ELECTRONICALLY CONTROLLED BRAKE SYSTEM(w/ Vacuum Brake Booster), Diagnostic DTC:U0073, U0100, U0124, U0126, U0128, U0130, U0134, U0151

DTC Code DTC Name
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
U0128 Lost Communication With EPB Module
U0130 Lost Communication with Steering Effort Control Module
U0134 Lost Communication with DRS Module
U0151 Lost Communication With Restraints Control Module

DESCRIPTION

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

DTC No. Detection Item DTC Detection Condition Trouble Area Note
U0073 Control Module Communication Bus OFF

Any of the following is detected:


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

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

  • When the +BS 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 acceleration sensor (yaw rate sensor) and steering angle sensor occurs once or more within 5 seconds.

 CAN communication system -
U0100 Lost Communication with ECM / PCM The +BS 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:


  • When the +BS 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 1second or more.

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


    • 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 (yaw rate sensor)

 -
U0126 Lost Communication with Steering Angle Sensor Module

Either of the following is detected:


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

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


    • Data from the steering sensor cannot be received once or more within 5 seconds

  • CAN communication system

  • Skid control ECU (brake actuator assembly)

  • Steering sensor

 -
U0128 Lost Communication With EPB Module When voltage at terminal +BS is 10 to 17.4 V, data cannot be received from parking brake ECU assembly continuously for 1 second or more.

  • CAN communication system

  • Skid control ECU (brake actuator assembly)

  • Parking brake ECU assembly

 EPB: Electric Parking Brake System
U0130 Lost Communication with Steering Effort Control Module

Either of the following is detected:


  • When the +BS terminal voltage is between 10 and 17.4 V, data from the VGRS ECU (front steering control ECU) cannot be received for 1 second or more.

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


    • The condition that data from the VGRS ECU (front steering control ECU) cannot be received occurs once or more within 5 seconds.

  • CAN communication system

  • Skid control ECU (Brake actuator assembly)

  • VGRS ECU (front steering control ECU)

 w/ Variable Gear Ratio Steering System
U0134 Lost Communication with DRS Module

Either of the following is detected:


  • When the +BS terminal voltage is between 10 and 17.4 V, data from the DRS ECU (rear steering control ECU) cannot be received for 1 second or more.

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


    • The condition that data from the DRS ECU (rear steering control ECU) cannot be received occurs once or more within 5 seconds.

  • CAN communication system

  • Skid control ECU (Brake actuator assembly)

  • DRS ECU (rear steering control ECU)

 w/ Variable Gear Ratio Steering System
U0151 Lost Communication With Restraints Control Module The +BS terminal voltage is between 10 and 17.4 V, signals from the airbag ECU assembly cannot be received for 5 seconds or more.

  • CAN communication system

  • Skid control ECU (Brake actuator assembly)

  • Airbag ECU assembly

 -
U0073 DTC Detection Conditions
Vehicle Condition
Pattern 1 Pattern 2 Pattern 3
Diagnosis Condition - - - -
Malfunction Status A bus OFF state occurs once or more (Sent signals cannot be received.) ○ - -
When the +BS terminal voltage is between 10 and 17.4 V, a delay in receiving data from the acceleration sensor (yaw rate sensor) and steering angle sensor continues - ○ -

When the +BS terminal voltage is between 10 and 17.4 V, the following occurs:

- A delay in receiving data from the acceleration sensor (yaw rate sensor) and steering angle sensor occurs once or more within 5 seconds

 - - ○
Detection Time Within 0.1 seconds, 10 times in succession. 1 second or more. Occurs 10 times in succession within 60 seconds.
Number of Trips 1 trip 1 trip 1 trip

Tech Tips

DTC will be output when conditions for either of the patterns in the table above are met.

U0124 DTC Detection Conditions
Vehicle Condition
Pattern 1 Pattern 2
Diagnosis Condition - - -
Malfunction Status When the +BS 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 ○ -

When the +BS terminal voltage is between 10 and 17.4 V, the following occurs:

- Data from the acceleration sensor cannot be received once or more within 5 seconds

 - ○
Detection Time 1 second or more. 10 times in succession within 60 seconds.
Number of Trips 1 trip 1 trip

Tech Tips

DTC will be output when conditions for either of the patterns in the table above are met.

U0126 DTC Detection Conditions
Vehicle Condition
Pattern 1 Pattern 2
Diagnosis Condition - - -
Malfunction Status When the +BS terminal voltage is between 10 and 17.4 V, data from the steering angle sensor cannot be received. ○ -

When the +BS terminal voltage is between 10 and 17.4 V, the following occurs:

- Data from the steering angle sensor cannot be received once or more within 5 seconds.

 - ○
Detection Time 1 second or more. 10 times in succession within 60 seconds.
Number of Trips 1 trip 1 trip

Tech Tips

DTC will be output when conditions for either of the patterns in the table above are met.

U0130 DTC Detection Conditions
Vehicle Condition
Pattern 1 Pattern 2
Diagnosis Condition - - -
Malfunction Status When the +BS terminal voltage is between 10 and 17.4 V, data from the VGRS ECU (front steering control ECU) cannot be received. ○ -

When the +BS terminal voltage is between 10 and 17.4 V, the following occurs:

- The condition that data from the VGRS ECU (front steering control ECU) cannot be received occurs once or more within 5 seconds.

 - ○
Detection Time 1 second or more. 10 times in succession within 60 seconds.
Number of Trips 1 trip 1 trip

Tech Tips

DTC will be output when conditions for either of the patterns in the table above are met.

U0130 DTC Detection Conditions
Vehicle Condition
Pattern 1 Pattern 2
Diagnosis Condition - - -
Malfunction Status When the +BS terminal voltage is between 10 and 17.4 V, data from the DRS ECU (rear steering control ECU) cannot be received. ○ -

When the +BS terminal voltage is between 10 and 17.4 V, the following occurs:

- The condition that data from the DRS ECU (rear steering control ECU) cannot be received occurs once or more within 5 seconds.

 - ○
Detection Time 1 second or more. 10 times in succession within 60 seconds.
Number of Trips 1 trip 1 trip

PROCEDURE


  1. RECONFIRM DTC


    1. Clear the DTCs.

      Click here


      Chassis > ABS/VSC/TRC > Clear DTCs

    2. Turn the engine switch off.

    3. Check for DTCs.

      Click here


      Chassis > ABS/VSC/TRC > Trouble Codes

      Tech Tips

      If the CAN communication system DTC and the relevant sensor DTCs are output simultaneously, troubleshoot the relevant sensor DTCs (for electronically controlled brake system) after the CAN communication system returns to normal.

      Click here

      Result
      Result Proceed to
      DTC (relating to CAN communication system) is output A
      DTC is not output B

    A

    CHECK CAN COMMUNICATION SYSTEM Click here

    B

    USE SIMULATION METHOD TO CHECK Click here