H

This DTC is not an indicator of a malfunctioning sensor. Do not replace the sensor.
Possible causes:
• The Wingman Fusion system is indicating a required signal from the ABS controller is missing or the
ABS is sending a message indicating an error. This DTC could be accompanied by other active DTCs.
Review the following sections:
• K1.15: Radar Sensor Interchangeability
Perform the following:
• Check the ABS for trouble codes using the Bendix’s diagnostic procedures. Some examples are
incorrect ABS ECU software version, incorrect parameter settings, or failure of a component in the
ABS or ESP systems.
• Clear the Fusion system trouble codes using the procedure in Section 2.6: Clearing Diagnostic
Trouble Codes (DTCs).
• If the error returns, call the Bendix Tech Team at 1-800-AIR-BRAKE (1-800-247-2725), option 2.

J

This DTC is not an indicator of a malfunctioning sensor. Do not replace the sensor.
Possible causes:
• The system was used improperly, such as use of the system on downhill grades.
Perform the following:
• Check any engine, or engine retarder trouble codes.
• Clear the Fusion system trouble codes using the procedure in Section 2.6: Clearing Diagnostic
Trouble Codes (DTCs).
• If the error returns, call the Bendix Tech Team at 1-800-AIR-BRAKE (1-800-247-2725), option 2.

Note: The system will not report newly active J1939 Diagnostic Trouble Codes (DTCs) until the engine has
been running for 15 seconds. Do not attempt to diagnose J1939 DTCs without the engine running.
Call the Bendix Tech Team at 1‑800‑AIR‑BRAKE (1‑800‑247-2725), option 2, for troubleshooting assistance.
Table 4B – Service Action Codes (Pages 22–30)

24

Service
Action Code
(From Table
4A or
Appx. M)

Table 4B: Service Action Codes and the Recommended Service to Perform
Recommended Service

(Bendix™ FLR-20™ Radar Sensors Only)

K

This Diagnostic Trouble Code (DTC) is not an indicator of a malfunctioning sensor. Do not
replace the sensor.
• The engine has a calibration setting enabling it to perform the torque and retarder control for the
Bendix® Wingman® Active Cruise Control (ACC).
Possible causes:
• The “ACC-enable” setting in the engine software calibration is not set.
• The engine is not equipped with an engine retarder, or does not support the engine CC option.
Perform the following:
• Check the vehicle and engine manufacturer's engine configuration for an engine CC feature.
• Check the engine for an engine retarder feature.
• Check engine configuration for enabling the ACC function.
• If the error returns, call the Bendix Tech Team at 1-800-AIR-BRAKE (1-800-247-2725), option 2.

L

This Diagnostic Trouble Code (DTC) is not an indicator of a malfunctioning sensor. Do not
replace the sensor.
Possible causes:
• The controller is recognizing that there are components installed that have part numbers incompatible
with the current system configuration. [For example, when a technician attempts to install a more
recent radar sensor onto a vehicle with an earlier Bendix® Wingman® Fusion™ system or ACB
(Active Cruise Control with Braking) system.] Contact the dealer or call the Bendix Tech Team at
1-800-AIR-BRAKE (1-800-247-2725), option 2, for the correct part number to use, or the reprogramming steps to take for the newer part number to be accepted:
After addressing the possible causes, perform the following:
• Clear the Fusion system DTCs using the procedure in Section 2.6: Clearing Diagnostic Trouble
Codes (DTCs).
• If the error returns, call the Bendix Tech Team at 1-800-AIR-BRAKE (1-800-247-2725), option 2.

M

This DTC is not an indicator of a malfunctioning sensor. Do not replace the sensor.
Possible causes:
• The Collision Mitigation System (CMS) applied the brakes more than three times in a power cycle
and the system was used improperly:
After addressing the possible causes, perform the following:
• Clear the Fusion system DTCs using the procedure in Section 2.6: Clearing Diagnostic Trouble
Codes (DTCs).
• Review the operation of Bendix Wingman Fusion system with the driver.
• If the error returns, call the Bendix Tech Team at 1-800-AIR-BRAKE (1-800-247-2725), option 2.

N

This DTC is not an indicator of a malfunctioning sensor. Do not replace the sensor.
Possible causes:
• J1939 source of the signal is indicating a signal is producing a value that is out-of-range, in error, or
not supported.
Review the following sections:
• K1.15: Radar Sensor Interchangeability
• 2.10: J1939 Engine Communications Test Procedure
Perform the following:
• Check the source of the signal to identify why the signal has invalid data in the J1939 message.
• Check the engine, engine retarder, and ABS for DTCs using the manufacturer’s diagnostic
procedures. Either the engine, engine retarder, or the ABS are the source of the signal. The
controller that broadcasts the signal must be investigated first, but the origin of the signal could be
another component. Some examples are gross vehicle weight and various engine torque signals.
• Clear the Fusion system DTCs using the procedure in Section 2.6: Clearing Diagnostic Trouble
Codes (DTCs).
• If the error returns, call the Bendix Tech Team at 1-800-AIR-BRAKE (1-800-247-2725), option 2.

Note: The system will not report newly active J1939 Diagnostic Trouble Codes (DTCs) until the engine has
been running for 15 seconds. Do not attempt to diagnose J1939 DTCs without the engine running.
Call the Bendix Tech Team at 1‑800‑AIR‑BRAKE (1‑800‑247-2725), option 2, for troubleshooting assistance.
Table 4B – Service Action Codes (Pages 22–30)
25

Service
Action Code
(From Table
4A or
Appx. M)

S

Table 4B: Service Action Codes and the Recommended Service to Perform
Recommended Service

(Bendix™ FLR-20™ Radar Sensors Only)
This Diagnostic Trouble Code (DTC) is not an indicator of a malfunctioning sensor. Do not
replace the sensor.
• Some system, signal, or component caused the Fusion system to be disabled. Engine cruise control
is unavailable and should not operate when the Fusion system is disabled.
Possible causes:
• Check the engine and engine retarder trouble codes. Inspect and troubleshoot the cruise control
system wiring, switches, etc. for proper operation.
After addressing the possible causes, perform the following:
• Clear the Bendix Wingman Fusion system DTCs by cycling the power. Start the engine.
• If the error returns, call the Bendix Tech Team at 1-800-AIR-BRAKE (1-800-247-2725), option 2.

Note: The system will not report newly active J1939 Diagnostic Trouble Codes (DTCs) until the engine has
been running for 15 seconds. Do not attempt to diagnose J1939 DTCs without the engine running.
Call the Bendix Tech Team at 1‑800‑AIR‑BRAKE (1‑800‑247-2725), option 2, for troubleshooting assistance.
Table 4B – Service Action Codes (Pages 22–30)

26

Service
Action Code
(From Table
4A or
Appx. M)

Table 4B: Service Action Codes and the Recommended Service to Perform
Recommended Service

(Bendix™ FLR-20™ Radar Sensors Only)

This Diagnostic Trouble Code (DTC) is not an indicator of a malfunctioning sensor. Do not
replace the sensor.
Possible causes:
• Mounting offset incorrect.
T
Perform the following:
• Check the mounting offset of the radar sensor in Bendix® ACom® PRO™ diagnostic software
Configuration screen. The offset value should not exceed 500 mm.
• If the error returns, call the Bendix Tech Team at 1-800-AIR-BRAKE (1-800-247-2725), option 2.
This is not a failure of the radar sensor. Do not replace the radar sensor.
Possible causes:
• The Bendix ® Wingman ® Fusion ™ system is indicating a required signal that indicates whether the
U
ABS is fully operational or whether its functionality is reduced by a permanent or temporary (e.g. low
voltage) issue, or not configured or not yet fully initialized, or loss of input sensors.
• If the error returns, call the Bendix Tech Team at 1-800-AIR-BRAKE (1-800-247-2725), option 2.
This is not a failure of the radar sensor. Do not replace the radar sensor.
Possible causes:
• The Wingman Fusion System is indicating that the ABS tire sizes are out of calibration.
Perform the following:
V
• Using ACom PRO diagnostic software, connect to the ABS. Select the Controller Configuration menu
and select Modify. Enter the correct tire sizes in the Tire Size [rpm] table for each axle of the vehicle.
• Clear the Bendix Wingman Fusion system Diagnostic Trouble Codes (DTCs) using the procedure in
Section 2.6: Clearing Diagnostic Trouble Codes (DTCs).
• If the error returns, call the Bendix Tech Team at 1-800-AIR-BRAKE (1-800-247-2725), option 2.
This DTC is not an indicator of a malfunctioning sensor. Do not replace the sensor.
Possible causes:
• The Bendix Wingman system is indicating an error in the messages on the Proprietary CAN bus.
X
• Check the Proprietary CAN connections at the camera and radar.
• Check that the resistance between the Proprietary CAN+ and CAN- is between 50 and 70 ohms
with the power off.
• If the error returns, call the Bendix Tech Team at 1-800-AIR-BRAKE (1-800-247-2725), option 2.
This DTC is not an indicator of a malfunctioning sensor. Do not replace the sensor.
Possible causes:
• The Bendix Wingman system is indicating an error in the messages on the public/vehicle CAN bus.
Y
• Check the public/vehicle CAN connections at the camera and the radar.
• Check that the resistance between the public/vehicle CAN+ and CAN- is between 50 and 70 ohms
with the power off.
• If the error returns, call the Bendix Tech Team at 1-800-AIR-BRAKE (1-800-247-2725), option 2.
Note: The system will not report newly active J1939 Diagnostic Trouble Codes (DTCs) until the engine has
been running for 15 seconds. Do not attempt to diagnose J1939 DTCs without the engine running.
Call the Bendix Tech Team at 1‑800‑AIR‑BRAKE (1‑800‑247-2725), option 2, for troubleshooting assistance.
Table 4B – Service Action Codes (Pages 22–30)

27

Service
Action Code
(From Table
4A or
Appx. M)

Table 4B: Service Action Codes and the Recommended Service to Perform
Recommended Service

(Bendix™ FLR-20™ Radar Sensors Only)

There is not a failure of the radar sensor. Do not replace the radar sensor.
Possible causes:
• The Bendix® Wingman® Fusion™ system is indicating a required signal within a J1939 PGN message
is not being sent from the retarder controller. This could be accompanied by other active DTCs from
the same source.
Perform the following:
Z
• Check the source of the signal to identify why the signal has invalid data in the J1939 message.
• Check the engine and the engine retarder for trouble codes using the manufacturer’s diagnostic
procedures. Either the engine or engine retarder is the source of the signal. The controller that
broadcasts the signal must be investigated first.
• Clear the Wingman system diagnostic trouble codes using the procedure in Section 2.6: Clearing
Diagnostic Trouble Codes (DTCs).
• If the error returns, call the Bendix Tech Team at 1-800-AIR-BRAKE (1-800-247-2725), option 2.
There is not a failure of the radar sensor. Do not replace the radar sensor.
Possible causes:
• The Wingman system is indicating a required signal within a J1939 PGN message is not being sent
from the retarder controller. This could be accompanied by other active DTCs from the same source.
Perform the following:
• Check the source of the signal to identify why the signal has invalid data in the J1939 message.
AA
• Check the engine and engine retarder for trouble codes using the manufacturer’s diagnostic
procedures. Either the engine or engine retarder is the source of the signal. The controller that
broadcasts the signal must be investigated first.
• Clear the Bendix Wingman system diagnostic trouble codes using the procedure in Section 2.6:
Clearing Diagnostic Trouble Codes (DTCs).
• If the error returns, call the Bendix Tech Team at 1-800-AIR-BRAKE (1-800-247-2725), option 2.
There is not a failure of the radar sensor. Do not replace radar sensor.
Possible causes:
• The Wingman system is indicating that the ABS setting is not compatible with adaptive cruise control
type. Either the configuration of the radar or the ABS needs to be changed to match the intended
vehicle functionality.
Review the following sections:
BB
• K1.15: Radar Sensor Interchangeability
• 2.10: J1939 Engine Communications Test Procedure
Perform the following:
• Check the Radar and ABS for trouble codes using the manufacturer’s diagnostic procedures.
• Clear the Wingman system diagnostic trouble codes using the procedure in Section 2.6: Clearing
Diagnostic Trouble Codes (DTCs).
• If the error returns, call the Bendix Tech Team at 1-800-AIR-BRAKE (1-800-247-2725), option 2.
Note: The system will not report newly active J1939 Diagnostic Trouble Codes (DTCs) until the engine has
been running for 15 seconds. Do not attempt to diagnose J1939 DTCs without the engine running.
Call the Bendix Tech Team at 1‑800‑AIR‑BRAKE (1‑800‑247-2725), option 2, for troubleshooting assistance.
Table 4B – Service Action Codes (Pages 22–30)

28

Service
Action Code
(From Table
4A or
Appx. M)

Table 4B: Service Action Codes and the Recommended Service to Perform
Recommended Service

(Bendix™ FLR-20™ Radar Sensors Only)

There is not a failure of the radar sensor. Do not replace the radar sensor.
Possible causes:
• The Bendix® Wingman® Fusion™ system is indicating that the ABS setting is not compatible with
Highway Departure Braking. Either the configuration of the Radar or the ABS needs to be changed
to match the intended vehicle functionality.
Review the following sections:
• K1.15: Radar Sensor Interchangeability
CC
• 2.10: J1939 Engine Communications Test Procedure
Perform the following:
• Check the Radar and ABS for trouble codes using the manufacturer’s diagnostic procedures.
• Clear the Wingman system diagnostic trouble codes using the procedure in Section 2.6: Clearing
Diagnostic Trouble Codes (DTCs).
• If the error returns, call the Bendix Tech Team at 1-800-AIR-BRAKE (1-800-247-2725), option 2.
There is not a failure of the radar sensor. Do not replace the radar sensor.
Possible causes:
• The Wingman system is indicating that the ABS setting is not compatible with Multi-Lane Automatic
Emergency Braking. Either the configuration of the Radar or the ABS needs to be changed to match
the intended vehicle functionality.
Review the following sections:
• K1.15: Radar Sensor Interchangeability
DD
• 2.10: J1939 Engine Communications Test Procedure
Perform the following:
• Check the Radar and ABS for trouble codes using the manufacturer’s diagnostic procedures.
• Clear the Wingman system diagnostic trouble codes using the procedure in Section 2.6: Clearing
Diagnostic Trouble Codes (DTCs).
• If the error returns, call the Bendix Tech Team at 1-800-AIR-BRAKE (1-800-247-2725), option 2.
There is not a failure of the radar sensor. Do not replace the radar sensor.
Possible causes:
• The Bendix Wingman system is indicating that the engine setting is not compatible with the Adaptive
Cruise Control type. Either the configuration of the radar or the engine needs to be changed to match
the intended vehicle functionality.
Review the following sections:
EE
• K1.15: Radar Sensor Interchangeability
• 2.10: J1939 Engine Communications Test Procedure
Perform the following:
• Check the engine and ABS for trouble codes using the manufacturer’s diagnostic procedures.
• Clear the Wingman system diagnostic trouble codes using the procedure in Section 2.6: Clearing
Diagnostic Trouble Codes (DTCs).
• If the error returns, call the Bendix Tech Team at 1-800-AIR-BRAKE (1-800-247-2725), option 2.
There is not a failure of the radar sensor. Do not replace the radar sensor.
Possible causes:
• The Bendix® Wingman® system is indicating the engine is not responding correctly to the radar
control signals on the J1939 CAN bus.
Perform
the following:
FF
• Check the engine, engine retarder, and the ABS for trouble codes using the manufacturer’s diagnostic
procedures.
• Clear the Wingman system diagnostic trouble codes using the procedure in Section 2.6: Clearing
Diagnostic Trouble Codes (DTCs).
• If the error returns, call the Bendix Tech Team at 1-800-AIR-BRAKE (1-800-247-2725), option 2.
Note: The system will not report newly active J1939 Diagnostic Trouble Codes (DTCs) until the engine has
been running for 15 seconds. Do not attempt to diagnose J1939 DTCs without the engine running.
Call the Bendix Tech Team at 1‑800‑AIR‑BRAKE (1‑800‑247-2725), option 2, for troubleshooting assistance.
Table 4B – Service Action Codes (Pages 22–30)
29

30

2.6 CLEARING DIAGNOSTIC
TROUBLE CODES (DTCS)
Diagnostic Trouble Codes (DTCs) may be cleared using the
Bendix® ACom® PRO™ diagnostic software service tool or
by cycling the ignition power. In the ACom PRO program,
click the “Clear” button located on the “Read / Clear Fault
Codes” screen. Alternately, power-off the vehicle for at
least one (1) minute, then start the engine and run it at idle
for at least 15 seconds.
Drive the vehicle and, on a test track or suitable section of
roadway, verify proper operation.
If the error returns, call Bendix at 1-800-AIR-BRAKE
(1‑800-247-2725), option 2, for assistance.

2.7 TROUBLESHOOTING DIAGNOSTIC
TROUBLE CODES: POWER SUPPLY
IGNITION VOLTAGE TOO LOW
Measure the ignition voltage under load. Ensure that the
ignition voltage is greater than 10 VDC (Volts DC). Check
the vehicle battery and associated components. Inspect
for damaged wiring, damaged or corroded connectors,
and loose connections. Check the condition of the fuse.

IGNITION VOLTAGE TOO HIGH
Measure the ignition voltage. Ensure that ignition voltage
is not greater than 16 VDC. Check the vehicle battery
and associated components. Inspect for damaged wiring,
damaged or corroded connectors, and loose connections.

POWER SUPPLY TESTS
1. Take all measurements at the radar sensor harness
connector.
2. Place a load (e.g. 1157 stop lamp) across the supply
voltage and ground connection. Measure the voltage
with the load. The supply voltage on pin 8 to ground
should measure between 10 to 16 VDC.
3. Check for damaged wiring, damaged or corroded
connectors, and loose connections.
4. Check the condition of the vehicle battery and associated components. Ensure the connection to ground is
secure and tight.
5. Using the procedures described by the vehicle
manufacturer, check the alternator output for excessive
noise.

Power Supply Pin Codes (4.5)

6

7 8 9 10

1 2

3

4

5

(Looking into the Front of the Harness Connector)
Pin #

Description

1

J1939 High

2

Private Communications High

3

Not Used

4

Not Used

5

Radar Sensor Ground GND (-)

6

J1939 Low

7

Private Communications Low

8

Supply Voltage IGN (+)

9

Not Used

10

Not Used

Table 5 – Harness Connector Pins

2.8 SERIAL DATA (J1939)
COMMUNICATIONS LINK
Check for a loss of communications between the Bendix®
Wingman® Fusion™ system radar sensor, the ABS controller,
the engine ECU, and other devices connected to the
J1939 link. Check for damaged or reversed J1939 wiring.
Check for corroded or damaged connectors and loose
connections. Using procedures described by the vehicle
manufacturer, verify the presence of the engine ECU and
the ABS controller on the J1939 link.
Verify the engine ECU configuration. Check for other
devices inhibiting J1939 communications.
Note: The Wingman Fusion system will not report newly
active J1939 DTCs until the engine has been running for
15 seconds. Do not attempt to diagnose FLR J1939 DTCs
without the engine running.

2.9 PRIVATE COMMUNICATIONS
NETWORK TEST PROCEDURE
The Fusion system requires private network messages
to and from the other devices in the system. If these
messages are not present, or if there is a problem with the
private communications system, a DTC will be set.

31

2.10 ENGINE COMMUNICATIONS
(J1939) TEST PROCEDURE
The Bendix® Wingman® Fusion™ system requires several
J1939 messages from the engine Electronic Control
Unit (ECU) to control the engine and retarder torque for
distance control and braking. The Fusion system will set a
Diagnostic Trouble Code (DTC) if one of these messages
is not present.
Use the engine manufacturer’s diagnostic test procedures
to verify that there are no errors present in the engine that
may prevent the Wingman Fusion system from controlling
the engine or retarder torque.
Note: The Fusion system will not report newly active J1939
DTCs until the engine has been running for 15 seconds. Do
not attempt to diagnose J1939 DTCs without the engine
running.

2.11 J1939 TROUBLESHOOTING
PROCEDURE
1. Take all measurements at the harness connector unless
otherwise indicated.

Do not insert probes into the back of the connector as
this will damage the seal around the wire.

Do not insert any probe into the pin on the mating
connector of the radar sensor that is greater than
the dimension of the mating connector. Damaged
connector pins will require the replacement of the
harness.
Note: The Fusion system will not report newly active J1939
DTCs until the engine has been running for 15 seconds. Do
not attempt to diagnose J1939 DTCs without the engine
running.
2. Check for damaged or reversed J1939 wiring.
If the J1939 HIGH or J1939 LOW wiring circuits are
damaged, such as shorting together, the entire J1939
link will be lost. The problem may be intermittent,
enabling the J1939 link to sometimes operate normally.
If this occurs, multiple DTCs will be logged in multiple
engine and vehicle controllers.
If the J1939 HIGH and J1939 LOW wiring circuits are
reversed, communication over the entire J1939 link will
not be lost. Only those devices that are outside of the
problem point from other devices will not receive, or be
able to transmit, data messages.

32

3. Check for corroded or damaged wiring connector
problems such as opens or shorts to voltage or ground.
If the connector terminals are corroded, this may be
an indication of water intrusion into the wiring system
and possibly into the radar sensor. Replacement of
the entire harness is recommended. If the terminals
of the radar sensor are corroded, replacement of the
radar sensor is recommended.
4. Check for other J1939 devices which may be inhibiting
J1939 communication. The service technician should
consult the vehicle manufacturer’s procedures for
other J1939 troubleshooting procedures. The device’s
power should be removed and measurements made at
the ECU pins for shorts to ground and power pins and
resistance between the J1939 HIGH or J1939 LOW
input circuits.
5. Unplug the radar sensor. With the ignition switch off,
measure the resistance (ohms) using a multimeter
between harness pins 1 and 6. The reading should be
approximately 60 ohms. If it is not, the vehicle wiring
should be investigated using procedures described by
the manufacturer.

2.12 TROUBLESHOOTING
WIRING HARNESSES
All wire harness connectors must be properly seated to
maintain environmental seals. Push the mating connector
until it seals with a click. When replacing a Fusion radar
sensor, check that the wire harness connector is free of
corrosion before plugging it into a new radar sensor. Check
for corroded or damaged wiring connector problems such
as opens or shorts to voltage or ground.
If the connector terminals are corroded, this may be an
indication of water intrusion into the wiring system and
possibly into the radar sensor. Replacement of the entire
harness is recommended. If the terminals of the radar
sensor are corroded, replacement of the radar sensor is
recommended.

3.0 OTHER SYSTEM FEATURES
3.1 READING BENDIX® WINGMAN®
FUSION™ SYSTEM KEY INDICATORS
To check the Bendix® Wingman® Fusion™ system key
indicators such as software version number, use Bendix®
ACom® PRO™ diagnostic software. From the ACom PRO
software main menu, the technician highlights Advanced,
then clicks “Start with ECU”. The Fusion Status screen
will appear. Clicking “Config” will display the key system