ON-BOARD DIAGNOSTIC [RADAR UNIT]

id1502006955a6

Outline

• 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.

Function

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).

DTC table

X: Applicable

—: Not applicable

DTC	Master warning light^*2	Description	Fail-safe			Drive cycle	Self test type^*1	Memory function
DTC	Master warning light^*2	Description	MRCC	SBS	DRSS	Drive cycle	Self test type^*1	Memory function
C0049:85	Illuminated	Brake fluid level signal error	X	X	X	—	C, D	X
C0063:54	Illuminated	MRCC system initialization not implemented	X	X	—	—	C, D	X
C1105:62	Illuminated	Brake light signal malfunction	X	X	—	—	C, D	X
C1A67:04	Illuminated	Radar unit internal circuit malfunction	X	X	X	—	C, D	X
C1A67:4B	Illuminated	Radar unit is outside of operation range (ignition power supply, internal temperature)	X	X	X	—	C, D	X
C1A67:54^*3	Illuminated	Radar unit aiming adjustment not implemented	X	X	X	—	C, D	X
C1A67:78	Illuminated	Radar unit axis is deviated	X	X	X	—	C, D	X
C1A67:92	Illuminated	Radar unit sensitivity lowered	X	X	X	—	C, D	X
C1A67:95	Illuminated	Improper assembly of radar unit	X	X	X	—	C, D	X
C1A96:62	Illuminated	Brake switch malfunction	X	X	—	—	C, D	X
P1697:86	—	Cruise control switch (DISTANCE switch) malfunction signal reception	X	—	—	—	C, D	X
U0001:88	Illuminated	Module communication error (HS-CAN)	X	X	X	—	C, D	X
U0100:00	—	Communication error with PCM	X	—	—	—	C, D	X
U0101:00	—	Communication error with TCM	X	X	—	—	C, D	X
U0121:00	Illuminated	Communication error with DSC HU/CM	X	X	X	—	C, D	X
U0131:00	Illuminated	Communication error with EPS control module	X	X	X	—	C, D	X
U0140:00	Illuminated	Communication error with front body control module (FBCM)	X	X	—	—	C, D	X
U0151:00	Illuminated	Communication error with SAS control module	X	X	X	—	C, D	X
U0155:00	Illuminated	Communication error with Instrument cluster	X	X	X	—	C, D	X
U0214:00	Illuminated	Communication error with start stop unit	X	X	X	—	C, D	X
U023A:00	Illuminated	Communication error with forward sensing camera (FSC)	—	X	—	—	C, D	X
U0301:09	Illuminated	Error signal received from PCM	X	X	X	—	C, D	X
U0316:09^*4	Illuminated	Error signal received from DSC HU/CM	X	X	X	—	C, D	X
U0320:09	Illuminated	Steering angle signal malfunction	X	X	X	—	C, D	X
U0323:00	Illuminated	SBS/MRCC-related warning/indication signal error	X	X	X	—	C, D	X
U0401:00	—	Error signal received from PCM	X	—	—	—	C, D	X
U0402:00	Illuminated	Error signal received from TCM	X	—	—	—	C, D	X
U0415:00	Illuminated	Error signal received from DSC HU/CM	X	X	—	—	C, D	X
U0420:00	Illuminated	Error signal received from EPS control module	X	X	X	—	C, D	X
U0443:00	Illuminated	Error signal received from rear body control module (RBCM)	X	X	—	—	C, D	X
U0515:00	Illuminated	Error signal received from start stop unit	X	X	X	—	C, D	X
U2300:54	Illuminated	Configuration error (data not received)	X	X	X	—	C, D	X
U2300:55	Illuminated	Configuration error (no configuration)	X	X	X	—	C, D	X
U2300:56	Illuminated	Configuration error (Ineffective/non-interchangeable data read)	X	X	X	—	C, D	X
U3000:04	Illuminated	Mazda radar cruise control (MRCC) system operation malfunction	X	X	X	—	C, D	X
U3000:44	Illuminated	Radar unit configuration information error	X	X	X	—	C, D	X
U3000:49	Illuminated	Radar unit internal malfunction	X	X	X	—	C, D	X
U3003:16	Illuminated	Radar unit power supply voltage decreases	X	X	X	—	C, D	X
U3003:17	Illuminated	Radar unit power supply voltage increases	X	X	X	—	C, D	X

*1 :C: CMDTC self test, D: ODDTC self test

*2 :The master warning light is illuminated only when the SBS/DRSS is ON.

*3 :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 is detected by the radar sensor. As a result, the radar unit illuminates the master warning light and stores DTC C1A67:54. The master warning light can be turned off by switching the ignition off after removing the vehicle from the 4-wheel chassis dynamometer. The stored DTC C1A67:54 can be cleared 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 determines that the radar unit is also malfunctioning, then illuminates the master warning light, and stores DTC U0316:09. After the vehicle is removed from the 2-wheel dynamometer, the ignition switched off, and then switched back ON (engine ON), the master warning light turns off when the vehicle is driven at 10 km/h {6.2 mph} or more. Clear DTC U0316:09 from the memory using the M-MDS.

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.

ac5wzn00001067

Status byte for DTC

• The status byte is the two digits (after hyphen) after the 7-digit DTC.

ac5wzn00001328

• The status byte is a code which indicates the pending code, current/past malfunction status, or warning illumination status.

• The status byte 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

Description

Detection condition

C0049:85

Brake fluid level signal error

•  The front body control module (FBCM) 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 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^*1

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 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^*2

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 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

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)

•  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

Mazda radar cruise control (MRCC) system operation malfunction

•  The MRCC 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.

DTC	Description	Detection condition
C0049:85	Brake fluid level signal error	• The front body control module (FBCM) 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 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^*1	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 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^*2	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 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
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)	• 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	Mazda radar cruise control (MRCC) system operation malfunction	• The MRCC 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.

*1 :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 is detected by the radar sensor. As a result, the radar unit illuminates the master warning light and stores DTC C1A67:54. The master warning light can be turned off by switching the ignition off after removing the vehicle from the 4-wheel chassis dynamometer. The stored DTC C1A67:54 can be cleared using the M-MDS.

*2 :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 determines that the radar unit is also malfunctioning, then illuminates the master warning light, and stores DTC U0316:09. After the vehicle is removed from the 2-wheel dynamometer, the ignition switched off, and then switched back ON (engine ON), the master warning light turns off when the vehicle is driven at 10 km/h {6.2 mph} or more. Clear DTC U0316:09 from the memory using the M-MDS.

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