LKA/LDA SYSTEM, Diagnostic DTC:C1A76

DTC Code DTC Name
C1A76 VGRS System Malfunction

DESCRIPTION

The forward recognition camera receives variable gear ratio steering system control signals from the VGRS ECU (front steering control ECU). If the forward recognition camera receives a malfunction signal from the variable gear ratio steering system, DTC C1A76 is stored.

DTC No. Detection Item DTC Detection Condition Trouble Area
C1A76 VGRS System Malfunction 2 seconds after the engine switch is turned on (IG), a malfunction signal from the VGRS ECU (front steering control ECU) is detected by the forward recognition camera for 5 seconds or more.

  • Variable gear ratio steering system

  • VGRS ECU (front steering control ECU)

  • Forward recognition camera

CAUTION / NOTICE / HINT

Note


  • When replacing the forward recognition camera, always replace it with a new one. If a forward recognition camera which was installed to another vehicle is used, the information stored in the forward recognition camera will not match the information from the vehicle. As a result, a DTC may be stored.

  • If the forward recognition camera has been replaced with a new one, be sure to perform Forward Recognition Camera Learning.

    Click here

  • The LKA/LDA system uses the CAN communication system. First, confirm that there are no malfunction in the CAN communication system. Refer to How to Proceed with Troubleshooting.

    Click here

PROCEDURE


  1. CHECK FOR DTCs (VARIABLE GEAR RATIO STEERING SYSTEM)


    1. Check for DTCs.

      Click here


      Chassis > VGRS > Trouble Codes

      Tech Tips

      LKA/LDA system DTC C1A76 may be stored due to a malfunction in the variable gear ratio steering system. Therefore it is necessary to check for and troubleshoot variable gear ratio steering system DTCs first.

      Result
      Result Proceed to
      Variable gear ratio steering system DTCs are not output A
      Variable gear ratio steering system DTCs are output B

    B

    GO TO VARIABLE GEAR RATIO STEERING SYSTEM Click here

    A

  2. CHECK FOR DTCs (LKA/LDA SYSTEM)


    1. Clear the DTCs.

      Click here


      Chassis > LKA/LDA > Clear DTCs

    2. Make sure that the DTC detection conditions are met.

      Tech Tips

      If the conditions are not met, the system cannot detect the malfunction.

    3. Check for DTCs.

      Click here


      Chassis > LKA/LDA > Trouble Codes
      Result
      Result Proceed to
      DTC C1A76 is not output A
      DTC C1A76 is output B

    A

    USE SIMULATION METHOD TO CHECK Click here

    B

  3. REPLACE FORWARD RECOGNITION CAMERA


    1. Replace the forward recognition camera.

      Click here

    2. Perform Forward Recognition Camera Learning.

      Click here

      Result
      Proceed to
      NEXT

    NEXT

  4. CHECK FOR DTCs (LKA/LDA SYSTEM)


    1. Clear the DTCs.

      Click here


      Chassis > LKA/LDA > Clear DTCs

    2. Make sure that the DTC detection conditions are met.

      Tech Tips

      If the conditions are not met, the system cannot detect the malfunction.

    3. Check for DTCs.

      Click here


      Chassis > LKA/LDA > Trouble Codes
      Result
      Result Proceed to
      DTC C1A76 is not output A
      DTC C1A76 is output B

    A

    END (FORWARD RECOGNITION CAMERA WAS DEFECTIVE)

    B

    REPLACE VGRS ECU (FRONT STEERING CONTROL ECU) Click here