NHTSA ID Number: 11011550
Manufacturer Communication Number: SD-61-4963
TSB/Document Date: 2024-12-06
Summary
Bendix
Wingman Fusion FLR-21 Radar Sensor Service Data, troubleshooting and diagnostics guide.
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 mounting offset of the FLR-21 radar sensor in Bendix® ACom® Diagnostic Software by
selecting the Bi-directional Test, then the Wingman FLR 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 DTC is not a failure of the FLR-21 radar sensor. Do not replace the radar FLR-21 radar
sensor.
U
Possible causes:
• A fault occurred in the ABS controller causing the radar to not receive a proper message
from the ABS controller.
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.
• Repair the ABS fault(s).
• Check the ABS fault history for reoccurring intermittent faults.
• 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:
• This is an indicator of an ABS fault.
V
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 ABS controller and repair if necessary.
• 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)
27
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 an error in the messages on the proprietary
CAN bus.
X
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 proprietary CAN connections at the Bendix® FLC-20™ Camera and FLR-21 radar sensor.
• Check for the presence of the FLC-20 camera on the vehicle J1939 CAN line using the roll call
feature in Bendix® ACom® Diagnostic Software (left side of the home screen). If the
FLC-20 camera is not found, refer to SD-64-20124, Bendix® AutoVue® FLC-20™ Camera Service
Data Sheet, on B2Bendix.com for proper camera diagnostics.
• Check that the resistance between the Proprietary CAN+ and CAN- is between 50 and 70
ohms with the power off, and that both the radar sensor and camera are properly connected. If
removing the connector from the radar sensor, the resistance should be 120 ohms.
• 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:
• This is an indicator of an intermittent CAN failure. Refer to CAN line diagnostics for further
troubleshooting steps.
• The Wingman Fusion system is indicating an error in the messages on the public/vehicle CAN bus.
Y
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 public/vehicle CAN connections at the camera and the FLR-21 radar sensor.
• 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.
This DTC is not a failure of the FLR-21 radar sensor. Do not replace the FLR-21 radar sensor.
Possible causes:
• The Wingman Fusion system is indicating a required signal within a J1939 message is not being
sent from the retarder controller.
• The FLR-21 radar sensor is missing proper engine configuration messages. This DTC could be
accompanied by other active DTCs.
Z
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 data.
• Check the engine and the engine retarder for DTCs using the manufacturer’s diagnostic
procedures. Either the engine or engine retarder is the source of the signal. The controller that
broadcasts the J1939 message must be investigated first.
• Contact the engine manufacturer for proper engine Electronic Control Module (ECM) configuration.
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)
28
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 DTC is not a failure of the FLR-21 radar sensor. Do not replace the FLR-21 radar sensor
Possible causes:
• The Wingman Fusion system is indicating that the Bendix™ FLC-20™ camera sensor is not compatible
with Highway Departure Braking (HDB). The configuration of the FLC-20 camera sensor needs to be
changed to match the intended vehicle functionality.
CC
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.
• Confirm the proper FLR-21 radar sensor is installed.
• Confirm the proper FLC-20 camera sensor is installed.
• For FLC-20 camera sensor software updates, refer to TCH-29-002 on B2Bendix.com.
This DTC is not a failure of the FLR-21 radar sensor. Do not replace the FLR-21 radar sensor
Possible causes:
• The Wingman Fusion system is indicating that the engine setting is not compatible with the Adaptive
Cruise Control (ACC). Either the configuration of the FLR-21 radar sensor or the engine needs to be
changed to match the intended vehicle functionality.
EE
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.
• Check the engine and ABS for DTCs using the manufacturer’s diagnostic procedures.
• Contact the engine manufacturer for proper engine Electronic Control Module (ECM) configuration.
This DTC is not failure of the FLR-21 radar sensor. Do not replace the FLR-21 radar sensor
Possible causes:
• The Wingman Fusion system is indicating the engine is not responding correctly to the FLR-21 radar
sensor control signals on the J1939 CAN bus.
FF
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 engine, engine retarder, and the ABS for DTCs using the manufacturer’s diagnostic
procedures.
• Contact the engine manufacturer for proper engine ECM configuration.
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)
29
2.6 CLEARING DIAGNOSTIC
TROUBLE CODES (DTCS)
Power Supply Pin Codes (4.5)
1. Connect a current version of the Bendix® ACom®
Diagnostic Software to the vehicle.
6
2. Once the roll call is complete, you can view active and
inactive Diagnostic Trouble Codes (DTCs) and clear
DTCs from all vehicle components or solely from a
selected Bendix controller.
1 2
3. To read and clear DTCs from all vehicle components
at the same time, select the vehicle on the roll call and
clear the DTCs by selecting “Clear Faults.”
7 8 9 10
3
4
5
(Looking into the Front of the Harness Connector)
Pin #
Description
4. To read and clear DTCs from a specific Bendix
Electronic Control Unit (ECU), select the Bendix ECU
on the roll call select “Clear Faults.”
1
J1939 High
2
Private Communications High
For assistance with ACom Diagnostic Software,
contact the Bendix Tech Team at 1-800-AIR-BRAKE
(1-800-247-2725, option 2).
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
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 (i.e. 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.
30
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 Antilock
Braking System (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.
2.10 ENGINE COMMUNICATIONS
(J1939) TEST PROCEDURE
NOTE: Remove all non-factory-equipped components
– such as Electronic Drivers' Logs (EDLs), GPS, and
telematic systems – prior to testing communications.
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
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.
1. Take all measurements at the harness connector unless
otherwise indicated.
2.12 TROUBLESHOOTING
WIRING HARNESSES
Do not insert probes into the back of the connector as
this will damage the seal around the wire.
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.
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.
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.
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.
31
3.0 OTHER SYSTEM FEATURES
3.1 READING BENDIX® WINGMAN®
FUSION™ SYSTEM KEY INDICATORS
1. Connect a current version of Bendix® ACom®
Diagnostic Software key system indicators from the
roll call. Key Electronic Control Unit (ECU) indicators
will be shown at the bottom left of the screen below
the roll call. Some information shown in this includes
the make, model, serial number, software version,
etc.
2. Additional ECU indicators can be found by selecting
“Bi-Directional” from the main menu. Select the Bendix
controller and the controller-specific configuration
option in the populated menu.
For assistance with the ACom Diagnostic Software,
contact the Bendix Tech team at 1-800-AIR-BRAKE
(1-800-247-2725, option 2).
3.2 BENDIX WINGMAN FUSION
SYSTEM DIAGNOSTIC TROUBLE
CODE (DTC) SELF-CLEARING
1. Connect a current version of the ACom Diagnostic
Software to the vehicle.
2. Once the roll call is complete, you can view active
and inactive DTCs and clear DTCs from all vehicle
components or solely from a selected Bendix
controller.
32
3. To read and clear DTCs from all vehicle components
at the same time, select the vehicle on the roll call and
clear the DTCs by selecting “Clear Faults.”
4. To read and clear DTCs from a specific Bendix
Electronic Control Unit (ECU), select the Bendix ECU
on the roll call select “Clear Faults.”
3.3 FOLLOWING DISTANCE
ADJUSTMENT SWITCH (OPTIONAL)
If the vehicle is equipped with the following distance
adjustment switch and the following distance does not
change after an adjustment is made, the switch, wiring,
or a controller on the vehicle should be checked using
the diagnostic procedures described by the vehicle
manufacturer. The radar sensor receives the driver’s desired
following distance on the J1939 data communication link
from a controller on the vehicle. No DTC will be set if the
vehicle is not equipped with a following distance adjustment
switch.
3.4 CONFIGURING BENDIX WINGMAN
FUSION SYSTEM FOLLOWING
DISTANCE ALERTS
Multiple alert and distance setting strategies, known as
Following Distance Alert (FDA) configurations, can be
chosen using the ACom Diagnostic Software. In current
versions of the ACom Diagnostic Software, the service
technician will find a selection box called “Following
Distance Alert Table” which gives the service technician
the choices shown in Table 6. Refer to Appendix H for
information about how to change the FDA settings and
enable momentary beeping. To view key system indicators,
refer to Appendix G.
Configuring Bendix® Wingman® Fusion™ System Following Distance Alerts (FDA) (3.4)
FDA
Config.
No.
1
2
3
4
5
6
7
8
9
Vehicle Speed
Range
Slow
Audible
Alert
(sec.)
Medium
Speed
Audible
Alert (sec.)
Fast
Audible
Alert
(sec.)
0 - 37 MPH
-----
-----
0.5
38 - 52 MPH
1.125
0.875
0.5
> 52 MPH
1.5
1.0
0.5
0 - 37 MPH
-----
-----
0.5
38 - 52 MPH
1.125
0.875
0.5
> 52 MPH
1.5
1.0
0.5
0 - 37 MPH
-----
1.5
1.0
38 - 52 MPH
2.0
1.5
1.0
> 52 MPH
2.0
1.5
1.0
0 - 37 MPH
-----
1.5
1.0
38 - 52 MPH
2.0
1.5
1.0
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TSB/Document ID: SD-61-4963
Replacement Service Bulletin Number:
MFR Communication Date: 2024-12-06
MFR Internal Campaign ID/Software Version:
Communication Type: Service Bulletin/Repair Instructions
NHTSA Components: FORWARD COLLISION AVOIDANCE: AUTOMATIC EMERGENCY BRAKING
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