LKA/LDA SYSTEM TERMINALS OF ECU

CHECK FORWARD RECOGNITION CAMERA

1. Disconnect the W6 forward recognition camera connector.

   Note

   
   

   • DTCs may be output when connectors are disconnected during inspection. Therefore, be sure to clear the DTCs using the GTS once the inspection has been completed.

   • Do not apply excessive force to the W6 forward recognition camera connector.

2. Measure the voltage and resistance according to the value(s) in the table below.

   Tech Tips

   If the result is not as specified, there may be a malfunction on the wire harness side.

   Terminal No. (Symbol)	Wiring Color	Terminal Description	Condition	Specified Condition
   W6-7 (IGB) - Body ground	L - Body ground	Power source	Engine switch on (IG)	11 to 14 V
   			Engine switch off	Below 1 V
   W6-10 (GND) - Body ground	W-B - Body ground	Ground	Always	Below 1 Ω

3. Reconnect the W6 forward recognition camera connector.

4. Check for pulses according to the value(s) in the table below.

   Terminal No. (Symbol)	Wiring Color	Terminal Description	Condition	Specified Condition
   W6-5 (CA1P) - W6-10 (GND)	L - W-B	CAN communication signal	Engine switch on (IG)	Pulse generation (See waveform 1)
   W6-11 (CA1N) - W6-10 (GND)	LG - W-B	CAN communication signal	Engine switch on (IG)	Pulse generation (See waveform 2)
   W6-6 (CANH) - W6-10 (GND)	Y - W-B	CAN communication signal	Engine switch on (IG)	Pulse generation (See waveform 1)
   W6-12 (CANL) - W6-10 (GND)	W - W-B	CAN communication signal	Engine switch on (IG)	Pulse generation (See waveform 2)

5. WAVEFORM 1

   
   
   1. 

      *a	1 V/DIV.
      *b	10 μsec./DIV.

      CAN communication signal

      Item	Content
      Terminal Name	Between W6-5 (CA1P) and W6-10 (GND) Between W6-6 (CANH) and W6-10 (GND)
      Tester Range	1 V/DIV., 10 μsec./DIV.
      Condition	Engine switch on (IG)

      Tech Tips

      The waveform varies depending on the CAN communication signal.

6. WAVEFORM 2

   
   
   1. 

      *a	1 V/DIV.
      *b	10 μsec./DIV.

      CAN communication signal

      Item	Content
      Terminal Name	Between W6-11 (CA1N) and W6-10 (GND) Between W6-12 (CANL) and W6-10 (GND)
      Tester Range	1 V/DIV., 10 μsec./DIV.
      Condition	Engine switch on (IG)

      Tech Tips

      The waveform varies depending on the CAN communication signal.

CHECK DRIVING SUPPORT ECU ASSEMBLY

1. Measure the voltage and resistance according to the value(s) in the table below.

   Tech Tips

   If the result is not as specified, there may be a malfunction on the wire harness side.

   Terminal No. (Symbol)	Wiring Color	Terminal Description	Condition	Specified Condition
   K4-7 (B) - K4-28 (GND)	L - BR*1 L - W-B*2	Power source	Engine switch on (IG)	11 to 14 V
   			Engine switch off	Below 1 V
   K4-23 (SPSW) - K4-28 (GND)	Y - BR*1 Y - W-B*2	Steering pad switch signal (LKA/LDA main switch signal)	Engine switch off LKA/LDA main switch (steering pad switch assembly) off	1 MΩ or higher
   			Engine switch off LKA/LDA main switch (steering pad switch assembly) on	228 to 252 Ω
   K4-28 (GND) - Body ground	BR*1 - Body ground W-B*2 - Body ground	Ground	Always	Below 1 Ω

   *1: for LHD

   *2: for RHD

2. Check for pulses according to the value(s) in the table below.

   Terminal No. (Symbol)	Wiring Color	Terminal Description	Condition	Specified Condition
   K4-8 (CA1P) - K4-28 (GND)	Y - BR*1 Y - W-B*2	CAN communication signal	Engine switch on (IG)	Pulse generation (See waveform 1)
   K4-9 (CA1N) - K4-28 (GND)	W - BR*1 W - W-B*2	CAN communication signal	Engine switch on (IG)	Pulse generation (See waveform 2)
   K4-10 (CA2H) - K4-28 (GND)	L - BR*1 L - W-B*2	CAN communication signal	Engine switch on (IG)	Pulse generation (See waveform 1)
   K4-11 (CA2L) - K4-28 (GND)	LG - BR*1 LG - W-B*2	CAN communication signal	Engine switch on (IG)	Pulse generation (See waveform 2)

   *1: for LHD

   *2: for RHD

3. WAVEFORM 1

   
   
   1. 

      *a	1 V/DIV.
      *b	10 μsec./DIV.

      CAN communication signal

      Item	Content
      Terminal Name	Between K4-8 (CA1P) - K4-28 (GND) Between K4-10 (CA2H) - K4-28 (GND)
      Tester Range	1 V/DIV., 10 μsec./DIV.
      Condition	Engine switch on (IG)

      Tech Tips

      The waveform varies depending on the CAN communication signal.

4. WAVEFORM 2

   
   
   1. 

      *a	1 V/DIV.
      *b	10 μsec./DIV.

      CAN communication signal

      Item	Content
      Terminal Name	Between K4-9 (CA1N) - K4-28 (GND) Between K4-11 (CA2L) - K4-28 (GND)
      Tester Range	1 V/DIV., 10 μsec./DIV.
      Condition	Engine switch on (IG)

      Tech Tips

      The waveform varies depending on the CAN communication signal.

CHECK STEERING VIBRATION ECU

1. Measure the voltage and resistance according to the value(s) in the table below.

   Terminal No. (Symbol)	Terminal Description	Condition	Specified Condition
   z12-4 (IG) - z12-1 (GND)	Power source	Engine switch on (IG)	11 to 14 V
   		Engine switch off	Below 1 V
   B-1 (M+) - z12-1 (GND)	Steering vibration operation signal	Engine switch on (IG) Steering vibration operating	11 to 14 V
   		Engine switch on (IG) Steering vibration not operating	Below 1 V
   z12-1 (GND) - Body ground	Ground	Always	Below 1 Ω

2. Measure the waveform according to the value(s) in the table below.

   Terminal No. (Symbol)	Terminal Description	Condition	Specified Condition
   A-2 (LDW) - z12-1 (GND)	LIN communication signal	Engine switch on (IG)	Pulse generation