BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (w/o Vacuum Brake Booster): U0073,...,U0293; Control Module Communication Bus OFF; 2019 - 2021 MY RAV4 RAV4 HV [02/2019

Last Modified: 01-30-2024	6.11:8.1.0	Doc ID: RM100000001HG9C
Model Year Start: 2019	Model: RAV4	Prod Date Range: [02/2019 - 12/2021]
Title: BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (w/o Vacuum Brake Booster): U0073,...,U0293; Control Module Communication Bus OFF; 2019 - 2021 MY RAV4 RAV4 HV [02/2019 - 12/2021]

DTC

U0073

Control Module Communication Bus OFF

DTC

U0110

Lost Communication with Drive Motor Control Module "A"

DTC

U0120

Lost Communication with Starter / Generator Control Module

DTC

U0123

Lost Communication with Yaw Rate Sensor 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 skid control ECU (brake booster with master cylinder assembly) receives signals from the hybrid vehicle control ECU assembly, steering sensor, parking brake ECU assembly, certification ECU (smart key ECU assembly), inverter with converter assembly and yaw rate and acceleration sensor (airbag ECU assembly) via CAN communication.

DTC No.	Detection Item	INF Code	DTC Detection Condition	Trouble Area	Note
U0073	Control Module Communication Bus OFF	461 462 463 464 465 466	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 sensor communication is disabled for 1 second or more. Steering sensor communication is disabled once or more per 5 seconds 10 times or more within 60 seconds. INF Code: 463, 464 Bus off occurs once or more per 0.1 seconds 10 times repeatedly. INF Code: 465, 466 Sending does not complete within 5 seconds after data is output from the skid control ECU (brake booster with master cylinder assembly).	INF Code: 461 CAN communication line (V bus) Yaw rate and acceleration sensor (Airbag ECU assembly) Skid control ECU (Brake booster with master cylinder assembly) INF Code: 462 CAN communication line (V bus) Steering sensor Skid control ECU (Brake booster with master cylinder assembly) INF Code: 463, 464, 465, 466 CAN communication line Skid control ECU (Brake booster with master cylinder assembly)	-
U0110	Lost Communication with Drive Motor Control Module "A"	1153 1154	INF Code: 1153 The IG2 terminal voltage is 9.5 V higher than and data cannot be received from the inverter with converter assembly for 2 seconds. INF Code: 1154 The IG2 terminal voltage is 9.5 V higher than and data cannot be received from the inverter with converter assembly once or more per 5 seconds 10 times or more within 60 seconds.	CAN communication line Inverter with converter assembly Skid control ECU (Brake booster with master cylinder assembly)	-
U0120	Lost Communication with Starter / Generator Control Module	471	Push start switch data is invalid for 3 seconds or more.	CAN communication line (V bus) Certification ECU (Smart key ECU assembly) Skid control ECU (Brake booster with master cylinder assembly)	-
U0123	Lost Communication with Yaw Rate Sensor Module	731 732	INF Code: 731 Yaw rate sensor communication is disabled for 1 second or more. INF Code: 732 Yaw rate sensor communication is disabled once or more per 5 seconds 10 times or more within 60 seconds.	CAN communication line (V bus) Yaw rate sensor (Airbag ECU assembly) Skid control ECU (Brake booster with master cylinder assembly)	-
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 per 5 seconds 10 times or more within 60 seconds.	CAN communication line (V bus) Acceleration sensor (Airbag ECU assembly) Skid control ECU (Brake booster with master cylinder assembly)	-
U0126	Lost Communication with Steering Angle Sensor Module	741 742	INF Code: 741 Steering sensor communication is disabled for 1 second or more. INF Code: 742 Steering sensor communication is disabled once or more per 5 seconds 10 times or more within 60 seconds.	CAN communication line (V bus) Steering sensor Skid control ECU (Brake booster with master cylinder assembly)	-
U0128	Lost Communication With EPB Module	425	With terminal IG1 voltage at 10 V or more, data cannot be received from the electric parking brake ECU for 1 second.	CAN communication line (V bus) Parking brake ECU assembly Skid control ECU (Brake booster with master cylinder assembly)	EPB: Electric Parking Brake System
U0151	Lost Communication With Restraints Control Module	450	The IG2 terminal voltage is 9.5 V higher than and data cannot be received from the airbag ECU assembly continuously for 5 seconds.	CAN communication system Skid control ECU (Brake booster with master cylinder assembly) Airbag ECU assembly	-
U0293	Lost Communication With Hybrid Vehicle Control System	411 412 413	Either of the following is detected: When terminal IG2 voltage is 9.5 V higher than, data from the hybrid vehicle control ECU assembly cannot be received for 2 seconds or more. When terminal IG2 voltage is 9.5 V higher than, data from the hybrid vehicle control ECU assembly cannot be received once or more within 5 seconds occur 10 times in succession.	CAN communication line (V bus) Hybrid vehicle control ECU assembly Skid control ECU (Brake booster with master cylinder assembly)	-

DTC Detection Conditions: U0073 INF Code: 461

		Vehicle Condition
		Pattern 1	Pattern 2
Diagnosis Condition	-	-	-
Malfunction Status	Yaw rate and acceleration sensor communication is disabled	○	-
Malfunction Status	Communication is disabled once or more per 5 seconds 10 times or more within 60 seconds	-	○
Detection Time		1 second or more	-
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.

DTC Detection Conditions: U0073 INF Code: 462

		Vehicle Condition
		Pattern 1	Pattern 2
Diagnosis Condition	-	-	-
Malfunction Status	Steering sensor communication is disabled	○	-
Malfunction Status	Steering sensor communication is disabled once or more per 5 seconds 10 times or more within 60 seconds	-	○
Detection Time		1 second or more	-
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.

DTC Detection Conditions: U0293

		Vehicle Condition
		Pattern 1	Pattern 2
Diagnosis Condition	-	-	-
Malfunction Status	When terminal IG2 voltage is 9.5 V higher than, data from the hybrid vehicle control ECU assembly cannot be received	○	-
Malfunction Status	When terminal IG2 voltage is 9.5 V higher than, data from the hybrid vehicle control ECU assembly cannot be received once or more within 5 seconds occur 10 times in succession	-	○
Detection Time		2 seconds or more	-
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.

WIRING DIAGRAM

Click here

PROCEDURE

1.	CHECK HARNESS AND CONNECTOR (MOMENTARY INTERRUPTION)

(a) Using the Techstream, check for any momentary interruptions in the wire harness and connector corresponding to a DTC.

Click here

Chassis > ABS/VSC/TRAC > Data List

Tester Display	Measurement Item	Range	Normal Condition	Diagnostic Note
Yaw Rate Open	Yaw rate sensor open detection	Error or Normal	Normal: Normal	Error: Momentary interruption
Deceleration Open	Acceleration sensor open detection	Error or Normal	Normal: Normal	Error: Momentary interruption
Steering Open	Steering sensor open detection	Error or Normal	Normal: Normal	Error: Momentary interruption
HV Communication Open	Hybrid vehicle communication open detection	Error or Normal	Normal: Normal	Error: Momentary interruption

Chassis > ABS/VSC/TRAC > Data List

Tester Display
Yaw Rate Open
Deceleration Open
Steering Open
HV Communication Open

Result	Proceed to
There is a constant open circuit.	A
There are no momentary interruptions.	B
There are momentary interruptions.	C

HINT:

Perform the above inspection before disconnecting any sensors or connectors.

GO TO STEP 3

GO TO STEP 4

2.	CHECK IF EACH CONNECTOR IS SECURELY CONNECTED (ECU, SENSOR)

(a) Turn the ignition switch off.

(b) Check if each sensor and ECU connector is securely connected.

OK:

Each sensor and ECU connector is securely connected.

CONNECT CONNECTOR TO EACH SENSOR OR ECU CORRECTLY

3.	RECONFIRM DTC

(a) Turn the ignition switch off.

(b) Record the output DTCs (for the ABS, VSC, electronically controlled brake system and/or CAN communication system).

for the ABS, VSC and Electronically Controlled Brake System: Click here

for the CAN Communication System: Click here

Chassis > ABS/VSC/TRAC > Trouble Codes

HINT:

If CAN communication system DTCs and relevant sensor DTCs are output simultaneously, troubleshoot the relevant sensor DTCs (for the ABS, VSC and/or electronically controlled brake system) after the CAN communication system returns to normal.

Result	Proceed to
DTCs are not output.	A
ABS, VSC and/or electronically controlled brake system DTCs are output.	B
CAN communication system DTCs are output.	C

USE SIMULATION METHOD TO CHECK

REPAIR CIRCUITS INDICATED BY OUTPUT DTCS

INSPECT CAN COMMUNICATION SYSTEM

4.	REPAIR OR REPLACE HARNESS OR CONNECTOR

(a) Turn the ignition switch off.

(b) Repair or replace the harness or connector.

(c) Check for any momentary interruptions between the skid control ECU (brake booster with master cylinder assembly) and each sensor or ECU.

Click here

5.	RECONFIRM DTC

(a) Turn the ignition switch off.

(b) Clear the DTCs.

Click here

Chassis > ABS/VSC/TRAC > Clear DTCs

(d) Drive the vehicle at a speed of 15 km/h (9 mph) or more and turn the steering wheel to the right and left.

(e) Check that no CAN communication system DTCs are output.

Click here

(f) If ABS, VSC and/or electronically controlled brake system DTCs are output, record them.

Click here

Chassis > ABS/VSC/TRAC > Trouble Codes

Result	Proceed to
DTCs are not output.	A
ABS, VSC and/or electronically controlled brake system DTCs are output.	B
CAN communication system DTCs are output.	C

HINT:

The CAN communication system must be normal when performing troubleshooting for sensor DTCs (for the ABS, VSC and/or electronically controlled brake system).

END

REPAIR CIRCUITS INDICATED BY OUTPUT DTCS

INSPECT CAN COMMUNICATION SYSTEM