ADVANCED DRIVER ASSISTANCE SYSTEM: FRONT CAMERA SYSTEM: VEHICLE CONTROL HISTORY (RoB); 2023 - 2025 MY Corolla Corolla Hatchback Corolla HV GR Corolla [11/2022

VEHICLE CONTROL HISTORY (RoB)

NOTICE:

Make sure to record any output Vehicle Control History codes before clearing them and checking the Vehicle Control History again.

CHECK VEHICLE CONTROL HISTORY (FRONT CAMERA SYSTEM)

(a) Read the Vehicle Control History (RoB) according to the display on the GTS.

Chassis > Front Recognition Camera > Utility

Tester Display

Vehicle Control History (RoB)

Multi-information Display

Code

Tester Display

Measurement Item

Diagnostic Note

System Malfunction Visit Your Dealer

X2000

Yaw Rate Sensor Malfunction

History of yaw rate sensor malfunction signals output from the yaw rate sensor being received

Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.

for Gasoline Model:

for HV Model:

System Malfunction Visit Your Dealer

X2001

Steering Angle Sensor Malfunction

History of steering sensor malfunction signals output from the skid control ECU (brake actuator assembly) being received

Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.

for Gasoline Model:

for HV Model:

System Malfunction Visit Your Dealer

X2002

Accelerator Sensor Malfunction

History of accelerator sensor malfunction signals output from ECM being received

Refer to How to Proceed with Troubleshooting in SFI System.

for M20A-FKS:

for G16E-GTS:

System Stopped See Owner's Manual

X2003

Brake Control System Malfunction

History of brake system malfunction signals output from the skid control ECU (brake actuator assembly) being received

Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.

for Gasoline Model:

for HV Model:

System Malfunction Visit Your Dealer

X2004

Speed Sensor Malfunction

History of vehicle speed sensor malfunction signals output from the skid control ECU (brake actuator assembly) being received

Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.

for Gasoline Model:

for HV Model:

System Malfunction Visit Your Dealer

X2014

Front Recognition Camera Optical Axis Not Adjusted

History is stored when the forward recognition camera judged that the optical axis of the forward recognition camera has not been adjusted

HINT:

Forward recognition camera beam axis alignment can be performed by using "One Time Recognition", "Driving Adjustment" or "Camera Axis Adjustment Value Write".

One Time Recognition:

Driving Adjustment:

Camera Axis Adjustment Value Write:

System Stopped Front Camera Low Visibility See Owner's Manual

X2015

Front Recognition Camera Dirt

History is stored when the forward recognition camera judged that the vehicle has poor visibility or is obscured

Perform the following inspections:

Be sure to use Toyota genuine front wiper blades
Be sure that the wiper rubber is not deteriorated
Be sure that there are not stickers, accessories, luggage, etc. within the field of view of the forward recognition camera
Be sure that there is not snow, ice, fog, dirt, frost, dust or oil film on the front part of the windshield glass camera
Be sure that the front part of the windshield glass camera is not damaged or cracked
Be sure to install a Toyota genuine windshield glass
Be sure that the vehicle was not driven in bad weather (In darkness, backlight, snow, fog, etc. When the surrounding conditions of forward recognition camera have improved and the forward recognition camera is operable, the warning display will disappear)
Be sure that the hood was not open (Depending on the hood, poor visibility may be output due to obstruction of forward visibility of the forward recognition camera. When the visibility is improved and the forward recognition camera is operable, the warning display will disappear)

Cause:

When the area around the forward recognition camera is dirty or covered with foreign matter, the camera lens or windshield is fogged up, or an obstruction is in front of the camera

Measures:

If the inside of the windshield glass is dirty, clean it using glass cleaner.

System Stopped Front Camera Out of Temperature Range Wait until Normal Temperature

X2016

Front Recognition Camera Outside Guaranteed Operating Temperature

History is stored when the forward recognition camera was temporarily unavailable due to high or low temperature

Check the following items on the data monitor (Front Recognition Camera) using GTS.
- Camera Low Temperature Flag
- Camera High Temperature 1 Flag
If the value is "ON", perform the data monitor remarks

Cause:

When the following conditions of the forward recognition camera occur
- When the ambient temperature is -30°C (-22°F) or less such as after leaving the vehicle in an extremely cold environment
- When the ambient temperature is 80°C (176°F) or higher such as after leaving the vehicle in the hot sun

System Stopped See Owner's Manual

X2017

Front Recognition Camera Outside Guaranteed Operating Voltage

History is stored when the forward recognition camera was temporarily unavailable due to low or high voltage

Check the supply voltage (IGB) of the forward recognition camera. Refer to the ECU terminal arrangement to check terminals and reference values.

If the symptoms do not disappear while the power source voltage is within the specified range, the forward recognition camera may be malfunctioning.

Cause:

When the following conditions of the forward recognition camera occur
- for Gasoline Model:
  1. When the input voltage is approximately 6 V or less, immediately after starting the engine
  2. When the input voltage is approximately 16 V or higher, immediately after starting the engine
- for HV Model:
  1. When the input voltage is approximately 6 V or less, immediately after starting the hybrid system
  2. When the input voltage is approximately 16 V or higher, immediately after starting the hybrid system

System Malfunction Visit Your Dealer

X2020

Front Radar Sensor Destination Malfunction

History is stored when a destination malfunction of the millimeter wave radar sensor assembly is received

Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.

System Malfunction Visit Your Dealer

X2021

Front Radar Sensor Malfunction

History is stored when abnormal signals of the millimeter wave radar sensor assembly output from the millimeter wave radar sensor assembly are received

Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.

System Malfunction Visit Your Dealer

X2022

Front Radar Sensor Optical Axis Misalignment Malfunction

History is stored when misalignment error signals of the millimeter wave radar sensor assembly output from the millimeter wave radar sensor assembly are received

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.

HINT:

Beam axis alignment of the millimeter wave radar sensor assembly can be performed using either Triangle Target, Flat Surface Target or Driving Adjustment.

Triangle Target:

Flat Surface Target:

Driving Adjustment:

System Malfunction Visit Your Dealer

X2023

Front Radar Sensor Optical Axis Not Adjusted

History is stored when beam unaligned signals of the millimeter wave radar sensor assembly output from the millimeter wave radar sensor assembly is received

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.

HINT:

Beam axis alignment of the millimeter wave radar sensor assembly can be performed using either Triangle Target, Flat Surface Target or Driving Adjustment.

Triangle Target:

Flat Surface Target:

Driving Adjustment:

System Stopped Front Radar In Self Calibration See Owner's Manual

X2025

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

History is stored when optical axis deviation temporary disabled signals of the millimeter wave radar sensor assembly output from the millimeter wave radar sensor assembly is received

Perform beam axis adjustment for the millimeter wave radar sensor assembly.

HINT:

Beam axis alignment of the millimeter wave radar sensor assembly can be performed using either Triangle Target, Flat Surface Target or Driving Adjustment.

Triangle Target:

Flat Surface Target:

Driving Adjustment:

System Stopped Front Radar Sensor Blocked Clean Radar Sensor

X2026

Front Radar Sensor Dirt

History is stored when dirty signals of the millimeter wave radar sensor assembly output from the millimeter wave radar sensor assembly are received

Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.

System Stopped Front Radar Sensor Out of Temperature Range Wait until Normal Temperature

X2027

Front Radar Sensor Outside Guaranteed Operating Temperature

History is stored when abnormal temperature signals of the millimeter wave radar sensor assembly output from the millimeter wave radar sensor assembly are received

Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.

System Stopped See Owner's Manual

X2028

Front Radar Sensor Outside Guaranteed Operating Voltage

History is stored when the millimeter wave radar sensor assembly detects a sensor voltage malfunction due to low voltage

After vehicle control history cleared, drive the vehicle at 5 km/h (3 mph) or more and check if the vehicle control history is output.
If the history is output, check that the voltage between ECU terminals IGB and SGND is within the standard voltage range.
As the millimeter wave radar sensor assembly may be malfunctioning, check if DTC U023587 is output 60 minutes or more after the ignition is turned to ON (IG).
After inspecting the Lost Communication with Cruise Control Front Distance Range Sensor Single Sensor or Center Missing Message "U023587", replace the millimeter wave radar sensor assembly.

Cause:

When any of the following conditions of the millimeter wave radar sensor assembly occur:
- for Gasoline Model:
  1. When the input voltage is approximately 6 V or less, immediately after starting the engine
- for HV Model:
  1. When the input voltage is approximately 6 V or less, immediately after starting the hybrid system

System Stopped Front Radar In Self Calibration See Owner's Manual

X2029

Front Radar Sensor Temporary Unavailable (Optical Axis Misalignment)

History is stored when misalignment error signals of the millimeter wave radar sensor assembly output from the millimeter wave radar sensor assembly are received

Perform beam axis adjustment for the millimeter wave radar sensor assembly.

HINT:

Beam axis alignment of the millimeter wave radar sensor assembly can be performed using either Triangle Target, Flat Surface Target or Driving Adjustment.

Triangle Target:

Flat Surface Target:

Driving Adjustment:

System Malfunction Visit Your Dealer

X2042

Driver Side Seat Belt Buckle Switch Malfunction

History is stored when a driver's seatbelt switch malfunction signal output from the combination meter assembly is received

Refer to How to Proceed with Troubleshooting in Seatbelt Warning System.

System Malfunction Visit Your Dealer

X204A

Acceleration Sensor Malfunction

History of G sensor malfunction signals output by the skid control ECU (brake actuator assembly)

Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.

for Gasoline Model:

for HV Model:

System Stopped Front Camera Out of Temperature Range Wait until Normal Temperature

X204D

Front Lighting Control System Inoperative Condition by Front Recognition Camera High Temperature

History is stored when a high temperature signal of the forward recognition camera output from the forward recognition camera is received

Move the vehicle to a cool place such as a shade to cool the forward recognition camera.

Cause:

When the forward recognition camera temperature becomes high

System Stopped Front Camera Low Visibility See Owner's Manual

X204E

Front Lighting Control System Inoperative Condition by Front Recognition Camera Adverse Environment

History is stored when a bad weather signal output from the forward recognition camera is received

The system returns to normal when the inclement weather of the surrounding environment becomes normal (no heavy rain, snow, fog, etc.).

Cause:

When there is dirt or foreign matter on the area surrounding the forward recognition camera

Measures:

Clean windshield glass (inside)

X2076

Wiper Malfunction

History is stored when a wiper malfunction signal is received from the main body ECU (multiplex network body ECU)

Refer to How to Proceed with Troubleshooting in wiper and washer system.

X2077

Ambient Temperature Sensor Circuit

History is stored when an ambient temperature sensor malfunction signal is received from the air conditioning amplifier assembly

Refer to How to Proceed with Troubleshooting in air conditioning system.

for Gasoline Model with Automatic Air Conditioning System:

for Gasoline Model with Manual Air Conditioning System:

for HV Model:

System Stopped See Owner's Manual

X2082

Power Steering Control System for Steering Assist Steering Angle Malfunction

History is stored when an actual steering angle abnormality of the power steering system output from the power steering system is received

Refer to How to Proceed with Troubleshooting in power steering system.

System Stopped See Owner's Manual

X2083

Navigation Function Invalid

History is stored when a navigation system sensor malfunction signal output from the radio and display receiver assembly is received

Refer to How to Proceed with Troubleshooting in navigation system.

System Malfunction Visit Your Dealer

X2084

Meter Speed Tolerance Malfunction

History is stored when a meter speed tolerance error signal output from the combination meter assembly is received

Refer to How to Proceed with Troubleshooting in meter / gauge system.

for 12.3 Inch Display:

except 12.3 Inch Display:

System Malfunction Visit Your Dealer

X2085

Electric Parking Brake Control Module Malfunction

History of EPB malfunction signals output from the skid control ECU (brake actuator assembly) being received

Refer to How to Proceed with Troubleshooting in electric parking brake system.

for Gasoline Model:

for HV Model:

System Malfunction Visit Your Dealer

X20B9

Communication Error from Steering Switch Control Module to Instrument Panel Cluster Control Module

History is stored when a communication error between the steering pad switch assembly and combination meter assembly is received from the combination meter assembly

Refer to How to Proceed with Troubleshooting in meter / gauge system.

for 12.3 Inch Display:

except 12.3 Inch Display:

System Stopped See Owner's Manual

X2160

Communication Error by ECU Security Key Not Registered (Engine Control Module)

History is stored when an ECU security key update incomplete signal is received from ECM

Refer to the ECU security key registration.

System Stopped See Owner's Manual

X2162

Communication Error by ECU Security Key Not Registered (Hybrid/EV Powertrain Control Module)

History is stored when an ECU security key update incomplete signal is received from the hybrid vehicle control ECU

Refer to the ECU security key registration.

System Stopped See Owner's Manual

X2163

Communication Error by ECU Security Key Not Registered (TCM)

for Gasoline Model:

History is stored when an ECU security key update incomplete signal is received from ECM

for HV Model:

History is stored when an ECU security key update incomplete signal is received from the hybrid vehicle control ECU

Refer to the ECU security key registration.

System Stopped See Owner's Manual

X2164

Communication Error by ECU Security Key Not Registered (MET)

History is stored when an ECU security key update incomplete signal is received from the combination meter assembly

Refer to the ECU security key registration.

System Stopped See Owner's Manual

X2166

Communication Error by ECU Security Key Not Registered (Power Steering Control Module "A")

History is stored when an ECU security key update incomplete signal is received from the power steering ECU assembly

Refer to the ECU security key registration.

System Stopped See Owner's Manual

X2167

Communication Error by ECU Security Key Not Registered (VSC)

History is stored when an ECU security key update incomplete signal is received from the skid control ECU (brake actuator assembly)

Refer to the ECU security key registration.

System Malfunction Visit Your Dealer

X216E

Front Recognition Camera => BRK Communication Invalid

History is stored when a communication error signal between the skid control ECU (brake actuator assembly) and forward recognition camera is received from the skid control ECU (brake actuator assembly)

Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.

for Gasoline Model:

for HV Model:

System Malfunction Visit Your Dealer

X216F

Front Recognition Camera => FRD Communication Error

History is stored when a communication stop signal of the forward recognition camera is received from the millimeter wave radar sensor assembly

Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.

System Stopped See Owner's Manual

X21A0

IG OFF Status

History is stored when the IGP OFF signal is received from ECM when the vehicle speed is 8 km/h (5 mph) or more

Refer to How to Proceed with Troubleshooting in SFI System.

for M20A-FKS:

for G16E-GTS:

for 2ZR-FXE:

System Stopped See Owner's Manual

X2351

PDA (DA) Brake Control Invalid Condition

History is stored when an assist system braking control inability signal or a braking control inability signal is received from the skid control ECU (brake actuator assembly)

Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.

for Gasoline Model:

for HV Model:

X2352

+B Relay Stuck (Drive Recorder)

History is stored when the voltage is applied to the forward recognition camera for 80 seconds after the ignition switch off Judgment*

HINT:

*: Forward recognition camera performs ignition switch off judgment based on input signals from the millimeter wave radar sensor assembly and steering sensor.

Perform a health check, and confirm that DTC is not output.
HINT:

If DTC is output, perform the DTC troubleshooting first.
Check the supply voltage (IGB) of the forward recognition camera. Refer to the ECU terminal arrangement to check terminals and reference values.

Cause:

During the ignition switch off judgment, power source voltage (11 to 14 V) is applied to the forward recognition camera

System Malfunction Visit Your Dealer

X2400

Lateral Control System Malfunction

History is stored when a lateral control system unachievable signal is received from the skid control ECU (brake actuator assembly)

Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.

for Gasoline Model:

for HV Model:

System Malfunction Visit Your Dealer

X2401

Automatic Brake Malfunction (Main)

History is stored when an assist system braking control inability signal or a braking control inability signal is received from the skid control ECU (brake actuator assembly)

Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.

for Gasoline Model:

for HV Model:

System Malfunction Visit Your Dealer

X2402

Powertrain System Malfunction

History is stored when a drive control upper/lower limit request impossible signal is received from the skid control ECU (brake actuator assembly)

Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.

for Gasoline Model:

for HV Model:

System Malfunction Visit Your Dealer

X2403

Automatic Brake Malfunction (Sub)

History is stored when an assist system braking control inability signal or a braking control inability signal is received from the skid control ECU (brake actuator assembly)

Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.

for Gasoline Model:

for HV Model:

System Malfunction Visit Your Dealer

X2404

Driver Brake Malfunction

History is stored when a driver brake malfunction signal is received from the skid control ECU (brake actuator assembly)

Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.

for Gasoline Model:

for HV Model:

System Malfunction Visit Your Dealer

X2405

Parking Brake Malfunction

History is stored when a parking brake request unachievable signal is received from the skid control ECU (brake actuator assembly)

Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.

for HV Model:

for Gasoline Model:

System Malfunction Visit Your Dealer

X2406

Brake Hold Fail

History of brake hold fail signal received from skid control ECU (brake actuator assembly)

Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.

for Gasoline Model:

for HV Model:

System Malfunction Visit Your Dealer

X2501

CXPI Communication Error (CMB)

History is stored when a communication error between the multiplex network steering ECU and combination meter assembly is received from the combination meter assembly

Refer to How to Proceed with Troubleshooting in meter / gauge system.

for 12.3 Inch Display:

except 12.3 Inch Display:

System Malfunction Visit Your Dealer

X2904

ABS Not Operating Condition

History of ABS/BA control disable signals output from the skid control ECU (brake actuator assembly) being received

Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.

for Gasoline Model:

for HV Model:

System Malfunction Visit Your Dealer

XF01B

ECU Security Key Not Registered

ECU security key has not been registered

Refer to the ECU security key registration.

CLEAR VEHICLE CONTROL HISTORY (FRONT CAMERA SYSTEM)

NOTICE:

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

(a) According to the display on the GTS, clear the Vehicle Control History (RoB).

Chassis > Front Recognition Camera > Utility

Tester Display

Vehicle Control History (RoB)

CHECK VEHICLE CONTROL HISTORY (AIRBAG SYSTEM)

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

Click here

2023 - 2025 MY Corolla Corolla Hatchback Corolla HV GR Corolla [11/2022 - ]; SUPPLEMENTAL RESTRAINT SYSTEMS: AIRBAG SYSTEM: VEHICLE CONTROL HISTORY