BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS  VEHICLE STABILITY CONTROL SYSTEM  U0073  Control Module Communication Bus OFF  U0100  Lost Communication with ECM / PCM  U0124  Lost Communication with Lateral Acceleration Sensor Module  U0126  Lost Communication with Steering Angle Sensor Module  


DESCRIPTION

The skid control ECU (brake actuator assembly) receives signals from the ECM, steering angle sensor and yaw rate and acceleration sensor (airbag ECU assembly) via CAN communication.

DTC No. Detection Item DTC Detection Condition Trouble Area
U0073 Control Module Communication Bus OFF Any of the following is detected:
1.

A bus OFF state occurs once or more within 0.1 seconds, 10 times in succession. (Sent signals cannot be received.)

2.

When the IG1 terminal voltage is between 10 and 17.4 V, a delay in receiving data from the yaw rate and acceleration sensor and steering angle sensor continues for 1 second or more.

3.

When the IG1 terminal voltage is between 10 and 17.4 V, the following occurs 10 times in succession within 60 seconds:

·

A delay in receiving data from the yaw rate and acceleration sensor and steering angle sensor occurs more than once within 5 seconds.



CAN communication system
U0100 Lost Communication with ECM / PCM The IG1 terminal voltage is between 10 and 17.4 V and the vehicle speed is 15 km/h (9 mph) or more, data cannot be received from the ECM for 2 seconds or more.
·

CAN communication system

·

Skid control ECU (brake actuator assembly)

·

ECM


U0124 Lost Communication with Lateral Acceleration Sensor Module Either of the following is detected:
1.

The IG1 terminal voltage is between 10 and 17.4 V and the vehicle speed is 7 km/h (4 mph) or more, data from the acceleration sensor cannot be received for 1 second or more.

2.

When the IG1 terminal voltage is between 10 and 17.4 V, the following occurs 10 times in succession within 60 seconds:

·

A data from the acceleration sensor cannot be received once or more within 5 seconds.



·

CAN communication system

·

Skid control ECU (brake actuator assembly)

·

Acceleration sensor (airbag ECU assembly)


U0126 Lost Communication with Steering Angle Sensor Module Either of the following is detected:
1.

When the IG1 terminal voltage is between 10 and 17.4 V, data from the steering angle sensor cannot be received for 1 second or more.

2.

When the IG1 terminal voltage is between 10 and 17.4 V, the following occurs 10 times in succession within 60 seconds:

·

A data from the steering angle sensor cannot be received once or more within 5 seconds.



·

CAN communication system

·

Skid control ECU (brake actuator assembly)

·

Steering angle sensor



WIRING DIAGRAM

C270522E30
5.573,2 7.135,2.406 1.563,0.406 10 false Skid Control ECU (Brake Actuator Assembly) 2.927,4.677 4.229,4.885 1.302,0.208 10 false Junction Connector 0.042,4.771 2.24,5.167 2.198,0.396 10 false Yaw Rate and Acceleration Sensor (Airbag ECU Assembly) 3.292,2.01 3.948,2.427 0.656,0.417 10 false Junction Connector 0.604,2.021 1.063,2.219 0.458,0.198 10 false ECM 0.615,1.865 1.073,2.063 0.458,0.198 10 false A40 5.677,4.771 7.125,5.146 1.448,0.375 10 false Steering Angle Sensor 2.427,5.271 4.167,5.521 1.74,0.25 10 false : CAN Communication Line 0.771,0.719 1.385,0.917 0.615,0.198 10 false CANL 6.042,0.698 6.656,0.896 0.615,0.198 10 false CANL 0.76,3.521 1.375,3.719 0.615,0.198 10 false CANL 6.021,3.49 6.635,3.688 0.615,0.198 10 false CANL 0.75,1.396 1.365,1.594 0.615,0.198 10 false CANH 6.052,1.365 6.667,1.563 0.615,0.198 10 false CANH 0.74,4.188 1.354,4.385 0.615,0.198 10 false CANH 6.021,4.167 6.635,4.365 0.615,0.198 10 false CANH 5.573,1.844 6.031,2.042 0.458,0.198 10 false A64 1.292,0.552 1.604,0.75 0.313,0.198 10 false 26 1.292,1.198 1.604,1.396 0.313,0.198 10 false 13 1.26,3.313 1.573,3.51 0.313,0.198 10 false 22 1.271,3.969 1.583,4.167 0.313,0.198 10 false 13 0.083,4.615 0.542,4.813 0.458,0.198 10 false E14 2.406,0.5 2.604,0.698 0.198,0.198 10 false 17 2.458,1.167 2.615,1.365 0.156,0.198 10 false 6 2.365,0.708 2.979,0.906 0.615,0.198 10 false A39 2.375,1.385 2.99,1.583 0.615,0.198 10 false A39 4.521,0.708 5.135,0.906 0.615,0.198 10 false A39 4.521,1.385 5.135,1.583 0.615,0.198 10 false A39 2.969,1.833 3.583,2.031 0.615,0.198 10 false A39 3.927,1.833 4.542,2.031 0.615,0.198 10 false A39 2.385,3.49 3,3.688 0.615,0.198 10 false E55 2.375,4.167 2.99,4.365 0.615,0.198 10 false E55 2.979,3.031 3.438,3.229 0.458,0.198 10 false E55 3.938,3.031 4.396,3.229 0.458,0.198 10 false E55 4.521,3.49 4.979,3.688 0.458,0.198 10 false E55 4.521,4.167 4.979,4.365 0.458,0.198 10 false E55 4.552,0.5 4.76,0.698 0.208,0.198 10 false 16 4.594,1.167 4.802,1.344 0.208,0.177 10 false 5 2.417,3.271 2.625,3.458 0.208,0.188 10 false 12 2.458,3.958 2.615,4.156 0.156,0.198 10 false 1 4.552,3.281 4.781,3.469 0.229,0.188 10 false 21 4.552,3.958 5,4.167 0.448,0.208 10 false 10 2.677,1.823 2.906,2.021 0.229,0.198 10 false 12 4.302,1.823 4.458,2.021 0.156,0.198 10 false 1 2.688,3.031 2.979,3.26 0.292,0.229 10 false 16 4.292,3.031 4.49,3.229 0.198,0.198 10 false 5 5.802,3.333 5.958,3.531 0.156,0.198 10 false 2 5.792,4.01 5.948,4.208 0.156,0.198 10 false 3 5.677,4.625 6.135,4.823 0.458,0.198 10 false E115 5.75,0.531 6.063,0.729 0.313,0.198 10 false 14 5.76,1.229 6.073,1.427 0.313,0.198 10 false 25

PROCEDURE

1.CHECK HARNESS AND CONNECTOR (MOMENTARY INTERRUPTION)
a.

Using the GTS, check for any momentary interruption in the wire harness and connector corresponding to a DTC.

Click hereBrake>BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS>VEHICLE STABILITY CONTROL SYSTEM>CHECK FOR INTERMITTENT PROBLEMS

Chassis > ABS/VSC/TRC > Data List
Tester Display Measurement Item Range Normal Condition Diagnostic Note
EFI Communication Open ECM communication open detection Error or Normal Error: Momentary interruption
Normal: Normal 		-
Yaw Rate Open Yaw rate sensor open detection Error or Normal Error: Momentary interruption
Normal: Normal 		-
Deceleration Open Acceleration sensor open detection Error or Normal Error: Momentary interruption
Normal: Normal 		-
Steering Open Steering angle sensor open detection Error or Normal Error: Momentary interruption
Normal: Normal 		-
Chassis > ABS/VSC/TRC > Data List
Tester Display
EFI Communication Open
Yaw Rate Open
Deceleration Open
Steering Open
50003 105 204,205,206,207
Result:
Result Proceed to
There is a constant interruption. (Error is displayed without interruption.) A
There are no momentary interruptions. B
There are momentary interruptions. (Error is displayed intermittently.) C


HINT:

Perform the above inspection before disconnecting any sensors or connectors.




A

2.CHECK IF EACH CONNECTOR IS SECURELY CONNECTED (ECM, SENSOR)

B

3.RECONFIRM DTC

C

4.REPAIR OR REPLACE HARNESS OR CONNECTOR
2.CHECK IF EACH CONNECTOR IS SECURELY CONNECTED (ECM, SENSOR)
a.

Turn the engine switch off.


b.

Check if each sensor or ECM connector is securely connected.

OK:

Each connector is securely connected.



Result:
Proceed to
OK
NG



OK

3.RECONFIRM DTC

NG

CONNECT CONNECTOR TO EACH SENSOR OR ECM CORRECTLY

3.RECONFIRM DTC
a.

Turn the engine switch off.


b.

Record the output DTCs (for VSC system and/or CAN communication system).

for VSC system: Click hereBrake>BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS>VEHICLE STABILITY CONTROL SYSTEM>DTC CHECK / CLEAR

for CAN communication system: Click herePower Source / Network>NETWORKING>CAN COMMUNICATION SYSTEM>DIAGNOSIS SYSTEM

Chassis > ABS/VSC/TRC > Trouble Codes
50001 105
HINT:

If CAN communication system DTCs and related sensor DTCs are output simultaneously, troubleshoot the DTCs (for VSC system) after the CAN communication system returns to normal.



Result:
Result Proceed to
DTCs are not output. A
DTCs are output. B
CAN communication system DTC is output. C



A

USE SIMULATION METHOD TO CHECK

Click hereGeneral>INTRODUCTION>HOW TO TROUBLESHOOT ECU CONTROLLED SYSTEMS>HOW TO PROCEED WITH TROUBLESHOOTING


B

REPAIR CIRCUITS INDICATED BY OUTPUT DTCS

Click hereBrake>BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS>VEHICLE STABILITY CONTROL SYSTEM>DIAGNOSTIC TROUBLE CODE CHART


C

INSPECT CAN COMMUNICATION SYSTEM

Click herePower Source / Network>NETWORKING>CAN COMMUNICATION SYSTEM>HOW TO PROCEED WITH TROUBLESHOOTING


4.REPAIR OR REPLACE HARNESS OR CONNECTOR
a.

Turn the engine switch off.


b.

Repair or replace the harness or connector.


c.

Check for any momentary interruptions between the skid control ECU (brake actuator assembly) and each sensor or ECM.

Click hereBrake>BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS>VEHICLE STABILITY CONTROL SYSTEM>CHECK FOR INTERMITTENT PROBLEMS


Result:
Proceed to
NEXT



NEXT

5.RECONFIRM DTC
5.RECONFIRM DTC
a.

Turn the engine switch off.


b.

Clear the DTCs.

Click hereBrake>BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS>VEHICLE STABILITY CONTROL SYSTEM>DTC CHECK / CLEAR

Chassis > ABS/VSC/TRC > Clear DTCs
50002 105

c.

Turn the engine switch off.


d.

Start the engine.


e.

Drive the vehicle at a speed of 15 km/h (9 mph) or more and turn the steering wheel to the right and left.


f.

Check that no CAN communication system DTCs are output.

Click herePower Source / Network>NETWORKING>CAN COMMUNICATION SYSTEM>DIAGNOSIS SYSTEM


g.

If VSC system DTCs are output, record them.

Click hereBrake>BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS>VEHICLE STABILITY CONTROL SYSTEM>DTC CHECK / CLEAR

Chassis > ABS/VSC/TRC > Trouble Codes
50001 105
Result:
Result Proceed to
DTCs are not output. A
DTCs are output. B
CAN communication system DTCs are output. C


HINT:

The CAN communication system must be normal when performing troubleshooting for sensor DTCs (for VSC system).




A

END

B

REPAIR CIRCUITS INDICATED BY OUTPUT DTCS

Click hereBrake>BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS>VEHICLE STABILITY CONTROL SYSTEM>DIAGNOSTIC TROUBLE CODE CHART


C

INSPECT CAN COMMUNICATION SYSTEM

Click herePower Source / Network>NETWORKING>CAN COMMUNICATION SYSTEM>HOW TO PROCEED WITH TROUBLESHOOTING