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Transmission problem?

I have a Daf 2007 model 55 LF 220+, diesel automatic gearbox. The problem is when the gear is engaged to drive the vehicle does not go forward. When the gear is engaged to reverse the vehicle will move and the dashboard will light telling us to check transmission. What do you thing is the problem with the transmission.
Alie Hamoud, July 2015
link Click here to see other fixes for DAF LF.