CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–1

CAN COMMUNICATION SYSTEM

PRECAUTION
1. STEERING SYSTEM HANDLING PRECAUTIONS
(a) Care must be taken when replacing parts. Incorrect
replacement could affect the performance of the
steering system and result in hazardous driving.
2. SRS AIRBAG SYSTEM HANDLING PRECAUTIONS
(a) This vehicle is equipped with an SRS
(Supplemental Restraint System) such as the
driver's airbag and front passenger airbag. Failure
to carry out service operations in the correct
sequence could cause unexpected SRS
deployment during servicing and may lead to a
serious accident. Before servicing (including
removal or installation of parts, inspection or
replacement), be sure to read the precautionary
notice for the Supplemental Restraint System (See
page RS-1).
3. BUS LINE REPAIR
(a) After repairing the bus line with solder, wrap the
repaired part with vinyl tape (See page IN-31).
NOTICE:
• The CANL bus line and CANH bus line must
be installed together, all the time.
• When installing, make sure to twist them.
• CAN bus lines are likely to be influenced by
noise if the bus lines are not twisted.
F045104E04 • The difference in length of the CANL bus line
and CANH bus line should be within 100mm
(3.937 in.).
• Leave approximately 80 mm (3.150 in.) loose
in the twist around the connector.
(b) Do not use bypass wiring between the connectors.
NOTICE:
Bypass Wire The feature of the twisted wire harness will be
lost if you use bypass wiring.

F045105E09
CA
 CA–2 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

4. CONNECTOR HANDLING
(a) When inserting tester probes into a connector, insert
them from the rear of the connector.

Tester Probe
F045106E06

(b) Use a repair wire to check the connector if it is

Repair Wire
impossible to check continuity from the rear of the
connector.
5. EXPRESSIONS OF IGNITION SWITCH
(a) The type of ignition switch used on this model differs
according to the specifications of the vehicle.
The expressions listed in the table below are used
in this section.

F045107E11

Switch Type Ignition Switch (position) Engine Switch (condition)

Ignition Switch off LOCK Off
Ignition Switch on (IG) ON On (IG)
Expression
Ignition Switch on (ACC) ACC On (ACC)
Engine Start START Start

CA
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–3

PARTS LOCATION

SKID CONTROL ECU WITH ABS ACTUATOR

SKID CONTROL ECU WITH VSC ACTUATOR

C114935E01

CA
 CA–4 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

NETWORK GATEWAY ECU

STEERING ANGLE SENSOR

ECM

DLC3

YAW RATE SENSOR

DISTANCE CONTROL ECU

CA

C114936E01
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–5

SYSTEM DIAGRAM

ECM
: CAN Main BUS Line (CAN-H)

: CAN Main BUS Line (CAN-L)

120 Ω +- 10%
: CAN Sub BUS Line (CAN-H)

: CAN Sub BUS Line (CAN-L)

Distance Control
ECU

Yaw Rate Sensor

DLC3

Steering Angle
Sensor

Network Gateway
ECU

Junction Connector (J/C)

*1
*1

*1: without VSC

120 Ω +- 10% 120 Ω +- 10%

Skid Control ECU

with VSC Actuator
Skid Control ECU
with ABS Actuator
CA

Serial Communication Line (SIL)

C129807E02
 CA–6 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

HINT:
• The skid control ECU with actuator detects and stores
steering angle sensor and yaw rate sensor DTCs and
performs DTC communication by receiving information
from the steering angle sensor and yaw rate sensor.
• The ECM uses the CAN communication system to perform
DTC communication instead of the conventional
communication line (SIL).

CA
CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–7

SYSTEM DESCRIPTION
1. BRIEF DESCRIPTION
(a) The CAN (Controller Area Network) is a serial data
communication system for real time application. It is
a vehicle multiplex communication system which
has a high communication speed (500 kbps) and
the ability to detect malfunctions.
(b) By pairing the CANH and CANL bus lines, the CAN
performs communication based on differential
voltage.
(c) Many ECUs (sensors) installed on the vehicle
operate by sharing information and communicating
with each other.
(d) The CAN has two resistors of 120 Ω which are
necessary to communicate with the main bus line.
2. DEFINITION OF TERMS
(a) Main bus line
(1) The main bus line is a wire harness between the
two terminus circuits on the bus (communication
line). This is the main bus in the CAN
communication system.
(b) Sub bus line
(1) The sub bus line is a wire harness which
diverges from the main bus line to a ECU or
sensor.
(c) Terminus circuit
(1) The terminus circuit is a circuit which is placed to
convert communication current of the CAN
communication into bus voltage. It consists of a
resistor and condenser. Two terminus circuits
are necessary on a bus.
3. ECUS OR SENSORS WHICH COMMUNICATE
THROUGH CAN COMMUNICATION SYSTEM
(a) Skid Control ECU with ABS Actuator
(b) Skid Control ECU with VSC Actuator
(c) Yaw Rate Sensor
(d) Steering Angle Sensor
(e) Distance Control ECU
(f) ECM
(g) Network Gateway ECU
4. DIAGNOSTIC CODE FOR CAN COMMUNICATION
SYSTEM
(a) DTCs for the CAN communication system are as
follows:
U0073, U0100, U0101, U0122, U0123, U0124,
CA
U0126, U0132, U1101
NOTICE:
U0001, U0235, and U1102 are displayed on the
intelligent tester "Communication Malfunction
DTC" (See page ES-60) screen, but they are not
DTCs in the CAN communication system. Refer
to troubleshooting of each system.
 CA–8 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

5. REMARK FOR TROUBLESHOOTING

(a) Trouble in the CAN bus (communication line) can be
checked from the DLC3 (except when there is a
wire break other than in the sub bus line of the
DLC3).
NOTICE:
Do not insert the tester directly into the DLC3
connector. Be sure to use a service wire.
(b) DTCs regarding the CAN communication system
can be checked using the intelligent tester.
(c) The CAN communication system cannot detect
trouble in the sub bus line of the DLC3 even though
the DLC3 is also connected to the CAN
communication system.
6. HOW TO DISTINGUISH THE JUNCTION
CONNECTOR (J/C)
(a) In the CAN communication system, the shape of all
connectors connected to the J/C is the same. The
connectors connected to the J/C can be
distinguished by the colors of the bus lines and the
connecting side of the connector.
HINT:
See "TERMINALS OF ECU" (See page CA-10) for
bus line color or the type of connecting surface.

CA
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–9

HOW TO PROCEED WITH

TROUBLESHOOTING
NOTICE:
• DTCs for the CAN communication system are as
follows:
U0073, U0100, U0101, U0122, U0123, U0124, U0126,
U0132, U0145, U1101.
• Refer to troubleshooting of each system if DTCs
regarding the CAN communication system are not
output.

1 CHECK AND CLEAR DTCs

NEXT

2 CHECK FOR INSTALLED SYSTEMS (ECUS & SENSORS) THAT ADOPT CAN
COMMUNICATION

(a) Check which of the following is adopted: dynamic radar /

laser cruise control and vehicle stability control.
NEXT

3 CHECK CAN BUS LINE

NEXT

4 CHECK INTELLIGENT TESTER VIA CAN VIM

(a) Select "BUS CHECK" (See page CA-35)

Standard:
All ECUs and sensors connected to the CAN
communication system are displayed.
NOTICE:
• The systems (ECUs, sensors) that adopt CAN
communication vary depending on the vehicle
and option settings. Check which systems (ECUs,
sensors) are installed on the vehicle.
• Non-installed ECUs or sensors are not displayed.
Do not mistake them for being in the
communication stop mode. CA
NO COMMUNICATION STOP MODE TABLE

YES

5 DTC COMBINATION TABLE

(a) Confirm trouble according to the combination of output

DTCs regarding the CAN communication system.
 CA–10 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

HINT:
Previous CAN communication system DTCs may be the
cause if CAN communication system DTCs are output
and all ECUs and sensors connected to the CAN
communication system are displayed on the intelligent
tester's "BUS CHECK" screen via the CAN VIM.
NEXT

6 CIRCUIT INSPECTION

NEXT

7 IDENTIFICATION OF PROBLEM

NEXT

8 REPAIR OR REPLACE

NEXT

9 CONFIRMATION TEST

NEXT

END

CA
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–11

PROBLEM SYMPTOMS TABLE

1. COMMUNICATION STOP MODE TABLE
(a) Check that there is no open circuit in the CAN main
bus line, short between the lines, or short to +B in
the "CHECK CAN BUS LINE" . Select "BUS
CHECK" on the intelligent tester via the CAN VIM.
(b) Check that the communication stop mode of the
ECUs or sensors is not displayed among the
following: "ENGINE", "ECT", "CRUISE CONTROL",
"ABS / VSC / TRAC", "YAW / DECELERAT",
"STEERING SENSOR", and "BODY / GATEWAY".
NOTICE:
• Systems using the CAN communication
system differ according to optional settings.
Check which ECUs or sensors are installed
on the vehicle.
• Non-installed ECUs or sensors are not
displayed. Be careful not to consider that
they are in communication stop mode.
• If 2 or more ECUs or sensors are not
displayed on the intelligent tester via the CAN
VIM, perform troubleshooting for
communication stop mode for each
undisplayed ECU or sensor. (Either side of
the CAN bus lines may be open.)
CAN COMMUNICATION SYSTEM
Symptom Suspected area See page
"ENGINE" and "ECT" are not displayed on the ECM COMMUNICATION STOP MODE CA-29
intelligent tester via CAN VIM. (*1)
"ABS / VSC / TRAC" is not displayed on the intelligent SKID CONTROL ECU COMMUNICATION STOP MODE CA-18
tester via CAN VIM. (*1)
"ABS / VSC / TRAC" is not displayed on the intelligent SKID CONTROL ECU WITH ACTUATOR COMMUNICATION CA-18
tester via CAN VIM. (*1) STOP MODE
"STEERING SENSOR" is not displayed on the STEERING SENSOR COMMUNICATION STOP MODE CA-25
intelligent tester via CAN VIM. (*1)
"YAW / DECELERAT" is not displayed on the YAW RATE SENSOR COMMUNICATION STOP MODE CA-27
intelligent tester via CAN VIM. (*1)
"CRUISE CONTROL" is not displayed on the DISTANCE CONTROL ECU COMMUNICATION STOP MODE CA-21
intelligent tester via CAN VIM. (*2)
"BODY / GATEWAY" is not displayed on the intelligent GATEWAY ECU COMMUNICATION STOP MODE CA-23
tester via CAN VIM. (*1)

CA
 CA–12 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

TERMINALS OF ECU
HINT:
This section describes the standard CAN values for all CAN
related components.
1. JUNCTION CONNECTOR (J/C)
CAN J/C A Side (w/ Earth Terminal): (a) CAN J/C A side (w/ earth terminal) and CAN J/C B
side (w/o earth terminal):
HINT:
• The connectors connected to the junction
connector (J/C) can be distinguished by the
colors of the bus lines and the connecting side of
the connector.
• The connectors can be connected to any
terminals on the same side.
Earth Terminal

CAN J/C B Side (w/o Earth Terminal):

G026214E11

CAN J/C Connectors (A side, w/ earth

Color (CAN-H Side) Color (CAN-L Side)
terminal)
Steering sensor L W
Yaw rate sensor R W
ECM G W
DLC3 P W

CAN J/C Connectors (B side, w/o earth

Color (CAN-H Side) Color (CAN-L Side)
terminal)
Skid control ECU with VSC actuator B W
Skid control ECU with ABS actuator B W
Distance control ECU L W
Network gateway ECU W V

(b) The terminals on connectors for the J/C:

CAN J/C Connector Front View:
Terminal Terminal symbol
1 CANH
CA 2 CANL

G026205E07
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–13

(c) WIRING DIAGRAM FOR IDENTIFYING J/C

CONNECTORS

Skid Control ECU

with ABS Actuator
Skid Control ECU
with VSC Actuator
Distance Control Network
ECU Gateway ECU
W

B
L W W V B W B Side (w/o Earth
CANH CANL CA1H CA1L CANH CANL Terminal)

CAN J/C

CANH CANL CANH CANL CANH CANL CANH CANL A Side (w/ Earth
R W L W P W G W Terminal)

Yaw Rate Steering Angle

DLC3 ECM
Sensor Sensor

C129809E02

2. DLC3
DLC3: D20 (a) Measure the resistance according to the value(s) in
CG CANH
the table below.

BAT

CANL C123301E01
CA
Resistance
Terminals Wiring Color Condition Specified Condition
D20-6 (CANH) - D20-14 (CANL) P-W Ignition switch off 54 to 69 Ω
D20-6 (CANH) - D20-4 (CG) P - W-B Ignition switch off 1 kΩ or more
D20-14 (CANL) - D20-4 (CG) W - W-B Ignition switch off 1 kΩ or more
D20-6 (CANH) - D20-16 (BAT) P-L Ignition switch off 1 MΩ or more
D20-14 (CANL) - D20-16 (BAT) W-L Ignition switch off 1 MΩ or more
 CA–14 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

Skid Control ECU

3. SKID CONTROL ECU (Skid control ECU with VSC
Connector Front View:
A34 Actuator)
CANH (a) Disconnect the connector from the skid control
ECU.
+BS (b) Measure the resistance according to the value(s) in
the table below.

GND1 CANL E069126E30

Resistance
Terminals Wiring Color Condition Specified Condition
A34-11 (CANH) - A34-25 (CANL) B-W Ignition switch off 108 to 132 Ω
A34-11 (CANH) - A34-32 (GND1) B - W-B Ignition switch off 1 kΩ or more
A34-25 (CANL) - A34-32 (GND1) W - W-B Ignition switch off 1 kΩ or more
A34-11 (CANH) - A34-31 (+BS) B-L Ignition switch off 1 MΩ or more
A34-25 (CANL) - A34-31 (+BS) W-L Ignition switch off 1 MΩ or more

4. SKID CONTROL ECU (Skid control ECU with ABS

Skid Control ECU Connector Front View:
Actuator)
CANL (a) Disconnect the connector from the skid control
+BS A40
ECU.
5 6 7 8 9 10 11 12 13 14 15
(b) Measure the resistance according to the value(s) in
1 2 3 4
16 17 18 19 20 21 22 23 24 25 26 the table below.

GND1 CANH

C129810E01

Resistance
Terminals Wiring Color Condition Specified Condition
A40-26 (CANH) - A40-15 (CANL) B-W Ignition switch off 108 to 132 Ω
A40-26 (CANH) - A40-4 (GND1) B - W-B Ignition switch off 1 kΩ or more
A40-15 (CANL) - A40-4 (GND1) W - W-B Ignition switch off 1 kΩ or more
A40-26 (CANH) - A40-3 (+BS) B-L Ignition switch off 1 MΩ or more
A40-15 (CANL) - A40-3 (+BS) W-L Ignition switch off 1 MΩ or more

Steering Angle Sensor Connecor

5. STEERING ANGLE SENSOR
Wire Harness View: (a) Disconnect the connector from the steering angel
sensor.
D12 (b) Measure the resistance according to the value(s) in
the table below.
BAT
CANH
CA ESS
10 9 8 7 6 5 4 3 2 1
CANL
G026357E14

Resistance
Terminals Wiring Color Condition Specified Condition
D12-10 (CANH) - D12-9 (CANL) L-W Ignition switch off 54 to 69 Ω
D12-10 (CANH) - D12-2 (ESS) L - W-B Ignition switch off 1 kΩ or more
D12-9 (CANL) - D12-2 (ESS) W - W-B Ignition switch off 1 kΩ or more
D12-10 (CANH) - D12-3 (BAT) L - LG Ignition switch off 1 MΩ or more
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–15

Terminals Wiring Color Condition Specified Condition

D12-9 (CANL) - D12-3 (BAT) W - LG Ignition switch off 1 MΩ or more

6. YAW RATE SENSOR

Yaw Rate Sensor Connector (a) Disconnect the connector from the yaw rate sensor.
Front View:
(b) Measure the resistance according to the value(s) in
the table below.
D28
CANL CANH

GND

DLC3:
D20

BAT

G026641E17

Resistance
Terminals Wiring Color Condition Specified Condition
D28-3 (CANH) - D28-2 (CANL) R-W Ignition switch off 54 to 69 Ω
D28-3 (CANH) - D28-1 (GND) R - W-B Ignition switch off 1 kΩ or more
D28-2 (CANL) - D28-1 (GND) W - W-B Ignition switch off 1 kΩ or more
D28-3 (CANH) - D20-16 (BAT) R-L Ignition switch off 1 MΩ or more
D28-2 (CANL) - D20-16 (BAT) W-L Ignition switch off 1 MΩ or more

7. Distance CONTROL ECU

Distance Control ECU Connector Wire (a) Disconnect the connector from the distance control
Harness View:
ECU.

GND A20

CANL CANH

DLC3:
D20
CA

BAT

G031969E09
 CA–16 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

(b) Measure the resistance according to the value(s) in

the table below.
Resistance
Terminals Wiring Color Condition Specified Condition
A20-8 (CANH) - A20-9 (CANL) L-W Ignition switch off 54 to 69 Ω
A20-8 (CANH) - A20-12 (GND) L-R Ignition switch off 1 kΩ or more
A20-9 (CANL) - A20-12 (GND) W-R Ignition switch off 1 kΩ or more
A20-8 (CANH) - D20-16 (BAT) L-L Ignition switch off 1 MΩ or more
A20-9 (CANL) - D20-16 (BAT) W-L Ignition switch off 1 MΩ or more

8. ECM
ECM Connector Wire Harness View:
(a) Disconnect the connector from the ECM (A24)
(B25) (D41).
(b) Measure the resistance according to the value(s) in
the table below.
CANL CANH BATT
E1

B45 D41 A24

C129811E01

Resistance
Terminals Wiring Color Condition Specified Condition
D41-33 (CANH) - D41-34 (CANL) G-W Ignition switch off 108 to 132 Ω
D41-33 (CANH) - B24-1 (E1) G Ignition switch off 1 kΩ or more
D41-34 (CANL) - B24-1 (E1) W Ignition switch off 1 kΩ or more
D41-33 (CANH) - A24-3 (BATT) G-B Ignition switch off 1 MΩ or more
D41-34 (CANL) - A24-3 (BATT) W-B Ignition switch off 1 MΩ or more

9. NETWORK GATEWAY ECU

Network Gateway ECU Connector Wire (a) Disconnect the connector from the network gateway
Harness View:
ECU (E23).
(b) Measure the resistance according to the value(s) in
the table below.

BATT
GND E23
CA1L CA1H
G031972E11

Resistance
Terminals Wiring Color Condition Specified Condition
E23-17 (CA1H) - E23-18 (CA1L) W-V Ignition switch off 54 to 69 Ω
E23-17 (CA1H) - E23-24 (GND) W - W-B Ignition switch off 1 kΩ or more

CA E23-18 (CA1L) - E23-24 (GND)

E23-17 (CA1H) - E23-10 (BATT)
V - W-B
W-B
Ignition switch off
Ignition switch off
1 kΩ or more
1 MΩ or more
E23-18 (CA1L) - E23-10 (BATT) V-B Ignition switch off 1 MΩ or more
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–17

DIAGNOSIS SYSTEM
1. BUS CHECK
HINT:
The ECUs and sensors that are properly connected to
the CAN communication system can be displayed using
the intelligent tester via CAN VIM.
(a) Select "BUS CHECK" from the "OBD / MOBD
MENU" screen.

G032145E02

(b) Press "ENTER" on the intelligent tester via CAN

VIM.

G030152E02

(c) The screen displays the ECUs and sensors that are
properly connected to the CAN communication
system.
HINT:
There is a communication stop in the system of any
properly connected ECUs or sensors that are not
displayed.
2. CHECK FOR INSTALLED SYSTEMS (ECUS &
SENSORS) THAT ADOPT CAN COMMUNICATION
G032144E02 (a) Systems (ECUs, sensors) that adopt CAN
communication vary depending on the vehicle's
optional settings. Check which systems (ECUs,
sensors) are installed on the vehicle.
ECU / Sensor name Check method
Skid control ECU Installed on all vehicles.
Steering angle sensor Installed on all vehicles. CA
Yaw rate sensor Installed on all vehicles.
ECM Installed on all vehicles.
Distance control ECU *1 The millimeter wave laser sensor is installed on the front of the vehicles.
Gateway ECU Installed on all vehicles.

HINT:
*1: with Dynamic laser cruise control system only.
 CA–18 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

3. DTC TABLE BY ECU

HINT:
• In the CAN communication system, CAN
communication system DTCs can be displayed by the
ECU using the intelligent tester (See page CA-9).
• If CAN communication system DTCs are output,
trouble cannot be determined only by the DTCs.
Perform troubleshooting according to "HOW TO
PROCEED WITH TROUBLE SHOOTING" (See page
CA-7). (If, however, U0235 or U1102 is output alone,
check the dynamic laser cruise control system.)
(a) ECM
HINT:
• DTC communication uses the CAN
communication system.
• Cruise control ECU data is also output.
DTC No. Detection Item
U0001 (*1) High Speed CAN Communication Bus
U0100 (*3) Lost Communication With ECM/PCM "A"
U0122 (*3) Lost Communication With Vehicle Dynamics Control Module
U0123 (*3) Lost Communication With Yaw Rate Sensor Module
U0126 (*3) Lost Communication With Steering Angle Sensor Module
U0235 (*2) (*3) Lost Communication With Cruise Control Front Distance Range Sensor
U1101 (*3) Lost Communication With Distance Control ECU
U1102 (*2) (*3) Lost Communication With Distance Control ECU

• *1: The ECM is malfunctioning if U0001 is output

alone. Replace the ECM.
• *2: Displayed on the "Communication
Malfunction DTC" screen of the intelligent tester.
If U0235 or U1102 is output alone, CAN
communication is normal (See page CC-85 or
CC-88).
• *3: Dynamic laser cruise control system DTC.
(b) SKID CONTROL ECU
HINT:
DTC communication uses the SIL line.
DTC No. Detection Item
U0073 Control Module Communication Bus Off
U0100 Lost Communication With ECM/PCM "A"
U0123 Lost Communication With Yaw Rate Sensor Module
U0124 Lost Communication With Lateral Acceleration Sensor Module
U0126 Lost Communication With Steering Angle Sensor Module

CA (c) NETWORK GATEWAY ECU

HINT:
The gateway ECU is connected to the CAN
communication system but CAN communication
system DTCs are not output.
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–19

FAIL-SAFE CHART
1. FAIL-SAFE FUNCTION
(a) When communication fails in any of the CAN bus
lines (communication lines) due to a short circuit or
other causes, the fail-safe function, which is
specified for each system, operates to prevent the
system from malfunctioning.
(b) It is effective on each system when communication
is impossible. (For further details, see the pages for
each system.)
Skid
Skid DTC
Control Cruise Condition when
Control Steering Yaw Rate Gateway detection
Function ECM ECU Control communication
ECU (with Sensor Sensor ECU (Driver
(without ECU is impossible
VSC) detectable)
VSC)
VSC Control
(Controls Detectable
VSC function
driving force { z - { { - - (Light comes
stops
while VSC is in on)
operation)
Dynamic Laser
Cruise
Vehicle-to-vehicle Detectable
(Maintains
{ { - { { z - distance control (Light comes
vehicle-to-
does not operate on)
vehicle
distance)
Meter Display Recognizabl
(Displays Light does not e from
z
operation { { { - - - come on or indicator
(Meter)
condition and remains on lamp
DTCs) malfunction

HINT:
• z: Control master
• {: System related

CA
 CA–20 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

Skid Control ECU Communication Stop Mode

DESCRIPTION
Detection Item Symptom Trouble Area
• "ABS/VSC/TRAC" is not displayed on the "BUS
• Power source or inside the skid control ECU with
SKID CONTROL ECU CHECK" screen of the intelligent tester.
ABS actuator
COMMUNICATION STOP • Applies to "SKID CONTROL ECU
• Skid control ECU with ABS actuator main bus line
MODE (*1) COMMUNICATION STOP MODE" in the "DTC
or connector
COMBINATION TABLE".
• "ABS/VSC/TRAC" is not displayed on the "BUS
• Power source or inside the skid control ECU with
SKID CONTROL ECU CHECK" screen of the intelligent tester.
ABS actuator
COMMUNICATION STOP • Applies to "SKID CONTROL ECU
• Skid control ECU with ABS actuator main bus line
MODE (*2) COMMUNICATION STOP MODE" in the "DTC
or connector
COMBINATION TABLE".

HINT:
• *1: without VSC
• *2: with VSC

WIRING DIAGRAM

Skid Control ECU

with ABS Actuator
Junction Connector

1 26
B
A44 A40 CANH

2 15
W
A44 A40 CANL

JC A42 J/C
4 3 18
P BR 5 6 BR
D46 A41 A40 IG1

19 IF 1
W-B
A40 GND2

4
ECU IG A40 GND1
No. 2

W-B
CA
From Battery A6

N C131535E01
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–21

INSPECTION PROCEDURE

1 CHECK VEHICLE

(a) Check the vehicle type.

Result
Vehicle type Proceed to
without VSC A
with VSC B

B Go to step 4

2 CHECK CAN BUS LINE (SKID CONTROL ECU MAIN BUS LINE DISCONNECTION)

(a) Turn the ignition switch off.

Skid Control ECU Connector Wire
(b) Disconnect the skid control ECU connector (A40).
Harness View:
CANL (c) Measure the resistance according to the value(s) in the
table below.
A40 Resistance
5 6 7 8 9 10 11 12 13 14 15
1 2 3 4
16 17 18 19 20 21 22 23 24 25 26
Tester Connection Condition Specified value
A40-26 (CANH) - A40-15
Ignition switch off 108 to 132 Ω
CANH (CANL)

C129810E03
NG REPAIR OR REPLACE WIRE HARNESS AND
CONNECTOR (CAN-H, CAN-L)

OK

3 CHECK WIRE HARNESS (IG1, GND1)

(a) Measure the resistance and voltage according to the

Skid Control ECU Connector
value(s) in the table below.
Wire Harness View:
A40 Resistance and voltage
Tester Connection Condition Specified value
5 6 7 8 9 10 11 12 13 14 15 A40-4 (GND1) - Body
1 2 3 4
16 17 18 19 20 21 22 23 24 25 26 Always Below 1 Ω
ground
A40-3 (IG1) - Body
Ignition switch on (IG) 10 to 14 V
ground
GND1 IG1

C129810E04
NG REPAIR OR REPLACE WIRE HARNESS AND
CONNECTOR
CA
OK

REPLACE SKID CONTROL ECU WITH ACTUATOR

 CA–22 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

4 CHECK CAN BUS LINE (SKID CONTROL ECU MAIN BUS LINE DISCONNECTION)

(a) Turn the ignition switch off.

Skid Control ECU Connector Front View:
(b) Disconnect the skid control ECU connector (A34).
(c) Measure the resistance according to the value(s) in the
A34
table below.
CANH Resistance
Tester Connection Condition Specified value
A34-11 (CANH) - A34-25
Ignition switch off 108 to 132 Ω
(CANL)

CANL E069126E50
NG REPAIR OR REPLACE WIRE HARNESS AND
CONNECTOR (CAN-H, CAN-L)

OK

5 CHECK WIRE HARNESS (IG1, GND1, GND2)

(a) Measure the resistance according to the value(s) in the

Skid Control ECU Connector Front View:
table below.
Resistance and voltage
A34
GND2 Tester Connection Condition Specified value
A34-1 (GND2) - Body
Always Below 1 Ω
ground
A34-32 (GND1) - Body
Always Below 1 Ω
ground
IG1
A34-46 (IG1) - Body
Ignition switch on (IG) 10 to 14 V
GND1 E069126E51 ground

NG REPAIR OR REPLACE WIRE HARNESS AND

CONNECTOR

OK

REPLACE SKID CONTROL ECU WITH ACTUATOR

CA
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–23

Distance Control ECU Communication Stop Mode

DESCRIPTION
Detection Item Symptom Trouble Area
• "CRUISE CONTROL" is not displayed on the "BUS
DISTANCE CONTROL CHECK" screen of the intelligent tester.
• Power source or inside the distance control ECU
ECU COMMUNICATION • Applies to "DISTANCE CONTROL ECU
• Distance control ECU sub bus line or connector
STOP MODE COMMUNICATION STOP MODE" in the "DTC
COMBINATION TABLE".

NOTICE:
This is not applicable to a vehicle without a dynamic laser cruise control system.

WIRING DIAGRAM

A20
Junction Connector Distance Control ECU

1
L
A43 CANH
8
2
W
A43 CANL
9

ECU IG No. 2 A42

J/C J/C
19 4 3
P D46 A41 BR BR
IF B
5 7 1
From Battery Passenger Side J/B
A42
J/C
17 17 7 12
GR G R R
GI PB PA B1 GND
10 8 12
BR
11
B49
J/C
5
BR

CA
C129812E01
 CA–24 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

INSPECTION PROCEDURE

1 CHECK CAN BUS LINE (DISTANCE CONTROL ECU SUB BUS LINE DISCONNECTION)

(a) Turn the ignition switch off.

Distance Control ECU (b) Disconnect the distance control ECU connector (A20).
Wire Harness View:
(c) Measure the resistance according to the value(s) in the
table below.
Resistance
Tester Connection Condition Specified Condition
A20-8 (CANH) - A20-9
Ignition switch off 54 to 69 Ω
(CANL)

NG REPAIR OR REPLACE DISTANCE CONTROL

ECU BRANCH LINE OR CONNECTOR (CAN-
CANL H, CAN-L)
A20
CANH

G030159E14

OK

2 CHECK WIRE HARNESS (B, GND)

(a) Measure the resistance and voltage according to the

Distance Control ECU value(s) in the table below.
Wire Harness View:
Resistance and voltage
Tester Connection Condition Specified Condition
A20-12 (GND) - Body
Always Below 1 Ω
ground
A20-1 (B) - Body ground Ignition switch on (IG) 10 to 14 V

NG REPAIR OR REPLACE HARNESS OR

CONNECTOR
B
GND
A20
G030160E02

OK

CA
REPAIR OR REPLACE DISTANCE CONTROL ECU
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–25

Gateway ECU Communication Stop Mode

DESCRIPTION
Detection Item Symptom Trouble Area
• "BODY / GATEWAY" is not displayed on the "BUS
GATEWAY ECU CHECK" screen of the intelligent tester.
• Power source or inside the gateway ECU
COMMUNICATION STOP • Applies to "GATEWAY ECU COMMUNICATION
• Gateway ECU sub bus line or connector
MODE STOP MODE" in the "DTC COMBINATION
TABLE".

WIRING DIAGRAM

E23
Junction Connector Network Gateway ECU

1
W
E28 CA1H
17
2
V CA1L
E28
18

Driver Side J/B Passenger Side J/B

4 4 10 20
G B B
DE DE PA PA BATT
10

9 4 16 6
From Battery W LG W
DD DD PB PA IG
1

18 8 5 5
Y Y R ACC
DD DD PB PA
2
1 2
W-B W - B GND
PC PA
24

D2 CA

C131537E02
 CA–26 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

INSPECTION PROCEDURE

1 CHECK CAN BUS LINE (GATEWAY ECU SUB BUS LINE DISCONNECTION)

(a) Turn the ignition switch off.

Gateway ECU Wire Harness View: (b) Disconnect the gateway ECU connector (E23).
E23 (c) Measure the resistance according to the value(s) in the
table below.
Resistance
Tester Connection Condition Specified Condition
E23-17 (CA1H) - E23-18
Ignition switch off 54 to 69 Ω
(CA1L)
CA1L CA1H
G031979E11
NG REPAIR OR REPLACE GATEWAY ECU SUB
BUS LINE OR CONNECTOR (CAN-H, CAN-L)

OK

2 CHECK WIRE HARNESS (BATT, ACC, IG, GND)

(a) Measure the resistance and voltage according to the

Gateway ECU Wire Harness View:
value(s) in the table below.
Resistance and voltage
E23
Tester Connection Condition Specified Condition
E23-24 (GND) - Body
Always Below 1 Ω
ground
ACC
E23-10 (BATT) - Body
Always 10 to 14 V
IG ground
GND BATT E23-2 (ACC) - Body Ignition switch on
10 to 14 V
C129814E01 ground (ACC)
E23-1 (IG) - Body
Ignition switch on (IG) 10 to 14 V
ground

NG REPAIR OR REPLACE HARNESS OR

CONNECTOR

OK

REPLACE GATEWAY ECU

CA
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–27

Steering Angle Sensor Communication Stop Mode

DESCRIPTION
Detection Item Symptom Trouble Area
• "STEERING SENSOR" is not displayed on the
STEERING SENSOR "BUS CHECK" screen of the intelligent tester.
• Power source or inside the steering sensor
COMMUNICATION STOP • Applies to "STEERING SENSOR
• Steering sensor sub bus line or connector
MODE COMMUNICATION STOP MODE" in the "DTC
COMBINATION TABLE".

WIRING DIAGRAM

Junction Connector Steering Sensor

1 10
L
D48 D12 CANH

2 9
W
D48 D12 CANL

Driver Side J/B Passenger Side J/B

9 4 1
W LG 16 6 B
DE DD PB PB D12 IG

11 1F

1 1 2
ECU IG W-B
PC PB D12 ESS
No. 1

W-B

From Battery D2
CA

C131536E01
 CA–28 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

INSPECTION PROCEDURE

1 CHECK CAN BUS LINE (STEERING SENSOR SUB BUS LINE DISCONNECTION)

(a) Turn the ignition switch off.

Steering Sensor (b) Disconnect the steering sensor connector (D12).
Wire Harness View: (c) Measure the resistance according to the value(s) in the
table below.
Resistance
Tester Connection Condition Specified value
D12-10 (CANH) - D12-9
Ignition switch off 54 to 69 Ω
(CANL)

NG REPAIR OR REPLACE STEERING SENSOR

SUB BUS LINE OR CONNECTOR (CAN-H,
CANH CAN-L)
D12
CANL

G030155E33

OK

2 CHECK WIRE HARNESS (IG1, ESS)

(a) Measure the resistance and voltage according to the

Steering Sensor value(s) in the table below.
Wire Harness View: Resistance and voltage
Tester Connection Condition Specified Condition
D12-2 (ESS) - Body
Always Below 1 Ω
ground
D12-1 (IG1) - Body
ESS ground
Ignition switch on (IG) 10 to 14 V

NG REPAIR OR REPLACE HARNESS OR

IG1 CONNECTOR

D12

G030156E06

OK

CA
REPLACE STEERING SENSOR
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–29

Yaw Rate Sensor Communication Stop Mode

DESCRIPTION
Detection Item Symptom Trouble Area
• "YAW / DECELERAT" is not displayed on the "BUS
YAW RATE SENSOR CHECK" screen of the intelligent tester.
• Power source or inside the yaw rate sensor
COMMUNICATION STOP • Applies to "YAW RATE SENSOR
• Yaw rate sensor sub bus line or connector
MODE COMMUNICATION STOP MODE" in the "DTC
COMBINATION TABLE".

WIRING DIAGRAM

Junction Connector Yaw Rate Sensor

1 3
R
D49 D28 CANH

2 2
W
D49 D28 CANL
Passenger Side J/B

16 7 5
B
PC PC D28 IG

LG Driver Side J/B

4 9 1
W W-B
DG DC D28 GND

11
PC

11 IF Passenger
Side J/B
PB
7.5 A 1
ECU IG
W-B
No. 1
K

CA
From Battery

C129816E01
 CA–30 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

INSPECTION PROCEDURE

1 CHECK CAN BUS LINE (YAW RATE SENSOR SUB BUS LINE DISCONNECTION)

(a) Turn the ignition switch off.

Yaw Rate Sensor Connector Front View: (b) Disconnect the yaw rate sensor connector (D28).
(c) Measure the resistance according to the value(s) in the
D28 table below.
Resistance
CANL CANH Tester Connection Condition Specified value
D28-2 (CANL) - D28-3
Ignition switch off 54 to 69 Ω
(CANH)

G026359E56
NG REPAIR OR REPLACE YAW RATE SENSOR
SUB BUS LINE OR CONNECTOR (CAN-H,
CAN-L)

OK

2 CHECK WIRE HARNESS (IG, GND)

(a) Measure the resistance according to the value(s) in the

Yaw Rate Sensor Connector Front View:
table below.
(b) Measure the voltage according to the value(s) in the
D28 table below.
Resistance and voltage
Tester Connection Condition Specified Condition
D28-1 (GND) - Body
GND IG ground
Always Below 1 Ω

D28-5 (IG) - Body

Ignition switch on (IG) 10 to 14 V
G026359E57 ground

NG REPAIR OR REPLACE HARNESS OR

CONNECTOR

OK

REPLACE YAW RATE SENSOR

CA
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–31

ECM Communication Stop Mode

DESCRIPTION
Detection Item Symptom Trouble Area
• "ENGINE" and "ECT" are not displayed on the
ECM COMMUNICATION "BUS CHECK" screen of the intelligent tester. • Power source or inside the ECM
STOP MODE • Applies to "ECM COMMUNICATION STOP MODE" • ECM main bus line or connector
in the "DTC COMBINATION TABLE".

WIRING DIAGRAM

Junction Connector ECM

1 33
G
D50 D41 CANH
2 34
W
D50 D41 CANL
Engine Room R/B and J/B
A41
EFI No. 1 EFI Relay J/C
4 1
Y L
From Battery 1D A24 +B
7 9
8 2
R
A24 +B2
7
W-B
B45 E01

C129817E01

INSPECTION PROCEDURE

1 CHECK CAN BUS LINE (ECM MAIN BUS LINE DISCONNECTION)

(a) Turn the ignition switch off.

ECM Wire Harness View:
(b) Disconnect the ECM connector (D41).
(c) Measure the resistance according to the value(s) in the
table below.
Resistance
Tester Connection Condition Specified value CA
D41 D41-33 (CANH) - D41-34
Ignition switch off 108 to 132 Ω
(CANL)
CANL CANH
C129818E01
NG REPAIR OR REPLACE ECM MAIN BUS LINE
OR CONNECTOR (CAN-H, CAN-L)

OK
 CA–32 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

2 CHECK WIRE HARNESS (+B1, +B, E1)

(a) Reconnect the ECM connector (D41).

ECM Wire Harness View:
(b) Disconnect the ECM connector (A24) (B45).
(c) Measure the resistance and voltage according to the
value(s) in the table below.
Resistance and voltage
E1 +B2 +B
Tester Connection Condition Specified Condition
B45 A24 B45-1 (E1) - Body
Always Below 1 Ω
ground
A24-1 (+B) - Body
Ignition switch on (IG) 10 to 14 V
C129819E01 ground
A24-2 (+B2) - Body
Ignition switch on (IG) 10 to 14 V
ground

NG REPAIR OR REPLACE HARNESS OR

CONNECTOR

OK

REPLACE ECM

CA
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–33

Can Main Bus Line for Disconnection

DESCRIPTION
There may be an open circuit in the CAN main bus line and/or the DLC3 sub bus line when the resistance
between terminals 6 (CANH) and 14 (CANL) of the DLC3 is 69 Ω or more.
Symptom Trouble Area
• CAN main bus line or connector
• Junction connector (CAN J/C)
Resistance between terminals 6 (CANH) and 14 • DLC3 sub bus line or connector
(CANL) of the DLC3 is 69 Ω or more. • ECM
• Skid control ECU with VSC actuator
• Skid control ECU with ABS actuator

WIRING DIAGRAM

Junction Connector (CAN J/C)

D41
ECM
1
G CANH
D50
33
2
W CANL
D50 34
D20
DLC3
1 P
D51 CANH
6
2 W
D51 CANL
14
A34 Skid Contorol ECU with VSC Acutuator
1 B (*1)
A44 CANH
11
2 W(*1)
A44 CANL
25
A40 Skid Contorol ECU with ABS Acutuator

B (*2)
26 CANH

W (*2) CANL
15
CA

*1 with VSC
*2 without VSC
C131063E01
 CA–34 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

INSPECTION PROCEDURE

1 CHECK DLC3

(a) Turn the ignition switch off.

DLC3: (b) Measure the resistance according to the value(s) in the
D20 CANH
table below.
Result
Tester
Specified
connecti Condition Result
value
on
D20-6
(CANH) - 54 to 69
ignition switch off A
CANL D20-14 Ω
C123301E35
(CANL)
D20-6
(CANH) - 69 Ω or
ignition switch off B
D20-14 more
(CANL)

NOTICE:
When the measured value is 69 Ω or more and a CAN
communication system diagnostic trouble code is
output, there may be a fault besides disconnection
of the DLC3 sub bus line. For that reason,
troubleshooting should be performed again from
"HOW TO PROCEED WITH TROUBLESHOOTING"
(See page CA-7) after repairing the trouble area.
B REPAIR OR REPLACE DLC3 SUB BUS LINE
OR CONNECTOR (CAN-H, CAN-L)

2 CHECK CAN MAIN BUS LINE FOR DISCONNECTION

(a) Turn the ignition switch off.

ECM Wire Harness View:
(b) Disconnect the ECM connector (D41).
(c) Measure the resistance according to the value(s) in the
table below.
Resistance
Tester Connection Condition Specified value
D41 D41 -33 (CANH) - D41-
Ignition switch off 108 to 132 Ω
34 (CANL)
CANL CANH
CA C129818E02
OK REPLACE ECM

NG

3 CONNECT CONNECTOR

(a) Reconnect the ECM connector (D41) to the ECM.

NEXT
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–35

4 CHECK CAN MAIN BUS LINE FOR DISCONNECTION

(a) Disconnect the CAN main bus line connector (D50) from
CAN J/C Side (with Earth Terminal) the CAN J/C A side (w/ earth terminal).
Wire Harness View:
NOTICE:
• Before disconnecting the connector, make a note
of where it is connected.
• Reconnect the connector to its original position.
(b) Measure the resistance according to the value(s) in the
table below.
Resistance
D50 Earth Terminal Tester Connection Condition Specified value
D50-1 (CANH) - D50-2
G (CANH) Ignition switch off 108 to 132 Ω
(CANL)

W (CANL) NG REPAIR OR REPLACE CAN MAIN BUS LINE

G031957E07 OR CONNECTOR (D50-D41)

OK

5 CONNECT CONNECTOR

(a) Reconnect the CAN main bus line connector (D50) to the
CAN J/C Aside (without earth terminal).
NEXT

6 CHECK CAN MAIN BUS LINE FOR DISCONNECTION (CAN J/C)

NOTICE:
For vehicles without VSC, go to step 7
(a) Turn the ignition switch off.
Skid Control ECU
Connector Front View: A34 (b) Disconnect the skid control ECU connector (A34).
CANH (c) Measure the resistance according to the value(s) in the
table below.
Resistance
Tester Connection Condition Specified value
A34-11 (CANH) - A34-25
Ignition switch off 108 to 132 Ω
(CANL)

CANL E069126E49
NG Go to step 8
CA
OK

REPLACE SKID CONTROL ECU WITH ACTUATOR

 CA–36 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

7 CHECK CAN MAIN BUS LINE FOR DISCONNECTION

(a) Turn the ignition switch off.

Skid Control ECU Connector Front View:
(b) Disconnect the skid control ECU connector (A40).
CANL (c) Measure the resistance according to the value(s) in the
A40
table below.
5 6 7 8 9 10 11 12 13 14 15
Resistance
1 2 3 4
16 17 18 19 20 21 22 23 24 25 26
Tester Connection Condition Specified value
A40-26 (CANH) - A40-
Ignition switch off 108 to 132 Ω
CANH 15(CANL)

C129810E02
OK REPLACE SKID CONTROL ECU WITH
ACTUATOR

NG

8 CONNECT CONNECTOR

(a) Reconnect the skid control ECU connector (A34) or

(A40) to the skid control ECU.
NEXT

9 CHECK CAN MAIN BUS LINE FOR DISCONNECTION

(a) Disconnect the CAN main bus line connector (A44) from
J/C B Side (without Earth Terminal) the J/C B side (w/o earth terminal).
Wire Harness View:
NOTICE:
• Before disconnecting the connector, make a note
of where it is connected.
• Reconnect the connector to its original position.
(b) Measure the resistance according to the value(s) in the
table below.
A44 Resistance
Tester Connection Condition Specified value
B (CANH) A44-1 (CANH) - A44-2
Ignition switch off 108 to 132 Ω
(CANL)

W (CANL) NG REPAIR OR REPLACE CAN MAIN BUS LINE

G031936E05 OR CONNECTOR (D44-A34(A40))

CA OK

REPLACE JUNCTION CONNECTOR

 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–37

Check CAN Bus Line

DESCRIPTION
When any DTC for the CAN communication system is output, first measure the resistance between the
terminals of the DLC3 to specify the trouble area, and the check that there is no short in the CAN main
bus line, between the CAN bus lines, to +B or to GND.

WIRING DIAGRAM
A20
Junction Connector Distance Control ECU
1 L (*1)
A43 CANH
8
2 W (*1)
A43 CANL
9

A34 Skid Control ECU

with VSC Actuator

1
B (*2)
A44 CANH
11
2
W (*2)
A44 CANL
25

A40 Skid Control ECU

with ABS Actuator

B (*3)
CANH
26
W (*3)
CANL
15

E23
Network Gateway ECU

1 W
E28 CA1H
17
2 V
E28 CA1L
18

*1: with Dynamic Radar Cruise Control *2: with VSC *3: without VSC
CA
C129820E04
 CA–38 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

D12
Steering Angle Sensor
1
G*
D48
10 CANH
2
W*
D48 CANL
9
D20 Yaw Rate Sensor
1
R*
D49
3 CANH
2
W*
D49 CANL
2
D41 ECM
1
G
D50
33 CANH
2
W
D50
34 CANL

D20 DLC3
1
P
D51
6 CANH
2
W
D51 CANL
14

OBD
4
L BAT
From Battery 1M
16
Passenger Side J/B

1 11
W-B W-B
PB PA
4 CG

K
*: with VSC

C129821E03

CA
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–39

INSPECTION PROCEDURE

1 CHECK CAN BUS LINE (MAIN BUS LINE FOR DISCONNECTION, BUS LINES FOR SHORT
CIRCUIT)

(a) Turn the ignition switch off.

DLC3: D20 (b) Measure the resistance according to the value(s) in the
CANH
table below.
Resistance
Tester
Specified
Connecti Condition Result
value
on
D20-6
(CANH) - 54 to 69
Ignition switch off OK
CANL D20-14 Ω
C123301E02
(CANL)
D20-6
(CANH) - 69 Ω or
Ignition switch off NG-A
D20-14 more
(CANL)
D20-6
(CANH) - 54 Ω or
Ignition switch off NG-B
D20-14 less
(CANL)

NG-A CHECK CAN MAIN BUS LINE

(DISCONNECTION)

NG-B CHECK CAN BUS LINE (SHORT CIRCUIT)

OK

2 CHECK CAN BUS LINE (SHORT TO +B)

(a) Measure the resistance according to the value(s) in the

DLC3: D20 table below.
CANH
Resistance
Tester Connection Condition Specified value
D20-6 (CANH) - D20-16
Ignition switch off 1 MΩ or more
(BAT)

BAT D20-14 (CANL) - D20-16

Ignition switch off 1 MΩ or more
(BAT)

CANL C123301E03
NG CHECK CAN BUS LINE (SHORT TO +B)

OK CA
 CA–40 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

3 CHECK CAN BUS LINE (SHORT TO GND)

(a) Measure the resistance according to the value(s) in the

DLC3: D20 table below.
CG CANH
Resistance
Tester Connection Condition Specified value
D20-4 (CG) - D20-6
Ignition switch off 1 kΩ or more
(CANH)
D20-4 (CG) - D20-14
Ignition switch off 1 kΩ or more
(CANL)

CANL C123301E04
NG CHECK CAN BUS LINE (SHORT TO GND)

OK

HOW TO PROCEED WITH TROUBLESHOOTING

CA
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–41

Check CAN Bus Lines for Short Circuit

DESCRIPTION
There may be a short circuit between the CAN bus lines when the resistance between terminals 6 (CANH)
and 14 (CANL) of the DLC3 is below 54 Ω.
Symptom Trouble Area
• Short between CAN bus lines
• Distance control ECU
• Skid control ECU with VSC actuator
• Skid control ECU with ABS actuator
Resistance between terminals 6 (CANH) and (CANL) of
• Steering sensor
the DLC 3 is below 54 Ω
• Yaw rate sensor
• ECM
• Network gateway ECU
• Junction connector (CAN J/C)

CA
 CA–42 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

WIRING DIAGRAM
A20
Junction Connector Distance Control ECU
1 L
A43 CANH
8
2 W
A43 CANL
9

A34 Skid Control ECU

with VSC Actuator

1
B (*1)
A44 CANH
11
2
W (*1)
A44 CANL
25

A40 Skid Control ECU

with ABS Actuator

B (*2)
CANH
26
W (*2)
CANL
15

E23
Network Gateway ECU

1 W
E28 CA1H
17
2 V
E28 CA1L
18

*1: with VSC *2: without VSC

C129820E05

CA
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–43

D12
Steering Angle Sensor
1
L (*1)
D48
10 CANH
2
W (*1)
D48 CANL
9
D20 Yaw Rate Sensor
1
R (*1)
D49
3 CANH
2
W (*1)
D49 CANL
2
D41 ECM
1
G
D50
33 CANH
2
W
D50
34 CANL

D20 DLC3
1
P
D51
6 CANH
2
W
D51 CANL
14

OBD
4
L BAT
From Battery 1M
16
Passenger Side J/B

1 11
W-B W-B
PB PA
4 CG

K
*1: with VSC

C129821E04

CA
 CA–44 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

INSPECTION PROCEDURE

1 CHECK CAN BUS LINE (DLC3 SUB BUS LINE)

(a) Turn the ignition switch off.

CAN J/C A Side (w/ Earth Terminal)
(b) Disconnect the DLC3 sub bus line connector (D51) from
Wire Harness View:
the CAN J/C A side (w/ earth terminal).
NOTICE:
• Before disconnecting the connector, make a note
of where it is connected.
• Reconnect the connector to its original position.

P D51
Earth Terminal

G031933E26

(c) Measure the resistance according to the value(s) in the

DLC3: D20 table below.
CANH
Resistance
Tester Connection Condition Specified value
D20-6 (CANH) - D20-14
Ignition switch off 1 MΩ or more
(CANL)

NG REPAIR OR REPLACE DLC3 SUB BUS LINE

CANL OR CONNECTOR (CAN-H, CAN-L)
C123301E07

OK

2 CONNECT CONNECTOR

(a) Reconnect the DLC3 sub bus line connector (D51) to the
CAN J/C A side (w/ earth terminal).
NEXT

CA
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–45

3 CHECK CAN BUS LINE (GATEWAY ECU)

(a) Disconnect the gateway ECU sub bus line connector

CAN J/C B side (w/o Earth Terminal)
(E28) from the CAN J/C B side (w/o earth terminal).
Wire Harness View:
NOTICE:
• Before disconnecting the connector, make a note
of where it is connected.
• Reconnect the connector to its original position.

E28

V
G031932E95

(b) Measure the resistance according to the value(s) in the

DLC3: D20 table below.
CANH
Resistance
Tester Connection Condition Specified value
D20-6 (CANH) - D20-14
Ignition switch off 54 to 69 Ω
(CANL)

OK Go to step 10
CANL C123301E07

NG

4 CONNECT CONNECTOR

(a) Reconnect the gateway ECU sub bus line connector

(E28) to the CAN J/C B side (w/o earth terminal).
NEXT

CA
 CA–46 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

5 CHECK CAN BUS LINE (ECM MAIN BUS LINE)

(a) Disconnect the ECM main bus line connector (D50) from
CAN J/C A Side (w/ Earth Terminal)
the CAN J/C A side (w/ earth terminal).
Wire Harness View:
NOTICE:
• Before disconnecting the connector, make a note
of where it is connected.
• Reconnect the connector to its original position.

G D50
Earth Terminal

G031933E27

(b) Measure the resistance according to the value(s) in the

DLC3: D20 table below.
CANH
Resistance
Tester Connection Condition Specified value
D20-6 (CANH) - D20-14
Ignition switch off 108 to 132 Ω
(CANL)

OK Go to step 12
CANL C123301E07

NG

6 CONNECT CONNECTOR

(a) Reconnect the ECM main bus line connector (D50) to

the CAN J/C A side (w/ earth terminal).
NEXT

7 CHECK CAN BUS LINE (DISTANCE CONTROL ECU SUB BUS LINE)

NOTICE:
For vehicles without dynamic radar / laser cruise control,
CA go to step 15.
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–47

(a) Disconnect the distance control ECU sub bus line

CAN J/C B Side (w/o Earth Terminal) connector (A43) from the CAN J/C B side (w/o earth
Wire Harness View:
terminal).
NOTICE:
• Before disconnecting the connector, make a note
of where it is connected.
• Reconnect the connector to its original position.

A43 L

W
G031936E04

(b) Measure the resistance according to the value(s) in the

DLC3: D20 table below.
CANH
Resistance
Tester Connection Condition Specified value
D20-6 (CANH) - D20-14
Ignition switch off 54 to 69 Ω
(CANL)

NG Go to step 14
CANL C123301E07

OK

8 CONNECT CONNECTOR

(a) Reconnect the distance control ECU sub bus line

connector (A43) to the CAN J/C B side (w/o earth
terminal).
NEXT

9 CHECK CAN BUS LINE (DISTANCE CONTROL ECU SUB BUS LINE)

(a) Disconnect the distance control ECU connector (A20).

DLC3: D20 (b) Measure the resistance according to the value(s) in the
CANH
table below.
Resistance
Tester Connection Condition Specified value CA
D20-6 (CANH) - D20-14
Ignition switch off 54 to 69 Ω
(CANL)

CANL OK REPLACE DISTANCE CONTROL ECU

C123301E07
 CA–48 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

NG

REPAIR OR REPLACE DISTANCE CONTROL ECU BRANCH LINE OR CONNECTOR (CAN-H,

CAN-L)

10 CONNECT CONNECTOR

(a) Reconnect the network gateway ECU sub bus line

connector (B28) to the CAN J/C B side (w/o earth
terminal).
NEXT

11 CHECK CAN BUS LINE (GATEWAY ECU SUB BUS LINE)

(a) Disconnect the gateway ECU connector (E23).

DLC3: D20 (b) Measure the resistance according to the value(s) in the
CANH
table below.
Resistance
Tester Connection Condition Specified value
D20-6 (CANH) - D20-14
Ignition switch off 54 to 69 Ω
(CANL)

CANL OK REPLACE GATEWAY ECU

C123301E07

NG

REPAIR OR REPLACE GATEWAY ECU SUB BUS LINE OR CONNECTOR (CAN-H, CAN-L)

12 CONNECT CONNECTOR

(a) Reconnect the ECM main bus line connector (D50) to

the CAN J/C A side (w/ earth terminal).
NEXT

CA
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–49

13 CHECK CAN BUS LINE (ECU MAIN BUS LINE)

(a) Disconnect the ECM connector (D41).

DLC3: D20 (b) Measure the resistance according to the value(s) in the
CANH
table below.
Resistance
Tester Connection Condition Specified value
D20-6 (CANH) - D20-14
Ignition switch off 108 to 132 Ω
(CANL)

CANL OK REPLACE ECM

C123301E07

NG

REPAIR OR REPLACE ECM MAIN BUS LINE OR CONNECTOR (CAN-H, CAN-L)

14 CONNECT CONNECTOR

(a) Reconnect the distance control ECU sub bus line

connector (A43) to the CAN J/C B side (w/o earth
terminal).
NEXT

15 CHECK CAN BUS LINE (YAW RATE SENSOR SUB BUS LINE)

(a) Disconnect the yaw rate sensor sub bus line connector
CAN J/C A Side (w/ Earth Terminal)
(D49) from the CAN J/C A side (w/ earth terminal).
Wire Harness View:
NOTICE:
• Before disconnecting the connector, make a note
of where it is connected.
• Reconnect the connector to its original position.

R D49
Earth Terminal

W
CA
G031933E28
 CA–50 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

(b) Measure the resistance according to the value(s) in the

DLC3: D20 table below.
CANH
Resistance
Tester Connection Condition Specified value
D20-6 (CANH) - D20-14
Ignition switch off 54 to 69 Ω
(CANL)

OK Go to step 22
CANL C123301E07

NG

16 CONNECT CONNECTOR

(a) Reconnect the yaw rate sensor sub bus line connector
(D28) to the CAN J/C A side (w/ earth terminal).
NEXT

17 CHECK CAN BUS LINE (STEERING SENSOR SUB BUS LINE)

(a) Disconnect the steering sensor sub bus line connector

CAN J/C A Side (w/ Earth Terminal)
(D48) from the CAN J/C A side (w/ earth terminal).
Wire Harness View:
NOTICE:
• Before disconnecting the connector, make a note
of where it is connected.
• Reconnect the connector to its original position.

L D48
Earth Terminal

G031933E29

(b) Measure the resistance according to the value(s) in the

DLC3: D20 table below.
CANH
Resistance
Tester Connection Condition Specified value
D20-6 (CANH) - D20-14
CA (CANL)
Ignition switch off 54 to 69 Ω

OK Go to step 24
CANL C123301E07

NG
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–51

18 CONNECT CONNECTOR

(a) Reconnect the steering sensor sub bus line connector

(D48) to the CAN J/C A side (w/ earth terminal).
NEXT

19 CHECK CAN BUS LINE (SKID CONTROL ECU WITH ACTUATOR MAIN BUS LINE)

(a) Disconnect the skid control ECU main bus line connector
CAN J/C B side (w/o Earth Terminal)
(A44) from the CAN J/C B side (w/o earth terminal).
Wire Harness View:
NOTICE:
• Before disconnecting the connector, make a note
of where it is connected.
• Reconnect the connector to its original position.

A44

BR

V
G031932E96

(b) Measure the resistance according to the value(s) in the

DLC3: D20 table below.
CANH
Resistance
Tester Connection Condition Specified value
D20-6 (CANH) - D20-14
Ignition switch off 54 to 69 Ω
(CANL)

NG REPLACE JUNCTION CONNECTOR

CANL C123301E07

OK

20 CONNECT CONNECTOR

(a) Reconnect the skid control ECU main bus line connector
(A44) to the CAN J/C B side (w/o earth terminal).
CA
NEXT
 CA–52 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

21 CHECK CAN BUS LINE (SKID CONTROL ECU MAIN BUS LINE)

(a) Disconnect the skid control ECU connector (A34) or

DLC3: D20 (A40).
CANH
(b) Measure the resistance according to the value(s) in the
table below.
Resistance
Tester Connection Condition Specified value
D20-6 (CANH) - D20-14
Ignition switch off 108 to 132 Ω
(CANL)

CANL C123301E07
OK REPLACE SKID CONTROL ECU WITH
ACTUATOR

NG

REPAIR OR REPLACE SKID CONTROL ECU MAIN BUS LINE OR CONNECTOR (CAN-H, CAN-L)

22 CONNECT CONNECTOR

(a) Reconnect the yaw rate sensor sub bus line connector
(D49) to the CAN J/C A side (w/ earth terminal).
NEXT

23 CHECK CAN BUS LINE (YAW RATE SENSOR SUB BUS LINE)

(a) Disconnect the yaw rate sensor connector (D28).

DLC3: D20 (b) Measure the resistance according to the value(s) in the
CANH
table below.
Resistance
Tester Connection Condition Specified value
D20-6 (CANH) - D20-14
Ignition switch off 54 to 69 Ω
(CANL)

CANL OK REPLACE YAW RATE AND ACCELERATION

C123301E07
SENSOR

NG

CA
REPAIR OR REPLACE YAW RATE SENSOR SUB BUS LINE OR CONNECTOR (CAN-H, CAN-L)

24 CONNECT CONNECTOR

(a) Reconnect the steering sensor sub bus line connector

(D48) to the CAN J/C A side (w/ earth terminal).
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–53

NEXT

25 CHECK CAN BUS LINE (STEERING SENSOR SUB BUS LINE)

(a) Disconnect the steering sensor connector (D12).

DLC3: D20 (b) Measure the resistance according to the value(s) in the
CANH
table below.
Resistance
Tester Connection Condition Specified value
D20-6 (CANH) - D20-14
Ignition switch off 54 to 69 Ω
(CANL)

CANL OK REPLACE STEERING SENSOR

C123301E07

NG

REPAIR OR REPLACE STEERING SENSOR SUB BUS LINE OR CONNECTOR (CAN-H, CAN-L)

CA
 CA–54 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

Check CAN Bus Line for Short to GND

DESCRIPTION
There may be a short circuit between the CAN bus line and GND when there is resistance between
terminals 6 (CANH) and 4 (CG), or terminals 14 (CANL) and 4 (CG), of the DLC3.
Symptom Trouble Area
• Short to GND
• Distance control ECU
• Skid control ECU with VSC actuator
• Skid control ECU with ABS actuator
There is resistance between terminals 6 (CANH) and 4
• Steering sensor
(CG), or terminals 14 (CANL) and 4 (CG), of the DLC3.
• Yaw rate sensor
• ECM
• Network gateway ECU
• Junction connector (CAN J/C)

CA
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–55

WIRING DIAGRAM

D12
D41 ECM Junction Connector (CAN J/C) Steering Angle Sensor

1 1
CANH G G (*1) CANH
D50 D48 10
33 W-B
2 2 ESS
W W (*1) 2 (*1)
CANL D50 D48 CANL
34 9
A34 Skid Control ECU with VSC Actuator
A40 Skid Control ECU with ABS Actuator D28 Yaw Rate Sensor
26(*1) 11(*2) 1 1
B R (*1)
CANH A40 A34 A44 D49 CANH
3 W-B
15(*1) 25(*2) 2 2 GND 1 (*1)
W W (*1)
CANL A40 A34 A44 D49
2 CANL

D20 DLC3
4 12 1
W-B P 6
GND1 A40 A34 D51 CANH
(*2) (*1) 4
CG
2 14 CANL
1 1 W
W-B D51
GND2 A40 A34
E23
(*2) (*1) Network Gateway ECU

1
E28 W
17 CA1H
2 GND 24
E28 V CA1L
18

A20 Distance Control ECU Passenger Side J/B

1 11 11
CANH L PA PC
A43
8 W-B W-B
2 2 1
CANL W A43 PB PC
9 W-B W-B
1
A42 PB
J/C W-B
12 7 17
GND R R B1 G PA PB
12 8 10 GR
B49
J/C 17
BR BR
5 11
G1
CA
F G K
*1: with VSC *2: without VSC

C129822E02
 CA–56 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

INSPECTION PROCEDURE

1 CHECK CAN BUS LINE (DLC3 SUB BUS LINE)

(a) Turn the ignition switch off.

CAN J/C A Side (w/ Earth Terminal)
(b) Disconnect the DLC3 sub bus line connector (D51) from
Wire Harness View:
the CAN J/C A side (w/ earth terminal).
NOTICE:
• Before disconnecting the connector, make a note
of where it is connected.
• Reconnect the connector to its original position.

B D51
Earth Terminal

G031933E30

(c) Measure the resistance according to the value(s) in the

DLC3: D20 table below.
CG CANH
Resistance
Tester Connection Condition Specified value
D20-6 (CANH) - D20-4
Ignition switch off 1 MΩ or more
(CG)
D20-14 (CANL) - D20-4
Ignition switch off 1 MΩ or more
(CG)

CANL C123301E09
NG REPAIR OR REPLACE DLC3 BRANCH LINE
OR CONNECTOR (CAN-H, CAN-L)

OK

2 CONNECT CONNECTOR

(a) Reconnect the DLC3 sub bus line connector (D51) to the
CAN J/C A side (w/ earth terminal).
NEXT

CA
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–57

3 CHECK CAN BUS LINE (GATEWAY ECU)

(a) Disconnect the gateway ECU sub bus line connector

CAN J/C B side (w/o Earth Terminal)
(E28) from the CAN J/C B side (w/o earth terminal).
Wire Harness View:
NOTICE:
• Before disconnecting the connector, make a note
of where it is connected.
• Reconnect the connector to its original position.

E28

V
G031932E95

(b) Measure the resistance according to the value(s) in the

DLC3: D20 table below.
CG CANH
Resistance
Tester Connection Condition Specified value
D20-6 (CANH) - D20-4
Ignition switch off 1 kΩ or more
(CG)
D20-14 (CANL) - D20-4
Ignition switch off 1 kΩ or more
(CG)

CANL C123301E09
OK Go to step 10

NG

4 CONNECT CONNECTOR

(a) Reconnect the gateway ECU sub bus line connector

(E28) to the CAN J/C B side (w/o earth terminal).
NEXT

CA
 CA–58 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

5 CHECK CAN BUS LINE (ECM SUB MAIN LINE)

(a) Disconnect the ECM main bus line connector (D50) from
CAN J/C A Side (w/ Earth Terminal)
the CAN J/C A side (w/ earth terminal).
Wire Harness View:
NOTICE:
• Before disconnecting the connector, make a note
of where it is connected.
• Reconnect the connector to its original position.

G D50
Earth Terminal

G031933E27

(b) Measure the resistance according to the value(s) in the

DLC3: D20 table below.
CG CANH
Resistance
Tester Connection Condition Specified value
D20-6 (CANH) - D20-4
Ignition switch off 1 kΩ or more
(CG)
D20-14 (CANL) - D20-4
Ignition switch off 1 kΩ or more
(CG)

CANL C123301E09
OK Go to step 12

NG

6 CONNECT CONNECTOR

(a) Reconnect the ECM main bus line connector (D50) to

the CAN J/C A side (w/ earth terminal).
NEXT

7 CHECK CAN BUS LINE (DISTANCE CONTROL ECU SUB BUS LINE)

NOTICE:
For vehicles without dynamic radar cruise control, go to
CA step 15.
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–59

(a) Disconnect the distance control ECU sub bus line

CAN J/C B Side (w/o Earth Terminal) connector (A43) from the CAN J/C B side (w/o earth
Wire Harness View:
terminal).
NOTICE:
• Before disconnecting the connector, make a note
of where it is connected.
• Reconnect the connector to its original position.

A43 L

W
G031936E04

(b) Measure the resistance according to the value(s) in the

DLC3: D20 table below.
CG CANH
Resistance
Tester Connection Condition Specified value
D20-6 (CANH) - D20-4
Ignition switch off 1 kΩ or more
(CG)
D20-14 (CANL) - D20-4
Ignition switch off 1 kΩ or more
(CG)

CANL C123301E09
NG Go to step 14

OK

8 CONNECT CONNECTOR

(a) Reconnect the distance control ECU sub bus line

connector (A43) to the CAN J/C B side (w/o earth
terminal).
NEXT

9 CHECK CAN BUS LINE (DISTANCE CONTROL ECU SUB BUS LINE)

(a) Disconnect the distance control ECU connector (A43).

DLC3: D20 (b) Measure the resistance according to the value(s) in the
CG CANH
table below.
Resistance
Tester Connection Condition Specified value CA
D20-6 (CANH) - D20-4
Ignition switch off 1 kΩ or more
(CG)
D20-14 (CANL) - D20-4
Ignition switch off 1 kΩ or more
(CG)
CANL C123301E09

OK REPLACE DISTANCE CONTROL ECU

 CA–60 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

NG

REPAIR OR REPLACE DISTANCE CONTROL ECU BRANCH LINE OR CONNECTOR (CAN-H,

CAN-L)

10 CONNECT CONNECTOR

(a) Reconnect the gateway ECU sub bus line connector

(E28) to the CAN J/C B side (w/o earth terminal).
NEXT

11 CHECK CAN BUS LINE (GATEWAY ECU SUB BUS LINE)

(a) Disconnect the gateway ECU connector (E23).

DLC3: D20 (b) Measure the resistance according to the value(s) in the
CG CANH
table below.
Resistance
Tester Connection Condition Specified value
D20-6 (CANH) - D20-4
Ignition switch off 1 kΩ or more
(CG)
D20-14 (CANL) - D20-4
Ignition switch off 1 kΩ or more
(CG)
CANL C123301E09

OK REPLACE GATEWAY ECU

NG

REPAIR OR REPLACE GATEWAY ECU SUB BUS LINE OR CONNECTOR (CAN-H, CAN-L)

12 CONNECT CONNECTOR

(a) Reconnect the ECM sub bus line connector (D50) to the
CAN J/C A side (w/ earth terminal).
NEXT

CA
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–61

13 CHECK CAN BUS LINE (ECM MAIN BUS LINE)

(a) Disconnect the ECM connector (D41).

DLC3: D20 (b) Measure the resistance according to the value(s) in the
CG CANH
table below.
Resistance
Tester Connection Condition Specified value
D20-6 (CANH) - D20-4
Ignition switch off 1 kΩ or more
(CG)
D20-14 (CANL) - D20-4
Ignition switch off 1 kΩ or more
(CG)
CANL C123301E09

OK REPLACE ECM

NG

REPAIR OR REPLACE ECM MAIN BUS LINE OR CONNECTOR (CAN-H, CAN-L)

14 CONNECT CONNECTOR

(a) Reconnect the distance control ECU sub bus line

connector (A43) to the CAN J/C B side (w/o earth
terminal).
MEXT

15 CHECK CAN BUS LINE (YAW RATE SENSOR SUB BUS LINE)

(a) Disconnect the yaw rate sensor sub bus line connector
CAN J/C A Side (w/ Earth Terminal)
(D49) from the CAN J/C A side (w/ earth terminal).
Wire Harness View:
NOTICE:
• Before disconnecting the connector, make a note
of where it is connected.
• Reconnect the connector to its original position.

R D49
Earth Terminal

W CA
G031933E28
 CA–62 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

(b) Measure the resistance according to the value(s) in the

DLC3: D20 table below.
CG CANH
Resistance
Tester Connection Condition Specified value
D20-6 (CANH) - D20-4
Ignition switch off 1 kΩ or more
(CG)
D20-14 (CANL) - D20-4
Ignition switch off 1 kΩ or more
(CG)

CANL C123301E09
OK Go to step 22

NG

16 CONNECT CONNECTOR

(a) Reconnect the yaw rate sensor sub bus line connector
(D49) to the CAN J/C A side (w/ earth terminal).
NEXT

17 CHECK CAN BUS LINE (STEERING SENSOR SUB BUS LINE)

(a) Disconnect the steering sensor sub bus line connector

CAN J/C A Side (w/ Earth Terminal)
(D48) from the CAN J/C A side (w/ earth terminal).
Wire Harness View:
NOTICE:
• Before disconnecting the connector, make a note
of where it is connected.
• Reconnect the connector to its original position.

Earth Terminal
L D48

G031934E64

(b) Measure the resistance according to the value(s) in the

DLC3: D20 table below.
CG CANH
Resistance
Tester Connection Condition Specified value
D20-6 (CANH) - D20-4
CA (CG)
Ignition switch off 1 kΩ or more

D20-14 (CANL) - D20-4

Ignition switch off 1 kΩ or more
(CG)

CANL C123301E09
OK Go to step 24

NG
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–63

18 CONNECT CONNECTOR

(a) Reconnect the steering sensor sub bus line connector

(D48) to the CAN J/C A side (w/ earth terminal).
NEXT

19 CHECK CAN BUS LINE (SKID CONTROL ECU WITH ACTUATOR MAIN BUS LINE)

(a) Disconnect the skid control ECU main bus line connector
CAN J/C A Side (w/ Earth Terminal)
(A44) from the CAN J/C B side (w/o earth terminal).
Wire Harness View:
NOTICE:
• Before disconnecting the connector, make a note
of where it is connected.
• Reconnect the connector to its original position.

B A44
Earth Terminal

G031933E31

(b) Measure the resistance according to the value(s) in the

DLC3: D20 table below.
CG CANH
Resistance
Tester Connection Condition Specified value
D20-6 (CANH) - D20-4
Ignition switch off 1 kΩ or more
(CG)
D20-14 (CANL) - D20-4
Ignition switch off 1 kΩ or more
(CG)

CANL C123301E09
NG REPLACE JUNCTION CONNECTOR

OK

20 CONNECT CONNECTOR

(a) Reconnect the skid control ECU main bus line connector
(A44) to the CAN J/C A side (w/ earth terminal).
CA
NEXT
 CA–64 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

21 CHECK CAN BUS LINE (SKID CONTROL ECU MAIN BUS LINE)

(a) Disconnect the skid control ECU connector (A34) or

DLC3: D20 (A40).
CG CANH
(b) Measure the resistance according to the value(s) in the
table below.
Resistance
Tester Connection Condition Specified value
D20-6 (CANH) - D20-4
Ignition switch off 1 kΩ or more
(CG)
D20-14 (CANL) - D20-4
CANL C123301E09 (CG)
Ignition switch off 1 kΩ or more

OK REPLACE SKID CONTROL ECU WITH

ACTUATOR

NG

REPAIR OR REPLACE SKID CONTROL ECU BRANCH LINE OR CONNECTOR (CAN-H, CAN-L)

22 CONNECT CONNECTOR

(a) Reconnect the yaw rate sensor sub bus line connector
(D49) to the CAN J/C A side (w/ earth terminal).
NEXT

23 CHECK CAN BUS LINE (YAW RATE SENSOR SUB BUS LINE)

(a) Disconnect the yaw rate sensor connector (Y1).

DLC3: D20 (b) Measure the resistance according to the value(s) in the
CG CANH
table below.
Resistance
Tester Connection Condition Specified value
D20-6 (CANH) - D20-4
Ignition switch off 1 kΩ or more
(CG)
D20-14 (CANL) - D20-4
Ignition switch off 1 kΩ or more
(CG)
CANL C123301E09

OK REPLACE YAW RATE AND ACCELERATION

CA SENSOR

NG

REPAIR OR REPLACE YAW RATE SENSOR SUB BUS LINE OR CONNECTOR (CAN-H, CAN-L)
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–65

24 CONNECT CONNECTOR

(a) Reconnect the steering sensor sub bus line connector

(D48) to the CAN J/C A side (w/ earth terminal).
NEXT

25 CHECK CAN BUS LINE (STEERING SENSOR SUB BUS LINE)

(a) Disconnect the steering sensor connector (D12).

DLC3: D20 (b) Measure the resistance according to the value(s) in the
CG CANH
table below.
Resistance
Tester Connection Condition Specified value
D20-6 (CANH) - D20-4
Ignition switch off 1 kΩ or more
(CG)
D20-14 (CANL) - D20-4
Ignition switch off 1 kΩ or more
(CG)
CANL C123301E09

OK REPLACE STEERING SENSOR

NG

REPAIR OR REPLACE STEERING SENSOR SUB BUS LINE OR CONNECTOR (CAN-H, CAN-L)

CA
 CA–66 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

Check CAN Bus Line for Short to +B (LHD Models)

DESCRIPTION
There may be a short circuit between the CAN bus line and +B when there is resistance between
terminals 6 (CANH) and 16 (BAT), or terminals 14 (CANL) and 16 (BAT), of the DLC3.
Symptom Trouble Area
• Short to +B
• Distance control ECU
• Skid control ECU with VSC actuator
There is resistance between terminals 6 (CANH) and • Skid control ECU with ABS actuator
16 (BAT), or terminals 14 (CANL) and 16 (BAT), of the • Steering sensor
DLC3. • Yaw rate sensor
• Suspension control ECU
• ECM
• Network gateway ECU

CA
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–67

WIRING DIAGRAM
A20
Junction Connector (CAN J/C) Distance Control ECU
1 L
A43 CANH
8
2 W
A43 CANL
9

A34 Skid Control ECU

with VSC Actuator

1
B (*1)
A44 CANH
11
2
W (*1)
A44 CANL
25

A40 Skid Control ECU

with ABS Actuator

B (*2)
CANH
26
W (*2)
CANL
15

E23
Network Gateway ECU

1 W
E28 CA1H
17
2 V
E28 CA1L
18

*1: with VSC *2: without VSC

C129820E07

CA
 CA–68 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

D12
Steering Angle Sensor
1
L (*1)
D48
10 CANH
2
W (*1)
D48 CANL
9
D20 Yaw Rate Sensor
1
R (*1)
D49
3 CANH
2
W (*1)
D49 CANL
2
D41 ECM
1
G
D50
33 CANH
2
W
D50
34 CANL

D20 DLC3
1
P
D51
6 CANH
2
W
D51 CANL
14

OBD
4
L BAT
From Battery 1M
16
Passenger Side J/B

1 11
W-B W-B
PB PA
4 CG

K
*1: with VSC

C129821E07

CA
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–69

INSPECTION PROCEDURE

1 CHECK CAN BUS LINE (DLC3 SUB BUS LINE)

(a) Turn the ignition switch off.

CAN J/C A Side (w/ Earth Terminal)
(b) Disconnect the DLC3 sub bus line connector (D51) from
Wire Harness View:
the CAN J/C A side (w/ earth terminal).
NOTICE:
• Before disconnecting the connector, make a note
of where it is connected.
• Reconnect the connector to its original position.

P D51
Earth Terminal

G031933E26

(c) Measure the resistance according to the value(s) in the

DLC3: D20 table below.
CANH
Resistance
Tester Connection Condition Specified value
D20-6 (CANH) - D20-16
Ignition switch off 1 MΩ or more
(BAT)

BAT D20-14 (CANL) - D20-16

Ignition switch off 1 MΩ or more
(BAT)

CANL C123301E08
NG REPAIR OR REPLACE DLC3 BRANCH LINE
OR CONNECTOR (CAN-H, CAN-L)

OK

2 CONNECT CONNECTOR

(a) Reconnect the DLC3 sub bus line connector (D51) to the
CAN J/C A side (w/ earth terminal).
NEXT

CA
 CA–70 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

3 CHECK CAN BUS LINE (GATEWAY ECU SUB BUS LINE)

(a) Disconnect the gateway ECU sub bus line connector

CAN J/C B side (w/o Earth Terminal)
(E28) from the CAN J/C B side (w/o earth terminal).
Wire Harness View:
NOTICE:
• Before disconnecting the connector, make a note
of where it is connected.
• Reconnect the connector to its original position.

E28

V
G031932E95

(b) Measure the resistance according to the value(s) in the

DLC3: D20 table below.
CANH
Resistance
Tester Connection Condition Specified value
D20-6 (CANH) - D20-16
Ignition switch off 1 MΩ or more
(BAT)

BAT D20-14 (CANL) - D20-16

Ignition switch off 1 MΩ or more
(BAT)

CANL C123301E08
OK Go to step 10

NG

4 CONNECT CONNECTOR

(a) Reconnect the gateway ECU sub bus line connector

(E28) to the CAN J/C B side (w/o earth terminal).
NEXT

CA
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–71

5 CHECK CAN BUS LINE (ECM MAIN BUS LINE)

(a) Disconnect the ECM main bus line connector (D50) from
CAN J/C A Side (w/ Earth Terminal)
the CAN J/C A side (w/ earth terminal).
Wire Harness View:
NOTICE:
• Before disconnecting the connector, make a note
of where it is connected.
• Reconnect the connector to its original position.

G D50
Earth Terminal

G031933E27

(b) Measure the resistance according to the value(s) in the

DLC3: D20 table below.
CANH
Resistance
Tester Connection Condition Specified value
D20-6 (CANH) - D20-16
Ignition switch off 1 MΩ or more
(BAT)

BAT D20-14 (CANL) - D20-16

Ignition switch off 1 MΩ or more
(BAT)

CANL C123301E08
OK Go to step 12

NG

6 CONNECT CONNECTOR

(a) Reconnect the ECM sub bus line connector (D50) to the
CAN J/C A side (w/ earth terminal).
NEXT

7 CHECK CAN BUS LINE (DISTANCE CONTROL ECU SUB BUS LINE)

NOTICE:
For vehicles without dynamic radar cruise control, go to
step 15. CA
 CA–72 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

(a) Disconnect the distance control ECU sub bus line

CAN J/C B Side (w/o Earth Terminal) connector (A43) from the CAN J/C B side (w/o earth
Wire Harness View:
terminal).
NOTICE:
• Before disconnecting the connector, make a note
of where it is connected.
• Reconnect the connector to its original position.

A43 L

W
G031936E04

(b) Measure the resistance according to the value(s) in the

DLC3: D20 table below.
CANH
Resistance
Tester Connection Condition Specified value
D20-6 (CANH) - D20-16
Ignition switch off 1 MΩ or more
(BAT)

BAT D20-14 (CANL) - D20-16

Ignition switch off 1 MΩ or more
(BAT)

CANL C123301E08
NG Go to step 14

OK

8 CONNECT CONNECTOR

(a) Reconnect the distance control ECU sub bus line

connector (A43) to the CAN J/C B side (w/o earth
terminal).
NEXT

9 CHECK CAN BUS LINE (DISTANCE CONTROL ECU SUB BUS LINE)

(a) Disconnect the distance control ECU connector (A29).

DLC3: D20 (b) Measure the resistance according to the value(s) in the
CANH
table below.
Resistance
CA Tester Connection Condition Specified value
D20-6 (CANH) - D20-16
Ignition switch off 1 MΩ or more
BAT (BAT)
D20-14 (CANL) - D20-16
Ignition switch off 1 MΩ or more
(BAT)
CANL C123301E08

NG REPAIR OR REPLACE DISTANCE CONTROL

ECU BRANCH LINE OR CONNECTOR (CAN-
H, CAN-L)
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–73

OK

REPLACE DISTANCE CONTROL ECU

10 CONNECT CONNECTOR

(a) Reconnect the gateway ECU sub bus line connector

(E28) to the CAN J/C B side (w/o earth terminal).
NEXT

11 CHECK CAN BUS LINE (GATEWAY ECU SUB BUS LINE)

(a) Disconnect the gateway ECU sub bus line connector

DLC3: D20 (E23).
CANH
(b) Measure the resistance according to the value(s) in the
table below.
Resistance
Tester Connection Condition Specified value
BAT D20-6 (CANH) - D20-16
Ignition switch off 1 MΩ or more
(BAT)
D20-14 (CANL) - D20-16
CANL C123301E08 (BAT)
Ignition switch off 1 MΩ or more

OK REPLACE GATEWAY ECU

NG

REPAIR OR REPLACE GATEWAY ECU SUB BUS LINE OR CONNECTOR (CAN-H, CAN-L)

12 CONNECT CONNECTOR

(a) Reconnect the ECM main bus line connector (D50) to

the CAN J/C A side (w/ earth terminal).
NEXT

CA
 CA–74 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

13 CHECK CAN BUS LINE (ECM MAIN BUS LINE)

(a) Disconnect the ECM connector (E41).

DLC3: D20 (b) Measure the resistance according to the value(s) in the
CANH
table below.
Resistance
Tester Connection Condition Specified value
D20-6 (CANH) - D20-16
Ignition switch off 1 MΩ or more
BAT (BAT)
D20-14 (CANL) - D20-16
Ignition switch off 1 MΩ or more
(BAT)
CANL C123301E08

OK REPLACE ECM

NG

REPAIR OR REPLACE ECM MAIN BUS LINE OR CONNECTOR (CAN-H, CAN-L)

14 CONNECT CONNECTOR

(a) Reconnect the distance control ECU sub bus line

connector (A43) to the CAN J/C B side (w/o earth
terminal).
NEXT

15 CHECK CAN BUS LINE (YAW RATE SENSOR SUB BUS LINE)

(a) Disconnect the yaw rate sensor sub bus line connector
CAN J/C A Side (w/ Earth Terminal)
(D49) from the CAN J/C A side (w/ earth terminal).
Wire Harness View:
NOTICE:
• Before disconnecting the connector, make a note
of where it is connected.
• Reconnect the connector to its original position.

R D49
Earth Terminal

CA W

G031933E28
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–75

(b) Measure the resistance according to the value(s) in the

DLC3: D20 table below.
CANH
Resistance
Tester Connection Condition Specified value
D20-6 (CANH) - D20-16
Ignition switch off 1 MΩ or more
(BAT)

BAT D20-14 (CANL) - D20-16

Ignition switch off 1 MΩ or more
(BAT)

CANL C123301E08
OK Go to step 22

NG

16 CONNECT CONNECTOR

(a) Reconnect the yaw rate sensor sub bus line connector
(D49) to the CAN J/C A side (w/ earth terminal).
NEXT

17 CHECK CAN BUS LINE (STEERING SENSOR SUB BUS LINE)

(a) Disconnect the steering sensor sub bus line connector

CAN J/C A Side (w/ Earth Terminal)
(D48) from the CAN J/C A side (w/ earth terminal).
Wire Harness View:
NOTICE:
• Before disconnecting the connector, make a note
of where it is connected.
• Reconnect the connector to its original position.

Earth Terminal
L D48

G031934E64

(b) Measure the resistance according to the value(s) in the

DLC3: D20 table below.
CANH
Resistance
Tester Connection Condition Specified value
D20-6 (CANH) - D20-16
(BAT)
Ignition switch off 1 MΩ or more
CA
BAT D20-14 (CANL) - D20-16
Ignition switch off 1 MΩ or more
(BAT)

CANL C123301E08
OK Go to step 20

NG
 CA–76 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

18 CONNECT CONNECTOR

(a) Reconnect the steering sensor connector (D48) to the

CAN J/C A side (w/ earth terminal).
NEXT

19 CHECK CAN BUS LINE (SKID CONTROL ECU MAIN BUS LINE)

(a) Disconnect the skid control ECU connector (A34) or

DLC3: D20 (A40).
CANH
(b) Measure the resistance according to the value(s) in the
table below.
Resistance
Tester Connection Condition Specified value
BAT D20-6 (CANH) - D20-16
Ignition switch off 1 MΩ or more
(BAT)
D20-14 (CANL) - D20-16
CANL C123301E08 (BAT)
Ignition switch off 1 MΩ or more

OK REPLACE SKID CONTROL ECU WITH

ACTUATOR

NG

REPAIR OR REPLACE SKID CONTROL ECU MAIN BUS LINE OR CONNECTOR (CAN-H, CAN-L)

20 CONNECT CONNECTOR

(a) Reconnect the steering sensor sub bus line connector

(D48) to the CAN J/C A side (w/ earth terminal).
NEXT

21 CHECK CAN BUS LINE (STEERING SENSOR SUB BUS LINE)

(a) Disconnect the steering sensor connector (D12).

DLC3: D20 (b) Measure the resistance according to the value(s) in the
CANH
table below.
Resistance
CA Tester Connection Condition Specified value
D20-6 (CANH) - D20-16
Ignition switch off 1 MΩ or more
BAT (BAT)
D20-14 (CANL) - D20-16
Ignition switch off 1 MΩ or more
(BAT)
CANL C123301E08

OK REPLACE STEERING SENSOR

 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–77

NG

REPAIR OR REPLACE STEERING SENSOR SUB BUS LINE OR CONNECTOR (CAN-H, CAN-L)

22 CONNECT CONNECTOR

(a) Reconnect the yaw rate sensor sub bus line connector
(D49) to the CAN J/C A side (w/ earth terminal).
NEXT

23 CHECK CAN BUS LINE (YAW RATE SENSOR SUB BUS LINE)

(a) Disconnect the yaw rate sensor connector (D28).

DLC3: D20 (b) Measure the resistance according to the value(s) in the
CANH
table below.
Resistance
Tester Connection Condition Specified value
D20-6 (CANH) - D20-16
Ignition switch off 1 MΩ or more
BAT (BAT)
D20-14 (CANL) - D20-16
Ignition switch off 1 MΩ or more
(BAT)
CANL C123301E08

OK REPLACE YAW RATE AND ACCELERATION

SENSOR

NG

REPAIR OR REPLACE YAW RATE SENSOR SUB BUS LINE OR CONNECTOR (CAN-H, CAN-L)

CA
 CA–78 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

Open in One Side of CAN Sub Bus Line

DESCRIPTION
If 2 or more ECUs and / or sensors do not appear on the intelligent tester's "BUS CHECK" screen via the
CAN VIM, one side of the CAN sub-bus line may be open. (One side of the CAN-H [sub-bus line] / CAN-L
[sub-bus line] of the ECU and / or sensor is open.)
Symptom Trouble Area
• One side of the CAN sub-bus line is open
• Skid control ECU with VSC actuator
• Skid control ECU with ABS actuator
2 or more ECUs and / or sensors do not appear on the
• Steering angle sensor
intelligent tester's "BUS CHECK" screen via the CAN
• Yaw rate sensor
VIM.
• ECM
• Distance control ECU
• Network gateway ECU

CA
 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM CA–79

WIRING DIAGRAM

A34 A20
Skid Control ECU with VSC Actuator Junction Connector Distance Control ECU

1 1
11 B (*2) L (*1)
CANH A44 A43 CANH
8
2 2
25 W (*2) W (*1)
CANL A44 A43 CANL
9

A40
Skid Control ECU with
ABS Actuator E23
Network Gateway ECU

B (*3) 1
CANH W 17
E28 CA1H
26

W (*3) 2
V 18
CANL E28 CA1L
15

D12 D28
Steering Angle Sensor Yaw Rate Sensor

1 1
10 L (*2) R (*2)
CANH D48 D49 CANH
3
2 2
9 W (*2) W (*2)
CANL D48 D49 CANL
2

D41 ECM D20 DLC3

1 1
33 G P
CANH D50 D51 CANH
6
2 2
34 W W
CANL D50 D51 CANL
14
CA
*1: with Dynamic Radar Cruise Control *2: with VSC *3: without VSC

C129823E02

INSPECTION PROCEDURE
HINT:
• The following is the troubleshooting procedure of an open in either CANH or CANL of the ECU A.
 CA–80 CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

• Perform the following inspection for the ECUs (sensors) which are not displayed on the intelligent
tester. If a malfunction cannot be identified, then perform the following inspections for the ECUs
(sensors) connected to CAN communication.

1 CHECK CAN BUS LINE

(a) Disconnect the connector with terminals CANH and

ECU A CANL of the ECU A.
(b) Select "CHECK the ECU connected to CAN BUS" on the
intelligent tester.
Standard
A B
Only ECUs are not displayed on the Several ECUs and sensor are not
intelligent tester. displayed on the intelligent tester.
CANL
CANH
C129824E01
B CONNECT THE ECU A CONNECTOR TO THE
ECU (SENSOR) AND INSPECT OTHER ECUS
(SENSORS) TO MEET "STANDARD A"

2 CHECK CAN BUS LINE

(a) Measure the resistance according to the value(s) in the

ECU A table below.
Resistance
ECUs (sensors) Specified Condition
ECM 108 to 132 Ω
Skid control ECU 108 to 132 Ω
Other ECUs (sensor) 54 to 69 Ω

CANL
CANH
C129824E01 NG REPAIR OR REPLACE ECU A BUS LINE OR
CONNECTOR

OK

REPLACE ECU A

CA