CONTROLLER AREA NETWORK (CAN) SYSTEM

id104000001300


Outline

•  A CAN system has been adopted which can send and receive multiple signals over a single communication path from related modules.
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System Wiring Diagram

HS-CAN (SKYACTIV-G 2.0, SKYACTIV-G 2.5 (L.H.D.))

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HS-CAN (SKYACTIV-G 2.0, SKYACTIV-G 2.5 (R.H.D.))

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HS-CAN (SKYACTIV-D 2.2 (L.H.D.))

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HS-CAN (SKYACTIV-D 2.2 (R.H.D.))

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MS-CAN (L.H.D.)

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MS-CAN (R.H.D.)

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Structure

•  The CAN system consists of CAN system-related modules built into the CPU and wiring harnesses connecting related modules.

L.H.D.

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R.H.D.

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Function

•  Terminator resistors are built into the PCM and instrument cluster which form the HS-CAN between the PCM and instrument cluster.
•  Terminator resistors are built into the rear body control module (RBCM) and instrument cluster which form the MS-CAN between the rear body control module (RBCM) and instrument cluster.
•  The instrument cluster is connected to the HS-CAN and MS-CAN which communicate with each other via the instrument cluster.

L.H.D.

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R.H.D.

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Body communication function

•  The front body control module (FBCM) is located at the vehicle front, the start stop unit is located in the dashboard, the rear body control module (RBCM) is located at the rear, and lighting parts, wiper parts, each type of switch, and door lock parts in each location are each connected to three CMs, creating a three-system communication network.
•  The front body control module (FBCM) and start stop unit are connected to the HS-CAN and the rear body control module (RBCM) is connected to the MS-CAN which communicate with each other via the instrument cluster.
•  For example, when the switch connected to the start stop unit is turned ON, the start stop unit sends an operation request signal to the front body control module (FBCM) and rear body control module (RBCM), which operate the parts on the front or rear.
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•  By connecting the front body control module (FBCM), start stop unit, and rear body control module (RBCM) via the CAN, the number of wiring harness used compared to the conventional number used has decreased.
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CAN Signal Table

•  Signals transmitted using the CAN system are as follows:

HS-CAN communication table

OUT: Output (sends signal)
IN: Input (receives signal)

Signal

CAN system related module

PCM

DSC HU/CM

Radar unit

TCM

Front body control module (FBCM)

AFS control module*2

DC-DC converter (i-ELOOP)

4WD control module

Electric parking brake control module

Position memory control module

Audio amplifier

Laser sensor

Forward sensing camera (FSC)

EPS control module

Start stop unit

Connectivity master unit (CMU)

SAS control module

Instrument cluster
Acceleration signal status
–
IN
–
–
–
–
–
–
–
–
–
–
–
–
–
–
OUT
–
Accelerator pedal opening angle information
OUT
IN
IN
–
–
–
–
IN
IN
–
IN
–
IN
–
–
IN
IN
IN
Air bag/front seat belt pre-tensioner system warning light on request
–
IN
IN
–
IN
–
–
IN
–
–
–
IN
–
–
IN
IN
IN
OUT
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
OUT
IN
Air conditioner signal
OUT
–
–
–
IN
–
–
–
–
–
–
–
–
–
–
–
–
IN
ATX gear position
–
–
IN
OUT
–
–
–
–
–
–
–
–
–
–
–
IN
–
–
ATX/MTX gear position
–
–
–
OUT
–
–
–
–
–
–
–
–
–
–
–
IN
–
IN
AT shift position
IN
–
–
OUT
–
–
–
–
–
–
–
–
–
–
–
–
–
–
Air bag system-related information
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
OUT
IN
Ambient temperature
OUT
IN
–
IN
IN
–
–
IN
–
–
–
IN
–
–
–
IN
–
IN
IN
IN
IN
IN
IN
IN
–
IN
IN
–
–
IN
–
IN
–
IN
IN
OUT
AFS (adaptive front lighting system) warning status
–
–
–
–
–
OUT
–
–
–
–
–
–
–
–
–
IN
–
IN
AFS (adaptive front lighting system) level configuration
–
–
–
–
–
OUT
–
–
–
–
–
–
–
–
–
IN
–
IN
A/C operation signal
IN
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
OUT
Auto light sensor / rain sensor front wiper operation request
–
–
–
–
OUT
–
–
–
–
–
–
–
IN
–
–
IN
–
–
Answer-back-related information
–
–
–
–
IN
–
–
–
–
–
–
–
–
–
–
–
–
OUT
Answer-back hazard light on request
–
–
–
–
IN
–
–
–
–
–
–
–
–
–
–
–
–
OUT
Alarm status
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
OUT
Brake fluid level
–
–
IN
–
OUT
–
–
–
–
–
–
–
–
–
–
IN
–
IN
Battery discharge suppression status
–
–
–
–
OUT
–
–
–
–
–
–
–
–
–
–
IN
–
IN
Battery charge status
IN
IN
IN
–
IN
IN
–
–
IN
–
–
IN
–
IN
IN
IN
IN
OUT
Battery regeneration status
OUT
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
IN
Blower motor relay status
IN
–
–
–
OUT
–
–
–
–
–
–
–
–
–
–
–
–
IN
Brake switch status
OUT
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
IN
Brake light status
–
IN
IN
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
OUT
Blower speed
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
OUT
Blind spot monitoring (BSM) system activation request
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
OUT
Blind spot monitoring (BSM) system-related information
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
OUT
Blind spot monitoring (BSM) system personalization-related information
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
OUT
–
IN
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
OUT
Back-up light on request
–
IN
–
–
–
IN
–
–
–
–
–
IN
–
–
–
IN
–
OUT
Cranking start
IN
–
–
–
IN
–
–
–
–
–
–
–
–
–
OUT
–
–
IN
Cruise control system-related information
IN
IN
IN
IN
–
–
–
–
–
–
–
–
–
–
OUT
–
–
–
IN
–
IN
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
OUT
OUT
IN
IN
–
–
–
–
IN
–
–
–
–
–
–
IN
IN
–
IN
IN
OUT
IN
–
–
–
–
–
IN
–
–
–
–
–
–
–
–
–
Cruise control set speed
OUT
IN
IN
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
Cluster switch status
–
IN
IN
–
–
IN
–
–
–
–
–
–
IN
IN
–
–
–
OUT
Cranking time
OUT
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
IN
–
–
Charging system warning light on request
OUT
–
–
–
IN
–
–
–
–
–
–
–
–
–
–
IN
–
IN
Clutch status
OUT
IN
–
–
–
–
–
–
IN
–
–
–
–
–
–
IN
–
–
Clutch pedal stroke sensor
OUT
IN
–
–
–
–
–
IN
–
–
–
–
–
–
–
–
–
IN
Cruise control switch
OUT
IN
IN
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
Collision detection (front, side, roll over)
IN
IN
–
–
IN
–
–
–
–
–
–
–
–
–
–
IN
OUT
–
Collision detection (rear)
IN
IN
–
–
IN
–
–
–
–
–
–
–
–
–
–
IN
OUT
–
Diesel particulate filter warning light
OUT*1
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
IN
Dimmer cancel
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
IN
–
OUT
Disabling of brake override system signal
OUT
–
–
–
IN
–
–
–
–
–
–
–
–
–
–
IN
–
IN
DSC system-related information
OUT
IN
–
–
–
–
–
–
IN
–
–
–
–
–
–
–
–
–
IN
OUT
IN
IN
IN
–
–
–
IN
–
–
IN
IN
IN
–
IN
IN
IN
Driving condition
IN
IN
IN
–
IN
IN
–
–
IN
–
–
IN
–
IN
IN
IN
IN
OUT
Door status
IN
–
–
–
IN
–
IN
–
IN
IN
IN
–
–
–
IN
IN
–
OUT
DC-DC converter condition
IN
–
–
–
OUT
–
–
–
–
–
–
–
–
–
–
–
–
–
Driver-side buckle switch status
IN
–
–
–
–
–
–
–
IN
IN
–
–
–
–
IN
IN
OUT
IN
Engine switch status
–
–
–
–
OUT
–
–
–
–
–
–
–
–
–
–
IN
–
IN
IN
IN
IN
–
IN
IN
–
IN
IN
IN
IN
IN
IN
IN
IN
IN
IN
OUT
Engine off time
IN
–
–
IN
–
–
–
IN
–
–
–
–
–
–
–
IN
–
OUT
Engine Status
OUT
IN
IN
IN
IN
–
–
–
–
–
–
–
–
IN
IN
IN
–
IN
Engine torque
OUT
IN
–
–
IN
–
–
IN
IN
–
–
–
–
–
–
–
–
–
Engine rotation speed
OUT
–
–
IN
–
–
–
–
–
–
–
–
–
–
–
–
–
–
Electric AT oil pump-related signal (i-stop)
IN
–
–
OUT
–
–
–
–
–
–
–
–
–
–
–
–
–
–
Engine rotation speed
OUT
IN
IN
–
IN
–
–
IN
IN
–
IN
–
IN
IN
IN
IN
IN
IN
Engine coolant temperature
OUT
–
–
–
IN
–
–
–
–
–
–
–
–
–
–
IN
–
IN
Engine status at idle
OUT
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
IN
Engine stop request
IN
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
OUT
EPS status
IN
–
–
–
–
–
–
IN
–
–
–
–
IN
OUT
–
IN
–
IN
Engine displacement
OUT
IN
IN
IN
IN
–
–
IN
IN
–
IN
–
–
–
–
IN
–
IN
Fuel economy information reset request signal
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
OUT
–
IN
Fuel cap warning light on request
OUT
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
IN
Front washer switch information
–
–
–
–
IN
–
–
–
–
–
–
IN
–
–
OUT
–
–
IN
Front fog light information
–
–
–
–
OUT
–
–
–
–
–
–
–
IN
–
–
IN
–
IN
Fuel tank level
IN
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
OUT
Fuel cut request
IN
IN
–
–
IN
–
–
–
–
–
–
–
–
–
–
IN
OUT
IN
Fuel injection amount
OUT
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
IN
Front window defogger operation request
IN
–
–
–
IN
–
–
–
–
–
–
–
–
–
–
–
–
OUT
Front combination light on request
–
–
IN
–
IN
–
–
–
–
–
–
–
OUT
–
–
–
–
–
Forward sensing camera-related information
–
–
IN
–
–
–
–
–
–
–
–
–
OUT
–
–
–
–
–
Forward sensing camera personalization-related information
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
–
OUT
–
–
–
–
–
–
–
IN
–
–
–
–
–
–
OUT
–
–
IN
–
–
Front fog light switch on signal
–
–
–
–
IN
–
–
–
–
–
–
–
–
–
OUT
–
–
–
Global central configuration error
OUT
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
IN
IN
IN
IN
IN
–
IN
–
–
IN
–
IN
–
–
IN
IN
IN
–
OUT
Gear position
OUT
IN
IN
–
–
–
–
IN
–
–
IN
–
–
–
–
IN
IN
IN
IN
IN
IN
OUT
IN
–
–
IN
IN
IN
–
–
IN
–
IN
IN
IN
IN
Glow indicator light illumination request
OUT*1
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
IN
High-beam indicator
–
–
–
–
OUT
–
–
–
–
–
–
–
IN
–
–
IN
–
IN
Hazard warning switch information
–
–
IN
–
IN
–
–
–
–
–
–
–
IN
–
OUT
–
–
IN
Horn control
–
–
–
–
IN
–
–
–
–
–
–
–
–
–
OUT
–
–
–
Headlight information
IN
–
IN
–
OUT
IN
–
–
–
–
–
–
IN
–
–
IN
–
IN
Headlight warning request signal
–
–
–
–
OUT
–
–
–
–
–
–
–
–
–
–
IN
–
IN
Ignition off timer
IN
IN
IN
IN
IN
IN
–
IN
IN
–
–
IN
–
IN
IN
IN
IN
OUT
Immobilizer-related information
OUT
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
–
–
IN
–
–
–
–
–
–
–
–
–
–
–
–
–
OUT
–
–
–
i-stop related information
IN
–
–
–
–
–
–
–
–
–
–
–
–
–
OUT
–
–
–
IN
OUT
–
IN
–
–
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–
–
–
–
–
–
–
–
–
–
OUT
IN
–
IN
IN
–
–
–
IN
–
–
–
–
–
IN
IN
–
IN
i-stop warning light (amber)/i-stop indicator light (green) on request
OUT
–
–
IN
–
–
–
–
–
–
–
–
–
–
IN
IN
–
IN
i-stop OFF switch status
IN
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
OUT
i-ELOOP-related information
IN
–
–
IN
–
–
OUT
–
–
–
–
–
–
–
–
IN
–
–
OUT
–
–
IN
–
–
IN
–
–
–
–
–
–
–
–
–
IN
–
Instrument cluster personalization-related information
–
–
IN
–
–
–
–
–
–
–
–
–
IN
–
IN
OUT
–
IN
–
–
–
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–
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OUT
IN
–
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OUT
–
–
IN
–
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–
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–
–
IN
IN
–
IN
–
OUT
–
–
OUT
–
–
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–
–
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–
–
–
–
–
IN
–
–
Key status
OUT
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
IN
–
–
Keyless warning alarm activation request
–
–
–
–
–
–
–
–
–
–
–
–
–
–
OUT
IN
–
IN
Keyless indicator light on request
–
–
–
–
–
–
–
–
–
–
–
–
–
–
OUT
IN
–
IN
–
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–
–
IN
–
OUT
Light switch information
–
–
IN
–
IN
IN
–
–
–
–
–
–
IN
–
OUT
–
–
IN
Light switch TNS signal
–
–
IN
–
IN
IN
–
–
–
–
–
–
IN
–
OUT
–
–
IN
Light switch LO signal
–
–
IN
–
IN
IN
–
–
–
–
–
–
IN
–
OUT
–
–
–
Light switch HI signal
–
–
IN
–
IN
IN
–
–
–
–
–
–
IN
–
OUT
–
–
–
Light switch OFF signal
–
–
IN
–
IN
IN
–
–
–
–
–
–
IN
–
OUT
–
–
–
Laser sensor-related information
IN
–
IN
–
–
–
–
–
–
–
–
OUT
–
–
–
IN
IN
–
Leveling warning status
–
–
–
–
–
OUT
–
–
–
–
–
–
–
–
–
IN
–
IN
Lock/Unlock status
–
–
–
–
–
–
–
–
–
IN
–
–
–
–
OUT
IN
–
–
MTX gear position
OUT
IN
IN
–
–
–
–
–
IN
IN
–
–
IN
–
–
IN
–
IN
Manual shift control
IN
IN
–
OUT
–
–
–
–
IN
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
–
–
–
–
–
–
–
–
–
–
–
–
OUT
Maintenance monitor-related information
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
OUT
–
IN
Master warning light on request signal
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
OUT
–
IN
Manual air conditioner operation request
–
–
–
–
OUT
–
–
–
–
–
–
–
–
–
–
–
–
IN
MIL on request
OUT
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
IN
Neutral switch status
OUT
–
IN
IN
–
–
–
IN
IN
–
–
–
–
–
IN
IN
IN
IN
Oil level warning
OUT
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
IN
Oil warning light on request
OUT
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
IN
Oil level warning limit
OUT
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
Power supply status
IN
–
–
–
IN
–
–
–
–
–
–
–
–
–
OUT
IN
–
IN
Passing switch status
–
–
–
–
IN
IN
–
–
–
–
–
–
IN
–
OUT
–
–
IN
Parking brake status
IN
IN
IN
IN
IN
–
–
IN
–
IN
–
–
–
–
–
IN
–
OUT
Panel light on request
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
OUT
Panel light level
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
IN
–
OUT
PAD indicator on status
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
OUT
Power consumption
IN
–
–
–
–
–
–
–
–
–
–
–
–
OUT
–
IN
–
–
Push button system-related information
–
–
–
–
–
–
–
–
–
–
–
–
–
–
OUT
IN
–
IN
Passenger-side buckle switch status
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
OUT
IN
Parking assist system status
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
OUT
Parking assist-related information
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
OUT
Parking assist personalization-related information
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
OUT
–
IN
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
OUT
PTC heater operation request
IN*1
–
–
–
IN
–
–
–
–
–
–
–
–
–
–
–
–
OUT
Rolling counter
–
IN
–
–
–
–
–
–
–
–
–
–
–
–
–
–
OUT
–
Rear fog light switch on signal
–
–
–
–
IN
–
–
–
–
–
–
–
–
–
OUT
–
–
–
Rear fog light illumination request signal
–
–
–
–
OUT
–
–
–
–
–
–
–
IN
–
–
IN
–
IN
Rear fog indicator light information
–
–
–
–
IN
–
–
–
–
–
–
–
–
–
–
–
–
OUT
Rear wiper status
–
–
–
IN
IN
–
–
IN
–
–
–
–
–
–
OUT
–
–
–
Rear washer switch information
–
–
–
–
IN
–
–
–
–
–
–
–
–
–
OUT
–
–
–
Rear wiper low speed status
–
–
–
–
OUT
–
–
–
–
–
–
–
IN
–
–
IN
–
IN
Rear window defogger information
IN
–
–
–
OUT
–
–
–
–
–
–
–
–
–
–
IN
–
IN
Rear window defogger operation request
IN
–
–
–
IN
–
–
–
–
–
–
–
–
–
–
–
–
OUT
ROOM fuse status
–
–
IN
IN
–
–
IN
IN
–
–
–
–
IN
–
–
IN
–
OUT
Rear body control module (RBCM) personalization-related information
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
OUT
–
IN
–
–
–
–
IN
–
–
–
–
–
–
–
–
–
–
IN
–
OUT
Steering angle (absolute angle) signal
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
OUT
–
–
–
Steering angle (estimated absolute angle) signal
IN
IN
IN
IN
–
IN
–
IN
–
–
–
IN
IN
OUT
IN
IN
–
IN
Steering shift switch
–
–
–
IN
–
–
–
–
–
–
–
–
–
–
OUT
–
–
–
Seat warmer cut status
IN
–
–
–
OUT
–
–
–
–
–
–
–
–
–
–
–
–
IN
Shift indicator light
OUT
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
IN
Starter relay status
OUT
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
–
–
Stop light switch (No.1)signal
OUT
IN
–
IN
IN
–
–
–
–
–
–
–
IN
–
–
IN
–
IN
Stop light switch (No.2)signal
OUT
IN
IN
IN
–
–
–
–
IN
–
–
–
IN
–
IN
IN
IN
IN
Steering angle condition
IN
–
–
–
–
–
–
–
–
–
–
IN
–
OUT
–
IN
–
–
Security indicator light on request
–
–
–
–
–
–
–
–
–
–
–
–
–
–
OUT
IN
–
IN
Steering lock system-related information
–
–
–
–
–
–
–
–
–
–
–
–
–
–
OUT
IN
–
IN
Supply voltage
IN
IN
IN
–
IN
IN
–
IN
IN
–
–
IN
–
IN
IN
IN
IN
OUT
Steering angle condition
–
–
IN
IN
–
IN
–
–
–
–
IN
–
–
–
–
IN
–
OUT
Seat belt status
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
OUT
Start stop unit personalization-related information
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
OUT
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
OUT
IN
–
–
Smart city brake support (SCBS) related information
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
OUT
–
IN
Turn switch status
–
–
IN
IN
IN
–
–
–
–
–
–
–
IN
–
OUT
–
–
IN
Turn indicator light on request
–
–
IN
–
OUT
–
–
–
–
–
–
–
IN
–
–
IN
–
IN
TNS status
–
–
–
–
OUT
–
–
–
–
–
–
–
–
–
IN
IN
–
IN
Target gear position
IN
IN
–
OUT
–
–
–
IN
–
–
IN
–
–
–
–
IN
–
IN
Traveled distance
IN
IN
IN
IN
IN
IN
–
IN
IN
–
–
IN
–
IN
IN
IN
IN
OUT
OUT
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
IN
Tire circumference
IN
IN
IN
IN
–
–
–
–
IN
–
–
–
–
–
–
IN
–
OUT
Temperature control dial status
IN
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
OUT
Theft-deterrent system alarm-related information
–
–
–
–
IN
–
–
–
–
–
–
–
–
–
–
–
–
OUT
Theft-deterrent system status
–
–
–
–
–
–
–
–
–
–
–
–
–
–
IN
–
–
OUT
Transmission type
OUT
–
–
IN
IN
–
–
IN
IN
–
–
–
–
–
IN
–
IN
IN
TAU communication status signal
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
OUT
–
IN
TCS OFF switch status
–
IN
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
OUT
Vehicle speed
OUT
IN
IN
–
IN
IN
–
–
IN
IN
IN
–
IN
IN
IN
IN
IN
IN
IN
OUT
IN
–
–
–
–
–
IN
–
–
IN
IN
IN
–
–
–
IN
Windshield wiper switch status
–
–
IN
IN
IN
–
–
IN
–
–
–
IN
–
–
OUT
–
–
–
Windshield wiper status
–
–
IN
IN
IN
–
–
IN
–
–
–
–
–
–
OUT
–
–
–
Windshield wiper operation signal
IN
–
IN
–
OUT
–
–
–
–
–
–
IN
IN
–
–
IN
–
IN
Washer level sensor status
–
–
–
–
OUT
–
–
–
–
–
–
–
–
–
–
IN
–
IN
Wheel speed
IN
OUT
IN
IN
IN
–
–
IN
IN
–
–
–
IN
IN
IN
IN
IN
IN
Warning guidance-related information
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
OUT
–
IN
Yaw rate
–
IN
–
–
–
–
–
–
–
–
–
–
–
–
–
–
OUT
–
IN
OUT
IN
IN
IN
IN
–
IN
IN
–
–
IN
IN
IN
–
IN
–
IN
4WD system status
–
IN
–
IN
–
–
–
OUT
–
–
–
–
–
–
–
–
–
IN

*1  :SKYACTIV-D 2.2
*2  :AFS control module (with adaptive front lighting system (AFS)) or adaptive LED headlights control module (with adaptive LED headlights)


MS-CAN communication table

OUT: Output (sends signal)
IN: Input (receives signal)

Signal

CAN system related module

Instrument cluster

Climate control unit

Indicator unit

Parking assist unit (ultrasonic)

Rear body control module (RBCM)

BSM control module (LH)*1

BSM control module (LH)*2

Parking assist unit (optical)

Rear mount camera
Accelerator pedal opening angle information
OUT
–
–
–
–
–
–
IN
–
A/C operation signal
IN
OUT
–
–
–
–
–
–
–
Air bag/front seat belt pre-tensioner system warning light on request
OUT
IN
–
IN
IN
–
–
–
–
Air conditioner signal
OUT
IN
–
–
–
–
–
–
–
Alarm status
IN
–
–
–
OUT
–
–
–
–
Ambient temperature
OUT
IN
–
IN
IN
–
IN
–
–
Answer-back hazard light on request
IN
–
–
–
OUT
–
–
–
–
Answer-back-related information
IN
–
–
–
OUT
–
–
–
–
Back-up light on request
OUT
–
–
IN
IN
IN
IN
IN
–
Battery charge status
OUT
IN
–
–
IN
–
IN
–
–
Blower motor relay status
OUT
IN
–
–
–
–
–
–
–
Blower speed
IN
OUT
–
–
–
–
–
–
–
Brake light status
IN
–
–
–
OUT
–
–
–
–
BSM buzzer on request
IN
–
–
–
–
OUT
–
–
–
BSM related information
–
–
–
–
–
OUT
IN
–
–
OUT
–
–
–
–
IN
IN
–
–
BSM switch information
OUT
–
–
–
–
IN
IN
–
–
Cluster switch status
OUT
–
–
–
–
IN
IN
–
–
Clutch pedal stroke sensor
OUT
–
–
IN
–
–
–
–
–
Cranking start
OUT
IN
–
–
–
–
–
–
–
Dimmer cancel
OUT
IN
IN
–
–
IN
IN
–
–
Drive information system date
OUT
IN
–
–
–
–
–
–
–
Driver-side buckle switch status
OUT
–
–
–
IN
–
–
–
–
Driving condition
OUT
IN
–
–
IN
–
IN
–
–
Door status
IN
–
–
–
OUT
–
–
–
–
DSC system-related information
OUT
–
–
–
IN
–
–
–
–
Engine displacement
OUT
IN
–
–
–
–
–
–
–
Engine coolant temperature
OUT
IN
–
–
–
–
–
–
–
Engine rotation speed
OUT
IN
–
–
IN
–
–
IN
–
Engine Status
OUT
IN
–
IN
–
–
–
–
–
Engine stop request
OUT
IN
–
–
IN
–
–
IN
–
IN
OUT
–
–
–
–
–
–
–
Engine switch status
OUT
IN
–
–
IN
IN
IN
IN
–
EPS status
OUT
–
–
IN
–
–
–
–
–
Forward sensing camera-related information
OUT
–
–
IN
–
–
–
–
–
Front washer switch information
OUT
–
–
IN
–
–
–
–
–
Front window defogger operation request
IN
OUT
–
–
–
–
–
–
–
Front wiper operation signal
OUT
IN
–
IN
–
–
–
–
–
Fuel cut request
OUT
–
–
IN
IN
–
–
–
–
Fuel-level sensor-related information
IN
–
–
–
OUT
–
–
–
–
Gear position
OUT
–
–
IN
IN
–
IN
IN
IN
Global central configuration
OUT
IN
–
IN
IN
IN
IN
IN
–
Headlight information
OUT
–
–
IN
–
–
–
IN
–
Ignition off timer
OUT
IN
–
–
IN
–
IN
–
–
Instrument cluster personalization-related information
OUT
–
–
IN
IN
IN
IN
–
–
IN
–
–
OUT
–
–
–
–
–
IN
–
–
–
OUT
–
–
–
–
–
–
–
–
–
OUT
IN
–
–
Keyless indicator light on request
IN
–
–
–
OUT
–
–
–
–
Light switch information
OUT
–
–
–
–
IN
–
–
–
MTX gear position
OUT
–
–
IN
–
–
–
–
–
Neutral switch status
OUT
–
–
IN
–
–
–
–
–
PAD indicator on status
IN
–
OUT*1
–
–
–
–
–
–
IN
OUT*6
–
–
–
–
–
–
–
Panel light level
OUT
IN
IN
–
–
–
–
–
–
Panel light on request
OUT
IN
IN
IN
–
IN
IN
–
–
Parking brake status
OUT
–
–
IN
IN
–
–
IN
–
Parking assist control signal
IN
–
–
–
–
–
–
OUT
–
Parking sensor personalization-related information
OUT
–
–
IN
–
–
–
–
–
IN
–
–
OUT
–
–
–
–
–
Parking sensor-related information
IN
–
–
–
–
OUT
–
–
IN
Parking sensor system status
IN
–
–
OUT
–
–
–
IN
IN
Passing switch status
OUT
–
–
–
–
–
–
IN
IN
Power supply status
OUT
–
–
–
IN
–
–
–
–
PTC heater operation request
IN
OUT
–
–
–
–
–
–
–
RBCM personalization-related information
OUT
–
–
–
IN
–
–
–
–
IN
–
–
–
OUT
–
–
–
–
Rear fog indicator light information
IN
–
–
–
OUT
–
–
–
–
Rear fog light illumination request signal
OUT
–
–
–
IN
–
–
–
–
Rear vehicle monitoring system buzzer on request
IN
–
–
–
–
–
OUT
–
–
Rear window defogger information
OUT
IN
–
–
–
–
–
–
–
Rear window defogger operation request
IN
OUT
–
–
–
–
–
–
–
Rear wiper low speed status
OUT
–
–
–
IN
–
–
–
–
ROOM fuse status
OUT
IN
–
–
–
–
–
IN
IN
Seat belt status
IN
–
–
–
OUT
–
–
–
–
Seat belt status warning status (passenger,rear)
OUT
IN
IN
–
–
–
–
–
–
Seat warmer cut status
OUT
IN
IN
–
–
–
–
–
–
Steering angle condition
OUT
–
IN
–
–
–
IN
–
–
Steering angle (estimated absolute angle) signal
OUT
–
–
IN
–
IN
IN
IN
IN
Stop light switch (No.1)signal
OUT
–
–
IN
–
–
–
–
–
Supply voltage
OUT
IN
–
–
IN
–
IN
–
–
Target gear position
OUT
–
–
–
–
–
–
IN
IN
Temperature control dial status
IN
OUT
–
–
–
–
–
–
–
Theft-deterrent system alarm-related information
IN
–
–
–
OUT
–
–
–
–
Theft-deterrent system status
IN
–
–
–
OUT
–
–
–
–
Traveled distance
OUT
IN
–
IN
IN
–
IN
–
–
Turn switch status
OUT
–
–
IN
–
IN
IN
IN
IN
Vehicle speed
OUT
IN
–
IN
IN
IN
IN
–
–
Warning buzzer request
OUT
–
–
IN
–
–
–
–
–
Wheel speed
OUT
–
–
IN
–
–
–
IN
IN
Wheel speed (LF, RF, LR, RR)
OUT
–
–
IN
–
–
–
IN
IN
Yaw rate
OUT
–
–
IN
–
–
IN
–
–

*1  :With blind spot monitoring (BSM) system (Australian specs.)
*2  :With blind spot monitoring (BSM) system (Except Australian specs.)


Construction

•  The HS-CAN has terminator resistors built into the following units which form the CAN lines.
―  Between PCM terminal 2AK (CAN_H)—2AL terminal (CAN_L), resistance value: 124 ohms
―  Between instrument cluster terminal B (CAN_H)—Terminal D (CAN_L), resistance value:120 ohms
•  The MS-CAN has terminal resistors built into the following units which form the CAN lines.
―  Rear body control module (RBCM) terminal 4G (CAN_H)—Terminal 4J (CAN_L), resistance value: 120 ohms
―  instrument cluster terminal C (CAN_H)—Terminal E (CAN_L), resistance value: 120 ohms