DTC U0126[00] Lost Communication With Steering Angle Sensor (Stereo Camera)

1. Stereo camera system check

Refer to "75.Driver Assistance System 10W.Troubleshooting(Stereo Camera) diagnostic system check-stereo camera".

2. Current DTC check

1) Connect the scan tool.

2) Turn ON the ignition switch.

3) Observe the DTC information with a scan tool. Is a DTC set?

Yes

=>Go to EHCU DTC check.

Go to Intermittent conditions of stereo camera.

Refer to "233.Driver Assistance System 46D.Symptom(Stereo Camera) intermittent conditions of stereo camera".

3. EHCU DTC check

1) Observe the DTC information for the EHCU with a scan tool. Is a steering angle sensor-related DTC set?

Yes

Go to the applicable DTC diagnosis.

=>Go to Steering angle sensor voltage inspection.

4. Steering angle sensor voltage inspection

1) Turn OFF the ignition switch.

2) Disconnect the steering angle sensor harness connector (B33).

3) Turn ON the ignition switch.

4) Measure the voltage of the steering angle sensor (pins 4 and 1 of B33) with a DMM. Is the voltage within the specified range?

Value: 10 to 16 V

Refer to "LHD Controller Area Network (Central Gateway C/U)" in the ETM (wiring diagram). (Open using the ETM viewer.).

Refer to "RHD Controller Area Network (Central Gateway C/U (4JJ3 with DPD))" in the ETM (wiring diagram). (Open using the ETM viewer.).

Refer to "RHD Controller Area Network (Central Gateway C/U (4JJ3 without DPD, RZ4E))" in the ETM (wiring diagram). (Open using the ETM viewer.).

Yes

=>Go to Chassis CAN communication circuit inspection.

Repair the circuit as necessary.

=>Go to Repair verification.

5. Chassis CAN communication circuit inspection

1) Inspect the CAN Low circuit and CAN High circuit between the stereo camera (pins 7 and 8 of L17) and the steering angle sensor (pins 2 and 3 of B33) for the following. Is the result normal?

Open circuit or high resistance
Short together between circuits
Short to battery or short to ignition power supply circuit
Short to ground

Refer to "LHD Controller Area Network (Central Gateway C/U)" in the ETM (wiring diagram). (Open using the ETM viewer.).

Refer to "RHD Controller Area Network (Central Gateway C/U (4JJ3 with DPD))" in the ETM (wiring diagram). (Open using the ETM viewer.).

Refer to "RHD Controller Area Network (Central Gateway C/U (4JJ3 without DPD, RZ4E))" in the ETM (wiring diagram). (Open using the ETM viewer.).

Yes

=>Go to Inspection of steering angle sensor harness connector.

Repair the circuit as necessary.

=>Go to Repair verification.

6. Inspection of steering angle sensor harness connector

1) Inspect for poor connections at the steering angle sensor harness connector (pins 2 and 3 of B33). Is the connection status normal?

Refer to "LHD Controller Area Network (Central Gateway C/U)" in the ETM (wiring diagram). (Open using the ETM viewer.).

Refer to "RHD Controller Area Network (Central Gateway C/U (4JJ3 with DPD))" in the ETM (wiring diagram). (Open using the ETM viewer.).

Refer to "RHD Controller Area Network (Central Gateway C/U (4JJ3 without DPD, RZ4E))" in the ETM (wiring diagram). (Open using the ETM viewer.).

Yes

=>Go to Stereo camera harness connector inspection.

Repair the connections as necessary.

=>Go to Repair verification.

7. Stereo camera harness connector inspection

1) Inspect for poor connections at the stereo camera harness connector (pins 7 and 8 of L17). Is the connection status normal?

Refer to "LHD Controller Area Network (Central Gateway C/U)" in the ETM (wiring diagram). (Open using the ETM viewer.).

Refer to "RHD Controller Area Network (Central Gateway C/U (4JJ3 with DPD))" in the ETM (wiring diagram). (Open using the ETM viewer.).

Refer to "RHD Controller Area Network (Central Gateway C/U (4JJ3 without DPD, RZ4E))" in the ETM (wiring diagram). (Open using the ETM viewer.).

Yes

Replace the steering angle sensor.

Note

Perform Learning for Steering Central Position after replacing the steering angle sensor.

Refer to "6.Steering 6Z.Steering Electrical Control steering angle sensor removal".

Refer to "6.Steering 6Z.Steering Electrical Control steering angle sensor installation".

Refer to "6.Steering 6Z.Steering Electrical Control steering angle sensor setting".

=>Go to Current DTC follow-up check.

Repair the connections as necessary.

=>Go to Repair verification.

8. Current DTC follow-up check

1) Securely connect the disconnected harness connectors.

2) Clear the DTC with a scan tool.

3) Turn OFF the ignition switch for 30 seconds or more.

4) Turn ON the ignition switch.

5) Observe the DTC information with a scan tool. Is a DTC set?

Yes

=>Go to Stereo camera replacement.

=>Go to Repair verification.

9. Stereo camera replacement

Note

Perform programming and learning after replacing the stereo camera.

Refer to "9.Body, Cab, Accessories 9E.Instrumentation, Driver Info. stereo camera removal".

Refer to "9.Body, Cab, Accessories 9E.Instrumentation, Driver Info. stereo camera installation".

Refer to "9.Body, Cab, Accessories 9E.Instrumentation, Driver Info. stereo camera setting".

Refer to "9.Body, Cab, Accessories 9E.Instrumentation, Driver Info. stereo camera writing".

Procedure completion

=>Go to Repair verification.

10. Repair verification

1) Securely connect the disconnected harness connectors.

2) Clear the DTC with a scan tool.

3) Turn OFF the ignition switch for 30 seconds or more.

4) Turn ON the ignition switch.

5) Observe the DTC information with a scan tool.