SD-61-4960

Bendix® Wingman® Advanced™ (FLR20™ Sensor)

DESCRIPTION
WARNING
The Bendix® Wingman® Advanced™ system is an integrated
Improper use of the Bendix® Wingman® Advanced™
combination of three features:
system can result in a collision causing property
damage, serious injuries, or death. • Adaptive cruise control with braking;

The driver is always responsible for the control and • Alerts (several different types); and
safe operation of the vehicle at all times. The Bendix • Collision mitigation technology.
Wingman Advanced system does not replace the
need for a skilled, alert professional driver, reacting PART ONE: ADAPTIVE CRUISE
appropriately and in a timely manner, and using safe CONTROL WITH BRAKING
driving practices. The adaptive cruise control with braking feature is an
additional upgrade of ordinary cruise control. When using
cruise control, the Wingman Advanced system will maintain
RADAR SENSOR MOUNTING
BRACKET the set speed, and also will intervene, as needed, to help
(VARIES) maintain a set following distance behind a detected forward
vehicle.
Using a radar sensor mounted to the front of the vehicle
— with a range of approximately 500 feet — the Wingman
Advanced system reacts to detected forward vehicles in the
same lane, traveling in the same direction. See Figure 1.
The adaptive cruise control with braking feature is designed
FOR THE BENDIX WINGMAN
® ® to help the driver maintain a set following distance between
FLR10™ RADAR SENSOR his vehicle and a detected forward vehicle when cruise
SEE SD-61-4962 control is set. See the gray "Radar Beam" area in Figure 2.

FIGURE 1 - BENDIX® WINGMAN® FLR20™ RADAR SENSOR Once cruise control is set and the system is maintaining a
AND COVER set following distance between you and the vehicle in front:

Vehicle Equipped with Bendix ®

Detected Forward Vehicle
Wingman Advanced
® ™

EAM
RADAR B

NOT TO SCALE

The STRIPED area approximates the zone The GRAY area approximates the zone where the
where the collision mitigation feature is ready to Wingman Advanced system – when cruise control
intervene with up to two‑thirds of the vehicle’s is set – is ready to intervene with up to one-third
braking capacity, if needed, as long as the of the vehicle’s braking capacity, if needed.
vehicle is traveling above 15 mph.

FIGURE 2 - BENDIX® WINGMAN® ADVANCED™ SYSTEM RADAR DETECTION

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If the vehicle in front of you slows down below the cruise imposed by factory-set road speed governors, etc. are fully
control’s set speed, the Bendix® Wingman® Advanced™ supported by the Wingman Advanced system.
system will intervene and, as necessary, in this order:
PART TWO: ALERTS
(a) reduce the engine throttle; then
Bendix Wingman Advanced also assists by giving audible
(b) apply the engine retarder; then and visual alerts, whether or not cruise control is on. See
(c) apply the foundation brakes, Pages 8-10 for more information on the three types of alerts
in an attempt to maintain the set following distance behind the driver may hear and/or see displayed.
the vehicle ahead. NOTE: If during the intervention, it is PART THREE: COLLISION
necessary to apply the foundation brakes, the vehicle will
MITIGATION TECHNOLOGY
not automatically resume the cruise control set speed.
See the striped area in Figure 2. The Wingman Advanced
If the vehicle ahead slows below the cruise control’s set
collision mitigation technology is designed to be ready to
speed, but then accelerates away, and the Wingman
react to the presence of moving vehicles in front of your
Advanced system did not need to use the foundation
vehicle (whether or not cruise control is set). Collision
brakes, the system will automatically accelerate back to the
mitigation interventions can be up to two-thirds of the
original cruise control set speed, and again maintain a set
vehicle’s braking capacity. The system provides the driver
following distance behind any detected forward vehicles.
with an alert before an intervention occurs. The driver must
Because the Wingman Advanced system operates along immediately act to potentially avoid, or lessen the severity
with normal cruise control, all the typical features built of, a collision.
into cruise control work as usual. For example, limits

GENERAL SAFETY GUIDELINES

WARNING! PLEASE READ AND FOLLOW THESE INSTRUCTIONS
TO AVOID PERSONAL INJURY OR DEATH:
When working on or around a vehicle, the following guidelines should be observed AT ALL TIMES:
▲ Park the vehicle on a level surface, apply the ▲ Never exceed manufacturer’s recommended
parking brakes and always block the wheels. pressures.
Always wear personal protection equipment. ▲ Never connect or disconnect a hose or line
▲ Stop the engine and remove the ignition key containing pressure; it may whip. Never remove
when working under or around the vehicle. a component or plug unless you are certain all
When working in the engine compartment, system pressure has been depleted.
the engine should be shut off and the ignition ▲ Use only genuine Bendix ® brand replacement
key should be removed. Where circumstances parts, components and kits. Replacement
require that the engine be in operation, EXTREME hardware, tubing, hose, fittings, etc. must be of
CAUTION should be used to prevent personal equivalent size, type and strength as original
injury resulting from contact with moving, equipment and be designed specifically for such
rotating, leaking, heated or electrically-charged applications and systems.
components.
▲ Components with stripped threads or damaged
▲ Do not attempt to install, remove, disassemble parts should be replaced rather than repaired.
or assemble a component until you have read, Do not attempt repairs requiring machining or
and thoroughly understand, the recommended welding unless specifically stated and approved
procedures. Use only the proper tools and by the vehicle and component manufacturer.
observe all precautions pertaining to use of those
tools. ▲ Prior to returning the vehicle to service, make
certain all components and systems are restored
▲ If the work is being performed on the vehicle’s to their proper operating condition.
air brake system, or any auxiliary pressurized air
systems, make certain to drain the air pressure ▲ For vehicles with Automatic Traction Control
from all reservoirs before beginning ANY work (ATC), the ATC function must be disabled (ATC
on the vehicle. If the vehicle is equipped with a indicator lamp should be ON) prior to performing
Bendix® AD-IS® air dryer system, a Bendix® DRM™ any vehicle maintenance where one or more
dryer reservoir module, or a Bendix® AD-9si™ air wheels on a drive axle are lifted off the ground
dryer, be sure to drain the purge reservoir. and moving.
▲ F o l l o w i n g t h e v e h i c l e m a n u f a c t u r e r ’s ▲ The power MUST be temporarily disconnected
recommended procedures, deactivate the from the radar sensor whenever any tests USING
electrical system in a manner that safely removes A DYNAMOMETER are conducted on a Bendix®
all electrical power from the vehicle. Wingman® Advanced™-equipped vehicle.

▲ You should consult the vehicle manufacturer's operating and service manuals, and any related literature,
in conjunction with the Guidelines above.

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 WHEN NOT TO USE BENDIX WINGMAN
KEY CONTENTS
(See the full index on pages 60-59) ADVANCED ADAPTIVE CRUISE
1.0 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10 CONTROL WITH BRAKING
1.4 What to Expect When Using the Bendix
Wingman Advanced System. . . . . . . . . . . . . . . . . . . . . . 5-6 The adaptive cruise control with braking feature in
1.5 How the Driver Interacts Wingman Advanced is automatically ready when
with Bendix Wingman Advanced. . . . . . . . . . . . . . . . . . . . . 7 normal cruise control is set.
1.8 Alerts and Warnings. . . . . . . . . . . . . . . . . . . . . . . . . . . 8-10
2.0 Maintenance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-12 WARNING: This vehicle’s cruise control must be
3.0 Introduction to Troubleshooting. . . . . . . . . . . . . . . . . . 13-16 used only in the same conditions that are normally
3.2 Narrowing Down the Problem (Table 3.2). . . . . . . . . . 14-15
recommended for ordinary cruise control. As noted
4.0 Troubleshooting/Diagnostics . . . . . . . . . . . . . . . . . . . 17-27
4.1 Bendix® ACom® Diagnostics Software . . . . . . . . . . . . . . . 17 below, there are certain situations when cruise control
4.3 Diagnostic Trouble Codes (DTCs) . . . . . . . . . . . . . . . 19-25 should NOT be used.
5.0 Other System Features. . . . . . . . . . . . . . . . . . . . . . . . 28-31
Appendices A - H . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32-59 • Inclement Weather/Low Visibility
Situations – Do not use cruise control
1.0 OPERATION SECTION in inclement weather or low visibility
Section Index conditions such as rain, snow, smoke, fog,
ice or other severe weather conditions
1.1 Important Safety Information/
When Not to Use Bendix® Wingman® Advanced™ that may affect the performance of the
Adaptive Cruise Control with Braking . . . . . . 3 Wingman Advanced system.

1.2 System Components . . . . . . . . . . . . . . 4

1.3 Activating the Bendix Wingman • Dense Traffic – Do not use cruise control
Advanced System . . . . . . . . . . . . . . . . 4 in heavy traffic.
1.4 What to Expect When Using The
Wingman Advanced System . . . . . . . . . 5-6 • Sharp Curves and Winding Roads –
Do not use cruise control when traveling
1.5 How a Driver Interacts with the
sharply curved or winding roadways.
Wingman Advanced System . . . . . . . . . . 7
CAUTION: Road curvature may impact
1.6 Following Distance . . . . . . . . . . . . . . . 8 the radar’s ability to track vehicles ahead
1.7 Wingman Advanced Collision Mitigation in the same lane.
Feature Operation . . . . . . . . . . . . . . . . 8
• Entrance or Exit Ramps – Do not use
1.8 Alerts and Warnings . . . . . . . . . . . . . 8-10
cruise control when entering or exiting
1.9 Wingman Advanced Diagnostic roadways.
Trouble Codes . . . . . . . . . . . . . . . . 10
1.10 Radar Sensor Interchangeability . . . . . . . 10
• Downhill Grades – Do not use cruise
1.11 Alert Volume . . . . . . . . . . . . . . . . . . 10 control on downhill grades.
1.12 Potential False Warnings . . . . . . . . . . . 10

1.1 IMPORTANT SAFETY INFORMATION • Construction Zones – Do not use cruise

control in construction zones.
The driver is always responsible for the control and
safe operation of the vehicle at all times. The Bendix
Wingman Advanced system does not replace the
• Off-Road – Do not use cruise control in
need for a skilled, alert professional driver, reacting
off-road conditions.
appropriately and in a timely manner, and using safe
driving practices.
• Smaller Forward Vehicles – Smaller
vehicles, such as motorcycles, may be
This vehicle's cruise control must be used only in the same
difficult for the radar to identify. It is the
conditions that are normally recommended for ordinary
driver’s responsibility to be aware of
cruise control.
these types of vehicles and to slow down
Vehicle manufacturers may use alerts, messages, and
if necessary.
dash arrangements that vary from the examples shown
Visit www.bendix.com for more information along with any updates
here. Consult the vehicle operator’s manual for applicable to these limitations and restrictions.
details regarding use and operation.
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AUTOMATIC FOUNDATION Also see the Alerts and Warnings section of this manual
BRAKE APPLICATIONS for more detailed information about the alerts.

The vehicle automatically manages foundation brake NOTE: For some integrated systems, the volume level of
priorities among the various vehicle systems that use the the alerts is not adjustable, nor can they be switched off.
foundation brakes, such as Bendix® Wingman® Advanced™
system, Bendix ® ESP ® Electronic Stability Program, 1.3 ACTIVATING THE BENDIX®
Bendix® ATC (Automatic Traction Control) and Bendix® WINGMAN® ADVANCED™ SYSTEM
ABS (Antilock Braking System). To have the Wingman Advanced cruise control with braking
NOTE: Cruise control will automatically cancel whenever features of the Wingman Advanced system (engine de-
the Wingman Advanced system applies the foundation throttle/retard, foundation brake interventions) the vehicle’s
brakes. You can verify that your cruise control is disengaged regular cruise control must be switched on. See Figure 5
by observing that the cruise-enabled icon is no longer for examples of switches that may be used.
illuminated. You must resume or set cruise control in When the vehicle reaches the desired cruise speed, the
order to regain normal cruise control functionality and to driver presses the cruise control set switch to activate the
reengage the adaptive cruise control with braking feature system. The Wingman Advanced system will then engage
of the Wingman Advanced system. and help the driver maintain a set following distance behind
Additional information, and complete troubleshooting the vehicle traveling in front.
procedures for the Bendix ESP stability system, can be Once the cruise control speed is set, a cruise-enabled icon
found in the Bendix Service Data Sheet SD-13-4869. (or similar) will illuminate on the instrument panel. If the
cruise-enabled or set (or similar) icon does not illuminate,
1.2 SYSTEM COMPONENTS
the Wingman Advanced system is not functioning normally.
The radar sensor (or radar) used in the Wingman Advanced Refer to the vehicle operator’s manual to double-check
unit is located at the front of the vehicle – either on the the location of the icon, and for further troubleshooting
bumper or just behind it on a cross-member. See Figure 3. information.
The driver can switch off the Wingman Advanced system
manually by either stepping on the brake pedal or switching
off the cruise control.

FIGURE 3 - COMPONENT: RADAR SENSOR

The radar sensor is pre-aligned at the factory and no
adjustment should be needed. If the radar sensor becomes
misaligned (or a diagnostic trouble code is issued), either a
message – or light on the dash, depending on the vehicle –
lets the driver know that service is needed.
The Wingman Advanced system is either fully integrated
into the vehicle dashboard, or uses the Bendix® Driver
Interface Unit (DIU). See Figure 4.

FIGURE 5 - EXAMPLES OF CRUISE CONTROL SWITCHES

IMPORTANT NOTE: Cruise control will automatically
cancel whenever Wingman Advanced applies the
FIGURE 4 - BENDIX DRIVER INTERFACE UNIT (DIU) foundation brakes.
Although the system functions the same, how the alerts
are displayed to the driver can be different. Where a DIU
(Driver Interface Unit) is used, all visual, text, and audible
indicators and alerts will be provided by the DIU. The DIU
allows the volume to be adjusted. See Appendix F.
4
1.4 WHAT TO EXPECT WHEN USING THE BENDIX® WINGMAN® ADVANCED™ SYSTEM
Table 1, parts 1-3, illustrate what to expect from the Wingman Advanced system in various driving situations. Typical
system indications and actions to expect from the system are illustrated.

What to Expect (1.4)

Part One: All driving scenarios (Cruise is either “on” or “off”)
Typical System
Situation Typical System Actions
Indication/Alerts
A broken-down vehicle is A Stationary Object Alert may be None.
stationary in the lane in which issued up to 3 (three) seconds
the truck is traveling. prior to impact.
A pedestrian, deer or dog runs in None. None.
front of the truck.

Another vehicle crosses the None. None.

road perpendicular to your
path of travel – such as at an
intersection.
TABLE 1 - PART 1 - OPERATIONAL SCENARIOS WITH THE WINGMAN ADVANCED SYSTEM

What to Expect (1.4)

Part Two: Cruise control “on” and speed “set”
Typical System
Situation Typical System Actions
Indication/Alerts
With no detected forward None. Vehicle maintains set speed.
vehicle.
With a detected forward The cruise control ON indicator The adaptive cruise control with braking feature
vehicle. is illuminated and the detected will maintain the set speed and following
forward vehicle icon is distance.
illuminated.
The detected forward vehicle The Following Distance Alert The vehicle will be slowed by (a) reducing
slows moderately. (FDA) will sound and a visual throttle; (b) then engaging the engine retarder;
message/icon typically appears and (c) then applying the foundation brakes.
®
on the dash screen or Bendix Note: If the foundation brakes are applied,
Driver Interface Unit (DIU) cruise control is cancelled.
display.
The detected forward vehicle The Impact Alert (IA) warning The vehicle throttle will be reduced; the engine
slows rapidly. (continuous tone), will sound and retarder engaged; and the foundation brakes
a visual message/icon typically applied, in that order.
appears on the dash screen The cruise control feature cancels after the
or DIU display. The Following event.
Distance Alert may also be heard.
The detected forward vehicle Following Distance Alerts may be Vehicle maintains set speed.
cuts in front of the truck but given to the driver, depending on
then speeds away. the exact system configuration
that has been set for the vehicle,
and how close the vehicle cuts in
front.
NOTE: The system indicators/alerts above are typical, but may vary from the descriptions shown here by vehicle
manufacturer, or earlier versions of the Wingman Advanced system.

5
 What to Expect (1.4)
Part Two: Cruise control “on” and speed “set”
Typical System
Situation Typical System Actions
Indication/Alerts
Going down a grade with a DO NOT USE cruise control on DO NOT USE cruise control on downhill
detected forward vehicle. downhill grades. grades.
Cruise control should NOT be
used on downhill grades - see
page 3.

(See the CDL manual

instructions on proper gear
usage for downhill grades.)

TABLE 1 - PART 2 - OPERATIONAL SCENARIOS WITH THE BENDIX® WINGMAN® ADVANCED™ SYSTEM
NOTE: The system indicators/alerts above are typical, but may vary from the descriptions shown here by vehicle
manufacturer, or earlier versions of the Wingman Advanced system.

What to Expect (1.4)

Part Three: Cruise control NOT “SET”, or “OFF”
Typical System
Situation Typical System Actions
Indication/Alerts
Your vehicle comes up The Following Distance Alert (FDA) will sound and a If a collision is likely to occur,
fast behind a slower- visual message/icon typically appears on the dash the collision mitigation feature
moving detected forward screen or DIU display. Depending on how close your will apply up to two-thirds of
vehicle. vehicle approaches, the system may initiate an Impact the vehicle’s braking capacity.
Alert warning. The driver must
immediately act to
potentially avoid, or lessen
the severity of, a collision.
The detected forward The Following Distance Alert (FDA), or Impact Alert If a collision is likely to occur,
vehicle slows rapidly. warning (continuous tone) will sound and a visual the collision mitigation feature
message/icon typically appears on the dash screen or will apply up to two-thirds of
DIU display. the vehicle’s braking capacity.
The driver must
immediately act to
potentially avoid, or lessen
the severity of, a collision.
TABLE 1 - PART 3 - OPERATIONAL SCENARIOS WITH THE BENDIX® WINGMAN® ADVANCED™ SYSTEM

NOTE: These are typical situations and responses that may occur when using the Wingman Advanced system. All
possible situations and responses are not covered in this table.

Due to inherent limitations of radar technology, the collision mitigation technology — on rare occasions — may not
detect moving vehicles or stationary objects in your vehicle’s lane of travel. Alerts, warnings or brake interventions
may not occur.

Due to inherent limitations of radar technology, the collision mitigation technology — on rare occasions — may react
to moving vehicles not in your vehicle’s lane of travel. Alerts, warnings or brake interventions may occur.

6
1.5 HOW A DRIVER INTERACTS WITH THE BENDIX® WINGMAN® ADVANCED™ SYSTEM
Table 2 illustrates how the Wingman® Advanced™ system will respond to various actions a driver may take when using
Wingman Advanced system on the road.
The driver is always responsible for the control and safe
operation of the vehicle at all times. The Bendix® Wingman®
Advanced™ system does not replace the need for a skilled,
alert professional driver, reacting appropriately and in a
timely manner, and using safe driving practices.

How a Driver Interacts with Bendix® Wingman® Advanced™ (1.5)

Action Reaction of Wingman Advanced
If the driver does this: Expect the Wingman Advanced system to do this:
Steps on the brake.
(During a collision The driver is always in control and is able to apply full braking power.
mitigation event.)
The driver is always in control. His/her actions override any Wingman Advanced
Steps aggressively on the
system actions. Note: If cruise control is engaged, it will be overridden until the
accelerator. (During a
accelerator is released; then cruise control will resume the original set speed
collision mitigation event.)
automatically.
Steps on the brake. (When
Cruise control will be cancelled.
in cruise.)
Steps on the accelerator. Cruise control will be overridden until the accelerator is released; then cruise control
(When in cruise.) will resume the original set speed automatically.
Switches on the cruise Nothing. The adaptive cruise control with braking feature will not engage until the
control. driver sets the cruise control speed.
The adaptive cruise control with braking feature will turn off; the collision mitigation
Switches off the cruise
feature remains active and ready to intervene. The driver will continue to hear all
control.
alerts as needed.
Sets the cruise control The adaptive cruise control with braking feature is automatically activated. Your
speed. vehicle maintains a set speed and following distance behind the vehicle ahead.
The Wingman Advanced system performance will be diminished or even disabled
Covers or blocks the radar. and a Diagnostic Trouble Code (DTC) will be set. A blockage will also affect engine
cruise control availability.
Vehicle speed increased (+) or reduced (-) to achieve the new set speed while
Uses normal cruise control
actively maintaining following distance with the vehicle ahead, if one is present within
“+/-” switch.
500 feet.
TABLE 2 - HOW A DRIVER INTERACTS WITH BENDIX® WINGMAN® ADVANCED™
NOTE: The system responses above are typical, but may vary from the descriptions shown here by vehicle manufacturer,
or earlier versions of the Wingman Advanced system. These are examples of driver actions and typical Wingman
Advanced system responses, however this chart does not attempt to cover all possible situations.

7
THE FORWARD VEHICLE DETECTED ICON 1.7 WINGMAN ADVANCED COLLISION
When cruise control is switched on and set and a vehicle MITIGATION FEATURE OPERATION
ahead of you is detected by the radar, the detected forward Whenever your vehicle is traveling at above 15 mph, the
vehicle icon — or similar — will illuminate on the vehicle Wingman Advanced collision mitigation feature is ready to
dashboard. intervene, if needed. It does not require cruise control to be
This is an indication to the driver that the Bendix® Wingman® set. The collision mitigation feature of Wingman Advanced
Advanced™ system is actively managing the distance will alert you automatically and apply up to two-thirds of the
between your vehicle and the vehicle ahead, and may vehicle’s braking capacity, if a collision with the detected
intervene automatically, if needed. forward vehicle is likely to occur. You, the driver, must
immediately act to potentially avoid, or lessen the severity
See Figure 6 for examples.
of, a collision.
Collision mitigation is ready to intervene as long as no DTCs
are active in either the brake system, Wingman Advanced
system, or any other contributing vehicle system.

AUTOMATIC FOUNDATION
BRAKE APPLICATIONS
The vehicle automatically manages foundation braking
priorities among the various vehicle systems that use
the foundation brakes, such as Wingman Advanced,
Bendix® ESP® (Electronic Stability Program), Bendix®ATC
(Automatic Traction Control) and the Bendix® ABS (Antilock
FIGURE 6 - FORWARD VEHICLE DETECTED ICONS
Braking System).
ADJUSTING THE CRUISE CONTROL SPEED 1.8 ALERTS AND WARNINGS
Use the switch(es) provided by the vehicle manufacturer The Bendix Wingman Advanced system operates differently
to set your cruise control speed. When adjusted, your compared to other cruise control/forward collision warning
set speed will typically be indicated on the vehicle dash, systems. It is important for YOU to fully understand the
message center, or speedometer. system’s features, especially the driver alerts and warnings.
1.6 FOLLOWING DISTANCE Three important warnings provided by the Wingman
Advanced system are the Following Distance Alert (FDA),
Following distance refers to the time gap, measured in
Impact Alert (IA), and Stationary Object Alert (SOA). The
seconds, between your vehicle and the vehicle ahead. The
driver will be alerted by any of the three warnings, whether
actual physical distance between the two will vary based
or not the cruise control is activated.
on the speeds of both vehicles; however, the set gap will
remain the same for all set cruise speeds. See Appendix F, Sections 3.0-5.0, for more information
about how DIUs communicate alerts.
FOLLOWING DISTANCE
ADJUSTMENT SWITCH WARNING: Any audible and/or visual alert by the
system means that your vehicle is too close to the
This optional Wingman® Advanced™ feature, allows the
vehicle ahead and the driver must immediately act to
driver to adjust the following distance or time gap. The
potentially avoid, or lessen the severity of, a collision.
availability of this feature is determined by the vehicle
manufacturer. The switch has an increase or decrease
function. Pressing increase (+) will provide a larger
following distance, measured in seconds. Pressing
decrease (-) will provide a shorter following distance.

8
IMPACT ALERT (IA) FOLLOWING DISTANCE ALERT (FDA)
The Impact Alert is the most severe warning issued The Following Distance Alert (FDA) provides both
by the Bendix® Wingman® Advanced™ system. This audible and visual alerts whenever the time between
alert indicates that a collision with the detected forward your vehicle and the detected forward vehicle ahead is
vehicle is likely and the driver must immediately act to less than one and a half (1.5) seconds* and decreasing.
potentially avoid, or lessen the severity of, a collision. Once the audible alert is given, the driver should
increase the distance
The Impact Alert is ready to alert the driver whenever
between his/her vehicle
the vehicle is moving above 15 mph.
and the vehicle ahead
When activated, the IA will sound and a visual message/ until the audible alert
icon typically appears on the dash screen or Bendix® Driver stops.
Interface Unit (DIU) display. The actual sound/display
method varies by vehicle manufacturer. The FDA is ready to alert
the driver whenever the
NOTE: The Impact Alert is typically accompanied by
vehicle is moving above
automatic brake interventions. The Wingman Advanced
five (5) mph. If the following
system will apply up to two-thirds of your vehicle’s braking
distance continues to
capacity. The driver must apply additional braking, when
decrease, the driver will hear
necessary, to maintain a safe distance from the vehicle
more rapid audible alerts.
ahead.
When the FDA reaches its
See Figure 7 for an example of an Impact Alert Icon. highest level, typically a red
LED also illuminates on the
instrument cluster. The FDA
may be accompanied by a FIGURE 9 - DRIVER
visual alert. INTERFACE UNIT (DIU)
SHOWING EXAMPLES
* 1.5 seconds is the system OF FOLLOWING
default and may vary by DISTANCE ALERTS WITH
fleet/OEM. PROGRESSIVELY FASTER
AUDIBLE ALERTS.

FIGURE 7 - EXAMPLE OF IMPACT ALERT ICON

Above: Examples of other vehicle

manufacturer’s displays.

FIGURE 10 - FOLLOWING DISTANCE ALERT

STATIONARY OBJECT ALERT (SOA)

Stationary Object Alert (SOA) – The Bendix ®
Wingman® Advanced™ system will give up to a three (3)
second alert to the driver when approaching a detected,
sizable, metallic (radar-reflective), stationary object in
your lane of travel. This alert indicates that a collision
FIGURE 8 - IMPACT ALERT TEXT AND LIGHT PATTERN AS
with a stationary object is likely and the driver must
SEEN ON THE BENDIX® DIU
immediately act to potentially avoid, or lessen the
severity of, a collision.
The SOA is ready to alert the driver whenever the vehicle
is moving above ten (10) mph.

9
The driver should be especially careful when approaching Advanced system foundation brake applications for at
certain types of vehicles or objects. The Wingman Advanced least 20 minutes.
radar may not be able to detect vehicles and objects with • If the system does not detect a driver intervention within
limited metal surfaces (such as recreational vehicles, 15 seconds after the brake overuse alert sounds, it
horse-drawn buggies, motorcycles, logging trailers, etc.). will shut itself off and set a Diagnostic Trouble Code
NOTE: Entering a curve may reduce the alert time to less (DTC). The driver will continue to receive alerts, but ALL
than three (3) seconds. Wingman Advanced interventions (de-throttling, engine
retarder or brake applications) will be disabled until the
next ignition cycle.
Note: In all cases, the driver still has the ability to
apply the foundation brakes if necessary. The driver
should take care since overheated brakes may reduce
the vehicle’s braking capability.
(See Appendix F7.0).

FIGURE 11 - STATIONARY OBJECT ALERT DISPLAYED 1.9 WINGMAN ADVANCED SYSTEM

DIAGNOSTIC TROUBLE CODES
BRAKE OVERUSE ALERT
The Wingman Advanced system is monitored and if any
The Bendix Wingman Advanced system provides
® ® ™ malfunction is detected, a Diagnostic Trouble Code (DTC)
a warning when the system is intervening and using will be set and the driver will be alerted. The exact alert
the foundation brakes excessively. Overuse of the given depends on the vehicle manufacturer: refer to your
foundation brakes can lead to the brakes overheating vehicle operator’s manual and Sections 3 and 4.
and a potential loss of braking performance caused
1.10 RADAR SENSOR INTERCHANGEABILITY
by brake fade. Using cruise control on downhill runs will
cause this alert to be activated. Many variables must be considered when determining
whether or not the radar sensor can be relocated from one
Approach grades as you would normally, with the vehicle to another vehicle. They include, but are not limited
appropriate gear selected and at a safe speed. Cruise to, the version of the Bendix® ESP® stability system used
control should NOT be used on downhill grades. on the vehicle, the instrument cluster, the vehicle ECU, the
When the system detects brake overuse, depending on the engine and the transmission. Contact the Bendix Tech Team
vehicle manufacturer, a text message will be displayed on at 1-800-AIR‑BRAKE to determine if this is a viable option.
the dashboard and an audible alert will be activated. The
WARNING: Do not interchange radar sensors
driver should intervene immediately.
without contacting Bendix first!

1.11 ALERT VOLUME

For Wingman Advanced systems installed on vehicles with
alerts that come directly through the instrument cluster,
audible alert levels are pre-set at the factory and can not
be turned off, nor can the volume be adjusted. However,
where the Bendix® Driver Interface Unit (DIU) is used,
volume adjustment is permitted.
FIGURE 12 - BRAKE OVERUSE WARNING
• Once the brake overuse alert is activated, certain 1.12 POTENTIAL FALSE ALERTS
driver interventions that cancel cruise control – like In certain unusual traffic or roadway conditions, Wingman
stepping on the brake pedal or switching off cruise – will Advanced may issue a false alert.
discontinue the alert. Following an overuse alert, the Drivers should take into account the road conditions, and
driver should not reset cruise control for at least 20 any other factors they are encountering, as they choose
minutes. This gives the brakes time to cool down. If how to react to any alerts they receive from the Wingman
the driver chooses to reset cruise control during that Advanced system.
20 minute period, Wingman Advanced interventions
will be limited to de-throttling and engine retarder only.
The system will automatically disable all Wingman

10
2.0 MAINTENANCE SECTION
Section Index
2.1 General Safety Guidelines . . . . . . . . . . . 11
2.2 Equipment Maintenance: Brake System
and ABS Functionality . . . . . . . . . . . . . 12
2.3 System Preventive Maintenance . . . . . . . 12
2.4 Additional Support at www.bendix.com . . . . 12

2.1 GENERAL SAFETY GUIDELINES

GENERAL SAFETY GUIDELINES

WARNING! PLEASE READ AND FOLLOW THESE INSTRUCTIONS
TO AVOID PERSONAL INJURY OR DEATH:
When working on or around a vehicle, the following guidelines should be observed AT ALL TIMES:
▲ Park the vehicle on a level surface, apply the ▲ Never exceed manufacturer’s recommended
parking brakes and always block the wheels. pressures.
Always wear personal protection equipment. ▲ Never connect or disconnect a hose or line
▲ Stop the engine and remove the ignition key containing pressure; it may whip. Never remove
when working under or around the vehicle. a component or plug unless you are certain all
When working in the engine compartment, system pressure has been depleted.
the engine should be shut off and the ignition ▲ Use only genuine Bendix ® brand replacement
key should be removed. Where circumstances parts, components and kits. Replacement
require that the engine be in operation, EXTREME hardware, tubing, hose, fittings, etc. must be of
CAUTION should be used to prevent personal equivalent size, type and strength as original
injury resulting from contact with moving, equipment and be designed specifically for such
rotating, leaking, heated or electrically-charged applications and systems.
components.
▲ Components with stripped threads or damaged
▲ Do not attempt to install, remove, disassemble parts should be replaced rather than repaired.
or assemble a component until you have read, Do not attempt repairs requiring machining or
and thoroughly understand, the recommended welding unless specifically stated and approved
procedures. Use only the proper tools and by the vehicle and component manufacturer.
observe all precautions pertaining to use of those
tools. ▲ Prior to returning the vehicle to service, make
certain all components and systems are restored
▲ If the work is being performed on the vehicle’s to their proper operating condition.
air brake system, or any auxiliary pressurized air
systems, make certain to drain the air pressure ▲ For vehicles with Automatic Traction Control
from all reservoirs before beginning ANY work (ATC), the ATC function must be disabled (ATC
on the vehicle. If the vehicle is equipped with a indicator lamp should be ON) prior to performing
Bendix® AD-IS® air dryer system, a Bendix® DRM™ any vehicle maintenance where one or more
dryer reservoir module, or a Bendix® AD-9si™ air wheels on a drive axle are lifted off the ground
dryer, be sure to drain the purge reservoir. and moving.
▲ F o l l o w i n g t h e v e h i c l e m a n u f a c t u r e r ’s ▲ The power MUST be temporarily disconnected
recommended procedures, deactivate the from the radar sensor whenever any tests USING
electrical system in a manner that safely removes A DYNAMOMETER are conducted on a Bendix®
all electrical power from the vehicle. Wingman® Advanced™-equipped vehicle.

▲ You should consult the vehicle manufacturer's operating and service manuals, and any related literature,
in conjunction with the Guidelines above.

The driver is always responsible for the control and safe

operation of the vehicle at all times. The Bendix® Wingman®
Advanced™ system does not replace the need for a skilled,
alert professional driver, reacting appropriately and in a
timely manner, and using safe driving practices.

11
2.2 EQUIPMENT MAINTENANCE: BRAKE 2.3 SYSTEM PREVENTIVE MAINTENANCE
SYSTEM AND ABS FUNCTIONALITY The Wingman Advanced system is relatively maintenance
free. The key items to keep the system functioning properly
Importance of Antilock Braking System (ABS) include:
Maintenance – Optimal Bendix® Wingman® Advanced™
1. Keep the radar lens clean and free of obstructions.
system braking requires a properly maintained ABS system,
without any active ABS Diagnostic Trouble Codes (DTCs). 2. Inspect for any damage to the bumper or the Wingman
Have active DTCs repaired by a qualified technician. Any Advanced bracket or radar. Never use the radar unit
ABS DTCs will cause Wingman Advanced to deactivate. as a step. NOTE: If the radar sensor was originally
installed behind a panel, check the panel for damage,
Importance of Brake Maintenance – Optimal etc. that may impact the radar’s performance before
Wingman Advanced braking requires properly maintained reinstalling. Replace the panel, if necessary, with an
original OEM supplied panel. Do not paint over the
foundation brakes (drum, wide-drum, or air disc) which
panel.
meet appropriate safety standards and regulations. Brake
performance also requires that the vehicle be equipped with 3. Perform appropriate inspections of the braking system
properly sized and inflated tires, with a safe tread depth. as required by the manufacturer to ensure brakes are
in proper working order.
System Problems – If a problem with the Wingman 4. Ensure that the tires are properly inflated and that
Advanced system is detected, depending on the vehicle adequate tread is present.
manufacturer, typically there will be a message on the
dashboard display. Depending on the type of problem Radar Inspection – The driver should inspect the
detected, the system will determine if the vehicle may radar and mounting bracket regularly and remove any mud,
continue normal cruise control functions (without the snow, ice build-up, or other obstructions. The installation
benefits of Wingman Advanced), or whether all cruise of aftermarket deer guards, bumper guards, snow plows
control functions should be disabled until service is or similar potential obstructions is not recommended, and
performed. The system should be serviced as soon as could impair the operation of the radar. See Appendix A3.
possible to restore full Wingman Advanced functionality.
Radar Damage/Tampering - In cases where the
bumper and/or radar have sustained any damage, or if you
suspect that the radar has been tampered with, do not use
the cruise control until the vehicle has been repaired. In
addition, an indicator on the dash typically will illuminate if
the system detects any of these conditions. Consult your
vehicle’s operator’s manual or contact Bendix for more
information.
NOTE: Any vehicle trouble code that disables vehicle
cruise control will also cause a diagnostic trouble code in
Wingman Advanced.

2.4 ADDITIONAL SUPPORT AT

WWW.BENDIX.COM/1‑800‑AIR‑BRAKE
(1‑800‑247-2725, OPTION 2)
For the latest information, and for free downloads of the Bendix® ACom® Diagnostics
software, and its User Guide, visit the Bendix website at: www.bendix.com.
You will also find a current list of compatible RP1210 data link adapters for ABS and
the Wingman ACB system.
For direct telephone technical support, the Bendix Tech Team is available at
1-800-AIR-BRAKE (1-800-247-2725, option 2) Monday through Friday, 8:00 A.M.
to 6:00 P.M. ET. Follow the instructions in the recorded message.
The Bendix Tech Team can also be reached by e-mail at: [email protected].

12
3.0 INTRODUCTION TO This section introduces three initial steps to accurately
TROUBLESHOOTING SECTION troubleshoot the Bendix® Wingman® Advanced™ system.
We recommend reading this introductory section, as well
FOR FLR10 RADAR SENSORS, SEE SD-61-4962. as the Troubleshooting/Diagnostics Section (4.0), before
Section Index performing any troubleshooting.
3.1 Troubleshooting Basics . . . . . . . . . . . . 13 When diagnosing the Wingman Advanced system, a
3.2 Narrowing Down the Problem . . . . . . . 14-15 current version of Bendix® ACom® Diagnostics software will
be required. This software is available as a free download
3.3 Overview of Possible Issues . . . . . . . . . 16
from www.bendix.com.

3.1 TROUBLESHOOTING BASICS

Which The Wingman Advanced If your Wingman Advanced
radar (FLR20) system covered system has a black “eyeball”
sensor is in this SD sheet has a (FLR10) radar sensor, use
installed?
flat rectangular radar SD sheet SD‑61‑4962 instead
sensor. (formerly SD‑13‑4962.)

Troubleshooting Basics (3.1)

Questions Next Steps
Have the driver run the Power-Up Self-Test
Power-Up Self-Test. This is a self diagnostic check, to determine if the system operation is normal.

1. Park the vehicle. Power off.

2. Put the key into the ignition, and turn to the “ignition power” position.
3. Toggle the cruise control switch at least once, and leave it in the “on” position.
4. 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.
5. 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 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.

Does the driver hear a If no problem is found and the test is passed, no additional beeps/lamps will be
long warning beep? 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 When diagnosing the system, especially in cases where there are no diagnostic
system behavior that they trouble codes logged, find out which part of the system behavior appears to be
believe shows it is not working operating improperly. See Section 3.2: Narrowing Down the Problem.
properly.

TABLE 3 - TROUBLESHOOTING BASICS

13
3.2 NARROWING DOWN THE PROBLEM
Use the questions found in Table 3.2 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 E), 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 Clean the radar sensor front surface immediately. Remove anything blocking the
sensor? radar sensor then power cycle and read any remaining trouble codes.
Is anything blocking the view of the radar Read Section 4.3: Diagnostic Trouble Codes.
sensor? Read Appendix A3: FLR20 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, Wingman
Advanced 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 Several road scenarios have a tendency to cause false warnings, including
construction zones or going under bridges? 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 needed. Follow the actions directed in the procedure and align
the radar.
• Appendix B4 - Check the vertical alignment and adjust if needed.
Does the mounting bracket look damaged or Other than expected surface scratches or some discoloration over time, there
tampered with? should be no visible damage to the radar sensor bracket assembly. If so, realign
the radar sensor vertically and laterally. If radar sensor alignment can not be held in
place, the bracket assembly must be replaced. Verify the bumper is not damaged.
• Check the Vertical Alignment (6.6) and adjust if needed.
• Check the Lateral Alignment (6.8) and adjust if needed.
The Radar Sensor Mounting - The radar sensor needs a solid mounting surface
in order to hold the alignment. If the bumper or mounting cross-member is
damaged, replace it first, then align the radar sensor.
Other Questions
Has the system worked properly in the past This is a good indication that something has changed; review the questions listed
and is not working correctly now? above with the driver to further diagnose the problem.

Has the radar sensor been changed If so, the new radar sensor may be incompatible with the vehicle. In addition,
recently? check any system trouble codes with Bendix® ACom® Diagnostics software.
Read Section 4.3: Diagnostic Trouble Codes.
TABLE 4 - NARROWING DOWN THE PROBLEM (PAGES 14-15)

14
 Narrowing Down the Problem (3.2)
Questions Next Steps
Did the radar sensor currently on the vehicle The radar sensor may be incompatible with the new vehicle. Follow Section
come from another vehicle? 1.10: Radar Sensor Interchangeability procedure and check system trouble codes
with Bendix® ACom® Diagnostics software.
Read Section 4.3: Diagnostic Trouble Codes.
With cruise control set, does the system This is normal operation. Continue asking the driver questions to determine if
consistently apply the foundation brakes the radar system interventions are not the expected Bendix Wingman Advanced
when a forward vehicle slows? 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 diagnostic trouble code (DTC) seem In normal operation, the adaptive cruise control with braking feature of Bendix®
to occur when driving through the desert Wingman® Advanced™ system may indicate a DTC if it hasn’t detected a metallic
or in barren areas (no road signs, trees or object after a pre-determined period. This is rare, but most likely to occur when
vehicles)? driving in deserts or barren areas. If the system does set a DTC, Wingman
Advanced provides a visible warning to the driver. In addition, the vehicle also will
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 to 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 This is normal operation. When traveling with lightly loaded trailers, or “bobtail”, the
when the brakes come on and not at other adaptive cruise control with braking feature of Wingman Advanced may continue to
times? function even after an automatic brake application. No driver input is needed.
Does the connector or wiring appear Wires can become corroded if the radar sensor is not plugged in properly. Clean
damaged? 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 diagnostic This is normal operation. The adaptive cruise control with braking feature of
trouble code going down a grade when Wingman Advanced is not intended to be used on grades. Verify there are no
using ACB to slow the vehicle, but the code diagnostic trouble codes. Proper downgrade driving techniques should be used.
goes away later? Read Section 4.3: Diagnostic Trouble Codes.

Does the radar sensor have noticeable The radar sensor and bracket are very durable. However, if the radar sensor
damage beyond normal discoloration or housing or cover is cracked or broken, immediately look for trouble codes via a
surface scratches? current version of Bendix® ACom® Diagnostics and replace the damaged radar
sensor. Read Section 4.3: Diagnostic Trouble Codes, and Appendix A.02: Radar
Sensor Mounting.
TABLE 4 - NARROWING DOWN THE PROBLEM (PAGES 14-15)

15
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 Wingman Advanced 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 The Wingman Advanced system will not operate and will set a DTC if any of the following
trouble codes vehicle systems also show a DTC: engine, engine cruise, instrument cluster, Bendix® ABS,
(DTCs) Bendix® ATC, Bendix® ESP, or transmission. These components must be repaired and
cleared of DTCs before troubleshooting Wingman Advanced. (NOTE: Clearing the vehicle
DTCs may be the only step needed to reestablish full Wingman Advanced 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 Diagnostic Trouble Codes (DTCs) indicate a temporary condition and will clear when
temporary operating that condition is no longer present. If these persist, further investigation is warranted. See
conditions Section 3.1: Troubleshooting Basics.
Radar sensor If the system doesn’t seem to work at all, the radar sensor may possibly be blocked. A DTC
blocked 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 clearance.
Damaged radar If the vehicle has been in an accident, it is likely the radar sensor will need to be re-aligned
sensor or bracket 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 diagnostic trouble codes 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 Inspect the front of the vehicle. If (a) it has been damaged, or (b) if the vehicle does not track
misalignment straight, either of these conditions must be repaired before troubleshooting Wingman Advanced.
If there is a DTC set or if the system does not function, the radar sensor may be severely
misaligned and Wingman Advanced will not operate until this is corrected. See Appendix B -
Bendix Wingman Advanced Radar Alignment.
J1939 network If the entire system is non-functional, it may be a J1939 network problem. Follow the
problems instructions in Section 4.6: Serial Data (J1939) Communications Link.
Power to radar If the entire system is non-functional, another likely cause may be a lack of power to the radar
sensor problems sensor. Follow the instructions in Section 4.5: Troubleshooting Diagnostic Trouble Codes: Power
Supply.
TABLE 5 - REVIEW OF POSSIBLE ISSUES

16
4.0 TROUBLESHOOTING/ 4.1 BENDIX® ACOM® DIAGNOSTICS
DIAGNOSTICS SECTION SOFTWARE
FOR FLR10 RADAR SENSORS, SEE SD-61-4962. Bendix ® ACom® Diagnostics is a PC-based software
program available as a free download from the Bendix
Section Index web site (www.bendix.com) or on a CD from the online
4.1 Bendix® ACom® Diagnostics Software . . . . 17 Bendix Literature Center (order BW2329). This software
4.2 Reading Diagnostic Trouble Codes (DTCs) . 18 provides the technician with access to all the available ECU
diagnostic information and configuration capability. For
4.3 Table of DTCs and Actions to Take . . . . 19-25
Bendix® Wingman® Advanced™ diagnostics, use a current
4.4 Clearing DTCs . . . . . . . . . . . . . . . . . 26 version of ACom Diagnostics.
4.5 DTCs: Power Supply . . . . . . . . . . . . . 26
4.6 DTCs: J1939 Communications Link . . . . . 26
4.7 (J1939) Test Procedure . . . . . . . . . . . . 27
4.8 Troubleshooting Wiring Harnesses . . . . . . 27

IMPORTANT NOTE: All vehicle diagnostic trouble

codes 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 FIGURE 13 - BENDIX® ACOM® DIAGNOSTICS SOFTWARE
the vehicle operation while in cruise control, STARTING ACOM® DIAGNOSTICS
before attempting to diagnose Bendix® Wingman®
The Bendix ACom Diagnostics software can be started from
Advanced™ diagnostic trouble codes.
the desktop shortcut, or from the main Windows® screen
with “Start-Programs-Bendix-ACom® Diagnostics.” 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.

FIGURE 14 - STARTING BENDIX® ACOM® DIAGNOSTICS

SOFTWARE

NOTE: When using ACom Diagnostics for the first time, the
service technician will be asked to select the communication
adapter for both the Wingman Advanced and Bendix®
EC‑60™ 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.
17
The Bendix® ACom® Diagnostics for ABS User Guide is 4.2 READING DIAGNOSTIC
available for download at www.bendix.com and should be TROUBLE CODES (DTCs)
used as a reference to all functions of the ACom service
If the system generates a Diagnostic Trouble Code (DTC),
tool.
where a lamp or icon is illuminated on the instrument
In general, the protocol for Wingman Advanced is described cluster or the driver display, then a current version of ACom
as CAN or CAN 250. (See Figure 15 for an example of an Diagnostics software is required. Select “Wingman” from
adapter compatible with Wingman Advanced). The Bendix® the starter screen, then “Start with ECU”. Click “DTC”
EC-60™ controller protocol will be described as J1708, to show the diagnostic trouble codes. See Appendix G
J1587, or Unified Diagnostic Services (UDS). for screen shots. See Section 4.3 for a complete table
showing DTCs and troubleshooting information.

4.2.1 READING THE SYSTEM

SOFTWARE VERSION
If during troubleshooting, you are asked for the Wingman
Advanced software version, the number is found on the
“Wingman Advanced Status” tab. See Figure 16. Also,
see Section 5.1 for other system indicators.

FIGURE 15 - BENDIX® ACOM® DIAGNOSTICS SOFTWARE -

HARDWARE INTERFACE SCREEN

FIGURE 16 - BENDIX® ACOM® DIAGNOSTICS SOFTWARE -

STARTER SCREEN SHOWING SOFTWARE VERSION

18
4.3 TABLE OF BENDIX® WINGMAN® ADVANCED™ DIAGNOSTIC TROUBLE CODES (DTCs)
NOTE: FLR10 RADAR SENSORS USE DIFFERENT DTCS — SEE SD-61-4962.
Refer to column one for the DTC(s) found and determine the Service Action Code(s) to take. See Tables 6A and 6B below:

Table of Diagnostic Trouble Codes (DTCs), Causes and Recommended Actions for FLR20 Radars
Go to the Service
DTC SPN FMI Description Action Code List
in Table 6B
1-2 886 14 Internal radar sensor error A
3 886 14 Antenna is dirty or partially blocked C
4 886 4 Battery voltage too low B
5 886 3 Battery voltage too high B
6-10 886 14 Internal radar sensor error A
11 886 14 J1939 wiring harness error or other device DTC K
12-15 886 14 Internal radar sensor error A
16 886 14 Antenna is dirty or partially blocked C
17-27 886 14 Internal radar sensor error A
29 886 14 J1939 Signal Error: Missing AEBS2 message M
30 886 14 J1939 Signal Error: Missing CCVS message M
31 886 14 J1939 Signal Error: Missing CVW message M
32 886 14 J1939 Signal Error: Missing EBC1 message M
33 886 14 J1939 Signal Error: Missing EBC2 message M
34 886 14 J1939 Signal Error: Missing EBC5 message M
35 886 14 J1939 Signal Error: Missing EEC1 message M
36 886 14 J1939 Signal Error: Missing EEC2 message M
37 886 14 J1939 Signal Error: Missing ERC1_DR message M
38 886 14 J1939 Signal Error: Missing ERC1_XR message M
41 886 14 J1939 Signal Error: Missing TD message M
42 886 14 J1939 Signal Error: Missing VDC2 message M
43 886 14 J1939 Signal Error: Missing VDHR message M
44 886 14 J1939 Signal Error: Missing EBC3 message M
45 886 14 Internal radar sensor error A
46 886 7 Radar sensor is misaligned D
47-77 886 14 Internal radar sensor error A
78 886 14 Bendix ABS J1939 Proprietary message signal missing or error state E
79-81 886 14 Internal radar sensor error A
82 3839 16 Adaptive Cruise Control braking overuse F
83 898 13 J1939 Signal ACC1 Engine not properly configured for Wingman Advanced G
84-85 886 14 Internal radar sensor error A
86 886 14 Configuration mismatch between brake controller and radar sensor H
87 886 14 J1939 Signal Error: Missing VDC1 message M
88 886 14 CMT braking overuse J
92 886 14 J1939 Signal Error: Invalid CCVS1 wheel speed P
93 886 14 J1939 Signal Error: Error in CCVS1 wheel speed N
94 886 14 J1939 Signal Error: Not available CCVS1 wheel speed O
95 886 14 J1939 Signal Error: Invalid CCVS1 CC speed P
TABLE 6A - REFER TO COLUMN ONE FOR EACH DTC CODE FOUND AND FIND ITS SERVICE ACTION CODE.
19
 Table of Diagnostic Trouble Codes (DTCs), Causes and Recommended Actions for FLR20 Radars
Go to the Service
DTC SPN FMI Description Action Code List
in Table 6B
96 886 14 J1939 Signal Error: Error in CCVS1 CC speed N
97 886 14 J1939 Signal Error: Not available CCVS1 CC speed O
98 886 14 J1939 Signal Error: Error CCVS1 CC active N
99 886 14 J1939 Signal Error: Not available CCVS1 CC active O
100 886 14 J1939 Signal Error: Error in CCVS1 CC enable N
101 886 14 J1939 Signal Error: Not available CCVS1 CC enable O
104 886 14 J1939 Signal Error: Invalid CVW GCVW P
105 886 14 J1939 Signal Error: Error in CVW GCVW N
106 886 14 J1939 Signal Error: Not available CVW GCVW O
107 886 14 J1939 Signal Error: Error in EBC1 brake SW N
108 886 14 J1939 Signal Error: Not available EBC1 brake SW O
109 886 14 J1939 Signal Error: Error in EBC1 ABS operate N
110 886 14 J1939 Signal Error: Not available EBC1 ABS operate O
111 886 14 J1939 Signal Error: Invalid EBC2 front axle P
112 886 14 J1939 Signal Error: Error in EBC2 front axle N
113 886 14 J1939 Signal Error: Not available EBC2 front axle O
114 886 14 J1939 Signal Error: Invalid EBC2 LF wheel P
115 886 14 J1939 Signal Error: Error in EBC2 LF wheel N
116 886 14 J1939 Signal Error: Not available EBC2 LF wheel O
117 886 14 J1939 Signal Error: Invalid EBC2 RF wheel P
118 886 14 J1939 Signal Error: Error in EBC2 RF wheel N
119 886 14 J1939 Signal Error: Not available EBC2 LF wheel O
120 886 14 J1939 Signal Error: Invalid EBC2 LR1 wheel P
121 886 14 J1939 Signal Error: Error in EBC2 LR1 wheel N
122 886 14 J1939 Signal Error: Not available EBC2 LR1 wheel O
123 886 14 J1939 Signal Error: Invalid EBC2 RR1 wheel P
124 886 14 J1939 Signal Error: Error in EBC2 RR1 wheel N
125 886 14 J1939 Signal Error: Not available EBC2 RR1 wheel O
126 886 14 J1939 Signal Error: Invalid EBC5 XBR state P
127 886 14 J1939 Signal Error: Error in EBC5 XBR state N
128 886 14 J1939 Signal Error: Not available EBC5 XBR state O
129 886 14 J1939 Signal Error: Error in EBC5 brake Use N
130 886 14 J1939 Signal Error: Not available EBC5 brake Use O
131 886 14 J1939 Signal Error: Invalid EBC5 XBR limit P
132 886 14 J1939 Signal Error: Error in EBC5 XBR limit N
133 886 14 J1939 Signal Error: Not available EBC5 XBR limit O
134 886 14 J1939 Signal Error: Error in EBC5 brake temp N
135 886 14 J1939 Signal Error: Not available EBC5 brake temp O
136 886 14 J1939 Signal Error: Invalid EEC1 engine reference torque P
137 886 14 J1939 Signal Error: Error in EEC1 engine reference torque N
138 886 14 J1939 Signal Error: Not available EEC1 engine reference torque O
139 886 14 J1939 Signal Error: Invalid EEC1 engine speed P
TABLE 6A - REFER TO COLUMN ONE FOR EACH DTC CODE FOUND AND FIND ITS SERVICE ACTION CODE.

20
 Table of Diagnostic Trouble Codes (DTCs), Causes and Recommended Actions for FLR20 Radars
Go to the Service
DTC SPN FMI Description Action Code List
in Table 6B
140 886 14 J1939 Signal Error: Error in EEC1 engine speed N
141 886 14 J1939 Signal Error: Not available EEC1 engine speed O
142 886 14 J1939 Signal Error: Invalid EEC1 driver torque P
143 886 14 J1939 Signal Error: Error in EEC1 driver torque N
144 886 14 J1939 Signal Error: Not available EEC1 driver torque O
145 886 14 J1939 Signal Error: Invalid EEC1 actual torque P
146 886 14 J1939 Signal Error: Error in EEC1 actual torque N
147 886 14 J1939 Signal Error: Not available EEC1 actual torque O
148 886 14 J1939 Signal Error: Invalid EEC2 accelerator pedal position P
149 886 14 J1939 Signal Error: Error in EEC2 accelerator pedal position N
150 886 14 J1939 Signal Error: Not available EEC2 accelerator pedal position O
158 886 14 J1939 Signal Error: Error in VDC1 Roll Over Protection (ROP) brake control N
159 886 14 J1939 Signal Error: Not available VDC1 ROP brake control O
160 886 14 J1939 Signal Error: Error in VDC1 ROP engine control N
161 886 14 J1939 Signal Error: Not available VDC1 ROP engine control O
162 886 14 J1939 Signal Error: Error in VDC1 YC brake control N
163 886 14 J1939 Signal Error: Not available VDC1 yaw control (YC) brake control O
164 886 14 J1939 Signal Error: Error in VDC1 YC engine control N
165 886 14 J1939 Signal Error: Not available VDC1 YC engine control O
166 886 14 J1939 Signal Error: Invalid VDC2 steer angle P
167 886 14 J1939 Signal Error: Error in VDC2 Steer Angle Sensor (SAS) N
168 886 14 J1939 Signal Error: Not available VDC2 steer angle O
169 886 14 J1939 Signal Error: Invalid VDC2 yaw rate P
170 886 14 J1939 Signal Error: Error in VDC2 yaw rate N
171 886 14 J1939 Signal Error: Not available VDC2 yaw rate O
172 886 14 J1939 Signal Error: Invalid VDC2 long acceleration P
173 886 14 J1939 Signal Error: Error in VDC2 long acceleration P
174 886 14 J1939 Signal Error: Not available VDC2 long acceleration O
175 886 14 J1939 Signal Error: Invalid TSC1 requested torque limit P
176 886 14 J1939 Signal Error: Error in TSC1 requested torque limit N
177 886 14 J1939 Signal Error: Not available TSC1 requested torque limit O
178 886 17 Wingman antenna dirty or partially blocked C
179 886 14 Vehicle cruise control and ACC out of sync K
181 886 14 J1939 Signal Error: EBC1 ABS not fully operational R
182 886 14 J1939 Signal Error: VDC1 VDC not fully operational S
183 886 14 J1939 Signal Error: Error in VDC1 VDC fully operational N
184 886 14 J1939 Signal Error: Not available VDC1 VDC fully operational O
185 886 14 ABS tire size needs recalibration using Bendix® ACom® Diagnostics T
186 886 14 Internal radar sensor error A
187 898 13 J1939 Signal Error: Error in ACC1 ACC mode N
188 898 13 J1939 Signal Error: Not available ACC1 ACC mode O
189 898 13 J1939 Signal CCVS3: Engine not properly configured for Wingman Advanced G
190-193 886 14 Internal radar sensor error A
TABLE 6A - REFER TO COLUMN ONE FOR EACH DTC CODE FOUND AND FIND ITS SERVICE ACTION CODE.

21
 Table 6B: Action Code and the Recommended Service to Use
Service
Action Recommended Service (FLR20 Radar Sensors Only)
Letter
Possible causes:
• Some error conditions may occur at extreme high or low temperatures. These trouble
codes must be diagnosed with the ambient temperature above 32°F (0°C) and below
100°F (38°C).
A Perform the following:
• Clear the Wingman Advanced trouble codes using the procedure in Section 4.4: Clearing
Diagnostic Trouble Codes (DTCs).
• If the error returns, call the Bendix Tech Team for assistance at 1‑800‑AIR‑BRAKE (1‑800‑247‑2725,
option 2).
Possible causes:
These trouble codes result from incorrect ignition, battery supply voltage, or wiring harness issues as
measured at the radar sensor.
Review the following sections:
• 4.5: Ignition Voltage Too Low
• 4.5: Ignition Voltage Too High
• 4.5: Power Supply Tests
B • 4.8: Troubleshooting Wiring Harnesses
Perform the following:
• Verify ignition supply voltage to the radar sensor is between 9 to 16 VDC.
• Visually check for damaged or corroded connectors.
• Visually check for damaged wiring.
• Clear the Wingman Advanced trouble codes using the procedure in Section 4.4: Clearing Diagnostic
Trouble Codes (DTCs). If the error returns, call the Bendix Tech Team for assistance at
1‑800‑AIR‑BRAKE (1‑800‑247-2725, option 2).
Possible causes:
These trouble codes may arise from infrequent conditions that could occur normally.
Perform the following:
• Check for sensor obstruction. Clean dirt or packed snow or ice from the sensor if present.
C
• Clear the Wingman Advanced trouble codes using the procedure in Section 4.4: Clearing
Diagnostic Trouble Codes (DTCs).
• If the error returns, call the Bendix Tech Team for assistance 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:
Radar sensor OUT OF ALIGNMENT
Perform the following:
D • 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.
• Clear the Wingman Advanced trouble codes using the procedure in Section 4.4: Clearing Diagnostic
Trouble Codes (DTCs).
• If the error returns, call Bendix for assistance 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 Wingman system is indicating a required signal from the ABS controller is missing or the ABS is
sending message indicating an error. This DTC could be accompanied by other active DTCs.
Review the following sections:
• 1.10: Radar Sensor Interchangeability
E 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 Wingman Advanced trouble codes using the procedure in Section 4.4: Clearing Diagnostic
Trouble Codes (DTCs).
• If the error returns, call Bendix for assistance at 1‑800‑AIR‑BRAKE (1‑800‑247-2725, option 2).
TABLE 6B - USE THE SERVICE ACTION CODE FOUND IN TABLE 6A TO FIND THE RECOMMENDED ACTIONS TO TAKE.
22
 Table 6B: Action Code and the Recommended Service to Use
Service
Action Recommended Service (FLR20 Radar Sensors Only)
Letter
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:
F • Check any engine, or engine retarder trouble codes.
• Clear the Wingman Advanced trouble codes using the procedure in Section 4.4: Clearing Diagnostic
Trouble Codes (DTCs).
• If the error returns, call the Bendix Tech Team for assistance 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.
• The engine has a calibration setting enabling it to perform the torque and retarder control for the
Wingman Adaptive CC.
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.
G
Perform the following:
• Check the vehicle and engine manufacturers 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 for assistance at 1‑800‑AIR‑BRAKE (1‑800‑247‑2725,
option 2).
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 Wingman Advanced or ACB system.) Contact the
dealer or call the Bendix Tech Team at 1‑800‑AIR‑BRAKE (1‑800‑247-2725, option 2) for the correct
H part number to use, or the re-programming steps to take for the newer part number to be accepted:
After addressing the possible causes, perform the following:
• Clear the Bendix® Wingman® Advanced™ system DTCs using the procedure in Section 4.4: Clearing
Diagnostic Trouble Codes (DTCs).
• If the error returns, call the Bendix Tech Team for assistance at 1‑800‑AIR‑BRAKE (1‑800‑247‑2725,
option 2).
Possible causes:
• The Collision Mitigation System (CMS) applied the brakes more than three times in a power cycle
and system was used improperly:
After addressing the possible causes, perform the following:
J • Clear the Bendix® Wingman® Advanced™ system DTCs using the procedure in Section 4.4: Clearing
Diagnostic Trouble Codes (DTCs).
• Review the operation of Wingman Advanced with the driver.
• If the error returns, call the Bendix Tech Team for assistance 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.
• Some system, signal or component caused the Wingman Advanced to be disabled. Engine cruise
control is unavailable and should not operate when the Wingman Advanced is disabled.
Possible causes:
• Check engine, and engine retarder trouble codes. Inspect and troubleshoot the cruise control
K
system wiring, switches, etc. for proper operation.
After addressing the possible causes, perform the following:
• Clear the Bendix® Wingman® Advanced™ system DTCs by cycling the power. Start the engine.
• If the error returns, call the Bendix Tech Team for assistance at 1‑800‑AIR‑BRAKE (1‑800‑247‑2725,
option 2).
TABLE 6B - USE THE SERVICE ACTION CODE FOUND IN TABLE 6A TO FIND THE RECOMMENDED ACTIONS TO TAKE.

23
 Table 6B: Action Code and the Recommended Service to Use
Service
Action Recommended Service (FLR20 Radar Sensors Only)
Letter
This DTC is not an indicator of a malfunctioning sensor. Do not replace the sensor.
Possible causes:
• Mounting offset incorrect.
L Perform the following:
• Check the mounting offset of the radar sensor in ACom® Configuration screen. The offset value
should not exceed 500 mm.
• If the error returns, call Bendix for assistance at 1‑800‑AIR‑BRAKE (1‑800‑247-2725, option 2).
Possible causes:
• The Wingman system has not found J1939 signal(s) it is expecting from one or more sources. This
could be accompanied by other active DTCs from the same source.
Review the following sections:
• 1.10: Radar Sensor Interchangeability
• 4.7: J1939 Engine Communications Test Procedure
Perform the following:
M
• Check the expected source(s) of the signal to identify why the signals have invalid data. A
communication link may be disconnected, the power fuse disconnected or blown, or a change was
made to the controller that was incorrect.
• Clear the Bendix® Wingman® Advanced™ system diagnostic trouble codes using the procedure in
Section 4.4: Clearing Diagnostic Trouble Codes (DTCs).
• If the error returns, call the Bendix Tech Team for assistance 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 Wingman system has found J1939 signal(s) it is expecting, however the values indicate that
there is a malfunctioning component and/or wiring error.
• Some examples of components, sensors or switches that produce J1939 signals are: brake lamp
pressure switches; steering angle sensors; cruise control switches; gross vehicle weight sensors,
various engine torque signals and wheel speed sensors.
Review the following sections:
• 1.10: Radar Sensor Interchangeability
N • 4.7: J1939 Engine Communications Test Procedure
Perform the following:
• Check the engine, engine-retarder, body controller or ABS for trouble codes using the manufacturer’s
diagnostic procedures. The controller that broadcasts the error signal must be investigated first,
however the origin of the signal could potentially be another sensor or switch.
After addressing the possible causes, perform the following:
• Clear the Bendix® Wingman® Advanced™ system DTCs using the procedure in Section 4.4: Clearing
Diagnostic Trouble Codes (DTCs).
• If the error returns, call the Bendix Tech Team for assistance 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 Wingman system has found a J1939 signal, but the function is not supported by the source.
Review the following sections:
• 1.10: Radar Sensor Interchangeability
• 4.7: J1939 Engine Communications Test Procedure
O Perform the following:
• Check to see if a change has been made to a controller that is not correct.
After addressing the possible causes, perform the following:
• Clear the Bendix® Wingman® Advanced™ system DTCs using the procedure in Section 4.4: Clearing
Diagnostic Trouble Codes (DTCs).
• If the error returns, call the Bendix Tech Team for assistance at 1‑800‑AIR‑BRAKE (1‑800‑247‑2725,
option 2).
TABLE 6B - USE THE SERVICE ACTION CODE FOUND IN TABLE 6A TO FIND THE RECOMMENDED ACTIONS TO TAKE.
24
 Table 6B: Action Code and the Recommended Service to Use
Service
Action Recommended Service (FLR20 Radar Sensors Only)
Letter
This DTC is not an indicator of a malfunctioning sensor. Do not replace the sensor.
Possible causes:
• The Wingman system finds an expected J1939 source, but the signal’s value is out of the normal
operating range.
Review the following sections:
• 1.10: Radar Sensor Interchangeability
• 4.7: J1939 Engine Communications Test Procedure
Perform the following:
P • Check the engine, engine retarder, body controller or ABS for DTCs using the manufacturer’s
diagnostic procedures. The controller that broadcasts the signal indicates that a sensor or switch
input is producing a value that is out of the normal operating range.
After addressing the possible causes, perform the following:
• Clear the Bendix® Wingman® Advanced™ system DTCs using the procedure in Section 4.4: Clearing
Diagnostic Trouble Codes (DTCs).
• If the error returns, call the Bendix Tech Team for assistance 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:
R • The Wingman system is indicating a required signal that indicates whether the Antilock Brake
System is fully operational or whether its functionality is reduced by: a permanent or temporary
(e.g. low voltage) defect; not configured; not yet fully initialized; or has a loss of input sensors.

This DTC is not an indicator of a malfunctioning sensor. Do not replace the sensor.
Possible causes:
• The Wingman system is indicating a required signal that indicates whether the vehicle stability
S Roll Over Protection (ROP) or Yaw Control (YC) is fully operational or whether its functionality is
reduced by a permanent or temporary (e.g. low voltage) defect, or not configured or not yet fully
initialized or loss of input sensors.

This DTC is not an indicator of a malfunctioning sensor. Do not replace the sensor.
Possible causes:
• The Wingman system is indicating that the ABS tire sizes are out of calibration.
Perform the following:
• Using Bendix® ACom® Diagnostics, go to the ABS Controller Configuration menu and select “Modify”.
T Enter the correct tire sizes in the Tire Size [rpm] table for each axle of the vehicle.
After addressing the possible causes, perform the following:
• Clear the Bendix® Wingman® Advanced™ system DTCs using the procedure in Section 4.4: Clearing
Diagnostic Trouble Codes (DTCs).
• If the error returns, call the Bendix Tech Team for assistance at 1‑800‑AIR‑BRAKE (1‑800‑247‑2725,
option 2).

TABLE 6B - USE THE SERVICE ACTION CODE FOUND IN TABLE 6A TO FIND THE RECOMMENDED ACTIONS TO TAKE.

25
4.4 CLEARING DIAGNOSTIC Power Supply Pin Codes (4.5)
TROUBLE CODES (DTCs)
This procedure must be used when troubleshooting the 6 7 8 9 10
diagnostic trouble codes shown in Table 6.

Clear the Wingman® Advanced™ system Diagnostic Trouble

Codes (DTCs) using the Bendix® ACom® service tool. Click 1 2 3 4 5
the “Clear” button located on the “Read /Clear Fault Codes”
screen. Using ignition power only, power off the vehicle
for at least 1 minute. Next, start the engine and run it at (Looking into the Front of the Harness Connector)
idle for at least 15 seconds.
Pin # Description
Drive the vehicle and, on a test track or suitable section 1 J1939 High
of roadway, engage the cruise control to verify proper
2 Not Used
operation.
3 Not Used
If the error returns, call Bendix at 1‑800‑AIR‑BRAKE 4 Not Used
(1‑800‑247-2725, option 2) for assistance.
5 Radar Sensor Ground GND (-)
4.5 TROUBLESHOOTING DIAGNOSTIC 6 J1939 Low
TROUBLE CODES: POWER SUPPLY 7 Not Used
8 Supply Voltage IGN (+)
IGNITION VOLTAGE TOO LOW
9 Not Used
Measure the ignition voltage under load. Ensure that the
10 Not Used
ignition voltage is greater than 10 VDC (volts DC). Check
TABLE 7 - HARNESS CONNECTOR PINS
the vehicle battery and associated components. Inspect
for damaged wiring, damaged or corroded connectors and
4.6 SERIAL DATA (J1939)
loose connections. Check the condition of the fuse.
COMMUNICATIONS LINK
IGNITION VOLTAGE TOO HIGH Check for a loss of communications between the Bendix®
Measure the ignition voltage. Ensure that ignition voltage Wingman® Advanced™ system radar sensor, the ABS
is not greater than 16 VDC. Check the vehicle battery controller, the engine ECU, and other devices connected
and associated components. Inspect for damaged wiring, to the J1939 link. Check for damaged or reversed J1939
damaged or corroded connectors and loose connections. wiring. Check for corroded or damaged connectors and
loose connections. Using procedures described by the
POWER SUPPLY TESTS vehicle manufacturer, verify the presence of the engine
1. Take all measurements at the radar sensor harness ECU and the ABS controller on the J1939 link.
connector.
Verify the engine ECU configuration. Check for other
2. Place a load (e.g. 1157 stop lamp) across the supply devices inhibiting J1939 communications.
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 (volts DC).
3. Check for damaged wiring, damaged or corroded
connectors and loose connections.
4. Check the condition of the vehicle battery and associ-
ated 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.

26
4.7 ENGINE COMMUNICATIONS 5. Unplug the radar sensor. With the ignition switch off,
(J1939) TEST PROCEDURE measure the resistance (ohms) using a multimeter
between harness pins 1 and 8. The reading should be
The Bendix® Wingman® Advanced™ system requires several
approximately 60 ohms. If it is not, the vehicle wiring
J1939 messages from the engine ECU to control the engine
should be investigated using procedures described by
and retarder torque for distance control and braking. The
the manufacturer.
Wingman Advanced system will set a diagnostic trouble
6. Unplug the radar sensor. With the ignition switch off,
code if one of these messages is not present.
using a multimeter, measure the resistance in ohms,
Use the engine manufacturer’s diagnostic test procedures between harness pin 1 and ground. The measurement
to verify that there are no errors present in the engine should indicate an open circuit or very high resistance.
that may prevent the Wingman Advanced system from If this is not the case, the vehicle wiring should be
controlling the engine or retarder torque. investigated using procedures described by the
4.7.1 J1939 TROUBLESHOOTING manufacturer.

PROCEDURE 7. Unplug the radar sensor. With the ignition switch off,
using a multimeter, measure the resistance in ohms,
1. Take all measurements at the harness connector unless
between harness pin 8 and ground. The measurement
otherwise indicated.
should indicate an open circuit or very high resistance.
CAUTION: DO NOT INSERT PROBES INTO THE BACK If this is not the case, the vehicle wiring should be
SIDE OF THE CONNECTOR AS THIS WILL DAMAGE THE
investigated using procedures described by the
SEAL AROUND THE WIRE.
manufacturer.
CAUTION: DO NOT INSERT ANY PROBE INTO THE
PIN ON THE MATING CONNECTOR OF THE RADAR 4.8 TROUBLESHOOTING
SENSOR THAT IS GREATER THAN 0.62 MM DIAMETER WIRING HARNESSES
OR SQUARE. THIS WILL DAMAGE THE CONNECTOR PIN
All wire harness connectors must be properly seated to
AND REQUIRE REPLACEMENT OF THE HARNESS.
maintain environmental seals. Push the mating connector
2. Check for damaged or reversed J1939 wiring. until it seals with a click. Press the orange locking tab
If the J1939 HIGH or J1939 LOW wiring circuits are towards the center of the radar. When replacing an
damaged, such as shorting together, the entire J1939 Advanced radar sensor, check that the wire harness
link will be lost. The problem may be intermittent, connector is free of corrosion before plugging into a new
enabling the J1939 link to operate normally sometimes. radar sensor. Check for corroded or damaged wiring
In that event, multiple diagnostic trouble codes will be connector problems such as opens or shorts to voltage
logged in multiple engine and vehicle controllers. or ground.
If the J1939 HIGH and J1939 LOW wiring circuits are If the connector terminals are corroded, this may be an
reversed, communication over the entire J1939 link will indication of water intrusion into the wiring system and
not be lost. Only those devices that are outside of the possibly into the radar sensor. Replacement of the entire
problem point from other devices will not receive, or be harness is recommended. If the terminals of the radar
able to transmit, data messages. sensor are corroded, replacement of radar sensor is
3. Check for corroded or damaged wiring connector recommended.
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.

27
5.0 OTHER SYSTEM FEATURES SECTION
Section Index
5.1 Reading Bendix® Wingman® Advanced™
System Key Indicators . . . . . . . . . . . . 28
5.2 Diagnostic Trouble Code (DTC)
Self-Clearing . . . . . . . . . . . . . . . . . 28
5.3 Following Distance Adjustment Switch
(Optional) . . . . . . . . . . . . . . . . . . . 28
5.4 Configuring Wingman Advanced Following
Distance Alerts . . . . . . . . . . . . . . . . 29
5.5 Extracting Bendix Wingman Advanced

System Data . . . . . . . . . . . . . . . . . . 30

5.5.1 Data Availability . . . . . . . . . . . . . . . . 30

5.5.2 Data Overview . . . . . . . . . . . . . . . . . 30

5.5.3 Extracting Data and Saving a Report . . . . . 31

5.1 READING BENDIX® WINGMAN®

FIGURE 17 - BENDIX® ACOM® SCREEN SHOWING
ADVANCED™ SYSTEM KEY INDICATORS CONFIGURATION NUMBER
To check the Bendix Wingman Advanced system key
5.2 BENDIX WINGMAN ADVANCED
indicators such as software version number, use a current
version of Bendix® ACom® Diagnostics software. From the DIAGNOSTIC TROUBLE CODE
main menu of ACom Diagnostics software, the technician (DTC) SELF-CLEARING
highlights Advanced, then clicks “Start with ECU”. The Many of the diagnostic trouble codes (DTCs) will
Advanced Status screen will appear. Clicking “Config” will automatically clear when the cause of the problem is
display the key system indicators. See Section 4.21 for an corrected. When the technician troubleshoots a diagnostic
example of reading the software version. See Figure 17 for trouble code, it is recommended that a current version of
an example of ACom software configuration information. the Bendix® ACom® Diagnostics software be used to clear
See Appendix H. the diagnostic trouble codes as directed by the repair
NOTE: ACom® Diagnostics is also used for troubleshooting procedure.
Bendix® ESP®, ATC, and ABS systems. Some codes will clear immediately and the functionality
will resume. Some codes will clear after powering off the
ignition for about 1 minute and then turning it back on.
Other codes will clear after the engine runs for about 15
seconds.
If the vehicle’s cruise control can be engaged, that indicates
all Wingman Advanced trouble codes have been cleared.

5.3 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 diagnostic trouble
code will be set if the vehicle is not equipped with a following
distance adjustment switch.

28
5.4 CONFIGURING BENDIX® WINGMAN® ADVANCED™ FOLLOWING DISTANCE ALERTS
Multiple alert and distance setting strategies, known as Following Distance Alert (FDA) configurations, can be chosen using
the Bendix® ACom® Diagnostics tool. In current versions of ACom software, the service technician will find a selection
box called “Configuration Number” which gives the service technician the choices shown in Figure 18 and in Table 8.
See Appendix B for an example of following distance alerts for systems where a Bendix® Driver Interface Unit (DIU) is used.

Configuring Wingman Advanced Following Distance Alerts (5.4)

Following Distance Default
Audible Alert (sec.) Advanced
Configuration Option Following
No. Alert 1: Alert 2: Alert 3: Distance
Slow Medium Fast (seconds)
City — — 0.5
1 2.8
Highway (>37 mph) 1.5 1.0 0.5

City — — 0.5
2 3.5
Highway (>37 mph) 1.5 1.0 0.5

City — 1.5 1.0

3 2.8
Highway (>37 mph) 2.0 1.5 1.0

City — 1.5 1.0

4 3.5
Highway (>37 mph) 2.0 1.5 1.0

City — 1.5 1.0

5 3.5
Highway (>37 mph) 3.0 2.0 1.0

City 3.0 1.5 1.0

6 3.5
Highway (>37 mph) 3.0 2.0 1.0

City — — 0.2
7 2.8
Highway (>37 mph) — — 0.2

8 City — — 0.5
See Note 1.7
Below Highway (>37 mph) 1.5 1.0 0.5

9 City — — 0.5
See Note 2.3
Below Highway (>37 mph) 1.5 1.0 0.5
TABLE 8 - CONFIGURING FOLLOWING DISTANCE ALERTS (FDA).

Note: Configurations 8 and 9 are available on select applications only and may not be available on your system.

29
 5.5.3 EXTRACTING DATA AND
SAVING A REPORT
The Bendix ACom Diagnostics tool and User
Guide is available online at “ABS Software” link un-
der “Services and Support” on the Bendix website
(www.bendix.com).
After a successful connection, the service technician will
be presented with the window shown in Figure 20.
Selec t “ St ar t AC B Dat a Lo g”. T he ser vic e
technician will be asked to enter the vehicle ID and
mileage. This data will be stored in the report.
See Figure 20.

FIGURE 18 - BENDIX® ACOM® DIAGNOSTICS –

CONFIGURATION NUMBER (SHOWING CONFIGURATION
ONE SELECTED). SEE ALSO TABLE 8.

Changing configuration allows the fleet user to adjust both

the following distance alerts and the following distance
behind a detected forward vehicle. See Figure 18.

5.5 BENDIX® WINGMAN® ADVANCED™

SYSTEM DATA
NOTE: A license key is required from Bendix in order to
engage the data collection ability of the system. Call the
Bendix Tech Team at 1-800-AIR-BRAKE (1-800-247-2725,
option 2) for more information.

5.5.1 DATA AVAILABILITY

Contact Bendix (1‑800‑AIR‑BRAKE (1‑800‑247-2725,
option 2)) for the ACom Diagnostics software license key
and the set-up procedure.
Data will not be stored by the system until the “Clear
Resettable Data Log” (see Figure 19) is selected and the
proper Bendix® ACom® Diagnostics license key is present.

FIGURE 20 - VEHICLE DATA

The service technician can choose whether to “Print”,
“Print Preview”, “E-mail”, or “Save” the report to disk. See
Figure 21. The data can be saved as a comma delimited
file or an HTML web page file.
See Figure 22 on next page for a sample report.

FIGURE 19 - CLEARING THE RESETTABLE DATA LOG

5.5.2 DATA OVERVIEW

At the fleet’s discretion, Wingman Advanced makes data
available (see Figure 22), in a data log, regardless of whether FIGURE 21 - REPORT MODE
or not Advanced is used. The log can be reset using the
Bendix ACom Diagnostics software as often as needed.
30
 FIGURE 22 - TYPICAL WINGMAN ADVANCED VEHICLE REPORT

31
APPENDIX A - RADAR MOUNTING

Appendix A
Bendix FLR20™ Radar Mounting
®

GENERAL

WARNING: Improper use of the Bendix® Wingman® Advanced™ system can result in a collision causing
property damage, serious injuries, or death.

WARNING: Under no circumstances must the radar be removed or repositioned from the original production
line installation. The assembly should always be mounted in the original OEM location. If this location is not in the
center of the vehicle, the mounting offset will need to be programmed through Bendix® ACom® Diagnostics software.

CAUTION: Vehicle equipment, including bumpers, deer guards, etc. must not infringe upon the zone used
by the radar sensor to emit and receive radar waves. See Appendix A3. Failure to comply with this requirement
will impair the function of the radar. Only vehicle OEM-approved covers and/or cover panels may be installed
in front of the radar.

The radar sensor assembly is mounted to the front of the vehicle using an adjustable bracket. This adjustable bracket
allows for the radar sensor to be properly aimed laterally and vertically to maximize Wingman Advanced system
performance. When mounting a radar sensor, the wire harness connector should always point towards the passenger
side of the vehicle.
A.1 VEHICLE APPLICATIONS
The radar sensor can be mounted and installed only on vehicles that have Bendix Wingman Advanced already installed.
At this time Wingman Advanced cannot be retrofitted onto vehicles, even if that vehicle is equipped with the Bendix®
ESP® stability system.
A.2 REPLACEMENT PARTS
Replacement parts exist for all components shown below. Parts are available from any Bendix authorized parts supplier.

RADAR
SOURCE
ADAPTER
BRACKET
(VARIES)

ADJUSTABLE
STAND-OFF
ASSEMBLIES
(3)

Radar Sensor with Stand-off Assemblies Bracket (Varies) and Stand-off Assemblies Stand-off Assemblies Only
• Kit K071772 includes a specifically- • Provide the bracket part number (see label) • Kit K073199 includes three stand-
programmed Bendix® FLR20™ radar sensor, when ordering replacements. Kits will include off adjustor assemblies, and six
three stand-off adjustor assemblies, and six three stand-off adjustor assemblies, and six mounting screws.
mounting screws. mounting screws.

32 Appendix A
 Appendix A
Bendix® FLR20™ Radar Mounting
A3 BENDIX® FLR20™ RADAR • The radar’s field of view must NOT have interference
SENSOR MOUNTING CLEARANCE from any other vehicle components such as bumpers,
cow-catcher bumpers, engine blankets, seasonal
decorations, or any other commonly mounted front-of-
CAUTION: Vehicle equipment, including bumpers,
vehicle components. The radar signal is emitted from
deer guards, etc. must not infringe upon the zone used
the front of the sensor with a spreading beam. In order
by the radar sensor to emit and receive radar waves.
to ensure that no adverse interference is experienced
Failure to comply with this requirement will impair
from bumpers or other nearby vehicle equipment, a
the function of the radar. Only vehicle OEM-approved
suitable clearance must be maintained around the
covers and/or cover panels may be installed directly
radar. This clearance must be maintained regardless if
in front of the radar.
the vehicle is stationary or in motion. See the diagram
For proper operation of your Wingman Advanced system, below for a general guide and an example of how to
adhere to the following guidelines: calculate the zone required.
• The radar sensor assembly should be OEM-installed NOTE: Bendix does not certify nor offer warranty on
on the vehicle following all OEM specifications. Bendix Wingman systems where system performance is
affected by beam obstructions of any kind or unapproved
post-production covers. This document gives general
guidelines that will work for most vehicles; exceptions
may exist.

ZONE THAT MUST BE Keep all deer and moose guards,

bumpers, etc. outside of the required
KEPT CLEAR! radar beam clearance area.

Measure from the raised

surface at the front of the radar

2xA
Distan
ce A RADA
R Example Below: If an obstruction
FACE x 2xA
is four inches in front of the radar, it
e must be outside of a zone 20 inches
4" wid h wide by 19 inches high.
3" hig
2xA
2xA

The only exceptions are vehicle OEM‑approved covers

Appendix A 33
APPENDIX B - RADAR ALIGNMENT

Appendix B
Bendix FLR20™ Radar Alignment
®

B1.0 RADAR ALIGNMENT ALIGNMENT FLOWCHART

For Bendix® FLR10™ radar sensors, see SD-61-4962.

Use this flowchart to find which section(s) of this Appendix to use.

34 Appendix B
 Appendix B
Bendix FLR20™ Radar Alignment
®

B1.1 GENERAL INFORMATION ABOUT ADJUSTING THE ALIGNMENT

Accurate vertical and lateral alignment of the radar sensor is critical for proper operation of Bendix® Wingman®
Advanced™. If the alignment is outside a certain range it could cause false warnings, missed warnings and a diagnostic
trouble code in the system.
The radar sensor is mounted to the front of the vehicle using a bracket with three stand-offs, two of which are used
when making adjustments, if necessary.
It is important to use the correct stand-off when making any alignment adjustments.

Use a Torx T-20 screwdriver here to

adjust for the vertical alignment

IMPORTANT:
Do not adjust
this stand-off!! Use a Torx T-20 screwdriver here to
adjust for the lateral alignment

ABOVE: A TECHNICIAN MAKES AN ADJUSTMENT TO THE LATERAL ALIGNMENT STANDOFF.

BELOW: THE VERTICAL ALIGNMENT STANDOFF IS ADJUSTED.

Call the Bendix Tech Team at 1‑800‑AIR‑BRAKE (1‑800‑247-2725, option 2) for troubleshooting assistance.

Appendix B 35
 Appendix B
Bendix FLR20™ Radar Alignment
®

B2 LATERAL ALIGNMENT USING THE LEARNED ALIGNMENT SCREEN

This is the preferred and recommended method for lateral alignments
This method is for vehicles with Bendix® DIU® displays that use software whose version is 12.220 and above. To verify
the DIU’s software version go to the Volume screen, where it is displayed in the top right-hand corner.
If the radar’s lateral alignment is not correct, the system calculates over the course of many hours of driving, an alignment
adjustment value. The DIU displays the learned alignment value, and also shows the technician the direction to turn,
and number of turns to make to, the lateral alignment adjustment screw.

B2.1 Tools needed: DIU (with software version 12.220 or above), and a Torx T-20 Screwdriver.
B2.2 Enter the DIU menu item titled “Radar” and select “Alignment Check”.

B2.3 Upon selecting the “Alignment Check” menu item the following screen will be displayed:

Bendix® DIU Screen Showing learned alignment value

IMPORTANT:
Do not adjust
this stand-off!! Use a Torx T-20 screwdriver here to
adjust for the lateral alignment

For example, the Figure above shows a correction value of five (5) full turns counterclockwise is needed. The
correction count and arrow direction displayed shows that in order to adjust the radar to be correctly aligned
with the travel of the vehicle, the lateral adjustment screw (lower right screw when facing the front of the vehicle)
should be turned.
B2.4 Make the adjustment shown on the DIU.
IMPORTANT: Make necessary adjustments to the alignment standoff prior to resetting the alignment value.
B2.5 Select “Reset” and then “Exit” on the Bendix DIU screen to return to the default screen.
B2.6 Cycle the ignition power.
B2.7 IMPORTANT: Before returning the vehicle to service, go to Section B4 and check the vertical alignment.
NOTE: The alignment process is complete after the vertical alignment has been checked (and adjusted, if
necessary.) You do not need to test-drive the vehicle.
Call the Bendix Tech Team at 1‑800‑AIR‑BRAKE (1‑800‑247-2725, option 2) for troubleshooting assistance.

36 Appendix B
 Appendix B
Bendix FLR20™ Radar Alignment
®

B3 LATERAL ALIGNMENT USING BENDIX® ACOM® DIAGNOSTICS

Use this method to align the Bendix FLR20 laterally when the vehicle
does not have a DIU, or has a DIU (but its software version is prior to 12.220)
B3.1 Tools needed: Bendix ACom Diagnostics, and a Torx T-20 Screwdriver
B3.2 Connect the vehicle to a laptop computer with the current release of the Bendix ACom Diagnostics software.

B3.3 See the “Alignment Value” shown on the Configuration screen.

If the alignment value shown by ACom Diagnostics is between -1.1° and 1.1­°, this is acceptable and the system
should operate normally. A value outside that range means the radar sensor should be adjusted.

BENDIX® ACOM® DIAGNOSTICS SCREEN SHOWING ALIGNMENT VALUE

Alignment Number of Full Turns of

Value Range Service Action the Lateral Alignment
(Degrees) Adjustment Screw
-2.0 to -1.8 6 clockwise
Adjustment
-1.7 to -1.6 5 clockwise
Required
-1.5 to -1.2 4 clockwise
-1.1 to -0.8 3 clockwise (optional)
-0.7 to -0.5 2 clockwise (optional)
-0.4 to -0.3 1 clockwise (optional)
No Adjustment
-0.2 to 0.2
Needed
0.3 to 0.4 1 counterclockwise (optional)
-0.5 to 0.7 2 counterclockwise (optional)
0.8 to 1.1 3 counterclockwise (optional)
1.2 to 1.5 4 counterclockwise
Adjustment
1.6 to 1.7 5 counterclockwise
Required
1.8 to 2.0 6 counterclockwise

ADJUSTMENT SCREW ROTATION REQUIRED

Note: The maximum Alignment Value shown by ACom Diagnostics is two degrees (plus or minus).
Appendix B 37
 Appendix B
Bendix FLR20™ Radar Alignment
®

B3 LATERAL ALIGNMENT USING BENDIX® ACOM® DIAGNOSTICS (CONTINUED)

B3.4 See the image below to see the lateral alignment adjustment screw location.
Use Table in B3.3 to find the number of full turns of the stand-off adjustment screw required to bring the radar
sensor back into alignment. A Torx T-20 screwdriver with a mark or other indicator may help track the number
of turns.

IMPORTANT:
Do not adjust
this stand-off!! Use a Torx T-20 screwdriver here to
adjust for the lateral alignment

B3.5 After making the adjustment, clear the Bendix® Wingman® Advanced™ system Diagnostic Trouble Code (DTC)
using the procedure in Section 4.4: Clearing Diagnostic Trouble Codes (DTCs).
B3.6 Then follow steps B3.7-12 to reset the alignment value stored in the system.
B3.7 Procedure to Reset the Alignment Value. Select Wingman Advanced on the starter screen, and then select
“Start with ECU.” Select “Config” on the Wingman Advanced Status window.
B3.8 Select “Modify” on the Configuration Status window.

BENDIX® ACOM® DIAGNOSTICS: CONFIGURATION AND CHANGE CONFIGURATION SCREENS

B3.9 Select “Reset Alignment Value” in the Change Configuration box. (See Appendix H for more details.)
B3.10 Close the ACom Diagnostics program and any open windows.
B3.11 Cycle the vehicle ignition.
B3.12 After the vehicle has been driven at least 20 miles at above 35 mph in multi-lane urban traffic, re-check the
alignment value using ACom Diagnostics.
Call the Bendix Tech Team at 1‑800‑AIR‑BRAKE (1‑800‑247-2725, option 2) for troubleshooting assistance.

38 Appendix B
 Appendix B
Bendix FLR20™ Radar Alignment
®

B4 VERTICAL ALIGNMENT USING AN INCLINOMETER

B4.1 Tools Needed: A digital inclinometer, Torx T-20 screwdriver. (If a clip from the Bendix Alignment Tool kit is
available, the clip may be placed over the front of the radar sensor during this process.)
B4.2 Park the vehicle on a level floor. Air suspensions must be charged and stable.
B4.3 Calibrate (or “zero”) the inclinometer on a horizontal section of the frame rail. Follow the manufacturer’s
instructions (typically digital inclinometers have a “SET” button for this purpose).

Calibrate (or “zero”)

the Digital Inclinometer
on a Cab Frame Rail
in the direction that the
vehicle travels.

B4.4 Place the calibrated digital inclinometer against the front surface of the radar, so that the tool is held in the
same direction as it was on the rail. With the digital inclinometer resting as shown, verify that the
display shows 0° (± 1.5°) from vertical, when measured by an inclinometer set to zero on the vehicle’s frame.

Use a Torx T-20 screwdriver here to

adjust for the vertical alignment

IMPORTANT:
Do not adjust
this stand-off!!

NOTE: Complete the steps below only if a vertical adjustment is necessary.

B4.5 Use the Torx T-20 screwdriver to turn by hand the top‑left adjustment stand-off. During the adjustment, observe
the digital display on the inclinometer and turn the vertical alignment screw clockwise or counterclockwise
depending on the vertical direction (up or down) needed, until the reading is zero degrees.
B4.6 The radar is aligned vertically when the display is between -1.5° and 1.5°, however to achieve a more
precise alignment, adjust the vertical alignment screw until the digital alignment value is near zero (0°).
Note: The alignment process shown here is for Bendix alignment brackets. For other brackets, similar alignment
steps will be needed; consult the vehicle manual for full instructions.
B4.7 If used, be sure to remove the clip before returning the vehicle to service.

Call the Bendix Tech Team at 1‑800‑AIR‑BRAKE (1‑800‑247-2725, option 2) for troubleshooting assistance.

Appendix B 39
APPENDIX C - RADAR ALIGNMENT USING BENDIX® ALIGNMENT CLIP AND TOOL

Appendix C
Bendix FLR20™ Radar Alignment
®

C1 LATERAL ALIGNMENT USING THE BENDIX® ALIGNMENT CLIP AND TOOL

This is the method to use for lateral alignment when a radar and/or bracket is replaced.
Tools needed: Bendix® alignment kit, steel clip, Torx T-20 screwdriver and a tape measure.
• One of the Bendix® Alignment Tools part no: K065284 and K096579 — available from Bendix parts outlets — are used.
The alignment procedure also requires a steel clip, part number K073087.

Steel Clip
(actual design may vary)

K065284
Alignment Tool
Install Steel Clip
with Laser over FLR20
Guide

Magnetic Feet
(3)

K096579
Shorter
Bar

ALIGNMENT TOOLS AVAILABLE

C1.1 Park the vehicle on a level floor. Air suspensions must be charged and stable. Install the steel clip supplied
over the radar sensor.
C1.2 Attach the alignment tool onto the clip using its magnet feet. Inspect to make sure that the alignment tool is
approximately horizontal width-wise.

C1.3 Activate the lateral alignment laser light “on” switch. Place the tool into position for the first measurement.
(The tool will be reversed when the second measurement is made.)

40 Appendix C
 Appendix C
Bendix FLR20™ Radar Alignment
®

LATERAL ALIGNMENT USING THE BENDIX® ALIGNMENT CLIP AND TOOL (CONTINUED)
C1.4 Locate symmetrical points on the front of the vehicle that are at least 12 inches from the vehicle’s center line
(such as the tow hooks). Using a ruler or tape measure, record the distance from each side to the laser light
line.

LATERAL ALIGNMENT LEFT MEASUREMENT

NOTE: The technician must be careful during the laser positioning process to double-check the values measured on each
side of the truck. Be sure to check back and forth for each side of the radar sensor several times to ensure accuracy.
C1.5 Repeat the process for the opposite side, reversing the tool, so that the laser light points to the other side of
the vehicle.

The Whole
Tool is
Reversed for
the Second
Measurement

Lateral Alignment
Laser
Laser
Light Beam

C1.6 Compare the left and right distance measurements. A properly aligned radar sensor will have the same
measurement from each side. If these two dimensions are within 1/8” (3 mm), no alignment is necessary and
the technician can go to Step C1.10 to check the vertical alignment. If an adjustment is needed, follow the
instructions in C1.7-9 on page 42

Appendix C 41
 Appendix C
Bendix FLR20™ Radar Alignment
®

C LATERAL ALIGNMENT USING THE BENDIX® ALIGNMENT CLIP AND TOOL (CONTINUED)
NOTE: Complete these steps only if a lateral adjustment is necessary.
C1.7 With the Bendix alignment tool still in place, use the Torx T-20 screwdriver to turn by hand the driver‑side
stand-off adjustment screw until the desired alignment is reached

IMPORTANT:
Do not adjust
this stand-off!! Use a Torx T-20 screwdriver here to
adjust for the lateral alignment

C1.8 Re-measure the distances from symmetrical points located at least 12” from the center line of the vehicle.
Reverse the tool for each measurement, until the values are the same [within 1/8” (3 mm)].
C1.9 After the lateral alignment procedure is complete, if there is an active misalignment DTC (codes 55, 56,
or 57), clear the Bendix® Wingman® Advanced™ system Diagnostic Trouble Code (DTC) using the procedure
in Section 4.4: Clearing Diagnostic Trouble Codes (DTCs) and reset the alignment value by connecting the
vehicle to a PC with Bendix® ACom® Diagnostics software and follow steps B4.4-20 to reset the alignment
value. (Also, see Appendix H.)
C1.10 IMPORTANT: Before returning the vehicle to service, check the vertical alignment.
C1.11 [The steel clip and alignment tool should already be in place. See C1.1-2.]
C1.12 Calibrate (or “zero”) the inclinometer on a horizontal section of the frame rail. Follow the manufacturer’s
instructions (typically digital inclinometers have a “SET” button for this purpose).
Calibrate (or “zero”) the Digital Inclinometer on a
Cab Frame Rail in the direction that the vehicle
travels.
Place the calibrated digital inclinometer onto the
surface of the tool, so that the tool is in the
same direction as it was on the rail. Verify
that the display shows 0° (± 1.5°) from vertical.

NOTE: Complete these steps only if a vertical adjustment is necessary.

C1.13 With the Bendix alignment tool still in place, use the screwdriver to turn Use a Torx T-20 screwdriver here to
adjust for the vertical alignment
by hand the top‑left adjustment stand-off. See the Figure on the right.
During the adjustment, observe the digital display on the inclinometer
and turn the vertical alignment screw clockwise or counterclockwise
depending on the vertical direction (up or down) needed, until the
reading is near zero degrees.
C1.14 The radar is aligned vertically when the display is near zero (0°).
IMPORTANT:
Note: The alignment process shown here is for Bendix alignment Do not adjust
brackets. For other brackets, similar alignment steps will be needed; this stand-off!!
consult the vehicle manual for full instructions.
NOTE: The alignment process is complete after the vertical alignment has been checked (and adjusted, if
necessary.) You do not need to test-drive the vehicle.
Call the Bendix Tech Team at 1‑800‑AIR‑BRAKE (1‑800‑247-2725, option 2) for troubleshooting assistance.

42 Appendix C
 Appendix D
Bendix FLR20 Radar Dynamic Alignment Method
This procedure may be used in rare cases where the stored alignment value is not
available. The vehicle must have a DIU with a software version 12.220 or above.

LATERAL ALIGNMENT USING THE DYNAMIC ALIGNMENT METHOD

Use the flowchart B1 to be sure you are using the correct alignment procedure. This procedure is used in
the rare cases where a learned alignment value is not available. For example, in cases where a technician
erroneously resets the alignment value before recording the Learned Alignment correction value and direction.
D1.1 Tools needed: DIU (with software version 12.220 or above), and a Torx T-20 Screwdriver. The assistance of
another vehicle will be necessary, and an assistant in the cab of the vehicle with the driver.
The DIU’s software version can be seen in the top right-hand corner of the Volume screen. The Bendix DIU’s
Dynamic Alignment Screen is used to show a dynamic calculation of the alignment of the radar.
D1.2 To perform the inspection, the vehicle must be traveling behind a cooperative vehicle on a straight, level length
of highway. Obeying all traffic laws, follow the vehicle in the same lane at a speed greater than 35 MPH.
For the most accurate results, the distance between the vehicles must be between 50 and 300 feet (15 to 91
meters), so the observed distance figure, displayed in the top left-hand corner of the display helps the driver
maintain the correct range. Verify that both vehicles remain in the middle of the lane during the test. The radar
determines the distance and alignment to the vehicle ahead, and, if needed, calculates an alignment correction
value, displayed on the screen.
D1.3 During the test, an assistant in the vehicle should observe where on the scale the triangle indicator shows the
alignment correction value. Because this is a dynamic measurement, the arrow will typically move through
a range of positions. Note the average position where the triangle points over a length of time. This value
gives the number of turns of the lateral adjust screw clockwise (CW) or counterclockwise (CCW), in order to
correct any misalignment present. See Figure below. The number of turns may require less than a full screw
turn, e.g. half way between 2 and 3 is 2.5 turns. The scale to the left of center shows when a clockwise (CW)
adjustment is needed, and numbers to the right are for counterclockwise (CCW) adjustments.
The indicator triangle will move
along the scale to show the
number and direction of turns to
make of the adjustment screw.

CW = Clockwise CCW = Counterclockwise

Dynamic Alignment Screen

IMPORTANT:
Do not adjust
this stand-off!! Use a Torx T-20 screwdriver here to
adjust for the lateral alignment

D1.4 Alignment values less than 1.5 from the center are acceptable and do not necessarily require adjustment.
(See the “OK” zone shown on the scale for this range).
Call the Bendix Tech Team at 1‑800‑AIR‑BRAKE (1‑800‑247-2725, option 2) for troubleshooting assistance.

Appendix D 43
APPENDIX E - TROUBLESHOOTING CHECKLIST

Appendix E
Troubleshooting Checklist
Record Driver’s Answers for
Detailed Scenarios and Tests
Follow-up with Bendix
Does the vehicle maintain its set speed when cruise control is switched on and
set? Yes No _____________

Is the cruise control “set” icon displayed? Yes No _____________

While following a forward vehicle within radar range and the cruise control
switched on and set, observe the following:

Is the forward vehicle detected icon displayed? Yes No _____________

What color is the icon? Icon Color______________

When the forward vehicle slows down, does the truck also slow down to
maintain the set distance? Yes No _____________

With engine cruise “off” and a forward vehicle present, does the audible alert
become faster as the truck moves closer to the forward vehicle? Yes No _____________

With cruise control switched on and set, when the forward vehicle slows
moderately or cuts in front of the truck and slows, did you observe any of the
following conditions?
Does the vehicle slow and the Wingman Advanced system maintain the Yes No _____________
following distance?
Yes No _____________
Is the engine throttle reduced?
Yes No _____________
Is the engine retarder applied?
Yes No _____________
Are foundation brakes applied?
Yes No _____________
Are there diagnostic trouble codes logged?

Does the truck proceed toward the forward vehicle without a following Yes No _____________
distance alert or braking intervention?
With cruise control engaged, and while following a vehicle ahead in gentle
curves (assuming a 3 to 3.5 second following distance):

Does the Wingman Advanced system continue to follow the vehicle through
the curves following at a constant distance? Yes No _____________

Does the truck proceed toward the forward vehicle without a following
distance alert or braking intervention? Yes No _____________
With cruise engaged, when your vehicle passes a slower vehicle on the left or
right on a straight or slightly curvy road:
Does Wingman Advanced ignore the vehicle you are overtaking? Yes No _____________
Does it give a following distance alert? Yes No _____________

44 Appendix E
 Appendix E
Troubleshooting Checklist
Record Driver’s Answers for
Detailed Scenarios and Tests
Follow-up with Bendix
With cruise engaged, and a faster vehicle passes your vehicle on the left or
right on a straight or slightly curvy road:

Does your vehicle throttle up and try to keep pace with the faster moving
vehicle? Yes No _____________
Does it give a following distance alert? Yes No _____________

With cruise control engaged, if the vehicle ahead slows moderately or cuts in
front of your truck and slows down:
Does your vehicle slow and the Wingman Advanced system maintain the Yes No _____________
following distance?
Yes No _____________
Is the engine throttle reduced?
Yes No _____________
Is the engine retarder applied?
Yes No _____________
Are the foundation brakes applied?
Yes No _____________
Are there diagnostic trouble codes logged?

Does your truck proceed toward the forward vehicle without a following Yes No _____________
distance alert or braking intervention?

What version of Bendix® ABS and Bendix® Wingman® Advanced™ is installed on

the vehicle? See Section 4.21: Reading the Advanced Software Version. ___________________________

___________________________
What are the key system indicators? ___________________________
See Section 5.1: System Key Indicators. ___________________________
___________________________
___________________________
Call the Bendix Tech Team at 1‑800‑AIR‑BRAKE (1‑800‑247-2725, option 2)
(Monday–Friday, 8:00 a.m. – 6:00 p.m. ET) for troubleshooting assistance.

Appendix E 45
APPENDIX F - DRIVER INTERFACE UNIT (DIU): DISPLAYS AND ALERTS

Appendix F
Bendix® Driver Interface Unit (DIU): Displays & Alerts
F1 Operator Interface
The Bendix® Wingman® Advanced™ system is either integrated into the vehicle's dash or console, or uses the
Bendix® Driver Interface Unit (DIU) to communicate with the driver. (For integrated systems, see the vehicle
operator’s manual for more information.)
This Section describes the functions of the DIU. The DIU mounts in, or on, the vehicle dash and provides the
interface between the driver and the Advanced system. The DIU provides visual and audio warnings to the
driver and accepts input from the driver through the “Up”, “Down” and “OK” buttons.
The DIU contains an internal speaker to provide audible warnings, 2 LED arrays (one each in yellow and red),
a single orange and blue LED and an LCD screen for visual warnings, and a light radar sensor to distinguish
between day and night conditions.
F1.1 Start-Up Mode
At initialization, the DIU executes self-test routines during which the following screens are displayed and all
LEDs are activated (power-on bulb check) for approximately 3 seconds. If configured, a power-up tone is
also sounded.
Three Red LEDs
Illuminated

All Yellow LEDs

Illuminated Buttons
Single Blue
LED Illuminated
Single Orange
LED Illuminated

(No LEDs Wingman®

Illuminated) Advanced

(No LEDs A Collision Mitigation

Illuminated) Technology by
Bendix

NOTE:
(No LEDs
Illuminated) Wingman® Advanced
Uses Foundation Brakes

NOTE:
Read Operator's Manual
before using

46 Appendix F
 Appendix F
Bendix® Driver Interface Unit (DIU): Displays & Alerts
When the initialization sequence is complete, the following screen is displayed for approximately 3 seconds
to indicate the features available to the driver.

Bendix
(No LEDs Wingman ACB
Illuminated) Wingman Adv.

Next, the DIU will enter normal operation. Under normal operation, the screen is:

(No LEDs
Illuminated)

If the Bendix® Wingman® Advanced™ goes into self-test mode, the DIU may briefly display the “Bendix Self-
Test” screen. Also, the audible distance alerts will activate, followed by a screen indicating that the self-test
has run. Below left is the screen that will be briefly displayed if the self-test runs and passes. Below right is
the screen that will be briefly displayed if the self-test runs and fails. If the self-test fails, a diagnostic trouble
code (DTC) will be set. The driver should turn off the vehicle, wait 15 seconds and then turn it back on again.
If the problem persists, a qualified technician will be necessary for troubleshooting. See the “Power-Up Self-
Test” in this service data sheet Section 3.1: Troubleshooting Basics for further information.

Bendix Bendix
Single Yellow LED (Followed
Self Test Self Test Failed
Illuminated by a Single
Orange
LED
Illuminated)

F1.2 Menu Operation

Pressing the “OK” button at any time will enter the “Menu Operation Mode”. The following selections will
appear in a scrollable window. Some items may not appear if the feature is not configured or not allowed as
shown below.
• Volume
• Radar
• Dist. Setting (Distance Setting)
• Dist. Units (Distance Units)
• US/Metric
• Object Speed
• Brightness
• System Status
• Diag. Display (Diagnostic Display)
• Demo (Demonstration. Note: Demo is available only when vehicle is not moving)
The desired menu item is highlighted using the up ( ) or down ( ) arrow buttons and selected
with the “OK” button. The following sections describe each menu item.
Appendix F 47
 Appendix F
Bendix® Driver Interface Unit (DIU): Displays & Alerts
F1.3 Volume
Selecting “Volume” from the main menu displays the following screen:

(No LEDs Volume

Illuminated)

The driver uses the up ( )/down ( ) arrow buttons to change the volume. Pressing the “OK” button exits
this menu item.
The modified volume setting will be retained through ignition cycles unless configured not to do so. If not
configured, the volume setting will default to 100% on each new ignition cycle.
NOTE: The DIU can be configured to limit the minimum volume setting that the driver can select. The bar
shown above always represents the adjustable range based on minimum and maximum values. For example,
if the minimum value is set to 50% (midpoint between lowest (70 +/- 3dB) and highest (89 +/- 3dB) audio
levels, the bar represents an adjustable range from 50% (approx. 80dB) to 100% (approx. 89dB). Once the
minimum (or maximum) has been reached, a message will be shown indicating that further adjustment is not
allowed (e.g. “Minimum volume reached”). The step change per button press is approximately 2dB.

F1.4 Distance Setting (Dist. Setting)

On systems where changes are permitted, the “Distance Setting” option from the main menu will adjust the
following distance that the Bendix® Wingman® Advanced™ system will attempt to maintain while in the following
distance mode. Distance Settings 1, 2, 3, and 4 will have different meanings based on the configuration chosen
by the user in Bendix® ACom® Diagnostics software. Generally, 4 relates to the farthest distance setting available
and 1 relates to the closest distance setting available. In many of the Advanced configurations available in ACom®,
two or more distance settings may be made equivalent to one another.
For more information on user configurations available through the Bendix ACom Diagnostics software, see
Section 5.4: Configuring Bendix Wingman Advanced Following Distance Alerts in this Service Data sheet for further information.

Selecting “Dist. Setting” from the main menu displays the following screen:

Text * Text may vary

(No LEDs Here* depending on the
Illuminated) system installed

F1.5 Distance Units (Dist. Units)

From the “Dist. Units” menu item, the user may choose to have the following distance from the forward vehicle
displayed in either seconds or feet. By default, this item is set to seconds. If the user selects feet, the DIU will
display the approximate distance from the bumper to the selected forward vehicle in feet. If the user selects
seconds, the DIU will display the approximate distance from the bumper to the selected forward vehicle in
seconds.
NOTE: Following distance in seconds is calculated based on the current speed of the Wingman®
Advanced‑equipped truck, and the distance, in feet, away from the selected forward vehicle. For instance, if
the selected forward vehicle is 88 feet from the bumper of the Wingman Advanced-equipped truck, and the
Wingman Advanced‑equipped truck is traveling 60 mph, then the following distance in seconds would be 1.0
seconds because a truck traveling 60 mph can travel 88 feet in one (1) second.

48 Appendix F
 Appendix F
Bendix® Driver Interface Unit (DIU): Displays & Alerts
F1.6 US/Metric
From this menu item, the user may select whether English or Metric units are displayed. For instance, in
“metric” mode, the following distance is shown in meters. In “US” mode, the following distance is shown in feet.

F1.7 Brightness
Selecting Brightness from the main menu displays the following screen:

(No LEDs
Brightness
Illuminated)

The driver uses the up ( )/down ( ) arrow buttons to change the LCD backlighting, LED brightness and
button backlighting. Pressing the OK button exits this menu item.

The light sensor reading determines whether the current cab lighting mode is bright (day) or dark (night).
When the light mode is bright, any brightness adjustment made by the driver is applied to only the bright
mode setting. Likewise, when the light radar sensor sets the light mode to dark, any brightness adjustment
made by the driver is applied to only the dark mode setting. This functionality allows the driver to adjust the
brightness setting for the two cab lighting conditions after which the DIU will automatically toggle between the
two settings based on the light radar sensor’s input. Both the bright mode setting and the dark mode setting
are stored across power cycles.
NOTE: The DIU does not allow the brightness control to completely shut off the LEDs.

F1.8 System Status

This screen shows the configured features of the system and their current operational status (i.e., “Failed”
or “OK”). The failed status means that some system malfunction is preventing the feature from properly
operating and that the feature is not available for use by the driver at this time. Pressing “OK” exits this menu
item.

(No LEDs Bendix

Illuminated) Wingman ACB  OK
Wingman Adv.    OK

F1.9 Diagnostics
Selecting Diagnostics from the main menu displays any active Bendix® Wingman® Advanced™ Diagnostic
Trouble Code (DTC) conditions [including SAE standard diagnostic codes called J1939 SPNs (Suspect
Parameter Numbers) and J1939 FMIs (Failure Mode Identifiers)] that may be present in the DIU and radar
sensor. The following is a typical screen displayed in this mode when an active DTC is present:

(No LEDs DIU DIAGNOSTICS

Illuminated) SPN:00886 FMI:012

Appendix F 49
 Appendix F
Bendix® Driver Interface Unit (DIU): Displays & Alerts
F2.0 Driver Demonstration Mode
Selecting Demo from the main menu starts a demonstration mode that shows the various lights, display
screens, and sounds produced by the DIU – along with a brief explanation of their meaning – for the configured
features. Pressing the down ( ) arrow button advances through the screens. The up ( ) arrow button has
no functionality in this mode. The mode may be exited at any time by pressing the OK button.
NOTE: This mode can only be entered while the vehicle is not moving. Also, while in the demonstration
mode, if the vehicle begins to move, the demonstration mode terminates.
If a screen is associated only with a configurable feature, and that feature is not configured, then that screen
will not be shown in the demonstration mode.
The screens presented to the driver in the demonstration mode are shown with the following text: “Error!
Reference source not found.”

F3.0 Following Distance Alerts (FDAs)

One of the features of the Bendix® Wingman® Advanced™ system is the Following Distance Alert (FDA). A
proprietary system combining vehicle speed, forward vehicle speed, distance, and driving scenario, FDAs are
used to provide the driver with distance alerts which are intelligent, in that they will give appropriate distance
alerts for the given situation. They alert the driver to objects far ahead in highway and country road driving
situations while not over-alerting in dense city traffic.
The radar sensor uses the DIU to communicate the FDA alerts to the driver. This system can be configured
through a current version of Bendix® ACom® Diagnostics software, for use by a fleet as a driver training tool
with or without coordinating the data made available by Wingman Advanced. In addition to being a reminder
of when a driver may be dangerously close to the vehicle ahead, the following distance alerts may also be
configured to reinforce safe following distance habits taught by the fleet.
The FDA is based on the following interval between the host vehicle and the object ahead. In other words,
this is the time required by the host vehicle to travel forward and reach the object’s current location. With the
exception of the volume, the FDA may not be adjusted by the driver through the DIU. A qualified technician
must connect to the vehicle through the diagnostic port and run ACom® Diagnostics, in order to change the
configuration. The volume can not be turned all the way down, but other adjustments may be made by the
fleet. See Section B1.3 for more details on volume adjustment.
The FDA system is intended only to alert the driver about following distance. For more information on alerts
for forward objects with high relative velocities and sudden decelerations, see Section B4.0: Impact Alert.
Only objects detected in the vehicle's lane, traveling in the same direction, are considered valid objects for the
FDA. For more information on stationary objects, see Section B5.0: Stationary Object Alert.
See Section 5.4: Configuring Bendix Wingman Advanced Following Distance Alerts.

The driver is always responsible for the control and

safe operation of the vehicle at all times. The Bendix®
Wingman® Advanced™ system does not replace the
need for a skilled, alert professional driver, reacting
appropriately and in a timely manner, and using safe
driving practices.

50 Appendix F
 Appendix F
Bendix® Driver Interface Unit (DIU): Displays & Alerts
F3.1 Object Detected
When there is no valid object detected and no other high priority alert is displayed, the DIU will stand by with
the following screen:

(No LEDs
Illuminated)

When a valid object is detected, and is outside the range of the first level of alert, and no other higher priority
alert is displayed, the DIU will display the following and no audio tones will be issued. The distance to the
object will be displayed in large characters in the white space at the center of the screen (not shown) in
seconds, feet, or meters, depending on the menu-selected preferences. By default, seconds will be displayed.

Object Detected

(No LEDs
Illuminated)
2.8 sec 55
mph

F3.2 Following Distance Alert (FDA) Level 1 (Slow audible two-tone alert/single LED illuminated)
When FDA Level 1 is issued, the following distance to the object/vehicle ahead has been reduced to the
distance determined in the current configuration for FDA Level 1. The DIU will begin to give the driver audio
and visual alerts for as long as the forward vehicle is in this zone and traveling at the same speed or slower.
The DIU will not display following distance units while in an FDA Level. For FDA Level 1, the audible alert will
be a single repeating tone, and the visual alert is a single yellow LED and a screen with the vehicles slightly
closer as shown below.

Object Detected
Single Yellow LED
Illuminated

F3.3 Following Distance Alert (FDA) Level 2 (Medium audible two-tone alert/two LED’s illuminated)
The DIU will give the driver audio and visual alerts for as long as the object/vehicle ahead is in this zone and
traveling at the same speed or slower. The DIU will not display following distance while in an FDA Level. For
FDA Level 2, the audible alert will be a repeating double tone, and the visual alert is two yellow LEDs and a
screen with the vehicles closer as shown below.

Object Detected
Two Yellow LEDs
Illuminated

Appendix F 51
 Appendix F
Bendix® Driver Interface Unit (DIU): Displays & Alerts
F3.4 Following Distance Alert (FDA) Level 3 (Fast audible two-tone alert/three yellow LEDs illuminated)
The DIU provides the driver with audio and visual alerts for as long as the vehicle ahead is in this zone and
traveling at the same speed or slower. This is the closest and most urgent Following Distance Alert.
The DIU will not display following distance while in an FDA Level. For FDA Level 3, the audible alert will be
a continuously repeating tone, and the visual alert is three yellow LEDs and a screen with the vehicles close
as shown below:

Object Detected

All Yellow LEDs

Illuminated

All five states of the FDA system can be seen together below.

(No LEDs (No Tone)

Illuminated)

Object Detected

(No LEDs (No Tone)

Illuminated)

Object Detected
(Single Repeating
FDA Level 1:
Double Tone)
Single Yellow
LED Illuminated

Object Detected
(Repeating
FDA Level 2:
Double Tone)
Two Yellow
LEDs Illuminated

Object Detected
(Continuously
FDA Level 3:
Repeating Tone)
All Yellow LEDs
Illuminated

52 Appendix F
 Appendix F
Bendix® Driver Interface Unit (DIU): Displays & Alerts
F4.0 Impact Alert (IA)
The “Impact Alert”, uses a combination of distance to the vehicle ahead, plus high relative velocity, to decide when
to issue a loud solid tone, as well as a visual indicator to the driver. The red LED bar across the top of the DIU will
illuminate and “ACB Requires DRIVER INTERVENTION” will flash using the two screens below:
All Red LEDs Illuminated

ACB REQUIRES
DRIVER INTERVENTION
Screen
ACB REQUIRES
flashes
DRIVER INTERVENTION between
these two ACB REQUIRES
displays DRIVER INTERVENTION

When the Impact Alert activates, the driver must immediately act to potentially avoid, or lessen the severity
of, a collision.
The impact alert can not be configured or turned off.
NOTE: At most, the adaptive cruise control with braking feature of Bendix® Wingman® Advanced™ will apply
up to one-third of the vehicle’s braking capacity. The driver must apply additional braking, when necessary,
in order to maintain a safe distance from the vehicle ahead.
F4.1 Collision Mitigation
If a collision is likely to occur, and the collision mitigation feature activates the foundation brakes, the tone
of the alert will typically change and the display will be as shown below. The driver must immediately act to
potentially avoid, or lessen the severity of, a collision.
All Red LEDs Illuminated

WINGMAN Adv.

Screen BRAKING
WINGMAN Adv.
flashes
BRAKING between
these two WINGMAN Adv.
displays BRAKING

NOTE: At most, the collision mitigation feature of Bendix® Wingman® Advanced™ will apply up to two-thirds
of the vehicle’s braking capacity.

F5.0 Stationary Object Alert (SOA)

Stationary Object Alert (SOA) is an alert given to the driver when the radar detects a sizeable, nonmoving
metallic object in the vehicle's path of travel. To reduce the number of false detections, such as bridges and
overhead signs, an advanced set of filters are put in place so the SOA will not warn on every stationary object.
The SOA can be configured to be on or off through Bendix® ACom® Diagnostics.
If a SOA is issued, the DIU will very briefly send out an alert identical to a very brief FDA Level 2: continuous
tone and two yellow LEDs, with the display image switching between the two shown below.

“Object” icon
flashes
Two between
Yellow these two
LEDs symbols
Illuminated

Appendix F 53
 Appendix F
Bendix® Driver Interface Unit (DIU): Displays & Alerts
F6.0 ACB Icon
The ACB icon appears in the upper left-hand corner of the DIU’s screen to indicate to the driver that the
adaptive cruise control with braking feature of the Bendix® Wingman® Advanced™ system is ready and able
to intervene.
Once the driver sets cruise, the DIU will display the set speed and the ACB icon as shown below.

(No LEDs
Illuminated) ACB
Set
Speed 55 mph

When a forward vehicle is detected and either the distance to the vehicle or a following distance alert is
shown, the ACB icon should remain on the screen if the adaptive cruise control feature of Wingman Advanced
is still engaged and ready to intervene.

ACB Object Detected

Two Yellow LEDs
Illuminated

NOTE: If the ACB icon is not displayed on the screen, the driver must assume that the
adaptive cruise control with braking feature of Wingman Advanced is not ready or able to intervene!

54 Appendix F
 Appendix F
Bendix® Driver Interface Unit (DIU): Displays & Alerts
F7.0 Brake Overuse Alert

Using cruise control on downhill runs is the primary cause for this alert to be activated. Cruise control should
NOT be used on downhill grades. Approach grades as you would normally, with the appropriate gear selected
and at a safe speed.
To guard against foundation brake overuse by the adaptive cruise control with braking feature of the Bendix® Wingman®
Advanced™ system, the frequency of foundation brake interventions is monitored. If the system detects a situation
where the brakes are being applied too frequently by the system in a given time period, the brake overuse alert will
activate. This is designed to help prevent overheating of the brakes, which may lead to brake fade and reduced vehicle
braking capability. In this situation, the Brake Overuse Alert will flash a message requesting driver intervention. Also, an
audible alert will sound and a blue LED will blink on the Bendix Driver Interface Unit (DIU), as illustrated below:

ACB REQUIRES
DRIVER INTERVENTION
ACB REQUIRES Screen
Blue flashes
LED DRIVER INTERVENTION between
Blinks these two ACB REQUIRES
displays DRIVER INTERVENTION

This alert will continue for 15 seconds, during which time the driver should step on the brake or turn off cruise
control using the cruise control on/off switch.
• The intervention cancels cruise control.
• After a Brake Overuse Alert, for a period of time (typically 20 minutes), the Wingman
Advanced system will not use the foundation brakes when intervening. The system
will be limited to de-throttling the engine and applying the engine retarder during this time.
Note: In all cases, the driver still has the ability to apply the foundation brakes if
If the system
necessary. The driver should take care since overheated brakes may reduce the
detects that
vehicle’s braking capability.
the driver has
intervened • The time period for this mode is measured from the time the Brake Overuse Alert was
within 15 activated and lasts approximately 20 minutes.
seconds after a • Note: The driver will continue to receive all three alerts (FDA, Impact, and Stationary Object).
brake overuse
alert • Additionally, the DIU message will change to “ACB Braking Overuse” and the blue LED will
remain lit, as shown below:
(Typically by
applying the
brakes, or
cancelling cruise At the end of the
Bendix
_____________________ “cooling-off” period, the
control) ACB BRAKING OVERUSE
Blue LED Press OK for Menu
“ACB Braking Overuse”
Stays On message and the blue
LED will turn off.

If the system • The system will shut itself off, and set a Diagnostic Trouble Code (DTC).
does not detect • All intervention features of Wingman Advanced will be disabled until the next ignition
an intervention cycle.
by the driver
• Note: The driver will continue to receive all three alerts (FDA, Impact, and Stationary Object).
within 15
seconds after a • Note: In all cases, the driver still has the ability to apply the foundation brakes if
brake overuse necessary. The driver should take care since overheated brakes may reduce the
alert vehicle’s braking capability.

Appendix F 55
APPENDIX G - HOW TO GENERATE, READ AND RESET THE BENDIX® WINGMAN® SYSTEM
DIAGNOSTIC TROUBLE CODES USING BENDIX® ACOM® DIAGNOSTICS SOFTWARE
Appendix G
G1: How to Generate Wingman Diagnostic Trouble Code Report with ACom® Diagnostics
®

1. Select the Bendix® ACom® desktop icon 2. Select “Wingman” from the starter screen. Select “start with
ECU”

3. Select “DTC”. 4. To generate the ACom report, select “Report”.

For reference

5. Fill in the requested information: Company, location, 6. Select how you want the report displayed or printed. Then click
technician, date/time, VIN, and click “OK” “OK”

7. The ACom DTC report is generated. This can be saved and emailed to Bendix if desired.

Call the Bendix Tech Team at 1‑800‑AIR‑BRAKE (1‑800‑247-2725, option 2) for troubleshooting assistance.

56 Appendix G-
 Appendix G
G2: How to Read Wingman Diagnostic Trouble Code Reports with Bendix® ACom® Diagnostics
®

1. Select the Bendix® ACom® desktop icon 2. Select “Wingman” from the starter screen. Click “start with
ECU”

3. Select “DTC”. 4. Select "Read". Active DTCs (diagnostic trouble codes) are
shown along with descriptions of the codes and tests that can
be run to troubleshoot the code. You can select “stored DTCs”
also, to show inactive DTCs.

For reference

Call the Bendix Tech Team at 1‑800‑AIR‑BRAKE (1‑800‑247-2725, option 2) for troubleshooting assistance.

Appendix G- 57
 Appendix G
G3: How to Clear Wingman Diagnostic Trouble Codes with Bendix® ACom® Diagnostics
®

1. Select the Bendix® ACom® Diagnostics desktop icon 2. Select “Wingman” from the starter screen. Select “start with
ECU”

3. Select “DTC”. 4. C
 lick "Read". Active DTCs (diagnostic trouble codes) are
shown along with descriptions of the codes and tests that can
be run to troubleshoot the code. You can select “stored DTCs”
also, to show inactive DTCs.

For reference

5. Select “clear” to clear all active DTCs.

Call the Bendix Tech Team at 1‑800‑AIR‑BRAKE (1‑800‑247-2725, option 2) for troubleshooting assistance.

58 Appendix G-
 Appendix H

How to Read Key System Indicators and Reset Alignment Values

Read System Key Indicators (Configuration)
1. Start Bendix® ACom® Diagnostics and connect to vehicle.
2. Select “Advanced” and Click “Start with ECU” to display the “Advanced Status” window.
3. Select “Config” to display the indicators

Take Note of:

Model #,
Software Version,
Software P/N,
Active DTCs

System Key Indicators

Attribute Description See Section:
This value should equal 0 if the radar sensor is mounted on the center line of the vehicle.
Mounting Offset If the service technician believes the radar sensor should be mounted offset from center, 6.2
call 1‑800‑AIR‑BRAKE (1‑800‑247-2725, option 2).
Stationary Object This is a status indicator for the function of stationary object warning. Available for use
1.7
Warning Indicator in Bendix® Wingman® Advanced™ system versions since 2010.
Lateral Alignment Trouble code will be set if Normal operation Trouble code will be set if
6.8
Value value is less than -1.5º -1.5º to 1.5º value is more than 1.5º
Configuration This indicates the distance setting and following distance alert that are configured for
5.4
Number the vehicle. Refer to Table 7 for setting information.

How To Reset The (Lateral) “Alignment Value”

4. From the configuration window shown above, click “Modify.”
5. From the Change Configuration window, select “Reset Alignment Value.”
6. Cycle the vehicle ignition power to complete the process.

Call the Bendix Tech Team at 1‑800‑AIR‑BRAKE (1‑800‑247-2725, option 2) for troubleshooting assistance.

Appendix H 59
 Full Contents List

1.0 Operation Section

1.1 Important Safety Information . . . . . . . . . . . . . . . . . . . . 3
1.2 System Components . . . . . . . . . . . . . . . . . . . . . . . . 4
1.3 Activating the Bendix® Wingman® Advanced™ System . . . . . . .4
1.4 What to Expect When Using Bendix Wingman Advanced . . . . .5-6
1.5 How a Driver Interacts with Bendix Wingman Advanced . . . . . .7
1.6 Following Distance . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.7 Wingman Advanced Collision Mitigation Feature Operation . . . . 8
1.8 Alerts and Warnings . . . . . . . . . . . . . . . . . . . . . . 8-10
1.9 Wingman Advanced Diagnostic Trouble Codes . . . . . . . . . . 10
1.10 Radar Sensor Interchangeability . . . . . . . . . . . . . . . . . 10
1.11 Alert Volume . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.12 Potential False Warnings . . . . . . . . . . . . . . . . . . . . . 10

2.0 Maintenance Section

2.1 General Safety Guidelines . . . . . . . . . . . . . . . . . . . . 11
2.2 Equipment Maintenance: Brake System and ABS Functionality . 12
2.3 System Preventive Maintenance . . . . . . . . . . . . . . . . . 12
2.4 Additional Support at www.bendix.com/1‑800‑AIR‑BRAKE (1‑800‑247-2725,
option 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

3.0 Introduction to Troubleshooting Section

3.1 Troubleshooting Basics . . . . . . . . . . . . . . . . . . . . . . 13
3.2 Narrowing Down the Problem . . . . . . . . . . . . . . . . . 14-15
3.3 Overview of Possible Issues . . . . . . . . . . . . . . . . . . . 16

4.0 Troubleshooting/Diagnostics Section

4.1 Bendix® ACom® Diagnostics Software . . . . . . . . . . . . . . . 17
4.2 Reading Diagnostic Trouble Codes (DTCs) . . . . . . . . . . . . 18
4.21 Reading the System Software Version . . . . . . . . . . . . . . 18
4.3 Diagnostic Trouble Codes (DTCs) - Tables 6A and 6B . . . . 19-25
4.4 Clearing Diagnostic Trouble Codes (DTCs) . . . . . . . . . . . . 26
4.5 Troubleshooting Diagnostic Trouble Codes: Power Supply . . . 26
4.6 Serial Data (J1939) Communications Link . . . . . . . . . . . . 26
4.7 Engine Communications (J1939) Test Procedure . . . . . . . . . 27
4.8 Troubleshooting Wiring Harnesses . . . . . . . . . . . . . . . . 27

60
 NOTES

5.0 Other System Features Section

5.1 Reading Bendix® Wingman® Advanced™ System Key Indicators . 28
5.2 Bendix Wingman Advanced Diagnostic Trouble Code (DTC)
Self Clearing . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
5.3 Following Distance Adjustment Switch (Optional) . . . . . . . . . 28
5.4 Configuring Bendix Wingman Advanced Following Distance
Alerts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
5.5 Extracting Bendix Wingman Advanced System Data . . . . . . . 30
5.5.1 Data Availability . . . . . . . . . . . . . . . . . . . . . . . . . . 30
5.5.2 Data Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
5.5.3 Extracting Data and Saving a Report . . . . . . . . . . . . . . . 31

Appendix A - Bendix® Wingman® Advanced™ Radar Sensor

Mounting and Installation Section . . . . . . . . . . . . . . . . . . 32-33
A.1-2 FLR20 Radar Sensor Mounting/Replacement Parts . . . . . . . 32
A.3 FLR20 Radar Sensor Mounting Clearance . . . . . . . . . . . . 33

Appendix B - Bendix® Wingman® Advanced™ Radar Alignment . 34-39

B1 Radar Alignment Flowchart . . . . . . . . . . . . . . . . . . . . 34
B2 Preferred Method: Lateral Alignment Procedure Using DIU . 36
B3 Lateral Alignment Procedure when
Using Bendix® ACom® Diagnostics . . . . . . . . . . . . . . 37-38
B4 Vertical Alignment . . . . . . . . . . . . . . . . . . . . . . . . . 39

Appendix C - Bendix® Wingman® Advanced™ Radar Alignment

When Replacing Radar and/or Bracket . . . . . . . . . . . 40-42

Appendix D - Bendix® Wingman® Advanced™ Radar

Dynamic Alignment . . . . . . . . . . . . . . . . . . . . . . . 43
Appendix E - Troubleshooting Checklist . . . . . . . . . . . . . . 44-45
Appendix F - Driver Interface Unit (DIU): Displays and Alerts . . . 46-55
Appendix G - H
 ow to Generate, Read and Reset the Bendix
Wingman System Diagnostic Trouble Codes using
Bendix® ACom® Diagnostics Software . . . . . . . . . . . . 56-58
Appendix H - H
 ow to Read Key System Indicators and Reset
Alignment Values . . . . . . . . . . . . . . . . . . . . . . . . . 59

61
 NOTES

62
NOTES

63
 Log-on and Learn from the Best
On-line training that's available when you are 24/7/365.
Visit www.brake-school.com.

Trademark acknowledgements:
The ACOM, AD-IS, BENDIX, EC-60, ESP, and WINGMAN trademarks are licensed to or
owned by Bendix Commercial Vehicle Systems LLC.

Any references in this manual to MICROSOFT and any other company or trademark are
solely for identification and cross reference purposes. The trademarks are the property of
their respective companies and are not affiliated with or endorsing Bendix Commercial Vehicle
Systems LLC. Bendix Commercial Vehicle Systems LLC does not represent any parts shown
as products manufactured or remanufactured by the companies so named herein.

SD-61-4960_US_003 © 2013 Bendix Commercial Vehicle Systems LLC, a member of the Knorr-Bremse Group. All Rights Reserved. 8/13

64