BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM: U0073,U0100,U0110,U0120,U0124,U0126,U0128,U0151,U0293; Control Module Communication Bus Off; 2021 - 2024 MY Camry HV [10/2020

Last Modified: 11-20-2023	6.11:8.1.0	Doc ID: RM100000001T6O7
Model Year Start: 2021	Model: Camry HV	Prod Date Range: [10/2020 - ]
Title: BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM: U0073,U0100,U0110,U0120,U0124,U0126,U0128,U0151,U0293; Control Module Communication Bus Off; 2021 - 2024 MY Camry HV [10/2020 - ]

DTC

U0073

Control Module Communication Bus Off

DTC

U0100

Lost Communication With ECM/PCM "A"

DTC

U0110

Lost Communication with Drive Motor Control Module "A"

DTC

U0120

Lost Communication With Starter / Generator Control Module

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

U0151

Lost Communication With Restraints Control Module

DTC

U0293

Lost Communication with Hybrid Vehicle Control System

DESCRIPTION

The airbag sensor assembly has a built-in yaw rate and acceleration sensor and detects the vehicle condition using 2 circuits (GL1, GL2).

The skid control ECU (brake booster with master cylinder assembly) receives signals from the hybrid vehicle control ECU assembly, steering angle sensor, certification ECU (smart key ECU assembly), inverter with converter assembly, parking brake ECU (brake actuator assembly), airbag sensor assembly, yaw rate and acceleration sensor (airbag sensor assembly) and ECM via CAN communication.

DTC No.	Detection Item	INF Code	DTC Detection Condition	Trouble Area	MIL	Note
U0073	Control Module Communication Bus Off	461 462 463	INF Code: 461 Either of the following is detected: Yaw rate and acceleration sensor communication is disabled for 1 second or more. Yaw rate and acceleration sensor communication is disabled once or more per 5 seconds 10 times or more within 60 seconds. INF Code: 462 Either of the following is detected: Steering angle sensor communication is disabled for 1 second or more. Steering angle sensor communication is disabled once or more per 5 seconds 10 times or more within 60 seconds. INF Code: 463 Bus off occurs once or more per 0.1 seconds 10 times repeatedly.	INF Code: 461 CAN communication line Yaw rate and acceleration sensor (airbag sensor assembly) Skid control ECU (brake booster with master cylinder assembly) INF Code: 462 CAN communication line Steering angle sensor Skid control ECU (brake booster with master cylinder assembly) INF Code: 463 CAN communication line Skid control ECU (brake booster with master cylinder assembly)	Comes on	INF Code 461: SAE Code U0074 INF Code 462: SAE Code U0074 INF Code 463: SAE Code U0073 and U0074 Electronically controlled brake system DTC
U0100	Lost Communication With ECM/PCM "A"	-	Either of the following is detected: ECM communication is disabled for 2 seconds or more. ECM communication is disabled once or more per 5 seconds 10 times or more within 60 seconds.	CAN communication line ECM Skid control ECU (brake booster with master cylinder assembly)	Comes on	-
U0110	Lost Communication with Drive Motor Control Module "A"	1153 1154	INF Code: 1153 When terminal IG2 voltage is 9.5 V or more, data from the inverter with converter assembly cannot be received for 2 seconds or more. INF Code: 1154 When terminal IG2 voltage is 9.5 V or more, the condition in which data from the inverter with converter assembly cannot be received once or more within 5 seconds occurs 10 times in succession.	CAN communication line Inverter with converter assembly Skid control ECU (brake booster with master cylinder assembly)	Comes on	INF Code 1153: SAE Code U0110 (Case 1) INF Code 1154: SAE Code U0110 (Case 2) Electronically controlled brake system DTC
U0120	Lost Communication With Starter / Generator Control Module	1158	Push start switch data is invalid for 3 seconds or more.	CAN communication line Certification ECU (smart key ECU assembly) Skid control ECU (brake booster with master cylinder assembly)	Comes on	INF Code 1158: SAE Code U1107 Electronically controlled brake system DTC
U0124	Lost Communication With Lateral Acceleration Sensor Module	591 592	INF Code: 591 Acceleration sensor communication is disabled for 1 second or more. INF Code: 592 Acceleration sensor communication is disabled once or more per 5 seconds 10 times or more within 60 seconds.	CAN communication line Acceleration sensor (airbag sensor assembly) Skid control ECU (brake booster with master cylinder assembly)	Comes on	INF Code 591: SAE Code U0125 (Case 1) INF Code 592: SAE Code U0125 (Case 2) ABS DTC
U0126	Lost Communication With Steering Angle Sensor Module	741 742	INF Code: 741 Steering angle sensor communication is disabled for 1 second or more. INF Code: 742 Steering angle sensor communication is disabled once or more per 5 seconds 10 times or more within 60 seconds.	CAN communication line Steering angle sensor Skid control ECU (brake booster with master cylinder assembly)	Does not come on	VSC DTC
U0128	Lost Communication With EPB Module	425	With terminal IG1 voltage at 10 V or more, data cannot be received from the parking brake ECU (brake actuator assembly) for 1 second or more.	CAN communication line Parking brake ECU (brake actuator assembly) Skid control ECU (brake booster with master cylinder assembly)	Comes on	INF Code 425: SAE Code U1106 Brake hold DTC HINT: EPB: Electric Parking Brake System
U0151	Lost Communication With Restraints Control Module	450	When terminal IG2 voltage is 9.5 V or more, data from the airbag sensor assembly cannot be received for 5 seconds or more.	CAN communication line Airbag sensor assembly Skid control ECU (brake booster with master cylinder assembly)	Does not come on	Secondary collision brake DTC
U0293	Lost Communication with Hybrid Vehicle Control System	411 412 413	INF Code: 411, 413 When terminal IG2 voltage is 9.5 V or more, data from the hybrid vehicle control ECU assembly cannot be received for 2 seconds or more. INF Code: 412 When terminal IG2 voltage is 9.5 V or more, the condition in which data from the hybrid vehicle control ECU assembly cannot be received once or more within 5 seconds occurs 10 times in succession.	CAN communication line Hybrid vehicle control ECU assembly Skid control ECU (brake booster with master cylinder assembly)	Comes on	INF Code 411, 413: SAE Code U0293 (Case 1) INF Code 412: SAE Code U0293 (Case 2) Electronically controlled brake system DTC

MONITOR DESCRIPTION

U0073 and U0074:

When communication by the yaw rate and acceleration sensor (airbag ECU assembly) or steering angle sensor takes longer than a certain time when in the bus off state (number of sending errors exceeds a certain value) or the load on the bus is high, the skid control ECU (brake booster with master cylinder assembly) judges that there is a CAN communication error and illuminates the MIL and stores a DTC.

U0100 (Case 1 and 2), U0110 (Case 1 and 2), U0125 (Case 1 and 2), U0293 (Case 1 and 2), U1106 and U1107:

When a communication error with any ECU continues for a certain amount of time or communication is unstable (communication is invalid for a certain amount of time a certain amount of times), the skid control ECU (brake booster with master cylinder assembly) judges that communication with the respective ECU is abnormal and illuminates the MIL and stores a DTC.

MONITOR STRATEGY

*: Electric Parking Brake System
Related DTCs	U0073: Control module communication bus "A" off U0074: Control module communication bus "B" off U0100 (Case 1): Lost communication with ECM/PCM "A" U0100 (Case 2): Lost communication with ECM/PCM "A" U0110 (Case 1): Lost communication with drive motor control module "A" U0110 (Case 2): Lost communication with drive motor control module "A" U0125 (Case 1): Lost communication with multi-axis acceleration sensor module U0125 (Case 2): Lost communication with multi-axis acceleration sensor module U0293 (Case 1): Lost communication with hybrid powertrain control module U0293 (Case 2): Lost communication with hybrid powertrain control module U1106: Lost communication with EPB* control module U1107: Lost communication with security module
Required Sensors/Components(Main)	Skid control ECU (brake booster with master cylinder assembly)
Required Sensors/Components(Related)	Skid control ECU (brake booster with master cylinder assembly)
Frequency of Operation	Continuous
Duration	-: U0073 and U0074 1 second: U0125 (Case 1) and U1106 2 seconds: U0100 (Case 1), U0110 (Case 1) and U0293 (Case 1) 3 seconds: U1107 10 times for 60 seconds: U0100 (Case 2), U0110 (Case 2), U0125 (Case 2) and U0293 (Case 2)
MIL Operation	Immediately
Sequence of Operation	None

TYPICAL ENABLING CONDITIONS

U0073, U0074, U1106 and U1107

Monitor runs whenever the following DTCs are not stored	None
IG1 voltage	Higher than 10 V, and less than 17.4 V

U0100 (Case 1)

Monitor runs whenever the following DTCs are not stored	None
Both of the following conditions are met	-
IG1 voltage	Higher than 10 V, and less than 17.4 V
IG2 voltage	Higher than 9.54 V

U0100 (Case 2)

Monitor runs whenever the following DTCs are not stored	U0100 (Case 1) (Lost communication with ECM/PCM "A")
All of the following conditions are met	-
IG1 voltage	Higher than 10 V, and less than 17.4 V
IG2 voltage	Higher than 9.54 V
CAN communication fail (U0100 (Case 1))	Not detected

U0110 (Case 1)

Monitor runs whenever the following DTCs are not stored	None
Both of the following conditions are met	-
IG1 voltage	Higher than 10 V, and less than 17.4 V
IG2 voltage	Higher than 9.54 V

U0110 (Case 2)

Monitor runs whenever the following DTCs are not stored	U0110 (Case 1) (Lost communication with drive motor control module "A")
All of the following conditions are met	-
IG1 voltage	Higher than 10 V, and less than 17.4 V
IG2 voltage	Higher than 9.54 V
CAN communication fail (U0110 (Case 1))	Not detected

U0125 (Case 1 and 2)

Monitor runs whenever the following DTCs are not stored	U0074 (Control module communication bus "B" off)
All of the following conditions are met	-
IG1 voltage	Higher than 10 V, and less than 17.4 V
IG2 voltage	Higher than 9.54 V
CAN communication fail (U0074)	Not detected

U0293 (Case 1)

Monitor runs whenever the following DTCs are not stored	None
Both of the following conditions are met	-
IG1 voltage	Higher than 10 V, and less than 17.4 V
IG2 voltage	Higher than 9.54 V

U0293 (Case 2)

Monitor runs whenever the following DTCs are not stored	U0293 (Case 1) (Lost communication with hybrid powertrain control module)
All of the following conditions are met	-
IG1 voltage	Higher than 10 V, and less than 17.4 V
IG2 voltage	Higher than 9.54 V
CAN communication fail (U0293 (Case 1))	Not detected

TYPICAL MALFUNCTION THRESHOLDS

U0073 and U0074

Either of the following conditions is met	-
CAN bus	Bus off
CAN bus	High bus load

U0100 (Case 1)

Communication status with ECM

Invalid

U0100 (Case 2)

Communication status with ECM valid to invalid edge

Detection more than once within 5 seconds

U0110 (Case 1)

Communication status with inverter with converter assembly

Invalid

U0110 (Case 2)

Communication status with inverter with converter assembly valid to invalid edge

Detection more than once within 5 seconds

U0125 (Case 1)

Communication status with yaw rate and acceleration sensor (airbag ECU assembly)

Invalid

U0125 (Case 2)

Communication status with yaw rate and acceleration sensor (airbag ECU assembly) valid to invalid edge

Detection more than once within 5 seconds

U0293 (Case 1)

Communication status with hybrid vehicle control ECU

Invalid

U0293 (Case 2)

Communication status with hybrid vehicle control ECU valid to invalid edge

Detection more than once within 5 seconds

U1106

Communication status with parking brake ECU (brake actuator assembly)

Invalid

U1107

Communication status with certification ECU (smart key ECU assembly)

Invalid

COMPONENT OPERATING RANGE

U0073 and U0074

Both of the following conditions are met	-
CAN bus	Not bus off
CAN bus	Bus load is not high

U0100 (Case 1)

Communication status with ECM

Valid

U0100 (Case 2)

All of the following conditions are met	-
IG1 voltage	Higher than 10 V, and less than 17.4 V
IG2 voltage	Higher than 9.54 V
CAN communication fail (U0100 (Case 1))	Not detected
Communication status with ECM	Valid

U0110 (Case 1)

Communication status with inverter with converter assembly

Valid

U0110 (Case 2)

All of the following conditions are met	-
IG1 voltage	Higher than 10 V, and less than 17.4 V
IG2 voltage	Higher than 9.54 V
CAN communication fail (U0110 (Case 1))	Not detected
Communication status with inverter with converter assembly	Valid

U0125 (Case 1)

Communication status with yaw rate and acceleration sensor (airbag ECU assembly)

Valid

U0125 (Case 2)

All of the following conditions are met	-
IG1 voltage	Higher than 10 V, and less than 17.4 V
IG2 voltage	Higher than 9.54 V
CAN communication fail (U0074)	Not detected
Communication status with yaw rate and acceleration sensor (airbag ECU assembly)	Valid

U0293 (Case 1)

Communication status with hybrid vehicle control ECU

Valid

U0293 (Case 2)

All of the following conditions are met	-
IG1 voltage	Higher than 10 V, and less than 17.4 V
IG2 voltage	Higher than 9.54 V
CAN communication fail (U0293 (Case 1))	Not detected
Communication status with hybrid vehicle control ECU	Valid

U1106

Communication status with parking brake ECU (brake actuator assembly)

Valid

U1107

Communication status with certification ECU (smart key ECU assembly)

Valid

CONFIRMATION DRIVING PATTERN

Connect the Techstream to the DLC3.
Turn the power switch on (IG).
Turn the Techstream on.
Clear the DTCs (even if no DTCs are stored, perform the clear DTC procedure).
Turn the power switch off.
Turn the power switch on (IG).
Turn the Techstream on.
Wait 60 seconds.
Enter the following menus: Chassis / ABS/VSC/TRAC / Trouble Codes.
Read the DTCs.
HINT:
- If a DTC is output, the system is malfunctioning.
- If a DTC is not output, perform the following procedure.
If the DTCs are not output, perform a universal trip and check for permanent DTCs.
Click here
HINT:
- If a permanent DTC is output, the system is malfunctioning.
- If no permanent DTCs are output, the system is normal.

PROCEDURE

1.	CHECK DTC (HEALTH CHECK)

(a) Clear the DTCs.

Chassis > ABS/VSC/TRAC > Clear DTCs

(b) Turn the power switch off.

(d) Enter the following menus: System Select / Health Check.

(e) Check for DTCs.

Result	Proceed to
DTCs for related systems are output together with DTC U0073, U0100, U0110, U0120, U0124, U0126, U0128, U0151 or U0293.	A
DTC U0073, U0100, U0110, U0120, U0124, U0126, U0128, U0151 or U0293 is output.	B
DTCs are not output.	C

GO TO DIAGNOSTIC TROUBLE CODE CHART (RELATED SYSTEM)

INSPECT CAN COMMUNICATION SYSTEM

USE SIMULATION METHOD TO CHECK