ON-BOARD DIAGNOSTIC [RADAR UNIT]

id1502006955a6


Outline

•  The radar unit has an on-board diagnostic function to facilitate system diagnosis.

Function

•  The on-board diagnostic function consists of the following functions:
―  A malfunction detection function, which detects overall malfunctions in the radar unit-related parts.
―  A memory function, which stores detected DTCs.
―  A display function, which indicates malfunction locations and status via DTC output.
―  A PID/data monitoring function, which reads out specific input/output signals and verifies the input/output condition.
•  Using the Mazda Modular Diagnostic System (M-MDS), DTCs can be read out and deleted, and the PID/data monitoring function can be activated.

Malfunction detection function

•  Detects malfunctions in input/output signals.
•  If a malfunction occurs, the radar unit records the malfunction as a DTC. A recorded DTC can be read by the Mazda Modular Diagnostic System (M-MDS).

×: Applicable
—: Not applicable

DTC No.

Warning indication*5

Description

Fail-safe

Drive cycle

Self test type*1

Memory function

Mazda radar cruise control (MRCC)

Smart brake support (SBS)

Distance recognition support system (DRSS)
C0049:85
Display
Brake fluid level signal error
×
×
×
—
C
×
C0063:54
Display
Mazda radar cruise control (MRCC) system initialization not implemented
×
×
—
—
C
×
C1105:62
Display
Brake light signal malfunction
×
×
—
—
C
×
C1A67:04
Display
Radar unit internal circuit malfunction
×
×
×
—
C
×
C1A67:4B
Display
Radar unit is outside of operation range (ignition power supply, internal temperature)
×
×
×
—
C
×
C1A67:54
Display
Radar unit aiming adjustment not implemented
×
×
×
—
C
×
C1A67:78
Display
Radar unit axis is deviated
×
×
×
—
C
×
C1A67:92*2
Display
Radar unit sensitivity lowered
×
×
×
—
C
×
C1A67:95
Display
Improper assembly of radar unit
×
×
×
—
C
×
C1A96:62
Display
Brake switch malfunction
×
×
—
—
C
×
P1697:86
Display
Cruise control switch (DISTANCE switch) malfunction signal reception
×
—
—
—
C
×
U0001:88
Display
Module communication error (HS-CAN)
×
×
×
—
C
×
U0100:00
Display
Communication error with PCM
×
—
—
—
C
×
U0101:00
Display
Communication error with TCM
×
×
—
—
C
×
U0121:00
Display
Communication error with DSC HU/CM
×
×
×
—
C
×
U0131:00
Display
Communication error with electric power steering (EPS) control module
×
×
×
—
C
×
U0140:00
Display
Communication error with front body control module (FBCM)
×
×
—
—
C
×
U0151:00
Display
Communication error with SAS control module
×
×
×
—
C
×
U0155:00
Display
Communication error with instrument cluster
×
×
×
—
C
×
U0214:00
Display
Communication error with start stop unit
×
×
×
—
C
×
U023A:00
Display
Communication error with forward sensing camera (FSC)
—
×
—
—
C
×
U0301:09
Display
Error signal received from PCM
×
×*4
×*4
—
C
×
U0316:09*3
Display
Error signal received from DSC HU/CM
×
×
×*4
—
C
×
U0320:09
Display
Steering angle signal malfunction
×
×
×
—
C
×
U0323:00
Display
Smart brake support (SBS)/mazda radar cruise control (MRCC)-related warning/indication signal error
×
×
×
—
C
×
U0401:00
Display
Error signal received from PCM
×
—
—
—
C
×
U0402:00
Display
Error signal received from TCM
×
—
—
—
C
×
U0415:00
Display
Error signal received from DSC HU/CM
×
×
—
—
C
×
U0420:00
Display
Error signal received from electric power steering (EPS) control module
×
×
×
—
C
×
U0443:00
Display
Error signal received from rear body control module (RBCM)
×
×
—
—
C
×
U0515:00
Display
Error signal received from start stop unit
×
×*4
×*4
—
C
×
U2300:54
Display
Configuration error (data not received)
×
×
×
—
C
×
U2300:55
Display
Configuration error (no configuration)
×
×
×
—
C
×
U2300:56
Display
Configuration error (Ineffective/non-interchangeable data read)
×
×
×
—
C
×
U3000:04
Display
Smart brake support (SBS) system operation malfunction
×
×
×
—
C
×
U3000:44
Display
Radar unit configuration information error
×
×
×
—
C
×
U3000:49
Display
Radar unit internal malfunction
×
×
×
—
C
×
U3003:16
Display
Radar unit low power supply voltage input
×
×
×
—
C
×
U3003:17
Display
Radar unit high power supply voltage input
×
×
×
—
C
×

*1  :C: CMDTC self test, D: ODDTC self test
*2  :If both the front and rear wheels are rotated using a 4-wheel chassis dynamometer, the radar unit determines that there is an error in the location information of the object which it detected. As a result, the radar unit stores DTC C1A67:92. The stored DTC C1A67:92 can be cleared using the M-MDS.
*3  :If either the front or rear wheels are rotated using a 2-wheel chassis dynamometer, the DSC HU/CM determines that the DSC is malfunctioning. As a result, the radar unit also determines that it is malfunctioning, stores DTC U0316:09. DTC U0316:09 can be cleared from the memory using the M-MDS.
*4  :Enabled depending on malfunction content.
*5  :If multiple warnings are displayed, they are displayed in order of importance and it is necessary to change the screen.

DTC 7-digit code definition

•  When related systems or components have failed, the CM stores the DTC of the malfunctioning part in the CM memory, and allows for the retrieval of the store data using scanning tool when necessary. The DTCs are indicated using seven digits. Each digit indicates the following.
ac5uun00003053


Status byte for DTC

•  The two digits (two digits after hyphen (-)) after the 7-digit DTC.
ac5uun00003054
•  A code which indicates the pending code, current/past malfunction status, or warning illumination status.
•  Can be read by performing a CMDTC self-test using the Mazda Modular Diagnostic System (M-MDS).
•  For details on the status byte, refer to the explanation on the Mazda Modular Diagnostic System (M-MDS) when reading the DTC.


Detection condition for the applicable DTC

DTC No.

Description

Detection condition
C0049:85
Brake fluid level signal error
•  The radar unit continues the detected condition in which the brake fluid level is less than MIN for the specified period or more.
C0063:54
Mazda radar cruise control (MRCC) system initialization not implemented
•  The initial setting for yaw rate information is not performed after replacing the SAS control module.
Note
•  If the ignition is switched off when an error occurs during the system initialization command execution, a DTC is detected indicating that the system initialization was not performed.
C1105:62
Brake light signal malfunction
•  The radar unit detects that the brake switch signal and the brake light on/off are incompatible.
C1A67:04
Radar unit internal circuit malfunction
•  Radar unit internal circuit malfunction
C1A67:4B
Radar unit is outside of operation range (ignition power supply, internal temperature)
•  Radar unit power supply voltage is other than 9.5 or more or less than 15.5 V.
•  Temperature in radar unit exceeds specification.
C1A67:54
Radar unit aiming adjustment not implemented
•  Radar unit aiming adjustment is not performed.
C1A67:78
Radar unit axis is deviated
•  Radar unit axis deviation is detected.
C1A67:92*2
Radar unit sensitivity lowered
•  Radar unit sensitivity decreases.
C1A67:95
Improper assembly of radar unit
•  Destination information recorded in radar unit and destination information input by performing configuration are incompatible.
C1A96:62
Brake switch malfunction
•  The radar unit detects that the brake switch signal and the brake fluid pressure value are incompatible.
P1697:86
Cruise control switch (DISTANCE switch) malfunction signal reception
•  The cruise control switch (DISTANCE switch) on-signal is input for 10 min or more.
U0001:88
Module communication error (HS-CAN)
•  Radar unit detects a CAN bus communication line (HS-CAN) malfunction.
U0100:00
Communication error with PCM
•  Radar unit cannot receive the CAN signal from the PCM.
U0101:00
Communication error with TCM
•  Radar unit cannot receive the CAN signal from the TCM.
U0121:00
Communication error with DSC HU/CM
•  Radar unit cannot receive the CAN signal from the DSC HU/CM.
U0131:00
Communication error with electric power steering (EPS) control module
•  Radar unit cannot receive the CAN signal from the electric power steering (EPS) control module.
U0140:00
Communication error with front body control module (FBCM)
•  Radar unit cannot receive the CAN signal from the front body control module (FBCM).
U0151:00
Communication error with SAS control module
•  Radar unit cannot receive the CAN signal from the SAS control module.
U0155:00
Communication error with instrument cluster
•  Radar unit cannot receive the CAN signal from the instrument cluster.
U0214:00
Communication error with start stop unit
•  Radar unit cannot receive the CAN signal from the start stop unit.
U023A:00
Communication error with forward sensing camera (FSC)
•  Radar unit cannot receive the CAN signal from the forward sensing camera (FSC).
U0301:09
Error signal received from PCM
•  Radar unit receives the following signals from the PCM.
―  Brake switch error signal
―  Cruise control switch error signal
―  PCM internal malfunction signal
―  Cruise control error signal
―  Engine speed error signal
―  Accelerator opening angle error signal
U0316:09*3
Error signal received from DSC HU/CM
•  The radar unit detects the following conditions.
―  There is an error in the following signals sent from the DSC HU/CM.
•  Yaw rate signal
•  Lateral-G signal
•  Wheel speed signal
•  Brake fluid pressure signal
•  Cruise control system control signal
•  Signal error in brake light circuit
―  DSC HU/CM internal malfunction
U0320:09
Steering angle signal malfunction
•  There is an error in the steering angle signal sent from the electric power steering (EPS) control module.
U0323:00
Smart brake support (SBS)/mazda radar cruise control (MRCC)-related warning/indication signal error
•  There is an error in the warning/indicator signal related the smart brake support (SBS)/mazda radar cruise control (MRCC) sent from the instrument cluster.
U0401:00
Error signal received from PCM
•  Communication error between PCM and radar unit
U0402:00
Error signal received from TCM
•  Communication error between TCM and radar unit
U0415:00
Error signal received from DSC HU/CM
•  Communication error between DSC HU/CM and radar unit
U0420:00
Error signal received from electric power steering (EPS) control module
•  Communication error between electric power steering (EPS) control module and radar unit
U0443:00
Error signal received from rear body control module (RBCM)
•  Communication error between rear body control module (RBCM) and radar unit
U0515:00
Error signal received from start stop unit
•  Communication error between start stop unit and radar unit
U2300:54
Configuration error (data not received)
•  The radar unit detects configuration setting failure.
U2300:55
Configuration error (no configuration)
U2300:56
Configuration error (Ineffective/non-interchangeable data read)
U3000:04
Smart brake support (SBS) system operation malfunction
•  The smart brake support (SBS) brake is operated excessively.
U3000:44
Radar unit configuration information error
•  There is a malfunction in the configuration data read out from the radar unit.
U3000:49
Radar unit internal malfunction
•  Radar unit internal circuit has a malfunction.
U3003:16
Radar unit low power supply voltage input
•  Radar unit power supply voltage is 9 V or less with the ignition switched ON (engine off or on).
U3003:17
Radar unit high power supply voltage input
•  Radar unit power supply voltage is 16.3 V or more.


Snapshot data

Note
•  The radar unit stores the following two types of information when a DTC is detected and displays snapshot data in the Mazda Modular Diagnostic System (M-MDS).
―  Vehicle information detected by radar unit
―  Vehicle information detected by instrument cluster and received by radar unit via CAN signal
•  The data for all DTCs currently detected is stored.

—: Not applicable

Snapshot data item

Unit

Definition

Data read/use method

Corresponding PID data monitor item
AAT
°C
°F
Ambient temperature
—
—
APP_STATUS
Accelerator Pedal Off/Under20%/Over20%/FAIL
Accelerator pedal position status
—
—
CFG_STATUS
Config Complete/Not Configured/Config Error
Instrument cluster configuration status
—
—
ECT_STATUS
Under 0 degrees C/0 - Under 80 degrees C/Over 80 degrees C/FAIL
Engine coolant temperature status
—
—
IC_VPWR
V
Instrument cluster power supply voltage
•  The radar unit constantly receives the power supply voltage value of the instrument cluster sent via CAN signal from the instrument cluster.
•  If a DTC is detected, the radar unit records the power supply voltage of the instrument cluster when the DTC was detected, and it is displayed in the M-MDS.
VPWR*1
IG-ON_TIMER
hh:mm:ss*2
Elapsed time since ignition was switched ON (engine off or on)
Note
•  The instrument cluster records the elapsed time since the ignition was switched ON (engine off or on).
•  The radar unit constantly receives the elapsed time since the ignition was switched ON (engine off or on) sent via CAN signal from the instrument cluster.
•  If a DTC is detected, the radar unit records the elapsed time since the ignition was switched ON (engine off or on) when the DTC was detected, and it is displayed in the M-MDS.
—
PWR_MODE_KEY
Key Out/Key Recently Out (Position 0)/Accessory (Position 1)/Post Ignition (Position 2)/Ignition On (Position 2)/Running (Position 2)/Running - Starting
•  Key Out: Ignition switched off
•  Key Recently Out (Position 0): Elapsed time within 3 s since ignition was switched off
•  Accessory (Position 1): Ignition is switched to ACC
•  Post Ignition (Position 2): Elapsed time within 3 s since ignition was switched ON (engine off or on)
•  Ignition On (Position 2): Ignition switched ON (engine off)
•  Running (Position 2): Ignition switched ON (engine on)
•  Running - Starting: Cranking condition
•  The radar unit constantly receives the ignition switch status sent via CAN signal from the instrument cluster.
•  If a DTC is detected, the radar unit records the ignition switch status when the DTC was detected, and it is displayed in the M-MDS.
—
RPM_STATUS
Engine Stop/Under1500rpm/Over1500rpm/FAIL
Engine speed status
•  The radar unit constantly receives the engine speed sent via CAN signal from the instrument cluster.
•  If a DTC is detected, the radar unit records the engine speed when the DTC was detected, and it is displayed in the M-MDS.
TACHOMTR*1
SHIFT_STATUS
P/N/
D/
R/
FAIL
Selector lever position status
•  The radar unit constantly receives the selector lever position sent via CAN signal from the instrument cluster.
•  If a DTC is detected, the radar unit records the selector lever position when the DTC was detected, and it is displayed in the M-MDS.
—
TOTAL_DIST
km
miles
Accumulated total traveled distance from completion of vehicle until radar unit detects DTC (Odometer value in instrument cluster)
The total traveled distance from which the radar unit detects DTCs to the present can be calculated by performing the following procedure.
1.  Verify the odometer value in the instrument cluster.
2.  Verify the snapshot data item TOTAL_DIST.
3.  Subtract 2 from 1.
—
TOTAL_TIME
hh:mm:ss*2
Accumulated total elapsed time since vehicle completion until radar unit detects a DTC
Note
•  When the ROOM fuse is removed, and the ignition is switched off, the time is not included in the elapsed time.
The elapsed time from which the radar unit detects DTCs to the present can be calculated by performing the following procedure.
1.  Verify the instrument cluster PID item TOTAL_TIME.
2.  Verify the snapshot data item TOTAL_TIME.
3.  Subtract 2 from 1.
TOTAL_TIME*1
VPWR
V
Radar unit power supply voltage
—
VPWR
VSPD_STATUS
Stop/
0—10km/h/
Over10km/h/
FAIL
Vehicle speed status
•  The radar unit constantly receives the vehicle speed sent via CAN signal from the instrument cluster.
•  If a DTC is detected, the radar unit records the vehicle speed when the DTC was detected, and it is displayed in the M-MDS.
—

*1  :Instrument cluster PID (See ON-BOARD DIAGNOSTIC [INSTRUMENT CLUSTER].)
*2  :The seconds may be indicated after the decimal point.


Data monitor function

•  With the PID/data monitor function, the input/output signal monitor items set in the radar unit can be selected and read out in real-time.
•  The items which can be selected are as follows.

PID/data monitor table

—: Not applicable

PID

Unit/Operation

Data contents

Module control terminal
TGT_ANG_COL
° (deg)
Displays the horizontal angle relative to the target (value in which physical deviation caused by radar unit installation malfunction is corrected by radar unit aiming adjustment).
—
TGT_ANG_RAW
° (deg)
Displays the horizontal angle relative to the target (value in which physical deviation caused by radar unit installation malfunction is not corrected).
—
TGT_DIST
m
Displays the distance to the target.
—
TGT_VEL
KPH, MPH
Displays the relative speed of the target.
—
VPWR
V
Displays radar unit power supply voltage.
E