LANE DEPARTURE ALERT SYSTEM(w/ Steering Control), Diagnostic DTC:C1A76

DTC Code DTC Name
C1A76 VGRS System Malfunction

DESCRIPTION

If the forward recognition camera receives an internal malfunction signal from the VGRS ECU (front steering control ECU), 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 in the variable gear ratio steering system internal circuit is detected 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 adjustment.

    Click here

  • The lane departure alert 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)

    Tech Tips

    Lane departure alert 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.


    1. Check for DTCs.

      Click here


      Chassis > VGRS > Trouble Codes
      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 (LANE DEPARTURE ALERT SYSTEM)


    1. Clear the DTCs.

      Click here


      Chassis > LKA/LDA > Clear DTCs

    2. Perform the following procedure.

      Tech Tips

      If the following procedure is not performed, the previously output DTC cannot be detected.


      1. Turn the engine switch on (IG) and wait 7 seconds or more.

    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 adjustment.

      Click here

      Result
      Proceed to
      NEXT

    NEXT

  4. CHECK FOR DTCs (LANE DEPARTURE ALERT SYSTEM)


    1. Clear the DTCs.

      Click here


      Chassis > LKA/LDA > Clear DTCs

    2. Perform the following procedure.

      Tech Tips

      If the following procedure is not performed, the previously output DTC cannot be detected.


      1. Turn the engine switch on (IG) and wait 7 seconds or more.

    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