CAN COMMUNICATION SYSTEM, Diagnostic DTC:U1002

DESCRIPTION

• The driving support ECU assembly stores this DTC when no signals can be received from the ECUs that have been memorized as those connected to the parking assist bus.

• When the driving support ECU assembly receives a response signal from the ECUs connected to the parking assist bus, the driving support ECU assembly recognizes and memorizes that the ECU is connected to the parking assist bus. Based on this memorized data, the driving support ECU assembly monitors for malfunctions in the ECUs connected to the parking assist bus when communicating with those ECUs. If the driving support ECU assembly cannot receive response signals from the ECUs that have been memorized as those connected to the parking assist bus, the driving support ECU assembly determines that a malfunction exists.

• If 2 or more DTCs are output during the DTC check, one side of the CAN branch wire may be open (one side of the CANH [CAN branch wire]/CANL [CAN branch wire] of the ECU and/or sensor is open).

• For vehicles with an dynamic radar cruise control system.

WIRING DIAGRAM

CAUTION / NOTICE / HINT

PROCEDURE

1. PRECAUTION

   Note

   After turning the ignition switch off, waiting time may be required before disconnecting the cable from the battery terminal. Therefore, make sure to read the disconnecting the cable from the battery terminal notice before proceeding with work Click here.

   
   

   NEXT

2. DISCONNECT CABLE FROM NEGATIVE BATTERY TERMINAL

   
   

   1. Disconnect the cable from the negative (-) battery terminal before measuring the resistances of the CAN main wire and the CAN branch wire.

      CAUTION:

      Wait at least 90 seconds after disconnecting the cable from the negative (-) battery terminal to disable the SRS system.

      Note

      When disconnecting the cable, some systems need to be initialized after the cable is reconnected Click here.

   
   

   NEXT

3. CHECK CAN BUS WIRE (CAN MAIN WIRE FOR DISCONNECTION, BUS LINE FOR SHORT CIRCUIT)

   
   
   1. 

      Text in Illustration

      *a	Component with harness connected (Driving Support ECU Assembly)
      *b	Front view of DLC3

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

      Standard Resistance

      Tester Connection Switch Condition Specified Condition Resistance: Malfunction D14-40 (CA1P) - D14-18 (CA1N) Ignition switch off 54 to 69 Ω Below 54 Ω: Short in line D14-40 (CA1P) - D14-18 (CA1N) Ignition switch off 54 to 69 Ω Higher than 69 Ω: Open in CAN main bus line D14-40 (CA1P) - D8-16 (BAT) Ignition switch off 6 kΩ or higher Below 6 kΩ: +B short D14-18 (CA1N) - D8-16 (BAT) Ignition switch off 6 kΩ or higher Below 6 kΩ: +B short D14-40 (CA1P) - D8-4 (CG) Ignition switch off 200 Ω or higher Below 200 Ω: Ground short D14-18 (CA1N) - D8-4 (CG) Ignition switch off 200 Ω or higher Below 200 Ω: Ground short

      Result

      Result	Proceed to
      NG Open in CAN main bus line	A
      NG Short in line +B short Ground short	B
      OK	C

   
   

   B

   CHECK FOR SHORT IN CAN BUS WIRE (NO. 6 JUNCTION CONNECTOR - LANE RECOGNITION CAMERA SENSOR ASSEMBLY) Click here

   C

   CHECK FOR OPEN IN CAN BUS WIRE (NO. 6 JUNCTION CONNECTOR - LANE RECOGNITION CAMERA SENSOR ASSEMBLY) Click here

   A

4. CHECK FOR OPEN IN CAN BUS MAIN WIRE (NO. 6 JUNCTION CONNECTOR - DRIVING SUPPORT ECU ASSEMBLY)

   
   
   1. 

      Text in Illustration

      *a	Rear view of wire harness connector (to No. 6 Junction Connector)

      Disconnect the K11 No. 6 junction connector.

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

      Standard Resistance
      Tester Connection Switch Condition Specified Condition K11-2 (CANH) - K11-13 (CANL) Ignition switch off 108 to 132 Ω

   
   

   NG

   CONNECT CONNECTOR Click here

   OK

5. CHECK FOR OPEN IN CAN BUS MAIN WIRE (NO. 6 JUNCTION CONNECTOR - MILLIMETER WAVE RADAR SENSOR ASSEMBLY)

   
   
   1. 

      Text in Illustration

      *a	Rear view of wire harness connector (to No. 6 Junction Connector)

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

      Standard Resistance
      Tester Connection Switch Condition Specified Condition K11-1 (CANH) - K11-12 (CANL) Ignition switch off 108 to 132 Ω

   
   

   OK

   REPLACE NO. 6 JUNCTION CONNECTOR

   NG

   CONNECT CONNECTOR Click here

6. CONNECT CONNECTOR

   
   

   1. Reconnect the K11 No. 6 junction connector.

   
   

   NEXT

7. CHECK FOR OPEN IN CAN BUS MAIN WIRE (DRIVING SUPPORT ECU ASSEMBLY - NO. 6 JUNCTION CONNECTOR)

   
   
   1. 

      Text in Illustration

      *a	Rear view of wire harness connector (to Driving Support ECU Assembly)

      Disconnect the D14 driving support ECU assembly connector.

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

      Standard Resistance
      Tester Connection Switch Condition Specified Condition D14-40 (CA1P) - D14-18 (CA1N) Ignition switch off 108 to 132 Ω

      Result

      Result	Proceed to
      OK (for LHD)	A
      OK (for RHD)	B
      NG	C

   
   

   A

   REPLACE DRIVING SUPPORT ECU ASSEMBLY Click here

   B

   REPLACE DRIVING SUPPORT ECU ASSEMBLY Click here

   C

   REPAIR OR REPLACE CAN MAIN WIRE CONNECTED TO DRIVING SUPPORT ECU ASSEMBLY (DRIVING SUPPORT ECU ASSEMBLY - NO. 6 JUNCTION CONNECTOR)

8. CONNECT CONNECTOR

   
   

   1. Reconnect the K11 No. 6 junction connector.

   
   

   NEXT

9. CHECK FOR OPEN IN CAN BUS MAIN WIRE (MILLIMETER WAVE RADAR SENSOR ASSEMBLY - NO. 6 JUNCTION CONNECTOR)

   
   
   1. 

      Text in Illustration

      *a	Front view of wire harness connector (to Millimeter Wave Radar Sensor Assembly)

      Disconnect the A50 millimeter wave radar sensor assembly connector.

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

      Standard Resistance
      Tester Connection Switch Condition Specified Condition A50-4 (CA1P) - A50-3 (CA1N) Ignition switch off 108 to 132 Ω

   
   

   OK

   REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY Click here

   NG

   REPAIR OR REPLACE CAN MAIN WIRE CONNECTED TO MILLIMETER WAVE RADAR SENSOR (MILLIMETER WAVE RADAR SENSOR - NO. 6 JUNCTION CONNECTOR)

10. CHECK FOR SHORT IN CAN BUS WIRE (NO. 6 JUNCTION CONNECTOR - LANE RECOGNITION CAMERA SENSOR ASSEMBLY)

    
    
    1. 

       Text in Illustration

       *a	Rear view of wire harness connector (to No. 6 Junction Connector)
       *b	Front view of DLC3

       Disconnect the K11 No. 6 junction connector.

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

       Standard Resistance
       Tester Connection Switch Condition Specified Condition K11-3 (CANH) - K11-14 (CANL) Ignition switch off 200 Ω or higher K11-3 (CANH) - D8-4 (CG) Ignition switch off 200 Ω or higher K11-14 (CANL) - D8-4 (CG) Ignition switch off 200 Ω or higher K11-3 (CANH) - D8-16 (BAT) Ignition switch off 6 kΩ or higher K11-14 (CANL) - D8-16 (BAT) Ignition switch off 6 kΩ or higher

    
    

    NG

    CONNECT CONNECTOR Click here

    OK

11. CHECK FOR SHORT IN CAN BUS WIRE (NO. 6 JUNCTION CONNECTOR - DRIVING SUPPORT ECU ASSEMBLY)

    

    Text in Illustration

    *a	Rear view of wire harness connector (to No. 6 Junction Connector)
    *b	Front view of DLC3

    
    

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

       Standard Resistance
       Tester Connection Switch Condition Specified Condition K11-2 (CANH) - K11-13 (CANL) Ignition switch off 108 to 132 Ω K11-2 (CANH) - D8-4 (CG) Ignition switch off 200 Ω or higher K11-13 (CANL) - D8-4 (CG) Ignition switch off 200 Ω or higher K11-2 (CANH) - D8-16 (BAT) Ignition switch off 6 kΩ or higher K11-13 (CANL) - D8-16 (BAT) Ignition switch off 6 kΩ or higher

    
    

    NG

    CONNECT CONNECTOR Click here

    OK

12. CHECK FOR SHORT IN CAN BUS WIRE (NO. 6 JUNCTION CONNECTOR - MILLIMETER WAVE RADAR SENSOR ASSEMBLY)

    

    Text in Illustration

    *a	Rear view of wire harness connector (to No. 6 Junction Connector)
    *b	Front view of DLC3

    
    

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

       Standard Resistance
       Tester Connection Switch Condition Specified Condition K11-1 (CANH) - K11-12 (CANL) Ignition switch off 108 to 132 Ω K11-1 (CANH) - D8-4 (CG) Ignition switch off 200 Ω or higher K11-12 (CANL) - D8-4 (CG) Ignition switch off 200 Ω or higher K11-1 (CANH) - D8-16 (BAT) Ignition switch off 6 kΩ or higher K11-12 (CANL) - D8-16 (BAT) Ignition switch off 6 kΩ or higher

    
    

    OK

    REPLACE NO. 6 JUNCTION CONNECTOR

    NG

    CONNECT CONNECTOR Click here

13. CONNECT CONNECTOR

    
    

    1. Reconnect the K11 No. 6 junction connector.

    
    

    NEXT

14. CHECK FOR SHORT IN CAN BUS WIRE (LANE RECOGNITION CAMERA SENSOR ASSEMBLY)

    
    
    1. 

       Text in Illustration

       *a	Rear view of wire harness connector (to Lane Recognition Camera Sensor Assembly)
       *b	Front view of DLC3

       Disconnect the K10 lane recognition camera sensor assembly connector.

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

       Standard Resistance
       Tester Connection Switch Condition Specified Condition K10-1 (CA1P) - K10-2 (CA1N) Ignition switch off 54 to 69 Ω K10-1 (CA1P) - D8-4 (CG) Ignition switch off 200 Ω or higher K10-2 (CA1N) - D8-4 (CG) Ignition switch off 200 Ω or higher K10-1 (CA1P) - D8-16 (BAT) Ignition switch off 6 kΩ or higher K10-2 (CA1N) - D8-16 (BAT) Ignition switch off 6 kΩ or higher

    
    

    OK

    REPLACE LANE RECOGNITION CAMERA SENSOR ASSEMBLY Click here

    NG

    REPAIR OR REPLACE LANE RECOGNITION CAMERA SENSOR ASSEMBLY CAN BRANCH WIRE OR CONNECTOR (CA1P, CA1N)

15. CONNECT CONNECTOR

    
    

    1. Reconnect the K11 No. 6 junction connector.

    
    

    NEXT

16. CHECK FOR SHORT IN CAN BUS WIRE (DRIVING SUPPORT ECU ASSEMBLY)

    
    
    1. 

       Text in Illustration

       *a	Rear view of wire harness connector (to Driving Support ECU Assembly)
       *b	Front view of DLC3

       Disconnect the D14 driving support ECU assembly connector.

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

       Standard Resistance
       Tester Connection Switch Condition Specified Condition D14-40 (CA1P) - D14-18 (CA1N) Ignition switch off 108 to 132 Ω D14-40 (CA1P) - D8-4 (CG) Ignition switch off 200 Ω or higher D14-18 (CA1N) - D8-4 (CG) Ignition switch off 200 Ω or higher D14-40 (CA1P) - D8-16 (BAT) Ignition switch off 6 kΩ or higher D14-18 (CA1N) - D8-16 (BAT) Ignition switch off 6 kΩ or higher

       Result

       Result	Proceed to
       OK (for LHD)	A
       OK (for RHD)	B
       NG	C

    
    

    A

    REPLACE DRIVING SUPPORT ECU ASSEMBLY Click here

    B

    REPLACE DRIVING SUPPORT ECU ASSEMBLY Click here

    C

    REPAIR OR REPLACE DRIVING SUPPORT ECU ASSEMBLY CAN MAIN WIRE OR CONNECTOR (CA1P, CA1N)

17. CONNECT CONNECTOR

    
    

    1. Reconnect the K11 No. 6 junction connector.

    
    

    NEXT

18. CHECK FOR SHORT IN CAN BUS WIRE (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)

    
    
    1. 

       Text in Illustration

       *a	Front view of wire harness connector (to Millimeter Wave Radar Sensor Assembly)
       *b	Front view of DLC3

       Disconnect the A50 millimeter wave radar sensor assembly connector.

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

       Standard Resistance
       Tester Connection Switch Condition Specified Condition A50-4 (CA1P) - A50-3 (CA1N) Ignition switch off 108 to 132 Ω A50-4 (CA1P) - D8-4 (CG) Ignition switch off 200 Ω or higher A50-3 (CA1N) - D8-4 (CG) Ignition switch off 200 Ω or higher A50-4 (CA1P) - D8-16 (BAT) Ignition switch off 6 kΩ or higher A50-3 (CA1N) - D8-16 (BAT) Ignition switch off 6 kΩ or higher

    
    

    OK

    REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY Click here

    NG

    REPAIR OR REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY CAN MAIN WIRE OR CONNECTOR (CA1P, CA1N)

19. CHECK FOR OPEN IN CAN BUS WIRE (NO. 6 JUNCTION CONNECTOR - LANE RECOGNITION CAMERA SENSOR ASSEMBLY)

    
    
    1. 

       Text in Illustration

       *a	Rear view of wire harness connector (to Lane Recognition Camera Sensor Assembly)

       Disconnect the K10 lane recognition camera sensor assembly connector.

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

       Standard Resistance
       Tester Connection Switch Condition Specified Condition K10-1 (CA1P) - K10-2 (CA1N) Ignition switch off 54 to 69 Ω

    
    

    NG

    REPAIR OR REPLACE LANE RECOGNITION CAMERA SENSOR ASSEMBLY CAN BRANCH WIRE OR CONNECTOR (NO. 6 JUNCTION CONNECTOR - LANE RECOGNITION CAMERA SENSOR)

    OK

20. CHECK HARNESS AND CONNECTOR (DRIVING SUPPORT ECU ASSEMBLY - BATTERY AND GROUND)

    
    
    1. 

       Text in Illustration

       *a	Rear view of wire harness connector (to Driving Support ECU Assembly)

       Connect the cable to the negative (-) battery terminal.

       Note

       When disconnecting the cable, some systems need to be initialized after the cable is reconnected Click here.

    2. Disconnect the D14 driving support ECU assembly connector.

    3. Measure the voltage according to the value(s) in the table below.

       Standard Voltage
       Tester Connection Switch Condition Specified Condition D14-30 (B) - Body ground Ignition switch ON 11 to 14 V

    4. Measure the resistance according to the value(s) in the table below.

       Standard Resistance
       Tester Connection Condition Specified Condition D14-25 (GND) - Body ground Always Below 1 Ω

       Result

       Result	Proceed to
       OK (for LHD)	A
       OK (for RHD)	B
       NG	C

    
    

    A

    REPLACE DRIVING SUPPORT ECU ASSEMBLY Click here

    B

    REPLACE DRIVING SUPPORT ECU ASSEMBLY Click here

    C

    REPAIR OR REPLACE HARNESS OR CONNECTOR