CRUISE CONTROL & DRIVER ASSISTANCE

SECTION
CRUISE CONTROL SYSTEM
CCS B

E
CONTENTS
ICC VEHICLE-TO-VEHICLE DISTANCE CONTROL F
MODE FUNCTION : Switch Name and Function ....21
PRECAUTION ............................................... 6 VEHICLE-TO-VEHICLE DISTANCE CONTROL
MODE FUNCTION : Menu Displayed by Pressing G
PRECAUTIONS ................................................... 6 Each Switch .............................................................21
Precaution for Supplemental Restraint System
(SRS) "AIR BAG" and "SEAT BELT PRE-TEN- CONVENTIONAL (FIXED SPEED) CRUISE CON-
SIONER" ................................................................... 6 TROL MODE FUNCTION ..........................................25 H
Precautions For Harness Repair ............................... 6 CONVENTIONAL (FIXED SPEED) CRUISE
ICC System Service .................................................. 7 CONTROL MODE FUNCTION : Switch Name and
Function ...................................................................25 I
PREPARATION ............................................ 8 CONVENTIONAL (FIXED SPEED) CRUISE
CONTROL MODE FUNCTION : Menu Displayed
PREPARATION ................................................... 8 by Pressing Each Switch .........................................25
Special Service Tools ................................................ 8 J
HANDLING PRECAUTION ............................... 27
SYSTEM DESCRIPTION .............................. 9 Precautions for Vehicle-to-Vehicle Distance Con-
trol Mode ..................................................................27 K
COMPONENT PARTS ........................................ 9
Precautions for Conventional (Fixed Speed)
Component Parts Location ........................................ 9
Cruise Control Mode ................................................29
Component Description ........................................... 10
L
DIAGNOSIS SYSTEM (ADAS CONTROL
SYSTEM .............................................................12
System Description ................................................. 12
UNIT) ................................................................. 30
On Board Diagnosis Function ..................................30
Fail-safe (ADAS Control Unit) ................................. 15 M
CONSULT-III Function (ICC/ADAS) ........................31
Fail-safe (ICC Sensor) ............................................ 15

VEHICLE-TO-VEHICLE DISTANCE CONTROL DIAGNOSIS SYSTEM (ICC SENSOR) ............. 41

MODE FUNCTION ..................................................... 15 CONSULT-III Function (LASER) .............................41 N
VEHICLE-TO-VEHICLE DISTANCE CONTROL
ECU DIAGNOSIS INFORMATION .............. 43
MODE FUNCTION : System Description ................ 15

CONVENTIONAL (FIXED SPEED) CRUISE CON-

ADAS CONTROL UNIT .................................... 43 CCS
TROL MODE FUNCTION .......................................... 18 Reference Value ......................................................43
CONVENTIONAL (FIXED SPEED) CRUISE Fail-safe ...................................................................48
CONTROL MODE FUNCTION : System Descrip- DTC Inspection Priority Chart ..................................49
P
tion .......................................................................... 18 DTC Index ...............................................................50

OPERATION .......................................................21 ICC SENSOR .................................................... 54

Reference Value ......................................................54
VEHICLE-TO-VEHICLE DISTANCE CONTROL Fail-safe ...................................................................55
MODE FUNCTION ..................................................... 21 DTC Inspection Priority Chart ..................................55
DTC Index ...............................................................55

Revision: 2010 May CCS-1 2011 QX56

WIRING DIAGRAM ..................................... 57 Component Inspection (ICC Brake Switch) ............ 93
Component Inspection (Stop Lamp Switch) ............ 93
INTELLIGENT CRUISE CONTROL .................. 57
Wiring Diagram ....................................................... 57 C1A06 OPERATION SW ................................... 94
DTC Logic ............................................................... 94
BASIC INSPECTION ................................... 69 Diagnosis Procedure ............................................... 94
Component Inspection ............................................ 95
DIAGNOSIS AND REPAIR WORK FLOW ........ 69
Work Flow ............................................................... 69 C1A12 LASER BEAM OFF CENTER ............... 96
ADDITIONAL SERVICE WHEN REPLACING ADAS CONTROL UNIT ............................................. 96
ICC SENSOR ..................................................... 71 ADAS CONTROL UNIT : DTC Logic ...................... 96
Description .............................................................. 71 ADAS CONTROL UNIT : Diagnosis Procedure ...... 96
Work Procedure ...................................................... 71
ICC SENSOR ............................................................. 96
LASER BEAM AIMING ADJUSTMENT ............ 72 ICC SENSOR : DTC Logic ...................................... 96
Description .............................................................. 72 ICC SENSOR : Diagnosis Procedure ..................... 96
Work Procedure (Preparation) ................................ 72
C1A13 STOP LAMP RELAY ............................. 97
Work Procedure (Setting The ICC Target Board) ... 72
DTC Logic ............................................................... 97
Work Procedure (Laser Beam Aiming Adjustment)
Diagnosis Procedure ............................................... 97
... 75
Component Inspection .......................................... 102
ACTION TEST ................................................... 77
C1A14 ECM ...................................................... 103
Description .............................................................. 77
DTC Logic ............................................................. 103
Work Procedure (Vehicle-To-Vehicle Distance
Diagnosis Procedure ............................................. 103
Control Mode) ......................................................... 77
Work Procedure [Conventional (Fixed Speed) C1A15 GEAR POSITION ................................. 104
Cruise Control Mode] .............................................. 80 Description ............................................................ 104
DTC Logic ............................................................. 104
DTC/CIRCUIT DIAGNOSIS ......................... 83 Diagnosis Procedure ............................................. 104
C1A00 CONTROL UNIT .................................... 83 C1A16 RADAR STAIN ..................................... 106
ADAS CONTROL UNIT ............................................ 83
ADAS CONTROL UNIT ........................................... 106
ADAS CONTROL UNIT : DTC Logic ...................... 83
ADAS CONTROL UNIT : DTC Logic .................... 106
ADAS CONTROL UNIT : Diagnosis Procedure ...... 83
ADAS CONTROL UNIT : Diagnosis Procedure .... 106
ICC SENSOR ............................................................ 83 ICC SENSOR ........................................................... 106
ICC SENSOR : DTC Logic ..................................... 83 ICC SENSOR : DTC Logic .................................... 106
ICC SENSOR : Diagnosis Procedure ..................... 83 ICC SENSOR : Diagnosis Procedure ................... 107
C1A01 POWER SUPPLY CIRCUIT 1, C1A02 C1A17 ICC SENSOR ........................................ 108
POWER SUPPLY CIRCUIT 2 ............................ 85 DTC Logic ............................................................. 108
ADAS CONTROL UNIT ............................................ 85 Diagnosis Procedure ............................................. 108
ADAS CONTROL UNIT : DTC Logic ...................... 85 C1A18 LASER AIMING INCMP ....................... 109
ADAS CONTROL UNIT : Diagnosis Procedure ...... 85
ADAS CONTROL UNIT ........................................... 109
ICC SENSOR ............................................................ 85
ADAS CONTROL UNIT : DTC Logic .................... 109
ICC SENSOR : DTC Logic ..................................... 85
ADAS CONTROL UNIT : Diagnosis Procedure .... 109
ICC SENSOR : Diagnosis Procedure ..................... 86
ICC SENSOR ........................................................... 109
C1A03 VEHICLE SPEED SENSOR .................. 87 ICC SENSOR : DTC Logic .................................... 109
DTC Logic ............................................................... 87 ICC SENSOR : Diagnosis Procedure ................... 110
Diagnosis Procedure .............................................. 87
C1A21 UNIT HIGH TEMP ................................. 111
C1A04 ABS/TCS/VDC SYSTEM ....................... 89
DTC Logic ............................................................... 89 ADAS CONTROL UNIT ........................................... 111
Diagnosis Procedure .............................................. 89 ADAS CONTROL UNIT : DTC Logic .................... 111
ADAS CONTROL UNIT : Diagnosis Procedure .... 111
C1A05 BRAKE SW/STOP LAMP SW ............... 90
DTC Logic ............................................................... 90 ICC SENSOR ........................................................... 111
Diagnosis Procedure .............................................. 90 ICC SENSOR : DTC Logic .................................... 111

Revision: 2010 May CCS-2 2011 QX56

 ICC SENSOR : Diagnosis Procedure ................... 112 DTC Logic .............................................................. 128
Diagnosis Procedure ............................................. 128 A
C1A24 NP RANGE ........................................... 113
DTC Logic ............................................................. 113 C1F01 ACCELERATOR PEDAL ACTUATOR. 129
Diagnosis Procedure ............................................. 113 DTC Logic .............................................................. 129
Diagnosis Procedure ............................................. 129 B
C1A26 ECD MODE MALFUNCTION ............... 115
DTC Logic ............................................................. 115 C1F02 ACCELERATOR PEDAL ACTUATOR. 130
Diagnosis Procedure ............................................. 115 DTC Logic .............................................................. 130 C
Diagnosis Procedure ............................................. 130
C1A27 ECD POWER SUPPLY CIRCUIT ......... 116
DTC Logic ............................................................. 116 C1F05 ACCELERATOR PEDAL ACTUATOR
Diagnosis Procedure ............................................. 116 POWER SUPPLY CIRCUIT ............................ 131 D
DTC Logic .............................................................. 131
C1A2A ICC SENSOR POWER SUPPLY CIR- Diagnosis Procedure ............................................. 131
CUIT .................................................................. 117 E
DTC Logic ............................................................. 117 U0104 ADAS CAN 1 ....................................... 132
Diagnosis Procedure ............................................. 117 DTC Logic .............................................................. 132
Diagnosis Procedure ............................................. 132
C1A33 CAN TRANSMISSION ERROR ........... 118 F
DTC Logic ............................................................. 118 U0121 VDC CAN 2 .......................................... 133
Diagnosis Procedure ............................................. 118
ADAS CONTROL UNIT ........................................... 133
G
C1A34 COMMAND ERROR ............................. 119 ADAS CONTROL UNIT : DTC Logic ..................... 133
DTC Logic ............................................................. 119 ADAS CONTROL UNIT : Diagnosis Procedure .... 133
Diagnosis Procedure ............................................. 119
ICC SENSOR ........................................................... 133 H
C1A35 ACCELERATOR PEDAL ACTUATOR.. 120 ICC SENSOR : DTC Logic .................................... 133
DTC Logic ............................................................. 120 ICC SENSOR : Diagnosis Procedure .................... 134
Diagnosis Procedure ............................................. 120 I
U0126 STRG SEN CAN 1 ............................... 135
C1A36 ACCELERATOR PEDAL ACTUATOR
ADAS CONTROL UNIT ........................................... 135
CAN COMM ...................................................... 121 ADAS CONTROL UNIT : DTC Logic ..................... 135
DTC Logic ............................................................. 121 J
ADAS CONTROL UNIT : Diagnosis Procedure .... 135
Diagnosis Procedure ............................................. 121
ICC SENSOR ........................................................... 135
C1A37 ACCELERATOR PEDAL ACTUATOR ICC SENSOR : DTC Logic .................................... 135 K
CAN 2 ............................................................... 122 ICC SENSOR : Diagnosis Procedure .................... 136
DTC Logic ............................................................. 122
Diagnosis Procedure ............................................. 122 U0235 ICC SENSOR CAN 1 ........................... 137 L
DTC Logic .............................................................. 137
C1A38 ACCELERATOR PEDAL ACTUATOR Diagnosis Procedure ............................................. 137
CAN 1 ............................................................... 123
DTC Logic ............................................................. 123 U0401 ECM CAN 1 ......................................... 138 M
Diagnosis Procedure ............................................. 123 DTC Logic .............................................................. 138
Diagnosis Procedure ............................................. 138
C1A39 STEERING ANGLE SENSOR .............. 124
U0402 TCM CAN 1 .......................................... 139 N
ADAS CONTROL UNIT ........................................... 124 DTC Logic .............................................................. 139
ADAS CONTROL UNIT : DTC Logic .................... 124 Diagnosis Procedure ............................................. 139
ADAS CONTROL UNIT : Diagnosis Procedure .... 124 CCS
U0405 ADAS CAN 2 ....................................... 140
ICC SENSOR ........................................................... 124 DTC Logic .............................................................. 140
ICC SENSOR : DTC Logic .................................... 124 Diagnosis Procedure ............................................. 140
ICC SENSOR : Diagnosis Procedure ................... 125 P
U0415 VDC CAN 1 .......................................... 141
C1A40 SYSTEM SWITCH CIRCUIT ................ 126
DTC Logic ............................................................. 126 ADAS CONTROL UNIT ........................................... 141
Diagnosis Procedure ............................................. 126 ADAS CONTROL UNIT : DTC Logic ..................... 141
Component Inspection (IBA OFF Switch) ............. 127 ADAS CONTROL UNIT : Diagnosis Procedure .... 141

C1A50 ADAS CONTROL UNIT ....................... 128 ICC SENSOR ........................................................... 141

Revision: 2010 May CCS-3 2011 QX56

 ICC SENSOR : DTC Logic ....................................141 Diagnosis Procedure ............................................. 154
ICC SENSOR : Diagnosis Procedure ....................142
U1515 ICC SENSOR CAN 3 ............................ 155
U0428 STRG SEN CAN 2 ................................ 143 DTC Logic ............................................................. 155
Diagnosis Procedure ............................................. 155
ADAS CONTROL UNIT ...........................................143
ADAS CONTROL UNIT : DTC Logic .....................143 U1517 ACCELERATOR PEDAL ACTUATOR
ADAS CONTROL UNIT : Diagnosis Procedure .....143 CAN 3 ............................................................... 156
DTC Logic ............................................................. 156
ICC SENSOR ...........................................................143
Diagnosis Procedure ............................................. 156
ICC SENSOR : DTC Logic ....................................143
ICC SENSOR : Diagnosis Procedure ....................144 U1520 4WD CAN 3 ........................................... 157
DTC Logic ............................................................. 157
U1000 CAN COMM CIRCUIT .......................... 145
Diagnosis Procedure ............................................. 157
ADAS CONTROL UNIT ...........................................145
ADAS CONTROL UNIT : Description ....................145
POWER SUPPLY AND GROUND CIRCUIT .... 158
ADAS CONTROL UNIT : DTC Logic .....................145 ADAS CONTROL UNIT ........................................... 158
ADAS CONTROL UNIT : Diagnosis Procedure .....145 ADAS CONTROL UNIT : Diagnosis Procedure .... 158
ICC SENSOR ...........................................................145 ICC SENSOR ........................................................... 158
ICC SENSOR : Description ...................................145 ICC SENSOR : Diagnosis Procedure ................... 158
ICC SENSOR : DTC Logic ....................................145
ICC SENSOR : Diagnosis Procedure ....................146 SYMPTOM DIAGNOSIS ........................... 160
U1010 CONTROL UNIT (CAN) ....................... 147 INTELLIGENT CRUISE CONTROL SYSTEM
SYMPTOMS ...................................................... 160
ADAS CONTROL UNIT ...........................................147
Symptom Table ..................................................... 160
ADAS CONTROL UNIT : Description ....................147
ADAS CONTROL UNIT : DTC Logic .....................147 MAIN SWITCH DOES NOT TURN ON, MAIN
ADAS CONTROL UNIT : Diagnosis Procedure .....147 SWITCH DOES NOT TURN OFF ..................... 161
ICC SENSOR ...........................................................147 Description ............................................................ 161
ICC SENSOR : Description ...................................147 Diagnosis Procedure ............................................. 161
ICC SENSOR : DTC Logic ....................................147 ICC SYSTEM CANNOT BE SET (MAIN
ICC SENSOR : Diagnosis Procedure ....................147
SWITCH TURNS ON/OFF) ............................... 162
U150B ECM CAN 3 ......................................... 148 Description ............................................................ 162
DTC Logic ..............................................................148 Diagnosis Procedure ............................................. 162
Diagnosis Procedure .............................................148
ICC STEERING SWITCH (OTHER THAN
U150C VDC CAN 3 .......................................... 149 MAIN SWITCH) DOES NOT FUNCTION ......... 164
DTC Logic ..............................................................149 Description ............................................................ 164
Diagnosis Procedure .............................................149 Diagnosis Procedure ............................................. 164

U150D TCM CAN 3 .......................................... 150 ICC SYSTEM DOES NOT CANCEL WHEN A/
DTC Logic ..............................................................150 T SELECTOR LEVER SETS ON "N" ............... 165
Diagnosis Procedure .............................................150 Description ............................................................ 165
Diagnosis Procedure ............................................. 165
U150E BCM CAN 3 ......................................... 151
DTC Logic ..............................................................151 CHIME DOES NOT SOUND ............................. 166
Diagnosis Procedure .............................................151 Description ............................................................ 166
Diagnosis Procedure ............................................. 166
U1502 ICC SENSOR CAN COMM CIRC ........ 152
DTC Logic ..............................................................152 DRIVING FORCE IS HUNTING ........................ 168
Diagnosis Procedure .............................................152 Description ............................................................ 168
Diagnosis Procedure ............................................. 168
U1513 METER CAN 3 ..................................... 153
DTC Logic ..............................................................153 FREQUENTLY CANNOT DETECT THE VEHI-
Diagnosis Procedure .............................................153 CLE AHEAD / DETECTION ZONE IS SHORT.. 169
Description ............................................................ 169
U1514 STRG SEN CAN 3 ................................ 154 Diagnosis Procedure ............................................. 169
DTC Logic ..............................................................154

Revision: 2010 May CCS-4 2011 QX56

THE SYSTEM DOES NOT DETECT THE VE- Removal and Installation ....................................... 176
HICLE AHEAD AT ALL .................................... 171 A
Description ............................................................ 171
ICC STEERING SWITCH ................................ 177
Exploded View ....................................................... 177
Diagnosis Procedure ............................................. 171
ASCD
B
NORMAL OPERATING CONDITION ............... 173
Description ............................................................ 173 SYSTEM DESCRIPTION ........................... 178
REMOVAL AND INSTALLATION ............. 176 AUTOMATIC SPEED CONTROL DEVICE C
(ASCD) ............................................................ 178
ICC SENSOR .................................................... 176 Information ............................................................. 178
Exploded View ...................................................... 176
D

CCS

Revision: 2010 May CCS-5 2011 QX56

 PRECAUTIONS
< PRECAUTION > [ICC]

PRECAUTION
PRECAUTIONS
Precaution for Supplemental Restraint System (SRS) "AIR BAG" and "SEAT BELT
PRE-TENSIONER" INFOID:0000000006224261

The Supplemental Restraint System such as “AIR BAG” and “SEAT BELT PRE-TENSIONER”, used along
with a front seat belt, helps to reduce the risk or severity of injury to the driver and front passenger for certain
types of collision. This system includes seat belt switch inputs and dual stage front air bag modules. The SRS
system uses the seat belt switches to determine the front air bag deployment, and may only deploy one front
air bag, depending on the severity of a collision and whether the front occupants are belted or unbelted.
Information necessary to service the system safely is included in the “SRS AIR BAG” and “SEAT BELT” of this
Service Manual.
WARNING:
• To avoid rendering the SRS inoperative, which could increase the risk of personal injury or death in
the event of a collision that would result in air bag inflation, all maintenance must be performed by
an authorized NISSAN/INFINITI dealer.
• Improper maintenance, including incorrect removal and installation of the SRS, can lead to personal
injury caused by unintentional activation of the system. For removal of Spiral Cable and Air Bag
Module, see the “SRS AIR BAG”.
• Do not use electrical test equipment on any circuit related to the SRS unless instructed to in this
Service Manual. SRS wiring harnesses can be identified by yellow and/or orange harnesses or har-
ness connectors.
PRECAUTIONS WHEN USING POWER TOOLS (AIR OR ELECTRIC) AND HAMMERS
WARNING:
• When working near the Air Bag Diagnosis Sensor Unit or other Air Bag System sensors with the
ignition ON or engine running, DO NOT use air or electric power tools or strike near the sensor(s)
with a hammer. Heavy vibration could activate the sensor(s) and deploy the air bag(s), possibly
causing serious injury.
• When using air or electric power tools or hammers, always switch the ignition OFF, disconnect the
battery, and wait at least 3 minutes before performing any service.
Precautions For Harness Repair INFOID:0000000006224262

ITS communication uses a twisted pair line. Be careful when repairing it.
• Solder the repaired area and wrap tape around the soldered area.
NOTE:
A fray of twisted lines must be within 110 mm (4.33 in).

SKIB8766E

Revision: 2010 May CCS-6 2011 QX56

 PRECAUTIONS
< PRECAUTION > [ICC]
• Bypass connection is never allowed at the repaired area.
NOTE: A
Bypass connection may cause ITS communication error. The
spliced wire becomes separated and the characteristics of twisted
line are lost.
B

SKIB8767E

D
ICC System Service INFOID:0000000006224263

CAUTION: E
• Never look straight into the laser beam discharger when adjusting laser beam aiming.
• Turn the MAIN switch OFF in conditions similar to driving, such as free rollers or a chassis dyna-
mometer. F
• Never use the ICC sensor removed from vehicle. Never disassemble or remodel.
• Erase DTC when replacing parts of ICC system, then check the operation of ICC system after adjust-
ing laser beam aiming if necessary.
G

CCS

Revision: 2010 May CCS-7 2011 QX56

 PREPARATION
< PREPARATION > [ICC]

PREPARATION
PREPARATION
Special Service Tools INFOID:0000000006224264

The actual shapes of Kent-Moore tools may differ from those of special service tools illustrated here.

Tool number
(Kent-Moore No.) Description
Tool name

KV99110100
(J-45718) Uses for laser beam aiming adjustment
ICC target board

PKIA0358J

Revision: 2010 May CCS-8 2011 QX56

 COMPONENT PARTS
< SYSTEM DESCRIPTION > [ICC]

SYSTEM DESCRIPTION A
COMPONENT PARTS
Component Parts Location INFOID:0000000006224265
B

N
JSOIA0362ZZ

1. ICC steering switch 2. Information display, ICC system 3. BCM

warning lamp, IBA OFF indicator Refer to BCS-4, "BODY CONTROL CCS
lamp, buzzer SYSTEM : Component Parts Loca-
(On the combination meter) tion"
4. Transfer control unit 5. ICC brake hold relay 6. ECM P
Refer to DLN-10, "Component Parts Refer to EC-16, "Component Parts
Location" Location"
7. ICC sensor 8. TCM 9. ABS actuator and electric unit (con-
Refer to TM-10, "A/T CONTROL trol unit)
SYSTEM : Component Parts Loca- Refer to BRC-10, "Component Parts
tion" Location"
10. Stop lamp switch 11. ICC brake switch 12. IBA OFF switch

Revision: 2010 May CCS-9 2011 QX56

 COMPONENT PARTS
< SYSTEM DESCRIPTION > [ICC]
13. Steering angle sensor 14. ADAS control unit
Refer to BRC-10, "Component Parts Refer to DAS-13, "Component Parts
Location" Location"
A. Back side of engine room (RH) B. Front bumper (center) C. Upper side of brake pedal
D. Under side of instrument lower driver
panel

Component Description INFOID:0000000006224266

×: Applicable

Function

Conventional (fixed speed) cruise control mode

Vehicle-to-vehicle distance control mode

Brake Assist (with preview function)

Intelligent Brake Assist (IBA)

Component Description

• ADAS control unit calculates a target distance between vehicles

and a target speed, based on signals received from each sensor
and switch to transmit an engine torque command value to ECM
ADAS control unit × × × × and a brake fluid pressure control signal to ABS actuator and
electric unit (control unit) via CAN communication
• ADAS control unit transmits buzzer output signal to combination
meter via CAN communication
• ICC sensor detects light reflected from a vehicle ahead by irra-
diating laser forward and calculates a distance from the vehicle
ahead and a relative speed, based on the detected signal
ICC sensor × × × ×
• ICC sensor transmits the presence/absence of vehicle ahead
and the distance from the vehicle to ADAS control unit via ITS
communication
• ECM transmits the accelerator pedal position signal, ICC brake
switch signal, stop lamp switch signal, ICC steering switch sig-
nal, etc. to ADAS control unit via CAN communication
ECM × × × ×
• ECM controls the electric throttle control actuator based on the
engine torque demand received from the ADAS control unit via
CAN communication
• ABS actuator and electric unit (control unit) transmits the vehicle
speed signal (wheel speed), stop lamp signal and VDC/TCS/
ABS system operation condition to ADAS control unit via CAN
ABS actuator and electric unit
× × × × communication
(control unit)
• ABS actuator and electric unit (control unit) controls the brake,
based on a brake fluid pressure control signal received from the
ADAS control unit via CAN communication
BCM transmits the front wiper request signal to ADAS control unit
BCM ×
via CAN communication
TCM transmits the signal related to A/T control to ADAS control
TCM × ×
unit via CAN communication

Revision: 2010 May CCS-10 2011 QX56

 COMPONENT PARTS
< SYSTEM DESCRIPTION > [ICC]
Function
A

Conventional (fixed speed) cruise control mode

Vehicle-to-vehicle distance control mode

Brake Assist (with preview function)

B

Intelligent Brake Assist (IBA)

Component Description C

Performs the following operations using the signals received from

the ADAS control unit via the CAN communication F
• Displays the ICC system operation status using the meter dis-
play signal
• Illuminates the ICC system warning lamp using the ICC warning
Combination meter × × × × G
lamp signal
• Illuminates the IBA OFF indicator lamp using the IBA OFF indi-
cator lamp signal
• Operates the buzzer (ICC warning chime) using the buzzer out- H
put signal
• ICC steering switch allows the ON/OFF of the Intelligent Cruise
Control and the settings of a vehicle speed and distance be-
ICC steering switch × × tween vehicles
I
• ICC steering switch signal is transmitted to ECM. ECM transmits
the signal to the ADAS control unit via CAN communication
ICC brake switch × × × × • ICC brake switch is turned OFF and stop lamp switch is turned J
ON, when depressing the brake pedal
• ICC brake switch signal is input to ECM. These signals are
transmitted from ECM to ADAS control unit via CAN communi-
cation K
Stop lamp switch × × × × • Stop lamp switch signal is input to ECM and ABS actuator and
electric unit (control unit). These signals are transmitted from
ECM and ABS actuator and electric unit (control unit) to ADAS L
control unit via CAN communication
ICC brake hold relay activates the stop lamp by ICC brake hold re-
ICC brake hold relay × × lay drive signal (stop lamp drive signal) outputted by the ADAS
control unit M
Transfer control unit transmits a mode selection state of 4WD shift
Transfer control unit × × × ×
switch to the ADAS control unit via CAN communication
IBA OFF switch signal is input to the ADAS control unit
N
IBA OFF switch ×Note
Measures the rotation amount, rotation speed, and rotation direc-
Steering angle sensor × tion of steering wheel, and then transmits them to ADAS control
unit via CAN communication CCS

NOTE:
Only IBA system uses
P

Revision: 2010 May CCS-11 2011 QX56

 SYSTEM
< SYSTEM DESCRIPTION > [ICC]
SYSTEM
System Description INFOID:0000000006224267

SYSTEM DIAGRAM

JSOIA0289GB

ADAS CONTROL UNIT INPUT/OUTPUT SIGNAL ITEM

Input Signal Item

Revision: 2010 May CCS-12 2011 QX56

 SYSTEM
< SYSTEM DESCRIPTION > [ICC]

Transmit unit Signal name Description A

Closed throttle position signal Receives idle position state (ON/OFF)
Accelerator pedal position signal Receives accelerator pedal position (angle)
Receives an operable/inoperable state of the ICC sys-
B
ICC prohibition signal
tem
Main switch signal
C
SET/COAST switch
signal

CAN com- CANCEL switch sig-

ICC steering switch Receives the operational state of the ICC steering D
ECM munica- nal
signal switch
tion RESUME/ACCEL-
ERATE switch signal
E
DISTANCE switch
signal
Engine speed signal Receives engine speed
F
Stop lamp switch signal Receives an operational state of the brake pedal
ICC brake switch signal Receives an operational state of the brake pedal
Snow mode signal Receives an operational state of the snow mode G
Input speed signal Receives the number of revolutions of input shaft
CAN com- Current gear position signal Receives a current gear position
TCM munica- H
tion Shift position signal Receives a selector lever position
Output shaft revolution signal Receives the number of revolutions of output shaft
ABS malfunction signal Receives a malfunction state of ABS I
ABS operation signal Receives an operational state of ABS
ABS warning lamp signal Receives an ON/OFF state of ABS warning lamp
TCS malfunction signal Receives a malfunction state of TCS J
TCS operation signal Receives an operational state of TCS
ABS actuator CAN com-
and electric unit munica- VDC OFF switch signal Receives an ON/OFF state of VDC
(control unit) tion
K
VDC malfunction signal Receives a malfunction state of VDC
VDC operation signal Receives an operational state of VDC
Vehicle speed signal (ABS) Receives wheel speeds of four wheels L
Stop lamp switch signal Receives an operational state of the brake pedal
Yaw rate signal Receives yaw rate acting on the vehicle
M
CAN com-
Combination
munica- Parking brake switch signal Receives an operational state of the parking brake
meter
tion
CAN com-
N
BCM munica- Front wiper request signal Receives an operational state of front wiper(s)
tion
Steering angle sensor malfunction signal Receives a malfunction state of steering angle sensor CCS
CAN com-
Steering angle Receives the number of revolutions, turning direction of
munica- Steering angle sensor signal
sensor the steering wheel
tion
Steering angle speed signal Receives the turning angle speed of the steering wheel P
CAN com-
Transfer control
munica- Current 4WD mode signal Receives a mode selection state of the 4WD mode
unit
tion

Revision: 2010 May CCS-13 2011 QX56

 SYSTEM
< SYSTEM DESCRIPTION > [ICC]
Transmit unit Signal name Description
ITS com-
Receives detection results, such as the presence or ab-
ICC sensor munica- ICC sensor signal
sence of a leading vehicle and distance from the vehicle
tion
IBA OFF switch IBA OFF switch signal Receives an ON/OFF state of the IBA OFF switch

Output Signal Item

Reception unit Signal name Description

CAN commu- Transmits an ICC operation signal necessary for Intel-
ECM ICC operation signal
nication ligent Cruise Control
CAN commu- Transmits an ICC operation signal necessary for Intel-
TCM ICC operation signal
nication ligent Cruise Control via ECM
ABS actuator
and electric CAN commu- Transmits a brake fluid pressure control signal to acti-
Brake fluid pressure control signal
unit (control nication vates the brake
unit)
Own vehicle indicator
signal
Vehicle ahead detec-
tion indicator signal
Set vehicle speed indi-
Meter display cator signal Transmits a signal to display a state of the system on
signal Set distance indicator the information display
signal
SET switch indicator
signal
Combination CAN commu-
MAIN switch indicator
meter nication
signal
Transmits an ICC warning lamp signal to turn ON the
ICC warning lamp signal
ICC system warning lamp
• Transmits a signal to turn ON the IBA OFF indicator
lamp
IBA OFF indicator lamp signal
• Transmits an ON/OFF state of the intelligent brake
assist
Transmits a buzzer output signal to turn ON the buzz-
er of the following systems:
Buzzer output signal
• Intelligent Cruise Control (ICC)
• Intelligent Brake Assist (IBA)
ITS commu- Transmits a vehicle speed calculated by the ADAS
ICC sensor Vehicle speed signal
nication control unit
ICC brake hold Activates the brake hold relay and turns ON the stop
ICC brake hold relay drive signal
relay lamp

DESCRIPTION
Intelligent Cruise Control
The Intelligent Cruise Control (ICC) system maintains a selected distance from the vehicle in front of own vehi-
cle within the speed range of 0 to 144 km/h (0 to 90 MPH) up to the set speed.
The set speed can be selected by the driver between 32 to 144 km/h (20 to 90 MPH).
The vehicle travels at a set speed when the road ahead is clear.
The ICC system can be set to one of two cruise control modes:
CAUTION:
Never set the cruise speed exceeding the posted speed limit.
Vehicle-to-vehicle Distance Control Mode

Revision: 2010 May CCS-14 2011 QX56

 SYSTEM
< SYSTEM DESCRIPTION > [ICC]
For maintaining a selected distance between own vehicle and the vehicle in front of own vehicle up to the pre-
set speed. Refer to CCS-15, "VEHICLE-TO-VEHICLE DISTANCE CONTROL MODE FUNCTION : System A
Description".
Conventional (Fixed Speed) Cruise Control Mode
For cruising at a preset speed. Refer to CCS-18, "CONVENTIONAL (FIXED SPEED) CRUISE CONTROL B
MODE FUNCTION : System Description".
NOTE:
In the Conventional (Fixed Speed) Cruise Control Mode, a warning chime will not sound to warn driver if own C
vehicle are too close to the vehicle ahead.
WARNING:
Always drive carefully and attentively when using either cruise control mode. To avoid serious injury
or death, do not rely on the system to prevent accidents or to control the vehicle's speed in emer- D
gency situations. Do not use cruise control except in appropriate rode and traffic conditions.
Distance Control Assist (DCA) System
E
DCA share the systems and components with ICC system. Refer to DAS-68, "System Description".
Forward Collision Warning (FCW) System
FCW share the systems and components with ICC system. Refer to DAS-218, "System Description". F
Intelligent Brake Assist (IBA) System
IBA system share the systems and components with ICC system. Refer to BRC-152, "INTELLIGENT BRAKE
ASSIST : System Description". G
Brake Assist (with preview function)
Brake Assist (with preview function) share the systems and components with ICC system. Refer to BRC-145,
"BRAKE ASSIST (WITH PREVIEW FUNCTION) : System Description". H
Fail-safe (ADAS Control Unit) INFOID:0000000006224268

If a malfunction occurs in each system, ADAS control unit cancels each control, sounds a beep, and turns ON I
the warning lamp or indicator lamp.

System Buzzer Warning lamp/Indicator lamp Description J

High-pitched
Vehicle-to-vehicle distance control mode ICC system warning lamp Cancel
tone
High-pitched K
Conventional (fixed speed) cruise control mode ICC system warning lamp Cancel
tone
High-pitched
Intelligent Brake Assist (IBA) IBA OFF indicator lamp Cancel
tone
L
High-pitched
Forward Collision Warning (FCW) IBA OFF indicator lamp Cancel
tone
High-pitched M
Distance Control Assist (DCA) ICC system warning lamp Cancel
tone
Lane Departure Warning (LDW) — Lane departure warning lamp Cancel
Low-pitched N
Lane Departure Prevention (LDP) Lane departure warning lamp Cancel
tone
Blind Spot Warning (BSW) — BSW warning lamp Cancel
CCS
Fail-safe (ICC Sensor) INFOID:0000000006224269

If a malfunction occurs in the ICC sensor, ADAS control unit cancels control, sounds a beep, and turns ON the
ICC system warning lamp in the combination meter. P
VEHICLE-TO-VEHICLE DISTANCE CONTROL MODE FUNCTION
VEHICLE-TO-VEHICLE DISTANCE CONTROL MODE FUNCTION : System Descrip-

Revision: 2010 May CCS-15 2011 QX56

 SYSTEM
< SYSTEM DESCRIPTION > [ICC]
tion INFOID:0000000006224270

SYSTEM DIAGRAM

JSOIA0289GB

FUNCTION DESCRIPTION
In the vehicle-to-vehicle distance control mode, the Intelligent Cruise Control (ICC) system automatically main-
tains a selected distance from the vehicle traveling in front of own vehicle according to that vehicle's speed (up
to the set speed), or at the set speed when the road ahead is clear.

Revision: 2010 May CCS-16 2011 QX56

 SYSTEM
< SYSTEM DESCRIPTION > [ICC]
With ICC system, the driver can maintain the same speed as other vehicles without the constant need to
adjust the set speed as driver would with a normal cruise control system. A
The following items are controlled in the vehicle-to-vehicle distance control mode
• When there are no vehicles traveling ahead, the vehicle-to-vehicle distance control mode maintains the
speed set by the driver. The set speed range is between approximately 32 and 144 km/h (20 and 90 MPH).
B
• When there is a vehicle traveling ahead, the vehicle-to-vehicle distance control mode adjusts the speed to
maintain the distance, selected by driver, from a vehicle ahead. The adjusting speed range is up to the set
speed.
• When the vehicle traveling ahead has moved out from its lane of travel, the vehicle-to-vehicle distance con- C
trol mode accelerates and maintains vehicle speed up to the set speed.
CAUTION:
If the vehicle ahead comes to stop, the vehicle decelerates to a standstill within the limitations of the D
system. The system will cancel once it judges that the vehicle has come to a standstill and sound a
warning chime.
To prevent the vehicle from moving, the driver must depress the brake pedal.
NOTE: E
When the accelerator pedal is depressed, the brake operation and the warning are not performed by the ICC
system.
OPERATION DESCRIPTION F
Quickly push (less than 1.5 seconds) and release the MAIN switch ON.
The MAIN switch indicator, set distance indicator, own vehicle indicator, and set vehicle speed indicator come
on and ICC system is set to a standby state. G
ADAS control unit performs the control as per the following:

Constant Comparing the set vehicle speed with the current vehicle speed, transmit the command to ECM via CAN communication
H
speed to reach the set vehicle speed, and controls the electric throttle control actuator
When a vehicle ahead (slower than driver set vehicle speed) appears or when a vehicle ahead slows down, the system
Decelera- controls the electric throttle control actuator into the close direction and decelerates the vehicle. If greater deceleration
tion is necessary, the system transmits the brake fluid pressure control signal to the ABS actuator and electric unit (control I
unit) via CAN communication and operates the brake
The system controls the electric throttle control actuator and the brake fluid pressure to keep the proper distance between
Following
the vehicles according to the vehicle speed change of the vehicle ahead J
When a vehicle ahead is not detected because of it changes lanes or own vehicle changes lanes during the following
Accelera-
driving, the system controls the electric throttle control actuator in the open direction and accelerates the vehicle to the
tion
set vehicle speed slowly
K
Set Condition
Under a standby state, pushing down the SET/COAST switch will start system control.
• When vehicle speed is between approximately 32 km/h and 144 km/h (20 MPH and 90 MPH). L
• When vehicle speed is below approximately 32 km/h (20 MPH) if the vehicle ahead is detected. The set
vehicle speed becomes 32 km/h (20 MPH).
If the system is canceled by conditions 1-6 below, the system will resume control at the last set cruising speed M
by pushing up the RESUME/ACCELERATE switch.
NOTE:
• When the SET/COAST switch is pushed under the following condi-
tions, the system cannot be set and the set vehicle speed indicator N
will blink for approximately 2 seconds.
- When traveling below 32 km/h (20 MPH) and the vehicle ahead is
not detected. CCS
- When the selector lever is not in the “D” position or manual mode.
- When the front wipers are operating at HI.
(If the vehicle is equipped with a rain sensing auto-wiper, the sys-
tem may cancel when the wipers are set to AUTO) P
- When the parking brakes are applied.
- When the brakes are operated by the driver.
JPOIA0222ZZ

Revision: 2010 May CCS-17 2011 QX56

 SYSTEM
< SYSTEM DESCRIPTION > [ICC]
• When the SET/COAST switch is pushed under the following condi-
tions, the system cannot be set. A warning chime will sound and
the set speed indicator and own vehicle indicator will blink.
- When the SNOW mode switch is ON (To use the ICC system, turn
OFF the SNOW mode switch, push the MAIN switch to turn OFF
the ICC system and reset the ICC system by pushing the MAIN
switch again.)
- When the 4WD shift switch is not AUTO position. (To use the ICC
system, shift the AUTO position, push the MAIN switch to turn OFF
the ICC system and reset the ICC system by pushing the MAIN
switch again.)
JPOIA0223ZZ
- When the VDC is OFF. (To use the ICC system, turn ON the VDC
system, push the MAIN switch to turn OFF the ICC system and reset the ICC system by pushing the MAIN
switch again.)
- When ABS or VDC (including the TCS) operates.
- When driving into a strong light (i.e., sunlight).
- When the wheel is slipping. (To use the ICC system, make sure the wheels are no longer spinning, push the
MAIN switch to turn OFF the ICC system and reset the ICC system by pushing the MAIN switch again.)
Cancel Conditions
1. When CANCEL switch is pressed.
2. When brake pedal is depressed.
3. When the vehicle ahead is not detected below the speed of 24 km/h (15 MPH).
4. When the selector lever is not in the “D” position or manual mode.
5. When the parking brakes are applied.
6. When the system judges the vehicle is at standstill.
7. When the front wipers are operating at HI.
(If the vehicle is equipped with a rain sensing auto-wiper, the system may cancel when the wipers are set
to AUTO.)
8. When the SNOW mode switch is turned ON.
9. When 4WD shift switch is not AUTO position
10. When ABS or VDC (including the TCS) operates.
11. When the MAIN switch is turned OFF.
12. When a wheel slips.
13. When driving into a strong light (i.e., sunlight).
14. When the VDC is turned OFF.
15. When the system malfunction occurs.
CONVENTIONAL (FIXED SPEED) CRUISE CONTROL MODE FUNCTION
CONVENTIONAL (FIXED SPEED) CRUISE CONTROL MODE FUNCTION : System

Revision: 2010 May CCS-18 2011 QX56

 SYSTEM
< SYSTEM DESCRIPTION > [ICC]
Description INFOID:0000000006224271

A
SYSTEM DIAGRAM

CCS

P
JSOIA0289GB

FUNCTION DESCRIPTION
This mode allows driving at a speed between 40 to 144 km/h (25 to 90 MPH) without keeping foot on the
accelerator pedal.
NOTE:

Revision: 2010 May CCS-19 2011 QX56

 SYSTEM
< SYSTEM DESCRIPTION > [ICC]
In the conventional (fixed speed) cruise control mode, a warning chime does not sound to warn driver if own
vehicle are too close to the vehicle ahead, as neither the presence of the vehicle ahead nor the vehicle-to-
vehicle distance is detected.
OPERATION DESCRIPTION
To turn ON the conventional (fixed speed) cruise control mode, push and hold the MAIN switch for longer than
approximately 1.5 seconds when ICC system is OFF.
When pushing the MAIN switch ON, the ICC system display and the MAIN switch indicator are displayed on
the information display.
After hold the MAIN switch ON for longer than approximately 1.5 seconds, the ICC system display goes out.
The MAIN switch indicator stays lit and brings the system to standby state.
NOTE:
• To turn on the vehicle-to-vehicle distance control mode again, turn OFF the system and quickly push (less
than 1.5 seconds) the MAIN switch.
• When the DCA system is ON, the conventional (fixed speed) cruise control mode cannot be turned on even
though the MAIN switch is pushed and held.
• To turn ON the conventional (fixed speed) cruise control mode, turn OFF the DCA system. Refer to DAS-68,
"System Description".
ADAS control unit performs the control as per the following:

Constant Comparing the set vehicle speed with the current vehicle speed, transmits the command to ECM via CAN communication
speed to reach the set vehicle speed, and controls the electronic throttle control actuator.

Set Condition
When the system is under a standby state and the vehicle speed is between approximately 40 km/h (25 MPH)
and 144 km/h (90 MPH), pushing the SET/COAST switch will start system control.
If the system is canceled by conditions 1-6 below, the system will resume control at the last set cruising speed
by pushing the RESUME/ACCELERATE switch.
Cancel conditions
1. When CANCEL switch is pressed.
2. When brake pedal depressed.
3. When the vehicle speed falls below approximately 32 km/h (20 MPH).
4. When the vehicle slows down more than 13 km/h (8 MPH) below the set speed.
5. When the selector lever is not in the “D” position or manual mode.
6. When the parking brakes are applied.
7. When the MAIN switch is turned OFF.
8. When VDC (including the TCS) operates.
9. When a wheel slips.
10. When the system malfunction occurs.

Revision: 2010 May CCS-20 2011 QX56

 OPERATION
< SYSTEM DESCRIPTION > [ICC]
OPERATION
A
VEHICLE-TO-VEHICLE DISTANCE CONTROL MODE FUNCTION
VEHICLE-TO-VEHICLE DISTANCE CONTROL MODE FUNCTION : Switch Name
B
and Function INFOID:0000000006224272

JSOIA0290ZZ
G
No. Switch name Description
1 CANCEL switch Deactivates the system without erasing the set speed
H
Resumes set speed or increases speed incrementally
2 RESUME/ACCELERATE switch • Push and hold the switch to increase the set speed by 5 km/h (5 MPH)
• Push then quickly release the switch to increase the set speed by 1 km/h (1 MPH)
Sets desired cruise speed or reduces speed incrementally I
• Push and hold the switch to decrease the set speed by 5 km/h (5 MPH)
3 SET/COAST switch • Push then quickly release the switch to decrease the set speed by 1 km/h (1 MPH)
NOTE: J
The minimum set speed is 32 km/h (20 MPH)
4 MAIN switch Master switch to activate the system (Press for less than 1.5 seconds)
5 DISTANCE switch Changes the following distance from: Long, Middle, Short K

VEHICLE-TO-VEHICLE DISTANCE CONTROL MODE FUNCTION : Menu Displayed

by Pressing Each Switch INFOID:0000000006224273 L

ICC SYSTEM DISPLAY (ON THE INFORMATION DISPLAY)

M

CCS

JSOIA0291ZZ

P
No. Switch name Description
1 ICC system warning lamp Indicates that a malfunction occurs in the ICC system
2 MAIN switch indicator Indicates that the MAIN switch is ON (ICC system ON)
3 Vehicle ahead detection indicator Indicates whether it detects a vehicle ahead
4 Set distance indicator Indicates the selected distance between vehicles set with the DISTANCE switch

Revision: 2010 May CCS-21 2011 QX56

 OPERATION
< SYSTEM DESCRIPTION > [ICC]
No. Switch name Description
5 Own vehicle indicator Indicates the own vehicle
• Indicates the set vehicle speed
6 Set vehicle speed indicator
• Indicates 32 km/h (20 MPH) when setting less than 32 km/h (20 MPH)

SYSTEM CONTROL CONDITION DISPLAY

Quickly push (less than 1.5 seconds) and release the MAIN switch ON.
The MAIN switch indicator (cruise indicator), set distance indicator, own vehicle indicator, and set vehicle
speed indicator come on and ICC system is set to a standby state.

Condition Display on ICC system display

Standby mode

JSOIA0292ZZ

Set vehicle distance (Long)

JSOIA0293ZZ

Set vehicle distance (Middle)

Without a vehicle JSOIA0294ZZ

Control mode
ahead

Set vehicle distance (Short)

JSOIA0295ZZ

When the vehicle speed exceeds the set speed

JSOIA0296ZZ

Revision: 2010 May CCS-22 2011 QX56

 OPERATION
< SYSTEM DESCRIPTION > [ICC]
Condition Display on ICC system display
A

B
Set vehicle distance (Long)

C
JSOIA0297ZZ

Set vehicle distance (Middle)

With a vehicle JSOIA0298ZZ

Control mode
ahead
F

Set vehicle distance (Short) G

JSOIA0299ZZ
H

I
When the vehicle speed exceeds the set speed

J
JSOIA0300ZZ

NOTE:
The display of the DCA system is given priority when the DCA system is ON in a standby mode. (The set vehi- K
cle speed indicator, set distance indicator, and own vehicle indicator are not displayed).
APPROACH WARNING DISPLAY
If own vehicle comes closer to a vehicle ahead due to rapid deceleration of that vehicle or if another vehicle L
cuts in, the system warns the driver with the chime and ICC system display. Decelerate by depressing the
brake pedal to maintain a safe vehicle distance if:
• The chime sounds. M
• The vehicle ahead detection indicator and set distance indicator blink.
The warning chime may not sound in some cases when there is a short distance between vehicles. Some
examples are:
• When the vehicles are traveling at the same speed and the distance between vehicles is not changing. N
• When the vehicle ahead is traveling faster and the distance between vehicles is increasing.
• When a vehicle cuts in at near own vehicle.
The warning chime will not sound when own vehicle approaches vehicles that are parked or moving slowly. CCS
The warning chime will not sound when the accelerator pedal is depressed, overriding the system.
The approach warning chime may sound and the system display may blink when the ICC sensor detects some
reflectors which are fitted on vehicles in other lanes or on the side of the road.
P
This may cause the ICC system to decelerate or accelerate the vehicle.
The ICC sensor may detect these reflectors when the vehicle is driven on winding roads, hilly roads or when
entering or exiting a curve.
The ICC sensor may also detect reflectors on narrow roads or in road construction zones.
In these cases driver will have to manually control the proper distance ahead of own vehicle.
Also, the sensor sensitivity can be affected by vehicle operation (steering maneuver or driving position in the
lane) or traffic or vehicle condition (for example, if a vehicle is being driven with some damage).

Revision: 2010 May CCS-23 2011 QX56

 OPERATION
< SYSTEM DESCRIPTION > [ICC]

Condition Display on ICC system display

When own vehicle comes closer to the vehicle ahead and it is judged that the distance be-
tween the vehicles is not sufficient

JSOIA0301ZZ

WARNING LAMP AND AUTOMATIC CANCELLATION DISPLAY

Condition Description Display on ICC system display

• When the VDC is turned OFF
• When the VDC or ABS (in-
A chime sounds and the control is automatically
cluding the TCS) operates
canceled.
• When a wheel slips
NOTE:
• When the 4WD shift switch is
When the conditions listed above are no longer
not AUTO
present, turn the system OFF using the MAIN
• When the SNOW mode
switch.
switch is turned ON
Turn the ICC system back on to use the system.
• When driving into a strong JSOIA0302ZZ
light (i.e., sunlight)

A chime sounds and the control is automatically

Warning canceled.
display When the sensor window is NOTE:
dirty, making it impossible to de- Park the vehicle in a safe place, turn the engine
tect a vehicle ahead. OFF.
Clean the sensor window with a soft cloth and
then perform the settings again.
JSOIA0303ZZ

A chime sounds and the control is automatically

canceled.
When the ICC system is mal-
NOTE:
functioning
Turn the engine OFF and restart engine. If there
is no malfunction, it is possible to set the system.

JSOIA0304ZZ

• When brake pedal is de-

pressed
• When CANCEL switch is
pressed
• When a vehicle ahead is not
detected below the speed of
24 km/h (15 MPH)
A chime sounds and the control is automatically
• When the system judges the
canceled.
vehicle is at standstill
NOTE:
Automatic • When the selector lever is not
• The system will be in a standby, after the control
cancella- in “D” position or manual
is automatically canceled.
tion display mode
• A chime sounds when the control is automati-
• When the front wipers are op-
cally canceled, except when brake pedal is de-
erating at HI
pressed or when CANCEL switch is pressed.
(If the vehicle is equipped JSOIA0292ZZ

with a rain sensing auto-wip-

er, the system may cancel
when the wipers are set to
AUTO)
• When the parking brake are
applied
NOTE:

Revision: 2010 May CCS-24 2011 QX56

 OPERATION
< SYSTEM DESCRIPTION > [ICC]
When the ICC system is automatically canceled, the cancellation condition can be displayed on “WORK SUP-
PORT” of CONSULT-III (ICC/ADAS). A
CONVENTIONAL (FIXED SPEED) CRUISE CONTROL MODE FUNCTION
CONVENTIONAL (FIXED SPEED) CRUISE CONTROL MODE FUNCTION : Switch B
Name and Function INFOID:0000000006224274

JSOIA0305ZZ G

No. Description Function

1 CANCEL switch Deactivates system without erasing set speed H
2 RESUME/ACCELERATE switch Resumes set speed or increases speed incrementally
3 SET/COAST switch Sets desired cruise speed or reduces speed incrementally
4 MAIN switch Master switch to activate the system (Press for more than 1.5 seconds) I

CONVENTIONAL (FIXED SPEED) CRUISE CONTROL MODE FUNCTION : Menu

Displayed by Pressing Each Switch INFOID:0000000006224275
J

ICC SYSTEM DISPLAY (ON THE INFORMATION DISPLAY)

K

JSOIA0306ZZ
N
No. Description Function
1 ICC system warning lamp Indicates that a malfunction occurs in the ICC system
CCS
2 SET switch indicator Indicates that the set conventional (fixed speed) cruise control mode is controlled
3 MAIN switch indicator Indicates that the MAIN switch is ON (ICC system ON)

SYSTEM CONTROL CONDITION DISPLAY P

Push and hold the ICC MAIN switch for longer than approximately 1.5 seconds. This mode will be in a standby
state for setting.

Revision: 2010 May CCS-25 2011 QX56

 OPERATION
< SYSTEM DESCRIPTION > [ICC]

Condition Display on ICC system display

Standby mode

JSOIA0307ZZ

Control mode

JSOIA0308ZZ

WARNING AND AUTOMATIC CANCELLATION DISPLAY

Condition Description Display on ICC system display

A chime sounds and the control is

automatically canceled.
When the ICC system is malfunc- NOTE:
Warning display
tioning Turn the engine OFF and restart
engine. If there is no malfunction,
it is possible to set the system
JSOIA0304ZZ

• When brake pedal is depressed

• When pressing CANCEL switch
• When the vehicle speed falls be- A chime sounds and the control is
low approximately 32 km/h (20 automatically canceled
MPH) NOTE:
• When the vehicle slows down • The system will be in a standby,
more than 13 km/h (8 MPH) be- after the control is automatically
System cancel
low the set speed canceled
display
• When the selector lever is not in • A chime sounds when the con-
the “D” position or manual mode trol is automatically canceled,
• When the parking brakes are ap- except when brake pedal is de-
plied pressed or when CANCEL JSOIA0307ZZ

• When VDC (including the TCS) switch is pressed

operates
• When a wheel slips
NOTE:
When the ICC system is automatically canceled, the cancellation condition can be displayed on “WORK SUP-
PORT” of CONSULT-III (ICC/ADAS).

Revision: 2010 May CCS-26 2011 QX56

 HANDLING PRECAUTION
< SYSTEM DESCRIPTION > [ICC]
HANDLING PRECAUTION
A
Precautions for Vehicle-to-Vehicle Distance Control Mode INFOID:0000000006224276

• ICC system is only an aid to assist the driver and is not a collision warning or avoidance device. It is the B
driver's responsibility to stay alert, drive safely and be in control of the vehicle at all times.
• The system is primarily intended for use on straight, dry, open roads with light traffic. It is not advisable to
use the system in city traffic or congested areas.
• This system will not adapt automatically to road conditions. This system should be used in evenly flowing C
traffic. Do not use the system on roads with sharp curves, or on icy roads, in heavy rain or in fog.
• The ICC sensor will not detect under most conditions.
- Stationary and slow moving vehicles. D
- Pedestrians or objects in the roadway.
- Oncoming vehicles in the some lane.
- Motorcycles traveling offset in the travel lane.
• As there is a performance limit to the distance control function, never rely solely on the ICC system. This E
system does not correct careless, inattentive or absent-minded driving, or overcome poor visibility in rain,
fog, or other bad weather. Decelerate the vehicle speed by depressing the brake pedal, depending on the
distance to the vehicle ahead and the surrounding circumstances in order to maintain a safe distance F
between vehicles.
• If the vehicle ahead comes to a stop, the vehicle decelerates to a standstill within the limitations of the sys-
tem. The system will cancel once it judges that the vehicle has come to a standstill and sound a warning
chime. To prevent the vehicle from moving, the driver must depress the brake pedal. G
• The system may not detect the vehicle in front of the driver in certain road or weather conditions. To avoid
accidents, never use the ICC system under the following conditions:
- On roads where the traffic is heavy or there are sharp curves. H
- On slippery road surfaces such as on ice or snow, etc.
- On off-road surfaces such as on sand or rock, etc.
- During bad weather (rain, fog, snow, etc.)
I
- When the windshield wipers are operating at high speed. The ICC system may cancel when the wipers are
set to the AUTO position.
- When strong light (for example, at sunrise or sunset) is directly shining on the front of the vehicle.
- When rain, snow or dirt adhere to the system sensor. J
- On steep downhill roads (the vehicle may go beyond the set vehicle speed and frequent braking may result
in overheating the brakes).
- On repeated uphill and downhill roads. K
- When traffic conditions make it difficult to keep a proper distance between vehicles because of frequent
acceleration or deceleration.
- When towing a trailer or other vehicle
• In some road or traffic conditions, a vehicle or object can unexpectedly come into the sensor detection zone L
and cause automatic braking. The driver may need to control the distance from other vehicles using the
accelerator pedal. Always stay alert and avoid using the ICC system when it is not recommended in this sec-
tion. M
• The vehicle-to-vehicle distance control mode uses a sensor located on the front of the vehicle to detect vehi-
cles traveling ahead. The sensor generally detects the signals returned from the reflectors on a vehicle
ahead. Therefore, if the sensor cannot detect the reflector on the vehicle ahead, the ICC system may not
maintain the selected distance. N
• The following are some conditions in which the sensor cannot detect the signals:
- When the reflector of the vehicle ahead is positioned high on the vehicle (trailer, etc.).
- When the reflector on the vehicle ahead is missing, damaged or covered. CCS
- When the reflector of the vehicle ahead is covered with dirt, snow and road spray.
- When the snow or road spray from traveling vehicles reduces the sensor's visibility.
- When dense exhaust or other smoke (black smoke) from vehicles reduces the sensor's visibility.
- When excessively heavy baggage is loaded in the rear seat or the luggage room of own vehicle. P
- When the vehicle is towing a trailer, etc.
• The ICC system is designed to automatically check the sensor's operation within the limitation of the system.
When the sensor is covered with dirt or is obstructed, the system will automatically be canceled. If the sen-
sor is covered with ice, a transparent or translucent vinyl bag, etc., the ICC system may not detect them. In
these instances, the vehicle-to-vehicle distance control mode may not cancel and may not be able to main-
tain the selected following distance from the vehicle ahead. Be sure to check and clean the sensor regularly.

Revision: 2010 May CCS-27 2011 QX56

 HANDLING PRECAUTION
< SYSTEM DESCRIPTION > [ICC]
• The ICC system does not control vehicle speed or warn the driver when own vehicle approaches stationary
and slow moving vehicles. The driver must pay attention to vehicle operation to maintain proper distance
from vehicles ahead when approaching toll gates or traffic congestion.
• The detection zone of the ICC sensor is limited. A vehicle ahead
must be in the detection zone for the vehicle-to-vehicle distance
detection mode to maintain the selected distance from the vehicle
ahead. A vehicle ahead may move outside of the detection zone
due to its position within the same lane of travel. Motorcycles may
not be detected in the same lane ahead if they are traveling offset
from the center line of the lane. A vehicle that is entering the lane
ahead may not be detected until the vehicle has completely moved
into the lane. If this occurs, the ICC system may warn the driver by
blinking the system indicator and sounding the chime. The driver
may have to manually control the proper distance away from vehi-
cle traveling ahead.

JPOIA0221ZZ

• When driving on some roads, such as winding, hilly, curved, nar-

row roads, or roads which are under construction, the ICC sensor
may detect vehicles in a different lane, or may temporarily not
detect a vehicle traveling ahead. This may cause the ICC system
to decelerate or accelerate the vehicle. The detection of vehicles
may also be affected by vehicle operation (steering maneuver or
traveling position in the lane, etc.) or vehicle condition. If this
occurs, the ICC system may warn the driver by blinking the system
indicator and sounding the chime unexpectedly. The driver will
have to manually control the proper distance away from the vehicle
traveling ahead.

JPOIA0220ZZ

Revision: 2010 May CCS-28 2011 QX56

 HANDLING PRECAUTION
< SYSTEM DESCRIPTION > [ICC]
• When driving on the freeway at a set speed and approaching a
slower traveling vehicle ahead, the ICC will adjust the speed to A
maintain the distance, selected by the driver, from the vehicle
ahead. If the vehicle ahead changes lanes or exits the freeway, the
ICC system will accelerate and maintain the speed up to the set
B
speed. Pay attention to the driving operation to maintain control of
the vehicle as it accelerates to the set speed. The vehicle may not
maintain the set speed on winding or hilly roads. If this occurs, the
driver will have to manually control the vehicle speed. C

JPOIA0219ZZ

D
• The sensor sensitivity can be affected by vehicle operation (steering maneuver or driving position in the
lane) or traffic or vehicle condition (for example, if a vehicle is being driven with some damage).
• Normally when controlling the distance to a vehicle ahead, this system automatically accelerates or deceler- E
ates own vehicle according to the speed of the vehicle ahead. Depress the accelerator to properly acceler-
ate own vehicle when acceleration is required for a lane change. Depress the brake pedal when
deceleration is required to maintain a safe distance to the vehicle ahead due to its sudden braking or if a
vehicle cuts in. Always stay alert when using the ICC system. F

Precautions for Conventional (Fixed Speed) Cruise Control Mode INFOID:0000000006224277

G
• In the conventional (fixed speed) cruise control mode, a warning chime does not sound to warn the driver if
own vehicle is too close to the vehicle ahead, as neither the presence of the vehicle ahead nor the vehicle-
to-vehicle distance is detected.
• Pay special attention to the distance between own vehicle and the vehicle ahead or a collision could occur. H
• Always confirm the setting in the ICC system display.
• Do not use the conventional (fixed speed) cruise control mode when driving under the following conditions:
- When it is not possible to keep the vehicle at a set speed. I
- In heavy traffic or in traffic that varies in speed.
- On winding or hilly roads.
- On slippery roads (rain, snow, ice, etc.).
- In very windy areas. J
• Doing so could cause a loss of vehicle control and result in an accident.
• To avoid accidentally engaging cruise control, make sure to the MAIN switch OFF when not using ICC sys-
tem. K

CCS

Revision: 2010 May CCS-29 2011 QX56

 DIAGNOSIS SYSTEM (ADAS CONTROL UNIT)
< SYSTEM DESCRIPTION > [ICC]
DIAGNOSIS SYSTEM (ADAS CONTROL UNIT)
On Board Diagnosis Function INFOID:0000000006227983

DESCRIPTION
The DTC is displayed on the information display by operating the ICC steering switch.
On Board Self-diagnosis System Diagram

JSOIA0271GB

METHOD OF STARTING
CAUTION:
Start condition of on board self-diagnosis
• ICC system OFF
• DCA system OFF
• Vehicle speed 0 km/h (0 MPH)
1. Turn the ignition switch OFF.
2. Start the engine.
3. Wait for 5 seconds after starting the engine. Push up the
RESUME/ACCELERATE switch 5 times and push down the
SET/COAST switch 5 times within 10 seconds.
NOTE:
If the above operation cannot be performed within 10 seconds
after waiting for 5 seconds after starting the engine, repeat the
procedure from step 1.

PKIB8371E

4. The DTC is displayed on the set vehicle speed indicator (1) on the ICC system display on the information
display when the on board self-diagnosis starts. Refer to DAS-38, "DTC Index".

JSOIA0008GB

NOTE:

Revision: 2010 May CCS-30 2011 QX56

 DIAGNOSIS SYSTEM (ADAS CONTROL UNIT)
< SYSTEM DESCRIPTION > [ICC]
• It displays for up to 5 minutes and then stops.
• If multiple malfunctions exist, up to 6 DTCs can be stored in memory at the most, and the most recent A
one is displayed first.
WHEN THE ON BOARD SELF-DIAGNOSIS DOES NOT START
If the on board self-diagnosis does not start, check the following items. B

Assumed abnormal part Inspection item

Check that the self-diagnosis function of the combina- C
Information display Combination meter malfunction tion meter operates. Refer to MWI-29, "On Board Diag-
nosis Function"
ICC steering switch malfunction D
Perform the inspection for DTC“C1A06”. Refer to CCS-
Harness malfunction between ICC steering switch and ECM
94, "Diagnosis Procedure"
ECM malfunction
E
• Check power supply and ground circuit of ADAS con-
trol unit. Refer to DAS-62, "Diagnosis Procedure".
ADAS control unit malfunction • Perform SELF-DIAGNOSIS for “ICC/ADAS”with
CONSULT-III, and then check the malfunctioning F
parts. Refer to DAS-38, "DTC Index".

HOW TO ERASE ON BOARD SELF-DIAGNOSIS

1. Turn the ignition switch OFF. G
2. Start the engine, and then start the on board self-diagnosis.
3. Press the CANCEL switch 5 times, and then press the DIS-
H
TANCE switch 5 times under the condition that the on board
self-diagnosis starts.
NOTE:
• Complete the operation within 10 seconds after pressing the I
CANCEL switch first.
• If the operation is not completed within 10 seconds, repeat the
procedure from step 1. J
4. DTC 55 is displayed after erasing.
NOTE:
DTCs for existing malfunction can not be erased. PKIB8373E
K
5. Turn ignition switch OFF, and finish the diagnosis.
CONSULT-III Function (ICC/ADAS) INFOID:0000000006227984

L
APPLICATION ITEMS
CONSULT-III performs the following functions via CAN communication using ADAS control unit.
M
Diagnosis mode Description
Work Support Displays causes of automatic system cancellation occurred during system control
Self Diagnostic Result Displays the name of a malfunctioning system stored in the ADAS control unit N
Data Monitor Displays ADAS control unit input/output data in real time
Enables an operational check of a load by transmitting a driving signal from the ADAS control unit to
Active Test
the load
CCS
Ecu Identification Displays ADAS control unit part number
CAN Diag Support Monitor Displays a reception/transmission state of CAN communication and ITS communication
P
WORK SUPPORT

Revision: 2010 May CCS-31 2011 QX56

 DIAGNOSIS SYSTEM (ADAS CONTROL UNIT)
< SYSTEM DESCRIPTION > [ICC]

Work support items Description

Displays causes of automatic system cancellation occurred during control of the following sys-
tems
CAUSE OF AUTO-CANCEL 1 • Vehicle-to-vehicle distance control mode
• Conventional (fixed speed) cruise control mode
• Distance Control Assist (DCA)
Displays causes of automatic system cancellation occurred during control of the Lane Depar-
CAUSE OF AUTO-CANCEL 2
ture Prevention (LDP) system
NOTE:
• Causes of the maximum five cancellations (system cancel) are displayed.
• The displayed cancellation causes display the number of the ignition switch ON/OFF up to 254. It is fixed to
254 if it is over 254. It returns to 0 when the same cancellation cause is detected again.
Display Items for The Cause of Automatic Cancellation 1
Conventional (fixed speed) cruise control mode
Vehicle-to-vehicle distance control mode

Distance Control Assist

Cause of cancellation Description

The wiper operates at HI (it includes when the wiper is operated at

OPERATING WIPER ×
HI with the wiper switch AUTO position)
OPERATING ABS × × ABS function was operated
OPERATING TCS × × × TCS function was operated
OPERATING VDC × × × VDC function was operated
ECM CIRCUIT × × ECM did not permit ICC operation
OPE SW VOLT CIRC × × × The ICC steering switch input voltage is not within standard range
LASER SUNBEAM × × Intense light such as sunlight entered ICC sensor light sensing part
LASER TEMP × × Temperature around ICC sensor became low
SNOW MODE SW × × SNOW mode switch was pressed
OP SW DOUBLE
× × ICC steering switches were pressed at the same time
TOUCH
Vehicle speed lower than the speed as follows
• Vehicle-to-vehicle distance control mode is 24 km/h (15 MPH)
VHCL SPD DOWN × × ×
• Conventional (fixed speed) cruise control mode is 32 km/h (20
MPH)
WHL SPD ELEC NOISE × × × Wheel speed sensor signal caught electromagnetic noise
VDC/TCS OFF SW × × VDC OFF switch was pressed
VHCL SPD UNMATCH × × × Wheel speed became different from A/T vehicle speed
TIRE SLIP × × Wheel slipped
IGN LOW VOLT × × × Decrease in ADAS control unit IGN voltage
PARKING BRAKE ON × × The parking brake is operating
WHEEL SPD UNMATCH × × × The wheel speeds of 4 wheels are out of the specified values

Revision: 2010 May CCS-32 2011 QX56

 DIAGNOSIS SYSTEM (ADAS CONTROL UNIT)
< SYSTEM DESCRIPTION > [ICC]
A vehicle ahead is not detected during the following driving when
INCHING LOST ×
the vehicle speed is approximately 24 km/h (15 MPH) or less A
ADAS control unit received an abnormal signal with CAN commu-
CAN COMM ERROR × × ×
nication
ABS/TCS/VDC CIRC × × × An abnormal condition occurs in VDC/TCS/ABS system B
ECD CIRCUIT × × × An abnormal condition occurs in ECD system
ASCD VHCL SPD DTAC × Vehicle speed is detached from set vehicle speed
C
ASCD DOUBLE COMD × Cancel switch and operation switch are detected simultaneously
The accelerator pedal actuator integrated motor temperature is
APA HI TEMP ×
high
D
ICC SENSOR CAN Communication error between ADAS control unit and the ICC sen-
× ×
COMM ERR sor
4WD LOCK MODE × × × Shifting of the 4WD shift switch to 4H or 4L E
ABS WARNING LAMP × × ABS warning lamp ON
NO RECORD × × × —
F
Display Items for The Cause of Automatic Cancellation 2

Cause of cancellation Description

G
OPE VDC/TCS/ABS 1 The activation of VDC, TCS, or ABS during LDP system control
Vehicle dynamics Vehicle behavior exceeds specified value
Steering speed Steering speed was more than the specified value in evasive direction H
End by yaw angle Yaw angle was the end of LDP control
Departure yaw large Detected more than the specified value of yaw angle in departure direction
I
ICC WARNING Target approach warning of ICC system, IBA system or FCW system was activated
CURVATURE Road curve was more than the specified value
Steering angle large Steering angle was more than the specified value J
Brake is operated Brake pedal was operated
IGN LOW VOLT Decrease in ADAS control unit IGN voltage
Lateral offset Distance of vehicle and lane was detached in lateral direction more than the specified value K
Lane marker lost Lane camera unit lost the trace of lane marker
Lane marker unclear Detected lane marker was unclear
L
Yaw acceleration Detected yawing speed was more than the specified value
Deceleration large Deceleration in a longitudinal direction was more than the specified value
Accel is operated Accelerator pedal was depressed M
Departure steering Steering wheel was steered more than the specified value in departure direction
Evasive steering Steering wheel was steered more than the specified value in the evasive direction
N
R range Selector lever was operated to R range
Parking brake drift Rear wheels lock was detected
Not operating condition Did not meet the operating condition (vehicle speed, turn signal operation, etc) CCS
SNOW MODE SW SNOW mode switch was pressed
VDC OFF SW VDC OFF switch was pressed
P
OPE VDC/ABS 2 The activation of VDC or ABS during a standby time of LDP system control
4WD LOCK MODE Shifting of the 4WD shift switch to 4H or 4L
NO RECORD —

SELF DIAGNOSTIC RESULT

Refer to DAS-38, "DTC Index".
DATA MONITOR

Revision: 2010 May CCS-33 2011 QX56

 DIAGNOSIS SYSTEM (ADAS CONTROL UNIT)
< SYSTEM DESCRIPTION > [ICC]

(LDW/LDP)

(BSW/BSI)
MAIN SIG

MAIN SIG

MAIN SIG
ALL SIG
(ICC)

(ICC)
Monitored item
Description
[Unit]

MAIN SW Indicates [On/Off] status as judged from ICC steering switch signal (ECM trans-
× × × ×
[On/Off] mits ICC steering switch signal through CAN communication)
SET/COAST SW Indicates [On/Off] status as judged from ICC steering switch signal (ECM trans-
× ×
[On/Off] mits ICC steering switch signal through CAN communication)
CANCEL SW Indicates [On/Off] status as judged from ICC steering switch signal (ECM trans-
× ×
[On/Off] mits ICC steering switch signal through CAN communication)
RESUME/ACC SW Indicates [On/Off] status as judged from ICC steering switch signal (ECM trans-
× ×
[On/Off] mits ICC steering switch signal through CAN communication)
DISTANCE SW Indicates [On/Off] status as judged from ICC steering switch signal (ECM trans-
×
[On/Off] mits ICC steering switch signal through CAN communication)
CRUISE OPE
× × Indicates whether controlling or not (ON means “controlling”)
[On/Off]
BRAKE SW Indicates [On/Off] status as judged from ICC brake switch signal (ECM transmits
× × × ×
[On/Off] ICC brake switch signal through CAN communication)
STOP LAMP SW Indicates [On/Off] status as judged from stop lamp switch signal (ECM transmits
× × × ×
[On/Off] stop lamp switch signal through CAN communication)
IDLE SW Indicates [On/Off] status of idle switch read from ADAS control unit through CAN
×
[On/Off] communication (ECM transmits On/Off status through CAN communication)
SET DISTANCE
× × Indicates set distance memorized in ADAS control unit
[Short/Mid/Long]
CRUISE LAMP
× × Indicates [On/Off] status of MAIN switch indicator output
[On/Off]
OWN VHCL
× Indicates [On/Off] status of own vehicle indicator output
[On/Off]
VHCL AHEAD
× Indicates [On/Off] status of vehicle ahead detection indicator output
[On/Off]
ICC WARNING
× Indicates [On/Off] status of ICC system warning lamp output
[On/Off]
Indicates vehicle speed calculated from ADAS control unit through CAN commu-
VHCL SPEED SE
× × × × nication [ABS actuator and electric unit (control unit) transmits vehicle speed sig-
[km/h] or [mph]
nal (wheel speed) through CAN communication]
SET VHCL SPD
× × Indicates set vehicle speed memorized in ADAS control unit
[km/h] or [mph]
BUZZER O/P
× Indicates [On/Off] status of ICC warning chime output
[On/Off]
THRTL SENSOR NOTE:
× ×
[deg] The item is displayed, but it is not monitored
ENGINE RPM Indicates engine speed read from ADAS control unit through CAN communication
×
[rpm] (ECM transmits engine speed signal through CAN communication)
WIPER SW Indicates wiper [OFF/LOW/HIGH] status (BCM transmits front wiper request sig-
×
[OFF/LOW/HIGH] nal through CAN communication)
YAW RATE NOTE:
×
[deg/s] The item is displayed, but it is not monitored
BA WARNING
× Indicates [On/Off] status of IBA OFF indicator lamp output
[On/Off]
STP LMP DRIVE
× × Indicates [On/Off] status of ICC brake hold relay drive output
[On/Off]
Indicates [On/Off] status of “D” or “M” positions read from ADAS control unit
D RANGE SW
× through CAN communication; ON when position “D” or “M” (TCM transmits shift
[On/Off]
position signal through CAN communication).

Revision: 2010 May CCS-34 2011 QX56

 DIAGNOSIS SYSTEM (ADAS CONTROL UNIT)
< SYSTEM DESCRIPTION > [ICC]

(LDW/LDP)

(BSW/BSI)
MAIN SIG

MAIN SIG

MAIN SIG
ALL SIG
A

(ICC)

(ICC)
Monitored item
Description
[Unit]

NP RANGE SW Indicates shift position signal read from ADAS control unit through CAN commu- B
×
[On/Off] nication (TCM transmits shift position signal through CAN communication)
Parking brake switch status [On/Off] judged from the parking brake switch signal
PKB SW
× that ADAS control unit readout via CAN communication is displayed (Combination C
[On/Off]
meter transmits the parking brake switch signal via CAN communication)
PWR SUP MONI
× × Indicates IGN voltage input by ADAS control unit
[V] D
Indicates vehicle speed calculated from A/T vehicle speed sensor read from
VHCL SPD AT
× ADAS control unit through CAN communication (TCM transmits A/T vehicle speed
[km/h] or [mph]
sensor signal through CAN communication)
E
Indicates throttle position read from ADAS control unit through CAN communica-
THRTL OPENING
× × tion (ECM transmits accelerator pedal position signal through CAN communica-
[%]
tion).
GEAR Indicates A/T gear position read from ADAS control unit through CAN communi-
F
×
[1, 2, 3, 4, 5, 6, 7] cation (TCM transmits current gear position signal through CAN communication)
MODE SIG Indicates the active mode from ICC or ASCD [conventional (fixed speed) cruise
× G
[OFF, ICC, ASCD] control mode]
SET DISP IND
× Indicates [On/Off] status of SET switch indicator output
[On/Off]
DISTANCE H
× Indicates the distance from the vehicle ahead
[m]
RELATIVE SPD
× Indicates the relative speed of the vehicle ahead
[m/s] I
DYNA ASIST SW Indicates [On/Off] status as judged from ICC steering switch signal (ECM trans-
× × ×
[On/Off] mits ICC steering switch signal through CAN communication)
DCA ON IND J
× The status [ON/OFF] of DCA system switch indicator output is displayed
[On/Off]
DCA VHL AHED The status [ON/OFF] of vehicle ahead detection indicator output in DCA system
×
[On/Off] is displayed K
IBA SW
× × Indicates [On/Off] status of IBA OFF switch
[On/Off]
FCW SYSTEM ON L
× × Indicates [On/Off] status of FCW system
[On/Off]
Accelerator pedal actuator integrated motor temperature that the ADAS control
APA TEMP
× unit readout via ITS communication is displayed (Accelerator pedal actuator trans- M
[°C]
mits the integrated motor temperature via ITS communication)
Accelerator pedal actuator power supply voltage that the ADAS control unit read-
APA PWR
× out via ITS communication is displayed (Accelerator pedal actuator transmits the
[V]
power supply voltage via ITS communication)
N
LDW SYSTEM ON
× Indicates [On/Off] status of LDW system
[On/Off]
CCS
LDW ON LAMP
× Indicates [On/Off] status of waning systems ON indicator output
[On/Off]
LDP ON IND
× Indicates [On/Off] status of LDP ON indicator lamp (Green) output P
[On/Off]
LANE DPRT W/L
× Indicates [On/Off] status of lane departure warning lamp (Yellow) output
[On/Off]
LDW BUZER OUT-
PUT × Indicates [On/Off] status of warning buzzer output
[On/Off]

Revision: 2010 May CCS-35 2011 QX56

 DIAGNOSIS SYSTEM (ADAS CONTROL UNIT)
< SYSTEM DESCRIPTION > [ICC]

(LDW/LDP)

(BSW/BSI)
MAIN SIG

MAIN SIG

MAIN SIG
ALL SIG
(ICC)

(ICC)
Monitored item
Description
[Unit]

LDP SYSTEM ON
× Indicates [On/Off] status of LDP system
[On/Off]
WARN REQ
× Indicates an ADAS control unit judged warning state (ON/OFF) of LDP system
[On/Off]
READY signal
× Indicates LDP system settings
[On/Off]
Indicates a lane marker detection state judged from a lane marker detection signal
Camera lost
× × read by the ADAS control unit via ITS communication
[Detect/Deviate/Both]
(Lane camera unit transmits a lane marker signal via ITS communication)
Shift position
Indicates shift position read from ADAS control unit through CAN communication
[Off, P, R, N, D, M/T1 - × ×
(TCM transmits shift position signal through CAN communication)
7]
Indicates turn signal operation status read from ADAS control unit through CAN
Turn signal
× × communication (BCM transmits turn indicator signal through CAN communica-
[OFF/LH/RH/LH&RH]
tion)
Indicates lateral G acting on the vehicle. This lateral G is judged from a side G
SIDE G sensor signal read by ADAS control unit via CAN communication
× ×
[G] (The ABS actuator and electric unit (control unit) transmits a side G sensor signal
via CAN communication)
STATUS signal
[Stnby/Warn/Cancl/ × Indicates a control state of LDP system
Off]
Indicates an ON/OFF state of the lane marker. The ON/OFF state is judged from
a detected lane condition signal read by the ADAS control unit via ITS communi-
Lane unclear
× × cation
[On/Off]
(The lane camera unit transmits a detected lane condition signal via ITS commu-
nication)
Indicates systems which can be set to ON/OFF by selecting “Driver Assistance”
FUNC ITEM
× × × × ⇒ “Dynamic Assistance Settings” of the navigation system
[FUNC1]
FUNC1: Distance Control Assist (DCA), Lane Departure Prevention (LDP)
FUNC ITEM (NV-ICC) NOTE:
× × × ×
[Off] The item is displayed, but it is not monitored
FUNC ITEM (NV-
NOTE:
DCA) × × × ×
The item is displayed, but it is not monitored
[Off]
Indicates an ON/OFF state of the DCA system. The DCA system can be set to
DCA SELECT
× × × × ON/OFF by selecting “Driver Assistance” ⇒ “Dynamic Assistance Settings” of the
[On/Off]
navigation system
Indicates an ON/OFF state of LDP system. LDP system can be set to ON/OFF by
LDP SELECT
× × × × selecting “Driver Assistance” ⇒ “Dynamic Assistance Settings” of the navigation
[On/Off]
system
BSI SELECT NOTE:
× × × ×
[On/Off] The item is displayed, but it is not monitored
NAVI ICC SELECT NOTE:
× × × ×
[Off] The item is displayed, but it is not monitored
NAVI DCA SELECT NOTE:
× × × ×
[Off] The item is displayed, but it is not monitored
SYS SELECTABILITY Indicates the availability of ON/OFF switching for “Driver Assistance” items re-
× × × ×
[On/Off] ceived from the AV control unit via CAN communication
WARN SYS SW
× × × × Indicates [On/Off] status of warning systems switch
[On/Off]
BSW/BSI WARN LMP
× Indicates [On/Off] status of BSW warning lamp output
[On/Off]

Revision: 2010 May CCS-36 2011 QX56

 DIAGNOSIS SYSTEM (ADAS CONTROL UNIT)
< SYSTEM DESCRIPTION > [ICC]

(LDW/LDP)

(BSW/BSI)
MAIN SIG

MAIN SIG

MAIN SIG
ALL SIG
A

(ICC)

(ICC)
Monitored item
Description
[Unit]

BSW SYSTEM ON B
× Indicates [On/Off] status of BSW system
[On/Off]
4WD SW Indicates [On/Off] status as judged from current 4WD mode signal (Transfer con-
× × ×
[AUTO, 4H, 4L] trol unit transmits current 4WD mode signal through CAN communication) C
ACTIVE TEST
CAUTION:
• Never perform “Active Test” while driving the vehicle. D
• The “Active Test” cannot be performed when the following systems warning lamp is illuminated.
- ICC system warning lamp
- Lane departure warning lamp E
- BSW warning lamp
- IBA OFF indicator lamp (IBA system ON)
• Shift the selector lever to “P” position, and then perform the test.
F
Test item Description
The ICC system warning lamp, MAIN switch indicator and IBA OFF indicator lamp can be illuminated
METER LAMP G
by ON/OFF operations as necessary
The ICC brake hold relay can be operated by ON/OFF operations as necessary, and the stop lamp
STOP LAMP
can be illuminated
H
Sounds a buzzer used for following systems by arbitrarily operating ON/OFF
• Intelligent Cruise Control (ICC)
ICC BUZZER • Distance Control Assist (DCA)
• Forward Collision Warning (FCW) I
• Intelligent Brake Assist (IBA)
BRAKE ACTUATOR Activates the brake by an arbitrary operation
Active Pedal The accelerator pedal actuator can be operated as necessary J
DCA INDICATOR The DCA system switch indicator can be illuminated by ON/OFF operations as necessary
Sounds a buzzer used for following systems by arbitrarily operating ON/OFF
• Lane Departure Warning (LDW) K
LDP BUZZER
• Lane Departure Prevention (LDP)
• Blind Spot Warning (BSW)
The warning systems ON indicator (on warning systems switch) can be illuminated by ON/OFF op- L
WARNING SYSTEM IND
erations as necessary
LDP ON IND The LDP ON indicator lamp can be illuminated by ON/OFF operations as necessary
LANE DEPARTURE W/L The lane departure warning lamp can be illuminated by ON/OFF operations as necessary M
BSW/BSI WARNING LAMP The BSW warning lamp can be illuminated by ON/OFF operations as necessary

METER LAMP N
NOTE:
The test can be performed only when the engine is running.
CCS

Revision: 2010 May CCS-37 2011 QX56

 DIAGNOSIS SYSTEM (ADAS CONTROL UNIT)
< SYSTEM DESCRIPTION > [ICC]

• MAIN switch indicator

Oper-
Test item Description • ICC system warning lamp
ation
• IBA OFF indicator lamp
Stops sending the following signals to exit from the test
• Meter display signal
Off OFF
• ICC warning lamp signal
• IBA OFF indicator lamp signal
METER LAMP Transmits the following signals to the combination meter via
CAN communication
On • Meter display signal ON
• ICC warning lamp signal
• IBA OFF indicator lamp signal

STOP LAMP

Oper-
Test item Description Stop lamp
ation
Stops transmitting the ICC brake hold relay drive signal be-
Off OFF
STOP LAMP low to end the test
On Transmits the ICC brake hold relay drive signal ON

ICC BUZZER

ICC warning chime operation

Test item Operation Description
sound
Transmits the buzzer output signals to the combination
MODE1 Intermittent beep sound
meter via CAN communication
Test start Starts the tests of “MODE1” —
ICC BUZZER
Stops transmitting the buzzer output signal below to end
Reset —
the test
End Returns to the “SELECT TEST ITEM” screen —

BRAKE ACTUATOR
NOTE:
The test can be performed only when the engine is running.

Test item Operation Description “PRESS SENS” value

MODE1 10 bar
Transmits the brake fluid pressure control signal to the
MODE2 ABS actuator and electric unit (control unit) via CAN 20 bar
communication
MODE3 30 bar
BRAKE ACTUATOR Test start Starts the tests of “MODE1”, “MODE2” and “MODE3” —
Stops transmitting the brake fluid pressure control signal
Reset —
below to end the test
End Returns to the “SELECT TEST ITEM” screen —
NOTE:
The test is finished in 10 seconds after starting

PKIB1767J

Revision: 2010 May CCS-38 2011 QX56

 DIAGNOSIS SYSTEM (ADAS CONTROL UNIT)
< SYSTEM DESCRIPTION > [ICC]
Active Pedal
CAUTION: A
• Shift the selector lever to “P” position, and then perform the test.
• Never depress the accelerator pedal excessively. (The engine speed may rise unexpectedly when
finishing the test.)
B
NOTE:
• Depress the accelerator pedal to check when performing the test.
• The test can be performed only when the engine is running.
C
Test item Operation Description Accelerator pedal operation
Constant with a force of 25 N
MODE1
for 8 seconds D
Constant with a force of 15 N
MODE2
Transmit the accelerator pedal feedback force control signal for 8 seconds
to the accelerator pedal actuator via ITS communication. Change up to a force of 25 N for E
MODE3
8 seconds
Active Pedal Change up to a force of 15 N for
MODE4
8 seconds F
Starts the tests of “MODE1”, “MODE2”, “MODE3” and
Test start —
“MODE4”

Reset
Stops transmitting the accelerator pedal feedback force
—
G
control signal below to end the test.
End Returns to the “SELECT TEST ITEM” screen —
NOTE: H
The test is finished in 10 seconds after starting

K
JPOIA0061GB

DCA INDICATOR
NOTE: L
The test can be performed only when the engine is running.

Test item
Opera-
Description DCA system switch indicator
M
tion
Stops transmitting the DCA system switch indicator signal be-
Off —
low to end the test N
DCA INDICATOR
Transmits the DCA system switch indicator signal to the com-
On ON
bination meter via CAN communication

LDP BUZZER CCS

Opera-
Test item Description Warning buzzer
tion P
Stops transmitting the warning buzzer signal below to end the
Off —
LDP BUZZER test
On Transmits the warning buzzer signal to the warning buzzer ON

WARNING SYSTEM IND

Revision: 2010 May CCS-39 2011 QX56

 DIAGNOSIS SYSTEM (ADAS CONTROL UNIT)
< SYSTEM DESCRIPTION > [ICC]

Oper-
Test item Description Warning systems ON indicator
ation
Stops transmitting the warning systems ON indicator signal
Off —
WARNING SYSTEM below to end the test
IND Transmits the warning systems ON indicator signal to the
On ON
warning systems ON indicator

LDP ON IND

Oper-
Test item Description LDP ON indicator lamp (Green)
ation
Stops transmitting the LDP ON indicator lamp signal be-
Off —
low to end the test
LDP ON IND
Transmits the LDP ON indicator lamp signal to the com-
On ON
bination meter via CAN communication

LANE DEPARTURE W/L

Oper-
Test item Description Lane departure warning lamp (Yellow)
ation
Stops transmitting the lane departure warning lamp sig-
Off —
LANE DEPARTURE nal below to end the test
W/L Transmits the lane departure warning lamp signal to the
On ON
combination meter via CAN communication

BSW/BSI WARNING LAMP

Oper-
Test item Description BSW warning lamp
ation
Stops transmitting the BSW warning lamp signal below
Off —
BSW/BSI WARNING to end the test
LAMP Transmits the BSW warning lamp signal to the combina-
On ON
tion meter via CAN communication

Revision: 2010 May CCS-40 2011 QX56

 DIAGNOSIS SYSTEM (ICC SENSOR)
< SYSTEM DESCRIPTION > [ICC]
DIAGNOSIS SYSTEM (ICC SENSOR)
A
CONSULT-III Function (LASER) INFOID:0000000006224280

APPLICATION ITEMS B
CONSULT-III performs the following functions via CAN communication with ADAS control unit and the com-
munication with ICC sensor.
C
Diagnosis mode Description
It can monitor the adjustment direction indication in order to perform the laser beam aiming operation
Work Support
smoothly
D
Self Diagnostic Result Displays malfunctioning system memorized in ICC sensor
Data Monitor Displays real-time input/output data of ICC sensor
Ecu Identification Displays ICC sensor part number E
CAN Diag Support Monitor The results of transmit/receive diagnosis of ITS communication can be read

WORK SUPPORT F

Work support items Description

LASER BEAM ADJUST Outputs laser beam, calculates dislocation of the beam, and indicates adjustment direction G

Laser Beam Adjust

Refer to CCS-72, "Description".
H
SELF DIAGNOSTIC RESULT
Refer to CCS-55, "DTC Index".
DATA MONITOR I

Monitored item
Description
[Unit] J
Vehicle speed judged from a vehicle speed signal read by the ICC sensor via ITS communica-
VHCL SPEED SE tion is displayed [ADAS control unit receives a vehicle speed signal from ABS actuator and
[km/h] or [mph] electric unit (control unit) via CAN communication and transmits the calculated vehicle speed K
to ICC sensor via ITS communication]
Indicates yaw rate read from ADAS control unit through ITS communication (ADAS control unit
receives yaw rate signal from ABS actuator and electric unit (control unit) via CAN communi-
cation and transmits yaw rate calculated by the ADAS control unit) L
YAW RATE
Yaw rate judged from a yaw rate signal read by ICC sensor via ITS communication is displayed
[deg/s]
[ADAS control unit receives a yaw rate signal from ABS actuator and electric unit (control unit)
via CAN communication and transmits the calculated yaw rate to ICC sensor via ITS commu-
M
nication]
PWR SUP MONI
Indicates IGN voltage input by ICC sensor
[V]
N
DISTANCE
Indicates the distance from the vehicle ahead
[m]
RELATIVE SPD
Indicates the relative speed of the vehicle ahead CCS
[m/s]
LASER OFFSET NOTE:
[m] The item is indicated, but not used
P
LASER HEIGHT NOTE:
[m] The item is indicated, but not used
STEERING ANGLE
The steering angle is displayed
[deg]
STRG ANGLE SPEED
The steering angle speed is displayed
[deg/s]

Revision: 2010 May CCS-41 2011 QX56

 DIAGNOSIS SYSTEM (ICC SENSOR)
< SYSTEM DESCRIPTION > [ICC]
Monitored item
Description
[Unit]
L/R ADJUST
The horizontal correction value of the laser beam is displayed
[deg]
U/D ADJUST
The vertical correction value of the laser beam is displayed
[deg]

Revision: 2010 May CCS-42 2011 QX56

 ADAS CONTROL UNIT
< ECU DIAGNOSIS INFORMATION > [ICC]

ECU DIAGNOSIS INFORMATION A

ADAS CONTROL UNIT
Reference Value INFOID:0000000006227985
B

VALUES ON THE DIAGNOSIS TOOL

C
Monitor item Condition Value/Status
When MAIN switch is pressed On
MAIN SW Ignition switch ON
When MAIN switch is not pressed Off D
When SET/COAST switch is pressed On
SET/COAST SW Ignition switch ON
When SET/COAST switch is not pressed Off
E
When CANCEL switch is pressed On
CANCEL SW Ignition switch ON
When CANCEL switch is not pressed Off
When RESUME/ACCELERATE switch is pressed On F
RESUME/ACC SW Ignition switch ON
When RESUME/ACCELERATE switch is not pressed Off
When DISTANCE switch is pressed On
DISTANCE SW Ignition switch ON G
When DISTANCE switch is not pressed Off
Drive the vehicle and activate When ICC system is controlling On
CRUISE OPE the vehicle-to-vehicle distance
control mode When ICC system is not controlling Off H
When brake pedal is depressed Off
BRAKE SW Ignition switch ON
When brake pedal is not depressed On
I
When brake pedal is depressed On
STOP LAMP SW Ignition switch ON
When brake pedal is not depressed Off
Idling On J
IDLE SW Engine running
Except idling (depress accelerator pedal) Off
• Start the engine and turn the When set to “long” Long
ICC system ON K
When set to “middle” Mid
• Press the DISTANCE
SET DISTANCE
switch to change the vehi-
cle-to-vehicle distance set- When set to “short” Short
ting L
ICC system ON
On
Start the engine and press (MAIN switch indicator ON)
CRUISE LAMP M
MAIN switch ICC system OFF
Off
(MAIN switch indicator OFF)
ICC system ON
On N
Start the engine and press (Own vehicle indicator ON)
OWN VHCL
MAIN switch ICC system OFF
Off
(Own vehicle indicator OFF)
When a vehicle ahead is detected (vehicle ahead de- CCS
Drive the vehicle and activate On
tection indicator ON)
VHCL AHEAD the vehicle-to-vehicle distance
control mode When a vehicle ahead is not detected (vehicle ahead
Off
detection indicator OFF) P
When ICC system is malfunctioning
On
Start the engine and press (ICC system warning lamp ON)
ICC WARNING
MAIN switch When ICC system is normal
Off
(ICC system warning lamp OFF)

Revision: 2010 May CCS-43 2011 QX56

 ADAS CONTROL UNIT
< ECU DIAGNOSIS INFORMATION > [ICC]
Monitor item Condition Value/Status
Displays the ve-
hicle speed cal-
VHCL SPEED SE While driving culated by
ADAS control
unit
Displays the set
SET VHCL SPD While driving When vehicle speed is set
vehicle speed
When the buzzer of the following system operates
• Vehicle-to-vehicle distance control mode
• DCA system On
• FCW system
• IBA system
BUZZER O/P Engine running
When the buzzer of the following system not operates
• Vehicle-to-vehicle distance control mode
• DCA system Off
• FCW system
• IBA system
NOTE:
THRTL SENSOR 0.0
The item is indicated, but not monitored
Equivalent to ta-
ENGINE RPM Engine running chometer read-
ing
Wiper not operating Off
WIPER SW Ignition switch ON Wiper LO operation Low
Wiper HI operation High
NOTE:
YAW RATE 0.0
The item is indicated, but not monitored
IBA OFF indicator lamp ON
• When IBA system is malfunctioning On
• When IBA system is turned to OFF
BA WARNING Engine running
IBA OFF indicator lamp OFF
• When IBA system is normal Off
• When IBA system is turned to ON
Drive the vehicle and activate When ICC brake hold relay is activated On
STP LMP DRIVE the vehicle-to-vehicle distance
control mode When ICC brake hold relay is not activated Off

When the selector lever is in “D” position or manual

On
mode
D RANGE SW Engine running
When the selector lever is in any position other than “D”
Off
or manual mode
When the selector lever is in “N”, “P” position On
NP RANGE SW Engine running When the selector lever is in any position other than “N”,
Off
“P”
When the parking brake is applied On
PKB SW Ignition switch ON
When the parking brake is released Off
Power supply
voltage value of
PWR SUP MONI Engine running
ADAS control
unit
Value of A/T ve-
VHCL SPD AT While driving hicle speed sen-
sor signal
Displays the
THRTL OPENING Engine running Depress accelerator pedal
throttle position

Revision: 2010 May CCS-44 2011 QX56

 ADAS CONTROL UNIT
< ECU DIAGNOSIS INFORMATION > [ICC]
Monitor item Condition Value/Status
A
Displays the
GEAR While driving
gear position
When ICC system is deactivated Off
B
When vehicle-to-vehicle distance control mode is acti-
Start the engine and press ICC
MODE SIG vated
MAIN switch
When conventional (fixed speed) cruise control mode is
ASCD C
activated
• Drive the vehicle and acti- SET switch indicator ON On
vate the conventional (fixed
SET DISP IND
speed) cruise control mode SET switch indicator OFF Off D
• Press SET/COAST switch
Displays the dis-
Drive the vehicle and activate tance from the E
When a vehicle ahead is detected
DISTANCE the vehicle-to-vehicle distance preceding vehi-
control mode cle
When a vehicle ahead is not detected 0.0
F
Drive the vehicle and activate Displays the rel-
When a vehicle ahead is detected
RELATIVE SPD the vehicle-to-vehicle distance ative speed.
control mode When a vehicle ahead is not detected 0.0
G
When dynamic driver assistance switch is pressed On
DYNA ASIST SW Ignition switch ON
When dynamic driver assistance switch is not pressed Off
DCA system OFF H
Start the engine and press dy- Off
(DCA system switch indicator OFF)
DCA ON IND namic driver assistance switch
(When DCA setting is ON) DCA system ON
On
(DCA system switch indicator ON) I
When a vehicle ahead is not detected (vehicle ahead
Off
Drive the vehicle and activate detection indicator OFF)
DCA VHL AHED
the DCA system When a vehicle ahead is detected (vehicle ahead de- J
On
tection indicator ON)
When the IBA OFF switch is pressed On
IBA SW Ignition switch ON
When the IBA OFF switch is not pressed Off K
When the FCW system is ON
On
(Warning systems ON indicator ON)
FCW SYSTEM ON Ignition switch ON L
When the FCW system is OFF
Off
(Warning systems ON indicator OFF)
Display the ac-
celerator pedal M
APA TEMP Engine running actuator inte-
grated motor
temperature
N
Power supply
voltage value of
APA PWR Ignition switch ON
accelerator ped-
al actuator CCS
When the LDW system is ON
On
(Warning systems ON indicator ON)
LDW SYSTEM ON Ignition switch ON
When the LDW system is OFF P
Off
(Warning systems ON indicator OFF)
Warning systems ON indicator ON On
LDW ON LAMP Ignition switch ON
Warning systems ON indicator OFF Off

Revision: 2010 May CCS-45 2011 QX56

 ADAS CONTROL UNIT
< ECU DIAGNOSIS INFORMATION > [ICC]
Monitor item Condition Value/Status
Start the engine and press dy- LDP ON indicator lamp ON On
namic driver assistance switch
LDP ON IND
(When LDP system setting is LDP ON indicator lamp OFF Off
ON)
Drive the vehicle and activate Lane departure warning lamp ON On
LANE DPRT W/L the LDW system or LDP sys-
tem Lane departure warning lamp OFF Off

When the buzzer of the following system operates

• LDW/LDP system On
Drive the vehicle and activate • BSW system
LDW BUZER OUT-
the LDW/LDP system or BSW When the buzzer of the following system does not oper-
PUT
system ate
Off
• LDW/LDP system
• BSW system
Start the engine and press dy- When the LDP system is ON On
namic driver assistance switch
LDP SYSTEM ON
(When LDP system setting is When the LDP system is OFF Off
ON)
Start the engine and press dy- When the LDP system is ON On
namic driver assistance switch
READY signal
(When LDP system setting is When the LDP system is OFF Off
ON)
Both side lane markers are detected Detect
Drive the vehicle and activate
Camera lost Deviate side lane marker is lost Deviate
the LDW system, LDP system
Both side lane markers are lost Both
• Engine running Displays the
Shift position
• While driving shift position
Turn signal lamps OFF Off
Turn signal lamp LH blinking LH
Turn signal
Turn signal lamp RH blinking RH
Turn signal lamp LH and RH blinking LH&RH
Vehicle turning right Negative value
SIDE G While driving
Vehicle turning left Positive value

Drive the vehicle and activate Lane departure warning is operating On

WARN REQ
the LDP system Lane departure warning is not operating Off
When the LDP system is ON Stnby

Drive the vehicle and activate When the LDP system is operating Warn
STATUS signal
the LDP system When the LDP system is canceled Cancl
When the LDP system is OFF Off
Lane marker is unclear On
Lane unclear While driving
Lane marker is clear Off
FUNC ITEM Ignition switch ON FUNC1
FUNC ITEM (NV-ICC) Ignition switch ON Off
FUNC ITEM (NV-
Ignition switch ON Off
DCA)
“Distance Control Assist” set with the navigation system
On
is ON
DCA SELECT Ignition switch ON
“Distance Control Assist” set with the navigation system
Off
is OFF

Revision: 2010 May CCS-46 2011 QX56

 ADAS CONTROL UNIT
< ECU DIAGNOSIS INFORMATION > [ICC]
Monitor item Condition Value/Status
A
“Lane Departure Prevention” set with the navigation
On
system is ON
LDP SELECT Ignition switch ON
“Lane Departure Prevention” set with the navigation
Off B
system is OFF
NOTE:
BSI SELECT Off
The item is indicated, but not monitored
NOTE: C
NAVI ICC SELECT Off
The item is indicated, but not monitored
NOTE:
NAVI DCA SELECT Off
The item is indicated, but not monitored D
Items set with the navigation system can be switched
On
normally
SYS SELECTABILITY Ignition switch ON
Items set with the navigation system cannot be E
Off
switched normally
When warning systems switch is pressed On
WARN SYS SW Ignition switch ON F
When warning systems switch is not pressed Off
BSW warning lamp ON On
BSW/BSI WARN LMP Ignition switch ON
BSW warning lamp OFF Off
G
When the BSW system is ON
On
(Warning systems ON indicator ON)
BSW SYSTEM ON Ignition switch ON
When the BSW system is OFF H
Off
(Warning systems ON indicator OFF)
4WD shift switch position is in AUTO AUTO
4WD SW Engine running 4WD shift switch position is in 4H 4H I
4WD shift switch position is in 4L 4L

TERMINAL LAYOUT J
PHYSICAL VALUES

JSOIA0213ZZ
M

CCS

Revision: 2010 May CCS-47 2011 QX56

 ADAS CONTROL UNIT
< ECU DIAGNOSIS INFORMATION > [ICC]

Terminal No.
Description
(Wire color) Value
Condition
Input/ (Approx.)
+ − Signal name
Output
When warning systems
Ignition 12 V
1 Warning systems switch is not pressed
Input switch
(V/W) switch When warning systems
ON 0V
switch is pressed
When IBA OFF switch is
Ignition 12 V
3 not pressed
IBA OFF switch Input switch
(R/Y) When IBA OFF switch is
ON 0V
pressed
Warning systems ON indi-
Ignition 0V
4 Warning systems ON cator ON
Output switch
(LG/B) indicator Warning systems ON indi-
ON 12 V
cator OFF

Ignition — 12 V
5 ICC brake hold relay
Output switch At “STOP LAMP” test of
(R) drive signal 0V
ON “Active test”
Ground Ignition
6
Ground — switch — 0V
(B)
ON
7
ITS communication-H — — — —
(L)
8
ITS communication-L — — — —
(Y)

Ignition Warning buzzer operation 0V

12
Warning buzzer signal Output switch Warning buzzer not oper-
(G/R) 12 V
ON ating
14
CAN -H — — — —
(L)
15
CAN -L — — — —
(P)
16
Ignition power supply Input Ignition switch ON Battery Voltage
(W/G)

Fail-safe INFOID:0000000006227986

If a malfunction occurs in each system, ADAS control unit cancels each control, sounds a beep, and turns ON
the warning lamp or indicator lamp.

System Buzzer Warning lamp/Indicator lamp Description

High-pitched
Vehicle-to-vehicle distance control mode ICC system warning lamp Cancel
tone
High-pitched
Conventional (fixed speed) cruise control mode ICC system warning lamp Cancel
tone
High-pitched
Intelligent Brake Assist (IBA) IBA OFF indicator lamp Cancel
tone
High-pitched
Forward Collision Warning (FCW) IBA OFF indicator lamp Cancel
tone
High-pitched
Distance Control Assist (DCA) ICC system warning lamp Cancel
tone
Lane Departure Warning (LDW) — Lane departure warning lamp Cancel

Revision: 2010 May CCS-48 2011 QX56

 ADAS CONTROL UNIT
< ECU DIAGNOSIS INFORMATION > [ICC]
System Buzzer Warning lamp/Indicator lamp Description
A
Low-pitched
Lane Departure Prevention (LDP) Lane departure warning lamp Cancel
tone
Blind Spot Warning (BSW) — BSW warning lamp Cancel
B
DTC Inspection Priority Chart INFOID:0000000006227987

If multiple DTCs are detected simultaneously, check them one by one depending on the following DTC inspec- C
tion priority chart.

Priority Detected items (DTC)

D
• U1507: LOST COMM (SIDE RDR R)
1
• U1508: LOST COMM (SIDE RDR L)
• U1000: CAN COMM CIRCUIT
2 E
• U1010: CONTROL UNIT (CAN)
• C1B00: CAMERA UNIT MALF
• C1F02: APA C/U MALF
3 • C1A17: ICC SENSOR MALF F
• C1B53: SIDE RDR R MALF
• C1B54: SIDE RDR L MALF

CCS

Revision: 2010 May CCS-49 2011 QX56

 ADAS CONTROL UNIT
< ECU DIAGNOSIS INFORMATION > [ICC]
Priority Detected items (DTC)
• C1A01: POWER SUPPLY CIR
• C1A02: POWER SUPPLY CIR 2
• C1A04: ABS/TCS/VDC CIRC
• C1A05: BRAKE SW/STOP L SW
• C1A06: OPERATION SW CIRC
• C1A12: LASER BEAM OFFCNTR
• C1A13: STOP LAMP RLY FIX
• C1A14: ECM CIRCUIT
• C1A16: RADAR STAIN
• C1A18: LASER AIMING INCMP
• C1A2A: ICC SEN PWR SUP CIR
• C1A21: ICC SENSOR HIGH TEMP
• C1A24: NP RANGE
• C1A26: ECD MODE MALF
• C1A27: ECD PWR SUPLY CIR
• C1A33: CAN TRANSMISSION ERR
• C1A34: COMMAND ERROR
• C1A35: APA CIR
• C1A36: APA CAN COMM CIR
• C1A37: APA CAN CIR 2
• C1A38: APA CAN CIR 1
• C1A39: STRG SEN CIR
• C1A40: SYSTEM SW CIRC
• C1B01: CAM AIMING INCMP
• C1B03: CAM ABNRML TMP DETCT
• C1F01: APA MOTOR MALF
• C1F05: APA PWR SUPLY CIR
4 • U0121: VDC CAN CIR 2
• U0126: STRG SEN CAN CIR 1
• U0235: ICC SENSOR CAN CIRC 1
• U0401: ECM CAN CIR 1
• U0402: TCM CAN CIR 1
• U0415: VDC CAN CIR 1
• U0428: STRG SEN CAN CIR 2
• U1500: CAM CAN CIR 2
• U1501: CAM CAN CIR 1
• U1502: ICC SEN CAN COMM CIR
• U1503: SIDE RDR L CAN CIR 2
• U1504: SIDE RDR L CAN CIR 1
• U1505: SIDE RDR R CAN CIR 2
• U1506: SIDE RDR R CAN CIR 1
• U150B: ECM CAN CIRC 3
• U150C: VDC CAN CIRC 3
• U150D: TCM CAN CIRC 3
• U150E: BCM CAN CIRC 3
• U150F: AV CAN CIRC 3
• U1512: HVAC CAN CIRC3
• U1513: METER CAN CIRC 3
• U1514: STRG SEN CAN CIRC 3
• U1515: ICC SENSOR CAN CIRC 3
• U1516: CAM CAN CIRC 3
• U1517: APA CAN CIRC 3
• U1518: SIDE RDR L CAN CIRC 3
• U1519: SIDE RDR R CAN CIRC 3
• U1520: 4WD CAN CIRC 3
5 • C1A03: VHCL SPEED SE CIRC
6 • C1A15: GEAR POSITION
7 • C1A00: CONTROL UNIT

DTC Index INFOID:0000000006227988

NOTE:
• The details of time display are as per the following.

Revision: 2010 May CCS-50 2011 QX56

 ADAS CONTROL UNIT
< ECU DIAGNOSIS INFORMATION > [ICC]
- CRNT: A malfunction is detected now
- PAST: A malfunction was detected in the past A
• IGN counter is displayed on FFD (Freeze Frame Data).
- 0: The malfunctions that are detected now
CAN communication system (U1000, U1010)
B
- 1 - 39: It increases like 0 → 1 → 2 ··· 38 → 39 after returning to the normal condition whenever the ignition
switch OFF → ON. It returns to 0 when a malfunction is detected again in the process.
- If it is over 39, it is fixed to 39 until the self-diagnosis results are erased.
Other than CAN communication system (Other than U1000, U1010) C
- 1 - 49: It increases like 0 → 1 → 2 ··· 38 → 49 after returning to the normal condition whenever the ignition
switch OFF → ON. It returns to 0 when a malfunction is detected again in the process.
- If it is over 49, it is fixed to 49 until the self-diagnosis results are erased. D
Systems for fail-safe
• A: Vehicle-to-vehicle distance control mode
• B: Conventional (fixed speed) cruise control mode E
• C: Intelligent Brake Assist (IBA)
• D: Forward Collision Warning (FCW)
• E: Distance Control Assist (DCA)
• F: Lane Departure Warning (LDW)/Lane Departure Prevention (LDP) F
• G: Blind Spot Warning (BSW)
DTC Warning lamp Fail-safe
G

Lane departure warning lamp

ICC system warning lamp

IBA OFF indicator lamp

BSW warning lamp

H

System
On board CONSULT-III display Reference
CONSULT-III
display

C1A00 0 CONTROL UNIT ON ON ON ON A, B, C, D, E, F, G CCS-83

J
C1A01 1 POWER SUPPLY CIR ON ON ON ON A, B, C, D, E, F, G CCS-85
C1A02 2 POWER SUPPLY CIR 2 ON ON ON ON A, B, C, D, E, F, G CCS-85
K
C1A03 3 VHCL SPEED SE CIRC ON ON ON ON A, B, C, D, E, F, G CCS-87
C1A04 4 ABS/TCS/VDC CIRC ON ON ON A, B, C, D, E, F CCS-89
C1A05 5 BRAKE SW/STOP L SW ON ON ON A, B, C, D, E, F CCS-90 L
C1A06 6 OPERATION SW CIRC ON ON A, B, E, F CCS-94
LASER BEAM OFFCN-
C1A12 12 ON ON A, C, D, E CCS-96 M
TR
C1A13 13 STOP LAMP RLY FIX ON ON A, B, C, D, E CCS-97
C1A14 14 ECM CIRCUIT ON ON A, B, E, F CCS-103
N
C1A15 15 GEAR POSITION ON ON ON ON A, B, C, D, E, F, G CCS-104
C1A16 16 RADAR STAIN ON ON A, C, D, E CCS-106
C1A17 17 ICC SENSOR MALF ON ON A, B, C, D, E CCS-108 CCS
C1A18 18 LASER AIMING INCMP ON ON A, C, D, E CCS-109
ICC SENSOR HIGH
C1A21 21 ON ON A, B, C, D, E CCS-111 P
TEMP
C1A24 24 NP RANGE ON ON ON ON A, B, C, D, E, F, G CCS-113
C1A26 26 ECD MODE MALF ON ON A, B, C, D, E CCS-115
C1A27 27 ECD PWR SUPLY CIR ON ON A, B, C, D, E CCS-116
CAN TRANSMISSION
C1A33 33 ON A, B, E CCS-118
ERR

Revision: 2010 May CCS-51 2011 QX56

 ADAS CONTROL UNIT
< ECU DIAGNOSIS INFORMATION > [ICC]
Systems for fail-safe
• A: Vehicle-to-vehicle distance control mode
• B: Conventional (fixed speed) cruise control mode
• C: Intelligent Brake Assist (IBA)
• D: Forward Collision Warning (FCW)
• E: Distance Control Assist (DCA)
• F: Lane Departure Warning (LDW)/Lane Departure Prevention (LDP)
• G: Blind Spot Warning (BSW)
DTC Warning lamp Fail-safe

Lane departure warning lamp

ICC system warning lamp

IBA OFF indicator lamp

BSW warning lamp

System
On board CONSULT-III display Reference
CONSULT-III
display

C1A34 34 COMMAND ERROR ON A, B, E CCS-119

C1A35 35 APA CIR ON A, E CCS-120
C1A36 36 APA CAN COMM CIR ON A, E CCS-121
C1A37 133 APA CAN CIR 2 ON A, B, E CCS-122
C1A38 132 APA CAN CIR 1 ON A, B, E CCS-123
C1A39 39 STRG SEN CIR ON ON ON A, B, C, D, E, G CCS-124
C1A40 40 SYSTEM SW CIRC ON C, D CCS-126
C1A2A 80 ICC SEN PWR SUP CIR ON ON A, C, D, E CCS-117
C1B00 81 CAMERA UNIT MALF ON F DAS-361
C1B01 82 CAM AIMING INCMP ON F DAS-363
CAM ABNRML TMP DE-
C1B03 83 BLINK F DAS-365
TCT
C1B53 84 SIDE RDR R MALF ON G DAS-482
C1B54 85 SIDE RDR L MALF ON G DAS-483
C1F01 91 APA MOTOR MALF ON A, E CCS-129
C1F02 92 APA C/U MALF ON A, E CCS-130
C1F05 95 APA PWR SUPLY CIR ON A, E CCS-131
NO DTC IS
DETECTED.
NO DTC IS DETECTED.
FURTHER
55 FURTHER TESTING — — — — — —
TESTING
MAY BE REQUIRED
MAY BE RE-
QUIRED
U0121 127 VDC CAN CIR 2 ON ON ON ON A, B, C, D, E, F, G CCS-133
U0126 130 STRG SEN CAN CIR 1 ON ON ON A, B, C, D, E, G CCS-135
ICC SENSOR CAN
U0235 144 ON ON A, B, C, D, E CCS-137
CIRC 1
U0401 120 ECM CAN CIR 1 ON ON ON A, B, E, F, G CCS-138
U0402 122 TCM CAN CIR 1 ON ON ON ON A, B, C, D, E, F, G CCS-139
U0415 126 VDC CAN CIR 1 ON ON ON ON A, B, C, D, E, F, G CCS-141
U0428 131 STRG SEN CAN CIR 2 ON ON ON A, B, C, D, E, G CCS-143

U1000NOTE 100 CAN COMM CIRCUIT ON ON ON ON A, B, C, D, E, F, G CCS-145

U1010 110 CONTROL UNIT (CAN) ON ON ON ON A, B, C, D, E, F, G CCS-147

Revision: 2010 May CCS-52 2011 QX56

 ADAS CONTROL UNIT
< ECU DIAGNOSIS INFORMATION > [ICC]
Systems for fail-safe
• A: Vehicle-to-vehicle distance control mode A
• B: Conventional (fixed speed) cruise control mode
• C: Intelligent Brake Assist (IBA)
• D: Forward Collision Warning (FCW)
• E: Distance Control Assist (DCA) B
• F: Lane Departure Warning (LDW)/Lane Departure Prevention (LDP)
• G: Blind Spot Warning (BSW)
DTC Warning lamp Fail-safe C

Lane departure warning lamp

ICC system warning lamp

IBA OFF indicator lamp

BSW warning lamp

D

System
On board CONSULT-III display Reference
CONSULT-III
display
E

F
U1500 145 CAM CAN CIR 2 ON F DAS-381
U1501 146 CAM CAN CIR 1 ON F DAS-382
G
ICC SEN CAN COMM
U1502 147 ON ON A, B, C, D, E CCS-152
CIR
U1503 150 SIDE RDR L CAN CIR 2 ON G DAS-502
H
U1504 151 SIDE RDR L CAN CIR 1 ON G DAS-503
U1505 152 SIDE RDR R CAN CIR 2 ON G DAS-504
U1506 153 SIDE RDR R CAN CIR 1 ON G DAS-505 I
LOST COMM (SIDE
U1507 154 ON G DAS-506
RDR R)
LOST COMM (SIDE J
U1508 155 ON G DAS-507
RDR L)
U150B 157 ECM CAN CIRC 3 ON ON ON A, B, E, F, G CCS-148
U150C 158 VDC CAN CIRC 3 ON ON ON ON A, B, C, D, E, F, G CCS-149 K
U150D 159 TCM CAN CIRC 3 ON ON ON ON A, B, C, D, E, F, G CCS-150
U150E 160 BCM CAN CIRC 3 ON ON ON A, B, E, F, G CCS-151
L
U150F 161 AV CAN CIRC 3 DAS-61
U1512 162 HVAC CAN CIRC3 ON F DAS-383
U1513 163 METER CAN CIRC 3 ON ON ON ON A, B, C, D, E, F, G CCS-153 M
U1514 164 STRG SEN CAN CIRC 3 ON ON ON A, B, C, D, E, G CCS-154
ICC SENSOR CAN
U1515 165 ON ON A, B, C, D, E CCS-155 N
CIRC 3
U1516 166 CAM CAN CIRC 3 ON F DAS-385
U1517 167 APA CAN CIRC 3 ON A, B, E CCS-156
CCS
U1518 168 SIDE RDR L CAN CIRC 3 ON G DAS-510
SIDE RDR R CAN CIRC
U1519 169 ON G DAS-511
3
P
U1520 176 4WD CAN CIRC 3 ON ON ON A, B, C, D, E, F CCS-157
NOTE:
With the detection of “U1000” some systems do not perform the fail-safe operation.
A system controlling based on a signal received from the control unit performs fail-safe operation when the
communication with the ADAS control unit becomes inoperable.

Revision: 2010 May CCS-53 2011 QX56

 ICC SENSOR
< ECU DIAGNOSIS INFORMATION > [ICC]
ICC SENSOR
Reference Value INFOID:0000000006224285

VALUES ON THE DIAGNOSIS TOOL

Monitor item Condition Value/Status

Value of vehicle
VHCL SPEED SE While driving speed signal
(wheel speed)
Vehicle stopped 0.0
YAW RATE While driving Vehicle turning right Positive value
Vehicle turning left Negative value
Power supply
PWR SUP MONI Ignition switch ON voltage value of
ICC sensor
Displays the dis-
Drive the vehicle and activate tance from the
When a vehicle ahead is detected
DISTANCE the vehicle-to-vehicle distance preceding vehi-
control mode cle
When a vehicle ahead is not detected 0.0

Drive the vehicle and activate Displays the rel-

When a vehicle ahead is detected
RELATIVE SPD the vehicle-to-vehicle distance ative speed
control mode When a vehicle ahead is not detected 0.0
NOTE:
LASER OFFSET —
The item is indicated, but not used
NOTE:
LASER HEIGHT —
The item is indicated, but not used
When setting the steering wheel in straight-ahead posi-
0.0
tion
STEERING ANGLE Ignition switch ON
When turning the steering wheel 90° rightward +90
When turning the steering wheel 90° leftward -90
Steering wheel
STRG ANGLE
Ignition switch ON At the time of turning the steering wheel turning speed is
SPEED
displayed
Horizontal cor-
L/R ADJUST Ignition switch ON At the completion of laser beam adjustment rection value is
displayed
Vertical correc-
U/D ADJUST Ignition switch ON At the completion of laser beam adjustment tion value is dis-
played

TERMINAL LAYOUT

JPOIA0105ZZ

PHYSICAL VALUES

Revision: 2010 May CCS-54 2011 QX56

 ICC SENSOR
< ECU DIAGNOSIS INFORMATION > [ICC]

Terminal No. A
Description
(Wire color) Value
Condition
Input/ (Approx.)
+ – Signal name
Output
B
1
Ignition power supply Input Ignition switch ON Battery voltage
(W/G)
3 C
ITS communication-H — — —
(L)
Ground
4
Ground — Ignition switch ON 0V
(B)
D
6
ITS communication-L — — —
(Y)

Fail-safe INFOID:0000000006224286
E

If a malfunction occurs in the ICC sensor, ADAS control unit cancels control, sounds a beep, and turns ON the
ICC system warning lamp in the combination meter. F
DTC Inspection Priority Chart INFOID:0000000006224287

If multiple DTCs are detected simultaneously, check them one by one depending on the following DTC inspec- G
tion priority chart.

Priority Detected items (DTC) H

• U1000: CAN COMM CIRCUIT
1
• U1010: CONTROL UNIT (CAN)
2 • C1A50: ADAS MALFUNCTION I
• C1A01: POWER SUPPLY CIR
• C1A02: POWER SUPPLY CIR 2
• C1A12: LASER BEAM OFFCNTR
• C1A16: RADAR STAIN
J
• C1A18: LASER AIMING INCMP
• C1A21: UNIT HIGH TEMP
3 • C1A39: STRG SEN CIR K
• U0104: ADAS CAN CIR1
• U0121: VDC CAN CIR2
• U0126: STRG SEN CAN CIR1
• U0405: ADAS CAN CIR2 L
• U0415: VDC CAN CIR1
• U0428: STRG SEN CAN CIR2
4 • C1A00: CONTROL UNIT
M
DTC Index INFOID:0000000006224288

NOTE: N
• The details of time display are as per the following.
- 0: The malfunctions that are detected now
CAN communication system (U1000, U1010) CCS
- 1 - 39: It increases like 0 → 1 → 2 ··· 38 → 39 after returning to the normal condition whenever the ignition
switch OFF → ON. It returns to 0 when a malfunction is detected again in the process.
- If it is over 39, it is fixed to 39 until the self-diagnosis results are erased.
Other than CAN communication system (Other than U1000, U1010) P
- 1 - 49: It increases like 0 → 1 → 2 ··· 38 → 49 after returning to the normal condition whenever the ignition
switch OFF → ON. It returns to 0 when a malfunction is detected again in the process.
- If it is over 49, it is fixed to 49 until the self-diagnosis results are erased.

Revision: 2010 May CCS-55 2011 QX56

 ICC SENSOR
< ECU DIAGNOSIS INFORMATION > [ICC]
×: Applicable
DTC Fail-safe function

Conventional (fixed speed) cruise control mode

Vehicle-to-vehicle distance control mode

Brake Assist (with preview function)

Forward Collision Warning (FCW)
Distance Control Assist (DCA)
ICC system warning lamp

Intelligent Brake Assist (IBA)

CONSULT-III display Reference
CONSULT-III

C1A00 CONTROL UNIT ON × × × × × × CCS-83

C1A01 POWER SUPPLY CIR ON × × × × × × CCS-85
C1A02 POWER SUPPLY CIR2 ON × × × × × × CCS-85
C1A12 LASER BEAM OFFCNTR ON × × × × × CCS-96
C1A16 RADAR STAIN ON × × × × × CCS-106
C1A18 LASER AIMING INCMP ON × × × × × CCS-109
C1A21 UNIT HIGH TEMP ON × × × × × × CCS-111
C1A39 STRG SEN CIR ON × × × × × × CCS-124
C1A50 ADAS MALFUNCTION ON × × × × × × CCS-128
U0104 ADAS CAN CIR1 ON × × × × × × CCS-132
U0121 VDC CAN CIR2 ON × × × × × × CCS-133
U0126 STRG SEN CAN CIR1 ON × × × × × × CCS-135
U0405 ADAS CAN CIR2 ON × × × × × × CCS-140
U0415 VDC CAN CIR1 ON × × × × × × CCS-141
U0428 STRG SEN CAN CIR2 ON × × × × × × CCS-143
U1000 CAN COMM CIRCUIT ON × × × × × × CCS-145
U1010 CONTROL UNIT (CAN) ON × × × × × × CCS-147

Revision: 2010 May CCS-56 2011 QX56

 INTELLIGENT CRUISE CONTROL
< WIRING DIAGRAM > [ICC]

WIRING DIAGRAM A
INTELLIGENT CRUISE CONTROL
Wiring Diagram INFOID:0000000006224289
B

CCS

JCOWM0340GB

Revision: 2010 May CCS-57 2011 QX56

 INTELLIGENT CRUISE CONTROL
< WIRING DIAGRAM > [ICC]

JCOWM0341GB

Revision: 2010 May CCS-58 2011 QX56

 INTELLIGENT CRUISE CONTROL
< WIRING DIAGRAM > [ICC]

CCS

JCOWM0342GB

Revision: 2010 May CCS-59 2011 QX56

 INTELLIGENT CRUISE CONTROL
< WIRING DIAGRAM > [ICC]

JCOWM0343GB

Revision: 2010 May CCS-60 2011 QX56

 INTELLIGENT CRUISE CONTROL
< WIRING DIAGRAM > [ICC]

CCS

JCOWM0344GB

Revision: 2010 May CCS-61 2011 QX56

 INTELLIGENT CRUISE CONTROL
< WIRING DIAGRAM > [ICC]

JCOWM0345GB

Revision: 2010 May CCS-62 2011 QX56

 INTELLIGENT CRUISE CONTROL
< WIRING DIAGRAM > [ICC]

CCS

JCOWM0346GB

Revision: 2010 May CCS-63 2011 QX56

 INTELLIGENT CRUISE CONTROL
< WIRING DIAGRAM > [ICC]

JCOWM0347GB

Revision: 2010 May CCS-64 2011 QX56

 INTELLIGENT CRUISE CONTROL
< WIRING DIAGRAM > [ICC]

CCS

JCOWM0348GB

Revision: 2010 May CCS-65 2011 QX56

 INTELLIGENT CRUISE CONTROL
< WIRING DIAGRAM > [ICC]

JCOWM0349GB

Revision: 2010 May CCS-66 2011 QX56

 INTELLIGENT CRUISE CONTROL
< WIRING DIAGRAM > [ICC]

CCS

JCOWM0350GB

Revision: 2010 May CCS-67 2011 QX56

 INTELLIGENT CRUISE CONTROL
< WIRING DIAGRAM > [ICC]

JCOWM0351GB

Revision: 2010 May CCS-68 2011 QX56

 DIAGNOSIS AND REPAIR WORK FLOW
< BASIC INSPECTION > [ICC]

BASIC INSPECTION A
DIAGNOSIS AND REPAIR WORK FLOW
Work Flow INFOID:0000000006224290
B

OVERALL SEQUENCE
C

CCS

P
JPOIA0171GB

DETAILED FLOW

1.INTERVIEW FOR MALFUNCTION

It is also important to clarify the customer concerns before starting the inspection. Interview the customer
about the concerns carefully and understand the symptoms fully.

Revision: 2010 May CCS-69 2011 QX56

 DIAGNOSIS AND REPAIR WORK FLOW
< BASIC INSPECTION > [ICC]
NOTE:
The customers are not professionals. Never assume that “maybe the customer means···” or “maybe the cus-
tomer mentioned this symptom”.

>> GO TO 2.
2.SELF-DIAGNOSIS WITH CONSULT-III
1. Perform “All DTC Reading” with CONSULT-III.
2. Check if any DTC is detected in self-diagnosis results of “ICC/ADAS” and “LASER”.
Is any DTC detected?
YES >> GO TO 5.
NO >> GO TO 3.
3.ACTION TEST
Perform the ICC system action test to check the operation status. Refer to CCS-77, "Description".
Check if any other malfunctions occur.

>> GO TO 4.
4.SYMPTOM DIAGNOSIS
Perform the applicable diagnosis according to the diagnosis chart by symptom. Refer to CCS-160, "Symptom
Table".

>> GO TO 6.
5.TROUBLE DIAGNOSIS BY DTC
1. Check the DTC in the self-diagnosis results.
2. Perform trouble diagnosis for the detected DTC. Refer to CCS-50, "DTC Index" (ICC/ADAS) or CCS-55,
"DTC Index" (LASER).
NOTE:
If “DTC: U1000” is detected, first diagnose the CAN communication system or ITS communication system.

>> GO TO 6.
6.MALFUNCTIONING PART REPAIR
Repair or replace the identified malfunctioning parts.

>> GO TO 7.
7.REPAIR CHECK (SELF-DIAGNOSIS WITH CONSULT-III)
1. Erases self-diagnosis results.
2. Perform “All DTC Reading” again after repairing or replacing the malfunctioning parts.
3. Check if any DTC is detected in self-diagnosis results of “ICC/ADAS” and “LASER”.
Is any DTC detected?
YES >> GO TO 5.
NO >> GO TO 8.
8.REPAIR CHECK (ACTION TEST)
Perform the ICC system action test. Check if the malfunction symptom is solved or no other symptoms occur.
Is there any malfunction symptom?
YES >> GO TO 4.
NO >> INSPECTION END

Revision: 2010 May CCS-70 2011 QX56

 ADDITIONAL SERVICE WHEN REPLACING ICC SENSOR
< BASIC INSPECTION > [ICC]
ADDITIONAL SERVICE WHEN REPLACING ICC SENSOR
A
Description INFOID:0000000006224291

• Always perform the laser beam aiming adjustment after removing and installing or replacing the ICC sensor. B
CAUTION:
The system does not operate normally unless the laser beam aiming adjustment is performed.
Always perform it.
• Perform the ICC system action test to check that the ICC system operates normally. C

Work Procedure INFOID:0000000006224292

D
1.LASER BEAM AIMING ADJUSTMENT
Adjust the laser beam aiming. Refer to CCS-72, "Description".
E
>> GO TO 2.
2.ICC SYSTEM ACTION TEST
F
1. Perform the ICC system action test. Refer to CCS-77, "Description".
2. Check that the ICC system operates normally.
G
>> INSPECTION END

CCS

Revision: 2010 May CCS-71 2011 QX56

 LASER BEAM AIMING ADJUSTMENT
< BASIC INSPECTION > [ICC]
LASER BEAM AIMING ADJUSTMENT
Description INFOID:0000000006224293

OUTLINE OF LASER BEAM AIMING ADJUSTMENT

Always adjust the laser beam aiming after removing and installing or replacing the ICC sensor.
CAUTION:
The system does not operate normally unless the laser beam aiming adjustment is performed. Always
perform it.
1. Set the ICC target board [SST: KV99110100 (J-45718)] to the correct position in front of the vehicle.
2. Set the laser beam aiming mode (“LASER BEAM ADJUST” on “Work support”) with CONSULT-III, and
then perform the adjustment according to the display. (Manually turn the up-down direction adjusting
screw for vertical adjustment. ICC sensor adjusts the automatic aiming for the horizontal direction.)
CAUTIONARY POINT FOR LASER BEAM AIMING ADJUSTMENT
CAUTION:
• For laser beam aiming adjustment, choose a level location where a view can be obtained without any
obstruction as far as 12 m (39 ft) or more in the forward direction.
• Adjust laser beam aiming for 5 seconds or more after starting engine.
• Adjust the laser beam aiming with CONSULT-III. (The laser beam aiming cannot be adjusted without
CONSULT-III.)
• Never enter the vehicle during laser beam aiming adjustment.
• Never look directly into the laser beam source (ICC sensor body window) during laser beam aiming
adjustment.
• Laser beam aiming adjustment is performed at idle. At this time, turn the headlamps OFF.
Work Procedure (Preparation) INFOID:0000000006224294

1.ADVANCE PREPARATION FOR LASER BEAM AIMING ADJUSTMENT

1. Adjust all tire pressure to the specified value.
2. Empty the vehicle. (Remove any luggage from the passenger compartment, luggage room, etc.)
3. Shift the selector lever to “P” position, and release the parking brake.
4. Fully fill the fuel tank, and then check that the coolant and oils are filled up to correct level.
5. Clean off the ICC sensor body window with a soft cloth.

1 : ICC sensor

>> Go to CCS-72, "Work Procedure (Setting The ICC Tar-

get Board)".

JSOIA0372ZZ

Work Procedure (Setting The ICC Target Board) INFOID:0000000006224295

DESCRIPTION
Accurate adjustment of the laser beam requires that the ICC target board be accurately positioned.
CAUTION:
If the laser beam is adjusted with the ICC target board in the incorrect position, the ICC system does
not function normally.
1.ICC TARGET BOARD HEIGHT ADJUSTMENT

Revision: 2010 May CCS-72 2011 QX56

 LASER BEAM AIMING ADJUSTMENT
< BASIC INSPECTION > [ICC]
1. Attach the ruler (2) at 14 mm (0.55 in) (H) below the center (A) of
the ICC target board (1). A

3 : Adjust nut
b : 90° B

JPOIA0215ZZ

D
2. Adjust the ICC target board height to the position aligning the
ruler (1) upper side tip with the center of laser beam axis (A).
E
2 : ICC sensor

G
JSOIA0351ZZ

NOTE: H
• The center of laser beam axis (A) is located at 38 mm (1.5 in) (W)
from the left end of ICC sensor and 22 mm (H) (0.87 in) from above
when viewed from the front of the vehicle.
I
B : Up-down direction adjusting screw

K
JSOIA0216ZZ

• To identify the laser beam axis center (A) easily, prepare a piece of L
paper (B) cut to the size of 38 mm (1.5 in) (W) × 22 mm (0.87 in)
(H) and attach it on the lower left point of the ICC sensor (1).

M
>> GO TO 2.

JSOIA0217ZZ
CCS
2.ADJUSTING SIDE POSITION OF ICC TARGET BOARD
P

Revision: 2010 May CCS-73 2011 QX56

 LASER BEAM AIMING ADJUSTMENT
< BASIC INSPECTION > [ICC]
Suspend a weight from a string (1) attached to its end at the point (B)
leftward from the ICC target board center (A).

W [mm (in)] : 34 (1.34)

>> GO TO 3.

JSOIA0337ZZ

3.SETTING ICC TARGET BOARD

1. Suspend a thread with weight on tip from the center of the front and rear bumpers. Then, mark the center
points on the ground as each weight point.
2. Link the front and rear bumpers center points marked on the ground and extend a straight line ahead.
Then mark a point 3.9 m (12.8 ft) position ahead of the front bumper. Then, adjust the position of the ICC
target board so that the weight comes on the top of the marked point [3.9 m (12.8 ft) position ahead of the
front bumper] and face to the vehicle.
3. Remove the thread suspended to the left side of ICC target board and suspend a thread with weight on tip
on the center of the ICC target board. Then mark the point of weight on the ground.
4. Pivot the edge of the ICC target board 25° (a) to either side.

1 : ICC target board

2 : String with a weight
C : ICC target board center marking point
NOTE:
Approx. 90 mm (3.54 in) (b) shift rates the 25° (a) movement.

JSOIA0026ZZ

>> GO TO 4.
4.CHECK THE ICC TARGET BOARD INSTALLATION POSITION
Check that the ICC target board (1) is located as shown in the figure.

JSOIA0338ZZ

1. ICC target board 2. ICC sensor 3. Vehicle

B. Vehicle center L1. 4.0 m (13.0 ft)
W. 34 mm (1.34 in)
a. 25°

NOTE:
The distance between laser beam axis and ICC target board is 4.0 m (13.0 ft).

>> GO TO 5.

Revision: 2010 May CCS-74 2011 QX56

 LASER BEAM AIMING ADJUSTMENT
< BASIC INSPECTION > [ICC]

5.CHECK THE ICC TARGET BOARD INSTALLATION AREA A

Do not place anything other than ICC target board in the space shown in the figure (view from top).

D
JSOIA0027ZZ

1. ICC target board 2. ICC sensor

E
L1. 6.5 m (21.3 ft) L2. 4.0 m (13.0 ft) W. 3.5 m (11.5 ft)

NOTE:
In case the space shown in the figure is not available, cover the side of the ICC target board with a 1400 F
mm(4.6 ft)-size frosted black board or black cloth.

>> Go to CCS-75, "Work Procedure (Laser Beam Aiming Adjustment)". G

Work Procedure (Laser Beam Aiming Adjustment) INFOID:0000000006224296

DESCRIPTION H
• Adjust the laser beam aiming in a vertical direction with CONSULT-III as per the following.
• The laser beam aiming adjustment in a horizontal direction is performed automatically with CONSULT-III.
CAUTION: I
• Never look directly into the laser beam source (ICC sensor body window) during laser beam aiming
adjustment.
• Perform all necessary work for laser beam aiming adjustment until the adjustment completes as
J
shown in the procedure. If the procedure does not complete, the ICC system is inoperable.
1.SET CONSULT-III TO THE LASER BEAM AIMING ADJUSTMENT MODE
1. Start the engine. K
2. Connect CONSULT-III and select “Work support” of “LASER”.
3. Select “LASER BEAM ADJUST” after the “Work support” screen is displayed.
4. Select “START” after the “LASER BEAM ADJUST” screen is displayed. L
NOTE:
If the adjustment screen does not appear within approximately 10 seconds after “LASER BEAM ADJUST”
is selected, the following causes are possible.
• The ICC target board is not installed in the correct position. M
• Adequate space is not secured around the ICC target board.
• The laser beam aiming adjustment exceeds its proper installation range.
- Deformation of vehicle body. N
- Deformation of unit.
- Deformation of bracket.
• The area is not suitable for the adjustment work.
• ICC sensor body window is not clean. CCS
• The ICC system warning lamp illuminates.

>> GO TO 2. P
2.LASER BEAM AIMING ADJUSTMENT
After “ADJUST THE VERTICAL OF LASER BEAM AIMING” is displayed on CONSULT-III screen, adjust by
turning the up-down direction adjusting screw until “U/D CORRECT” becomes ±4 or less.
NOTE:

Revision: 2010 May CCS-75 2011 QX56

 LASER BEAM AIMING ADJUSTMENT
< BASIC INSPECTION > [ICC]
• Turn the up-down direction adjusting screw slowly. The value change on display is slower than actual move-
ment of the ICC sensor. Wait for 2 seconds every time the up-down direction adjusting screw is turned half a
rotation.
• Turning the up-down direction adjusting screw (A) clockwise (C)
directs the laser beam downward. The laser beam directs upward
when turning up-down direction adjusting screw counterclockwise
(B).
CAUTION:
Be careful not to cover the ICC sensor body window with a
hand or the other part of body of worker during adjustment.

JSOIA0218ZZ

>> GO TO 3.
3.LASER BEAM AIMING CONFIRMATION
1. When the “U/D CORRECT” value becomes ±4 or less, check that no value greater than ±4 appears when
the vehicle is left with no load on the ICC sensor (hand removed) for at least 2 seconds.
2. When “COMPLETED THE VERTICAL AIMING OF LASER BEAM” display appears, touch “END”.
CAUTION:
Always check that the value of “U/D CORRECT” remains ±4 or less when the ICC sensor is left
alone for at least 2 seconds.
3. Check that “ADJUSTING AUTOMATIC HORIZONTAL LASER BEAM AIMING” is displayed and wait for a
short period of time. (The maximum: Approx 10 seconds).
4. Check that “Normally Completed” is displayed, and select “End” to end “LASER BEAM ADJUST”.
CAUTION:
Once “LASER BEAM ADJUST” is started with CONSULT-III, always continue the work until the
horizontal laser beam aiming adjustment is completed successfully. If the job is stopped midway,
the laser beam aiming is not adjusted and the ICC system cannot operate.

>> LASER BEAM AIMING ADJUSTMENT END

Revision: 2010 May CCS-76 2011 QX56

 ACTION TEST
< BASIC INSPECTION > [ICC]
ACTION TEST
A
Description INFOID:0000000006224297

Always perform the ICC system action test to check that the ICC system operates normally after replacing the B
ICC sensor or repairing any ICC system malfunction.
CAUTION:
• Always drive safely when performing the action test.
• Turn the DCA system to OFF when performing the action test. C

Work Procedure (Vehicle-To-Vehicle Distance Control Mode) INFOID:0000000006224298

NOTE: D
• When there is no vehicle ahead, drive at the set speed steadily.
• When there is a vehicle ahead, control to maintain distance from the vehicle ahead, watching its speed.
• The running speed can be set between 32 km/h (20 MPH) and 144 km/h (90 MPH). E
CAUTION:
Never set the cruise speed exceeding the posted speed limit.
1.CHECK FOR MAIN SWITCH F
1. Start the engine.
2. Press the MAIN switch (1) (less than 1.5 seconds).
G
Information display status
MAIN switch indicator (2) : ON
Set distance indicator (3) : Long mode H
Own vehicle indicator (4) : ON
“— —”
Set vehicle speed indicator (5) :
“km/h” (“MPH”) I

JSOIA0317ZZ
J
3. Check the ICC system display on the information display to check that the vehicle-to-vehicle distance con-
trol mode is ready for activation.
4. Press the MAIN switch, and check that the ICC system display on the information display turns OFF when K
the ICC system is deactivated.
5. Check that the ICC system display on the information display turns OFF after starting the engine again.
L
>> GO TO 2.
2.CHECK FOR DISTANCE SWITCH
1. Start the engine. M
2. Press the MAIN switch (less than 1.5 seconds).
3. Press the DISTANCE switch.
N

CCS

Revision: 2010 May CCS-77 2011 QX56

 ACTION TEST
< BASIC INSPECTION > [ICC]
4. Check that the set distance indicator changes display in order of: (Long)→(Middle)→(Short).

JPOIA0256GB

NOTE:
When the MAIN switch is turned ON, initial setting set to (Long).

>> GO TO 3.
3.CHECK FOR RESUME/ACCELERATE, SET/COAST, AND CANCEL SWITCHES
1. Check that RESUME/ACCELERATE, SET/COAST, CANCEL switches are operated smoothly.
2. Check that switches come up as hand is released from the switches.

>> GO TO 4.
4.SET CHECKING (1)
1. Start the engine.
2. Press the MAIN switch (less than 1.5 seconds) and turn the vehicle-to-vehicle distance control mode ON.
3. Drive the vehicle at 32 km/h (20 MPH) or more.
4. Push down the SET/COAST switch.
5. Check that the desired speed is set and vehicle-to-vehicle distance control mode control starts when
releasing SET/COAST switch.
NOTE:
The set vehicle speed is indicated on the set vehicle speed indicator in the ICC system display on the informa-
tion display.

>> GO TO 5.
5.CHECK FOR INCREASE OF CRUISING SPEED (1)
1. Set the vehicle-to-vehicle distance control mode at desired speed.
2. Check that the set speed increases by 1 km/h (1 MPH) as RESUME/ACCELERATE switch is pushed up.
NOTE:
The maximum set speed of the vehicle-to-vehicle distance control mode is 144 km/h (90 MPH).
CAUTION:
Never set the cruise speed exceeding the posted speed limit.

>> GO TO 6.
6.CHECK FOR DECREASE OF CRUISING SPEED (1)
1. Set the vehicle-to-vehicle distance control mode at desired speed.
2. Check that the set speed decreases by 1 km/h (1 MPH) as SET/COAST switch is pushed down.
NOTE:
• The minimum set speed is approximately 32 km/h (20 MPH).

Revision: 2010 May CCS-78 2011 QX56

 ACTION TEST
< BASIC INSPECTION > [ICC]
• Cancel the control automatically when the vehicle speed is less than approximately 24 km/h (15 MPH) and
when the system does not detect any vehicle ahead. A

>> GO TO 7.
7.SET CHECKING (2) B

1. Stop the vehicle.

2. Drive the vehicle at less than approximately 32 km/h (20 MPH).
C
3. Push down the SET/COAST switch when the system detects a vehicle ahead.
4. Check that the vehicle-to-vehicle distance control mode is performed so that the vehicle maintains a
proper distance according to the vehicle speed [maximum: approximately 32 km/h (20 MPH)] when
releasing SET/COAST switch. D
NOTE:
• The vehicle-to-vehicle distance control mode cannot be set when the vehicle speed is less than 32 km/h (20
MPH) and when a vehicle ahead is not detected. E
• Cancel the control automatically when the vehicle speed is 24 km/h (15 MPH) or less during the control and
when the system does not detect any vehicle ahead.
• The set vehicle speed indicator in the ICC system display on the information display is set to 32 km/h (20
MPH). F

>> GO TO 8.
G
8.CHECK FOR INCREASE OF CRUISING SPEED (2)
1. Set the vehicle-to-vehicle distance control mode when the vehicle speed is less than approximately 32
km/h (20 MPH) and when a vehicle ahead is detected. H
2. Check that the set speed increases by 1 km/h (1 MPH) as RESUME/ACCELERATE switch is pushed up.
NOTE:
The maximum set speed of the vehicle-to-vehicle distance control mode is 144 km/h (90 MPH).
CAUTION: I
Never set the cruise speed exceeding the posted speed limit.

>> GO TO 9. J

9.CHECK FOR DECREASE OF CRUISING SPEED INSPECTION (2)

1. Set the vehicle-to-vehicle distance control mode when the vehicle speed is less than approximately 32 K
km/h (20 MPH) and when a vehicle ahead is detected.
2. Set the set vehicle speed to the desired vehicle speed according to “check for increase of cruising speed”.
3. Check that the set speed decreases by 1 km/h (1 MPH) as SET/COAST switch is pushed down.
L
NOTE:
• The minimum the set speed is approximately 32 km/h (20 MPH).
• If the vehicle ahead comes to a stop, the vehicle decelerates to a standstill within the limitations of the sys-
tem. The system will cancel once it judges a standstill with a warning chime. M
CAUTION:
The creep occurs because the stop status is not maintained.
N
>> GO TO 10.
10.CHECK FOR CANCELLATION OF VEHICLE-TO-VEHICLE DISTANCE CONTROL MODE
CCS
Check that the vehicle-to-vehicle distance control mode is canceled when performing the following operations.
• When the brake pedal is depressed after vehicle-to-vehicle distance control mode is set and the vehicle is
driven.
• When the selector lever is in the “N” position after vehicle-to-vehicle distance control mode is set and the P
vehicle is driven.
• When the MAIN switch is turned OFF after vehicle-to-vehicle distance control mode is set and the vehicle is
driven.
• When the CANCEL switch is pressed after vehicle-to-vehicle distance control mode is set and the vehicle is
driven.

>> GO TO 11.

Revision: 2010 May CCS-79 2011 QX56

 ACTION TEST
< BASIC INSPECTION > [ICC]

11.CHECK FOR RESTORING SPEED THAT IS SET BY VEHICLE-TO-VEHICLE DISTANCE CONTROL

MODE BEFORE CANCELLATION
Check that the vehicle restores the previous speed kept before the system deactivation when performing the
following operations.
• Drive the vehicle when the vehicle-to-vehicle distance control mode is set and depress the brake pedal to
cancel the control. Check that the vehicle restores the previous vehicle speed kept before the system deac-
tivation when pushing up the RESUME/ACCELERATE switch.
• Drive the vehicle when the vehicle-to-vehicle distance control mode is set and shift the selector lever to the
“N” position to cancel the control. Check that the vehicle restores the previous vehicle speed kept before the
system deactivation when shifting the selector lever to the “D” position and pushing up the RESUME/
ACCELERATE switch.
• Drive the vehicle when the vehicle-to-vehicle distance control mode is set and press the CANCEL switch to
cancel the control. Check that the vehicle restores the previous vehicle speed kept before the system deac-
tivation when pushing up the RESUME/ACCELERATE switch.

>> INSPECTION END

Work Procedure [Conventional (Fixed Speed) Cruise Control Mode] INFOID:0000000006224299

NOTE:
The running speed can be set between 40 km/h (25 MPH) and 144 km/h (90 MPH).
CAUTION:
Never set the cruise speed exceeding the posted speed limit.
1.CHECK FOR MAIN SWITCH
1. Start the engine.
2. Press the MAIN switch (1) (1.5 seconds or more).

Information display status

MAIN switch indicator (2) : ON

JSOIA0318ZZ

3. Check that the ICC system display on the information display turns on and the display is ready for activa-
tion.
4. Press the MAIN switch, and check that the ICC system display on the information display turns OFF when
the ICC system is deactivated.
5. Check that the ICC system display on the information display turns OFF after starting the engine again.

>> GO TO 2.
2.CHECK FOR RESUME/ACCELERATE, SET/COAST, AND CANCEL SWITCHES
1. Check that RESUME/ACCELERATE, SET/COAST, CANCEL switches are operated smoothly.
2. Check that switches come up as hand is released from the switches.

>> GO TO 3.
3.SET CHECKING
1. Start the engine.
2. Press the MAIN switch (1.5 seconds or more) and turn the conventional (fixed speed) cruise control mode
to ON.
3. Drive the vehicle at 40 km/h (25 MPH) or more.
4. Push down the SET/COAST switch.

Revision: 2010 May CCS-80 2011 QX56

 ACTION TEST
< BASIC INSPECTION > [ICC]
5. Check that the desired speed is set and conventional (fixed speed) cruise control mode control starts
when releasing SET/COAST switch. A
NOTE:
• The set vehicle speed is not displayed in the ICC system display on the information display.
• Display the set status in the ICC system display on the information display.
B

>> GO TO 4.
4.CHECK FOR INCREASE OF CRUISING SPEED C
1. Set the vehicle speed to any desired speed, and drive the vehicle.
2. Check that the set speed increases by 1.6 km/h (1 MPH) as RESUME/ACCELERATE switch is pushed
up. D
NOTE:
• The maximum set speed is 144 km/h (90 MPH).
• The set vehicle speed increases while pushing up the RESUME/ACCELERATE switch. E
CAUTION:
Never set the cruise speed exceeding the posted speed limit.

F
>> GO TO 5.
5.CHECK FOR DECREASE OF CRUISING SPEED
1. Set the vehicle speed to any desired speed, and drive the vehicle. G
2. Check that the set speed decreases by 1.6 km/h (1 MPH) as SET/COAST switch is pushed down.
NOTE:
• The minimum set speed is 40 km/h (25 MPH). H
• The set vehicle speed decreases while pressing down the SET/COAST switch.
• Cancel the control automatically when the vehicle speed lowers to less than approximately 32 km/h (20
MPH).
I

>> GO TO 6.
6.CHECK FOR CANCELLATION OF CONVENTIONAL (FIXED SPEED) CRUISE CONTROL MODE J
Check that the conventional (fixed speed) cruise control mode is canceled when performing the following
operations.
• When the brake pedal is depressed after the conventional (fixed speed) cruise control mode is set and the K
vehicle is driven.
• When the selector lever is in the “N” position after the conventional (fixed speed) cruise control mode is set
and the vehicle is driven.
L
• When the MAIN switch is turned OFF after the conventional (fixed speed) cruise control mode is set and the
vehicle is driven.
• When the CANCEL switch is pressed after the conventional (fixed speed) cruise control mode is set and the
vehicle is driven. M

>> GO TO 7.
N
7.CHECK FOR RESTORING SPEED THAT IS SET BY CONVENTIONAL (FIXED SPEED) CRUISE CON-
TROL MODE BEFORE CANCELLATION
Check that the vehicle restores the previous speed kept before the system deactivation when performing the CCS
following operations.
• Drive the vehicle when the conventional (fixed speed) cruise control mode is set and depress the brake
pedal to cancel the control. Check that the vehicle restores the previous vehicle speed kept before the sys-
tem deactivation when pushing up the RESUME/ACCELERATE switch at the vehicle speed approximately P
40 km/h (25 MPH) or more.
• Drive the vehicle when the conventional (fixed speed) cruise control mode is set and shift the selector lever
is in the “N” position to cancel the control. Check that the vehicle restores the previous vehicle speed kept
before the system deactivation when shifting the selector lever is in the “D” position and pushing up the
RESUME/ACCELERATE switch at the vehicle speed of approximately 40 km/h (25 MPH) or more.
• Drive the vehicle when the conventional (fixed speed) cruise control mode is set and press the CANCEL
switch to cancel the control. Check that the vehicle restores the previous vehicle speed kept before the sys-

Revision: 2010 May CCS-81 2011 QX56

 ACTION TEST
< BASIC INSPECTION > [ICC]
tem deactivation when pushing up the RESUME/ACCELERATE switch at the vehicle speed of approxi-
mately 40 km/h (25 MPH) or more.

>> INSPECTION END

Revision: 2010 May CCS-82 2011 QX56

 C1A00 CONTROL UNIT
< DTC/CIRCUIT DIAGNOSIS > [ICC]

DTC/CIRCUIT DIAGNOSIS A
C1A00 CONTROL UNIT
ADAS CONTROL UNIT
B
ADAS CONTROL UNIT : DTC Logic INFOID:0000000006227990

DTC DETECTION LOGIC C

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes D
play)
C1A00
CONTROL UNIT ADAS control unit internal malfunction ADAS control unit
(0)
E
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE F
1. Start the engine.
2. Perform “All DTC Reading” with CONSULT-III.
3. Check if the “C1A00” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
G
Is “C1A00” detected as the current malfunction?
YES >> Refer to CCS-83, "ADAS CONTROL UNIT : Diagnosis Procedure".
NO >> INSPECTION END H
ADAS CONTROL UNIT : Diagnosis Procedure INFOID:0000000006227991

1.CHECK SELF-DIAGNOSIS RESULTS I

Check if any DTC other than “C1A00” is detected in “Self Diagnostic Result” of “ICC/ADAS”.
Is any DTC detected?
J
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
DAS-38, "DTC Index".
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".
ICC SENSOR K

ICC SENSOR : DTC Logic INFOID:0000000006224302

L
DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition Possible causes M

C1A00 CONTROL UNIT ICC sensor internal malfunction ICC sensor

DTC CONFIRMATION PROCEDURE N

1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Perform “All DTC Reading” with CONSULT-III. CCS
3. Check if the “C1A00” is detected as the current malfunction in “Self Diagnostic Result” of “LASER”.
Is “C1A00” detected as the current malfunction?
YES >> Refer to CCS-83, "ICC SENSOR : Diagnosis Procedure". P
NO >> INSPECTION END
ICC SENSOR : Diagnosis Procedure INFOID:0000000006224303

1.CHECK SELF-DIAGNOSIS RESULTS

Check if any DTC other than “C1A00” is detected in “Self Diagnostic Result” of “LASER”.

Revision: 2010 May CCS-83 2011 QX56

 C1A00 CONTROL UNIT
< DTC/CIRCUIT DIAGNOSIS > [ICC]
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
CCS-55, "DTC Index".
NO >> Replace the ICC sensor. Refer to CCS-176, "Exploded View".

Revision: 2010 May CCS-84 2011 QX56

 C1A01 POWER SUPPLY CIRCUIT 1, C1A02 POWER SUPPLY CIRCUIT 2
< DTC/CIRCUIT DIAGNOSIS > [ICC]
C1A01 POWER SUPPLY CIRCUIT 1, C1A02 POWER SUPPLY CIRCUIT 2
A
ADAS CONTROL UNIT
ADAS CONTROL UNIT : DTC Logic INFOID:0000000006227992
B
DTC DETECTION LOGIC

DTC C
Trouble diagnosis
(On board dis- DTC detecting condition Possible causes
name
play)
C1A01 POWER SUPPLY The battery voltage sent to ADAS control unit re- D
(1) CIR mains less than 7.9 V for 5 seconds • Connector, harness, fuse
C1A02 POWER SUPPLY The battery voltage sent to ADAS control unit re- • ADAS control unit
(2) CIR 2 mains more than 19.3 V for 5 seconds E
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE F
1. Start the engine.
2. Turn the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT-III. G
4. Check if the “C1A01” or “C1A02” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/
ADAS”.
Is “C1A01” or “C1A02” detected as the current malfunction? H
YES >> Refer to CCS-85, "ADAS CONTROL UNIT : Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident".
ADAS CONTROL UNIT : Diagnosis Procedure INFOID:0000000006227993 I

1.CHECK ADAS CONTROL UNIT POWER SUPPLY AND GROUND CIRCUIT

Check power supply and ground circuit of ADAS control unit. Refer to DAS-62, "Diagnosis Procedure". J
Is the inspection result normal?
YES >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".
NO >> Repair or replace the malfunctioning parts. K
ICC SENSOR
ICC SENSOR : DTC Logic INFOID:0000000006224306 L

DTC DETECTION LOGIC

M
Trouble diagnosis
DTC DTC detecting condition Possible causes
name

C1A01
POWER SUPPLY The battery voltage sent to ICC sensor remains N
CIR less than 7.9 V for 5 seconds • Connector, harness, fuse
POWER SUPPLY The battery voltage sent to ICC sensor remains • ICC sensor
C1A02
CIR 2 more than 19.3 V for 5 seconds CCS
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE P
1. Start the engine.
2. Turn the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT-III.
4. Check if the “C1A01” or “C1A02” is detected as the current malfunction in “Self Diagnostic Result” of
“LASER”.
Is “C1A01” or “C1A02” detected as the current malfunction?
YES >> Refer to CCS-86, "ICC SENSOR : Diagnosis Procedure".

Revision: 2010 May CCS-85 2011 QX56

 C1A01 POWER SUPPLY CIRCUIT 1, C1A02 POWER SUPPLY CIRCUIT 2
< DTC/CIRCUIT DIAGNOSIS > [ICC]
NO >> Refer to GI-40, "Intermittent Incident".
ICC SENSOR : Diagnosis Procedure INFOID:0000000006224307

1.CHECK ICC SENSOR POWER SUPPLY AND GROUND CIRCUIT

Check power supply and ground circuit of ICC sensor. Refer to CCS-158, "ICC SENSOR : Diagnosis Proce-
dure".
Is the inspection result normal?
YES >> Replace the ICC sensor. Refer to CCS-176, "Exploded View".
NO >> Repair or replace the malfunctioning parts.

Revision: 2010 May CCS-86 2011 QX56

 C1A03 VEHICLE SPEED SENSOR
< DTC/CIRCUIT DIAGNOSIS > [ICC]
C1A03 VEHICLE SPEED SENSOR
A
DTC Logic INFOID:0000000006224308

DTC DETECTION LOGIC B

DTC
Trouble diagnosis
(On board DTC detecting condition Possible causes C
name
display)
• Wheel speed sensor
If the vehicle speed signal (wheel speed) from
• ABS actuator and electric unit (control
ABS actuator and electric unit (control unit) and D
unit)
C1A03 VHCL SPEED SE the A/T vehicle speed sensor signal (output
• Vehicle speed sensor A/T (output speed
(3) CIRC shaft revolution signal) from TCM, received by
sensor)
the ADAS control unit via CAN communication,
• TCM
are inconsistent E
• ADAS control unit
NOTE:
If DTC “C1A03” is detected along with DTC “U1000” or “C1A04”, first diagnose the DTC “U1000” or “C1A04”.
F
• Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic" for DTC “U1000”.
• Refer to CCS-89, "DTC Logic" for DTC “C1A04”.
DTC CONFIRMATION PROCEDURE G
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the MAIN switch of ICC system ON. H
3. Drive the vehicle at 30 km/h (19 MPH) or more.
CAUTION:
Always drive safely. I
4. Stop the vehicle.
5. Perform “All DTC Reading” with CONSULT-III.
6. Check if the “C1A03” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
J
Is “C1A03” detected as the current malfunction?
YES >> Refer to CCS-87, "Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident".
K
Diagnosis Procedure INFOID:0000000006224309

1.CHECK SELF-DIAGNOSIS RESULTS L

Check if “C1A04” or “U1000” is detected other than “C1A03” in “Self Diagnostic Result” of “ICC/ADAS”.
Is any DTC detected?
M
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
CCS-50, "DTC Index".
NO >> GO TO 2.
2.CHECK DATA MONITOR N

1. Start the engine.

2. Drive the vehicle. CCS
3. Check that the value of “VHCL SPD AT” is almost the same as the value of “VHCL SPEED SE” in “DATA
MONITOR” of “ICC/ADAS”.
CAUTION:
Be careful of the vehicle speed. P
Is the inspection result normal?
YES >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".
NO >> GO TO 3.
3.CHECK TCM SELF-DIAGNOSIS RESULTS
1. Perform “All DTC Reading”.
2. Check if any DTC is detected in “Self Diagnostic Result” of “TRANSMISSION”.

Revision: 2010 May CCS-87 2011 QX56

 C1A03 VEHICLE SPEED SENSOR
< DTC/CIRCUIT DIAGNOSIS > [ICC]
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
TM-78, "DTC Index".
NO >> GO TO 4.
4.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ABS”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
BRC-51, "DTC Index".
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".

Revision: 2010 May CCS-88 2011 QX56

 C1A04 ABS/TCS/VDC SYSTEM
< DTC/CIRCUIT DIAGNOSIS > [ICC]
C1A04 ABS/TCS/VDC SYSTEM
A
DTC Logic INFOID:0000000006224310

DTC DETECTION LOGIC B

DTC
Trouble diagnosis
(On board dis- DTC detecting condition Possible causes C
name
play)
C1A04 If a malfunction occurs in the VDC/TCS/ABS ABS actuator and electric unit (control
ABS/TCS/VDC CIRC
(4) system unit)
D
NOTE:
If DTC “C1A04” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145,
"ADAS CONTROL UNIT : DTC Logic".
E
Diagnosis Procedure INFOID:0000000006224311

1.CHECK SELF-DIAGNOSIS RESULTS F

1. Perform “All DTC Reading” with CONSULT-III.
2. Check if the “U1000” is detected other than “C1A04” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected? G
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic".
NO >> GO TO 2. H
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ABS”.
I
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
BRC-51, "DTC Index". J
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".

CCS

Revision: 2010 May CCS-89 2011 QX56

 C1A05 BRAKE SW/STOP LAMP SW
< DTC/CIRCUIT DIAGNOSIS > [ICC]
C1A05 BRAKE SW/STOP LAMP SW
DTC Logic INFOID:0000000006224312

DTC DETECTION LOGIC

DTC
Trouble diagnosis
(On board dis- DTC detecting condition Possible causes
name
play)
• Stop lamp switch circuit
• ICC brake switch circuit
• Stop lamp switch
A mismatch between a stop lamp switch signal
• ICC brake switch
and a ICC brake switch signal received from
• Incorrect stop lamp switch installa-
C1A05 BRAKE SW/STOP L ECM and a stop lamp signal received from the
tion
(5) SW ABS actuator and electric unit (control unit) con-
• Incorrect ICC brake switch installa-
tinues for 10 seconds or more with vehicle
tion
speeds at approximately 40 km/h or more
• ECM
• ABS actuator and electric unit (con-
trol unit)
NOTE:
If DTC “C1A05” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145,
"ADAS CONTROL UNIT : DTC Logic".
Diagnosis Procedure INFOID:0000000006224313

1.CHECK SELF-DIAGNOSIS RESULTS

1. Perform “All DTC Reading” with CONSULT-III.
2. Check if the “U1000” is detected other than “C1A05” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic".
NO >> GO TO 2.
2.CHECK STOP LAMP SWITCH AND ICC BRAKE SWITCH
Check that “STOP LAMP SW” and “BRAKE SW” operate normally in “DATA MONITOR” of “ICC/ADAS”.
Is the inspection result normal?
YES >> GO TO 3.
NO-1 >> When “BRAKE SW” operation is malfunctioning: GO TO 4.
NO-2 >> When “STOP LAMP SW” operation is malfunctioning: GO TO 9.
3.CHECK STOP LAMP SWITCH
Check that “STOP LAMP SW” operate normally in “DATA MONITOR” of “ABS”.
Is the inspection result normal?
YES >> GO TO 14.
NO >> GO TO 9.
4.CHECK ICC BRAKE SWITCH INSTALLATION
1. Turn ignition switch OFF.
2. Check ICC brake switch for correct installation. Refer to BR-7, "Inspection and Adjustment".
Is the inspection result normal?
YES >> GO TO 5.
NO >> Adjust ICC brake switch installation. Refer to BR-7, "Inspection and Adjustment".
5.ICC BRAKE SWITCH INSPECTION
1. Disconnect ICC brake switch connector.
2. Check ICC brake switch. Refer to CCS-93, "Component Inspection (ICC Brake Switch)".
Is the inspection result normal?

Revision: 2010 May CCS-90 2011 QX56

 C1A05 BRAKE SW/STOP LAMP SW
< DTC/CIRCUIT DIAGNOSIS > [ICC]
YES >> GO TO 6.
NO >> Replace ICC brake switch. A
6.CHECK ICC BRAKE SWITCH POWER SUPPLY CIRCUIT
1. Turn the ignition switch ON.
B
2. Check voltage between ICC brake switch harness connector and ground.

Terminals
C
(+) (-) Voltage
ICC brake switch (Approx.)

Connector Terminal Ground D

E68 1 Battery voltage
Is the inspection result normal?
E
YES >> GO TO 7.
NO >> Repair the harnesses or connectors.
7.CHECK HARNESS BETWEEN ICC BRAKE SWITCH AND ECM F
1. Turn ignition switch OFF
2. Disconnect ECM connector.
3. Check for continuity between ICC brake switch harness connector and ECM harness connector. G

ICC brake switch ECM

Continuity
Connector Terminal Connector Terminal H
E68 2 E80 147 Existed
4. Check for continuity between ICC brake switch harness connector and ground.
I

ICC brake switch

Continuity
Connector Terminal Ground J
E68 2 Not existed
Is the inspection result normal?
YES >> GO TO 8. K
NO >> Repair the harnesses or connectors.
8.PERFORM SELF-DIAGNOSIS OF ECM L
1. Connect all connectors again if the connectors are disconnected.
2. Turn ignition switch ON.
3. Perform “All DTC Reading”.
M
4. Check if any DTC is detected in “Self Diagnostic Result” of “ENGINE”. Refer to EC-98, "DTC Index".
Is any DTC detected?
YES >> Repair or replace the malfunctioning parts identified by the self-diagnosis result.
N
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".
9.CHECK STOP LAMP SWITCH INSTALLATION
1. Turn ignition switch OFF. CCS
2. Check stop lamp switch for correct installation. Refer to BR-7, "Inspection and Adjustment".
Is the inspection result normal?
YES >> GO TO 10. P
NO >> Adjust stop lamp switch installation. Refer to BR-7, "Inspection and Adjustment".
10.STOP LAMP SWITCH INSPECTION
1. Disconnect stop lamp switch connector.
2. Check stop lamp switch. Refer to CCS-93, "Component Inspection (Stop Lamp Switch)".
Is the inspection result normal?
YES >> GO TO 11.

Revision: 2010 May CCS-91 2011 QX56

 C1A05 BRAKE SW/STOP LAMP SW
< DTC/CIRCUIT DIAGNOSIS > [ICC]
NO >> Replace stop lamp switch.
11.CHECK STOP LAMP SWITCH POWER SUPPLY CIRCUIT
1. Turn the ignition switch ON.
2. Check voltage between stop lamp switch harness connector and ground.

Terminals
(+) (-) Voltage
Stop lamp switch (Approx.)

Connector Terminal
Ground
1
E115 Battery voltage
3
Is the inspection result normal?
YES >> GO TO 12.
NO >> Repair the harnesses or connectors.
12.CHECK HARNESS BETWEEN STOP LAMP SWITCH AND ECM
1. Turn ignition switch OFF
2. Disconnect ECM, rear combination lamp and high-mounted stop lamp connectors.
3. Check for continuity between stop lamp switch harness connector and ECM harness connector.

Stop lamp switch ECM

Continuity
Connector Terminal Connector Terminal
E115 2 E80 158 Existed
4. Check for continuity between stop lamp switch harness connector and ground.

Stop lamp switch

Continuity
Connector Terminal Ground
E115 2 Not existed
Is the inspection result normal?
YES >> GO TO 13.
NO >> Repair the harnesses or connectors.
13.CHECK HARNESS BETWEEN STOP LAMP SWITCH AND ABS ACTUATOR AND ELECTRIC UNIT
(CONTROL UNIT)
1. Disconnect ABS actuator and electric unit (control unit) connector.
2. Check for continuity between stop lamp switch harness connector and ABS actuator and electric unit
(control unit) harness connector.

ABS actuator and electric

Stop lamp switch
unit (control unit) Continuity
Connector Terminal Connector Terminal
E115 4 E36 17 Existed
3. Check for continuity between stop lamp switch harness connector and ground.

Stop lamp switch

Continuity
Connector Terminal Ground
E115 4 Not existed
Is the inspection result normal?
YES >> GO TO 14.
NO >> Repair the harnesses or connectors.

Revision: 2010 May CCS-92 2011 QX56

 C1A05 BRAKE SW/STOP LAMP SW
< DTC/CIRCUIT DIAGNOSIS > [ICC]

14.PERFORM SELF-DIAGNOSIS OF ECM A

1. Connect all connectors again if the connectors are disconnected.
2. Turn ignition switch ON.
3. Perform “All DTC Reading”.
B
4. Check if any DTC is detected in “Self Diagnostic Result” of “ENGINE”. Refer to EC-98, "DTC Index".
Is any DTC detected?
YES >> Repair or replace the malfunctioning parts identified by the self-diagnosis result.
C
NO >> GO TO 15.
15.PERFORM SELF-DIAGNOSIS OF ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
Check if any DTC is detected in “Self Diagnostic Result” of “ABS”. Refer to BRC-51, "DTC Index". D
Is any DTC detected?
YES >> Repair or replace the malfunctioning parts identified by the self-diagnosis result.
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation". E

Component Inspection (ICC Brake Switch) INFOID:0000000006224314

1.CHECK ICC BRAKE SWITCH F

Check for continuity between ICC brake switch terminals.

G
Terminal Condition Continuity
Not exist-
When brake pedal is depressed
1 2 ed H
When brake pedal is released Existed
Is the inspection result normal?
I
YES >> INSPECTION END
NO >> Replace ICC brake switch.
Component Inspection (Stop Lamp Switch) INFOID:0000000006224315
J

1.CHECK STOP LAMP SWITCH

Check for continuity between stop lamp switch terminals. K

Terminal Condition Continuity

When brake pedal is depressed Existed L
1 2 Not exist-
When brake pedal is released
ed
M
When brake pedal is depressed Existed
3 4 Not exist-
When brake pedal is released
ed
N
Is the inspection result normal?
YES >> INSPECTION END
NO >> Replace stop lamp switch. CCS

Revision: 2010 May CCS-93 2011 QX56

 C1A06 OPERATION SW
< DTC/CIRCUIT DIAGNOSIS > [ICC]
C1A06 OPERATION SW
DTC Logic INFOID:0000000006224316

DTC DETECTION LOGIC

DTC
Trouble diagnosis
(On board dis- DTC detecting condition Possible causes
name
play)
• Any switch of the ICC steering switch is de-
tected as “ON” continuously for 60 seconds • ICC steering switch circuit
C1A06 OPERATION SW
• An ON/OFF state judgment of the ICC differs • ICC steering switch
(6) CIRC
between ECM and ADAS control unit, and the • ECM
state continues for 2 seconds or more
NOTE:
If DTC “C1A06” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145,
"ADAS CONTROL UNIT : DTC Logic".
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Wait for approximately 5 minutes after turning the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT-III.
4. Check if the “C1A06” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “C1A06” detected as the current malfunction?
YES >> Refer to CCS-94, "Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000006224317

1.CHECK SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “C1A06” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic".
NO >> GO TO 2.
2.CHECK ICC STEERING SWITCH
1. Turn the ignition switch OFF.
2. Disconnect the ICC steering switch connector.
3. Check the ICC steering switch. Refer to CCS-95, "Component Inspection".
Is the inspection result normal?
YES >> GO TO 3.
NO >> Replace the steering wheel.
3.CHECK HARNESS BETWEEN SPIRAL CABLE AND ECM
1. Disconnect the ECM connector.
2. Check for continuity between the spiral cable harness connector and ECM harness connector.

Spiral cable ECM

Continuity
Connector Terminal Connector Terminal
25 128
M33 E80 Existed
32 130
3. Check for continuity between spiral cable harness connector and ground.

Revision: 2010 May CCS-94 2011 QX56

 C1A06 OPERATION SW
< DTC/CIRCUIT DIAGNOSIS > [ICC]

Spiral cable A
Continuity
Connector Terminal
Ground
25
M33 Not existed B
32
Is the inspection result normal?
YES >> GO TO 4. C
NO >> Repair the harnesses or connectors.
4.CHECK SPIRAL CABLE
D
Check for continuity between spiral cable terminals.

Spiral cable
Continuity E
Terminal
13 25
Existed
16 32 F
Is the inspection result normal?
YES >> GO TO 5.
NO >> Replace the spiral cable. G

5.PERFORM SELF-DIAGNOSIS OF ECM

1. Connect the connectors of ICC steering switch and ECM connector. H
2. Turn the ignition switch ON.
3. Perform “All DTC Reading”.
4. Check if any DTC is detected in “Self Diagnostic Result” of “ENGINE”.
I
Is any DTC detected?
YES >> Perform self-diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer
to EC-98, "DTC Index". J
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".
Component Inspection INFOID:0000000006224318

K
1.CHECK ICC STEERING SWITCH
Check resistance between ICC steering switch terminals.
L
Resistance
Terminal Switch operation
[Ω]
When pressing MAIN switch Approx. 0 M
When pressing dynamic driver assistance
Approx. 267
switch
N
When pressing CANCEL switch Approx. 615
Approx.
When pressing DISTANCE switch
1090 JSOIA0319GB
13 16 CCS
Approx.
When pressing SET/COAST switch
1805
When pressing RESUME/ACCELERATE Approx.
switch 2985 P
Approx.
When all switches are not pressed
5415
Is the inspection result normal?
YES >> INSPECTION END
NO >> Replace the steering wheel.

Revision: 2010 May CCS-95 2011 QX56

 C1A12 LASER BEAM OFF CENTER
< DTC/CIRCUIT DIAGNOSIS > [ICC]
C1A12 LASER BEAM OFF CENTER
ADAS CONTROL UNIT
ADAS CONTROL UNIT : DTC Logic INFOID:0000000006224319

DTC DETECTION LOGIC

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
C1A12 Laser beam of ICC sensor is off the aiming
LASER BEAM OFFCNTR Laser beam is off the aiming point
(12) point

ADAS CONTROL UNIT : Diagnosis Procedure INFOID:0000000006224320

1.CHECK ICC SENSOR SELF-DIAGNOSIS RESULTS

1. Perform “All DTC Reading” with CONSULT-III.
2. Check if the “C1A12” is detected as the current malfunction in “Self Diagnostic Result” of “LASER”.
Is “C1A12” detected?
YES >> Refer to CCS-96, "ICC SENSOR : DTC Logic".
NO >> GO TO 2.
2.CHECK ADAS CONTROL SELF-DIAGNOSIS RESULTS
Check if the “C1A12” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “C1A12” detected?
YES >> Replace ADAS control unit. Refer to DAS-63, "Removal and Installation".
NO >> INSPECTION END
ICC SENSOR
ICC SENSOR : DTC Logic INFOID:0000000006224321

DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition Possible causes

Laser beam of ICC sensor is off the aiming
C1A12 LASER BEAM OFFCNTR Laser beam is off the aiming point
point

ICC SENSOR : Diagnosis Procedure INFOID:0000000006224322

1.ADJUST LASER BEAM AIMING

1. Adjust the laser beam aiming with CONSULT-III. Refer to CCS-72, "Description".
2. Perform “All DTC Reading”.
3. Check if the “C1A12” is detected in “Self Diagnostic Result” of “LASER”.
Is “C1A12” detected?
YES >> Replace ICC sensor. Refer to CCS-176, "Exploded View".
NO >> INSPECTION END

Revision: 2010 May CCS-96 2011 QX56

 C1A13 STOP LAMP RELAY
< DTC/CIRCUIT DIAGNOSIS > [ICC]
C1A13 STOP LAMP RELAY
A
DTC Logic INFOID:0000000006224323

DTC DETECTION LOGIC B

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes C
play)
• Stop lamp switch circuit
• Stop lamp inactive state continues for 0.3
• ICC brake switch circuit
seconds or more despite the outputting of D
• ICC brake hold relay circuit
an ICC sensor ICC brake hold relay drive
• Stop lamp switch
signal
• ICC brake switch
C1A13 • The stop lamp remains ON for 60 seconds
STOP LAMP RLY FIX • ICC brake hold relay
(13) or more under the following conditions: E
• Incorrect stop lamp switch installation
- Driving at 40 km/h or more
• Incorrect ICC brake switch installation
- No stop lamp drive signal output from ICC
• ECM
sensor
• ABS actuator and electric unit (control F
- No brake operation
unit)
NOTE:
If DTC “C1A13” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145, G
"ADAS CONTROL UNIT : DTC Logic".
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE (1) H

1. Start the engine.

2. Perform the active test item “STOP LAMP” with CONSULT-III.
I
3. Perform “All DTC Reading”.
4. Check if the “C1A13” is detected as the current malfunction in the “Self Diagnostic Result” of “ICC/ADAS”.
Is “C1A13” detected as the current malfunction?
J
YES >> Refer to CCS-97, "Diagnosis Procedure".
NO >> GO TO 2.
2.PERFORM DTC CONFIRMATION PROCEDURE (2) K
1. Drive at the vehicle speed of 40 km/h (25 MPH) or more for approximately 60 seconds or more without the
brake pedal depressed.
CAUTION: L
Always drive safely.
NOTE:
If it is outside the above condition, repeat step 1.
2. Perform “All DTC Reading”. M
3. Check if the “C1A13” is detected as the current malfunction in the “Self Diagnostic Result” of “ICC/ADAS”.
Is “C1A13” detected as the current malfunction?
YES >> Refer to CCS-97, "Diagnosis Procedure". N
NO >> Refer to GI-40, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000006224324
CCS
1.CHECK SELF-DIAGNOSIS RESULTS
Check if “U1000” is detected other than “C1A13” in “Self Diagnostic Result” of “ICC/ADAS”. P
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic".
NO >> GO TO 2.
2.CHECK STOP LAMP SWITCH
Check that “STOP LAMP SW” operate normally in “DATA MONITOR” of “ICC/ADAS”.

Revision: 2010 May CCS-97 2011 QX56

 C1A13 STOP LAMP RELAY
< DTC/CIRCUIT DIAGNOSIS > [ICC]
Is the inspection result normal?
YES >> GO TO 10.
NO >> GO TO 3.
3.CHECK STOP LAMP SWITCH INSTALLATION
1. Turn ignition switch OFF.
2. Check stop lamp switch for correct installation. Refer to BR-7, "Inspection and Adjustment".
Is the inspection result normal?
YES >> GO TO 4.
NO >> Adjust stop lamp switch installation. Refer to BR-7, "Inspection and Adjustment".
4.CHECK STOP LAMP SWITCH
1. Disconnect stop lamp switch connector.
2. Check stop lamp switch. Refer to CCS-93, "Component Inspection (Stop Lamp Switch)".
Is the inspection result normal?
YES >> GO TO 5.
NO >> Replace stop lamp switch.
5.CHECK STOP LAMP FOR ILLUMINATION
1. Turn the ignition switch OFF.
2. Check that the stop lamp is illuminated by depressing the brake pedal to turn the stop lamp ON.
3. Remove ICC brake hold relay.
Is the inspection result normal?
YES >> GO TO6.
NO >> Check the stop lamp circuit, and repair or replace the malfunctioning parts.
6.CHECK HARNESS BETWEEN STOP LAMP SWITCH AND ECM
1. Turn the ignition switch OFF.
2. Disconnect stop lamp switch, ECM, rear combination lamp, and high-mounted stop lamp connectors.
3. Check for continuity between the stop lamp switch harness connector and the ECM harness connector.

Stop lamp switch ECM

Continuity
Connector Terminal Connector Terminal
E115 2 E80 158 Existed
4. Check for continuity between stop lamp switch harness connector and ground.

Stop lamp switch

Continuity
Connector Terminal Ground
E115 2 Not existed
Is the inspection result normal?
YES >> GO TO 7.
NO >> Repair the harnesses or connectors.
7.CHECK ICC BRAKE HOLD RELAY CIRCUIT
1. Connect ICC brake hold relay.
2. Disconnect the stop lamp switch connector.
3. Check that the stop lamp does not illuminate when brake pedal is not depressed.
Is the inspection result normal?
YES >> GO TO 9.
NO >> GO TO 8.
8.CHECK ICC BRAKE HOLD RELAY
1. Remove ICC brake hold relay
2. Check ICC hold relay. Refer to CCS-102, "Component Inspection".
Is the inspection result normal?

Revision: 2010 May CCS-98 2011 QX56

 C1A13 STOP LAMP RELAY
< DTC/CIRCUIT DIAGNOSIS > [ICC]
YES >> GO TO 9.
NO >> Replace ICC brake hold relay. A
9.PERFORM SELF-DIAGNOSIS OF ECM
1. Connect all connectors again if the connectors are disconnected.
B
2. Turn ignition switch ON.
3. Perform “All DTC Reading”.
4. Check if any DTC is detected in “Self Diagnostic Result” of “ENGINE”. Refer to EC-98, "DTC Index".
Is any DTC detected? C
YES >> Repair or replace the malfunctioning parts identified by the self-diagnosis result.
NO >> Replace ADAS control unit. Refer to DAS-63, "Removal and Installation".
10.CHECK ICC BRAKE HOLD RELAY POWER SUPPLY CIRCUIT D

1. Turn ignition switch OFF.

2. Remove ICC brake hold relay. E
3. Check the voltage between ICC brake hold relay harness connector and ground.

Terminal
F
(+) (–) Voltage
ICC brake hold relay (Approx.)

Connector Terminal G
Ground
Battery
E64 1
voltage
H
Is the inspection result normal?
YES >> GO TO 11.
NO >> Repair or replace ICC brake hold relay power supply circuit.
I
11.CHECK HARNESS BETWEEN AND ICC BRAKE HOLD RELAY AND ADAS CONTROL UNIT
1. Disconnect ADAS control unit connectors.
2. Check for continuity between ICC brake hold relay harness connector and ADAS control unit harness J
connector.

ICC brake hold relay ADAS control unit K

Continuity
Connector Terminal Connector Terminal
E64 2 B61 5 Existed
L
3. Check for continuity between ADAS control unit harness connector and ground.

ICC brake hold relay

Continuity M
Connector Terminal Ground
E64 2 Not existed
Is the inspection result normal? N
YES >> GO TO 12.
NO >> Repair the harnesses or connectors.
12.CHECK ADAS CONTROL UNIT STANDARD VOLTAGE CCS

1. Connect all connectors again if the connectors are disconnected.

2. Turn ignition switch ON.
P
3. Perform “STOP LAMP” on “Active Test” of “ICC/ADAS”, and then check the voltage between ADAS con-
trol unit harness connector and ground.

Revision: 2010 May CCS-99 2011 QX56

 C1A13 STOP LAMP RELAY
< DTC/CIRCUIT DIAGNOSIS > [ICC]

Terminal
Condition
(+) (–)
Voltage
ADAS control unit Active Test (Approx.)
item
Connector Terminal “STOP LAMP”
Ground
Battery
Off
B61 5 voltage
On 0V
Is the inspection result normal?
YES >> GO TO 13.
NO >> Replace ADAS control unit. Refer to DAS-63, "Removal and Installation".
13.CHECK ICC BRAKE HOLD RELAY POWER SUPPLY CIRCUIT
1. Turn ignition switch OFF.
2. Check the voltage between ICC brake hold relay harness connector and ground.

Terminal
(+) (–) Voltage
ICC brake hold relay (Approx.)

Connector Terminal
Ground
Battery
E64 3
voltage
Is the inspection result normal?
YES >> GO TO 14.
NO >> Repair or replace ICC brake hold relay power supply circuit.
14.CHECK HARNESS BETWEEN ICC BRAKE HOLD RELAY AND ECM
1. Disconnect ECM, rear combination lamp, and high-mounted stop lamp connectors and remove ICC brake
hold relay.
2. Check for continuity between ICC brake hold relay harness connector and ECM harness connector.

ICC brake hold relay ECM

Continuity
Connector Terminal Connector Terminal
E64 5 E80 158 Existed
3. Check for continuity between ICC brake hold relay harness connector and ground.

ICC brake hold relay

Continuity
Connector Terminal Ground
E64 5 Not existed
Is the inspection result normal?
YES >> GO TO 15.
NO >> Repair the harnesses or connectors.
15.CHECK ICC BRAKE HOLD RELAY
1. Remove ICC brake hold relay.
2. Check ICC brake hold relay. Refer to CCS-102, "Component Inspection".
Is the inspection result normal?
YES >> GO TO 16.
NO >> Replace ICC brake hold relay.
16.CHECK STOP LAMP SWITCH
Check that “STOP LAMP SW” operate normally in “DATA MONITOR” of “ABS”.

Revision: 2010 May CCS-100 2011 QX56

 C1A13 STOP LAMP RELAY
< DTC/CIRCUIT DIAGNOSIS > [ICC]
Is the inspection result normal?
YES >> GO TO 21. A
NO >> GO TO 17.
17.CHECK STOP LAMP SWITCH INSTALLATION
B
1. Turn ignition switch OFF.
2. Check stop lamp switch for correct installation. Refer to BR-7, "Inspection and Adjustment".
Is the inspection result normal?
C
YES >> GO TO 18.
NO >> Adjust stop lamp switch installation. Refer to BR-7, "Inspection and Adjustment".
18.CHECK STOP LAMP SWITCH D
1. Disconnect stop lamp switch connector.
2. Check stop lamp switch. Refer to CCS-93, "Component Inspection (Stop Lamp Switch)".
Is the inspection result normal? E
YES >> GO TO 19.
NO >> Replace stop lamp switch.
19.CHECK STOP LAMP SWITCH POWER SUPPLY CIRCUIT F

1. Connect stop lamp switch connector.

2. Check the voltage between stop lamp switch harness connector and ground.
G

Terminal
(+) (–) Voltage H
Stop lamp switch (Approx.)

Connector Terminal
Ground
Battery
I
E115 3
voltage
Is the inspection result normal?
J
YES >> GO TO 20.
NO >> Repair or replace stop lamp switch power supply circuit.
20.CHECK HARNESS BETWEEN STOP LAMP SWITCH AND ABS ACTUATOR AND ELECTRIC UNIT K
(CONTROL UNIT)
1. Turn the ignition switch OFF.
2. Disconnect stop lamp switch, ABS actuator and electric unit (control unit) connectors. L
3. Check for continuity between the stop lamp switch harness connector and the ABS actuator and electric
unit (control unit) harness connector.
M
ABS actuator and electric
Stop lamp switch
unit (control unit) Continuity
Connector Terminal Connector Terminal
N
E115 4 E36 17 Existed
4. Check for continuity between stop lamp switch harness connector and ground.
CCS
Stop lamp switch
Continuity
Connector Terminal Ground
P
E115 4 Not existed
Is the inspection result normal?
YES >> GO TO 21.
NO >> Repair the harnesses or connectors.
21.PERFORM SELF-DIAGNOSIS OF ECM
1. Connect all connectors again if the connectors are disconnected.

Revision: 2010 May CCS-101 2011 QX56

 C1A13 STOP LAMP RELAY
< DTC/CIRCUIT DIAGNOSIS > [ICC]
2. Turn ignition switch ON.
3. Perform “All DTC Reading”.
4. Check if any DTC is detected in “Self Diagnostic Result” of “ENGINE”. Refer to EC-98, "DTC Index".
Is any DTC detected?
YES >> Repair or replace the malfunctioning parts identified by the self-diagnosis result.
NO >> GO TO 22.
22.PERFORM SELF-DIAGNOSIS OF ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
1. Connect all connectors again if the connectors are disconnected.
2. Turn ignition switch ON.
3. Perform “All DTC Reading”.
4. Check if any DTC is detected in “Self Diagnostic Result” of “ABS”. Refer to BRC-51, "DTC Index".
Is any DTC detected?
YES >> Repair or replace the malfunctioning parts identified by the self-diagnosis result.
NO >> Replace ADAS control unit. Refer to DAS-63, "Removal and Installation".
Component Inspection INFOID:0000000006224325

1.CHECK ICC BRAKE HOLD RELAY

Apply battery voltage to ICC brake hold relay terminals 1 and 2, and
then check for continuity under the following conditions.

Terminal Condition Continuity

When the battery voltage is applied Existed
3 5 When the battery voltage is not ap- Not exist-
plied ed
Is the inspection result normal?
YES >> INSPECTION END
NO >> Replace ICC brake hold relay. JSOIA0075GB

Revision: 2010 May CCS-102 2011 QX56

 C1A14 ECM
< DTC/CIRCUIT DIAGNOSIS > [ICC]
C1A14 ECM
A
DTC Logic INFOID:0000000006224326

DTC DETECTION LOGIC B

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes C
play)
• Accelerator pedal position sensor
C1A14
ECM CIRCUIT If ECM is malfunctioning • ECM
(14) D
• ADAS control unit
NOTE:
If DTC “C1A14” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145,
"ADAS CONTROL UNIT : DTC Logic". E

1.PERFORM DTC CONFIRMATION PROCEDURE

1. Start the engine. F
2. Operate the ICC system and drive.
CAUTION:
Always drive safely.
3. Stop the vehicle. G
4. Perform “All DTC Reading” with CONSULT-III.
5. Check if the “C1A14” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “C1A14” detected as the current malfunction? H
YES >> Refer to CCS-103, "Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident".
I
Diagnosis Procedure INFOID:0000000006224327

1.CHECK SELF-DIAGNOSIS RESULTS J

Check if “U1000” is detected other than “C1A14” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts. K
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic".
NO >> GO TO 2.
2.PERFORM SELF-DIAGNOSIS OF ECM L
Check if any DTC is detected in “Self Diagnostic Result” of “ENGINE”.
Is any DTC detected?
M
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
EC-98, "DTC Index".
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".
N

CCS

Revision: 2010 May CCS-103 2011 QX56

 C1A15 GEAR POSITION
< DTC/CIRCUIT DIAGNOSIS > [ICC]
C1A15 GEAR POSITION
Description INFOID:0000000006224328

ADAS control unit judges the gear position based on the following signals.
• Current gear position signal transmitted from TCM via CAN communication.
• Value of gear ratio calculated from input speed signal transmitted from TCM via CAN communication.
• Value of gear ratio calculated from the vehicle speed signal transmitted from ABS actuator and electric unit
(control unit) via CAN communication.
DTC Logic INFOID:0000000006224329

DTC DETECTION LOGIC

DTC
Trouble diagnosis
(On board dis- DTC detecting condition Possible causes
name
play)
A mismatch between an current gear posi-
• Input speed sensor
tion signal transmitted from TCM via CAN
C1A15 • Vehicle speed sensor A/T (output speed
GEAR POSITION communication and a gear position calculat-
(15) sensor)
ed by the ADAS control unit continues for
• TCM
approximately 11 minutes or more
NOTE:
If DTC “C1A15” is detected along with DTC “U1000”, “C1A03”, or “C1A04”, first diagnose the DTC “U1000”,
“C1A03”, or “C1A04”.
• Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic" for DTC “U1000”.
• Refer to CCS-87, "DTC Logic" for DTC “C1A03”.
• Refer to CCS-89, "DTC Logic" for DTC “C1A04”.
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the MAIN switch of ICC system ON.
3. Drive the vehicle at 10 km/h (6 MPH) or faster for approximately 15 minutes or more.
CAUTION:
Always drive safely.
4. Stop the vehicle.
5. Perform “All DTC Reading” with CONSULT-III.
6. Check if “C1A15” is detected as the current malfunction in the “Self Diagnostic Result” of “ICC/ADAS”.
Is “C1A15” detected as the current malfunction?
YES >> Refer to CCS-104, "Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000006224330

1.CHECK SELF-DIAGNOSIS RESULTS

Check if “C1A03”, “C1A04”, or “U1000” is detected other than “C1A15” in “Self Diagnostic Result” of “ICC/
ADAS”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
CCS-50, "DTC Index".
NO >> GO TO 2.
2.CHECK VEHICLE SPEED SIGNAL
Check that “VHCL SPEED SE” operates normally in “DATA MONITOR” of “ICC/ADAS”.
CAUTION:
Be careful of the vehicle speed.
Is the inspection result normal?

Revision: 2010 May CCS-104 2011 QX56

 C1A15 GEAR POSITION
< DTC/CIRCUIT DIAGNOSIS > [ICC]
YES >> GO TO 3.
NO >> GO TO 7. A
3.CHECK GEAR POSITION
Check that “GEAR” operates normally in “DATA MONITOR” of “ICC/ADAS”.
B
CAUTION:
Be careful of the vehicle speed.
Is the inspection result normal?
C
YES >> GO TO 5.
NO >> GO TO 4.
4.CHECK GEAR POSITION SIGNAL D
Check that “GEAR” operates normally in “DATA MONITOR” of “TRANSMISSION”.
Is the inspection result normal?
YES >> GO TO 5. E
NO >> GO TO 6.
5.CHECK INPUT SPEED SENSOR SIGNAL
F
Check that “INPUT SPEED” operates normally in “DATA MONITOR” of “TRANSMISSION”.
Is the inspection result normal?
YES >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation". G
NO >> GO TO 6.
6.CHECK TCM SELF-DIAGNOSIS RESULTS
1. Perform “All DTC Reading”. H
2. Check if any DTC is detected in “Self Diagnostic Result” of “TRANSMISSION”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to I
TM-78, "DTC Index".
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".
7.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS J

1. Perform “All DTC Reading”.

2. Check if any DTC is detected in “Self Diagnostic Result” of “ABS”.
K
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
BRC-51, "DTC Index".
L
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".

CCS

Revision: 2010 May CCS-105 2011 QX56

 C1A16 RADAR STAIN
< DTC/CIRCUIT DIAGNOSIS > [ICC]
C1A16 RADAR STAIN
ADAS CONTROL UNIT
ADAS CONTROL UNIT : DTC Logic INFOID:0000000006224331

DTC DETECTION LOGIC

DTC
Trouble diagnosis
(On board dis- DTC detecting condition Possible causes
name
play)
• Stain or foreign materials is deposit-
C1A16
RADAR STAIN If any stain occurs to ICC sensor body window ed
(16)
• Cracks or scratches exist
NOTE:
DTC “C1A16” may be detected under the following conditions. (Explain to the customer about the difference
between the contamination detection function and the indication when the malfunction is detected and tell
them “This is not malfunction”.)
• When contamination or foreign materials adhere to the ICC sensor body window
• When driving while it is snowing or when frost forms on the ICC sensor body window
• When ICC sensor body window is temporarily fogged
ADAS CONTROL UNIT : Diagnosis Procedure INFOID:0000000006224332

1.CHECK ICC SENSOR SELF-DIAGNOSIS RESULTS

1. Perform “All DTC Reading” with CONSULT-III.
2. Check if the “C1A16” is detected as the current malfunction in “Self Diagnostic Result” of “LASER”.
Is “C1A16”detected?
YES >> Refer to CCS-106, "ICC SENSOR : DTC Logic".
NO >> GO TO 2.
2.CHECK ADAS CONTROL UNIT SELF-DIAGNOSIS RESULTS
1. Erase All self-diagnosis results with CONSULT-III.
2. Perform “All DTC Reading”
3. Check if the “C1A16” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “C1A16”detected?
YES >> Replace ADAS control unit. Refer to DAS-63, "Removal and Installation".
NO >> INSPECTION END
ICC SENSOR
ICC SENSOR : DTC Logic INFOID:0000000006224333

DTC DETECTION LOGIC

Trouble diagnosis
DTC DTC detecting condition Possible causes
name
• Stain or foreign materials is deposit-
C1A16 RADAR STAIN If any stain occurs to ICC sensor body window ed
• Cracks or scratches exist
NOTE:
DTC “C1A16” may be detected under the following conditions. (Explain to the customer about the difference
between the contamination detection function and the indication when the malfunction is detected and tell
them “This is not malfunction”.)
• When contamination or foreign materials adhere to the ICC sensor body window
• When driving while it is snowing or when frost forms on the ICC sensor body window
• When ICC sensor body window is temporarily fogged

Revision: 2010 May CCS-106 2011 QX56

 C1A16 RADAR STAIN
< DTC/CIRCUIT DIAGNOSIS > [ICC]
ICC SENSOR : Diagnosis Procedure INFOID:0000000006224334

A
1.VISUAL CHECK 1
Check ICC sensor body window for contamination and foreign materials.
B
Does contamination or foreign materials adhere?
YES >> Wipe out the contamination and foreign materials from the ICC sensor body window.
NO >> GO TO 2.
C
2.VISUAL CHECK 2
Check ICC sensor body window for cracks and scratches.
Is it found? D
YES >> Replace the ICC sensor. Refer to CCS-176, "Exploded View".
NO >> GO TO 3.
3.INTERVIEW E

1. Ask if there is any trace of contamination or foreign materials adhering to the ICC sensor body window.
2. Ask if ICC sensor body window was frosted during driving or if vehicle was driven in snow.
F
3. Ask if ICC sensor body window was temporarily fogged. (Windshield glass may also tend to fog, etc.)
Is any of above conditions seen?
YES >> Explain to the customer about the difference between the contamination detection function and G
the indication when the malfunction is detected and tell them “This is not malfunction”.
NO >> Replace the ICC sensor. Refer to CCS-176, "Exploded View".

CCS

Revision: 2010 May CCS-107 2011 QX56

 C1A17 ICC SENSOR
< DTC/CIRCUIT DIAGNOSIS > [ICC]
C1A17 ICC SENSOR
DTC Logic INFOID:0000000006224335

DTC DETECTION LOGIC

DTC
Trouble diagnosis
(On board dis- DTC detecting condition Possible causes
name
play)
C1A17
ICC SENSOR MALF If ICC sensor is malfunctioning ICC sensor
(17)
NOTE:
If DTC “C1A17” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145,
"ADAS CONTROL UNIT : DTC Logic".
Diagnosis Procedure INFOID:0000000006224336

1.CHECK ADAS CONTROL UNIT SELF-DIAGNOSIS RESULTS

1. Perform “All DTC Reading” with CONSULT-III.
2. Check if “U1000” is detected other than “C1A17” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000”detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
CCS-108, "DTC Logic".
NO >> GO TO 2.
2.CHECK ICC SENSOR SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “LASER”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
CCS-55, "DTC Index".
NO >> Replace ADAS control unit. Refer to DAS-63, "Removal and Installation".

Revision: 2010 May CCS-108 2011 QX56

 C1A18 LASER AIMING INCMP
< DTC/CIRCUIT DIAGNOSIS > [ICC]
C1A18 LASER AIMING INCMP
A
ADAS CONTROL UNIT
ADAS CONTROL UNIT : DTC Logic INFOID:0000000006224337
B
DTC DETECTION LOGIC

DTC C
Trouble diagnosis
(On board dis- DTC detecting condition Possible causes
name
play)
• No laser beam aiming adjustment is D
C1A18 LASER AIMING IN- performed
Laser beam aiming of ICC sensor is not adjusted
(18) CMP • Laser beam aiming adjustment has
been interrupted
E
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
F
1. Start the engine.
2. Turn the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT-III.
4. Check if the “C1A18” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”. G
Is “C1A18” detected as the current malfunction?
YES >> Refer to CCS-109, "ADAS CONTROL UNIT : Diagnosis Procedure".
NO >> INSPECTION END H

ADAS CONTROL UNIT : Diagnosis Procedure INFOID:0000000006224338

I
1.ADJUST LASER BEAM AIMING
Check if the “C1A18” is detected in “Self Diagnostic Result” of “LASER”.
Is “C1A18” detected? J
YES >> Refer to CCS-109, "ICC SENSOR : DTC Logic".
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".
ICC SENSOR K

ICC SENSOR : DTC Logic INFOID:0000000006224339

L
DTC DETECTION LOGIC

Trouble diagnosis M
DTC DTC detecting condition Possible causes
name
• No laser beam aiming adjustment is
LASER AIMING IN- performed
C1A18 Laser beam aiming of ICC sensor is not adjusted N
CMP • Laser beam aiming adjustment has
been interrupted

DTC CONFIRMATION PROCEDURE CCS

1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the MAIN switch of ICC system ON. P
3. Perform “All DTC Reading” with CONSULT-III.
4. Check if the “C1A18” is detected as the current malfunction in “Self Diagnostic Result” of “LASER”.
Is “C1A18” detected as the current malfunction?
YES >> Refer to CCS-110, "ICC SENSOR : Diagnosis Procedure".
NO >> INSPECTION END

Revision: 2010 May CCS-109 2011 QX56

 C1A18 LASER AIMING INCMP
< DTC/CIRCUIT DIAGNOSIS > [ICC]
ICC SENSOR : Diagnosis Procedure INFOID:0000000006224340

1.ADJUST LASER BEAM AIMING

1. Adjust the laser beam aiming. Refer to CCS-72, "Description".
2. Erase All self-diagnosis results with CONSULT-III.
3. Perform “All DTC Reading”.
4. Check if the “C1A18” is detected in “Self Diagnostic Result” of “LASER”.
Is “C1A18” detected?
YES >> Replace the ICC sensor. Refer to CCS-176, "Exploded View".
NO >> INSPECTION END

Revision: 2010 May CCS-110 2011 QX56

 C1A21 UNIT HIGH TEMP
< DTC/CIRCUIT DIAGNOSIS > [ICC]
C1A21 UNIT HIGH TEMP
A
ADAS CONTROL UNIT
ADAS CONTROL UNIT : DTC Logic INFOID:0000000006224341
B
DTC DETECTION LOGIC

DTC C
Trouble diagnosis
(On board dis- DTC detecting condition Possible causes
name
play)
C1A21 ICC SENSOR HIGH
ICC sensor judges high temperature abnormality
Temperature around the ICC sensor D
(21) TEMP becomes high

1.PERFORM DTC CONFIRMATION PROCEDURE E

1. Turn the ignition switch OFF.
2. Wait for 10 minutes or more to cool the ICC sensor.
3. Start the engine.
4. Turn the MAIN switch of ICC system ON. F
5. Perform “All DTC Reading” with CONSULT-III.
6. Check if the “C1A21” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “C1A21” detected as the current malfunction? G
YES >> Refer to CCS-111, "ADAS CONTROL UNIT : Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident".
H
ADAS CONTROL UNIT : Diagnosis Procedure INFOID:0000000006224342

1.CHECK SELF-DIAGNOSIS RESULTS I

Check if “C1A21” is detected in “Self Diagnostic Result” of “LASER”.
Is “C1A21” detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to J
CCS-111, "ICC SENSOR : DTC Logic".
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".
ICC SENSOR K

ICC SENSOR : DTC Logic INFOID:0000000006224343

L
DTC DETECTION LOGIC

Trouble diagnosis
DTC DTC detecting condition Possible causes M
name
Temperature detected by the temperature sensor
integrated in ICC sensor remains less than -45 °C Temperature around the ICC sensor
C1A21 UNIT HIGH TEMP
(-49 °F) or more than 105 °C (221 °F) for 5 sec- becomes extremely low or high N
onds or more

DTC CONFIRMATION PROCEDURE

CCS
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Turn the ignition switch OFF.
2. Wait for 10 minutes or more. P
3. Start the engine.
4. Turn the MAIN switch of ICC system ON.
5. Perform “All DTC Reading” with CONSULT-III.
6. Check if the “C1A21” is detected as the current malfunction in “Self Diagnostic Result” of “LASER”.
Is “C1A21” detected as the current malfunction?
YES >> Refer to CCS-111, "ADAS CONTROL UNIT : Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident".

Revision: 2010 May CCS-111 2011 QX56

 C1A21 UNIT HIGH TEMP
< DTC/CIRCUIT DIAGNOSIS > [ICC]
ICC SENSOR : Diagnosis Procedure INFOID:0000000006224344

1.CHECK ENGINE COOLING SYSTEM

Check for any malfunctions in engine cooling system.
Is engine cooling system normal?
YES >> Replace the ICC sensor. Refer to CCS-176, "Exploded View".
NO >> Repair engine cooling system.

Revision: 2010 May CCS-112 2011 QX56

 C1A24 NP RANGE
< DTC/CIRCUIT DIAGNOSIS > [ICC]
C1A24 NP RANGE
A
DTC Logic INFOID:0000000006224345

DTC DETECTION LOGIC B

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes C
play)
A mismatch between a shift position signal
C1A24 transmitted from TCM via CAN communica- • TCM
NP RANGE D
(24) tion and an current gear position signal contin- • Transmission range switch
ues for 60 seconds or more
NOTE:
If DTC “C1A24” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145, E
"ADAS CONTROL UNIT : DTC Logic".
DTC CONFIRMATION PROCEDURE
F
1.CHECK DTC REPRODUCE (1)
1. Start the engine.
2. Turn the MAIN switch of ICC system ON. G
3. Wait for approximately 5 minutes or more after shifting the selector lever to “P” position.
4. Perform “All DTC Reading” with CONSULT-III.
5. Check if the “C1A24” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”. H
Is “C1A24” detected as the current malfunction?
YES >> Refer to CCS-113, "Diagnosis Procedure".
NO >> GO TO 2. I
2.CHECK DTC REPRODUCE (2)
1. Wait for approximately 5 minutes or more after shifting the selector lever to “N” position.
2. Perform “All DTC Reading”. J
3. Check if the “C1A24” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “C1A24” detected as the current malfunction?
YES >> Refer to CCS-113, "Diagnosis Procedure". K
NO >> Refer to GI-40, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000006224346
L
1.CHECK SELF-DIAGNOSIS RESULTS
Check if “U1000” is detected other than “C1A24” in “Self Diagnostic Result” of “ICC/ADAS”. M
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic". N
NO >> GO TO 2.
2.CHECK NP POSITION SWITCH SIGNAL
Check that “NP RANGE SW” operates normally in “DATA MONITOR” of “ICC/ADAS”. CCS
Is the inspection result normal?
YES >> GO TO 3.
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation". P

3.CHECK TCM DATA MONITOR

Check that “SLCT LVR POSI” operates normally in “DATA MONITOR” of “TRANSMISSION”.
Is the inspection result normal?
YES >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".
NO >> GO TO 4.

Revision: 2010 May CCS-113 2011 QX56

 C1A24 NP RANGE
< DTC/CIRCUIT DIAGNOSIS > [ICC]

4.PERFORM TCM SELF-DIAGNOSIS

1. Perform “All DTC Reading”.
2. Check if any DTC is detected in “Self Diagnostic Result” of “TRANSMISSION”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
TM-78, "DTC Index".
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".

Revision: 2010 May CCS-114 2011 QX56

 C1A26 ECD MODE MALFUNCTION
< DTC/CIRCUIT DIAGNOSIS > [ICC]
C1A26 ECD MODE MALFUNCTION
A
DTC Logic INFOID:0000000006224347

DTC DETECTION LOGIC B

DTC
(On board Trouble diagnosis name DTC detecting condition Possible cause C
display)
C1A26 ABS actuator and electric unit (control
ECD MODE MALF If an abnormal condition occurs with ECD system
(26) unit) D
NOTE:
If DTC “C1A26” is detected along with DTC “U1000”, “U0415” or “U0121” first diagnose the DTC “U1000”,
“U0415” or “U0121”. E
• DTC “U1000”: Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic".
• DTC “U0415”: Refer to CCS-141, "ADAS CONTROL UNIT : DTC Logic".
• DTC “U0121”: Refer to CCS-133, "ADAS CONTROL UNIT : DTC Logic".
F
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
G
1. Start the engine.
2. Wait for approximately 1 minute after turning the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT-III.
4. Check if the “C1A26” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”. H
Is “C1A26” detected as the current malfunction?
YES >> Refer to CCS-115, "Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident". I

Diagnosis Procedure INFOID:0000000006224348

J
1.CHECK SELF-DIAGNOSIS RESULTS
Check if “U1000”, “U0415” or “U0121” is detected other than “C1A26” in “Self Diagnostic Result” of “ICC/
ADAS”. K
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
CCS-50, "DTC Index". L
NO >> GO TO 2.
2.PERFORM SELF-DIAGNOSIS OF ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
Check if any DTC is detected in “Self Diagnostic Result” of “ABS”. M
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
BRC-51, "DTC Index". N
NO >> Replace ADAS control unit. Refer to DAS-63, "Removal and Installation".

CCS

Revision: 2010 May CCS-115 2011 QX56

 C1A27 ECD POWER SUPPLY CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [ICC]
C1A27 ECD POWER SUPPLY CIRCUIT
DTC Logic INFOID:0000000006224349

DTC DETECTION LOGIC

DTC
(On board Trouble diagnosis name DTC detecting condition Possible cause
display)
• ABS actuator and electric unit (con-
C1A27 ECD system power supply voltage is excessively trol unit) power supply circuit
ECD PWR SUPLY CIR
(27) low • ABS actuator and electric unit (con-
trol unit)
NOTE:
If DTC “C1A27” is detected along with DTC “U1000”, “U0415” or “U0121” first diagnose the DTC “U1000”,
“U0415” or “U0121”.
• DTC “U1000”: Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic".
• DTC “U0415”: Refer to CCS-141, "ADAS CONTROL UNIT : DTC Logic".
• DTC “U0121”: Refer to CCS-133, "ADAS CONTROL UNIT : DTC Logic".
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Wait for approximately 1 minute after turning the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT-III.
4. Check if the “C1A27” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “C1A27” detected as the current malfunction?
YES >> Refer to CCS-116, "Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000006224350

1.CHECK SELF-DIAGNOSIS RESULTS

Check if “U1000”, “U0415” or “U0121” is detected other than “C1A27” in “Self Diagnostic Result” of “ICC/
ADAS”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
CCS-50, "DTC Index".
NO >> GO TO 2.
2.CHECK POWER SUPPLY CIRCUIT OF ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
Check power supply circuit of ABS actuator and electric unit (control unit). Refer to BRC-113, "Diagnosis Pro-
cedure".
Is the inspection result normal?
YES >> Perform self-diagnosis of ABS actuator and electric unit (control unit). Refer to BRC-51, "DTC
Index".
NO >> Repair the harnesses or connectors.

Revision: 2010 May CCS-116 2011 QX56

 C1A2A ICC SENSOR POWER SUPPLY CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [ICC]
C1A2A ICC SENSOR POWER SUPPLY CIRCUIT
A
DTC Logic INFOID:0000000006224351

DTC DETECTION LOGIC B

DTC
(On board Trouble diagnosis name DTC detecting condition Possible cause C
display)
C1A2A • Harness, connector, fuse
ICC SEN PWR SUP CIR Abnormal power supply voltage in ICC sensor
(80) • ICC sensor D
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE E
1. Start the engine.
2. Turn the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT-III. F
4. Check if the “C1A2A” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “C1A2A” detected as the current malfunction?
YES >> Refer to CCS-117, "Diagnosis Procedure". G
NO >> Refer to GI-40, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000006224352

H
1.CHECK SELF-DIAGNOSIS RESULTS
Check if “U1000” is detected other than “C1A2A” in “Self Diagnostic Result” of “ICC/ADAS”.
Is any DTC detected? I
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
CCS-145, "ADAS CONTROL UNIT : DTC Logic".
NO >> GO TO 2. J
2.CHECK ICC SENSOR SELF-DIAGNOSIS
Check if any DTC is detected in “Self Diagnostic Result” of “LASER”. K
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
CCS-55, "DTC Index". L
NO >> Replace ADAS control unit. Refer to DAS-63, "Removal and Installation".

CCS

Revision: 2010 May CCS-117 2011 QX56

 C1A33 CAN TRANSMISSION ERROR
< DTC/CIRCUIT DIAGNOSIS > [ICC]
C1A33 CAN TRANSMISSION ERROR
DTC Logic INFOID:0000000006224353

DTC DETECTION LOGIC

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
C1A33 CAN TRANSMISSION If an error occurs in the CAN communication
ADAS control unit
(33) ERR signal that ADAS control unit transmits to ECM
NOTE:
If DTC “C1A33” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145,
"ADAS CONTROL UNIT : DTC Logic".
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT-III.
4. Check if the “C1A33” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “C1A33” detected as the current malfunction?
YES >> Refer to CCS-118, "Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000006224354

1.CHECK SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “C1A33” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic".
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".

Revision: 2010 May CCS-118 2011 QX56

 C1A34 COMMAND ERROR
< DTC/CIRCUIT DIAGNOSIS > [ICC]
C1A34 COMMAND ERROR
A
DTC Logic INFOID:0000000006224355

DTC DETECTION LOGIC B

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes C
play)
If an error occurs in the command signal that
C1A34
COMMAND ERROR ADAS control unit transmits to ECM via CAN ADAS control unit
(34) D
communication
NOTE:
If DTC “C1A34” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145,
"ADAS CONTROL UNIT : DTC Logic". E

DTC CONFIRMATION PROCEDURE

1.PERFORM DTC CONFIRMATION PROCEDURE F
1. Start the engine.
2. Operate the ICC system and drive.
CAUTION: G
Always drive safely.
3. Stop the vehicle.
4. Perform “All DTC Reading” with CONSULT-III. H
5. Check if the “C1A34” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “C1A34” detected as the current malfunction?
YES >> Refer to CCS-119, "Diagnosis Procedure". I
NO >> Refer to GI-40, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000006224356

J
1.CHECK SELF-DIAGNOSIS RESULTS
Check if “U1000” is detected other than “C1A34” in “Self Diagnostic Result” of “ICC/ADAS”.
K
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic".
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation". L

CCS

Revision: 2010 May CCS-119 2011 QX56

 C1A35 ACCELERATOR PEDAL ACTUATOR
< DTC/CIRCUIT DIAGNOSIS > [ICC]
C1A35 ACCELERATOR PEDAL ACTUATOR
DTC Logic INFOID:0000000006224357

DTC DETECTION LOGIC

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
C1A35 If the accelerator pedal actuator is malfunc-
APA CIR Accelerator pedal actuator
(35) tioning
NOTE:
If DTC “C1A35” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145,
"ADAS CONTROL UNIT : DTC Logic".
Diagnosis Procedure INFOID:0000000006224358

1.PERFORM DTC CONFIRMATION PROCEDURE

1. Start the engine.
2. Turn the DCA system ON.
3. Perform “All DTC Reading” with CONSULT-III.
4. Check if the “C1A35” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
Is “C1A35” detected as the current malfunction?
YES >> GO TO 2.
NO >> INSPECTION END
2.CHECK SELF-DIAGNOSIS RESULTS
Check if “U1000” is detected other than “C1A35” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic".
NO >> GO TO 3.
3.CHECK ACCELERATOR PEDAL ACTUATOR SELF-DIAGNOSIS RESULTS
Check if the DTC is detected in “Self Diagnostic Result” of “ACCELE PEDAL ACT”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
DAS-108, "DTC Index".
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".

Revision: 2010 May CCS-120 2011 QX56

 C1A36 ACCELERATOR PEDAL ACTUATOR CAN COMM
< DTC/CIRCUIT DIAGNOSIS > [ICC]
C1A36 ACCELERATOR PEDAL ACTUATOR CAN COMM
A
DTC Logic INFOID:0000000006224359

DTC DETECTION LOGIC B

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes C
play)
If an error occurs in the signal that the accel- • ADAS control unit
C1A36
APA CAN COMM CIR erator pedal actuator transmits via ITS com- • Accelerator pedal actuator
(36) D
munication • ITS communication system
NOTE:
If DTC “C1A36” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145,
"ADAS CONTROL UNIT : DTC Logic". E

DTC CONFIRMATION PROCEDURE

1.PERFORM DTC CONFIRMATION PROCEDURE F
1. Start the engine.
2. Turn the DCA system ON.
3. Perform “All DTC Reading” with CONSULT-III. G
4. Check if the “C1A36” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
Is “C1A36” detected as the current malfunction?
YES >> Refer to CCS-121, "Diagnosis Procedure". H
NO >> Refer to GI-40, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000006224360
I
1.CHECK ADAS CONTROL UNIT SELF-DIAGNOSIS RESULTS
Check if “U1000” is detected other than “C1A36” in “Self Diagnostic Result” of “ICC/ADAS”. J
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic". K
NO >> GO TO 2.
2.CHECK ACCELERATOR PEDAL ACTUATOR SELF-DIAGNOSIS RESULTS
Check if the DTC is detected in “Self Diagnostic Result” of “ACCELE PEDAL ACT”. L
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
DAS-108, "DTC Index". M
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".

CCS

Revision: 2010 May CCS-121 2011 QX56

 C1A37 ACCELERATOR PEDAL ACTUATOR CAN 2
< DTC/CIRCUIT DIAGNOSIS > [ICC]
C1A37 ACCELERATOR PEDAL ACTUATOR CAN 2
DTC Logic INFOID:0000000006224361

DTC DETECTION LOGIC

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
If ADAS control unit detects an error signal
C1A37
APA CAN CIR2 that is received from accelerator pedal actu- Accelerator pedal actuator malfunction
(133)
ator via ITS communication
NOTE:
If DTC “C1A37” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145,
"ADAS CONTROL UNIT : DTC Logic".
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the DCA system ON.
3. Perform “All DTC Reading” with CONSULT-III.
4. Check if the “C1A37” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
Is “C1A37” detected as the current malfunction?
YES >> Refer to CCS-122, "Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000006224362

1.CHECK ADAS CONTROL UNIT SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “C1A37” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic".
NO >> GO TO 2.
2.REPLACE ACCELERATOR PEDAL ASSEMBLY
1. Turn the ignition switch OFF.
2. Replace the accelerator pedal assembly.
3. Turn the ignition switch ON.
4. Erases all self-diagnosis results.
5. Perform “All DTC Reading” again.
6. Check if the DTC “C1A37” is detected in self-diagnosis results of “ICC/ADAS”.
Is “C1A37” detected?
YES >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".
NO >> INSPECTION END

Revision: 2010 May CCS-122 2011 QX56

 C1A38 ACCELERATOR PEDAL ACTUATOR CAN 1
< DTC/CIRCUIT DIAGNOSIS > [ICC]
C1A38 ACCELERATOR PEDAL ACTUATOR CAN 1
A
DTC Logic INFOID:0000000006224363

DTC DETECTION LOGIC B

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes C
play)
If ADAS control unit detects an error signal
C1A38
APA CAN CIR1 that is received from accelerator pedal actu- Accelerator pedal actuator malfunction
(132) D
ator via ITS communication
NOTE:
If DTC “C1A38” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145,
"ADAS CONTROL UNIT : DTC Logic". E

DTC CONFIRMATION PROCEDURE

1.PERFORM DTC CONFIRMATION PROCEDURE F
1. Start the engine.
2. Turn the DCA system ON.
3. Perform “All DTC Reading” with CONSULT-III. G
4. Check if the “C1A38” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
Is “C1A38” detected as the current malfunction?
YES >> Refer to CCS-123, "Diagnosis Procedure". H
NO >> Refer to GI-40, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000006224364
I
1.CHECK ADAS CONTROL UNIT SELF-DIAGNOSIS RESULTS
Check if “U1000” is detected other than “C1A38” in “Self Diagnostic Result” of “ICC/ADAS”. J
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic". K
NO >> GO TO 2.
2.REPLACE ACCELERATOR PEDAL ASSEMBLY
1. Turn the ignition switch OFF. L
2. Replace the accelerator pedal assembly.
3. Erases All self-diagnosis results.
4. Perform “All DTC Reading” again. M
5. Check if the “C1A38” is detected in self-diagnosis results of “ICC/ADAS”.
Is “C1A38” detected?
YES >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation". N
NO >> INSPECTION END

CCS

Revision: 2010 May CCS-123 2011 QX56

 C1A39 STEERING ANGLE SENSOR
< DTC/CIRCUIT DIAGNOSIS > [ICC]
C1A39 STEERING ANGLE SENSOR
ADAS CONTROL UNIT
ADAS CONTROL UNIT : DTC Logic INFOID:0000000006224365

DTC DETECTION LOGIC

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
C1A39
STRG SEN CIR If the steering angle sensor is malfunction Steering angle sensor
(39)
NOTE:
If DTC “C1A39” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145,
"ADAS CONTROL UNIT : DTC Logic".
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT-III.
4. Check if the “C1A39” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
Is “C1A39” detected as the current malfunction?
YES >> Refer to CCS-124, "ADAS CONTROL UNIT : Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident".
ADAS CONTROL UNIT : Diagnosis Procedure INFOID:0000000006224366

1.CHECK SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “C1A39” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic".
NO >> GO TO 2.
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ABS”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
BRC-51, "DTC Index".
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".
ICC SENSOR
ICC SENSOR : DTC Logic INFOID:0000000006224367

DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition Possible causes

C1A39 STRG SEN CIR If the steering angle sensor is malfunction Steering angle sensor
NOTE:
If DTC “C1A39” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145, "ICC
SENSOR : DTC Logic".
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
Revision: 2010 May CCS-124 2011 QX56
 C1A39 STEERING ANGLE SENSOR
< DTC/CIRCUIT DIAGNOSIS > [ICC]
1. Start the engine.
2. Turn the MAIN switch of ICC system ON. A
3. Perform “All DTC Reading” with CONSULT-III.
4. Check if the “C1A39” is detected as the current malfunction in self-diagnosis results of “LASER”.
Is “C1A39” detected as the current malfunction? B
YES >> Refer to CCS-125, "ICC SENSOR : Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident".
ICC SENSOR : Diagnosis Procedure INFOID:0000000006224368 C

1.CHECK ICC SENSOR SELF-DIAGNOSIS RESULTS

D
Check if “U1000” is detected other than “C1A39” in “Self Diagnostic Result” of “LASER”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts. E
Refer to CCS-145, "ICC SENSOR : DTC Logic".
NO >> GO TO 2.
2.CHECK ADAS CONTROL UNIT SELF-DIAGNOSIS RESULTS F
Check if any DTC is detected in “Self Diagnostic Result” of “ICC/ADAS”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to G
CCS-50, "DTC Index".
NO >> Replace the ICC sensor. Refer to CCS-176, "Exploded View".
H

CCS

Revision: 2010 May CCS-125 2011 QX56

 C1A40 SYSTEM SWITCH CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [ICC]
C1A40 SYSTEM SWITCH CIRCUIT
DTC Logic INFOID:0000000006224369

DTC DETECTION LOGIC

DTC
Trouble diagnosis
(On board dis- DTC detecting condition Possible causes
name
play)
• IBA OFF switch circuit
C1A40 IBA OFF switch remains “ON” (short circuit) for
SYSTEM SW CIRC • IBA OFF switch
(40) 10 minutes or more
• ADAS control unit

DTC CONFIRMATION PROCEDURE

1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine and wait for approximately 10 minutes or more.
2. Perform “All DTC Reading” with CONSULT-III.
3. Check if the “C1A40” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “C1A40” detected as the current malfunction?
YES >> Refer to CCS-126, "Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000006224370

1.CHECK SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “C1A40” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic".
NO >> GO TO 2.
2.CHECK DATA MONITOR
Check that “IBA SW” operate normally in “DATA MONITOR” of “ICC/ADAS”.
Is the inspection result normal?
YES >> Refer to GI-40, "Intermittent Incident".
NO >> GO TO 3.
3.CHECK HARNESS BETWEEN ADAS CONTROL UNIT AND IBA OFF SWITCH
1. Disconnect ADAS control unit connector.
2. Check for continuity between the ADAS control unit harness connector and IBA OFF switch harness con-
nector.

ADAS control unit IBA OFF switch

Continuity
Connector Terminal Connector Terminal
B61 3 M93 7 Existed
3. Check for continuity between ADAS control unit and ground.

ADAS control unit

Continuity
Connector Terminal Ground
B61 3 Not existed
Is the inspection result normal?
YES >> GO TO 4.
NO >> Repair the harnesses or connectors.

Revision: 2010 May CCS-126 2011 QX56

 C1A40 SYSTEM SWITCH CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [ICC]

4.CHECK IBA OFF SWITCH GROUND CIRCUIT A

Check for continuity between IBA OFF switch harness connector and ground.

IBA OFF switch B

Continuity
Connector Terminal Ground
M93 6 Existed
C
Is the inspection result normal?
YES >> GO TO 5.
NO >> Repair the harnesses or connectors.
D
5.CHECK IBA OFF SWITCH
1. Turn the ignition switch OFF.
2. Disconnect the IBA OFF switch connector. E
3. Check the IBA OFF switch. Refer to CCS-127, "Component Inspection (IBA OFF Switch)".
Is the inspection result normal?
YES >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation". F
NO >> Replace the IBA OFF switch.
Component Inspection (IBA OFF Switch) INFOID:0000000006224371
G
1.CHECK IBA OFF SWITCH
Check for continuity of IBA OFF switch.
H

Terminal Condition Continuity

When the IBA OFF switch is pressed Existed I
6 7
When the IBA OFF switch is released Not existed
Is the inspection result normal?
J
YES >> INSPECTION END
NO >> Replace the IBA OFF switch.

CCS

Revision: 2010 May CCS-127 2011 QX56

 C1A50 ADAS CONTROL UNIT
< DTC/CIRCUIT DIAGNOSIS > [ICC]
C1A50 ADAS CONTROL UNIT
DTC Logic INFOID:0000000006224372

DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition Possible cause

C1A50 ADAS MALFUNCTION If ADAS control unit is malfunctioning ADAS control unit
NOTE:
If DTC “C1A50” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145, "ICC
SENSOR : DTC Logic".
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT-III.
4. Check if the “C1A50” is detected as the current malfunction in “Self Diagnostic Result” of “LASER”.
Is “C1A50” detected as the current malfunction?
YES >> Refer to CCS-128, "Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000006224373

1.CHECK ICC SENSOR SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “C1A50” in “Self Diagnostic Result” of “LASER”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ICC SENSOR : DTC Logic".
NO >> GO TO 2.
2.CHECK ADAS CONTROL UNIT SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ICC/ADAS”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
CCS-50, "DTC Index".
NO >> Replace the ICC sensor. Refer to CCS-176, "Exploded View".

Revision: 2010 May CCS-128 2011 QX56

 C1F01 ACCELERATOR PEDAL ACTUATOR
< DTC/CIRCUIT DIAGNOSIS > [ICC]
C1F01 ACCELERATOR PEDAL ACTUATOR
A
DTC Logic INFOID:0000000006224374

DTC DETECTION LOGIC B

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes C
play)
C1F01 If the accelerator pedal actuator motor error Accelerator pedal actuator integrated
APA MOTOR MALF
(91) is detected motor malfunction
D
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE E
1. Turn the ignition switch OFF.
2. Turn the ignition switch ON.
3. Slowly depress the accelerator pedal completely, and then release it.
4. Repeat step 3 several times. F
5. Perform “All DTC Reading” with CONSULT-III.
6. Check if the DTC “C1F01” is detected as the current malfunction on the self-diagnosis results of “ICC/
ADAS”. G
Is “C1F01” detected as the current malfunction?
YES >> Refer to CCS-129, "Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident". H

Diagnosis Procedure INFOID:0000000006224375

1.CHECK ADAS CONTROL UNIT SELF-DIAGNOSIS RESULTS I

Check if “U1000” is detected other than “C1F01” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected? J
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic".
NO >> GO TO 2. K
2.CHECK ACCELERATOR PEDAL ACTUATOR SELF-DIAGNOSIS RESULTS
Check if “C1F01” is detected in “Self Diagnostic Result” of “ACCELE PEDAL ACT”.
L
Is “C1F01” detected?
YES >> Refer to DAS-166, "ACCELERATOR PEDAL ACTUATOR : DTC Logic".
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".
M

CCS

Revision: 2010 May CCS-129 2011 QX56

 C1F02 ACCELERATOR PEDAL ACTUATOR
< DTC/CIRCUIT DIAGNOSIS > [ICC]
C1F02 ACCELERATOR PEDAL ACTUATOR
DTC Logic INFOID:0000000006224376

DTC DETECTION LOGIC

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
C1F02 If the accelerator pedal actuator integrated Accelerator pedal actuator integrated
APA C/U MALF
(92) control unit error is detected control unit malfunction

1.PERFORM DTC CONFIRMATION PROCEDURE

1. Start the engine.
2. Turn the DCA system ON.
3. Perform “All DTC Reading” with CONSULT-III.
4. Check if the “C1F02” is detected as the current malfunction on the self-diagnosis results of “ICC/ADAS”.
Is “C1F02” detected as the current malfunction?
YES >> Refer to CCS-130, "Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000006224377

1.CHECK ADAS CONTROL UNIT SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “C1F02” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic".
NO >> GO TO 2.
2.CHECK ACCELERATOR PEDAL ACTUATOR SELF-DIAGNOSIS RESULTS
Check if “C1F02” is detected in “Self Diagnostic Result” of “ACCELE PEDAL ACT”.
Is “C1F02” detected?
YES >> Refer to DAS-166, "ACCELERATOR PEDAL ACTUATOR : DTC Logic".
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".

Revision: 2010 May CCS-130 2011 QX56

 C1F05 ACCELERATOR PEDAL ACTUATOR POWER SUPPLY CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [ICC]
C1F05 ACCELERATOR PEDAL ACTUATOR POWER SUPPLY CIRCUIT
A
DTC Logic INFOID:0000000006224378

DTC DETECTION LOGIC B

DTC
(On board Trouble diagnosis name DTC detecting condition Possible causes C
display)
The battery voltage sent to accelerator pedal
C1F05 • Harness, connector, or fuse
APA PWR SUPLY CIR actuator remains less than 7.9 V or more than
(95) • Accelerator pedal actuator D
19.3 V for 5 seconds

DTC CONFIRMATION PROCEDURE

1.PERFORM DTC CONFIRMATION PROCEDURE E

1. Start the engine.

2. Turn the DCA system ON.
3. Perform “All DTC Reading” with CONSULT-III. F
4. Check if the “C1F05” is detected as the current malfunction on the self-diagnosis results of “ICC/ADAS”.
Is “C1F05” detected as the current malfunction?
YES >> Refer to CCS-131, "Diagnosis Procedure". G
NO >> Refer to GI-40, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000006224379
H

1.CHECK ADAS CONTROL UNIT SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “C1F05” in “Self Diagnostic Result” of “ICC/ADAS”. I
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic". J
NO >> GO TO 2.
2.CHECK ACCELERATOR PEDAL ACTUATOR SELF-DIAGNOSIS RESULTS
K
Check if “C1F05” is detected in “Self Diagnostic Result” of “ACCELE PEDAL ACT”.
Is “C1F05” detected?
YES >> Refer to DAS-171, "ACCELERATOR PEDAL ACTUATOR : DTC Logic". L
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".

CCS

Revision: 2010 May CCS-131 2011 QX56

 U0104 ADAS CAN 1
< DTC/CIRCUIT DIAGNOSIS > [ICC]
U0104 ADAS CAN 1
DTC Logic INFOID:0000000006224380

DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition Possible causes

If ICC sensor detects an error signal that is re-
U0104 ADAS CAN CIR 1 ceived from ADAS control unit via ITS commu- ADAS control unit
nication
NOTE:
If DTC “U0104” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145, "ICC
SENSOR : DTC Logic".
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT-III.
4. Check if the “U0104” is detected as the current malfunction in “Self Diagnostic Result” of “LASER”.
Is “U0104” detected as the current malfunction?
YES >> Refer to CCS-132, "Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000006224381

1.CHECK ICC SENSOR SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “U0104” in “Self Diagnostic Result” of “LASER”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ICC SENSOR : DTC Logic".
NO >> GO TO 2.
2.CHECK ADAS CONTROL UNIT SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ICC/ADAS”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
CCS-50, "DTC Index".
NO >> Replace the ICC sensor. Refer to CCS-176, "Exploded View".

Revision: 2010 May CCS-132 2011 QX56

 U0121 VDC CAN 2
< DTC/CIRCUIT DIAGNOSIS > [ICC]
U0121 VDC CAN 2
A
ADAS CONTROL UNIT
ADAS CONTROL UNIT : DTC Logic INFOID:0000000006224382
B
DTC DETECTION LOGIC

DTC C
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)

U0121
If ADAS control unit detects an error signal
ABS actuator and electric unit (control
D
VDC CAN CIR2 that is received from ABS actuator and electric
(127) unit)
unit (control unit) via CAN communication
NOTE: E
If DTC “U0121” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145,
"ADAS CONTROL UNIT : DTC Logic".
DTC CONFIRMATION PROCEDURE F
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
G
2. Turn the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT-III.
4. Check if the “U0121” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U0121” detected as the current malfunction? H
YES >> Refer to CCS-133, "ADAS CONTROL UNIT : Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident".
I
ADAS CONTROL UNIT : Diagnosis Procedure INFOID:0000000006224383

1.CHECK SELF-DIAGNOSIS RESULTS J

Check if “U1000” is detected other than “U0121” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts. K
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic".
NO >> GO TO 2.
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS L

Check if any DTC is detected in “Self Diagnostic Result” of “ABS”.

Is any DTC detected? M
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
BRC-51, "DTC Index".
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".
N
ICC SENSOR
ICC SENSOR : DTC Logic INFOID:0000000006224384

CCS
DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition Possible causes P

If ICC sensor detects an error signal that is re-
ABS actuator and electric unit (control
U0121 VDC CAN CIR2 ceived from ABS actuator and electric unit
unit)
(control unit) via ADAS control unit
NOTE:
If DTC “U0121” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145, "ICC
SENSOR : DTC Logic".

Revision: 2010 May CCS-133 2011 QX56

 U0121 VDC CAN 2
< DTC/CIRCUIT DIAGNOSIS > [ICC]
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT-III.
4. Check if the “U0121” is detected as the current malfunction in “Self Diagnostic Result” of “LASER”.
Is “U0121” detected as the current malfunction?
YES >> Refer to CCS-134, "ICC SENSOR : Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident".
ICC SENSOR : Diagnosis Procedure INFOID:0000000006224385

1.CHECK ICC SENSOR SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “U0121” in “Self Diagnostic Result” of “LASER”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ICC SENSOR : DTC Logic".
NO >> GO TO 2.
2.CHECK ADAS CONTROL UNIT SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ICC/ADAS”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
CCS-145, "ADAS CONTROL UNIT : DTC Logic".
NO >> Replace the ICC sensor. Refer to CCS-176, "Exploded View".

Revision: 2010 May CCS-134 2011 QX56

 U0126 STRG SEN CAN 1
< DTC/CIRCUIT DIAGNOSIS > [ICC]
U0126 STRG SEN CAN 1
A
ADAS CONTROL UNIT
ADAS CONTROL UNIT : DTC Logic INFOID:0000000006224386
B
DTC DETECTION LOGIC

DTC C
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)

U0126
If ADAS control unit detects an error signal D
STRG SEN CAN CIR1 that is received from steering angle sensor via Steering angle sensor
(130)
CAN communication
NOTE: E
If DTC “U0126” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145,
"ADAS CONTROL UNIT : DTC Logic".
DTC CONFIRMATION PROCEDURE F
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
G
2. Turn the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT-III.
4. Check if the “U0126” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U0126” detected as the current malfunction? H
YES >> Refer to CCS-135, "ADAS CONTROL UNIT : Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident".
I
ADAS CONTROL UNIT : Diagnosis Procedure INFOID:0000000006224387

1.CHECK SELF-DIAGNOSIS RESULTS J

Check if “U1000” is detected other than “U0126” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts. K
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic".
NO >> GO TO 2.
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS L

Check if any DTC is detected in “Self Diagnostic Result” of “ABS”.

Is any DTC detected? M
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
BRC-51, "DTC Index".
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".
N
ICC SENSOR
ICC SENSOR : DTC Logic INFOID:0000000006224388

CCS
DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition Possible causes P

If ICC sensor detects an error signal that is re-
U0126 STRG SEN CAN CIR1 ceived from steering angle sensor via ADAS Steering angle sensor
control unit
NOTE:
If DTC “U0126” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145, "ICC
SENSOR : DTC Logic".

Revision: 2010 May CCS-135 2011 QX56

 U0126 STRG SEN CAN 1
< DTC/CIRCUIT DIAGNOSIS > [ICC]
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT-III.
4. Check if the “U0126” is detected as the current malfunction in “Self Diagnostic Result” of “LASER”.
Is “U0126” detected as the current malfunction?
YES >> Refer to CCS-136, "ICC SENSOR : Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident".
ICC SENSOR : Diagnosis Procedure INFOID:0000000006224389

1.CHECK ICC SENSOR SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “U0126” in “Self Diagnostic Result” of “LASER”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ICC SENSOR : DTC Logic".
NO >> GO TO 2.
2.CHECK ADAS CONTROL UNIT SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ICC/ADAS”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
CCS-50, "DTC Index".
NO >> Replace the ICC sensor. Refer to CCS-176, "Exploded View".

Revision: 2010 May CCS-136 2011 QX56

 U0235 ICC SENSOR CAN 1
< DTC/CIRCUIT DIAGNOSIS > [ICC]
U0235 ICC SENSOR CAN 1
A
DTC Logic INFOID:0000000006224390

DTC DETECTION LOGIC B

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes C
play)
If ADAS control unit detects an error signal
U0235 ICC SENSOR CAN
that is received from ICC sensor via ITS com- ICC sensor
(144) CIR1 D
munication
NOTE:
If DTC “U0235” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145, "ICC
SENSOR : DTC Logic". E

DTC CONFIRMATION PROCEDURE

1.PERFORM DTC CONFIRMATION PROCEDURE F
1. Start the engine.
2. Turn the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT-III. G
4. Check if the “U0235” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U0235” detected as the current malfunction?
YES >> Refer to CCS-137, "Diagnosis Procedure". H
NO >> Refer to GI-40, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000006224391
I
1.CHECK ADAS CONTROL UNIT SELF-DIAGNOSIS RESULTS
Check if “U1000” is detected other than “U0235” in “Self Diagnostic Result” of “ICC/ADAS”. J
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic". K
NO >> GO TO 2.
2.CHECK ICC SENSOR SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “LASER”. L
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
CCS-55, "DTC Index". M
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".

CCS

Revision: 2010 May CCS-137 2011 QX56

 U0401 ECM CAN 1
< DTC/CIRCUIT DIAGNOSIS > [ICC]
U0401 ECM CAN 1
DTC Logic INFOID:0000000006224392

DTC DETECTION LOGIC

DTC
(On board Trouble diagnosis name DTC detecting condition Possible causes
display)
If ADAS control unit detects an error signal
U0401
ECM CAN CIR1 that is received from ECM via CAN communi- ECM
(120)
cation
NOTE:
If DTC “U0401” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145,
"ADAS CONTROL UNIT : DTC Logic".
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT-III.
4. Check if the “U0401” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U0401” detected as the current malfunction?
YES >> Refer to CCS-138, "Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000006224393

1.CHECK SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “U0401” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic".
NO >> GO TO 2.
2.CHECK ECM SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ENGINE”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
EC-98, "DTC Index".
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".

Revision: 2010 May CCS-138 2011 QX56

 U0402 TCM CAN 1
< DTC/CIRCUIT DIAGNOSIS > [ICC]
U0402 TCM CAN 1
A
DTC Logic INFOID:0000000006224394

DTC DETECTION LOGIC B

DTC
Trouble diagnosis
(On board dis- DTC detecting condition Possible causes C
name
play)
If ADAS control unit detects an error signal
U0402
TCM CAN CIRC1 that is received from TCM via CAN communi- TCM
(122) D
cation
NOTE:
If DTC “U0402” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145,
"ADAS CONTROL UNIT : DTC Logic". E

DTC CONFIRMATION PROCEDURE

1.PERFORM DTC CONFIRMATION PROCEDURE F
1. Start the engine.
2. Turn the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT-III. G
4. Check if the “U0402” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U0402” detected as the current malfunction?
YES >> Refer to CCS-139, "Diagnosis Procedure". H
NO >> Refer to GI-40, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000006224395
I
1.CHECK SELF-DIAGNOSIS RESULTS
Check if “U1000” is detected other than “U0402” in “Self Diagnostic Result” of “ICC/ADAS”. J
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic". K
NO >> GO TO 2.
2.CHECK TCM SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “TRANSMISSION”. L
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
TM-78, "DTC Index". M
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".

CCS

Revision: 2010 May CCS-139 2011 QX56

 U0405 ADAS CAN 2
< DTC/CIRCUIT DIAGNOSIS > [ICC]
U0405 ADAS CAN 2
DTC Logic INFOID:0000000006224396

DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition Possible causes

If ICC sensor detects an error signal that is re-
U0405 ADAS CAN CIR 2 ceived from ADAS control unit via ITS commu- ADAS control unit
nication
NOTE:
If DTC “U0405” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145, "ICC
SENSOR : DTC Logic".
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT-III.
4. Check if the “U0405” is detected as the current malfunction in “Self Diagnostic Result” of “LASER”.
Is “U0405” detected as the current malfunction?
YES >> Refer to CCS-140, "Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000006224397

1.CHECK ICC SENSOR SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “U0405” in “Self Diagnostic Result” of “LASER”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ICC SENSOR : DTC Logic".
NO >> GO TO 2.
2.CHECK ADAS CONTROL UNIT SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ICC/ADAS”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
CCS-50, "DTC Index".
NO >> Replace the ICC sensor. Refer to CCS-176, "Exploded View".

Revision: 2010 May CCS-140 2011 QX56

 U0415 VDC CAN 1
< DTC/CIRCUIT DIAGNOSIS > [ICC]
U0415 VDC CAN 1
A
ADAS CONTROL UNIT
ADAS CONTROL UNIT : DTC Logic INFOID:0000000006224398
B
DTC DETECTION LOGIC

DTC C
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)

U0415
If ADAS control unit detects an error signal
ABS actuator and electric unit (control
D
VDC CAN CIR1 that is received from ABS actuator and electric
(126) unit)
unit (control unit) via CAN communication
NOTE: E
If DTC “U0415” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145,
"ADAS CONTROL UNIT : DTC Logic".
DTC CONFIRMATION PROCEDURE F
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
G
2. Turn the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT-III.
4. Check if the “U0415” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U0415” detected as the current malfunction? H
YES >> Refer to CCS-141, "ADAS CONTROL UNIT : Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident".
I
ADAS CONTROL UNIT : Diagnosis Procedure INFOID:0000000006224399

1.CHECK SELF-DIAGNOSIS RESULTS J

Check if “U1000” is detected other than “U0415” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts. K
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic".
NO >> GO TO 2.
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS L

Check if any DTC is detected in “Self Diagnostic Result” of “ABS”.

Is any DTC detected? M
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
BRC-51, "DTC Index".
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".
N
ICC SENSOR
ICC SENSOR : DTC Logic INFOID:0000000006224400

CCS
DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition Possible causes P

If ICC sensor detects an error signal that is re-
ABS actuator and electric unit (control
U0415 VDC CAN CIR1 ceived from ABS actuator and electric unit
unit)
(control unit) via ADAS control unit
NOTE:
If DTC “U0415” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145, "ICC
SENSOR : DTC Logic".

Revision: 2010 May CCS-141 2011 QX56

 U0415 VDC CAN 1
< DTC/CIRCUIT DIAGNOSIS > [ICC]
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT-III.
4. Check if the “U0415” is detected as the current malfunction in “Self Diagnostic Result” of “LASER”.
Is “U0415” detected as the current malfunction?
YES >> Refer to CCS-142, "ICC SENSOR : Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident".
ICC SENSOR : Diagnosis Procedure INFOID:0000000006224401

1.CHECK ICC SENSOR SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “U0415” in “Self Diagnostic Result” of “LASER”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ICC SENSOR : DTC Logic".
NO >> GO TO 2.
2.CHECK ADAS CONTROL UNIT SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ICC/ADAS”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
CCS-50, "DTC Index".
NO >> Replace the ICC sensor. Refer to CCS-176, "Exploded View".

Revision: 2010 May CCS-142 2011 QX56

 U0428 STRG SEN CAN 2
< DTC/CIRCUIT DIAGNOSIS > [ICC]
U0428 STRG SEN CAN 2
A
ADAS CONTROL UNIT
ADAS CONTROL UNIT : DTC Logic INFOID:0000000006224402
B
DTC DETECTION LOGIC

DTC C
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)

U0428
If ADAS control unit detects an error signal D
STRG SEN CAN CIR2 that is received from steering angle sensor via Steering angle sensor
(131)
CAN communication
NOTE: E
If DTC “U0428” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145,
"ADAS CONTROL UNIT : DTC Logic".
DTC CONFIRMATION PROCEDURE F
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
G
2. Turn the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT-III.
4. Check if the “U0428” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U0428” detected as the current malfunction? H
YES >> Refer to CCS-143, "ADAS CONTROL UNIT : Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident".
I
ADAS CONTROL UNIT : Diagnosis Procedure INFOID:0000000006224403

1.CHECK SELF-DIAGNOSIS RESULTS J

Check if “U1000” is detected other than “U0428” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts. K
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic".
NO >> GO TO 2.
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS L

Check if any DTC is detected in “Self Diagnostic Result” of “ABS”.

Is any DTC detected? M
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
BRC-51, "DTC Index".
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".
N
ICC SENSOR
ICC SENSOR : DTC Logic INFOID:0000000006224404

CCS
DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition Possible causes P

If ICC sensor detects an error signal that is re-
U0428 STRG SEN CAN CIR2 ceived from steering angle sensor via ADAS Steering angle sensor
control unit
NOTE:
If DTC “U0428” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145, "ICC
SENSOR : DTC Logic".

Revision: 2010 May CCS-143 2011 QX56

 U0428 STRG SEN CAN 2
< DTC/CIRCUIT DIAGNOSIS > [ICC]
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT-III.
4. Check if the “U0428” is detected as the current malfunction in “Self Diagnostic Result” of “LASER”.
Is “U0428” detected as the current malfunction?
YES >> Refer to CCS-143, "ADAS CONTROL UNIT : Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident".
ICC SENSOR : Diagnosis Procedure INFOID:0000000006224405

1.CHECK ICC SENSOR SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “U0428” in “Self Diagnostic Result” of “LASER”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ICC SENSOR : DTC Logic".
NO >> GO TO 2.
2.CHECK ADAS CONTROL UNIT SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ICC/ADAS”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
CCS-50, "DTC Index".
NO >> Replace the ICC sensor. Refer to CCS-176, "Exploded View".

Revision: 2010 May CCS-144 2011 QX56

 U1000 CAN COMM CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [ICC]
U1000 CAN COMM CIRCUIT
A
ADAS CONTROL UNIT
ADAS CONTROL UNIT : Description INFOID:0000000006227995
B
CAN COMMUNICATION
CAN (Controller Area Network) is a serial communication line for real time applications. It is an on-vehicle mul-
tiplex communication line with high data communication speed and excellent error detection ability. Modern C
vehicle is equipped with many electronic control units, and each control unit shares information and links with
other control units during operation (not independent). In CAN communication, control units are connected
with 2 communication lines (CAN-H, CAN-L) allowing a high rate of information transmission with less wiring. D
Each control unit transmits/receives data but selectively reads the required data only.
CAN communication signal chart. Refer to LAN-28, "CAN COMMUNICATION SYSTEM : CAN Communica-
tion Signal Chart".
E
ITS COMMUNICATION
• ITS communication is a multiplex communication system. This enables the system to transmit and receive
large quantities of data at high speed by connecting control units with 2 communication lines.
F
• ITS communication lines adopt twisted-pair line style (two lines twisted) for noise immunity.
ADAS CONTROL UNIT : DTC Logic INFOID:0000000006227996

G
DTC DETECTION LOGIC

DTC H
(On board Trouble diagnosis name DTC detecting condition Possible causes
display)
If ADAS control unit is not transmitting or receiv-
U1000
CAN COMM CIRCUIT ing CAN communication signal or ITS communi-
• CAN communication system I
(100) • ITS communication system
cation signal for 2 seconds or more
NOTE:
If “U1000” is detected, first diagnose the CAN communication system. J

ADAS CONTROL UNIT : Diagnosis Procedure INFOID:0000000006227997

K
1.PERFORM THE SELF-DIAGNOSIS
1. Turn the ignition switch ON.
2. Turn the MAIN switch of ICC system ON, and then wait for 30 seconds or more. L
3. Perform “All DTC Reading” with CONSULT-III.
4. Check if the “U1000” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected as the current malfunction? M
YES >> Refer to LAN-18, "Trouble Diagnosis Flow Chart".
NO >> Refer to GI-40, "Intermittent Incident".
ICC SENSOR N
ICC SENSOR : Description INFOID:0000000006224409

CCS
ITS COMMUNICATION
• ITS communication is a multiplex communication system. This enables the system to transmit and receive
large quantities of data at high speed by connecting control units with 2 communication lines
• ITS communication lines adopt twisted-pair line style (two lines twisted) for noise immunity. P

ICC SENSOR : DTC Logic INFOID:0000000006224410

DTC DETECTION LOGIC

Revision: 2010 May CCS-145 2011 QX56

 U1000 CAN COMM CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [ICC]

DTC Trouble diagnosis name DTC detecting condition Possible causes

If ICC sensor is not transmitting or receiving ITS
U1000 CAN COMM CIRCUIT ITS communication system
communication signal for 2 seconds or more

ICC SENSOR : Diagnosis Procedure INFOID:0000000006224411

1.PERFORM THE SELF-DIAGNOSIS

1. Turn the ignition switch ON.
2. Turn the MAIN switch of ICC system ON, and then wait for 2 seconds or more.
3. Perform “All DTC Reading” with CONSULT-III.
4. Check if the “U1000” is detected as the current malfunction in “Self Diagnostic Result” of “LASER”.
Is “U1000” detected as the current malfunction?
YES >> Refer to LAN-18, "Trouble Diagnosis Flow Chart".
NO >> Refer to GI-40, "Intermittent Incident".

Revision: 2010 May CCS-146 2011 QX56

 U1010 CONTROL UNIT (CAN)
< DTC/CIRCUIT DIAGNOSIS > [ICC]
U1010 CONTROL UNIT (CAN)
A
ADAS CONTROL UNIT
ADAS CONTROL UNIT : Description INFOID:0000000006227998
B
CAN controller controls the communication of CAN communication signal and ITS communication signal, and
the error detection.
ADAS CONTROL UNIT : DTC Logic INFOID:0000000006227999
C

DTC DETECTION LOGIC

D
DTC
(On board Trouble diagnosis name DTC detecting condition Possible causes
display) E
U1010 If ADAS control unit detects malfunction by
CONTROL UNIT (CAN) ADAS control unit
(110) CAN controller initial diagnosis
F
ADAS CONTROL UNIT : Diagnosis Procedure INFOID:0000000006228000

1.PERFORM DTC CONFIRMATION PROCEDURE G

1. Turn the MAIN switch of ICC system ON.
2. Perform “All DTC Reading” with CONSULT-III.
3. Check if the “U1010” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
H
Is “U1010” detected as the current malfunction?
YES >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".
NO >> INSPECTION END
I
ICC SENSOR
ICC SENSOR : Description INFOID:0000000006224415
J
CAN controller controls the communication of ITS communication signal and the error detection.
ICC SENSOR : DTC Logic INFOID:0000000006224416
K
DTC DETECTION LOGIC
L
DTC Trouble diagnosis name DTC detecting condition Possible causes
If ICC sensor detects malfunction by CAN con-
U1010 CONTROL UNIT (CAN) ICC sensor
troller initial diagnosis
M
ICC SENSOR : Diagnosis Procedure INFOID:0000000006224417

1.PERFORM DTC CONFIRMATION PROCEDURE N

1. Turn the MAIN switch of ICC system ON.
2. Perform “All DTC Reading” with CONSULT-III.
3. Check if the “U1010” is detected as the current malfunction in “Self Diagnostic Result” of “LASER”. CCS
Is “U1010” detected as the current malfunction?
YES >> Replace the ICC sensor. Refer to CCS-176, "Exploded View".
NO >> INSPECTION END P

Revision: 2010 May CCS-147 2011 QX56

 U150B ECM CAN 3
< DTC/CIRCUIT DIAGNOSIS > [ICC]
U150B ECM CAN 3
DTC Logic INFOID:0000000006224418

DTC DETECTION LOGIC

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
U150B ADAS control unit detects an error signal that is
ECM CAN CIRC 3 ECM
(157) received from ECM via CAN communication
NOTE:
If DTC “U150B” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145,
"ADAS CONTROL UNIT : DTC Logic".
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT-III.
4. Check if the “U150B” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U150B” detected as the current malfunction?
YES >> Refer to CCS-148, "Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000006224419

1.CHECK SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “U150B” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic".
NO >> GO TO 2.
2.CHECK ECM SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ENGINE”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
EC-98, "DTC Index".
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".

Revision: 2010 May CCS-148 2011 QX56

 U150C VDC CAN 3
< DTC/CIRCUIT DIAGNOSIS > [ICC]
U150C VDC CAN 3
A
DTC Logic INFOID:0000000006224420

DTC DETECTION LOGIC B

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes C
play)
ADAS control unit detects an error signal that is
U150C ABS actuator and electric unit (control
VDC CAN CIRC 3 received from ABS actuator and electric unit
(158) unit) D
(control unit) via CAN communication
NOTE:
If DTC “U150C” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145,
"ADAS CONTROL UNIT : DTC Logic". E

DTC CONFIRMATION PROCEDURE

1.PERFORM DTC CONFIRMATION PROCEDURE F
1. Start the engine.
2. Turn the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT-III. G
4. Check if the “U150C” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U150C” detected as the current malfunction?
YES >> Refer to CCS-149, "Diagnosis Procedure". H
NO >> Refer to GI-40, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000006224421
I
1.CHECK SELF-DIAGNOSIS RESULTS
Check if “U1000” is detected other than “U150C” in “Self Diagnostic Result” of “ICC/ADAS”. J
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic". K
NO >> GO TO 2.
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ABS”. L
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
BRC-51, "DTC Index". M
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".

CCS

Revision: 2010 May CCS-149 2011 QX56

 U150D TCM CAN 3
< DTC/CIRCUIT DIAGNOSIS > [ICC]
U150D TCM CAN 3
DTC Logic INFOID:0000000006224422

DTC DETECTION LOGIC

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
U150D ADAS control unit detects an error signal that is
TCM CAN CIRC 3 TCM
(159) received from TCM via CAN communication
NOTE:
If DTC “U150D” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145,
"ADAS CONTROL UNIT : DTC Logic".
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT-III.
4. Check if the “U150D” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U150D” detected as the current malfunction?
YES >> Refer to CCS-150, "Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000006224423

1.CHECK SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “U150D” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic".
NO >> GO TO 2.
2.CHECK TCM SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “TRANSMISSION”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
TM-78, "DTC Index".
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".

Revision: 2010 May CCS-150 2011 QX56

 U150E BCM CAN 3
< DTC/CIRCUIT DIAGNOSIS > [ICC]
U150E BCM CAN 3
A
DTC Logic INFOID:0000000006224424

DTC DETECTION LOGIC B

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes C
play)
U150E ADAS control unit detects an error signal that is
BCM CAN CIRC 3 BCM
(160) received from BCM via CAN communication
D
NOTE:
If DTC “U150E” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145,
"ADAS CONTROL UNIT : DTC Logic".
E
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
F
1. Start the engine.
2. Turn the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT-III.
4. Check if the “U150E” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”. G
Is “U150E” detected as the current malfunction?
YES >> Refer to CCS-151, "Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident". H

Diagnosis Procedure INFOID:0000000006224425

I
1.CHECK SELF-DIAGNOSIS RESULTS
Check if “U1000” is detected other than “U150E” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected? J
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic".
NO >> GO TO 2. K
2.CHECK BCM SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “BCM”.
L
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
BCS-57, "DTC Index".
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation". M

CCS

Revision: 2010 May CCS-151 2011 QX56

 U1502 ICC SENSOR CAN COMM CIRC
< DTC/CIRCUIT DIAGNOSIS > [ICC]
U1502 ICC SENSOR CAN COMM CIRC
DTC Logic INFOID:0000000006224426

DTC DETECTION LOGIC

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
ADAS control unit detects an error signal that is
U1502 ICC SEN CAN COMM
received from ICC sensor via CAN communi- ICC sensor
(147) CIR
cation
NOTE:
If DTC “U1502” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145,
"ADAS CONTROL UNIT : DTC Logic".
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT-III.
4. Check if the “U1502” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1502” detected as the current malfunction?
YES >> Refer to CCS-152, "Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000006224427

1.CHECK SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “U1502” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic".
NO >> GO TO 2.
2.CHECK ICC SENSOR SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “LASER”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
CCS-55, "DTC Index".
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".

Revision: 2010 May CCS-152 2011 QX56

 U1513 METER CAN 3
< DTC/CIRCUIT DIAGNOSIS > [ICC]
U1513 METER CAN 3
A
DTC Logic INFOID:0000000006224428

DTC DETECTION LOGIC B

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes C
play)
ADAS control unit detects an error signal that is
U1513
METER CAN CIRC 3 received from combination meter via CAN Combination meter
(163) D
communication
NOTE:
If DTC “U1513” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145,
"ADAS CONTROL UNIT : DTC Logic". E

DTC CONFIRMATION PROCEDURE

1.PERFORM DTC CONFIRMATION PROCEDURE F
1. Start the engine.
2. Turn the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT-III. G
4. Check if the “U1513” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1513” detected as the current malfunction?
YES >> Refer to CCS-153, "Diagnosis Procedure". H
NO >> Refer to GI-40, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000006224429
I
1.CHECK SELF-DIAGNOSIS RESULTS
Check if “U1000” is detected other than “U1513” in “Self Diagnostic Result” of “ICC/ADAS”. J
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic". K
NO >> GO TO 2.
2.CHECK COMBINATION METER SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “METER/M&A”. L
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
MWI-43, "DTC Index". M
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".

CCS

Revision: 2010 May CCS-153 2011 QX56

 U1514 STRG SEN CAN 3
< DTC/CIRCUIT DIAGNOSIS > [ICC]
U1514 STRG SEN CAN 3
DTC Logic INFOID:0000000006224430

DTC DETECTION LOGIC

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
ADAS control unit detects an error signal that is
U1514
STRG SEN CAN CIRC 3 received from steering angle sensor via CAN Steering angle sensor
(165)
communication
NOTE:
If DTC “U1514” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145,
"ADAS CONTROL UNIT : DTC Logic".
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT-III.
4. Check if the “U1514” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1514” detected as the current malfunction?
YES >> Refer to CCS-154, "Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000006224431

1.CHECK SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “U1514” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic".
NO >> GO TO 2.
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ABS”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
BRC-51, "DTC Index".
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".

Revision: 2010 May CCS-154 2011 QX56

 U1515 ICC SENSOR CAN 3
< DTC/CIRCUIT DIAGNOSIS > [ICC]
U1515 ICC SENSOR CAN 3
A
DTC Logic INFOID:0000000006224432

DTC DETECTION LOGIC B

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes C
play)
ADAS control unit detects an error signal that is
U1515 ICC SENSOR CAN
received from ICC sensor via CAN communi- ICC sensor
(165) CIRC 3 D
cation
NOTE:
If DTC “U1515” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145,
"ADAS CONTROL UNIT : DTC Logic". E

DTC CONFIRMATION PROCEDURE

1.PERFORM DTC CONFIRMATION PROCEDURE F
1. Start the engine.
2. Turn the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT-III. G
4. Check if the “U1515” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1515” detected as the current malfunction?
YES >> Refer to CCS-155, "Diagnosis Procedure". H
NO >> Refer to GI-40, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000006224433
I
1.CHECK SELF-DIAGNOSIS RESULTS
Check if “U1000” is detected other than “U1515” in “Self Diagnostic Result” of “ICC/ADAS”. J
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic". K
NO >> GO TO 2.
2.CHECK ICC SENSOR SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “LASER”. L
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
CCS-55, "DTC Index". M
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".

CCS

Revision: 2010 May CCS-155 2011 QX56

 U1517 ACCELERATOR PEDAL ACTUATOR CAN 3
< DTC/CIRCUIT DIAGNOSIS > [ICC]
U1517 ACCELERATOR PEDAL ACTUATOR CAN 3
DTC Logic INFOID:0000000006224434

DTC DETECTION LOGIC

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
ADAS control unit detects an error signal that is
U1517
APA CAN CIRC 3 received from accelerator pedal actuator via Accelerator pedal actuator
(167)
CAN communication
NOTE:
If DTC “U1517” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145,
"ADAS CONTROL UNIT : DTC Logic".
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT-III.
4. Check if the “U1517” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1517” detected as the current malfunction?
YES >> Refer to CCS-156, "Diagnosis Procedure".
NO >> Refer to GI-40, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000006224435

1.CHECK SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “U1517” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic".
NO >> GO TO 2.
2.CHECK ACCELERATOR PEDAL ACTUATOR SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ACCELE PEDAL ACT”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
DAS-108, "DTC Index".
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".

Revision: 2010 May CCS-156 2011 QX56

 U1520 4WD CAN 3
< DTC/CIRCUIT DIAGNOSIS > [ICC]
U1520 4WD CAN 3
A
DTC Logic INFOID:0000000006224436

DTC DETECTION LOGIC B

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes C
play)
ADAS control unit detects an error signal that is
U1520
4WD CAN CIRC 3 received from transfer control unit via CAN Transfer control unit
(176) D
communication
NOTE:
If DTC “U1520” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-145,
"ADAS CONTROL UNIT : DTC Logic". E

DTC CONFIRMATION PROCEDURE

1.PERFORM DTC CONFIRMATION PROCEDURE F
1. Start the engine.
2. Turn the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT-III. G
4. Check if the “U1520” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1520” detected as the current malfunction?
YES >> Refer to CCS-157, "Diagnosis Procedure". H
NO >> Refer to GI-40, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000006224437
I
1.CHECK SELF-DIAGNOSIS RESULTS
Check if “U1000” is detected other than “U1520” in “Self Diagnostic Result” of “ICC/ADAS”. J
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic". K
NO >> GO TO 2.
2.CHECK TRANSFER CONTROL UNIT SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ALL MODE AWD/4WD”. L
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
DLN-29, "DTC Index". M
NO >> Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".

CCS

Revision: 2010 May CCS-157 2011 QX56

 POWER SUPPLY AND GROUND CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [ICC]
POWER SUPPLY AND GROUND CIRCUIT
ADAS CONTROL UNIT
ADAS CONTROL UNIT : Diagnosis Procedure INFOID:0000000006228002

1.CHECK ADAS CONTROL UNIT POWER SUPPLY CIRCUIT

Check voltage between ADAS control unit harness connector and ground.

Terminal
Condition
(+) (–) Voltage
ADAS control unit (Approx.)
Ignition
Connector Terminal switch
Ground OFF 0V
B61 16 Battery volt-
ON
age
Is the inspection result normal?
YES >> GO TO 2.
NO >> Repair the ADAS control unit power supply circuit.
2.CHECK ADAS CONTROL UNIT GROUND CIRCUIT
1. Turn the ignition switch OFF.
2. Disconnect the ADAS control unit connector.
3. Check for continuity between ADAS control unit harness connector and ground.

ADAS control unit

Continuity
Connector Terminal Ground
B61 6 Existed
Is the inspection result normal?
YES >> INSPECTION END
NO >> Repair the ADAS control unit ground circuit.
ICC SENSOR
ICC SENSOR : Diagnosis Procedure INFOID:0000000006224439

1.CHECK ICC SENSOR POWER SUPPLY CIRCUIT

Check voltage between ICC sensor harness connector and ground.

Terminal
Condition
(+) (–) Voltage
ICC sensor (Approx.)
Ignition
Connector Terminal switch
Ground OFF 0V
E65 1 Battery volt-
ON
age
Is the inspection result normal?
YES >> GO TO 2.
NO >> Repair the ICC sensor power supply circuit.
2.CHECK ICC SENSOR GROUND CIRCUIT
1. Turn the ignition switch OFF.
2. Disconnect the ICC sensor connector.

Revision: 2010 May CCS-158 2011 QX56

 POWER SUPPLY AND GROUND CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [ICC]
3. Check for continuity between ICC sensor harness connector and ground.
A
ICC sensor
Continuity
Connector Terminal Ground
B
E65 4 Existed
Is the inspection result normal?
YES >> INSPECTION END C
NO >> Repair the ICC sensor ground circuit.

CCS

Revision: 2010 May CCS-159 2011 QX56

 INTELLIGENT CRUISE CONTROL SYSTEM SYMPTOMS
< SYMPTOM DIAGNOSIS > [ICC]

SYMPTOM DIAGNOSIS
INTELLIGENT CRUISE CONTROL SYSTEM SYMPTOMS
Symptom Table INFOID:0000000006224440

Symptoms Reference page

MAIN switch does not turn ON
Refer to CCS-161, "Description"
MAIN switch does not turn OFF
ICC system cannot be set (MAIN switch turns
Refer to CCS-162, "Description"
ON/OFF)
CANCEL switch does not function
Operation Resume does not function
Set speed does not increase Refer to CCS-164, "Description"

Set distance to a vehicle ahead cannot be

changed
ICC is not canceled when the A/T selector lever
Refer to CCS-165, "Description"
is “N” position
ICC system display not appear Refer to MWI-29, "On Board Diagnosis Function"
Display/Chime
Chime does not sound Refer to CCS-166, "Description"
Control Driving force is hunting Refer to CCS-168, "Description"
System frequently cannot detect a vehicle ahead
Refer to CCS-169, "Description"
Distance to detect a vehicle ahead is short

Function to detect System misidentifies a vehicle even though there • Adjust laser beam aiming: Refer to CCS-72, "Descrip-
a vehicle ahead is no vehicle ahead tion"
• Perform ICC system action test. Refer to CCS-77, "De-
System misidentifies a vehicle in the next lane scription"
System does not detect a vehicle at all Refer to CCS-171, "Description"

Revision: 2010 May CCS-160 2011 QX56

 MAIN SWITCH DOES NOT TURN ON, MAIN SWITCH DOES NOT TURN OFF
< SYMPTOM DIAGNOSIS > [ICC]
MAIN SWITCH DOES NOT TURN ON, MAIN SWITCH DOES NOT TURN
A
OFF
Description INFOID:0000000006224441
B

MAIN switch does not turn ON

• ICC system display does not appear even when MAIN switch is pressed.
C
MAIN switch does not turn OFF
• When ICC system display is ON, display does not turn OFF even if MAIN switch is pressed.
NOTE: D
When ICC system warning lamp illuminates, perform the self-diagnosis of ICC system, and then repair or
replace the malfunctioning parts.
Diagnosis Procedure INFOID:0000000006224442 E

1.MAIN SWITCH INSPECTION

1. Start the engine. F
2. Check that “MAIN SW” and “CRUISE LAMP” operate normally in “DATA MONITOR” of “ICC/ADAS” with
CONSULT-III.
Is the inspection result normal? G
YES >> GO TO 2.
NO >> GO TO 4.
2.CHECK COMBINATION METER H

Check that “CRUISE IND” operates normally in “DATA MONITOR” of “METER/M&A”.

Is the inspection result normal?
I
YES >> GO TO 3.
NO >> GO TO 4.
3.PERFORM SELF-DIAGNOSIS OF COMBINATION METER J
1. Perform “Self Diagnostic Result” of “METER/M&A”.
2. Check if DTC is detected. Refer to MWI-43, "DTC Index".
Is any DTC detected? K
YES >> Repair or replace malfunctioning parts.
NO >> GO TO 4.
4.PERFORM SELF-DIAGNOSIS RESULTS OF ICC SYSTEM L

1. Perform “All DTC Reading”.

2. Check if the “U1000” is detected in self-diagnosis results of “ICC/ADAS”.
M
Is “U1000” detected?
YES >> GO TO 5.
NO >> GO TO 6. N
5.CAN COMMUNICATIONS INSPECTION
Check the CAN communication and repair or replace malfunctioning parts. Refer to CCS-145, "ADAS CON-
TROL UNIT : DTC Logic". CCS

>> INSPECTION END

P
6.CHECK ICC STEERING SWITCH
Check the ICC steering switch. Refer to CCS-177, "Exploded View".

>> INSPECTION END

Revision: 2010 May CCS-161 2011 QX56

 ICC SYSTEM CANNOT BE SET (MAIN SWITCH TURNS ON/OFF)
< SYMPTOM DIAGNOSIS > [ICC]
ICC SYSTEM CANNOT BE SET (MAIN SWITCH TURNS ON/OFF)
Description INFOID:0000000006224443

The MAIN switch can be turned ON/OFF, but the ICC system cannot be set even if the SET/COAST switch is
pressed.
NOTE:
The system cannot be set in the following case.
• When the vehicle ahead is not detected below the speed of 32 km/h (20 MPH).
• When the selector lever is not in the “D” position or manual mode.
• When the front wipers are operating at HI.
(If the vehicle is equipped with a rain sensing auto-wiper, the system may cancel when the wipers are set to
AUTO)
• When the brake pedal is depressed.
• When driving into a strong light (i.e., sunlight).
• When the VDC is turned OFF.
• When ABS or VDC (including the TCS) operates.
• When a wheel slips.
• When SNOW mode switch is turned ON.
• When ABS warning lamp is ON.
• When 4WD shift switch is not AUTO position.
Diagnosis Procedure INFOID:0000000006224444

1.CHECK CAUSE OF AUTOMATIC CANCELLATION

Check if there is the cancellation cause in the “CAUSE OF AUTO-CANCEL” on “WORK SUPPORT” of “ICC/
ADAS” with CONSULT-III.
Is it displayed?
Not displayed>>GO TO 2.
“OPE SW VOLT CIRC”>>Refer to CCS-94, "DTC Logic".
“VHCL SPD UNMATCH”>>Refer to CCS-87, "DTC Logic".
“IGN LOW VOLT”>>Refer to CCS-85, "ADAS CONTROL UNIT : DTC Logic".
“ECM CIRCUIT”>>Refer to CCS-103, "DTC Logic".
“CAN COMM ERROR”>>Refer to CCS-145, "ADAS CONTROL UNIT : DTC Logic".
“ICC SENSOR CAN COMM ERR”>>Refer to CCS-137, "DTC Logic".
“ABS/TCS/VDC CIRC”>>Refer to CCS-89, "DTC Logic".
“ECD CIRCUIT”>>Refer to CCS-115, "DTC Logic".
2.PERFORM THE SELF-DIAGNOSIS
1. Perform “All DTC Reading”.
2. Check if any DTC is detected in “Self Diagnostic Result” of “ICC/ADAS”” of “LASER”. Refer to CCS-50,
"DTC Index" (ICC/ADAS) or CCS-55, "DTC Index" (LASER).
Is any DTC detected?
YES >> GO TO 3.
NO >> GO TO 4.
3.REPAIR OR REPLACE MALFUNCTIONING PARTS
Repair or replace malfunctioning parts identified by the self-diagnosis result.

>> GO TO 6.
4.CHECK EACH SWITCH AND VEHICLE SPEED SIGNAL
1. Start the engine.
2. Check that the following items operate normally in “DATA MONITOR” of “ICC/ADAS”.
- “VHCL SPEED SE”
- “D RANGE SW”
- “SET/COAST SW”
- “BRAKE SW”
- “WIPER SW”

Revision: 2010 May CCS-162 2011 QX56

 ICC SYSTEM CANNOT BE SET (MAIN SWITCH TURNS ON/OFF)
< SYMPTOM DIAGNOSIS > [ICC]
- “PKB SW”
Is there a malfunctioning item? A
All items are normal>>GO TO 5.
“VHCL SPEED SE”>>Refer to CCS-87, "DTC Logic".
“D RANGE SW”>>Refer to CCS-165, "Diagnosis Procedure". B
“SET/COAST SW”>>Refer to CCS-94, "DTC Logic".
“BRAKE SW”>>Refer to CCS-90, "DTC Logic".
“WIPER SW” (When the front wiper operation is normal)>>GO TO 5.
C
“WIPER SW” (When the front wiper operation is malfunctioning)>>Performs the diagnosis of the front wiper.
Refer to WW-49, "Symptom Table".
“PKB SW”>>Refer to WCS-43, "Diagnosis Procedure".
D
5.REPLACE ADAS CONTROL UNIT
Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".
E
>> GO TO 6.
6.CHECK ICC SYSTEM
F
1. Erase the self-diagnosis results, and then perform “All DTC Reading” again after performing the action
test. (Refer to CCS-77, "Description" for action test.)
2. Check that the ICC system is normal.
G
>> INSPECTION END
H

CCS

Revision: 2010 May CCS-163 2011 QX56

 ICC STEERING SWITCH (OTHER THAN MAIN SWITCH) DOES NOT FUNCTION
< SYMPTOM DIAGNOSIS > [ICC]
ICC STEERING SWITCH (OTHER THAN MAIN SWITCH) DOES NOT
FUNCTION
Description INFOID:0000000006224445

MAIN switch can be turned ON/OFF, but the operation of RESUME/ACCELERATE switch, CANCEL switch,
and DISTANCE switch cannot be performed during ICC system operation.
NOTE:
Resume is not accepted when the following condition is met.
• When the MAIN switch is turned OFF once.
The set distance change is not accepted when any of the following condition is met.
• When the DCA system is turned ON.
Diagnosis Procedure INFOID:0000000006224446

1.CHECK EACH SWITCH

1. Start the engine.
2. Check that each switch operates normally on “DATA MONITOR” of “ICC/ADAS” with CONSULT-III.
- “RESUME/ACC SW”
- “CANCEL SW”
- “DISTANCE SW”
Is the inspection result normal?
YES >> GO TO 5.
NO >> GO TO 2.
2.PERFORM ALL OF THE SELF-DIAGNOSIS ITEMS
1. Perform “All DTC Reading”.
2. Check if the “U1000” is detected in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> GO TO 3.
NO >> GO TO 4.
3.CAN COMMUNICATIONS INSPECTION
Check the CAN communication and repair or replace malfunctioning parts. Refer to CCS-145, "ADAS CON-
TROL UNIT : DTC Logic".

>> INSPECTION END

4.CHECK ICC STEERING SWITCH
Check the ICC steering switch. Refer to CCS-95, "Component Inspection".

>> GO TO 6.
5.REPLACE ADAS CONTROL UNIT
Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".

>> GO TO 6.
6.CHECK ICC SYSTEM
1. Erase the self-diagnosis results, and then perform “All DTC Reading” again after performing the action
test. (Refer to CCS-77, "Description" for action test.)
2. Check that the ICC system is normal.

>> INSPECTION END

Revision: 2010 May CCS-164 2011 QX56

 ICC SYSTEM DOES NOT CANCEL WHEN A/T SELECTOR LEVER SETS ON "N"
< SYMPTOM DIAGNOSIS > [ICC]
ICC SYSTEM DOES NOT CANCEL WHEN A/T SELECTOR LEVER SETS
A
ON "N"
Description INFOID:0000000006224447
B
The ICC system is not canceled even when the A/T selector lever is shifted to the N position while the ICC
system is active.
C
Diagnosis Procedure INFOID:0000000006224448

1.CHECK D RANGE SWITCH

D
Check if “D RANGE SW” operates normally in “DATA MONITOR” of “ICC/ADAS” with CONSULT-III.
Is the inspection result normal?
YES >> GO TO 6. E
NO >> GO TO 2.
2.PERFORM ALL SELF-DIAGNOSIS ITEMS
1. Perform “All DTC Reading”. F
2. Check if the “U1000” is detected in “self-diagnosis results” of “ICC/ADAS”.
Is “U1000” detected?
YES >> GO TO 3. G
NO >> GO TO 4.
3.CAN COMMUNICATIONS INSPECTION H
Check the CAN communication and repair or replace malfunctioning parts. Refer to CCS-145, "ADAS CON-
TROL UNIT : DTC Logic".
I
>> INSPECTION END
4.CHECK POSITION SWITCH
J
Check if “SLCT LVR POSI” operates normally in “DATA MONITOR” of “TRANSMISSION”.
Is the inspection result normal?
YES >> GO TO 6. K
NO >> GO TO 5.
5.PERFORM TCM SELF-DIAGNOSIS
1. Perform the “Self Diagnostic Result” of “TRANSMISSION”. L
2. Repair or replace malfunctioning parts. Refer to TM-78, "DTC Index".

>> GO TO 7. M
6.REPLACE ADAS CONTROL UNIT
Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation". N

>> GO TO 7.
7.CHECK ICC SYSTEM CCS

1. Erase the self-diagnosis results, and then perform “All DTC Reading” again after performing the action
test. (Refer to CCS-77, "Description" for action test.)
2. Check that the ICC system is normal. P

>> INSPECTION END

Revision: 2010 May CCS-165 2011 QX56

 CHIME DOES NOT SOUND
< SYMPTOM DIAGNOSIS > [ICC]
CHIME DOES NOT SOUND
Description INFOID:0000000006224449

Symptom check: In the following conditions, the warning chime may not sound even if the vehicle distance is
short.
• When the vehicles are traveling at the same speed and the distance between vehicles is not changing.
• When the vehicle ahead is traveling faster and the distance between vehicles is increasing.
• The warning chime will not sound when the accelerator pedal is depressed, overriding the system.
• The warning chime will not sound when own vehicle approaches vehicles that are parked or moving slowly.
• The warning chime does not sound when the system does not detect any vehicle ahead. (Diagnose the con-
ditions under which the system is detecting the vehicle ahead and when the system is malfunctioning. If
there is any malfunction in detecting the vehicle ahead, check the system following the CCS-169, "Descrip-
tion".)
Diagnosis Procedure INFOID:0000000006224450

1.PERFORM ACTIVE TEST

Check if the warning chime sounds on the active test item “ICC BUZZER” of “ICC/ADAS” with CONSULT-III.
Does the warning chime sound?
YES >> GO TO 2.
NO >> GO TO 3.
2.CHECK THE MALFUNCTION SYMPTOM DURING WARNING CHIME OPERATION
Understand the vehicle ahead detecting condition when the malfunction occurred. If the warning chime should
have sounded, replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".

>> GO TO 8.
3.CHECK ICC WARNING CHIME CIRCUIT
Check the meter buzzer circuit. Refer to WCS-40, "Component Function Check".
Is the inspection result normal?
YES >> GO TO 4.
NO >> GO TO 6.
4.PERFORM THE SELF-DIAGNOSIS
1. Perform “All DTC Reading” with CONSULT-III.
2. Check if the “U1000” is detected in self-diagnosis results of “ICC/ADAS”.
Is “U1000” detected?
YES >> GO TO 5.
NO >> GO TO 7.
5.CAN COMMUNICATIONS SYSTEM INSPECTION
Check the CAN communication system and repair or replace malfunctioning parts. Refer to CCS-145, "ADAS
CONTROL UNIT : DTC Logic".

>> INSPECTION END

6.REPAIR OR REPLACE MALFUNCTIONING PARTS
Repair or replace malfunctioning parts.

>> GO TO 8.
7.REPLACE ADAS CONTROL UNIT
Replace the ADAS control unit. Refer to DAS-63, "Removal and Installation".

>> GO TO 8.

Revision: 2010 May CCS-166 2011 QX56

 CHIME DOES NOT SOUND
< SYMPTOM DIAGNOSIS > [ICC]

8.CHECK ICC SYSTEM A

1. Erase the self-diagnosis results, and then perform “All DTC Reading” again after performing the action
test. (Refer to CCS-77, "Description" for action test.)
2. Check that the ICC system is normal.
B

>> INSPECTION END

C

CCS

Revision: 2010 May CCS-167 2011 QX56

 DRIVING FORCE IS HUNTING
< SYMPTOM DIAGNOSIS > [ICC]
DRIVING FORCE IS HUNTING
Description INFOID:0000000006224451

The vehicle causes hunting when the ICC system is active.

Diagnosis Procedure INFOID:0000000006224452

1.PERFORM SELF-DIAGNOSIS OF ECM

1. Perform “All DTC Reading” with CONSULT-III.
2. Check if the DTC is detected in self-diagnosis results of “ENGINE”. Refer to EC-98, "DTC Index".
Is any DTC detected?
YES >> GO TO 3.
NO >> GO TO 2.
2.CHECK ICC SENSOR BODY WINDOW
1. Check the vehicle driving conditions. Refer to CCS-169, "Description".
2. Check the ICC sensor body window for contamination, foreign materials, or cracks. Refer to CCS-169,
"Diagnosis Procedure".

>> INSPECTION END

3.REPAIR OR REPLACE MALFUNCTIONING PARTS
Repair or replace malfunctioning parts identified by the self-diagnosis result.

>> GO TO 4.
4.CHECK ICC SYSTEM
1. Erase the self-diagnosis results, and then perform “All DTC Reading” again after performing the action
test. (Refer to CCS-77, "Description" for action test.)
2. Check that the ICC system is normal.

>> INSPECTION END

Revision: 2010 May CCS-168 2011 QX56

 FREQUENTLY CANNOT DETECT THE VEHICLE AHEAD / DETECTION ZONE IS
SHORT
< SYMPTOM DIAGNOSIS > [ICC]
FREQUENTLY CANNOT DETECT THE VEHICLE AHEAD / DETECTION
A
ZONE IS SHORT
Description INFOID:0000000006224453
B
The detection function may become unstable in the following cases.
• When the reflector of the vehicle ahead is deficient/ not clean enough to reflect ICC sensor.
• When driving a road with extremely sharp corners. C
• When the sensor cannot detect the reflector of the vehicle ahead as the vehicle ahead is passing a hill or
passing the peak.
Diagnosis Procedure INFOID:0000000006224454 D

1.VISUAL CHECK (1)

Check ICC sensor body window for contamination and/or foreign materials. E
Do foreign materials adhere?
YES >> GO TO 2.
NO >> GO TO 3. F
2.WIPE OUT DIRT AND FOREIGN MATERIALS
Wipe out the contamination and/or foreign materials from the ICC sensor body window. G

>> GO TO 7.
3.VISUAL CHECK (2) H

Check ICC sensor body window for cracks and scratches.

Are there any cracks or scratches? I
YES >> GO TO 5.
NO >> GO TO 4.
4.ADJUST LASER BEAM AIMING J
1. Adjust the laser beam aiming. Refer to CCS-72, "Description".
2. Perform ICC system action test. Refer to CCS-77, "Description".
3. Check that the vehicle ahead detection performance improves. K
Does it improve?
YES >> INSPECTION END
NO >> GO TO 5. L
5.REPLACE ICC SENSOR
1. Replace ICC sensor. Refer to CCS-176, "Exploded View". M
2. Adjust the laser beam aiming. Refer to CCS-72, "Description".
3. Perform ICC system action test. Refer to CCS-77, "Description".
4. Check that the vehicle ahead detection performance improves.
N
Does it improve?
YES >> INSPECTION END
NO >> GO TO 6.
CCS
6.REPLACE ADAS CONTROL UNIT
Replace ADAS control unit. Refer to DAS-63, "Removal and Installation".
P
>> GO TO 7.
7.CHECK ICC SYSTEM
1. Erase the self-diagnosis results, and then perform “All DTC Reading” again after performing the action
test. (Refer to CCS-77, "Description" for action test.)
2. Check that the ICC system is normal.

Revision: 2010 May CCS-169 2011 QX56

 FREQUENTLY CANNOT DETECT THE VEHICLE AHEAD / DETECTION ZONE IS
SHORT
< SYMPTOM DIAGNOSIS > [ICC]
>> INSPECTION END

Revision: 2010 May CCS-170 2011 QX56

 THE SYSTEM DOES NOT DETECT THE VEHICLE AHEAD AT ALL
< SYMPTOM DIAGNOSIS > [ICC]
THE SYSTEM DOES NOT DETECT THE VEHICLE AHEAD AT ALL
A
Description INFOID:0000000006224455

When ICC system is active, the ICC system does not perform any control even through there is a vehicle B
ahead.
Diagnosis Procedure INFOID:0000000006224456

C
1.CHECK ICC SYSTEM DISPLAY ON MULTI INFORMATION DISPLAY
1. Start the self-diagnosis mode of combination meter. Refer to MWI-29, "On Board Diagnosis Function".
2. Check that the multi information display turns on normally. D
Is the inspection result normal?
YES >> GO TO 2.
NO >> Replace the combination meter. E
2.VISUAL CHECK (1)
Check ICC sensor body window for contamination and/or foreign materials. F
Do foreign materials adhere?
YES >> GO TO 3.
NO >> GO TO 4. G
3.WIPE OUT DIRT AND FOREIGN MATERIALS
Wipe out the contamination and/or foreign materials from the ICC sensor body window.
H

>> GO TO 8.
4.VISUAL CHECK (2) I
Check ICC sensor body window for cracks and/or scratches.
Are there cracks?
J
YES >> GO TO 6.
NO >> GO TO 5.
5.LASER BEAM AIMING ADJUSTMENT K
1. Adjust the laser beam aiming. Refer to CCS-72, "Description".
2. Perform ICC system action test. Refer to CCS-77, "Description".
3. Check that the vehicle ahead detection performance improves. L
Does it improve?
YES >> INSPECTION END
NO >> GO TO 6. M
6.REPLACE ICC SENSOR
1. Replace the ICC sensor. Refer to CCS-176, "Exploded View".
2. Adjust the laser beam aiming. Refer to CCS-72, "Description". N
3. Perform ICC system action test. Refer to CCS-77, "Description".
4. Check that the vehicle ahead detection performance improves.
Does it improve? CCS
YES >> INSPECTION END
NO >> GO TO 7.
7.REPLACE ADAS CONTROL UNIT P

Replace ADAS control unit. Refer to DAS-63, "Removal and Installation".

>> GO TO 8.
8.CHECK ICC SYSTEM

Revision: 2010 May CCS-171 2011 QX56

 THE SYSTEM DOES NOT DETECT THE VEHICLE AHEAD AT ALL
< SYMPTOM DIAGNOSIS > [ICC]
1. Erase the self-diagnosis results, and then perform “All DTC Reading” again after performing the action
test. (Refer to CCS-77, "Description" for action test.)
2. Check that the ICC system is normal.

>> INSPECTION END

Revision: 2010 May CCS-172 2011 QX56

 NORMAL OPERATING CONDITION
< SYMPTOM DIAGNOSIS > [ICC]
NORMAL OPERATING CONDITION
A
Description INFOID:0000000006224457

PRECAUTIONS FOR VEHICLE-TO-VEHICLE DISTANCE CONTROL MODE B

• ICC system is only an aid to assist the driver and is not a collision warning or avoidance device. It is the
driver's responsibility to stay alert, drive safely and be in control of the vehicle at all times.
• The system is primarily intended for use on straight, dry, open roads with light traffic. It is not advisable to C
use the system in city traffic or congested areas.
• This system will not adapt automatically to road conditions. This system should be used in evenly flowing
traffic. Do not use the system on roads with sharp curves, or on icy roads, in heavy rain or in fog.
• The ICC sensor will not detect under most conditions. D
- Stationary and slow moving vehicles.
- Pedestrians or objects in the roadway.
- Oncoming vehicles in the some lane. E
- Motorcycles traveling offset in the travel lane.
• As there is a performance limit to the distance control function, never rely solely on the ICC system. This
system does not correct careless, inattentive or absent-minded driving, or overcome poor visibility in rain,
fog, or other bad weather. Decelerate the vehicle speed by depressing the brake pedal, depending on the F
distance to the vehicle ahead and the surrounding circumstances in order to maintain a safe distance
between vehicles.
• If the vehicle ahead comes to a stop, the vehicle decelerates to a standstill within the limitations of the sys- G
tem. The system will cancel once it judges that the vehicle has come to a standstill and sound a warning
chime. To prevent the vehicle from moving, the driver must depress the brake pedal.
• The system may not detect the vehicle in front of the driver in certain road or weather conditions. To avoid
H
accidents, never use the ICC system under the following conditions:
- On roads where the traffic is heavy or there are sharp curves.
- On slippery road surfaces such as on ice or snow, etc.
- On off-road surfaces such as on sand or rock, etc. I
- During bad weather (rain, fog, snow, etc.)
- When the windshield wipers are operating at high speed. The ICC system may cancel when the wipers are
set to the AUTO position.
J
- When strong light (for example, at sunrise or sunset) is directly shining on the front of the vehicle.
- When rain, snow or dirt adhere to the system sensor.
- On steep downhill roads (the vehicle may go beyond the set vehicle speed and frequent braking may result
in overheating the brakes). K
- On repeated uphill and downhill roads.
- When traffic conditions make it difficult to keep a proper distance between vehicles because of frequent
acceleration or deceleration. L
- When towing a trailer or other vehicle
• In some road or traffic conditions, a vehicle or object can unexpectedly come into the sensor detection zone
and cause automatic braking. The driver may need to control the distance from other vehicles using the
accelerator pedal. Always stay alert and avoid using the ICC system when it is not recommended in this sec- M
tion.
• The vehicle-to-vehicle distance control mode uses a sensor located on the front of the vehicle to detect vehi-
cles traveling ahead. The sensor generally detects the signals returned from the reflectors on a vehicle N
ahead. Therefore, if the sensor cannot detect the reflector on the vehicle ahead, the ICC system may not
maintain the selected distance.
• The following are some conditions in which the sensor cannot detect the signals:
- When the reflector of the vehicle ahead is positioned high on the vehicle (trailer, etc.). CCS
- When the reflector on the vehicle ahead is missing, damaged or covered.
- When the reflector of the vehicle ahead is covered with dirt, snow and road spray.
- When the snow or road spray from traveling vehicles reduces the sensor's visibility. P
- When dense exhaust or other smoke (black smoke) from vehicles reduces the sensor's visibility.
- When excessively heavy baggage is loaded in the rear seat or the luggage room of own vehicle.
- When the vehicle is towing a trailer, etc.
• The ICC system is designed to automatically check the sensor's operation within the limitation of the system.
When the sensor is covered with dirt or is obstructed, the system will automatically be canceled. If the sen-
sor is covered with ice, a transparent or translucent vinyl bag, etc., the ICC system may not detect them. In
these instances, the vehicle-to-vehicle distance control mode may not cancel and may not be able to main-
tain the selected following distance from the vehicle ahead. Be sure to check and clean the sensor regularly.

Revision: 2010 May CCS-173 2011 QX56

 NORMAL OPERATING CONDITION
< SYMPTOM DIAGNOSIS > [ICC]
• The ICC system does not control vehicle speed or warn the driver when own vehicle approaches stationary
and slow moving vehicles. The driver must pay attention to vehicle operation to maintain proper distance
from vehicles ahead when approaching toll gates or traffic congestion.
• The detection zone of the ICC sensor is limited. A vehicle ahead
must be in the detection zone for the vehicle-to-vehicle distance
detection mode to maintain the selected distance from the vehicle
ahead. A vehicle ahead may move outside of the detection zone
due to its position within the same lane of travel. Motorcycles may
not be detected in the same lane ahead if they are traveling offset
from the center line of the lane. A vehicle that is entering the lane
ahead may not be detected until the vehicle has completely moved
into the lane. If this occurs, the ICC system may warn the driver by
blinking the system indicator and sounding the chime. The driver
may have to manually control the proper distance away from vehi-
cle traveling ahead.

JPOIA0221ZZ

• When driving on some roads, such as winding, hilly, curved, nar-

row roads, or roads which are under construction, the ICC sensor
may detect vehicles in a different lane, or may temporarily not
detect a vehicle traveling ahead. This may cause the ICC system
to decelerate or accelerate the vehicle. The detection of vehicles
may also be affected by vehicle operation (steering maneuver or
traveling position in the lane, etc.) or vehicle condition. If this
occurs, the ICC system may warn the driver by blinking the system
indicator and sounding the chime unexpectedly. The driver will
have to manually control the proper distance away from the vehicle
traveling ahead.

JPOIA0220ZZ

Revision: 2010 May CCS-174 2011 QX56

 NORMAL OPERATING CONDITION
< SYMPTOM DIAGNOSIS > [ICC]
• When driving on the freeway at a set speed and approaching a
slower traveling vehicle ahead, the ICC will adjust the speed to A
maintain the distance, selected by the driver, from the vehicle
ahead. If the vehicle ahead changes lanes or exits the freeway, the
ICC system will accelerate and maintain the speed up to the set
B
speed. Pay attention to the driving operation to maintain control of
the vehicle as it accelerates to the set speed. The vehicle may not
maintain the set speed on winding or hilly roads. If this occurs, the
driver will have to manually control the vehicle speed. C

JPOIA0219ZZ

D
• The sensor sensitivity can be affected by vehicle operation (steering maneuver or driving position in the
lane) or traffic or vehicle condition (for example, if a vehicle is being driven with some damage).
• Normally when controlling the distance to a vehicle ahead, this system automatically accelerates or deceler- E
ates own vehicle according to the speed of the vehicle ahead. Depress the accelerator to properly acceler-
ate own vehicle when acceleration is required for a lane change. Depress the brake pedal when
deceleration is required to maintain a safe distance to the vehicle ahead due to its sudden braking or if a
vehicle cuts in. Always stay alert when using the ICC system. F

PRECAUTIONS FOR CONVENTIONAL (FIXED SPEED) CRUISE CONTROL MODE

• In the conventional (fixed speed) cruise control mode, a warning chime does not sound to warn the driver if G
own vehicle is too close to the vehicle ahead, as neither the presence of the vehicle ahead nor the vehicle-
to-vehicle distance is detected.
• Pay special attention to the distance between own vehicle and the vehicle ahead or a collision could occur.
• Always confirm the setting in the ICC system display. H
• Do not use the conventional (fixed speed) cruise control mode when driving under the following conditions:
- When it is not possible to keep the vehicle at a set speed.
- In heavy traffic or in traffic that varies in speed. I
- On winding or hilly roads.
- On slippery roads (rain, snow, ice, etc.).
- In very windy areas.
• Doing so could cause a loss of vehicle control and result in an accident. J
• To avoid accidentally engaging cruise control, make sure to the MAIN switch OFF when not using ICC sys-
tem.
K

CCS

Revision: 2010 May CCS-175 2011 QX56

 ICC SENSOR
< REMOVAL AND INSTALLATION > [ICC]

REMOVAL AND INSTALLATION

ICC SENSOR
Exploded View INFOID:0000000006224458

CAUTION:
Always perform the laser beam aiming adjustment and check the operation after the replacement,
removal and installation of ICC sensor.

JSOIA0363ZZ

1. ICC sensor 2. Front bumper reinforcement

Removal and Installation INFOID:0000000006224459

REMOVAL
1. Remove front under cover. Refer to EXT-25, "Exploded View".
2. Disconnect the connector of ICC sensor.
3. Remove the bolts.
4. Remove ICC sensor from front bumper reinforcement.
NOTE:
Remove ICC sensor from under the bumper.
INSTALLATION
Install in the reverse order of removal.
CAUTION:
Always perform the laser beam aiming adjustment and check the operation after the replacement,
removal, and installation of ICC sensor. Refer to CCS-71, "Description".

Revision: 2010 May CCS-176 2011 QX56

 ICC STEERING SWITCH
< REMOVAL AND INSTALLATION > [ICC]
ICC STEERING SWITCH
A
Exploded View INFOID:0000000006224460

Refer to ST-33, "Exploded View". B

NOTE:
Always remove ICC steering switch together with steering wheel.
C

CCS

Revision: 2010 May CCS-177 2011 QX56

 AUTOMATIC SPEED CONTROL DEVICE (ASCD)
< SYSTEM DESCRIPTION > [ASCD]

SYSTEM DESCRIPTION
AUTOMATIC SPEED CONTROL DEVICE (ASCD)
Information INFOID:0000000006289721

Automatic Speed Control Device (ASCD) system is controlled by ECM.

Regarding the information for ASCD system, refer to following;
• VK56VD: EC-48, "AUTOMATIC SPEED CONTROL DEVICE (ASCD) : System Description"

Revision: 2010 May CCS-178 2011 QX56