DTC U0100-00: F-CAN Malfunction (EPS Control Unit-PCM/TCM) DTC U0122-00: F-CAN Malfunction (EPS Control Unit-VSA Modulator-Control Unit) DTC U0151-00: F-CAN Malfunction (EPS Control Unit-SRS Unit) DTC U129C-00: F-CAN Malfunction (EPS Control Unit-Driving Support System Control Unit)
According to the detected DTC(s), check for the power circuit and the ground circuit of the control unit which cannot communicate with the EPS control unit.
DTC Description
DTC
Freeze Frame
U0100-00 F-CAN Malfunction (EPS Control Unit-PCM/TCM)
U0122-00 F-CAN Malfunction (EPS Control Unit-VSA Modulator-Control Unit)
U0151-00 F-CAN Malfunction (EPS Control Unit-SRS Unit)
U129C-00 F-CAN Malfunction (EPS Control Unit-Driving Support System Control Unit)
1.
DTC check:
DTC check
?1.
Turn the vehicle to the ON mode.
?2.
Clear the DTC with the HDS.
?3.
Turn the vehicle to the OFF (LOCK) mode, then start the engine.
?4.
Wait 10 seconds or more.
?5.
Check for DTCs with the HDS.
DTC Description
DTC
Freeze Frame
U0100-00 F-CAN Malfunction (EPS Control Unit-PCM/TCM)
U0122-00 F-CAN Malfunction (EPS Control Unit-VSA Modulator-Control Unit)
U0151-00 F-CAN Malfunction (EPS Control Unit-SRS Unit)
U129C-00 F-CAN Malfunction (EPS Control Unit-Driving Support System Control Unit)
Is DTC indicated?
YES
Go to step 2.
NO
Intermittent failure, the system is OK at this time. Refer to intermittent failures troubleshooting. If the freeze data/on-board snapshot of this DTC is recorded, try to reproduce the failure under the same conditions with the freeze data/on-board snapshot.?
2.
DTC check (CAN gateway system):
DTC check (CAN gateway system)
?1.
Check for CAN gateway system DTCs with the HDS.
DTC Description
DTC
Is DTC indicated?
YES
Go to indicated DTC's troubleshooting.?
NO
Go to step 3.
3.
F-CAN circuit communication check (Receiving control unit):
F-CAN circuit communication check (Receiving control unit)
?1.
Select the FUNCTION TEST in the CAN gateway with the HDS, then select the F-CAN Bus Connected Unit Check.
CAN gateway 12P connector (female terminals) No. 5:
Is there continuity?
YES
The F-CAN B_H and F-CAN B_L wires are OK. Check for loose terminals and poor connections at the EPS control unit connectors. Check for any authorized service information related to the DTCs or symptoms you are troubleshooting or substitute a known-good EPS motor/control unit, then recheck. If the symptom/indication goes away with a known-good EPS motor/control unit, replace the original EPS motor/control unit.?
NO
Repair an open in the wire between the EPS control unit and the CAN gateway.?
5.
F-CAN circuit communication check (Transmitting control unit):
F-CAN circuit communication check (Transmitting control unit)
?1.
Select the FUNCTION TEST in the CAN gateway with the HDS, then select the F-CAN Bus Connected Unit Check.
?2.
According to the detected DTC on the following table, make sure that the transmitting control unit detects the CAN gateway Bus channel(s) normally.
DTC
Transmitting control unit
Detected CAN getaway Bus channel(s) at normal
U0100-00
PCM
A, B
U0122-00
VSA modulator-control unit
A, B
U0151-00
SRS unit
B
U129C-00
Millimeter wave radar
B
Is it detected normally?
Detected normal
Intermittent failure, the system is OK at this time. Refer to intermittent failures troubleshooting. If the freeze data/on-board snapshot of this DTC is recorded, try to reproduce the failure under the same conditions with the freeze data/on-board snapshot.?
U0100-00: PCM (Bus A) is Not Available
Go to step 6.
U0100-00: PCM (Bus B) is Not Available
Go to step 7.
U0122-00: VSA modulator-control unit (Bus A) is Not Available
Go to step 6.
U0122-00: VSA modulator-control unit (Bus B) is Not Available
Go to step 7.
U0151-00: SRS unit (Bus B) is Not Available
Go to step 7.
U129C-00: Millimeter wave radar (Bus B) is Not Available
Go to step 7.
6.
Open wire check (F-CAN A_H, F-CAN A_L lines):
Open wire check (F-CAN A_H, F-CAN A_L lines)
?1.
Turn the vehicle to the OFF (LOCK) mode.
?2.
Disconnect the following connectors according to the detected DTC.
DTC
Connector
CAN gateway 12P connector
U0100-00
PCM connector A (50P)
U0122-00
VSA modulator-control unit 46P connector
NOTE: Jump the SCS line with the HDS, and wait more than 1 minute when disconnecting the PCM connector.
?3.
Check for continuity between test points 1 and 2.
Test condition
Vehicle OFF (LOCK) mode
Transmitting control unit connector(s) for indicated DTCs: disconnected
The F-CAN A_H and F-CAN A_L wires are OK. Check for any authorized service information related to the DTCs or symptoms you are troubleshooting. According to the detected DTC on the following table, replace the correspond control unit.?
The F-CAN B_H and F-CAN B_L wires are OK. Check for any authorized service information related to the DTCs or symptoms you are troubleshooting. According to the detected DTC on the following table, replace the correspond control unit.?
