ON-BOARD DIAGNOSTIC [RADAR UNIT]

• 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; and 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.

• 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).

DTC	MRCC warning light (amber)^*2	Description	Fail-safe function	Drive cycle	Self test type^*1	Memory function
C0049:85	ON	Brake fluid level signal error	X	X	X	—	C	X
C0063:54	ON	MRCC system initialization not implemented	X	X	X	—	C	X
C1105:62	ON	Brake light signal malfunction	X	X	—	—	C	X
C1A67:04	ON	Radar unit internal circuit malfunction	X	X	X	—	C	X
C1A67:4B	ON	Radar unit is outside of operation range (ignition power supply, internal temperature)	X	X	X	—	C	X
C1A67:54^*3	ON	Radar unit aiming adjustment not implemented	X	X	X	—	C	X
C1A67:78	ON	Radar unit axis is deviated	X	X	X	—	C	X
C1A67:92	—	Radar unit sensitivity lowered	X	X	X	—	C	X
C1A67:95	ON	Improper assembly of radar unit	X	X	X	—	C	X
C1A96:62	ON	Brake switch malfunction	X	X	—	—	C	X
P1697:86	ON	Cruise control switch (DISTANCE switch) malfunction signal reception	X	—	—	—	C	X
U0001:88	ON	Module communication error (HS-CAN)	X	X	X	—	C	X
U0100:00	ON	Communication error with PCM	X	—	—	—	C	X
U0101:00	ON	Communication error with TCM	X	X	X	—	C	X
U0121:00	ON	Communication error with DSC HU/CM	X	X	X	—	C	X
U0131:00	ON	Communication error with EPS control module	X	X	X	—	C	X
U0140:00	ON	Communication error with BCM	X	X	X	—	C	X
U0151:00	ON	Communication error with SAS control module	X	X	X	—	C	X
U0155:00	ON	Communication error with Instrument cluster	X	X	X	—	C	X
U0214:00	ON	Communication error with start stop unit	X	X	X	—	C	X
U0235:68	—	Communication error with laser sensor	—	X	X	—	C	X
U023A:00	—	Communication error with forward sensing camera (FSC)	—	X	X	—	C	X
U0301:09	ON	Error signal received from PCM	X	X	X	—	C	X
U0316:09^*4	ON	Error signal received from DSC HU/CM	X	X	X	—	C	X
U0320:09	ON	Steering angle signal malfunction	X	X	X	—	C	X
U0323:00	ON	SBS/MRCC-related warning/indication signal error	X	X	X	—	C	X
U0401:00	ON	Error signal received from PCM	X	—	—	—	C	X
U0402:00	ON	Error signal received from TCM	X	X	X	—	C	X
U0415:00	ON	Error signal received from DSC HU/CM	X	X	X	—	C	X
U0420:00	ON	Error signal received from EPS control module	X	X	X	—	C	X
U0422:00	ON	Error signal received from BCM	X	X	—	—	C	X
U0423:00	ON	Error signal received from instrument cluster	X	X	X	—	C	X
U0433:68	—	Error signal received from laser sensor	—	—	—	—	C	X
U0452:86	ON	Error signal received from SAS control module	X	X	X	—	C	X
U0515:00	ON	Error signal received from start stop unit	X	X	X	—	C	X
U053B:68	—	Error signal received from forward sensing camera (FSC)	—	—	—	—	C	X
U2300:54	ON	Configuration error (data not received)	X	X	X	—	C	X
U2300:55	ON	Configuration error (no configuration)	X	X	X	—	C	X
U2300:56	ON	Configuration error (Ineffective/non-interchangeable data read)	X	X	X	—	C	X
U3000:04	ON	Smart brake support (SBS) system operation malfunction	X	—	X	—	C	X
U3000:44	ON	Radar unit configuration information error	X	X	X	—	C	X
U3000:49	ON	Radar unit internal malfunction	X	X	X	—	C	X
U3003:16	ON	Radar unit power supply voltage decreases	X	X	X	—	C	X
U3003:17	ON	Radar unit power supply voltage increases	X	X	X	—	C	X

DTC

MRCC warning light (amber)^*2

Description

Fail-safe function

Drive cycle

Self test type^*1

Memory function

MRCC

SBS

DRSS

C0049:85

Brake fluid level signal error

—

C0063:54

MRCC system initialization not implemented

—

C1105:62

Brake light signal malfunction

—

C1A67:04

Radar unit internal circuit malfunction

—

C1A67:4B

Radar unit is outside of operation range (ignition power supply, internal temperature)

—

C1A67:54^*3

Radar unit aiming adjustment not implemented

—

C1A67:78

Radar unit axis is deviated

—

C1A67:92

—

Radar unit sensitivity lowered

—

C1A67:95

Improper assembly of radar unit

—

C1A96:62

Brake switch malfunction

—

P1697:86

Cruise control switch (DISTANCE switch) malfunction signal reception

—

U0001:88

Module communication error (HS-CAN)

—

U0100:00

Communication error with PCM

—

U0101:00

Communication error with TCM

—

U0121:00

Communication error with DSC HU/CM

—

U0131:00

Communication error with EPS control module

—

U0140:00

Communication error with BCM

—

U0151:00

Communication error with SAS control module

—

U0155:00

Communication error with Instrument cluster

—

U0214:00

Communication error with start stop unit

—

U0235:68

—

Communication error with laser sensor

—

U023A:00

—

Communication error with forward sensing camera (FSC)

—

U0301:09

Error signal received from PCM

—

U0316:09^*4

Error signal received from DSC HU/CM

—

U0320:09

Steering angle signal malfunction

—

U0323:00

SBS/MRCC-related warning/indication signal error

—

U0401:00

Error signal received from PCM

—

U0402:00

Error signal received from TCM

—

U0415:00

Error signal received from DSC HU/CM

—

U0420:00

Error signal received from EPS control module

—

U0422:00

Error signal received from BCM

—

U0423:00

Error signal received from instrument cluster

—

U0433:68

—

Error signal received from laser sensor

—

U0452:86

Error signal received from SAS control module

—

U0515:00

Error signal received from start stop unit

—

U053B:68

—

Error signal received from forward sensing camera (FSC)

—

U2300:54

Configuration error (data not received)

—

U2300:55

Configuration error (no configuration)

—

U2300:56

Configuration error (Ineffective/non-interchangeable data read)

—

U3000:04

Smart brake support (SBS) system operation malfunction

—

U3000:44

Radar unit configuration information error

—

U3000:49

Radar unit internal malfunction

—

U3003:16

Radar unit power supply voltage decreases

—

U3003:17

Radar unit power supply voltage increases

—

*1 :C: CMDTC self test

*2 :The MRCC warning light (amber) flashes only when the MRCC ON switch is ON.

*3 :If both the front and rear wheels are rotated using a 2 or 4-wheel chassis dynamometer, the radar unit determines that there is an error in the location information of the object which is detected by the radar unit. As a result, the radar unit stores DTC C1A67:54 and turns the MRCC warning light (amber) on at the same time.The MRCC warning light (amber) can be turned off by switching the ignition OFF (LOCK) after removing the vehicle from the 2 or 4-wheel chassis dynamometer. The stored DTC C1A67:54 can be cleared from the memory using the M-MDS.

*4 :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, it will also determine that the radar unit is malfunctioning, turn on the MRCC warning light (amber) and store DTC U0316:09 at the same time. The MRCC warning light (amber) can be turned off by switching the ignition OFF (LOCK), and switching it back ON (engine on), and then driving the vehicle at 10 km/h or more after removing the vehicle from the 2-wheel chassis dynamometer.The stored DTC U0316:09 can be cleared from the memory using the M-MDS.

DTC No.	System malfunction location	Detection condition
C0049:85	Brake fluid level signal error	The BCM continues the detected condition in which the brake fluid level is less than MIN for the specified period or more.
C0063:54	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 (LOCK) 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?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	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 EPS control module	Radar unit cannot receive the CAN signal from the EPS control module.
U0140:00	Communication error with BCM	Radar unit cannot receive the CAN signal from the BCM.
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.
U0235:68	Communication error with laser sensor	Radar unit cannot receive the CAN signal from the laser sensor.
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	There is an error in the following signals sent from the PCM. • Brake switch signal • Cruise control system control signal
U0316:09	Error signal received from DSC HU/CM	There is an error in the following signals sent from the DSC HU/CM. • Yaw rate signal • Lateral-G signal • Longitudinal-G signal • Wheel speed signal • Brake fluid pressure signal • Cruise control system control signal • Signal error in brake light circuit
U0320:09	Steering angle signal malfunction	There is an error in the steering angle signal sent from the EPS control module.
U0323:00	SBS/MRCC-related warning/indication signal error	There is an error in the warning/indicator signal related the SBS/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 EPS control module	Communication error between EPS control module and radar unit
U0422:00	Error signal received from BCM	Communication error between BCM and radar unit
U0423:00	Error signal received from instrument cluster	Communication error between instrument cluster and radar unit
U0433:68	Error signal received from laser sensor	Communication error between laser sensor and radar unit
U0452:86	Error signal received from SAS control module	Communication error between SAS control module and radar unit
U0515:00	Error signal received from start stop unit	Communication error between start stop unit and radar unit
U053B:68	Error signal received from forward sensing camera (FSC)	Communication error between FSC and radar unit
U2300:54	Configuration error (data not received)	The radar unit detects configuration setting failure.
U2300:55	Configuration error (no configuration)	The radar unit detects configuration setting failure.
U2300:56	Configuration error (Ineffective/non-interchangeable data read)	The radar unit detects configuration setting failure.
U3000:04	Smart brake support (SBS) system operation malfunction	The 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 power supply voltage decreases	Radar unit power supply voltage is 9 V or less during engine start.
U3003:17	Radar unit power supply voltage increases	Radar unit power supply voltage is 16.3 V or more.

Snapshot data item	Unit	Data contents	Data read/use method	Corresponding data monitor items
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 • 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.	SPEEDOMTR^*1

Snapshot data item

Unit

Data contents

Data read/use method

Corresponding data monitor items

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

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

• 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

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

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.

SPEEDOMTR^*1

*1 :Instrument cluster PID

*2 :The seconds may be indicated after the decimal point.

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

PID name (definition)	Unit/Operation	Operation Status (Reference)	Inspection item(s)
TGT_ANGL_COL (Horizontal angle with target (correction value))	°	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).	Radar unit
TGT_ANGL_RAW (Horizontal angle with target (no correction))	°	Displays the horizontal angle relative to the target (value in which physical deviation caused by radar unit installation malfunction is not corrected).	Radar unit
TGT_DIST (Distance to target)	m	Displays the distance to the target.	Radar unit
TGT_VEL (Relative speed of target)	KPH	Displays the relative speed of the target.	Radar unit
VPWR (Radar unit supply voltage)	V	Displays the radar unit supply voltage.	• Battery • IG1 relay • Radar unit