Toyota Camry 2007-2009 Service Manual - CAN_Communication

CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

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) which includes parts such as the driver 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 WIRE REPAIR

(a) After repairing a bus wire with solder, wrap the

repaired part with vinyl tape.

NOTICE:

• The CANL bus wire and CANH bus wire must be installed together at all times.

• When installing, make sure that they are twisted.

• CAN bus wires are likely to be influenced by

F045104

noise if the bus wires are not twisted.

• The difference in length between the CANL bus wire and CANH bus wire should be within 100 mm (3.937 in.).

• Leave approximately 80 mm (3.150 in.) loose in the twisted wires around the connector.

CA–1

Bypass Wire

(b) Do not use bypass wiring between the connectors.

NOTICE: The protective effect of the twisted wire harness will be lost if you use bypass wiring.

F045105E01

CA–2

Service Wire

CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

4. CONNECTOR HANDLING

(a) When checking resistance with a tester, insert the

tester probes from the backside (harness side) of the connector.

Tester Probe

F045106E01

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

impossible to check continuity from the rear of the connector.

5. EXPRESSIONS OF IGNITION SWITCH

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.

F045107E13

Expression

Ignition switch off LOCK Off

Ignition switch on (IG) ON On (IG)

Ignition switch on (ACC) ACC ON (ACC)

Engine start START Start

Ignition Switch (Position) Engine Switch (Condition)

Switch Type

CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

PARTS LOCATION

ECM (2GR-FE)

SKID CONTROL ECU WITH ACTUATOR

CA–3

ECM (2AZ-FE)

C136705E03

CA–4

CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

STEERING ANGLE SENSOR

CERTIFICATION ECU*

NO. 2 CAN J/C (A40)

NO. 2 CAN J/C (E41)

A/C AMPLIFIER

NO. 1 CAN J/C

COMBINATION METER

ACCESSORY GATEWAY

DLC3

MAIN BODY ECU

CENTER AIRBAG SENSOR ASSEMBLY

YAW RATE SENSOR

*: With Smart Key System

C133236E01

CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

: CAN Main Bus Wire (CANH)

CA–5

SYSTEM DIAGRAM

: CAN Main Bus Wire (CANL)

: CAN Branch Wire (CANH)

: CAN Branch Wire (CANL)

: CAN MS Bus Wire (CANH)

: CAN MS Bus Wire (CANL)

No. 1 CAN J/C

DLC3

Steering Angle Sensor*2

*1: with Smart Key System

*2: with VSC

Combination Meter Certification ECU*1

120 Ω120 Ω

120 Ω

Main Body ECU

Yaw Rate Sensor*2

Center Airbag Sensor Assembly

No. 2 CAN J/C (Rear of the Vehicle)

Accessory Gateway

Skid Control ECU with Actuator

A/C Amplifier

No. 2 CAN J/C (Front of the Vehicle)

120 Ω

ECM

C136704E04

CA–6

CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

HINT:

• The skid control ECU detects and stores steering angle sensor and yaw rate sensor DTCs and allows DTC communication by receiving information from the steering angle sensor and yaw rate sensor.

CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

SYSTEM DESCRIPTION

1. BRIEF DESCRIPTION

(a) Two different CAN busses are used. The CAN

busses are classified into two types based on typical communication speed. The HS-CAN bus is a high-speed communication bus that is used for powertrain, chassis, and some body electrical communication. The HS-CAN bus is referred to as the "CAN bus" and it operates at speeds of approximately 500 kbps. Terminating resistors for the HS-CAN bus are located in the ECM and combination meter. The MS-CAN bus is a medium-speed communication bus that is used for body electrical communication. The MS-CAN bus is referred to as the "MS bus" and it operates at speeds of approximately 250 kbps. Terminating resistors for the MS-CAN bus are located in the main body ECU and the certification ECU. The resistance of the MSCAN bus cannot be measured from the DLC3 connector. Communication between these two networks is handled via the main body ECU, which acts as a gateway ECU.

(b) By pairing the CANH and CANL bus wires, the CAN

performs communication based on differential voltage.

operate by sharing information and communicating with each other.

(d) The CAN has two resistors of 120 Ω which are

necessary to enable communication on the main bus wire.

2. DEFINITION OF TERMS

(a) Main bus wire

(1) The main bus wire is a wire harness between

the two terminus circuits on the bus (communication line).

(b) Branch wire

(1) The branch wire is a wire harness which

diverges from the main bus wire to an ECU or sensor.

CA–7

CA–8

CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

(1) Two resistors of 120 Ω resistance are installed in

parallel across the ends of the CAN main bus wires. They are called terminating resistors. These resistors allow the changes of the voltage differential between the CAN bus wires to be accurately judged. To allow proper function of CAN communication, it is necessary to have both terminating resistors installed. Since the two resistors are installed in parallel, a measurement of resistance between the two CAN bus wires should produce a reading of approximately 60 Ω.

3. ECUS OR SENSORS WHICH COMMUNICATE

THROUGH CAN COMMUNICATION SYSTEM

(a) Skid control ECU with actuator (b) Air conditioning amplifier (c) Main body ECU (d) Combination meter ECU (e) Yaw rate sensor (f) Steering angle sensor (g) Center airbag sensor (h) ECM (i) Certification ECU (with smart key system) (j) TCM (k) Accessory gateway

4. DIAGNOSTIC CODE FOR CAN COMMUNICATION

SYSTEM

(a) DTCs for the CAN communication system are as

follows: U0101, U0073, U0100, U0123, U0124, U0126, U0129, B1207, B1499, and B2326.

5. TROUBLESHOOTING REMARKS

(a) DTCs for the CAN communication system can be

checked using the intelligent tester via the CAN VIM. The DLC3 is connected to the CAN communication system, but no DTCs exist regarding problems in the DLC3 or the DLC3 branch wires. If there is trouble in the DLC3 or the DLC3 branch wires, ECUs on the CAN network cannot output codes to the intelligent tester via the CAN VIM.

(b) Trouble in the CAN buses (communication lines)

can be checked by measuring the resistance between terminals of the DLC3. However, an open circuit in a branch wire other than the DLC3 branch wires cannot be checked from the DLC3.

NOTICE: Do not insert the tester probes directly into the DLC3. Be sure to use a service wires.

CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

6. HOW TO DISTINGUISH THE CAN J/C CONNECTOR

(a) In the CAN communication system, the shape of all

connectors connected to the CAN J/C No. 1 is the same. The connectors connected to the CAN J/C No. 1 can be connecting side of the junction connector. HINT: See "TERMINALS OF ECU" (See page CA-10) for bus wire color or the type of connecting surface.

CA–9

CA–10

CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

HOW TO PROCEED WITH TROUBLESHOOTING

NOTICE:

• DTCs for the CAN communication system are as follows: U0101, U0073, U0100, U0123, U0124, U0126, B1207, B1499, and B2326.

• Refer to troubleshooting of each system if DTCs regarding the CAN communication system are not output.

CHECK AND CLEAR DTCS

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

(a) Check which of the following is adopted: SFI system,

CHECK CAN BUS LINE

(a) Check the CAN bus wires (See page CA-65).

CHECK INTELLIGENT TESTER

(a) Select "Communication Bus Check" (See page CA-25).

Result

Symptom Proceed See procedure

All the ECUs and sensors connected to the CAN communication system are displayed on the screen.

An ECU or sensor not connected to the CAN communication system is displayed on the screen.

More than one of the ECUs and sensors not connected to the CAN communication system are displayed on the screen. (If the displayed ECUs and sensors are only those relating to the "Engine" and "ECT", proceed to B.)

automatic transaxle system, brake control system, supplemental restraint system, smart key system, air conditioning system and meter / gauge system (See page CA-25).

A Go to step 5

B CA-10

C CA-119

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 (See page

CA-25).

CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

• Non-installed ECUs or sensors are not displayed. Do not mistake ECUs that are not installed as being in communication stop mode.

• If 2 or more ECUs or sensors are not displayed on the intelligent tester, perform troubleshooting for communication stop mode for each undisplayed ECU or sensor. (Open in one side of the CAN branch wires.)

CA–11

DTC COMBINATION TABLE

(a) Confirm trouble according to the combination of output

DTCs regarding the CAN communication system (See page CA-25). 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 "Communication Bus Check" screen.

GO TO "COMMUNICATION STOP MODE TABLE"

GO TO "OPEN IN ONE SIDE OF CAN BRANCH LINE"

END

CIRCUIT INSPECTION

IDENTIFICATION OF PROBLEM

REPAIR OR REPLACE

CONFIRMATION TEST

CA–12

CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

PROBLEM SYMPTOMS TABLE

RESULT LIST OF HOW TO PROCEED WITH TROUBLESHOOTING:

Symptom Suspected area See page

The result of "HOW TO PROCEED WITH TROUBLESHOOTING" is "Open in CAN Main Bus Line"

The result of "HOW TO PROCEED WITH TROUBLESHOOTING" is "Short in CAN Bus Line"

The result of "HOW TO PROCEED WITH TROUBLESHOOTING" is "Short to +B in CAN Bus Line"

The result of "HOW TO PROCEED WITH TROUBLESHOOTING" is "Short to GND in CAN Bus Line"

The result of "HOW TO PROCEED WITH TROUBLESHOOTING" is "Open in One Side of CAN Sub Bus Line"

COMMUNICATION STOP MODE TABLE:

Symptom Suspected area See page

"ABS/VSC/TRAC" is not displayed on the intelligent tester (with VSC)

"A/C " is not displayed on the intelligent tester Air Conditioning Amplifier Communication Stop Mode CA-46 "Body/Gateway" is not displayed on the intelligent

tester "Steering Angle Sensor" is not displayed on the

intelligent tester "Yaw Rate/Deceleration Sensor" is not displayed on

the intelligent tester "Engine" are not displayed on the intelligent tester ECM Communication Stop Mode CA-54 "Meter " is not displayed on the intelligent tester Combination Meter Communication Stop Mode CA-61 "SRS Airbag" is not displayed on the intelligent tester Center Airbag Sensor Communication Stop Mode CA-63

Open in CAN Main Bus Wire CA-69

Short in CAN Bus Wires CA-74

Short to B+ in CAN Bus Wire CA-89

Short to GND in CAN Bus Wire CA-104

Open in One Side of CAN Branch Wire CA-119

Skid Control ECU Communication Stop Mode CA-42

Main Body ECU Communication Stop Mode CA-57

Steering Angle Sensor Communication Stop Mode CA-49

Yaw Rate Sensor Communication Stop Mode CA-51

CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

CA–13

TERMINALS OF ECU

NOTICE: This section describes the standard CAN values for all CAN related components.

1. JUNCTION CONNECTOR (NO. 1 CAN J/C, NO. 2 CAN J/C)

(a) No. 1 CAN J/C

No. 1 CAN J/C “B” side (without Earth Terminal): No. 1 CAN J/C “A” side (with Earth Terminal):

Earth Terminal

E46

E62

E63

E43

E42

E45

E44

Earth Terminal

No. 1 CAN J/C connectors ("A" side, with earth

terminal)

CAN Main Bus Wire (E42) White B W Airbag Sensor Assembly Center (E45) Black B W

No. 1 CAN J/C connectors ("B" side, with earth

terminal)

Yaw Rate Sensor* (E46) Blue B W DLC3 (E62) Gray B W Steering Angle Sensor* (E63) Brown B W Combination Meter (E43) White B W Main Body ECU (E44) Black B W

Connector Color Wire Color (CAN-H) Wire Color (CAN-L)

C137761E02

*: with VSC

CA–14

CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

(b) No. 2 CAN J/C (FRONT OF THE VEHICLE)

No. 2 CAN J/C (Front of the Vehicle) Wire Harness View:

CANH (for Skid Control ECU)

Front of the Vehicle

CANH (for ECM)

CANL (for Skid Control ECU)

Terminals Wiring Color Connects to

A40-1 (CANH) B ECM (CANH) A40-7 (CANL) W ECM (CANL) A40-2 (CANH) B Skid Control ECU (CANH) A40-8 (CANL) W Skid Control ECU (CANL)

No. 2 CAN J/C (Rear of the Vehicle) Wire Harness View:

A40

CANL (for ECM)

C137762E02

Front of the Vehicle

E41

CANH (for No. 1 CAN J/C)

CANL

(for No. 1 CAN J/C)

CANL

(for Accessory Gateway)

Terminals Wiring Color Connects to

E41-1 (CANH) B Accessory Gateway (CANH)

CANH (for Accessory Gateway)

CANH (for A/C Amplifier)

CANL (for A/C Amplifier)

C137763E02

CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

Terminals Wiring Color Connects to

E41-7 (CANL) W Accessory Gateway (CANL) E41-2 (CANH) B A/C Amplifier (CANH) E41-8 (CANL) W A/C Amplifier (CANL) E41-4 (CANH) B No. 1 CAN J/C (CANH)

E41-10 (CANL) W No. 1 CAN J/C (CANL)

CA–15

CA–16

CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

(d) The connection diagram of the components which

are connected to the CAN J/C

Sensor*2

CANH

CANL

DLC 3Yaw Rate

CANH CANL CANH CANL CANH CANL CANH

Steering Angle Sensor*2

No. 1 CAN J/C

Combination Meter

CANH

Center Airbag Sensor Assembly

CANL

Main Body ECU

CANH

Certification ECU*1

“B” Side (without Earth Terminal)

CANL

“A” Side (with Earth Terminal)

*1: with smart key system

Accessory Gateway

A/C Amplifier

CANH CANL

Skid Control ECU with Actuator

*2: with VSC

Rear of the Vehicle (E41)

CANH CANLCANH CANLCANH CANL

No. 2 CAN J/C

CANH

CANL

Front of the Vehicle (A40)

ECM

C136707E02

DLC3:

CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

2. DLC3

E10

CANH

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

the table below.

CA–17

CANL

BAT

Standard resistance

Terminals Wiring Color Terminal Description Condition Specified Condition

E10-6 (CANH) - E10-14 (CANL) B - W

E10-6 (CANH) - E10-4 (CG) B - W-B

E10-14 (CANL) - E10-4 (CG) W - W-B

E10-6 (CANH) - E10-16 (BAT) B - L

E10-14 (CANL) - E10-16 (BAT) W - L

Skid Control ECU (Harness Side Connector Front View):

A25

+BS

CANL

C125062E02

HIGH-level CAN bus wire -

LOW-level CAN bus wire

HIGH-level CAN bus wire -

Ground

LOW-level CAN bus wire -

Ground

HIGH-level CAN bus wire -

Battery positive

LOW-level CAN bus wire -

Battery positive

Ignition Switch off 54 to 69 Ω

Ignition Switch off 200 Ω or higher

Ignition Switch off 1 MΩ or higher

3. SKID CONTROL ECU (w/o VSC)

(a) Disconnect the A25 connector from the skid control

ECU.

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

the table below.

CANHGND1

Standard resistance

Terminals Wiring Color Terminal Description Condition Specified Condition

A25-26 (CANH) - A25-15 (CANL) B - W

A25-26 (CANH) - A25-4 (GND1) B - W-B

A25-15 (CANL) - A25-4 (GND1) W - W-B

A25-26 (CANH) - A25-3 (+BS) B - L

A25-15 (CANL) - A25-3 (+BS) W - L

C131970E11

HIGH-level CAN bus wire -

LOW-level CAN bus wire

HIGH-level CAN bus wire -

Ground

LOW-level CAN bus wire -

Ground

HIGH-level CAN bus wire -

Battery positive

LOW-level CAN bus wire -

Battery positive

Ignition Switch off 54 to 69 Ω

Ignition Switch off 200 Ω or higher

Ignition Switch off 6 kΩ or higher

CA–18

CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

Skid Control ECU Connector Front View:

CANH

+BS

GND1

CANL

Standard resistance

Terminals Wiring Color Terminal Description Condition Specified Condition

A26-11 (CANH) - A26-25 (CANL) B - W

A26-11 (CANH) - A26-32 (GND1) B - W-B

A26-25 (CANL) - A26-32 (GND1) W - W-B

A26-11 (CANH) - A26-31 (+BS) B - L

A26-25 (CANL)- A26-31 (+BS) W - L

A26

E069126E52

4. SKID CONTROL ECU WITH ACTUATOR (w/ VSC)

(a) TMC made

(1) Disconnect A26 connector from the skid control

ECU.

(2) Measure the resistance according to the

value(s) in the table below.

HIGH-level CAN bus wire -

LOW-level CAN bus wire

HIGH-level CAN bus wire -

Ground

LOW-level CAN bus wire -

Ground

HIGH-level CAN bus wire -

Battery positive

LOW-level CAN bus wire -

Battery positive

Ignition Switch off 54 to 69 Ω

Ignition Switch off 200 Ω or higher

Ignition Switch off 6 kΩ or higher

Skid Control ECU (Harness Side Connector Front View):

A60

+BS CANL

GND1

CANH

Standard resistance

Terminals Wiring Color Terminal Description Condition Specified Condition

A60-35 (CANH) - A60-14 (CANL) B - W

A60-35 (CANH) - A60-4 (GND1) B - W-B

A60-14 (CANL) - A60-4 (GND1) W - W-B

A60-35 (CANH) - A60-3 (+BS) B - L

A60-14 (CANL)- A60-3 (+BS) W - L

C136493E10

(b) TMMK made

(1) Disconnect the A60 connector from the skid

control ECU.

(2) Measure the resistance according to the

value(s) in the table below.

HIGH-level CAN bus wire -

LOW-level CAN bus wire

HIGH-level CAN bus wire -

Ground

LOW-level CAN bus wire -

Ground

HIGH-level CAN bus wire -

Battery positive

LOW-level CAN bus wire -

Battery positive

Ignition Switch off 54 to 69 Ω

Ignition Switch off 200 Ω or higher

Ignition Switch off 6 kΩ or higher

CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

CA–19

Steering Angle Sensor Wire Harness View:

CANH

CANL

Standard resistance

Terminals Wiring Color Terminal Description Condition Specified Condition

E17-10 (CANH) - E17-9 (CANL) B - W

E17-10 (CANH) - E17-2 (ESS) B - W-B

E17-9 (CANL) - E17-2 (ESS) W - W-B

E17-10 (CANH) - E17-3 (BAT) B - W

E17-9 (CANL) - E17-3 (BAT) W - W

E17

BAT

ESS

G026357E15

5. STEERING ANGLE SENSOR (W/ VSC)

(a) Disconnect the E17 connector from the steering

angle sensor.

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

the table below.

HIGH-level CAN bus wire -

LOW-level CAN bus wire

HIGH-level CAN bus wire -

Ground

LOW-level CAN bus wire -

Ground

HIGH-level CAN bus wire -

Battery positive

LOW-level CAN bus wire -

Battery positive

Ignition Switch off 54 to 69 Ω

Ignition Switch off 200 Ω or higher

Ignition Switch off 6 kΩ or higher

Yaw Rate Sensor Connector Front View:

CANL

E34

GND

CANH

DLC3:

E10

G026641E19

Standard resistance

6. YAW RATE SENSOR (W/ VSC)

(a) TMC made

(1) Disconnect the E34 connector from the yaw rate

sensor.

(2) Measure the resistance according to the

value(s) in the table below.

BAT

Terminals Wiring Color Terminal Description Condition Specified Condition

E34-3 (CANH) - E34-2 (CANL) B - W

E34-3 (CANH) - E34-1 (GND) B - W-B

E34-2 (CANL) - E34-1 (GND) W - W-B

E34-3 (CANH) - E10-16 (BAT) B - O

HIGH-level CAN bus wire -

LOW-level CAN bus wire

HIGH-level CAN bus wire -

Ground

LOW-level CAN bus wire -

Ground

HIGH-level CAN bus wire -

Battery positive

Ignition Switch off 54 to 69 Ω

Ignition Switch off 200 Ω or higher

Ignition Switch off 6 kΩ or higher

CA–20

Terminals Wiring Color Terminal Description Condition Specified Condition

E34-2 (CANL) - E10-16 (BAT) W - O

CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

CANL

E65

LOW-level CAN bus wire -

Battery positive

(b) TMMK made

(1) Disconnect the E34 connector from the yaw rate

sensor.

(2) Measure the resistance according to the

value(s) in the table below.

Ignition Switch off 6 kΩ or higher

CANH

GND

E10

BAT

Standard resistance

Terminals Wiring Color Terminal Description Condition Specified Condition

E65-3 (CANH) - E65-2 (CANL) B - W

E65-3 (CANH) - E65-1 (GND) B - W-B

E65-2 (CANL) - E65-1 (GND) W - W-B

E65-3 (CANH) - E10-16 (BAT) B - O

E65-2 (CANL) - E10-16 (BAT) W - O

C136716E01

HIGH-level CAN bus wire -

LOW-level CAN bus wire

HIGH-level CAN bus wire -

Ground

LOW-level CAN bus wire -

Ground

HIGH-level CAN bus wire -

Battery positive

LOW-level CAN bus wire -

Battery positive

Ignition Switch off 54 to 69 Ω

Ignition Switch off 200 Ω or higher

Ignition Switch off 6 kΩ or higher

7. CENTER AIRBAG SENSOR ASSEMBLY

(a) Disconnect the E30 connector from the center

airbag sensor assembly.

CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

CA–21

Center Airbag Sensor Wire Harness View :

E30

E10

BAT

Standard resistance

CANH

CANL

C125063E03

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

the table below.

Terminals Wiring Color Terminal Description Condition Specified Condition

E30-13 (CANH) - E30-22 (CANL) B - W

E30-13 (CANH) - E30-25 (E1) B - W-B

E30-22 (CANL) - E30-25 (E1) W - W-B

E30-13 (CANH) - E10-16 (BAT) B - L

E30-22 (CANL) - E10-16 (BAT) W - L

ECM:









HIGH-level CAN bus wire -

LOW-level CAN bus wire

HIGH-level CAN bus wire -

Ground

LOW-level CAN bus wire -

Ground

HIGH-level CAN bus wire -

Battery positive

LOW-level CAN bus wire -

Battery positive

8. ECM

(a) 2AZ-FE



CANH



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





Ignition Switch off 54 to 69 Ω

Ignition Switch off 200 Ω or higher

Ignition Switch off 6 kΩ or higher

A24





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CANL

A107881E28

(1) Disconnect the A24 connector from the ECM.

CA–22

CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

(2) Measure the resistance according to the

value(s) in the table below.

Standard resistance

Terminals Condition Specified Condition

A24-41 (CANH) - A29-49 (CANL) Ignition Switch off 108 to 132 Ω

ECM Wire Harness View:

A24

BATT

CANH

CANL

C24

Standard resistance

Terminals Wiring Color Terminal Description Condition Specified Condition

A24-41 (CANH) - A24-49 (CANL) B - W

A24-41 (CANH) - C24-104 (E1) B - W-B

A24-49 (CANL) - C24-104 (E1) B - W-B

A24-41 (CANH) - A24-20 (BATT) B - Y

A24-49 (CANL) - A24-20 (BATT) W - Y

C136709E05

(3) Measure the resistance according to the

value(s) in the table below.

HIGH-level CAN bus wire -

LOW-level CAN bus wire

HIGH-level CAN bus wire -

Ground

LOW-level CAN bus wire -

Ground

HIGH-level CAN bus wire -

Battery positive

LOW-level CAN bus wire -

Battery positive

Ignition Switch off 108 to 132 Ω

Ignition Switch off 200 Ω or higher

Ignition Switch off 6 kΩ or higher

(b) 2GR-FE

ECM:

CANH

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CANL

(1) Disconnect the A55 connector from the ECM. (2) Measure the resistance according to the

value(s) in the table below.

Standard resistance

Terminals Condition Specified Condition

A55-41 (CANH) - A55-49 (CANL) Ignition Switch off 108 to 132 Ω

A55

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A107881E23

CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

CA–23

ECM Wire Harness View:

BATT

A55

CANH

CANL

C55

Standard resistance

Terminals Wiring Color Terminal Description Condition Specified Condition

A55-41 (CANH) - A55-49 (CANL) B - W

A55-41 (CANH) - C55-81 (EC) B - W-B

A55-49 (CANL) - C55-81 (EC) B - W-B

A55-41 (CANH) - A55-20 (BATT) B - Y

A55-49 (CANL) - A55-20 (BATT) W - Y

C136709E06

(3) Measure the resistance according to the

value(s) in the table below.

HIGH-level CAN bus wire -

LOW-level CAN bus wire

HIGH-level CAN bus wire -

Ground

LOW-level CAN bus wire -

Ground

HIGH-level CAN bus wire -

Battery positive

LOW-level CAN bus wire -

Battery positive

Ignition Switch off 108 to 132 Ω

Ignition Switch off 200 Ω or higher

Ignition Switch off 6 kΩ or higher

Air Conditioning Amplifier (Wire Harness Side):

E38

GND

CANL

CANH

E124470E20

Standard resistance

Terminals Wiring Color Terminal Description Condition Specified Condition

E38-11 (CANH) - E38-12 (CANL) B - W

E38-11 (CANH) - E38-14 (GND) B - W-B

E38-12 (CANL) - E38-14 (GND) W - W-B

E38-11 (CANH) - E38-21 (B) B - GR

E38-12 (CANL) - E38-21 (B) W - GR

9. AIR CONDITIONING AMPLIFIER

(a) Check the harness side connector (E38) of the air

conditioning amplifier. (1) Disconnect the connector (E38) from the air

conditioning amplifier.

(2) Measure the resistance according to the

value(s) in the table below.

HIGH-level CAN bus wire -

LOW-level CAN bus wire

HIGH-level CAN bus wire -

Ground

LOW-level CAN bus wire -

Ground

HIGH-level CAN bus wire -

Battery positive

LOW-level CAN bus wire -

Battery positive

Ignition Switch off 54 to 69 Ω

Ignition Switch off 200 Ω or higher

Ignition Switch off 6 kΩ or higher

10. COMBINATION METER ECU

(a) Disconnect the F1 connector from the combination

meter.

CA–24

CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

Combination Meter (Component Side):

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

the table below.

CANL CANH

C133254E01

Standard resistance

Terminals Condition Specified Condition

F1-17 (CANH) - F1-18 (CANL) Ignition Switch off 108 to 132 Ω

Combination Meter (Wire Harness Side):

the table below.

CANHCANL

Standard resistance

Terminals Wiring Color Terminal Description Condition Specified Condition

F1-17 (CANH) - F1-18 (CANL) B - W

F1-17 (CANH) - F1-12 (E2) B - W-B

F1-18 (CANL) - F1-12 (E2) B - W-B

F1-17 (CANH) - F1-2 (B2) B - R

F1-18 (CANL) - F1-2 (B2) B - R

C133255E01

HIGH-level CAN bus wire -

LOW-level CAN bus wire

HIGH-level CAN bus wire -

Ground

LOW-level CAN bus wire -

Ground

HIGH-level CAN bus wire -

Battery positive

LOW-level CAN bus wire -

Battery positive

Ignition Switch off 108 to 132 Ω

Ignition Switch off 200 Ω or higher

Ignition Switch off 6 kΩ or higher

11. CERTIFICATION ECU (W/ SMART KEY SYSTEM)

(a) Disconnect the E58 connector from the certification

ECU.

CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

CA–25

Certification ECU (Wire Harness Side):

E58

CANHCANL

C136713E01

Standard resistance

Terminals Wiring Color Terminal Description Condition Specified Condition

E58-27 (CANH) - E58-28 (CANL) B - W

E58-27 (CANH) - E58-17 (E) B - W-B

E58-28 (CANL) - E58-17 (E) B - W-B

E58-27 (CANH) - E58-1 (+B) B - W

E58-28 (CANL) - E58-1 (+B) W - W

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

the table below.

HIGH-level CAN bus wire -

LOW-level CAN bus wire

HIGH-level CAN bus wire -

Ground

LOW-level CAN bus wire -

Ground

HIGH-level CAN bus wire -

Battery positive

LOW-level CAN bus wire -

Battery positive

Ignition Switch off 108 to 132 Ω

Ignition Switch off 200 Ω or higher

Ignition Switch off 6 kΩ or higher

12. MAIN BODY ECU (INSTRUMENT PANEL J/B)

(a) Disconnect the E8 connector from the main body

ECU.

CA–26

Main Body ECU:

CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

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

the table below.

CANN

CANH

CANL

Standard resistance

Terminals Wiring Color Terminal Description Condition Specified Condition

E8-5 (CANH) - E8-6 (CANL) B - W

E8-16 (CANP) - E8-15 (CANN) W - L

Accessory Gateway:

CANP

C136714E01

HIGH-level CAN bus wire -

LOW-level CAN bus wire

HIGH-level CAN bus wire -

LOW-level CAN bus wire

Ignition Switch off 54 to 69 Ω

Ignition Switch off 108 to 132 Ω

13. ACCESSORY GATEWAY

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

the table below.

CANL

CANH

C136715E02

Standard resistance

Terminals Terminal Description Condition Specified Condition

E61-6 (CANH) - E61-14 (CANL) HIGH-level CAN bus wire - LOW-level CAN bus wire Ignition Switch off 54 to 69 Ω

CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

DIAGNOSIS SYSTEM

1. BUS CHECK

(a) Select "BUS CHECK" from the "OBD/MOBD

MENU" screen. HINT: The ECUs and sensors that are properly connected to the CAN communication system can be displayed using the intelligent tester via the CAN VIM.

C113760

(b) Press "ENTER" on the intelligent tester.

CA–27

C113761

properly connected to the CAN communication system. HINT: Properly connected ECUs or sensors that are not displayed on the screen indicate that a communication stop is occuring in the system, sensor, or ECU which is not displayed.

2. CHECK FOR INSTALLED SYSTEMS (ECUS AND SENSORS) THAT USE CAN COMMUNICATION

(a) Systems (ECUs, sensors) that use CAN

communication vary depending on the vehicle's optional equipment. Check which systems (ECUs, sensors) are installed on the vehicle.

C113762

ECU/Sensor name Check method

ABS/VSC/TRC Installed on all vehicles STEERING SENSOR With VSC system YAW / DECELERAT With VSC system ENGINE Installed on all vehicles

CA–28

ECT With automatic transaxle SRS AIRBAG Installed on all vehicles A/C Installed on all vehicles METER Installed on all vehicles MAIN BODY Installed on all vehicles ACCESSORY G/W With dealer option SMART ACCESS/KEY With smart key system

CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

ECU/Sensor name Check method

3. DTC TABLE BY ECU

HINT:

• For the CAN communication system, CAN communication system DTCs stored in certain ECUs can be displayed using the intelligent tester.

• If CAN communication system DTCs are output, trouble cannot be determined only by the DTCs. Perform troubleshooting according to "HOW TO PROCEED WITH TROUBLESHOOTING" (See page

CA-8).

(a) ECM (2AZ-FE)

DTC No. Detection Item

U0101* High speed CAN Communication Bus

HINT:

• DTC communication is via the CAN communication system.

• *: The ECM is malfunctioning if only U0101 is output. Replace the ECM.

(b) ECM (2GR-FE)

DTC No. Detection Item

U0101* High speed CAN Communication Bus

HINT:

• DTC communication is via the CAN communication system.

• *: The ECM is malfunctioning if only U0101 is output. Refer to SFI system (See page ES-389).

DTC No. Detection Item

U0100* High speed CAN Communication Bus

HINT:

• DTC communication is via the CAN communication system.

• *: The ECM is malfunctioning if only U0100 is output. Replace the ECM.

(d) ECT (2GR-FE)

DTC No. Detection Item

U0100* High speed CAN Communication Bus

HINT:

• DTC communication is via the CAN communication system.

CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

• *: The ECM is malfunctioning if only U0100 is output. Refer to Automatic Transaxle system (See page AX-151).

(e) SKID CONTROL ECU (with VSC)

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

HINT:

• DTC communication is via the CAN communication system.

• *: TMC made only

(f) SKID CONTROL ECU (without VSC)

DTC No. Detection Item

U0073 Control Module Communication Bus Off

HINT: DTC communication is via the CAN communication system.

(g) COMBINATION METER ECU

DTC No. Detection Item

U0100 Lost Communication With ECM/PCM "A" U0129 Lost Communication with Brake System Control Mode

CA–29

HINT: DTC communication is via the CAN communication system.

(h) AIR CONDITIONER AMPLIFIER

DTC No. Detection Item

B1499 Multiplex Communication Circuit

HINT: DTC communication is via the CAN communication system.

(i) MAIN BODY ECU (with smart key system)

DTC No. Detection Item

B1207* Certification ECU Communication Malfunction B2326* CAN MS Bus Line Communication Malfunction

HINT:

• DTC communication is via the CAN communication system.

• *: The main body ECU is malfunctioning if B1207 and/or B2326 are output alone. Refer to DTC chart (See page AX-46).

(j) MAIN BODY ECU (without smart key system)

HINT: Although the center airbag sensor is connected to the CAN communication system, CAN communication DTCs are not output.

CA–30

DTC Trouble Mode

Output from Output DTC

Skid Control ECU

Combination Meter

ECU

Air Conditioner

Amplifier ECU

No DTC X X X X

CAN COMMUNICATION – CAN COMMUNICATION SYSTEM

(k) CENTER AIRBAG SENSOR

HINT: Although the center airbag sensor is connected to the CAN communication system, CAN communication DTCs are not output.

(l) CERTIFICATION ECU

HINT: Although the Main Body ECU is connected to the CAN communication system, CAN communication DTCs are not output.

4. DTC COMBINATION TABLE

(a) with VSC SYSTEM

ECM Communication

Stop Mode

U0073 X X X X U0100 U0123 X { X {

U0124* X { X {

U0126 X {{ X U0100 { XXX U0129 X { XX

B1499 X X X X

During driving During driving

Skid Control ECU

Communication Stop

Mode

Steering Angle

Sensor

Communication Stop

Mode

Yaw Rate Sensor

Communication Stop

Mode

DTC Trouble Mode

Output from Output DTC Air Conditioner

U0073 X X X X U0100 X X X X

Skid Control ECU

Combination Meter

ECU

Air Conditioner

Amplifier ECU

No DTC {{ XX

U0123 X X X X

U0124* X X X X

U0126 X X X X U0100 X X X X U0129 X X X X

B1499 X X

Amplifier ECU

Communication Stop

Mode

*: TMC made only. HINT:

• {: Set

• X: Not set or may be set according to the malfunctioning part when one side of the CAN bus wire opens

• : Set under the condition shown in the table above

Center Airbag

Sensor

Communication Stop

Mode

Main Body ECU

Communication Stop

Mode

Combination Meter

ECU Communication

Stop Mode

*: TMC made only. HINT:

• {: Set

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