Can Communication System (For Lhd With Central Gateway Ecu) Diagnosis System

V Bus

1. Central gateway ECU
   

2. DLC3
   

Bus 2

1. ECM
   

2. Combination meter assembly
   

3. Main body ECU (multiplex network body ECU)
   

4. Spiral with sensor cable sub-assembly (steering angle sensor)
   

5. Airbag sensor assembly
   

6. Headlight leveling ECU assembly
   

7. Central gateway ECU
   

8. Master cylinder solenoid (skid control ECU)
   

9. Steering control ECU*1
   

10. Power steering ECU assembly*2
    

11. 4WD control ECU
    

12. Tire pressure warning ECU*3
    

13. Air conditioning amplifier assembly
    

14. Certification ECU (smart key ECU assembly)*4
    

    1. *1: w/ Variable Gear Ratio Steering System
       
    2. *2: w/ Variable Flow Control Solenoid Valve
       
    3. *3: w/ Tire Pressure Warning System
       
    4. *4: w/ Entry and Start System
       

Bus 3

1. Central gateway ECU
   

2. Multi-media module receiver assembly*1
   

3. Radio and display receiver assembly*2
   

4. Bus buffer ECU*3
   

   1. *1: for Multi-media Module Receiver Type
      
   2. *2: for Radio and Display Type
      
   3. *3: w/ Bus Buffer ECU
      

Bus 5

1. Central gateway ECU
   

2. Clearance warning ECU assembly*1
   

3. Parking assist ECU*2
   

4. Driving support ECU assembly*3
   

5. Forward recognition camera*3
   

6. Millimeter wave radar sensor assembly*3
   

7. Inner rear view mirror assembly*4, *5
   

8. Suspension Control ECU*6
   

9. Blind spot monitor sensor LH*7
   

   1. *1: w/ TOYOTA Parking Assist-sensor System
      
   2. *2: w/ Multi-terrain Monitor System
      
   3. *3: w/ Pre-crash Safety System
      
   4. *4: w/o Pre-crash Safety System
      
   5. *5: w/ Automatic High Beam System
      
   6. *6: w/ Active Height Control Suspension
      
   7. *7: w/ Blind Spot Monitor System
      

Sub Bus 1

1. Main body ECU (multiplex network body ECU)
   

2. Outer mirror control ECU assembly LH*1
   

3. Outer mirror control ECU assembly RH*1
   

4. Power seat switch assembly*1
   

5. Multiplex tilt and telescopic ECU*2
   

6. Power back door unit assembly (power back door ECU)*3
   

7. No. 2 main body ECU*4
   

   1. *1: w/ Memory
      
   2. *2: w/ Power Tilt and Power Telescopic Steering Column System
      
   3. *3: w/ Power Back Door System
      
   4. *4: w/ Tail Gate Closer System
      

Local Bus*

1. Driving support ECU assembly
   

2. Forward recognition camera
   

3. Millimeter wave radar sensor assembly
   

   1. *: w/ Pre-crash Safety System
      

Using the GTS, select "CAN Bus Check" from "System Select".

HINT:

Different connection statuses are indicated by the background color of ECUs and sensors that are displayed.

HINT:

1. Gateway function equipped ECUs relay signals between the ECUs connected to the different buses.
   
2. *1: ECUs that are present in the vehicle but are not displayed on the CAN Bus Check.
   
3. *2: Gateway function equipped ECU that does not memorize the non-bus 2 ECUs that are connected to it.
   
4. *3: Gateway function equipped ECU that memorizes the non-bus 2 ECUs that are connected to it.
   
5. If none of the connected ECUs are displayed, or there is no response from the vehicle to the GTS, check the central gateway ECU and the diag bus main bus lines for a malfunction.
   

Observe the connection response screen for approximately 2 minutes to check for a change in connection status of the connected ECUs and sensors.

HINT:

1. If an open occurs in one of the lines of a CAN branch (except DLC3), output from the other branch line (the line that is not open) will be unstable and it may interfere with the response (display) of other ECUs and sensors.
   
2. If the connection status changes during the inspection, repair the open in the branch line of the ECU or sensor that does not respond (is not detected) and then perform the CAN bus check again.
   

The systems (ECUs and sensors) that adopt CAN communication vary depending on the vehicle and optional equipment. Check which systems (ECUs and sensors) are installed on the vehicle.

HINT:

The names of ECUs and sensors shown on the GTS display may differ from those shown in the DTC Table by ECU section.

When a communication stop is currently occurring, the probable malfunctioning part can be determined from the CAN bus check and by using the following methods.

NOTICE:

The following CAN bus wiring diagram is provided only as an example. This wiring diagram is different from the actual wiring diagram for this vehicle.

HINT:

1. When a communication stop is currently occurring, it is easier to determine the probable malfunctioning part from the CAN bus check rather than from communication DTCs.
   
2. Wait for approximately 2 minutes after turning the ignition switch to ON (or simulate the driving conditions that enable the malfunction to be reproduced) and select the CAN bus check. Then observe the communication status of each ECU on the screen.
   

If a communication error of only 1 ECU or sensor is indicated on the CAN Bus Check screen, a communication stop of the ECU or sensor is suspected.
Example: Open in both CAN branch lines of ECU D on the bus 2

HINT:

When there are communication stops, ECUs are present in the vehicle even though they are not displayed on the CAN Bus Check screen.

If communication errors for multiple ECUs or sensors are indicated on the CAN Bus Check screen, then a communication stop of the ECU or sensor that shows a more serious communication stop (an ECU or a sensor which is not displayed) is suspected.
Example: Open in a CAN branch line for ECU B on the bus 2

HINT:

1. Gateway function equipped ECUs relay signals between the ECUs connected to the different buses.
   
2. *1: ECUs that are present in the vehicle but are not displayed on the CAN Bus Check screen.
   
3. *2: Gateway function equipped ECU that does not memorize the non-bus 2 ECUs that are connected to it.
   
4. *3: Gateway function equipped ECU that memorizes the non-bus 2 ECUs that are connected to it.
   
5. The example of the CAN Bus Check screen in the illustration shows the result of electrical noise on the CAN bus which is caused by an open in a CAN branch line of ECU B (output from the other branch line is unstable) and the communication of ECU A is also unstable. In addition, in this example, ECU A is equipped with a gateway function. Therefore, communication is also unstable between the non-bus 2 ECUs of ECU A and the bus 2.
   
6. The example in the illustration shows that ECU B is not displayed on the CAN Bus Check screen. This indicates a more significant communication stop. In this case, a communication stop of ECU B is suspected.
   

If a communication error is indicated on both the bus 2 and non-bus 2 on the CAN Bus Check screen, suspect any communication stop displayed for the bus 2 first.
Example: Open in both CAN branch lines of ECU A on the bus 2

HINT:

1. In the CAN bus check, it is possible to confirm the communication status of ECUs connected to the bus 2 after connecting the GTS to the DLC3. As for non-bus 2, it is possible to confirm which non-bus 2 connected ECUs can communicate with a gateway function equipped ECU on the bus 2.
   
2. If a gateway function equipped ECU has a communication error, ECUs connected to the gateway function equipped ECU are also affected, and communication stops will be indicated.
   
3. The CAN Bus Check screen in the illustration shows that ECU A has a gateway function and a communication stop in ECU A is suspected.
   

If the CAN Bus Check screen indicates a communication stop only in the non-bus 2, a communication stop in the non-bus 2 is suspected.
Example: Open in both CAN branch lines of ECU G on the non-bus 2

HINT:

1. A communication error in a non-bus 2 does not affect the bus 2 or other buses.
   
2. When a gateway function equipped ECU has memorized the ECUs that are connected to the non-bus 2, if any of the ECUs connected to the gateway function equipped ECU has a communication error, the background color changes to yellow or red. (The displayed name will not disappear.)
   

If both of the bus 2 main bus lines are open, ECUs or sensors that are located farther away from the central gateway ECU than the open part will be displayed as a communication stop on the CAN Bus Check screen.
(In this case, ECU D and E are not displayed or their background color changes to red.)

HINT:

If a communication error occurs in an ECU, it is not displayed on the CAN Bus Check screen even though the ECU is present.

If of the non-bus 2 main bus lines are open, ECUs that are located farther away from the central gateway ECU than the open part will be displayed as a communication stop on the CAN Bus Check screen.
(In this case, ECU I and J are not displayed or their background color changes to red.)

When any of the following malfunctions occur, CAN communication cannot be established and almost all ECUs and sensors on the bus show a communication error on the CAN Bus Check screen.

HINT:

1. When a malfunction occurs on the bus 2, almost all ECUs and sensors on the bus 2 and non-bus 2 indicate a communication error (almost all ECUs are not displayed). As communication with the gateway function equipped ECU that is connected to the bus 2 stops, communication from the ECUs connected to the non-bus 2 that is monitored by the gateway function equipped ECU also stops (these ECUs are not displayed).
   
2. When a malfunction occurs in a non-bus 2, almost all ECUs connected to the non-bus 2 indicate a communication error.
   
3. A communication error in a non-bus 2 does not affect the bus 2 or other buses.
   
4. The malfunctioning part can be determined by checking for a short circuit between CAN bus lines or between a CAN bus line and ground or +B short using an electrical tester.
   

If a CAN communication error cannot be reproduced, determine the suspected malfunctioning part using the DTCs stored in ECUs that are connected to the CAN buses by following the procedure below.

HINT:

Communication DTCs (DTCs that start with U) indicate a communication error between the ECU that stores the DTC and the ECU that is indicated by the DTC.

1. If multiple ECUs store a communication DTC for a particular ECU, a communication stop of the ECU is suspected.
   

   
   
   
   
   

   Text in Illustration

   *a

   Items to be checked

   -

   -

   NOTICE:

   1. This DTC table is from another model, and is only used here to show an example of DTCs that are output when there is an open in a CAN branch line for the main body ECU. This table does not show DTCs applicable to this vehicle.
      
   2. Even though a DTC title may indicate a communication error with a specific ECU, the ECU name used in the DTC name on the GTS may differ depending on the ECU that stores the DTC. (Regarding output DTCs, refer to step 6 and the DTC chart for each ECU.)
      

   HINT:

   As multiple ECUs indicate a communication stop with the main body ECU, the possibility of a communication stop of the main body ECU is high.





2. If almost all of the communication DTCs of an ECU are stored, a communication stop of the ECU is suspected.
   

   
   
   
   
   

   Text in Illustration

   *a

   Items to be checked

   -

   -

   NOTICE:

   This DTC table is from another model, and is only used here to show an example of DTCs that are output when there is an open in a CAN branch line for the main body ECU. This table does not show DTCs applicable to this vehicle.

   HINT:

   1. If almost all of the DTCs of the main body ECU are stored, the possibility of a communication stop of the main body ECU is high.
      
   2. When a CAN communication error occurs, many DTCs are output. DTCs other than communication error DTCs (such as DTCs that start with C or B) and communication DTCs for the ABS system are important DTCs, however it may be easier to determine the malfunctioning part by examining the overall situation without considering these DTCs.
      

To help determine the part of the non-bus 2 that has a communication error, prioritize the communication stop DTCs stored in the gateway function equipped ECU.

NOTICE:

This DTC table is from another model, and is only used here to show the ECUs connected to a bus 2 and a non-bus 2. It shows DTCs output when there is an open in the main bus lines for the ECM on the non-bus 2. This table does not show DTCs applicable to this vehicle.

HINT:

1. As gateway function equipped ECUs (non-bus 2 monitor ECU) monitor signals from all ECUs that are connected to non-bus 2, gateway function equipped ECUs can detect ECUs with a communication stop more accurately.
   
2. When there is a communication stop for the gateway function equipped ECU (gateway), communication with ECUs connected to other buses such as the bus 2 stops. Therefore, communication DTCs for ECUs connected to other buses are also stored.
   

When any of the following malfunctions occurs, many DTCs are likely to be output from many ECUs. Because of this, it may be difficult to determine the probable malfunctioning part.

1. Short between CAN lines (CANH and CANL)
   
2. Short between a CAN line (CANH or CANL) and ground
   
3. Short between a CAN line (CANH or CANL) and +B
   
4. Open in a CAN branch line (CANH or CANL) of an ECU or sensor
   
5. Open in a CAN main bus line (CANH or CANL) between 2 ECUs that have a terminating resistor
   

ECM

HINT:

This ECU uses the CAN communication system for DTC communication.

1. GTS Display "Cruise Control"
   
   

   DTC	Detection Item	DTC Detection Condition	DTC Detection Precondition	DTC Check Procedure	Warning Indication in Meter	DTC Storage Method
   U0122	Lost Communication with Vehicle Dynamics Control Module	The ECM does not receive data from the master cylinder solenoid (skid control ECU) for 2.58 seconds	All conditions are met: 1 second elapse after turning the ignition switch to ON. The cruise control switch is on The ECM power supply voltage is 10.5 V or higher.	Allow the cruise control system to operate for 3.58 seconds or more.	Displays messages on the multi-information display.	The DTC remains stored until it is cleared using the GTS.

2. GTS Display "Radar Cruise1"
   
   

   DTC	Detection Item	DTC Detection Condition	DTC Detection Precondition	DTC Check Procedure	Warning Indication in Meter	DTC Storage Method
   U0100	Lost Communication with ECM / PCM "A"	The ECM is unable to receive certain data from the master cylinder solenoid (skid control ECU) for 1 second or more.	Both conditions are met: The ignition switch to ON. The radar cruise control system (vehicle control mode) is operating.	Allow the radar cruise control system (vehicle control mode) to operate for 1 second or more.	Displays messages on the multi-information display.	The DTC remains stored until it is cleared using the GTS.
   U0122	Lost Communication with Vehicle Dynamics Control Module	When the vehicle speed is 50 km/h (31 mph) or more and is being controlled by the cruise control system in vehicle-to-vehicle distance control mode, the ECM does not receive data from the master cylinder solenoid (skid control ECU) for 2.6 seconds or more.	Both conditions are met: The ignition switch to ON. The radar cruise control system (vehicle control mode) is operating.	Allow the radar cruise control system (vehicle control mode) to operate for 2.6 seconds or more	Displays messages on the multi-information display.	The DTC remains stored until it is cleared using the GTS.
   U1104	Lost Communication with Distance Control Module	The driving support ECU assembly data sent to the ECM, master cylinder solenoid (skid control ECU) or millimeter wave radar sensor assembly is lost for 1 second or more.	Both conditions are met: The ignition switch to ON. The radar cruise control system (vehicle control mode) is operating.	Allow the radar cruise control system (vehicle control mode) to operate for 1 second or more.	Displays messages on the multi-information display.	The DTC remains stored until it is cleared using the GTS.

Master Cylinder Solenoid (Skid Control ECU) / GTS Display "ABS/VSC/TRC"

HINT:

This ECU uses the CAN communication system for DTC communication.

Combination Meter Assembly / GTS Display "Combination Meter"

HINT:

This ECU uses the CAN communication system for DTC communication.

1. *1: for Multi-media Module Receiver Type
   
2. *2: for Radio and Display Type
   

Air Conditioning Amplifier Assembly / GTS Display "Air Conditioner"

HINT:

This ECU uses the CAN communication system for DTC communication.

1. *1: for Multi-media Module Receiver Type
   
2. *2: for Radio and Display Type
   

Power Steering ECU Assembly / GTS Display "PPS" (w/ Variable Flow Control Solenoid Valve)

HINT:

This ECU uses the CAN communication system for DTC communication.

Headlight Swivel ECU Assembly / GTS Display "HL Auto Leveling"

HINT:

This ECU uses the CAN communication system for DTC communication.

1. *: Refer to the Lighting System (Click here).
   

Main Body ECU (Multiplex Network Body ECU) / GTS Display "Main Body"

HINT:

1. This ECU uses the CAN communication system for DTC communication.
   
2. "Gateway" stores DTCs when a communication error is detected in the sub bus 1.
   

1. *1: w/ Pre-crash Safety System
   
2. *2: w/o Pre-crash Safety System
   

Certification ECU (Smart Key ECU Assembly)

HINT:

This ECU uses the CAN communication system for DTC communication.

1. GTS Display "Entry&Start"
   
   

   DTC	Detection Item	DTC Detection Condition	DTC Detection Precondition	DTC Check Procedure	Warning Indication in Meter	DTC Storage Method
   U0100	Lost Communication with ECM/PCM "A"	The certification ECU (smart key ECU assembly) is unable to receive certain data from the ECM for 10 seconds or more.	Both conditions are met: 10 seconds or more elapse after a power source mode change is detected (+B changes from off to on, on ACC changes between on and off, or IG changes between on and off). The certification ECU (smart key ECU assembly) power supply voltage is 10 V or higher.	Wait 20 seconds after turning the ignition switch to ACC or to ON.	-	The DTC remains stored until it is cleared using the GTS.
   U0142	Lost Communication with Body Control Module "B"	The certification ECU (smart key ECU assembly) is unable to receive certain data from the main body ECU (multiplex network body ECU) for 10 seconds or more.	Both conditions are met: 10 seconds or more elapse after a power source mode change is detected (+B changes from off to on, ACC changes between on and off, or IG changes between on and off). The certification ECU (smart key ECU assembly) power supply voltage is 10 V or higher.	Wait 20 seconds after turning the ignition switch to ACC or to ON.	-	The DTC remains stored until it is cleared using the GTS.
   U0155	Lost Communication with Instrument Panel Cluster (IPC) Control Module	The certification ECU (smart key ECU assembly) is unable to receive certain data from the combination meter assembly for 10 seconds or more.	Both conditions are met: 10 seconds or more elapse after a power source mode change is detected (+B changes from off to on, ACC changes between on and off, or IG changes between on and off). The certification ECU (smart key ECU assembly) power supply voltage is 10 V or higher.	Wait 20 seconds after turning the ignition switch to ACC or to ON.	-	The DTC remains stored until it is cleared using the GTS.
   U1117	Lost Communication with Accessory Gateway	The certification ECU (smart key ECU assembly) is unable to receive certain data from the bus buffer ECU for 10 seconds or more.	Both conditions are met: 10 seconds or more elapse after a power source mode change is detected (+B changes from off to on, ACC changes between on and off, or IG changes between on and off). The certification ECU (smart key ECU assembly) power supply voltage is 10 V or higher.	Wait 20 seconds after turning the ignition switch to ACC or to ON.	-	The DTC remains stored until it is cleared using the GTS.

2. Power Source Control
   
   

   DTC	Detection Item	DTC Detection Condition	DTC Detection Precondition	DTC Check Procedure	Warning Indication in Meter	DTC Storage Method
   U0100	ECM Communication	The certification ECU (smart key ECU assembly) is unable to receive certain data from the ECM for 3.1 seconds or more.	Both conditions are met: Turning the ignition switch to ON. The certification ECU (smart key ECU assembly) power supply voltage is 9.5 V or higher.	Turn the ignition switch to ON and wait at least 3.1 seconds.	-	The DTC remains stored until it is cleared using the GTS.
   U0140	Lost Communication with Body Control Module	The certification ECU (smart key ECU assembly) is unable to receive certain data from the main body ECU (multiplex network body ECU) for 3 seconds or more.	Both conditions are met: Turning the ignition switch to ON. The certification ECU (smart key ECU assembly) power supply voltage is 9.5 V or higher.	Turn the ignition switch to ON and wait at least 3 seconds.	-	The DTC remains stored until it is cleared using the GTS.
   U0155	Lost Communication with Instrument Panel Cluster (IPC) Control Module	The certification ECU (smart key ECU assembly) is unable to receive certain data from the combination meter assembly for 3.1 seconds or more.	Both conditions are met: Turning the ignition switch to ON. The certification ECU (smart key ECU assembly) power supply voltage is 9.5 V or higher.	Turn the ignition switch to ON and wait at least 3.1 seconds.	-	The DTC remains stored until it is cleared using the GTS.
   U1117	Lost Communication with Accessory Gateway	The certification ECU (smart key ECU assembly) is unable to receive certain data from the bus buffer ECU for 5 seconds or more.	Both conditions are met: Turning the ignition switch to ON. The certification ECU (smart key ECU assembly) power supply voltage is 9.5 V or higher.	Turn the ignition switch to ON and wait at least 5 seconds.	-	The DTC remains stored until it is cleared using the GTS.

3. Starting Control
   
   

   DTC	Detection Item	DTC Detection Condition	DTC Detection Precondition	DTC Check Procedure	Warning Indication in Meter	DTC Storage Method
   U0100	Lost Communication with ECM/PCM "A"	The certification ECU (smart key ECU assembly) is unable to receive certain data from the ECM for 2 seconds or more.	Turning the ignition switch to ON.	Turn the ignition switch to ON and wait at least 2 seconds.	-	The DTC is stored only while the malfunction is present.

Multi-media Module Receiver Assembly (for Multi-media Module Receiver Type) / GTS Display "Navigation System"

HINT:

This ECU uses the CAN communication system for DTC communication.

Radio and Display Receiver Assembly (for Radio and Display Type) / GTS Display "Navigation System"

HINT:

This ECU uses the CAN communication system for DTC communication.

Suspension Control ECU / GTS Display "AHC" (w/ Active Height Control Suspension)

HINT:

This ECU uses the CAN communication system for DTC communication.

4WD Control ECU / GTS Display "Four Wheel Drive"

HINT:

This ECU uses the CAN communication system for DTC communication.

Driving Support ECU Assembly

1. GTS Display "Radar Cruise2" (w/ Dynamic Radar Cruise Control System)
   
   

   DTC	Detection Item	DTC Detection Condition	DTC Detection Precondition	DTC Check Procedure	Warning Indication in Meter	DTC Storage Method
   U0100	Lost Communication with ECM/PCM "A"	The driving support ECU assembly is unable to receive certain data from the ECM for 0.92 seconds or more.	All conditions are met: 1 second or more elapse after turning the ignition switch to ON. The vehicle speed is 36 km/h (22 mph) or more. The driving support ECU assembly power supply voltage is 10 V or higher.	Drive the vehicle for 1.92 seconds or more at a speed of 36 km/h (22 mph) or more.	Displays messages on the multi-information display.	The DTC remains stored until it is cleared using the GTS.
   U0125	Lost Communication with Yaw Rate Sensor Module	The driving support ECU assembly is unable to receive certain data from the airbag sensor assembly for 0.772 seconds or more.	All conditions are met: 3 seconds or more elapse after turning the ignition switch to ON. The vehicle speed is 36 km/h (22 mph) or more. The driving support ECU assembly power supply voltage is 10 V or higher.	Drive the vehicle for 3.772 seconds or more at a speed of 36 km/h (22 mph) or more.	Displays messages on the multi-information display.	The DTC remains stored until it is cleared using the GTS.
   U0126	Lost Communication with Steering Angle Sensor Module	The driving support ECU assembly is unable to receive certain data from the spiral with sensor cable sub-assembly (steering angle sensor) for 5.04 seconds or more.	All conditions are met: 1 second or more elapse after turning the ignition switch to ON. The vehicle speed is 36 km/h (22 mph) or more. The driving support ECU assembly power supply voltage is 10 V or higher.	Drive the vehicle for 6.04 seconds or more at a speed of 36 km/h (22 mph) or more.	Displays messages on the multi-information display.	The DTC remains stored until it is cleared using the GTS.
   U0129	Lost Communication with Brake System Control Module	The driving support ECU assembly is unable to receive certain data from the master cylinder solenoid (skid control ECU) for 1.08 seconds or more.	All conditions are met: 2 seconds or more elapse after turning the ignition switch to ON. The vehicle speed is 36 km/h (22 mph) or more. The driving support ECU assembly power supply voltage is 10 V or higher.	Drive the vehicle for 3.08 seconds or more at a speed of 36 km/h (22 mph) or more.	Displays messages on the multi-information display.	The DTC remains stored until it is cleared using the GTS.
   U0235	Lost Communication with Cruise Control Front Distance Range Sensor	The driving support ECU assembly is unable to receive certain data from the millimeter wave radar sensor assembly for 1.6 seconds or more.	All conditions are met: 1 second or more elapse after turning the ignition switch to ON. The vehicle speed is 36 km/h (22 mph) or more. The driving support ECU assembly power supply voltage is 10 V or higher.	Drive the vehicle for 2.6 seconds or more at a speed of 36 km/h (22 mph) or more.	Displays messages on the multi-information display.	The DTC remains stored until it is cleared using the GTS.
   U1104	Lost Communication with Driving Support ECU	The driving support ECU assembly data sent to the millimeter wave radar sensor assembly is lost for 0.144 seconds or more.	All conditions are met: 1 second or more elapse after turning the ignition switch to ON. The vehicle speed is 36 km/h (22 mph) or more. The driving support ECU assembly power supply voltage is 10 V or higher.	Drive the vehicle for 1.144 seconds or more at a speed of 36 km/h (22 mph) or more.	Displays messages on the multi-information display.	The DTC remains stored until it is cleared using the GTS.

2. GTS Display "Pre-Crash2" (w/ Pre-crash Safety System)
   
   

   DTC	Detection Item	DTC Detection Condition	DTC Detection Precondition	DTC Check Procedure	Warning Indication in Meter	DTC Storage Method
   U0100	Lost Communication with ECM/PCM "A"	The driving support ECU assembly is unable to receive certain data from the ECM for 3.07 seconds or more.	All conditions are met: 6 seconds or more elapse after turning the ignition switch to ON. The vehicle speed is 5 km/h (3 mph) or more. The driving support ECU assembly power supply voltage is 10 V or higher.	Drive the vehicle for 6 seconds or more at a speed of 5 km/h (3 mph) or more.	The PCS indicator blinks. Displays messages on the multi-information display.	The DTC is stored only while the malfunction is present.
   U0125	Lost Communication with Yaw Rate Sensor Module	The driving support ECU assembly is unable to receive certain data from the airbag sensor assembly for 0.036 seconds or more.	Both conditions are met: 3 seconds or more elapse after turning the ignition switch to ON. The driving support ECU assembly power supply voltage is 10 V or higher.	Turn the ignition switch to ON and wait at least 3 seconds.	The PCS indicator blinks. Displays messages on the multi-information display.	The DTC is stored only while the malfunction is present.
   U0126	Lost Communication with Steering Angle Sensor Module	The driving support ECU assembly is unable to receive certain data from the spiral with sensor cable sub-assembly (steering angle sensor) for 3.02 seconds or more.	Both conditions are met: 6 seconds or more elapse after turning the ignition switch to ON. The driving support ECU assembly power supply voltage is 10 V or higher.	Turn the ignition switch to ON and wait at least 6 seconds.	The PCS indicator blinks. Displays messages on the multi-information display.	The DTC is stored only while the malfunction is present.
   U0129	Lost Communication with Brake System Control Module	The driving support ECU assembly is unable to receive certain data from the master cylinder solenoid (skid control ECU) for 3 seconds or more.	Both conditions are met: 6 seconds or more elapse after turning the ignition switch to ON. The driving support ECU assembly power supply voltage is 10 V or higher.	Turn the ignition switch to ON and wait at least 6 seconds.	The PCS indicator blinks. Displays messages on the multi-information display.	The DTC is stored only while the malfunction is present.
   U0235	Lost Communication with Cruise Control Front Distance Range Sensor	The driving support ECU assembly is unable to receive certain data from the millimeter wave radar sensor assembly for 0.3 seconds or more.	Both conditions are met: 3 seconds or more elapse after turning the ignition switch to ON. The driving support ECU assembly power supply voltage is 10 V or higher.	Turn the ignition switch to ON and wait at least 3 seconds.	The PCS indicator blinks. Displays messages on the multi-information display.	The DTC is stored only while the malfunction is present.
   U023A	Lost Communication with Image Processing Module "A"	The driving support ECU assembly is unable to receive certain data from the forward recognition camera for 3 seconds or more.	Both conditions are met: 6 seconds or more elapse after turning the ignition switch to ON. The driving support ECU assembly power supply voltage is 10 V or higher.	Turn the ignition switch to ON and wait at least 6 seconds.	The PCS indicator blinks. Displays messages on the multi-information display.	The DTC is stored only while the malfunction is present.
   U1002	Lost Communication with Gateway Module	The driving support ECU assembly detects a problem when communicating with the millimeter wave radar sensor assembly and forward recognition camera.	Both conditions are met: 1 second or more elapse after turning the ignition switch to ON. The driving support ECU assembly power supply voltage is 10 V or higher.	Turn the ignition switch to ON and wait at least 6 seconds.	The PCS indicator blinks. Displays messages on the multi-information display.	The DTC is stored only while the malfunction is present.
   U1104	Lost Communication with Driving Support ECU	The driving support ECU assembly data sent to each ECU (sensor) is lost for 3 seconds or more.	Both conditions are met: 2 seconds or more elapse after turning the ignition switch to ON. The driving support ECU assembly power supply voltage is 10 V or higher.	Turn the ignition switch to ON and wait at least 2 seconds.	The PCS indicator blinks. Displays messages on the multi-information display.	The DTC is stored only while the malfunction is present.

Forward Recognition Camera / GTS Display "Front Recognition Camera" (w/ Pre-crash Safety System)

1. GTS Display "Front Recognition Camera" (w/ Forward Recognition Camera System)
   
   

   DTC	Detection Item	DTC Detection Condition	DTC Detection Precondition	DTC Check Procedure	Warning Indication in Meter	DTC Storage Method
   U0100	Lost Communication with ECM/PCM "A"	The forward recognition camera is unable to receive certain data from the ECM for 5 seconds or more.	All conditions are met: 2 seconds elapses after turning the ignition switch to ON. The vehicle speed is 1 km/h (1 mph) or more. The forward recognition camera power supply voltage is 8 to 16 V.	Drive the vehicle for 7 seconds at a speed of 1 km/h (1 mph) or more.	Displays messages on the multi-information display.	The DTC is stored only while the malfunction is present.
   U0101	Lost Communication with TCM	The forward recognition camera is unable to receive certain data from the ECM for 5 seconds or more.	All conditions are met: 2 seconds elapses after turning the ignition switch to ON. The vehicle speed is 1 km/h (1 mph) or more. The forward recognition camera power supply voltage is 8 to 16 V.	Drive the vehicle for 7 seconds at a speed of 1 km/h (1 mph) or more.	Displays messages on the multi-information display.	The DTC is stored only while the malfunction is present.
   U0123	Lost Communication with Yaw Rate Sensor Module	The forward recognition camera is unable to receive certain data from the airbag sensor assembly for 5 seconds or more.	All conditions are met: 2 seconds elapses after turning the ignition switch to ON. The vehicle speed is 1 km/h (1 mph) or more. The forward recognition camera power supply voltage is 8 to 16 V.	Drive the vehicle for 7 seconds at a speed of 1 km/h (1 mph) or more.	Displays messages on the multi-information display.	The DTC is stored only while the malfunction is present.
   U0129	Lost Communication with Brake System Control Module	The forward recognition camera is unable to receive certain data from the master cylinder solenoid (skid control ECU) for 5 seconds or more.	Both conditions are met: 2 seconds or more elapse after turning the ignition switch to ON. The forward recognition camera power supply voltage is 8 to 16 V.	Turn the ignition switch to ON and wait at least 7 seconds.	Displays messages on the multi-information display.	The DTC is stored only while the malfunction is present.
   U0142	Lost Communication with Body Control Module "B"	The forward recognition camera is unable to receive certain data from the main body ECU (multiplex network body ECU) for 5 seconds or more.	Both conditions are met: 2 seconds or more elapse after turning the ignition switch to ON. The forward recognition camera power supply voltage is 8 to 16 V.	Turn the ignition switch to ON and wait at least 7 seconds.	Displays messages on the multi-information display.	The DTC is stored only while the malfunction is present.
   U0182	Lost Communication with Lighting Control Module Front	The forward recognition camera is unable to receive certain data from the headlight leveling ECU assembly for 5 seconds or more.	Both conditions are met: 2 seconds or more elapse after turning the ignition switch to ON. The forward recognition camera power supply voltage is 8 to 16 V.	Turn the ignition switch to ON and wait at least 7 seconds.	Displays messages on the multi-information display.	The DTC is stored only while the malfunction is present.
   U0235	Lost Communication with Cruise Control Front Distance Range Sensor	The forward recognition camera is unable to receive certain data from the millimeter wave radar sensor assembly for 5 seconds or more.	Both conditions are met: 2 seconds or more elapse after turning the ignition switch to ON. The forward recognition camera power supply voltage is 8 to 16 V.	Turn the ignition switch to ON and wait at least 7 seconds.	Displays messages on the multi-information display.	The DTC is stored only while the malfunction is present.
   U1104	Lost Communication with Driving Support ECU	The forward recognition camera data sent to the driving support ECU assembly is lost for 5 seconds or more.	Both conditions are met: 2 seconds or more elapse after turning the ignition switch to ON. The forward recognition camera power supply voltage is 8 to 16 V.	Turn the ignition switch to ON and wait at least 7 seconds.	Displays messages on the multi-information display.	The DTC is stored only while the malfunction is present.

2. GTS Display "LKA/LDA" (w/ Lane Departure Alert System)
   
   

   DTC	Detection Item	DTC Detection Condition	DTC Detection Precondition	DTC Check Procedure	Warning Indication in Meter	DTC Storage Method
   U0100	Lost Communication with ECM/PCM "A"	The forward recognition camera is unable to receive certain data from the ECM for 5 seconds or more.	All conditions are met: 2 seconds elapses after turning the ignition switch to ON. The vehicle speed is 1 km/h (1 mph) or more. The forward recognition camera power supply voltage is 8 to 16 V.	Drive the vehicle for 7 seconds at a speed of 1 km/h (1 mph) or more.	Displays messages on the multi-information display.	The DTC is stored only while the malfunction is present.
   U0101	Lost Communication with TCM	The forward recognition camera is unable to receive certain data from the ECM for 5 seconds or more.	All conditions are met: 2 seconds elapses after turning the ignition switch to ON. The vehicle speed is 1 km/h (1 mph) or more. The forward recognition camera power supply voltage is 8 to 16 V.	Drive the vehicle for 7 seconds at a speed of 1 km/h (1 mph) or more.	Displays messages on the multi-information display.	The DTC is stored only while the malfunction is present.
   U0123	Lost Communication with Yaw Rate Sensor Module	The forward recognition camera is unable to receive certain data from the airbag sensor assembly for 5 seconds or more.	All conditions are met: 2 seconds elapses after turning the ignition switch to ON. The vehicle speed is 1 km/h (1 mph) or more. The forward recognition camera power supply voltage is 8 to 16 V.	Drive the vehicle for 7 seconds at a speed of 1 km/h (1 mph) or more.	Displays messages on the multi-information display.	The DTC is stored only while the malfunction is present.
   U0126	Lost Communication with Steering Angle Sensor Module	The forward recognition camera is unable to receive certain data from the spiral with sensor cable sub-assembly (steering angle sensor) for 5 seconds or more.	Both conditions are met: 2 seconds or more elapse after turning the ignition switch to ON. The forward recognition camera power supply voltage is 8 to 16 V.	Turn the ignition switch to ON and wait at least 7 seconds.	Displays messages on the multi-information display.	The DTC is stored only while the malfunction is present.
   U0129	Lost Communication with Brake System Control Module	The forward recognition camera is unable to receive certain data from the master cylinder solenoid (skid control ECU) for 5 seconds or more.	Both conditions are met: 2 seconds or more elapse after turning the ignition switch to ON. The forward recognition camera power supply voltage is 8 to 16 V.	Turn the ignition switch to ON and wait at least 7 seconds.	Displays messages on the multi-information display.	The DTC is stored only while the malfunction is present.
   U0142	Lost Communication with Body Control Module "B"	The forward recognition camera is unable to receive certain data from the main body ECU (multiplex network body ECU) for 5 seconds or more.	Both conditions are met: 2 seconds or more elapse after turning the ignition switch to ON. The forward recognition camera power supply voltage is 8 to 16 V.	Turn the ignition switch to ON and wait at least 7 seconds.	Displays messages on the multi-information display.	The DTC is stored only while the malfunction is present.
   U0155	Lost Communication With Instrument Panel Cluster (IPC) Control Module	The forward recognition camera is unable to receive certain data from the combination meter assembly for 50 seconds or more.	Both conditions are met: 2 seconds or more elapse after turning the ignition switch to ON. The forward recognition camera power supply voltage is 8 to 16 V.	Turn the ignition switch to ON and wait at least 60 seconds.	Displays messages on the multi-information display.	The DTC is stored only while the malfunction is present.
   U0235	Lost Communication with Cruise Control Front Distance Range Sensor	The forward recognition camera is unable to receive certain data from the millimeter wave radar sensor assembly for 5 seconds or more.	Both conditions are met: 2 seconds or more elapse after turning the ignition switch to ON. The forward recognition camera power supply voltage is 8 to 16 V.	Turn the ignition switch to ON and wait at least 7 seconds.	Displays messages on the multi-information display.	The DTC is stored only while the malfunction is present.
   U1104	Lost Communication with Driving Support ECU	The forward recognition camera data sent to each ECU (sensor) is lost for 5 seconds or more.	Both conditions are met: 2 seconds or more elapse after turning the ignition switch to ON. The forward recognition camera power supply voltage is 8 to 16 V.	Turn the ignition switch to ON and wait at least 7 seconds.	Displays messages on the multi-information display.	The DTC is stored only while the malfunction is present.

Clearance Warning ECU Assembly / GTS Display "Clearance Sonar" (w/ TOYOTA Parking Assist-sensor System)

HINT:

This ECU uses the CAN communication system for DTC communication.

Parking Assist ECU / GTS Display "Intelligent Parking Assist System / Back Guide Monitor" (w/ Multi-terrain Monitor System)

HINT:

This ECU uses the CAN communication system for DTC communication.

1. *: Refer to Multi-terrain Monitor System (Click here).
   

Steering Control ECU / GTS Display "VGRS" (w/ Variable Gear Ratio Steering System)

HINT:

This ECU uses the CAN communication system for DTC communication.

Tire Pressure Warning ECU / GTS Display "TPMS" (w/ Tire Pressure Warning System)

HINT:

This ECU uses the CAN communication system for DTC communication.

Multiplex Tilt and Telescopic ECU / GTS Display "Tilt&Telescopic" (w/ Power Tilt and Power Telescopic Steering Column System)

HINT:

This ECU uses the CAN communication system for DTC communication.

Blind Spot Monitor Sensor LH / GTS Display "Blind Spot Monitor Master" (w/ Blind Spot Monitor System)

HINT:

This ECU uses the CAN communication system for DTC communication.

1. *1: for Multi-media Module Receiver Type
   
2. *2: for Radio and Display Type
   
3. *3: Refer to Blind Spot Monitor System (Click here).
   

Outer Mirror Control ECU Assembly LH / GTS Display "D-Door Motor" (w/ Memory)

HINT:

This ECU uses the CAN communication system for DTC communication.

Outer Mirror Control ECU Assembly RH / GTS Display "P-Door Motor" (w/ Memory)

HINT:

This ECU uses the CAN communication system for DTC communication.

Power Back Door Unit Assembly (Power Back Door ECU) / GTS Display "Back Door" (w/ Power Back Door System)

HINT:

This ECU uses the CAN communication system for DTC communication.

Central Gateway ECU

HINT:

The central gateway ECU is connected to the CAN communication system but CAN communication DTCs are not stored.

Airbag Sensor Assembly

HINT:

The airbag sensor assembly is connected to the CAN communication system but CAN communication DTCs are not stored.

Spiral with Sensor Cable Sub-assembly (Steering Angle Sensor)

HINT:

The spiral with sensor cable sub-assembly (steering angle sensor) is connected to the CAN communication system but CAN communication DTCs are not stored.

Power Seat Switch Assembly (w/ Memory)

HINT:

The power seat switch assembly connected to the CAN communication system but CAN communication DTCs are not stored.

No. 2 Main Body ECU (w/ Tail Gate Closer System)

HINT:

The No. 2 main body ECU connected to the CAN communication system but CAN communication DTCs are not stored.

Bus Buffer ECU (w/ Bus Buffer ECU)

HINT:

The bus buffer ECU is connected to the CAN communication system but CAN communication DTCs are not stored.

Inner Rear View Mirror Assembly (w/o Pre-crash Safety System, w/ Automatic High Beam System)

HINT:

The inner rear view mirror assembly is connected to the CAN communication system but CAN communication DTCs are not stored.

Millimeter Wave Radar Sensor Assembly (w/ Pre-crash Safety System)

HINT:

The millimeter wave radar sensor assembly is connected to the CAN communication system but CAN communication DTCs are not stored.

Regarding a past communication error of an ECU and sensor connected to the bus 2 (in this case, normal is displayed when performing the CAN bus check, but communication DTCs are output), the probable CAN bus line(s) that had a malfunction can be determined based on the following DTC combination table.

HINT:

1. Based on the table below and DTCs output from ECUs connected v CAN communication, the probable part for which communication stop occurred can be determined.
   
2. Regarding an open in a CAN bus line(s) and a communication stop that is currently occurring, the malfunctioning part can be confirmed easily by performing the CAN bus check using the GTS because the ECU or sensor connected to the CAN bus line(s) does not respond (the ECU or sensor name will not be displayed on the screen).
   
3. If an open in a CAN main bus line, a short between the CAN bus lines (CANH and CANL) or a short to ground or +B in the CAN bus occurs, DTCs of almost all ECUs (or sensors) on the CAN bus may be output, or a message indicating a communication error may be displayed on the GTS screen. In this case, check the resistance of the CAN bus (steps 8 to 16) first. (Click here).
   
4. If an open occurs in just one of the lines of a CAN bus line(s), DTCs which are not related to malfunctioning parts may be output (DTCs may be displayed randomly), or a message indicating a communication error may be displayed.
   
5. ○: DTC is output.
   
6. X: DTC is likely to be output.
   
7. ▲: DTC is unlikely to be output.
   
8. -: DTC is not output.
   
9. *: DTC U0073 may be stored when communication is lost.