If, in addition to
the flat rectangular
FLR-20 series
radar sensor, the
vehicle has a
Bendix™ AutoVue®
FLC-20™ Camera,
the vehicle may be using the Bendix®
Wingman® Fusion™ System, and the SD
sheet to use is SD-61-4963.

+

If your Bendix Wingman
Advanced System has a
black “eyeball” (Bendix™
FLR-10™) radar sensor,
use SD sheet SD‑61‑4962
instead.

Troubleshooting Basics (3.1)
Questions
Have the driver run the
Power-Up Self-Test.

Next Steps
Power-Up Self-Test
This is a self-diagnostic check, to determine if the system operation is normal.
1.
2.
3.
4.
5.

Does the driver hear a
long warning beep?

Park the vehicle. Power off.
Put the key into the ignition, and turn to the “ignition power” position.
Toggle the cruise control switch at least once, and leave it in the “on” position.
Start the vehicle, but do not drive away.
Note that if the cruise control is in the “off” position, or if the vehicle is moving,
this test will not run.
The self-test will start after 15 seconds, and takes approximately five (5) seconds to
complete.
(Note that other vehicle system self-tests, e.g. the ABS “chuff” test, may run during the
initial 15 seconds after ignition “on.”)
As the Wingman Advanced System self-test runs, the driver should hear a short set
of beeps. The test checks the engine, transmission, and brake systems to make sure
they are communicating. In addition, depending on the vehicle, the test may briefly
display a distance alert message and/or cause the Forward Vehicle Detected icon in
the instrument cluster to illuminate; this is normal.

If no problem is found and the test is passed, no additional beeps/lamps will be displayed
nor will a trouble code be set.
If the system has found an issue that will prevent it from functioning properly, a long warning
beep will sound to alert the driver, and a Diagnostic Trouble Code (DTC) will be logged in
the system (typically with a status indicator/dash icon illuminated). For descriptions of all
DTCs, see Section 4.3: Diagnostic Trouble Codes.

Have the driver describe
the system behavior that
they believe shows it is
not working properly.

When diagnosing the system, especially in cases where there are no DTCs logged, find out
which part of the system behavior appears to be operating improperly. See Section 3.2:
Narrowing Down the Problem.

Table 3 - Troubleshooting Basics
14

3.2 NARROWING DOWN THE PROBLEM
Use the questions found in Table 4 below to help assess if the Bendix® Wingman® Advanced™ system is not performing
correctly. Be sure to have a thorough understanding of the system’s normal behavior; this will reduce the troubleshooting
time. The table provides a guide to basic troubleshooting questions and possible corrective actions. Items in Italics
cross-reference to the service procedures in this manual to repair the condition described.
If Bendix Tech Team assistance is needed, prior to calling 1-800-AIR-BRAKE (1-800-247-2725), option 2 complete the
Troubleshooting Checklist (See Appendix A), to help reduce the time needed to troubleshoot the system.

Narrowing Down the Problem (3.2)
Questions

Next Steps

Blocked Radar Sensor Issues
Is mud, ice, or snow covering the radar
sensor?
Is anything blocking the view of the radar
sensor?

Clean the radar sensor front surface immediately. Remove anything blocking the
radar sensor then power cycle and read any remaining trouble codes.
Read Section 4.3: Diagnostic Trouble Codes.
Read Appendix A3: Bendix™ FLR-20™ Radar Sensor Mounting Clearance.
If the vehicle's cruise control is set and the radar sensor is blocked by ice, snow,
mud, tampering, etc. so that it cannot "see" a forward vehicle, Bendix® Wingman®
Advanced™ system may log a Diagnostic Trouble Code (DTC).
After the blockage is removed, the DTC will clear automatically when the vehicle’s
ignition is cycled.
Add a visual check of the radar sensor for blockage to the driver’s pre-trip
inspection checklist.

Potential False Warnings
Do false alerts seem to happen in
construction zones or going under bridges?

Several road scenarios have a tendency to cause false warnings, including
construction zones and bridges. Unless these false warnings are frequent, the
system is likely reacting normally. The driver should not set the cruise control in
construction zones. If driver complaints persist, continue asking questions to more
narrowly define the driving condition presenting the problems. Review proper
operating conditions in the operator's manual.

Mounting Problems
Is the radar sensor mounting location
Re-align the radar sensor vertically and laterally. Use the following procedures:
(bumper or cross-member) damaged?
•
Inspect the radar mounting. A solid mounting surface is necessary in order
• Does the system seem to not "see" as far as
to hold the alignment. If the bumper or mounting cross-member is damaged,
it “used to”, or warn on many more overhead
replace it first, then align the radar sensor.
bridges/signs than previously?
•
Appendix B1 - Go to Appendix B1 and use the flowchart to find out the
procedure(s) needed. Follow the actions directed in the procedure(s) and
align the radar.
•
Does the mounting bracket look damaged or
tampered with?

Appendix B4 - Check the vertical alignment and adjust if needed.

Other than expected surface scratches or some discoloration over time, there
should be no visible damage to the radar sensor bracket assembly or the bumper.
If no visible damage is found, realign the radar sensor vertically and laterally.
•

Check the Vertical Alignment (Appendix B4) and adjust if needed.

•

Check the Lateral Alignment (Appendix B2 & B3) and adjust if needed.

The radar sensor needs a solid mounting surface in order to hold the alignment.
If the radar sensor alignment can not be held in place, the bracket assembly must
be replaced, and/or if the bumper or mounting cross-member is damaged, replace
it as needed. Where replacing either or both of these, align the radar sensor
using the procedure shown in Appendix C.
Other Questions
Has the system worked properly in the past
and is not working correctly now?

This is a good indication that something has changed, such as misalignment
of the radar sensor. Review questions listed above with the driver to further
diagnose the problem.

Table 4 - Narrowing Down the Problem (Pages 15-16)
15

Narrowing Down the Problem (3.2)
Questions

Next Steps

Has the radar sensor been changed
recently?

If so, the new radar sensor may be incompatible with the vehicle. In addition,
check any system Diagnostic Trouble Codes (DTCs) with Bendix® ACom®
Diagnostic Software. Read Section 4.3: Diagnostic Trouble Codes.

Did the radar sensor currently on the vehicle
come from another vehicle?

The radar sensor may be incompatible with the new vehicle. Follow Section
1.10: Radar Sensor Interchangeability procedure and check system DTCs with
Bendix® ACom® Diagnostic Software.
Read Section 4.3: Diagnostic Trouble Codes.

With cruise control set, does the system
consistently apply the foundation brakes
when a forward vehicle slows?

This is normal operation. Continue asking the driver questions to determine if the
radar system interventions are not the expected Bendix® Wingman® Advanced™
system behavior. If the radar system interventions are not typical, the radar
sensor may be misaligned.
•

Inspect the radar mounting. A solid mounting surface is necessary in order
to hold the alignment. If the bumper or mounting cross-member is damaged,
replace it first, then align the radar sensor.

•

Appendix B1 - Go to Appendix B1 and use the flowchart to find out the
procedure needed. Follow the actions directed in the procedure and align
the radar.

•

Appendix B4 - Check the vertical alignment and adjust if needed.

The service technician will need to check trouble codes as well. Read Section
4.3: Diagnostic Trouble Codes.
Does a DTC seem to occur when driving
through the desert or in barren areas (no
road signs, trees, or vehicles)?

In normal operation, the adaptive cruise control with braking feature of the Bendix
Wingman Advanced System may indicate a DTC if it hasn’t detected a metallic
object after a pre-determined period. This is rare, but most likely to occur when
driving in deserts or barren areas. If the system does set a DTC, the Bendix
Wingman Advanced System provides a visible warning to the driver. In addition,
the vehicle will also drop out of cruise mode, providing an audible and/or visual
warning to the driver as well. The driver must pull off the road, and cycle the
ignition before the vehicle’s cruise control can be used.

Does the system seem to disengage after an This is normal operation. The driver must set or "resume" the cruise control once
automatic braking event?
again to regain the following distance function.
Does cruise control disengage sometimes
when the brakes come on and not at other
times?

This is normal operation. When traveling with lightly loaded trailers, or “bobtail”, the
adaptive cruise control with braking feature of Bendix Wingman Advanced System
may continue to function even after an automatic brake application. No driver input
is needed.

Does the connector or wiring appear
damaged?

Wires can become corroded if the radar sensor is not plugged in properly. Clean
the connectors on the wire harness, as well as the radar sensor, and reattach. If
wires are chafed, replace the wire harness. Also, check for trouble codes.
Read Section 4.3: Diagnostic Trouble Codes, and Section 4.8: Troubleshooting
Wiring Harnesses.

Does the system generate a DTC going
down a grade when using ACB (Adaptive
Cruise Control with Braking) to slow the
vehicle, but the code goes away later?

This is normal operation. The adaptive cruise control with braking feature of
Bendix Wingman Advanced System is not intended to be used on grades. Verify
there are no DTCs. Proper downgrade driving techniques should be used.

Does the radar sensor have noticeable
damage beyond normal discoloration or
surface scratches?

The radar sensor and bracket are very durable. However, if the radar sensor
housing or cover is cracked or broken, immediately look for trouble codes via a
current version of Bendix ACom Diagnostic Software and replace the damaged
radar sensor. Read Section 4.3: Diagnostic Trouble Codes, and Appendix A3:
Radar Sensor Mounting.

Read Section 4.3: Diagnostic Trouble Codes.

Table 4 - Narrowing Down the Problem (Pages 15-16)

16

3.3 OVERVIEW OF POSSIBLE ISSUES
Some customer issues are actually misunderstandings of how the Bendix® Wingman® Advanced™ system performs
normally. Use Table 5 below to learn the causes of potential issues if the Bendix Wingman Advanced System is not
performing correctly. Some issues can be investigated by a visual inspection. Others may cause a Diagnostic Trouble
Code (DTC) to be logged: See Section 4.3: Diagnostic Trouble Codes.

Overview of Possible Issues (3.3)
Issue

Description

Vehicle Diagnostic
Trouble Codes
(DTCs)

The Bendix Wingman Advanced System will not operate and will set a DTC if any of the
following vehicle systems also show a DTC: engine, engine cruise, instrument cluster,
Bendix® ABS, Bendix® ATC, Bendix® ESP® system, or transmission. These components must
be repaired and cleared of DTCs before troubleshooting the Bendix Wingman Advanced
System. (NOTE: Clearing the vehicle DTCs may be the only step needed to reestablish
full Bendix Wingman Advanced System functionality. See Section 4.4: Clearing Diagnostic
Trouble Codes (DTCs).

System familiarity

Verify the system functionality. Is it operating normally or not? Drivers who are unfamiliar
with the system may report dissatisfaction over the way it beeps or how it activates the
brakes. Use Section 3.0: Introduction to Troubleshooting, Section 4.3: Diagnostic Trouble
Codes and Section 3.1: Troubleshooting Basics to verify if the system is functioning normally;
then continue.

DTCs caused by
Some DTCs indicate a temporary condition and will clear when that condition is no longer
temporary operating present. If these persist, further investigation is warranted.
conditions
See Section 3.1: Troubleshooting Basics.
Radar sensor
blocked

If the system doesn’t seem to work at all, the radar sensor may possibly be blocked. A DTC
will also be set. Visually inspect it, clear the blockage, turn the ignition on and run through a
power cycle. See Appendix A3 for more information about radar mounting and clearances.

Damaged radar
sensor or bracket

If the vehicle has been in an accident, it is likely the radar sensor will need to be re-aligned or
replaced. Inspect the radar sensor and housing for damage. Radar sensor discoloration or
small scratches may be acceptable. Significant damage (such as cracks, or broken pieces)
will require radar sensor replacement. Regardless of the exterior condition, check for DTCs
outlined in the Section 4.3: Diagnostic Trouble Codes (DTCs) to determine if radar sensor
replacement is necessary.

Damaged connector Visually inspect the connector and wire harness for corrosion or chafing. Refer to Sections
or wiring
4.5: Troubleshooting Diagnostic Trouble Codes: Power Supply and 4.6 Serial Data (J1939)
Communications Link of this document for additional troubleshooting.
Radar sensor
misalignment

Inspect the front of the vehicle. If (a) it has been damaged, or (b) if the vehicle does not track
straight, either of these conditions must be repaired before troubleshooting the Bendix Wingman
Advanced System.
If there is a DTC set or if the system does not function, the radar sensor may be severely
misaligned and the Bendix Wingman Advanced System will not operate until this is corrected.
See Appendix B - Bendix™ FLR-20™ Radar Alignment.

J1939 network
problems

If the entire system is non-functional, it may be a J1939 network problem. Follow the
instructions in Section 4.6: Serial Data (J1939) Communications Link.

Power to radar
sensor problems

If the entire system is non-functional, another likely cause may be a lack of power to the radar
sensor. Follow the instructions in Section 4.5: Troubleshooting Diagnostic Trouble Codes: Power
Supply.

Table 5 - Review of Possible Issues

17

4.0 TROUBLESHOOTING/
DIAGNOSTICS SECTION

STARTING BENDIX ACOM
DIAGNOSTIC SOFTWARE

Section Index

The Bendix ACom Diagnostic Software can be started
from the desktop shortcut, or from the main Windows®
screen with “Start...Programs...Bendix...ACom® Diagnostic
Software.” See Figure 14 and also Appendix G. To begin,
the technician selects “Wingman” from the Starter screen,
then “Start with ECU” from the Diagnostic Control panel.

4.1

Bendix ACom Diagnostic Software . . . . . 18

4.2

Reading Diagnostic Trouble Codes (DTCs) .

4.3

Table of DTCs and Actions to Take . . . . 20-30

4.4

Clearing DTCs . . . . . . . . . . . . . . . . . 37

4.5

DTCs: Power Supply . . . . . . . . . . . . . 37

4.6

DTCs: J1939 Communications Link . . . . .

4.7

(J1939) Test Procedure . . . . . . . . . . . . 38

4.8

Troubleshooting Wiring Harnesses . . . . . . 38

®

®

19

38

IMPORTANT NOTE: All vehicle Diagnostic Trouble
Codes (DTCs) related to the engine, transmission,
instrument cluster, engine cruise control and
Bendix® ABS, ATC or ESP® systems must first be
resolved, with no trouble codes present during
the vehicle operation while in cruise control,
before attempting to diagnose Bendix® Wingman®
Advanced™ system DTCs.

4.1 BENDIX® ACOM®
DIAGNOSTIC SOFTWARE
Bendix® ACom® Diagnostic Software is a PC-based software
program available as a download from the Bendix web site
(bendix.com). This software provides the technician with
access to all the available ECU diagnostic information and
configuration capability. For Bendix® Wingman® Advanced™
system diagnostics, use a current version of Bendix ACom
Diagnostic Software.

Figure 14 - Starting Bendix ACom Diagnostic Software

NOTE: When using ACom Diagnostic Software for
the first time, the service technician will be asked to
select the communication adapter for both the Bendix
Wingman Advanced System and Bendix® ABS and Stability
Controllers. While both controllers will use the same
physical adapter, the technician will need to indicate which
communication protocol to use for each. Once a successful
connection has been made, these steps will no longer be
necessary.
The Bendix ACom Diagnostic Software for ABS User Guide
is available for download at bendix.com and should be used
as a reference to all functions of the ACom service tool.

Figure 13 - Bendix ACom® Diagnostic® Software

18

4.2 READING DIAGNOSTIC
TROUBLE CODES (DTCs)

4.21 READING THE SYSTEM
SOFTWARE VERSION

If the system generates a Diagnostic Trouble Code (DTC),
where a lamp or icon is illuminated on the instrument
cluster, then a current version of ACom ® Diagnostic
Software is required. Select “Wingman®” from the starter
screen, then “Start with ECU”. Click “DTC” to show the
DTCs. See Appendix C for screen shots. See Section
4.3 for a complete table showing DTCs and troubleshooting
information.

If during troubleshooting, you are asked for the Bendix®
Wingman® Advanced™ system software version, the number
is found on the “Wingman Advanced System Status” tab.
See Figure 15. Also, see Section 5.1 for other system
indicators.

.
Figure 15 - Bendix® ACom® Diagnostic Software Starter Screen Showing Software Version

19

4.3 TABLE OF BENDIX® WINGMAN® ADVANCED™ SYSTEM
DIAGNOSTIC TROUBLE CODES (DTCs)
NOTE: Bendix™ FLR-10™ radar sensors use a different set of DTCs – see SD-61-4962.
For DTC(s), refer to Table 6A. [Alternately, for SPN (Suspect Parameter Number) and FMI (Failure Mode Identifier)
code combinations, refer to Table 6B.]
In Table 6A, find the DTC(s) found in column one and determine the Service Action Code(s) to look up in Table 6C.

Table 6A: Diagnostic Trouble Codes (DTCs), Descriptions and Service Action Codes
DTC

Description

SPN

FMI

Go to the
Service Action
Code List in
Table 6C
(Page 31)

1-1

Internal radar sensor error

886

12

A

3
4
5
6-10
11

Antenna is dirty or partially blocked
Battery voltage too low
Battery voltage too high
Internal radar sensor error
Radar cannot detect any J1939 messages from vehicle components
Radar detects intermittent loss of J1939 messages from vehicle
components
Not used
Internal radar sensor error
Antenna is dirty or partially blocked
Internal radar sensor error
Not used
Internal radar sensor error
Not used
Internal radar sensor error
Internal radar sensor error
Internal radar sensor error
J1939 signal: Missing AEBS2 message
J1939 signal: Missing CCVS1 message
J1939 signal: Missing CVW message
J1939 signal: Missing EBC1 message
J1939 signal: Missing EBC2 message
J1939 signal: Missing EBC5 message
J1939 signal: Missing EEC1 message
J1939 signal: Missing EEC2 message
J1939 signal: Missing ERC1_DR message
J1939 signal: Missing ERC1_XR message
Not used
J1939 signal: Missing OEL message
Not used
J1939 signal: Missing VDC2 message
Internal radar sensor error
J1939 signal: Missing EBC3 message
Not used
Radar sensor is misaligned

886
886
886
630
639

17
4
3
12
19

B

639

9

#N/A
886
886
630
#N/A
630
#N/A
886
886
1799
5681
527