FORWARD RECOGNITION CAMERA SYSTEM, Diagnostic DTC:C1AA6

DTC Code DTC Name
C1AA6 Yaw Rate Sensor Zero Point Malfunction

DESCRIPTION

The skid control ECU (brake actuator assembly) receives vehicle stability signals from the yaw rate sensor. If the skid control ECU (brake actuator assembly) detects a yaw rate sensor zero point malfunction signal, it informs the forward recognition camera via CAN communication, and DTC C1AA6 is stored.

DTC No.

Detection Item

DTC Detection Condition

Trouble Area

C1AA6

Yaw Rate Sensor Zero Point Malfunction

2 seconds after the ignition switch is turned ON, a signal from the skid control ECU (brake actuator assembly) indicating a malfunction in the yaw rate sensor zero point is detected by the forward recognition camera for 5 seconds or more.

  • Vehicle stability control system

  • Skid control ECU (Brake actuator assembly)

  • 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 Recognition Camera/Target Position Memory and Recognition Camera Axis Adjust.

    Click here

  • First check the CAN communication system by following How to Proceed with Troubleshooting. After checking that there are no malfunctions in the CAN communication system, proceed with troubleshooting.

    Click here

PROCEDURE

  1. CHECK DTC OUTPUT (VEHICLE STABILITY CONTROL SYSTEM)

    Tip:

    If DTC C1AA6 is stored, the vehicle stability control system may be malfunctioning. Check for DTCs related to the Vehicle stability control system first.

    1. Connect the GTS to the DLC3.

    2. Turn the ignition switch to ON.

    3. Turn the GTS on.

    4. Enter the following menus: Chassis / ABS/VSC/TRC / Trouble Codes.

    5. Check for DTCs.

      Click here

      Chassis > ABS/VSC/TRC > Trouble Codes

    Result

    Result

    Proceed to

    Vehicle stability control system DTCs are not output

    A

    Vehicle stability control system DTCs are output

    B
    B

    GO TO VEHICLE STABILITY CONTROL SYSTEM

    Click here

    A

  2. CHECK DTC OUTPUT

    1. Connect the GTS to the DLC3.

    2. Turn the ignition switch to ON.

    3. Turn the GTS on.

    4. Enter the following menus: Chassis / Front Recognition Camera / Trouble Codes.

    5. Clear the DTCs.

      Click here

      Chassis > Front Recognition Camera > Clear DTCs

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

      Tip:

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

      1. Turn the ignition switch to ON and wait 7 seconds or more.

    7. Check for DTCs.

      Click here

      Chassis > Front Recognition Camera > Trouble Codes

    Result

    Result

    Proceed to

    DTC C1AA6 is output.

    A

    DTC C1AA6 is not output.

    B
    B

    USE SIMULATION METHOD TO CHECK

    Click hereClick here

    A

  3. REPLACE FORWARD RECOGNITION CAMERA

    1. Replace the forward recognition camera.

      Click here

    2. Adjust the forward recognition camera.

      Click here

    Result

    Proceed to

    NEXT
    NEXT

  4. CHECK DTC OUTPUT

    1. Connect the GTS to the DLC3.

    2. Turn the ignition switch to ON.

    3. Turn the GTS on.

    4. Enter the following menus: Chassis / Front Recognition Camera/ Trouble Codes.

    5. Clear the DTCs.

      Click here

      Chassis > Front Recognition Camera > Clear DTCs

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

      Tip:

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

      1. Turn the ignition switch to ON and wait 7 seconds or more.

    7. Check for DTCs.

      Click here

      Chassis > Front Recognition Camera > Trouble Codes

    Result

    Result

    Proceed to

    DTC C1AA6 is output.

    A

    DTC C1AA6 is not output.

    B
    A

    REPLACE SKID CONTROL ECU (BRAKE ACTUATOR ASSEMBLY)

    Click hereClick here

    B

    END (FORWARD RECOGNITION CAMERA WAS DEFECTIVE)