Last Modified: 05-13-2024 6.11:8.1.0 Doc ID: RM100000001I0WF
Model Year Start: 2020 Model: GR Corolla Prod Date Range: [03/2019 - 09/2022]
Title: PRE-COLLISION: PRE-COLLISION SYSTEM (for Gasoline Model): VEHICLE CONTROL HISTORY; 2020 - 2022 MY Corolla Corolla Hatchback GR Corolla [03/2019 - 09/2022]

VEHICLE CONTROL HISTORY

NOTICE:

  • Make sure to record any output Vehicle Control History codes before clearing them and checking the Vehicle Control History again.
  • Repairing or replacing related parts may cause vehicle control history (RoB) codes to be stored.

CHECK VEHICLE CONTROL HISTORY (PRE-COLLISION SYSTEM)

(a) Connect the Techstream to the DLC3.

(b) Turn the ignition switch to ON.

(c) Turn the Techstream on.

(d) Enter the following menus: Body Electrical / Pre-Collision System / Utility / Vehicle Control History (RoB)

Body Electrical > Pre-Collision System > Utility

Tester Display

Vehicle Control History (RoB)

(e) According to the display on the Techstream, read the Vehicle Control History (RoB).

Vehicle Control History (RoB)

Multi-information Display

Code

Tester Display

Description

Diagnostic Note

Pre-Collision System Malfunction Visit Your Dealer

X2000

Yaw Rate Sensor Malfunction

The forward recognition camera received a yaw rate sensor malfunction signal from the skid control ECU (brake actuator assembly).

Perform troubleshooting for the electronically controlled brake system.

w/ Electric Parking Brake System: 2019 - 2022 MY Corolla Corolla Hatchback GR Corolla [06/2018 - 09/2022]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (for Gasoline Model with Electric Parking Brake System): HOW TO PROCEED WITH TROUBLESHOOTING

w/o Electric Parking Brake System: 2020 - 2022 MY Corolla Corolla Hatchback GR Corolla [01/2019 - 09/2022]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (for Gasoline Model without Electric Parking Brake System): HOW TO PROCEED WITH TROUBLESHOOTING

Pre-Collision System Malfunction Visit Your Dealer

X2001

Steering Angle Sensor Malfunction

The forward recognition camera received a steering sensor malfunction signal from the steering sensor.

Perform troubleshooting for the electronically controlled brake system.

w/ Electric Parking Brake System: 2019 - 2022 MY Corolla Corolla Hatchback GR Corolla [06/2018 - 09/2022]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (for Gasoline Model with Electric Parking Brake System): HOW TO PROCEED WITH TROUBLESHOOTING

w/o Electric Parking Brake System: 2020 - 2022 MY Corolla Corolla Hatchback GR Corolla [01/2019 - 09/2022]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (for Gasoline Model without Electric Parking Brake System): HOW TO PROCEED WITH TROUBLESHOOTING

Pre-Collision System Malfunction Visit Your Dealer

X2002

Accelerator Sensor Malfunction

The forward recognition camera received an accelerator pedal position sensor malfunction signal from the ECM.

Perform troubleshooting for the SFI system.

for M20A-FKS: 2019 - 2025 MY Corolla Corolla Hatchback [06/2018 -        ]; M20A-FKS (ENGINE CONTROL): SFI SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

for 2ZR-FAE: 2020 - 2023 MY Corolla [01/2019 - 11/2022]; 2ZR-FAE (ENGINE CONTROL): SFI SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

Pre-Collision System Malfunction Visit Your Dealer

X2003

Brake Control System Malfunction

The forward recognition camera received an electronically controlled brake system malfunction signal from the skid control ECU (brake actuator assembly).

Perform troubleshooting for the electronically controlled brake system.

w/ Electric Parking Brake System: 2019 - 2022 MY Corolla Corolla Hatchback GR Corolla [06/2018 - 09/2022]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (for Gasoline Model with Electric Parking Brake System): HOW TO PROCEED WITH TROUBLESHOOTING

w/o Electric Parking Brake System: 2020 - 2022 MY Corolla Corolla Hatchback GR Corolla [01/2019 - 09/2022]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (for Gasoline Model without Electric Parking Brake System): HOW TO PROCEED WITH TROUBLESHOOTING

Pre-Collision System Malfunction Visit Your Dealer

X2011

Front Recognition Camera System Software Not Programmed

The forward recognition camera cannot store the vehicle information.

Perform troubleshooting for the front camera system.

2019 - 2022 MY Corolla Corolla Hatchback GR Corolla [06/2018 - 09/2022]; CRUISE CONTROL: FRONT CAMERA SYSTEM (for Gasoline Model): HOW TO PROCEED WITH TROUBLESHOOTING

Pre-Collision System Malfunction Visit Your Dealer

X2012

Front Recognition Camera Malfunction

The forward recognition camera detected an internal malfunction.

Perform troubleshooting for the front camera system.

2019 - 2022 MY Corolla Corolla Hatchback GR Corolla [06/2018 - 09/2022]; CRUISE CONTROL: FRONT CAMERA SYSTEM (for Gasoline Model): HOW TO PROCEED WITH TROUBLESHOOTING

Pre-Collision System Malfunction Visit Your Dealer

X2013

Front Recognition Camera Optical Axis Misalignment Malfunction

The forward recognition camera detected optical axis misalignment.

Refer to DTC C1AA800 in Front Camera System

2019 - 2022 MY Corolla Corolla Hatchback GR Corolla [06/2018 - 09/2022]; CRUISE CONTROL: FRONT CAMERA SYSTEM (for Gasoline Model): C1AA800; Front Recognition Camera Optical Axis Misalignment Malfunction

Pre-Collision System Malfunction Visit Your Dealer

X2014

Front Recognition Camera Optical Axis Not Adjusted

Forward recognition camera optical axis adjustment has not been performed.

If this Vehicle Control History code is output, perform forward recognition camera optical axis adjustment, clear the Vehicle Control History and then check that this code is not stored again.

HINT:

Forward recognition camera adjustment can be performed by using either One Time Recognition or Sequential Recognition.

One Time Recognition: Click here 2020 - 2022 MY Corolla Corolla Hatchback Corolla HV GR Corolla [01/2019 - 09/2022]; CRUISE CONTROL: FRONT CAMERA: ADJUSTMENT (ONE TIME RECOGNITION)

Sequential Recognition: Click here 2020 - 2022 MY Corolla Corolla Hatchback Corolla HV GR Corolla [01/2019 - 09/2022]; CRUISE CONTROL: FRONT CAMERA: ADJUSTMENT (SEQUENTIAL RECOGNITION)

Front Camera Unavailable See Owner's Manual

X2015

Front Recognition Camera Dirt

System operation was temporarily suspended due to the forward recognition camera not being able to detect objects.

Refer to Vehicle Control History code X2015 of Front Camera System.

2020 - 2022 MY Corolla Corolla Hatchback GR Corolla [01/2019 - 09/2022]; CRUISE CONTROL: FRONT CAMERA SYSTEM (for Gasoline Model): VEHICLE CONTROL HISTORY

Front Camera Unavailable

X2016

Front Recognition Camera Outside Guaranteed Operating Temperature

System operation was temporarily suspended due to the forward recognition camera being excessively hot or cold.

Refer to Vehicle Control History code X2016 of Front Camera System.

2020 - 2022 MY Corolla Corolla Hatchback GR Corolla [01/2019 - 09/2022]; CRUISE CONTROL: FRONT CAMERA SYSTEM (for Gasoline Model): VEHICLE CONTROL HISTORY

Front Camera Unavailable

X2017

Front Recognition Camera Outside Guaranteed Operating Voltage

System operation was temporarily suspended due to the forward recognition camera power source voltage being excessively high or low.

Refer to Vehicle Control History code X2017 of Front Camera System.

2020 - 2022 MY Corolla Corolla Hatchback GR Corolla [01/2019 - 09/2022]; CRUISE CONTROL: FRONT CAMERA SYSTEM (for Gasoline Model): VEHICLE CONTROL HISTORY

Pre-Collision System Malfunction Visit Your Dealer

X2018

Front Recognition Camera Heater Malfunction

The forward recognition camera detected a forward recognition camera heater malfunction.

Perform troubleshooting for the front camera system.

2019 - 2022 MY Corolla Corolla Hatchback GR Corolla [06/2018 - 09/2022]; CRUISE CONTROL: FRONT CAMERA SYSTEM (for Gasoline Model): HOW TO PROCEED WITH TROUBLESHOOTING

Pre-Collision System Malfunction Visit Your Dealer

X201D

Front Recognition Camera System Software Malfunction

The forward recognition camera detected a specification information malfunction.

Perform troubleshooting for the front camera system.

2019 - 2022 MY Corolla Corolla Hatchback GR Corolla [06/2018 - 09/2022]; CRUISE CONTROL: FRONT CAMERA SYSTEM (for Gasoline Model): HOW TO PROCEED WITH TROUBLESHOOTING

Front Camera Unavailable

X201F

Front Recognition Camera Temporary Unavailable (Front Recognition Camera Recognition Stop)

The forward recognition camera operation was suspended.

Perform troubleshooting for the front camera system.

2019 - 2022 MY Corolla Corolla Hatchback GR Corolla [06/2018 - 09/2022]; CRUISE CONTROL: FRONT CAMERA SYSTEM (for Gasoline Model): HOW TO PROCEED WITH TROUBLESHOOTING

Pre-Collision System Malfunction Visit Your Dealer

X2020

Front Radar Sensor Destination Malfunction

The forward recognition camera received a destination information malfunction signal from the millimeter wave radar sensor assembly.

Perform troubleshooting for the front radar sensor system.

2019 - 2022 MY Corolla Corolla Hatchback GR Corolla [06/2018 - 09/2022]; CRUISE CONTROL: FRONT RADAR SENSOR SYSTEM (for Gasoline Model): HOW TO PROCEED WITH TROUBLESHOOTING

Pre-Collision System Malfunction Visit Your Dealer

X2021

Front Radar Sensor Malfunction

The forward recognition camera received a malfunction signal from the millimeter wave radar sensor assembly.

Perform troubleshooting for the front radar sensor system.

2019 - 2022 MY Corolla Corolla Hatchback GR Corolla [06/2018 - 09/2022]; CRUISE CONTROL: FRONT RADAR SENSOR SYSTEM (for Gasoline Model): HOW TO PROCEED WITH TROUBLESHOOTING

Pre-Collision System Malfunction Visit Your Dealer

X2022

Front Radar Sensor Optical Axis Misalignment Malfunction

The forward recognition camera received a beam axis misalignment malfunction signal from the millimeter wave radar sensor assembly.

Refer to DTC C1A1100 in front radar sensor system

2020 - 2022 MY Corolla Corolla Hatchback GR Corolla [01/2019 - 09/2022]; CRUISE CONTROL: FRONT RADAR SENSOR SYSTEM (for Gasoline Model): C1A1100; Front Radar Sensor Optical Axis Misalignment Malfunction

Pre-Collision System Malfunction Visit Your Dealer

X2023

Front Radar Sensor Optical Axis Not Adjusted

The forward recognition camera received a beam axis unadjusted signal from the millimeter wave radar sensor assembly.

If this code is output, perform millimeter wave radar sensor assembly beam axis adjustment, clear the Vehicle Control History and then check that this code is not output again.

2020 - 2022 MY Corolla Corolla Hatchback Corolla HV GR Corolla [03/2019 - 09/2022]; CRUISE CONTROL: MILLIMETER WAVE RADAR SENSOR: ADJUSTMENT

Pre-Collision System Unavailable

X2024

Front Radar Sensor Temporary Unavailable (Vertical Direction Optical Axis Misalignment)

The forward recognition camera received a beam axis vertical misalignment signal from the millimeter wave radar sensor assembly.

Perform millimeter wave radar sensor assembly beam axis adjustment.

2020 - 2022 MY Corolla Corolla Hatchback Corolla HV GR Corolla [03/2019 - 09/2022]; CRUISE CONTROL: MILLIMETER WAVE RADAR SENSOR: ADJUSTMENT

Pre-Collision System Unavailable

X2025

Front Radar Sensor Temporary Unavailable (Horizontal Direction Optical Axis Misalignment)

The forward recognition camera received a beam axis horizontal misalignment signal from the millimeter wave radar sensor assembly.

Perform millimeter wave radar sensor assembly beam axis adjustment.

2020 - 2022 MY Corolla Corolla Hatchback Corolla HV GR Corolla [03/2019 - 09/2022]; CRUISE CONTROL: MILLIMETER WAVE RADAR SENSOR: ADJUSTMENT

Pre-Collision System Unavailable Clean Sensor

X2026

Front Radar Sensor Dirt

The forward recognition camera received a millimeter wave radar sensor assembly dirty signal from the millimeter wave radar sensor assembly.

Refer to Vehicle Control History code X2026 of front radar sensor system.

2020 - 2022 MY Corolla Corolla Hatchback GR Corolla [03/2019 - 09/2022]; CRUISE CONTROL: FRONT RADAR SENSOR SYSTEM (for Gasoline Model): VEHICLE CONTROL HISTORY

Pre-Collision System Unavailable

X2027

Front Radar Sensor Outside Guaranteed Operating Temperature

The forward recognition camera received a temperature malfunction signal from the millimeter wave radar sensor assembly.

Refer to Vehicle Control History code X2027 of front radar sensor system.

2020 - 2022 MY Corolla Corolla Hatchback GR Corolla [03/2019 - 09/2022]; CRUISE CONTROL: FRONT RADAR SENSOR SYSTEM (for Gasoline Model): VEHICLE CONTROL HISTORY

Pre-Collision System Unavailable

X2028

Front Radar Sensor Outside Guaranteed Operating Voltage

The forward recognition camera received a voltage malfunction signal from the millimeter wave radar sensor assembly.

Refer to Vehicle Control History code X2028 of front radar sensor system.

2020 - 2022 MY Corolla Corolla Hatchback GR Corolla [03/2019 - 09/2022]; CRUISE CONTROL: FRONT RADAR SENSOR SYSTEM (for Gasoline Model): VEHICLE CONTROL HISTORY

Pre-Collision System Malfunction Visit Your Dealer

X2070

Communication Error from Pre-Collision System to Front Radar Sensor

Communication malfunction occurred between the forward recognition camera and millimeter wave radar sensor assembly.

Perform troubleshooting for the front radar sensor system.

2019 - 2022 MY Corolla Corolla Hatchback GR Corolla [06/2018 - 09/2022]; CRUISE CONTROL: FRONT RADAR SENSOR SYSTEM (for Gasoline Model): HOW TO PROCEED WITH TROUBLESHOOTING

CLEAR VEHICLE CONTROL HISTORY (PRE-COLLISION SYSTEM)

NOTICE:

By performing this procedure, all stored Vehicle Control History will be cleared.

(a) Connect the Techstream to the DLC3.

(b) Turn the ignition switch to ON.

(c) Turn the Techstream on.

(d) Enter the following menus: Body Electrical / Pre-Collision System / Utility / Vehicle Control History (RoB) (Clear).

Body Electrical > Pre-Collision System > Utility

Tester Display

Vehicle Control History (RoB)

(e) According to the display on the Techstream, clear the Vehicle Control History (RoB).

VEHICLE CONTROL HISTORY (AIRBAG SYSTEM)

(a) Part of the control history can be confirmed using the Vehicle Control History.

Click here 2019 - 2022 MY Corolla Corolla Hatchback GR Corolla [06/2018 - 09/2022]; SUPPLEMENTAL RESTRAINT SYSTEMS: AIRBAG SYSTEM (for TMC Made Gasoline Model): VEHICLE CONTROL HISTORY