DTC U0122-00: F-CAN Malfunction (EPS Control Unit-VSA Modulator-Control Unit) DTC U0151-00: F-CAN Malfunction (EPS Control Unit-SRS Unit) DTC U129C-00: F-CAN Malfunction (EPS Control Unit-Driving Support System Control Unit)
According to the detected DTC(s), check for power circuit and ground circuit of the control unit which cannot communicate with the EPS motor/control unit.
Refer to the DTC code shown on the display, and then inspect the connectors and terminals based on the instructions in the table.
DTC Description
DTC
Freeze Frame
U0122-00 F-CAN Malfunction (EPS Control Unit-VSA Modulator-Control Unit)
U0151-00 F-CAN Malfunction (EPS Control Unit-SRS Unit)
U129C-00 F-CAN Malfunction (EPS Control Unit-Driving Support System Control Unit)
CAN gateway 16P connector (female terminals) No. 14:
Is there continuity?
YES
The F-CAN B_H and the F-CAN B_L wires are OK. Check for loose terminals and poor connections in the EPS control unit connectors. Check for any authorized service information related to the DTCs or symptoms you are troubleshooting. If they are OK, replace the EPS motor/control unit.?
NO
Repair an open in the F-CAN B_H and/or the F-CAN B_L wire between the EPS motor/control unit and the CAN gateway.?
4.
F-CAN circuit communication check (Transmitting control unit):
F-CAN circuit communication check (Transmitting control unit)
?1.
Select the FUNCTION TEST in the CAN gateway with the HDS, then select the F-CAN Bus Connected Unit Check.
?2.
According to the detected DTC on the following table, make sure that the transmitting control unit detects the CAN gateway Bus channel(s) normally.
DTC
Transmitting control unit
Detected CAN gateway Bus channel(s) at normal
U0122-00
VSA modulator-control unit
A, B
U0151-00
SRS unit
B
U129C-00
Millimeter wave radar
B
Is it detected normally?
Detected normal
Intermittent failure, the system is OK at this time. Check for poor connections or loose terminals at the transmitting control unit and the CAN gateway.?
U0122-00: VSA modulator-control unit is Not Available for Bus A
Go to step 5.
U0122-00: VSA modulator-control unit is Not Available for Bus B
Go to step 6.
U0151-00: SRS unit is Not Available for Bus B
Go to step 6.
U129C-00: Millimeter wave radar is Not Available for Bus B
Go to step 6.
5.
Open wire check (F-CAN A_H, F-CAN A_L lines):
Open wire check (F-CAN A_H, F-CAN A_L lines)
?1.
Turn the vehicle to the OFF (LOCK) mode.
?2.
Disconnect the following connectors.
VSA modulator-control unit 46P connector
CAN gateway 16P connector
?3.
Check for continuity between test points 1 and 2.
Test condition
Vehicle OFF (LOCK) mode
VSA modulator-control unit 46P connector: disconnected
CAN gateway 16P connector (female terminals) No. 11:
Is there continuity?
YES
The F-CAN A_H wire and the F-CAN A_L wires are OK. Check for loose terminals and poor connections in the VSA modulator-control unit 46P connector. Check for any authorized service information related to the DTCs or symptoms you are troubleshooting. If they are OK, replace the VSA modulator-control unit.?
NO
Repair an open in the F-CAN A_H wire and/or the F-CAN A_L wire between the VSA modulator-control unit and the CAN gateway.?
6.
Open wire check (F-CAN B_H, F-CAN B_L lines):
Open wire check (F-CAN B_H, F-CAN B_L lines)
?1.
Turn the vehicle to the OFF (LOCK) mode.
?2.
According to the detected DTC on the following table, disconnect the transmitting control unit connector(s).
The F-CAN B_H wire and the F-CAN B_L wires are OK. Check for any authorized service information related to the DTCs or symptoms you are troubleshooting.
According to the detected DTC on the following table, substitute or replace the appropriate control unit.?
