WABCO OnGuard User manual

OnGuard®, OnGuardALERTTM
AND OnGuardACTIVE®
MAINTENANCE MANUAL
MM1306

3
Table of Contents
Table of Contents
1 General Information. ...................................................................................................................................................5
1.1 Symbols Used in this Document ........................................................................................................................5
1.2 How to Obtain Additional Maintenance, Service and Product Information.........................................................6
1.3 How to Obtain Parts and Kits.............................................................................................................................6
1.4 WABCO TOOLBOX PLUS™ Software ..............................................................................................................6
1.5 WABCO Academy..............................................................................................................................................6
1.6 WABCO Online Product Catalog .......................................................................................................................6
1.7 Your Direct Contact to ZF CVS ..........................................................................................................................7
2 Safety Information.......................................................................................................................................................8
2.1 Provisions for a safe work environment .............................................................................................................8
3 The OnGuard Family*: Warnings, Cautions and Operating Guidelines.................................................................9
3.1 Driver-Related Information.................................................................................................................................9
3.2 Environment-Related Information ....................................................................................................................10
3.3 System-Function Information ........................................................................................................................... 11
3.4 System Functions and Miscellaneous Information........................................................................................... 12
3.5 System Malfunction Information....................................................................................................................... 13
4 Introduction. ..............................................................................................................................................................15
4.1 Overview ..........................................................................................................................................................15
4.2 How the OnGuard Family Works .....................................................................................................................15
4.3 Operating Modes .............................................................................................................................................17
4.4 System Limitations...........................................................................................................................................19
4.5 System Components........................................................................................................................................20
5 Diagnostics, Troubleshooting and Testing.............................................................................................................22
5.1 General Information .........................................................................................................................................22
5.2 Troubleshooting Guide.....................................................................................................................................24
5.3 TOOLBOX PLUS™ Software ..........................................................................................................................27
5.4 OnGuard and OnGuardACTIVE Radar Diagnostic Trouble Code Table..........................................................31
5.5 Radar Inspection and Preventive Maintenance ...............................................................................................41
5.6 Radar System Troubleshooting........................................................................................................................42
5.7 Electrical System Troubleshooting...................................................................................................................45

Edition 1
Version 2 (04.2022)
MM1306 (en)
This publication is not subject to any update service. Information contained in this
publication was in effect at the time the publication was approved for printing and is
subject to change without notice or liability. ZF CV Systems North America LLC reserves
the right to revise the information presented or to discontinue the production of parts
described at any time.
You will find the current edition at: https://zf.com/cvliterature
6 Component Replacement Procedures. ...................................................................................................................50
6.1 Hazard Alert Messages....................................................................................................................................50
6.2 Radar Sensor Replacement............................................................................................................................. 50
6.3 Display Replacement .......................................................................................................................................52
Table of Contents

1 General Information
1.1 Symbols Used in this Document
DANGER
Description of an immediate situation which will result in irreversible injury or death if the warning is
ignored.
WARNING
Description of a possible situation which may result in irreversible injury or death if the warning is
ignored.
CAUTION
Description of a possible situation which may result in irreversible injury if the warning is ignored.
NOTICE
Description of a possible situation which may result in material damage if the warning is ignored.
Important information, notices and/or tips
Reference to information on the Internet
Descriptive text
– Action step
1. Action step 1 (in ascending order)
2. Action step 2 (in ascending order)
Result of an action
•Listing
Indicating the use of a tool / WABCO tool
5
General Information

6
General Information
1.2 How to Obtain Additional Maintenance, Service and Product
Information
If you have any questions about the material covered in this publication, or for more
information about the WABCO product line, please contact WABCO Customer Care
Center at 855-228-3203, by email at [email protected], or visit our website:
www.zf.com/cv.
Refer to the Society of Automotive Engineers (SAE) website to find all current SAE
documents and standards applicable to WABCO products (such as SAE J447 and SAE
J908 at www.sae.org).
Refer to the National Highway Traffic Safety Administration (NHTSA) website to find all
current documents referenced in the manual at www.nhtsa.gov.
1.3 How to Obtain Parts and Kits
Contact the WABCO Customer Care Center at 855-228-3203 (United States and Canada);
800-953-0248 (Mexico). Email: [email protected].
1.4 WABCO TOOLBOX PLUS™ Software
TOOLBOX PLUS™ Software provides PC diagnostic for WABCO products and can be
purchased and downloaded from https://wabco.snapon.com.
The software User Guide, MM19047 can be obtained by visiting our Literature Center.
Purchase and Download TOOLBOX PLUS™
https://wabco.snapon.com
ZF Commercial Vehicle Literature Center
https://zf.com/cvliterature
1.5 WABCO Academy
www.wabco-academy.com
1.6 WABCO Online Product Catalog
www.wabco-customercenter.com

7
General Information
1.7 Your Direct Contact to ZF CVS
ZF CV Systems North America LLC
1220 Pacific Drive
Auburn Hills, MI 48326
Customer Care Center: [phone]
www.zf.com/cv
[email protected]

8
Safety Information
2 Safety Information
2.1 Provisions for a safe work environment
Only experienced, trained and qualified automotive technicians may carry out work on the vehicle.
Read this publication carefully.
Follow all warnings, notices and instructions to avoid personal injury and property damage.
Always abide by the vehicle’s Original Equipment Manufacturer (OEM) specifications and instructions.
Observe all accident regulations of the repair facility as well as regional and national regulations.
The workplace should be dry, sufficiently lit and ventilated.
Use personal protective equipment if required (safety shoes, protective goggles, respiratory protection
and ear protectors).
Read and observe all Danger, Warning and Caution hazard alert messages in this publication. They provide
information that can help prevent serious personal injury, damage to components, or both.
WARNING
To prevent serious eye injury, always wear safe eye protection when you perform vehicle
maintenance or service.
WARNING
Park the vehicle on a level surface. Block the wheels to prevent the vehicle from moving. Support
the vehicle with safety stands. Do not work under a vehicle supported only by jacks. Jacks can slip
or fall over. Serious personal injury and damage to components can result.
WARNING
This product can expose you to chemicals including Nickel, which is known to the State of California
to cause cancer and birth defects or other reproductive harm. For more information, go to
www.P65Warnings.ca.gov.

9
The OnGuard Family*: Warnings, Cautions and Operating Guidelines
3 The OnGuard Family*: Warnings, Cautions and
Operating Guidelines
*The OnGuard Family refers to second-generation OnGuard, OnGuardACTIVE and OnGuardALERT.
3.1 Driver-Related Information
WARNING
The OnGuard Collision Mitigation System (CMS) and Forward Collision Warning (FCW) System
are driver aids only. They are designed to assist the vehicle operator in maintaining a safe following
distance and, if needed, provide limited initial braking to reduce the severity of a possible collision. It
is not an auto-pilot system for operating the vehicle.
The OnGuard CMS and FCW are no substitute for the most important factor in vehicle safety, which
is a safe, conscientious driver. Use of OnGuard CMS and FCW cannot compensate for a driver that
is distracted, inattentive or impaired by fatigue, drugs or alcohol.
As always, it is the driver’s responsibility to:
Use safe driving techniques
Exercise proper judgment for the tra󰀩c, road and weather conditions
Maintain a safe distance between vehicles
Apply the brakes when needed to maintain control of the vehicle
Whether OnGuard CMS or FCW are in use or not, the driver is responsible for the vehicle’s speed,
distance between other vehicles and braking the vehicle, if necessary, to avoid a collision. Never
wait for an OnGuard CMS or FCW warning before applying the brakes. Failure to do so can result in
serious personal injury or death, and/or severe property damage.
WARNING
The driver is responsible for understanding the operation and limitations of the OnGuard CMS or
FCW before operating the vehicle. Failure to do so can result in serious personal injury or death,
and/or severe property damage.
WARNING
OnGuard Family is designed to create high vehicle deceleration (without driver intervention) in certain
situations. To reduce the risk of injuries caused during OnGuard®-activated vehicle deceleration,
all vehicle occupants should be correctly seated and properly belted or restrained during vehicle
operation. All loose items should be secured so that they will not y forward and cause injury during a
deceleration event. The use of OnGuard Family in vehicles not equipped with seat belts may expose
non-belted passengers to injuries due to system initiated sudden vehicle deceleration, despite vehicle
compliance with applicable safety standards.

10
TheOnGuardFamily*:Warnings,CautionsandOperatingGuidelines
3.2 Environment-Related Information
WARNING
The driver should consider the benefit/risk of using OnGuard CMS or FCW under the following
conditions.
Weather such as rain, sleet, snow, ice, heavy fog, as well as smoke or dust. These conditions
can make roads slippery which can cause a spinout, or block or limit the radar’s distance sensing
ability.
Construction zones, offroad, dirt roads or muddy roads with loose surface. These conditions can
cause the wheels to lose traction and limit OnGuard’s ability to provide appropriate warning and
adequate braking. Curvy or winding roads, roads with sharp turns.
Curvy roads can make it difficult for the OnGuard CMS or FCW radar to track vehicles in its
path. While in a sharp turn or if the preceding vehicle is in a sharp turn, OnGuard may no longer
track a vehicle in front of you. Your vehicle could then unexpectedly accelerate to the previously
selected speed.
Heavy or complicated traffic, entry and exit ramps, downhill, cross traffic and intersections.
OnGuard CMS and FCW are not capable of taking into account these complex traffic situations
and respond to each scenario. It cannot track traffic and objects traveling perpendicular to it’s
path.
Driving in these conditions with OnGuard CMS or FCW active can produce false warnings,
unexpected braking or no response at all. Serious personal injury or death, and/or severe property
damage can result.
WARNING
The OnGuard Family is designed to monitor only the distance between your vehicle and the vehicle
moving in the same direction directly ahead of it. It may not identify a vehicle moving TOWARDS it
or stationary objects in the road, such as a vehicle that is stopped in traffic or disabled. As such, the
OnGuard Family will not provide engine torque control or braking. The driver must always be aware
of the objects in front of his vehicle and be ready to apply the brakes, if required. Failure to apply the
brakes when needed can result in an accident.
OnGuard Family is designed to detect and track common size automobiles and trucks with
metal surfaces. It is not designed to detect smaller objects such as pedestrians, narrow vehicles,
motorcycles, mopeds, bicycles, or similar sized items. It also cannot detect vehicles of unusual
shape or with limited metal surfaces, such as recreational vehicles, horse-drawn buggies, or logging
trailers. The OnGuard Family may provide little or no warning of these objects in the vehicle’s path. It
is the driver’s responsibility to be aware of these objects and apply the brakes as necessary to avoid
an accident.
It is always the driver’s responsibility to apply the brakes, if needed, to avoid an accident. Never wait
for an OnGuard Family warning before applying the brakes. Failure to apply the brakes when needed
can result in serious personal injury, or death, and/or severe property damage.

11
The OnGuard Family*: Warnings, Cautions and Operating Guidelines
3.3 System-Function Information
WARNING
Once the driver applies the brake, the OnGuard CMS or FCW will be disabled and no longer provide
braking intervention. It is the driver’s responsibility to maintain a safe speed and distance from
other vehicles and brake as necessary to maintain vehicle control. Failure to apply the brakes when
necessary can result in serious personal injury or death, and/or severe property damage.
WARNING
OnGuard Family is designed to create high vehicle deceleration (without driver intervention) in
certain situations. To reduce the risk of injuries caused during OnGuard Family-activated vehicle
deceleration, all vehicle occupants should be correctly seated and properly belted or restrained
during vehicle operation. All loose items should be secured so that they will not fly forward and
cause injury during a deceleration event. The use of OnGuard Family in vehicles not equipped with
seat belts may expose non-belted passengers to injuries due to system initiated sudden vehicle
deceleration, despite vehicle compliance with applicable safety standards.
WARNING
The driver is responsible for selecting a safe and legal speed setting that is appropriate for the traffic,
road surface and weather conditions. Adjust the speed setting as necessary when driving in reduced
visibility or potentially slick conditions. Driving with the OnGuard CMS of FCW at a speed that is
inappropriate for following a vehicle safely can lead to an accident. Serious personal injury or death,
and/or severe property damage can result.
WARNING
While the OnGuard CMS or FCW are in System/Radar Alignment mode, the system will not track
vehicles or operate. Make sure that the Service Alignment procedure is completed before releasing
the vehicle from service. Failure to do so can result in serious personal injury or death, and/or severe
property damage.
WARNING
If a potential collision is developing and the driver does not take action to decelerate the vehicle,
the OnGuard CMS or FCW sounds an alert, automatically de-throttles the engine, and sends a
message to the ABS ECU requesting foundation brake application to provide up to 0.35g or up to
0.6g (depending on software version) of braking power. (For information about the ABS system, refer
to the latest ABS maintenance manual available from the ZF Commercial Vehicle Literature Center
at https://zf.com/cvliterature.) The driver must still apply the brakes to provide additional braking force
to help avoid an accident. Failure to apply the brakes when necessary can result in serious personal
injury or death, and/or severe property damage.
WARNING
Do not allow the installation of bumpers, cattle guards or other such items in front of the radar area.
If the radar is blocked, the OnGuard CMS or FCW will have limited or no functionality, which can lead
to an accident. Serious personal injury or death, and/or severe property damage can result.

12
TheOnGuardFamily*:Warnings,CautionsandOperatingGuidelines
WARNING
Depending on the software version, OnGuard CMS or FCW automatically becomes active once the
vehicle reaches a speed of 15 mph (24 kph) or 9 mph (15 kph). It does not provide warning and
braking functionality below 15 mph (24 kph) or 9 mph (15 kph) depending on software version. It
is the driver’s responsibility, at all times, to use safe driving techniques, be alert, maintain a proper
distance between vehicles and brake the vehicle, if needed, to avoid a collision. Never wait for
OnGuard CMS or FCW to provide a warning or braking before applying the brakes. Failure to do so
can result in serious personal injury or death, and/or severe property damage.
WARNING
OnGuard CMS or FCW may initiate forward collision warnings or in seldom cases unwanted or
inappropriate acceleration or deceleration. In such cases, the driver has to either deactivate or
override the system as necessary to maintain proper vehicle control. Failure to do so can result in
serious personal injury or death, and/or severe property damage.
WARNING
If the driver accelerates to a faster speed than the one set to overtake a vehicle, OnGuard CMS or
FCW will return to the last stored speed once the driver removes his/her foot from the accelerator
pedal. The driver must be aware of the last stored speed to make sure that the vehicle can remain in
control or deactivate the system. Failure to do so can result in serious personal injury or death, and/
or severe property damage.
WARNING
OnGuard CMS or FCW may take a few moments to adjust to the selected speed. Adjust the speed
as necessary to accommodate the current road, traffic and weather conditions. Use care to avoid
dramatic acceleration or deceleration of the vehicle which can lead to a loss of control. Serious
personal injury or death, and/or severe property damage can result.
WARNING
Using the “Resume” option will return the vehicle to the last stored set speed. It is the driver’s
responsibility to be aware of what the last stored speed is and ensure it is safe and legal for the
current road, traffic and weather conditions. Failure to do so can result in serious personal injury or
death, and/or severe property damage.
3.4 System Functions and Miscellaneous Information
WARNING
Always keep the path of the radar clear of obstructions. Snowy and muddy conditions can cause the
radar to become blocked or debris to get between the fascia and radar. Always remove snow, mud
or other debris from the front of the fascia and between the fascia and radar immediately to ensure
proper radar operation. Do not allow the installation of bumpers, shields, deflectors, guards or other
such items in front of the radar area. Do not allow items to block the radar or the OnGuard CMS or
FCW will have limited or no functionality, which can lead to an accident. Serious personal injury or
death, and/or severe property damage can result.

13
The OnGuard Family*: Warnings, Cautions and Operating Guidelines
WARNING
The OnGuard CMS or FCW requires time to recognize an object or potential obstacle. An object
moving at a speed of approximately 20 mph or more may not be recognized in enough time to
produce a warning or brake the vehicle. Never wait for the OnGuard CMS or FCW to intervene when
a potentially hazardous situation arises. The driver must always monitor traffic and apply the brakes,
if needed, to avoid a crash. Failure to do so can result in serious personal injury or death, and/or
severe property damage.
3.5 System Malfunction Information
WARNING
Do not allow the fascia to become blocked by any foreign matter (dirt, snow, ice, stickers etc.),
otherwise a system fault will occur and the OnGuard CMS or FCW will be disabled. If the system
becomes disabled, immediately inspect the OnGuard CMS or FCW fascia for a blockage and correct
it as necessary. Whether or not the radar is working correctly, it is the driver’s responsibility to apply
the brakes when necessary to maintain vehicle control. Failure to do so can result in serious personal
injury or death, and/or severe property damage.
WARNING
If the OnGuard CMS or FCW is not correctly tracking vehicles that are in your lane or is tracking
vehicles that are not in your lane, this may be due to radar operational issues. Typically, these are
radar operational issues that can result from the following problems:
Debris (dirt, snow, ice) on the radar fascia or between the fascia and the radar sensor. This must
be removed.
A loose radar sensor or one that is not tightly secured on the mounting bracket.
The radar sensor may be too close to or actually contacting the bumper as mounted. There
should be at least 1/4 inch of clearance between the fascia, radar sensor or bracket and the
bumper.
Radar interference from other radar sources or strong radar reflections.
If OnGuard CMS or FCW is not functioning correctly or as expected, immediately have the OnGuard
CMS or FCW inspected to correct the issue. Whether or not the radar is working correctly, it is the
driver’s responsibility to apply the brakes when necessary to maintain vehicle control. Failure to do
so can result in serious personal injury or death, and/or severe property damage.
WARNING
When active Diagnostic Trouble Codes (DTCs) are present, the OnGuard CMS or FCW may be
partially or fully disabled depending on whether the DTC(s) is associated with the Adaptive Cruise
Control (ACC) functions or the CMS or FCW functions. If OnGuard CMS or FCW is not functioning
correctly or as expected, have the OnGuard CMS or FCW inspected immediately to correct the
issue. Whether or not the radar is working correctly, it is the driver’s responsibility to apply the brakes
when necessary to maintain vehicle control. Failure to do so can result in serious personal injury or
death, and/or severe property damage.

14
TheOnGuardFamily*:Warnings,CautionsandOperatingGuidelines
WARNING
If the OnGuard CMS or FCW are not correctly tracking vehicles that are in your lane or is tracking
vehicles that are not in your lane, the radar may not be aligned correctly. If this occurs, immediately
have the OnGuard CMS or FCW radar inspected and corrected as needed. Refer to the Radar
Sensor Service Alignment procedure. Whether or not the radar is working correctly, it is the driver’s
responsibility to be aware of vehicles in front of the driver’s vehicle and apply the brakes when
necessary to maintain vehicle control. Failure to do so can result in serious personal injury or death,
and/or severe property damage.
WARNING
If OnGuard CMS or FCW are not providing alerts as expected, immediately have the OnGuard CMS
or FCW inspected to correct the issue. Whether or not the radar is working correctly, it is the driver’s
responsibility to apply the brakes when necessary to maintain vehicle control. Failure to do so can
result in serious personal injury or death, and/or severe property damage.
WARNING
In order to reduce the potential danger of injuries caused during OnGuard activated vehicle
decelerations, the driver and front passenger must always be correctly seated and with seat belts
correctly fastened when operating the vehicle. Additionally, the driver should secure all loose items in
the cab so that they will not fly forward during a full brake application.

15
Introduction
4 Introduction
4.1 Overview
4.1.1 The OnGuard®Family
OnGuard and OnGuardACTIVE are Collision Mitigation Systems (jointly referred herein as “CMS”) that offer
Following Distance Alert (FDA) and Adaptive Cruise Control (ACC) with active braking, if equipped. These
systems are currently available for pneumatically braked vehicles.
OnGuardALERT is a Forward Collision Warning (referred herein as “FCW”) System that is a radar-based
active safety system that offers Following Distance Alert (FDA), Forward Collision Warning and Braking
Integration. This system is currently available on SmarTrac®Hydraulic-equipped vehicles.
Second generation
radar OnGuard
Collision Mitigation System (CMS) that
provides warning and braking on moving and
stopped objects and provides warning only on
stationary objects.
Available on pneumatically-
braked vehicles.
OnGuardACTIVE Collision Mitigation System (CMS) that
provides warning and braking on moving,
stopped and stationary objects.
Available on pneumatically-
braked vehicles.
OnGuardALERT Forward Collision Warning (FCW) system that
provides warning and braking integration* on
moving, stopped and stationary objects.
Available on SmarTrac®
Hydraulic-equipped vehicles.
*Braking Integration: the OnGuardAlert system provides some braking assistance with a reduced braking
performance as compared to OnGuard and OnGuardACTIVE collision mitigation systems.
For Frequently Asked Questions (FAQs) and more information about OnGuard, OnGuardALERT and
OnGuardACTIVE, refer to the following:
FAQ publication, SP14119
OnGuard Driver’s Tips, TP1320
OnGuardACTIVE Driver’s Tips, SP1658
OnGuardALERT Driver’s Tips, SP19121
Driver’s Training DVD, T1399
4.2 How the OnGuard Family Works
The OnGuard Family systems detect objects ahead and measures the vehicle’s position and speed in
relation to others on the road to warn the driver of a possible rear-end collision by providing audible, visual
and haptic warnings.
When appropriate, CMS will apply the brakes to help mitigate a rear-end collision. When appropriate, FCW
reduces engine torque and provides some brake assistance through its integration. The system monitors
the road and provides warnings and active braking even when cruise control is or is not set. The system
also warns on stationary objects, such as cars, to alert the driver of potential obstructions in their lane.
The CMS or FCW is not intended to replace driver control of the vehicle at any time. You, as the driver,
remain in control of your vehicle and ultimately determine the actions that are necessary for safe operation.

16
Introduction
4.2.1 CMS
WARNING
OnGuard®is designed to create high vehicle deceleration (without driver intervention) in certain
situations. To reduce the risk of injuries caused during OnGuard®-activated vehicle deceleration,
all vehicle occupants should be correctly seated and properly belted or restrained during vehicle
operation. All loose items should be secured so that they will not fly forward and cause injury during
a deceleration event. The use of OnGuard®in vehicles not equipped with seat belts may expose non-
belted passengers to injuries due to system initiated sudden vehicle deceleration, despite vehicle
compliance with applicable safety standards.
The OnGuard Family assists the driver in recognizing and responding to potentially dangerous driving
scenarios that could lead to a rear end collision. The system responds by sending warnings, automatically
reducing engine torque and applying foundation brakes.
The CMS and FCW will both provide visual and audible alerts through an in-cab dash display when the
vehicle’s following interval could result in a rear-end collision. If a potential rear-end collision is developing
and the driver does not take action to decelerate the vehicle, the CMS or FCW active braking feature issues
a haptic warning (short brake pulse) and automatically de-throttles the engine.
If a potential rear-end collision still exists, and the driver has not taken the appropriate action, the CMS will
request application of the foundation brakes to provide up to 50% or full braking depending on software
version. The FCW will provide some brake assistance with its integration. When the CMS or FCW requests
application of the vehicle’s brakes, the brake lights will come on.
The active braking application is intended to assist the driver to avoid or reduce the severity of a collision.
The driver must take the appropriate corrective action in response to the collision warning. OnGuard Family
warnings will not be issued below a vehicle speed of 15 mph or 9 mph depending on software version.
4.2.2 FDA
FDA will generate an audible and visible alert when the vehicle’s following distance may result in a collision.
FDA provides only a warning and will not control vehicle speed unless ACC is engaged, or a collision
mitigation event is detected. The FDA is enabled automatically above a certain host vehicle speed threshold
dependent upon software level. It will start monitoring the following distance then. It automatically becomes
disabled if the host vehicle speeds fall below the disabling speed threshold.
4.2.3 ACC (If Equipped)
ACC adjusts the speed of your vehicle while in cruise control and attempts to maintain a set following
interval defaulted at 3.6 seconds when there is a vehicle ahead driving at a lower speed than your vehicle.
ACC works in conjunction with conventional cruise control to maintain the set cruise speed when the lane
ahead is clear and will automatically adjust the vehicle’s speed to maintain the set following interval when
a vehicle ahead is detected. The CMS or FCW achieves the set following interval by controlling engine
torque, engine and foundation brakes without driver intervention.
Cruise control is the standard OEM system that maintains a vehicle speed set by the driver. If
your vehicle does not have cruise control, ACC functionality does not apply.

17
Introduction
4.2.4 In-Cab Dash Display
The in-cab dash display has five different screen background colors.
Blue: General operating mode with no target vehicle detected
Green: Target vehicle detected ahead
Yellow: Following distance alert, System capability warning
Red: Collision warning, Stationary object warning
Amber: Diagnostic Trouble Code (DTC) screen
4.3 Operating Modes
4.3.1 Adaptive Cruise Control Not Set
If equipped, the vehicle operates as usual when the ACC speed is not set. The system will still emit audible
and visual warnings when it detects a possible rear-end collision. The OnGuard CMS is active above 9
or 15 mph, depending on software version, and will request brake application if deemed necessary. The
OnGuardACTIVE or OnGuardALERT are active from 9 or 15mph and up to-77 mph, depending on software
version, and will request brake application if deemed necessary.
Once the vehicle is traveling faster than 15 mph or 9 mph depending on software version, the following
screens will be displayed.
4011856a
Cruise Control not set.
No lead vehicle detected.
Cruise Control not set.
Lead vehicle detected.
4.3.2 Adaptive Cruise Control Set
When the ACC speed is set, the set cruise speed appears on the display. When a slower vehicle is
detected in front of the vehicle, ACC will attempt to reduce the speed to the speed of the lead vehicle. This
speed adjustment may momentarily drop lower than the lead vehicle in order to maintain a 3.6 seconds
following interval between the vehicle and the vehicle ahead when appropriate. While ACC is on, the
display will emit visual and audible collision warnings, and the system will control throttle and apply engine
and service brakes if needed while attempting to maintain a set following interval.

18
Introduction
4011858a
Cruise Control set.
No lead vehicle detected.
Cruise Control set.
Lead vehicle detected.
4.3.3 Following Distance Alert: Adaptive Cruise Control Not Set
The Following-Distance Alert will provide an audible alert and the in-cab dash display screen will turn yellow
if the vehicle is following another vehicle too closely at a 1.5 seconds following interval (tailgating). This
alert will end when the following distance is increased to a safe level or if the speed drops below the lead
vehicle speed.
4011857a
Cruise Control not set.
Following distance alert.
4.3.4 Following Distance Alert: Adaptive Cruise Control Set
When the vehicle is in cruise control mode, the Following-Distance Alert will provide an audible alert and
the in-cab dash display screen will turn yellow if the driver uses the accelerator pedal to override the ACC
and approaches a vehicle too closely. The OnGuard Following-Distance Alert will not provide warnings
when the vehicle speed is below 15 mph. The OnGuardACTIVE Following-Distance Alert will not provide
warnings when the vehicle speed is below 15 mph or over 77 mph.
4011859a
Cruise Control set. Following distance alert.
ACC at maximum braking and requesting
additional driver braking.

19
Introduction
4.3.5 Collision Warning and Mitigation or Forward Collision Warning
When an unforeseen event occurs, such as another vehicle enters the vehicle’s lane traveling slower than
the vehicle, or the gap between the vehicles becomes too close, the CMS or FCW will provide an audible
alert and the display will turn red with a collision warning symbol. If the system determines that a rear-end
collision is imminent, it will automatically apply the brakes to reduce the vehicle’s speed. The driver may
also feel a haptic warning (short brake pulse) to warn of collision danger. The driver must also take the
appropriate corrective action to avoid dangerous driving situations.
The OnGuard Family will not be active when the vehicle’s speed is below 15 mph or 9 mph depending on
software version. If the OnGuard Family detects a stationary object in the vehicle’s lane (such as a disabled
car) it will provide an audible alert and the display will turn red showing a stationary object symbol. The
OnGuard CMS will not apply the brakes or reduce the vehicle’s speed when it detects a stationary
object.
The OnGuard Family will not be active when the vehicle’s speed is below 15 mph or 9 mph or over 77 mph,
depending on software version. If the OnGuard Family detects a stationary object (such as a disabled car)
it will provide an audible alert, followed by a haptic warning and then a brake application to reduce the
vehicle’s speed.
4011860a
Object
Collision Warning
Stationary
Collision Warning
4.4 System Limitations
The CMS and FCW only brake for objects located directly in front of your vehicle. The OnGuard Family will
not be active when the vehicle’s speed is below 15 mph or 9 mph or over 77 mph depending on software
version. OnGuard will alert but not actively brake on stationary objects. Accordingly, the OnGuard Family
systems:
Will not react and alert the driver to objects crossing in front of the vehicle or oncoming traffic.
Should not be relied on to track lead vehicles when traveling through a severe curve in the road.
Because of this, ACC is not recommended for use on winding (curving) roads.
Should not be relied upon to track smaller objects (e.g. motorcycles, mopeds, bicycles, pedestrians, etc.).
Should not be relied on to alert drivers to vehicles in an adjacent lane.
OnGuardALERT Forward Collision Warning with Brake Integration is installed on vehicles with
SmartTrac®Hydraulic Anti-Lock Braking System and has significantly reduced performance in braking
capabilities as compared to OnGuardACTIVE collision mitigation system installed on vehicles with
pneumatic anti-lock braking systems.

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Introduction
4.5 System Components
4.5.1 Radar Sensor
The radar sensor is used to detect vehicles and obstacles for the OnGuard Family. It is mounted in the front
of the vehicle near the center of the bumper and recessed in the bumper in most applications. The sensor
has an electrical connector that provides power, ground and communication to the SAE J1939 network
which is required for correct operation.
The mounting orientation is determined by the 3 hole bolt pattern of the bracket. The radar sensor generally
is mounted with the connector on the driver’s side of the vehicle. The sensor connector is protected by a
rubber boot. This boot should fully cover the connector upon completion of the sensor installation or repair.
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4.5.2 Fascia
The fascia is a protective cover for the radar sensor and is assembled to the same bracket on which the
radar sensor is mounted. Some vehicle manufacturer’s use other fascia designs.
Only original equipment fascias supplied by ZF and the vehicle manufacturer may be used to protect the
radar sensor.
The fascia should not be blocked by any foreign matter (dirt, snow, ice, stickers, etc.), otherwise a system
fault will occur and the OnGuard Family will be disabled.
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4.5.3 Display
The OnGuard Family display provides the interface for the driver. Audible and visual warnings, as well
as verification of correct system operation and faults, are communicated to the driver. The driver is able
to monitor the status of lead vehicles that the OnGuard Family system are tracking. The functions of
the OnGuard Family display may be integrated into a vehicle’s instrument panel. If the vehicle has an
integrated display, please refer to your vehicle owner’s manual for correct operation.