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DTC U0401 00: Can System Communication Error: Notes

WARNING: This page is about a different car, the 2014 Mazda 6. However, it is still accessible from the selected car via links, so may be relevant.
DTC U0401:00 DETECTION CONDITIONS AND POSSIBLE CAUSES

DTC U0401:00  CAN system communication error 
DETECTION CONDITION 
  • Error detected in signal from PCM via CAN communication
FAIL-SAFE FUNCTION 
  • Vehicle speed signal malfunction
    • Control is maintained by gradually changing the controlled vehicle speed and setting it to 120 km/h {74.6 mph} 
    • Power steering malfunction indicator light: Illuminated
  • Engine speed signal malfunction
    • Control enabled
    • Power steering malfunction indicator light: Not illuminated
  • i-stop status signal malfunction
    • EPS i-stop control is not operated, and normal control is maintained
    • Power steering malfunction indicator light: Not illuminated
POSSIBLE CAUSE 
  • PCM malfunction
SYSTEM WIRING DIAGRAM  Not applicable