operation mode
Selection of auto/manual operation mode
Outline
The auto/manual operation mode of the truck is selected with the switch (Auto/Manual Key switch) installed
inside the cab. Only when Auto/Manual key switch is set to Manual position, the truck can be driven manually.
To switch the truck to Auto mode, Auto/Manual Key should be set to Auto position.
1. Configuration
Drive controller
TB53-K
AUTO MODE SELECTED CN4-09
MANUAL MODE SELECTED CN4-19
TB50-K
Safety controller TB53-M
AUTO MODE SELECTED CS4-09 72MAN 72AT

MANUAL MODE SELECTED CS4-19
GBA-1
2. Mode transition with A/M Key switch
<Manual Mode to Auto Mode>
1) Login to CGC menu screen
2) Action -> Enter AT
3) Set the truck at Release Point or (on AHS course) and change the selector to Neutral
4) Brake Lock ON & Park brake ON
3) Contact to Central Operator and make sure you can proceed to Auto mode. -> GoAuto
4) Change the A/M key switch to Auto position
5) Release Brake Lock and Park brake
6) Make sure still Brake lamp and Park Lamp are ON
If Brake lamp and Park Lamp are both ON, truck is in Auto Mode.
<To release the truck>
7) Get Pin number and write it down on your note.
8) Push OK button and make sure the timer start.
9) Get off the truck -> ride on the EMV
10) Release the truck (input AHT ID -> OK -> input Pin number -> OK)
11) Make sure amber mode lamp flashing.
10-2
Structure and function Selection of auto/manual operation mode
<Auto Mode to Manual Mode>

1) Suspend from EMV or Central
Make sure All lamp flashing, and truck is stopped.
2) Approach to truck and ride on.
3) Log-in -> Emergency inspection -> Action -> Enter AT
(If necessary to pass another truck, select Mode -> Passing.)
4) Brake lock Switch ON
5) Change A/M key to Manual position
Make sure Green lamp flashing. If Green Lamp flashing, truck is in Manual Mode.
The truck can be driven manually only when it is set to the manual operation mode.
The truck can be changed to the manual operation mode with brake ON.
10-3
Structure and Function Embedded module for Supervisory system
Embedded module for Supervisory System
GPS antenna Master Link antenna
・ Master Link wireless communication module

・ GPS measurement module
・ Security module
HUB
CAN (Controller Area Network)
CGC
・ Man-machine interface module

・ Trajectory data generation module
・ Course data distribution module
・ Speedprofile module
Outline
The embedded module for supervisory system consists of HUB and CGC. HUB controls GPS measurement and
Master Link communication between truck and Central. CGC generates and distributes trajectory data and speed
profile. And also CGC provides man-machine interface. Each controller is connected by the CAN network for
communication.
GPS antenna
HUB & CGC

in operator Cab
Master Link
antenna
10-4
HUB
HUB Master Link communication module
・Wireless communication with Central

Receiving and distribution of control commands
Receiving of GPS correction information
GPS receiving and calculation module
・Calculation of truck position on basis of GPS satellite signals
Security module
・Trajectory Verifier System

・Control of Emergency stop switch box
C) D)
B) E)
A)
F)
G)
A) POWER HUB Power input port
B) DIGITAL I/O to Emergency switch
C) PPS PPS signal to LH controller L) H)
K) J)
D) ETHERNET ETHERNET port
E) CAN-A CAN communication port
F) GPS ANTENNA GPS antenna cable adapter
G) SLIP Serial port
H) CAN-A CAN communication port
J) RESERVED Reserved
K) RADIO A Radio A antenna cable adapter
L) RADIO B Radio B antenna cable adapter
10-5
CGC
CGC
Man-machine interface module
・ Touch panel for truck operation
Trajectory generation module
・ Generates trajectory data from course data and command from

Central
・ Send trajectory to Drive controller and Safety controller
Course data distribution module
・ Course data recording

・ Exchange course data with Central
Speed profile module
・ Control the truck speed according to traffic rules and truck conditions.
Outline
CGC is a touch panel display as a man-machine interface and an embedded controller for supervisory
system. CGC calculates Trajectory data and Speed profile and distributes them to Drive controller and
Safety controller during autonomous running. CGC controls truck operation by trajectory and speed profile
according to instruction from fleet control system of Central.
(A
(B
Outside view of CGC

(A) : CAN network A
(B) : Serial port
10-6
Hardware diagram
10-7
CAN (Controller Area Network) Schematic
10-8
10-9
10-10
Structure and function Drive control system
Drive control system
Position Measurement module

Drive controller Measure the truck position and heading using GPS, Gyro, and tire pulse
sensors.
Travel control module
Control steering, accelerator and brake
Dump control module
Control dump body
Outline
Drive controller is a main controller for autonomous traveling. It includes Position measurement module, travel
control module and Dump control module.
Outside view of Drive controller
LED
SW2 SW1
Rotary switch
CN5 CN4 CN6 CN8 CN7
CN1 CN2 CN9 CN3
10-11
Drive controller LED Display
Drive controller records the error history. When Drive controller starts, LED displays the software version then error
history. During operation, LED displays the truck operation mode and if some error happens, error code is shown on
the LED
Unit:(sec) 3 0.2 1.5 0.2 0.8 0.2 0.8 0.2 0.8 0.2 0.8
Starting
switch
OFF->ON
LED self check Software version display mode

All light up Version: (78)3920R211
0.2 3 0.5 1.5 1.5 0.5 1.5 1.5 0.5
Part number display Error history display mode

completion
Error code: 4205, 4502
1 1 1 1
a) when all system are normal
Repeat operation mode display

20:Manual 10: Stop A0: Auto E0 : Emergency
1 1 1 0.5
b) when some error has occurred
Repeat Error code display
10-12
Rotary switch setting
Fire Suppression System and REG functionality can be changed by rotary switch as following table.
If rotary switches have wrong setting, functions don’t work correctly.
<Rotary switch setting for Drive Controller>

Drive controller SW1 setting
SW1 REG REG Hopper comment

number system function
0 OFF OFF REG system does not work.
8 ON OFF REG system works on Haulroad.
C ON ON REG system works on Haulroad and also at
Crusher if the suitable guidance wall is installed at
left side of Hopper entrance course.
(See 2.6 REG distance setting for Crusher)

SW2 Fire Suppression System comments
number
0 OFF Fire Suppression System is not installed.
1 ON Fire Suppression System is installed.
10-13
Structure and function Position measurement system
Position measurement system
Drive controller HUB

CAN - Position information from GPS
ON / OFF - PPS signal : GPS input timing information
Position GYRO
measurement
module RS232C - Measurement of yaw angle of truck
R. Pulse Sensors
Pulse input
- Measurement of rear tire revolution (Both tires)
F. Pulse Sensors
Pulse input - Measurement of front tire revolution (Both tires)
Pitch angle sensor

Analog input - Measurement of Pitch angle
Roll angle sensor

Analog input
- Measurement of roll angle
RS232C Road Edge Guidance
Analog input - Measurement of Distance from ADT to wall by laser
Outline
Position measurement system (PMS) is the important element in Drive controller which manages
Autonomous Haulage Truck (AHT) operation and guidance and is to measure the current position (X, Y, Z,
and θ) of AHT. PMS is mainly consists of GPS absolute positioning (GPS system) and Dead reckoning
relative positioning (Dead reckoning system).
Function
GPS system is built in HUB, and although GPS positioning by RTK is carried out using the satellites electric
wave received with the GPS antenna, and the correction information which received via Master Link from the
GPS central system, the vehicle GPS antenna position information acquired as a result is inputted into the
10-14
Structure and function Position measurement system
Drive controller via CAN. By the inclination sensor attached in Pitch and Roll direction of the body, GPS
antenna position is compensated and finally the position of vehicle is calculated from compensated GPS
antenna position, GPS antenna height, and dimensions of it’s installation.
The exact measurement timing (PPS signal) of the GPS positioning information calculated on the GPS board
in HUB is transmitted to the Drive controller via an I/O port, and sensor fusion to Dead reckoning positioning
is carried out to measure the AHT position with more sufficient accuracy.
Dead reckoning positioning guesses the position of AHT relatively from the heading angle of the vehicles
measured by Gyro and the speed of a wheel. The speed of vehicles is measured by the Pulse sensor
attached in four wheels. It is rectified by the position information acquired from GPS, cancels the accumulate
error, and is measuring the position of truck with sufficient accuracy while it has achieved the position
measurement continuation function while there is no input of GPS.
The Road Edge Guidance (REG) system is supervising whether the vehicles guided based on the position
measurement result by the sensor fusion of GPS positioning and Dead reckoning positioning are running the
right position. Moreover, when a time zone with few GPS satellites and GPS measurement are impossible,
while a REG system maintains the distance from a bank, vehicles are guided safely.
10-15
Structure and function Gyro
Gyro (Measurement of truck yaw angle)
Since GYRO is a precision device, do not give an impact, etc. to it.
- Gyro unit - Arrangement of Gyro connector pins
Pin No. Signal name Remarks

3 1 1 TXD Serial
2 GND input &
3 RXD output
4 Vdd
Power
6 4 5 GND input
6 NC
Gyro
- Circuit diagram
10-16
Structure and function Gyro
- Gyro power converter unit - Arrangement of Gyro connector pins
１ 2 Pin No. Signal name
D24V
1
Male in
2 GND
2 1
D12V
1
Female out
2 GND
Input : 24VDC (18-30VDC)

Output : 12VDC
Gyro power converter unit
10-17
Structure and function Rear Pulse Sensor
Rear Pulse Sensor (Measurement of rear tire revolution)
- Installation of Rear Pulse sensor
Rear Pulse sensor
Standard Gap=0.06 [inch] = 1.5 [mm]

- Pulse Sensor
- Circuit diagram
10-18
Structure and function Front Pulse sensor
Front Pulse sensor (Measurement of front tire revolution)
- Installation of Front pulse sensor
Front Pulse sensor
Standard Gap=0.06 [inch] = 1.5 [mm]
- Pulse sensor
10-19
Structure and function Front Pulse sensor
Circuit diagram
10-20
Structure and function Slope angle sensor
Pitch angle sensor
- Installation of pitch angle sensor

Pitch angle sensor
3.63
3
2.6±0.2V
Output（Ｖ）
2.6
2
1.57
θ
Uｐ-grade is plus(+) grade -10 0 10
Down Pitch angle of truck (θ) Up
- Circuit diagram Grade Grade
ANGLE (PITCH)
0RT TB53-G 0RT
SIG GND CN8-08
36FP TB52-X 36FP 1 GND
PITCH SIGNAL CN7-01 2 SIG
36FI TB52-T 36FI
DC 12V POWER CN8-10 3 DC 12V
ANGLE (ROLL)
0RT
TB52-W 1 GND
ROLL SIGNAL CN7-11 36FR 36FR 2 SIG
36FI 3 DC 12V
10-21
Structure and function Slope angle sensor
Roll angle sensor
- Installation of roll angle sensor
Roll angle sensor
3.63
3
2.6±0.2V
2.6
2
1.57
1
θ
Roll to left is plus (+) roll. -10 0 10

Right Roll angle of truck (θ) Left
- Circuit diagram
ANGLE (PITCH)
0RT TB53-G 0RT
SIG GND CN8-08
36FI TB52-T 36FI
ANGLE (ROLL)
0RT
TB52-W 1 GND
36FI 3 DC 12V
10-22
Structure and Function REG sensor
REG (Road Edge Guidance system)
- Function
REG system has two functions.
One is a function which supervises whether the run position of Truck guided from the positioning result by
the sensor fusion of GPS positioning and Deadreckoning positioning has deviated from the course by
measuring the distance from berm directly. Another is a function which complements deadreckoning of AHT,
and is guided and stopped as safely as possible, when the time of fault occurring to a GPS system and the
number of GPS satellites decrease.
- Installation of REG sensor
REG sensor Head

Optical Fiber cable
REG controller
Minimum bend Radius > 200 mm
Optical Fiber cable
- Circuit Diagram- Sensor Controller
10-23
- Sensor Controller - Sensor Head
- DC-DC converter ( 24v – 24v) - Arrangement of Gyro connector pins
１ 2 Pin No. Signal name
D24V
1
Male in
2 GND
2 1
D24V
1
Female out
2 GND
Input : 24VDC (18-30VDC)

REG power unit
Output : 24VDC
10-24
< Safety information of REG system >
・ Opening the REG controller is unacceptable due to the danger presented by the high voltages,
and must therefore be avoided at all costs.
・ Never look into the open Glass-fiber output coupler of the REG controller.
・ Never point the open Glass-fiber output coupler at people’s eyes.
・ Never open the instrument’s housing or put the REG controller in operation without the
glass-fiber cables being installed correctly and connected to optical head.
・ Never look into the glass fiber ends, when connected to the REG controller, neither with
unaided eyes nor with as optical instrument.
・ Don’t operate evidently damaged instruments.
・ Direct sunlight or similarly intensely radiating source of light in axial direction of the lenses
must be avoided.
・ Never apply mechanical force or shock to the lenses or the housing itself.
Notice
We recommend that the instrument not be directly pointed at people’s eyes, especially if they are
using binoculars. Aligning the infrared laser sensor with the lenses of CCD-cameras or infrared night
vision devices can result in damage to them and is therefore not permitted.
10-25
Blank page
(Page 26 –30)
Structure and function Travel control system
Travel control system
Drive Steering control

controller
・ To control front wheels with supplying hydraulic oil to
Steering control
steering cylinder.
Travel control
module
Steering potentiometer
・ To sense steering angle.
Speed control
GE drive control
・ To order F-N-R position to GE controller

・ To order propulsion to GE controller.
・ To order retard force to GE controller
Brake control
・ To control front and rear hydraulic brakes

・ To control Parking, Brake lock and Auto Apply brake.
MBI
・ To forward PLM data to CAN-A, which is AHT

communication line.
Outline
Travel control module is a system to guide a truck to target. It consists of the steering control module
which controls steering to follow the travel course and the speed control module which controls truck speed
with F-N-R select signal, acceleration signal, retard brake signal and hydraulic brakes.
1. This system controls the steering control valve to steer the front wheels to travel the truck on the course.
The steering angle is sensed with two potentiometers which are installed on the steering mount
brackets and rods. The steering angle signal is sent to the controller.
2. This system gives signal to GE system to control F-N-R selector position, acceleration and retard brake
to follow ordered speed.
10-31
Structure and function Steering control
Steering control
Outline
During autonomous traveling, the steering is controlled by the steering proportional valve which supplies
hydraulic oil to the steering cylinders via flow amplifier valve.
The potentiometer sensors installed on the steering mount brackets and rods to measure the steering
angle.
1. The truck is steered by supplying hydraulic oil to steering cylinders through the proportional valve. The
valve is controlled by the command of Drive controller.
2. The steering angle is sensed by the potentiometer sensors installed on the steering mount brackets and
rods.
1) Hydraulic circuit diagram
10-32
2) Electric circuit diagram
10-33
Principle of operation
1) In neutral (When drive controller doesn’t send any command)
1-1） When Drive controller doesn’t send any command (at neutral position), the spring of the
proportional valve solenoid keeps the valve at neutral.
1-2） In neutral, hydraulic oil is not supplied to the steering cylinders and the steering wheel is kept same
position.
When the truck is in manual operation mode, the solenoid wirings on S/T control valve are opened.
Then operator can steer wheels without any interference of the automatic steering system.
10-34
When Drive controller commands to steer to the left
2-1） When Drive controller outputs signal to steer to the left, ports P and B of the proportional valve are
connected to each other, and the hydraulic oil is supplied to the steering cylinders.
2-2） Ports A and T are connected to each other to keep same pressure with the hydraulic tank.
10-35
When Drive controller commands to steer to the right
3-1） When Drive controller outputs signal to steer to the right, ports P and A of the proportional valve are
connected to each other, and the hydraulic oil is supplied to the steering cylinders.
3-2） Ports B and T are connected to each other to keep same pressure with the hydraulic tank.
10-36
Structure and function Steering control EPC valve
Steering control EPC valve
The steering control valve is installed in the AT control cabinet.
Steering EPC valve
Drawing of valve
A: Right
T
Characteristics
45
40
35
30
Area [mm2]
25
AB-T
20
15
10
5 P-AB
0
-2 -1 0 1 2 3 4 5 6 7
P Stroke length [mm]
B: Left
10-37
Structure and function Steering potentiometer sensors
Steering potentiometer sensors
The steering potentiometer sensors are installed on the s/t mount bracket and rod to sense the steering
angle.
Potentiometer sensor
・Drawing of sensor
10-38
Structure and function Steering potentiometer sensors
・Circuit diagram
Steering Potentiometer Characteristics
10-39
Structure and function Acceleration control
Acceleration control
Outline
Drive controller outputs acceleration signal to control propulsion as the truck travels at the target speed on
the travel course.
In manual operation mode
1. In manual operation mode, the signal from the accelerator pedal is input GE controller directly to control
propulsion.
In autonomous operation mode
2. In autonomous operation mode, the signal from the accelerator pedal is cut out with the electric
relay(RB9-K3) and propulsion is controlled with the signal output from Drive controller.
10-40
Structure and function Retard brake control
Retard brake control
Outline
Drive controller outputs retard brake signal to control the GE retard brake as the truck travels at the target
speed on the travel course.
In manual operation mode
1. In manual operation mode, the signal from the brake pedal is input GE controller directly to control the
GE retard brake.
In autonomous operation mode
2. In autonomous operation mode, the signal from the brake pedal is cut out with the electric
relay(RB5-K4) and the GE retard brake is controlled with the signal output from Drive controller.
10-41
Structure and function F-N-R select control
F-N-R Selector
Outline
F-N-R selector is controlled by F-N-R selector switch on a console in manual mode and by
Drive-Controller in auto mode.
10-42
2) Principle of operation
1. In manual operation mode, F-N-R position is controlled by the F-N-R selector switch in cab.
2. In autonomous operation mode, F-N-R selector switch is cut out with the electric relays(RB9-K1,
RB9-K7) and F-N-R position is controlled by Drive controller.
Forward position
10-43
Reverse position
10-44
Structure and function Brake control Front brake
Brake control
Outline
In the manual operation mode, hydraulic oil is supplied to front and rear dual relay valve as treadle valve is
pressed. Then, hydraulic oil is supplied to front and rear brakes and they are applied
In the autonomous operation mode, the autonomous brake valves control hydraulic oil pressure and
supply to front and rear dual relay valves by the signal from Drive controller. Then, hydraulic oil is supplied to
front and rear brakes and they are applied
1. Front brake
1) In manual operation mode. ( applied brake ).
1-1) When treadle valve is pushed, pilot oil pressure of treadle valve is applied from distribution
manifold.
1-2) Hydraulic oil pressure is supplied to pilot of front dual relay valve via treadle valve from
distribution manifold.
1-3) Hydraulic oil pressure is supplied to front brakes via front dual relay valve from distribution
manifold and brake accumulator.
Treadle Valve
Front Brake
Distribution Manifold
Front Dual Relay Valve
Autonomous Brake Valve
10-45
2) In autonomous operation mode. ( applied brake ).
2-1) LH-drive controller give control signal to autonomous brake valve.
2-2) Hydraulic oil pressure is supplied to pilot of front dual relay valve via autonomous brake valve
from distribution manifold
2-3) Hydraulic oil pressure is supplied to front brakes via front dual relay valve from distribution
Treadle Valve
Front Brake
3) electric circuit diagram
10-46
10-47
Structure and function Brake control Rear brake
2. Rear brake
1) In manual operation mode. ( applied brake ).
1-1) When treadle valve is pushed, pilot oil pressure of treadle valve is applied from distribution
manifold.
1-2) Hydraulic oil pressure is supplied to pilot of rear dual relay valve via treadle valve from
distribution manifold.
1-3) Hydraulic oil pressure is supplied to rear brakes via rear dual relay valve from distribution
Treadle Valve
Rear Brake
Distribution
Manifold
Rear Dual Relay Valve
Brake Lock
10-48
2) In autonomous operation mode. ( applied brake ).
2-1) LH-drive controller give control signal to autonomous brake valve.
2-2) Hydraulic oil pressure is supplied to pilot of rear dual relay valve via autonomous brake valve
from distribution manifold
2-3) Hydraulic oil pressure is supplied to rear brakes via rear dual relay valve from distribution
Treadle Valve
Rear Brake
Distribution
Manifold
Brake Lock
10-49
10-50
4) Brake valves
Brake valves control hydraulic pressure for the front and rear brakes
Installation drawing of AT brake manifold
AT Brake Manifold
Drawing and characteristics of brake valve
200
180
160
Pressure [kgf/cm2]
140
120
100
80
60
40
20
0
0 100 200 300 400
Current [mA]
10-51
Structure and function Brake control Parking brake
3. Parking brake
1) When Auto/Manual select switch is manual position, Parking Brake is controlled by parking switch in
cab. When Auto/Manual select witch is autonomous position, Parking Brake can be controlled by drive
controller and parking switch in cab.
2) In the autonomous operation mode, drive controller energized circuit relay (RB10-K4) to give signal to
GE ICP. Then, GE turns off parking brake valve to active the parking brake.
3) In the autonomous operation mode, drive controller cut off circuit relay (RB10-K4). Then, GE turns on
parking brake valve to release the parking brake.
4-1) When brake is applied in autonomous operation

Park Brake
Park brake valve is not energized.
From Steering
Accumulator
10-52
4-2) When brake is released in autonomous operation

Park brake valve is energized.
Park Brake
From Steering
Accumu lator
10-53
10-54
Structure and function Brake control Brake Lock
4. Brake Lock
1) In autonomous operation mode, drive controller can active the brake lock valve to turn on the
relay(RB10-K3).
2) When brake lock solenoid is turned on, hydraulic oil pressure comes to rear dual relay valve from
distribution manifold via AT brake manifold. Then, rear brake is activated.
3) Drive controller monitors position of the brake lock switch on dashboard when AHT is in autonomous
mode.
4-1) When brake lock is applied in autonomous operation.
Turn on solenoid
10-55
Treadle Valve Front Brake

Distribution
Manifold
AT Brake Manifold
Rear Brake
Brake Lock Valve
10-56
6) Hydraulic diagram

AT Brake Manifold
Rear Brake
Brake Lock Valve
10-57
Structure and function Brake control Auto Apply brake
4. Auto Apply brake

1) In manual operation mode, Auto/Manual select switch at manual position turns off the Auto Apply
brake solenoid valve to release the brake.
2) In autonomous operation mode, Drive and Safety controller can control the Auto Apply brake.
3) Drive controller turn on the solenoid valve to apply auto apply brake by cutting output signal from
controller.
4) Safety controller turn on the solenoid valve to apply auto apply brake by cutting output signal from
controller.
5) When the solenoid is turned on, the Auto Apply brake valve is operated. Then, front and rear brakes
are fully applied.
10-58
6-1) When brake is released
Turn off solenoid

AutoApplyPilotValve
AT Brake Manifold
Rear Brake
10-59
6-2) When brake is applied
Turn on solenoid

AutoApplyPilotValve
AT Brake Manifold
Rear Brake
10-60
10-61
Structure and function Dump control system
Dump control system
Drive controller
Dump control unit
・Controls hoist control valve.

Dump control module ・Hoist control valve is controlled by Drive controller
or body control switch in cab, these are selected by
Auto/Manual select switch.
Body position sensor switch
・Senses position of body or position
Outline
The dump control module is a system to control the body of the AHT.
It performs the following operations.
1. In manual operation mode, the body is controlled by the dump control switches.
2. Drive controller output signal to the solenoid to control the hoist valve in the AT hydraulic cabinet.
3. In autonomous operation mode, drive controller sets the valve to the "Float" position when the body is in
the normal position, down position.
4. In autonomous operation mode, drive controller sets the valve position from the "Raise" position to the
"Hold" position when the body is at the raising end.
5. In manual operation mode, the hoist control valve is controlled by switch in cab.
Hoist control valve
10-62
Functions
1. When Auto/Manual select switch is auto position, drive controller outputs signal to the solenoid valve to
control the body position.
2. When Auto/Manual select switch is manual position, body control switch in the cab outputs signal to the
solenoid valve to control the body position
Electric circuit diagram
10-63
Principle of Operation
1) Raise
When Auto/Manual select switch is auto position, drive controller output signal to hoist control valve sol A
to raise the body. Then, hoist control valve supply oil to hoist cylinder. As a result, the body is going to be
raised.
When the raising limit sensor installed to the rear of the truck body senses rise end of the body, the hoist
control valve is set to the holding position automatically. And drive controller cut the signal to sol A to set
the hoist control valve hold position.
2) Hold
Drive controller set the body to hold position when AHT detects some kind of exception while moving
body.
3) Lower/Float
When Auto/Manual select switch is auto position, drive controller output signal to hoist control valve sol B
to down the body. When drive controller cut the signal of sol B, the hoist control valve change to float
position.
When the body is set in the normal position, down position, drive controller set the hoist control valve float
position.
10-64
Structure and Function MBI for Payload Meter data translation
MBI for PayloadMeter data translation
Outline
MBI is a controller to forward Payload value from PLM3 on the CAN-bus of standard truck to the CAN-bus of
autonomous system.
MBI
A) CAN-A CAN-A port from HUB

B) CAN-A CAN-A port to LH controller
C) CAN-B CAN-B port from PLM3
D) CAN-B CAN-B port to IM and VHMS
12-10SX 14-19S 12-10SY

CAN-A SERVICE SERIAL & GSP PORT CAN-B
GND A GND A GND A

GND B SERVICE TXD B GND B
GND C SERVICE RXD C GND C
CAN-A PWR D GND D CAN-B PWR D
CAN-A PWR E TXB RS485 E CAN-B PWR E
CAN-A PWR F TXA RS485 F CAN-B PWR F
CAN-A H G RXB RS485 G CAN-B H G
CAN-A L H RXA RS485 A CAN-B H H
DAN-A SHLD J GND J DAN-B SHLD J
N/C K TXD RS232 K N/C K
RTS RS232 L
RXD RS232 M
12-10PX CTS RS232 N 12-10PY
CAN-A IPPS P CAN-B
N/C R
GND A N/C S GND A
CAN-A CAN-B GND B N/C T GND B
GND C N/C U GND C
CAN-A PWR D GND V CAN-B PWR D
Service Serial CAN-A PWR E CAN-B PWR E
& CAN-A PWR F CAN-B PWR F
CAN-A H G CAN-B H G
GSP Port CAN-A L H CAN-B H H
DAN-A SHLD J DAN-B SHLD J
N/C K N/C K
10-65
Structure and Function MBI for Payload Meter data translation
10-66
Blank page
(Page 67 –80)
Structure and function Safety control system
Safety control system
Obstacle Detection System

Safety controller Forward looking radar system during autonomous traveling
Warning Indicator Monitor
Checking truck status by warning indicator
Auxiliary Device Control
Headlight, Horn, Engine Stop relay, Auto Apply brake control
Outline
Safety controller has three main functions; Obstacle Detection System by forward looking radars to avoid collision
with other objects on the traveling path, Warning indicator monitor to stop truck before fatal error occurs by checking
warning indicator, Auxiliary Device Control includes headlight, horn, auto apply brake and engine stop relay.
Outside view of Safety controller
LED
SW2 SW1
Rotary switch
CS5 CS4 CS6 CS8 CS7
CS1 CS2 CS9 CS3
10-81
Structure and function Safety controller LED Display
Safety controller LED Display
When Safety controller starts up, LED displays the software version first, then displays error history. During
operation, LED displays the truck operation mode. If error happens, error code is shown on the LED.
Unit:(sec) 3 0.2 1.5 0.2 0.8 0.2 0.8 0.2 0.8 0.2 0.8
Starting
switch
OFF->ON
LED self check Software version display mode

All light up Version: (78)3920R310
0.8 0.8 0.2 0.8 0.2 0.8 0.2 3 0.5
Controller name display mode

LH: Safety controller
0.2 3 0.5 1.5 1.5 0.5 1.5 1.5 0.5
Part number display Error history display mode

completion
Error code: 4d00, 4d30
1 1 1 1
a) when all system are normal
Repeat operation mode display

20:Manual 10: Stop A0: Auto E0 : Emergency
1 1 1 0.5
b) when some error has occurred
Repeat Error code display
10-82
Structure and function Rotary switch setting
Rotary switch setting
Safety controller can disable functions for testing purpose. When SW1 is 8, safety controller doesn’t detect any
error whatever happens. In normal operation, SW1 must be 0.
For safety reason, SW1 must be set to 0 in autonomous operation.
Switch value notes

SW1 0 Normal operation mode
8 Test mode(Safety Functionality Disable)
SW2 0 nonuse
10-83
Structure and function Obstacle detection system
Obstacle detection system
Safety controller Fix-mounted radar units
・ Scanning millimeter wave radar to detect obstacles

Obstacle Detection
System
Mechanical steered radar unit
(ODS)
・ Scanning millimeter wave radar to detect obstacles
・ Revolving unit for steer radar direction
LX Controller
・ Control a stepping motor in revolving unit

・ Measure motor angle
GSP (Generic Signal Processor)
・ Protocol converter between Safety Controller and

Millimeter wave radar
Outline
Obstacle detection system (ODS) consists of four radar units and controllers(GSP). One of radars which is
mounted on the revolving unit is called steered radar. Other three radars are mounted under the revolving
unit. All radar units are installed to the front part of the truck and GSPs are in the controller box beside the
radar units. Each radar unit uses scanning millimeter wave radar. Safety controller picks up obstacles only in
the target clipping area which is determined by trajectory data and truck position. When obstacles are
detected, Safety controller outputs stop or slow down order to Drive controller to avoid collision.
1) Fix-mounted radar units

The radar is fixed on the front part of truck. It emits fast scanned millimeter wave beam and receive
signals from obstacles in the target path.
2) Mechanical steered radar unit

Same scanning radar is mounted on the mechanical revolving unit that rotates to follow the target
path.
3) LX Controller
LX controller turns the motor of revolving unit according to reference angle from Safety controller and
measures motor angle by potentiometer
4) GSP
GSP is an interface module between Millimeter wave radar and Safety controller.
10-84
Structure and function Obstacle detection system
1) General Layout
Steered radar
Radar4
(Steer)
Fixed radar
Radar1 Radar3
Radar2
(Right) (Left)
(Center)
GSP4
GSP3
GSP2
GSP1
GSP Array
2) System Configuration
Power Safety Controller

Unit
CAN-B
GSP-1 GSP-2 GSP-3 GSP-4
CAN-A
Radar-1 Radar-2 Radar-3 Radar-4

(Right) (Center) (Left) (Steer)
Fix-mounted Radar Steered Radar
10-85
Structure and function Scanning millimeter waver radar unit
3) Scanning millimeter wave radar unit
BATT J1-1
GND J1-2
N/C J1-3
CAN_L J1-4
CAN_L J1-5
N/C J1-6
IGN J1-7
N/C J1-8
N/C J1-9
CAN_H J1-10
CAN_H J1-11
N/C J1-12
Connector Pin assignment
10-86
4) GSP
12-10SX 14-19S 12-10SY
CAN-A SERVICE SERIAL & GSP PORT CAN-B
GND A GND A GND A

GND B SERVICE TXD B GND B
GND C SERVICE RXD C GND C
CAN-A PWR D GND D CAN-B PWR D
CAN-A PWR E TXB RS485 E CAN-B PWR E
CAN-A PWR F TXA RS485 F CAN-B PWR F
CAN-A H G RXB RS485 G CAN-B H G
CAN-A L H RXA RS485 A CAN-B H H
DAN-A SHLD J GND J DAN-B SHLD J
N/C K TXD RS232 K N/C K
RTS RS232 L
RXD RS232 M
12-10PX CTS RS232 N 12-10PY
CAN-A CAN-B CAN-A IPPS P CAN-B
N/C R
GND A N/C S GND A
Service Serial GND B N/C T GND B
GND C N/C U GND C
& CAN-A PWR D GND V CAN-B PWR D
GSP Port CAN-A PWR E CAN-B PWR E
CAN-A PWR F CAN-B PWR F
CAN-A H G CAN-B H G
CAN-A L H CAN-B H H
DAN-A SHLD J DAN-B SHLD J
N/C K N/C K
10-87
5) Power supply unit
24V-12V DC-DC converter for radar and GSP power is mounted in AT cabinet. Power supply unit
can be turned on/off by Safety Controller.
DC-DC converter specification

item spec
Input voltage 18 .. 32V
Output voltage 12V +/- 5%
Max current 6A
OUT IN
24V 1 ODS 1 24V
POWER
GND 2 CONVERTER 2 GND
10-88
6) Diagram
10-89
10-90
Structure and function Radar steering mechanism
Radar steering mechanism
Safety controller
Radar steering mechanism control module
・ Radar steering system to follow the travel course
LX Controller
・ Control motor in mechanical revolving unit
Mechanical Revolving Unit
・ Motor unit to turn radar direction
Outline
LX controller turns the stepping motor of revolving unit according to reference angle from Safety controller.
Safety Controller and LX Controller communicate each other by RS232C. LX controller measure motor angle
by potentiometer of revolving unit and correct angle when stepping motor jumped out.
1) Configuration
Safety
Controller
RS232C Motor Unit
control signal
(LX) Motor Stepping Motor
Controller
angle feedback Potentiometer
(angle sensor)
10-91
2) Arrangement of devices
Motor unit
Motor controller
(LX controller)
3) Radar steering control circuit
LX CONTROLLER CN513 MG1B

59R1 TB54-L 59R1
MOTOR A(+) CN2-02 1 1 MOTOR A(+)
59R2 TB54-M 59R2
MOTOR A(-) CN2-03 2 2 MOTOR A(-)
59R3 TB54-N 59R3
MOTOR B(+) CN2-04 3 3 MOTOR B(+)
59R4 TB54-P 59R4
MOTOR B(-) CN2-05 4 4 MOTOR B(-)
RADAR STEPPING
MOTOR
CN513 MP1B
59R5 TB54-R 59R5
POWER(+5V) CN3A-07 5 1 5V DC
59R6 TB54-S 59R6
MOTOR POT CN3A-13 6 2 SIGNAL
59R7 TB54-T 59R7
GND CN3A-16 7 3 GND
Potentiometer
Angle Sensor
SAFETY CONTROLLER LX CONTROLLER

TB55-T 90SFT
W
RS232C TX1 CS6-03 CN4-04 RS232C RX
TB55-V 90SFR
R
RS232C RX1 CS6-04 CN4-03 RS232C TX
TB55-S
B 90SFG
RS232C GND CS6-10 CN4-10 RS232C GND
SHLD
10-92
4) Motor Controller (LX Controller)
CN3B CN3A CN4 CN5
CN1 CN2
10-93
5) Radar steering mechanism
Potentiometer Motor
CN3B CN3A CN4
• Appearance of motor
・ Circuit
Ａ Black
Ａ Green
Red Yellow
ＢＢ
Potentiometer
output voltage [V]
-90deg Center +90deg
10-94
Structure and function Warning indicator monitoring
Warning Indicator Monitoring
Safety controller Warning indicator
Truck monitoring ・ Indicator lights alert that the indicated function requires
module action or precaution
Outline
Safety controller always monitors the warning indicator lamp signal. If red lamp caution occurs, Safety
controller sends stop request to Drive controller and then sends error code to Central. If yellow caution
occurs, safety controller sends warning code to central.
CAN
Stop request
Safety Controller Drive Controller HUB
ON/OFF Input
Error Code
Central
Warning indicator
10-95
Circuit Diagram
SAFETY CONTROLLER WARNING INDICATOR
33AA AD1 33A TB51-A
LOW STEERING PRESSUR CS4-01 2 1 <B1> Low steering pressure(RED)
33LA AD2 33L TB51-M
LOW BRAKE PRESSURE CS4-02 2 1 <E1> Low brake pressure(RED)
68LLPA AD3 68LLP TB51-K
LOW LUBE PRESSURE CS4-03 2 1 <B2> Low Auto Lube Pressure
39A AD4 39 TB51-T
HYD. OIL FILTER CS4-04 2 1 <D2> Hydraulic oil filter
31MTA AD5 31MT TB51-D
STOP ENGINE CS4-05 2 1 <E3> Stop engine(RED)
419A AD6 419 TB51-C
CHECK ENGINE CS4-06 2 1 <E4> Check engine
79WA AD7 79W TB52-C
PROP. SYS. CAUTION CS4-07 2 1 <B5> Propulsion system caution
34TLA AD8 34TL TB51-W
HYD. OIL TEMPERATURE CS4-08 2 1 <D5> Hydraulic oil temperature high
33KA AD9 33K TB51-N
LOW ACC. PRESSURE CS4-11 2 1 <C1> Low accumulator pressure(RED)
34LLA AD10 34LL TB51-P
LOW HYD. LEVEL CS4-12 2 1 <A2> Low Hydraulic tank level(RED)
31CBA AD11 31CB TB51-L
CIRCUIT BRK TRIPPED CS4-13 2 1 <C2> Circuit breaker tripped
38A AD12 38 TB50-X
LOW FUEL TANK CS4-14 2 1 <E2> Low fuel
23L1A AD13 23L1 TB51-R
5MIN IDLE SHUTDOWN CS4-15 2 1 <C4> 5 min shutdown timer
75-6PA AD14 75-6P TB52-B
NO PROP./RETARD CS4-16 2 1 <A5> No propel/retard(RED)
34TWA AD15 34TW TB52-D
PROP. SYS. TEMP CS4-17 2 1 <C5> Propulsion system temp. caution
75NPA AD17 75NP TB52-A
NO PROPEL CS5-03 2 1 <E6> Retard at Continuous Level
72NRA AD18 72NR TB52-F
PROP. SYS. NOT READY CS5-04 2 1 <A6>No Propel
76LRA AD19 76LR TB52-H
RETARD CONTINUOUS CS5-01 2 1 <C6> Propel system not ready
72PRA AD20 72PR TB52-E
PROP. SYS. AT REST CS5-04 2 1 <B6> Propel sys at rest
72LPA AD21 72LP TB52-G
REDUCED PROPEL CS5-12 2 1 <D6> Reduced Propel System
Warning indicator layout
10-96
Warning indicator description

Row/
Color Indicator Description
Column
A1 Red Hydraulic oil temp. high High brake oil temperature
B1 Red Low Steering Pressure Steering hydraulic pressure drops below
15.900kPa(2300psi)
C1 Red Low Accumulator Pressure The nitrogen pre-charge within the accumulator is
below 1100+/- 45 psi
E1 Red Low Brake Pressure Malfunction within hydraulic brake circuit
A2 Red Low Hydraulic Tank Level Oil level in the hydraulic tank is recommended level
B2 Amber Low Auto Lube Pressure Automatic lubrication system fails to reach 13,790
kPa (2,000 psi) within one minute after lube timer
initiates a grease cycle
C2 Amber Circuit Breaker Tripped Any of the circuit breakers in the relay circuit control
boards are tripped
D2 Amber Hydraulic Oil Filter A restriction in the high pressure filter assembly for
either the steering or hoist circuit
E2 Amber Low Fuel Remaining fuel is approximately 25 gallons
E3 Red Stop Engine A serious engine malfunction is detected in the
engine control system
C4 Amber 5 min shutdown timer Engine shutdown timer is activated
E4 Amber Check Engine Malfunction is detected by the engine electronic
control system
A5 Red No Propel/ No Retard Retarding and propulsion capability is eliminated
B5 Amber Propel System Warning “No Propel or No Retard” event may be about to
occur
C5 Amber Propel System Temp. The drive system temperature is above a certain
level
D5 Red Hydraulic Brake Oil
High Oil temperature in the hydraulic tank
Temperature High
A6 Red No Propel Propulsion capability has been eliminated
B6 Amber Propel system at rest AC Drive system is de-energized and propulsion is
not available
C6 Amber Propel system not ready System is in the process of performing the self
diagnosis and setup functions at start-up
D6 Amber Reduced propel system AC Drive system performance in propulsion is not
available
E6 Amber Retard at continuous level Retarding effort is at a reduced level
10-97
Structure and function Auxiliary device control
Auxiliary device control
Safety control Operation mode lamps
・ Operation mode lamps indicate the mode of truck

Auxiliary device (Manual, Auto, Error, Suspend).
control module
Engine stop
・ Engine is stopped according to command from Central by

wireless communication system.
Headlight
・ When ODS detects obstacle, headlight flashes.
Horn
・ Horn is turned on to give alarm to outside.
Auto Apply Brake

・ Emergency brake
Turn indicator light

・ Indicate turn direction (nonuse in operation)
Outline
The auxiliary device control module consists of the following five modules.
・ Operation mode lamp

The mode of the truck (Manual, Auto, Error, Suspend and Secure) is indicated by the combination of colors
of pilot lamps.
・ Engine stop module
When Safety controller receives engine stop command from Central via the wireless communication, this
module will cut the engine.
・ Headlight
When obstacle detection system picks up some obstacles, Safety controller flashes headlight.
Central operator can turn on headlight by sending command from Central.
・ Horn
10-98
Structure and function Auxiliary device control
When truck moves to forward, Safety controller sounds horn twice. When moving backward, Safety
controller sounds three times. And When ODS detects obstacle, Safety controller sounds horn to give alarm.
・ Auto Apply Brake
Safety controller can stop truck by activating Auto Apply Brake if Drive controller can’t stop truck.
・ Turn indicator light
Safety controller can control turn indicator light but the function is not implemented yet. Only when ODS
inspection, it is used for showing which radar picked up a target.
10-99
Structure and function Operation mode lamp
Operation mode lamp
The operation mode lamps installed outside (Both sides of the front part of the truck and at the rear part of
the truck) light up according to truck operation mode.
Green : Manual operation mode

Yellow (Amber) : Autonomous operation mode
Red : Error mode
All : Secure/Suspend mode
1) Configuration
G Y G
R
Safety
Controller
R
2) Arrangement
Front mode lamp Rear mode lamp
10-100
3) Circuit diagram
SAFETY CONTROLLER
RB12-K3
GREEN 52P10 TB56-G FB3-10
43GA
LIGHT CS1-13
RELAY 52P9 TB54-X G
46GA
RB12-K4
YELLOW
43YA
LIGHT CS1-04
RELAY 52P9 TB54-W
46YA Y
RB12-K5
RED
43RA 52P10
LIGHT CS1-14
RELAY 52P9 R
46RA TB54-V
FB3-9 712P
Front Mode Lamp
46GA 1 G
46YA 2 Y
46RA 3 R
4
Front Mode Lamp

46GA 1 G
46YA 2 Y
46RA 3 R
4
10-101
4) Devices
Front mode lamp
Connection diagram
Green lamp 1 (Green)

Yellow lamp 2 (Yellow)
Red lamp 3 (Red)
Chassis ground 4 (White)
Rear mode lamp
10-102
Structure and function Engine Stop
Engine stop
When supervisory system(Central or EMV) sends engine stop command via wireless communication
system and truck is stationary in except manual mode, Safety controller stops the engine .
1) Configuration and functions
CAN
Master Link
Communication M/L Safety Engine Stop Circuit
HUB Controller
Engine Running Signal
2) Circuit Diagram
SAFETY CONTROLLER
DC24V
RB12-K8
ENGINE TB56-K FB3-13
23FAC 23FAC - + 52P13 52P13
STOP REALY CS2-08
TB50-P TB37-P
23FA
TB37-R TB50-N
23F
TB25-C
RB6-K2 29 CN02
11KS 23F
KEY SW 23F
Engine
0 - + 23D Shutdown SW
TB31-S CN806
30 439 1
CN02
QSK ECM
DC24V
RB9-K8
FB3-13 AD22 TB51-G TB37-T
52P13 + - 36A 36
2 1
ENGINE TB56-K
36AT
RUNNING CS4-10 GBA-3 TB2G-L
36
SIG MONITOR
0
OIL PRESSURE
SW
10-103
Structure and function Head Light
Headlight
1) Circuit diagram
SAFETY CONTROLLER
DC24V
RB11-K4
TB56-L FB3-14
41LA 41LA 52P14 712PA
HEAD LIGHT CS1-11
RELAY TB36-G TB51-J
41L
LEFT
41L HEADLIGHT
41LL
0
RB5-K1
RIGHT
41L HEADLIGHT
41LR
0
RB5-K2
Horn
1) Circuit diagram
SAFETY CONTROLLER KEY SW
POWER
RB12-K7
TB56-K FB3-13
11HA 11HA 52P13 712PA
HORN REALY CS1-10
TB36-H TB50-R
11H NO GBA-4
NC
11H 11A
NO 11A
NC
11HS
TB26-S HORN
10-104
Structure and function Auto Apply Brake
Auto Apply Brake
1) Circuit Diagram
24V
Safety controller (Unswitched BATT)
Auto Apply
Auto Apply CS2-11 72AA Brake Valve
RB10-K3
72AD
NO
Drive controller 72AAS
NC
Auto Apply CN1-12 Auto Apply
72AT
Brake
Pilot Valve
A/M key F. Brake F. Brake
A Relay Valve Pressure Sensor
R. Brake
Pressure Sensor
M
Auto Apply Monitor

R. Brake
CN4-14
Relay Valve
Turn indicator light
1) Circuit diagram
RB12-K1
52P8 FB3-8 712PA
RIGHT TURN CS2-09 45RA
NO 52P8
C
NC TB22- R
45R
RB12-K6
45LA 52P8
LEFT TURN CS2-10
NO 52P8
C
NC TB22-T L
45L
10-105
Blank page
(Page 106 – 120)

Structure and function Flight Recorder
Flight recorder system
Outline
Flight Recorder receives information of autonomous system from Drive controller and Safety controller via
RS232C. The data are compressed and stored in Flash memory. The data will be used for analysis of truck
behavior when some problem happens. Each file includes one cycle data or max 30minites data. It has unique
name which includes truck number and record time. Old data passed one week automatically erased from flash
memory when Flight recorder starts up.
Since Flight recorder has FTP server inside, FTP client connected to Master Link can down load the stored data
in flash memory of Flight recorder.
1) System configuration
LH Drive
RS232C
COM1
Controller
Master Link
Flight Recorder Ethernet
HUB
LH Safety RS232C
COM2
Controller
CF Card
(1GB) DC-DC
5VDC
Converter
10-121
2) General Layout
HUB
Flight Recorder
3) Outside view of Flight Recorder
10-122
4) Interface and hardware specification
Port name Connect to

COM1 To LH Drive Controller
COM2 To LH Safety Controller
Ethernet To MMS HUB
DC-IN DC5V
VGA Display (for service)
PS/2 Keyboard (for service)
Item Spec
OS Windows CE
CPU SH3,
Storage Compact Flash 1GB
Network TCP/IP, FTP
Data storage period One week (configurable)
Data File size Max 30min
10-123
5) Data type
There are four kind of data

- LH Normal Operation data (LH drive / LH-Safety)
- LH Error data (LH drive / LH-Safety)
Data file name
T01_DriNav040101_10_10_00.gz
the time of recording start

[hh_mm_ss]
Date
[YY MM DD]
Data Type
- DriNav : LH-Drive Data
- Safety : LH-Safety Data
Truck Number
- T01 : Truck1
- T02 : Truck2
ERR_a001_T01_DriNav040101_10_10_00.gz
the time of recording start

[hh_mm_ss]
Date
[YY MM DD]
Data Type
- DriNav : LH-Drive Data
- Safety : LH-Safety Data
Truck Number
- T01 : Truck1
- T02 : Truck2
Error Code
Data Type
- ERR : LH-Drive Error
- SERR : LH-Safety Error
10-124
6) Wiring Diagram
1 2
9PCWS
DRIVE CONTROLLER COM1
9SW1 TB57-N
FLASH WRITE SW CN5-15 1 CD
TB57-P
9RX1 9PCRX
MONITOR PC RXC CN9-06 2 RXC
TB57-R 9PCTX
9TX1
MONITOR PC TXC CN9-07 3 TXC
TB57-S
9GD1 9PCGD
MONITOR PC GND CN9-20 4 DR
SHLD 5 GND
6 DSR
7 RTS
8 CTS
9 RI
1 2
9PCWS
SAFETY CONTROLLE COM2
9SW2 TB57-T
FLASH WRITE SW CS5-15 1 CD
TB57-V
9RX2 9PCRX
MONITOR PC RXC CS9-06 2 RXC
TB57-W 9PCTX
9TX2
MONITOR PC TXC CS9-07 3 TXC
TB57-X
9GD2 9PCGD
MONITOR PC GND CS9-20 4 DR
SHLD 5 GND
6 DSR
7 RTS
8 CTS
9 RI
PC POWER SUPPLY
PCPWR +5
8 1 +5V
PCGND
11 2 +5V
TB57-C
0 GND
26 3 GND
0 GBA
32 4 GND
29 52P20 TB56-T
MMS HUB
Ethenet Port Ethernet Cross Cable Ethernet
10-125
7) Troubleshooting
No response to ping
- Try hardware reset (cycle power of truck or press reset button of Flight recorder)
- Check ethernet cable between Hub and Flight Recorder
- Check IP configuration with connecting display and keyboard
There is a response to ping, but can’t access to FTP server

- Confirm user id and password
- Linefeed code may cause problem. Try to use different FTP client application.
Can access FTP server, but connection is unstable

- Try remote reset of Flight recorder (see how to reset remotely)
Empty file (data size 0 .. 20KB) is created

- COM port cable must be disconnected. Please connect back.
CF card (1GB) is full

- Try hardware reset (Cycle power or press reset button). The data older than one week are
automatically deleted
- If still full, please delete files manually by FTP
8) How to download data file
Use ftp client program to access Flight recorder via Master Link Network
User id : komatsu
Password : komatsu
Data directory : Storage Card
10-126
Replacing and adjusting
Replacing and adjusting

Position Measurement system Installation........................................................................ 20-2
Adjustment of front pulse sensor..................................................................................... 20-2
Adjustment of rear pulse sensor...................................................................................... 20-4
Adjustment of roll sensor ..................................................................................................20-5
Adjustment of pitch sensor............................................................................................... 20-9
GPS origin configuration setting...................................................................................... 20-13
Adjustment of Gyro sensor............................................................................................... 20-16
REG target distance setting(Bank/Haulroad) ................................................................. 20-19
REG Hopper target distance setting(Option for REG hopper function).................... 20-23
Confirmation of position measurement system parameter ........................................ 20-27
REG Optical Fiber Cable Replace and Adjusting distance measurement................ 20-29
Drive control system installation .........................................................................................20-51

Adjustment of steering angle potentiometers ............................................................... 20-51
Adjustment of S/T EPC valve ............................................................................................ 20-54
Confirmation of Drive control parameter ........................................................................ 20-58
Obstacle Detection System Installation.............................................................................. 20-101

Adjustment of elevation angle......................................................................................... 20-102
Calibration of radar output range.................................................................................... 20-104
Initialization of motor angle of radar steering unit....................................................... 20-109
Radar azimuth angle calibration ..................................................................................... 20-112
Adjustment of radar sensitivity ....................................................................................... 20-121
Confirmation of Safety Controller Parameter ............................................................... 20-123
20-1
Replacing and adjusting Adjustment of front pulse sensor
Position Measurement System installation
1. Adjustment of front pulse sensor
Outline
When new front pulse sensor is installed or replaced, adjust the clearance between the sensor surface
and gear tooth with shims to be the standard clearance.
Before starting the replacement and adjustment, park the truck on a level place.
1) Adjustment Front Pulse sensor
z Standard clearance :
Gap=0.06 [inch] = 1.5 [mm]
(See 930E-3 shop manual for standard truck)
Gap
2) Make sure the pulse signal output (rectangle wave 0-5v or more) while truck moving.
z between TB55-D and TB55-F
z between TB55-E and TB55-F
20-2
Replacing and adjusting Adjustment of front pulse sensor
Circuit diagram
20-3
Replacing and adjusting Adjustment of rear pulse sensor
2. Adjustment of rear pulse sensor
Outline
When new rear pulse sensor is installed or replaced, adjust the clearance between the sensor surface and
gear tooth with shims to be the standard clearance.
1) Adjustment
Rear Pulse sensor
Gap=0.06 [inch] = 1.5 [mm]
Gap
2) Make sure the pulse signal output (rectangle wave 0-5v or more) while truck moving.
z between TB55-K and TB55-G
z between TB55-H and TB55-G
- Circuit diagram
20-4
Replacing and adjusting Adjustment of roll sensor
3. Adjustment of roll sensor
1) Measure the signal output of roll sensor
Roll angle sensor

z Measure the voltage between
TB52-W and TB53-G
2) If the voltage is not the standard value, loosen

the sensor mounting bolt and adjust the lean to
set the voltage to the standard value.
z Standard value: 2.6 ± 0.2V
Roll to left is plus (+) roll.
ANGLE (PITCH)
0RT TB53-G 0RT
SIG GND CN8-08
36FI TB52-T 36FI
ANGLE (ROLL)
0RT
TB52-W 1 GND
36FI 3 DC 12V
20-5

Please login by user ID who has a maintenance permission.
4) Press Maintain to proceed to Maintenance mode Info Actions Course Mode Options
Inspection
Release
Maintain
Dry Run
--- GPS
Info Actions Course Mode Options

5) Press Navigate
Safety
Navigate
Drive
Parameters
Close
Help
--- GPS

6) Press Slope/Roll
Slope/Roll
Origin
Gyro
Reg
Close
Help
--- GPS
20-6
7) Press Roll Info Actions Course Mode Options
Slope
Roll
Cancel
--- GPS
8) Press Start Info Actions Course Mode Options
Start Roll Sensor Maintenance

Cancel
Park the truck on flat area
Wait several seconds after stopped
Press “Start” when ready.
--- GPS
9) The calculation will be finished in about 20 seconds
Cancel Roll Sensor Maintenance
Now Calculating
Progress .. 50%
Angle 0.5[deg]
GPS
20-7
10) If “Success” message is shown, press OK to complete Roll Sensor Adjustment.

If “Fail” is shown, see troubleshooting.
OK Roll Sensor Maintenance
Success
Progress .. 100%
Angle 0.5[deg]
--- GPS
Troubleshooting table (Adjustment of roll sensor)

Cause Remedy
Defective sensor power (standard 12v) Check the voltage between TB53-G and TB52-T,
Check the voltage between CN8-08 and CN8-10
(LH-Drive controller)
Defective signal output Check the voltage between TB53-G and TB52-W
(standard 2.6v at level ground) Check the voltage between CN8-08 and CN7-11
The slant of ground is not flat Do Adjusting at level place
Actual truck roll angle should be
between -2deg and +2deg
Defective roll sensor Replace and check again
Defective Drive controller Replace and check again
20-8
Replacing and adjusting Adjustment of pitch sensor
4. Adjustment of pitch sensor
1) Measure the signal output of pitch sensor (1).
Pitch angle sensor

z Measure the voltage between
TB52-X and TB53-G
2) If the voltage is not the standard value, loosen

the sensor mounting bolt and adjust the lean to
set the voltage to the standard value.
z Standard value: 2.6 ± 0.2V
θ
Uｐ-grade is plus(+) grade
ANGLE (PITCH)
0RT TB53-G 0RT
SIG GND CN8-08
36FI TB52-T 36FI
ANGLE (ROLL)
0RT
TB52-W 1 GND
36FI 3 DC 12V
20-9

4) Press Maintain to proceed to Maintenance mode
Inspection
Release
Maintain
Dry Run
--- GPS
5) Press Navigate
Safety
Navigate
Drive
Parameters
Close
Help
--- GPS
6) Press Slope/Roll
Slope/Roll
Origin
Gyro
Reg
Close
Help
--- GPS
20-10
7) Press Slope Info Actions Course Mode Options
Slope
Roll
Cancel
--- GPS
Start Pitch Sensor Maintenance

Cancel
Park the truck on flat area
Wait several seconds after stopped
--- GPS
9) The calculation will be finished in about 20
seconds
Cancel Pitch Sensor Maintenance
Now Calculating
Progress .. 50%
Angle 0.11 [deg]
GPS
20-11
10) If “Success” message is shown, press OK to complete Pitch Sensor Adjustment.

OK Pitch Sensor Maintenance
Success
Progress .. 100%
Angle 0.11[deg]
--- GPS
Troubleshooting table (Adjustment of pitch sensor)

Cause Remedy
Defective sensor power (standard 12v) Check the voltage between TB53-G and TB52-T,
Check the voltage between CN8-08 and CN8-10
Defective signal output Check the voltage between TB53-G and TB52-X
(standard 2.6v at level ground) Check the voltage between CN8-08 and CN7-01
Actual truck pitch angle should be between -2deg and
+2deg
Defective pitch sensor Replace and check again
20-12
Replacing and adjusting GPS Origin configuration setting
5. GPS Origin configuration setting
Make sure the GPS Origin configuration in Central system is correctly set.
When AHS system is installed to mine site, GPS Origin configuration must be set to each truck
controller according to this procedure.
This function will require Central system working and being set all of configuration correctly.
1) Set up and start the Central Operation System correctly.
Inspection
Release
Maintain
Dry Run
--- GPS

4) Press Navigate
Safety
Navigate
Drive
Parameters
Close
Help
--- GPS
20-13
5) Press Origin
Slope/Roll
Origin
Gyro
Reg
Close
Help
--- GPS
Start GPS Origin configuration Setting

Cancel
--- GPS
7) If GPS Origin is not changed, press OK to complete GPS Origin configuration Setting.
OK GPS Origin Information

GPS Origin is not changed.
Press “OK”
--- GPS
20-14
8) If “GPS Origin is changed” message is shown, to replace the GPS Origin, press OK.
Make sure the Central System running correctly and ask central operator whether the Central
Origin coordinate is changed.
OK GPS Origin information

GPS Origin is changed.
Cancel
To replace the origin, press “OK”
Otherwise press “Cancel”
--- GPS
Troubleshooting table (GPS origin configuration setting)

Cause Remedy
Central is not running Check Central Operation system
Defective Network Communication system Inspect Network Communication system
Defective HUB or CGC Inspect HUB and CGC on truck
Defective CAN bus wiring Inspect CAN communication and wiring
Defective Drive controller Replace
20-15
Replacing and adjusting Adjustment of Gyro sensor
6. Adjustment of Gyro sensor
Whenever install or replace gyro sensor, it must be adjusted according to this procedure.
Before adjusting the gyro sensor, make sure the truck is stationary on a level place.
Do power cycle of truck and don’t start engine.
Don’t move the truck during the adjustment gyro sensor.

Please login by user ID who has a
Inspection
maintenance permission.
Release
Maintain
Dry Run
--- GPS
3) Press Navigate Info Actions Course Mode Options
Safety
Navigate
Drive
Parameters
Close
Help
--- GPS
4) Press Gyro Info Actions Course Mode Options
Slope/Roll
Origin
Gyro
Reg
Close
Help
--- GPS
20-16
Start Gyro Sensor Maintenance

Cancel
--- GPS
6) The calculation will be finished in about 4 minutes
Don’t move the truck for 4 minutes during the Info Actions Course Mode Options
adjustment of gyro sensor. Cancel Gyro Sensor Maintenance
Now Calculating
Progress .. 50%
Angle 0.00 [deg]
GPS
7) If “Success” message is shown, press OK to complete Gyro Sensor Adjustment.

OK Gyro Sensor Maintenance
Success
Progress .. 100%
Angle 0.01[deg]
--- GPS
20-17
Troubleshooting table (Adjustment of gyro sensor)

Cause Remedy
After truck power ON, truck was moved before the Do power cycle of truck and try again without moving
adjustment of Gyro sensor. the truck before the adjustment of Gyro.
Defective sensor power (standard 24v) Check the Power supply or power supply wiring
Defective communication line Check the Gyro serial communication line
Actual truck pitch & roll angle should be as flat as

possible.
Defective gyro sensor Replace and check again
20-18
Replacing and adjusting REG target distance setting (Bank/Haulroad)
7. REG target distance Setting (Bank/Haulroad)
The default value (REG bank distance = 7m) is already set in controller.
This setting is necessary when you want to adjust the setting or when setting data was lost.
. To use the REG function, set the LH-drive controller Rotary SW1 to 8 or C.
1) Set the truck at the defined distance from the berm on haul road. (See below).
（Or, set the target board at the defined distance from Laser Head.）
REG Bank distance (the edge of Laser Head) to the target surface = 7000mm (default value)
Laser Head
REG Bank distance: 7000 mm
Target berm
（Target board）
Recommended truck position depends on mine road width and Central Operation System
configuration of Course generation.


Inspection
Release
Maintain
Dry Run
--- GPS
20-19
4) Press Navigate
Safety
Navigate
Drive
Parameters
Close
Help
--- GPS
5) Press Reg
Slope/Roll
Origin
Gyro
Reg
Close
Help
--- GPS
6) Press REG Bank Info Actions Course Mode Options
REG Bank
REG hopper
Cancel
--- GPS
20-20
Start REG Bank

Cancel
Put target in front of the sensor head
--- GPS
Cancel REG Bank
Now Calculating
Progress .. 50%
Distance 6800
GPS
9) If “Success” message is shown, press OK to complete REG target distance setting (Bank/Haulroad).

OK REG Bank
Success
Progress .. 100%
Distance 6800
--- GPS
20-21
Troubleshooting table (REG target distance setting, Bank/Haulroad)

Cause Remedy
REG function is not selected. Check Rotary switch (SW1) setting of Drive Controller.
Set the position to 8 or C (REG function ON).
Defective REG sensor power (standard 24v) Check the Power supply or power supply wiring
Defective REG system wiring Check REG system wiring
Laser beam doesn’t point the target board. Check the target berm height and the slant of ground.
Laser sensor lens is not clear. Clean up Laser sensor lens
Optical glass fiber disconnection Inspect Optical glass fiber connection
Optical glass fiber bend radius is small or Optical fiber Inspect Optical glass fiber bend radius
cable is broken Minimum bend radius > 200mm
Defective REG sensor Head Replace REG sensor head
Defective REG controller Replace REG controller
Defective Drive controller Replace Drive controller
20-22
Replacing and adjusting REG Hopper target distance setting
8. REG Hopper target distance Setting (Option for REG hopper function)
. For REG Hopper function (to detect Truck lateral error), the suitable guidance wall is necessary
on the left side of approaching course to hopper.
. To use the REG Hopper function, set the LH-drive controller Rotary SW1 to C (REG system ON
and Hopper function ON)
. Make sure crusher area is clear and ground condition is flat.
1) Park the truck straight in the center of approaching course to the hopper.
Left side
G id ll
Target distance for hopper
Stopper
Height > 1m REG Laser sensor
Width > 13m
Left side
Guidance wall
Length > 15m
Height > 1.5m
Center line of
approaching course
to crusher
20-23

Inspection
Release
Maintain
Dry Run
--- GPS
4) Press Navigate
Safety
Navigate
Drive
Parameters
Close
Help
--- GPS
5) Press Reg
Slope/Roll
Origin
Gyro
Reg
Close
Help
--- GPS
20-24
6) Press REG Hopper Info Actions Course Mode Options
REG Bank
REG hopper
Cancel
--- GPS
Start REG Hopper

Cancel
Put target in front of the sensor head
--- GPS
Cancel REG Hopper
Now Calculating
Progress .. 50%
Distance 3500
GPS
20-25
9) If “Success” message is shown, press OK to complete REG target distance setting (Hopper).

OK REG Hopper
Success
Progress .. 100%
Distance 3500
--- GPS
Troubleshooting table (REG target distance setting, Hopper)

Cause Remedy
REG Hopper function is not selected. Check Rotary switch (SW1) setting of Drive Controller.
Set the position to C
(REG function ON and REG Hopper function ON).
Defective REG sensor power (standard 24v) Check the Power supply or power supply wiring
Defective REG system wiring Check REG system wiring
Laser beam doesn’t point the target berm. Check the target berm height and the slant of ground.
Laser sensor lens is not clear. Clean up Laser sensor lens
Optical glass fiber disconnection Inspect Optical glass fiber connection
Optical glass fiber bend radius is small or Optical fiber Inspect Optical glass fiber bend radius
cable is broken Minimum bend radius > 200mm
Defective REG sensor Head Replace REG sensor head
Defective REG controller Replace REG controller
Defective Drive controller Replace Drive controller
20-26
Replacing and adjusting Confirmation of position measurement system parameter
9. Confirmation of position measurement system parameter

Please login by user ID who has maintenance permission.
Inspection
Release
Maintain
Dry Run
--- GPS
3) Press Parameters
Safety
Navigate
Drive
Parameters
Close
Help
--- GPS
4) The parameters of Navigation system are shown.

Back Navigation Parameter

Close
Origin_x_nv: -1324662775
Next Origin_y_nv: 380441399
Slope_offset_nv: -148
Roll_offset_nv: -106
REG Bank distance: 6800
REG Hopper distance: 3500
--- GPS
20-27
Replacing and adjusting Confirmation of position measurement system parameter
The items shown on the screen are;
Display item Contents Value range

Origin_x_nv Mine coordination setting Depend on the Mine
(Longitude) coordinate and Central
system configuration
-2147483648 (-PI : West)
2147483647 (PI : East)
Origin_y_nv Mine coordination setting Depend on the Mine
(Latitude) coordinate and Central
System configuration
-1073741824 (-PI/2 : South)
1073741824 (PI/2 : North)
Slope_offset_nv Slope Sensor calibration offset - 2000 < value < 2000
(1 = 0.001 [deg])
Roll_offset_nv Roll Sensor calibration offset - 2000 < value < 2000
(1 = 0.001 [deg])
REG_Bank_distance Target distance of REG 6500 - 7000
(on Haulroad )
REG_Hopper_distance Target distance of REG Depend on the hopper width
(crusher area where the guidance wall and guidance wall position.
is installed) 3000 < value < 7000
20-28
Replacing and adjusting REG fiber cable
10. REG Optical Fiber Cable Installation, Replacement and adjustment of distance
measurement
<How to confirm the Optical Fiber cable is damaged or not.>

1) Open the cover of REG optical Head.
2) Disconnect the Optical Fiber cable connectors (Label 1 & Label 4) from REG controller.
3) Check the brightness of Optical Fiber cable connector’s hole.
Laser Sensor Head
Open the Cover
<Good Cable> <Damaged Cable>
One of holes are not bright.

or or
Both holes are not bright.
Both holes are
bright.
20-29
<How to Install the Fiber Cable>
Don’t bend the Optical Fiber Cable. Minimum Bend Radius is 200mm.
Be careful not to do damage the Optical Fiber Cable during its installation.
1) Insert the fiber cable into the protection cable which can prevent it being damaged from bending, twisting,
breaking off, snapping off and heat problem.
2) Open the Sensor Head and connect the Optical Fiber cable connectors (Label 2 & Label 3).
3) Pull the fiber cable and black outer cable from opposite edge and cover the fiber cable with Protection
Cable.
20-30
4) Do the wiring work from the Sensor Head to AT cabinet.
<How to check the function of distance measurement>

A) Check with CGC Inspection mode.
According to Inspection Manual (Page 1-4, & 8-10), check the distance measurement functionality.
If the distance measured by REG sensor has large difference (more than 300mm) from the actual
distance, do <REG sensor offset calibration>. (See next page)
B) Check with Personal Computer’s software.
According to Shop Manual (Page 20-451∼457, REG Laser inspection), check the distance data from
REG controller and make sure it’s function.
20-31
<How to calibrate the distance data of Laser sensor >

1. Disconnect REGT connector.
(Serial communication wiring between REG controller and LH drive controller).
2. Connect RS232C cable (D-sub9, cross cable) between REG controller’s serial port and the serial COM
port of personal computer.
Windows
Personal Computer
Serial port
(Dsub-9)
Serial cable
RS232C (cross)
Rear view
3. Power ON and start the software for serial communication monitor.

For example, to use Microsoft Hyper terminal on Windows personal computer is one of
easy way for serial communication monitor.
a) Start Æ Programs Æ Accessories Æ Communications Æ HyperTerminal
b) Enter Name for New connection
20-32
c) Select COM port as connect using port
d) Set the COM port setting

Bits per second : 19200bps, Data bits : 8, Parity : None, Stop bits : 1, Flow control : None
20-33
4. Check the data on Hyper Terminal screen.

REG controller sends the Laser data repeatedly if Laser detects the target in front of Sensor Head.
Data sample : r10.05;a80 ( Distance = 10.05[m], Reflection power = 80 )
5. Measure the actual distance and compare the data.
Laser Head
Measure the actual distance
Target berm
（Target board）
20-34
6. Distance Calibration
If the difference between Laser data and actual measured data is larger than 300mm, proceed to calibrate
the Sensor below. If the difference is less than 300mm, no need to do the calibration.
a) Input the command [Ctrl-P] to go program mode -> then [‫ ]٭‬mark appeared.
b) Input and adjust the Laser offset data by using [O‫ ]٭٭٭‬command to be same as actual distance
Example If you have 1000mm difference, try to input O100 or O-100. [‫٭‬O100] or [‫٭‬O-100]
Example If you have 500mm difference, try to input O50 or O-50. [‫٭‬O50] or [‫٭‬O-50]
O command range : -9999 to 9999 [cm]
c) To make sure the Laser distance data again, Q input and then data will come again on screen. [‫٭‬Q]
d) Try to adjust the difference with repeating a) to c).
e) When finally you find out the suitable offset value, input the command W in program mode. [‫٭‬W]
f) Then again input [‫٭‬Q] command to start data measurement.
20-35
Replacing and Adjusting
Blank page
(Page 36 –50)
Replacing and Adjusting Adjustment of steering angle potentiometers
Drive Control System Installation
1. Adjustment of steering angle potentiometers
When adjustment is required

1) Steering Potentiometer was replaced.
2) Drive Controller was replaced.
Required Place
Haul road is required for this calibration.
Length : 1 – 3 km
Configuration : as straight as possible
The tray should be empty.
1) Make sure A/M key is “Manual” position. Then turn on Info Actions Course Mode Option
engine. Inspection
2) Login to CGC menu screen.
Please login by user ID who has maintenance Release
permission. Maintain
Dry Run
3) Press Maintain to do maintenance.
--- GPS
4) Press Drive Info Actions Course Mode Option
Safety
Navigate
Drive
Parameter
Close
Help
--- GPS
20-51
Info Actions Course Mode Option

5) Press S/T Adj
Bleed
ValveAdj.
S/T Adj.
Close
Help
--- GPS

6) Press Start when ready.
Start Steering Angle Sensor Adjustment
- Recommended travel speed is 10 to 20 km/h.
Cancel
- Travel as straight as possible. This adjustment Drive straight at 10km/h
Press “Start “ when ready
function works while the truck travels straight. The
calculation time depends on the road shapes.
- If there is not enough straight road, you can turn
around road, then, return to straight road..
--- GPS
It takes 10-20 minutes to finish this process. Info Actions Course Mode Option
Sometimes, the number of progress may go Cancel Steering Angle Sensor Adjustment
down, when the truck does not move straight.
Now Calculating
Progress .. 85%
Angle 0[deg]
--- GPS

7) Message on screen will change “Success” when
adjustment is finished. OK Steering Angle Sensor Adjustment
Press OK Success
Progress .. 100%
--- GPS
20-52
This adjustment takes 10-20 minutes to finish this process.

If you get the message [Fail], don’t operate autonomous traveling. Please contact your
Komatsu distributor and check the steering system with troubleshooting table and shop
manual.
If this adjustment doesn’t finish within one hour, stop the truck and press “Cancel”. Check
the steering system with troubleshooting table.

8) Press Close to finish S/T potentiometers adjustment .
Bleed
ValveAdj.
S/T Adj.
Close
Help
--- GPS

9) Press Close to quit maintenance screen.
Safety
Navigate
Drive
Parameter
Close
Help
10) Confirm parameters
(See 20-59 “Confirmation of Drive Control Parameter” ) --- GPS
Troubleshooting table (Adjusting steering angle potentiometers)

Cause Remedy
Distance of straight road is too short to calculate. Use long distance straight road
Disconnection in Wiring harness. Check the wiring harness
Defective potentiometer Check the potentiometer
20-53
Replacing and Adjusting Adjustment of steering EPC valve
2. Adjustment of steering EPC valve
When adjustment is required

1) Steering EPC valve was replaced.
2) Drive Controller was replaced.
S/T valve must be adjusted according to this procedure whenever it is replaced.
Required Place
Make sure that no one is around the truck
This maintenance should be done maintenance area.
Maintenance area :
Ground surface : Equivalent to haul road surface
Slope : level place (As flat as possible)
1) Make sure A/M key is “Manual” position. Then turn on Info Actions Course Mode Option
engine. Inspection
2) Login to CGC menu screen.
Please login by user ID who has maintenance Release
permission. Maintain
Dry Run
3) Press Maintain.
--- GPS
4) Press Drive Info Actions Course Mode Option
Safety
Navigate
Drive
Parameter
Close
Help
--- GPS
20-54

5) Press Bleed Bleed
ValveAdj.
S/T Adj.
Close
Help
--- GPS

6) Make sure that
Start Air Bleed of Auto Steering Valve
- No one is around the truck
Cancel
- Change A/M key to “auto” position Make sure that
Press Start when ready. 1.No one is around the truck.
2.Change A/M key to “Auto”
position
3.Press “Start” when ready.
--- GPS

Air Bleed will start.
Cancel Bleed air from Auto-Steering Valve
Progress and Wheel Angle are shown on display.
Now wheels are turning
Progress .. 50%
wheels will turn automatically. Angle –20[deg]
If you get the message “Fail”, don’t operate
autonomous traveling. Check the steering system.
--- GPS
7) Message on screen will change “Success” when Air Info Actions Course Mode Option
Breed is finished. OK Bleed air from Auto-Steering Valve
Then change A/M key to “Manual” position and press
Success
OK Progress .. 100%
Change A/M key to “M” position
--- GPS
20-55

8) Press Valve Adj Bleed
ValveAdj.
S/T Adj.
Close
Help
--- GPS
9) Make sure that Info Actions Course Mode Option
- No one is around the truck Start Auto Steering Valve Adjustment
- Change A/M key to “auto” position Cancel

Make sure that
Press Start when ready 1.No one is around the truck
2.Change A/M key to “auto”
position
Wheels will turn automatically. 3.Press “Start” when ready
--- GPS

10) Steering EPC valve adjustment will start.
Cancel Auto-Steering Valve Adjustment
Progress and Wheel Angle are shown on display.
Now wheels are turning
Progress … 25%
It takes about half an hour. Please wait to
Angle 0[deg]
finish adjustment.
If you get the message “Fail”, don’t operate
autonomous traveling. Check the steering system.
--- GPS

11) Message on screen will change “Success” when Valve
OK Auto-Steering Valve Adjustment
Adjustment is finished.
Then change A/M key to “Manual” position and press Success
Progress .. 100%
OK. Change A/M key to “Manual”
--- GPS
20-56

12) Press Close to finish EPC valve adjustment.
Bleed
ValveAdj.
S/T Adj.
Close
Help
--- GPS
13) Press Close to quit maintenance screen. Info Actions Course Mode Option
Safety
Navigate
Drive
Parameter
Close
Help
14) Confirmation parameters --- GPS

Confirm parameters
(See 20-59 “Confirmation of Drive Control Parameter” )
Troubleshooting table (Adjusting steering EPC valve)

Cause Remedy
It is not enough bleeding in the steering hydraulic Do automatic breeding process again.
system.
Disconnection or Wrong connection of wiring Check the wiring harness

harness.
Defective steering EPC valve. Check the EPC valve

20-57
Replacing and Adjusting Confirmation of Drive Control Parameter
3. Confirmation of Drive Control Parameter
Inspection
Release
Maintain
Dry Run
--- GPS

3) Press Parameters
Safety
Navigate
Drive
Parameters
Close
Help
--- GPS
4) The parameters of Navigation system are shown. Info Actions Course Mode Options
Press Next or Back to see Drive Control Back Drive Control Parameters
parameters. Close
Pot 1 center : 2048
Next Pot 2 center : 2048
Dead band plus : 350
Dead band minus : 350
--- GPS
20-58
Replacing and Adjusting Confirmation of Drive Control Parameter

Pot 1 center The center offset value of steering 1250 to 2750
(Right potentiometer) potentiometer 1.
Pot 2 center The center offset value of steering 1250 to 2750
(Left potentiometer) potentiometer 2.
Dead band plus Dead band value of steering control 350 to 450
valve for port B
Dead band minus Dead band value of steering control 350 to 450
valve for port A
If value is out of range.

1) Pot1 or Pot2 center
If value is out of range, check the voltage of S/T potentiometer when front wheel is steered
center(straight)
Between TB53-F and TB53-G is 2.0 V to 3.0 V

Between TB53-C and TB53-D is 2.0 V to 3.0 V S/T potentiometer
If voltage is wrong, check potentiometer or
move setting position of lever .
Steering Potentiometer Characteristics

Lever
Setting position ofLever
2) Dead band plus and minus

If value is out of range, do maintenance again in level place.
20-59
Replacing and Adjusting
Blank page
(Page 59 –100)
Replace and adjusting Obstacle Detection System Installation
Obstacle Detection System Installation
Only when new radar is installed or replaced, do the calibration according to following procedure.
1) Adjustment of elevation angle
2) Radar output range calibration
3) Initialization of motor angle of radar steering unit.
4) Adjustment of azimuth angle
If the truck suspension is not adjusted properly, the performance of Obstacle Detection System
may degrade.
If radar calibration isn’t correctly done, the performance of Obstacle Detection System may
degrade.
Before starting the calibration, park the truck on a level place.
Specification of maintenance area : flat area, width 30m or more, length 70m or more.
Use the reflector shown below as a target.
10cm
10cm
10cm
10cm
Corner reflector for radar

(Steel or aluminum)
20-101
Replace and adjusting Adjustment of elevation angle
1 Adjustment of elevation angle
Elevation angle is already adjusted before shipping in factory. When radar is replaced or
elevation angle is out of alignment, do adjustment according to the following instruction.
Before starting the adjustment, park the truck on a level place.
Elevation angle of each radar needs adjustment so

that three fixed radar may be level and fixed radar
may be about 2 degree downward.
1) Open the covers of fixed radar unit and steered

radar unit
2) Loosen the bolts so that the elevation angle can be

adjusted.
20-102
Replace and adjusting Adjustment of elevation angle
3) Adjust elevation angle of each radar according to the following table
Radar D [mm]
right 0 (level)
center 0 (level)
left 0 (level) D
steer 2 (downward)
4) Put covers on.
If you proceed to range calibration, leave cover

off.
20-103
Replace and adjusting Calibration of radar output range
2 Calibration of radar output range
Output distance is slightly different among radars. To make each radar’s output equal, output range
calibration is necessary.
1) Open cover of the fixed radar units
All radar must face the front because all radar

need to detect the same target during range
calibration
2) Remove four bolts fixing right and left radar
3) Turn both right and left radar to face the front(Position B) and then fix them with two bolts
Fix here
(A) (B)
20-104
4) Put two poles at the front and rear of the center of

truck
5) Put a reflector exactly at the distance of 50m from

truck and on the center of truck.
50m
20-105
Notice : The place which two reflector poles look one pole is the center of truck.
Center
Front pole Rear pole

Look one pole
7) Press Maintain to proceed maintenance mode Info Actions Course Mode Options
Inspection
Release
Maintain
Dry Run
--- GPS
20-106
8) Press Safety Info Actions Course Mode Options
Safety
Navigate
Drive
Parameters
Close
Help
--- GPS
9) Select Range
Motor Init
Range
Calibration
Sensitivity
Close
Help
--- GPS
10) Press Start to start Radar range calibration Info Actions Course Mode Options
Start Radar Range Correction

Cancel
- Turn all radars to face front
- Put a reflector at the distance of
50m front the truck
Press “Start” when ready
--- GPS
20-107
11) The calculation will be finished in about 5 seconds Info Actions Course Mode Options
Cancel Radar Range Correction
Now Calculating
Progress .. 50%
--- GPS
12) If “Success” message is shown, press OK to
complete Radar range calibration Info Actions Course Mode Options
OK Radar Range Correction
If “Fail” is shown, see troubleshooting. Success

Progress .. 100%
--- GPS
13) Turn both right and left radar back to correct position
(A) (B)
14) Put cover on
20-108
Troubleshooting of radar range correction failure
Cause Remedy
Wrong reflector position Put a reflector at the distance of 50m from truck
and on the center of truck.
Radar initialization fault Cycle power of radar and GSP
Wrong GSP CAN ID setting Connect Slip cable to GSP and Check CAN ID
by OMStip
Channel CAN ID Priority

0 (Right) 60 5
1 (Center) 61 5
2 (Left) 62 4
3 (Steer) 63 4
Wrong wiring (Power Line) See wiring diagram

Wrong wiring (CAN-Communication) See wiring diagram
Wrong DIP SW position Check if both Rotary SW1 and SW2 on
LH-Safety are 0
Wrong default NVRAM value Check NVRAM value according to
6.Confirmation of Safety controller
parameter(page 20-124)
Radar Internal Fault Check if some warning code related to radar
were sent to Central.
20-109
Replace and adjusting Initialization of motor angle of radar steering unit
3 Initialization of motor angle of radar steering unit
The radar steering unit has a stepping motor and a potentiometer to measure the rotation angle. The angle
is calculated using a reference table between stepping motor counter and potentiometer value. The
reference table must be initialized when steering unit is installed
1) Login CGC according to login procedure
Please login by user ID who has a maintenance

permission.
Inspection
2) Press Maintain on main screen

Release
Maintain
Dry Run
--- GPS
Safety
Navigate
Drive
Parameters
Close
Help
--- GPS
20-110
4) Press Motor Init Info Actions Course Mode Options
Motor Init
Range
Calibration
Sensitivity
Close
Help
--- GPS
Start Motor Unit Initialize

Cancel
--- GPS
6) The steered radar rotates to the stroke end and Info Actions Course Mode Options
then slowly turns to the other stroke end. The Cancel Motor Initialization
progress is shown on the screen.
Now Calculating
Progress .. 50%
--- GPS
20-111
7) When initialization is successfully finished,

“Success” will be shown on the screen. Press OK
OK Motor Initialization
to return.
Success
Progress .. 100%
--- GPS
Troubleshooting of motor unit initialization failure
Cause Remedy
Motor potentiometer signal failure Check wiring between potentiometer and LX
controller
Motor control line failure Check motor control line between Motor and LX
controller
Communication between Safety controller and Check RS232C communication line between
LX controller Safety controller and LX controller
20-112
Replace and adjusting Radar azimuth angle calibration
4 Radar azimuth angle calibration
Specification of maintenance area : flat area, width 30m or more, length 70m or more
4.1 Preparation
1) Put two poles at the front and rear of the center of truck
These two poles are used to know the exact direction of truck’s face. The place which two reflector poles
look one pole is the center of truck.
Center
Front pole Rear pole

Look one pole
20-113
3) Press Maintain on main screen

Inspection
Release
Maintain
Dry Run
--- GPS
Safety
Navigate
Drive
Parameters
Close
Help
--- GPS
5) Press Calibration Info Actions Course Mode Options
Motor Init
Range
Calibration
Sensitivity
Close
Help
--- GPS
20-114
4.2 Adjustment of Center Radar
1) Put poles and login CGC according to 4.1

Preparation procedure.
2) Put a reflector on the center of truck at the

distance of 30m from truck.
If the reflector is on the wrong position, ODS

can’t detect obstacle correctly.
3) Select Center Info Actions Course Mode Options
Center
Left
Right
Cancel
--- GPS
4) Press Start Info Actions Course Mode Option
Start Radar Angle Calibration

Cancel (Center)
Put a reflector at 30m front and
center
--- GPS
20-115
5) The calculation will take about 1 or 2 minutes. The Info Actions Course Mode Options
calculation progress will be shown on screen. Cancel Center Radar Calibration
Now Calculating
Progress .. 50%
--- GPS
6) If calculation is successfully finished, “Success” is
shown on screen. Then, press OK. If “Fail” is
shown, see troubleshooting.
OK Center Radar Calibration
Success
Progress .. 100%
--- GPS
20-116
4.3 Adjustment of Right Radar
1) Put poles and login CGC according to 4.1 Preparation.
2) Put a reflector on 6.65m right from the center at the

If the reflector is on the wrong position,

obstacle detection system can’t detect
obstacle correctly.
30m
Make sure that all radars are on the position
6.65m
(A) on page20-104.
3) Select Right Info Actions Course Mode Options
Center
Left
Right
Cancel
--- GPS
4) Press Start

Cancel (Right)
center and 6.65m right
--- GPS
20-117
5) The calculation will take about 1 or 2 minutes. Info Actions Course Mode Options
Cancel Right Radar Calibration
Now Calculating
Progress .. 50%
--- GPS
6) If calculation is successfully finished, “Success” is Info Actions Course Mode Options
shown on screen. Then, press OK. If “Fail” is OK Right Radar Calibration

shown, see troubleshooting
Success
Progress .. 100%
--- GPS
20-118
4.4 Adjustment of Left Radar
1) Put poles and login CGC according to 4.1 Preparation.
2) Put a reflector on 6.65m left from the center at the

If the reflector is on the wrong position,

obstacle detection system can’t detect
obstacle correctly. 30m
Make sure that all radars are on the position

(A) on page 20-104.
6.65m
3) Select Left Info Actions Course Mode Options
Center
Left
Right
Cancel
--- GPS

4) Press Start
Cancel (Left)
center and 6.65m left
--- GPS
20-119
5) The calculation will take about 1 or 2 minutes. Info Actions Course Mode Options
Cancel Left Radar Calibration
Now Calculating
Progress .. 50%
--- GPS

6) If calculation is successfully finished, “Success” is
OK Left Radar Calibration
shown on screen. Then, press OK. If “Fail” is
shown, see troubleshooting. Success
Progress .. 100%
--- GPS
20-120
Troubleshooting of radar azimuth angle calibration failure
Cause Remedy
Wrong reflector position Put a reflector at the distance of 30m from truck
and on the (a)center, (b)6.65m right, (c)6.65m
left of truck.
Radar initialization fault Cycle power of radar and GSP
Wrong GSP CAN ID setting Connect Slip cable to GSP and Check CAN ID
by OMStip
Channel CAN ID Priority

0 (Right) 60 5
1 (Center) 61 5
2 (Left) 62 4
3 (Steer) 63 4
Wrong wiring (Power Line) See wiring diagram

Wrong wiring (CAN-Communication) See wiring diagram
Wrong DIP SW position Check if both Rotary SW1 and SW2 on
LH-Safety are 0
Wrong default NVRAM value Check NVRAM value according to
6.Confirmation of Safety controller
parameter(page 20-124)
Radar Internal Fault Check if some warning code related to radar
were sent to Central.
20-121
Replace and adjusting Adjustment of radar sensitivity
5 Adjustment of radar sensitivity
Radar sensitivity adjustment is not necessary in usual operation. However, If necessary, radar sensitivity
can be adjusted in the range of –10dB to +10dB in order to make radar characteristic equal.
1) Login CGC menu screen
2) Press Maintain to proceed maintenance mode Info Actions Course Mode Options
Inspection
Release
Maintain
Dry Run
--- GPS
Safety
Navigate
Drive
Parameters
Close
Help
--- GPS
20-122
Replace and adjusting Adjustment of radar sensitivity
4) Press Sensitivity Info Actions Course Mode Options
Motor Init
Range
Calibration
Sensitivity
Close
Help
--- GPS
5) Select the radar to change sensitivity Info Actions Course Mode Options
Center Radar Sensitivity Adjustment

Left
Set the sensitivity by keypad
Right
Select option to proceed
Steer
Cancel
--- GPS
6) Input sensitivity value by key pad, then press OK

Center Click +/- to increase/decrease

Left
0
Right
+ -
Steer
OK
Cancel
Enter Center#, then press OK --- GPS
20-123
Replace and adjusting Confirmation of Safety Controller Parameters
6 Confirmation of Safety Controller Parameters
1) Login CGC according to login procedure
Inspection
Release
Maintain
Dry Run
--- GPS

3) Press Parameters
Safety
Navigate
Drive
Parameters
Close
Help
--- GPS
20-124
4) The parameters of Navigation system are shown. Info Actions Course Mode Options
Press Next or Back to see Safety parameters. Back ODS Parameter

Close
Motor offset : 550
Next Radar angle offset :
30000 30000 30000 30000
Sensitivity : 0 0 0 0
Range correction :
15625 15625 15625 15625
--- GPS

Motor offset The center of motor stepping counter 500 to 600
(default 550)
Radar angle offset The azimuth offset angle of each 29000-31000
scanning motor (default 30000)
Sensitivity Radar sensitivity -10 to 10
(default 0)
Range correction Radar output range adjustment 14000 to 17000
coefficient (default 15625)
20-125
20-126
20-127
20-128
20-129
Replace and adjusting Flight Recorder
Flight recorder Installation
If flight recorder controller was replaced, please configure the following items.
- Configure IP address of each device.

- Configure Date/Time for each device
- Select Truck No
Preparation
1. Bring a Keyboard and LCD Monitor into truck Cab. The device is installed next to M/L Hub behind
driver sheet
2. Connect Keyboard to PS/2 Port of the device
3. Connect Display to CRT Port
Display
Keyboard
20-130
Configure IP address
1. Go to Setting -> Control panel (to pop up Start menu, type Ctrl+Esc)
20-131
2. Select
3. Select “SH20001:SH2000 Driver”, then press Property button.
20-132
4. Change IP address and Subnet Mask according to the table below. If M/L network address is different,
ask Network administrator what IP address can be used.
Network address of Master/Link 172.23.0.0

Subnet mask of Master/Link 255.255.0.0
Truck No. IP address

Truck1 172.23.10.151
Truck2 172.23.10.152
Truck3 172.23.10.153
Truck4 172.23.10.154
Truck5 172.23.10.155
... ...
IP address should be defined by network address. Ask network administrator what IP address
should be used.
20-133
Configure date and time
1. Go to Setting -> ControlPanel
20-134
2. Select Date/Time
3. Select correct Time Zone and Current Time
if necessary, check the daylight saving box
20-135
Input truck number
1. Go to Program ->Windows Explorer
20-136
2. Go to NFDISK directory, then execute MonEdit.exe
3. The following Dialog pop up. Input truck No. and Central IP address on the dialog.
4. Press “Save” button
20-137
Save all setting and restart device
1. Go to Program -> Utilities -> CONTEC Manager
2. Select “Boot” tab
20-138
3. Check “Backup Registry when Cold boot” , then press “Cold Boot”.
4. Program starts up
5. Disconnect Keyboard and Display
20-139
Troubleshooting
No response to ping
- Check ethernet cable between Hub and Flight Recorder
- Check IP configuration with connecting display and keyboard
There is a response to ping, but can’t access to FTP server

- Confirm user id and password
- Linefeed code may cause problem. Try to use different FTP client application.
Can access FTP server, but connection is unstable

- Try remote reset of Flight recorder (see how to reset remotely)
Empty file (data size 0 .. 20KB) is created

- COM port cable must be disconnected. Please connect back.
CF card (1GB) is full

- Try hardware reset (Cycle power or press reset button). The data older than one week are
automatically deleted
- If still full, please delete files manually by FTP
20-140
Replacing and adjusting When adjusting must be done?
When Adjusting must be done?
Replaced Item Required adjustment

LH-Drive controller replace S/T potentiometer calibration
S/T valve bleeding, dead band calibration
Pitch sensor calibration
Roll sensor calibration
GPS origin configuration setting
LH-Safety controller replace Motor angle initialization
Radar output range adjustment
Radar azimuth angle adjustment
S/T potentiometer replace S/T potentiometer calibration
S/T cylinder replace S/T potentiometer calibration
S/T EPC valve replace S/T valve bleeding, dead band calibration
Pitch sensor replace Pitch sensor calibration
Roll sensor replace Roll sensor calibration
Suspension adjustment Pitch sensor calibration
Body replace Pitch sensor calibration
GPS base moved GPS origin configuration
Gyro sensor replace Gyro sensor calibration
ODS radar replace Radar elevation angle adjustment
Radar output range adjustment
Radar azimuth angle adjustment
Motor unit of steering radar replace Motor angle initialization
Following items doesn’t need any calibration or configuration change.

・ LX controller
・ REG controller, REG Laser head, REG fiber cable
・ Hydraulic pressure sensor
・ Hoist valve
・ Brake valve
・ Relay, other harness
20-150
Troubleshooting
Point to remember when troubleshooting ..................................................... 20-202
Sequence of events in troubleshooting ......................................................... 20-204
Points to remember when carrying out Maintenance ................................... 20-205
Types of connector and location..................................................................... 20-221
Connection table of connector pins ............................................................... 20-225
Troubleshooting for Position measurement system ..................................... 20-400

Troubleshooting for Travel control system.................................................... 20-700
Troubleshooting for Safety controller ............................................................ 20-1000
20-201
Troubleshooting Point to remember when troubleshooting
Point to remember when troubleshooting
Stop the machine in a level place, and check that the safety pin, blocks, and parking brake are securely
fitted.
When carrying out the operation with two or more workers, keep strictly to the agreed signals, and do
not allow any unauthorized person to come near.
If the radiator cap is removed when the engine is hot, hot water may spurt out and cause burns, so wait
for the engine to cool down before starting troubleshooting.
Be extremely careful not to touch any hot parts or to get caught in any rotating parts.
When disconnecting wiring, always disconnect the negative (-) terminal of the battery first.
When removing the plug or cap from a location which is under pressure from oil, water, or air, always
release the internal pressure first. When installing measuring equipment, be sure to connect it properly.
The aim of troubleshooting is to pinpoint the basic cause of the failure, to carry out repairs swiftly, and
to prevent reoccurrence of the failure.
When carrying out troubleshooting, and important point is of course to understand the structure and
function.
However, a short cut to effective troubleshooting is to ask the operator various questions to form some
idea of possible causes of the failure that would produce the reported symptoms,
1. When carrying out troubleshooting, do not hurry to 6) Has the same kind of failure occurred before?
disassemble the components. !f components are 3. Check before troubleshooting
disassembled immediately any failure occurs: 1) Check for symptoms of any abnormality in the
- Parts that have no connection with the failure machine.
or other unnecessary parts will be 2) Check the items which are inspected usually
disassembled. before starting operation as same as manual
- It will become impossible to find the cause of truck.
the failure. (See standard 930E shop manual)
It will also cause a waste of manhours, parts, or oil 3) Other maintenance items can be checked
or grease, and at the same time, will also lose the externally, so check any item that is considered
confidence of the user or operator. For this reason, to be necessary.
when carrying out troubleshooting, it is necessary 4. Confirming failure
to carry out thorough prior investigation and to Confirm the extent of the failure yourself, and
carry out troubleshooting in accordance with the judge whether to handle it as real failure or as a
fixed procedure. problem with the method of operation, etc.
2. Points to ask user or operator When operating the machine to reenact the
1) Have any other problems occurred apart from the troubleshooting symptoms, do not carry out
problem that has been reported? any investigation or measurement that may
2) Was there anything strange about the machine make the problem worse.
before the failure occurred? 5. Troubleshooting
3) Did the failure occur suddenly, or were there Use the results of the investigation and
problems with the machine condition before this? inspection in Stems 2-4 to narrow down the
4) Under what conditions did the failure occur? causes of failure, then use the troubleshooting
5) Had any repairs been carried out before the flowchart to locate the position of the failure
failure? When were these repairs carried out? exactly-
20-202
Troubleshooting Point to remember when troubleshooting
The basic procedure for troubleshooting is as

follows.
1) Start from the simple points.
2) Start from the most likely points.
3) Investigate other related parts or
information.
6. Measures to remove root cause of failure
Even if the failure is repaired, if the root cause of
the failure is not repaired, the same failure will
occur again.To prevent this, always investigate
why the problem occurred. Then. remove the
root cause.
20-203
Troubleshooting Sequence of events in troubleshooting
Sequence of events in troubleshooting
Office, shop Jobsite
Step2
Examination, confirmation of symptoms Ring! Ring!
1) When a request for repairs is
received first ask following points.
- Name of custormer
- Work being carried out at the time
of the failure
- Operating environment Step1
- Past history, details of maintenance, Brakedown
- Confirm user code
etc and service code on monitor
panel
- Carry out action according to
displayed user code.
Step3
Determining probable location of cause
1) Look at the troubleshooting section

of the shop manual to find locations Step9
of possible causes. Repair at jobsite
Step4
Preparation of troubleshooting tools Step8
- Pinpoint locations of failure (carry
1) Look at the table of troubleshooting out troubleshooting)
tools in the shop manual and prepare - Decide action to take
the necessary tools.
- T-adapter 1) Before starting troubleshooting,
- Hydraulic pressure gauge kit, etc. locate and repair simple failures.
2) Look in the parts book and prepare - Check before starting items.
the necessary replacement parts. - Other check items
2) See the Troubleshooting section of
the shop manual, select a troubleshooting
Step9 flowchart that matches the symptoms, and
Repair at w orkshop carry out troubleshooting.
Step7
Re-enacting failure
Drive and operate the machine to confirm the

Shop manual
condition and judge if there is really a failure.
Step5 Step6
Go to jobsite Ask operator questions to confirm
details of failure.
- Was there anything strange about the

machine before the failure occurred?
- Did the failure occur suddenly?
- Had any repairs been carried out
before the failure?
20-204
Troubleshooting Point to remember when carrying out maintenance
Points to remember when carrying out Maintenance
To maintain the performance of the machine over a long period, and to prevent failures or other troubles before they
occur, correct operation, maintenance and inspection, troubleshooting, and repairs must be carried out. This section
deals particularly with correct repair procedures for mechatronics and is aimed at improving the quality of repairs.
For this purpose, it gives sections on "Handling electric equipment" and "Handling hydraulic equipment" (particularly
gear oil and hydraulic oil).
1. POINTS TO REMEMBER WHEN HANDLING

ELECTRIC EQUIPMENT
1) Handling wiring harnesses and connectors

Wiring harnesses consist of wiring connecting one
component to another component, connectors used
for connecting and disconnecting one wire from
another wire, and protectors or tubes used for
protecting the wiring.
Compared with other electrical components fitted in
boxes or cases, wiring harnesses are more likely to be
affected by the direct effects of rain, water, heat, or
vibration. Furthermore, during inspection and repair
operations, they are frequently removed and installed
again, so they are likely to suffer deformation or
damage. For this reason, it is necessary to be Improper insertion
extremely careful when handling wiring harnesses.
Main failures occurring in wiring harness

(1) Defective contact of connectors (defective
contact between male and female)
Problems with defective contact are likely to occur
because the male connector is not properly
inserted into the female connector, or because one
or both of the connectors is deformed or the
position is not correctly aligned, or because there is Improper compression
corrosion or oxidization of the contact surfaces.
(2) Defective crimping or soldering of connectors

The pins of the male and female connectors are in
contact at the crimped terminal or soldered portion,
but if there is excessive force brought to bear on
the wiring, the plating at the joint will pee! and
cause improper connection or breakage.
20-205
(3) Disconnections in wiring

If the wiring is held and the connectors are pulled
apart, or components are lifted with a crane with
the wiring still connected, or a heavy object hits the
wiring, the crimping of the connector may separate,
or the soldering may be damaged, or the wiring
may be broken.
(4) High-pressure water entering connector

The connector is designed to make it difficult for
water 'to enter (drip-proof structure), but if
high-pressure water is sprayed directly on the
connector, water may enter the connector,
depending on the direction of the water jet.
As already said, the connector is designed to
prevent water from entering, but at the same time,
if water does enter, it is difficult for it to be drained.
Therefore, if water should get into the connector,
the pins will be short circuited by the water, so if
any water gets in, immediately dry the connector or
take other appropriate action before passing
electricity through it.
(5) Oil or dirt stuck to connector

If oil or grease are stuck to the connector and an oil
film is formed on the mating surface between the
male and female pins, the oil will not let the
electricity pass, so there will be defective contact.
If there is oil or grease stuck to the connector, wipe
it off with a dry cloth or blow it dry with compressed
air and spray it with a contact restorer.
When wiping the mating portion of the
connector, be careful not to use excessive
force or deform the pins.
If there Is oil or water in the compressed air,
the contacts will become even dirtier, so
remove the oil and water from the compressed
air completely before cleaning with
compressed air.
20-206
2) Removing, installing, and drying connectors and

wiring harnesses Press lightly
when removing
Disconnecting connectors
(1) Hold the connectors when disconnecting.
When disconnecting the connectors, hold the
connectors and not the wires. For connectors held
by a screw, loosen the screw fully, then hold the
male and female connectors in each hand and pull Lock stopper
apart. For connectors which have a lock stopper,

press down the stopper with your thumb and pull
the connectors apart.
Never pull with one hand.
(2) When removing from clips

When removing a connector from a clip, pull the
connector in a parallel direction to the clip.
If the connector is twisted up and down or to
the left or right, the housing may break.
(3) Action to take after removing connectors

After removing any connector, cover it with a vinyl
bag to prevent any dust, dirt, oil, or water from
getting in the connector portion.
If the machine is left disassembled for a long Catches
time, it is particularly easy for improper contact
to occur, so always cover the connector
20-207
Connecting connectors
(1) Check the connector visually.
1) Check that there is no oil, dirt, or water stuck to
the connector pins (mating portion).
2) Check that there is no deformation, defective Cliks into position
contact, corrosion, or damage to the connector
pins.
3) Check that there is no damage or breakage to
the outside of the connector.
If there is any oil, water, or dirt stuck to the
connector, wipe it off with a dry cloth.
If any water has got inside the connector,
warm the inside of the wiring with a dryer, but
be careful not to make it too hot as this will
cause short circuits.
If there is any damage or breakage, replace
the connector.
(2) Fix the connector securely.

Align the position of the connector correctly, then
insert it securely.
For connectors with lock stopper, push in the
connector until the stopper clicks into position.
(3) Correct any protrusion of the boot and any

misalignment of the wiring harness
For connectors fitted with boots, correct any
protrusion of the boot. In addition, if the wiring
harness is misaligned, or the clamp is out of
position, adjust it to its correct position.
If the connector cannot be corrected easily,
remove the clamp and adjust the position.
(4) If the connector clamp has been removed, be sure

to return it to its original position.
Check also that there are no loose clamps.
20-208
Drying wiring harness

If there is any oil or dirt on the wiring harness, wipe it
off with a dry cloth. Avoid washing it in water or using
steam, if the connector must be washed in water, do
not use high-pressure water or steam directly on the
wiring harness.
If water gets directly on the connector, do as follows.

(1) Disconnect the connector and wipe off the water
with a dry cloth.
If the connector is blown dry with compressed
air, there is the risk that oii in the air may cause
defective contact, so remove all oil and water
from the compressed air before blowing with
air.
(2) Dry the inside of the connector with a dryer.

If water gets inside the connector, use a dryer to
dry the connector.
Hot air from the dryer can be used, but
regulate the time that the hot air is used in
order not to make the connector or related
parts too hot, as this will cause deformation or
damage to the connector
(3) Carry out a continuity test on the connector.

After drying, leave the wiring harness disconnected
and carry out a continuity test to check for any
short circuits between pins caused by water.
After completely drying the connector, blow it
with contact restorer and reassemble.
T-adapter
20-209
3) Handling control box
(1) The control box contains a microcomputer and

electronic control circuits. These control all of the
electronic circuits on the machine, so be extremely
careful when handling the control box.
(2) Do not open the cover of the control box unless
necessary.
(3) Do not place objects on top of the control box.

(4) Cover the control connectors with tape or a vinyl
bag.
Never touch the connector contacts with your
hand.
(5) During rainy weather, do not leave the control box
in a place where it is exposed to rain.
(6) Do not place the control box on oil, water, or soil, or

in any hot place, even for a short time.
(Place it on a suitable dry stand).
(7) Precautions when carrying out arc welding
When carrying out arc welding on the body,
disconnect all wiring harness connectors
connected to the control box. Pit an arc welding
ground close to the welding point.
2. POINTS TO REMEMBER WHEN TROUBLESHOOTING ELECTRIC CIRCUITS
1) Always turn the power OFF before disconnecting or connect connectors.

2) Before carrying out troubleshooting, check that all the related connectors are properly inserted.
Disconnect and connect the related connectors several times to check.
3) Always connect any disconnected connectors before going on to the next step.
If the power is turned ON with the connectors still disconnected, unnecessary abnormality displays will be
generated.
4) When carrying out troubleshooting of circuits (measuring the voltage, resistance, continuity, or current), move
the related wiring and connectors several times and check that there is no change in the reading of the tester.
If there is any change, there is probably defective contact in that circuit.
20-210
3. POINTS TO REMEMBER WHEN HANDLING

HYDRAULIC EQUIPMENT
With the increase in pressure and precision of hydraulic

equipment, the most common cause of failure is dirt
(foreign material) in the hydraulic circuit.
When adding hydraulic oil, or when disassembling or
assembling hydraulic equipment, it is necessary to be
particularly careful.
1) Be careful of the operating environment

Avoid adding hydraulic oil, replacing filters, or repairing
the machine in rain or high winds, or places where there
is a lot of dust.
2) Disassembly and maintenance work in the field

If disassembly or maintenance work is carried out on
hydraulic equipment in the field, there is danger of dust
entering the equipment. It is also difficult to confirm the
performance after repairs, so it is desirable to use unit.
exchange. Disassembly and maintenance of hydraulic
equipment should be carried out in a specially prepared
dustproof workshop, and the performance should be
confirmed with special test equipment.
3) Sealing openings
After any piping or equipment is removed, the openings
should be sealed with caps, tapes, or vinyl bags to
prevent any dirt or dust from entering. If the opening is
left open or is blocked with a rag, there is danger of dirt
entering or of the surrounding area being made dirty by
leaving oil so never do this.
Do not simply drain oil out on to the ground, collect it
and ask the customer to dispose of it, or take it back
with you for disposal.
4) Do not let any dirt or dust get in during refilling

operations.
Be careful not to let any dirt or dust get in when refilling
with hydraulic oil. Always keep the oil filler and the area
around it clean, and also use clean pumps and oil
containers. If an oil cleaning device is used, it is possible
to filter out the dirt that has collected during storage, so
this is an even more effective method.
20-211
5) Change hydraulic oil when the temperature is high.

When hydraulic oil or other oil is warm, it flows easily. In
addition, the sludge can also be drained out easily from
the circuit together with the oil, so it is best to change
the oil when it is still warm. When changing the oil, as
much as possible of the old hydraulic oil must be
drained out. (Drain the oil from the hydraulic tank; also
drain the oil from the filter and from the drain plug in the
circuit.) If any old oil is left, the contaminants and sludge
in it will mix with the new oil and will shorten the life of
the hydraulic oil.
6) Flushing operations
After disassembling and assembling the equipment, or
changing the oil, use flushing oil to remove the
contaminants, sludge, and old oil from the hydraulic Flushing oil
circuit.
Normally, flushing is carried out twice; primary flushing
is carried out with flushing oil, and secondary flushing is
carried out with the specified hydraulic oil.
7) Cleaning operations
After repairing the hydraulic equipment (pump control
valve, etc.) or when running the machine, carry out oil
cleaning to remove the sludge or contaminants in the
hydraulic oil circuit.
The oil cleaning equipment is used to remove the
ultrafine (about 3u.) particles that the filter built into the
hydraulic equipment cannot remove, so it is an
extremely effective device.
20-212
Troubleshooting
Blank page
(Page 213 –220)

Troubleshooting Types of connector and location
Types of connector and location
Connector Number
Parts or Unit name Type Location
No. of Pin
A/T CABINET
LH DRIVE CONTROLLER CN1 AMP 070 18
CN2 AMP 070 12
CN3 AMP 070 20
CN4 AMP 040 20
CN5 AMP 040 16
CN6 AMP 040 12
CN7 AMP 040 20
CN8 AMP 040 16
CN9 AMP 040 20
A/T CABINET
LH SAFETY CONTROLLER CS1 AMP 070 18
CS2 AMP 070 12
CS3 AMP 070 20
CS4 AMP 040 20
CS5 AMP 040 16
CS6 AMP 040 12
CS7 AMP 040 20
CS8 AMP 040 16
CS9 AMP 040 20
A/T CABINET
LX CONTROLLER CN1 MIC13 13
CN2 MIC21 21
CN3A AMP 040 20
CN3B AMP 040 16
CN4 AMP 040 12
CN5 MIC17 17
A/T CABINET
GYRO SENSOR FG1 SWP 6
GYRO POWER UNIT FG2 X 2 GYRO POWER UNIT
FG3 X 2
REG POWER UNIT PC2A X 2

PC2B X 2
REG POWER UNIT
Gyro sensor
20-221
Connector Number
No. of Pin
A/T CABINET
REG POWER REGP REG 10
REG SERIAL （D-sub9） REGT REG 9
REG Controller
TRUCK FRONT
ODS RADAR AMP 12
ODS RADAR
TRUCK FRONT
GSP unit for ODS sensor PT-SE 10
GSP 1-4 GSP 1 - 4
TRUCK FRONT
ODS MOTOR X 4
ODS ANGLE SENSOR X 3
ODS MOTOR UNIT
20-222
Connector Number
No. of Pin
A/T CABINET
ODS POWER UNIT PC1A X 2
PC1B
GSP for PLM3 (GSP5) PT-SE 10
(CAN-A , CAN-B)
ODS POWER UNIT
GSP5
OPERATOR CABINET
CGC
POWER PT-SE 10
SERIAL PT-SE 19 CGC
OPERATOR CABINET
HUB POWER PT-SE 3
HUB RADIO A & B PT-SE 6
HUB DIGITAL I/O PT-SE 10
HUB GSP （PPS signal） PT-SE 19
HUB ETHERNET PT-SE 8
HUB CAN A PT-SE 10
HUB SERIAL PT-SE 6
HUB
A/T CABINET
Pitch Sensor PS1 X 3
Roll Sensor RS1 X 3
Pitch sensor
Roll sensor
20-223
Connector Number
No. of Pin
REAR AXLE BOX
REAR SPEED SENSOR DT 4
Both ends of TIE ROD

STEERING ANGLE SENSOR X 3
(Left & Right) Right Steering angle sensor
Left Steering angle sensor
A/T CABINET (Hydraulic)

<Hydraulic system>
STEERING VALVE DT 2
BRAKE VALVE DT 2
Hoist Pressure sensor
Steering Valve
Brake Valve
A/T CABINET (Hydraulic)

Steering pressure sensor X 3
Brake pressure sensor X 3
Hoist pressure sensor X 3
Steering Pressure sensors
Brake Pressure sensors
20-224
Troubleshooting Connection table of connector pins
Connection table of connector pin numbers
★ The terms male and female refer to the pins, while the terms male housing and female housing refer to
the mating portion of the housing.
Total X type connector

number
of pins Male (female housing) Female (male housing)
20-225
Total AMP 040 type connector

number
12
16
20
20-226
Total 070 type connector

number
10
12
14
18
20
20-227
Total SWP type connector

number
14
20-228
Total MIC type connector

number
13
17
21
20-229
Total AMP connector for millimeter wave radar

number
of pins Male (radar unit) Female (cable)
12
Total Connector for REG sensor

number
of pins Male (sensor unit) Female (cable)
5 1
9 6
B A H
C J K G
10
D E F
View
20-230
Total DT type connector

number
20-231
PT-SE type connector

Total
number
C A
3
B
F A
6 E B
C
D
（Front View of
Pin Inserts illustrated）

G A
8
F H B View
E D C
10 H A B
G K J C
F E D
M A
B
19 L N P C
K U R D
J T S
E
H G F
20-232
Troubleshooting
for Position Measurement System
Troubleshooting for Position Measurement System (PMS)..................................................................................20-400

Nav_status information ..............................................................................................................................................20-403
GPS_indicator status (color)......................................................................................................................................20-409
Troubleshooting list.....................................................................................................................................................20-410
GPS system
4601, GPS Quality error ......................................................................................................................................20-430
4603, Lack of satellites.........................................................................................................................................20-433
4604, GPS Correction data delay ......................................................................................................................20-435
4605, GPS GST reset..........................................................................................................................................20-437
4606, GPS not ready...........................................................................................................................................20-439
4607, Wait for good GPS ....................................................................................................................................20-442
4608, Wait for good GPS at Hopper..................................................................................................................20-444
460B, 460E, the message of GPS recovery, GPS GST not ready................................................................20-446
4610, Position Accuracy error.............................................................................................................................20-448
4611, Heading Accuracy error ............................................................................................................................20-449
4612, Travel distance limitation without GPS....................................................................................................20-450
4621, GPS delay from PPS timing ...................................................................................................................20-451
4624, GPS Communication lost.........................................................................................................................20-452
4625, PPS signal input error ...............................................................................................................................20-454
4631, Wrong status code from HUB..................................................................................................................20-455
4640, 4641, 4642, 4643, 4644, 4645, GPS origin errors.................................................................................20-456
4646, 4647, Grid info errors ................................................................................................................................20-459
How to check the GPS condition........................................................................................................................20-460
Gyro system
4702, 4704, Gyro system not ready, Gyro Angular velocity error. ..................................................................20-461
4705, 4706, 4707, 4708, 4709, 470A , Gyro RS232C related errors. ...........................................................20-462
470B, 470C, 470D, 470E, 470F, Gyro sensor internal errors.........................................................................20-464
4710, Gyro ACK error ..........................................................................................................................................20-466
4711, 4712, 4713, Gyro sensor internal errors .................................................................................................20-467
4714, Gyro data delay error ................................................................................................................................20-468
4715, 4717, 4718, Gyro sensor internal errors.................................................................................................20-470
4716, Gyro angle deviation error........................................................................................................................20-471
4719, 471C, Gyro sensor internal errors ...........................................................................................................20-473
4720, 4721, 4722, 4723, 4724, 4725, Gyro sensor internal errors (Error Bit15-10).....................................20-474
4726, 4727, 4728, 4729, 472A, 472B, Gyro sensor internal errors (Error Bit 9-4).......................................20-476
472C, 472D, 472E, 472F, Gyro sensor internal errors (Error Bit 3-0) ............................................................20-478
20-400
4730, Gyro error while GPS unavailable...........................................................................................................20-480
How to check the Gyro condition........................................................................................................................20-481
Tyre Sensor system

4801, 4802, 4803, 4809, 480A Front pulse sensor errors...............................................................................20-482
4804, 4805, 4806, 4807, 4808 Rear pulse sensor errors................................................................................20-492
480B, 480C, Rear and Front Tire radius error ..................................................................................................20-502
How to check the speed sensor.........................................................................................................................20-503
Slope Sensor, Moving direction

4810, 4811, 4812, 4813, Pitch angle sensor errors .........................................................................................20-505
4814, 4815, 4816, 4817, Roll angle sensor errors...........................................................................................20-513
4818, Both angle sensors error ..........................................................................................................................20-521
How to check the slope sensors.........................................................................................................................20-523
4819, 4820, 4821, Moving signal errors ............................................................................................................20-524
How to check the Moving F and R signal status ..............................................................................................20-527
REG system
4901, Travel distance limitation with REG.........................................................................................................20-528
4902, REG Laser beam is blockage .................................................................................................................20-529
4903, REG Position error limit............................................................................................................................20-530
4905, Bad berm error ..........................................................................................................................................20-531
4906, REG A/D signal error ................................................................................................................................20-532
4907, REG serial communication error.............................................................................................................20-533
4908, 4911, 4912, REG controller internal errors.............................................................................................20-534
4909, 4914, 4916, REG power supply related errors......................................................................................20-535
4913, 4915, 4917, 4918, 4919, 491A, 491B, 491C, 491D, 491E, REG controller internal errors .............20-540
4920, 4921, 4922, Position errors and angle correction error ........................................................................20-544
4924, Bank wall close error.................................................................................................................................20-547
4930, 4931, REG related errors at Hopper.......................................................................................................20-548
REG Laser Inspection.........................................................................................................................................20-552
How to check the Laser Sensor.........................................................................................................................20-554
Laser Sensor Controller investigation................................................................................................................20-555
Sensor Fusion
4A01, Reset Running request ............................................................................................................................20-559
4A03, 4A04, truck angle correction error and Sensor Fusion error................................................................20-561
4A05, 4A06, 4A07, Position error, Brake system error, Truck angle deviation error ....................................20-562
4A0A, 4A0C, 4A0D, 4A0E, 4A0F, 4A10 Sensor Fusion related errors.........................................................20-563
4A20, 4A21, 4A22, 4A23, Slippage related errors ...........................................................................................20-566
How to check the Speed Sensor condition.......................................................................................................20-574
20-401
NVRAM
4B01, 4B02, 4B03, 4B04, 4B05, 4B06 Troubles in NVRAM..........................................................................20-576
Software exception
4B07, 4B08, 4B0B, Navigation software exception and Gyro RS232C communication errors.................20-579
4B0E, 4B0F, 4B10, 4B11, 4B12, 4B13, 4B15, 4B16, 4B17, Other software exception ..............................20-580
Warning message
8601-8647, Warning message of GPS System...............................................................................................20-600
8701-872F, Warning message of GYRO System............................................................................................20-608
8801-880C, Warning message of Tire sensor..................................................................................................20-627
8810-8818, Warning message of slope sensor................................................................................................20-648
8819-8821, Warning message of moving direction .........................................................................................20-666
8901-8431, Warning message of REG system ...............................................................................................20-669
8A01-8A24, Warning message of Sensor Fusion system..............................................................................20-681
8B01-8B17, Warning message of Software exceptions etc ...........................................................................20-692
20-402
Troubleshooting for position measurement system NavStatus information
Troubleshooting for Position Measurement System (PMS)

<Flow of troubleshooting for PMS>
1) Check PMS status in NavStatus column on Central screen.
Æ Take action according to NavStatus information
2) Check warning or error code in exception column on Central screen.
Æ Take action according to troubleshooting list
NavStatus information
Central Operation Screen informs the condition of truck Position Measurement System with the number in
NavStatus column.
Exception NavStatus
Column Column
Notice: 1) Course Teaching is available when NavStatus = 0.

2) Autonomous Travelling is available when NavStatus = 0 or = 1.
3) Autonomous Approaching to Excavator is available when NavStatus = 0.
4) Autonomous Approaching to Crusher is available when NavStatus = 0.
5) Autonomous Approaching to EdgeDump Berm is available when NavStatus = 0.
6) If there is some warning or error code in exception column,
see troubleshooting list (page 20-410).
20-403
<NavStatus Number and Required Action>
NavStatus Position Measurement System(PMS) condition and Required Action

-1 Truck is not registered. → If necessary,turn on truck power and register the truck.
0 <in Auto mode> PMS is high accuracy. → Ready for full Autonomous Operation.
0 <in Manual mode> PMS is high accuracy. → Ready for Course Teaching.
1 <in Auto mode> PMS is normal accuracy. → Forward traveling is acceptable but Approaching to
EdgeDump Berm, Excavator or Hopper is not acceptable. Wait for GST converge.
1 <in Manual mode> PMS is normal accuracy. → Course Teaching is not acceptable.
To teach the course, wait for GST converge.
2, 3 Gyro system is not ready. → If never recovered , do power cycle.
4,5 Sensor Fusion system is not ready and required initialized. → Do Reset Running.
6,7 Gyro system is not ready. → If never recovered , do power cycle.
Sensor Fusion system is not ready and required initialized. → Do Reset Running.
8,9 GPS system is not ready. → Wait GPS system recovered.
GPS system is not ready. → Wait GPS system recovered.
16,17 REG laser system is not ready. → Check REG system.
REG laser system is not ready. → Check REG system.
20-404
32,33 PMS is not ready. (System Failure) → Check Exception code. Do Troubleshooting
PMS is not ready. (System Failure) → Check Exception code. Do Troubleshooting
Investigate GPS system (HUB GPS condition)
Investigate REG system
Investigate REG system & GPS system
20-405

84,85 Investigate REG system
92,93 Investigate REG system & GPS system
20-406
Investigate REG system.
Investigate REG system.
Investigate REG system & GPS system (HUB GPS condition)
Investigate REG system & GPS system (HUB GPS condition)
<Navstatus Bit operation in PMS>

Navstatus bit operation ＜Navstatus = 0 to 127 (decimal) , 00000000 to 01111111 (binary)＞
Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit 0
Meaning Not used Accuracy Error, REG GPS Reset Gyro Accuracy
Estimation Investigation System System Run System level
Itself Isn’t Required condition condition required condition
reliable
Ready, good 0 (OFF) 0 (OFF) 0 (OFF) 0 (OFF) 0 (OFF) 0 (OFF) 0 (OFF) 0 (OFF)
Not ready 0 1 (ON) 1 (ON) 1 (ON) 1 (ON) 1 (ON) 1 (ON) 1 (ON)
Notice:
1) Bit0 in Manual mode, 0 (OFF) : ready to teach the course.
2) Bit0 in Auto mode, 0 (OFF) : ready to approach to EdgeDump Berm, Crusher or Excavator.
3) If Navstatus value become large, at first please check the GPS system condition of truck.
4) GPS system should be ready (Bit3=0) to do Reset Running.
5) After GPS recovered, if GPS position come back to correct position compared with
Deadreckoning position, reset run bit (BIT2) may be cleared.
6) If you drive truck without GPS system ready, truck position accuracy will go bad and Navstatus
will become large
20-407
20-408
Troubleshooting for position measurement system GPS indicator status
GPS_indicator status (Color)

Truck CGC screen informs the condition of truck Position Measurement System(PMS) with Gps_indicator’s
color.
Inspection
Gps_indicator
Release
Maintain
Dry Run
--- GPS
If GPS indicator is green, GPS system is ready to measure the truck position and you can enter AT area with
confirmation of Central Operator.
Inspection
Release
Maintain
Dry Run
--- GPS
If GPS indicator is red, Navigation system is not ready to measure the position or not accurate enough.
Usually after truck power on, it takes several minutes to start GPS position measurement with high accurate
mode. If GPS indicator never become green after several minutes waiting, contact the Central Operator,
make sure Navstatus of truck, and follow Central Operator’s instructions. If Sensor Fusion system(Position
Measurement with GPS and Deadreckoning) is required to be initialized, after GPS convergence, carry out
Reset Running.
If there is some warning or error code in exception column on Central screen, take action according to
Troubleshooting list .
20-409
Troubleshooting Fault code list of Position Measurement System
Fault code list of Position Measurement System
Fault
Fault Part Message Main Cause Page
Code
GPS condition
GPS 4601 GPS quality error 20-430
MASTERLINK system failure
Satellites condition
4603 Lack of satellites 20-433
Central GPS system failure
4604 GPS correction data delay 20-435
HUB GPS system failure
4605 GPS GST reset GPS condition 20-437
GPS condition
4606 GPS not ready 20-439
4607 Wait for good GPS GPS condition 20-442
4608 Wait for good GPS at Hopper GPS condition 20-444
460B The message of GPS recovery GPS condition 20-446
460E GPS GST not ready GPS condition 20-446
GPS condition
4610 Position accuracy error 20-448
Road condition
GPS condition
4611 Heading accuracy error 20-449
Road condition
Travel distance limitation GPS condition
4612 20-450
without GPS Road condition
CAN BUS busy
4621 GPS delay from PPS timing 20-451
HUB GPS configuration failure
CAN BUS busy
4624 GPS communication lost 20-452
4625 PPS signal input error 20-454
Wiring problem
Wrong status code from
4631 HUB GPS system failure 20-455
HUB-GPS
Wrong setting of GPS ground
4640 Origin X error 20-456
station or NVRAM data error
4641 Origin Y error 20-456
4642 Origin Z error 20-457
4643 Scale X error 20-457
4644 Scale Y error 20-458
4645 Scale Z error 20-458
4646 Grid info error 20-459
station
Central not ready
4647 Grid information not received 20-459
20-410
Fault
Code
GYRO 4702 GYRO system not ready GYRO failure 20-461
4704 Angular velocity error GYRO mount, Gyro failure 20-461
4705 Gyro RS232C frame error GYRO failure 20-462
4706 Gyro RS232C over run error GYRO failure 20-462
4707 Gyro RS232C parity error GYRO failure 20-462
4708 Gyro RS232C check-sum error GYRO failure 20-463
4709 Gyro RS232C command error GYRO failure 20-463
Gyro RS232C unknown
470A GYRO failure 20-463
command error
470B GYRO internal timer error GYRO failure 20-464
470C GYRO RAM error GYRO failure 20-464
470D GYRO ROM error GYRO failure 20-464
470E GYRO wrong code error GYRO failure 20-465
470F GYRO unknown code error GYRO failure 20-465
4710 GYRO ACK error GYRO RS232C line 20-466
4711 GYRO ACK byte error GYRO failure 20-467
GYRO abnormal angular
4712 GYRO drift error 20-467
velocity
4713 GYRO ACK data error GYRO failure 20-467
Wiring problem
4714 GYRO data delay error 20-468
GYRO failure
20-411
Fault
Code
GYRO 4715 GYRO angle range error GYRO failure 20-470
Wiring problem
4716 GYRO angle deviation error 20-471
GYRO failure
GYRO angular velocity range
4717 GYRO failure 20-470
error
4718 GYRO COM data error GYRO failure 20-470
4719 GYRO check-sum error GYRO failure 20-473
471C GYRO CAL mode error GYRO failure 20-473
4720 GYRO Fatal error GYRO failure 20-474
4721 GYRO BIT error GYRO failure 20-474
4722 GYRO TEST error GYRO failure 20-474
4723 GYRO SOFTWARE error GYRO failure 20-475
4724 GYRO LASER TEMP error GYRO failure 20-475
4725 GYRO TEMP SENSOR error GYRO failure 20-475
4726 GYRO A_OUT error GYRO failure 20-476
4727 GYRO MODULATION error GYRO failure 20-476
4728 GYRO UNKNOWN error GYRO failure 20-476
4729 GYRO Laser AMP error GYRO failure 20-477
472A GYRO Laser MON error GYRO failure 20-477
472B GYRO DETECTER error GYRO failure 20-477
472C GYRO INTERFACE error GYRO failure 20-478
472D GYRO UNKNOWN2 error GYRO failure 20-478
472E GYRO RAM-ROM error GYRO failure 20-478
472F GYRO MPU error GYRO failure 20-479
GYRO error while GPS Wiring problem
4730 20-480
unavailable GYRO failure
20-412
Fault
Code
Disconnection
Tyre Sensor 4801 Front right pulse sensor error 20-481
Clearance setting failure
Disconnection
4802 Front left pulse sensor error 20-484
Disconnection
4803 Both front pulse sensors error Clearance setting failure 20-486
Power supply failure
Disconnection
4804 Rear right pulse sensor error 20-492
Sensor failure
Disconnection
4805 Rear left pulse sensor error 20-494
Sensor failure
Disconnection
4806 Both Rear pulse sensors error Clearance setting failure 20-496
4807 Rear Right pulse deviation Clearance setting failure 20-498
4808 Rear Left pulse deviation Clearance setting failure 20-500
4809 Front Right pulse deviation Clearance setting failure 20-488
480A Front Left pulse deviation Clearance setting failure 20-490
Tire failure
480B Rear Tire Radius error 20-502
Sensor fusion failure
Tire failure
480C Front Tire Radius error 20-502
Disconnection
Slope Sensor 4810 Pitch sensor error 20-505
Road condition
4811 Pitch data not changed Pitch sensor failure 20-507
4812 Pitch error at hopper Hopper road roughness 20-509
4813 Pitch angle limitation error Pitch angle is out of specification 20-511
Disconnection
4814 Roll sensor error 20-513
Road condition
4815 Roll data not changed Roll sensor failure 20-515
4816 Roll error at hopper Hopper road roughness 20-517
4817 Roll angle limitation error Roll angle is out of specification 20-519
Sensor line disconnection
4818 Both slope sensors error 20-521
Sensor power unit or line failure
Moving Moving signal logic fault with
4819 GE system failure 20-524
direction GE
Signal line failure
4820 Moving F signal error 20-525
GE system failure
Signal line failure
4821 Moving R signal error 20-526
GE system failure
20-413
Fault
Code
Travel distance limitation with REG driving distance is out of
REG 4901 20-528
REG range
Laser beam blockage
4902 REG system inspection request 20-529
Position error limit REG system detects large position
4903 20-530
error
Bad Berm REG system detects no berm area
4905 20-531
in Haulroad
REG A/D signal error
4906 Laser A/D signal is out of range 20-532
REG RS232C signal error RS232C line disconnection
4907 20-533
Laser RS232C data is not recieved
REG controller is now program
4908 Laser program mode 20-534
mode
4909 REG power line error REG power line failure 20-535
REG measurement failure
4910 Laser measurement data error 20-538
Check fiber cable connection
4911 Laser selfcheck error Laser self-check failure 20-534
4912 Laser OFF error Laser light source failure 20-534
4913 Laser selfcheck warning Laser self-check failure 20-540
4914 Laser low power error Laser power failure 20-536
4915 Laser low temp error Laser temperature failure 20-540
4916 Laser high power error Laser power failure 20-537
4917 Laser high temp error Laser temperature failure 20-540
4918 Laser RAM error Laser internal failure 20-541
4919 Laser EPROM error Laser internal failure 20-541
491A Laser IDV internal error Laser internal failure 20-541
491B Laser PAR internal error Laser internal failure 20-542
491C Laser ZAD1 internal error Laser internal failure 20-542
491D Laser ZAD2 internal error Laser internal failure 20-542
491E Laser data overflow Laser internal failure 20-543
Position error of GPS Course setting failure
4920 20-544
navigation Bank wall condition
Position error of REG Course setting failure
4921 20-545
4922 REG Angle correction error Bank wall condition 20-546
Course setting failure
4924 Bankwall close 20-547
Bank wall condition
4930 Left side no room at Hopper GPS condition 20-548
4931 Right side no room at Hopper GPS condition 20-550
20-414
Fault
Code
Reset running request GPS condition
FUSION 4A01 20-559
Truck sliding, slippage, Tire lock
Truck angle correction error
4A03 GPS condition 20-561
Sensor fusion error GPS condition
4A04 20-561
Deadreckoning failure
Position error between GPS
GPS condition
4A05 and DR 20-562
4A06 Brake system error Brake system failure 20-562

4A07 Truck angle deviation error Sensor Fusion failure 20-562
DR lateral accuracy error
4A0A Deadreckoning failure 20-563
4A0C Heading angle accuracy error Sensor Fusion failure 20-563

4A0D Position accuracy error Sensor Fusion failure 20-564
4A0E Sensor Fusion Failed Sensor Fusion failure 20-564
4A0F Fusion convergence error Sensor Fusion failure 20-565
4A10 Bad Fusion error Sensor Fusion failure 20-565
4A20 Tire Slippage Tire Slippage 20-566
GPS condition
4A21 Position sliding DR vs GPS 20-569
Tire slippage, position sliding
Front slippage L vs R Tire slippage
4A22 20-570
Sensor failure
Rear slippage L vs R Tire slippage
4A23 20-572
Sensor failure
20-415
Fault
Code
Sensor Fusion data lost in
NVRAM 4B01 NVRAM data lost 20-576
NVRAM
4B02 Set slope and roll offset NVRAM data lost 20-576
4B03 Set Origin data NVRAM data lost 20-577
4B04 Set radius data for REG NVRAM data lost 20-577
4B05 Set target data for REG NVRAM data lost 20-578
4B06 Set parameters for REG NVRAM data lost 20-578
Software 4B07 Navigation Fatal software error PMS software failure 20-579
Exception 4B08 Gyro RS232C Tx overflow RS232C failure 20-579
4B0B Gyro RS232C Rx data lost RS232C failure 20-579
4B0E Angle range error PMS software failure 20-580
4B0F Main cycle error Main busy 20-580
4B10 Speed Fusion error Sensor Fusion failure 20-580
4B11 Navigation too busy Main busy 20-580
4B12 DPRAM data error Main busy and DPRAM failure 20-581
4B13 Navigation System not ready PMS software failure 20-581
4B15 Unknown Shift Position Drive control software failure 20-581
4B16 Pulse counter error PMS software failure 20-581
4B17 Analog Input Error LH Drive controller busy 20-582
20-416
8601 – 8647 Warning message of GPS System
Fault
Code
GPS condition
GPS 8601 GPS quality warning 20-600
Satellites condition
8603 Lack of satellites warning 20-600
Central GPS system failure
8604 GPS correction data delay 20-600
GPS condition
8605 GPS GST reset 20-600
GPS condition
8606 GPS not ready 20-601
GPS condition
8607 Wait for good GPS 20-601
GPS condition
8608 Wait for good GPS at Hopper 20-601
860B GPS recovering GPS condition 20-602
860E GPS GST not ready GPS condition 20-602
GPS condition
8610 Position accuracy warning 20-602
Dead Reckoning position drift
GPS condition
8611 Heading accuracy warning 20-603
Dead Reckoning heading drift
Travel distance limitation
8612 GPS condition 20-603
without GPS
CAN BUS busy
8621 GPS delay from PPS timing 20-603
CAN BUS busy
8622 GPS interval is large 20-604
GPS communication lost CAN BUS busy
8624 20-604
warnig HUB GPS system failure
8625 PPS signal warning HUB GPS system failure 20-605
Wrong status code from
8631 HUB GPS system failure 20-605
HUB-GPS
Incorrect Central System setting or
8640 Origin X warning 20-606
NVRAM data error
8641 Origin Y warning 20-606
NVRAM data error
8642 Origin Z warning 20-606
NVRAM data error
8643 Scale X warning 20-606
NVRAM data error
8644 Scale Y warning 20-607
NVRAM data error
8645 Scale Z warning 20-607
NVRAM data error
8646 Grid info warning 20-607
NVRAM data error
8647 Grid information not received Central not ready 20-607
20-416
8701 – 872F Warning message of GYRO System
Fault
Code
GYRO 8701 GYRO system not ready Software Exception 20-608
8702 GYRO system not ready GYRO failure 20-608
8703 Angular velocity warning GYRO mount 20-608
8704 Angular velocity warning GYRO mount, GYRO failure 20-609
8705 Gyro RS232C frame warning GYRO failure 20-609
8706 Gyro RS232C over run warning GYRO failure 20-609
8707 Gyro RS232C parity warning GYRO failure 20-610
Gyro RS232C check-sum
warning
Gyro RS232C command
warning
Gyro RS232C unknown
870A GYRO failure 20-611
command warning
870B GYRO internal timer warning GYRO failure 20-611
870C GYRO RAM warning GYRO failure 20-611
870D GYRO ROM warning GYRO failure 20-612
870E GYRO wrong code warning GYRO failure 20-612
870F GYRO unknown code warning GYRO failure 20-612
8710 GYRO ACK warning GYRO RS232C line 20-613
8711 GYRO ACK byte warning GYRO failure 20-614
GYRO abnormal angular
velocity
8713 GYRO ACK data warning GYRO failure 20-614
GYRO RS232C data line
8714 GYRO data delay warning 20-615
GYRO failure
20-417
Fault
Code
GYRO 8715 GYRO angle range warning GYRO failure 20-617
Wiring problem
8716 GYRO angle deviation warning 20-618
GYRO failure
GYRO angular velocity range
warning
8718 GYRO COM data warning GYRO failure 20-617
8719 GYRO check-sum warning GYRO failure 20-620
871A GYRO Initialization warning GYRO failure 20-620
GYRO Offset Cancel mode
871B GYRO failure 20-620
warning
871C GYRO CAL warning GYRO failure 20-620
8720 GYRO Fatal warning GYRO failure 20-621
8721 GYRO BIT warning GYRO failure 20-621
8722 GYRO TEST warning GYRO failure 20-622
8723 GYRO SOFTWARE warning GYRO failure 20-622
8724 GYRO LASER TEMP warning GYRO failure 20-622
GYRO TEMP SENSOR
warning
8726 GYRO A_OUT warning GYRO failure 20-623
8727 GYRO MODULATION warning GYRO failure 20-623
8728 GYRO UNKNOWN warning GYRO failure 20-624
8729 GYRO Laser AMP warning GYRO failure 20-624
872A GYRO Laser MON warning GYRO failure 20-624
872B GYRO DETECTER warning GYRO failure 20-625
872C GYRO INTERFACE warning GYRO failure 20-625
872D GYRO UNKNOWN2 warning GYRO failure 20-625
872E GYRO RAM-ROM warning GYRO failure 20-626
872F GYRO MPU warning GYRO failure 20-626
20-418
8801 – 880C Warning message of Tire sensor,

8810 – 8818 Warning message of slope sensor
8819 – 8821 Warning message of moving direction
Fault
Code
Disconnection
Tire Sensor 8801 Front right pulse sensor warning 20-627
Disconnection
8802 Front left pulse sensor warning 20-629
Disconnection
8803 Both front pulse sensors warning Clearance setting failure 20-631
Disconnection
8804 Rear right pulse sensor warning 20-637
Sensor failure
Disconnection
8805 Rear left pulse sensor warning 20-639
Sensor failure
Disconnection
8806 Both Rear pulse sensors warning Clearance setting failure 20-641
Rear Right pulse deviation
8807 Clearance setting failure 20-643
warning
8808 Rear Left pulse deviation warning Clearance setting failure 20-645
Front Right pulse deviation
8809 Clearance setting failure 20-633
warning
880A Front Left pulse deviation warning Clearance setting failure 20-635
Tire failure
880B Rear Tire Radius warning 20-647
Tire failure
880C Front Tire Radius warning 20-647
Disconnection
Slope Sensor 8810 Pitch sensor warning 20-648
Road condition
8811 Pitch data not changed Pitch sensor failure 20-650
8812 Pitch warning at hopper Hopper road roughness 20-652
8813 Pitch angle limitation warning Pitch angle is out of specification 20-654
Disconnection
8814 Roll sensor warning 20-656
Road condition
8815 Roll data not changed Roll sensor failure 20-658
8816 Roll warning at hopper Hopper road roughness 20-660
8817 Roll angle limitation warning Roll angle is out of specification 20-662
Sensor line disconnection
8818 Both slope sensors warning 20-664
Sensor power unit or line failure
Moving
8819 Moving signal logic fault with GE GE system failure 20-666
direction
Signal line failure
8820 Moving F signal warning 20-667
GE system failure
Signal line failure
8821 Moving R signal warning 20-667
GE system failure
20-419
8901 – 8931 Warning message of REG system
Fault
Code
REG 8902 Laser beam blockage REG system inspection request 20-668
8904 REG Reflection warning Low reflection berm 20-668
8906 REG A/D signal warning Laser A/D signal is out of range 20-669
RS232C line disconnection
8907 REG RS232C signal warning 20-670
Laser RS232C data is not recieved
REG controller is now program
8908 Laser program mode 20-671
mode
8909 REG power line warning REG power line failure 20-672
Laser measurement data REG measurement failure
8910 20-675
warning Check fiber cable connection
8912 Laser OFF warning Laser light source failure 20-671
8914 Laser low power warning Laser power failure 20-673
8915 Laser low temp warning Laser temperature failure 20-677
8916 Laser high power warning Laser power failure 20-674
8917 Laser high temp warning Laser temperature failure 20-677
8918 Laser RAM warning Laser internal failure 20-678
8919 Laser EPROM warning Laser internal failure 20-678
891A Laser IDV internal warning Laser internal failure 20-678
891B Laser PAR internal warning Laser internal failure 20-678
891C Laser ZAD1 internal warning Laser internal failure 20-679
891D Laser ZAD2 internal warning Laser internal failure 20-679
891E Laser data oveflow Laser internal failure 20-679
Position warning of GPS Course setting failure
8920 20-679
8922 REG Angle correction warning Bank wall condition 20-680
Course setting failure
8924 Bank wall close 20-680
Bank wall condition
8930 Left side no room at Hopper GPS condition 20-680
8931 Right side no room at Hopper GPS condition 20-680
20-420
8A01 – 8A24 Warning message of Sensor Fusion system
Fault
Code
GPS condition
FUSION 8A01 Reset running request 20-681
Truck sliding, slippage, Tire lock
GPS condition,
8A02 Fusion Accuracy warning 20-681
8A03 Truck angle correction warning GPS condition 20-681
Position warning between Gps GPS condition
8A05 20-681
and DR Deadreckoning failure
8A06 Brake system warning Brake system failure 20-682
8A07 Truck angle deviation warning Sensor Fusion failure 20-682
8A09 Tire Lock warning Tire locked with hard braking 20-682
8A0A DR lateral accuracy warning Deadreckoning failure 20-682
Heading angle accuracy
8A0C Sensor Fusion failure 20-683
warning
8A0D Position accuracy warning Sensor Fusion failure 20-683
8A0E Sensor Fusion Failed Sensor Fusion failure 20-683
8A20 Tire Slippage warning Tire Slippage 20-684
GPS condition
8A21 Position Sliding DR vs GPS 20-687
Tire slippage, position sliding
Tire slippage
8A22 Front slippage L vs R 20-688
Sensor failure
Tire slippage
8A23 Rear slippage L vs R 20-690
Sensor failure
Tire slippage
8A24 Rear slippage R vs GPS 20-687
Sensor failure
20-421
8B01 – 8B16 Warning message of NVRAM and Software Exceptions
Fault
Code
Sensor Fusion data lost in
NVRAM 8B01 NVRAM data lost 20-692
NVRAM
8B02 Set slope and roll offset NVRAM data lost 20-692
8B03 Set Origin data NVRAM data lost 20-692
8B04 Set radius data for REG NVRAM data lost 20-692
8B05 Set target data for REG NVRAM data lost 20-693
8B06 Set parameters for REG NVRAM data lost 20-693
Navigation Fatal software
Software 8B07 PMS software failure 20-693
warning
Exception 8B08 Gyro RS232C Tx overflow RS232C failure 20-693
8B09 Laser RS232C Tx overflow RS232C failure 20-694
8B0A Monitor RS232C Tx overflow RS232C failure 20-694
8B0B Gyro RS232C Rx data lost RS232C failure 20-694
8B0C Laser RS232C Rx data lost RS232C failure 20-694
8B0D Monitor RS232C Rx data lost RS232C failure 20-695
8B0E Angle range warning PMS software failure 20-695
8B0F Main cycle warning Main busy 20-695
8B10 Speed Fusion warning Sensor Fusion failure 20-695
8B11 Navigation too busy Main busy 20-696
8B12 DPRAM data warning Main busy and DPRAM failure 20-696
8B13 Navigation System not ready PMS software failure 20-696
8B15 Unknown Shift Position Drive control software failure 20-696
8B17 Analog Input Error LH Drive controller busy 20-697
20-422
Troubleshooting for position measurement system
Blank page
(Page 423 –429)

Troubleshooting for position measurement system 4601
4601 GPS Quality error
Fault Code 4601

Message GPS Quality error
Description GPS quality mode (Type) doesn’t become RTK mode for 2 minutes or
more.
<GPS Quality mode>
Type= 0: Invalid mode, 1: Single Point mode, 4: RTK fixed mode,
5: RTK float mode
1) RTK-Float Mode (type=5) or RTK-Fix Mode (type=4) is necessary

for AT-Travel.
2) RTK-Fix Mode (type=4) is necessary for approaching to Excavator.
3) RTK-Fix Mode (type=4) is necessary for approaching to
Edge-Berm in HighDumpArea.
4) RTK-Fix Mode (type=4) is necessary for approaching to Crusher.
Possible Cause ¾ Truck GPS system condition or failure
z Lack of Sky visibility (operation area condition, Gps condition)
z GPS antenna broken, GPS antenna mast broken
z GPS antenna wiring / connector problem
z Software Malfunction of ML-HUB GPS system
z Hardware Malfunction inside ML-HUB (wiring, connector)
z Malfunction of GPS board itself (software, hardware)
¾ Communication problem between Truck GPS system and Central
GPS system
z Truck MasterLink Radio antenna broken (Radio A, Radio B)
z Truck MasterLink Radio wiring / connector / device problem
z MasterLink network problem (Access point, mobile repeater etc)
¾ Central GPS system condition or failure
z Lack of Sky visibility (High wall near the GPS ground station)
z Ground Station GPS antenna broken
z Ground Station GPS antenna wiring / connector problem
z Malfunction of Ground Station GPS system
(ML-HUB software, ML-HUB hardware, GPS board etc.)
Remedy <Action>
Wait for GPS recovered, restart the truck.
If GPS not recovered in a short time, check as follows.
<How to check>
¾ GPS condition check (Central Operator)
z NavStatus in Central Operation screen
z OMStip method from Central
¾ GPS system hardware inspection (Pit Patroller)
z GPS antenna / wiring / connector
z Radio antenna / wiring / connector
z ML-HUB wiring / connector etc
20-430
<NavStatus check (Central Operator)>

Check the truck status and the NavStatus value in Central Operation Screen.
Truck status NavStatus value Action
Approaching to 0 : (ready for approaching) Restart the truck
EdgeDump Berm, Crusher, or 1, 8 or 9 Wait for a few minute, until
Excavator NavStatus become 0.(ready).
others See NavStatus Information
(20-403 - 408)
Else 0, 1 (ready for traveling) Restart the truck
8 or 9 Wait for a few minute, until
NavStatus become 0 or 1(ready).
(20-403 - 408)
<OMStip method (Central Operator)>

Step1: After a few minutes waiting, if NavStatus never become ready, check the GPS
rtcmAge condition with using OMStip method.
>OMStip T1 ( example for Truck 1)
OMStip (T1-ML)> Gps gps <type>
(1) Single Point Mode 0 : Invalid
time 212750.000000000000
day 26 1 : Single Point Mode
month 8 4 : Fix mode (RTK)
year 2005
latitude 2214.327946400000 5 : Float mode (RTK)
latDirection 0x53
longitude 6853.007101700000
lonDirection 0x57
type 1
numSats 13 <rtcmAge>
hdop 0.780000
elev 3013.752930 Delay time of RTCM correction data
geoidSep 34.092602
rtcmAge -1.234568e8 If rtcmAge is -1.234568e8,
baseId 13035
trueCourse 151.091995 GPS correction data is not used in truck
speedKph 0.645400 GPS system.
sigmaRadius 4.383000
sigmaLat 1.197000 Normal condition : less than 8 sec
sigmaLon 1.565000
sigmaElev 3.915000
If GPS type =1 and rtcmAge = -1.234568e8, or rtcmAge is not less than 8 sec, check
the MasterLink network communication between the truck ML-HUB and Central.
20-431
(2) Float mode (RTK) <type>

time 212643.000000000000
day 26 0 : Invalid
month 8
year 2005 1 : Single Point Mode
latitude 2214.328853500000
latDirection 0x53 4 : Fix mode (RTK)
longitude 6853.007420800000 5 : Float mode (RTK)
lonDirection 0x57
type 5
numSats 8
hdop 0.970000 <numSats>
elev 3029.119873
geoidSep 34.092602 Number of GPS / Glonass satellites (5 or
rtcmAge 2.000000
baseId 0 more necessary to be Fix mode)
trueCourse 135.457001
speedKph 4.019900
sigmaRadius 0.980000 <rtcmAge>
sigmaLat 0.128000
sigmaLon 0.142000 Delay time of RTCM correction data
sigmaElev 0.962000
Normal condition : less than 8 sec
Step 2 : After a few minutes waiting, GPS type never becomes 4 (RTK-Fix mode), please
try GPS software reset command below and continue to check GPS condition.
OMStip(T1-ML)>Gps doSoftReset
try GPS hardware reset command below and continue to check GPS condition.
OMStip(T1-ML)>Gps doHardReset
try ML-HUB reset command below and continue to check GPS condition.
OMStip(T1-ML)>reboot
20-432
4603 Lack of Satellites error
Fault Code 4603

Message Lack of Satellites
Description 1) GPS satellites number is less than 5 for 2 minutes or more.
2) GPS Satellites number is 5 and GPS position jump is detected.
<Expected behavior>
1) 5 satellites or more is necessary to continue AT-Travel.
2) If satellites availability is only 5, AHT will slow down to 25km/h.
Possible Cause ¾ Truck GPS system condition
z Lack of Sky visibility (Site condition, Satellites condition)
z GPS antenna / GPS antenna support mast broken
Remedy <Action>
<How to check>

(20-403 - 408)
(20-403 - 408)
20-433

OMStip(T1-ML)>Gps gps
time 212643.000000000000
day 26
month 8
year 2005
latitude 2214.328853500000
latDirection 0x53
longitude 6853.007420800000
lonDirection 0x57
type 5
numSats 8
elev 3029.119873
rtcmAge 2.000000
speedKph 4.019900
sigmaLat 0.128000
sigmaLon 0.142000
sigmaElev 0.962000
20-434
4604 GPS correction data delay
Fault Code 4604

Message GPS correction data delay
Description GPS rtcmAge become larger than 25 sec.
<Expected behavior>
1) GPS rtcmAge is less than 8 sec.
Possible Cause ¾ Loss of MasterLink communication between Truck and Central
z Truck ML-Radio system problem
(antenna / wiring / connector / device )
z Central ML-Radio system problem
z MasterLink network system problem
(Access point, mobile repeator)
z MasterLink network coverage
¾ GPS system configuration
z Wrong configuration of GPS RTCM functionality
¾ Malfunction of GPS correction data handling
z GPS board rejects the correction data (GPS software problem)
z GPS correction data broken (ML-HUB software problem)
z GPS correction data stop (Hardware problem inside ML-HUB )
Remedy <Action>
Wiat for GPS recovered, restart the truck.
<How to check>
¾ MasterLink condition check
(Check radio communication quality)
¾ GPS Condition & Configuration check
z GPS condition check with using OMStip method
z GPS RTCM configuration check with using OMStip method

(20-403 - 408)
(20-403 - 408)
20-435
<GPS condition check with OMStip method (Central Operator)>

time 212643.000000000000
day 26
month 8
year 2005
latitude 2214.328853500000
latDirection 0x53
longitude 6853.007420800000
lonDirection 0x57
type 5
numSats 8 <rtcmAge>
hdop 0.970000
Delay time of RTCM correction data
elev 3029.119873
geoidSep 34.092602 Normal condition : less than 8 sec
rtcmAge 25.000000
baseId 0
speedKph 4.019900
sigmaLat 0.128000
sigmaLon 0.142000
sigmaElev 0.962000
<GPS RTCM configuration check (Central Operator)>

OMStip(T1-ML)>GpsRTCM
GpsRTCM
base :
module : <command>
object : <command>
path : no
save : <command>
port : xil0
flags :0 <diffReq>
hdwe : none
speed : 115200 diffReq value should be 4900.
set : <command> <ucastDiffNum>
errors : <command>
sendTo : none ucastDiffNum should be 1
debug :0
diffReq : 4900
ucastDiffNum: 1
20-436
4605 GPS GST reset convergence error
Fault Code 4605

Message GPS GST reset
Description GPS GST value (2D estimated sigma error) become too large to
continue AT travel when truck is running.
GST = sqr ((sigmaLat)^2+(sigmaLon)^2))

z Drastical constellation change of GPS/Glonass satellites
z Multi-pass of GPS signal
z Too much vibration of GPS antenna (Road roughness)
z Truck GPS hardware problem (Antenna, wiring, connector, board)
z Truck GPS software problem
Remedy <Action>
<How to check>

(20-403 - 408)
(20-403 - 408)
20-437
<How to check the GPS condition with using OMStip method (Central Operator)>
time 212643.000000000000
day 26
month 8
year 2005
latitude 2214.328853500000
latDirection 0x53
longitude 6853.007420800000
lonDirection 0x57
type 5
numSats 8
hdop 0.970000 <sigmaRadius>
elev 3029.119873
geoidSep 34.092602 sigumaRadius=
rtcmAge 2.000000
baseId 0 sqr((sigmaLat)^2+(sigmaLon)^2+(sigmaElev)^2)
trueCourse 135.457001 sigmaLat : Lattitude sigma error estimated
speedKph 4.019900
sigmaRadius 0.980000 sigmaLon : Longitude sigma error estimated
sigmaLat 0.128000
sigmaLon 0.142000 sigmaElev : Elevation sigma error estimated
sigmaElev 0.962000
20-438
4606 GPS not ready error
Fault Code 4606

Message GPS not ready
Description GPS system is not ready to measure the accurate position of truck.
Not possible to travel in Auto mode.
GPS system condition reported from HUB is not ready.

Possible Cause ¾ Truck GPS system condition or failure
z Software Mulfunction of ML-HUB GPS system
z Hardware Mulfunction inside ML-HUB (wiring, connector)
z Mulfunction of GPS board itself (software, hardware)
¾ Communication problem between Truck GPS system and Central

GPS system
z Truck MasterLink Radio antenna broken (Radio A, Radio B)
z Truck MasterLink Radio wiring / connector / device problem
z MasterLink network problem (Access point, mobile repeator etc)

z Malfunction of Ground Station GPS system
(ML-HUB software, ML-HUB hardware, GPS board etc.)
Remedy <Action>
<How to check>
z Radio antenna / wiring / connector
z ML-HUB wiring / connector etc
20-439

(20-403 - 408)
(20-403 - 408)

Step1: After a few minutes waiting, if NavStatus never become ready, check the GPS
rtcmAge condition with using OMStip method.
OMStip (T1-ML)> Gps gps <type>
(1) Single Point Mode 0 : Invalid
time 212750.000000000000
day 26 1 : Single Point Mode
month 8 4 : Fix mode (RTK)
year 2005
latitude 2214.327946400000 5 : Float mode (RTK)
latDirection 0x53
longitude 6853.007101700000
lonDirection 0x57
type 1
numSats 13 <rtcmAge>
hdop 0.780000
elev 3013.752930 Delay time of RTCM correction data
geoidSep 34.092602
rtcmAge -1.234568e8 If rtcmAge is -1.234568e8,
baseId 13035
trueCourse 151.091995 GPS correction data is not used in truck
speedKph 0.645400 GPS system.
sigmaLat 1.197000 Normal condition : less than 8 sec
sigmaLon 1.565000
sigmaElev 3.915000
If GPS type =1 and rtcmAge = -1.234568e8, or rtcmAge is not less than 8 sec, check
the MasterLink network communication between the truck ML-HUB and Central.
20-440
(2) Float mode (RTK) <type>

time 212643.000000000000
day 26 0 : Invalid
month 8
year 2005 1 : Single Point Mode
latitude 2214.328853500000
latDirection 0x53 4 : Fix mode (RTK)
longitude 6853.007420800000 5 : Float mode (RTK)
lonDirection 0x57
type 5
numSats 8
elev 3029.119873
rtcmAge 2.000000
speedKph 4.019900
sigmaRadius 0.980000 <rtcmAge>
sigmaLat 0.128000
sigmaLon 0.142000 Delay time of RTCM correction data
sigmaElev 0.962000
Normal condition : less than 8 sec
<sigmaRadius>
sigumaRadius=
sqr((sigmaLat)^2+(sigmaLon)^2+(sigmaElev)^2)
sigmaLat : Lattitude sigma error estimated
sigmaLon : Longitude sigma error estimated
sigmaElev : Elevation sigma error estimated
If GPS type never be 4(RTK-FIX) and SigmaRadius never converged, go next step.
Step 2 : After a few minutes waiting, GPS type never become 4 (RTK-Fix mode), please
try GPS software reset command below and continue to check GPS condition.
OMStip(T1-ML)>Gps doSoftReset
try GPS hardware reset command below and continue to check GPS condition.
OMStip(T1-ML)>Gps doHardReset
try ML-HUB reset command below and continue to check GPS condition.
OMStip(T1-ML)>reboot
20-441
4607 Wait for good GPS error
Fault Code 4607

Message Wait for good GPS
Description 1) GPS GST value (2D estimated sigma error) become too large to
approach to EdgeDump Berm or Excavator
<Expected behavior>
GST value should be lower than 100mm to approach to EdgeDump
Berm or Excavator
Remedy <Action>
<How to check>

EdgeDump Berm or Excavator 1, 8 or 9 Wait for a few minute, until
NavStatus become 0.(ready).
(20-403 - 408)
20-442

time 212643.000000000000
day 26
month 8
year 2005
latitude 2214.328853500000
latDirection 0x53
longitude 6853.007420800000
lonDirection 0x57
type 5
numSats 8
elev 3029.119873
rtcmAge 2.000000
speedKph 4.019900
sigmaLat 0.128000
sigmaElev 0.962000
20-443
4608 Wait for good GPS at Hopper error
Fault Code 4608

Message Wait for good GPS at Hopper
Description 1) GPS GST value (2D estimated sigma error) become too large to
approach to Crusher (Hopper)
<Expected behavior>
GST value should be lower than 50mm to approach to Crusher
(Hopper).
Check <Action>
<How to check>

Approaching to Crusher 0 : (ready for approaching) Restart the truck
NavStatus become 0.(ready).
(20-403 - 408)
20-444
<How to check the GPS condition with using OMStip method>

time 212643.000000000000
day 26
month 8
year 2005
latitude 2214.328853500000
latDirection 0x53
longitude 6853.007420800000
lonDirection 0x57
type 5
numSats 8
elev 3029.119873
rtcmAge 2.000000
speedKph 4.019900
sigmaLat 0.128000
sigmaElev 0.962000
20-445
Troubleshooting for position measurement system 460B,460E
460B the message of GPS recovery
Fault Code 460B

Message GPS recovering
Description When GPS recovered from unavailable condition, system makes sure
that gps condition becomes available with checking for 3 times
continuous reliable GPS input and system informs this message during
this checking period.
z Drastically constellation change of GPS/Glonass satellites
z And so on
Remedy <Action> Wait for GPS recovered, restart Truck
460E GPS GST not ready
Fault Code 460E

Message GPS GST not ready
Description GPS GST value (2D estimated sigma error) is too large to start AT
operation when truck is stopped.
<Expected behavior>
GST value should be lower than 300mm to continue AT-Travel.
Remedy <Action>
<How to check>
z With using OMStip method
20-446
Troubleshooting for position measurement system 460B,460E

(20-403 - 408)
(20-403 - 408)

time 212643.000000000000
day 26
month 8
year 2005
latitude 2214.328853500000
latDirection 0x53
longitude 6853.007420800000
lonDirection 0x57
type 5
numSats 8
elev 3029.119873
rtcmAge 2.000000
speedKph 4.019900
sigmaLat 0.128000
sigmaElev 0.962000
20-447
4610 Position Accuracy error
Fault Code 4610

Message Position Accuracy error
Description Estimated truck position accuracy is low to continue autonomous
traveling because GPS position measurement is unavailable.
<Expected behavior>
Truck will stop to wait for GPS condition recovered.
z And so on
¾ Road condition
z GPS become unstable because of Road roughness
Remedy <Action>
<How to check>

(20-403 - 408)
(20-403 - 408)
20-448
4611 Heading Accuracy error
Fault Code 4611

Message Heading Accuracy error
Description Estimated truck heading accuracy is low to continue Autonomous
<Expected behavior>
z And so on
¾ Road condition
Remedy <Action>
<How to check>

(20-403 - 408)
(20-403 - 408)
20-449
4612 Travel distance limitation without GPS
Fault Code 4612

Message Travel distance limitation without GPS
Description If truck travel distance becomes over 150m without position correction
by GPS, truck should stop to keep truck position accuracy.
<Expected behavior>
¾ Road condition
Remedy <Action>
<How to check>

(20-403 - 408)
(20-403 - 408)
20-450
4621 GPS delay from PPS timing
Fault Code 4621

Message GPS delay from PPS timing
Description PPS timing and GPS data input are not synchronized.
GPS data input is delayed vs PPS input timing.
<Expected behavior>
Both GPS output and PPS output is 2Hz frequency.
Both GPS Interval and PPS interval is between 0.4 sec and 0.6 sec.
Possible Cause ¾ Truck ML-HUB system condition
z Defective ML-HUB system
z CAN bus is too busy
z HUB GPS configuration failure
Remedy <Action>
Reboot the ML-HUB and restart the truck.
20-451
4624 GPS communication Lost
Fault Code 4624

Message GPS communication lost
Description GPS data input from CAN-A is delayed, lost or stopped.
(If ML-HUB has a reset, this error is happened.)
Start
Y
GPS data received?
N
Count up Count clear
N
Count > Threshold ?
Y
Exception 4624
<Expected behavior>
GPS output is 2Hz frequency.
GPS Interval is between 0.4 sec and 0.6 sec.
z ML-HUB has a reset
¾ Wiring problem
Remedy <Action>
1) If NavStaus is 0 or 1, restart the truck.
2) Reboot the ML-HUB and try to restart the truck.
<How to check>
z Monitor GPS data with LH Drive IO Checker (See 20-460)
LHDrivecheck -> Navigation System Monitor
-> Check GPS interval
z Can-A line check
20-452
<CAN-A line diagram>
20-453
4625 PPS signal error
Fault Code 4625

Message PPS signal error
Description PPS input from ML-HUB is delayed, lost or stopped.
(If ML-HUB has a reset, this error is happened.)
Start
Y
PPS signal ON?
N
N
Count > Threshold ?
Y
Exception 4625
<Expected behavior>
PPS output is 2Hz frequency.
PPS interval is between 0.4 sec and 0.6 sec.
z ML-HUB has a reset
¾ Wiring problem
Remedy <Action>
1) Restart the truck, if NavStaus is 0 or 1.
<How to check>
z Monitor GPS data with LH Drive IO Checker (See 20-460)
LHDrivecheck -> Navigation System Monitor
-> Check PPS interval
z PPS signal line (90PPS) check
(from ML-HUB to LH Drive controller)
<PPS signal line diagram>

<LH controller CN5> <Modular Mining HUB>
90PPS
PPS SIG CN5-03 P-GSP PPS OUT
TB55-N
20-454
4631 Wrong status code from HUB GPS error
Fault Code 4631

Message Wrong status code from HUB-GPS
Description Wrong status code was received from HUB_GPS system.

Remedy <Action>
Replace the ML-HUB
20-455
Troubleshooting for position measurement system 4640, 4641
4640 Origin X error
Fault Code 4640

Message Origin X error
Description GPS origin X data received from Supervisory system is different from
the one in LH Drive controller NVRAM
Possible ¾ Wrong setting of GPS ground station position.
Cause ¾ Wrong NVRAM data
z New controller installed
z NVRAM failure
Remedy <Action>
1) Make sure Central Operation system correctly running and GPS
ground station position is correctly set in MMS Central Operation
system. If not, set the correct value in Supervisory system.
If GPS ground station position is changed, do all survey and
create new data base again.
2) Do GPS Origin setting.
(See 20-13 “GPS origin configuration setting”)
3) After GPS origin setting correctly, do Reset Running. (See 20-560)
4641 Origin Y error
Fault Code 4641

Message Origin Y error
Description GPS origin Y data received from Supervisory system is different from
z NVRAM failure
Remedy <Action>
20-456
4642 Origin Z error
Fault Code 4642

Message Origin Z error
Description GPS origin Z data received from Supervisory system is different from
z NVRAM failure
Remedy <Action>
4643 Scale X error
Fault Code 4643

Message Scale X error
Description GPS origin X scale data received from Supervisory system is different
from the one in LH Drive controller NVRAM
Possible ¾ Wrong setting of GPS ground station scale data.
z NVRAM failure
Remedy <Action>
3) After GPS origin setting correctly, do Reset Running.
(See 20-560)
20-457
4644 Scale Y error
Fault Code 4644

Message Scale Y error
Description GPS origin Y scale data received from Supervisory system is different
z NVRAM failure
Remedy <Action>
(See 20-560)
4645 Scale Z error
Fault Code 4645

Message Scale Z error
Description GPS origin Z scale data received from Supervisory system is different
z NVRAM failure
Remedy <Action>
(See 20-560)
20-458
4646 Grid info error
Fault Code 4646

Message Grid info error
Description GPS origin scale factor data received from Supervisory system is not
correct value.
Possible ¾ Wrong setting of scale factor data in GPS Grid information
Cause
Remedy <Action>
Grid information data is correctly set in MMS Central Operation
4647 Grid information not received
Fault Code 4647

Message Grid information not received
Description GPS Grid information data is not received yet from Supervisory
system.
Possible ¾ Central Operation system is not running
Cause ¾ Master Link Radio network system problem between the truck and
Supervisory system.
Remedy <Action>
1) Start up the Central Operation system
2) If this error repeats, check the Master Link Network system
between the truck and Supervisory system.
20-459
Troubleshooting for position measurement system <How to check the GPS condition>
<How to check the GPS condition with Monitor Drive PC>
1. Connect Monitor PC (Serial cable port : COM1, COM-Drive)

2. Open LH Drive Monitor software “LH Drive IO Checker”.
3. Open Navigation System Monitor.
4. Check GPS condition in GPS section
X pos [m] : Longitudinal Distance from Central GPS Origin data.

Y pos [m] : Lateral Distance from Central GPS Origin data.
GPS mode : GPS Quality mode
Type= 0: Invalid mode, 1: Single Point mode, 4: RTK fixed mode,
5: RTK float mode
1) RTK-Float Mode (type=5) or RTK-Fix Mode (type=4) is necessary for AT-Travel.
2) RTK-Fix Mode (type=4) is necessary for approaching to Excavator.
3) RTK-Fix Mode (type=4) is necessary for approaching to Edge-Berm.
4) RTK-Fix Mode (type=4) is necessary for approaching to Crusher.
Num of Satellites : Number of satellites (Total of GPS and Glonass)
1) At least 5 Satellites is necessary for AT-Travel.
Age of data [sec] : Differential correction data delay
Normal condition : less than 8 seconds.
Warning condition : 8 seconds or more
Error condition : more than 25 seconds

PPS Interval : PPS signal interval. It is normally between 0.4 and 0.6 seconds.
GPS Interval : GPS data interval. It is normally between 0.4 and 0.6 seconds
20-460
4702 Gyro system not ready
Fault Code 4702

Message Gyro system not ready
Description Gyro system detects Gyro start-up error.
After Gyro system start-up, Gyro system doesn’t start the angle
measurement.
Possible Cause ¾ Defective Gyro system

z Gyro failure
Remedy <Action>
1) Do power cycle of truck. Try to restart.
2) If this error can’t be reset, replace the Gyro Sensor.
3) If you replace the gyro sensor, do Gyro adjustment. (See 20-16)
4704 Gyro Angular velocity error
Fault Code 4704

Message Gyro Angular velocity error
Description Gyro system detects high angular velocity.
Possible Cause ¾ Gyro got too high angular velocity

z Gyro mount is not good.
z Gyro failure
Remedy <Action>
1) Inspect the Gyro mount.
2) If Gyro mount is no problem, replace the Gyro Sensor
20-461
Troubleshooting for position measurement system 4705, 4706, 4707
4705 Gyro RS232C frame error
Fault Code 4705

Message Gyro RS232C frame error
Description Gyro system detects Gyro RS232C frame error.

z Gyro failure
Remedy <Action>
4706 Gyro RS232C over run error
Fault Code 4706

Message Gyro RS232C over run error
Description Gyro system detects Gyro RS232C over run error.

z Gyro failure
Remedy <Action>
4707 Gyro RS232C parity error
Fault Code 4707

Message Gyro RS232C parity error
Description Gyro system detects Gyro RS232C parity error.

z Gyro failure
Remedy <Action>
2) If this error can’t be reset, replace the Gyro Sensor
20-462
Troubleshooting for position measurement system 4708 4709 470A
4708 Gyro RS232C check-sum error
Fault Code 4708

Message Gyro RS232C check-sum error
Description Gyro system detects Gyro RS232C check-sum error.

z Gyro failure
Remedy <Action>
4709 RS232C command error
Fault Code 4709

Message Gyro RS232C command error
Description Gyro system detects Gyro RS232C command error.

z Gyro failure
Remedy <Action>
470A Gyro RS232C unknown command error
Fault Code 470A

Message Gyro RS232C unknown command error
Description Gyro system detects Gyro RS232C unknown command error.

z Gyro failure
Remedy <Action>
20-463
Troubleshooting for position measurement system 470B,470C,470D
470B Gyro internal timer error
Fault Code 470B

Message Gyro internal timer error
Description Gyro system detects Gyro internal timer error.

z Gyro failure
Remedy <Action>
470C Gyro RAM error
Fault Code 470C

Message Gyro RAM error
Description Gyro system detects Gyro RAM error.

z Gyro failure
Remedy <Action>
470D Gyro ROM error
Fault Code 470D

Message Gyro ROM error
Description Gyro system detects Gyro ROM error.

z Gyro failure
Remedy <Action>
20-464
Troubleshooting for position measurement system 470E,470F
470E Gyro wrong error
Fault Code 470E

Message Gyro wrong code error
Description Wrong error code was received from Gyro system.

z Gyro failure
Remedy <Action>
470F Gyro unknown error
Fault Code 470F

Message Gyro unknown code error
Description Gyro error flag was received but no error code from Gyro system.

z Gyro failure
Remedy <Action>
20-465
4710 Gyro ACK error
Fault Code 4710

Message Gyro ACK error
Description No ACK data from Gyro unit for 3 sec after LH controller sends initial
command.
Possible Cause ¾ Wiring

z Loose wiring / connector of Gyro system circuit.
¾ Defective Gyro system
z Gyro failure
Remedy <Action>
1) If this warning can’t be reset, check the Gyro circuit.
<Check the wiring continuity and looseness>
z Gyro power supply 12V Line (12VG, 0G)
z Signal wiring (90GYT, 90GYG, 90GYR)
z Gyro unit connector (FG1)
z LH drive controller connector & Pin(CN9-05, CN9-10, CN9-04)
2) If this warning still can’t be reset, replace the Gyro unit.
<Gyro system diagram>
20-466
4711 Gyro ACK byte error
Fault Code 4711

Message Gyro ACK byte error
Description Gyro ACK data size is wrong

z Gyro failure
Remedy <Action>
4712 Gyro abnormal angular velocity
Fault Code 4712

Message Gyro abnormal angular velocity
Description Navigation System detects continuous strange Gyro angular velocity
when truck is stopped.

z Gyro failure
Remedy <Action>
1) Do power cycle of truck.
4713 Gyro ACK data error
Fault Code 4713

Message Gyro ACK data error
Description Gyro ACK data is wrong.

z Gyro failure
Remedy <Action>
20-467
4714 Gyro data delay error
Fault Code 4714

Message Gyro data delay error
Description Navigation system detects abnormal Gyro data delay
Start
Is new Gyro data received? Y
N
N
Count > Threshold?
Y
Exception 4714
Possible Cause ¾ LH-Drive controller too busy

¾ Wiring
z Gyro failure
Remedy <Action>
2) If this error can’t be reset, check the Gyro circuit.
<Check if Gyro data is coming to LH-Drive>
z Check with LH Drive IO Checker (See 20-481) with moving
truck condition.
3) If this error still can’t be reset, replace the Gyro unit.
20-468
20-469
4715 Gyro angle range error
Fault Code 4715

Message Gyro angle range error
Description Gyro angle data is out of range.

z Gyro failure
Remedy <Action>
4717 Gyro angular velocity range error
Fault Code 4717

Message Gyro angular velocity range error
Description Gyro angle angular velocity data is out of range.

z Gyro failure
Remedy <Action>
4718 Gyro COM data error
Fault Code 4718

Message Gyro COM data error
Description Gyro communication data is wrong. Unexpected data was received.

z Gyro failure
Remedy <Action>
20-470
4716 Gyro angle deviation error
Fault Code 4716

Message Gyro angle deviation error
Description Navigation system detects large Gyro angle data jump.
Start
N
Is new Gyro data received?
Y
Calculate the deviation data
Gyro deviation = | new data – old data |
N
Gyro deviation > Threshold?
Y
Exception 4716

¾ Wiring
z Gyro failure
Remedy <Action>
truck condition.
20-471
20-472
Troubleshooting for position measurement system 4719, 471C
4719 Gyro check-sum error
Fault Code 4719

Message Gyro check-sum error
Description Gyro communication check-sum data is wrong.

z Gyro failure
Remedy <Action>
471C Gyro CALL mode error
Fault Code 471C

Message Gyro CALL mode error
Description Gyro doesn’t become rate integral mode after LH sends integral start
command.

z Gyro failure
Remedy <Action>
20-473
4720 Gyro FATAL error
Fault Code 4720

Message Gyro FATAL error
Description Gyro system detects Gyro FATAL error.
BIT15 status (ELSE) in ON.
z Gyro failure
Remedy <Action>
4721 Gyro BIT error
Fault Code 4721

Message Gyro BIT error
Description Gyro system detects Gyro BIT error.
BIT14 Status (BIT) is ON.
z Gyro failure
Remedy <Action>
4722 Gyro TEST error
Fault Code 4722

Message Gyro TEST error
Description Gyro system detects Gyro TEST error.
BIT13 Status (TEST) is ON.
z Gyro failure
Remedy <Action>
20-474
4723 Gyro SOFTWARE error
Fault Code 4723

Message Gyro SOFTWARE error
Description Gyro system detects Gyro SOFTWARE error.
BIT12 status (SOFTWARE) in ON.
z Gyro failure
Remedy <Action>
4724 Gyro LASER-TEMP error
Fault Code 4724

Message Gyro LASER-TEMP error
Description Gyro system detects Gyro LASER-TEMP error.
BIT11 Status (LASER-TEMP) is ON.
z Gyro failure
Remedy <Action>
4725 Gyro TEMP-SENSOR error
Fault Code 4725

Message Gyro TEMP-SENSOR error
Description Gyro system detects Gyro TEMP-SENSOR error.
BIT10 Status (TEMP-SENSOR) is ON.
z Gyro failure
Remedy <Action>
20-475
4726 Gyro ANALOG-OUT error
Fault Code 4726

Message Gyro A-OUT error
Description Gyro system detects Gyro ANALOG-OUTPUT error.
BIT9 status (ANALOG-OUTPUT) in ON.
z Gyro failure
Remedy <Action>
4727 Gyro MODULATION error
Fault Code 4727

Message Gyro MODULATION error
Description Gyro system detects Gyro MODULATION error.
BIT8 Status (MODULATION) is ON.
z Gyro failure
Remedy <Action>
4728 Gyro UNKNOWN error
Fault Code 4728

Message Gyro UNKNOWN error
Description Gyro system detects Gyro UNKNOWN error.
BIT7 Status (UNKNOWN) is ON.
z Gyro failure
Remedy <Action>
20-476
Troubleshooting for position measurement system 4729, 472A, 472B
4729 Gyro Laser-AMP error
Fault Code 4729

Message Gyro Laser-AMP error
Description Gyro system detects Gyro Laser-AMP error.
BIT6 status (Laser AMP) in ON.
z Gyro failure
Remedy <Action>
472A Gyro Laser-MON error
Fault Code 472A

Message Gyro Laser-MON error
Description Gyro system detects Gyro Laser-MON error.
BIT5 Status (Laser-MON) is ON.
z Gyro failure
Remedy <Action>
472B Gyro DETECTOR error
Fault Code 472B

Message Gyro DETECTOR error
Description Gyro system detects Gyro DETECTOR error.
BIT4 Status (DETECTOR) is ON.
z Gyro failure
Remedy <Action>
20-477
Troubleshooting for position measurement system 472C 472D 472E
472C Gyro Interface error
Fault Code 472C

Message Gyro Interface error
Description Gyro system detects Gyro Interface error.
BIT3 status (Interface) in ON.
z Gyro failure
Remedy <Action>
472D Gyro UNKNOWN2 error
Fault Code 472D

Message Gyro UNKNOWN2 error
Description Gyro system detects Gyro UNKNOWN2 error.
BIT2 Status (UNKNOWN2) is ON.
z Gyro failure
Remedy <Action>
472E Gyro RAM-ROM error
Fault Code 472E

Message Gyro RAM-ROM error
Description Gyro system detects Gyro RAM-ROM error.
BIT1 Status (RAM-ROM) is ON.
z Gyro failure
Remedy <Action>
20-478
Troubleshooting for position measurement system 472F
472F Gyro MPU error
Fault Code 472F

Message Gyro MPU error
Description Gyro system detects Gyro MPU error.
BIT0 Status (MPU) is ON.
z Gyro failure
Remedy <Action>
20-479
4730 Gyro error while GPS unavailable
Fault Code 4730

Message Gyro error while GPS unavailable
Description Navigation system detects Gyro error while GPS unavailable.

¾ Wiring
z Gyro failure
Remedy <Action>
z Gyro power supply 12V Line
z LH drive controller connector (CN9)
<Check the Gyro function by LH Drive IO checker (See 20-481)>

20-480
Troubleshooting for position measurement system <How to check the Gyro>
<How to check the GYRO condition with Monitor Drive PC>

4. Check GYRO condition in GYRO section
Angle [deg] : Gyro angle data (between -180 to 180 deg)

Angle velocity [deg/s] : Gyro angular velocity data (between -200 to 200deg/s)
Status : 0 (normal condition)
Error : 0 (normal condition)
Gyro Angle
(-) (+)
20-481
4801 Front Right pulse sensor error
Fault Code 4801

Message Front Right pulse sensor error
Description No pulse input from Front Right sensor when Front Left wheel speed
becomes more than 7km/h for more than 1 sec.
Possible Cause ¾ Defective Front Right Speed Sensing system
z Speed Sensor installation problem
(Gap is too wider to sense the pulse)
z Speed Sensor power supply wiring (15RFS,0LF)
z Speed Sensor signal wiring（33RF）
z Speed Sensor power line FUSE(FB2-14)
z Speed Sensor connector and LH Drive CN8-12
z Speed Sensor Failure
z Signal Noise
Remedy <Action>
2) If this error can’t be reset, investigate the speed sensor circuit
z Check with LH Drive IO Checker (See 20-503)
<Installation>
¾ Adjustment Front Pulse sensor

Gap=0.06 [inch] = 1.5 [mm]
Gap
20-482
＜Circuit diagram＞
<Check the voltage of Power Supply>

1) Between RT Sensor Connector A and C = 15V
2) FB2-B, TB28H : 15V,
<Check the wiring continuity & GND level>

1) Signal Line :
RT Sensor Connector B -> TB55-D -> CN8-12
2) GND Line & Level:
RT Sensor Connector C -> TB55-F -> CN8-14
<Check the FUSE of Power Supply>

FB2-14 (5A) : Not blown (not burnt out)
20-483
4802 Front Left pulse sensor error
Fault Code 4802

Message Front Left pulse sensor error
Description No pulse input from Front Left sensor when Front Right wheel speed
Possible Cause ¾ Defective Front Left Speed Sensing system
z Speed Sensor power supply wiring (15LFS,0LF)
z Speed Sensor signal wiring（33LF）
z Signal Noise
Remedy <Action>
<Installation>

Gap=0.06 [inch] = 1.5 [mm]
Gap
20-484

1) Between LT Sensor Connector A and C = 15V
2) FB2-B, TB28H : 15V,

1) Signal Line :
LT Sensor Connector B -> TB55-J -> CN8-13
LT Sensor Connector C -> TB55-F -> CN8-14

20-485
4803 Both front pulse sensor error
Fault Code 4803

Message Both front pulse sensor error
Description No pulse input from Both Front Left and Right sensors when Rear
wheel speed becomes more than 7km/h for more than 1 sec.
Possible Cause ¾ Defective Both Front Left and Right Speed Sensing system
z Speed Sensor power supply wiring (15LFS,15RFS,0LF)
z Speed Sensor signal wiring（33LF, 33RF）
z Speed Sensor power line FUSE(FB2-13,FB2-14)
z Signal Noise
Remedy <Action>
<Installation>

Gap=0.06 [inch] = 1.5 [mm]
Gap
20-486

3) FB2-B, TB28H : 15V,

1) Signal Line :
RT Sensor Connector B -> TB55-J -> CN8-12
LT Sensor Connector B -> TB55-D -> CN8-13
LT&RT Sensor Connector C -> TB55-F -> CN8-14

FB2-13 (5A) , FB2-14 (5A) : Not blown (not burnt out)
20-487
4809 Front Right pulse sensor deviation error
Fault Code 4809

Message Front Right pulse deviation error
Description The speed deviation measured by Front Right sensor become too large
( Deviation = |New data – Old data| )
z Signal Noise
Remedy <Action>
<Installation>

Gap=0.06 [inch] = 1.5 [mm]
Gap
20-488

2) FB2-B, TB28H : 15V,

1) Signal Line :

20-489
Troubleshooting for position measurement system 480A
480A Front Left pulse sensor deviation error
Fault Code 480A

Message Front Left pulse deviation error
Description The speed deviation measured by Front Left sensor become too large
z Signal Noise
Remedy <Action>
<Installation>

Gap=0.06 [inch] = 1.5 [mm]
Gap
20-490

2) FB2-B, TB28H : 15V,

1) Signal Line :

20-491
4804 Rear Right pulse sensor error
Fault Code 4804

Message Rear Right pulse Sensor error
Description No pulse input from Rear Right sensor when Rear Left wheel speed
Possible Cause ¾ Defective Rear Right Speed Sensing system
z Speed Sensor power supply wiring (65, 0AUR)
z Speed Sensor signal wiring (33ARR)
z Speed Sensor power line FUSE(F12)
z Signal Noise
Remedy <Action>
<Installation>
Rear Pulse sensor
¾ Adjustment
Gap=0.06 [inch] = 1.5 [mm]
20-492
<Pulse Sensor>
<Circuit Diagram>
<Check the voltage of Power Supply> <Check the FUSE of Power Supply>
1) TB34-F, TB38-A : 12V F12-(5A) : Not blown (not burnt out)
2) TB55-G, TB38-B, CN8-06 : 0V
<Check the wiring continuity & Register >

1) Signal Line : 33ARR
Right Sensor Connector 3 -> TB38-C -> TB55-H -> CN8-04
2) GND Line : 0AUR
Right Sensor Connector 2 -> TB38-B -> TB55-G -> CN8-06
3) Register RSPD1 = 8.2 Kohm
20-493
4805 Rear Left pulse sensor error
Fault Code 4805

Message Rear Left pulse Sensor error
Description No pulse input from Rear Left sensor when Rear Right wheel speed
Possible Cause ¾ Defective Rear Left Speed Sensing system
z Speed Sensor signal wiring (33 ALR)
z Signal Noise
Remedy <Action>
<Installation>
Rear Pulse sensor
¾ Adjustment
Gap=0.06 [inch] = 1.5 [mm]
20-494
<Pulse Sensor>
<Circuit Diagram>
1) TB34-F, TB38-E : 12V F12-(5A) : Not blown (not burnt out)
2) TB55-G, TB38-F, CN8-06 : 0V

1) Signal Line : 33ALR
Left Sensor Connector 3 -> TB38-G -> TB55-H -> CN8-05
2) GND Line : 0AUR
Left Sensor Connector 2 -> TB38-F -> TB55-G -> CN8-06
20-495
4806 Both Rear pulse sensor errors
Fault Code 4806

Message Both Rear pulse sensor error
Description No pulse input from Both Rear Right and Left sensor when Front wheel
speed becomes more than 7km/h for more than 1 sec.
Possible Cause ¾ Defective Rear Speed Sensing system
z Speed Sensor signal wiring (33ARR, 33 ALR)
z Signal Noise
Remedy <Action>
<Installation>
Rear Pulse sensor
¾ Adjustment
Gap=0.06 [inch] = 1.5 [mm]
20-496
<Pulse Sensor>
<Circuit Diagram>
1) TB34-F, TB38-A, TB38-E : 12V F12-(5A) : Not blown (not burnt out)
2) TB55-G, TB38-B, TB38-F, CN8-06 : 0V

1) Signal Line : 33ARR and 33ALR
Right Sensor Connector 3 -> TB38-C -> TB55-H -> CN8-04 (Line 33ARR)
Left Sensor Connector 3 -> TB38-G -> TB55-H -> CN8-05 (Line 33ALR)
2) GND Line : 0AUR
3) Register RSPD1 and RSPD2 = 8.2 Kohm
20-497
4807 Rear Right pulse deviation error
Fault Code 4807

Message Rear Right pulse deviation error
Description The speed deviation measured by Rear Right sensor become too large
z Signal Noise
Remedy <Action>
<Installation>
Rear Pulse sensor
¾ Adjustment
Gap=0.06 [inch] = 1.5 [mm]
20-498
<Pulse Sensor>
<Circuit Diagram>
2) TB55-G, TB38-B, CN8-06 : 0V

2) GND Line : 0AUR
20-499
4808 Rear Left pulse deviation error
Fault Code 4808

Message Rear Left pulse deviation error
Description The speed deviation measured by Rear Left sensor become too large
z Signal Noise
Remedy <Action>
<Installation>
Rear Pulse sensor
¾ Adjustment
Gap=0.06 [inch] = 1.5 [mm]
20-500
<Pulse Sensor>
<Circuit Diagram>
2) TB55-G, TB38-F, CN8-06 : 0V

2) GND Line : 0AUR
20-501
Troubleshooting for position measurement system 480B, 480C
480B Rear tire radius error
Fault Code 480B

Message Rear tire radius error
Description Filter coefficient value of Rear Tire speed Sensor Fusion become
abnormal.
Possible Cause ¾ Truck is pushed back because of Road condition.
¾ Sensor Fusion system failure (Software exception)
Remedy <Action>
1) Inspect the road condition.
2) Shut down the truck power and do reset running.
480C Front tire radius error

Fault Code 480C
Message Front tire radius error
Description Filter coefficient value of Front Tire speed Sensor Fusion become
abnormal.
Remedy <Action>
20-502
Troubleshooting for position measurement system <How to check the speed>
<How to check the speed sensors condition with Monitor Drive PC>

4. Check tyre speed in Tyre Pulse sensor section
1) Drive the truck straight by manual at 10km/h ( 2778 [mm/s] ) and check the each data below.
Part Criteria
Front Speed(R) While driving, Front Right speed data is
1778 < Front Speed(R) < 3778
Front Speed(L) While driving, Front Left speed data is
1778 < Front Speed(L) < 3778
Rear Speed(R) While driving, check Rear Right speed is
2278 < Rear Speed(R) < 3278
Rear Speed(L) While driving, Rear Left speed data is
2278 < Rear Speed(L) < 3278
20-503
Troubleshooting for position measurement system <How to check the speed>
Part Criteria
12889 < Front Speed(R) < 14889
12889 < Front Speed(L) < 14889
13389 < Rear Speed(R) < 14389
13389 < Rear Speed(L) < 14389
3) Drive and turn the truck CCW in small turning circle and check the each data below.
Part Criteria
Front Speed While turning the truck, Front Speed Difference
Difference (R-L) is positive value
Rear Speed While turning the truck, Rear Speed Difference (R-L)
Difference is positive value
20-504
4810 Pitch sensor data is out of range
Fault Code 4810

Message Pitch sensor error
Description Pitch angle data is out of range for 3 seconds.
<measurement range> : -20 deg < pitch angle < 20 deg
Possible Cause ¾ Defective Pitch sensor circuit
z Pitch Sensor power supply (36FI, 0RT)
z Pitch Sensor wiring (36FP) problem
z loose connector (PS1, LH Drive CN7,CN8)
z Pitch Sensor Failure
z Signal Noise
¾ Road condition
z Steep slope
¾ Abnormal pitch sensor calibration
Remedy <Action>
1) Inspect the road condition
2) If this warning can’t be reset,
z Check the pitch sensor circuit
3) To do the sensor calibration, see 20-9.
<Installation>
z Standard value: 2.6 ± 0.2V at level place
Pitch angle sensor
θ
Uｐ-grade is
Up-grade is plus(+)
plus(+)grade
Grade
20-505
<Circuit Diagram>
<Check the voltage of Power Supply >

1) Pitch Angle sensor’s connector PS1-3 (12VDC), TB52-T, CN8-10 : 12V (Power Line 36FI)
2) Pitch Angle sensor’s connector PS1-1 (GND), TB53-G : 0V (GND Line 0RT)

1) Signal Line : 36FP
Sensor Connector PS1-2 -> TB52-X -> CN7-01
2) GND Line (0RT) & Level:
Sensor Connector PS1-1 -> TB53-G -> CN8-08
<Check the signal level>

1) between TB52-X and TB53-G : about 2.6V at level place
20-506
4811 Pitch sensor data is not changed
Fault Code 4811

Message Pitch data not changed
Description Pitch angle data is not changed even when truck is accelerated or
decelerated
Possible Cause ¾ Defective Pitch sensor unit

¾ Defective LH Drive controller
z A/D data freeze
Remedy <Action>
1) Check the signal data of pitch sensor
z Check the circuit
2) If no problem with wiring, replace pitch sensor unit.
3) If fault never cleared, cycle power of truck
<Installation>
Pitch angle sensor
θ
Uｐ-grade is
Up-grade is plus(+)
plus(+)grade
Grade
20-507
<Circuit Diagram>



2) Pitch Signal level should be changed while truck running with acceleration or deceleration.
20-508
4812 Pitch angle data error at Hopper
Fault Code 4812

Message Pitch error at Hopper
Description Pitch angle data is over 5deg at Hopper

z Signal Noise
¾ Road condition
z Steep slope at Hopper
z Spilt material in crusher area
Remedy <Action>
<Installation>
Pitch angle sensor
θ
Uｐ-grade is
Up-grade is plus(+)
plus(+)grade
Grade
20-509
<Circuit Diagram>



20-510
4813 Pitch angle limitation error
Fault Code 4813

Message Pitch angle limitation error
Description Pitch angle data is over 15deg for 3 seconds.

z loose connector (RS1, LH Drive CN7,CN8)
z Signal Noise
¾ Road condition
z Steep slope
Remedy <Action>
<Installation>
Pitch angle sensor
θ
Uｐ-grade is
Up-grade is plus(+)
plus(+)grade
Grade
20-511
<Circuit Diagram>



20-512
4814 Roll sensor data is out of range
Fault Code 4814

Message Roll sensor error
Description Roll angle data is out of range for 3 seconds.
Possible Cause ¾ Defective Roll sensor circuit
z Roll Sensor power supply (36FI, 0RT)
z Roll Sensor wiring (36FR) problem
z Roll Sensor Failure
z Signal Noise
¾ Road condition
z Steep slope
¾ Abnormal roll sensor calibration
Remedy <Action>
z Check the roll sensor circuit
<Installation>
Roll angle sensor
20-513
<Circuit Diagram>

1) Roll Angle sensor’s connector RS1-3 (12VDC), TB52-T, CN8-10 : 12V (Power Line 36FI)
2) Roll Angle sensor’s connector RS1-1 (GND), TB53-G : 0V (GND Line 0RT)

1) Signal Line : 36FR
Sensor Connector RS1-2 -> TB52-W -> CN7-11
Sensor Connector RS1-1 -> TB53-G -> CN8-08

1) between TB52-W and TB53-G : about 2.6V at level place
20-514
4815 Roll sensor data is not changed
Fault Code 4815

Message Roll data not changed
Description Roll angle data is not changed even when truck changes the direction.
Possible Cause ¾ Defective Roll sensor unit

z A/D data freeze
Remedy <Action>
1) Check the signal data of roll sensor
z Check the circuit
2) If no problem with wiring, replace roll sensor unit.
<Installation>
Roll angle sensor
20-515
<Circuit Diagram>



20-516
4816 Roll angle data error at Hopper
Fault Code 4816

Message Roll error at Hopper
Description Roll angle data is over 5deg at Hopper

z Signal Noise
¾ Road condition
Remedy <Action>
<Installation>
Roll angle sensor

20-517
<Circuit Diagram>



20-518
4817 Roll angle data limitaition error
Fault Code 4817

Message Roll angle limitation error
Description Roll angle data is over 15deg for 3 seconds.

z Roll Sensor wiring (36FR) problem / loose connector (RS1)
z Signal Noise
¾ Road condition
z Steep slope
Remedy <Action>
<Installation>
Roll angle sensor
20-519
<Circuit Diagram>



20-520
4818 Both slope sensors error
Fault Code 4818

Message Both slope sensors error
Description Both Pitch and Roll angle data are out of range for 3 seconds.
<measurement range> : -20 deg < pitch & roll angle < 20 deg
Possible Cause ¾ Defective Both Pitch and Roll sensor circuit
z Slope Sensors power supply (36FI, 0RT)
z Slope Sensors wiring (36FP,36FR) problem
z loose connector (FS1,RS1, LH Drive CN7,CN8)
z Both Sensors Failure
z Signal Noise
¾ Road condition
z Steep slope (Both Pitch and Roll direction)
¾ Abnormal sensor calibration (Both Pitch and Roll)
Remedy <Action>
2) If this warning can’t be reset, investigate the slope sensors circuit
3) To do the sensors calibration, see 20-9 (Pitch) and 20-5 (Roll).
<Installation>
Roll angle sensor
Pitch angle sensor
θ
Uｐ-grade is
Up-grade is plus(+)
plus(+)grade
Grade
20-521
<Circuit Diagram>

1) Angle sensor’s connector PS1-3, RS1-3 (12VDC), TB52-T, CN8-10 : 12V (Power Line 36FI)
2) Angle sensor’s connector PS1-1, RS1-1 (GND), TB53-G : 0V (GND Line 0RT)

Sensor Connector PS1-1, RS1-1 -> TB53-G -> CN8-08

20-522
Troubleshooting for position measurement system <How to check the slope angle>
<How to check the slope sensors condition with Monitor Drive PC>

4. Check slope sensors condition in truck position section
20-523
4819 Moving signal logic fault with GE
Fault Code 4819

Message Moving signal logic fault with GE
Description 1) Both Moving Forward True signal and Moving Reverse True signal
from GE I/O system were ON at the same time for 1 second.
2) When Both Moving Forward signal and Moving Reverse signal are
OFF, and Neutral shift position, LH drive controller detect the truck
speed pulse input continuously for 0.5 second.
Possible Cause ¾ Wiring problem

z Moving Forward signal wiring (72FD) problem
z Moving Reverse signal wiring (79RD) problem
¾ GE system problem
Remedy <Action>
If this error can’t be reset,
z Check the circuit (72FD, 79RD)
<Circuit diagram>
72FD
LH drive controller CN4-18 GE system
TB50-S TB23-L
<Normal condition> When shift status is Nutral and truck stopped. 72FD is normally 24V
When shift status is Reverse and truck is moving. 72FD is normally 0V
<Abnormal condition> If 72FD is ON, when Shift status is Nutral -> 72FD is GND short.
If 72FD is OFF, when Shift status is not Nutral -> 72FD is open (24v).
79RD
TB51-F TB23-M
<Normal condition> When shift status is Nutral and truck stopped. 79RD is normally 24V
When shift status is Reverse and truck is moving. 79RD is normally 0V
<Abnormal condition> If 79RD is ON, when Shift status is Nutral -> 79RD is GND short.
If 79RD is OFF, when Shift status is not Nutral -> 79RD is open (24v).
20-524
4820 Moving F signal error
Fault Code 4820

Message Moving F signal error
Description When moving status from Drive system is Forward and both rear and
front speed are continuously over 0.2km/h for 0.5 second, Moving F
signal is still OFF.
z Moving F Signal wiring (72FD) is open (24V).
Remedy <Action>
z Check the circuit
<Circuit diagram>
72FD
TB50-S TB23-L
<Abnormal condition> If 72FD is OFF, when Shift status is not Nutral -> 72FD is open (24v).
20-525
4821 Moving R signal error
Fault Code 4821

Message Moving R signal error
Description When moving status from Drive system is Backward and both rear and
front speed are continuously over 0.2km/h for 0.5 second, Moving R
z Moving R Signal wiring (79RD) is open (24V)
Remedy <Action>
z Check the circuit
79RD
TB51-F TB23-M
<Abnormal condition> If 79RD is OFF, when Shift status is not Nutral -> 79RD is open (24v).
20-526
<How to check the Moving F and R signal status with Monitor Drive PC>

3. Open ALL I/O Status Monitor.
4. Check the Moving F and R signals
and truck moving direction.
20-527
4901 Travel distance limitation with REG
Fault Code 4901

Message Travel distance limitation with REG
Description Truck stopped because of travel distance limitation of REG system
when GPS position measurement is not available.
Possible Cause ¾ GPS system is not available

z Software Malfunction of ML-HUB GPS system
z Hardware Malfunction inside ML-HUB (wiring, connector)
z Malfunction of GPS board itself (software, hardware)
z And so on
Remedy <Action>
<How to check>

On HaulRoad 0, 1 (ready for traveling) Restart the truck
(20-403 - 408)
20-528
4902 REG Laser beam is blocked
Fault Code 4902

Message Laser beam blockage
Description Laser beam is blocked.
Distance data from Laser Sensor is minus value for 10seconds.
Possible Cause ¾ Laser Sensor Head condition

z Laser Sensor head cover is not open.
z Laser Sensor Head is not clear. (Dirty, Muddy, Misty, and so on)
¾ Laser Sensor Controller broken
Remedy <Action>
1) Check the Laser Sensor Head condition.
2) Check the Laser data
z REG Laser inspection with CGC inspection Menu (See 20-552)
z REG Laser data monitor with LH Drive IO Checker (See 20-554)
3) If same warning repeats, check the Laser Sensor Controller (See
20-555)
4) If the fault can’t be reset, replace the Laser Sensor Controller.
<Laser Sensor Head >
1. Check Laser sensor Head lens

1) Laser Sensor Cover must be open.
2) Laser Sensor Head must be clear
Laser sensor Head
Notice :
We recommend that the instrument not be directly pointed at
people’s eyes, especially if they are using binoculars. Aligning the
infrared laser sensor with the lenses of CCD-cameras or infrared night
vision devices can result in damage to them and is therefore not
permitted.
20-529
4903 Position error limit
Fault Code 4903

Message Position error limit
Description Truck position error is too large to continue traveling.
<While traveling with GPS on Haulroad>
Truck travel 50m or more with more than 3m of navigation error.
<While traveling with REG on Haulroad>
Truck travel 25m or more with more than 3m of navigation error
Possible Cause ¾ Out of control by 930E hardware problem

z Tire burst.
z Defective Steering hydraulic system
¾ Road condition
z Rough road condition (Not compacted, not solid, slippery)
¾ Mismatch of the distance between the Berm and Target Course.
z Berm is too far or too close to the truck course.
z Road edge survey problem (bad survey)
¾ Wrong setting of REG system target distance
¾ GPS problem
z GPS wrong convergence
z GPS performance limitation
Remedy <Action>
Don’t restart the truck without investigation of the truck status
and the cause of exception.
If truck is out of course, set the truck on course.
<Hardware problem>
z Inspect truck condition. (Walk around inspection)
If you found defective condition of truck, repair it.
<Road condition>
z Inspect road condition.
If road condition is rough, maintain road.
<Berm position>
z Inspect berm position and truck target course shape.
If berm position is too far or too close to the truck course, maintain
the berm or make suitable survey and course.
<Target distance setting>
z Check the target distance setting and do REG inspection.
(See 20-552)
20-530
4905 REG system detects no berm area on Haulroad
Fault Code 4905

Message Bad Berm
Description REG system detects no good berm area on Haulroad for more than
200m.
Possible ¾ Bad Berm condition
Cause z No berm on HaulRoad
z Too rough surface
z Winding berm
¾ False detection by dust
¾ Defective REG system
z REG Laser Sensor problem
Remedy <Action>
<Berm position and berm condition>
Inspect berm position and truck target course shape.
z If berm position is too far or too close to the truck course,
maintain the berm or make suitable survey and course.
z If there is no berm area on Haulroad, construct suitable berm
z If berm condition is bad, maintain the berm.
<Dust condition>
z If the area is so dusty, do watering.

(See 20-552)
<Check REG Laser data>

20-531
4906 Laser A/D signal is out of range
Fault Code 4906

Message REG A/D signal error
Description REG system detects Analog signal value is out of range for more than
10 seconds.
Possible ¾ Defective Wiring

Cause z Analog signal wiring (90RES, GND8) cut
z Wrong Register (REGR)
¾ Defective Laser Sensor Controller
z REG Laser Controller Analog output problem
Remedy <Action>
1) Check the A/D signal wiring (90RES, GND8) of REG system
2) Check the register (REGR)
3) Check REG Laser data with LH Drive IO Checker (See 20-554)
<Circuit Diagram>
<Check the voltage>

a) between CN7-08 and CN8-01
b) between TB50-T and TB54-6
normal : 0.99v (at 0[m] target) to 4.95 v(at 20[m] target)
<Check the register>

1) between TB50-T and TB54-6 : about 246.5Ω
20-532
Troubleshooting for position measurement system 490７
4907 Laser RS232C data is not received
Fault Code 4907

Message REG RS232C signal error
Description No data coming from Laser RS232C for more than 20 seconds.

Cause z Defective RS232C signal wiring (90RER,90RET,90REG)
¾ Loose connector
z Loose connector (REGT, LH-Drive Controller CN6)
¾ Defective REG controller
Remedy <Action>
1) Check the RS232C wiring (90RER,90RET,90REG) of REG system
2) Check the connector (REGT, LH Drive controller CN6)
3) If this warning is not cleared, check the Laser Sensor Controller
(See 20-555)
<Circuit Diagram>
<Check the continuity of RS232C wiring>

c) between CN6-06 (RS232C GND) and REGT-5(GND : Laser Sensor Controller)
d) between CN6-04 (RS232C RXD) and REGT-3 (TXD : Laser Sensor Controller)
e) between CN6-03 (RS232C TXD) and REGT-2 (RXD : Laser Sensor Controller)
<Check the power supply of REG system>

1) between REGP-J（GND）and REGP-K(DC24VIN) : 24v
2) between 33PG (GND) and 33PP(DC24VIN) : 24v
3) between PC2A-2(GND) and PC2A-1(DC24VIN) : 24v
4) between PC2B-2(GND) and PC2B-1(DC24VIN) : 24v
5) FUSE FB3-7 : not melted
20-533
Troubleshooting for position measurement system 4908 4911 4912
4908 Laser program mode
Fault Code 4908

Message Laser program mode
Description System detects Invalid mode of Laser Sensor Controller.
Possible ¾ Laser Sensor Controller invalid mode

Cause z Laser Sensor Controller mode was changed
Remedy <Action>
2) If repeated, check the REG Laser Sensor Controller (See 20-555)
4911 Laser selfcheck error
Fault Code 4911

Message Laser selfcheck error
Description Laser Sensor Controller detects Laser SelfCheck error.
Possible ¾ Defective Laser Sensor Controller
Cause z Laser Sensor Controller failure
Remedy <Action>
4912 Laser OFF error
Fault Code 4912

Message Laser OFF error
Description Laser Sensor Controller detects Laser OFF error.

Remedy <Action>
20-534
4909 REG power line error
Fault Code 4909

Message REG power line error
Description System detects Both A/D signal error and Serial signal Lost.
Possible ¾ Defective Power supply for Laser Sensor Controller
Cause z Defective wiring of power line (33PG, 33PP, 52P7,712PA)
z Defective connectors of power supply circuit (PC2A, PC2B)
z Defective connector of REG controller (REGP)
z Defective power supply unit (REG power converter)
z Defective power source FUSE (FB3-7)
z Defective Laser Sensor Controller FUSE (inside REG controller)
¾ Defective REG Laser Sensor Controller
Remedy <Action>
2) If repeated, check REG Power line wiring and Power Converter
3) If the fault can’t be reset without REG circuit problem, replace the
Laser Sensor Controller.
<Circuit Diagram>

f) between CN6-06 (RS232C GND) and REGT-5(GND : Laser Sensor Controller)
g) between CN6-04 (RS232C RXD) and REGT-3 (TXD : Laser Sensor Controller)
h) between CN6-03 (RS232C TXD) and REGT-2 (RXD : Laser Sensor Controller)

20-535
4914 Laser low power error
Fault Code 4914

Message Laser low power error
Description Laser Sensor Controller detects Laser Low Power error.
Possible ¾ Laser Sensor Controller power supply low voltage

Cause z Defective wiring(33PP,33PG,52P7)
z Fuse FB3-7 is burnt out
z Loose contact of connectors(PC2A,PC2B,REGP)
z Defective REG Power Converter
Remedy <Action>
<Circuit Diagram>

20-536
4916 Laser high power error
Fault Code 4916

Message Laser high power error
Description Laser Sensor Controller detects Laser High Power error.
Possible ¾ Laser Sensor Controller power supply voltage is too high

Cause z Defective power supply unit (REG power converter)
Remedy <Action>
2) If repeated, check REG Power converter
<Circuit Diagram>

20-537
4910 Laser measurement data error
Fault Code 4910

Message Laser measurement data error
Description Laser couldn’t detect the good reflecting target on Haulroad for 100m
distance or more.
Possible ¾ No target for Laser Sensor
Cause z No target, badly reflecting target, fiber cable disconnection etc.
z Laser Sensor Controller failure
Remedy <Action>
2) If same error repeats, check the Laser Head and Fiber cable, and
check the laser data.
3) If repeats, check the REG Laser Sensor Controller (See 20-555)
<How to check the laser data>

<Laser Sensor Head & Cable investigation>

Laser sensor Head
Notice :
We recommend that the instrument not be directly pointed at people’s eyes, especially if they
are using binoculars. Aligning the infrared laser sensor with the lenses of CCD-cameras or infrared
night vision devices can result in damage to them and is therefore not permitted.
20-538
2. Check optical fiber cable connection

(1) Check the optical fiber cable appearance
from Laser Sensor Controller to Laser head.
Notice
・ Don’t bend the optical fiber.
・ Minimum bend radius >200mm
(2) Check the connection of fiber cable from Laser Sensor Controller to optical lens (inside Laser sensor
Head).
・ Never look into the open Glass-fiber output coupler of the Laser Sensor Controller.
・ Never look into the glass fiber ends, when connected to the Laser Sensor Controller, neither
with unaided eyes nor with as optical instrument.
20-539
4913 Laser selfcheck warning
Fault Code 4913

Message Laser selfcheck warning
Description Laser Sensor Controller detects Laser SelfCheck warning.
Remedy <Action>
4915 Laser low temperature error
Fault Code 4915

Message Laser low temp error
Description Laser Sensor Controller detects Laser Low Temp error.
Temperature of Laser Sensor Controller is low.
Possible ¾ Temperature condition inside AT-cabinet
Cause z Heater unit failure
Remedy <Action>
2) Check the Heater unit working
4917 Laser high temp error
Fault Code 4917

Message Laser high temp error
Description Laser Sensor Controller detects Laser High Temp error.
Temperature of Laser Sensor Controller is high.
Cause z Cooling unit failure
Remedy <Action>
2) Check the Cooling unit working
20-540
Troubleshooting for position measurement system 4918, 4919, 491A
4918 Laser RAM error
Fault Code 4918

Message Laser RAM error
Description Laser Sensor Controller detects RAM error.

Remedy <Action>
4919 Laser EPROM error
Fault Code 4919

Message Laser EPROM error
Description Laser Sensor Controller detects EPROM error.

Remedy <Action>
491A Laser IDV internal error
Fault Code 491A

Message Laser IDV internal error
Description Laser Sensor Controller detects Laser Internal error (IDV error).

Remedy <Action>
20-541
Troubleshooting for position measurement system 491B, 491C, 491D
491B Laser PAR internal error
Fault Code 491B

Message Laser PAR internal error
Description Laser Sensor Controller detects Laser internal error (PAR error).

Remedy <Action>
491C Laser ZAD1 internal error
Fault Code 491C

Message Laser ZAD1 internal error
Description Laser Sensor Controller detects Laser internal error (ZAD1 error).

Remedy <Action>
491D Laser ZAD2 internal error
Fault Code 491D

Message Laser ZAD2 internal error
Description Laser Sensor Controller detects Laser Internal error (ZAD2 error).

Remedy <Action>
20-542
Troubleshooting for position measurement system 491E
491E Laser data overflow
Fault Code 491E

Message Laser data overflow
Description Laser Sensor Controller detects Laser data overflow.

Remedy <Action>
20-543
4920 GPS Position error (lateral direction) is detected.
Fault Code 4920

Message Position error of GPS navigation
Description Truck position error is too large to continue traveling with using GPS
data.
Truck travel 100m or more with more than 1.9m of navigation error
Possible ¾ Out of control by 930E hardware problem

Cause z Tire burst.
¾ Road condition
¾ GPS problem
Remedy <Action>
<Hardware problem>
<Road condition>
<Berm position>
If berm position is too far or too close to the truck course,
(See 20-552)
<Defective REG system>
20-544
4921 REG Position error (lateral direction) is detected.
Fault Code 4921

Message Position error of REG navigation
Description Truck position error is too large to continue traveling with using REG
system when GPS is not good.
Truck travel 50m or more with more than 1.9m of navigation error.
Possible ¾ Out of control by 930E hardware problem

Cause z Tire burst.
¾ Road condition
z Course is too far or too close to the berm.
(Road edge survey problem (bad survey)
Remedy <Action>
<Hardware problem>
<Road condition>
<Berm position>
(See 20-552)
20-545
4922 REG Angle correction error
Fault Code 4922

Message REG Angle correction error
Description Angle correction value becomes too large to continue traveling with
using REG system when GPS is not good.
|angle data correction value| > 1.5deg
Possible ¾ Software Exception
Cause
Remedy <Action>
Restart the truck.
20-546
4924 REG Laser Sensor detects something close to the truck on left hand side
Fault Code 4924

Message Bank wall close
Description REG Laser Sensor detects something close to the truck on left hand
side.
Distance from truck left edge to the berm becomes less than 2m
Possible ¾ Too dusty condition
Cause ¾ Out of control by 930E hardware problem
z Tire burst.
¾ Road condition
z Berm is too close to the truck course.
¾ GPS problem
Remedy <Action>
<Hardware problem>
<Road condition>
<Berm position>
(See 20-552)
20-547
4930 Laser detects the berm too close to the truck during hopper approaching
Fault Code 4930

Message Left side no room at Hopper
Description REG Laser Sensor detects the truck position error to the left hand
side during approaching to the hopper.
Truck position error becomes more than 1m.
z Tire burst.
¾ Road condition
¾ Mismatch of the distance between the Hopper Berm and Target
Course.
z Hopper Berm is too close to the truck course.
z Approach Course is too close to the hopper berm.
¾ Wrong setting of REG hopper target distance
¾ GPS problem
Remedy <Action>
<Hardware problem>
<Road condition>
<Berm position>
(See 20-552)
20-548
<Check the target distance for Hopper and actual distance>

(1) Check the target distance in Truck CGC Maintenance Info Action Cours Mode Option
Parameters screen. Back Navigation Parameter
Please login by user ID who has a Close
Origin_x_nv: -1324662775
maintenance permission. Next
Origin_y_nv: 380441399
Login CGC -> Main Menu
-> Maintain-> Parameters REG Hopper distance: 3500
Check the value of REG Hopper distance. --- GPS
(2) Check the actual distance from Sensor Laser Head to the target and compare with the target distance
value in Truck CGC Maintenance Parameters screen.
Laser Head
Target wall
20-549
4931 Laser detects the berm too far from the truck during hopper approaching
Fault Code 4931

Message Right side no room at Hopper
Description REG Laser Sensor detects the truck position error to the right hand
z Tire burst.
¾ Road condition
¾ Mismatch of the distance between the Hopper Berm and Target
Course.
z Hopper Berm is too far from the truck course.
z Approach Course is too far from the hopper berm.
¾ Wrong setting of REG hopper target distance
¾ GPS problem
Remedy <Action>
<Hardware problem>
<Road condition>
<Berm position>
(See 20-552)
20-550
<Check the target distance for Hopper and actual distance>

(2) Check the target distance in Truck CGC Maintenance Info Action Cours Mode Option
Parameters screen. Back Navigation Parameter
Please login by user ID who has a Close
Origin_x_nv: -1324662775
maintenance permission. Next
Origin_y_nv: 380441399
Login CGC -> Main Menu
-> Maintain-> Parameters REG Hopper distance: 3500
Check the value of REG Hopper distance. --- GPS
(2) Check the actual distance from Sensor Laser Head to the target and compare with the target distance
value in Truck CGC Maintenance Parameters screen.
Laser Head
Target wall
20-551
Troubleshooting for position measurement system REG system inspection
<REG Laser inspection>

(1) Check the target distance in Truck CGC
Maintenance Parameters screen.
Close
Please login by user ID who has a Origin_x_nv: -1324662775
Next Origin_y_nv: 380441399
maintenance permission. Slope_offset_nv: -148
Login CGC -> Main Menu REG Hopper distance: 3500
-> Maintain-> Parameters
--- GPS
Check the value of REG Bank distance.
(2) Move the truck on actual AHS Haulroad course and set the truck at the defined distance
（Or, set the target board at the defined distance from Laser Head.）
Laser Head
REG Bank distance: 7000 mm
Target berm
Notice
・ Laser sensor Head must be clear. （Target board）
・ Optical fiber cable must be no damage.
(3) Do REG Inspection in CGC inspection screen

a) Press Inspection to proceed AHT inspection. Info Actions Course Mode Option
Inspection
Release
Dry Run
--- GPS
20-552
b) If confirm to ready to proceed AHT inspection,

Press OK.
OK Confirm
Cancel 1) A/M key in manual mode

2) Park brake & Brake lock ON
3) Shift position Neutral
Press “OK”
--- GPS
c) Press REG.
Mode Lamps Mode Lamps : finished

Head Lights : finished
Head Lights Horn : finished
REG : not finished
Horn ODS : not finished
REG
ODS
Close
--- GPS
d) Press Start.
Start REG Test
Pass Please place the road edge target in

front of the laser.
Fail Press “Start” when ready to test.
Cancel
--- GPS
e) If REG inspection is finished,
press “OK”. Info Actions Course Mode Option
OK REG Test
Status : Success
Laser Range 6900 [mm]
If result is Fail, investigate REG system Range error 100 [mm]
Progress 100%
with reference to REG system wiring diagram.
and Laser Sensor Controller investigation Cancel
--- GPS
20-553
<How to check the Laser Sensor data with Monitor PC>

4. Check Laser data in REG section
Laser Distance (A/D) [mm]
Laser Distance (RS232C) [mm]
Laser Head
Actual Laser distance (d) mm
Put a target board at

the distance of about
Part Criteria
5m from REG sensor
Laser Distance The difference between Laser distance (RS232C) head and measure the
distance (d) by tape
(RS232C) and Actual Laser distance (d) is less than 200mm.
measure
Laser Distance The difference between Laser distance (A/D) and
(A/D) Actual Laser distance (d) is less than 200mm
20-554
<Laser Sensor Controller investigation>

1. Disconnect REGT connector.
(Serial communication wiring between Laser Sensor Controller and LH drive controller).
2. Connect RS232C cable (D-sub9, cross cable) between Laser Sensor Controller’s serial port and the
serial COM port of personal computer.
Windows
Personal Computer
Serial port
(Dsub-9)
Serial cable
RS232C (cross)
Rear view
3. Power ON and start the software for serial communication monitor.

For example, to use Microsoft Hyper terminal on Windows personal computer is one of
easy way for serial communication monitor.
a) Start Æ Programs Æ Accessories Æ Communications Æ HyperTerminal
b) Enter Name for New connection
20-555
c) Select COM port as connect using port
d) Set the COM port setting

Bits per second : 19200bps, Data bits : 8, Parity : None, Stop bits : 1, Flow control : None
20-556
4. Check the data on Hyper Terminal screen.

<Normal condition> Laser Sensor Controller sends the Laser data repeatedly.
Data sample : r10.05;a80 ( Distance = 10.05[m], Reflection power = 80 )
<Defective condition> Laser Sensor Controller sends error message instead of distance data.
Error Message
(See next page)
20-557
Table. Troubleshooting of Laser Sensor Controller.

Message Meaning Recommend Action
M#LD90-3# Power up message ---
mSELFCHCK Internal self check is carried out ---
m…….. No measurement possible (no target or Check the target
badly reflecting target) If fault repeated, replace the controller.
mOVERFLOW Measurement value (including offsets) too Check the target.
large If fault repeated, replace the controller.
mUNDERFLW Measurement value (including offsets) less Check Sensor Head cover.
than Zero. If fault repeated, replace the controller.
mLAS OFF No measurement is possible because the Check the Laser safety lock wiring.
laser is switched off. REGP-A and REGP-H should be
connected to ground.
mLO BATT Supply voltage too low Check the power supply voltage.
mHI BATT Supply voltage too high Check the power supply voltage.
mLO TEMP Temperature too low Check Laser Sensor Controller heater
system performance.
mHI TEMP Temperature too high Check Laser Sensor Controller
cooling system performance.
mUENI- ERR Laser error: Check if the laser safety lock is Check the Laser safety lock wiring.
connected to ground; REGP-A and REGP-H should be
If Yes, internal error. connected to ground.
mRAM- ERR Internal RAM defect Replace the controller
mEEP- EER Internal EEPROM defect Replace the controller
mIDV- ERR Internal error Replace the controller
mPLL- ERR Internal error Replace the controller
mEPCS-ERR Internal error Replace the controller
mPAR- ERR Internal error Replace the controller
mZAD1-ERR Internal error Replace the controller
mZAD2-ERR Internal error Replace the controller
mLAS-WRNG Warning: Internal test in selfcheck is not Check the Laser safety lock wiring.
possible, as the laser is switched off. REGP-A and REGP-H should be
connected to ground.
*xxxx Instrument in programming mode. Input Q + Return to start data
? xxxx *xxxx : ready for command. measurement.
=xxxx ?xxxx : command not interpreted correctly.
=xxxx : display of the value of a parameter
20-558
Troubleshooting for position measurement system 4A01
4A01 Reset Running request
Fault Code 4A01

Message Reset Running request
Description When truck is stopped, the difference between GPS position and Dead
Reckoning position becomes too large.
System requires the initialization of truck position calculation.
Possible Cause ¾ GPS data jump to wrong position (GPS problem)

¾ Dead Reckoning performance limitation
z Accumulated Dead reckoning position error
(Gyro and Speed sensing)
z Road condition (Slippery, too rough, etc)
Remedy <Action>
1) Go to truck and inspect the truck position and truck status.
2) If truck is out of course, do Reset Running.
(See 20-560 <Reset Running Operation (Pit Patroller)>
3) If truck is on course, ask Central to make sure if NavStatus
recovered (0 or 1) or not, If recovered, restart truck.
4) If truck is still required to do Reset Running.
See 20-560 <Reset Running Operation (Pit Patroller)>
<How to check>
20-559

EdgeDump Berm, Crusher, or Truck status is recovered
Excavator 1, 8, 9, 40 or 41 Wait for a few minute ,
After GPS recovered, truck status until NavStatus become 0.(GPS
will be recovered. ready).
No need to do reset running
4, 36 or 68 Suspend the truck and drive
Reset running is necessary. straight by Manual at 10km/h until
GPS indicator change to Green
and confirm Navstatus 0.
5, 37 or 69 Suspend the truck and drive
Reset running is necessary. straight by Manual at 10km/h until
After Reset Runing, GPS indicator change to Green
wait for NavStatus become 0. and If Navstatus is 1, wait for
Navstatus 0.
13, 77or 109 Wait for GPS condition recovered.
After GPS recovered, After GPS recovered, do Reset
reset running is necessary. Runing.
Others See 20-403 - 408
Truck status is recovered
8, 9, 40, or 41 Wait for a few minute, until
After GPS recovered, truck status NavStatus become 0 or 1(ready).
will be recovered. No need to do reset running
4, 5, 36, 37, 68 or 69 Suspend the truck and drive
Without "Reset Running", straight by Manual at 10km/h until
NAV_STATUS will not become 0 GPS indicator change to Green
or 1. and confirm Navstatus 0 or 1.
13, 77or 109 Wait for GPS condition recovered.
After GPS recovered, After GPS recovered, do Reset
reset running is necessary. Runing.
Others See 20-403 - 408
<Reset Running Operation (Pit Patroller)>

1) Suspend the truck and make sure truck become suspend mode.
2) Ride on truck and change the truck mode to Manual mode.
3) Safety bubble ON.
4) Contact to Central and make sure GPS condition recovered.
5) After GPS recovered, drive straight by manual at 10km/h until Navstaus recovered
to 1 or 0. (Keep contact with Central)
6) Move the truck on AT course at Central Suggestion.
7) Release the truck.
20-560
Troubleshooting for position measurement system 4A03 4A04
4A03 Truck angle correction error
Fault Code 4A03

Message Truck angle correction error
Description Truck heading accuracy become low.
Maximum heading angle correction is limited to 0.5 deg.
After Dead reckoning run with no GPS correction, sometimes truck
needs large angle correction when GPS recovered.
Possible Cause ¾ GPS becomes unavailable
¾ Dead reckoning performance limitation
z Accumulated Gyro sensor error
Remedy <Action>
1) Restart the truck.
2) If this error can’t be reset, do Reset Running. (See 20-560)
4A04 Sensor Fusion error
Fault Code 4A04

Message Sensor Fusion Error
Description When Truck is running in autonomous mode and system tries to correct
the Dead reckoning position by GPS data, the difference between GPS
position and Dead Reckoning position is too large.
Possible Cause ¾ Continuous GPS position jump (Wrong convergence)

¾ Road condition (too slippery, too rough, etc)
¾ Dead reckoning performance degraded
z Gyro performance degraded
z Speed sensing performance degraded
Remedy <Action>
2) If same error repeats in same place, check the road roughness.
3) If same error often repeats ,
z Check Gyro data with LH Drive IO Checker. (See 20-481)
z Check the speed sensors with LH Drive IO Checker
(See 20-574)
20-561
Troubleshooting for position measurement system 4A05, 4A06, 4A07
4A05 Position error between Gps and DR
Fault Code 4A05

Message Position error between GPS and DR
Description When Navigation system is position calculation mode, the difference
between GPS position and Dead reckoning position become large.
¾ Dead reckoning position doesn’t change when truck moved.
z Loose or disconnection of Drive controller CN8 connector.
Remedy <Action>
1) If Navstatus on Central screen is ready, restart truck.
2) If this error repeats, check Drive controller CN8 connector.
4A06 Brake system error
Fault Code 4A06

Message Brake system error
Description When Navigation position calculation is stopped, system detects truck
abnormal movement for more than 3 seconds.
Possible Cause ¾ Defective Brake system
Remedy <Action>
Inspect Brake system
4A07 Truck angle deviation error
Fault Code 4A07

Message Truck angle deviation error
Description Truck angle is changed more than 3 deg compared with last time data.
Possible Cause ¾ Software exception of truck angle calculation.

z Gyro communication delay or lost (See Fault code 4714)
z Gyro data jump (See also Fault code 4716)
Remedy <Action>
Restart the truck
If necessary, do Reset Running.
(See 20-560 <Reset Running Operation (Pit Patroller)>
If this error repeats, check the Gyro wiring. (See Fault code 4714)
20-562
Troubleshooting for position measurement system 4A0A 4A0C
4A0A DR lateral accuracy error
Fault Code 4A0A

Message DR lateral accuracy error
Description When truck is AT traveling with reliable GPS, dead reckoning lateral
position error becomes too large to continue AT operation.
Possible Cause ¾ Road condition (too rough, slippery)
¾ Low performance of Gyro sensor
z Gyro adjustment is not yet done.
z Defective Gyro sensor
Remedy <Action>
1) Check the road condition, if condition is rough, maintain road.
2) Do Gyro adjustment (See 20-16)
3) If this error can’t be reset after Gyro adjustment, replace the Gyro
Sensor.
4A0C Heading angle accuracy error
Fault Code 4A0C

Message Heading angle accuracy error
Description When GPS is unavailable during AT traveling, estimated dead
reckoning heading accuracy becomes too low to continue AT operation.
Possible Cause ¾ Road condition (too rough, slippery)
¾ Low performance of Gyro sensor
z Gyro adjustment is not yet done.
z Defective Gyro sensor
Remedy <Action>
1) Check the road condition, if condition is rough, maintain road.
2) Do Gyro adjustment (See 20-16), if Gyro adjustment isn’t done yet.
3) If this error can’t be reset after Gyro adjustment, replace the Gyro
Sensor.
20-563
Troubleshooting for position measurement system 4A0D 4A0E
4A0D Position accuracy error
Fault Code 4A0D

Message Position accuracy error
reckoning position accuracy becomes too low to continue AT operation.
Possible Cause ¾ Dead Reckoning performance limitation
Remedy <Action>
4A0E Sensor Fusion Failed
Fault Code 4A0E

Message Sensor Fusion Failed
Description Even when GPS information reported from GPS receiver is no
problem, and GPS is available, sensor fusion is not executed for 100m
or more.
Possible Cause ¾ Continuous GPS position jump (Wrong convergence)
Remedy <Action>
3) If same error often repeats,
(See 20-574)
20-564
Troubleshooting for position measurement system 4A0F 4A10
4A0F Fusion convergence error
Fault Code 4A0F

Message Fusion convergence error
Description Sensor fusion doesn’t convergence for 15 seconds even if GPS is
available.
Possible Cause ¾ GPS position jump (unstable GPS condition)

Remedy <Action>
3) If same error often repeats,
(See 20-574)
4A10 Bad Fusion error
Fault Code 4A10

Message Bad Fusion error
Description When GPS information looks good, and GPS is available during AT
traveling, truck slowdown to 0km/h because dead reckoning system is
not good condition.
Especially in where close to the edge dump berm, truck should

immediately stop for safety if system detects warning conditions.
Possible Cause ¾ Dead reckoning performance degraded
Remedy <Action>
20-565
4A20 Tire Slippage
Fault Code 4A20

Message Tire Slippage
Description System detects the large difference between Front average speed and
Rear average Speed.
Possible Cause ¾ Defective Front Left and/or Right Speed Sensing system
z Signal Noise
¾ Defective Rear Left and/or Right Speed Sensing system
z Signal Noise
¾ Road condition (Too rough, slippery, etc)
Remedy <Action>
1) Restart truck.
2) If this error repeats in same area, check road condition.
3) If this error can’t be reset, investigate the speed sensor circuit.
20-566
＜Front Speed Sensor Circuit diagram＞

3) FB2-B, TB28H : 15V,

1) Signal Line :

<Installation>
¾ Adjustment
Gap=0.06 [inch] = 1.5 [mm]
Front Pulse sensor
Gap
20-567
<Rear Speed Sensor Circuit Diagram>
2) TB55-G, TB38-B, TB38-F, CN8-06 : 0V

2) GND Line : 0AUR
<Installation>
Rear Pulse sensor
¾ Adjustment
Gap=0.06 [inch] = 1.5 [mm]
20-568
4A21 Position sliding DR vs GPS
Fault Code 4A21

Message Position sliding DR vs GPS
Description The difference between GPS position and Dead Reckoning position
becomes large.

Remedy <Action>
Restart truck
20-569
4A22 Front slippage L vs R
Fault Code 4A22

Message Front slippage L vs R
Description System detects the large difference between Front Left speed and
Right speed.
Possible Cause ¾ Defective Front Left or Right Speed Sensing system
z Signal Noise
¾ Wrong setting of LH drive controller
Remedy <Action>
1) Restart truck.
3) If this error repeats in good road condition, check LH drive controller
Rotary switch setting.
4) If this error can’t be reset after making sure the LH drive controller
setting correct, investigate the speed sensor circuit.
<Rotary switch setting for LH Drive Controller>

SW1 REG system REG Hopper comment
number function
C ON ON REG system works on Haulroad and
at Hopper
Others Wrong Setting
20-570

3) FB2-B, TB28H : 15V,

1) Signal Line :

<Installation>
¾ Adjustment
Gap=0.06 [inch] = 1.5 [mm]
Front Pulse sensor
Gap
20-571
4A23 Rear slippage L vs R
Fault Code 4A23

Message Rear slippage L vs R
Description System detects the large difference between Rear Left speed and Rear
Right Speed.
Possible Cause ¾ Defective Rear Left or Right Speed Sensing system
z Signal Noise
Remedy <Action>
1) Restart truck.
3) If this error can’t be reset, investigate the speed sensor circuit.
20-572
2) TB55-G, TB38-B, TB38-F, CN8-06 : 0V

2) GND Line : 0AUR
<Installation>
Rear Pulse sensor
¾ Adjustment
Gap=0.06 [inch] = 1.5 [mm]
20-573
Troubleshooting for position measurement system <How to check the speed sensors>
<How to check the speed sensors condition with Monitor Drive PC>

4. Check tyre speed in Tyre Pulse sensor section
Part Criteria
1778 < Front Speed(R) < 3778
1778 < Front Speed(L) < 3778
2278 < Rear Speed(R) < 3278
2278 < Rear Speed(L) < 3278
20-574
Troubleshooting for position measurement system <How to check the speed sensors>
Part Criteria
12889 < Front Speed(R) < 14889
12889 < Front Speed(L) < 14889
13389 < Rear Speed(R) < 14389
13389 < Rear Speed(L) < 14389
3) Drive and turn the truck CCW in small turning circle and check the each data below.
Part Criteria
Front Speed While turning the truck, Front Speed Difference
Difference (R-L) is positive value
Rear Speed While turning the truck, Rear Speed Difference (R-L)
Difference is positive value
20-575
Troubleshooting for position measurement system 4B01 4B02
4B01 Sensor Fusion data lost in NVRAM
Fault Code 4B01

Message Sensor Fusion data lost in NVRAM
Description Position Measurement data for sensor fusion in NVRAM was broken.
Possible Cause ¾ Controller

z NVRAM failure
Remedy <Action>
1) Do all of maintenance related to NVRAM to set the adjustment
setting data in controller. (See 20-1 “Replacing and adjusting”)
a) 20-5 “Adjustment of roll sensor”
b) 20-9 “Adjustment of pitch sensor”
c) 20-13 “GPS origin configuration setting”
d) 20-19 “REG target distance setting(Bank/Haulroad)”
e) 20-23 “REG Hopper target distance setting (Option)” )
f) 20-51 “Adjustment of steering angle potentiometers”
g) 20-54 “Adjustment of S/T EPC valve”
2) After that, do Reset Running. (See 20-560)
4B02 Set slope and roll offset
Fault Code 4B02

Message Set slope and roll offset
Description Slope adjustment data in NVRAM was broken or the data in NVRAM is
out of range.
Possible Cause ¾ Adjustment data is out of range
z Wrong mount of Slope Sensor (Pitch and/or Roll)
z Slope adjustment was not done on flat place.
¾ Controller
z NVRAM failure
Remedy <Action>
1) Mount both Pitch and Roll sensors correctly. (See 20-5, 20-9)
2) Do slope sensors adjustment. (See 20-5, 20-9)
20-576
4B03 Set Origin data
Fault Code 4B03

Message Set Origin data
Description GPS origin data in NVRAM was broken.
z NVRAM failure
Remedy <Action>
system.
4B04 Set radius data for REG
Fault Code 4B04

Message Set radius data for REG
Description Tire Radius data for REG in NVRAM was broken.
z NVRAM failure
Remedy <Action>
Drive the truck straight by manual with 30km/h constant speed then do
power cycle of truck
20-577
4B05 Set target data for REG
Fault Code 4B05

Message Set target data for REG
Description REG target data in NVRAM was lost.

z NVRAM failure
Remedy <Action>
1) If you do cycle power of truck after new controller installed,
automatically target data are set to default value.
(Default target distance for Haulroad = 7000mm)
(Default target distance for Hopper = 3000mm)
2) If you want to change the setting data, do the adjustment for REG
target distance setting.
See 20-19 “REG target distance setting(Bank/Haulroad)”
See 20-23 “REG Hopper target distance setting (Option)” )
3) Do power cycle of truck
4B06 Set parameters for REG
Fault Code 4B06

Message Set parameters for REG
Description Tire parameter data for REG in NVRAM was lost.
z NVRAM failure
Remedy <Action>
1) Do power cycle of truck
20-578
Troubleshooting for position measurement system 4B07 4B08 4B0B
4B07 Navigation Fatal software error
Fault Code 4B07

Message Navigation Fatal software error
Description Navigation software detects fatal software exception like abnormal
calculation results.
Possible Cause Software exception

Remedy <Action>
Cycle power and restart truck
4B08 Gyro RS232C Tx overflow
Fault Code 4B08

Message Gyro RS232C Tx overflow
Description RS232C communication Tx data buffer overflow
Remedy <Action>
4B0B Gyro RS232C Rx data lost
Fault Code 4B0B

Message Gyro RS232C Rx data lost
Description RS232C communication Rx buffer data lost
Remedy <Action>
20-579
Troubleshooting for position measurement system 4B0E 4B0F 4B10 4B11
4B0E Angle range error
Fault Code 4B0E

Message Angle range error
Description Angle calculation is our of range
Remedy <Action>
4B0F Main cycle error
Fault Code 4B0F

Message Main Cycle error
Description Main cycle is too busy
Remedy <Action> Restart truck
4B10 Speed Fusion error
Fault Code 4B10

Message Speed Fusion error
Description Main cycle is too busy and speed calculation is out of range
4B11 Navigation too busy
Fault Code 4B11

Message Navigation too busy
Description Navigation calculation cycle is too busy

20-580
Troubleshooting for position measurement system 4B12, 4B13, 4B15, 4B16
4B12 DPRAM data error
Fault Code 4B12

Message DPRAM data error
Description All data from DPRAM were not changed.

Remedy <Action> Cycle power and restart truck
4B13 Navigation system not ready
Fault Code 4B13

Message Navigation system not ready
Description Drive system send Auto Navigation request when navigation is not
ready because of navigation related error.
Possible Cause Software exception (Mismatch between Drive module and Nav module)
4B15 Unknown Shift Position
Fault Code 4B15

Message Unknown Shift Position
Description Unknown Shift position was informed from Drive module.
4B16 Pulse counter error
Fault Code 4B16

Message Pulse counter error
Description Pulse counter data is abnormal value.
20-581
Troubleshooting for position measurement system 4B17
4B17 Analog Input Error
Fault Code 4B17

Message Analog Input Error
Description All Analog input data of LH Drive Controller were not changed.
Possible Cause LH Drive controller busy

20-582
Troubleshooting for position measurement system
Blank page
(Page 583 –599)

Troubleshooting for position measurement system 8601, 8603, 8604, 8605
8601 GPS Quality warning
Fault Code 8601

Message GPS Quality warning
Description GPS quality mode (Type) is not RTK mode.
<GPS Quality mode>
Type= 0: Invalid, 1: Single Point, 4: RTK fixed, 5: RTK float
Possible Cause See 20-430 (Fault code 4601)
Remedy <Action> Wait for GPS condition recovered
8603 Lack of Satellites warning
Fault Code 8603

Message Lack of Satellites
Description 1) GPS satellites number is less than 5
2) GPS Satellites number is 5 and GPS position jump is detected.
<Expected behavior>
1) 5 satellites or more is necessary to continue AT-Travel.
2) If satellites availability is only 5, AHT will slow down to 25km/h.
Remedy <Action> Wait for GPS condition recovered.
8604 GPS correction data delay
Fault Code 8604

Message GPS correction data delay
Description GPS rtcmAge become larger than 7 sec.
<Expected behavior>
1) GPS rtcmAge is less than 8 sec.
8605 GPS GST reset warning
Fault Code 8605

Message GPS GST reset
Description GPS GST value (2D estimated sigma warning) become too large to
continue AT travel when truck is running.
20-600
8606 GPS not ready warning
Fault Code 8606

Message GPS not ready
Description GPS system is not ready to measure the accurate position of truck.
Not possible to travel in Auto mode.
GPS system condition reported from HUB is not ready.
8607 Wait for good GPS
Fault Code 8607

Message Wait for good GPS
Description 1) GPS GST value (2D estimated sigma warning) become too large to
approach to EdgeDump Berm or Excavator
<Expected behavior>
GST value should be lower than 100mm to approach to EdgeDump
Berm or Excavator
8608 Wait for good GPS at Hopper
Fault Code 8608

Message Wait for good GPS at Hopper
Description 1) GPS GST value (2D estimated sigma warning) become too large to
approach to Crusher (Hopper)
<Expected behavior>
GST value should be lower than 50mm to approach to Crusher
(Hopper).
20-601
Troubleshooting for position measurement system 860B, 860E, 8610
860B the message of GPS recovery
Fault Code 860B

Message GPS recovering
Description When GPS recovered from unavailable condition, system makes sure
that gps condition becomes available with checking for 3 times
continuous reliable GPS input and system informs this message during
this checking period.
z And so on
860E GPS GST not ready

Fault Code 860E
Message GPS GST not ready
Description GPS GST value (2D estimated sigma warning) is too large to start AT
operation when truck is stopped.
<Expected behavior>
GST value should be lower than 300mm to continue AT-Travel.
Possible Cause See 20-446 (Fault code 460E)
8610 Position Accuracy warning
Fault Code 8610

Message Position Accuracy warning
Description Estimated truck position accuracy is low to continue autonomous
Truck will start slowdown.
20-602
8611 Heading Accuracy warning
Fault Code 8611

Message Heading Accuracy warning
Description Estimated truck heading accuracy is low to continue Autonomous
Truck will start slowdown.
8612 Travel distance limitation without GPS
Fault Code 8612

Message Travel distance limitation without GPS
Description If truck travel distance becomes over 150m without position correction
by GPS, truck should stop to keep truck position accuracy.
<Expected behavior>
8621 GPS delay from PPS timing
Fault Code 8621

Message GPS delay from PPS timing
Description PPS timing and GPS data input are not synchronized.
GPS data input is delayed vs PPS input timing.
<Expected behavior>
Remedy <Action> If same warning repeats, reboot the ML-HUB
20-603
8622 GPS interval is large
Fault Code 8622

Message GPS interval is large
Description GPS data input interval is larger than 1 second.
<Expected behavior>
Remedy <Action>
If this warning repeats, reboot the ML-HUB and restart the truck.
8624 GPS communication Lost warning
Fault Code 8624

Message GPS communication lost
Description GPS data input from CAN-A is delayed, lost or stopped.
Start
Y
GPS data received?
N
N
Count > Warning Threshold?
Y
Warning 8624
<Expected behavior>
GPS output is 2Hz frequency.
GPS Interval is between 0.4 sec and 0.6 sec.
Remedy See 20-452 (Fault code 4624)
20-604
8625 PPS signal warning
Fault Code 8625

Message PPS signal warning
Description PPS input from ML-HUB is delayed, lost or stopped.
(If ML-HUB has a reset, this warning is happened.)
Start
Y
PPS signal ON?
N
N
Count > Warning Threshold?
Y
Warning 8625
<Expected behavior>
PPS output is 2Hz frequency.
PPS interval is between 0.4 sec and 0.6 sec.
8631 Wrong status code from HUB GPS warning
Fault Code 8631

Message Wrong status code from HUB-GPS
Description Wrong status code was received from HUB_GPS system.

Remedy <Action>
If this warning repeats, Replace the ML-HUB
20-605
Troubleshooting for position measurement system 8640,8641,8642,8643
8640 Origin X warning
Fault Code 8640

Message Origin X warning
8641 Origin Y warning
Fault Code 8641

Message Origin Y waning
Description GPS origin Y data received from Supervisory system is different from
8642 Origin Z warning
Fault Code 8642

Message Origin Z waning
8643 Scale X warning
Fault Code 8643

Message Scale X warning
Description GPS origin X scale data received from Supervisory system is different
20-606
Troubleshooting for position measurement system <How to check the GPS condition>
8644 Scale Y warning
Fault Code 8644

Message Scale Y warning
Description GPS origin Y scale data received from Supervisory system is different
8645 Scale Z warning
Fault Code 8645

Message Scale Z warning
Description GPS origin Z scale data received from Supervisory system is different
8646 Grid info warning
Fault Code 8646

Message Grid info warning
Description GPS origin scale factor data received from Supervisory system is not
correct value.
8647 Grid information warning
Fault Code 8647

Message Grid information warning
Description GPS Grid information data is not received yet from Supervisory
system.
20-607
Troubleshooting for position measurement system 8701, 8702 8703
8701 Gyro system is not ready to start up.
Fault Code 8701

Description Position measurement request was received from Drive system before
Gyro start-up initialization was finished.
After Cycle power of truck, Gyro needs initialization to start up the
system and it takes several seconds.
Possible Cause ¾ Software Exception

Remedy <Action>
8702 Gyro system not ready
Fault Code 8702

Description Gyro system detects Gyro start-up warning.
After Gyro system start-up, Gyro system doesn’t start the angle
measurement.

z Gyro failure
Remedy <Action>
2) If this warning can’t be reset, replace the Gyro Sensor.
8703 Gyro Angular velocity warning
Fault Code 8703

Message Angular velocity warning
Description Gyro system detects high angular velocity during Gyro maintenance.
Possible Cause ¾ Gyro was moved during Gyro adjustment.

z Truck moved during Gyro adjustment.
z Gyro failure
Remedy <Action>
1) Do Gyro adjustment again in steady condition. (See 20-16)
20-608
Troubleshooting for position measurement system 8704, 8705 8706
8704 Gyro Angular velocity warning
Fault Code 8704

Message Angular velocity warning
Description Gyro system detects high angular velocity.
Possible Cause ¾ Gyro got too high angular velocity

z Gyro failure
Remedy <Action>
1) Inspect the Gyro mount.
2) If Gyro mount is no problem, replace the Gyro Sensor
8705 Gyro RS232C frame warning
Fault Code 8705

Message Gyro RS232C frame warning
Description Gyro system detects Gyro RS232C frame warning.

z Gyro failure
Remedy <Action>
8706 Gyro RS232C over run warning
Fault Code 8706

Message Gyro RS232C over run warning
Description Gyro system detects Gyro RS232C over run warning.

z Gyro failure
Remedy <Action>
20-609
8707 Gyro RS232C parity warning
Fault Code 8707

Message Gyro RS232C parity warning
Description Gyro system detects Gyro RS232C parity warning.

z Gyro failure
Remedy <Action>
2) If this warning can’t be reset, replace the Gyro Sensor
8708 Gyro RS232C check-sum warning
Fault Code 8708

Message Gyro RS232C check-sum warning
Description Gyro system detects Gyro RS232C check-sum warning.

z Gyro failure
Remedy <Action>
8709 RS232C command warning
Fault Code 8709

Message Gyro RS232C command warning
Description Gyro system detects Gyro RS232C command warning.

z Gyro failure
Remedy <Action>
20-610
Troubleshooting for position measurement system 870A, 870B, 870C
870A Gyro RS232C unknown command warning
Fault Code 870A

Message Gyro RS232C unknown command warning
Description Gyro system detects Gyro RS232C unknown command warning.

z Gyro failure
Remedy <Action>
870B Gyro internal timer warning
Fault Code 870B

Message Gyro internal timer warning
Description Gyro system detects Gyro internal timer warning.

z Gyro failure
Remedy <Action>
870C Gyro RAM warning
Fault Code 870C

Message Gyro RAM warning
Description Gyro system detects Gyro RAM warning.

z Gyro failure
Remedy <Action>
20-611
Troubleshooting for position measurement system 870D, 870E, 870F
870D Gyro ROM warning
Fault Code 870D

Message Gyro ROM warning
Description Gyro system detects Gyro ROM warning.

z Gyro failure
Remedy <Action>
870E Gyro wrong warning
Fault Code 870E

Message Gyro wrong code warning
Description Wrong warning code was received from Gyro system.

z Gyro failure
Remedy <Action>
870F Gyro unknown warning
Fault Code 870F

Message Gyro unknown code warning
Description Gyro warning flag was received but no warning code from Gyro
system.

z Gyro failure
Remedy <Action>
20-612
8710 Gyro ACK warning
Fault Code 8710

Message Gyro ACK warning
Description No ACK data from Gyro unit for 3 sec after LH controller sends initial
command.
Possible Cause ¾ Wiring

z Gyro failure
Remedy <Action>
1) If this warning can’t be reset, check the Gyro circuit.
2) If this warning still can’t be reset, replace the Gyro unit.
20-613
8711 Gyro ACK byte warning
Fault Code 8711

Message Gyro ACK byte warning
Description Gyro ACK data size is wrong

z Gyro failure
Remedy <Action>
8712 Gyro abnormal angular velocity
Fault Code 8712

Message Gyro abnormal angular velocity
Description Navigation System detects continuous strange Gyro angular velocity
when truck is stopped.

z Gyro failure
Remedy <Action>
8713 Gyro ACK data warning
Fault Code 8713

Message Gyro ACK data warning
Description Gyro ACK data is wrong.

z Gyro failure
Remedy <Action>
20-614
8714 Gyro data delay warning
Fault Code 8714

Message Gyro data delay warning
Description Navigation system detects abnormal Gyro data delay
Start
Is new Gyro data received? Y
N
N
Count > Threshold?
Y
Warning 8714

¾ Wiring
z Gyro failure
Remedy <Action>
truck condition.
20-615
20-616
8715 Gyro angle range warning
Fault Code 8715

Message Gyro angle range warning
Description Gyro angle data is out of range.

z Gyro failure
Remedy <Action>
8717 Gyro angular velocity range warning
Fault Code 8717

Message Gyro angular velocity range warning
Description Gyro angle angular velocity data is out of range.

z Gyro failure
Remedy <Action>
8718 Gyro COM data warning
Fault Code 8718

Message Gyro COM data warning
Description Gyro communication data is wrong. Unexpected data was received.

z Gyro failure
Remedy <Action>
20-617
8716 Gyro angle deviation warning
Fault Code 8716

Message Gyro angle deviation warning
Description Navigation system detects large Gyro angle data jump.
Start
N
Is new Gyro data received?
Y
Calculate the deviation data
Gyro deviation = | new data – old data |
N
Gyro deviation > Threshold?
Y
Warning 8716

¾ Wiring
z Gyro failure
Remedy <Action>
truck condition.
20-618
20-619
Troubleshooting for position measurement system 8719, 871A, 871B
8719 Gyro check-sum warning
Fault Code 8719

Message Gyro check-sum warning
Description Gyro communication check-sum data is wrong.

z Gyro failure
Remedy <Action>
871A Gyro initialization warning
Fault Code 871A

Message Gyro initialization warning
Description Gyro is initialized. Initialization Bit is ON.
z Gyro failure
Remedy <Action>
871B Gyro Offset Cancel mode warning
Fault Code 871B

Message Gyro Offset Cancel Mode warning
Description Gyro is in Offset Cancel mode. Offset Cancel mode Bit is ON.
Possible Cause Gyro is In Offset Cancel mode.
Remedy <Action> Wait for the completion of Gyro Offset Cancel function.
20-620
Troubleshooting for position measurement system 871C, 8720, 8721
871C Gyro CALL mode warning
Fault Code 871C

Message Gyro CALL mode warning
Description Gyro doesn’t become rate integral mode after LH sends integral start
command.
z Gyro failure
Remedy <Action>
8720 Gyro FATAL warning
Fault Code 8720

Message Gyro FATAL warning
Description Gyro system detects Gyro FATAL warning.
BIT15 status (ELSE) in ON.
z Gyro failure
Remedy <Action>
8721 Gyro BIT warning
Fault Code 8721

Message Gyro BIT warning
Description Gyro system detects Gyro BIT warning.
BIT14 Status (BIT) is ON.
z Gyro failure
Remedy <Action>
20-621
8722 Gyro TEST warning
Fault Code 8722

Message Gyro TEST warning
Description Gyro system detects Gyro TEST warning.
BIT13 Status (TEST) is ON.
z Gyro failure
Remedy <Action>
8723 Gyro SOFTWARE warning
Fault Code 8723

Message Gyro SOFTWARE warning
Description Gyro system detects Gyro SOFTWARE warning.
BIT12 status (SOFTWARE) in ON.
z Gyro failure
Remedy <Action>
8724 Gyro LASER-TEMP warning
Fault Code 8724

Message Gyro LASER-TEMP warning
Description Gyro system detects Gyro LASER-TEMP warning.
BIT11 Status (LASER-TEMP) is ON.
z Gyro failure
Remedy <Action>
20-622
8725 Gyro TEMP-SENSOR warning
Fault Code 8725

Message Gyro TEMP-SENSOR warning
Description Gyro system detects Gyro TEMP-SENSOR warning.
BIT10 Status (TEMP-SENSOR) is ON.
z Gyro failure
Remedy <Action>
8726 Gyro ANALOG-OUT warning
Fault Code 8726

Message Gyro A-OUT warning
Description Gyro system detects Gyro ANALOG-OUTPUT warning.
BIT9 status (ANALOG-OUTPUT) in ON.
z Gyro failure
Remedy <Action>
8727 Gyro MODULATION warning
Fault Code 8727

Message Gyro MODULATION warning
Description Gyro system detects Gyro MODULATION warning.
BIT8 Status (MODULATION) is ON.
z Gyro failure
Remedy <Action>
20-623
Troubleshooting for position measurement system 8728, 8729, 872A
8728 Gyro UNKNOWN warning
Fault Code 8728

Message Gyro UNKNOWN warning
Description Gyro system detects Gyro UNKNOWN warning.
BIT7 Status (UNKNOWN) is ON.
z Gyro failure
Remedy <Action>
8729 Gyro Laser-AMP warning
Fault Code 8729

Message Gyro Laser-AMP warning
Description Gyro system detects Gyro Laser-AMP warning.
BIT6 status (Laser AMP) in ON.
z Gyro failure
Remedy <Action>
872A Gyro Laser-MON warning
Fault Code 872A

Message Gyro Laser-MON warning
Description Gyro system detects Gyro Laser-MON warning.
BIT5 Status (Laser-MON) is ON.
z Gyro failure
Remedy <Action>
20-624
Troubleshooting for position measurement system 872B 872C 872D
872B Gyro DETECTOR warning
Fault Code 872B

Message Gyro DETECTOR warning
Description Gyro system detects Gyro DETECTOR warning.
BIT4 Status (DETECTOR) is ON.
z Gyro failure
Remedy <Action>
872C Gyro Interface warning
Fault Code 872C

Message Gyro Interface warning
Description Gyro system detects Gyro Interface warning.
BIT3 status (Interface) in ON.
z Gyro failure
Remedy <Action>
872D Gyro UNKNOWN2 warning
Fault Code 872D

Message Gyro UNKNOWN2 warning
Description Gyro system detects Gyro UNKNOWN2 warning.
BIT2 Status (UNKNOWN2) is ON.
z Gyro failure
Remedy <Action>
20-625
Troubleshooting for position measurement system 872E, 872F
872E Gyro RAM-ROM warning
Fault Code 872E

Message Gyro RAM-ROM warning
Description Gyro system detects Gyro RAM-ROM warning.
BIT1 Status (RAM-ROM) is ON.
z Gyro failure
Remedy <Action>
872F Gyro MPU warning
Fault Code 872F

Message Gyro MPU warning
Description Gyro system detects Gyro MPU warning.
BIT0 Status (MPU) is ON.
z Gyro failure
Remedy <Action>
20-626
8801 Front Right pulse sensor warning
Fault Code 8801

Message Front Right pulse sensor warning
Description No pulse input from Front Right sensor when Front Left wheel speed
becomes more than 5km/h.
z Signal Noise
Remedy <Action>
2) If this warning can’t be reset, investigate the speed sensor circuit
<Installation>

Gap=0.06 [inch] = 1.5 [mm]
Gap
20-627

2) FB2-B, TB28H : 15V,

1) Signal Line :

20-628
8802 Front Left pulse sensor warning
Fault Code 8802

Message Front Left pulse sensor warning
Description No pulse input from Front Left sensor when Front Right wheel speed
z Signal Noise
Remedy <Action>
<Installation>

Gap=0.06 [inch] = 1.5 [mm]
Gap
20-629

2) FB2-B, TB28H : 15V,

1) Signal Line :

20-630
8803 Both front pulse sensors warning
Fault Code 8803

Message Both front pulse sensors warning
Description No pulse input from Both Front Left and Right sensors when Rear
wheel speed becomes more than 5km/h.
Possible Cause ¾ Defective Both Front Left and Right Speed Sensing system
z Signal Noise
Remedy <Action>
<Installation>

Gap=0.06 [inch] = 1.5 [mm]
Gap
20-631

3) FB2-B, TB28H : 15V,

1) Signal Line :

20-632
8809 Front Right pulse sensor deviation warning
Fault Code 8809

Message Front Right pulse deviation warning
Description The speed deviation measured by Front Right sensor become too large
z Signal Noise
Remedy <Action>
<Installation>

Gap=0.06 [inch] = 1.5 [mm]
Gap
20-633

2) FB2-B, TB28H : 15V,

1) Signal Line :

20-634
880A Front Left pulse sensor deviation warning
Fault Code 880A

Message Front Left pulse deviation warning
Description The speed deviation measured by Front Left sensor become too large
z Signal Noise
Remedy <Action>
<Installation>

Gap=0.06 [inch] = 1.5 [mm]
Gap
20-635

2) FB2-B, TB28H : 15V,

1) Signal Line :

20-636
8804 Rear Right pulse sensor warning
Fault Code 8804

Message Rear Right pulse Sensor warning
Description No pulse input from Rear Right sensor when Rear Left wheel speed
z Signal Noise
Remedy <Action>
<Installation>
Rear Pulse sensor
¾ Adjustment
Gap=0.06 [inch] = 1.5 [mm]
20-637
<Pulse Sensor>
<Circuit Diagram>
2) TB55-G, TB38-B, CN8-06 : 0V

2) GND Line : 0AUR
20-638
8805 Rear Left pulse sensor warning
Fault Code 8805

Message Rear Left pulse sensor warning
Description No pulse input from Rear Left sensor when Rear Right wheel speed
z Signal Noise
Remedy <Action>
<Installation>
Rear Pulse sensor
¾ Adjustment
Gap=0.06 [inch] = 1.5 [mm]
20-639
<Pulse Sensor>
<Circuit Diagram>
2) TB55-G, TB38-F, CN8-06 : 0V

2) GND Line : 0AUR
20-640
8806 Both Rear pulse sensors warning
Fault Code 8806

Message Both Rear pulse sensors warning
Description No pulse input from Both Rear Right and Left sensor when Front wheel
speed becomes more than 5km/h.
Possible Cause ¾ Defective Rear Speed Sensing system
z Signal Noise
Remedy <Action>
<Installation>
Rear Pulse sensor
¾ Adjustment
Gap=0.06 [inch] = 1.5 [mm]
20-641
<Pulse Sensor>
<Circuit Diagram>
2) TB55-G, TB38-B, TB38-F, CN8-06 : 0V

2) GND Line : 0AUR
20-642
8807 Rear Right pulse deviation warning
Fault Code 8807

Message Rear Right pulse deviation warning
Description The speed deviation measured by Rear Right sensor become too large
z Signal Noise
Remedy <Action>
<Installation>
Rear Pulse sensor
¾ Adjustment
Gap=0.06 [inch] = 1.5 [mm]
20-643
<Pulse Sensor>
<Circuit Diagram>
2) TB55-G, TB38-B, CN8-06 : 0V

2) GND Line : 0AUR
20-644
8808 Rear Left pulse deviation warning
Fault Code 8808

Message Rear Left pulse deviation warning
Description The speed deviation measured by Rear Left sensor become too large
z Signal Noise
Remedy <Action>
<Installation>
Rear Pulse sensor
¾ Adjustment
Gap=0.06 [inch] = 1.5 [mm]
20-645
<Pulse Sensor>
<Circuit Diagram>
2) TB55-G, TB38-F, CN8-06 : 0V

2) GND Line : 0AUR
20-646
Troubleshooting for position measurement system 880B, 880C
880B Rear tire radius warning
Fault Code 880B

Message Rear tire radius warning
Description Filter coefficient value of Rear Tire speed Sensor Fusion become
abnormal.
Remedy <Action>
880C Front tire radius warning

Fault Code 880C
Message Front tire radius warning
Description Filter coefficient value of Front Tire speed Sensor Fusion become
abnormal.
Remedy <Action>
20-647
8810 Pitch sensor data is out of range
Fault Code 8810

Message Pitch sensor warning
Description Pitch angle data is out of range for 2 seconds.
z Signal Noise
¾ Road condition
z Steep slope
Remedy <Action>
<Installation>
Pitch angle sensor
θ
Uｐ-grade is
Up-grade is plus(+)
plus(+)grade
Grade
20-648
<Circuit Diagram>



20-649
8811 Pitch sensor data is not changed
Fault Code 8811

Message Pitch data not changed
Description Pitch angle data is not changed even when truck is accelerated or
decelerated
Possible Cause ¾ Defective Pitch sensor unit

z A/D data freeze
Remedy <Action>
1) Check the signal data of pitch sensor
z Check the circuit
2) If no problem with wiring, replace pitch sensor unit.
<Installation>
Pitch angle sensor
θ
Uｐ-grade is
Up-grade is plus(+)
plus(+)grade
Grade
20-650
<Circuit Diagram>



2) Pitch Signal level should be changed while truck running with acceleration or deceleration.
20-651
8812 Pitch angle data is out of Hopper specification
Fault Code 8812

Message Pitch warning at Hopper
Description Pitch angle data is over 3deg at Hopper

z Signal Noise
¾ Road condition
Remedy <Action>
<Installation>
Pitch angle sensor
θ
Uｐ-grade is
Up-grade is plus(+)
plus(+)grade
Grade
20-652
<Circuit Diagram>



20-653
8813 Pitch angle data limitation
Fault Code 8813

Message Pitch angle limitation warning
Description Pitch angle data is over 10deg for 5 seconds.

z Signal Noise
¾ Road condition
z Steep slope
Remedy <Action>
<Installation>
Pitch angle sensor
θ
Uｐ-grade is
Up-grade is plus(+)
plus(+)grade
Grade
20-654
<Circuit Diagram>



20-655
8814 Roll sensor data is out of range
Fault Code 8814

Message Roll sensor warning
Description Roll angle data is out of range for 2 seconds.
z Signal Noise
¾ Road condition
z Steep slope
Remedy <Action>
<Installation>
Roll angle sensor
20-656
<Circuit Diagram>



20-657
8815 Roll sensor data is not changed
Fault Code 8815

Message Roll data not changed
Description Roll angle data is not changed even when truck changes the direction.
Possible Cause ¾ Defective Roll sensor unit

z A/D data freeze
Remedy <Action>
1) Check the signal data of roll sensor
z Check the circuit
2) If no problem with wiring, replace roll sensor unit.
<Installation>
Roll angle sensor
20-658
<Circuit Diagram>



20-659
8816 Roll angle data is out of Hopper specification
Fault Code 8816

Message Roll warning at Hopper
Description Roll angle data is over 3deg at Hopper

z Signal Noise
¾ Road condition
Remedy <Action>
<Installation>
Roll angle sensor
20-660
<Circuit Diagram>



20-661
8817 Roll angle data limitation
Fault Code 8817

Message Roll angle limitation warning
Description Roll angle data is over 10deg for 5 seconds.

z Signal Noise
¾ Road condition
z Steep slope
Remedy <Action>
<Installation>
Roll angle sensor
20-662
<Circuit Diagram>



20-663
8818 Both slope sensors warning
Fault Code 8818

Message Both slope sensors warning
Description Both Pitch and Roll angle data are out of range for 3 seconds.
<measurement range> : -20 deg < pitch & roll angle < 20 deg
Possible Cause ¾ Defective Both Pitch and Roll sensor circuit
z Slope Sensors power supply (36FI, 0RT)
z Slope Sensors wiring (36FP,36FR) problem
z loose connector (FS1,RS1, LH Drive CN7,CN8)
z Both Sensors Failure
z Signal Noise
¾ Road condition
z Steep slope (Both Pitch and Roll direction)
¾ Abnormal sensor calibration (Both Pitch and Roll)
Remedy <Action>
2) If this warning can’t be reset, investigate the slope sensors circuit
3) To do the sensors calibration, see 20-9 (Pitch) and 20-5 (Roll).
<Installation>
Roll angle sensor
Pitch angle sensor
θ
Uｐ-grade is
Up-grade is plus(+)
plus(+)grade
Grade
20-664
<Circuit Diagram>

1) Angle sensor’s connector PS1-3, RS1-3 (12VDC), TB52-T, CN8-10 : 12V (Power Line 36FI)
2) Angle sensor’s connector PS1-1, RS1-1 (GND), TB53-G : 0V (GND Line 0RT)

Sensor Connector PS1-1, RS1-1 -> TB53-G -> CN8-08

20-665
8819 Moving signal logic fault with GE
Fault Code 8819

Message Moving signal logic fault with GE
Description 1) Both Moving Forward True signal and Moving Reverse True signal
from GE I/O system were ON at the same time for 1 second.
2) When Both Moving Forward signal and Moving Reverse signal are
OFF, and Neutral shift position, LH drive controller detect the truck
speed pulse input continuously for 0.5 second.

z Moving Forward signal wiring (72FD) problem
z Moving Reverse signal wiring (79RD) problem
Remedy <Action>
If this warning can’t be reset,
z Check the circuit (72FD, 79RD)
<Circuit diagram>
72FD
TB50-S TB23-L
<Abnormal condition> If 72FD is ON, when Shift status is Nutral -> 72FD is GND short.
If 72FD is OFF, when Shift status is not Nutral -> 72FD is open (24v).
79RD
TB51-F TB23-M
<Abnormal condition> If 79RD is ON, when Shift status is Nutral -> 79RD is GND short.
If 79RD is OFF, when Shift status is not Nutral -> 79RD is open (24v).
20-666
8820 Moving F signal warning
Fault Code 8820

Message Moving F signal warning
Description When moving status from Drive system is Forward and both rear and
front speed are continuously over 0.2km/h for 0.5 second, Moving F
z Moving F Signal wiring (72FD) is open (24V)
Remedy <Action>
z Check the circuit (72FD)
<Circuit diagram>
72FD
TB50-S TB23-L
<Abnormal condition> If 72FD is OFF, when Shift status is not Nutral -> 72FD is open (24v).
8821 Moving R signal warning
Fault Code 8821

Message Moving R signal warning
Description When moving status from Drive system is Backward and both rear and
front speed are continuously over 0.2km/h for 0.5 second, Moving R
z Moving R Signal wiring (79RD) is open (24V)
Remedy <Action>
z Check the circuit (79RD)
<Circuit diagram>
79RD
TB51-F TB23-M
<Abnormal condition> If 79RD is OFF, when Shift status is not Nutral -> 72RD is open (24v).
20-667
8902 REG Laser beam is blocked
Fault Code 8902

Message Laser beam blockage
Description Laser beam is blocked.
Distance data from Laser Sensor is minus value.
Possible ¾ Laser Sensor Head condition
Cause z Laser Sensor head cover is not open.
z Laser Sensor Head is not clear. (Dirty, Muddy, Misty, and so on)
Remedy <Action>
1) Check the Laser Sensor Head condition.
2) Check the Laser data
z REG Laser data monitor with LH Drive IO Checker (See
20-554)
3) If same warning repeats, check the Laser Sensor Controller (See
20-555)
8904 Laser reflection power is too low
Fault Code 8904

Message REG Reflection warning
Description Reflection Power data from Laser Sensor is too low for continuous
100m traveling or more
Possible ¾ Laser Sensor Head condition
Cause z Laser Sensor Head is not clear. (Dirty, Muddy, Misty, and so on)
¾ Laser Sensor Optical Fiber condition
z The connector of Laser Sensor ‘s Optical Fiber cable is loose or
disconnected.
z Laser Sensor Optical Fiber cable is bent and broken.
¾ Road & Berm condition
z Berm angle is too low, or no berm for more than 100m distance.
z Too dusty condition.
Remedy <Action>
1) Check the laser Sensor head condition.
2) Check the Laser Sensor Optical Fiber condition.
3) If this warning repeats, check the road and berm condition.
(See 20-555)
20-668
8906 Laser A/D signal is out of range
Fault Code 8906

Message REG A/D signal warning
Description REG system detects Analog signal value is out of range for more than
10 seconds.

Cause z Analog signal wiring (90RES, GND8) cut
z Wrong Register (REGR)
z REG Laser Controller Analog output problem
Remedy <Action>
1) Check the A/D signal wiring (90RES, GND8) of REG system
2) Check the register (REGR)
3) Check REG Laser data with LH Drive IO Checker (See 20-554)
<Circuit Diagram>
<Check the voltage>

a) between CN7-08 and CN8-01
b) between TB50-T and TB54-6
normal : 0.99v (at 0[m] target) to 895 v(at 20[m] target)
<Check the register>

1) between TB50-T and TB54-6 : about 246.5Ω
20-669
Troubleshooting for position measurement system 890７
8907 Laser RS232C data is not received
Fault Code 8907

Message REG RS232C signal warning
Description No data coming from Laser RS232C for more than 20 seconds.

Cause z Defective RS232C signal wiring (90RER,90RET,90REG)
¾ Loose connector
z Loose connector (REGT, LH-Drive Controller CN6)
Remedy <Action>
1) Check the RS232C wiring (90RER,90RET,90REG) of REG system
2) Check the connector (REGT, LH Drive controller CN6)
(See 20-555)
<Circuit Diagram>

c) between CN6-06 (RS232C GND) and REGT-5(GND : Laser Sensor Controller)
d) between CN6-04 (RS232C RXD) and REGT-3 (TXD : Laser Sensor Controller)
e) between CN6-03 (RS232C TXD) and REGT-2 (RXD : Laser Sensor Controller)

20-670
8908 Laser program mode
Fault Code 8908

Message Laser program mode
Description System detects Invalid mode of Laser Sensor Controller.
Possible ¾ Laser Sensor Controller invalid mode

Cause z Laser Sensor Controller mode was changed
Remedy <Action>
Fault Code 8911

Remedy <Action>
8912 Laser OFF warning
Fault Code 8912

Message Laser OFF warning
Description Laser Sensor Controller detects Laser OFF warning.

Remedy <Action>
20-671
8909 REG power line warning
Fault Code 8909

Message REG power line warning
Description System detects Both A/D signal warning and Serial signal Lost.
Possible ¾ Defective Power supply for Laser Sensor Controller
Cause z Defective wiring of power line (33PG, 33PP, 52P7,712PA)
z Defective connectors of power supply circuit (PC2A, PC2B)
z Defective connector of REG controller (REGP)
z Defective power supply unit (REG power converter)
z Defective power source FUSE (FB3-7)
z Defective Laser Sensor Controller FUSE (inside REG controller)
Remedy <Action>
2) If repeated, check the REG system circuit
<Circuit Diagram>

f) between CN6-06 (RS232C GND) and REGT-5(GND : Laser Sensor Controller)
g) between CN6-04 (RS232C RXD) and REGT-3 (TXD : Laser Sensor Controller)
h) between CN6-03 (RS232C TXD) and REGT-2 (RXD : Laser Sensor Controller)

20-672
8914 Laser low power warning
Fault Code 8914

Message Laser low power warning
Description Laser Sensor Controller detects Laser Low Power warning.
Possible ¾ Laser Sensor Controller power supply low voltage

Cause z Defective wiring(33PP,33PG,52P7)
z Fuse FB3-7 is burnt out
z Loose contact of connectors(PC2A,PC2B,REGP)
z Defective REG Power Converter
Remedy <Action>
<Circuit Diagram>

20-673
8916 Laser high power warning
Fault Code 8916

Message Laser high power warning
Description Laser Sensor Controller detects Laser High Power warning.
Possible ¾ Laser Sensor Controller power supply voltage is too high

Cause z Defective power supply unit (REG power converter)
Remedy <Action>
2) If repeated, check REG Power converter
<Circuit Diagram>

20-674
8910 Laser measurement data warning
Fault Code 8910

Message Laser measurement data warning
Description Laser Sensor Controller detects Laser measurement data warning.
Possible ¾ No target for Laser Sensor
Cause z No target, badly reflecting target, fiber cable disconnection etc.
Remedy <Action>
2) If same warning repeats, check the Laser Head and Fiber cable.
<Laser Sensor Head & Cable investigation>

Laser sensor Head
Notice :
We recommend that the instrument not be directly pointed at
people’s eyes, especially if they are using binoculars. Aligning the
infrared laser sensor with the lenses of CCD-cameras or infrared
night vision devices can result in damage to them and is therefore
not permitted.
20-675
2. Check optical fiber cable connection

(1) Check the optical fiber cable appearance
from Laser Sensor Controller to Laser head.
Notice
・ Don’t bend the optical fiber.
・ Minimum bend radius >200mm
(2) Check the connection of fiber cable from Laser Sensor Controller to optical lens (inside Laser sensor
Head).
・ Never look into the open Glass-fiber output coupler of the Laser Sensor Controller.
・ Never look into the glass fiber ends, when connected to the Laser Sensor Controller, neither
with unaided eyes nor with as optical instrument.
20-676
Fault Code 8913

Remedy <Action>
8915 Laser low temperature warning
Fault Code 8915

Message Laser low temp warning
Description Laser Sensor Controller detects Laser Low Temp warning.
Temperature of Laser Sensor Controller is low.
Cause z Heater unit failure
Remedy <Action>
2) Check the Heater unit working
8917 Laser high temp warning
Fault Code 8917

Message Laser high temp warning
Description Laser Sensor Controller detects Laser High Temp warning.
Temperature of Laser Sensor Controller is high.
Cause z Cooling unit failure
Remedy <Action>
2) Check the Cooling unit working
20-677
Troubleshooting for position measurement system 8918, 8919, 891A, 891B
8918 Laser RAM warning

Fault Code 8918
Message Laser RAM warning
Description Laser Sensor Controller detects RAM warning.
Remedy <Action>
8919 Laser EPROM warning

Fault Code 8919
Message Laser EPROM warning
Description Laser Sensor Controller detects EPROM warning.
Remedy <Action>
1) Do power cycle of truck. .
891A Laser IDV internal warning

Fault Code 891A
Message Laser IDV internal warning
Description Laser Sensor Controller detects Laser Internal warning (IDV warning).
Remedy <Action>
891B Laser PAR internal warning

Fault Code 891B
Message Laser PAR internal warning
Description Laser Sensor Controller detects Laser PAR internal warning.
Remedy <Action>
20-678
Troubleshooting for position measurement system 891C, 891D, 891E, 8920
891C Laser ZAD1 internal warning

Fault Code 891C
Message Laser ZAD1 internal warning
Description Laser Sensor Controller detects Laser ZAD1 internal warning
Remedy <Action>
891D Laser ZAD2 internal warning

Fault Code 891D
Message Laser ZAD2 internal warning
Description Laser Sensor Controller detects Laser ZAD2 Internal warning
Remedy <Action>
891E Laser data overflow

Fault Code 891E
Message Laser data overflow
Description Laser Sensor Controller detects Laser data overflow.
Remedy <Action>
8920 GPS Position warning (lateral direction)

Fault Code 8920
Message Position warning of GPS navigation
Description Truck position error is too large to continue traveling with using GPS
data.
Truck travel 50m or more with more than 1.9m of navigation error
Possible Cause See Fault code 4920
Remedy Continue Operation
20-679
Troubleshooting for position measurement system 8922, 8924, 8930, 8931
8922 REG Angle correction warning

Fault Code 8922
Message REG Angle correction warning
Description Angle correction value becomes too large to continue traveling with
using REG system when GPS is not good.
|angle data correction value| > 0.5deg
8924 REG Laser Sensor detects something close to the truck on left hand side
Fault Code 8924
Message Bank wall close
Description REG Laser Sensor detects something close to the truck on left hand
side.
Distance from truck left edge to the berm becomes less than 2m
8930 Laser detects the berm too close to the truck during hopper approaching
Fault Code 8930
Message Left side no room at Hopper
Description REG Laser Sensor detects the truck position error to the left hand
8931 Laser detects the berm too far from the truck during hopper approaching
Fault Code 8931
Message Right side no room at Hopper
Description REG Laser Sensor detects the truck position error to the right hand
20-680
Troubleshooting for position measurement system 8A01, 8A02, 8A03, 8A05
8A01 Reset Running request
Fault Code 8A01

Message Reset Running request
Description When truck is stopped, the difference between GPS position and Dead
Reckoning position becomes too large.
System requires the initialization of truck position calculation.
Possible Cause See 20-559 (Fault code 4A01)
Remedy See 20-559 (Fault code 4A01)
8A02 Fusion accuracy warning
Fault Code 8A02

Message Fusion accuracy warning
Description Truck position accuracy is not accurate enough to drive with high
speed and system set the limit speed to low.
Possible Cause ¾ Dead reckoning performance limitation
¾ GPS position offset.
Remedy <Action> Continue Operation
8A03 Truck angle correction warning
Fault Code 8A03

Message Truck angle correction warning
Description Truck heading accuracy become low.
Maximum heading angle correction is limited to 0.5 deg.
After Dead reckoning run with no GPS correction, sometimes truck
needs large angle correction when GPS recovered.
8A05 Position warning between Gps and DR
Fault Code 8A05

Message Position warning between GPS and DR
Description When Navigation system is position calculation mode, the difference
between GPS position and Dead reckoning position become large.
20-681
Troubleshooting for position measurement system 8A06, 8A07, 8A09 8A0A
8A06 Brake system warning
Fault Code 8A06

Message Brake system warning
Description When Navigation position calculation is stopped, system detects truck
abnormal movement for more than 3 seconds.
Possible Cause Software Exception
Remedy <Action>Continue Operation
8A07 Truck angle deviation warning
Fault Code 8A07

Message Truck angle deviation warning
Description Truck angle is changed more than 2 deg compared with last time data.
8A09 Tire lock warning
Fault Code 8A09

Message Tire Lock warning
Description Brake may work hard and 4 wheel lock is happened.
Possible Cause Full braking happened.
Remedy <Action>Continue Operation
8A0A DR lateral accuracy warning
Fault Code 8A0A

Message DR lateral accuracy warning
Description When truck is AT traveling with reliable GPS, dead reckoning lateral
position error becomes too large to continue AT operation.
Possible Cause See 20-563 (Fault code 4A0A)
Remedy See 20-563 (Fault code 4A0A)
20-682
Troubleshooting for position measurement system 8A0C, 8A0D 8A0E
8A0C Heading angle accuracy warning
Fault Code 8A0C

Message Heading angle accuracy warning
reckoning heading accuracy becomes too low to continue AT operation.
Possible Cause See 20-563 (Fault code 4A0C)
Remedy See 20-563 (Fault code 4A0C)
8A0D Position accuracy warning
Fault Code 8A0D

Message Position accuracy warning
reckoning position accuracy becomes too low to continue AT operation.
Possible Cause See 20-564 (Fault code 4A0D)
Remedy See 20-564 (Fault code 4A0D)
8A0E Sensor Fusion Failed
Fault Code 8A0E

Message Sensor Fusion Failed
Description Even when GPS information looks good, and GPS is available, sensor
fusion is not executed for 100m or more.
Possible Cause See 20-564 (Fault code 4A0E)
Remedy See 20-564 (Fault code 4A0E)
20-683
8A20 Tire Slippage warning
Fault Code 8A20

Message Tire Slippage warning
Description System detects the large difference between Front average speed and
Rear average Speed.
Possible Cause ¾ Defective Front Left and/or Right Speed Sensing system
z Signal Noise
¾ Defective Rear Left and/or Right Speed Sensing system
z Signal Noise
Remedy <Action>
1) If this warning repeats in same area, check road condition.
2) If this warning can’t be reset, investigate the speed sensor circuit.
20-684

3) FB2-B, TB28H : 15V,

1) Signal Line :

<Installation>
¾ Adjustment
Gap=0.06 [inch] = 1.5 [mm]
Front Pulse sensor
Gap
20-685
2) TB55-G, TB38-B, TB38-F, CN8-06 : 0V

2) GND Line : 0AUR
<Installation>
Rear Pulse sensor
¾ Adjustment
Gap=0.06 [inch] = 1.5 [mm]
20-686
Troubleshooting for position measurement system 8A21, 8A24
8A21 Position sliding DR vs GPS
Fault Code 8A21

Message Position sliding DR vs GPS
Description The difference between GPS position and Dead Reckoning position
becomes large.

z Accumulated Dead reckoning position warning
8A24 Slippage R vs GPS
Fault Code 8A24

Message Slippage R vs GPS
Description The difference between the speed calculated by GPS antenna position
and Rear wheel speed calculated by Rear pulse speed sensor
becomes large.
Possible Cause ¾ Rear tire large slippage.

20-687
8A22 Front slippage L vs R
Fault Code 8A22

Message Front slippage L vs R
Description System detects the large difference between Front Left speed and
Right speed.
Possible Cause ¾ Defective Front Left or Right Speed Sensing system
z Signal Noise
¾ Wrong setting of LH drive controller
Remedy <Action>
2) If this warning repeats in good road condition, check LH drive
controller Rotary switch setting.
3) If this warning can’t be reset after making sure the LH drive
controller setting correct, investigate the speed sensor circuit.
<Rotary switch setting for LH Drive Controller>

SW1 REG system REG Hopper comment
number function
C ON ON REG system works on Haulroad and
at Hopper
Others Wrong Setting
20-688

6) FB2-B, TB28H : 15V,

3) Signal Line :

<Installation>
¾ Adjustment
Gap=0.06 [inch] = 1.5 [mm]
Front Pulse sensor
Gap
20-689
8A23 Rear slippage L vs R
Fault Code 8A23

Message Rear slippage L vs R
Description System detects the large difference between Rear Left speed and Rear
Right Speed.
Possible Cause ¾ Defective Rear Left or Right Speed Sensing system
z Signal Noise
Remedy <Action>
2) If this warning can’t be reset, investigate the speed sensor circuit.
<Installation>
Rear Pulse sensor
¾ Adjustment
Gap=0.06 [inch] = 1.5 [mm]
20-690
2) TB55-G, TB38-B, TB38-F, CN8-06 : 0V

2) GND Line : 0AUR
20-691
Troubleshooting for position measurement system 8B01,8B02,8B03,8B04
8B01 Sensor Fusion data lost in NVRAM
Fault Code 8B01

Message Sensor Fusion data lost in NVRAM
Description Position Measurement data for sensor fusion in NVRAM was broken.
Possible Cause See 20-576 (Fault code 4B01)

Remedy See 20-576 (Fault code 4B01)
8B02 Set slope and roll offset
Fault Code 8B02

Message Set slope and roll offset
Description Slope adjustment data in NVRAM was broken or the data in NVRAM is
out of range.
8B03 Set Origin data
Fault Code 8B03

Message Set Origin data
Description GPS origin data in NVRAM was broken.
8B04 Set radius data for REG
Fault Code 8B04

Message Set radius data for REG
Description Tire Radius data for REG in NVRAM was broken.
20-692
Troubleshooting for position measurement system 8B05,8B06,8B07 8B08
8B05 Set target data for REG
Fault Code 8B05

Message Set target data for REG
Description REG target data in NVRAM was broken.
8B06 Set parameters for REG
Fault Code 8B06

Message Set parameters for REG
Description Tire parameter data for REG in NVRAM was broken.
8B07 Navigation Fatal software warning
Fault Code 8B07

Message Navigation Fatal software warning
Description Navigation software detects fatal software exception like abnormal
calculation results.
Remedy <Action> Cycle power
8B08 Gyro RS232C Tx overflow
Fault Code 8B08

Message Gyro RS232C Tx overflow
Description RS232C communication Tx data buffer overflow
20-693
Troubleshooting for position measurement system 8B09,8B0A,8B0B 8B0C
8B09 Laser RS232C Tx overflow
Fault Code 8B09

Message Laser RS232C Tx overflow
Description RS232C communication Tx buffer overflow
Remedy <Action>Cycle power
8B0A Monitor RS232C Tx overflow
Fault Code 8B0B

Message Monitor RS232C Tx overflow
Description RS232C communication Tx buffer overflow
Remedy <Action>Cycle power
8B0B Gyro RS232C Rx data lost
Fault Code 8B0B

Message Gyro RS232C Rx data lost
8B0C Laser RS232C Rx data lost
Fault Code 8B0C

Message Laser RS232C Rx data lost
20-694
Troubleshooting for position measurement system 8B0D 8B0E 8B0F 8B10
8B0D Monitor RS232C Rx data lost
Fault Code 8B0D

Message Monitor RS232C Rx data lost
8B0E Angle range warning
Fault Code 8B0E

Message Angle range warning
Description Angle calculation is our of range
8B0F Main cycle warning
Fault Code 8B0F

Message Main Cycle warning
Description Main cycle is too busy
8B10 Speed Fusion warning
Fault Code 8B10

Message Speed Fusion warning
Description Main cycle is too busy and Speed calculation is out of range
20-695
Troubleshooting for position measurement system 8B11,8B12,8B13,8B15
8B11 Navigaiton too busy
Fault Code 8B11

Message Navigation too busy
Description Navigation calculation cycle is too busy
8B12 DPRAM data warning
Fault Code 8B12

Message DPRAM data warning
Description All data from DPRAM were not changed.
8B13 Navigation system not ready
Fault Code 8B13

Message Navigation system not ready
Description Drive system send Auto Navigation request when navigation is not
ready because of navigation related trouble..
Possible Cause Software exception (Mismatch between Drive module and Nav module)
8B15 Unknown Shift Position
Fault Code 8B15

Message Unknown Shift Position
Description Unknown Shift position was informed from Drive module.
20-696
Troubleshooting for position measurement system 8B17
8B17 Analog Input Error
Fault Code 8B17

Message Analog Input Error
Description All Analog input data of LH Drive Controller were not changed.
Possible Cause LH Drive controller busy

20-697
Troubleshooting
for Travel control system
Troubleshooting for travel control system................................................................................................................20-701
Fault code list ..............................................................................................................................................................20-704
System caution
4001, 4002
Caution of Supervisory system................................................................20-714
4021, 4022, 4023, 4024, 4025, 4026, 4027, 4028
Supervisory system exception (SpeedProfile) .......................................20-715
4031, 4032, 4033, 4034
Supervisory system exception (TrajectoryData)....................................20-717
4041, 4042, 4043, 4044, 4045, 4046
Caution of Supervisory system (DumpBahavior) ..................................20-718
4051, 4052, 4053, 4054, 4055
Caution of Supervisory system (Others).................................................20-720
Heartbeat and communication between controllers

4011, 4012, 4013, 4014, 4015, 4016, 4017, 4018, 401D, 401E, 401F, 4020, 401D, 401E, 401F, 4020
Troubles in heartbeat system ..................................................................20-722
4019, 401A, 401B
Troubles in CAN communication ............................................................20-726
401C, 40A1, 40A2, 40A3, 40A6, 40A7, 40A8, 40A9, 40AA
Troubles in communication with safety controller..................................20-729
PLM3
4061 PLM3 sensors problem .............................................................................................................................20-736
Controller setting
40F1, 40F2, 40F4, 40F5, 40F6, 40F7
Troubles in controller setting.....................................................................20-737
Steering system
4101 Truck cannot be steered during preparation of steering system...........................................................20-739
4102 Low response of steering system.............................................................................................................20-739
4103, 4104, 410F, 4110 Steering potentiometer problem ...............................................................................20-742
4105 Steering potentiometer problem ...............................................................................................................20-745
4106, 4107, 4108, 4109, 410A, 410B Trouble in S/T EPC valve wiring........................................................20-747
4113 Trouble in S/T pressure..............................................................................................................................20-753
4114, 4115 Steering potentiometer signal problem..........................................................................................20-754
20-701
F-N-R selector system
4201, 4202, 4203 Wrong position of selector switch .......................................................................................20-755
4204, 4205, 4206, 4207, 4208, 4209 Troubles in wiring of F-N-R selector switch.......................................20-758
Acceleration control system

4301 Problem of acceleration signal..................................................................................................................20-766
4305, 4306, 4307 Troubles in wiring problem...................................................................................................20-768
Brake system
43A0 Trouble in front brake operation (Left brake)...........................................................................................20-771
43A1 Trouble in rear brake operation (Left brake)............................................................................................20-775
43A2 Trouble in front brake operation (Right brake)........................................................................................20-779
43A3 Trouble in rear brake operation (Right brake).........................................................................................20-783
43A4 Front brake is not released .......................................................................................................................20-787
43A5 Rear brake is not released........................................................................................................................20-790
43A6, 43CD Trouble in park brake.....................................................................................................................20-793
43A7, 43A8, 43A9 Troubles in wiring of front brake system ...........................................................................20-795
43AA, 43AB, 43AC Troubles in wiring of rear brake system ..........................................................................20-798
43AD, 43AE, 43AF Troubles in wiring of park brake system..........................................................................20-801
43B0, 43B1, 43B2 Troubles in wiring of auto apply brake system.................................................................20-805
43B3 Low performance of brake system ..........................................................................................................20-808
43B4, 43B5, 43B6 Troubles in wiring of brake lock system............................................................................20-809
43B7, 43B8, 43B9 Troubles in wiring of retard brake system.........................................................................20-812
43BA Troubles in auto apply brake system.......................................................................................................20-815
43BB Troubles in brake lock system..................................................................................................................20-817
43BC Troubles in rear brake system .................................................................................................................20-819
43BD Troubles in retard signal feedback...........................................................................................................20-822
43BE, 43BF Front brake is not released ...........................................................................................................20-824
43C0, 43C1 Rear brake is not released............................................................................................................20-828
43C2, 43C3, 43C4 Troubles in wiring of over ride signal ................................................................................20-832
43C5, 43C6, 43C7, 43C8 Troubles in brake pressure sensors .....................................................................20-835
43C9, 43CA, 43CB Troubles in signal from GE system..................................................................................20-837
43CC, 43CE Trouble in auto apply brake system............................................................................................20-841
43CF Trouble in front brake system...................................................................................................................20-843
Body control system

4402 Body position switch is broken..................................................................................................................20-846
4403 Hoist Limit Switch is broken.......................................................................................................................20-848
4404 Body down control error.............................................................................................................................20-852
4405, 4406 Trouble in body control....................................................................................................................20-856
4407, 4408, 4409 Troubles in wiring of body control sol A(up) line ..............................................................20-863
440A, 440B, 440C Troubles in wiring of body control sol B(down) line .......................................................20-867
440D Wrong body position..................................................................................................................................20-871
440E, 440F, 4410 Troubles in wiring of body control cut line ..........................................................................20-873
4411 Troubles in dump control pressure sensor ..............................................................................................20-877
4412, 4413 Troubles in dump control signal feedback ....................................................................................20-880
20-702
Operation
4502 Wrong position of A/M key switch.............................................................................................................20-884
4503 Trouble in A/M key switch..........................................................................................................................20-885
4504, 4505, 4506, 4507 Trouble in power supply............................................................................................20-887
4508 Trouble in auto preparation of autonomous travel..................................................................................20-895
4509, 450A Time over in autonomous travel ....................................................................................................20-898
450D, 450E, 450F, 4510 Course out.................................................................................................................20-900
4513 Over speed control.....................................................................................................................................20-904
4515 Over passing target point...........................................................................................................................20-905
4518, 4519 Wrong moving direction..................................................................................................................20-906
451A Load roughness .........................................................................................................................................20-907
451D Over loading...............................................................................................................................................20-908
451E Brake Lock Switch is ON in auto mode...................................................................................................20-908
4521 Course out...................................................................................................................................................20-908
4522 Fire suppression system (option) .............................................................................................................20-909
4524 No Propel (930E)........................................................................................................................................20-911
Warning
801A, 801B Troubles in CAN communication..................................................................................................20-912
8051, 8052, 8053, 8054, 8055 Supervisory system error...............................................................................20-914
80A1, 80A2, 80A3 Trouble in communication with safety controller..............................................................20-916
80F1, 80F2, 80F6, 80F7 Trouble in controller setting......................................................................................20-918
80B1 Reduce speed by trajectory error.............................................................................................................20-920
80B2 Reduce speed by lateral G.......................................................................................................................20-921
80B3 Reduce speed by supervisory system....................................................................................................20-921
80B4 Reduce speed by S/T pressure low warning..........................................................................................20-921
8111, 8112 Trouble in S/T pressure sensors.....................................................................................................20-922
8504, 8505 Trouble in power supply..................................................................................................................20-924
851C Payload Overload(120%)-speed limited.................................................................................................20-928
851F Please activate BrakeLock........................................................................................................................20-928
8523 Fire suppression system wiring problem (option)...................................................................................20-929
20-703
Troubleshooting Fault code list of travel control system
Fault code list of Drive Control System
Fault
Code
System caution Emergency Stop order Someone press “Red Button
4001 20-714
(immediately) Emergency”
4002 Emergency Stop order (slowly) CDS detected some exception 20-714
Fault
Code
Heartbeat 4011 CGC heartbeat stop CGC software exception 20-722
and
communication 4012 HUB heartbeat stop ML-HUB software exception. 20-722
4013 CGC heartbeat module death CGC software exception 20-723
4014 CGC heartbeat emergency CGC software exception 20-723
4015 CGC heartbeat stop request CGC software exception 20-723
4016 HUB heartbeat module death ML-HUB software exception. 20-723
4017 HUB heartbeat emergency ML-HUB software exception. 20-724
4018 HUB heartbeat stop request ML-HUB software exception. 20-724
4019 CAN-A has problem CAN-A wiring problem 20-726
401A LH-Safety has CAN-A problem CAN-A wiring problem 20-727
401B PLM data stop PLM3 problem or CAN-bus problem 20-728
LH-Safety applies
401C Safety controller detects exception 20-729
AutoApplyBrake
401D CGC heartbeat emergency flag CGC detect exception 20-725
401E HUB heartbeat emergency flag ML-Hub detect exception 20-725
401F CGC heartbeat diagnosis failure CGC software exception 20-725
4020 HUB heartbeat diagnosis failure ML-Hub software exception 20-725
20-704
Fault
Code
System caution 4021 Wrong SpeedProfile CGC software exception 20-715
4022 Wrong SpeedProfile CGC software exception 20-715
4026 No SpeedProfile CGC software exception 20-716
4027 Emergency SpeedProfile CGC software exception 20-716
4031 Wrong trajectory data CGC software exception 20-717
4034 Wrong start position Truck was not on the course 20-717
4041 Wrong behavior order CGC software exception 20-718
4044 No dump x-y position CGC software exception 20-718
4045 Wrong dump approach CGC software exception 20-719
4046 Wrong dumping position CGC software exception 20-719
4051 Wrong grid information CGC software exception 20-720
4052 Wrong max speed order CGC software exception 20-720
4053 HUB (GPS) dead ML-Hub problem 20-720
4054 Wrong speed matrix CGC software exception 20-720
4055 Wrong deceleration matrix CGC software exception 20-721
Fault
Code
PLM3 Failed pressure sensors or inclinometer
4061 PLM3 Sensor Problem 20-736
of PLM3
20-705
Fault
Code
Safety controller heartbeat error with Wiring disconnected or failed Safety
40A1 20-729
Safety-controller controller
heartbeat error with Wiring short with GND or failed Safety
40A2 20-729
Safety-controller controller
RPC heartbeat error with Safety
40A3 Failed CAN-bus or failed controller 20-730
controller
Wrong speed request from Safety
40A6 Safety controller software exception 20-731
controller
40A7 Heartbeat sig. line (short) Failed wiring 20-732
40A8 Heartbeat sig. line (cut) Failed wiring 20-733
40A9 Heartbeat sig. line (hot short) Failed wiring 20-734
40AA Safety-controller not ready Safety controller software exception 20-735
Fault
Code
Controller Parts number of controller is wrong
40F1 Mismatch Truck Type 20-737
Setting number.
40F2 Wrong Setting LH-controller Controller is not set at correct place 20-737
40F4 System error in drive Software Exception 20-738
40F5 System error in navigation Software Exception 20-738
New controller is installed. Need
40F6 NV-RAM memory error 20-738
maintenance procedure.
20-706
Fault
Code
Steering system Steering system problem or road
4101 S/T did not work 20-739
roughness
Steering system problem or road
4102 S/T control error 20-739
roughness
Potentiometer is damaged or wiring
4103 S/T Right Potentiometer error 20-742
problem.
4104 S/T Left Potentiometer error 20-742
problem.
Potentiometer is damaged or need
4105 S/T Potentiometer damaged 20-745
calibration
4106 S/T sol line short (left) Wiring problem 20-747
4107 S/T sol line cut (left) Wiring problem 20-748
4108 S/T sol line hot short (left) Wiring problem 20-749
4109 S/T sol line short (right) Wiring problem 20-750
410A S/T sol line cut (right) Wiring problem 20-751
410B S/T sol line hot short (right) Wiring problem 20-752
410F S/T Potentiometer error 20-742
problem.
Potentiometer is damaged, wiring
4110 S/T potentiometer data jump 20-742
problem or road roughness.
4113 Low S/T Pressure Error Warning of standard truck system 20-753
S/T Left Potentiometer data not If same exception occurred again,
4114 20-754
changed defective drive controller
S/T Right Potentiometer data not If same exception occurred again,
4115 20-754
changed defective drive controller
20-707
Fault
Code
F-N-R select 4201 Wrong shift position Wiring problem 20-755
system
4202 Wrong shift position (Forward) Wiring problem 20-755
4203 Wrong shift position (Reverse) Wiring problem 20-755
4204 Shift(R) line (hot short) Wiring problem 20-758
4205 Shift(R) line (cut) Wiring problem 20-759
4206 Shift(R) line (GND short) Wiring problem 20-761
4207 Shift(F) line (hot short) Wiring problem 20-762
4208 Shift(F) line (cut) Wiring problem 20-763
4209 Shift(F) line (GND short) Wiring problem 20-765
Fault
Code
Propulsion 4301 Wrong accel sig feedback Wiring problem 20-766
control system
4305 Accel output line (short) Wiring problem 20-768
4306 Accel output line (cut) Wiring problem 20-769
4307 Accel output line (hot short) Wiring problem 20-770
20-708
Fault
Code
Brake system Front brake solenoid or pressure sensor
43A0 Front Brake error (Left) 20-771
is damaged
Rear brake solenoid or pressure sensor
43A1 Rear Brake error (Left) 20-775
is damaged.
Front brake solenoid or pressure sensor
43A2 Front Brake error (Right) 20-779
is damaged.
Rear brake solenoid or pressure sensor
43A3 Rear Brake error (Right) 20-783
is damaged.
Front brake or pressure sensor is
43A4 Front brake could not release 20-787
damaged.
Rear brake or pressure sensor is
43A5 Rear brake could not release 20-790
damaged
43A6 Parking brake does not work Parking brake solenoid is damaged 20-793
43A7 Front brake sol output line (short) Wiring problem 20-795
43A8 Front brake sol output line (cut) Wiring problem 20-796
Front brake sol output line (hot
43A9 Wiring problem 20-797
short)
43AA Rear brake sol output line (short) Wiring problem 20-798
43AB Rear brake sol output line (cut) Wiring problem 20-799
Rear brake sol output line (hot
43AC Wiring problem 20-800
short)
43AD Parking brake sol line (hot short) Wiring problem 20-801
43AE Parking brake sol line (cut) Wiring problem 20-802
43AF Parking brake sol line (GND short) Wiring problem 20-804
Emergency brake sol line (hot
43B0 Wiring problem 20-805
short)
43B1 Emergency brake sol line (cut) Wiring problem 20-806
Emergency brake sol line (GND
43B2 Wiring problem 20-807
short)
43B3 Brake low performance error Brake system is damaged. 20-808
43B4 Brake Lock sol line (hot short) Wiring problem 20-809
43B5 Brake Lock sol line (cut) Wiring problem 20-810
43B6 Brake Lock sol line (GND short) Wiring problem 20-811
43B7 Retard brake sol line (short) Wiring problem 20-812
43B8 Retard brake sol line (cut) Wiring problem 20-813
43B9 Retard brake sol line (hot short) Wiring problem 20-814
Emergency (AutoApply) brake Auto apply pilot brake solenoid is
43BA 20-815
error damaged or wiring problem.
20-709
Fault
Code
Brake system Brake lock solenoid is damaged or
43BB Brake Lock error 20-817
wiring problem.
Rear brake solenoid is damaged or
43BC Rear brake error 20-819
wiring problem.
43BD Wrong retard sig feedback Wiring problem. 20-822
Pressure sensor is damaged or wiring
43BE Left Front brake could not release 20-824
problem.
Right Front brake could not Pressure sensor is damaged or wiring
43BF 20-826
release problem.
Pressure sensor is damaged or wiring
43C0 Left Rear brake could not release 20-828
problem.
Right Rear brake could not Pressure sensor is damaged or wiring
43C1 20-830
release problem.
43C2 OverRide line (hot short) Wiring problem 20-832
43C3 OverRide line (cut) Wiring problem 20-833
43C4 OverRide line (GND short) Wiring problem 20-834
43C5 Brake Pressure Sensor(RR) Error Brake pressure sensor is damaged 20-835
43C6 Brake Pressure Sensor(RL) Error Brake pressure sensor is damaged 20-835
43C7 Brake Pressure Sensor(FR) Error Brake pressure sensor is damaged 20-835
43C8 Brake Pressure Sensor(FL) Error Brake pressure sensor is damaged 20-835
43C9 Retard Active Error Failed retard active wiring 20-837
43CA Move Forward Signal Fault Wiring problem 20-839
43CB Move Reverse Signal Fault Wiring problem 20-839
Emergency(AutoApply) brake line
43CC Wiring problem 20-841
cut
Parking brake activate in auto
43CD Parking brake solenoid is damaged 20-793
travel
Safety controller couldn’t activate
43CE Wiring problem 20-841
AutoApplyBrake
Failed front brake solenoid is damaged
43CF Front brake error 20-843
or wiring broblem.
20-710
Fault
Code
Body control Body up switch or hoist limit switch is
4402 Body position switch error 20-846
system damaged.
4403 Hoist limit switch error Hoist limit switch is damaged. 20-848
4404 Body down control error Body control pilot valve is damaged 20-852
Body UP switch was not ON while Body up switch or body control pilot
4405 20-856
body down valve is damaged.
Body had impact or body up switch is
4406 Body position error 20-860
damaged.
4407 Body control sol A line (hot short) Wiring problem 20-863
4408 Body control sol A line (cut) Wiring problem 20-864
Body control sol A line (GND
4409 Wiring problem 20-866
short)
440A Body control sol B line (hot short) Wiring problem 20-867
440B Body control sol B line (cut) Wiring problem 20-868
Body control sol B line (GND
440C Wiring problem 20-870
short)
Body up switch or hoist limit switch is
440D Wrong body position 20-871
damaged.
440E Body control cut line (Hot short) Wiring problem 20-873
440F Body control cut line (cut) Wiring problem 20-874
4410 Body control cut line (GND short) Wiring problem 20-876
Hoist valve pressure sensor
4411 hoist pressure sensor is damaged 20-877
broken
Body control sol A line has
problem
Body control sol B line has
problem
20-711
Fault
Code
Operation Auto/Manual key switch is changed to
4502 A/M key switch is wrong position 20-884
Manual position
4503 A/M key switch is broken A/M key switch is damaged. 20-885
4504 Low voltage of unswitched power Low battery or burn out fuse 20-887
4505 Low voltage of switched power Low battery or burn out fuse 20-889
4506 Low voltage of sol1 power Low battery or burn out fuse 20-891
Low voltage of sol2 power.
4507 Low battery or burn out fuse 20-893
(AutoApplyBrake ON)
Time over for Autonomous
4508 Failed wiring 20-895
traveling preparation
4509 Time over to the end of trajectory Road condition 20-898
450A Time over to reach target point Road condition 20-899
Problem of AHT or road condition or
450D Course out 20-900
loading form
450E Course out (REG Traveling) 20-901
loading form
450F Course out (Offset value) 20-902
loading form
4510 Yaw angle error 20-903
loading form
4513 Over speed Road condition 20-904
Road condition or problem of retard
4515 Over passing target point 20-905
brake
4518 Move Forward at R shift Road condition 20-906
4519 Move Reverse at F shift Road condition 20-906
451A Can't move by road condition Road condition 20-907
451D Over load (150%) Miss operation 20-908
451E Brake Lock SW is ON in AUTO Miss operation 20-908
Wrong target position(Longitudinal
4521 Start position is wrong position 20-908
Position)
4522 Fire suppression system activated Fire suppression system activated. 20-909
4524 No Propel 930E standard failure. 20-911
20-712
Fault
Code
Warning 801A LH-Safety has CAN-A problem CAN-A wiring problem 20-912
801B PLM data stop PLM3 problem or CAN-bus problem 20-913
8051 Wrong grid information CGC software exception 20-914
8052 Wrong max speed order CGC software exception 20-914
8053 HUB (GPS) dead ML-Hub problem 20-914
8054 Wrong speed matrix CGC software exception 20-914
8055 Wrong deceleration matrix CGC software exception 20-915
heartbeat error with Safety Wiring disconnected or failed Safety
80A1 20-916
controller controller
Heartbeat error with Safety Wiring short with GND or failed Safety
80A2 20-916
controller controller
RPC heartbeat error with Safety
80A3 Failed CAN-bus or failed controller 20-917
controller
Parts number of controller is wrong
80F1 Mismatch Truck Type 20-918
number.
80F2 Wrong Setting LH-controller Controller is not set at correct place 20-918
Wrong road condition or course
80B1 Reduce speed by tracking error 20-920
dagabase.
There is a curve which requires reduce
80B2 Reduce speed by lateral G 20-921
speed for safe traveling.
Reduce speed by supervisory There was order to reduce speed from
80B3 20-921
system ML-Hub or CGC
Reduce speed by S/T pressure Truck is reduce speed cause of Low
80B4 20-921
low warning Steering Pressure caution(B1) in cab
8111 S/T Press Sensor(Right) Warning S/T pressure sensor is damaged 20-922
8112 S/T Press Sensor(Left) Warning S/T pressure sensor is damaged 20-922
8504 Low voltage of unswitched power Low battery or burn out fuse 20-924
8505 Low voltage of switched power Low battery or burn out fuse 20-926
851C Over load (120%)-speed limited Over Load 20-928
851F Please activate BrakeLock Brake lock switch in cab is OFF 20-928
Fire suppression system wiring
problem
20-713
Troubleshooting for Travel control system 4001, 4002
4001 Caution of Supervisory system.
Fault Code 4001

Message Emergency Stop order (immediately)
Description LH-Drive controller received Stop Order from supervisor system.
Truck will stop immediately with full brake
Possible Cause 1) Someone press “Red Button Emergency”
Remedy ---
4002 Caution of Supervisory system.
Fault Code 4002

Message Emergency Stop order (slowly)
Description LH-Drive controller received Stop Order from supervisor system.
Truck will stop slowly.
Possible Cause ---
Remedy ---
20-714
Troubleshooting for Travel control system 4021, 4022, 4023, 4024
4021 Supervisory system exception (SpeedProfile).
Fault Code 4021

Message Wrong Speed Profile
Description Size of data in SpeedProfile was wrong
Possible Cause CGC software exception
Remedy <Action>
Restart truck
Fault Code 4022

Description Direction of SpeedProfile was changed to reverse from forward without
0km/h point.
Remedy <Action>
Restart truck
Fault Code 4023

Description Direction of SpeedProfile was changed to forward from reverse without
0km/h point.
Remedy <Action>
Restart truck
Fault Code 4024

Description The end of SpeedProfile was not 0km/h
Remedy <Action>
Restart truck
20-715
Fault Code 4025

Description Acceleration data in SpeedProfile is too big.
Remedy <Action>
Restart truck
Fault Code 4026

Message No Speed Profile
Description LH Drive Controller couldn’t receive SpeedProfile for 5min
Remedy <Action>
Restart truck
Fault Code 4027

Message Emergency Speed Profile
Description Deceleration data in SpeedProfile is too big to stop the truck on the
correct stop position.
Remedy <Action>
Restart truck
Fault Code 4028

Description There is no trajectory data corresponding to SpeedProfile.
Remedy <Action>
Restart truck
20-716
4031 Supervisory system exception (TrajectoryData).
Fault Code 4031

Message Wrong trajectory data
Description Size of data in TrajectoryData was wrong
Remedy <Action>
Restart truck
Fault Code 4032

Description Heading angle of TrajectoryData was not continuous.
Remedy <Action>
Restart truck
Fault Code 4033

Description TrajectoryData was not continuous.
Remedy <Action>
Restart truck
Fault Code 4034

Message Wrong start position
Description Current truck position is not start position on the course.
Possible Cause Truck is not on the course
Remedy <Action>
Move truck on the course by manual, then restart truck.
20-717
4041 Supervisory system exception (DumpBehavior).
Fault Code 4041

Message Wrong behavior order
Description Behavior index from CGC was wrong number.
Remedy <Action>
Restart truck
Fault Code 4042

Description LH Drive controller received unknown behavior order.
Remedy <Action>
Restart truck
Fault Code 4043

Description Size of data in BehaviorData was wrong.
Remedy <Action>
Restart truck
Fault Code 4044

Message No dump x-y position
Description There is no dump X-Y position in BehaviorData.
Remedy <Action>
Restart truck
20-718
Fault Code 4045

Message Wrong dump approach
Description Truck approached dump position moving forward. Truck must approach
dump position moving backward.
Remedy <Action>
Restart truck
Fault Code 4046

Message Wrong dumping position
Description Dump position in behavior order was not current Truck position.
Remedy <Action>
Restart truck
20-719
4051 Supervisory system exception (Others).
Fault Code 4051

Message Wrong grid information
Description Size of data in grid information was wrong.
Remedy <Action>
Restart truck.
If same exception happens, re-install CGC.
Fault Code 4052

Message Wrong max speed order
Description Size of data in max speed massage was wrong.
Remedy <Action>
Restart truck
Fault Code 4053

Message HUB(GPS) dead
Description LH Drive controller couldn’t receive GPS data for 5 min.
Possible Cause ML-Hub problem
Remedy <Action>
Follow central operator’s instructions.
Fault Code 4054

Message Wrong speed matrix
Description The number of speed matrix was wrong size.
Remedy <Action>
Restart truck
20-720
Troubleshooting for Travel control system 4055
Fault Code 4055

Message Wrong deceleration matrix
Description The number of deceleration matrix was wrong size.
Remedy <Action>
Restart truck
20-721
4011 Trouble in heartbeat system.
Fault Code 4011

Message CGC heartbeat stop
Description Drive controller couldn’t receive Heartbeat RPC from CGC for 2sec
while autonomous traveling or for 6sec in Auto mode.
Possible Cause 1) CGC problem
2) CGC software exception.
Remedy <Action>
Restart truck.
If same exception repeated, do cycle power.
If problem repeated again, check CAN-A communication and CGC.
<How to check>
Check communication with LH Drive IO Checker.
Number of [CGC] should count up.
Fault Code 4012

Message HUB heartbeat stop
Description Drive controller couldn’t receive Heartbeat RPC from ML-HUB for 2sec
while autonomous traveling or for 6sec in Auto mode.
Possible Cause 1) HUB software exception.
2) CGC software exception.
Remedy <Action>
Restart truck.
If same exception repeated, do cycle power.
If problem repeated again, check CAN-A communication and HUB.
<How to check>
Check communication with LH Drive IO Checker.
Number of [ML Hub] should count up.
20-722
Fault Code 4013

Message CGC heartbeat module_death
Description Module death flag was ON in heartbeat RPC from CGC.
Possible Cause 1) CGC software exception.
Remedy <Action>
Restart Truck.
Fault Code 4014

Message CGC heartbeat emergency
Description Emergency flag was ON in heartbeat RPC from CGC.
Remedy <Action>
Restart Truck.
Fault Code 4015

Message CGC heartbeat stop request
Description Stop Request flag was ON in heartbeat RPC from CGC.
Remedy <Action>
Restart truck.
Fault Code 4016

Message HUB heartbeat module_death
Description Module death flag was ON in heartbeat RPC from HUB.
Remedy <Action>
Restart Truck.
20-723
Fault Code 4017

Message HUB heartbeat emergency
Description Emergency flag was ON in heartbeat RPC from HUB.
Remedy <Action>
Restart Truck.
Fault Code 4018

Message HUB heartbeat stop request
Description Stop Request flag was ON in heartbeat RPC from HUB.
Remedy <Action>
Restart Truck.
20-724
Troubleshooting for Travel control system 401D, 401E, 401F, 4020
401D Trouble in heartbeat system.
Fault Code 401D

Message CGC heartbeat emergency flag
Description Emergency Stop is required with heartbeat RPC from CGC.
Possible Cause 1) Central system requirement.
Remedy Follow central operator’s instructions.
401E Trouble in heartbeat system.
Fault Code 401E

Message HUB heartbeat emergency flag
Description Emergency Stop is required with heartbeat RPC from ML-Hub.
Possible Cause 1) Central system requirement.
Remedy Follow central operator’s instructions.
401F Trouble in heartbeat system.
Fault Code 401F

Message CGC heartbeat diagnosis failure
Description CGC exception.
Possible Cause
Remedy <Action>
Restart truck
Fault Code 4020

Message HUB heartbeat diagnosis failure
Description ML-Hub exception.
Possible Cause
Remedy <Action>
Restart truck
20-725
4019 Trouble in CAN communication.
Fault Code 4019

Message CAN-A has problem
Description LH Drive controller couldn’t receive any RPC via CAN-A.
Possible Cause ¾ CAN-A disconnection.
z Wiring disconnection of CAN-A.
z Loose connector (CN9-01, CN9-02, CN9-03)
z Terminator problem
Remedy <How to check>
z Check heartbeat communication of ML-Hub and CGC on CAN-bus
with LH Drive IO Checker.
z Check resister of terminator if it is 120 ohm.
20-726
Troubleshooting for Travel control system 401A
401A Trouble in CAN communication.
Fault Code 401A

Message LH-Safety has CAN-A problem
Description LH Safety controller reported that CAN-A communication failure.
Since when LH-Safety controller has CAN-A communication failure, it
can’t report the fault code to Central via CAN-Bus, LH-Drive controller
reports the fault instead of LH-Safety controller.
z Loose connector (CS9-01, CS9-02, CS9-03)
z Check wiring continuity and disconnection.
20-727
Troubleshooting for Travel control system 401B
401B Trouble in CAN communication.
Fault Code 401B

Message PLM data stop
Description LH Drive controller couldn’t receive PLM3 data from MBI(GSP5)
Possible Cause ¾ CAN-bus from GSP5 to PLM3 is disconnected.
¾ Problem of PLM3
¾ Problem of GSP5
Remedy Check wiring of CAN-bus.
Number of [PLM3 Controller] should count up.
Check PLM3 ( See shop manual 930E-3 Section M)

Check GSP5 with OMStip.
20-728
Troubleshooting for Travel control system 401C, 40A1, 40A2
401C Trouble in communication with safety controller.
Fault Code 401C

Message LH-Safety applies AutoApplyBrake
Description LH Safety controller applied AutoApplyBrake.
Possible Cause LH Safety detects failure. Refer fault code of Safety controller.
Remedy <Action>
Refer fault code of Safety controller.
40A1, 40A2 Trouble in communication with safety controller.
Fault Code 40A1

Message heartbeat error with Safety controller
Fault Code 40A2

Description <40A1>
Heartbeat signal from LH Safety controller was keep OFF for 0.5sec
in Auto mode.
<40A2>
Heartbeat signal from LH Safety controller was keep ON for 0.5sec
in Auto mode.
Possible Cause ¾ Wiring problem.

z Wiring number 90SH is cut or short.
Remedy ¾ Wiring check
z Use LH Drive IO Checker to watch heartbeat input signal
z Check wiring continuity, cut and short.
20-729
Troubleshooting for Travel control system 40A3
40A3 Trouble in communication with Safety controller.
Fault Code 40A3

Message RPC heartbeat error with Safety Controller
Description LH Drive controller couldn’t receive RPC heartbeat (SpeedOrder) for
2sec
Possible Cause ¾ CAN-B disconnection.

z Wiring disconnection of CAN-B.
z Loose connector (CN9-11, CN9-12, CN9-13, CS9-11, CN9-12,
CS9-13)
z Check CAN-bus communication with LH Drive IO Checker.
Number of [LH Safety Controller] should count up.
z Check wiring.
20-730
Fault Code 40A6

Message Wrong speed request from Safety controller
Description z LH Drive controller received “reverse speed request” while moving
forward.
z LH Drive controller received “forward speed request” while moving
reverse.
Possible Cause LH Safety software exception

Remedy <Action>
Restart truck
20-731
Fault Code 40A7

Message Heartbeat sig. line (short)
Description The wiring of Heartbeat output line was shorted (Short circuit to GND).
Did LH-drive controller detect wiring short to GND ?

N
Y
Timer count up
Is timer above 0.25 sec ? N

Y
Exception (40A7) Normal

z Wiring number 90DH is shorted to GND
z Use LH Drive IO Checker to watch input signals and control
output signals
z Check wiring
20-732
40A8 Trouble in communication with safety controller.
Fault Code 40A8

Message Heartbeat sig. line (cut)
Description The wiring of Heartbeat output line was cut.
Did LH-drive controller detect wiring cut ?

N
Y
Timer count up
Is timer above 2 sec ? N

Y

z Wiring number 90DH is cut.
output signals
z Check wiring
20-733
Fault Code 40A9

Message Heartbeat sig. line (hot short)
Description The wiring of Heartbeat output line was shorted (Short circuit to
Power).
Did LH-drive controller detect wiring short to Power?

N
Y
Timer count up

Y

z Wiring number 90DH is shorted to Power
output signals.
z Check wiring
20-734
Troubleshooting for Travel control system 40AA
40AA Trouble in communication with Safety controller.
Fault Code 40AA

Message Safety-controller not ready
Description LH Safety controller is not ready for autonomous travel.
Possible Cause LH Safety software exception
Remedy <Action>
Restart truck
20-735
4061 Trouble in PLM3 sensors problem
Fault Code 4061

Message PLM3 Sensor Problem
Description z Suspension pressure value of PLM3 was less than -34.5kg/cm^2
or larger than 289kg/cm^2 for 5sec.
z Inclinometer value of PLM3 was less than -19.7deg or larger than
24deg for 5sec.
-34.5 < Suspension pressure value < 289 kg/cm^2?

Y
N
Timer count up
Is timer above 5sec ?

N
Y
Exception (4061) Normal
-19.7 < Inclinometer value < 24deg?

Y
N
Timer count up

N
Y
Possible Cause z Suspension sensors are broken or not installed.

z Inclinometer is broken or not installed.
See shop manual of 930E-3 Section M
20-736
Troubleshooting for Travel control system 40F1, 40F2
40F1 Controller setting
Fault Code 40F1

Message Mismatch Truck Type
Description The type of software in LH-controller is not 930E-AT
Possible Cause Parts number of controller is wrong number.
Remedy z Correct LH-Drive controller or LH-Safety controller.
Fault Code 40F2

Message Wrong Setting LH-controller
Description LH-Drive controller is not set at correct place.
CN5-06 must be high(24V) for LH-Drive controller.
Possible Cause ¾ Controller is set wrong place.
¾ Wiring problem
z Wiring number 52P19 is cut.
z Loose connection
¾ Fuse
z FB3-19 is burned out.
Remedy z Set controller correct place.

z Check input of CN5-06 with LH Drive IO Checker.
CN5-06 must always be ON (24V).
20-737
Troubleshooting for Travel control system 40F4, 40F5, 40F6, 40F7
Fault Code 40F4

Message System error in drive
Description Software Exception
Possible Cause
Remedy ¾ Power cycle
z Shutdown Truck. Then restart.
Fault Code 40F5

Message System error in navigation
Description Software Exception
Possible Cause
z Shutdown Truck. Then restart.
40F6, 40F7 Controller setting
Fault Code 40F6, 40F7

Message NV-RAM memory error
Description Setting value of NV-RAM in controller has cleared.
z New controller is installed.
z NV-RAM is broken.
Remedy z Do all of maintenance related to Drive to set the value in

controller.
See “Replacing and adjusting” in shop manual of 930E-AT.
20-738
Troubleshooting for Travel control system 4101,4102
4101 Truck cannot be steered during preparation of steering system

4102 Low response of steering system
Fault Code 4101

Message S/T did not work
Fault Code 4102

Message S/T control error
Description There was big difference between truck S/T angle and Target S/T
angle.
Is difference between S/T angle and
Target S/T angle bigger than allowance ? N
Timer count up
Is timer above threshold ? N

Y
Y
While autonomous
N traveling? Y
Exception (4501) Exception (4502) Normal
Possible Cause
1) Electrical problem.
¾ Potentiometer.
z Potentiometer is damaged.
¾ Solenoid of S/T valve.
z Coil resistance is not 15.6 ohm.
¾ Wiring of potentiometer problem.
z Wiring number 5RT, 5ORT, 0RT have damage.
z Wiring number 5LT, 5OLT, 0LT have damage.
20-739
¾ Wiring of S/T valve.

z Wiring number 51SP, 51SP1 have damage.
z Wiring number 51STL, 51STR have damage.
2) Hydraulic problem
¾ Autonomous Steering Valve.
z Contamination in hydraulic circuit.
z Valve broken.
¾ Hydraulic oil pressure.
z S/T oil pressure is Low.
z Accumulator problem.
¾ Air in the hydraulic line.
z Air is in the hydraulic system.
¾ Steering Hydraulic System.
z Steering hydraulic system of 930E-3 Standard is problem.
3) Road condition
¾ Road roughness.
¾ Potentiometer.
z Check potentiometer output to watch signal in LH Drive IO
Checker when steering is steered by manual operation.
¾ Solenoid of S/T valve.
z Check if coil resistance is 15.6 ohm
¾ Wiring.
z Check wiring continuity with LH Drive IO Checker.
2) Hydraulic problem
¾ Autonomous Steering Valve.
z If this exception happen so many times, it may cause of valve
damaged. Replace S/T valve and set parameter by maintenance
function.
¾ Hydraulic oil pressure.
z Check oil pressure caution.
¾ Air in the hydraulic line.
z Do “Breed” maintenance.
¾ Steering Hydraulic System.
z See 930E-3 shop manual Section L.
3) Road condition
z Check road condition. And maintenance road.
20-740
Steering Potentiometer Characteristic
Autonomous Steering Valve

45
40
35
30
T A(Right)
Area [mm2]
25
AB-T
20
15
B(Left 10
5 P-AB
0
P -2 -1 0 1 2 3 4 5 6 7
Stroke length [mm]
20-741
Troubleshooting for Travel control system 4103, 4104, 410F, 4110
4103, 4104, 410F, 4110 Steering potentiometer problem.
Fault Code 4103

Message S/T Right Potentiometer error
Fault Code 4104

Message S/T Left Potentiometer error
Fault Code 410F

Message S/T Potentiometer error
Fault Code 4110

Message S/T potentiometer data jump
Description z 4103, 4104, 4110

S/T potentiometer signal jumped 3deg for 0.05sec while high speed
travel.
Right Potentiometer Left Potentiometer signal
signal jump 3deg? N jump 3deg? N
Y Y
Normal Normal
Travel speed > Travel speed >
20km/h? N 20km/h? N
Y Y
Exception (4103) Exception (4104)
20-742
z 410F
Both right and left S/T potentiometer signals jumped 5deg for 0.05sec.
Right Potentiometer
signal jump 5deg? N
Left Potentiometer signal
jump 5deg? N
Exception (410F) Normal
Possible Cause
¾ Potentiometer.
z Loose connections
2) Road condition
¾ Road roughness.
¾ Potentiometer.
¾ Wiring.
z Check wiring continuity.
z Check loose connection of connector.
2) Road condition
20-743
Steering Potentiometer
20-744
4105 Steering potentiometer problem.
Fault Code 4105

Message S/T Potentiometer damaged
Description Difference of right and left S/T angles became large.
Difference of right and
left S/T angle > 2 deg? N
Y
Difference of right and
Timer count up
left S/T angle > 1.5 deg? N
Is timer above 0.5sec ?

Y N
Y
Timer count up

N
Y
Possible Cause 1) Maintenance request

¾ Need potentiometer maintenance.
¾ Potentiometer.
z Loose connections..
3) Road condition
¾ Road roughness.
20-745

1) Maintenance request
¾ S/T potentiometer maintenance.
z Do S/T potentiometer maintenance according as “Replacing and
adjusting” in shop manual of 930E-AT.
¾ Potentiometer.
¾ Wiring.
z Check loose connection of connector.
3) Road condition
Steering Potentiometer
20-746
4106 Trouble in S/T EPC valve wiring
Fault Code 4106

Message S/T sol line short (left)
Description The wiring of S/T valve solenoid (left) line was shorted (Short circuit to
GND).
Did LH-drive controller detect wiring short ?

N
Y
Timer count up

Y

z Wiring number 51STL is shorted to GND.
output signals
z Check wiring
20-747
Fault Code 4107

Message S/T sol line cut (left)
Description The wiring of S/T valve solenoid (left) line was cut.

N
Y
Timer count up

Y

z Wiring number 51STL, 51SP1, 51SP, 72AT, 52P8 is cut.
¾ Connector problem
z Loose connection
¾ Relay problem
z RB11-K2 is broken
¾ S/T valve Left solenoid.
z Solenoid is broken..
output signals
z Check wiring
z Check if coil resistance is 15.6 ohm. If coil is broken, replace
valve
20-748
Fault Code 4108

Message S/T sol line hot short (left)
Description The wiring of S/T valve solenoid (left) line was shorted (Short circuit to
Power).
Did LH-drive controller detect wiring short to Power ?

N
Y
Timer count up

Y

z Wiring number 51STL is shorted to power.
output signals.
z Check wiring
20-749
Fault Code 4109

Message S/T sol line short (right)
Description The wiring of S/T valve solenoid (right) line was shorted (Short circuit to
GND).

N
Y
Timer count up

Y

z Wiring number 51STR is shorted to GND.
output signals
z Check wiring
20-750
410A Trouble in S/T EPC valve wiring
Fault Code 410A

Message S/T sol line cut (right)
Description The wiring of S/T valve solenoid (right) line was cut.

N
Y
Timer count up

Y
Exception (410A) Normal

z Wiring number 51STR, 51SP1, 51SP, 72AT, 52P8 is cut.
z Loose connection
¾ Relay problem
z RB11-K2 is broken
z Solenoid is broken.
output signals
z Check wiring
z Check if coil resistance is 15.6 ohm. If coil is broken, replace
valve
20-751
410B Trouble in S/T EPC valve wiring
Fault Code 410B

Message S/T sol line hot short (right)
Description The wiring of S/T valve solenoid (right) line was shorted (Short circuit
to Power).

N
Y
Timer count up

Y
Exception (410B) Normal

z Wiring number 51STR is shorted to power.
output signals.
z Check wiring
20-752
4113 Troubles in S/T pressure
Fault Code 4113

Message Low S/T Pressure Error
Description Low Steering Pressure warning light in cab was turned on for 30sec.
Low Steering Pressure warning ON ?

N
Y
Timer count up

Y
Possible Cause Warning of standard truck system.

Remedy See shop manual of 930E-3 Section N5
20-753
4114, 4115 Troubles in S/T potentiometer signal problem
Fault Code 4114

Message S/T Left Potentiometer data not changed
Fault Code 4115

Message S/T Right Potentiometer data not changed
Description Signal of S/T potentiometer did not renew for 2 sec.
Signal is changed ?
Y
N
Timer count up

Y
Exception (4114, 4115) Normal

z Shutdown truck. Then restart.
20-754
Troubleshooting for Travel control system 4201,4202,4203
4201, 4202, 4203 Wrong position of selector switch.
Fault Code 4201

Message Wrong shift position
Fault Code 4202

Message Wrong shift position (Forward)
Fault Code 4203

Message Wrong shift position (Reverse)
Description Output to F-N-R selector and Input from feedback signal was different.
Neutral Command.
(CN1-13 OFF, CN1-14 OFF)
Are both CN4-03 and CN4-13 OFF Y

N
Forward Command. Reverse Command.
(CN1-13 OFF, CN1-14 ON) (CN1-13 ON, CN1-14 OFF)
N CN4-03 OFF? Y N CN4-03 ON? Y
CN4-13 ON? Y CN4-13 OFF? Y

N N
20-755
Possible Cause 1) Fault Code 4201

¾ Wiring problem
z Wiring number 72FAU or 79BAU is shorted to GND.
z Wiring number 72SAF or 79BA1 is shorted to Power.
z Wiring number 72 or 79B is shorted to Power.
2) Fault Code 4202

¾ Wiring problem
z Wiring number 52P5 or 52P3 is cut.
z Wiring number 72FAU or 72SAF or 72 is cut.
z Loose connection.
¾ Relay problem
z RB10-K6, RB9-K1 is broken.
¾ Fuse problem
z FB1-5, FB3-3 is burned out.
3) Fault Code 4203

¾ Wiring problem
z Wiring number 79BAU or 79BA1 or 79B is cut.
z Loose connection.
¾ Relay problem
z RB9-K2, RB9-K5 is broken.
¾ Fuse problem

¾ Wiring.
z Check wiring continuity
¾ Relay Check
output signals.
z Check continuity and movement.
¾ Fuse Check
z Check if fuse is burned out.
20-756
20-757
4204 Troubles in wiring of F-N-R selector switch.
Fault Code 4204

Message Shift(R) line (hot short)
Description The wiring of F-N-R selector switch (Reverse) output line was shorted
(Short circuit to power).
Did LH-drive controller detect wiring short to power ?

N
Y
Timer count up

Y

z Wiring number 79BAU is shorted to Power.
output signals
z Check wiring.
20-758
4205 Troubles in wiring of F-N-R selector switch
Fault Code 4205

Message Shift(R) line (cut)
Description The wiring of F-N-R selector switch (Reverse) output line was cut.

N
Y
Timer count up

Y

z Wiring number 79BAU is cut.
¾ Fuse problem.
z FB1-5 is burn out.
z Loose connection.
output signals
z Check wiring
¾ Fuse
z Check fuse if it is burned out
20-759
20-760
Fault Code 4206

Message Shift(R) line (GND short)
Description The wiring of F-N-R selector switch (Reverse) output line was shorted
(Short circuit to GND).

N
Y
Timer count up

Y

z Wiring number 79BAU is shorted to GND.
output signals.
z Check wiring
20-761
4207 Troubles in wiring of F-N-R selector switch.
Fault Code 4207

Message Shift(F) line (hot short)
Description The wiring of F-N-R selector switch (Forward) output line was shorted
(Short circuit to power).

N
Y
Timer count up

Y

z Wiring number 72FAU is shorted to Power.
output signals
z Check wiring
20-762
Fault Code 4208

Message Shift(F) line (cut)
Description The wiring of F-N-R selector switch (Forward) output line was cut.

N
Y
Timer count up

Y

z Wiring number 72FAU is cut.
¾ Fuse problem.
z Loose connection.
output signals
z Check wiring
¾ Fuse
20-763
20-764
Fault Code 4209

Message Shift(F) line (GND short)
Description The wiring of F-N-R selector switch (Forward) output line was shorted
(Short circuit to GND).

N
Y
Timer count up

Y

z Wiring number 72FAU is shorted to GND.
output signals.
z Check wiring.
20-765
4301 Problem of acceleration signal.
Fault Code 4301

Message Wrong accel sig feedback
Description There are 0.25 V difference between Accel signal output from
LH-controller and Accel signal feedback input.
Voltage difference output(CN2-02) and
input(CN7-10) > 0.25 V N
Exception
(4301) Normal
Possible Cause 1) Electrical circuit problem

¾ Wiring problem
z Wiring number 525AU is cut or shorted.
z Wiring number 525 is cut or shorted.
z Wiring number 72AT is cut or shorted.
z Wiring number 52P3 is cut or shorted.
z Loose connection.
¾ Relay problem
z RB9-K3 is broken.
¾ Fuse problem
¾ Wiring.
¾ Relay Check
output signals.
¾ Fuse Check
20-766
20-767
4305 Troubles in wiring problem.
Fault Code 4305

Message Accel output line (short)
Description The wiring of Accel output line was shorted (Short circuit to GND).

N
Y
Timer count up

Y

z Wiring number 525AU is shorted to GND.
output signals
z Check wiring
20-768
Fault Code 4306

Message Accel output line (cut)
Description The wiring of Accel output line was cut.

N
Y
Timer count up

Y

z Wiring number 525AU, 525 is cut.
z Wiring number 52P3, 72AT is cut.
¾ Relay problem
z RB9-K3 is broken.
¾ Fuse problem
z Loose connection.
output signals
z Check wiring
¾ Relay check
z Check if the relay works.
¾ Fuse check
z Check if the fuse is burned out.
20-769
Fault Code 4307

Message Accel output line (hot short)
Description The wiring of Accel output line was shorted (Short circuit to Power).

N
Y
Timer count up

Y

z Wiring number 525AU is shorted to Power.
z Wiring number 525 is shorted to Power
output signals.
z Check wiring
20-770
43A0 Trouble in front brake operation (Left brake).
Fault Code 43A0

Message Front Brake error (Left)
Description Front left brake pressure was Low pressure when LH-Drive controller
activated front brake.
Front brake activate above 80%
Front left brake pressure is high ? Y

N
Timer count up

Y
Possible Cause 1) Electrical system problem

1-1) Brake does not work
¾ Brake2(front) solenoid is broken
z Coil resistance is not 35 ohm.
¾ Wiring problem
z Wiring number 33BS2P is cut.
z Wiring number 33BS2G is cut.
z Loose connection.
1-2) Brake works
¾ Brake pressure sensor.
z Brake pressure sensor broken.
z No power for senor between 33PP and 33PG.
¾ Wiring problem
z Wiring number 33PLF is cut.
z Wiring number 33PG is cut.
z Wiring number 33PP is cut.
2) Hydraulic system problem
¾ Front brake cartridge valve
z Front brake valve cartridge valve broken.
20-771
¾ Contamination
¾ Brake system of standard 930E-3
¾ Brake2(front) solenoid.
z Check if coil resistance is 35 ohm
¾ Wiring.
z Check brake pressure sensor signal with LH Drive IO Checker by
manual operation.
z Check power supply of sensor is 24 v
z Check if the front brake of autonomous system works by
checking pressure sensor signal with LH Drive IO Checker.
z Take care the installation torque of cartridge valve when install
valve.

z See shop manual of 930E-3 section J
20-772
Brake Pressure Sensor
AT Brake Manifold Brake Cartridge valve
Cartridge valve (rear)

Cartridge valve (front)
20-773
20-774
43A1 Trouble in rear brake operation (Left brake).
Fault Code 43A1

Message Rear Brake error (Left)
Description Rear left brake pressure was Low pressure when LH-Drive controller
activated rear brake.
Rear brake activate above 80%
Rear left brake pressure is high ? Y

N
Timer count up

Y

¾ Brake1(rear) solenoid is broken
¾ Wiring problem
z Loose connection.
1-2) Brake works
¾ Wiring problem
z Wiring number 33PLR is cut.
¾ Rear brake cartridge
z Rear brake valve cartridge broken.
20-775
z Installation torque of cartridge valve is too tight

¾ Contamination
¾ Brake1(rear) solenoid.
¾ Wiring.
manual operation.
¾ Rear brake cartridge valve
z Check if the rear brake of autonomous system works by checking
pressure sensor signal with LH Drive IO Checker.
valve.

20-776

20-777
20-778
43A2 Trouble in front brake operation (Right brake)
Fault Code 43A2

Message Front Brake error (Right)
Description Front right brake pressure was Low pressure when LH-Drive controller
activated front brake.
Frint brake activate above 80%
Front Right brake pressure is high ? Y

N
Timer count up

Y

¾ Wiring problem
z Loose connection.
1-2) Brake works
¾ Wiring problem
z Wiring number 33PRF is cut.
¾ Front brake cartridge
z Front brake valve cartridge broken.
20-779
z Installation torque of cartridge valve is too tight

¾ Contamination
¾ Wiring.
manual operation.
valve.

20-780

20-781
20-782
43A3 Trouble in rear brake operation (Right brake)
Fault Code 43A3

Message Rear Brake error (Right)
Description Rear right brake pressure was Low pressure when LH-Drive controller
activated rear brake.
Rear brake activate above 80%
Rear Right brake pressure is high ? Y

N
Timer count up

Y

¾ Wiring problem
z Loose connection.
1-2) Brake works
¾ Wiring problem
z Wiring number 33PRR is cut.
20-783
¾ Contamination
¾ Wiring.
manual operation.
valve.

20-784

20-785
20-786
43A4 Front bake is not released
Fault Code 43A4

Message Front brake could not release
Description Front brake pressure was High pressure when LH-Drive controller
released front brake.
Front brake is released
Both of Front brake pressure are high ? N

Y
Timer count up

Y

1-1) Brake is not released
¾ Wiring problem
z Wiring number 33BS2P is shorted to high voltage.
z Front brake valve cartridge is broken or stuck.
¾ Contamination
¾ Wiring.
z Check wiring if solenoid is energized.
valve.
20-787


20-788
20-789
43A5 Brake is not released
Fault Code 43A5

Message Rear brake could not release
Description Rear brake pressure was High pressure when LH-Drive controller
released rear brake.
Rear brake is released
Both of Rear brake pressure are high ? N

Y
Timer count up

Y

1-1) Brake is not released
¾ Wiring problem
z Wiring number 33BS1P is shorted to high voltage.
z Rear brake valve cartridge is broken or stuck.
¾ Contamination
¾ Wiring.
z Check wiring if solenoid is energized.
valve.
20-790


20-791
20-792
Troubleshooting for Travel control system 43A6, 43CD
43A6, 43CD Trouble in park brake
Fault Code 43A6

Message Parking brake does not work
Fault Code 43CD

Message Parking brake activate in auto travel
Description z Park brake pressure switch was ON when LH-Drive controller

released park brake.
z Park brake pressure switch was OFF when LH-Drive controller
activated park brake.
Park brake ON Park brake OFF
Park brake press switch Park brake press switch

Y Y
ON ? N OFF ?
N N
Exception Exception
(43A6,A3CD) Normal (43A6,A3CD)
Possible Cause 1) Standard system problem,.

¾ 930E-3 standard problem
2) Autonomous system problem.
¾ Wiring problem
z Wiring number 52CAU is cut or short.
z Wiring number 52PS is cut.
z Wiring number 52C is cut or short
z Wiring number 71PD is cut.
¾ Relay problem
z RB10-K4 is broken.
¾ Fuse problem
1) If park brake works by manual operation, problem should be
autonomous system.
¾ Wiring.
20-793
Troubleshooting for Travel control system 43A6, 43CD
z Check wiring.
¾ Fuse
2) If park brake does not work by manual operation.
¾ 930E-3 standard problem
20-794
43A7 Trouble in wiring of front brake system
Fault Code 43A7

Message Front brake sol output line (short)
Description The wiring of front brake solenoid line was shorted (Short circuit to
GND).

N
Y
Timer count up

Y

z Wiring number 33BS2P is shorted to GND.
z Check brake can work by comparing brake pressure sensor
signals and output brake signal with LH Drive IO Checker.
z Check wiring
20-795
Fault Code 43A8

Message Front brake sol output line (cut)
Description The wiring of front brake solenoid line was cut.

N
Y
Timer count up

Y

z Loose connection
z Coil resistance is 35 ohm.
z Check wiring.
z Check if coil resistance is 35 ohm.
20-796
Fault Code 43A9

Message Front brake sol output line (hot short)
Description The wiring of front brake solenoid line was shorted (Short circuit to
Power).

N
Y
Timer count up

Y

z Wiring number 33BS2P is shorted to power.
z Check wiring.
20-797
Troubleshooting for Travel control system 43AA
43AA Trouble in wiring of rear brake system
Fault Code 43AA

Message Rear brake sol output line (short)
Description The wiring of rear brake solenoid line was shorted (Short circuit to
GND).

N
Y
Timer count up

Y
Exception (43AA) Normal

z Wiring number 33BS1P is shorted to GND.
signals and output brake signal with LH Drive IO Checker
z Check wiring
20-798
Troubleshooting for Travel control system 43AB
43AB Trouble in wiring of rear brake system
Fault Code 43AB

Message Rear brake sol output line (cut)
Description The wiring of rear brake solenoid line was cut.

N
Y
Timer count up

Y
Exception (43AB) Normal

z Loose connection
z coil resistance is 35 ohm
z Check wiring.
20-799
Troubleshooting for Travel control system 43AC
43AC Trouble in wiring of rear brake system
Fault Code 43AC

Message Rear brake sol output line (hot short)
Description The wiring of rear brake solenoid line was shorted (Short circuit to
Power).

N
Y
Timer count up

Y
Exception (43AC) Normal

z Wiring number 33BS1P is shorted to power.
z Check wiring.
20-800
Troubleshooting for Travel control system 43AD
43AD Trouble in wiring of park brake system
Fault Code 43AD

Message Parking brake sol line (hot short)
Description The wiring of park brake output line was shorted (Short circuit to
power).

N
Y
Timer count up

Y
Exception (43AD) Normal

z Wiring number 52CAU is shorted to Power.
z Check brake can work by comparing park brake switch signal and
output brake signal with LH Drive IO Checker
z Check wiring.
20-801
Troubleshooting for Travel control system 43AE
43AE Trouble in wiring of park brake system
Fault Code 43AE

Message Parking brake sol line (cut)
Description The wiring of park brake output line was cut.

N
Y
Timer count up

Y
Exception (43AE) Normal

z Wiring number 52CAU is cut.
z Wiring number 52PS is cut.
¾ Fuse problem.
z Loose connection.
output brake signal with LH Drive IO Checker.
z Check wiring.
¾ Fuse
20-802
Troubleshooting for Travel control system 43AE
20-803
Troubleshooting for Travel control system 43AF
43AF Trouble in wiring of park brake system
Fault Code 43AF

Message Parking brake sol line (GND short)
Description The wiring of park brake output line was shorted (Short circuit to GND).

N
Y
Timer count up

Y
Exception (43AF) Normal

z Wiring number 52CAU is shorted to GND.
z Check wiring.
20-804
Troubleshooting for Travel control system 43B0
43B0 Trouble in wiring of auto apply brake system
Fault Code 43B0

Message Emergency brake sol line (hot short)
Description The wiring of auto apply brake system line was shorted (Short circuit to
power).

N
Y
Timer count up

Y
Exception (43B0) Normal

z Wiring number 72AAD is shorted to Power.
z Check wiring.
20-805
Fault Code 43B1

Message Emergency brake sol line (cut)
Description The wiring of auto apply brake system line was cut.

N
Y
Timer count up

Y

z Wiring number 72AA is cut.
z Wiring number 72AAD is cut.
z Loose connection.
z Check wiring.
20-806
Fault Code 43B2

Message Emergency brake sol line (GND short)
Description The wiring of auto apply brake system line was shorted (Short circuit to
GND).

N
Y
Timer count up

Y

z Wiring number 72AAD is shorted to GND.
z Disconnect CN1 connector at LH-Drive controller. Then, check
wiring.
20-807
43B3 Low performance of brake system.
Fault Code 43B3

Message Brake low performance error
Description Truck was slightly moving when truck was stopped with full brake.
Truck is stopped with brake
Speed > 0.5km/h ? N

Y
Timer count up
Is timer above1 sec ? N

Y
<Brakes when truck is stopped>
Brake Lock ON
Rear Hydraulic Brake FULL
Front Hydraulic Brake FULL
Park Brake ON : 30sec later after truck is stopped.
OFF: During loading
Auto Apply Brake OFF
Possible Cause 1) Brake performance degraded.
¾ Brake Lock performance
¾ Rear brake performance
¾ Front brake performance
2) Truck is moved by something.
¾ Check brake performance by manual operation
20-808
43B4 Trouble in wiring of brake lock system
Fault Code 43B4

Message Brake Lock sol line (hot short)
Description The wiring of brake lock sol line was shorted (Short circuit to power).

N
Y
Timer count up

Y

z Wiring number 52BLA is shorted to Power.
z Check wiring.
20-809
Fault Code 43B5

Message Brake Lock sol line (cut)
Description The wiring of brake lock sol line was cut.

N
Y
Timer count up

Y

z Wiring number 52BLA is cut.
¾ Fuse problem
z Fuse FB3-4 is burned out.
z Loose connection.
z Check wiring.
¾ Fuse
20-810
Fault Code 43B6

Message Brake Lock sol line (GND short)
Description The wiring of brake lock sol line was shorted (Short circuit to GND).

N
Y
Timer count up

Y

z Wiring number 52BLA is shorted to GND.
z Check wiring.
20-811
43B7 Trouble in wiring of retard brake system
Fault Code 43B7

Message Retard brake line (short)
Description The wiring of retard brake output line was shorted (Short circuit to
GND).

N
Y
Timer count up

Y

z Wiring number 52RAU is shorted to GND.
z Check brake can work by comparing monitor signal (CN7-02) and
z Check wiring.
20-812
Fault Code 43B8

Message Retard brake line (cut)
Description The wiring of retard brake output line was cut.

N
Y
Timer count up

Y

z Wiring number 52RAU, 52R, 72AT, 52P3 is cut.
¾ Relay problem
z RB9-K4 is broken.
¾ Fuse problem
z FB3-3 is burned out
z Loose connection.
z Check wiring.
¾ Relay check
z Check if the relay works.
¾ Fuse check
z Check if fuse is burned out
20-813
Fault Code 43B9

Message Retard brake line (hot short)
Description The wiring of retard brake output line was shorted (Short circuit to
Power).

N
Y
Timer count up

Y

z Wiring number 52RAU is shorted to Power.
z Wiring number 52R is shorted to Power
z Check wiring.
20-814
Troubleshooting for Travel control system 43BA
43BA Trouble in auto apply brake system
Fault Code 43BA

Message Emergency(AutoApply) brake error
Description LH controller could not control Auto Apply Brake Valve.
1) LH controller activated Auto Apply Brake, but brake pressure was
low.
2) LH controller released Auto Apply Brake, but brake pressure was
high.
Signal table of AutoApplyBrake control.

Auto Apply Brake Release Active
CS2-11
24V Open 24V Open
Wiring 72AA
CN1-12
0V 0V Open Open
Wiring 72AAD
Possible Cause 1) Electrical problem.
¾ Auto Apply Solenoid is broken.
¾ Wiring problem.
z Wiring number 72AA is cut or short.
z Wiring number 72AAD is cut or short.
z Wiring number 72AT is cut.
z Wiring number 72AAS is cut.
z Wiring number 11S is cut.
¾ Relay problem
2) Hydraulic system problem.
¾ Hydraulic oil pressure
z Hydraulic pump pressure is less than 1650PSI(11.4MPa). Then
“Automatic Apply Valve” works.
¾ Auto Apply pilot valve broken
z Spool is stuck
¾ Automatic apply valve is broken
z Spool is stuck
Remedy ¾ Check solenoid resistance
z Check if coil resistance is not 33.8 ohm.
¾ Wiring check
output signals.
wiring continuity, cut and short.
¾ Relay check
z Check relay (RB10-K3) if it works by using LH Drive IO Checker
to control output.
20-815
Troubleshooting for Travel control system 43BA
¾ Hydraulic system problem

z See shop manual of 930E-AT Section J.
20-816
Troubleshooting for Travel control system 43BB
43BB Trouble in brake lock system
Fault Code 43BB

Message Brake Lock error
Description z Both of rear brake pressure switch were high pressure, when
LH-Drive controller released brake lock.
z Both of rear brake pressure switch were low pressure, when
LH-Drive controller activated park brake.
Brake lock ON Brake lock OFF
Both of press sensor High ? Both of press sensor Low ?

Y Y
N N
Exception Exception
(43BB) Normal (43BB)

¾ Brake Lock Solenoid is broken.
¾ Wiring problem.
z Wiring number 52BLA is cut or short.
z Wiring number 52P4D is cut.
z Wiring number 52B is cut.
¾ Relay problem
2) Hydraulic system problem.
¾ Hydraulic oil pressure
z Pressure is too low pressure to work brakes.
¾ Brake Lock valve broken
z Spool is stuck
Remedy ¾ Check solenoid resistance
z Check if coil resistance is not 28.5 ohm.
¾ Wiring check
output signals.
¾ Relay check
20-817
Troubleshooting for Travel control system 43BB
to control output.
z See shop manual of 930E-AT Section J.
20-818
Troubleshooting for Travel control system 43BC
43BC Trouble in rear brake system
Fault Code 43BC

Message Rear brake error
Description z Both of rear brake pressure switch were high pressure, when
LH-Drive controller released rear brake.
z Both of rear brake pressure switch were low pressure, when
LH-Drive controller activated rear brake.
Rear brake ON Rear brake OFF
Both of press sensor High ? Both of press sensor Low ?

Y Y
N N
Exception Exception
(43BC) Normal (43BC)

¾ Wiring problem
z Wiring number 33PRR is cut.
z Wiring number 33PLR is cut.
z Loose connection.
¾ Contamination
20-819
¾ Wiring.
manual operation.
valve.

20-820

20-821
Troubleshooting for Travel control system 43BD
43BD Trouble in retard signal feedback
Fault Code 43BD

Message Wrong retard sig feedback
Description There are 0.25 V difference between Retard brake signal output from
LH-controller and Retard signal feedback input.
Voltage difference output(CN2-07) and
input(CN7-02) > 0.25 V N
Exception
(43BD) Normal
Possible Cause 1) Electrical circuit problem

¾ Wiring problem
z Wiring number 52RAU is cut or shorted.
z Wiring number 52R is cut or shorted.
z Wiring number 72AT is cut or shorted.
z Wiring number 52P3 is cut or shorted.
z Loose connection.
¾ Relay problem
z RB9-K4 is broken.
¾ Fuse problem
¾ Wiring.
¾ Relay Check
output signals.
¾ Fuse Check
20-822
Troubleshooting for Travel control system 43BD
20-823
Troubleshooting for Travel control system 43BE
43BE Front brake is not released
Fault Code 43BE

Message Left Front brake could not release
Description Left front brake pressure was High pressure when LH-Drive controller
Left front brake pressure are high ? N

Y
Timer count up

Y
Exception (43BE) Normal

¾ Pressure Sensor problem
z Pressure sensor (Left Front) is locked voltage
¾ Wiring problem
z Wiring number 33PLF is shorted to high voltage.

¾ Pressure Sensor
z Check if pressure sensor signal changes according to signal with
LH Drive IO Checker.
z If pressure sensor is broken, replace it.
¾ Wiring
z Check voltage on wiring.
20-824
Troubleshooting for Travel control system 43BE
20-825
Troubleshooting for Travel control system 43BF
43BF Front brake is not released
Fault Code 43BF

Message Right Front brake could not release
Description Right front brake pressure was High pressure when LH-Drive controller
Right front brake pressure are high ? N

Y
Timer count up

Y
Exception (43BF) Normal

z Pressure sensor (Right Front) is locked voltage
¾ Wiring problem
z Wiring number 33PRF is shorted to high voltage.

¾ Pressure Sensor
¾ Wiring
20-826
Troubleshooting for Travel control system 43BF
20-827
Troubleshooting for Travel control system 43C0
43C0 Rear brake is not released
Fault Code 43C0

Message Left Rear brake could not release
Description Left Rear brake pressure was High pressure when LH-Drive controller
Left rear brake pressure are high ? N

Y
Timer count up

Y
Exception (43C0) Normal

z Pressure sensor (Left Rear) is locked voltage
¾ Wiring problem
z Wiring number 33PLR is shorted to high voltage.

¾ Pressure Sensor
¾ Wiring
20-828
20-829
43C1 Rear brake is not released
Fault Code 43C1

Message Right Rear brake could not release
Description Right Rear brake pressure was High pressure when LH-Drive controller
Right rear brake pressure are high ? N

Y
Timer count up

Y

z Pressure sensor (Right Rear) is locked voltage
¾ Wiring problem
z Wiring number 33PRR is shorted to high voltage.

¾ Pressure Sensor
¾ Wiring
20-830
20-831
43C2 Trouble in wiring of over ride signal
Fault Code 43C2

Message OverRide line (hot short)
Description The wiring of over ride output line was shorted (Short circuit to power).

N
Y
Timer count up

Y

z Wiring number 71HA is shorted to Power.
output signals
20-832
Fault Code 43C3

Message OverRide line (cut)
Description The wiring of over ride output line was cut.

N
Y
Timer count up

Y

z Wiring number 71HA is cut.
z Wiring number 52PB is cut.
¾ Fuse problem.
z Loose connection.
output signals
¾ Fuse
20-833
Fault Code 43C4

Message OverRide line (GND short)
Description The wiring of over ride output line was shorted (Short circuit to GND).

N
Y
Timer count up

Y

z Wiring number 71HA is shorted to GND.
output signals.
20-834
Troubleshooting for Travel control system 43C5, 43C6, 43C7, 43C8
43C5, 43C6, 43C7, 43C8 Trouble in brake pressure sensors
Fault Code 43C5

Message Brake Pressure Sensor(RR) Error
Fault Code 43C6

Message Brake Pressure Sensor(RL) Error
Fault Code 43C7

Message Brake Pressure Sensor(FR) Error
Fault Code 43C8

Message Brake Pressure Sensor(FL) Error
Description z Brake pressure sensor signal is larger than 4.5V for 2.5sec.
z Brake pressure sensor signal is less than 0.5 V for 2.5sec.
Is sensor signal larger than 4.5V ?
Or
N
Is sensor signal less than 0.5V ?
Timer count up

Y
Exception
(43C5, 43C6, 43C7, 43C8)

Normal
Possible Cause ¾ Sensor problem

z Pressure sensor is broken..
¾ Wiring problem.
z Wiring number 33PRF or 33PRR or 33PLF or 33PLR is cut or
hotshort.
20-835
Troubleshooting for Travel control system 43C5, 43C6, 43C7, 43C8
z Shield line is cut

z Loose connection.
output signals.
z Check shield line
20-836
43C9 Trouble in signal from GE system
Fault Code 43C9

Message Retard Active Error
Description z Retard active signal from GE did not change OFF for 20sec, when
truck was stopped and retard brake was released.
z Retard active signal from GE did not change ON for 5 sec, when
retard brake was activated from LH-Drive controller.
Is Retard brake activated or released ?

Release
Active
AHT is stopped ?
N
Y
Is Retard Active signal
ON ? Y Is Retard Active
Y signal OFF ?
N
N
Timer count up
Timer count up
Is timer above 5 sec ?

N N Is timer above 20 sec ?
Y Y
Exception (43C9) Normal Exception (43C9)
Possible Cause 1) Autonomous system problem

¾ Wiring problem.
z Wiring number 44D is cut or shorted.
¾ Relay problem.
z RB3-K3 is broken.
2) Standard system problem of 930E-3.
output signals.
20-837
20-838
Troubleshooting for Travel control system 43CA, 43CB
43CA, 43CB Trouble in signal from GE system
Fault Code 43CA

Message Move Forward Signal Fault
Fault Code 43CB

Message Move Reverse Signal Fault
Description <43CA>
z Moving Forward signal from GE was ON(GND) when truck was stopped.
z Moving Forward signal from GE was OFF(OPEN) when truck was moving
over 3km/h.
<43CB>
z Moving Reverse signal from GE was ON(GND) when truck was stopped.
z Moving Reverse signal from GE was OFF(OPEN) when truck was moving
over -3km/h.
Forward Reverse
F-N-R select lever
Neutral
AHT move forward AHT move reverse

N over -3km/h N
over 3km/h
Y
Y
Timer count up Timer count up
N Is timer above 3 sec ? Is timer above 3 sec ? N

Y Y
MoveForward is ON
Y in spite of fully brake
MoveReverse is ON
in spite of fully brake Y
Normal Exception (43CA) Normal Exception (43CB) Normal
20-839
Troubleshooting for Travel control system 43CA, 43CB
Possible ¾ Wiring problem.

Cause z CN1-13 and CN1-14 are switched place.
z CN4-03 and CN4-13 are switched place.
z CN4-08 and CN4-18 are switched place.
z 72FD or 79RD is shorted to GND.
z Use LH Drive IO Checker to watch input signals and control output
signals.
20-840
Troubleshooting for Travel control system 43CC, 43CE
43CC, 43CE Trouble in auto apply brake system
Fault Code 43CC

Message Emergency(AutoApply) brake line cut
Fault Code 43CE

Message Safety controller couldn’t activate AutoApplyBrake
Description .
<43CC >
Is the voltage of CN4-14 Low voltage ?

N
Y
Timer count up

Y
Exception (43CC) Normal
<43CE>
Wiring for Auto Apply Brake from LH-Drive to LH-Safe was cut
Request AutoApplyBrake activated to LH-Safety
Are brake pressure sensors signal High ? Y

N
Timer count up

Y
Exception (43CE) Normal
20-841
Troubleshooting for Travel control system 43CC, 43CE
Signal table of AutoApplyBrake control.

CS2-11
24V Open 24V Open
Wiring 72AA
CN1-12
0V 0V Open Open
Wiring 72AAD
¾ Auto Apply Solenoid is broken.
¾ Wiring problem.
z Wiring number 72AA is cut or short.
z Wiring number 72AAD is cut or short.
z Wiring number 72AAS is shorted to GND.
z Wiring number 11S is cut.
¾ Relay problen
output signals.
wiring continuity, cut and short.
¾ Relay check
to control output.
20-842
Troubleshooting for Travel control system 43CF
43CF Trouble in front brake system
Fault Code 43CF

Message Front brake error
Description Both of front brake pressure switch were not high pressure, when
LH-Drive controller activated front brake.
Front brake ON
Both of press sensor High ?

Y
N
Exception (43CF) Normal

¾ Wiring problem
z Wiring number 33PRF and 33PLF are cut.
z Loose connection.
z Front brake valve cartridge broken.
¾ Contamination
¾ Wiring.
20-843

manual operation.
valve.

20-844

20-845
4402 Body position switch is broken.
Fault Code 4402

Message Body position switch error
Description Both BodyUpSwitch and HoistLimitSwitch were ON at the same time
for 3sec.
Is BodyUpSwitch ON ? N
Y
Is HoistLimitSwitch ON ? N
Y
Timer count up

Y
<Expected behavior>
z When the body is down position, BodyUpSwitch is ON. When the
body is not down position, BodyUpSwitch is OFF.
BodyUpSwitch
z When the body is up limit position, HoistLimitSwitch is ON. When

the body is not up limit position, HoistLimitSwitch is OFF.
HoistLimitSwitch
20-846
Possible Cause ¾ Switch problem.

z BodyUpSwitch is broken (Always ON).
z BodyUpSwitch is activated cause of wrong setting.
z HoistLimitSwitch is broken (Always ON).
z HoistLimitSwitch is activated cause of wrong setting.
¾ Wiring problem
z Wiring number 71F is shorted to 24V.
z Wiring number 53H is shorted to 24V.
¾ Check input signal of [CN4-02] and [CN4-11] with LH Drive IO
Checker by manual body control.
z If [CN4-02] is always ON. Check wiring number 53H and
HoistLimitSwitch
z If [CN4-11] is always ON. Check wiring number 71F and
HoistUpSwitch.
Switch location
HoistLimitSwitch
BodyUpSwitch
Hoist Limit Switch Body Up Switch
DC24V
Body Up SW
TB57-L TB27-H
71F
BODY UP SWITCH CN4-11 TB33-N FB1-23 TB32-W
53H 71P 71P 71

HOIST LIMIT CN4-02
TB51-B TB28-E DC24V
TB35-H FB1-5
712H 712
HOIST LIMIT SW
20-847
4403 Hoist Limit Switch is broken.
Fault Code 4403

Message Hoist limit switch error
Description When LH-Drive controller output body-up signal, HoistLimitSwitch did
not be ON for 1min.
Body “Up” Signal Hoist Sol A [CN1-03] is ON
Hoist Sol B [CN1-10] is OFF
Is HoistLimitSwitch OFF ? N
Y
Timer count up
Is timer above 1 min ? N

Y
<Expected behavior>
z When LH-Drive controller output body-up signal, HoistSol A was
ON and HoistSol B was OFF, body is going to up to the end
position. Then, HoistLimitSwitch will be ON at the end position.
Normally within 1min.
HoistLimitSwitch
Possible Cause 1) Body could not dump up.

¾ Load weight is too heavy.
z Load weight was too heavy to move the body.
¾ Contamination.
z Contamination in hoist circuit.
¾ Hoist Pilot Valve has problem.
20-848
z Spool was stuck.

z Solenoid was broken. (Resistance of solenoid is 33.8 ohm)
¾ Hoist Valve problem.
¾ Hoist pump problem.
¾ Wiring problem
z Wiring number 53HA1 is cut.
z Wiring number 53HS is cut.
z Wiring number 712PA is cut.
z Wiring number 53HP is shorted GND.
¾ Relay problem
z Relay [RB11-K6], [RB11-K7] is broken.
¾ Fuse problem
z Fuse number FB3-6 is burned out.
¾ Connector problem.
z Loose connection of pin CN1-03.
z Loose connection of other connector.
2) Body could dump up.

¾ Switch problem.
z HoistLimitSwitch was broken (Always OFF).
z HoistLimitSwitch could not be activated cause of wrong setting.
¾ Wiring problem
z Wiring number 53H is cut.
z Wiring number 712H is cut.
z Wiring number 712 is cut.
¾ Fuse problem
¾ Try dumping by manually to check if it is over load.
¾ Check HoistPilotValve.
z Check hoist pilot valve movement by manual body control. (see.
“Spool Movement of Hoist Pilot Valve”.)
z Check the solenoid resistance. (Resistance is 33.8 ohm)
¾ Hoist control system check.
z Check that output pressure of port A on hoist pilot valve is high
pressure (2500psi ±100) while body up by manually.
z Check that hoist system according to 930E shop manual.
20-849
(see. Section L3,L7 and L8 in 930E-3 shop manual)

¾ Switch check.
z Use LH Drive IO Checker to watch HoistLimitSwitch signal by
manual dump.
z See. Section D in 930E-3 shop manual to adjustment.
¾ Wiring Check
output signals.
z Check wiring.
¾ Relay Check
output signals.
¾ Fuse Check
¾ Connector Check
output signals as giving vibration the wiring.
If there is no problem, the cause may be contamination in circuit.
Spool Movement of Hoist Pilot Valve

UP HOLD FLOAT DOWN
0.31 inch 0.20 inch 0.20 inch
20-850
Switch location
HoistLimitSwitch
BodyUpSwitch
20-851
4404 Body down control error
Fault Code 4404

Message Body down control error
Description When body up switch was ON and controller signal did not request
“down” position, hydraulic pressure of port B at the hoist pilot valve was
above 569PSI(40kg/cm2) for 10sec.
Hoist Sol A [CN1-03] is OFF
Hoist Sol B [CN1-10] is ON
Is signal “Body Down” ? Y

N
Is BodyUpSwitch ON ? N
Y
Port B pressure > 569PSI ?

N
Y
Timer count up
N
<Expected behavior>
The hydraulic pressure must be low (approximately 0PSI) soon when
controller requests “float” position to the hoist pilot valve.
Possible Cause ¾ Hoist pilot valve is broken.

z Spring in valve is broken.
z Spool is stuck at down position.
¾ Contamination.
z Contamination in valve.
¾ Relief valve setting problem.
z Relief valve setting must be 1500±100 PSI.
¾ HoistPressureSensor is broken or Wiring is shorted.
z HoistPressureSensor is stuck.
z Wiring number 53PS is shorted to 5V or more.
20-852

z Check hoist pilot valve movement by manual body control.
(see. “Spool Movement of Hoist Pilot Valve”.)
z Check hydraulic pressure of port B (CN7-12 Hoist Control
Pressure) by LH Drive IO Checker if the pressure go down
immediately when spool position is changed from Down to Float.
¾ Check Relief valve setting
z Adjust 1500±100 PSI.
¾ Sensor and Wiring check
z Use LH Drive IO Checker to watch hydraulic pressure sensor
signal.
z Check wiring continuity and short.

UP HOLD FLOAT DOWN
Switch location
HoistLimitSwitch
BodyUpSwitch
20-853
20-854
DC24V
Body Up SW
TB57-L TB27-H
71F
53H 71P 71P 71

HOIST LIMIT CN4-02
TB51-B TB28-E DC24V
TB35-H FB1-5
712H 712
HOIST LIMIT SW
20-855
4405 Trouble in body control
Fault Code 4405

Message Body Up switch was not ON while Body down
Description BodyUpSwitch was not ON for 60 sec, when body control signal was
“Float” or “Down”,
Is body control signal “Float” ? N

Y
Is body control signal “Down” ? N

Y
Is BodyUpSwitch OFF? N
Y
Timer count up

Y
<Expected behavior>
When LH-Drive controller output body-down signal or body-float
signal, body is going to down to the down position. Then,
BodyUpSwitch will be ON at the down position. Normally within 1min.
BodyUpSwitch
Possible Cause 1) Body could not be down.

¾ Contamination.
z Contamination in hoist circuit.
z Spool is stuck.
z Solenoid is broken. (Resistance of solenoid is 33.8 ohm)
¾ Hoist Valve problem.
¾ Wiring problem.
20-856
z Wiring number 53HB1 is cut.

z Wiring number 53HB is cut.
z Wiring number 53HP is shorted GND.
¾ Fuse problem
2) Body could be down.

¾ BodyUpSwitch is broken.
z BodyUpSwitch is always OFF.
z BodyUpSwitch could not be activated cause of wrong setting.
¾ Wiring problem.
z Wiring number 71F is cut.
z Wiring number 71P is cut.
¾ Relay problem
¾ Fuse problem
Remedy ¾ Check HoistPilotValve

z Check hoist pilot valve movement by manual body control.
(see. “Spool Movement of Hoist Pilot Valve”)
z Check the solenoid resistance.(Resistance is 33.8 ohm)
¾ Hoist control system check
z Check that hoist system according to 930E-3 shop manual.
(see. Section L in 930E-3 shop manual)
¾ Switch check
z Use LH Drive IO Checker to watch BodyUpSwitch signal by
manual control.
¾ Wiring check
output signals
z Check wiring.
20-857
¾ Relay Check
output signals.
¾ Fuse Check
¾ Connector Check
Switch location
HoistLimitSwitch
BodyUpSwitch
DC24V
Body Up SW
TB57-L TB27-H
71F
53H 71P 71P 71

HOIST LIMIT CN4-02
TB51-B TB28-E DC24V
TB35-H FB1-5
712H 712
HOIST LIMIT SW
20-858
20-859
4406 Trouble in body control
Fault Code 4406

Message Body position error
Description When body was down position, BodyUpSwitch changed to OFF for 2
sec even if body control signal was not “UP”
Was body down position ? N

Y
Is body control signal “UP”? Y

N
BodyUpSwitch change to OFF? N

Y
Timer count up

Y
<Expected behavior>
Body should keep at the down position.
Possible Cause 1) Body was not down position.

¾ Body has impact.
z There is big impact while loading.
z There is big impact while traveling on rough road.
¾ Wiring problem.
z Wiring number 53HA1 is shorted to 24V.
z Wiring number 53HA is shorted to 24V.
¾ Hoist circuit or valve has problem.
z Hoist Pilot Valve or Hoist Valve change to UP position without any
signal.
20-860
2) Body was down position.

¾ BodyUpSwitch is broken.
z Switch is always OFF.
¾ Wiring problem.
¾ Fuse problem
Remedy ¾ Switch check
z Use LH Drive IO Checker to watch BodyUpSwitch signal by
manual control.
¾ Wiring check
output signals
z Check wiring.
¾ Fuse Check
¾ Connector Check
¾ Valve Check
z Check hoist pilot valve moving using LH Drive IO Checker.
If there is no problem all the system, the cause may be some impact to
the body. (Ex. The impact while loading)
Switch location
HoistLimitSwitch
BodyUpSwitch
20-861

UP HOLD FLOAT DOWN
DC24V
Body Up SW
TB57-L TB27-H
71F
53H 71P 71P 71

HOIST LIMIT CN4-02
TB51-B TB28-E DC24V
TB35-H FB1-5
712H 712
HOIST LIMIT SW
20-862
4407 Troubles in wiring of body control sol A(up) line
Fault Code 4407

Message Body control sol A line (hot short)
Description The wiring of solenoid A(Up) at hoist control valve was shorted (Short
circuit with power source).
Did LH-drive controller detect wiring hot short ?

N
Y
Timer count up

Y

z Wiring number 53HA1 is shorted to 24V.
z Wiring number 53HA is shorted to 24V.
output signals
z Check wiring.
72AT
DC24V
RB11-K8
FB3-6
72AT 52PG TB56-F
53HB1 53HB1 SOL B (Dwon)

HOIST SOL B. CN1-10
53HB ① HOIST
53BF ②
53HB
HOIST SOL MONITOR B CN4-07
RB11-K7 ①
72AT 52PG ②
SOL A (Up)
HOIST SOL A CN1-03 53HA1 53HA1
53HA
53BU
53HA
HOIST SOL MONITOR A CN4-16
53HP
HOIST SIG CUT CN1-02
RB11-K6
53HP 52PG DC24V
FB3-7
HOIST PRESSURE CN7-12 52P7
53HS
712PA
FLOAT HOIST PRESSURE SENSOR

1
HOLD TB55-A 2
3
53PS
20-863
Fault Code 4408

Message Body control sol A line (cut)
Description The wiring of solenoid A(Up) at hoist control valve was cut.
Did LH-drive controller detect wiring cut? N

Y
Timer count up

Y

z Wiring number 53HA1 is cut.
¾ Relay problem
¾ Fuse problem
output signals
z Check wiring.
¾ Relay Check
output signals.
¾ Fuse Check
20-864
¾ Connector Check
20-865
Fault Code 4409

Message Body control sol A line (GND short)
Description The wiring of solenoid A(Up) at hoist control valve was shorted (Short
circuit with GND).

N
Y
Timer count up

Y

z Wiring number 53HA1 is shorted to GND.
z Wiring number 53HA is shorted to GND.
z Wiring number 53HS is shorted to GND.
z Wiring number 52P7 is shorted to GND.
output signals
z Check wiring continuity, short.
20-866
440A Troubles in wiring of body control sol B(down) line.
Fault Code 440A

Message Body control sol B line (hot short)
Description The wiring of solenoid B(Down) at hoist control valve was shorted
(Short circuit with power source).

N
Y
Timer count up

Y

z Wiring number 53HB1 is shorted to 24V.
z Wiring number 53HB is shorted to 24V.
output signals
z Check wiring.
20-867
440B Troubles in wiring of body control sol B(down) line.
Fault Code 440B

Message Body control sol B line (cut)
Description The wiring of solenoid B(Down) at hoist control valve was cut.

Y
Timer count up

Y
Exception (440B) Normal

z Wiring number 53HB1 is cut.
z Wiring number 53HB is cut.
¾ Relay problem
¾ Fuse problem
output signals
z Check wiring.
¾ Relay Check
output signals.
¾ Fuse Check
20-868
¾ Connector Check
20-869
Troubleshooting for Travel control system 440C
440C Troubles in wiring of body control sol B(down) line.
Fault Code 440C

Message Body control sol B line (GND short)
Description The wiring of solenoid B(Down) at hoist control valve was shorted
(Short circuit with GND).

N
Y
Timer count up

Y
Exception (440C) Normal

z Wiring number 53HB1 is shorted to GND.
z Wiring number 53HB is shorted to GND.
z Wiring number 53HS is shorted to GND.
z Wiring number 52P7 is shorted to GND.
output signals
20-870
Troubleshooting for Travel control system 440D
440D Wrong body position.
Fault Code 440D

Message Wrong body position
Description Body was not down position when truck tried to start autonomous
traveling.
Travel request
Allow body up travel area

Area check
(Dump Area)
No allow body up travel area
Is HoistUpSwitch OFF ? N
Y
Exception (440D) Normal
<Expected behavior>
z Truck must be body down before traveling except just after
dumping.
BodyUpSwitch
Possible Cause ¾ Miss operation

z Body was not set down position when truck was released.
¾ Switch problem.
z BodyUpSwitch was broken (Always OFF).
z BodyUpSwitch could not be activated cause of wrong setting.
¾ Wiring problem
¾ Fuse problem
Remedy If Body is not down position, down the body by manually. Then, Restart
20-871
truck again.
<How to check>
¾ Switch check.
z Use LH Drive IO Checker to watch HoistLimitSwitch signal by
manual dump.
¾ Wiring Check
output signals.
z Check wiring.
¾ Relay Check
output signals.
¾ Fuse Check
¾ Connector Check
Switch location
HoistLimitSwitch
BodyUpSwitch
DC24V
Body Up SW
TB57-L TB27-H
71F
53H 71P 71P 71

HOIST LIMIT CN4-02
TB51-B TB28-E DC24V
TB35-H FB1-5
712H 712
HOIST LIMIT SW
20-872
Troubleshooting for Travel control system 440E
440E Trouble in wiring of body control cut line
Fault Code 440E

Message Body control cut line (Hot short)
Description The wiring of body control cut line was shorted (Short circuit with power
source).

N
Y
Timer count up

Y
Exception (440E) Normal

z Wiring number 53HP is shorted to 24V.
output signals
20-873
Troubleshooting for Travel control system 440F
440F Trouble in wiring of body control cut line
Fault Code 440F

Message Body control cut line (cut)
Description The wiring of body control cut line is cut

Y
Timer count up

Y

z Wiring number 53HP is cut.
¾ Relay problem
z Relay [RB11-K6] is broken.
¾ Fuse problem
output signals
z Check wiring.
¾ Relay Check
output signals.
¾ Fuse Check
¾ Connector Check
20-874
20-875
4410 Trouble in wiring of body control cut line
Fault Code 4410

Message Body control cut line (GND short)
Description The wiring of body control cut line is shorted (Short circuit with GND).

N
Y
Timer count up

Y

z Wiring number 53HP is shorted to GND.
z Wiring number 52PG is shorted to GND.
output signals
20-876
4411 Trouble in dump control pressure sensor.
Fault Code 4411

Message Hoist valve pressure sensor broken
Description The hoist pressure sensor signal is under 0.2V for 5sec or above 4.5V
for 5sec
Signal < 0.2V or 4.5V<Signal

N
Y
Timer count up

Y
Possible Cause ¾ Sensor is broken.

z Hoist pressure sensor is broken.
¾ Wiring problem.
z Wiring number 53PS is cut or shorted GND or Power.
z Wiring number 33PG is cut or shorted Power.
z Wiring number 33PP is cut or shorted GND or Power.
¾ REG power converter.
z No supply power.
z Converter is broken.
z Fuse [FB3-7] is burned out.
Remedy ¾ Sensor check.
z Use LH Drive IO Checker to watch input signals to hoist pressure
sensor by controlling body by manually.
¾ Wiring check
output signals
¾ REG power converter check.
z Measure output voltage of converter. (24V)
z Measure input voltage of converter. (Power Supply)
(Approximately 24V)
¾ Connector Check
20-877

20-878
HOIST PRESSURE SENSOR

1
2
HOIST PRESSURE CN7-12
3
TB55-A 53PS
33PP
33PG REG power converter
FB3-7
1 1
2 2
PC2A PC2B
20-879
4412 Trouble in dump control signal feedback
Fault Code 4412

Message Body control sol A line has problem.
Description Feedback signal, Hoist sol monitor A, is different from output of hoist
sol A from controller for 2.5sec.
Output of CN1-03 = Input of CN4-16 ?

Y
N
Timer count up

Y

z Wiring number 53HA1 is cut or short (GND, Power).
z Wiring number 53HA is cut or short (GND, Power).
z Wiring number 72AT is cut or short (GND, Power).
z Wiring number 52PG is cut or short (GND, Power).
¾ Relay problem
¾ Fuse problem

output signals if output to SolA and input of feedback signal SolA
is same.
¾ Relay Check
output signals if output to SolA and input of feedback signal SolA
is same.
¾ Fuse Check
20-880
¾ Connector Check
20-881
4413 Trouble in dump control signal feedback
Fault Code 4413

Message Body control sol B line has problem.
Description Feedback signal, Hoist sol monitor B, is different from output of hoist
sol B from controller for 2.5sec.
Output of CN1-10 = Input of CN4-07 ?

Y
N
Timer count up

Y

z Wiring number 53HB1 is cut or short (GND, Power).
z Wiring number 53HB is cut or short (GND, Power).
z Wiring number 72AT is cut or short (GND, Power).
z Wiring number 52PG is cut or short (GND, Power).
¾ Relay problem
¾ Fuse problem

output signals if output to SolB and input of feedback signal SolB
is same.
¾ Relay Check
output signals if output to SolB and input of feedback signal SolB
is same.
¾ Fuse Check
20-882
¾ Connector Check
20-883
4502 Wrong position of A/M key switch.
Fault Code 4502

Message A/M key switch is wrong position
Description Auto/Manual key switch was changed to Manual position while
autonomous traveling.
Autonomous traveling ? N
Y
A/M key switch is Manual ? N

Y
Timer count up

Y

z Auto/Manual key switch is changed to Manual position.
z Return Auto/Manual key switch to Auto position and restart truck.
72AT TB53-K 72AT

72MAN
72MAN
TB50-K GBA-1
20-884
4503 Trouble in A/M key switch.
Fault Code 4503

Message A/M key switch is broken
Description Auto/Manual key switch wiring is cut or shorted to GND
z Both CN4-09(Auto) and CN4-19(Manual) were ON at the
same time.
z Both CN4-09(Auto) and CN4-19(Manual) were OFF at the
same time.
CN4-09 is ON and CN19 is ON? N

Y
CN4-09 is OFF and CN19 is OFF?

N
Y
Timer count up
Is timer above 1 sec while travel or
3sec N
<Expected behavior>
If CN4-09(Auto) is ON, CN4-19(Manual) must be OFF.
If CN4-09(Auto) is OFF, CN4-19(Manual) must be ON.

z Auto/Manual key switch is broken.
¾ Wiring problem
z Wiring number 72MAN is shorted to GND.
z Wiring from Auto/Manual key switch to GBA-1 is cut.
¾ Switch check
20-885
z Check switch if it works correctly.

¾ Wiring check
z Use LH Drive IO Checker to watch A/M key input signals.
¾ Connector check
z Use LH Drive IO Checker to watch A/M key input signals as
giving vibration the wiring.
72AT TB53-K 72AT

72MAN
72MAN
TB50-K GBA-1
20-886
4504 Trouble in power supply.
Fault Code 4504

Message Low voltage of unswitched power
Description Power supply voltage of LH-Drive controller, both CN1-05 and CN1-15,
became lower than 15V.
Both CN1-05 and CN1-15 are lower than 15V? N

Y
<Expected behavior>
Power supply must be more than 15 volt.
Possible Cause ¾ Battery problem.

z Voltage of battery is low battery.
¾ Fuse problem
¾ Wiring problem
¾ Battery problem.
z Check supplied voltage by voltmeter.
¾ Fuse Check
¾ Wiring check
20-887
20-888
Fault Code 4505

Message Low voltage of switched power
Description Switched power supply voltage of LH-Drive controller, both CN1-08 and
CN1-18, became lower than 15V.

Y
<Expected behavior>
Switched power supply must be more than 15 volt.

¾ Fuse problem
¾ Wiring problem
¾ Battery problem.
¾ Fuse Check
¾ Wiring check
20-889
20-890
Fault Code 4506

Message Low voltage of sol1 power
Description Sol1 power supply voltage of LH-Drive controller, both CN1-01 and

Y
<Expected behavior>
Sol1 power supply must be more than 15 volt.

¾ Fuse problem
¾ Wiring problem
z Wiring number 52P18D is cut.
¾ Diode problem
z Diode number AD41 is broken.

¾ Battery problem.
¾ Fuse Check
¾ Wiring check
¾ Diode problem
z Check diode by tester.
20-891
20-892
Fault Code 4507

Message Low voltage of sol2 power (AutoApplyBrake ON)
Description Sol2 power supply voltage of LH-Drive controller, both CN3-01 and

Y
<Expected behavior>
Sol1 power supply must be more than 15 volt.

¾ Fuse problem
¾ Wiring problem

¾ Battery problem.
¾ Fuse Check
¾ Wiring check
20-893
20-894
4508 Trouble in auto preparation of autonomous travel.
Fault Code 4508

Message Time over for Autonomous traveling preparation
Description ・ The Forward Requested signal(CN4-13) is not ON(24V) when truck
start to travel forward
・ The Reverse Requested signal(CN4-03) is not ON(24V) when truck
start to travel backward.
Start to travel forward
Is CN4-13(forward requested) ON?

Y
N
Start to travel backward
Is CN4-03(reverse requested) ON?

Y
N
Possible Cause 1) Forward position select problem.

¾ Wiring problem
z Wiring number 72FAU is cut.
z Wiring number 72SAF is cut.
¾ Fuse problem
20-895
¾ Relay problem
z Relay number RB10-K6 is broken
z Relay number RB9-K1 is broken
2) Forward signal feedback problem.

¾ Wiring problem.
z Wiring number 72 to CN4-13 is cut.
3) Reverse position select problem

¾ Wiring problem
z Wiring number 79B is cut.
z Wiring number 79BAU is cut.
z Wiring number 79BAI is cut.
¾ Fuse problem
¾ Relay problem
z Relay number RB9-K6 is broken.
z Relay number RB9-K2 is broken.
4) Reverse signal feedback problem.

¾ Wiring problem.
z Wiring number 79B to CN4-03 is cut.
¾ Wiring Check
output signals.
z Check wiring.
¾ Fuse Check
¾ Relay Check
output signals.
20-896
20-897
4509 Time over in autonomous travel.
Fault Code 4509

Message Time over to the end of trajectory
Description Truck could not arrive at stop position.
Target is stop position?

Y
N
Does truck arrive at stop position?

Y
N
Timer count up

N
Y
Possible Cause 1) Road condition

¾ There are some rocks or obstacle.
¾ Road condition is rough.
Remedy <Action>
Maintain the road condition.
20-898
450A Time over in autonomous travel.
Fault Code 450A

Message Time over to reach target point
Description Truck could not move to next target position.
Does AHT arrive at target position?
Timer count up

N
Y

¾ There are some rock or obstacle.
Remedy <Action>
Maintain the load condition.
20-899
450D Course Out.
Fault Code 450D

Message Course out
Description tracking error was bigger than specification.
2) Loading form
3) Course database.
¾ Survey is not good for autonomous travel.
4) Hardware problem
¾ Flat tire.
¾ Electric system problem
And so on.
Remedy <Action>
Check following item. After all clear, set truck on the course and restart.
1) Road condition
Check the road condition and maintain it.
2) Loading form
Change to manual-mode. Dump material by manually.
Then, restart truck.
3) Course database
If it is new database, survey may not be good for autonomous
travel.
Re-survey and make database again.
4) Hardware
Check hardware of truck
20-900
Troubleshooting for Travel control system 450E
450E Course Out.
Fault Code 450E

Message Course out (REG Traveling)
Description tracking error was bigger than specification while REG navigation.
2) Loading form
3) Course database.
4)Hardware problem
¾ Flat tire.
And so on.
Remedy <Action>
1) Road condition
2) Loading form
3) Course database
travel.
4) Hardware
Check hardware of truck
20-901
450F Course Out.
Fault Code 450F

Message Course out (Offset value)
Description tracking error was bigger than specification cause of big position offset.
2) Loading form
3) Position measurement is not stable.

Remedy <Action>
1) Road condition
2) Loading form
3) Position measurement is not stable.

Check GPS condition and status of navigation system.
20-902
4510 Course Out.
Fault Code 4510

Message Yaw angle error
Description Tracking angle error was bigger than specification.
2) Loading form
3) Course database.
4)Hardware problem
¾ Flat tire.
And so on.
Remedy <Action>
1) Road condition
2) Loading form
3) Course database
travel.
4) Hardware
Check hardware of truck.
20-903
4513 Over speed control.
Fault Code 4513

Message Over speed
Description Truck speed is higher than target speed.
¾ There is down slope over 10%..
¾ Slippery down slope.
2) Loading condition.
¾ Over load.
3) Retard brake.
¾ Retard brake is low performance.
Remedy <Action>
1) Road condition
If it was over load, change to manual-mode. Dump material by
manually. Then, restart truck.
3) Retard brake
Change to manual mode. Then try retard brake with loaded
condition. If performance looks bad, check GE retard system.
20-904
4515 Over passing target point.
Fault Code 4515

Message Over passing target point
Description Distance between truck position and target stop position is large.
Distance between truck position and
target stop position > threshold ? N
Possible Cause 1) When truck has been just released.

¾ CGC software exception
2) Road condition
¾ There is down slope over 10%..
¾ Slippery down slope.
¾ Over load.
4) Retard brake.
¾ Retard brake is low performance.
Remedy <Action>
1) Road condition
3) Retard brake
Change to manual mode. Then try retard brake with loaded
condition. If performance looks like bad, check GE retard system.
20-905
4518, 4519 Wrong moving direction.
Fault Code 4518

Message Move Forward at R shift
Fault Code 4519

Message Move Reverse at F shift
Description Autonomous truck moves more than 8m or 3.5m twice against F-N-R
selector while autonomous traveling.
Moving distance against D-N-R selector
> 3.5m ? N
Second time?
N
Y
Moving distance against F-N-R
N
selector > 8m ?
Exception (4518,4519) Normal

¾ There is up slope over 10%..
¾ Slippery up slope.
¾ Over load on the up slope.
Remedy <Action>
1) Road condition
20-906
451A Road roughness.
Fault Code 451A

Message Can't move by road condition
Description Truck could not move in autonomous mode due to road roughness.

¾ Rough road.
¾ Slippery.
¾ There are some rocks or spillage.
¾ Over load.
Remedy <Action>
1) Road condition
20-907
451D Over loading.
Fault Code 451D

Message Over load (150%)
Description Loading weight is over loaded. (450ton)
Possible Cause 1) Loading condition.

¾ Over load.
Remedy <Action>
451E Brake lock switch is ON in auto mode.
Fault Code 451E

Message Brake Lock SW is ON in AUTO
Description Operator forgot to release brake lock switch in release procedure.
Possible Cause ¾ Brake lock switch in cab is ON
Remedy <Action>
Release brake lock switch in cab. Then, do release procedure again.
4521 Course out (Longitudinal Position).
Fault Code 4521

Message Wrong target position (Longitudinal Position).
Description Target point was far a way to travel in autonomous.
Possible Cause 1) Start position is wrong position.
2) Course data problem
Remedy <Action>
1) Just after release ATH.
¾ Move truck by manual on the correct position. Then, do release
procedure again.
2) While truck traveling.

¾ Restart again. If same exception happen again, move truck by
manual on another position. Then, do release procedure again.
20-908
4522 Fire suppression system. (Option)
Fault Code 4522

Message Fire suppression system activated
Description Fire suppression system was activated.
CN4-01 is OFF and CN5-05 is ON ? N

Y
Timer count up

Y
Exception (4522)
Normal
Possible Cause ¾ Fire suppression system is activated.
Remedy <Action>
Inspect truck.
SW2 comments
number
0 Fire Suppression System is not installed.
1 Fire Suppression System is installed.
20-909
NC
NO
C
C terminal 24V (High)

NC terminal CN4-1 (LH-drive controller)
NO terminal CN5-5 (LH-drive controller)
20-910
4524 No Propel (930E).
Fault Code 4524

Message No Propel
Description When No propel yellow caution was ON, truck move 3.5m against
F-N-R selector.
Moving distance against F-N-R selector > 3.5m ?

N
Y
Is No Propel yellow caution ON N
Possible Cause 1) No propel caution at GE system
Remedy See. Shop Manual 930-3, SECTION N5
20-911
801A Trouble in CAN communication.
Fault Code 801A

Message LH-Safety has CAN-A problem
Description LH Safety controller reported that CAN-A communication failure.
Since when LH-Safety controller has CAN-A communication failure, it
can’t report the fault code to Central via CAN-Bus, LH-Drive controller
reports the fault instead of LH-Safety controller.
z Loose connector (CS9-01, CS9-02, CS9-03)
z Check wiring continuity and disconnection.
20-912
801B Trouble in CAN communication.
Fault Code 801B

Message PLM data stop
Description LH Drive controller couldn’t receive PLM3 data from MBI(GSP5) for
30sec.
Possible Cause ¾ CAN-bus from GSP5 to PLM3 is disconnected.
¾ Problem of PLM3
¾ Problem of GSP5
Remedy Check wiring of CAN-bus.
Number of [PLM3 Controller] should count up.
Check PLM3 ( See shop manual 930E-3 Section M)

Check GSP5 with OMStip.
20-913
8051 Supervisory system error.
Fault Code 8051

Message Wrong grid information
Description Size of data in grid information was wrong.
Remedy <Action>
If warning is not cleared, re-install CGC.
Fault Code 8052

Message Wrong max speed order
Description Size of data in max speed massage was wrong.
Remedy <Action>
Fault Code 8053

Message HUB(GPS) dead
Description LH Drive controller couldn’t receive GPS data for 5 min.
Possible Cause ML-Hub problem
Remedy <Action>
Cycle power of truck.
Fault Code 8054

Message Wrong speed matrix
Description The number of speed matrix was wrong size.
Remedy <Action>
20-914
Fault Code 8055

Message Wrong deceleration matrix
Description The number of deceleration matrix was wrong size.
Remedy <Action>
20-915
Troubleshooting for Travel control system 80A1, 80A2
80A1, 80A2 Trouble in communication with safety controller.
Fault Code 80A1

Fault Code 80A2

Description <80A1>
Heartbeat signal from LH Safety controller was keep OFF for 0.5sec
in Auto mode.
<80A2>
Heartbeat signal from LH Safety controller was keep ON for 0.5sec
in Auto mode.

z Wiring number 90SH is cut or short.
z Use LH Drive IO Checker to watch heartbeat input signal
20-916
Fault Code 80A3

Message RPC heartbeat error with Safety controller
Description LH Drive controller couldn’t receive RPC heartbeat (SpeedOrder) for
2sec
Possible Cause ¾ CAN-B disconnection.

z Wiring disconnection of CAN-B.
z Loose connector (CN9-11, CN9-12, CN9-13, CS9-11, CN9-12,
CS9-13)
z Check CAN-bus communication with LH Drive IO Checker.
Number of [LH Safety Controller] should count up.
z Check wiring.
20-917
80F1 Trouble in controller setting
Fault Code 80F1

Message Mismatch Truck Type
Description The type of software in LH-controller is not 930E-AT
Possible Cause Parts number of controller is wrong number.
Remedy z Correct LH-Drive controller or LH-Safety controller.
80F2 Trouble in controller setting
Fault Code 80F2

Message Wrong Setting LH-controller
Description LH-Drive controller is not set at correct place.
CN5-06 must be high(24V) for LH-Drive controller.
Possible Cause ¾ Controller is set wrong place.
¾ Wiring problem
z Loose connection
¾ Fuse
Remedy z Set controller correct place.

z Check input of CN5-06 with LH Drive IO Checker.
CN5-06 must always be ON (24V).
20-918
80F6, 80F7 Trouble in controller setting
Fault Code 80F6, 80F7

Message NV-RAM memory error
Description Setting value of AHT in NV-RAM has cleared.
z New controller is installed.
z NV-RAM is broken.
Remedy z Do all of maintenance related to Drive to set the value in

controller.
See “Replacing and adjusting” in shop manual of 930E-AT.
20-919
80B1 Reduce speed by tracking error.
Warning Code 80B1

Message Reduce speed by tracking error
Description Truck is traveling with speed limitation to reduce tracking error for safe
operation.
Possible Cause ¾ Road condition.
z Road need maintenance..
¾ Course database
z There is no good section in course data for autonomous travel.
¾ Loading form
Remedy ¾ Road condition.

z Check road condition. if road is rough, maintain road.
¾ Course database
z Re-survey and re-make course database, if this warning reports
at same section every time.
20-920
Troubleshooting for Travel control system 80B2, 80B3, 80B4
80B2 Reduce speed by lateral G.
Fault Code 80B2

Message Reduce speed by lateral G
Description Truck is traveling with speed limitation by itself for safe operation
because truck is traveling curve.
Possible Cause z There is a curve which requires reduce speed for safe traveling.
Remedy ---
80B3 Reduce speed by supervisory system.
Fault Code 80B3

Message Reduce speed by supervisory system
Description There was order to reduce speed from ML-Hub or CGC
Possible Cause ---
Remedy See the warning message from CGC or ML-Hub.
80B4 Reduce speed by S/T pressure low warning.
Fault Code 80B4

Message Reduce speed by S/T pressure low warning
Description Reduce speed cause of Low Steering Pressure caution(B1) in cab.
Possible Cause ---
Remedy ---
20-921
8111, 8112 Trouble in S/T pressure sensors
Fault Code 8111

Message S/T Press Sensor(Right) Warning
Fault Code 8112

Message S/T Press Sensor(Left) Warning
Description z S/T pressure sensor signal is larger than 4.5V for 2.5sec.
z S/T pressure sensor signal is less than 0.5 V for 2.5sec.
Is sensor signal larger than 4.5V ?
Or
N
Is sensor signal less than 0.5V ?
Timer count up

Y
warning
(8111, 8112) Normal
Possible Cause ¾ Sensor problem

z Pressure sensor is broken..
¾ Wiring problem.
z Wiring number 51SPR or 51SPL is cut.
z Loose connection.
output signals.
z Check wiring.
20-922
S/T Pressure Sensor
20-923
Fault Code 8504

Description Power supply voltage of LH-Drive controller, both CN1-05 and CN1-15,
became lower than 15V.

Y
warning (8504) Normal
<Expected behavior>
Power supply must be more than 15 volt.

¾ Fuse problem
¾ Wiring problem
¾ Battery problem.
¾ Fuse Check
¾ Wiring check
20-924
20-925
Fault Code 8505

Description Switched power supply voltage of LH-Drive controller, both CN1-08 and

Y
warning (8505) Normal
<Expected behavior>
Switched power supply must be more than 15 volt.

¾ Fuse problem
¾ Wiring problem
¾ Battery problem.
¾ Fuse Check
¾ Wiring check
20-926
20-927
Troubleshooting for Travel control system 851C, 851F
851C Payload Overload(120%)-speed limited.
Fault Code 851C

Message Over load (120%)-speed limited
Description Truck is running 10km/h because truck is over loaded more than 120%
Possible Cause Over Load
Remedy Change truck to manual mode. Then, dump it by manual.
851F Please activate BrakeLock.
Fault Code 851F

Message Please activate BrakeLock
Description Require operator to active brake lock to change manual operation
mode
Possible Cause Brake lock switch in cab is OFF.
Remedy Active brake lock by manual.
20-928
8523 Fire suppression system wiring problem (option)
Fault Code 8523

Message Fire suppression system wiring problem
Description z Wiring of Fire suppression system(71FR) has cut.
z Wiring of Fire suppression system(71FR2) has shorted to GND.
CN4-01 is OFF and CN5-05 is OFF ?

N
Y
Y CN4-01 is ON and CN5-05 is ON ?
Warning (8523) Normal

z Wiring of Fire suppression system(71FR) has cut.
z Wiring of Fire suppression system(71FR2) has shorted to GND.
Remedy <Action>
Check wiring.
SW2 comments
number
0 Fire Suppression System is not installed.
1 Fire Suppression System is installed.
20-929
NC
NO
C
C terminal 24V (High)

NC terminal CN4-1 (LH-drive controller)
NO terminal CN5-5 (LH-drive controller)
20-930
Troubleshooting
for Safety Control System
Fault code list ..............................................................................................................................................................20-1006
Safety Controller system
4C06 NVRAM check sum error .......................................................................................................................20-1021
4C0A NVRAM data cleared................................................................................................................................20-1021
4C07 Obstacle Buffer Overflow ........................................................................................................................20-1021
4C08 Engine stopped..........................................................................................................................................20-1022
4C10 Auto/Manual key switch position is wrong ..............................................................................................20-1025
4C11 Auto/ Manual key switch is short ..............................................................................................................20-1026
4C12 Auto/Manual key switch is cut ..................................................................................................................20-1027
4C13 Low voltage of un-switched power ..........................................................................................................20-1028
4C14 Low voltage of switched power................................................................................................................20-1028
4C15 Low voltage of Sol1 power .......................................................................................................................20-1028
4C17 Sol1 line cut ..............................................................................................................................................20-1030
4C18 Low voltage of switched power................................................................................................................20-1031
ODS software
4C30 ODS clipping error .....................................................................................................................................20-1032
4C31 ODS-GSP CAN ID error...........................................................................................................................20-1032
4C32 Radar not ready .........................................................................................................................................20-1033
4C34 ODS Clipping area overflow.....................................................................................................................20-1036
4C35 ODS Clipping area empty.........................................................................................................................20-1036
Output wiring
4C44 Radar power line cut..................................................................................................................................20-1037
4C54 Radar power line short..............................................................................................................................20-1037
4C64 Radar power line hot short........................................................................................................................20-1037
4C48 Heartbeat to LH-Drive line cut..................................................................................................................20-1039
4C58 Heartbeat to LH-Drive line short...............................................................................................................20-1040
4C68 Heartbeat to LH-Drive line hot short ........................................................................................................20-1041
4C4B Auto Apply Brake line cut..........................................................................................................................20-1042
4C5B Auto Apply Brake line short ......................................................................................................................20-1044
4C6B Auto Apply Brake line hot short................................................................................................................20-1045
ODS software
4C73 Software exception....................................................................................................................................20-1046
Warning Indicator
4C90 (B1) Low Steering Pressure .....................................................................................................................20-1047
20-1001
4C91 (C1) Low Accumulator Pressure..............................................................................................................20-1047
4C92 (E1) Low Brake Pressure .........................................................................................................................20-1047
4C93 (A2) Low Hydraulic Tank Level.................................................................................................................20-1047
4C94 (E3) Stop Engine........................................................................................................................................20-1047
4C95 (A5) No Propel / Retard.............................................................................................................................20-1048
4C96 (D5) Hydraulic Oil Temp. High..................................................................................................................20-1048
4C98 (A6) No Propel ...........................................................................................................................................20-1048
4C99 (A1) Brake Oil Temp. High........................................................................................................................20-1048
Radar Detection
4D00 Detected by Radar(Right) .......................................................................................................................20-1049
4D30 Detected by Radar(Center) ....................................................................................................................20-1049
4D60 Detected by Radar(Left) ..........................................................................................................................20-1050
4D90 Detected by Radar(Steer) .......................................................................................................................20-1050

4D01 No data from Radar (Right) ......................................................................................................................20-1051
4D02 Radar(Right) not scanning........................................................................................................................20-1053
4D31 No data from Radar (Center) ...................................................................................................................20-1054
4D32 Radar(Center) not scanning.....................................................................................................................20-1056
4D61 No data from Radar (Left).........................................................................................................................20-1057
4D62 Radar(Left) not scanning ..........................................................................................................................20-1059
4D91 No data from Radar (Steer) ......................................................................................................................20-1060
4D92 Radar(Steer) not scanning........................................................................................................................20-1062
4D10-4D14 Right Radar unit failure ...............................................................................................................20-1063
4D1B-4D1F Right Radar unit failure ...............................................................................................................20-1065
4D40-4D44 Center Radar unit failure.............................................................................................................20-1066
4D4B-4D4F Center Radar unit failure.............................................................................................................20-1068
4D70-4D74 Left Radar unit failure ..................................................................................................................20-1069
4D7B-4D7F Left Radar unit failure ..................................................................................................................20-1071
4DA0-4DA4 Steered Radar unit failure...........................................................................................................20-1072
4DA5-4DA9 Steered Radar unit failure...........................................................................................................20-1073
4DAB-4DAF Steered Radar unit failure...........................................................................................................20-1074
Radar steering mechanism

4E00 Steered radar motor unit potentiometer error .........................................................................................20-1075
4E01 Steered radar motor line hot short............................................................................................................20-1077
4E03 Steered radar motor line cut......................................................................................................................20-1077
4E04 Steered radar motor line short..................................................................................................................20-1077
4E02 Steered radar motor synchronization failure...........................................................................................20-1079
LX Controller
4E11 Heartbeat error from LX.............................................................................................................................20-1080
20-1002
4E12 Checksum error from LX...........................................................................................................................20-1081
4E13 No data from LX.........................................................................................................................................20-1082
4E14 Heartbeat error to LX.................................................................................................................................20-1083
4E15 Checksum error to LX ...............................................................................................................................20-1084
4E16 No data to LX..............................................................................................................................................20-1085
4E17 Motor angle table download error ............................................................................................................20-1086
4E19 LX controller not ready...............................................................................................................................20-1087
Drive Controller
4E20 Heartbeat from LH-Drive cut ...................................................................................................................20-1089
4E21 No position data from LH-Drive via CAN-B ...........................................................................................20-1090
4E22 LH-Drive not working ...............................................................................................................................20-1092
4E24 Wrong Truck Type set ...............................................................................................................................20-1094
4E25 Emergency Brake request........................................................................................................................20-1094
4E26 LH-Drive E mode .......................................................................................................................................20-1094
4E27 LH-Drive CAN-A failure .............................................................................................................................20-1094
4E28 Safety and Drive switched places ..........................................................................................................20-1095
Monitor Bus Interface

4E38 MBI isn’t working........................................................................................................................................20-1096
Supervisory System
4F00 Emergency stop ..........................................................................................................................20-1097
4F01-4F04 Wrong Speed Profile...................................................................................................................20-1097
4F05-4F08 Wrong Speed Profile...................................................................................................................20-1098
4F09-4F1B Wrong Trajectory data ...............................................................................................................20-1098
4F20 CGC heartbeat stop....................................................................................................................20-1099
4F21 HUB heartbeat stop.....................................................................................................................20-1099
4F30 Wrong engine stop command .................................................................................................20-1100
4F31 Obstacle mask still sending........................................................................................................20-1100

4DB0-4DB4 Steered Radar unit failure...........................................................................................................20-1107
20-1003
Warning Message
8C01 Warning of Engine stop circuit....................................................................................................20-1111
8C06, 8C0A Warning of NVRAM of Safety Controller ..................................................................................20-1113
8C11 Warning of Auto/Manual key short ............................................................................................20-1114
8C12 Warning of Auto/Manual key cut................................................................................................20-1115
8C13-8C15 Warning of Power line of LH-Safety..........................................................................................20-1116
8C17-8C18 Warning of Power line of LH-Safety..........................................................................................20-1118
8C40,8C50,8C60 Warning of Mode Lamp (Red) .....................................................................................20-1119
8C41,8C51,8C61 Warning of Mode Lamp (Green) .................................................................................20-1121
8C42,8C52,8C62 Warning of Mode Lamp (Amber) ................................................................................20-1123
8C44,8C54,8C64 Warning of Radar power control .................................................................................20-1125
8C45,8C55,8C65 Warning of Headlight control ........................................................................................20-1126
8C47,8C57,8C67 Warning of Horn control ................................................................................................20-1128
8C48,8C58,8C68 Warning of Heartbeat to LH Drive ...............................................................................20-1130
8C49,8C59,8C69 Warning of Rest Req control ........................................................................................20-1131
8C4B,8C5B,8C6B Warning of Auto Apply Brake control ..........................................................................20-1133
8C4C,8C5C,8C6C Warning of Turn light (left) control ................................................................................20-1135
8C4D,8C5D,8C6D Warning of Turn light (right) control .............................................................................20-1136
8C4F,8C5F,8C6F Warning of Engine Stop control ...................................................................................20-1138
8C90-8C94 Warning indicated by Caution indicator ....................................................................................20-1141
8C95-8C99 Warning indicated by Caution indicator ....................................................................................20-1142
8CA0-8CA4 Warning indicated by Caution indicator ....................................................................................20-1143
8CA5-8CA9 Warning indicated by Caution indicator ....................................................................................20-1144
8CAA-8CAB Warning indicated by Caution indicator ....................................................................................20-1145
8D01,8D31,8D61,8D91 Warning of Obstacle Detection System..............................................................20-1146
8D10-8D14 Warning of Radar (Right) self diagnosis ...................................................................................20-1147
8D15-8D19 Warning of Radar (Right) self diagnosis ...................................................................................20-1148
8D1B-8D1F Warning of Radar (Right) self diagnosis ...................................................................................20-1149
8D40-8D44 Warning of Radar (Center) self diagnosis.................................................................................20-1150
8D45-8D49 Warning of Radar (Center) self diagnosis.................................................................................20-1151
8D4B-8D4F Warning of Radar (Center) self diagnosis.................................................................................20-1152
8D70-8D74 Warning of Radar (Left) self diagnosis......................................................................................20-1153
8D75-8D79 Warning of Radar (Left) self diagnosis......................................................................................20-1154
8D7B-8D7F Warning of Radar (Left) self diagnosis......................................................................................20-1155
8DA0-8DA4 Warning of Radar (Steer) self diagnosis ...................................................................................20-1156
8DA5-8DA9 Warning of Radar (Steer) self diagnosis ...................................................................................20-1157
8DAB-8DAF Warning of Radar (Steer) self diagnosis ...................................................................................20-1158
8E00 Warning of Steered radar motor unit potentiometer................................................................20-1159
8E01-8E04 Warning of Steered radar motor control line.............................................................................20-1160
8E11-8D13 Warning of communication between LX and LH-Safe .........................................................20-1161
8E14-8D16 Warning of communication between LX and LH-Safe .........................................................20-1162
8E20-10F27 Warning of Drive Controller Failure ...........................................................................................20-1163
8E38 Warning of MBI communication ..............................................................................................20-1164
20-1004
20-1005
Troubleshooting Fault code list of Safety Controller
Fault code list of Safety Controller (Error)
Fault
Code
4C06 NVRAM Check Sum Error NVRAM checksum error 20-1021
Safety 4C07 Obstacle Buffer Overflow Too many obstacles are detected 20-1021
Controller 4C08 Engine Stopped Unexpected engine stop 20-1022
4C0A NVRAM Data Cleared NVRAM all data cleared 20-1021
Key position changed from Auto to
4C10 A/M key position is wrong 20-1025
Manual during auto traveling
Auto/Manual
Key 4C11 A/M key line short circuit A/M key switch short 20-1026
4C12 A/M key line cut A/M key switch disconnection 20-1027
Low voltage of unswitched Low voltage of unswtiched power
4C13 20-1028
power line
4C14 Low voltage of switched power Low Voltage of switched power line 20-1028
Controller
Power Line 4C15 Low voltage of Sol1 power Low Voltage of Sol1 power line 20-1028
4C17 Sol1 line cut Sol1 power line disconnection 20-1030
4C30 Obstacle Clipping Error Software exception 20-1032
4C31 ODS-GSP CAN ID error Wrong CAN ID setting of GSP 20-1032
ODS
4C32 Radar Not Ready Radar initialization not completed yet 20-1033
Software
4C34 ODS Clipping Area Overflow Software exception 20-1036
4C35 ODS Clipping Area Empty Software exception 20-1036
4C44 Radar power line cut Wiring 71RDR disconnection 20-1037
Radar Power 4C54 Radar power line short Wiring 71RDR short to GND 20-1037
4C64 Radar power line hot short Wiring 71RDR short to 24V power 20-1037
4C48 LH-Drive heartbeat line cut Wiring 90SH disconnection 20-1039
Heart beat 4C58 LH-Drive heartbeat line short Wiring 90SH short to GND 20-1040
LH-Drive heartbeat line hot
4C68 Wiring 90SH short to 24V power 20-1041
short
4C4B Auto apply brake line cut Wiring 72AA disconnection 20-1042
Auto Apply
4C5B Auto apply brake line short Wiring 72AA short to GND 20-1044
Brake
4C6B Auto apply brake line hot short Wiring 72AA short to 24V power 20-1045
20-1006
Fault
Code
4C73 Software exception Memory access error 20-1046
Software 4C77 Software exception Memory access error 20-1046
Exception
Corrupt message from GSP to
4C79 Software exception 20-1046
Safety Controller
4C90 (B1)Low Steering Pressure Warning of standard truck system 20-1047
4C91 (C1)Low Accumulator Pressure Warning of standard truck system 20-1047
4C92 (E1)Low Brake Pressure Warning of standard truck system 20-1047
4C93 (A2)Low Hydraulic Tank Level Warning of standard truck system 20-1047
Warning
4C94 (E3)Stop Engine Warning of standard truck system 20-1047
Indicator
4C95 (A5)No Propel/Retard Warning of standard truck system 20-1048
4C96 (D5)Hydraulic Oil Temp High Warning of standard truck system 20-1048
4C98 (A6)No Propel Warning of standard truck system 20-1048
4C99 (A1)Brake Oil Temperature High Warning of standard truck system 20-1048
20-1007
Fault
Code
4D00 Detected by Radar (Right) Obstacle detection 20-1049
Radar 4D30 Detected by Radar (Center) Obstacle detection 20-1049

Detection 4D60 Detected by Radar (Left) Obstacle detection 20-1050
4D90 Detected by Radar (Steer) Obstacle detection 20-1050
4D01 No data from Radar (Right) Defective wiring or CAN bus error 20-1051
4D02 Radar(Right) not scanning Defective radar unit 20-1053
Radar(Right)
4D10 Radar internal failure 20-1063
program_checksum
Radar(Right)
boot_code_checksum
4D12 Radar(Right) actuator_feedback Radar internal failure 20-1063
Radar(Right)
4_beam_sum_position
Radar(Right)
Beam_to_beam_position
4D15 Radar(Right) dsp_RAM_rw Radar internal failure 20-1064
Radar(Right)
absolute_antenna_pos
4D17 Radar(Right) one_channel_fail Radar internal failure 20-1064
Radar(Right)
Radar 4D18 Radar internal failure 20-1064
blockage_detected
Diagnosis
Radar(Right)
(Right missed_com_from_master
4D1B Radar(Right) invalid_track_data Radar internal failure 20-1065
4D1C Radar(Right) ee_transfer Radar internal failure 20-1065
Radar(Right)
4D1E Radar internal failure 20-1065
beam processing error
Radar(Right)
4D1F Radar internal failure 20-1065
turnaround proc error
4D20 Radar(Right) is not scanning Radar internal failure 20-1101
4D21 Radar(Right) is not radiating Radar internal failure 20-1101
4D22 Radar(Right) com error Radar internal failure 20-1101
4D23 Radar(Right) temperature error Radar internal failure 20-1101
Radar(Right) voltage supply
error
4D25 Radar(Right) internal error Radar internal failure 20-1102
Radar(Right) performance
degraded
20-1008
Fault
Code
4D31 No data from Radar (Center) Defective wiring or CAN bus error 20-1054
4D32 Radar(Center) not scanning Defective radar unit 20-1056
Radar (Center)
program_checksum
Radar (Center)
boot_code_checksum
Radar (Center)
actuator_feedback
Radar (Center)
4_beam_sum_position
Radar (Center)
beam_to_beam_position
4D45 Radar (Center) dsp_RAM_rw Radar internal failure 20-1067
Radar (Center)
Radar (Center)
one_channel_fail
Radar (Center)
blockage_detected
Diagnosis
Radar (Center)
(Center) missed_com_from_master
Radar (Center)
4D4B Radar internal failure 20-1068
invalid_track_data
4D4C Radar (Center) ee_transfer Radar internal failure 20-1068
Radar (Center)
Radar (Center)
4D50 Radar(Center) is not scanning Radar internal failure 20-1103
4D51 Radar(Center) is not radiating Radar internal failure 20-1103
4D52 Radar(Center) com error Radar internal failure 20-1103
Radar(Center) temperature
error
Radar(Center) voltage supply
error
4D55 Radar(Center) internal error Radar internal failure 20-1104
Radar(Center) performance
degraded
20-1009
Fault
Code
4D61 No data from Radar(Left) Defective wiring or CAN bus error 20-1057
4D62 Radar (Left) not scanning Defective radar unit 20-1059
Radar (Left)
program_checksum
Radar (Left)
boot_code_checksum
4D72 Radar (Left) actuator_feedback Radar internal failure 20-1069
Radar (Left)
4_beam_sum_position
Radar (Left)
4D75 Radar (Left) dsp_RAM_rw Radar internal failure 20-1070
Radar (Left)
4D77 Radar (Left) one_channel_fail Radar internal failure 20-1070
Radar 4D78 Radar (Left) blockage_detected Radar internal failure 20-1070
Diagnosis
Radar (Left)
(Left) missed_com_from_master
4D7B Radar (Left) invalid_track_data Radar internal failure 20-1071
4D7C Radar (Left) ee_transfer Radar internal failure 20-1071
Radar (Left) beam processing
error
Radar (Left) turnaround proc
error
4D80 Radar(Left) is not scanning Radar internal failure 20-1105
4D81 Radar(Left) is not radiating Radar internal failure 20-1105
4D82 Radar(Left) com error Radar internal failure 20-1105
4D83 Radar(Left) temperature error Radar internal failure 20-1105
4D84 Radar(Left) voltage supply error Radar internal failure 20-1105
4D85 Radar(Left) internal error Radar internal failure 20-1106
Radar(Left) performance
degraded
20-1010
Fault
Code
4D91 No data from Radar(Steer) Defective wiring or CAN bus error 20-1060
4D92 Radar(Steer) not scanning Defective radar unit 20-1062
Radar(Steer)
4DA0 Radar internal failure 20-1072
program_checksum
Radar(Steer)
boot_code_checksum
4DA2 Radar(Steer) actuator_feedback Radar internal failure 20-1072
Radar(Steer)
4_beam_sum_position
Radar(Steer)
4DA5 Radar(Steer) dsp_RAM_rw Radar internal failure 20-1073
Radar(Steer)
4DA7 Radar(Steer) one_channel_fail Radar internal failure 20-1073
Radar(Steer)
Radar 4DA8 Radar internal failure 20-1073
blockage_detected
Diagnosis
Radar(Steer)
(Steer) Missed_com_from_master
4DAB Radar(Steer) invalid_track_data Radar internal failure 20-1074
4DAC Radar(Steer) ee_transfer Radar internal failure 20-1074
Radar(Steer)
4DAE Radar internal failure 20-1074
Radar(Steer)
4DAF Radar internal failure 20-1074
4DB0 Radar(Steer) is not scanning Radar internal failure 20-1107
4DB1 Radar(Steer) is not radiating Radar internal failure 20-1107
4DB2 Radar(Steer) com error Radar internal failure 20-1107
4DB3 Radar(Steer) temperature error Radar internal failure 20-1107
Radar(Steer) voltage supply
4DB4 Radar internal failure 20-1107
error
4DB5 Radar(Steer) internal error Radar internal failure 20-1108
Radar(Steer) performance
degraded
20-1011
Fault
Code
Steered radar potentiometer Failed wiring or defective
4E00 20-1075
error potentiometer
Steered radar motor line hot
4E01 Failed wiring of motor control 20-1077
short
Radar
Steered radar motor
Steering 4E02 Stepping motor step out 20-1079
synchronization failure
Unit
Steered radar motor control line
cut
short
Failed wiring between LH-Safe and
4E11 Heatbeat Error from LX LX controller 20-1080
LX Controller lost power
4E12 CheckSum Error from LX LX controller 20-1081
4E13 No data from LX LX controller 20-1082
LX Controller Failed wiring between LH-Safe and
4E14 Heatbeat Error to LX 20-1083
LX controller
4E15 CheckSum Error to LX 20-1084
LX controller
4E16 No data to LX 20-1085
LX controller
Motor Angle Table Download Failed wiring between LH-Safe and
4E17 20-1086
error LX controller
4E19 LX controller not ready Failed power line of LX controller 20-1087
20-1012
Fault
Code
Lost Heart beat signal from Drive
Controller
4E20 Heartbeat from LH-Drive cut 20-1089
(Disconnection heartbeat line or
defective Drive Controller)
Lost CAN-B message
No position data from LH-Drive
4E21 (CAN-B line disconnection or 20-1090
via CAN-B
Defective Drive Controller)
Drive 4E22 Drive Controller not working Defective Drive Controller 20-1092
Controller 4E24 Wrong truck type Wrong Controller setting 20-1094
Drive Controller requested to
4E25 Emergency brake request 20-1094
activate auto apply brake
4E26 Drive controller E mode Drive Controller detected some error 20-1094
4E27 Drive CAN-A failure CAN bus failure 20-1094
Safety controller is installed to wrong
4E28 Wrong setting LH-Controller 20-1095
position
Monitor Bus
4E38 MBI isn't working Failed wiring or Defective MBI 20-1096
Interface
Supervisory System sent
4F00 Emergency stop order 20-1097
Emergency stop to truck
4F01 Wrong Speed Profile CGC Software exception 20-1097
4F07 No Speed Profile CGC Software exception 20-1098
Supervisory
System
4F09 Wrong Trajectory data CGC Software exception 20-1098
4F1A Wrong Trajectory data CGC Software exception 20-1099
4F1B Wrong Trajectory data CGC Software exception 20-1099
4F20 CGC Heartbeat error CGC disconnected or reset 20-1099
4F21 ML Hub Heartbeat error HUB Disconnected or reset 20-1099
Wrong engine shutdown
4F30 Wrong operation 20-1100
command
4F31 Obstacle mask still sending Too early to change to Auto mode 20-1100
20-1013
Fault code list of Safety Controller (Warning)
Fault
Code
8C01 Can’t stop engine 20-1111
Safety
8C06 NVRAM Check Sum Error NVRAM checksum error 20-1113
Controller
8C0A NVRAM Data Cleared NVRAM all data cleared 20-1113
Auto/Manual 8C11 A/M key line short circuit A/M key switch short 20-1114
Key 8C12 A/M key line cut A/M key switch disconnection 20-1115
Low voltage of unswitched Low voltage of unswtiched power
8C13 20-1116
power line
Controller
Power Line 8C15 Low voltage of Sol1 power Low Voltage of Sol1 power line 20-1116
8C17 Sol1 line cut Sol1 power line disconnection 20-1118
8C40 Red flash light control line cut Wiring 43RA has disconnection 20-1119
Mode lamp 8C50 Red flash light control line short Wiring 43RA short to GND 20-1119
(Red)
Red flash light control line hot
8C60 Wring 43RA short to 24V power line 20-1119
short
8C41 Green flash light control line cut Wiring 43GA has disconnection 20-1121
Mode lamp Green flash light control line
8C51 Wiring 43GA short to GND 20-1121
(Green) short
Green flash light control line hot
8C61 Wring 43GA short to 24V power line 20-1121
short
8C42 Amber flash light control line cut Wiring 43YA has disconnection 20-1123
Mode lamp Amber flash light control line
8C52 Wiring 43YA short to GND 20-1123
(Amber) short
Amber flash light control line hot
8C62 Wring 43YA short to 24V power 20-1123
short
8C44 Radar power line cut Wiring 71RDR disconnection 20-1125
Radar Power 8C54 Radar power line short Wiring 71RDR short to GND 20-1125
8C64 Radar power line hot short Wiring 71RDR short to 24V power 20-1125
8C45 Headlight control line cut Wiring 41LA disconnection 20-1126
Headlight
8C55 Headlight control line short Wiring 41LA short to GND 20-1126
Control
8C65 Headlight control line hot short Wiring 41LA short to 24V power 20-1126
8C47 Horn control line cut Wiring 11HA disconnection 20-1128
Horn
8C57 Horn control line short Wiring 11HA short to GND 20-1128
Control
8C67 Horn control line hot short Wiring 11HA short to 24V power 20-1128
20-1014
Fault
Code
8C48 LH-Drive heartbeat line cut Wiring 90SH disconnection 20-1130
Heartbeat 8C58 LH-Drive heartbeat line short Wiring 90SH short to GND 20-1130
LH-Drive heartbeat line hot
8C68 Wiring 90SH short to 24V power 20-1130
short
8C49 Rest Req line cut Wiring 72RQA disconnection 20-1131
Rest request 8C59 Rest Req line short Wiring 72RQA short to GND 20-1131
8C69 Rest Req line hot short Wiring 72RQA short to 24V power 20-1131
8C4B Auto apply brake line cut Wiring 72AA disconnection 20-1133
Auto Apply
8C5B Auto apply brake line short Wiring 72AA short to GND 20-1133
Brake
8C6B Auto apply brake line hot short Wiring 72AA short to 24V power 20-1133
8C4C Turn Left control line cut Wiring 45LA disconnection 20-1135
Turn light
8C5C Turn Left control line short Wiring 45LA short to GND 20-1135
(left)
8C6C Turn Left control line hot short Wiring 45LA short to 24V power 20-1135
8C4D Turn Right control line cut Wiring 45RA disconnection 20-1136
Turn light
8C5D Turn Right control line short Wiring 45RA short to GND 20-1136
(Right)
8C6D Turn Right control line hot short Wiring 45RA short to 24V power 20-1136
8C4F Engine stop line cut Wiring 23FAC disconnection 20-1138
Engine Stop 8C5F Engine stop line short Wiring 23FAC short to GND 20-1138
8C6F Engine stop line hot short Wiring 23FAC short to 24V power 20-1138
8C90 (B1)Low Steering Pressure Warning of standard truck system 20-1141
8C91 (C1)Low Accumulator Pressure Warning of standard truck system 20-1141
8C92 (E1)Low Brake Pressure Warning of standard truck system 20-1141
8C93 (A2)Low Hydraulic Tank Level Warning of standard truck system 20-1141
Warning
8C94 (E3)Stop Engine Warning of standard truck system 20-1141
Indicator
8C95 (A5)No Propel/Retard Warning of standard truck system 20-1142
8C96 (D5)Hydraulic Oil Temp High Warning of standard truck system 20-1142
8C98 (A6)No Propel Warning of standard truck system 20-1142
8C99 (A1)Brake Oil Temperature High Warning of standard truck system 20-1142
8CA0 (B2)Low Auto Lube Pressure Warning of standard truck system 20-1143
8CA1 (C2)Circuit Breaker Tripped Warning of standard truck system 20-1143
8CA2 (D2)Hydraulic Oil Filter Warning of standard truck system 20-1143
8CA3 (E2)Low Fuel Warning of standard truck system 20-1143
8CA4 (C4)5 min Shutdown Timer Warning of standard truck system 20-1143
20-1015
Fault
Code
8CA5 (E4)Check Engine Warning of standard truck system 20-1144
8CA6 (B5)Propel System Caution Warning of standard truck system 20-1144
8CA7 (C5)Propel System Temp. Warning of standard truck system 20-1144
Warning
8CA8 (B6)Propel System at Rest Warning of standard truck system 20-1144
Indicator
8CA9 (C6)Propel System Not Ready Warning of standard truck system 20-1144
8CAA (D6)Reduced Propel System Warning of standard truck system 20-1145
8CAB (E6)Retard at Reduced Level Warning of standard truck system 20-1145
8D01 No data from Radar (Right) Defective wiring or CAN bus error 20-1146
8D02 Radar(Right) not scanning Defective radar unit 20-1146
8D10 Radar(Right) program_checksum Radar internal failure 20-1147
Radar(Right)
boot_code_checksum
8D12 Radar(Right) actuator_feedback Radar internal failure 20-1147
Radar(Right)
4_beam_sum_position
Radar(Right)
8D15 Radar(Right) dsp_RAM_rw Radar internal failure 20-1148
Radar(Right)
8D17 Radar(Right) one_channel_fail Radar internal failure 20-1148
Radar 8D18 Radar(Right) blockage_detected Radar internal failure 20-1148
Diagnosis Radar(Right)
missed_com_from_master
(Right)
8D1B Radar(Right) invalid_track_data Radar internal failure 20-1149
8D1C Radar(Right) ee_transfer Radar internal failure 20-1149
Radar(Right) beam processing
error
Radar(Right) turnaround proc
error
8D20 Radar(Right) is not scanning Radar internal failure 20-1165
8D21 Radar(Right) is not radiating Radar internal failure 20-1165
8D22 Radar(Right) com error Radar internal failure 20-1165
8D23 Radar(Right) temperature error Radar internal failure 20-1165
8D24 Radar(Right) voltage supply error Radar internal failure 20-1165
8D25 Radar(Right) internal error Radar internal failure 20-1166
Radar(Right) performance
degraded
20-1016
Fault
Code
8D31 No data from Radar (Center) Defective wiring or CAN bus error 20-1146
8D32 Radar(Center) not scanning Defective radar unit 20-1146
Radar (Center)
program_checksum
Radar (Center)
boot_code_checksum
Radar (Center)
actuator_feedback
Radar (Center)
4_beam_sum_position
Radar (Center)
8D45 Radar (Center) dsp_RAM_rw Radar internal failure 20-1151
Radar (Center)
Radar (Center)
one_channel_fail
Radar (Center)
blockage_detected
Diagnosis
Radar (Center)
(Center) missed_com_from_master
Radar (Center)
8D4B Radar internal failure 20-1152
invalid_track_data
8D4C Radar (Center) ee_transfer Radar internal failure 20-1152
Radar (Center)
Radar (Center)
8D50 Radar(Center) is not scanning Radar internal failure 20-1167
8D51 Radar(Center) is not radiating Radar internal failure 20-1167
8D52 Radar(Center) com error Radar internal failure 20-1167
Radar(Center) temperature
error
Radar(Center) voltage supply
error
8D55 Radar(Center) internal error Radar internal failure 20-1168
Radar(Center) performance
degraded
20-1017
Fault
Code
8D61 No data from Radar(Left) Defective wiring or CAN bus error 20-1146
8D62 Radar (Left) not scanning Defective radar unit 20-1146
Radar (Left)
program_checksum
Radar (Left)
boot_code_checksum
8D72 Radar (Left) actuator_feedback Radar internal failure 20-1153
Radar (Left)
4_beam_sum_position
Radar (Left)
8D75 Radar (Left) dsp_RAM_rw Radar internal failure 20-1154
Radar (Left)
8D77 Radar (Left) one_channel_fail Radar internal failure 20-1154
Radar 8D78 Radar (Left) blockage_detected Radar internal failure 20-1154
Diagnosis
Radar (Left)
(Left) missed_com_from_master
8D7B Radar (Left) invalid_track_data Radar internal failure 20-1155
8D7C Radar (Left) ee_transfer Radar internal failure 20-1155
Radar (Left) beam processing
error
Radar (Left) turnaround proc
error
8D80 Radar(Left) is not scanning Radar internal failure 20-1169
8D81 Radar(Left) is not radiating Radar internal failure 20-1169
8D82 Radar(Left) com error Radar internal failure 20-1169
8D83 Radar(Left) temperature error Radar internal failure 20-1169
8D84 Radar(Left) voltage supply error Radar internal failure 20-1169
8D85 Radar(Left) internal error Radar internal failure 20-1170
Radar(Left) performance
degraded
20-1018
Fault
Code
8D91 No data from Radar(Steer) Defective wiring or CAN bus error 20-1146
8D92 Radar(Steer) not scanning Defective radar unit 20-1146
Radar(Steer)
program_checksum
Radar(Steer)
boot_code_checksum
8DA2 Radar(Steer) actuator_feedback Radar internal failure 20-1156
Radar(Steer)
4_beam_sum_position
Radar(Steer)
8DA5 Radar(Steer) dsp_RAM_rw Radar internal failure 20-1157
Radar(Steer)
8DA7 Radar(Steer) one_channel_fail Radar internal failure 20-1157
Radar(Steer)
Radar 8DA8 Radar internal failure 20-1157
blockage_detected
Diagnosis
Radar(Steer)
(Steer) Missed_com_from_master
8DAB Radar(Steer) invalid_track_data Radar internal failure 20-1158
8DAC Radar(Steer) ee_transfer Radar internal failure 20-1158
Radar(Steer)
8DAE Radar internal failure 20-1158
Radar(Steer)
8DAF Radar internal failure 20-1158
8DB0 Radar(Steer) is not scanning Radar internal failure 20-1171
8DB1 Radar(Steer) is not radiating Radar internal failure 20-1171
8DB2 Radar(Steer) com error Radar internal failure 20-1171
8DB3 Radar(Steer) temperature error Radar internal failure 20-1171
Radar(Steer) voltage supply
error
8DB5 Radar(Steer) internal error Radar internal failure 20-1172
Radar(Steer) performance
degraded
20-1019
Fault
Code
Steered radar potentiometer Failed wiring or defective
8E00 20-1159
error potentiometer
Steered radar motor line hot
Radar 8E01 Failed wiring of motor control 20-1160
short
Steering
Unit Steered radar motor control line
cut
short
8E11 Heatbeat Error from LX LX controller 20-1161
8E12 CheckSum Error from LX LX controller 20-1161
LX Controller 8E13 No data from LX LX controller 20-1161
8E14 Heatbeat Error to LX 20-1162
LX controller
8E15 CheckSum Error to LX 20-1162
LX controller
8E16 No data to LX 20-1162
LX controller
Lost Heart beat signal from Drive
Controller
8E20 Heart beat cut (Drive) 20-1163
(Disconnection heartbeat line or
defective Drive Controller)
Lost CAN-B message
Drive 8E21 CAN-B line cut (Drive) (CAN-B line disconnection or 20-1163
Controller Defective Drive Controller)
8E22 Drive Controller not working Defective Drive Controller 20-1163
8E24 Wrong truck type (Drive) Wrong Controller setting 20-1163
8E27 Drive CAN-A failure CAN bus failure 20-1163
Monitor Bus
8E38 MBI isn't working Failed wiring or Defective MBI 20-1164
Interface
20-1020
Troubleshooting for Safety control system 4C06, 4C0A 4C07
4C06 NVRAM check sum error
Fault Code 4C06

Message NVRAM check sum error
Description Sum check error of stored data in NVRAM
1) Safety controller calibration is not completed yet
Possible cause
2) Safety Controller NVRAM broken
<Action>
Remedy 1) Do all calibration about LH-Safe (See 20-101)
2) If same error occurs after calibration, replace LH-Safety
4C0A NVRAM data cleared

Fault Code 4C0A
Message NVRAM data cleared
Description All safety controller parameter stored in NVRAM were cleared
Possible cause 1) Safety controller NVRAM broken
<Action>
Remedy 1) Do all calibration about LH-Safe
2) If same error occurs after calibration, replace LH-Safety
4C07 Obstacle Buffer Overflow

Fault Code 4C07
Message Obstacle Buffer Overflow
Description ODS detected more than 10 target at the same time
Possible cause Software exception
<Action>
Remedy
If area is clear, Restart truck
20-1021
Troubleshooting for Safety control system 4C08
4C08 Engine stopped
Fault Code 4C08

Message Engine stopped
Engine running signal input CS4-10(36AT) become OFF(Open) more
than 2 second in Auto Mode
Start
Engine running signal (CS4-10) Y

is ON in Auto mode?
Description N
Timer count up
N
Is timer above 2sec?
Y
Exception 4C08
1) Engine stopped by malfunction of engine

- Run out of fuel
- Engine malfunction
2) Engine stopped by malfunction of engine stop circuit of AT system
- Wiring (23F,23FA) disconnection
Possible cause - 23FAC GND short
- Relay RB12-K8 failure
3) Engine running signal failure (False Detection)
- Wiring 36AT disconnection
- CS4-10 loose contact
<How to check>
1) Check if engine is still running. If engine is running, it was false alarm
caused by engine running signal failure.
- Connect laptop PC to COM2 and start “LH Safety IO Checker”
Remedy
- Select Engine Control
- Check <CS4-10 Engine running signal>. When engine is running,
it must be ON.
20-1022
- Shake connector or wiring to check if there is loosen contact

- Check continuity of the wiring related to engine running signal
2) If engine is not running, check the followings
- Check fuel level
- Check the wiring(23F, 23FA) related to engine stop circuit.
- Check if any caution about engine .
20-1023
Circuit diagram
SAFETY CONTROLLER
DC24V
RB12-K8
23FAC 23FAC - + 52P13 52P13
STOP REALY CS2-08
TB50-P TB37-P
23FA
TB37-R TB50-N
23F
TB25-C
RB6-K2 29 CN02
11KS 23F
KEY SW 23F
Engine
TB31-S CN806
30 439 1
CN02
QSK ECM
DC24V
RB9-K8
52P13 + - 36A 36
2 1
ENGINE TB56-K
36AT
36
SIG MONITOR
0
OIL PRESSURE
SW
20-1024
4C10 Auto/Manual key position is wrong
Fault Code 4C10

Message Auto/Manual key position is wrong
Auto/Manual Key position was changed from Auto to Manual in Auto
Description
mode
Possible cause Truck observer changed Auto/Manual key position
<What to do>
Remedy
Check the key position. If position is wrong, change to proper position
Circuit diagram
AUTO/MANUAL
SWITCH
TB53-K 72AT
72AT
GBA-1
AUTO MODE SELECTED CS4-09
72MAN
72MAN
TB50-K
20-1025
4C11 Auto/Manual key switch is short
Fault Code 4C11

Message Auto/Manual key switch is short
Description A/M Key (72MAN) short to GND in Auto Mode
Possible cause Wiring 72MAN has short circuit to GND
<How to check>
1) Connect laptop PC to COM2 and start “LH Safety IO Checker”
2) Select Input , then check A/M key signal input
Auto/Manual
Key input
Remedy
Correct status of Auto/Manual key

condition wiring value
Key position is ‘Auto’ 72AT ON (GND)
72MAN OFF (Open)
Key position is ‘Manual’ 72AT OFF (Open)
72MAN ON (GND)
3) Check the wiring (72MAN), connector and Auto/Manual Key SW
Circuit diagram
AUTO/MANUAL
SWITCH
TB53-K 72AT
72AT
GBA-1
72MAN
72MAN
TB50-K
20-1026
4C12 Auto/Manual key switch is cut
Fault Code 4C12

Message Auto/Manual key switch is cut
Description A/M Key (72AT) disconnection in Auto Mode
1) CS4-09 is loosen
Possible cause 2) Wiring(72AT) disconnection
3) Auto/Manual Key is broken
2) Select Input then check A/M key signal input
Auto/Manual
Key input
Remedy

72MAN OFF (Open)
72MAN ON (GND)
3) Check the wring (72AT), connector and Auto/Manual Key SW
Circuit diagram
AUTO/MANUAL
SWITCH
TB53-K 72AT
72AT
GBA-1
72MAN
72MAN
TB50-K
20-1027
4C13 Low voltage of unswitched power

Fault Code 4C13
Description Un-switched power voltage(52P22) is lower than 15V
1) Low battery voltage
2) Wiring problem
Possible cause - Wiring(52P22 or11S) disconnection
- Fuse FB3-22 blown out
- Both CS1-05 and CS1-15 are loosen
<How to check>
Remedy 1) Check voltage at TB56-W(52P22)
2) Check wiring and connector
4C14 Low voltage of switched power

Fault Code 4C14
Description Switched power voltage(52P15) is lower than 15V
2) Wiring problem
Possible cause - Wiring(52P15) disconnection
<How to check>
Remedy 1) Check voltage at TB56-M(52P15)
4C15 Low voltage of Sol1 power

Fault Code 4C15
Message Low voltage of Sol1 power
Description Sol1 power voltage(52P16D) is lower than 15V
2) Wiring problem
Possible cause - Wiring(52P16D) disconnection
<How to check>
Remedy 1) Check voltage at TB56-N(52P16D)
20-1028
Circuit diagram
SAFETY CONTROLLER BATTERY

52P22 TB56-W FB3-22
11S
BATTERY POWER CS1-5
52P22
BATTERY POWER CS1-15
52P16
SOL 1 POWER MONITOR CS5-13
TB56-N D42 FB3-16 712PA

52P16D
SOL 1 POWER CS1-01
52P16D
SOL 1 POWER CS1-09
TB56-M FB3-15
52P15
MAIN POWER CS1-08
52P15
MAIN POWER CS1-18
TB56-P FB3-17
52P17
SOL 2 POWER CS3-01
52P17
SOL 2 POWER CS3-10
0
GND CS1-06
0
GND CS1-07
0
GND CS1-16 TB57-D
0
GND CS1-17
0
GND CS2-01 TB57-E
0
GND CS3-20
0 A/T
GBA-3
POWER RELAY 712PA
11 C NO
712K + - 0
KEY SW
1 2 GB31
POWER RELAY
FB3-4 A/TPRD
C NO TB32-S TB33-T
11 712 712P
+ - 712
712K 0
TB32-P
KSPRD
1 2 GB31
20-1029
4C17 Sol1 line cut
Fault Code 4C17

Message Sol1 line cut
Description Sol1 power monitor line detected sol1 power is OFF
2) Sol1 voltage monitor line cut
- Wiring(52P16) disconnection
Possible cause
3) Sol1 power input line cut
- Wiring(52P16D) disconnection
<How to check>
1) Check voltage at TB56-N(52P16D)
3) Select Input then check Sol1 line monitor signal
Remedy
Sol1 line
monitor input
Circuit diagram
See Page 20-1029
20-1030
Fault Code 4C18

Description Switched power voltage is lower than 18V,
1) Low voltage
- Low battery voltage
2) Wiring problem
Possible cause
<How to check>
Remedy 1) Check voltage at TB56-M(52P15)
Circuit diagram
See Page 20-1029
20-1031
Troubleshooting for Safety control system 4C30, 4C31
4C30 ODS clipping error
Fault Code 4C30

Message ODS clipping error
When truck is running at faster than 10km/h, Safety controller lost ODS
Description
detection area information, then ODS function is disabled.
Possible cause LH-Safety software exception
<Action>
Remedy
Restart truck
4C31 ODS-GSP CAN ID error
Fault Code 4C31

Message ODS-GSP CAN ID error
Description ODS-GSP has wrong CAN-ID(CAN-B) setting
Possible cause GSP software installation failure
<How to check>
・ Check each CAN ID of ODS-GSP by OMStip(MMS field laptop tool)
Remedy to know which GSP has wrong setting
・ Re-program ODS-GSP software
20-1032
4C32 Radar not ready
Fault Code 4C32

Message Radar not ready
Radar initialization is not finished yet
Note : When AHT starts up or some radar internal fault happened, LH-Safety
Description
cycles power of ODS. It usually takes 1 min to complete ODS initialization. If
Central tries to restart truck during ODS initialization, “Radar not ready” will be
reported.
1) Radar is in Start up process (it usually takes about 1min )
2) Communication failure between GSP and Radar
- CAN-A line between GSP and Radar has failure
・ Wiring/Connector disconnection
・ Missing CAN terminator
- Radar power failure
・ Wiring 12VRDR/0RDR at Radar disconnection
・ Loose connector(J1-1, J1-2, J1-7) of Radar
- Radar hardware problem
3) Communication failure between GSP and LH-Safety
- CAN-B line between GSP and LH-Safety has failure
Possible cause
- GSP power failure
・ Wiring 12VRDR/0RDR at GSP disconnection
・ Loose connector CAN-A of GSP
- GSP hardware/software failure
4) ODS power failure
- Wiring 52P16D, 71RDP disconnection
- Wiring 71RDR disconnection
- Loose contact CS1-03
- Power unit hardware problem
<How to check>
1) Wait 1min, then restart
Remedy
2) If error repeats, check ODS according to the following procedure
20-1033
3) Connect laptop PC to COM2 and start “LH Safety IO Checker”, then

find which channel has problem (see below)
4) Try to change connection between GSP and Radar in order to find
which of radar and GSP has problem (see below)
5) If you find which part has problem, Check the wiring related to the
part
- If There is problem between radar and GSP
・ Check power cable of radar
・ Check CAN-A cable between radar and GSP
・ Replace radar
- If There is problem between GSP and LH-Safety
・ Check power cable of GSP
・ Check CAN-B cable between GSP and LH-Safety
・ Re-program or replace GSP
- If all channel are not talking to LH-Safety
・ Check ODS power unit
How to know which radar channel has problem
1) Connect laptop to COM2 and start “LH Safety IO Checker”

2) Select ODS
3) Check scan index of each radar channel
If all scan index are updating,

initialization was finished.
If there is a channel whose scan
index is not updating, the channel is
not talking to LH Safety.
In this example, ch1(center) has
problem.
Not talking
20-1034
How to know which of GSP or Radar has problem

1) Try to switch CAN-A cable of the channel who has problem with next GSP as below figure
Radar1 Radar2 Radar3 Radar4

(Right) (Center (Left) (Steer)
Terminator
CAN-A
CAN-B To LH-Safety
GSP1 GSP2 GSP3 GSP4
Radar1 Radar2 Radar3 Radar4

(Right) (Center (Left) (Steer)
CAN-A
CAN-B To LH-Safety
GSP1 GSP2 GSP3 GSP4
2) Check if the channel which is not scanning is changed
Problem location Expected behavior after cable swap

If the channel not scanning was changed, it means GSP is OK but Radar has
problem.
stop
Radar – GSP
communication
If the channel not scanning was not changed, it means Radar is OK but GSP has
problem.
stop
GSP – LH-Safe
communication
20-1035
4C34 ODS Clipping area overflow
Fault Code 4C34

Message ODS Clipping area overflow
Description ODS Clipping area buffer overflow
<Action>
Remedy
Restart truck
4C35 ODS Clipping area empty
Fault Code 4C35

Message ODS Clipping area empty
Description ODS Clipping area buffer become empty
<Action>
Remedy
Restart truck
20-1036
Troubleshooting for Safety control system 4C44,4C54,4C64
4C44 Radar power line cut

Fault Code 4C44
Message Radar power line cut
Description Disconnection of radar power relay line (71RDR, 52P10)
Wiring problem
・ Loosen connector CS1-03
Possible cause
・ Wiring 71RDR or 52P10 disconnection
・ Relay RB12-K2 failure
<How to check>
Remedy - Change A/M key to ‘M’
- Check continuity of wiring 71RDR, 52P10 and relay RB12-K2
4C54 Radar power line short

Fault Code 4C54
Message Radar power line short
GND short of 71RDR between Safety and Radar Power Relay
Description
Note ) During operation, LH-Safety always output(SINK) to Radar relay
except when LH Safety cycle ODS power.
Possible cause Wiring 71RDR short to GND when LH-Safety doesn’t output
<How to check>
- Change A/M key to ‘M’, then disconnect CS1
Remedy
- Check the voltage of wiring 71RDR. It must be 24V when CS1-03
is disconnected.
4C64 Radar power line hot short

Fault Code 4C64
Message Radar power line hot short
Description Hot short of 71RDR between Safety and Radar Power Relay
Possible cause Wiring 71RDR short to 24V power line
<How to check>
- Change A/M key to ‘M’
Remedy
- Check the voltage of wiring 71RDR. It must be 0V when CS1-03 is
connected.
20-1037
Circuit Diagram
SAFETY CONTROLLER RB12-K2

RADAR TB56-G
71RDR - + 52P10
POWER CS1-03
RELAY
FB3-16 AD42 NO 71RDP ODS 12VRDR
52P16D 1 1
POWER 0RDR
TB56-N C NC 2 CONVERTER 2
712PA PC1B PC1A
KEY SW POWER GBA-1
20-1038
4C48 Heartbeat line to LH-Drive cut
Fault Code 4C48

Message Heartbeat line to LH-Drive cut
Disconnection of LH Safety Heartbeat line (90SH)
Description
Note : LH-Safety output ON/OFF signal as heartbeat to LH-Drive every 200msec
Wiring problem
・ Loosen connector CS2-05
Possible cause
・ Loosen connector CN5-14
・ Wiring 90SH cut
<How to check>
1) Connect Laptop PC to COM1 and start “LH Drive IO Checker”
2) Select A/M key / Others
Remedy
LH-Safety heartbeat
(it must be blinking)
3) Monitor LH safety heartbeat signal(CN5-14). It must be blinking.

4) Check wiring 90SH and connector CS2-05, CN5-14.
Circuit Diagram
DRIVE CONTROLLER SAFETY CONTROLLER
90DH
HEARTBEAT TO SAFETY CN2-05 CS5-14 HEARTBEAT FROM DRIVE
90SH
HEARTBEAT FROM SAFETY CN5-14 CS2-05 HEARTBEAT TO DRIVE
20-1039
4C58 Heartbeat line to LH-Drive short
Fault Code 4C58

Message Heartbeat line to LH-Drive short
LH Safety Heartbeat line (90SH) has short to GND
Description
Possible cause Wiring 90SH short to GND
<How to check>
Remedy LH-Safety heartbeat


Circuit Diagram
90DH
90SH
20-1040
4C68 Heartbeat line to LH-Drive hot short
Fault Code 4C68

Message Heartbeat line to LH-Drive hot short
LH Safety Heartbeat line (90SH) has short to 24V
Description
Possible cause Wiring 90SH short to 24V power line
<How to check>
How to check LH-Safety heartbeat


Circuit Diagram
90DH
90SH
20-1041
Troubleshooting for Safety control system 4C4B
4C4B Auto Apply Brake line cut
Fault Code 4C4B

Message Auto Apply Brake line cut
Auto apply brake control line has disconnection
Description
Note : LH Safety outputs 24V(ON) during operation except when system checks
Auto Apply Check before start Autonomous running
1) Loosen connector CS2-11 or CN1-12
Possible cause 2) Defective relay RB10-K3
3) Disconnection of wiring 72AA or 72AAD
<How to check>
1) Change A/M key to “A” position
2) Check if Auto Apply brake is activated.
Remedy
Note : If Auto Apply brake line has disconnection when A/M key is in “Auto”
position, Auto Apply Brake should be activated.
3) Check the wiring 72AA, 72AAD and relay RB10-K3
20-1042
Circuit Diagram
24V
Safety controller (Unswitched
BATT)
Auto Apply
72AA Brake Valve
Auto Apply CS2-11
RB10-K3
72AD
NO
NC
Auto Apply
Auto Apply CN1-12 72AT
Brake
Pilot Valve
R. Brake
Pressure Sensor
M
R. Brake
Relay Valve
Auto Apply Monitor
Auto apply control

CS2-11 24V Open 24V Open
Wiring 72AA (ON) (OFF) (ON) (OFF)
CN1-12 0V 0V Open Open
Wiring 72AAD (ON) (ON) (OFF) (OFF)
If A/M key is in “M” position, Auto Apply Brake is not activated.
20-1043
4C5B Auto Apply Brake line short
Fault Code 4C5B

Message Auto Apply Brake line short
Auto apply brake control line has short to GND
Description
Possible cause Wiring 72AA short to GND
<How to check>
1) Connect Laptop PC to COM2 and start “LH Safety IO Checker”
2) Select I/O control
3) If 72AA is short to GND, “Short” is shown on screen.
When there is
disconnection,
SHORT is shown
Remedy
Short
4) Check the wiring 72AA
Circuit Diagram
See 20-1043
20-1044
4C6B Auto Apply Brake line hot short
Fault Code 4C6B

Message Auto Apply Brake line hot short
Auto apply brake control line has short to 24V
Description
Possible cause Wiring 72AA short to 24V power line
<How to check>
1) Change A/M key to ‘M’ position
2) Connect Laptop PC to COM2 and start “LH Safety IO Checker”
3) Select I/O control
4) Click the box of Auto Apply Brake so that LH Safety outputs OFF
Remedy
Click here to
change ON/OFF
5) Check the voltage of wiring 72AA. When LH-Safety doesn’t output

ON to Auto Apply Brake, the voltage of 72AA must be 0V.
Circuit Diagram
See 20-1043
20-1045
4C73 Software exception

Fault Code 4C73
Message Software exception
Description Memory access error in LH-Safety
Remedy Restart truck

Fault Code 4C77
Description Memory access error in LH-Safety

Fault Code 4C79
Description Safety controller received corrupt message from ODS/GSP
20-1046
Troubleshooting for Safety control system 4C90-4C94
4C90 (B1) Low Steering Pressure

Fault Code 4C90
Message (B1) Low Steering Pressure
Description Steering hydraulic pressure drops below 15.900kPa(2300psi)
Possible cause -
Remedy See 930E-3 Shop manual N5-24
4C91 (C1) Low Accumulator Pressure

Fault Code 4C91
Message (C1) Low Accumulator Pressure
Description The nitrogen pre-charge within the accumulator is below 1100+/- 45 psi
Possible cause -
What to do See 930E-3 Shop manual N5-24
4C92 (E1) Low Brake Pressure

Fault Code 4C92
Message (E1) Low Brake Pressure
Description Malfunction within hydraulic brake circuit
Possible cause -
4C93 (A2) Low Hydraulic Tank Level

Fault Code 4C93
Message (A2) Low Hydraulic Tank Level
Description Oil level in the hydraulic tank is below recommended level
Possible cause -
4C94 (E3) Stop Engine

Fault Code 4C94
Message (E3) Stop Engine
Description A serious engine malfunction is detected in the engine control system
Possible cause -
20-1047
4C95 (A5) No Propel / Retard

Fault Code 4C95
Message (A5) No Propel / Retard
Description Retarding and propulsion capability is eliminated
Possible cause -
4C96 (D5) Hydraulic Oil Temp. High

Fault Code 4C96
Message (D5) Hydraulic Oil Temp. High
Description High Oil temperature in the hydraulic tank
Possible cause -
4C98 (A6) No Propel

Fault Code 4C98
Message (A6) No Propel
Description Propulsion capability has been eliminated
Possible cause -
4C99 (A1) Brake Oil Temp. High

Fault Code 4C99
Message (A1) Brake Oil Temp. High
Description High brake oil temperature
Possible cause -
20-1048
Troubleshooting for Safety control system 4D00,4D30
4D00 Detected by Radar (Right)
Fault Code 4D00

Message Detected by Radar (Right)
Description Right radar detected obstacles
Detected some objects in the path
・ Obstacles (other machines, rocks, human, and so on)
Possible cause ・ Ground clutter (road roughness, stones, windrow, and so on)
Detected some objects out of the path
・ Position measurement accuracy degraded
If there is obstacle in the path, remove obstacle
If road condition is very bad, do the road maintenance
If area is secure, restart truck
Remedy
Note) If radar repeats obstacle detection without any obstacle on the
road, it may caused by wrong radar calibration. In this case, please do
the radar calibration again. (See 20-101)
4D30 Detected by Radar (Center)
Fault Code 4D30

Message Detected by Radar (Center)
Description Center radar detected obstacles
Remedy
20-1049
Troubleshooting for Safety control system 4D60,4D90
4D60 Detected by Radar (Left)
Fault Code 4D60

Message Detected by Radar (Left)
Description Left radar detected obstacles
Remedy
4D90 Detected by Radar (Steer)
Fault Code 4D90

Message Detected by Radar (Steer)
Description Steered radar detected obstacles
Remedy
20-1050
Troubleshooting for Safety control system 4D01
4D01 No Data from Radar (Right)

Fault Code 4D01
Message No Data from radar (Right)
LH Safety couldn’t receive message from GSP1(right) more than
Description 1second
Note: GSP1 is sending message to LH Safety every 100msec
1) Communication failure between GSP1 and Radar1(Right)
- CAN-A line between GSP1 and Radar1(Right) has failure
- Radar1 power failure
・ Wiring 12VRDR/0RDR at Radar1(Right) disconnection
・ Loose connector(J1-1, J1-2, J1-7) of Radar1(Right)
- Radar1 hardware problem
2) Communication failure between GSP1 and LH-Safety
- CAN-B line between GSP1 and LH-Safety has failure
Possible cause ・ Wiring/Connector disconnection
- GSP1 power failure
・ Wiring 12VRDR/0RDR at GSP1 disconnection
・ Loose connector CAN-A of GSP1
- GSP1 hardware/software failure
- Wiring 71RDR, 71RDP disconnection
<How to check>
2) Connect PC to COM2 and start “LH Safety IO Checker”
Remedy 3) Select ODS, then ODS window comes up.
4) Make sure scan index of ch0(right) is not updating. If it is updating,
communication is recovered.
20-1051

which of radar and GSP has problem (see 20-1035)
part
・ Check power cable(12VRDR/0RDR) of radar
・ Replace radar
・ Check power cable(12VRDR/0RDR) of GSP
Circuit diagram
See page 10-89,90
20-1052
4D02 Radar (Right) not scanning
Fault Code 4DA2

Message Radar (Right) not scanning
Description Scan index from GSP1(right) is not updating
1) Communication failure between GSP1 and Radar1
- CAN-A line between GSP1 and Radar1(Right) has failure
・ Loose connector(J1-1, J1-2, J1-7) of Radar1(Right)
Remedy See remedy of 4D01 (20-1051)
Circuit Diagram : See page 10-89,90
20-1053
4D31 No Data from Radar (Center)
Fault Code 4D31

Message No Data from Radar (Center)
LH Safety couldn’t receive message from GSP2(center) more than
Description 1second
1) Communication failure between GSP2 and Radar2(Center)
- CAN-A line between GSP2 and Radar2(Center) has failure
・ Wiring 12VRDR/0RDR at Radar2(Center) disconnection
・ Loose connector(J1-1, J1-2, J1-7) of Radar2(Center)
<How to check>
4) Make sure scan index of ch1(center) is not updating. If it is updating,
20-1054

part
・ Replace radar
20-1055
4D32 Radar (Center) not scanning
Fault Code 4D32

Message Radar (Center) not scanning
Description Scan index from GSP2(center) is not updating
- CAN-A line between GSP2 and Radar2(center) has failure
・ Loose connector(J1-1, J1-2, J1-7) of Radar2 (Right)
20-1056
4D61 No Data from Radar (Left)
Fault Code 4D61

Message No Data from Radar (Left)
LH Safety couldn’t receive message from GSP3(left) more than 1second
Description
1) Communication failure between GSP3 and Radar3(left)
- CAN-A line between GSP3 and Radar3 (left) has failure
・ Wiring 12VRDR/0RDR at Radar3 (left) disconnection
・ Loose connector(J1-1, J1-2, J1-7) of Radar3 (left)
・ Wiring 12VRDR/0RDR at GSP3disconnection
- GSP3hardware/software failure
<How to check>
4) Make sure scan index of ch2(left) is not updating. If it is updating,
20-1057

part
・ Replace radar
20-1058
4D62 Radar (Left) not scanning
Fault Code 4D62

Message Radar (Left) not scanning
Description Scan index from GSP3(left) is not updating
- CAN-A line between GSP3 and Radar3(left) has failure
・ Wiring 12VRDR/0RDR at Radar3 (left) disconnection
・ Loose connector(J1-1, J1-2, J1-7) of Radar3 (left)
20-1059
4D91 No Data from Radar (Steer)
Fault Code 4D91

Message No Data from Radar (Steer)
LH Safety couldn’t receive message from GSP4(steer) more than
Description 1second
1) Communication failure between GSP4 and Radar4(steer)
- CAN-A line between GSP4 and Radar4(steer) has failure
・ Wiring 12VRDR/0RDR at Radar4(steer) disconnection
・ Loose connector(J1-1, J1-2, J1-7) of Radar4(steer)
<How to check>
4) Make sure scan index of ch3(steer) is not updating. If it is updating,
20-1060

part
・ Replace radar
20-1061
Troubleshooting for Safety control system 4DA2
4D92 Radar (Steer) not scanning
Fault Code 4D92

Message Radar (Steer) not scanning
Description Scan index from GSP4(steer) is not updating
- CAN-A line between GSP4 and Radar4 (steer) has failure
・ Wiring 12VRDR/0RDR at Radar4 (steer) disconnection
・ Loose connector(J1-1, J1-2, J1-7) of Radar4 (steer)
Remedy See remedy of 4DA1 (20-1060)
20-1062
Troubleshooting for Safety control system 4D10-4D14
4D10-4D1F Right radar unit failure
Fault Code 4D10

Message Radar(Right) program checksum
Description DSP in radar unit failure (Radar unit internal error)
Possible cause -
Remedy If fault repeats ,replace radar
Fault Code 4D11

Message Radar(Right) boot code checksum
Possible cause -
Fault Code 4D12

Message Radar(Right) actuator feedback
Description Scanning mechanism failure (Radar unit internal error)
Possible cause -
Fault Code 4D13

Message Radar(Right) 4 beam sum position
Possible cause -
Fault Code 4D14

Message Radar(Right) beam to beam position
Possible cause -
20-1063
Fault Code 4D15

Message Radar(Right) dsp RAM rw
Description DSP in radar unit failure(Radar unit internal error)
Possible cause -
Fault Code 4D16

Message Radar(Right) absolute antenna pos
Possible cause -
Fault Code 4D17

Message Radar(Right) one channel fail
Possible cause -
Fault Code 4D18

Message Radar(Right) blockage detected
Description Unit is blocked (Radar unit internal error)
Possible cause -
Fault Code 4D19

Message Radar(Right) missed com from master
Description Communication failure inside radar (Radar unit internal error)
Possible cause -
20-1064
Troubleshooting for Safety control system 4D1B-4D1F
Fault Code 4D1B

Message Radar(Right) invalid track data
Possible cause -
Fault Code 4D1C

Message Radar(Right) ee transfer
Description Data loading failure (Radar unit internal error)
Possible cause -
Fault Code 4D1E

Message Radar(Right) beam processing error
Description Beam process can’t complete in allocated time (Radar unit internal error)
Possible cause -
Fault Code 4D1F

Message Radar(Right) turnaround proc error
Turn around process can’t complete in allocated time (Radar unit internal
Description
error)
Possible cause -
20-1065
4D40-4D4F Center radar unit failure
Fault Code 4D40

Message Radar(Center) program checksum
Possible cause -
Fault Code 4D41

Message Radar(Center) boot code checksum
Possible cause -
Fault Code 4D42

Message Radar(Center) actuator feedback
Possible cause -
Fault Code 4D43

Message Radar(Center) 4 beam sum position
Possible cause -
Fault Code 4D44

Message Radar(Center) beam to beam position
Possible cause -
20-1066
Fault Code 4D45

Message Radar(Center) dsp RAM rw
Description DSP in radar unit (Radar unit internal error)
Possible cause -
Fault Code 4D46

Message Radar(Center) absolute antenna pos
Possible cause -
Fault Code 4D47

Message Radar(Center) one channel fail
Possible cause -
Fault Code 4D48

Message Radar(Center) blockage detected
Possible cause -
Fault Code 4D49

Message Radar(Center) missed com from master
Possible cause -
20-1067
Fault Code 4D4B

Message Radar(Center) invalid track data
Possible cause -
Fault Code 4D4C

Message Radar(Center) ee transfer
Possible cause -
Fault Code 4D4E

Message Radar(Center) beam processing error
Possible cause -
Fault Code 4D4F

Message Radar(Center) turnaround proc error
Description
error)
Possible cause -
20-1068
4D70-4D7F Left radar unit failure
Fault Code 4D70

Message Radar(Left) program checksum
Possible cause -
Fault Code 4D71

Message Radar(Left) boot code checksum
Possible cause -
Fault Code 4D72

Message Radar(Left) actuator feedback
Possible cause -
Fault Code 4D73

Message Radar(Left) 4 beam sum position
Possible cause -
Fault Code 4D74

Message Radar(Left) beam to beam position
Possible cause -
20-1069
Fault Code 4D75

Message Radar(Left) dsp RAM rw
Possible cause -
Fault Code 4D76

Message Radar(Left) absolute antenna pos
Possible cause -
Fault Code 4D77

Message Radar(Left) one channel fail
Possible cause -
Fault Code 4D78

Message Radar(Left) blockage detected
Possible cause -
Fault Code 4D79

Message Radar(Left) missed com from master
Possible cause -
20-1070
Fault Code 4D7B

Message Radar(Left) invalid track data
Possible cause -
Fault Code 4D7C

Message Radar(Left) ee transfer
Possible cause -
Fault Code 4D7E

Message Radar(Left) beam processing error
Possible cause -
Fault Code 4D7F

Message Radar(Left) turnaround proc error
Description
error)
Possible cause -
20-1071
Troubleshooting for Safety control system 4DA0-4DA4
4DA0-4DAF Steered radar unit failure
Fault Code 4DA0

Message Radar(Steer) program checksum
Possible cause -
Fault Code 4DA1

Message Radar(Steer) boot code checksum
Possible cause -
Fault Code 4DA2

Message Radar(Steer) actuator feedback
Possible cause -
Fault Code 4DA3

Message Radar(Steer) 4 beam sum position
Possible cause -
Fault Code 4DA4

Message Radar(Steer) beam to beam position
Possible cause -
20-1072
Fault Code 4DA5

Message Radar(Steer) dsp RAM rw
Possible cause -
Fault Code 4DA6

Message Radar(Steer) absolute antenna pos
Possible cause -
Fault Code 4DA7

Message Radar(Steer) one channel fail
Possible cause -
Fault Code 4DA8

Message Radar(Steer) blockage detected
Possible cause -
Fault Code 4DA9

Message Radar(Steer) missed com from master
Possible cause -
20-1073
Troubleshooting for Safety control system 4DAB-4DAF
Fault Code 4DAB

Message Radar(Steer) invalid track data
Possible cause -
Fault Code 4DAC

Message Radar(Steer) ee transfer
Possible cause -
Fault Code 4DAE

Message Radar(Steer) beam processing error
Possible cause -
Fault Code 4DAF

Message Radar(Steer) turnaround proc error
Description
error)
Possible cause -
20-1074
Troubleshooting for Safety control system 4E00
4E00 Steered radar motor unit potentiometer error
Fault Code 4E00

Message Steered radar motor unit potentiometer error
Malfunction of Steered motor potentiometer
- The voltage of motor potentiometer is lower than 0.12V
Description
- The voltage of motor potentiometer is higher than 4.88V
Note: motor potentiometer signal must be between 0.55V and 4.45V
1) Defective potentiometer
2) Wiring / Connector failure
- Power line 59R5 failure (disconnection or short circuit)
Possible cause - Signal line 59R6 failure (disconnection or short circuit)
- GND line 59R7 failure (disconnection or short circuit)
- Loose connector (CN3A-07, CN3A-13, CN3A-16)
- Loose connector (MP1B)
<How to check>
1) Check the voltage of 59R5 (it must be 5V)
2) Check the voltage of 59R7 (it must be 0V)
Remedy
3) Check the voltage of 59R6 (it must be about 2.5V when position is
center)
See “How to check motor unit for steered radar”
Circuit Diagram

59R1 TB54-L 59R1
59R2 TB54-M 59R2
59R3 TB54-N 59R3
59R4 TB54-P 59R4
RADAR STEPPING
MOTOR
CN513 MP1B
59R5 TB54-R 59R5
59R6 TB54-S 59R6
59R7 TB54-T 59R7
GND CN3A-16 7 3 GND
STEPPING MOTOR
POSITION SENSOR
20-1075
How to check motor unit for steered radar
- Connect laptop to COM2 and start “LH Safety IO Checker”

- Select ODS
- Move slider bar to turn steered radar
- Check “reference [deg]”, “angle[deg]” and “potentio [v]” are changed according to slider
position.
Slide this bar to

turn steer radar
Potentiometer
voltage
Potentiometer
output voltage [V]
-90deg Center +90deg
20-1076
Troubleshooting for Safety control system 4E01,4E03,4E04
4E01 Steered radar motor line hot short

Fault Code 4E01
Message Steered radar motor line hot short
Wiring between MG1B and CN2 of LX controller (59R1, 59R2, 59R3,
Description
59R4) has short to power line (more than 12V)
- Wiring 59R1 has short to power line
Possible cause
Check wiring. To make sure wiring is OK, See 20-1076 <how to check
Remedy
motor unit for steered radar>
4E03 Steered radar motor line cut

Fault Code 4E03
Message Steered radar motor line cut
Description
59R4) has disconnection
- Wiring 59R1 has disconnection
Possible cause
Remedy
4E04 Steered radar motor line short

Fault Code 4E04
Message Steered radar motor line short
Description
59R4) has short to GND
- Wiring 59R1 has short to GND
Possible cause
Remedy
20-1077
Troubleshooting for Safety control system 4E01,4E03,4E04
Circuit Diagram
59R1 TB54-L 59R1
59R2 TB54-M 59R2
59R3 TB54-N 59R3
59R4 TB54-P 59R4
RADAR STEPPING
MOTOR
CN513 MP1B
59R5 TB54-R 59R5
59R6 TB54-S 59R6
59R7 TB54-T 59R7
GND CN3A-16 7 3 GND
STEPPING MOTOR
POSITION SENSOR
20-1078
4E02 Steered radar motor synchronization failure

Fault Code 4E02
Message Steered radar motor synchronization failure
Difference between angle by stepping motor counter and potentiometer is
bigger than 50step(about 8deg) for more than 1 second
Start
Difference between angle by stepping N

motor counter and the one by
potentiometer is bigger than 50step?
Description
Y
Timer count up
Is timer above 1sec? N
Y
Exception 4E02
1) ODS Steering motor turns too quick

2) Mechanical malfunction of motor unit
Possible cause
3) Steered unit was turned by external force
4) Wiring (59R5,59R6 or 59R7) has problem
Restart truck
Remedy
If fault repeats, check if there is mechanical malfunction or wiring problem
Circuit Diagram
59R1 TB54-L 59R1
59R2 TB54-M 59R2
59R3 TB54-N 59R3
59R4 TB54-P 59R4
RADAR STEPPING
MOTOR
CN513 MP1B
59R5 TB54-R 59R5
59R6 TB54-S 59R6
59R7 TB54-T 59R7
GND CN3A-16 7 3 GND
STEPPING MOTOR
POSITION SENSOR
20-1079
4E11 Heartbeat error from LX

Fault Code 4E11
Message Heartbeat error from LX
Heartbeat signal from LX is not updated for 1sec.
Start
Heart beat signal from N

LX is updated? Timer count up
Description
Y
Clear timer Is timer above N
1sec?
Exception 4E11
Note : Message from LX includes heartbeat signal (switching ON/OFF)

1) RS232C wiring (Safety to LX) problem
- Wiring disconnection (90SFT, 90SFG)
- Loose connector(CS6-03,10) of LH-Safety
Possible cause - Loose connector(CN4-04, CN4-10) of LX Controller
2) LX controller lost power
- Wiring 52P11 and 52P12 disconnection
- Fuse FB3-11 and FB3-12 blown out
<How to check>
Remedy
Check and repair wiring
Circuit diagram
See 20-1088
20-1080
4E12 Checksum error from LX

Fault Code 4E12
Message Checksum error from LX
Checksum error of LX message happened three times in series
Start
Does LH-Safety N
received message
from LX?
Description
Y
Is Check sum N Checksum error N

OK? happened 3 times?
Y Y
Exception 4E12
1) Signal noise on RS232C (90SFT, 90SFG)

Possible cause
2) Defective LX controller
- Check the wiring(90SFT, 90SFG)
Remedy
- If never recovers, Replace LX controller
Circuit diagram
See 20-1088
20-1081
4E13 No data from LX

Fault Code 4E13
Message No data from LX
LH-Safety couldn’t receive message from LX for 0.5 sec.
Start
Does LH-Safety N
received message Timer count up
from LX?
Description
Y
0.5 sec?
Exception 4E13
Note : LX controller always send message to LH-Safe every 50sec

1) RS232C wiring (Safety to LX) problem
- Wiring disconnection (90SFT, 90SFG)
Possible cause - Loose connector(CN4-04, CN4-10) of LX Controller
<How to check>
Remedy
Circuit diagram
See 20-1088
20-1082
4E14 Heartbeat error to LX

Fault Code 4E14
Message Heartbeat error to LX
Heartbeat signal from LH to LX is not updated for 1sec.
Start
Heart beat signal from N

LH-Safe is updated? Timer count up
Description Y
1sec?
Exception 4E14
Note : Message from LH-Safe to LX includes heartbeat signal (switching

ON/OFF)
1) RS232C wiring (LX to Safety) problem
- Wiring disconnection (90SFR, 90SFG)
Possible cause
- Loose connector(CN4-03, CN4-10) of LX Controller
<How to check>
Remedy
Circuit diagram
See 20-1088
20-1083
4E15 Checksum error to LX
Fault Code 4E15

Message Checksum error to LX
Checksum error of message from LH-Safety to LX happened three times
in series
Start
Does LX received N
message from
Description LH-Safety?
Is Check sum Checksum error N

OK? happened 3 times?
Y Y
Exception 4E15
Possible cause 1) Signal noise on RS232C (90SFR, 90SFG)

- Check the wiring(90SFR, 90SFG)
Remedy
- If never recovers, Replace LX controller
Circuit diagram
See 20-1088
20-1084
4E16 No data to LX
Fault Code 4E16

Message No data to LX
LX couldn’t receive message from LH-Safety for 0.5 sec.
Start
Does LX receive N
message from Timer count up
LH-Safety?
Description
Y
0.5 sec?
Exception 4E16
Note : LH-Safety sends message to LX controller every 50sec

1) RS232C wiring (LX to Safety) problem
- Wiring disconnection (90SFR, 90SFG)
Possible cause
- Loose connector(CN4-03, CN4-10) of LX Controller
<How to check>
Remedy
Circuit diagram
See 20-1088
20-1085
4E17 Motor angle table download error
Fault Code 4E17

Message Motor angle table download error
Motor angle and potentiometer table download from LH-Safety to LX has
not completed yet
Start
Description Is LX still downloading N

motor table?
Y
Exception 4E17
Note : When start up, LH safety sends motor angle table to LX.
1) RS232C wiring problem
- Wiring disconnection (90SFT , 90SFR, 90SFG)
- Loose connector(CS6-03,04,10) of LH-Safety
Possible cause - Loose connector(CN4-03,04,10) of LX Controller
<How to check>
Remedy
Circuit diagram
See 20-1088
20-1086
4E19 LX Controller not ready
Fault Code 4E19

Message LX Controller not ready
Initialization of LX hasn’t finished yet.
Start
Does LX controller N
Description become operation mode?
Exception 4E19
1) RS232C wiring problem

- Wiring disconnection (90SFT , 90SFR, 90SFG)
- Loose connector(CS6-03,04,10) of LH-Safety
Possible cause - Loose connector(CN4-03,04,10) of LX Controller
<How to check>
Remedy
20-1087
Circuit Diagram

TB55-T 90SFT
W
R TB55-V 90SFR
TB55-S
B 90SFG
SHLD
LX Controller
TB56-H FB3-11
52P11 712PA
SW. BATT. POWER CN1-07
SW. BATT. POWER CN1-13 52P11 KEY SW
TB56-J FB3-12 POWER
52P12
52P12
0
GND CN1-06
0
GND CN1-12
0
GND CN5-03 TB57-H
0
GND CN5-04
0
GND CN2-11 TB57-J
0
GND CN2-21
GBA-3
20-1088
4E20 Heartbeat from LH-Drive cut
Fault Code 4E20

Message Heartbeat from LH-Drive cut
LH-Safety couldn’t receive Heartbeat signal from LH-Drive for 1sec
Start
Does LH-Safety N
received Heartbeat Timer count up
signal from LH Drive?
Description
Y
1sec?
Exception 4E20
Note : LH Drive controller send heartbeat signal to LH-Safe every 200sec

1) LH-Drive lost power
- Fuse FB3-19 blown up
- Loose contact of CN1-08,18
Possible cause
2) LH-Drive failure
3) Heartbeat line has failure
- Wiring 90DH disconnection, GND short or Hot short
- Loose contact of CN2-05 or CS5-14
<How to check>
1) Check if LED on LH-Drive shows operation mode or error code
correctly (See page 10-12)
Remedy
- If LED is flashing, LH-Drive hardware is failure. Replace controller
- If LED displays nothing, check wiring of power line
2) Check wiring 90DH and connector
Circuit Diagram
See 20-1093
20-1089
4E21 No position data from LH-Drive via CAN-B
Fault Code 4E21

Message No position data from LH-Drive via CAN-B
LH-Safety couldn’t receive Position RPC from LH-Drive for 0.5sec
Start
Does LH-Safety N
received Position RPC Timer count up
from LH Drive?
Description
Y
0.5sec?
Exception 4E21
Note : LH Drive controller send Position RPC every 200msec

- Fuse FB3-19 blown up
- Loose contact of CN1-08,18
2) LH-Drive failure
Possible cause
- Hardware failure
3) CAN-B communication failure
- Wiring disconnection
- Terminator failure
- Loose contact of CS9-11.12, CN9-11,12 or “T” Buss
<How to check>
- If LED is flashing, LH-Drive hardware is failure. Replace
controller
Remedy
- If LED displays nothing, check wiring of power
2) Check CAN-B communication
- Connect laptop PC to COM1
- Select “CAN Communication Monitor”
20-1090
- If “LH Safety Controller” counter is not updating, CAN-B

communication has stopped. Check CAN-B line.
Circuit Diagram
See 20-1093
20-1091
4E22 LH-Drive not working
Fault Code 4E22

Message LH-Drive not working
Heartbeat from LH-Drive is not coming, and also Position RPC from
LH-Drive stopped
Start
Has Position RPC from N

LH Drive stopped more
than 0.5sec?
Description
Y
N Has Heart beat from

LH Drive stopped more
than 1sec?
Y
Exception 4E22

・ Wiring(52P19) disconnection
・ Fuse FB3-19 blown up
Possible cause ・ Loose contact of CN1-08,18
2) LH-Drive failure
・ Hardware failure
・ Connectors are not connected properly
< How to check>
1) Check if all connector are connected properly
Remedy
・ If LED is flashing, LH-Drive hardware is failure. Replace controller
・ If LED displays nothing, check wiring of power
20-1092
Circuit Diagram
DRIVE CONTROLLER BATTERY
52P21 TB56-W FB3-22
11S
BATTERY POWER CN1-5
52P21
BATTERY POWER CN1-15
52P18
SOL 1 POWER MONITOR CN5-13
TB56-R D41 FB3-18 712PA

52P18D
SOL 1 POWER CN1-01
52P18D
SOL 1 POWER CN1-09
TB56-S FB3-19
52P19
MAIN POWER CN1-08
52P19
MAIN POWER CN1-18
TB56-T FB3-20
52P20
SOL 2 POWER CN3-01
52P20
SOL 2 POWER CN3-10
0
GND CN1-06
0
GND CN1-07
0
GND CN1-16 TB57-D
0
GND CN1-17
0
GND CN2-01 TB57-E 712PA
0
GND CN3-20
GBA-3 0
TERMINATOR
SAFETY CONTROLLER
CAN_B(H) CS9-11
"T" Buss
CAN_B(L) CS9-12
CN93
CAN_SHLD CS9-13
DRIVE CONTROLLER
CAN_B(H) CN9-11 To GSP
"T" Buss
CAN_B(L) CN9-12
CN92 CN91
CAN_SHLD CN9-13
90DH
90SH
20-1093
Troubleshooting for Safety control system 4E24,4E24,4E25,4E26,4E27
4E24 Wrong Truck Type

Fault Code 4E24
Message Wrong Truck Type
Description Truck type of LH-Safety and LH-Drive has mismatched
Possible cause Different software version was programmed
<Action>
Remedy
Replace controller
4E25 Emergency Brake request

Fault Code 4E25
Message Emergency brake request
Description LH-Safety applied Auto Apply Brake according to LH-Drive’s request
Possible cause LH-Drive detected some emergency status
<Action>
Remedy
4E26 LH-Drive E mode

Fault Code 4E26
Message LH-Drive E mode
Description LH Drive changed to ‘E’ mode
Possible cause LH Drive detected some error (see LH-Drive’s fault code)
<Action>
Remedy
Check error code reported by LH-Drive
4E27 LH-Drive CAN-A failure

Fault Code 4E27
Message LH-Drive CAN-A failure
LH-Drive reported that CAN-A communication has failure
Description Since when LH-Drive has CAN-A communication failure, it can’t report
the fault code to Central, LH-Safety reports the fault instead of LH-Drive
Possible cause See fault code 4019 (page 20-726)
Remedy See 20-726
20-1094
4E28 Safety and Drive switched places

Fault Code 4E28
Message Safety and Drive switched places
Description 24V input to CS5-6 (Controller identifier)
Possible cause LH-Safety was installed to wrong position
<Action>
Remedy
Install LH-Safety to correct position
20-1095
Troubleshooting for Safety control system 4F00–4F04
4E38 MBI isn’t working
Fault Code 4E38

Message MBI isn’t working
Description MBI heart beat has stopped for more than 5 sec
1) MBI is not working
・ MBI power line disconnection
・ MBI software failure
・ MBI hardware failure
Possible cause
2) CAN-A communication failure
・ Wiring disconnection
・ Loose contact of connector CS9-01 or CS9-02
・ Defective CAN-A terminator
<How to check>
1) Wiring check
・ Check the voltage of MBI power line
・ Check continuity of CAN-A between MBI and LH-Safety
・ Check if the resistance of terminator is 120Ohm
Remedy 2) MBI check
・ Connect MMS support laptop to MBI by OMStip (ask MMS support
engineer)
・ If can’t connect to MBI, replace MBI
・ If OMStip can connect to MBI but software is not working correctly,
re-program MBI
20-1096
4F00-4F30 Supervisory system error

Fault Code 4F00
Message Emergency Stop Order
Description LH-Safety received emergency stop command from Central
・ Red button emergency pressed
Possible cause
・ Central Supervisory system detects dangerous situation
Remedy <Action> If area is secure, restart truck
Fault Code 4F01

Description Speed profile message size which LH-Safety received is wrong
Possible cause CGC software exception
Fault Code 4F02

Description Direction of speed in Speed profile was changed without 0km/h point.
Fault Code 4F03

Description Speed Profile data is corrupt (CRC mismatch)
Fault Code 4F04

Description Two or more stop point are in series in Speed profile
20-1097
Fault Code 4F05

Description The end of Speed profile which LH-Safety received is not 0km/h
Fault Code 4F06

Description Deceleration of Speed profile which LH-Safety received is too big
Fault Code 4F07

Message No Speed Profile
Description Safety controller couldn’t receive Speed Profile for 5 min.
Fault Code 4F08

Description Speed Profile has two or more data of same index
Fault Code 4F09

Message Wrong Trajectory Data
Description Trajectory data size is wrong
20-1098
Troubleshooting for Safety control system 4F1A–4F21
Fault Code 4F1A

Description Traveling path in trajectory data is discontinuous
Fault Code 4F1B

Description Trajectory data is corrupt (CRC) mismatch
Fault Code 4F20

Message CGC Heartbeat Error
Description Safety controller couldn’t receive Heartbeat RPC from CGC for 2 sec
1) CGC software exception
2) CAN-A disconnection
Possible cause
・ Loose connector (CS9-01 or CS9-02)
・ Wiring disconnection of CAN-A
Fault Code 4F21

Message HUB Heartbeat Error
Description Safety controller couldn’t receive Heartbeat RPC from HUB for 2 sec
1) HUB software exception
2) CAN-A disconnection
Possible cause
・ Loose connector (CS9-01 or CS9-02)
・ Wiring disconnection of CAN-A
20-1099
Fault Code 4F30

Message Wrong engine shutdown command
Description Engine stop command was sent while truck is traveling
Possible cause CGC software problem
Fault Code 4F31

Message Obstacle mask still sending
Description Not finish receiving ODS mask from Central
1) Too early to change to AUTO mode
2) Communication problem
Possible cause
・ Central system failure
・ Master link failure
<Action>
Remedy Check Master Link network. If OK, restart truck
If same fault repeats, try to restart Central system
20-1100
4D20-4D26 Right radar unit failure
Fault Code 4D20

Message Radar(Right) is not scanning
Description Radar antenna scanning is not operational
Possible cause -
Fault Code 4D21

Message Radar(Right) is not radiating
Description Radar transceiver is not operational
Possible cause -
Fault Code 4D22

Message Radar(Right) com error
Description Radar detected communication error
Possible cause -
Fault Code 4D23

Message Radar(Right) temperature error
Description Radar temperature is high
Possible cause -
Fault Code 4D24

Message Radar(Right) voltage supply error
Description Radar power supply voltage is lower than 8.5V
Possible cause -
20-1101
Fault Code 4D25

Message Radar(Right) internal error
Description Radar detected internal error
Possible cause -
Fault Code 4D26

Message Radar(Right) performance degraded
Description Radar detected range performance degraded
Possible cause -
20-1102
4D50-4D56 Center radar unit failure
Fault Code 4D50

Message Radar(Center) is not scanning
Possible cause -
Fault Code 4D51

Message Radar(Center) is not radiating
Possible cause -
Fault Code 4D52

Message Radar(Center) com error
Possible cause -
Fault Code 4D53

Message Radar(Center) temperature error
Possible cause -
Fault Code 4D54

Message Radar(Center) voltage supply error
Possible cause -
20-1103
Fault Code 4D55

Message Radar(Center) internal error
Possible cause -
Fault Code 4D56

Message Radar(Center) performance degraded
Possible cause -
20-1104
4D80-4D86 Left radar unit failure
Fault Code 4D80

Message Radar(Left) is not scanning
Possible cause -
Fault Code 4D81

Message Radar(Left) is not radiating
Possible cause -
Fault Code 4D82

Message Radar(Left) com error
Possible cause -
Fault Code 4D83

Message Radar(Left) temperature error
Possible cause -
Fault Code 4D84

Message Radar(Left) voltage supply error
Possible cause -
20-1105
Fault Code 4D85

Message Radar(Left) internal error
Possible cause -
Fault Code 4D86

Message Radar(Left) performance degraded
Possible cause -
20-1106
Troubleshooting for Safety control system 4DB0-4DB6
4DB0-4DB6 Right radar unit failure
Fault Code 4DB0

Message Radar(Steer) is not scanning
Possible cause -
Fault Code 4DB1

Message Radar(Steer) is not radiating
Possible cause -
Fault Code 4DB2

Message Radar(Steer) com error
Possible cause -
Fault Code 4DB3

Message Radar(Steer) temperature error
Possible cause -
Fault Code 4DB4

Message Radar(Steer) voltage supply error
Possible cause -
20-1107
Fault Code 4DB5

Message Radar(Steer) internal error
Possible cause -
Fault Code 4DB6

Message Radar(Steer) performance degraded
Possible cause -
20-1108
Troubleshooting for Safety control system
20-1109
20-1110
8C01 Warning of Engine stop circuit

Fault Code 8C01
Message Can’t stop engine
Safety controller is trying to stop engine but engine is still running.
Start
LH-Safety output Engine stop signal
Description Does Engine running N

Timer count up
signal become OFF?
Y
N
Is Timer above
OK 1min ?
Y
Warning 8C01
Engine stop circuit malfunction

- Wiring 23FAC, 52P13 has disconnection
Possible cause - Fuse FB3-13 blown out
- Relay RB12-K8 malfunction
- Wiring 23FA has hot short
Check wiring and connector
To make sure the engine stop function, try the followings
1) Connect laptop PC to COM2 then start “LH Safety IO Checker”
2) Change A/M key to ‘A’ position
3) press stop (CS2-08 should be ON when press stop)
Remedy
Press this button

to stop engine
20-1111
Circuit diagram
SAFETY CONTROLLER
DC24V
RB12-K8
23FAC 23FAC - + 52P13 52P13
STOP REALY CS2-08
TB50-P TB37-P
23FA
TB37-R TB50-N
23F
TB25-C
RB6-K2 29 CN02
11KS 23F
KEY SW 23F
Engine
TB31-S CN806
30 439 1
CN02
QSK ECM
DC24V
RB9-K8
52P13 + - 36A 36
2 1
ENGINE TB56-K
36AT
36
SIG MONITOR
0
OIL PRESSURE
SW
20-1112
Troubleshooting for Safety control system 8C06, 8C0A
8C06, 8C0A Warning of NVRAM of Safety Controller
Fault Code 8C06

Message NVRAM check sum error
Description Sum check error of stored data in NVRAM
1) Safety controller calibration is not completed yet
Possible cause
2) Safety Controller NVRAM broken
<Action>
Remedy 1) Do all calibration about LH-Safe (See 20-101)
2) If same fault occurs after calibration, replace LH-Safety
Fault Code 8C0A

Message NVRAM data cleared
Description All safety controller parameter stored in NVRAM were cleared
Possible cause 1) Safety controller NVRAM broken
<Action>
Remedy 1) Do all calibration about LH-Safe
2) If same fault occurs after calibration, replace LH-Safety
20-1113
8C11 Warning of Auto/Manual Key short
Fault Code 8C11

Message Auto/Manual key switch is short
Description A/M Key (72AT) short to GND in Manual Mode
Possible cause Wiring 72AT has short circuit to GND
<How to check>
2) Select Input , then check A/M key signal input
Auto/Manual
Key input
Remedy

72MAN OFF (Open)
72MAN ON (GND)
3) Check the wiring (72AT), connector and Auto/Manual Key SW
Circuit diagram
AUTO/MANUAL
SWITCH
TB53-K 72AT
72AT
GBA-1
72MAN
72MAN
TB50-K
20-1114
8C12 Warning of Auto/Manual Key cut
Fault Code 8C12

Message Auto/Manual key switch is cut
Description A/M Key (72MAN) disconnection in Manual Mode
- CS4-19 is loosen
Possible cause - Wiring(72MAN) disconnection
- Auto/Manual Key is broken
2) Select Input then check A/M key signal input
Auto/Manual
Key input
Remedy

72MAN OFF (Open)
72MAN ON (GND)
3) Check the wring (72MAN), connector and Auto/Manual Key SW
Circuit diagram
AUTO/MANUAL
SWITCH
TB53-K 72AT
72AT
GBA-1
72MAN
72MAN
TB50-K
20-1115
Troubleshooting for Safety control system 8C13, 8C14, 8C15
8C13 Low voltage of unswitched power

Fault Code 8C13
Description Un-switched power voltage(52P22) is lower than 15V
Possible cause See 20-1028
Remedy See 20-1028

Fault Code 8C14
Description Switched power voltage(52P15) is lower than 15V
Remedy See 20-1028
8C15 Low voltage of Sol1 power

Fault Code 8C15
Message Low voltage of Sol1 power
Description Sol1 power voltage(52P16D) is lower than 15V
Remedy See 20-1028
20-1116
Circuit diagram
SAFETY CONTROLLER BATTERY

52P22 TB56-W FB3-22
11S
BATTERY POWER CS1-5
52P22
BATTERY POWER CS1-15
52P16
SOL 1 POWER MONITOR CS5-13
TB56-N D42 FB3-16 712PA

52P16D
SOL 1 POWER CS1-01
52P16D
SOL 1 POWER CS1-09
TB56-M FB3-15
52P15
MAIN POWER CS1-08
52P15
MAIN POWER CS1-18
TB56-P FB3-17
52P17
SOL 2 POWER CS3-01
52P17
SOL 2 POWER CS3-10
0
GND CS1-06
0
GND CS1-07
0
GND CS1-16 TB57-D
0
GND CS1-17
0
GND CS2-01 TB57-E
0
GND CS3-20
0 A/T
GBA-3
POWER RELAY 712PA
11 C NO
712K + - 0
KEY SW
1 2 GB31
POWER RELAY
FB3-4 A/TPRD
C NO TB32-S TB33-T
11 712 712P
+ - 712
712K 0
TB32-P
KSPRD
1 2 GB31
20-1117
8C17 Sol1 line cut
Fault Code 8C17

Message Sol1 line cut
Description Sol1 power monitor line detected sol1 power is OFF
Remedy See 20-1030
Fault Code 8C18

Description Switched power voltage is lower than 18V
Remedy See 20-1031
Circuit diagram
See Page 20-1117
20-1118
8C40, 8C50, 8C60 Warning of Mode Lamp (Red)

Fault Code 8C40
Message Red Flash Light Control line cut
Description Disconnection of Red mode lamp control line (43RA, 52P10)
Wiring problem
- Loosen connector CS1-14
- Wiring 43RA or 52P10 disconnection
<How to check>
Remedy
- Check the continuity of wiring related to mode lamp(Red)
Fault Code 8C50

Message Red Flash Light Control line short
Description GND short of Red mode lamp control line (43RA)
Possible cause Wiring 43RA has short to GND
<How to check>
- Make sure A/M key position is in ‘M’ position
Remedy - Check if Red light is flashing. (If it is flashing when A/M key is in ‘M’
position, 43RA has short circuit to GND)
- Check the wiring 43RA
Fault Code 8C60

Message Red Flash Light Control line hot short
Description Hot short of Red mode lamp control line (43RA)
Possible cause Wiring 43RA short to 24V power line
<How to check>
- Change A/M key to ‘A’ position
Remedy - Check if Red lamp is flashing. (If it is not flashing when A/M key is in
‘A’ position., 43RA has problem)
20-1119
Expected behavior of Red mode lamp
Voltage of 43RA
A/M key Output of LH-Safety Mode lamp (Red)
(CS1-14)
‘A’ position ON GND Light on
‘M’ position OFF 24V(Open) Light off
Circuit diagram
SAFETY CONTROLLER
RB12-K3
43GA
LIGHT CS1-13
RELAY 52P9 TB54-X G
46GA
RB12-K4
YELLOW
43YA
LIGHT CS1-04
RELAY 52P9 TB54-W Y
46YA
RB12-K5
RED
43RA 52P10
LIGHT CS1-14
RELAY 52P9 R
46RA TB54-V
FB3-9 712P
Front Mode Lamp
46GA 1 G
46YA 2 Y
46RA 3 R
4
Front Mode Lamp

46GA 1 G
46YA 2 Y
46RA 3 R
4
20-1120
8C41, 8C51, 8C61 Warning of Mode Lamp (Green)
Fault Code 8C41

Message Green Flash Light Control line cut
Description Disconnection of Green mode lamp control line (43GA, 52P10)
Wiring problem
- Wiring 43GA or 52P10 disconnection
<How to check>
Remedy
- Check the continuity of wiring related to Mode lamp(Green)
Fault Code 8C51

Message Green Flash Light Control line short
Description GND short of Green mode lamp control line (43GA)
Possible cause Wiring 43GA has short to GND
<How to check>
- Disconnect CS1
Remedy - Check if Green lamp is flashing. (If it is flashing when CS1 is
disconnected, 43GA has short circuit to GND)
- Check the wiring 43GA
Fault Code 8C61

Message Green Flash Light Control line hot short
Description Hot short of Green mode lamp control line (43GA)
Possible cause Wiring 43GA short to 24V power line
<How to check>
- Make sure A/M key is in ‘M’ position
Remedy - Check if Green lamp is flashing. (If it is not flashing when A/M key is
in ‘M’ position, wiring has problem)
- Check the wiring 43GA
20-1121
Expected behavior of Green mode lamp
Voltage of 43GA
A/M key Output of LH-Safety Mode lamp (Green)
(CS1-13)
‘M’ position ON GND Light on
Note: Green mode lamp is always ON
Circuit diagram
SAFETY CONTROLLER
RB12-K3
43GA
LIGHT CS1-13
RELAY 52P9 TB54-X G
46GA
RB12-K4
YELLOW
43YA
LIGHT CS1-04
RELAY 52P9 TB54-W Y
46YA
RB12-K5
RED
43RA 52P10
LIGHT CS1-14
RELAY 52P9 R
46RA TB54-V
FB3-9 712P
Front Mode Lamp
46GA 1 G
46YA 2 Y
46RA 3 R
4
Front Mode Lamp

46GA 1 G
46YA 2 Y
46RA 3 R
4
20-1122
8C42, 8C52, 8C62 Warning of Mode Lamp(Amber)
Fault Code 8C42

Message Amber Flash Light Control line cut
Description Disconnection of Amber mode lamp control line (43YA, 52P10)
Wiring problem
- Wiring 43YA or 52P10 disconnection
<How to check>
Remedy
- Check the continuity of wiring related to Mode lamp (Amber)
Fault Code 8C52

Message Amber Flash Light Control line short
Description GND short of Amber mode lamp control line (43YA)
Possible cause Wiring 43YA has short to GND
<How to check>
- Make sure A/M key position is in ‘M’ position
Remedy - Check If Amber lamp is flashing. (If it is flashing when A/M key is in
‘M’ position, 43YA has short circuit to GND)
- Check the wiring 43YA
Fault Code 8C62

Message Amber Flash Light Control line hot short
Description Hot short of Amber mode lamp control line(43YA)
Possible cause Wiring 43YA short to 24V power line
<How to check>
- Change A/M key to ‘A’ position
Remedy - Check if Amber lamp is flashing. (If it is not flashing when A/M key is
in ‘A’ position, wiring has problem)
- Check the wiring 43YA
20-1123
Expected behavior of Amber mode lamp
Voltage of 43YA
A/M key Output of LH-Safety Mode lamp (Amber)
(CS1-04)
‘M’ position OFF 24V(Open) Light off
Circuit diagram
SAFETY CONTROLLER
RB12-K3
43GA
LIGHT CS1-13
RELAY 52P9 TB54-X G
46GA
RB12-K4
YELLOW
43YA
LIGHT CS1-04
RELAY 52P9 TB54-W Y
46YA
RB12-K5
RED
43RA 52P10
LIGHT CS1-14
RELAY 52P9 R
46RA TB54-V
FB3-9 712P
Front Mode Lamp
46GA 1 G
46YA 2 Y
46RA 3 R
4
Front Mode Lamp

46GA 1 G
46YA 2 Y
46RA 3 R
4
20-1124
8C44, 8C54, 8C64 Warning of Radar power control line
Fault Code 8C44

Message Radar Power line cut
Description Disconnection of radar power relay line (71RDR, 52P10)
Remedy See 20-1037
Fault Code 8C54

Message Radar Power line short
Description GND short of 71RDR between Safety and Radar Power Relay
Remedy See 20-1037
Fault Code 8C64

Message Radar Power line hot short
Description Hot short of 71RDR between Safety and Radar Power Relay
Remedy See 20-1037
Circuit diagram
SAFETY CONTROLLER RB12-K2

RADAR TB56-G
71RDR - + 52P10
POWER CS1-03
RELAY
FB3-16 AD42 NO 71RDP ODS 12VRDR
52P16D 1 1
POWER 0RDR
TB56-N C NC 2 CONVERTER 2
712PA PC1B PC1A
KEY SW POWER GBA-1
20-1125
8C45, 8C55, 8C65 Warning of Headlight Control Line
Fault Code 8C45

Message Head Light Control line cut
Description Disconnection of head light control line (41LA, 52P14)
Wiring problem
- Wiring 41LA or 52P14 disconnection
<How to check>
Remedy
- Check the continuity of wiring related to head light
Fault Code 8C55

Message Head Light Control line short
Description GND short of head light control line (41LA)
Possible cause Wiring 41LA has short to GND
<How to check>
- Make sure head light switch is OFF and A/M key is in ‘M’ position
Remedy
- If head light is flashing with SW off, 41LA has short circuit to GND
- Check the wiring 41LA
Fault Code 8C65

Message Head Light Control line hot short
Description Hot short of head light control line (41LA )
Possible cause Wiring 41LA short to 24V power line
<How to check>
Remedy - Disconnect CS1 and RB11-K4
- Check if 41LA has short circuit to power line
Expected behavior of headlight
Output of LH-Safety Voltage of 41LA(CS1-11) Headlight

ON GND Light on
OFF 24V(Open) Light off
20-1126
How to control headlight by laptop

2) Select IO control
3) Click box next to “Head Light” to turn on/off headlight. (white: OFF, Red : ON)
Click here
Circuit diagram
SAFETY CONTROLLER
DC24V
RB11-K4
TB56-L FB3-14
41LA 41LA 52P14 712PA
HEAD LIGHT CS1-11
RELAY TB36-G TB51-J
41L
LEFT
41L HEADLIGHT
41LL
0
RB5-K1
RIGHT
41L HEADLIGHT
41LR
0
RB5-K2
20-1127
8C47, 8C57, 8C67 Warning of Horn Control Line
Fault Code 8C47

Message Horn Control line cut
Description Disconnection of horn control line (11HA, 52P13)
Wiring problem
- Wiring 11HA or 52P13 disconnection
<How to check>
Remedy
- Check the continuity of wiring related to horn
Fault Code 8C57

Message Horn Control line short
Description GND short of horn control line (11HA)
Possible cause Wiring 11HA has short to GND
<How to check>
Remedy - If horn keeps beeping, 11HA has short circuit to GND
- Check the wiring 11HA
Fault Code 8C67

Message Horn Control line hot short
Description Hot short of horn control line (11HA)
Possible cause Wiring 11HA short to 24V power line
<How to check>
- Check if 11HA has short circuit to power line
Expected behavior of horn
Output of LH-Safety Voltage of 11HA(CS1-10) Horn

ON GND ON
OFF 24V(Open) OFF
20-1128
How to honk the horn by laptop

3) Click box next to “Horn” to honk the horn. Horn will be honk for 1 second.
Click here
Circuit diagram
SAFETY CONTROLLER KEY SW

POWER
RB12-K7
TB56-K FB3-13
11HA 11HA 52P13 712PA
HORN REALY CS1-10
TB36-H TB50-R
11H NO GBA-4
NC
11H 11A
NO 11A
NC
11HS
TB26-S HORN
20-1129
8C48, 8C58, 8C68 Warning of Heartbeat to LH-Drive
Fault Code 8C48

Message Heartbeat line to LH-Drive cut
Description Disconnection of LH Safety Heartbeat line (90SH)
Remedy See 20-1039
Fault Code 8C58

Message Heartbeat line to LH-Drive short
Description LH Safety Heartbeat line (90SH) has short to GND
Remedy See 20-1040
Fault Code 8C68

Message Heartbeat line to LH-Drive hot short
Description LH Safety Heartbeat line (90SH) has short to 24V
Remedy See 20-1041
Circuit diagram
90DH
90SH
20-1130
8C49, 8C59, 8C69 Warning of Rest Req Control Line
Fault Code 8C49

Message Rest req line cut
Description Disconnection of rest request control line (72RQA)
Wiring problem
Possible cause
- Wiring 72RQA disconnection
<How to check>
Remedy
- Check the continuity of wiring related to rest request
Fault Code 8C59

Message Rest req line short
Description GND short of rest request control line (72RQA)
Possible cause Wiring 72RQA has short to GND
<How to check>
Remedy
- Check the wiring 72RQA
Fault Code 8C69

Message Rest req line hot short
Description Hot short of rest request control line (72RQA)
Possible cause Wiring 72RQA short to 24V power line
<How to check>
Remedy
- Check the wiring 72RQA
Expected behavior of rest request
Output of LH-Safety Voltage of 72RAQ(CS2-12) Rest Req

ON 24V ON
OFF Open OFF
20-1131
How to control rest request by laptop

3) Click box next to “Rest Request” to control rest req.
Click here
Circuit diagram
RB11-K5
72RQA 72RQA 0
REST REQUEST CS2-12
NO 72RQ
71P
TB52-J TB37-P
NC
20-1132
Troubleshooting for Safety control system 8C4B, 8C5B, 8C6B
8C4B, 8C5B, 8C6B Warning of Auto Apply Brake control line
Fault Code 8C4B

Message Emergency brake control line cut
Description Disconnection of Auto Apply Brake control line (72AA)
Remedy See 20-1042
Fault Code 8C5B

Message Emergency brake control line short
Description GND short of Auto Apply Brake control line (72AA)
Remedy See 20-1044
Fault Code 8C6B

Message Emergency brake control line hot short
Description Hot short of Auto Apply Brake control line (72AA)
Remedy See 20-1045
20-1133
Troubleshooting for Safety control system 8C4B, 8C5B, 8C6B
Circuit Diagram
24V
Safety controller (Unswitched
BATT)
Auto Apply
72AA Brake Valve
Auto Apply CS2-11
RB10-K3
72AD
NO
NC
Auto Apply
Auto Apply CN1-12 72AT
Brake
Pilot Valve
R. Brake
Pressure Sensor
M
R. Brake
Relay Valve
Auto Apply Monitor
Auto apply control

CS2-11 24V Open 24V Open
Wiring 72AA (ON) (OFF) (ON) (OFF)
CN1-12 0V 0V Open Open
Wiring 72AAD (ON) (ON) (OFF) (OFF)
If A/M key is in “M” position, Auto Apply Brake is not activated.
20-1134
Troubleshooting for Safety control system 8C4C, 8C5C, 8C6C
8C4C, 8C5C, 8C6C Warning of Turn light (Left) control line
Fault Code 8C4C

Message Turn Left control line cut
Description Disconnection of Turn light(left) control line (45LA, 52PB)
Wiring problem
Possible cause
- Wiring 45LA or 52PB disconnection
<How to check>
Remedy
- Check the continuity of wiring related to turn light (left)
Fault Code 8C5C

Message Turn Left control line short
Description GND short of Turn light(left) control line (45LA)
Possible cause Wiring 45LA has short to GND
<How to check>
- Make sure turn light (left) switch is OFF
Remedy - Check if turn light (left) is flashing. (if it is flashing, 45LA has short
circuit to GND)
Fault Code 8C6C

Message Turn Left line hot short
Description Hot short of Turn light (left) control line (45LA)
Possible cause Wiring 45LA short to 24V power line
<How to check>
Expected behavior of Turn Left Light
Output of LH-Safety Voltage of 45LA(CS2-10) Turn Left Light

ON GND ON
OFF Open OFF
20-1135
Troubleshooting for Safety control system 8C4D, 8C5D, 8C6D
8C4D, 8C5D, 8C6D Warning of Turn light (Right) control line
Fault Code 8C4D

Message Turn Right control line cut
Description Disconnection of Turn light(right) control line (45RA, 52PB)
Wiring problem
Possible cause
- Wiring 45RA or 52PB disconnection
<How to check>
Remedy
- Check the continuity of wiring related to turn light (right)
Fault Code 8C5D

Message Turn Right control line short
Description GND short of Turn light(right) control line (45RA)
Possible cause Wiring 45RA has short to GND
<How to check>
- Make sure turn light (right) switch is OFF
Remedy - Check if turn light (right) is flashing. (if it is flashing, 45RA has short
circuit to GND)
Fault Code 8C6D

Message Turn Right line hot short
Description Hot short of Turn light (right) control line (45RA)
Possible cause Wiring 45RA short to 24V power line
<How to check>
Expected behavior of Turn Left Light
Output of LH-Safety Voltage of 45RA (CS2-09) Turn Right Light

ON GND ON
OFF Open OFF
20-1136
Troubleshooting for Safety control system 8C4D, 8C5D, 8C6D
Circuit diagram
RB12-K1
52P8 FB3-8 712PA
RIGHT TURN CS2-09 45RA
NO 52P8
C
NC TB22- R
45R
RB12-K6
45LA 52P8
LEFT TURN CS2-10
NO 52P8
C
NC TB22-T L
45L
How to control Turn light (Left or Right)

3) Click box next to “Turn Light” to turn on/off
Click here
20-1137
Troubleshooting for Safety control system 8C4F, 8C5F, 8C6F
8C4F, 8C5F, 8C6F Warning of Engine Stop line
Fault Code 8C4F

Message Engine stop line cut
Description Disconnection of engine stop line (23FAC, 52P13)
Wiring problem
Possible cause
- Wiring 24FAC or 52P13disconnection
<How to check>
Remedy
- Check the continuity of wiring related to engine stop circuit
Fault Code 8C5F

Message Engine stop line short
Description GND short of engine stop line (23FAC)
Possible cause Wiring 23FAC has short to GND
<How to check>
Remedy - Check the wiring 23FAC
- Note : Engine should be stopped if 23FAC has short to GND
Fault Code 8C6F

Message Engine stop line hot short
Description Hot short of engine stop line (23FAC)
Possible cause Wiring 23FAC short to 24V power line
<How to check>
- Check the wiring 23FAC
Expected behavior of Engine Stop circuit
Output of LH-Safety Voltage of 23FAC (CS2-08) Engine

ON GND Stop
OFF Open running
Note LH-Safety can stop engine only when A/M key is in ‘A’ position
20-1138
Circuit diagram
SAFETY CONTROLLER
DC24V
RB12-K8
23FAC 23FAC - + 52P13 52P13
STOP REALY CS2-08
TB50-P TB37-P
23FA
TB37-R TB50-N
23F
TB25-C
RB6-K2 29 CN02
11KS 23F
KEY SW 23F
Engine
TB31-S CN806
30 439 1
CN02
QSK ECM
DC24V
RB9-K8
52P13 + - 36A 36
2 1
ENGINE TB56-K
36AT
36
SIG MONITOR
0
OIL PRESSURE
SW
20-1139
How to stop engine by laptop
1) Connect laptop PC to COM2 then start “LH Safety IO Checker”

2) Change A/M key to ‘A’ position
3) press stop (CS2-08 should be ON when press stop)
Press this button

to stop engine
20-1140
8C95 (A5) No Propel / Retard

Fault Code 8C95
Message (A5) No Propel / Retard
Description Retarding and propulsion capability is eliminated
Possible cause -
8C96 (D5) Hydraulic Oil Temp. High

Fault Code 8C96
Message (D5) Hydraulic Oil Temp. High
Description High Oil temperature in the hydraulic tank
Possible cause -
8C98 (A6) No Propel

Fault Code 8C98
Message (A6) No Propel
Description Propulsion capability has been eliminated
Possible cause -
8C99 (A1) Brake Oil Temp. High

Fault Code 8C99
Message (A1) Brake Oil Temp. High
Description High brake oil temperature
Possible cause -
20-1142
Troubleshooting for Safety control system 8CA0-8CA4
8CA0 (B2) Low Auto Lube Pressure

Fault Code 8CA0
Message (B2) Low Auto Lube Pressure
Automatic lubrication system fails to reach 13,790 kPa (2,000 psi) within
Description
one minute after lube timer initiates a grease cycle
Possible cause -
8CA1 (C2) Circuit Breaker Tripped

Fault Code 8CA1
Message (C2) Circuit Breaker Tripped
Description Any of the circuit breakers in the relay circuit control boards are tripped
Possible cause -
8CA2 (D2) Hydraulic Oil Filter

Fault Code 8CA2
Message (D2) Hydraulic Oil Filter
A restriction in the high pressure filter assembly for either the steering or
Description
hoist circuit
Possible cause -
8CA3 (E2) Low Fuel

Fault Code 8CA3
Message (E2) Low Fuel
Description Remaining fuel is approximately 25 gallons
Possible cause -
8CA4 (C4) 5 min shutdown timer

Fault Code 8CA4
Message (C4) 5 min shutdown timer
Description Engine shutdown timer is activated
Possible cause -
20-1143
Troubleshooting for Safety control system 8CA5-8CA9
8CA5 (E4) Check Engine

Fault Code 8CA5
Message (E4) Check Engine
Description Malfunction is detected by the engine electronic control system
Possible cause -
8CA6 (B5) Propel System Caution

Fault Code 8CA6
Message (B5) Propel System Caution
Description “No Propel or No Retard” event may be about to occur
Possible cause -
8CA7 (C5) Propel System Temp

Fault Code 8CA7
Message (C5) Propel System Temp
Description The drive system temperature is above a certain level
Possible cause -
8CA8 (B6) Propel System at rest

Fault Code 8CA8
Message (B6) Propel System at rest
Description AC Drive system is de-energized and propulsion is not available
Possible cause -
8CA9 (C6) Propel System Not Ready

Fault Code 8CA9
Message (C6) Propel System Not Ready
System is in the process of performing the self diagnosis and setup
Description
functions at start-up
Possible cause -
20-1144
Troubleshooting for Safety control system 8CAA-8CAB
8CAA (D6) Reduced Propel System

Fault Code 8CAA
Message (D6) Reduced Propel System
Description AC Drive system performance in propulsion is not available
Possible cause -
8CAB (E6) Retard at Reduced Level

Fault Code 8CAB
Message (E6) Retard at Reduced Level
Description Retarding effort is at a reduced level
Possible cause -
20-1145
8C90 (B1) Low Steering Pressure

Fault Code 8C90
Message (B1) Low Steering Pressure
Description Steering hydraulic pressure drops below 15.900kPa(2300psi)
Possible cause -
Remedy See 930E-3 Shop manual N5-24
8C91 (C1) Low Accumulator Pressure

Fault Code 8C91
Message (C1) Low Accumulator Pressure
Description The nitrogen pre-charge within the accumulator is below 1100+/- 45 psi
Possible cause -
8C92 (E1) Low Brake Pressure

Fault Code 8C92
Message (E1) Low Brake Pressure
Description Malfunction within hydraulic brake circuit
Possible cause -
8C93 (A2) Low Hydraulic Tank Level

Fault Code 8C93
Message (A2) Low Hydraulic Tank Level
Description Oil level in the hydraulic tank is below recommended level
Possible cause -
8C94 (E3) Stop Engine

Fault Code 8C94
Message (E3) Stop Engine
Description A serious engine malfunction is detected in the engine control system
Possible cause -
20-1141
Troubleshooting for Safety control system 8D01,8D31,8D61,8D91
8D01, 8D31, 8D61, 8D91 Warning of Obstacle Detection System
Fault Code 8D01

Message No data from Radar (Right)
Description Safety controller doesn’t receive data from GSP1(Right).
Possible cause Problem in Radar1, GSP1, or wiring harness.
Remedy If the warning persists, see 20-1051
Fault Code 8D31

Message No data from Radar (Center)
Description Safety controller doesn’t receive data from GSP2(Center).
Fault Code 8D61

Message No data from Radar (Left)
Description Safety controller doesn’t receive data from GSP3(Left).
Fault Code 8D91

Message No data from Radar (Steer)
Description Safety controller doesn’t receive data from GSP4(Steer).
20-1146
8D10-8D1F Warning of Radar (Right) self diagnosis
Fault Code 8D10

Message Radar(Right) program checksum
Possible cause -
Cycle power.
Remedy
If fault repeats, replace radar
Fault Code 8D11

Message Radar(Right) boot code checksum
Possible cause -
Cycle power.
Remedy
Fault Code 8D12

Message Radar(Right) actuator feedback
Possible cause -
Cycle power.
Remedy
Fault Code 8D13

Message Radar(Right) 4 beam sum position
Possible cause -
Cycle power.
Remedy
Fault Code 8D14

Message Radar(Right) beam to beam position
Possible cause -
Cycle power.
Remedy
20-1147
Fault Code 8D15

Message Radar(Right) dsp RAM rw
Possible cause -
Cycle power.
Remedy
Fault Code 8D16

Message Radar(Right) absolute antenna pos
Possible cause -
Cycle power.
Remedy
Fault Code 8D17

Message Radar(Right) one channel fail
Possible cause -
Cycle power.
Remedy
Fault Code 8D18

Message Radar(Right) blockage detected
Description Unit is blocked
Possible cause -
Cycle power.
Remedy
Fault Code 8D19

Message Radar(Right) missed com from master
Description Communication failure inside radar
Possible cause -
Cycle power.
Remedy
20-1148
Fault Code 8D1B

Message Radar(Right) invalid track data
Description DSP in radar unit failure
Possible cause -
Cycle power.
Remedy
Fault Code 8D1C

Message Radar(Right) ee transfer
Description Data loading failure
Possible cause -
Cycle power.
Remedy
Fault Code 8D1E

Message Radar(Right) beam processing error
Description Beam process can’t complete in allocated time
Possible cause -
Cycle power.
Remedy
Fault Code 8D1F

Message Radar(Right) turnaround proc error
Description Turn around process can’t complete in allocated time
Possible cause -
Cycle power.
Remedy
20-1149
8D40-8D4F Warning of Radar (Center) self diagnosis
Fault Code 8D40

Message Radar(Center) program checksum
Possible cause -
Cycle power.
Remedy
Fault Code 8D41

Message Radar(Center) boot code checksum
Possible cause -
Cycle power.
Remedy
Fault Code 8D42

Message Radar(Center) actuator feedback
Possible cause -
Cycle power.
Remedy
Fault Code 8D43

Message Radar(Center) 4 beam sum position
Possible cause -
Cycle power.
Remedy
Fault Code 8D44

Message Radar(Center) beam to beam position
Possible cause -
Cycle power.
Remedy
20-1150
Fault Code 8D45

Message Radar(Center) dsp RAM rw
Possible cause -
Cycle power.
Remedy
Fault Code 8D46

Message Radar(Center) absolute antenna pos
Possible cause -
Cycle power.
Remedy
Fault Code 8D47

Message Radar(Center) one channel fail
Possible cause -
Cycle power.
Remedy
Fault Code 8D48

Message Radar(Center) blockage detected
Possible cause -
Cycle power.
Remedy
Fault Code 8D49

Message Radar(Center) missed com from master
Possible cause -
Cycle power.
Remedy
20-1151
Fault Code 8D4B

Message Radar(Center) invalid track data
Possible cause -
Cycle power.
Remedy
Fault Code 8D4C

Message Radar(Center) ee transfer
Possible cause -
Cycle power.
Remedy
Fault Code 8D4E

Message Radar(Center) beam processing error
Possible cause -
Cycle power.
Remedy
Fault Code 8D4F

Message Radar(Center) turnaround proc error
Possible cause -
Cycle power.
Remedy
20-1152
8D70-8D7F Warning of Radar (Left) self diagnosis
Fault Code 8D70

Message Radar(Left) program checksum
Possible cause -
Cycle power.
Remedy
Fault Code 8D71

Message Radar(Left) boot code checksum
Possible cause -
Cycle power.
Remedy
Fault Code 8D72

Message Radar(Left) actuator feedback
Possible cause -
Cycle power.
Remedy
Fault Code 8D73

Message Radar(Left) 4 beam sum position
Possible cause -
Cycle power.
Remedy
Fault Code 8D74

Message Radar(Left) beam to beam position
Possible cause -
Cycle power.
Remedy
20-1153
Fault Code 8D75

Message Radar(Left) dsp RAM rw
Possible cause -
Cycle power.
Remedy
Fault Code 8D76

Message Radar(Left) absolute antenna pos
Possible cause -
Cycle power.
Remedy
Fault Code 8D77

Message Radar(Left) one channel fail
Possible cause -
Cycle power.
Remedy
Fault Code 8D78

Message Radar(Left) blockage detected
Possible cause -
Cycle power.
Remedy
Fault Code 8D79

Message Radar(Left) missed com from master
Possible cause -
Cycle power.
Remedy
20-1154
Fault Code 8D7B

Message Radar(Left) invalid track data
Possible cause -
Cycle power.
Remedy
Fault Code 8D7C

Message Radar(Left) ee transfer
Possible cause -
Cycle power.
Remedy
Fault Code 8D7E

Message Radar(Left) beam processing error
Possible cause -
Cycle power.
Remedy
Fault Code 8D7F

Message Radar(Left) turnaround proc error
Possible cause -
Cycle power.
Remedy
20-1155
8DA0-8DAF Warning of Radar (Steer) self diagnosis
Fault Code 8DA0

Message Radar(Steer) program checksum
Possible cause -
Cycle power.
Remedy
Fault Code 8DA1

Message Radar(Steer) boot code checksum
Possible cause -
Cycle power.
Remedy
Fault Code 8DA2

Message Radar(Steer) actuator feedback
Possible cause -
Cycle power.
Remedy
Fault Code 8DA3

Message Radar(Steer) 4 beam sum position
Possible cause -
Cycle power.
Remedy
Fault Code 8DA4

Message Radar(Steer) beam to beam position
Possible cause -
Cycle power.
Remedy
20-1156
Fault Code 8DA5

Message Radar(Steer) dsp RAM rw
Possible cause -
Cycle power.
Remedy
Fault Code 8DA6

Message Radar(Steer) absolute antenna pos
Possible cause -
Cycle power.
Remedy
Fault Code 8DA7

Message Radar(Steer) one channel fail
Possible cause -
Cycle power.
Remedy
Fault Code 8DA8

Message Radar(Steer) blockage detected
Possible cause -
Cycle power.
Remedy
Fault Code 8DA9

Message Radar(Steer) missed com from master
Possible cause -
Cycle power.
Remedy
20-1157
Troubleshooting for Safety control system 8DAB-8DAF
Fault Code 8DAB

Message Radar(Steer) invalid track data
Possible cause -
Cycle power.
Remedy
Fault Code 8DAC

Message Radar(Steer) ee transfer
Possible cause -
Cycle power.
Remedy
Fault Code 8DAE

Message Radar(Steer) beam processing error
Possible cause -
Cycle power.
Remedy
Fault Code 8DAF

Message Radar(Steer) turnaround proc error
Possible cause -
Cycle power.
Remedy
20-1158
8E00 Warning of Steered radar motor unit potentiometer
Fault Code 8E00

Message Steered radar motor unit potentiometer error
Malfunction of Steered motor potentiometer
- The voltage of motor potentiometer is lower than 0.12V
Description
- The voltage of motor potentiometer is higher than 4.88V
Note: motor potentiometer signal must be between 0.55V and 4.45V
Remedy See 20-1075
Circuit diagram

59R1 TB54-L 59R1
59R2 TB54-M 59R2
59R3 TB54-N 59R3
59R4 TB54-P 59R4
RADAR STEPPING
MOTOR
CN513 MP1B
59R5 TB54-R 59R5
59R6 TB54-S 59R6
59R7 TB54-T 59R7
GND CN3A-16 7 3 GND
STEPPING MOTOR
POSITION SENSOR
20-1159
8E01 Warning of Steered radar motor control line

Fault Code 8E01
Message Steered radar motor line hot short
Description
59R4) has short to power line (more than 12V)
Remedy See 20-1077
Fault Code 8E03

Message Steered radar motor line cut
Description
59R4) has disconnection
Remedy See 20-1077
Fault Code 8E04

Message Steered radar motor line short
Description
59R4) has short to GND
Remedy See 20-1077
20-1160
Troubleshooting for Safety control system 8E01, 8E12, 8E13
8E11, 8E12, 8E13 Warning of communication between LX and LH-Safe
Fault Code 8E11

Message Heartbeat error from LX
Description Heartbeat signal from LX is not updated for 1sec.
Remedy See 20-1080
Fault Code 8E12

Description Checksum error of LX message happened three times in series
Remedy See 20-1081
Fault Code 8E13

Description LH-Safety couldn’t receive message from LX for 0.5 sec
Remedy See 20-1082
Circuit diagram

TB55-T 90SFT
W
R TB55-V 90SFR
TB55-S
B 90SFG
SHLD
20-1161
Troubleshooting for Safety control system 8E14, 8E15, 8E16
8E14, 8E15, 8E16 Warning of communication between LX and LH-Safe
Fault Code 8E14

Message Heartbeat error to LX
Description Heartbeat signal from LH to LX is not updated for 1sec.
Remedy See 20-1083
Fault Code 8E15

Checksum error of message from LH-Safety to LX happened three
Description
times in series
Remedy See 20-1084
Fault Code 8E16

Description LX couldn’t receive message from LH-Safety for 0.5 sec.
Remedy See 20-1085
Circuit diagram

TB55-T 90SFT
W
R TB55-V 90SFR
TB55-S
B 90SFG
SHLD
20-1162
Troubleshooting for Safety control system 8E20 – 8E27
8E20 - 8E27 Drive Controller Failure
Fault Code 8E20

Message Heartbeat from LH-Drive cut
Description LH-Safety couldn’t receive Heartbeat signal from LH-Drive for 1sec
Remedy See 20-1089
Fault Code 8E21

Message No position data from LH-Drive via CAN-B
Description LH-Safety couldn’t receive Position RPC from LH-Drive for 0.5sec
Remedy See 20-1090
Fault Code 8E22

Message LH-Drive not working
Heartbeat from LH-Drive is not coming, and also Position RPC from LH-Drive
Description
stopped
Remedy See 20-1092
Fault Code 8E24

Message Wrong Truck Type
Description Truck type of LH-Safety and LH-Drive has mismatched
Remedy See 20-1094
Fault Code 8E27

Message LH-Drive CAN-A failure
LH-Drive reported that CAN-A communication failure
Description Since when LH-Drive has CAN-A communication failure, it can’t report the fault
code to Central, LH-Safety reports the fault instead of LH-Drive
Remedy See 20-1094
20-1163
8E38 MBI communication failure
Fault Code 8E38

Message MBI isn’t working
Description MBI heart beat has stopped for more than 5 sec
Remedy See 20-1096
20-1164
8D20-8D26 Right radar unit failure
Fault Code 8D20

Message Radar(Right) is not scanning
Possible cause -
Fault Code 8D21

Message Radar(Right) is not radiating
Possible cause -
Fault Code 8D22

Message Radar(Right) com error
Possible cause -
Fault Code 8D23

Message Radar(Right) temperature error
Possible cause -
Fault Code 8D24

Message Radar(Right) voltage supply error
Possible cause -
20-1165
Fault Code 8D25

Message Radar(Right) internal error
Possible cause -
Fault Code 8D26

Message Radar(Right) performance degraded
Possible cause -
20-1166
8D50-8D56 Center radar unit failure
Fault Code 8D50

Message Radar(Center) is not scanning
Possible cause -
Fault Code 8D51

Message Radar(Center) is not radiating
Possible cause -
Fault Code 8D52

Message Radar(Center) com error
Possible cause -
Fault Code 8D53

Message Radar(Center) temperature error
Possible cause -
Fault Code 8D54

Message Radar(Center) voltage supply error
Possible cause -
20-1167
Fault Code 8D55

Message Radar(Center) internal error
Possible cause -
Fault Code 8D56

Message Radar(Center) performance degraded
Possible cause -
20-1168
8D80-8D86 Left radar unit failure
Fault Code 8D80

Message Radar(Left) is not scanning
Possible cause -
Fault Code 8D81

Message Radar(Left) is not radiating
Possible cause -
Fault Code 8D82

Message Radar(Left) com error
Possible cause -
Fault Code 8D83

Message Radar(Left) temperature error
Possible cause -
Fault Code 8D84

Message Radar(Left) voltage supply error
Possible cause -
20-1169
Fault Code 8D85

Message Radar(Left) internal error
Possible cause -
Fault Code 8D86

Message Radar(Left) performance degraded
Possible cause -
20-1170
8DB0-8DB6 Right radar unit failure
Fault Code 8DB0

Message Radar(Steer) is not scanning
Possible cause -
Fault Code 8DB1

Message Radar(Steer) is not radiating
Possible cause -
Fault Code 8DB2

Message Radar(Steer) com error
Possible cause -
Fault Code 8DB3

Message Radar(Steer) temperature error
Possible cause -
Fault Code 8DB4

Message Radar(Steer) voltage supply error
Possible cause -
20-1171
Fault Code 8DB5

Message Radar(Steer) internal error
Possible cause -
Fault Code 8DB6

Message Radar(Steer) performance degraded
Possible cause -
20-1172
20-1173
How to use Monitor PC
LH Drive IO Checker software manual............................................................ 30-2
LH Safety IO Checker software manual.......................................................... 30-37
30-1
LH Drive IO Checker Software Manual
LH Drive IO Checker
Software Manual
1. About LH Drive IO Checker .............................................................................................................. 30-3

2. Preparation ....................................................................................................................................... 30-4
3. Main Window .................................................................................................................................... 30-7
4. AM Key / Others................................................................................................................................ 30-8
5. Acceleration ...................................................................................................................................... 30-9
6. Shift ..................................................................................................................................................30-11
7. Steering........................................................................................................................................... 30-13
8. Hoist................................................................................................................................................ 30-15
9. Brake............................................................................................................................................... 30-17
10. All I/O Status Monitor .................................................................................................................. 30-20
11. Navigation System Monitor ......................................................................................................... 30-28
12. CAN Communication Monitor ..................................................................................................... 30-35
30-2
1. About LH Drive IO Checker
This software is to monitor input data to LH-Drive Controller and output data from LH-Controller.
And this software can control output signals of LH-Drive Controller as well. But, there are some
restrictions for controlling output signals.
1) Output signal can be controlled only when 930E-AT is in Manual-Mode. When you can control
output signal of LH-Controller, you can see a messages
“ LH-Drive Maintenance : Ready “ and “LH-Drive IO Control : Ready “ in the main window.
2) 930E-AT can’t be changed to Auto-Mode from Manual-Mode while 930E-AT monitor software is
running. You need to close the software to change 930E-AT to Auto-Mode.
3) If you start 930E-AT Monitor Software while 930E-AT is in Auto-Mode or Suspend-Mode, you can
monitor Input and Output signal, but you can not control output signal of LH-Controller.
30-3
2. Preparation
2-1. Connect PC to LH-Controller

1) Disconnect RS232C cable
(COM1) from Flight Recorder
in Cab.
LH-Drive Controller (COM1)
LH-Safety Controller (COM2)
2) Connect between PC and LH-Controller with RS232C extension cable (D-Sub9).

Extension cable must be straight cable.
Extension
2-2. Start “Monitor Sofware”

1) Start “LHDriveCheck.exe”
Click “LHDriveCheck.exe” to start software.
2) If COM PORT ERROR shows up, press OK.
Set com port number which is set serial port and press
OK.
Then close main window and
restart “LHDriveCheck.exe” again.
30-4
3) Main Window will be showed up.

If COM port is correct setting, you can see “COM
OPEN Success”
If Main Window shows “COM Open Fail”, COM

port number must be wrong. Set correct COM
port number.
4) Connection Check
If connection between PC and LH-controller is
correct, you can see
“LH-DRIVE Communication : Ready”.
If the message is
“LH-DRIVE Communication : Fail”,
check if serial cable(D-Sub9) connect to LH-Drive correctly
30-5
5) IO-Control ready
If 930E-AT is in Manual-Mode, the message,
“ LH-DRIVE Maintenance : Ready “
“ LH-DRIVE IO Control : Ready “
will be shown
You can control output signal of LH-Controller.
If the message, “ LH-DRIVE Maintenance :Not

Ready “is shown, you can not control output
signal of LH-Controller because 930E-AT is
not in Manual-Mode. But, you can monitor
input signal and output signal.
30-6
3. Main Window
All of monitor windows can be selected from Main Window.
3-1. A/M Key / Others

Press A/M Key / Others,
“A/M Key / Others” window comes up.
3-2. ACCELERATION
Press ACCELERATION,
“ACCELERATION” window comes up.
3-3. SHIFT
Press SHIFT,
“SHIFT” window comes up.
3-4. STEERING
Press STEERING,
“STEERING” window comes up.
3-5. HOIST
Press HOIST,
“HOIST” window comes up.
3-6. BRAKE
Press BRAKE,
“BRAKE” window comes up.
3-7. ALL I/O Status Monitor
Press ALL I/O Status Minitor,
“ALL I/O Status Monitor” window comes up.
3-8. Navigation System Monitor
Press Navigation System Monitor,
“Navigation System Monitor” window comes up.
3-9. CAN Communication Monitor
Press CAN Communication Monitor,
“CAN Communication Monitor” window comes up.
30-7
4. AM Key / Others
In this window, you can see input of A/M Key, Identifier and Heartbeat from safe to LH-Drive controller.
The green color of LED mark , shows that the input signal to LH-Controller is ON.
When you close the “AM Key/Others” window, press .
Pin-No Name ON OFF Comment

CN4-09 A/M key (Auto) GND OPEN Signal is ON when A/M key is auto
position,.
CN4-19 A/M key (Manual) GND OPEN Signal is ON when A/M key is
manual position,.
CN5-06 Identifier 24V OPEN Signal must be always ON at
LH-Drive
CN5-14 Heartbeat from Safe 24V OPEN Signal is blinking.
30-8
5. Acceleration
In this window, you can see input and output signal related to GE Propel control.
When you close the “ACCERERATION” window, press .
5-1. IO Status Monitor

“IO Status Monitor” shows I/O signal and value.
1) Digital input to LH-Controller

The green color of LED mark , shows that the input to LH-Controller is ON.
Pin No Name ON OFF Comment
CN4-18 Moving Forward(GE) GND OPEN Signal is ON when truck drive forward.
CN4-08 Moving Reverse(GE) GND OPEN Signal is ON when truck drive reverse.
CN4-15 Retard Active GND OPEN Signal is OFF when retard brake activate
2) Analog input to LH-Controller

Pin No Name Unit of Value Comment
CN7-10 Accel Sig Monitor Volt Feedback signal from CN2-02
CN7-02 Retard Sig Monitor Volt Feedback signal from CN2-07
30-9
3) Digital output from LH-Controller

The red color of LED mark , shows that the output from LH-Controller is ON.

CN1-14 Shift Forward Request GND OPEN Forward request to GE
CN1-13 Shift Reverse Request GND OPEN Reverse request to GE
4) Analog output from LH-Controller

CN2-02 Accel Signal Out Volt Acceleration signal to GE
CN2-07 Retard Signal Out Volt Retard signal to GE
5-2. IO Control
If 930E-AT is in Manual-Mode and there is a message “ LH-DRIVE IO Control : Ready “ in Main
Window, you can control LH-Controller’s output by changing A/M key to “Auto” position.
Change A/M Key to Auto position to control
output of LH-Controller
1) Control of Digital output

Press On or OFF to control digital output of CN1-14
and CN1-13.
2) Control of Analog output

Slide bar to control analog output of CN2-02 and
CN2-07.
3) All output reset

Press Reset button to reset all output signal to ready
position.
30-10
6. Shift
When you close the “SHIFT” window, press .

“IO Status Monitor” shows I/O signal.

CN4-13 Forward Request Position 24V OPEN Feedback signal of forward request to
GE. This signal comes from CN1-14
when A/M key is “Auto”. It comes from
F-N-R lever when A/M key is “Manual”.
CN4-03 Reverse Request Position 24V OPEN Feedback signal of reverse request to
GE. This signal comes from CN1-13

when A/M key is “Auto”. It comes from
F-N-R lever when A/M key is “Manual”.

CN1-14 Shift Forward Request GND OPEN Forward request to GE
CN1-13 Shift Reverse Request GND OPEN Reverse request to GE
30-11
6-2. IO Control
Change A/M Key to Auto position to control output of LH-Controller

Press On or OFF to control digital output of CN1-14 and
CN1-13.
2) All output reset

position.
30-12
7. Steering
When you close the “STEERING” window, press .


Pin No Name Unit of Comment
Value
CN7-07 S/T Potentiometer1(Right) Volt The value of right steering potentiometer
CN7-17 S/T Potentiometer2(Left) Volt The value of left steering potentiometer
CN7-09 S/T Pressure (Right) PSI The value of Hydraulic S/T pressure sensor
(Right)
CN7-19 S/T Pressure (Left) PSI The value of Hydraulic S/T pressure sensor
(Left)

CN3-15 S/T Valve OUT (Right) mA The output value to S/T valve solenoid
CN3-16 S/T Valve OUT (Left) mA The output value to S/T valve solenoid
30-13
7-2. IO Control

Slide bar to control analog output of CN2-02 and
CN2-07.
2) All output reset

position.
30-14
8. Hoist
When you close the “HOIST” window, press


CN4-02 Body Up Limit SW 24V OPEN Signal is ON when body is up position..
CN4-11 Body Down SW 24V OPEN Signal is ON when body is down position.
CN4-16 Hoist Sig(SolA) Monitor GND OPEN Feedback signal to hoist valve solenoid A. This
signal comes from CN1-03 when A/M key is
“Auto”. It comes from hoist control switch when
A/M key is “Manual”.
CN4-07 Hoist Sig (SolB) Monitor GND OPEN Feedback signal to hoist valve solenoid B. This
signal comes from CN1-10 when A/M key is
“Auto”. It comes from hoist control switch when
A/M key is “Manual”.
30-15

CN7-12 Hoist Control Pressure PSI Hydraulic pressure of output of hoist
valve down port.

CN1-03 Hoist (SolA) OUT GND OPEN Output to hoist valve solenoid A (Body up)
CN1-10 Hoist (SolB) OUT GND OPEN Output to hoist valve solenoid B (Body down)
CN1-02 Hoist Sig Cut GND OPEN Signal to cut all signals of hoist valve solenoid
8-2. IO Control

Press On or OFF to control digital output of CN1-03,
CN1-10 and CN1-02.
2) All output reset

position.
30-16
9. Brake
When you close the “BRAKE” window, press .


CN4-06 Park Brake Pressure SW GND OPEN Signal is ON when park brake is
active
CN4-17 Brake Lock Active GND OPEN Signal is ON when brake lock switch
in cab is pressed.
CN4-12 Service Brake Active 24V OPEN Signal is ON when service brake is
active
CN4-14 Auto Apply Brake Monitor 24V OPEN Signal is ON when auto apply brake
signal is ON.
30-17

CN7-05 (FL) Brake Pressure PSI Hydraulic pressure of Front Left Brake
CN7-15 (FR) Brake Pressure PSI Hydraulic pressure of Front Right Brake
CN7-06 (RL) Brake Pressure PSI Hydraulic pressure of Rear Left Brake
CN7-16 (RR) Brake Pressure PSI Hydraulic pressure of Rear Right Brake

CN1-04 Brake Lock Sol GND OPEN Output to Brake Lock solenoid
CN1-11 Park Brake Sol GND OPEN Output to Park Brake solenoid
CN1-12 Auto Apply Brake GND OPEN Output to Auto Apply Brake solenoid.
When output is ON, Auto Apply Brake is
released.

CN3-04 Rear Brake mA Output to Hydraulic Rear Brake solenoid
CN3-05 Front Brake mA Output to Hydraulic Front Brake solenoid
30-18
9-2. IO Control

Press On or OFF to control digital output of CN1-04, CN1-11 and CN1-12.

Slide bar to control analog output of CN3-04 and CN3-05.
3) All output reset

Press Reset button to reset all output signal to ready position.
30-19
10. All I/O Status Monitor
When you close the “All I/O Status Monitor” window, press
10-1 Digital Input

Red color shows that the input to LH-Controller is ON.

CN4-01 N/A
CN4-02 Body Up Limit SW 24V OPEN Signal is ON when body is up position..
CN4-03 Reverse Request Position 24V OPEN Feedback signal of reverse request to GE.
This signal comes from CN1-13 when A/M
key is “Auto”. It comes from F-N-R lever
when A/M key is “Manual”.
CN4-04 N/A
CN4-05 N/A
30-20

CN4-06 Park Brake Pressure SW GND OPEN Signal is ON when park brake is active
CN4-07 Hoist Sig (SolB) Monitor GND OPEN Feedback signal to hoist valve solenoid B.
key is “Auto”. It comes from hoist control
switch when A/M key is “Manual”.
CN4-08 Moving Reverse(GE) GND OPEN Signal is ON when truck drive reverse.
CN4-09 A/M key (Auto) GND OPEN Signal is ON when A/M key is auto
position,.
CN4-10 N/A GND OPEN GPS timing signal from ML Hub
CN4-11 Body Down SW 24V OPEN Signal is ON when body is down position.
CN4-12 Service Brake Active 24V OPEN Signal is ON when service brake is active
CN4-13 Forward Request Position 24V OPEN Feedback signal of forward request to GE.
key is “Auto”. It comes from F-N-R lever
when A/M key is “Manual”.
CN4-14 Auto Apply Brake Monitor 24V OPEN Signal is ON when auto apply brake signal
is ON.
CN4-15 Retard Active GND OPEN Signal is OFF when retard brake activate
CN4-16 Hoist Sig(SolA) Monitor GND OPEN Feedback signal to hoist valve solenoid A.
key is “Auto”. It comes from hoist control
switch when A/M key is “Manual”.
CN4-17 Brake Lock Active GND OPEN Signal is ON when brake lock switch in cab
is pressed.
CN4-18 Moving Forward(GE) GND OPEN Signal is ON when truck drive forward.
CN4-19 A/M key (Manual) GND OPEN Signal is ON when A/M key is manual
position,.
CN4-20 N/A
30-21

CN5-01 N/A
CN5-02 N/A
CN5-03 PPS GND OPEN PPS input from ML-HUB
CN5-04 N/A
CN5-05 N/A
CN5-06 Identifier 24V OPEN Signal must be always ON at
LH-Drive
CN5-09 N/A
CN5-10 N/A
CN5-11 N/A
CN5-12 N/A
CN5-13 Sol1 power monitor 24V OPEN Signal which is Sol1 power of
LH-Drive controller.
CN5-14 Heartbeat from Safe 24V OPEN Signal is blinking.
30-22
10-2 Digital Output

Red color shows that the output from LH-Controller is ON.
1) Digital output signal

CN1-02 Hoist Sig Cut GND OPEN Signal to cut all signals of hoist valve solenoid
CN1-03 Hoist (SolA) OUT GND OPEN Output to hoist valve solenoid A (Body up)
CN1-04 Brake Lock Sol GND OPEN Output to Brake Lock solenoid
CN1-10 Hoist (SolB) OUT GND OPEN Output to hoist valve solenoid B (Body down)
CN1-11 Park Brake Sol GND OPEN Output to Park Brake solenoid
CN1-12 Auto Apply Brake GND OPEN Output to Auto Apply Brake relay. When output is ON,
Auto Apply Brake is released.
CN1-13 Shift Reverse GND OPEN Reverse request to GE

Request
CN1-14 Shift Forward GND OPEN Forward request to GE
Request
CN2-03 N/A
30-23

CN2-04 Nav Lamp 2 (N/A) 24V OPEN Not use
CN2-05 Heartbeat 24V OPEN Heartbeat signal to LH safety controller
CN2-08 N/A
CN2-09 N/A
CN2-10 Override GND OPEN This signal is for drive with body up
2) Digital output signal control

If 930E-AT is in Manual-Mode and there is a message “LH-Drive IO Control ; Ready” in Main
Window, you can control LH-Controller’s output by changing A/M key to “Auto”
Press or to control digital outputs.
10-3 Analog Input
30-24

CN7-01 Pitch Volt Pitch sensor signal
CN7-05 (FL) Brake Pressure PSI Hydraulic pressure of Front Left Brake
CN7-06 (RL) Brake Pressure PSI Hydraulic pressure of Rear Left Brake
CN7-07 S/T Volt The value of right steering
Potentiometer1(Right) potentiometer
CN7-08 REG Sensor meter Target distance from REG senor
CN7-09 S/T Pressure (Right) PSI The value of Hydraulic S/T pressure
sensor (Right)
CN7-10 Accel Sig Monitor Volt Feedback signal from CN2-02
CN7-11 Roll Volt Roll sensor signal
CN7-12 Hoist Control Pressure PSI Hydraulic pressure of output of hoist
valve down port.
CN7-15 (FR) Brake Pressure PSI Hydraulic pressure of Front Right Brake
CN7-16 (RR) Brake Pressure PSI Hydraulic pressure of Rear Right Brake
CN7-17 S/T Volt The value of left steering potentiometer
Potentiometer2(Left)
CN7-19 S/T Pressure (Left) PSI The value of Hydraulic S/T pressure
sensor (Left)
30-25
10-4 Analog Output
1) Analog output signal monitor

CN2-02 Accel Signal Out Volt Acceleration signal to GE
CN2-07 Retard Signal Out Volt Retard signal to GE
CN3-04 Rear Brake mA Output to Hydraulic Rear Brake solenoid
CN3-05 Front Brake mA Output to Hydraulic Front Brake solenoid
CN3-15 S/T Valve OUT (Right) mA The output value to S/T valve solenoid
CN3-16 S/T Valve OUT (Left) mA The output value to S/T valve solenoid
2) Analog output signal control

If 930E-AT is in Manual-Mode and there is a message “LH-Drive IO Control ; Ready” in Main
Window, you can control LH-Controller’s output by changing A/M key to “Auto”
Slide bar to control analog outputs
30-26
3) All output reset

Press Reset button to reset all output signal to ready position.
30-27
11. Navigation System Monitor
When you close the “Navigation System Monitor” window, press .
11-1 Truck Position
Name Unit of Value Comment

X pos meter Truck position(X) with sensor fusion in X-Y coordinate.
Y pos meter Truck position(Y) with sensor fusion in X-Y coordinate.
speed mm/sec Truck moving speed.
heading angle deg Heading angle of truck
pitch angle deg Pitch angle of truck
roll angle deg Roll angle of truck
30-28
11-2 GYRO

Angle deg The angle value of the output from Gyro sensor.
Y pos deg/sec The angle velocity value of output from Gyro sensor
Status --- GYRO system status code
error --- GYRO System error code
30-29
11-3 Tyre pulse sensor
Name Left Right Difference (Right-Left)

[mm/sec] [mm/sec] [mm/sec]
Front Speed Left front tyre speed Right front tyre speed Speed difference between
right and left tyres.
Rear Speed Left rear tyre speed Right rear tyre speed Speed difference between
right and left tyres.
Name Left Right

[pulse count] [pulse count]
Front Speed Left front tyre pulse sensor count Right front tyre pulse sensor count
Rear Speed Left rear tyre pulse sensor count Right rear tyre pulse sensor count
30-30
11-4 Nav Ready
Navigation status bit

Name Comment
Accuracy If this is red, No confidence in accuracy report
Error If this is red, Position measurement system has some error. There
must be error code.
Laser If this is red, REG laser system is not ready
GPS If this is red, GPS system is not ready.
Fusion If this is white, sensor fusion is ready.
If this is red, sensor fusion is not ready, it may need to reset running.
Gyro If this is white, Gyro sensor is ready.
Teaching If this is white, truck position is high accuracy.
→Ready for full Autonomous operation in Auto mode
→Ready for course teaching
More detail of comments, see 930E-AT shop manual.
30-31
Name Comment
Nav Ready Total of navigation status bit.
Error Error code of position measurement system
Warning Warning code of position measurement system.
More detail of comments, see 930E-AT shop manual.
30-32
11-5 GPS

X pos meter Truck GPS antenna position(X) in X-Y coordinate
(GPS –X raw data in X-Y coordinate.)
Y pos meter Truck GPS antenna position(Y) in X-Y coordinate.
(GPS –Y raw data in X-Y coordinate.)
GPS mode --- Quality indicator of GPS system
0: Fix not Available or invalid
1: GPS SPS Mode (single point mode)
4: RTK fixed Mode
5: RTK float Mode
GST mm Estimated 1 sigma value of GPS position error
Num of Sattelite --- Number of GPS/GLONASS satellites to be used for
Truck GPS position measurement
Age of data sec Delay time of Differential correction data to be used for
Truck GPS position measurement
PPS interval sec PPS input timing interval
GPS interval sec GPS input timing interval
30-33
11-6 REG
Name RS232C A/D Comment

Laser mm mm Distance between REG sensor and target.
Distance RS232C: Distance data from rs232c
A/D : Distance data from analog input
Reflection --- --- Reflection Power information (min 0 to max 255)
(Depending on the target materials)
Laser Status --- --- Laser status information
(Laser system status code)
Laser Code --- --- REG system information
(REG system warning code)
30-34
12. CAN Communication Monitor
When you close the “Can Communication Monitor” window, press .
Name Unit Comment

ML Hub Number or Times of Heartbeat data via CAN-Bus from
times ML-Hub to LH-Drive controller since controller
power on.
CGC Number or Times of Heartbeat data via CAN-Bus from CGC
times to LH-Drive controller since controller power on.
PLM3 Controller Number or Times of PLM3 data via CAN-Bus from PLM3 to
times LH-Drive controller since controller power on.
LH Safety Controller Number or Times of Heartbeat data via CAN-Bus from
times LH-Safe to LH-Drive controller since controller
power on.
30-35
30-36
LH Safety IO Checker Software Manual
LH Safety IO Checker
Software Manual
1. About “LH Safety IO Checker” ........................................................................................................ 30-38

2. Preparation ..................................................................................................................................... 30-38
3. Main Window .................................................................................................................................. 30-41
4. Output (I/O Control) ........................................................................................................................ 30-42
5. Input (Auto/Manual Key and other input) ........................................................................................ 30-44
6. Caution Lamp (Caution Indicator)................................................................................................... 30-45
7. Engine Control ................................................................................................................................ 30-47
8. ODS ................................................................................................................................................ 30-48
9. All I/O Status Monitor ...................................................................................................................... 30-50
30-37
1. About “LH Safety IO Checker”
This software is to monitor input data to LH-Safe Controller and output data from LH-Controller.
1) And this software can control output signals of LH-Safe Controller as well.
2. Preparation
2-1. Connect PC to LH-Controller
1) Disconnect RS232C cable

(COM2) of LH-Safe Controller
from Flight Recorder in Cab.
LH-Drive Controller (COM1)
LH-Safety Controller (COM2)
2) Connect between PC and LH-Controller with RS232C extension cable (D-Sub9).

Extension cable must be straight cable.
Extension Cable
30-38
2-2. Start “Monitor Sofware”

1) Start “LhSafeCheck.exe”
Click “LHSafeCheck.exe” to start software.
2) If COM PORT ERROR shows up, press OK.
Set com port number which is set serial port and

press OK.
Then close main window and
restart “LhSafeCheck.exe” again.
3) Main Window will be showed up.

If COM port is correct setting, you can see “COM
OPEN Success”
If Main Window shows “COM Open Fail”, COM port

number must be wrong. Set correct COM port
number.
30-39
4) Connection Check
If connection between PC and LH-controller is
correct, you can see
“Safety Communication : Ready”.
If the message is
“Safety Communication : Fail”,
check if serial cable(D-Sub9) connect to LH-Safe correctly
30-40
3. Main Window
All of monitor windows can be selected from Main Window.
3-1. Output
Press Output,
“Output” window comes up.
3-2. Input
Press Input,
“Input” window comes up.
3-3. Caution Lamp
Press Caution Lamp,
“Caution Lamp” window comes up.
3-4. Engine Control
Press Engine Control,
“Engine Control” window comes up.
3-5. ODS
Press ODS,
“ODS” window comes up.
3-6. ALL I/O Status Monitor
Press ALL I/O Status Monitor,
“ALL I/O Status Monitor” window comes up.
30-41
4. Output (I/O Control)
In this window, you can see output signal from LH-Safe Controller.
The red color, , shows that the output signal of LH-Controller is ON.
If you click or , you can change output of LH-Safe Controller.
When you close the “I/O Control” window, press .

CS1-03 Radar Power SW GND OPEN When signal is ON, The Radar Power
Relay is activated. At that time, all radar
power is cut.
CS1-04 Mode Lamp(Amber) GND OPEN When signal is ON, The mode lamp
(Amber) is light on.
CS1-10 Horn GND OPEN When signal is ON, The Horn Relay is
activated. At that time, truck make sound a
horn
CS1-11 Head Light GND OPEN When signal is ON, Head Light is ON
CS1-13 Mode Lamp(Green) GND OPEN When signal is ON, The mode lamp
(Green) is light on.
CS1-14 Mode Lamp(Red) GND OPEN When signal is ON, The mode lamp (Red)
is light on.
CS2-05 Heartbeat to Drive 24V OPEN Heartbeat signal to LH safety controller
30-42

CS2-08 Engine Stop GND OPEN When signal is ON, The Engine Stop Relay
is activated.
CS2-09 Turn Light (Right) GND OPEN When signal is ON, The turn Right signal
ON
CS2-10 Turn Light (Left) GND OPEN When signal is ON, The turn Left signal ON
CS2-11 Auto Apply Brake 24V OPEN Output to Auto Apply Brake relay. When
output is ON, Auto Apply Brake is released.
CS2-12 Rest Request 24V OPEN When signal is ON, Rest Request to GE.
30-43
5. Input (Auto/Manual Key and other input)
In this window, you can see input to LH-Safe controller. The red color , shows that the input signal
to LH-Controller is ON.
When you close the “Auto/Manual Key and Other input” window, press .

CS4-09 A/M key (Auto) GND OPEN Signal is ON when A/M key is auto
position,.
CS4-19 A/M key (Manual) GND OPEN Signal is ON when A/M key is
manual position,.
CS4-10 Engine Running GND OPEN Alternator Signal
CS5-06 Identifier 24V OPEN Signal must be always OFF at
LH-Safe
CS5-13 Sol1 Power monitor 24V OPEN Signal which is Sol1 power of
LH-Safe controller.
CS5-14 Heartbeat from Drive 24V OPEN Signal is blinking.
30-44
6. Caution Lamp (Caution Indicator)
In this window, you can see Caution signal to LH-Safe controller from Caution Panel in the cab. The
red color , shows that the input signal to LH-Controller is ON.
When you close the “Caution Lamp, press .
Refer to 930E shop manual for detail information of cautions.
30-45
30-46
7. Engine Control
In this window, you can see input and output .

The red color , shows that the signal is ON.
When you close the “Engine Control” window, press .
7-1. IO Monitor

CS2-08 Engine Stop GND OPEN When signal is ON, The Engine Stop
Relay is activated.
CS4-10 Engine Running GND OPEN Alternator Signal
7-2. IO Control
When you press the button STOP , LH-Safe controller output signal to CN2-08.

CS2-08 Engine Stop GND OPEN When signal is ON, The Engine Stop
Relay is activated.
30-47
8. ODS
When you close the “ODS” window, press .
1) Motor Control
Name Unit of Comment

Value
reference deg Reference motor angle (-90 to 90deg)
angle deg Current motor angle (-90deg to 90deg)
potentio V Potentiometer value (-5 to 5v)
com check (RX) --- If communication LX to LH-Safe is OK, it shows OK.
If it shows Fail, RS232C line has problem.
30-48
com check (TX) --- If communication LH-Safe to LX is OK, it shows OK.

If it shows Fail, RS232C line has problem.
motor line check --- If motor control line is OK, it shows OK. If it shows
Fail, motor control line has problem
motor pot check --- If motor potentiometer line is OK, it shows OK. If it
shows Fail, potentiometer itself or line has problem.
pot table down load --- If potentiometer table was successfully downloaded
from LH to LX, it shows OK.
If it shows Fail, RS232C com line has problem
2) Radars
Comment
Scan index When radar is working properly, the index must be increasing.
Error code If radar has internal error, the error code is displayed.
Target num The number of targets radar is detecting. If something is in front of radar, it
must be some number.
30-49
9. All I/O Status Monitor
In this window, you can see all the input and output signal.
When you close the “All I/O Status Monitor” window, press .
9-1) Digital output

Red color shows that the
output to LH-Controller is
ON.

CS1-02 N/C
CS1-03 Radar Power SW GND OPEN When signal is ON, The Radar Power Relay is
activated. At that time, all radar power is cut.
CS1-04 Mode Lamp(Amber) GND OPEN When signal is ON, The mode lamp (Amber) is
light on.
CS1-10 Horn GND OPEN When signal is ON, The Horn Relay is
activated. At that time, truck make sound a
horn
30-50

CS1-11 Head Light GND OPEN When signal is ON, Head Light is ON
CS1-12 N/C
CS1-13 Mode Lamp(Green) GND OPEN When signal is ON, The mode lamp (Green) is
light on.
CS1-14 Mode Lamp(Red) GND OPEN When signal is ON, The mode lamp (Red) is
light on.
CS2-03 N/C
CS2-04 N/C
CS2-05 Heartbeat to Drive 24V OPEN Heartbeat signal to LH safety controller
CS2-08 Engine Stop GND OPEN When signal is ON, The Engine Stop Relay is
activated.
CS2-09 Turn Light (Right) GND OPEN When signal is ON, The turn Right signal ON
CS2-10 Turn Light (Left) GND OPEN When signal is ON, The turn Left signal ON
CS2-11 Auto Apply Brake 24V OPEN Output to Auto Apply Brake relay. When output
is ON, Auto Apply Brake is released.
CS2-12 Rest Request 24V OPEN When signal is ON, Rest Request to GE.
30-51
9-2) Digital input

Red color shows that the input to LH-Controller is ON.

CS4-01 B1: Low S/T Press GND OPEN See 930E shop manual for detail
CS4-02 E1: Low Brk Press GND OPEN See 930E shop manual for detail
CS4-03 B2: Low Auto Lube GND OPEN See 930E shop manual for detail
CS4-04 D2: Hyd filter GND OPEN See 930E shop manual for detail
CS4-05 E3: Stop Engine GND OPEN See 930E shop manual for detail
CS4-06 E4: Check Engine GND OPEN See 930E shop manual for detail
CS4-07 B5: Propel Caution GND OPEN See 930E shop manual for detail
CS4-08 A1: Brake Temp High GND OPEN See 930E shop manual for detail
CS4-09 M/A Key (Auto) GND OPEN Signal is ON when A/M key is auto position,.
CS4-10 Engine Running GND OPEN
CS4-11 C1: Low Accumulate GND OPEN See 930E shop manual for detail
CS4-12 A2: Low Tank Level GND OPEN See 930E shop manual for detail
CS4-13 C2: Circuit Brake GND OPEN See 930E shop manual for detail
30-52

CS4-14 E2: Low Fuel GND OPEN See 930E shop manual for detail
CS4-15 C4: 5min timer GND OPEN See 930E shop manual for detail
CS4-16 A5: No Propel GND OPEN See 930E shop manual for detail
CS4-17 C5: Propel Temp GND OPEN See 930E shop manual for detail
CS4-18 Engine Maintenance GND OPEN See 930E shop manual for detail
CS4-19 A/M key (Manual) GND OPEN Signal is ON when A/M key is manual
position,.
CS4-20 N/C
CS5-01 E6: Retard at Cont GND OPEN See 930E shop manual for detail
CS5-02 D5: Oil Temp High GND OPEN See 930E shop manual for detail
CS5-03 A6: No Propel GND OPEN See 930E shop manual for detail
CS5-04 C6: Propel not Ready GND OPEN See 930E shop manual for detail
CS5-05 N/C
CS5-06 Identifier 24V OPEN Signal must be always OFF at LH-Safe
CS5-09 Touch Sensor No use
CS5-10 N/C
CS5-11 B6: Propel sys at rest GND OPEN See 930E shop manual for detail
CS5-12 D6: Reduce Propel GND OPEN See 930E shop manual for detail
CS5-13 Sol1 Power monitor 24V OPEN Signal which is Sol1 power of LH-Safe
controller.
CS5-14 Heartbeat from Drive 24V OPEN Signal is blinking.
30-53
30-54
AHT inspection Manual
AHT system inspection.................................................................................... 40-2
Emergency switch inspection and login to CGC inspection mode ............. 40-3
Mode Lamps Inspection................................................................................... 40-6
Head Lights Inspection .................................................................................... 40-7
Horn Inspection ................................................................................................ 40-8
REG Laser Inspection ...................................................................................... 40-9
ODS Inspection................................................................................................. 40-12
40-1
Inspection Manual AHT system Inspection
AHT system Inspection
Danger
AHT system inspections should be done before Autonomous traveling.
Failure to do so may lead to a serious accident.
<Preparation>
1) Before starting engine, do standard truck ground level inspection and AHT equipments walk-around
checking.
<AHT equipments walk-around checking>
(a) GPS antenna, MasterLink antenna.
(b) Oil leakage of steering valve, brake valve, and other hydraulic system.
(c) Steering potentiometers
(d) ODS sensors
(e) REG laser sensor head
Warning
If any abnormality is found, repair it or contact your Komatsu distributor.
Don’t carry out autonomous traveling without repair or troubleshooting.
2) Do standard truck inspection before manual operating.

3) Drive by manual and park the truck in the AHT inspection area
Warning
Make sure the following things.
・ All personnel are clear of the truck.
・ Truck must be parked with brake and completely stopped on flat ground.
・ Truck tray is empty.
・ Auto/Manual selector switch is manual position and Green mode light on.
・ Selector switch position is “N”.
40-2
1. Emergency switch inspection and login to CGC inspection mode
1) When truck starts up, CGC checks if every device

is working. If everything is OK, CGC screen
becomes Login screen.
Please Wait
Central : not ready
CDS : ready
Drive : ready
Safety : ready
2) If Login screen shows up, press Log In.
Log In
3) Input Operator ID by Key Pad.
Please Enter Operator ID
0
1 2 3
4 5 6
7 8 9
CLR 0 OK
40-3
4) Input PIN
Please Enter PIN
0
1 2 3
4 5 6
7 8 9
CLR 0 OK
5) Emergency Button Inspection Screen shows up.

Press OK to proceed to inspection mode.
Emergency Button Inspection
Press OK to test the emergency button
OK
6) Push/Pull the Emergency button according to the

message on CGC
Push the Emergency Button down : OK
Pull the Emergency Button up : OK
40-4
7) If Emergency button inspection is OK, Info Actions Course Mode Options

main screen shows up.
Inspection
Release
Dry Run
--- GPS
8) Press Inspection to proceed AHT inspection. Info Actions Course Mode Options
Inspection
Release
Dry Run
--- GPS
8) Confirm A/M key in manual mode, Park brake

and Brake lock ON and Selector switch in
OK Confirm
Neutral.
Then Press OK. Cancel 1) A/M key in manual mode
Press “OK”
--- GPS
40-5
2. Mode Lamps Inspection
1) Press Mode Lamps.

Mode Mode Lamps : not finished

Head Lights : not finished
Head Horn : not finished
REG : not finished
Horn
ODS : not finished
REG
ODS
Close
--- GPS
3) Press Start.
Start Mode Lamp Test
Pass 1.Press “Start”.

2.If all lamps flashed, press “Pass”.
Fail
3.If not, press “Fail”.
Cancel
--- GPS
3) If all lamps flashed, press Pass.

If not, press Fail.
Mode Lamp Test

2.If all lamps flashed, press “Pass”.
Fail
Cancel
--- GPS
40-6
3. Head Lights Inspection

1) Press Head Lights.
Mode Mode Lamps : finished

Head Lights : not finished
Head Horn : not finished
REG : not finished
Horn
ODS : not finished
REG
ODS
Close
--- GPS
2) Press Start.
Start Head Light Test

2.If head lights flashed, press “Pass”.
Fail
Cancel
--- GPS
3) If head lights flashed, press Pass.

If not, press Fail
Head Light Test

2.If head lights flashed, press “Pass”.
Fail
Cancel
--- REG
40-7
4. Horn Inspection
1) Press Horn.
Mode Lamps Mode Lamps : finished

Head Lights Horn : not finished
REG : not finished
Horn
ODS : not finished
REG
ODS
Close
--- GPS
3) Press Start.
Start Horn Test

2.If horn sounded, press “Pass”.
Fail
Cancel
--- GPS
3) If horn sounded, press Pass.

If not, press Fail.
Start Horn Test

2.If horn sounded, press “Pass”.
Fail
Cancel
--- GPS
40-8
5. REG Laser Inspection
Note: This inspection is not required for daily inspection.

If any abnormality is found in REG system, carry out this inspection.
(1) Check the target distance in Truck CGC

Maintenance Parameters screen.
Please login by user ID who has maintenance
Close
permission. Origin_x_nv: -821885074
Next Origin_y_nv: -265268249
Login CGC -> Main Menu -> Maintain-> Parameters
Check the value of REG Bank distance. REG Bank distance: 7000
--- GPS
(2) Set the truck at the defined distance from the berm to laser head on haulroad.
（Or, set the target board at the defined distance from the target board to Laser Head.）
Laser Head
Target berm
1.8m or more
（Target board）
Notice
・ Laser sensor Head must be clear.
・ Optical fiber cable must be no damage.
40-9
(3) Do REG Inspection in CGC inspection screen Info Actions Course Mode Option
a) Press Inspection to proceed AHT inspection.
Inspection
Release
Dry Run
--- GPS
b) Confirm A/M key in manual mode, Park brake and Info Actions Course Mode Option
Brake lock ON and Selector switch in Neutral. OK Confirm
Then Press OK. Cancel 4) A/M key in manual mode
Press “OK”
--- GPS
c) Press REG.
Mode Mode Lamps : finished

Head Horn : finished
Horn REG : not finished
ODS : not finished
Close
--- GPS
d) Press Start.
Start REG Test

Pass Please place the road edge target
Fail in front of the laser.
Press “Start” when ready to test.
Cancel
--- GPS
40-10
e) If REG inspection is finished, Info Actions Course Mode Option

press “OK”.
OK REG Test
Status : Success
Laser Range 6900 [mm]
If result is Fail, investigate REG system Range error 100 [mm]
Progress 100%
with reference to REG system wiring diagram.
Cancel
--- GPS
40-11
6. ODS Inspection Info Actions Course Mode Options
1) Press ODS. Mode Mode Lamps : finished

Head Horn : finished
REG : finished
Horn
ODS : not finished
REG
ODS
Close
--- GPS

2) Press Start.
Start ODS Test
Please walk across the road at 30m ahead Cancel Please walk across the road at 30m
ahead from the truck with corner
from the truck with corner reflector. reflector.
The lights should flash once for
each radar beam, and horn should
sound once all beams tested.
--- GPS
30m
30m
3) When each radar detects the reflector, Info Actions Course Mode Options
OK message appears on CGC and head lights flash. OK ODS Test
When all radars detect the reflector, horn sounds
Status Inspecting
once.Then press OK. Right 30[m] OK
Center 30[m] OK
The distance [m] to the target is displayed on
Left 30[m] OK
CGC screen. If no detection of target, distance Steer 30[m] OK
Cancel
value become 255 [m].
Once radar detects the target, OK is
displayed. --- GPS
40-12

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Autonomous Haulage System for 930E-3

General view of Autonomous Truck

・Fleet control by Central

・ Position measurement ・ Obstacle detection by radar

Drive control module Safety control module

Standard truck system

M/L HUB CGC MBI

RS232C GSP Radar

REG GYRO LX GSP Radar

Motor GSP Radar

・Device of Standard Truck

1) Indicator Lamp ························ Truck Status Caution Lamp

3) CENSE···································· Cummins Engine Controller

4) VHMS······································ Vital Health Monitoring System Controller

5) PLM3······································· Payload Meter Controller

6) I/F ············································ Interface Module Controller

・Devices for autonomous operation

1) M/L HUB·································· MasterLink Radio with built-in GPS

2) MBI·········································· CAN protocol translation controller for PLM3

3) GSP········································· CAN protocol translation controller for ODS

4) CGC ········································ Color Graphic Console, Controller with touch panel

6) Safety controller ······················ Controller including safety control module

7) Radar ······································ Scanning millimeter wave radar

8) REG ········································ Road Edge Guidance System

9) LX············································ Mechanical radar steering mechanism controller

1) CAN-A ····································· Controller Area Network Type A

2) CAN-B ····································· Controller Area Network Type B

3) RS232C··································· Serial data communication

Drive control system

REG Laser range sensor

Brake control valve

・Position Measurement ···················· To measure position of each truck

3) GYRO······································ Heading angle sensor

4) R.Pulse Sensor ····················· Rear tire revolution sensor

5) F.Pulse Sensor ························ Front tire revolution sensor

6) REG ········································ Road Edge Guidance System

・Travel control ·································· Guidance for truck to target

1) Steering control ······················· Control to follow the target path

2) S/T control valve ····················· Controls steering system

3) S/T potentiometer···················· Steering angle sensor

4) Speed control ·························· Control to follow the target speed

・Auxiliary device control ··················· Body position control

Safety control system

Obstacle Detection GSP Scanning millimeter-wave

GSP Scanning millimeter-wave

GSP Scanning millimeter-wave

GSP Scanning millimeter-wave

Mechanical Steering Motor Unit

Truck Monitoring Caution lamp

1) Scanning millimeter-wave Millimeter-wave radar which scans all area in front

2) Steered radar ·························· Millimeter-wave radar mounted on mechanical steering unit.

3) GSP········································· Generic Signal Professor, CAN protocol translator

4) Motor unit ······························ Motor unit for steered radar

・Truck Monitoring ··························· Monitoring of condition of truck

1) Caution lamp ························· Sensing of caution for truck

2) MBI (GSP)······························· Generic Signal Professor, CAN protocol translator

・Auxiliary devices control ················· Control of functions of auxiliary devices

1) Operation mode lamps············ Lamps to indicate truck mode

2) Engine stop ····························· Function to stop engine remotely

3) Head Light······························· Function to turn on/off head light

4) Horn ········································ Function to drive horn

930E-AT Component Layout

930E-AT on-board control system network schematic