DTC U0073: Control Module Communication Bus OFF; DTC U0100: Lost Communication with ECM / PCM; DTC U0124: Lost Communication with Lateral Acceleration Sensor Module; DTC U0126: Lost Communication with Steering Angle Sensor Module; DTC U0128: Lost Communication With EPB Module; DTC U110F: Lost Communication With Roll Rate Sensor/Vertical Acceleration Sensor Module [09/2017 - ]: Description

The skid control ECU (brake actuator assembly) receives signals from the ECM, parking brake ECU assembly, steering angle sensor (spiral cable with sensor sub-assembly), roll rate and vertical acceleration sensor and acceleration sensor (yaw rate sensor) via CAN communication.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area	Note
U0073	Control Module Communication Bus OFF	Any of the following is detected: A bus OFF state occurs once or more within 0.1 seconds, 10 times in succession. (Sent signals cannot be received.) When the +BS terminal voltage is between 10 and 17.4 V, a delay in receiving data from the acceleration sensor (yaw rate sensor) and steering angle sensor continues for 1 second or more. When the +BS terminal voltage is between 10 and 17.4 V, the following occurs 10 times in succession within 60 seconds: A delay in receiving data from the acceleration sensor (yaw rate sensor) and steering angle sensor occurs once or more within 5 seconds.	CAN communication system	-
U0100	Lost Communication with ECM / PCM	The +BS terminal voltage is between 10 and 17.4 V and the vehicle speed is 15 km/h (9 mph) or more, data cannot be received from the ECM for 2 seconds or more.	CAN communication system Skid control ECU (brake actuator assembly) ECM	-
U0124	Lost Communication with Lateral Acceleration Sensor Module	Either of the following is detected: When the +BS terminal voltage is between 10 and 17.4 V and the vehicle speed is 7 km/h (4 mph) or more, data from the acceleration sensor cannot be received for 1second or more. When the +BS terminal voltage is between 10 and 17.4 V, the following occurs 10 times in succession within 60 seconds: Data from the acceleration sensor cannot be received once or more within 5 seconds.	CAN communication system Skid control ECU (brake actuator assembly) Acceleration sensor (yaw rate sensor)	-
U0126	Lost Communication with Steering Angle Sensor Module	Either of the following is detected: When the +BS terminal voltage is between 10 and 17.4 V, data from the steering angle sensor cannot be received for 1 second or more. When the +BS terminal voltage is between 10 and 17.4 V, the following occurs 10 times in succession within 60 seconds: Data from the steering angle sensor cannot be received once or more within 5 seconds	CAN communication system Skid control ECU (brake actuator assembly) Steering angle sensor (spiral cable with sensor sub-assembly)	-
U0128	Lost Communication With EPB Module	When voltage at terminal +BS is 10 to 17.4 V, data cannot be received from parking brake ECU assembly continuously for 1 second or more.	CAN communication system Skid control ECU (Brake actuator assembly) Parking brake ECU assembly	EPB: Electric Parking Brake System
U110F	Lost Communication With Roll Rate Sensor/Vertical Acceleration Sensor Module	The +BS terminal voltage is between 10 and 17.4 V and data cannot be received from the roll rate and vertical acceleration sensor once or more within 5 seconds 10 times consecutively in 60 seconds.	CAN communication system Skid control ECU (Brake actuator assembly) Roll rate and vertical acceleration sensor (yaw rate sensor)	-

U0073 DTC DETECTION CONDITIONS

		Vehicle Condition
		Pattern 1	Pattern 2	Pattern 3
Diagnosis Condition	-	-	-	-
Malfunction Status	A bus OFF state occurs once or more (Sent signals cannot be received.)	◦	-	-
	When the +BS terminal voltage is between 10 and 17.4 V, a delay in receiving data from the acceleration sensor (yaw rate sensor) and steering angle sensor continues	-	◦	-
	When the +BS terminal voltage is between 10 and 17.4 V, the following occurs. - A delay in receiving data from the acceleration sensor (yaw rate sensor) and steering angle sensor occurs once or more within 5 seconds	-	-	◦
Detection Time		Within 0.1 seconds, 10 times in succession.	1 second or more.	Occurs 10 times in succession within 60 seconds.
Number of Trips		1 trip	1 trip	1 trip

HINT:

DTC will be output when conditions for either of the patterns in the table above are met.

U0124 DTC DETECTION CONDITIONS

		Vehicle Condition
		Pattern 1	Pattern 2
Diagnosis Condition	-	-	-
Malfunction Status	When the +BS terminal voltage is between 10 and 17.4 V and the vehicle speed is 7 km/h (4 mph) or more, data from the acceleration sensor cannot be received	◦	-
Malfunction Status	When the +BS terminal voltage is between 10 and 17.4 V, the following occurs - Data from the acceleration sensor cannot be received once or more within 5 seconds	-	◦
Detection Time		1 second or more.	10 times in succession within 60 seconds.
Number of Trips		1 trip	1 trip

HINT:

DTC will be output when conditions for either of the patterns in the table above are met.

U0126 DTC DETECTION CONDITIONS

		Vehicle Condition
		Pattern 1	Pattern 2
Diagnosis Condition	-	-	-
Malfunction Status	When the +BS terminal voltage is between 10 and 17.4 V, data from the steering angle sensor cannot be received.	◦	-
Malfunction Status	When the +BS terminal voltage is between 10 and 17.4 V, the following occurs - Data from the steering angle sensor cannot be received once or more within 5 seconds.	-	◦
Detection Time		1 second or more.	10 times in succession within 60 seconds.
Number of Trips		1 trip	1 trip

HINT:

DTC will be output when conditions for either of the patterns in the table above are met.