What causes a pulsating brake pedal on this machine?

Frank Zimmerman

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I'm troubleshooting a machine with a pulsating brake pedal. The hydraulic pumps are reportedly only 3 years old with low hours, and the rest of the hydraulic system works normally. I don't have a service manual or any experience with this model. Does anyone know the correct procedure for checking hydraulic brake pressures or have experience diagnosing a pulsating brake pedal on this machine?
 
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