This paper presents a scheme for experimentally analyzing bounce, roll and pitch frequencies of major systems of a large truck using a multi-axial road simulator. The excitation input (amplitude and frequency range) fur a frequency response test with the multi-axial road simulator is selected in order that bounce, roll and pitch modes are not coupled each other, the excitation amplitude can be reproduced in a specified excitation frequency range, and tires do not lose contact with posters. Three accelerometers, one gyroscope and four displacement meters are used in the frequency response test using the multi-axial road simulator. The reliability of the presented bounce mode frequency response test scheme is validated by comparing the result from a test using the multi-axial road simulator with the result from a road driving test. The road driving test is performed with velocities of 20km/h and 30km/h, and in an unladen state. The vertical accelerations at the cab and the front axle are measured in the road driving test. The roll and pitch mode frequency response tests are also performed with the presented frequency response test scheme. Roll and pitch frequencies of major systems of a large truck that are hard to acquire from a road driving test are analyzed as well as bounce frequency.