Service Bulletin

Mack Trucks, Inc.

Allentown, PA USA Trucks
Date Number Page
(Does not apply to Mack Trucks Australia) 08/14/‘09 SB730005 1(21)

Adaptive Cruise with Braking,

Troubleshooting
CHU, CXU, GU, TD

SB730005, Adaptive Cruise with Braking, Troubleshooting

(August 2009)

General Safety Guidelines

Be sure to read, understand and follow all these instructions carefully.

Improper use or service practices with the Mack Adaptive Cruise with
Braking (ACB) system can result in a collision causing property
damage, serious injuries or death.

When working on or around a vehicle, the following general precautions should be observed at all times.
1. Park the vehicle on a level surface, apply the parking brakes, and always block the wheels. Always
wear safety glasses.
2. Stop the engine and remove ignition key when working under or around the vehicle. When working
in the engine compartment, the engine should be shut off and the ignition key should be removed.
Where circumstances require that the engine be in operation, EXTREME CAUTION should be used
to prevent personal injury resulting from contact with moving, rotating, leaking, heated or electrically
charged components.
3. Do not attempt to install, remove, disassemble or assemble a component until you have read and
thoroughly understand the recommended procedures. Use only the proper tools and observe all
precautions pertaining to use of those tools.
4. If the work is being performed on the vehicle’s air brake system, or any auxiliary pressurized air
systems, make certain to drain the air pressure from all reservoirs before beginning ANY work on
the vehicle. If the vehicle is equipped with an AD-IS® air dryer system or a dryer reservoir module,
be sure to drain the purge reservoir.
5. Following the vehicle manufacturer’s recommended procedures, deactivate the electrical system in
a manner that safely removes all electrical power from the vehicle.
6. Never exceed manufacturer’s recommended pressures.
7. Never connect or disconnect a hose or line containing pressure; it may whip. Never remove a
component or plug unless you are certain all system pressure has been depleted.
8. Use only genuine Bendix® replacement parts, components and kits. Replacement hardware,
tubing, hose, fittings, etc. must be of equivalent size, type and strength as original equipment and
be designed specifically for such applications and systems.
Mack Trucks, Inc. Date Number Page
Service Bulletin 08/14/‘09 2(21)

9. Components with stripped threads or damaged parts should be replaced rather than repaired. Do
not attempt repairs requiring machining or welding unless specifically stated and approved by the
vehicle and component manufacturer.
10. Prior to returning the vehicle to service, make certain all components and systems are restored to
their proper operating condition.
11. For vehicles with Antilock Traction Control (ATC), the ATC function must be disabled (ATC indicator
lamp should be ON) prior to performing any vehicle maintenance where one or more wheels on a
drive axle are lifted off the ground and moving.

Equipment Maintenance - ABS and Brake System

ABS Maintenance - Optimal ACB requires a properly maintained ABS system. Have any ABS Diagnostic
Trouble Codes (DTCs) corrected by a qualified technician at the earliest opportunity. Brake Maintenance
- ACB braking requires properly maintained truck foundation brakes (S-Cam or air disc) which meet
appropriate safety standards and regulations. Brake performance also requires that the vehicle be
equipped with properly sized and inflated tires, with a safe tread depth.

Mack Adaptive Cruise with Braking (ACB) Preventive Maintenance

The ACB system is relatively maintenance free. The key items to keep the system functioning well
include:

1. Keep the sensor lens clean and free of obstructions.

2. Inspect for any damage to the bumper or ACB sensor to ensure that the alignment has not been
compromised.
3. Perform appropriate inspections of the braking system as required by the manufacturer to ensure
brakes are in proper working order.
4. Ensure that the tires are properly inflated and that adequate tread is present.
If the ACB system has detected a problem with the sensor, etc., depending on the vehicle manufacturer,
there may be a message on the dashboard display. Depending on the type of problem detected, the
system will determine if the vehicle may continue to have normal cruise control functions (without the
benefits of ACB), or if instead all cruise control functions need to be disabled until servicing is performed.
The system should be serviced as soon as possible to restore full ACB functionality.
Sensor Inspection - The driver should regularly inspect the radar sensor and mounting and remove any
mud, snow, ice build-up, or other obstructions. Sensor Damage / Misalignment / Tampering - In cases
where the bumper and/or sensor are found to have sustained any damage, are misaligned, or if you
suspect that the sensor has been tampered with, do not use the ACB system until the vehicle has been
repaired and the sensor realigned. In addition, an indicator on the dash will typically illuminate if the
system detects any of these conditions. Consult your vehicle’s Owners Manual or contact Bendix for
more information.
Mack Trucks, Inc. Date Number Page
Service Bulletin 08/14/‘09 3(21)

Additional Support
Visit Bendix online for the latest information, and ways to find the Bendix contacts you need. Contact
technical support, service engineers, Bendix account managers, and more – www.bendix.com is your
complete Bendix resource.
The Bendix® ACom™ Diagnostics tool and users guide is available online at ABS Software link under
Services and Support on the home page. An up to date list of compatible RP1210 data link adapters for
ABS and ACB is also available.
For direct telephone technical support, call the Bendix Tech Team at 1-800-AIR-BRAKE (1-800-247-
2725), Monday through Friday, 8:00 A.M. to 6:00 P.M. EST, and follow the instructions in the recorded
message. Or, you may e-mail the Bendix Tech Team at: techteam@bendix.com.

Mack Adaptive Cruise with Braking (ACB) Troubleshooting Overview

There are 9 distinct areas that can be addressed to troubleshoot ACB. Read through the entire list before
performing any troubleshooting. All trouble codes can be cleared with a power cycle (turn the key off,
wait 5 seconds then turn the key back on). Many clear automatically when the condition clears as well.
Issue Description
Normal system operation Verify the system is functioning normally. Drivers who are
unfamiliar with the system may report they don’t like the way
it beeps or how it brings on the brakes. The system is most
likely operating normally. Refer to “Steps to Troubleshoot-
ing” page 4 and “Understand the Driver’s Complaint”
page 5 for additional information to verify there is a problem
with the system; then continue.
Trouble codes caused by temporary operation conditions Some trouble codes indicate a temporary condition and will
clear when that condition is no longer present. If these per-
sist, further investigation is warranted. Refer to “Understand
the Driver’s Complaint” page 5 for additional information.
Examples include overuse of brakes down steep grades
while in ACB, sensor blind while driving through the desert,
or if a forward object is too close.
Sensor misaligned If the performance of the system seems to be erratic or
unpredictable, the system could be slightly misaligned and
needs to be aligned both vertically and laterally. If there is a
trouble code or the system does not function, then the sensor
is severely misaligned and will not operate until corrected.
Inspect the front of the vehicle to see if it has been damaged.
Check if the vehicle tracks straight. If these conditions exist,
both must be repaired before troubleshooting the ACB.
Sensor blocked If the system doesn’t seem to work at all, the sensor is proba-
bly blocked. Visually inspect it, clear it, and power cycle.
Vehicle trouble codes ACB cannot operate and will set a trouble code if any of the
following vehicle systems show a trouble code: engine,
engine cruise, instrument cluster, ABS, ATC, ESP or trans-
mission. These areas must be repaired and clear of errors
before troubleshooting ACB.
Mack Trucks, Inc. Date Number Page
Service Bulletin 08/14/‘09 4(21)

Issue Description
Damaged sensor or bracket If the vehicle has been in an accident, it is likely the sensor
will need to be aligned. Inspect the sensor lens and housing
for damage. Significant damage may require replacement,
however sensor discoloration or small scratches may be
acceptable. Regardless of the exterior condition, check the
trouble codes outlined in section "Read Mack Adaptive
Cruise with Braking (ACB) Trouble Codes Via Bendix
ACom™" page 10, to determine if replacement is necessary.
Damaged connector or wiring Visually inspect the connector and wire harness for corrosion
or chaffing. Refer to “Power Supply Tests” page 14 for
additional troubleshooting.
J1939 network problems If the entire system is non-functional it is likely a J1939 net-
work problem. Refer to “Troubleshooting J1939 Serial
Communications DTC’s” page 14 for additional informa-
tion.
Power to sensor problems If the entire system is non-functional another likely problem is
with the power to the sensor. Refer to “Power Supply Tests”
page 14 for additional information.

Steps to Troubleshooting
Follow these basic steps to quickly and accurately troubleshoot ACB.

1. Verify the vehicle is equipped with ACB. Look for the presence of the radar sensor on the front of
the vehicle.
2. Understand the driver’s complaint. Use the questions found in “Understand the Driver’s
Complaint” page 5 as a starting point to learn what the system is doing that makes the driver
believe it is not performing correctly. Be sure to have a thorough understanding of this system
behavior. This will give important clues that will dramatically reduce troubleshooting time.
3. Read the ACB trouble codes via Bendix® ACom™. If the system generates a trouble code, where a
lamp or icon is illuminated on the instrument cluster, then the Bendix® ACom™ Diagnostics Tool
should be used to identify the problem. Bendix® ACom™ version 6.3 or later is required and is fully
compatible with ACB. In addition to reading the trouble codes, document and review the 5 key
system indictors (misalignment, stationary object warning indicator, mounting offset, lens heater
and configuration number). Verify these indicators are within the acceptable limits. Refer to
“Starting Acom™” page 9.
4. Read the vehicle trouble codes on the instrument cluster. Use the on-vehicle diagnostics menu to
“drill down” and identify active and inactive ACB trouble codes. The trouble code descriptions as
well as troubleshooting information can be found in “Diagnostic Trouble Codes (DTC)” page 11.
5. Use the “Power Up Self Test” to determine if ACB operation is normal. Determine the version of
ACB that is installed on your vehicle. It is available on ACB version other than software version
ending in the number “09-124”.
Note: All vehicle trouble codes related to the engine, transmission, instrument cluster, engine cruise
control and Bendix ABS, ATC or ESP must be cleared first in order to accurately diagnose ACB trouble
codes.
Mack Trucks, Inc.
Service Bulletin
Understand the Driver’s Complaint
When diagnosing the ACB system, especially if there are no diagnostic trouble codes logged, verify the
part of the system which has improper operation. Table 4 provides a guide to basic troubleshooting
questions and possible issues that can be corrected. Items in all CAPS indicates the procedures the
service technician should use. They are all contained in this document.
Questions to ask the driver
Alignment Problems
• Is the sensor mounting location (bumper or cross
member) damaged?
• Does the system seem to lose or "not hold on to" the
forward vehicle when going around curves?
• Does the system seem to warn late when another
vehicle cuts in front of the truck?
• Does the system not seem to see as far as it “used to”?
• Does the system seem to be inconsistent when tracking
forward vehicles?
• Are there false alerts when passing other vehicles?
ACB Sensor Blocked Issues
• Is there mud or snow covering the sensor?
• Is there anything blocking the view of the sensor?
System is Functioning Normal
• Do false alerts seem to happen in construction zones or
going under bridges?
Other Questions
• Has the system worked properly in the past and is not
working correctly now?
• Has the sensor been changed recently?
Date Number Page
08/14/‘09 5(21)
Actions to be taken
• Check the ACB sensor mounting. This system needs
a solid mounting surface in order to hold alignment. If
the bumper or mounting cross member is damaged,
replace it first, then align the sensor.
• Check ACB sensor vertically and laterally alignment
and adjust as needed. Refer to the sensor check and
adjustment service bulletin, SB730002.
• Clean the ACB sensor lens immediately. Remove
anything blocking the view of the sensor then power
cycle and read remaining trouble codes.
• Read the ACB trouble codes via
Bendix® ACom™.
• Several road scenarios have a tendency to cause false
warnings including construction zones and bridges (if
stationary object warning is enabled). Unless these
false warnings are frequent, the system is likely acting
normally. The driver should not set the cruise control
in construction zones. If the driver complaints persist,
continue asking questions of the driver to more narrowly
define the driving condition presenting the problems.
• This is a good indication that something has changed
such as misalignment of the sensor. Review questions
listed above with the driver to further diagnose the
problem.
• If so, the sensor may be incompatible with the new
vehicle. Follow the vehicle compatibility procedure
below and check system trouble codes with Bendix
ACom™.
• Read the ACB trouble codes via
Bendix® ACom™.
Mack Trucks, Inc.
Service Bulletin
Questions to ask the driver
• Does the mounting bracket look damaged or tampered
with?
• Did the sensor currently on the problem vehicle come
from another vehicle?
• With cruise control set, does the system CONSISTENTLY
bring on the foundation brakes when the forward vehicle
slows?
• Does a trouble code seem to occur when driving through
the desert?
• Does the system seem to disengage after an automating
braking event?
• Does the cruise disengage sometimes when the brakes
come on while other times not?
• Does the connector or wiring appear damaged?
Date Number Page
08/14/‘09 6(21)
Actions to be taken
Other than expected surface scratches or some
discoloration over time, there should be no visible damage
to the bracket assembly. If so, realign the sensor vertically
and laterally. If the sensor alignment cannot be held in
place by the bracket assembly, it must be replaced. Verify
the bumper is not damaged as well.
• Check the ACB sensor mounting. This system needs
a solid mounting surface in order to hold alignment. If
the bumper or mounting cross member is damaged,
replace it first, then align the sensor.
• Check ACB sensor vertically and laterally alignment
and adjust as needed. Refer to the sensor check and
adjustment service bulletin SB730002.
• If so, the sensor may be incompatible with the new
vehicle. Follow the vehicle compatibility procedure
below and check system trouble codes with Bendix
ACom™.
• Read the ACB trouble codes via
Bendix® ACom™.
If so, this is normal operation. If not, continue asking the
driver questions to more fully diagnose the problem. Most
likely the sensor is either blocked or misaligned. The
service technician will need to check trouble codes as well.
• Check the ACB sensor mounting. This system needs
a solid mounting surface in order to hold alignment. If
the bumper or mounting cross member is damaged,
replace it first, then align the sensor.
• Check ACB sensor vertically and laterally alignment
and adjust as needed. Refer to the sensor check and
adjustment service information in function group 386
• Read the ACB trouble codes via
Bendix® ACom.
• This operation is normal. The sensor goes "blind" when
it doesn’t see objects for long periods of time. A power
cycle will clear the trouble codes and when objects are
seen by the radar, the trouble code automatically clears.
• This operation is normal. The driver must "set" cruise
once again to regain the distance control function
provided by ACB.
• This operation is normal. With lightly loaded trailers or
bobtail, ACB will likely not cancel and the system will
auto-resume. No driver input is needed.
• Wires can become corroded if the sensor is not
plugged in properly. Clean the connectors on the wire
harness as well as the sensor and reattach. If wires
are chaffed, replace the wire harness. Also, check for
trouble codes.
• Read the ACB trouble codes via
Bendix® ACom™.
• See the "Troubleshooting Wiring Harness
Installation" page 15.
Mack Trucks, Inc.
Service Bulletin
Questions to ask the driver
• Does the system generate a trouble code going down
steep grades? Then, the code goes away later.
• Does the sensor or bracket have noticeable damage
beyond normal discoloration or surface scratches?
Date Number Page
08/14/‘09 7(21)
Actions to be taken
• This Operation is normal. ACB is
not intended to take the vehicle down steep grades
using automatic braking. If the system detects this, it
will generate a trouble code. Verify there are no trouble
codes.
• Read the ACB trouble codes via
Bendix® ACom™.
• The radar sensor and bracket are very durable and
designed to last the life of the vehicle. If the housing or
lens is cracked or broken immediately look for trouble
codes via Bendix ACom™.
• Read the ACB trouble codes via
Bendix® ACom™.
• Refer to “ACB Mounting” page 16.
Mack Trucks, Inc.
Service Bulletin
Troubleshooting Checklist
If Bendix troubleshooting assistance is needed, complete the following Troubleshooting Checklist and
have it available for reference. Having this information available will reduce the amount of time needed to
troubleshoot the system.
Scenarios
While cruise control is engaged, follow
the vehicle ahead in gentle curves
(assuming a 3 to 3.5 second following
distance).
With cruise set, your vehicle passes a
slower vehicle on left or right on a
straight or slightly curvy road.
With cruise set, a faster vehicle passes
on the left or right on a straight or
slightly curvy
road.
While cruise control is engaged, the
vehicle ahead slows moderately or cuts
in front of the truck and slows.
Call the Bendix Tech Team at 1-800-AIR-BRAKE for troubleshooting assistance.
Date Number Page
08/14/‘09 8(21)
Checks Records
Does ACB continue to follow the vehicle Yes________No________
through the curves following at a con-
stant distance?
Does the truck proceed toward the for- Yes________No________
ward vehicle without a “Following Dis-
tance Alert” or braking intervention?
Does ACB ignore the vehicle you are Yes________No________
overtaking?
Does it give a “Following Distance Yes________No________
Alert”?
Does your vehicle throttle up and try to Yes________No________
keep pace with the faster moving vehi-
cle?
Does it give a “Following Distance Yes________No________
Alert”?
Does the vehicle slow and ACB main- Yes________No________
tain the following distance?
Is the engine throttle reduced? Yes________No________
Is the engine retarder applied? Yes________No________
Are the foundation brakes applied? Yes________No________
What version of Bendix® ABS and ACB _______________________________
is installed on the vehicle? Refer to _______________________________
“Mack Adaptive Cruise with Braking _______________________________
(ACB) Software Version” page 10. _______________________________
_______________________________
_______________________________
What are the key system indicators? _______________________________
Refer to the chart in “Starting _______________________________
Acom™” page 9. _______________________________
_______________________________
_______________________________
_______________________________
Mack Trucks, Inc. Date Number Page
Service Bulletin 08/14/‘09 9(21)

Power Up Self Test

The Power-Up-Self-Test is a self diagnostic check of the ACB system that automatically runs 15 seconds
after the engine starts, while the vehicle is parked, and when the cruise control switch is “off”. It runs for
approximately 5 seconds checking the engine and brake systems to make sure they are functioning
properly for ACB to operate. It will stop if the vehicle is moving or the cruise control switch is turned “on”.
While the test is running normally, the driver should hear a short set of beeping alerts and may get a
distance alert message. During the test, the target detected ICON in the instrument cluster may
illuminate. This is normal. If there is a failure and ACB will not function properly, a long warning beep will
sound to alert the driver and a trouble code will be logged in the system. The Power-Up-Self-Test is
available on ACB versions except those with a software version number ending in 09-124.

Sensor Interchangeability
Many variables must be considered when determining whether or not a sensor can be moved from
vehicle to vehicle. They include, but are not limited to, Bendix® ESP, the instrument cluster, the vehicle
ECU, the engine and the transmission. Contact the Bendix Tech Team at 1-800-AIR-BRAKE to
determine if this is a viable option.

Bendix® Acom™
Diagnostic Software
Bendix® ACom™ Diagnostics is a PC-based software program and is designed to meet RP1210
industry standards. This software provides the technician with access to all the available ECU diagnostic
information and configuration capability.
• ECU information
• Diagnostic trouble codes and repair information
• Configuration
• Save and print information
To check these key system indicators, use Bendix ACom™ version 6.3 or higher. From the main menu
highlight ACB, then click “Start with ECU”. The ACB Status screen will appear. Click “Config” and the key
system indicators shown above will be displayed.

Starting Acom™
Start ACom™ Diagnostics from desktop shortcut, or from Start-Programs-Bendix-ACom™ Diagnostics.
Select ACB Data Log from the Starter screen, then Start ACB Data Log from the Diagnostic Control
panel. The first time the Data Log is run, you will be asked to select your communication adapter for both
ACB and EC-60™ controllers. While both controllers will use the same physical adapter, you will need to
tell ACom™ which communication protocol to use for each. Once a successful connection has been
made, these steps will no longer be necessary.
In general, the protocol for ACB is described as CAN or CAN 250:
The EC-60™ controller protocol will be described as J1708:
Mack Trucks, Inc. Date Number Page
Service Bulletin 08/14/‘09 10(21)

Key System Indicators

Mounting Offset It should equal 0 if the sensor is mounted on the center line of the vehicle. If the service technician
believes the sensor should be offset from center, call 800-AIR-BRAKE.
Stationary Object This is a status indicator for the function of stationary object warning. It is available for use in ACB ver-
Warning sions other than 09_1240.
Misalignment Trouble code -1.3 Abnormal Normal operation Abnormal Trouble code 1.3
Value or less operation -.08 normal operation 0.8 or more
Lens Heater This is a status indicator for the lens heating function. It should always be ON.
Configuration This indicates the distance setting and following distance alert that are configured for the vehicle.
Number Refer to the chart found in “Mack Adaptive Cruise with Braking Configuration Adjustments” page
26 for setting information.

Mack Adaptive Cruise with Braking, Software Version

Start ACom™ Diagnostics from the desktop shortcut, or from Start-Programs-Bendix-ACom™
Diagnostics. The Bendix® ACom™ Diagnostics Tool and Users Guide is available online at ABS
Software link under Services and Support on the Bendix.com home page and should be used as a
reference to all functions of Bendix ACom™ service tool.
Select ACB from the Starter screen, then the Start with ECU from the Diagnostic Control panel. The first
time the Data Log is run, the service technician will be asked to select the communication adapter for
both ACB and EC-60™ controllers. While both controllers will use the same physical adapter, the service
technician will need to tell ACom™ which communication protocol to use for each. Once a successful
connection has been made, these steps will no longer be necessary.
In general, the protocol for ACB is described as CAN or CAN 250. The EC-60™ controller protocol will
be described as J1708:
The software version of ACB is found on the ACB Status tab.

Read Mack Adaptive Cruise with Braking Trouble Codes Via Bendix ACOM™
To read the DTCs from ACB, follow the instructions for starting ACom™ on the starter screen. Select
ACB from the Starter screen, then the Start with ECU from the Diagnostic Control panel: The DTCs is
found on the DTC tab.
Mack Trucks, Inc.
Service Bulletin
Diagnostic Trouble Codes (DTC)
DTC
• Short to ground
• Short to power
• Voltage too high
• Voltage too low
144 – Vehicle not providing adequate braking
164 - ACB braking overuse
83 – Invalid Temperature
84 – Temperature too high
85 – Temperature too high
(All) Internal ACB sensor error
152 – Transmission ratio learning process not
completed
202 – Target lost/too close to sensor
Date Number Page
08/14/‘09 11(21)
Actions
Review the following sections:
• “Ignition Voltage Too Low” page 22
• “Ignition Voltage Too High” page 22
• “Power Supply Tests” page 22
Perform the following:
1 Verify voltage to ECU is between 9 to 16 VDC.
2 Visually check for damaged or corroded connectors.
3 Visually check for damaged wiring.
4 Clear the ACB trouble codes by cycling power and if the
error returns, call 1-800-AIR-BRAKE.
Perform the following:
1 Check engine, and engine retarder trouble codes. Inspect
brake mechanical and pneumatic system for proper
operation.
2 Clear the ACB trouble codes by cycling power and if the
error returns, call 1-800-AIR-BRAKE.
3 Brake system and/or engine retarder is not effective at
slowing the vehicle.
Perform the following:
1 Check engine, and engine retarder trouble codes.
Possible causes:
• The system is used in situations it shouldn’t be such as
steep grades. Review “Mack Adaptive Cruise with Braking
(ACB) Brake Overuse Warning” page 19.
Perform the following:
1 Clear the ACB trouble codes by cycling power and if the
error returns, call 1-800-AIR-BRAKE.
Mack Trucks, Inc. Date Number Page
Service Bulletin 08/14/‘09 12(21)

DTC Actions
153 - J1939 bus error Description of trouble code J1939 erratic or missing sig-
155 - J1939 bus error nal
157 – J1939 signal error: ABS fully operational Perform the following:
158 – J1939 signal error: EBS brake switch 1 Check for damaged or reversed J1939 wiring.
159 – J1939 signal error: ABS active 2 Check for damaged or corroded connectors.
160 – J1939 signal error: ASR engine control/ASR 3 Check for other devices inhibiting J1939 communications.
brake control active 4 With the power off, check the resistance across connector
163 – J1939 signal error: Foundation brake use pins (60 ohm).
165 – Error in yaw rate signal 5 Check the reverse polarity of J1939 communications
166 – J1939 signal error: ROP/YC engine/brake circuits at engine, ABS, and ACB sensor and at harness
control active interconnections.
167 – J1939 signal error: VDC fully operational
168 – J1939 signal error: Actual retarder percent Review the following sections:
torque • “Vehicle Applications” page 16
169 – J1939 signal error: Actual retarder percent • “J1939 Serial Data Communications Link” page 14
torque • “J1939 Engine Communications Test Procedure” page 14
170 – J1939 signal error: Actual retarder percent • “J1939 Troubleshooting Procedure” page 15
torque Clear the ACB trouble codes by cycling power and if the error
171 – J1939 signal error: Driver demand retarder returns, call 1-800-AIR-BRAKE.
percent torque
172 – J1939 signal error: Driver demand retarder
percent torque
173 – J1939 signal error: Driver demand retarder
percent torque
174 – J1939 signal error: Gross combination vehicle
weight
175 – J1939 signal error: Cruise control enable switch
176 – J1939 signal error: Cruise control pause switch
177 – J1939 signal error: Cruise control accelerate
switch
178 – J1939 signal error: Cruise control coast switch
179 – J1939 signal error: Cruise control set switch
180 – J1939 signal error: Cruise control resume switch
181 – J1939 signal error: Wheel based vehicle speed
182 – Error in evaluation of vehicle speed
183 – J1939 signal error: Brake switch
184 – J1939 signal error: Parking brake switch
187 – J1939 signal error: Engine speed
188 – J1939 signal error: Actual engine percent torque
189 – J1939 signal error: Nominal friction percent
torque
190 – Error driver torque request (Driver’s demand
engine percent torque)
191 – J1939 signal error: Accelerator pedal position 1
192 – J1939 signal error: Engine reference torque
193 – J1939 signal error: Reference velocity
unavailable
197 – J1939 signal error: CC active
198 – J1939 signal error: CC set speed
162 – Failure in interface of: XBR system state Perform the following:
1 Check the EC-60™ system configuration and the EC-60™
system errors.
2 Clear the ACB trouble codes by cycling power and if the
error returns, call 1-800-AIR-BRAKE.
201 – Sensor lens is dirty or blocked Perform the following:
1 Check for ACB lens obstruction.
2 Clear ACB trouble codes by cycling power and if the error
returns, call 1-800-AIR-BRAKE.
Mack Trucks, Inc. Date Number Page
Service Bulletin 08/14/‘09 13(21)

DTC
55 – Maximum misalignment value is reached
56 – Fast misalignment value is reached
57 – Slight misalignment value is reached
156 – ABS Off road switched on
199 – ACB Monitor disable CC
185 – Distance switch not installed or unavailable
186 – External temperature not available (Ambient air
temperature)
Actions
Perform the following:
1 Check vertical and lateral alignment of sensor and adjust
as necessary. For more information refer to the sensor check
and adjustment service bulletin, SB730002.
2 Clear the ACB trouble codes by cycling power. Start the
engine. If error returns, call 1-800-AIR-BRAKE.
ACB is unavailable in current state. This indicates the cruise
control switch is “OFF”. Have the driver turn it to the “ON”
position and clear the trouble codes with a power cycle.
ACB disabled engine cruise. Ignore this error unless it per-
sists over a period of months.
Clear the ACB trouble codes by cycling power. Start the
engine. If error returns, call 1-800-AIR-BRAKE.
Distance switch not required, however if a distance switch is
installed and the error persists, clear the ACB trouble codes
by cycling power. Start the engine. If error returns, call
1-800-AIR-BRAKE.
Ambient temperature not available over the J1939 network
and the lens heater has been disabled.
Inclement weather may cause sensor blindness.

Perform the following:

1 Verify your vehicle is compatible with ACB. If so, call 1-800-
AIR-BRAKE for additional
assistance.

Review the following sections:

• “Vehicle Applications” page 16

Troubleshooting Diagnostic Trouble Codes (DTC)

Ignition Voltage Too Low

Measure ignition voltage under load. Ensure that the ignition voltage is greater than 10V. Check the
vehicle battery and associated components. Inspect for damaged wiring, damaged or corroded
connectors and connections. Check condition of fuse.

Ignition Voltage Too High

Measure the ignition voltage. Ensure that ignition voltage is not greater than 16V. Check the vehicle
battery and associated components. Inspect for damaged wiring, damaged or corroded connectors and
connections.
Mack Trucks, Inc. Date Number Page
Service Bulletin 08/14/‘09 14(21)

Power Supply Tests

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

Connector Pin Description, ACB Sensor

Pin # Designation Description

1 GND (-) Sensor Ground
2 CAN-H J1939 High
3 CAN-L J1939 Low
4 IGN (+) Supply Voltage
5 Not Used -
6 Not Used -
7 Not Used -
8 IGN (+) Supply Voltage

Troubleshooting J1939 Serial Communications DTC’s

J1939 Engine Serial Data Communications Link

Check for a loss of communications between the ACB radar sensor, the ABS controller, the engine ECU,
and other devices connected to the J1939 link. Check for damaged or reversed J1939 wiring. Check for
corroded or damaged connectors. Using procedures described by the vehicle manufacturer, verify the
presence of the engine ECU and the ABS controller on the J1939 link. Verify the ECU Configuration.
Check for other devices inhibiting J1939 communications.

J1939 Engine Communications Test Procedure

ACB requires several J1939 messages from the engine ECU in order to control the engine and retarder
torque for distance control and braking. The ACB system will set a diagnostic trouble code if a one of
these messages is not present.
Use the engine manufacturers diagnostic test procedures to verify that there are no errors present in the
engine that may prevent the ACB system from controlling the engine or retarder torque.
Mack Trucks, Inc. Date Number Page
Service Bulletin 08/14/‘09 15(21)

J1939 Troubleshooting Procedure

1. Take all measurements at the harness connector unless otherwise indicated.
Note: DO NOT INSERT PROBES INTO THE BACK SIDE OF THE CONNECTOR AS THIS WOULD
DAMAGE THE SEAL AROUND THE WIRE!
Note: DO NOT INSERT ANY PROBE INTO THE PIN ON THE MATING CONNECTOR OF THE RADAR
SENSOR THAT IS GREATER THAN 0.62 mm (0.024 in.) DIAMETER OR SQUARE! THIS WILL
DAMAGE THE CONNECTOR PIN AND REQUIRE REPLACEMENT OF THE HARNESS.
2. Check for damaged or reversed J1939 wiring. If the J1939 HIGH or J1939 LOW wiring circuits are
damaged, such as shorting together, the entire J1939 link will be lost. The failure may be
intermittent and operate normal occasionally. In this case, there will be multiple diagnostic trouble
codes logged in multiple engine and vehicle controllers. If the J1939 HIGH and J1939 LOW wiring
circuits are reversed, communication over the entire J1939 Link will be not be lost. Only those
devices that are outside of the failure point from other devices will not receive or be able to transmit
data messages.
3. Check for corroded or damaged wiring connector problems such as opens or shorts to voltage or
ground. If the connector terminals are corroded, this may be an indication of water intrusion into the
wiring system and possibly into the radar sensor. Replacement of the entire harness is
recommended. If the terminals of the sensor are corroded, then replacement of radar sensor is
recommended.
4. Check for other J1939 devices which may be loading down (inhibiting) J1939 communication. The
service technician should consult the vehicle manufacturer’s procedures. The device’s power
should be removed and measurements made at the ECU pins for shorts to ground and power pins
and resistance between the J1939 HIGH or J1939 LOW input circuits.
5. Un-plug the radar sensor. With the ignition switch off, measure the resistance (ohms) using a
multimeter between pins 2 and 3. The measurement should be about 60 ohms. If this is not the
case, the vehicle wiring should be investigated using procedures described by the manufacturer.
6. Un-plug the radar sensor. With the ignition switch off, using a multi-meter, measure the resistance in
ohms, between pins 2 and ground. The measurement should indicate an open circuit or very high
resistance. If this is not the case, the vehicle wiring should be investigated using procedures
described by the manufacturer.
7. Un-plug the radar sensor. With the ignition switch off, using a multi-meter, measure the resistance in
ohms, between pins 3 and ground. The measurement should indicate an open circuit or very high
resistance. If this is not the case, the vehicle wiring should be investigated using procedures
described by the manufacturer.

Troubleshooting Wiring Harness Installation

When mounting an ACB system the wire harness connector should always point down. All wire harness
connectors must be properly seated (push mating connector until it seals with a click), to maintain
environmental seals. When replacing an ACB radar sensor, check that the wire harness connector is free
of corrosion before plugging into a new sensor. If corrosion exists, a new wiring harness is required.
Mack Trucks, Inc. Date Number Page
Service Bulletin 08/14/‘09 16(21)

ACB Mounting and Installation

Vehicle Applications
The ACB system can only be mounted and installed on vehicles which have Bendix® ESP® stability
systems. Other vehicles are not compatible with the system.

Installing Your ACB Sensor

The ACB system can be moved and installed to a different vehicle, provided it was originally built with an
ACB system. The ACB system is configured to work with the Bendix® ABS/ESP® systems. ACB will not
function if installed on a vehicle that was not originally built with ACB.

ACB Mounting
The ACB assembly is mounted to the front of the vehicle using an adjustable bracket. This adjustable
bracket allows for the ACB sensor to be properly aimed laterally and vertically and will maximize
performance of the ACB system.
The ACB 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™.
For proper operation of your ACB system adhere to the following guidelines:
• The ACB assembly should be rigidly installed on the vehicle following all OEM recommended torque
specifications.
• The ACB assembly should be installed in the OEM designated location.
• The sensor cover should always be installed. This helps protect components such as the connector
and wiring harness from road debris.
• The ACB assembly must be oriented so that the electrical connector points down. Mounting the radar
upside down will significantly impair performance.
• The radars field of view must NOT have interference from any other vehicle components such as
bumpers, cow-catcher bumpers, engine blankets, seasonal decorations or any other commonly mounted
front-of vehicle components.

ACB Sensor Alignment

Correct vertical and lateral alignment is critical for proper operation of ACB. Improper alignment will
cause more false warnings, missed warnings and ultimately a trouble code in the system. The ACB
assembly is mounted to the front of the vehicle using an adjustable bracket. Use this procedure to align
the sensor in its adjustable bracket.
Mack Trucks, Inc. Date Number Page
Service Bulletin 08/14/‘09 17(21)

Alignment Tool 88890138

Figure 1 — Alignment tool attached to the ACB sensor

The Alignment Tool (88890138) is used to align the ACB sensor both vertically and horizontally. It fastens
magnetically to the bracket assembly for easy placement and removal.
Lateral alignment can also be checked with Bendix ACom™ (version 6.3 or greater). A value between -
0.8 and 0.8 is acceptable and the system should operate normally. A value between -0.8 to -1.3 OR 0.8
to 1.3 means the sensor is misaligned and system performance will be degraded. The service technician
should align it laterally. If the value is < -1.3 or > 1.3 the system will issue a trouble code. The service
technician should align it laterally. A positive value means the sensor should be aligned toward the driver
side. A negative value means the sensor should be aligned towards the passenger side. The vehicle
must be driven at least 20 miles between adjustments.

ACB Sensor Alignment Check and Adjust

For information about checking and adjusting the ACB sensor as well as alignment tool setup, refer to
the sensor check and adjustment service bulletin, SB730002.
Mack Trucks, Inc. Date Number Page
Service Bulletin 08/14/‘09 18(21)

Mack Adaptive Cruise with Braking Configuration Adjustments

Multiple alert and distance setting strategies, known as FDA configurations, can be chosen using the
Bendix® ACom™ tool. In ACom™, (version 6.3 or higher) the service technician will find selection box
called “Configuration Number” which gives the service technician choices 1-5 as shown in the
accompanying table.
Changing configuration allows the fleet user to adjust both the following distance alerts and the following
distance to the forward target vehicle, while in distance control mode.

Following Distance Alert (sec.)

Configura- Option ACB Following Following Dis-
Slow Medium Fast
tion No. Distance tance Example
1 (Bendix City - - 0.5
Default) 2.5 75 m@97 kph (246
Highway >60 1.5 1.0 0.5
kph (37 mph) ft.@60 mph)

2 City - - 0.5
3.5 94 m@97 kph (308
Highway >60 1.5 1.0 0.5
kph (37 mph) ft.@60 mph)

3 City - 1.5 1.0

2.8 105 m@97 kph (346
Highway >60 2.0 1.5 1.0
kph (37 mph) ft.@60 mph)

4 City - 1.5 1.0

3.5 94 m@97 kph (308
Highway >60 2.0 1.5 1.0
kph (37 mph) ft.@60 mph)

5 City - 1.5 1.0

3.5 94 m@97 kph (308
Highway >60 3.0 2.0 1.0
kph (37 mph) ft.@60 mph)

Extracting Driver Performance Data

Data Overview
ACB makes data available, in 2 different data logs, regardless if ACB is set or not. One log is resettable
and the other is a permanent. The resettable log can be reset (only through Bendix® ACom™) as often
as needed. The permanent log cannot be reset.

Extracting Data and Saving a Report

The Bendix® ACom™ Diagnostics tool and users guide is available online at ABS Software link under
Services and Support on the home page. Use this manual for specific instructions on extracting data
from the ACB system. After a successful connection, the service technician will be presented with the
window. From this window the service technician can choose whether to create a data log report, clear
the resettable data log, or exit back to the Starter screen. After selecting Create Data Log Report, the
service technician will be asked to enter the vehicle ID and mileage. This data will be stored in the report.
After the report has been created, the service technician can choose whether to Print, Print Preview,
Email, or Save the report to disk. The data can be saved as a comma delimited file or a MS Excel
document.
Mack Trucks, Inc. Date Number Page
Service Bulletin 08/14/‘09 19(21)

Mack Road Stability Advantage by Bendix with Adaptive Cruise Control

Brake Overuse Warning

Excessive application of the foundation brakes can cause the brakes to

overheat resulting in increasing stopping distances. Increased
stopping distances can result in vehicle collision, serious personal
injury or death.

The Mack Road Stability Advantage by Bendix with Adaptive Cruise Control system provides a warning
when the system is using the foundation brakes excessively. Overuse of the foundation brakes can lead
to the brakes overheating and a potential loss of braking performance from brake fade.
For example, the use of the system on long, steep downhill runs may cause this warning to be activated.
It is recommended that the system be disengaged on long downhill grades. The driver should use
appropriate gearing and brake techniques, on long, downhill grades. When the Mack Road Stability
Advantage by Bendix with Adaptive Cruise Control system detects brake overuse ”ACC Requires Driver
Intervention” is displayed in the DID, at which time the driver has 15 seconds to deactivate, or the system
will fault. Once the driver applies the brakes or disengages the system, the warning is discontinued. After
a brief delay, however, if the driver does not respond to the brake overuse warning(s), the system will
stop functioning and be disabled. The “ACC Braking Temporarily Unavailable“ screen displays in the Co-
Pilot.
A self-disabled Mack Road Stability Advantage by Bendix with Adaptive Cruise Control system will be
restored the next time the vehicle is started.

Figure 2 — DID Screen Caption

Mack Trucks, Inc. Date Number Page
Service Bulletin 08/14/‘09 20(21)

When the system is disabled the ACC Disabled icon displays in the cluster and the ACC Braking
Temporarily Unavailable screen appears in the Co-Pilot.

The primary condition that activates the "ACC Braking Temporarily

Unavailable" is using the system down steep grades. Approach grades as
you normally would, with the appropriate gear selected and at a safe speed.
It is recommended that the system not be used on downhill grades! Failure to
follow these instructions can lead to damage to the system.

Figure 3 — ACC Disabled Icon

Figure 4 — DID Screen Caption

When the system is restored to normal operation the ACC Now Available screen appears in the Co-Pilot
and the ACC ON icon displays in the cluster.

Figure 5 — ACC ON Icon

Figure 6 — DID Screen Caption

Mack Trucks, Inc. Date Number Page
Service Bulletin 08/14/‘09 21(21)