Steering System Malfunction CAT 14M

10/26/2020 SIS 2.
2016/07/27 Sensor Signal (PWM) - Test (M0067064)
SMCS - 1439 i06650231
Transmission/Chassis ECM
Steering Cylinder PWM sensor Codes
The following is a list of Diagnostic Trouble Codes (DTCs) that are associated with the
Steering Cylinder PWM sensors of the machine.
Transmission/Chassis ECM (MID 27)
DTC Code Description System Response

E192 Steering System Malfunction event
Left Steering Cylinder Position
2200- code will be activated. Audible alarm will
Sensor: Data Erratic,
2 sound and fault indicator will flash.
Intermittent, or Incorrect
A Warning Level 3 Will Be Generated.
2200- Left Steering Cylinder Position code will be activated. Audible alarm will
3 Sensor: Voltage Above Normal sound and fault indicator will flash.
4 Sensor: Voltage Below Normal sound and fault indicator will flash.
Sensor: Abnormal Frequency,
Pulse Width, or Period
14 Sensor: Special Instruction sound and fault indicator will flash.
Right Steering Cylinder Position
2201- Right Steering Cylinder Position code will be activated. Audible alarm will
Table 1
The position sensor provides a PWM input signal to the Transmission/Chassis ECM and
to the Implement ECM.
The sensor is a PWM sensor that operates at a frequency of approximately 500 Hz. The
duty cycle of the PWM signal that is supplied to the ECM is measured in small
increments.
Note: Before performing this procedure, check for an active CID 1482 diagnostic code for
the Transmission Chassis ECM (MID 027) 10 V sensor power supply. Correct any
problem with the 10 V power supply before performing this procedure.
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10/26/2020 SIS 2.0
Note: The Transmission/Chassis ECM (MID 027) will also activate a CID 2200 or CID
2201 FMI XX diagnostic code when an erratic or intermittent signal is detected. If one
ECM has activated a CID 2200 or CID 2201 FMI XX diagnostic code and the other ECM
has not, it is likely that the sensor is operating correctly. When this occurs, a poor
connection or an open in the machine harness would be suspected. When both ECMs
have activated the diagnostic code, either the sensor or a harness problem could be the
cause. For either condition, proceed with this procedure in order to verify the cause of the
problem.
Possible Causes for an FMI 2 Diagnostic code are:
Mechanical devices are loose.
Mechanical devices are not adjusted correctly.
There is an intermittent connection in the sensor circuit.
Opens in the sensor circuit.
The sensor has failed.
The ECM has failed. A failure of the ECM is unlikely.
The sensor supply or the ground circuit in the machine harness is open.
The signal circuit in the machine harness is shorted to the +battery.
The signal circuit in the machine harness is open or the sensor is disconnected.
The signal circuit in the machine harness is shorted to ground.
Intermittent connections or poor connections.
Mechanical devices are loose or not adjusted correctly.
10/26/2020 SIS 2.0
Illustration 1 g01254278
(1) Left Steering Cylinder
(2) Right Steering Cylinder
(3) Steering Position Sensor connector on back side of the cylinders
Transmission ECM PWM Sensors
Note: The diagram above is simplified schematic of the Transmission ECM connections.
The schematic is electrically correct. However, not all of the possible harness connectors
are shown. Refer to the latest revision of Electrical Schematic, UENR6469 (HRC) or
UENR6470 (LRC) for the complete schematic.
Implement ECM 2 (Steering)

Steering Cylinder PWM sensor Codes
The following is a list of Diagnostic Trouble Codes (DTCs) that are associated with the
Steering Cylinder PWM sensors of the machine.
Implement ECM 2 (MID 145)
DTC Code Description System Response

10/26/2020 SIS 2.0

2200- Left Steering Cylinder Position
code will be activated. Audible alarm will
14 Sensor: Special Instruction
sound and fault indicator will flash.
Table 2
The position sensor provides a PWM input signal to the Transmission Chassis ECM and
to the Implement ECM.
The sensor is a PWM sensor that operates at a frequency of approximately 500 Hz. The
duty cycle of the PWM signal that is supplied to the ECM is measured in small
increments.
Note: Before performing this procedure, check for an active CID 1482 diagnostic code for
the Transmission Chassis ECM (MID 027) 10 V sensor power supply. Correct any
problem with the 10 V power supply before performing this procedure.
Note: The Implement 2 ECM (MID 145) will also activate a CID 2200 or CID 2201 FMI
XX diagnostic code when an erratic or intermittent signal is detected. If one ECM has
activated a CID 2200 or CID 2201 FMI XX diagnostic code and the other ECM has not, it
is likely that the sensor is operating correctly. When this occurs, a poor connection or an
open in the machine harness would be suspected. When both ECMs have activated the
diagnostic code, either the sensor or a harness problem could be the cause. For either
condition, proceed with this procedure in order to verify the cause of the problem.
Mechanical devices are loose.
Mechanical devices are not adjusted correctly.
There is an intermittent connection in the sensor circuit.
Opens in the sensor circuit.
The sensor supply or the ground circuit in the machine harness is open.
The signal circuit in the machine harness is shorted to the +battery.

The signal circuit in the machine harness is open or the sensor is disconnected.
10/26/2020 SIS 2.0
The signal circuit in the machine harness is shorted to ground.
Intermittent connections or poor connections.
Mechanical devices are loose or not adjusted correctly.
(1) Left Steering Cylinder
(2) Right Steering Cylinder
(3) Steering Position Sensor connector on back side of the cylinders
Implement ECM 2 PWM Sensors
Note: The diagram above is simplified schematic of the Implement ECM 2 connections.
The schematic is electrically correct. However, not all of the possible harness connectors
are shown. Refer to the latest revision of Electrical Schematic, UENR6469 (HRC) or
UENR6470 (LRC) for the complete schematic.
10/26/2020 SIS 2.0
Diagnostic Trouble Code Procedure

Note: Prior to beginning this procedure, inspect the harness connectors that are involved
in this circuit. Poor connections can often be the cause of a problem in an electrical
circuit. Verify that all connections in the circuit are clean, secure, and in good condition. If
a problem with a connection is found, correct the problem and verify that the diagnostic
code is active before performing a troubleshooting procedure. For sensors powered via
the fuse panel, check the condition of the appropriate fuse before beginning the
troubleshooting procedure.
PWM Range
Steering Cylinder
Full Retract Full Extend
11.5%(1) 76%(1)
Table 3
(1)
PWM % are approximate
Troubleshooting
Values Results
Test Steps
FMI 2 diagnostic code, proceed to Test
Step 2.

Step 6.
1. Identify Active FMI
Code Associated With
Code present Step 10.
Sensor Circuit
Step 12.

Step 14.
Begin Process For FMI 2 Troubleshooting HERE
2. Check The
Mechanical
OK - All mechanical connections for the
Connections
related hardware are correct.
A. Turn the key start
Proceed to Test Step 3.
switch and the
disconnect switch to
All mechanical NOT OK - All mechanical connections
the OFF position.
connections for the for the related hardware are not correct.
sensor and related
B. Visually inspect the
hardware are in Repair:Perform the maintenance that is
mechanical
good condition and required in order to correct the problem
connections for the
no mechanical with the mechanical connections for the
sensor and related
connections are related components. After the problem
hardware. Verify that all
loose. has been corrected, verify that this
mechanical
diagnostic code is still active before
connections and
proceeding with this procedure.
adjustments for the
sensor and related
hardware are in good
condition and tight.
10/26/2020 SIS 2.0
3. Check For Power

At The Sensor
OK – The voltage measurement is within
range for the sensor. The power supply
switch and the
circuit is correct.
disconnect switch to
the OFF position.
B. Do not disconnect
The voltage NOT OK – The voltage measurement is
the harness connector
measurement is not within range for the sensor. The
from the sensor.
correct for the power supply circuit is not correct.
sensor.
C. At the back of the
Repair:There is a problem with the
harness connector for
Left Steering power supply circuit for the sensor. Refer
the sensor, insert
Cylinder sensor: 10 to the complete Electrical System
Multimeter Probes
± .5 VDC Schematic of the machine. Check all of
along the voltage input
the connections that are in the power
(A) and along the return
Right Steering supply circuit and the return circuit.
contact (B).
Cylinder Sensor: 8 Ensure that all connections are clean,
± .5 VDC that all connections are secure and that
D. Turn the disconnect
all connections are in good condition.
switch and the key start
Repair the machine harness or replace
switch to the ON
the machine harness.
position.
E. Measure the voltage
from contact (A) to
contact (B).
10/26/2020 SIS 2.0
4. Check The Sensor
Do not start the

engine when
performing this step.
If the engine is
started, any change in
joystick position will
result in steering to
maximum wheel
angle. Steering to
maximum wheel
angle may result in OK - The CID 2200 FMI 02 diagnostic
severe injury or code is no longer active. A CID 2201
death. FMI 02 diagnostic code is now active.
switch and the Repair: The position sensor of the left
disconnect switch to steering cylinder is the cause of the
the OFF position. problem. Replace the position sensor of
the left steering cylinder.
B. Mark the harness
connector for the left BEFORE REPLACING THE STEERING
steering sensor. POSITION SENSOR, RECONNECT
THE HARNESS CONNECTORS TO
D. Disconnect the THE CORRECT CONNECTORS FOR
machine harness THE STEERING SENSOR.
connector from the When the harness
position sensor of the connectors are For removal of the position sensor from
left steering cylinder. switched, the CID the steering cylinder, refer to the
2200 FMI 02 Disassembly and Assembly, UENR3488,
E. Disconnect the diagnostic code for "Steering Cylinder - Remove and Install".
machine harness the left steering Proceed to Test Step 16.
connector from the sensor is not
position sensor of the active. A CID 2201 NOT OK - The status of the CID 2200
right steering cylinder. FMI 02 diagnostic FMI 02 diagnostic code did not change
code for the right when the sensor connectors were
F. Connect the marked steering sensor is switched. The CID 2200 FMI 02
connector for the left now active. diagnostic code is still active. There is a
steering sensor to the problem in the machine harness.
connector for the right
steering sensor. ENSURE THAT THE MACHINE
HARNESS CONNECTORS ARE
G. Connect the CONNECTED TO THE CORRECT
unmarked connector for POSITION SENSOR. THE MARKED
the right steering HARNESS CONNECTOR IS
sensor to the connector CONNECTED TO THE LEFT
for the left steering STEERING SENSOR. THE
sensor. UNMARKED HARNESS CONNECTOR
IS CONNECTED TO THE RIGHT
H. Turn the disconnect STEERING SENSOR
switch to the ON
position. Proceed to Test Step 5.
I. Turn the key start

switch to the ON
position.
Note: Do not start the

engine.
J. Observe the status of

the active diagnostic
code for the left
steering sensor.
10/26/2020 SIS 2.0
5. Check For An Open

In The Signal Circuit
A. Turn the key start OK –The resistance measurement is

switch and disconnect less than 5 Ω. The signal circuit is not
switch to the OFF open.
position.
B. Disconnect the
machine harness NOT OK – The resistance measurement
connector from the is greater than 5 Ω. There is an open or
sensor. a bad connection in the signal circuit.
C. At the machine Repair: If both ECMs have activated this

harness connector for diagnostic code, there is an open or bad
the sensor, place a connection on the sensor side of the
jumper wire between splice of the connection in the machine
The resistance
return contact 2 and harness for the signal wire.
measurement is
signal contact 3.
less than 5 Ω.
If only the one ECM has activated this
D. Disconnect the diagnostic code, there is an open or bad
machine harness connection on the ECM side of the splice
connectors J1 and J2 of the connection in the machine
from the ECMs. harness for the signal wire.
E. At one ECM, Refer to the complete Schematic of the

measure the resistance machine. Verify all connection points in
between the signal the suspected part of the circuit are
contact and the return clean, secure and in good condition.
contact. Repair or replace the machine harness.
F. At the other ECM, Proceed to Test Step 16.

measure the resistance
between the signal
contact and the return
contact.
6. Check The Supply
Voltage At The
Sensor
A. Turn key start switch

and disconnect switch OK - The voltage reading is correct for
ON. the sensor.
B. Refer to the Proceed to Test Step 7.

schematic to determine
Voltage reading is
the voltage source for NOT OK- The voltage is NOT correct for
correct for the
the suspected faulty the circuit.
sensor.
sensor.
Repair: Refer to the complete
Left Steering
C. At the machine Schematic of the machine. Examine all
Cylinder sensor: 10
harness connector for of the connectors that are in the circuit.
± .5 VDC
the sensor, insert 7X- Ensure that the connections are clean,
1710 multimeter probes that all connections are secure and that
Right Steering
along the contact of the all connections are in good condition.
Cylinder Sensor: 8
power supply (A) and Repair the machine harness or replace
± .5 VDC
along ground contact the machine harness in order to restore
(B). the power supply to the sensor.
D. Measure voltage Proceed to Test Step 16.

between signal and
ground contacts at the
machine harness
connector for the
sensor.
10/26/2020 SIS 2.0
7. Check For An Open

In The Signal Circuit
A. Turn the key start OK –The resistance measurement is

switch and disconnect less than 5 Ω. The signal circuit is not
switch to the OFF open.
position.
B. Disconnect the
machine harness NOT OK – The resistance measurement
connector from the is greater than 5 Ω. There is an open or
sensor. a bad connection in the signal circuit.
C. At the machine Repair: If both ECMs have activated this

harness connector for diagnostic code, there is an open or bad
the sensor, place a connection on the sensor side of the
jumper wire between splice of the connection in the machine
return contact 2 and The resistance harness for the signal wire.
signal contact 3. measurement is
less than 5 Ω. If only the one ECM has activated this
D. Disconnect the diagnostic code, there is an open or bad
machine harness connection on the ECM side of the splice
connectors J1 and J2 of the connection in the machine
from the ECMs. harness for the signal wire.
E. At one ECM, Refer to the complete Schematic of the

measure the resistance machine. Verify that all connection points
between the signal in the suspected part of the circuit are
contact and the return clean, secure, and in good condition.
contact. Repair the machine harness or replace
the machine harness.
F. At the other ECM,
measure the resistance Proceed to Test Step 16.
between the signal
contact.
8. Check Signal
Circuit For A Short
A. The key start switch

and the disconnect
switch remain in the
OFF position.
B. The harness
connectors of the ECM
remain disconnected OK - Each resistance is greater than 5K
from the machine Ω. The harness circuit is correct.
harness.
C. Remove the jumper
wire that was installed NOT OK- The resistance less than 5 Ω.
in the last step.
Repair: A short exists in the harness
D. Disconnect the between the signal circuit and the circuit
machine harness Resistance greater with the low resistance measurement.
connectors J1 and J2 than 5K Ω for all Repair or replace the machine harness.
from the other ECM. readings.
Note: A resistance that is greater than 5
E. At the J1 and J2 Ω but less than 5K Ω would indicate a
machine harness loose connection or a corroded
connectors for the connection in the circuit. A resistance
ECM, measure the measurement that is greater than 5K Ω
resistance from the would indicate an open in the circuit.
sensor signal contact to
all other J1 and J2 Proceed to Test Step 16.
ECM contacts.
F. At the J1 and J2
machine harness
connectors for the other
ECM, measure the
resistance from the
sensor signal contact to
all other J1 and J2
ECM contacts.
10/26/2020 SIS 2.0
9. Check The Signal

Of The Sensor

switch and disconnect
switch to the OFF
position.
B. Reconnect the
sensor and ECM
harness connectors.
C. At the back of the

OK - The signal from the sensor
responds correctly. The sensor is
the sensor, insert
operating correctly.
multimeter probes The signal from the
along the signal contact sensor responds in
(C) and return contact the manner that is
(B). described in the
NOT OK - The signal from the sensor
table above.
does not respond correctly. The sensor
D. Turn the disconnect
is not operating correctly.
switch and the key start Full Retract: 11.5%
switch to the ON
Repair: Replace the sensor.
position. Full Extend: 76%
E. Monitor the signal of
the sensor with a digital
multimeter.
F. Without
disconnecting the
sensor or the hardware
that is associated with
the sensor from the
machine, take the
sensor through the full
operating range.

10. Check The Sensor
OK - The diagnostic changed to FMI 3
A. Turn the disconnect when the sensor was disconnected.
switch and the key start
switch to the ON Repair: The sensor has failed. Replace
position. the sensor.
B. Ensure that the Proceed to Test Step 16.

Code changes from
diagnostic code is
FMI 4 to FMI 3.
active. NOT OK - The FMI 4 diagnostic code
remains active when sensor is
C. Observe the status disconnected. The sensor not the cause
of the diagnostic code of the problem.
after disconnecting the
sensor from the Proceed to Test Step 11.
machine harness.
10/26/2020 SIS 2.0
11. Check The Signal

Circuit For A Short To
Ground
OK - Each resistance is greater than 5K
Ω. The harness circuit is correct.
switch and the
disconnect switch OFF.
B. Disconnect the J1
NOT OK - The resistance is less than 5
and J2 harness
Ω. A short circuit exists between frame
connectors from the
ground and the signal circuit.
ECMs.
Repair: Repair or replace the machine
C. Measure the Each resistance is
harness.
resistance between the greater than 5K Ω.
signal contact for
Note: A resistance that is greater than 5
sensor and frame
Ω but less than 5K Ω would indicate a
ground.
loose connection or a corroded
connection in the circuit. A resistance
D. Measure the
measurement that is greater than 5K Ω
resistance between the
would indicate an open in the circuit.
signal contact for
sensor and all other
contacts are used in
the machine harness
connectors for the
ECMs.
Of The Sensor

switch to the OFF
position.
B. At the back of the

the sensor, insert
multimeter probes
along the signal contact
(C) and return contact The signal from the
(B). sensor responds in
the manner that is
C. Turn the disconnect described in the
switch and the key start table above.
switch to the ON
position. Full Retract: 11.5%
D. Monitor the signal of Full Extend: 76%
multimeter.
E. Without
disconnecting the
the sensor from the
machine, take the
operating range.
10/26/2020 SIS 2.0
13. Check For An

Open In The Signal
Circuit

OK - The measurement is less than 5 Ω.
switch to the OFF
position.
NOT OK - The measurement is greater
B. Disconnect the
than 5K Ω. The signal circuit in the
machine harness
harness is open.
connector from the
sensor.
Repair: If both ECMs have activated this
diagnostic code, there is an open or bad
C. At the machine
connection on the sensor side of the
splice of the connection in the machine
the sensor, place a
harness for the signal wire.
jumper wire between
return contact 2 and The reading is less
If only the one ECM has activated this
signal contact 3. than 5 Ω.
diagnostic code, there is an open or a
bad connection on the ECM side of the
D. Disconnect the
splice of the connection in the machine
machine harness
harness for the signal wire.
connectors J1 and J2
from the ECMs.
Refer to the complete Electrical System
Schematic of the machine. Verify that all
E. At one ECM,
connection points in the suspected part
of the circuit are clean, secure and, in
between the signal
good condition. Repair or replace the
machine harness.
contact.
F. At the other ECM,
between the signal
contact.
14. Check The
Mechanical OK - All mechanical connections for the
Connections sensor and related hardware are correct.
A. Turn the key start Proceed to Test Step 15.

switch and the
disconnect switch to NOT OK - All mechanical connections
All mechanical
the OFF position. for the sensor and related hardware are
connections for the
not correct.
sensor and related
B. Visually inspect the
hardware are in
mechanical Repair:Perform the maintenance that is
good condition and
connections for the required in order to correct the problem
no mechanical
sensor and related with the mechanical connections for the
connections are
hardware. Verify that all sensor and related hardware. After the
loose.
mechanical problem has been corrected, verify that
connections and this diagnostic code is still active before
adjustments for the proceeding with this procedure.
sensor and related
hardware are in good Proceed to Test Step 16.
condition and tight.
10/26/2020 SIS 2.0

Of The Sensor

switch to the OFF
position.
B. At the back of the

the sensor, insert
multimeter probes
along the signal contact
(C) and return contact The signal from the
(B). sensor responds in
the manner that is
C. Turn the disconnect described in the
switch and the key start table above.
switch to the ON
position. Full Retract: 11.5%
D. Monitor the signal of Full Extend: 76%
multimeter.
E. Without
disconnecting the
the sensor from the
machine, take the
operating range.
OK - The diagnostic code does not exist

at this time. The initial diagnostic code
may have been caused by a poor
16. Check If The electrical connection or a short at one of
Diagnostic Code the harness connections. Resume
Remains. machine operation.
A. Turn the key start STOP.

switch and the
disconnect switch ON. NOT OK - The diagnostic trouble code
has not been corrected.
B. Clear all diagnostic
codes. Repair: Recheck the circuit and perform
The code for the
this procedure again. If the diagnostic
sensor is NO
C. Operate the code is still active, the ECM may require
longer present.
machine. replacement.
D. Stop machine and Prior to replacing the ECM, always

engage the safety lock contact the Technical Communicator at
lever. your dealership for possible consultation
with Caterpillar. This consultation may
E. Check if the effect repair time.
diagnostic code for the
sensor is active. Follow the procedure in Troubleshooting,
"ECM - Replace" to replace the ECM.
STOP.
Table 4
PIP-11109658
2020/10/26
00:43:22+08:00
i06650231
© 2020 Caterpillar Inc.
Caterpillar:
Confidential Green

Steering System Malfunction CAT 14M

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10/26/2020 SIS 2.

2016/07/27 Sensor Signal (PWM) - Test (M0067064)

SMCS - 1439 i06650231

Transmission/Chassis ECM (MID 27)

DTC Code Description System Response

Possible Causes for an FMI 2 Diagnostic code are:

Mechanical devices are loose.

Mechanical devices are not adjusted correctly.

There is an intermittent connection in the sensor circuit.

Opens in the sensor circuit.

The sensor has failed.

The ECM has failed. A failure of the ECM is unlikely.

Possible Causes for an FMI 3 Diagnostic code are:

The sensor has failed.

The signal circuit in the machine harness is shorted to the +battery.

The ECM has failed. A failure of the ECM is unlikely.

Possible Causes for an FMI 4 Diagnostic code are:

The sensor has failed.

The signal circuit in the machine harness is shorted to ground.

The ECM has failed. A failure of the ECM is unlikely.

Possible Causes for an FMI 8 Diagnostic code are:

The sensor has failed.

Intermittent connections or poor connections.

The ECM has failed. A failure of the ECM is unlikely.

Possible Causes for an FMI 14 Diagnostic code are:

Mechanical devices are loose or not adjusted correctly.

The sensor has failed.

The ECM has failed. A failure of the ECM is unlikely.

Implement ECM 2 (Steering)

Implement ECM 2 (MID 145)

DTC Code Description System Response

E192 Steering System Malfunction event

Possible Causes for an FMI 2 Diagnostic code are:

Mechanical devices are loose.

Mechanical devices are not adjusted correctly.

There is an intermittent connection in the sensor circuit.

Opens in the sensor circuit.

The sensor has failed.

The ECM has failed. A failure of the ECM is unlikely.

Possible Causes for an FMI 3 Diagnostic code are:

The sensor has failed.

The signal circuit in the machine harness is shorted to the +battery.

The ECM has failed. A failure of the ECM is unlikely.

Possible Causes for an FMI 4 Diagnostic code are:

The sensor has failed.

The signal circuit in the machine harness is shorted to ground.

The ECM has failed. A failure of the ECM is unlikely.

Possible Causes for an FMI 8 Diagnostic code are:

The sensor has failed.

Intermittent connections or poor connections.

The ECM has failed. A failure of the ECM is unlikely.

Possible Causes for an FMI 14 Diagnostic code are:

Mechanical devices are loose or not adjusted correctly.

The sensor has failed.

The ECM has failed. A failure of the ECM is unlikely.

Diagnostic Trouble Code Procedure

FMI 3 diagnostic code, proceed to Test

FMI 14 diagnostic code, proceed to Test

3. Check For Power

4. Check The Sensor