263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
290
291

Description

SPN

FMI

J1939 signal: Error in EEC3 nominal friction percent torque
J1939 signal: Not available EEC3 nominal friction percent torque
J1939 signal: Error in ETC1 transmission driveline engaged
J1939 signal: Not available ETC1 transmission driveline engaged
J1939 signal: Invalid ETC2 transmission selected gear
J1939 signal: Error in ETC2 transmission selected gear
J1939 signal: Not available ETC2 transmission selected gear
J1939 signal: Invalid ETC2 transmission actual gear ratio
J1939 signal: Error in ETC2 transmission actual gear ratio
J1939 signal: Not available ETC2 transmission actual gear ratio
J1939 signal: Invalid ETC2 transmission current gear
J1939 signal: Error in ETC2 transmission current gear
J1939 signal: Not available ETC2 transmission current gear
J1939 signal: Error in TC1 transmission requested gear
J1939 signal: Not available TC1 transmission requested gear
J1939 signal: Missing AUXIO message
J1939 signal: Missing DM1 message
J1939 signal: Missing EEC3 message
J1939 signal: Missing ETC1 message
J1939 signal: Missing ETC2 message
J1939 signal: Missing TC1 message
J1939 signal: Missing FLC message
J1939 signal: AUXIO trailer ABS not fully operational
Proprietary CAN: Message counter increment error
Fusion configuration mismatch between brake controller and radar
sensor
J1939 signal: Missing ETC5 message
J1939 signal: Error in ETC5 reverse switch
J1939 signal: Not available ETC5 reverse switch
J1939 signal: Error in CCVS1 brake switch
J1939 signal: Not available CCVS1 brake switch
XBR is locked out
Internal radar sensor error
Automatic braking system was activated too many times
Internal radar sensor error
Fusion configuration mismatch between brake controller and radar
sensor
AEBS deactivated because of factory mode
System detected an error requiring a radar shutdown
System detected engine not properly responding to control messages
J1939: Engine Controller Signal Invalid - ERC1 Actual Engine Torque
J1939: Retarder Controller Signal Error - ERC1 Actual Max Torque

514
514
560
560
524
524
524
526
526
526
523
523
523
525
525
701
1214
514
560
524
525
1705
707
625

19
9
19
9
2
19
9
2
19
9
2
19
9
19
9
14
14
14
14
14
14
14
2
10

Go to the
Service Action
Code List in
Table 4B
(Pages 22-30)
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
D
D
D
D
D
D
D
H
X

630

19

L

767
767
767
597
597
1196
630
2920
886

14
19
9
19
9
19
12
0
12

D
N
N
N
N
A
A
M
A

625

13

L

5681
886
513
1717
1717

13
18
13
2
19

B
A
FF
Z
Z

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.
Table 4A – DTC Code to Service Action Code (Pages 15 – 21)

21

Table 4A: Diagnostic Trouble Codes (DTCs), Descriptions, and Service Action Codes
DTC
292
293
294
295
296
297
298
299
300
301
302

Description
J1939: Retarder Controller Signal Not Available - Retarder ERC1
Actual Max Torque
J1939: Retarder Controller Signal Invalid - RC Reference Torque
J1939: Retarder Controller Signal Error - ERC1 Actual Max Torque
J1939: Retarder Controller Signal Not Available - Retarder RC
Reference Torque
J1939: Retarder Controller Signal Timeout - Engine RC Message
J1939: Retarder Controller Signal Timeout - Driveline RC Message
Radar mismatch with Engine ACC Control Type
Radar mismatch with ABS configuration for Highway
Departure Braking
Radar mismatch with ABS configuration for Multi-Lane Automatic
Emergency Braking
Radar mismatch with ABS configuration for Adaptive Cruise
Control Type
Fusion Configuration – Highway Departure Braking – mismatch
between camera sensor and radar sensor

Go to the
Service Action
Code List in
Table 4B
(Pages 22-30)

SPN

FMI

1717

9

Z

556
556

2
19

Z
Z

556

9

Z

901
901
517000

9
14
14

Z
Z
EE

517001

14

L

517002

14

L

517003

14

L

517004

14

CC

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.
Table 4A – DTC Code to Service Action Code (Pages 15 – 21)

22

Service Action Codes and the Recommended Service to Perform
Service
Action Code
(From Table
4A or
Appendix. M)

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

(Bendix™ FLR-21™ Radar Sensors Only)
This Diagnostic Trouble Code (DTC) is a failure of the FLR-21 radar sensor. Replace the FLR-21
radar sensor.

A

Prior to replacing the FLR-21 radar sensor, perform the following:
• Clear the Bendix® Wingman® Fusion™ system DTCs using the procedure in Section 2.6:
Clearing Diagnostic Trouble Codes (DTCs).
• If the error returns, replace the FLR-21 radar sensor.
This DTC is not a failure of the FLR-21 radar sensor. Do not replace the FLR-21 radar sensor.
Possible causes:
• These DTCs may arise from infrequent conditions that could occur normally.

B

Perform the following:
• Clear the Wingman Fusion system DTCs using the procedure in Section 2.6: Clearing
Diagnostic Trouble Codes (DTCs). If the error persists, continue to the next step.
• Check for proper installation of the FLR-21 radar sensor. This DTC is commonly caused by the
FLR-21 radar sensor being installed backwards.
• Check for FLR-21 radar sensor obstruction. Clean dirt – or packed snow or ice – from the FLR-21
radar sensor if present.
• If the error returns, call the Bendix Tech Team at 1-800-AIR-BRAKE (1-800-247-2725), option 2.
This DTC is not a failure of the FLR-21 radar sensor. Do not replace the FLR-21 radar sensor.
Possible causes:
• These DTCs result from incorrect ignition, battery supply voltage, or wiring harness issues as
measured at the FLR-21 radar sensor.

C

Review the following sections:
• 2.7: Ignition Voltage Too Low
• 2.7: Ignition Voltage Too High
• 2.7: Power Supply Tests
• 2.12: Troubleshooting Wiring Harnesses
Perform the following:
• Clear the Wingman Fusion system DTCs using the procedure in Section 2.6: Clearing
Diagnostic Trouble Codes (DTCs). If the error persists, continue to the next step.
• Verify the ignition supply voltage to the FLR-21 radar sensor is between 9 to 16 VDC.
• Visually check for damaged or corroded connectors.
• Visually check for damaged wiring.
• 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.
Table 4B – Service Action Codes (Pages 22–30)

23

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

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

(Bendix™ FLR-21™ Radar Sensors Only)
This Diagnostic Trouble Code (DTC) is not a failure of the FLR-21 radar sensor. Do not replace
the FLR-21 radar sensor.
Possible causes:
• The Bendix® Wingman® Fusion™ system is indicating a J1939 communication error.
• The FLR-21 radar sensor is not receiving/missing messages from the other system components.
• There is aftermarket component interference.
• This DTC could be accompanied by other active DTCs.

D

Review the following sections:
• K1.15: FLR-21 Radar Sensor Interchangeability
• 2.10: J1939 Engine Communications Test Procedure
Perform the following:
• Clear the Wingman Fusion system DTCs using the procedure in Section 2.6: Clearing
Diagnostic Trouble Codes (DTCs). If the error persists, continue to the next step.
• Remove all aftermarket components from the J1939 CAN line and retest vehicle communications.
• Check the source of the J1939 message to identify why the signal has invalid data in the J1939
message.
• Check the engine, engine retarder, and Antilock Braking System (ABS) for DTCs using the
manufacturer’s diagnostic procedures. Either the engine, engine retarder, or the ABS are the
source of the J1939 message. The component that broadcasts the signal must be investigated
first. Some examples are gross vehicle weight and various engine torque signals.
• If the error returns, call the Bendix Tech Team at 1-800-AIR-BRAKE (1-800-247-2725), option 2.
This DTC is not a failure of the FLR-21 radar sensor. Do not replace the FLR-21 radar sensor.
Possible cause:
• The FLR-21 radar sensor is out of alignment.

G

Perform the following:
• Clear the Wingman Fusion system DTCs using the procedure in Section 2.6: Clearing
Diagnostic Trouble Codes (DTCs). If the error persists, continue to the next step.
• Physically check that the FLR-21 radar sensor is securely mounted in its original mounting location
with OE-specified hardware.
• Refer to Appendix B1 and use the flowchart to find out the procedure needed. Follow the actions
directed in the procedure and align the FLR-21 radar sensor.
• Use Bendix® ACom® Diagnostic Software to reset the alignment value.
• 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.
Table 4B – Service Action Codes (Pages 22–30)

24

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

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

(Bendix™ FLR-21™ Radar Sensors Only)
This Diagnostic Trouble Code (DTC) is not a failure of the FLR-21 radar sensor. Do not replace
the FLR-21 radar sensor.
Possible causes:
• The Bendix® Wingman® Fusion™ system is indicating a required J1939 message from the Antilock
Braking System (ABS) controller is missing or the ABS controller is sending a message indicating an
ABS fault.
• This DTC could be accompanied by other active DTCs.

H

Review the following sections:
• K1.15: FLR-21 Radar Sensor Interchangeability
Perform the following:
• Clear the Wingman Fusion system DTCs using the procedure in Section 2.6: Clearing
Diagnostic Trouble Codes (DTCs). If the error persists, continue to the next step.
• If there are no DTCs present in the ABS controller, clear all faults.
• If the DTC returns after driving the vehicle, check the ABS controller's DTC events to see if an
intermittent fault is occurring.
• Check the ABS controller for DTCs 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.
• If the error returns, call the Bendix Tech Team at 1-800-AIR-BRAKE (1-800-247-2725), option 2.
This DTC is not a failure of the FLR-21 radar sensor. Do not replace the FLR-21 radar sensor.

J

Possible causes:
• The system was used improperly (i.e. using the system on downhill grades).
Perform the following:
• Clear the Wingman Fusion system DTCs using the procedure in Section 2.6: Clearing
Diagnostic Trouble Codes (DTCs). If the error persists, continue to the next step.
• Check any engine or engine retarder DTCs.
This DTC is not a failure of the FLR-21 radar sensor. Do not replace the FLR-21 radar sensor.

K

Possible causes:
• The engine has a configuration setting enabling it to perform the torque and retarder control for the
Bendix® Wingman® Adaptive Cruise Control (ACC).
• The FLR-21 radar sensor is not compatible with the current configuration of the engine.
Perform the following:
• Clear the Wingman Fusion system DTCs using the procedure in Section 2.6: Clearing
Diagnostic Trouble Codes (DTCs). If the error persists, continue to the next step.
• Contact the engine manufacturer for proper engine Electronic Control Module (ECM) configuration
settings.
• If the error returns, contact the engine manufacturer for assistance.

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.
Table 4B – Service Action Codes (Pages 22–30)

25

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

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

(Bendix™ FLR-21™ Radar Sensors Only)
This Diagnostic Trouble Code (DTC) is not a failure of the FLR-21 radar sensor. Do not replace
the FLR-21 radar sensor.

L

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 FLR-21 radar sensor onto a vehicle with an earlier Bendix® Wingman® Fusion™
system or ACB [Active Cruise Control with Braking] system.)
Perform the following:
• Clear the Wingman Fusion system DTCs using the procedure in Section 2.6: Clearing
Diagnostic Trouble Codes (DTCs). If the error persists, continue to the next step.
• Contact the vehicle OEM for assistance.
This DTC is not a failure of the FLR-21 radar sensor. Do not replace the FLR-21 radar sensor.

M

Possible causes:
• The Collision Mitigation System (CMS) applied the brakes more than three (3) times in a power
cycle and the system was used improperly.
Perform the following:
• Clear the Wingman Fusion system DTCs using the procedure in Section 2.6: Clearing
Diagnostic Trouble Codes (DTCs).
• Review the operation of the Bendix® Wingman® Fusion™ system with the driver.
This DTC is not a failure of the FLR-21 radar sensor. Do not replace the FLR-21 radar sensor.
Possible causes:
• The source of the J1939 message is producing a value that is out of range, in error, or not
supported.
Review the following sections:
• K1.15: FLR-21 Radar Sensor Interchangeability
• 2.10: J1939 Engine Communications Test Procedure

N

Perform the following:
• Clear the Wingman Fusion system DTCs using the procedure in Section 2.6: Clearing
Diagnostic Trouble Codes (DTCs). If the error persists, continue to the next step.
• Check the source of the J1939 message to identify why it has invalid or missing data.
• Check the engine, engine retarder, and Antilock Braking System (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 J1939 message must be investigated first.
Some examples are gross vehicle weight and various engine torque signals.
• 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.
Table 4B – Service Action Codes (Pages 22–30)

26

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

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

(Bendix™ FLR-21™ Radar Sensors Only)
This Diagnostic Trouble Code (DTC) is not a failure of the FLR-21 radar sensor. Do not replace
the FLR-21 radar sensor.
• Some system, signal, or component caused the Bendix® Wingman® Fusion™ system to be disabled.
Adaptive Cruise Control (ACC) is unavailable and should not operate when the Wingman Fusion
system is disabled.

S

Possible causes:
• Check the engine and engine retarder DTCs. Inspect and troubleshoot the ACC system wiring,
switches, etc. for proper operation.
Perform the following:
• Clear the Wingman Fusion system DTCs using the procedure in Section 2.6: Clearing
Diagnostic Trouble Codes (DTCs).
• Start the engine.
This DTC is not a failure of the FLR-21 radar sensor. Do not replace the FLR-21 radar sensor.
Possible cause:
• Mounting offset incorrect.

T