WABCO TAILGUARD User guide

TailGUARDTM
FOR TRUCK & BUS APPLICATIONS
SYSTEM DESCRIPTION

Table of contents

3
Table of contents
1 General information ......................................................................5
2 Safety information........................................................................7
2.1 General safety instructions..............................................................7
2.2 Summary of the safety instructions from the chapters .........................................9
3 Introduction ............................................................................12
4 Vehicle requirements ....................................................................13
5 System and function .....................................................................14
5.1 Functional description ................................................................14
5.2 Reverse monitoring system ............................................................15
5.3 Autonomous braking with separate valves.................................................16
5.4 Braking via a prepared interface for TailGUARD ............................................19
6 Components ...........................................................................20
6.1 Basiccongurationforidenticationandwarningandforbrakinginterventionviaapreparedinterface
for TailGUARD on the vehicle ..........................................................20
6.2 Extension for autonomous braking (via separate valves) .....................................22
6.3 Extension for additional buzzer .........................................................24
7 Installation .............................................................................25
7.1 Notes on installing the Electronic Extension Module .........................................25
7.2 Notes on installing the cables / dummy caps ...............................................26
7.3 Notes on installing the ultrasonic sensors .................................................27
7.3.1 TailGUARD...................................................................30
7.3.2 TailGUARDRoof ................................................................31
7.4 Notes on installing the Trailer Remote Control..............................................32
7.5 Notes on connecting the speed signal ....................................................32
7.6 Notes on installing the valves for brake intervention .........................................32
7.7 Notes on controlling the stop lights ......................................................33
8 Start-up................................................................................34
8.1 Training ...........................................................................34
8.2 Diagnostic hardware .................................................................34
8.3 Parameter setting in TEBS E diagnostic software ...........................................35
8.4 Functional test ......................................................................35
8.4.1 Electronic Extension Module pressure test ..........................................36
8.4.2 Stop light control ..............................................................36
8.4.3 Measured value speed signal Electronic Extension Module .............................36
8.5 Start-up of the ultrasonic sensors .......................................................36
8.5.1 Normal EOL test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
8.5.2 Reduced EOL test .............................................................38
9 Operation ..............................................................................39
9.1 Instructing the driver..................................................................40
9.2 Activating the system .................................................................40
9.3 Deactivation of the system ............................................................41

4
Table of contents General information
Edition 4, Version 3 (03.2020)
815 010 211 3 (en)
This publication is not subject to any update service.
Youwillndthecurrentversionontheinternetat
http://www.wabco.info/i/1534
9.4 Operation via the Trailer Remote Control..................................................41
9.4.1 Display ......................................................................42
9.4.2 Acoustic warnings .............................................................42
9.4.3 Adjusting the buzzer volume in the Trailer Remote Control..............................42
9.4.4 Deactivating TailGUARD via Trailer Remote Control ..................................42
9.5 Distance indication ...................................................................43
9.6 Detection of malfunctions..............................................................44
9.6.1 Minor faults ..................................................................44
9.6.2 Severe faults .................................................................44
10 Workshop notes ........................................................................45
10.1 Maintenance information ..............................................................45
10.2 Diagnosis ..........................................................................45
10.3 Repair and replacement...............................................................45
10.4 Disposal / recycling ..................................................................46
11 Appendix ..............................................................................47
11.1 Circuit diagrams .....................................................................47
11.2 Pin assignment "Electronic Extension Module" .............................................59
11.3 Checklist TailGUARD Truck & Bus.......................................................61

5
General information
1 General information
Abbreviations
ABBREVIATION MEANING
ABS Anti-Lock Braking System
ALS (German: Automatischer Blockierverhinderer);
Automatic Anti-Lock System
LSV Automatic load-sensing valve
EBS Electronic Braking System
ESD Electrostatic Discharge
GIO Generic Input/Output
LIN
LocalInterconnectNetwork;specicationforaserial
communication system, also LIN bus; ultrasonic sensor
interface
PLC Power Line Communication; data communication via
cable for power supply
TEBS Electronic Braking System for Trailers
Purpose of this document
This document is directed toward vehicle manufacturers and workshops.
Symbols used
!Important information, instructions and/or tips that you must always observe.
Reference to information on the internet
– Action step
ÖConsequence of an action
List
Technical documents
WABCO Customer Center
http://www.wabco.info/i/1365
!Please note that the publications are not always available in all language
versions.

6
General information Safety information
DOCUMENT TITLE DOCUMENT NUMBER
TailGUARD for Truck & Bus
applications – System Description 815 XX0 211 3
Test report EB181.2 of TÜV Nord On request
Trailer Remote Control –
Operating Manual 815 990 212 3
Trailer Remote Control – Installation
and Connection Instructions 815 XX0 195 3
TEBS E system description 815 XX0 093 3
Coupling Catalogue – Push-In,
Standard, Conventional, Accessories 815 XX0 080 3
*Language code XX: 01 = English, 02 = German, 03 = French, 04 = Spanish, 05 = Italian,
06 = Dutch, 07 = Swedish, 08 = Russian, 09 = Polish, 10 = Croatian, 11 = Romanian,
12 = Hungarian, 13 = Portuguese (Portugal), 14 = Turkish, 15 = Czech, 16 = Chinese,
17 = Korean, 18 = Japanese, 19 = Hebrew, 20 = Greek, 21 = Arabic, 24 = Danish, 25 = Lithuanian,
26 = Norwegian, 27 = Slovenian, 28 = Finnish, 29 = Estonian, 30 = Latvian, 31 = Bulgarian,
32 = Slovakian, 34 = Portuguese (Brazil), 98 = multilingual, 99 = non-verbal
Structure of the WABCO product number
WABCO product numbers consist of 10 digits.
Production date
Type of device
Variant
Status digit
0 = New device (complete device); 1 = New device (subassembly);
2 = Repair kit or subassembly; 4 = Component part;
7 = Replacement device; R = Reman
WABCO Contact
WABCO Contact
http://www.wabco.info/i/1489

7
Safety information
2 Safety information
2.1 General safety instructions
Observe all necessary regulations and instructions:
Read this document carefully.
Adhere to all instructions, information and safety information to prevent
injury to persons and damage to property.
WABCO will only guarantee the safety, reliability and performance of their
products and systems if all the information in this publication is adhered to.
Alwaysabidebythevehiclemanufacturer'sspecicationsandinstructions.
Observe all accident regulations of the respective company as well as
regional and national regulations.
Make provisions for a safe work environment:
Onlytrainedandqualiedtechniciansmaycarryoutworkonthevehicle.
Use personal protective equipment if required (protective goggles,
respiratory protection, ear protectors, safety shoes).
Pedal actuations can lead to severe injuries if persons are in the vicinity of
the vehicle. Make sure that pedals cannot be actuated as follows:
Switch the transmission to "neutral" and actuate the park brake.
Secure the vehicle with brake wedges.
Fasten a visible note to the steering wheel indicating that work is being
performed on the vehicle and that the pedals are not to be actuated.

8
Safety information Safety information
Avoid electrostatic charge and uncontrolled discharging (ESD):
Note during construction and building the vehicle:
Preventpotentialdi󰀨erencesbetweencomponents
(e.g. axles) and the vehicle frame (chassis).
Make sure that the resistance between metallic parts of the
components and the vehicle frame is less than 10 ohms.
Establish an electrically conductive connection between moving or
insulated vehicle parts, such as axles, and the frame.
Preventpotentialdi󰀨erencesbetweenthetowingvehicleandthetrailer.
Make sure that an electrically conductive connection is made between
metal parts in the towing vehicle and the coupled trailer via the coupling
(kingpin,fthwheel,clawswithpins),evenwithoutacablebeing
connected.
Use electrically conductive bolted connections when fastening the
ECUs to the vehicle frame.
Run the cable in metallic casing if at all possible (e.g. inside the
U-beam) or behind metallic and grounded protective plating to minimise
theinuenceofelectro-magneticelds.
Avoid the use of plastic materials if they can cause electrostatic
charging.
While carrying out repair or welding work on the vehicle, observe the
following:
Disconnect the battery (if installed in the vehicle).
Disconnect cable connections to devices and components and protect
connectors and ports against contamination.
Always connect the grounding electrode directly with the metal next to
theweldingpointwhenweldingtopreventmagneticeldsandcurrent
owviathecableorcomponents.
Make sure that current is well conducted by removing paint or rust.
Preventheatinuencesondevicesandcablingwhenwelding.

9
Safety information
2.2 Summary of the safety instructions from the chapters
Observe the following safety instructions for interventions in the braking system:
Observethespecicationsofthevehiclemanufacturer.
Deactivationwhenthesupplypressureistoolow:Switchthesystemo󰀨if
the vehicle's supply pressure is too low.
Onlyintervenewiththebrakingsystemifyouhavesu󰀩cientknowledgeof
thebrakingsystemandknowandcantakeresponsibilityforthee󰀨ectof
your actions and all their consequences.
The braking system is under pressure. Before intervening with the braking
system, make sure all reservoirs and lines are pressureless.
With braking interventions via separately installed valves, the front axle
must not be braked. Make sure that the vehicle's front axle can NOT be
braked by the system. Braking intervention must only occur via the rear
axle(s).
To avoid any accidents, observe the following safety instructions for operating the vehicle and as
information for the driver:
Risk of injury due to system failure in extreme weather conditions: Extreme
weather conditions e.g. heavy rain or snowfall, can lead to the restricted
functionality.
Objects with very soft surfaces cannot be detected under all
circumstances.
TailGUARD is a reversing assistance system that helps the driver
while reversing by alerting him to approaching objects and braking
independently to prevent a collision when this becomes necessary.
The driver, however, remains fully responsible for vehicle movement and
any damage that results from operating the vehicle.
WABCO cannot hold liable for an accident that is caused despite of using
this system; this is a support system only.
TailGUARD does not release the driver of his obligations under legal or
company regulations, such as support of reversing by a person giving
directions.

10
Safety information Safety information
To avoid any accidents, observe the following safety instructions for vehicles with braking intervention
through TailGUARD:
Because the stopping distance becomes longer with heavily laden vehicles
- in particular when it is equipped with EBS - the settings (parameter
setting/pressurelimitingvalve)mustenablesu󰀩cientdecelerationforthe
fully laden vehicle.
Note pulsed braking when reversing too fast:
TailGUARD can assist only with reversing speeds below max. 9 km/h.
TailGUARD will trigger short brake pulses when a critical speed is
reached to alert the driver.
If the driver accelerates further, TailGUARD deactivates itself and
outputs a fault message.
In the case of EBS vehicles with brake intervention via separately
installed valves, ABS functions are not available during TailGUARD
braking. Even at the low speed range at which TailGUARD is active, the
wheels might lock on slippery surfaces.
Speed signal faults due to incorrect or unprofessional connection can
signicantlyimpairvehiclesafety.
Vehicles with a prepared interface for TailGUARD: TailGUARD may not
brake if the vehicle’s EBS system has a fault.
Observe the following safety instructions for handling cables:
Water that enters the cable core or cable sleeve can damage electronic
control units. Cables with open ends should therefore always be
connected in the driver’s cab to ensure that no water can enter them.
Where this is not possible, use a suitable cable joint box, e.g. AK 190. This
applies in particular when using the prepared brake interface on the
Daimler Econic Euro 6.
Plan your installation position so that cables cannot become kinked.
Fasten the cables and connectors so that the plug connections are not
subjected to any tensile stress or lateral forces.
Never route cables over sharp edges or in the vicinity of aggressive media
(e.g. acids).
Route the cable to the connections so that no water can enter the
connector.
Fasten the cable ties so that the cable is not damaged.
When using tools, please note the instructions of the cable-tie
manufacturer.
If the cables are too long, do not wind them up but lay them in loops.

11
Safety information
Observe the following safety instructions for handling ultrasonic sensors:
The surface to which the ultrasonic sensor is mounted must be even and
must be at least 2 mm larger than the ultrasonic sensor (this is required
to protect the drainage holes in the rear against direct high-pressure
cleaning).
UltrasonicsensorsmustnottobemountedinaU-prolebecausethis
couldcausereections.WABCOrecommendstomounttheultrasonic
sensors mechanically protected to avoid damage.
The ability to detect objects largely depends on the ultrasonic sensors'
positioning on the vehicle. Make sure that the ultrasonic sensors are
installed at a height of at least 40 cm.
No other vehicle components should be installed within the ultrasonic
sensor's range of vision.
The rate of detection depends on object surfaces:
Ultrasoundisbestreectedbysmoothsurfacesthatarepositionedata
right angle to the sound's direction.
Small and unfavourable surfaces such as meshed structures, furry
or hairy surfaces at an oblique angle to the sound's direction are not
detected so easily.

12
Introduction Vehicle requirements
3 Introduction
TailGUARD reduces risk when reversing by detecting stationary and moving
objects in the blind spot behind the vehicle and independently stopping the
vehicle at a safe distance from the object.
TailGUARD reduces stress for the driver while reversing and helps to avoid
collisions with pedestrians, loading ramps, barriers, trees, forklifts, cars and
other objects behind the vehicle.
TailGUARD is activated automatically when the reverse gear is engaged.
TailGUARD stops the vehicle automatically if it approaches an object within a
congurabledistancebetween50and200cm.
After TailGUARD has braked the vehicle, the driver can start slowly reversing
again in order to continue rearward movement towards a ramp, after stopping
for example.
TailGUARD complies with the following regulations:
72/245/EEC – EMC – Electromagnetic Compatibility
ECE-R10 – Electromagnetic Compatibility
ECE-R13 – Braking Systems for Commercial Vehicles
Test report TÜH – TB 2016 – 045.00 – Electronic Extension Module Stand
Alone

13
Vehicle requirements
4 Vehicle requirements
Any commercial vehicle with a 24 V supply voltage can be equipped.
Commercial vehicles with 12 V can be equipped if a permanent supply voltage
of more than 11.5 V is ensured.
TailGUARD is approved for application in vehicles of classes M3, N2 and N3
with compressed air systems in accordance with regulations in
71/320/EEC or ECE-R13.
The extension for implementing autonomous braking can be applied as follows:
Software version from EX010314 (as of 15/ 2014)
Conventionally braked vehicles with or without ABS, but not vehicles with an
electronic braking system (EBS).
The braking system must be equipped with an ALS system according to
regulations mentioned above.
Software version from EX010405 (as of 41/ 2015)
Additional vehicles with an electronic braking system (EBS) from WABCO up
to EBS3.
Software version from EX010453
Additional braking via the EBS system in the towing vehicle (via TailGUARD
interface): Daimler Econic Euro 6, optional extra
Input for control of the towing vehicle brake via digital signal
Ignoring the control signal of the towing vehicle brake at > 15 km/h
through the towing vehicle
Provision of a feedback status signal that brake control is executed by the
towing vehicle
Warning lamp for indicating a fault
Braking via separate valves:
When connecting TailGUARD to the braking system, it must be ensured,
for example, that the system's response times continue to meet legal
requirements.
The permissible braking system pressure for TailGUARD with autonomous
braking must not exceed 13 bar.
The speed signal in accordance with ISO 16844-2 (C3 signal) must be
provided in the vehicle as information on the current vehicle speed. The
vehicle manufacturer must not have prohibited use of this signal for external
systems.
ECE-R13 approval of the system is only possible in combination with an
indication of the distance to objects and the system status. The Trailer Remote
Control (display and control unit) can be installed for this purpose (standard
for braking intervention via separate valves). Alternatively the system status
can be indicated by means of the TailGUARD warning lamp and the distance
to an object by means of a display in the instrument panel or via separately
installed indicator lamps (standard for brake intervention via the TailGUARD
interface in the truck).
Vehicles equipped to draw a trailer must also be equipped with a control unit for
permanent deactivation of the system.
If the towing vehicle is equipped with the Trailer Remote Control for indicating
the distances of objects in accordance with the approval report, a towed vehicle
must not access the Trailer Remote Control. The Trailer Remote Control must
be connected in a way that rules out any communication between the trailer’s
Electronic Extension Module and the Trailer Remote Control (install throttle lines
to suppress signals from the trailer or – if the towing vehicle always drives with
the same trailer – or deactivate communication with Trailer Remote Control in
the trailer parameters.)

14
System and function System and function
5 System and function
This chapter provides you with a general overview of function and structure of
the systems.
With TailGUARD for Truck and Bus there are the following options for
autonomous braking:
Braking via separate valves:
Safe operation of the braking system is ensured by the design with a two-way
valve if the system is in a fault-free state.
Braking via a prepared interface for TailGUARD:
The system does not have direct access to the vehicle brake and sends
braking requests to the vehicle’s braking system via a TailGUARD interface.
This function will be available in some towing vehicles from 2017.
To avoid any accidents, observe the following safety instructions for
vehicles with braking intervention through TailGUARD:
Vehicles with a prepared interface for TailGUARD: TailGUARD may not
brake if the vehicle’s EBS system has a fault.
5.1 Functional description
TailGUARD is activated by shifting into reverse gear.
The ultrasonic sensors and valves are tested for proper function and the
TailGUARD system's readiness for operation is signalled to the driver.
Ifanobjectisidentiedwhilereversingandthedistancebecomeslessthan
theconguredstoppingdistance,thevehiclewillbebrakedfor3seconds
beforethebrakeisreleasedagain.Thestoppingdistancecanbeconguredvia
parameters (between 50 and 200 cm).
While the signal for braking is being given, another signal is available to avoid
simultaneous acceleration of the vehicle. This signal can be used to reset an
accelerator pedal to neutral or to shift a transmission to neutral.
!This signal must only be used to trigger vehicle functions that prevent
acceleration of the vehicle. The signal must not be used to trigger a brake
intervention.
Atspeedsabove9km/hthedecelerationdenedforTailGUARDmaynot
su󰀩cetostopthevehiclewithintheconguredstoppingdistance.
If the vehicle moves backward at 9 km/h or more, TailGUARD triggers short
brake pulses to notify the driver of the excessive speed. TailGUARD here
regulates the speed down to 7 km/h. If these warning brake actions are ignored
andthespeedcontinuestoincrease,thesystemisswitchedo󰀨at12km/h.
Following an autonomous braking procedure, the driver can start driving again
and continue to reverse.

15
System and function
Silent mode: If a buzzer is connected, it can be deactivated temporarily by
engaging the reverse gear twice (within 3 seconds), e.g. when making deliveries
in residential areas.
Depending on the parameter settings, the entire TailGUARD function can be
deactivated temporarily by engaging the reverse gear twice.
The distance information is indicated to the driver in accordance with the
respectivesystemcongurationassoonasanobjectisdetectedwithin
3 metres of the rear of the vehicle.
Vehicles with Trailer Remote Control: The distance to the object is indicated
in green, yellow or red bars and a tone whose frequency changes with the
distance.
Braking via a prepared interface for TailGUARD:
Indication is implemented via the instrument panel.
Vehicles with option:Indicationviaashingrearoutlinemarkerlamps.
5.2 Reverse monitoring system
The ultrasonic sensors transmit ultrasonic waves to the area behind the vehicle.
Ifanobjectorapersonreectsthesesonicwaves,theultrasonicsensors
receive an echo. The distance to the object is calculated from the time the
ultrasonic waves take from transmission to reception of the echo.
The distance to detected objects is indicated by means of LED bars in the
driver'scabin.Alternatively,thedistancecanbeindicatedbyaashing
frequency of the rear outline marker lamps or an additional lamp in the
instrument panel.
TailGUARD can support up to 6 sensors. Each ultrasonic sensor monitors an
areathatissimilarinshapetoaattenedclub.Byarrangingtheultrasonic
sensors on the vehicle accordingly, objects near the roof area or the ground, for
example,canalsobeidentied.
All ultrasonic sensors are connected to one input on the electronic control unit
as a LIN (Local Interconnect Network), which connects all ultrasonic sensors as
a tree structure.
Each ultrasonic sensor is assigned its own LIN address so that its data can be
evaluated separately within this network.
The maximum permitted cable length between ECU and the last ultrasonic
sensor is 40 m.

16
System and function System and function
5.3 Autonomous braking with separate valves
When TailGUARD detects an object, it can act on the compressed-air braking
system of the vehicle, thus braking independently.
Active braking is only permitted if the reservoir pressure on the brake valve (2)
is at least 7.3 bar. This is ensured by a charging valve (3). A pressure limiting
valve(4)isusedtodenethepressureforactivebrakingandthusfor
deceleration.
After approaching an object within a critical distance, the Electronic Extension
Module (1) starts the brake action, controlling two solenoid valves (5) and (6)
via two independent circuits. A braking pressure is only fed if both solenoid
valves switch simultaneously. This rules out a braking process being initiated by
an electrical fault.
A pressure sensor (8) monitors the pressure applied by the solenoid valves.
The service brake is operated by means of a two-way valve (Select-High
valve, 7).
The braking pressure on the brake cylinders is adjusted relative to the
respective load because this pressure is fed by the automatic load-sensing
valve (9).
The Electronic Extension Module switches on the stop light during autonomous
braking. If a fault monitoring system is installed for the stop light, it may need
to be adjusted. If the stop lights are monitored for faults: Fault monitoring must
only be active while the pedal is operated by the driver and LED stop lights
must not be installed.

17
System and function
Brake intervention for vehicles with ABS
ITEM DESCRIPTION
1Electronic Extension Module (electronic control unit)
2Brake valve
3Charging valve
4Pressure limiting valve
5Solenoid valve
6Solenoid valve
7Select High valve
8Pressure sensor
9Automatic load-sensing valve
10 Trailer Remote Control

18
System and function System and function
Braking intervention for vehicles with EBS (braking via separate valves)
ITEM DESCRIPTION
1Electronic Extension Module (electronic control unit)
3Charging valve
4Pressure limiting valve
5Solenoid valve
6Solenoid valve
72-way directional control valve
8Pressure sensor
10 Trailer Remote Control
11 Relay valve
!Iftheautonomousbrakingapplicationisretrotted,thesystemmustbe
submitted to an acceptance procedure and an entry in the vehicle documents is
required.
The approval report EB181.2 of TÜV Nord should be submitted when the
vehicle is presented.

19
System and function
5.4 Braking via a prepared interface for TailGUARD
To avoid any accidents, observe the following safety instructions for
vehicles with braking intervention through TailGUARD:
Vehicles with a prepared interface for TailGUARD:
TailGUARD may not brake if the vehicle’s EBS system has a fault.
Several vehicles from Daimler do not require an intervention into the pneumatic
braking system. In addition, functional data such as speed, driving direction
and distance to an object are electronically exchanged. With these vehicles
the Electronic Extension Module is connected to the prepared interface for
TailGUARD at the underside of the vehicle by three cables.
ThisvehiclecongurationalsodoesnotrequireuseoftheTrailerRemote
Control, because the system’s readiness for operation and the distance
information is displayed via the instrument panel.
!Circuit diagram 841 802 360 0 "Braking by Truck EBS"Chapter "11.1 Circuit
diagrams", page 47

20
Components Components
6 Components
6.1 Basic conguration for identication and warning and for
braking intervention via a prepared interface for TailGUARD
on the vehicle
COMPONENT / PART NUMBER COMMENT
Electronic Extension Module
446 122 070 0
Control electronics
When used with autonomous braking:
Vehicles with ABS: The production date must be 01/2014 or later.
Vehicles with EBS: The production date must be 41/2015 or later.
"Supply" cable
449 305 100 0
Length: 10 m (other lengths on request)
Connection to the Electronic Extension Module "Power" and the
vehicle's fuse box
Pink: Terminal 30
Black: Terminal 15
White: Ground
White-green: CAN1 High (optional)
White-brown: CAN1 Low (optional)
Connecting cable for monitoring the
reverse gear, stop light control of rear
outline marker lamps
449 908 100 0
Length: 10 m (further lengths on request)
Connection "stop light cabling" to the Electronic Extension Module
"GIO12"
Pink: Pickup, reversing light
Black: Input, stop light left
Brown: Input, stop light right
Yellow-brown: Output, stop light right
Yellow-black: Output, stop light left
"Diagnostic connection" cable
449 605 020 0
Length: 2 m (further lengths on request)
Connection to the Electronic Extension Module "Subsystems",
provides the diagnostic port at an easily accessed position on the
outside of the vehicle.
Ultrasonic sensor
446 122 450 0
With 2.5 m connecting cable
10° basic setting
installed horizontally