BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS ELECTRONICALLY CONTROLLED BRAKE SYSTEM(for HEV Model) VEHICLE CONTROL HISTORY (RoB)
DESCRIPTION
Vehicle Control History (RoB) is a function that captures and stores ECU data when triggered by specific vehicle behavior.
It may be possible to determine the cause of the malfunction by checking the vehicle history information and freeze frame data.
The number of possible stored Freeze Frame Data sets, whether multi Freeze Frame Data is available, the number of freeze frame points, Freeze Frame Data items, the ECU internal range, etc., is different depending on the stored group.
The stored data items for Vehicle Control History (RoB) of Freeze Frame Data are different depending on the stored group. When the value of a data item does not change across all points, only the value of the detection point will be displayed. The contents of the Freeze Frame Data are almost the same as those of the Data List.
PRECAUTIONS
As Vehicle Control History (RoB) may be overwritten whenever the trigger conditions are met, make sure to save Vehicle Control History (RoB) before performing any inspections.
As Vehicle Control History (RoB) may be stored when performing an Active Test, learning, etc., make sure to clear the Vehicle Control History (RoB) before returning the vehicle to the customer.
CHECK VEHICLE CONTROL HISTORY (RoB) (ELECTRONICALLY CONTROLLED BRAKE SYSTEM AND ELECTRIC PARKING BRAKE SYSTEM)
Turn the ignition switch off.
Connect the GTS to the DLC3.
Turn the ignition switch to ON.
Turn the GTS on.
Enter the following menus: Chassis / Brake Booster / Utility / Vehicle Control History (RoB).
- Chassis > Brake Booster > Utility
-
Tester Display Vehicle Control History (RoB) - 50005 466 55
Enter the following menus: Chassis / Brake/EPB* / Utility / Vehicle Control History (RoB).
*: Electric Parking Brake System
- Chassis > Brake/EPB > Utility
-
Tester Display Vehicle Control History (RoB) - 50005 435 55
| Code | Tester Display | Measurement Item | User Notification | Diagnostic Note |
|---|---|---|---|---|
| X0455 | Steering Angle Sensor Wrong Installation | History of steering sensor being installed incorrectly | Slip indicator light illuminates | Output ECU: Skid control ECU (brake actuator assembly)
Refer to Steering Angle Sensor Wrong Installation (X0455). (  202405,999999,_V1,_106911,_0485801,RM100000002NHZW,)
|
| X0456 | Yaw Rate Sensor Wrong Installation | History of yaw rate sensor (airbag ECU assembly) being installed incorrectly | ·
Slip indicator light illuminates ·
Brake hold operated indicator light blinks*2 |
Output ECU: Skid control ECU (brake actuator assembly)
Refer to Yaw Rate Sensor Wrong Installation (X0456). ( 202307,999999,_54,_112606,_0608077,RM100000002C7CM,)
|
| X2004 | Speed Sensor Malfunction | History of wheel speed sensor abnormal signal being received | ·
Brake system warning light (yellow indicator) illuminates ·
Slip indicator light illuminates ·
Brake hold operated indicator light blinks*2 |
Output ECU: Electric brake booster (brake booster with master cylinder assembly)
Refer to the following diagnosis procedure: 1.
Using the GTS, perform a Health Check. 2.
Proceed to related output DTC or vehicle control history (RoB). |
| X2005 | Hybrid/EV Powertrain Control System Malfunction | History of a malfunction in the HV system | ·
Brake system warning light (yellow indicator) illuminates ·
Slip indicator light illuminates ·
Brake hold operated indicator light blinks*2 |
Output ECU: Skid control ECU (brake actuator assembly)
Refer to the following diagnosis procedure: 1.
Using the GTS, perform a Health Check. 2.
Proceed to related output DTC or vehicle control history (RoB). |
| X204C | Zero Point Calibration of Yaw Rate Sensor Undone | History of incomplete yaw rate sensor zero point calibration | ·
Slip indicator light illuminates ·
Brake hold operated indicator light blinks*2 |
Output ECU: Skid control ECU (brake actuator assembly)
Refer to Zero Point Calibration of Yaw Rate Sensor Undone (X204C). ( 202307,999999,_54,_112606,_0608077,RM100000002C7CN,)
|
| X207D | Brake Pressure Sensor "A" Malfunction | History of master cylinder pressure sensor (brake actuator assembly) abnormal signal being received | Brake system warning light (yellow indicator) illuminates | Output ECU: Electric brake booster (brake booster with master cylinder assembly)
Refer to the following diagnosis procedure: 1.
Using the GTS, perform a Health Check. 2.
Proceed to related output DTC or vehicle control history (RoB). |
| X2086 | SRS Airbag Malfunction | History of receiving an abnormal secondary collision brake control request signal from airbag ECU assembly | - | Output ECU: Skid control ECU (brake actuator assembly)
Refer to How to Proceed with Troubleshooting in Airbag System. ( 202307,999999,_58,_115188,_0511913,RM100000002BI7P,)
|
| X208A | Zero Point Calibration of Steering Angle Sensor Initialization Malfunction | History of failure in acquiring steering angle zero point even after the vehicle is driven in a straight line at a vehicle speed of 15 km/h (9 mph) or more for 115 seconds or more with the skid control ECU zero point calibration cleared | ·
Slip indicator light illuminates ·
Brake hold operated indicator light blinks*2 |
Output ECU: Skid control ECU (brake actuator assembly)
Refer to Zero Point Calibration of Steering Angle Sensor Initialization Malfunction (X208A) ( 202307,999999,_54,_112606,_0608077,RM100000002C7CO,)
|
| X208B | EPB Motor Continuous Operation Request | History of system suspended to prevent overheat of parking brake actuator assembly when electric parking brake was used repeatedly | ·
Slip indicator light illuminates ·
Brake hold operated indicator light blinks*2 |
Output ECU: Skid control ECU (brake actuator assembly)
|
| X208E | Power Steering Control Module Malfunction | History of power steering system malfunction | - | Output ECU: Skid control ECU (brake actuator assembly)
Refer to the following diagnosis procedure: 1.
Using the GTS, perform a Health Check. 2.
Proceed to related output DTC or vehicle control history (RoB). |
| X2096 | Pre-Collision Brake | History of pre-collision brake operation | In accordance with pre-collision system behavior | Output ECU: Electric brake booster (brake booster with master cylinder assembly) and skid control ECU (brake actuator assembly) |
| X2098 | Pre-Collision Brake Assist | History of pre-collision brake assist operation | In accordance with pre-collision system behavior | Output ECU: Electric brake booster (brake booster with master cylinder assembly) and skid control ECU (brake actuator assembly) |
| X20A0 | ABS | History of ABS operation | Slip indicator light blinks | Output ECU: Electric brake booster (brake booster with master cylinder assembly) and skid control ECU (brake actuator assembly) |
| X20A1 | VSC | History of VSC operation | Slip indicator light blinks | Output ECU: Electric brake booster (brake booster with master cylinder assembly) and skid control ECU (brake actuator assembly) |
| X20A2 | TRC(TRAC) | History of TRC operation | Slip indicator light blinks | Output ECU: Electric brake booster (brake booster with master cylinder assembly) and skid control ECU (brake actuator assembly) |
| X20A5 | Hill Start Assist | History of hill start assist operation | - | Output ECU: Electric brake booster (brake booster with master cylinder assembly) and skid control ECU (brake actuator assembly) |
| X20A7 | Brake Assist | History of brake assist operation | - | Output ECU: Electric brake booster (brake booster with master cylinder assembly) and skid control ECU (brake actuator assembly) |
| X20A8 | Secondary Collision Brake | History of secondary collision brake operation | - | Output ECU: Electric brake booster (brake booster with master cylinder assembly) and skid control ECU (brake actuator assembly) |
| X2150 | Electronic Brake Booster Control Module "A" (Low Supply Voltage Level1) | History of voltage abnormality judgment due to low voltage of the electric brake booster (brake booster with master cylinder assembly) +BS terminal | - | Output ECU: Electric brake booster (brake booster with master cylinder assembly)
Refer to the Charging System on-vehicle inspection. ( 202307,999999,_57,_145000,_0605077,RM100000002BXU2,)
|
| X2151 | Electronic Brake Booster Control Module "A" (Low Supply Voltage Level2) | History of a detected voltage value that is lower than when X2150 was output | Brake system warning light (yellow indicator) illuminates | Output ECU: Electric brake booster (brake booster with master cylinder assembly)
Refer to the Charging System on-vehicle inspection. ( 202307,999999,_57,_145000,_0605077,RM100000002BXU2,)
|
| X2152 | Electronic Brake Booster Control Module "A" (Low Supply Voltage Shutdown Level) | History of system stop judgment due to low voltage of the electric brake booster (brake booster with master cylinder assembly) +BS terminal | ·
Brake system warning light (yellow indicator) illuminates ·
Brake system warning light (red indicator) illuminates*1 ·
Buzzer sounds |
Output ECU: Electric brake booster (brake booster with master cylinder assembly)
Refer to the Charging System on-vehicle inspection. ( 202307,999999,_57,_145000,_0605077,RM100000002BXU2,)
|
| X2153 | Electronic Brake Booster Control Module "A" (Over Supply Voltage Level1) | History of voltage abnormality judgment due to high voltage of the electric brake booster (brake booster with master cylinder assembly) +BS terminal | - | Output ECU: Electric brake booster (brake booster with master cylinder assembly)
Refer to the Charging System on-vehicle inspection. ( 202307,999999,_57,_145000,_0605077,RM100000002BXU2,)
|
| X2154 | Electronic Brake Booster Control Module "A" (Over Supply Voltage Level2) | History of a detected voltage value that is higher than when X2153 was output | Brake system warning light (yellow indicator) illuminates | Output ECU: Electric brake booster (brake booster with master cylinder assembly)
Refer to the Charging System on-vehicle inspection. ( 202307,999999,_57,_145000,_0605077,RM100000002BXU2,)
|
| X2157 | Auto Brake Target Volume Flow Signal Malfunction | History of automatic brake target flow rate signal abnormality received by the electric brake booster (brake booster with master cylinder assembly) | Brake system warning light (yellow indicator) illuminates | Output ECU: Electric brake booster (brake booster with master cylinder assembly)
Refer to the following diagnosis procedure: 1.
Using the GTS, perform a Health Check. 2.
Proceed to related output DTC or vehicle control history (RoB). |
| X215D | Stop Lamp Switch Information Malfunction | History stored by the skid control ECU (brake actuator assembly) when the electric brake booster (brake booster with master cylinder assembly) has detected a brake pedal operation condition abnormality | ·
Brake system warning light (yellow indicator) illuminates ·
ABS warning light illuminates ·
Slip indicator light illuminates ·
Brake hold operated indicator light blinks*2 |
Output ECU: Skid control ECU (brake actuator assembly)
Refer to the following diagnosis procedure: 1.
Using the GTS, perform a Health Check. 2.
Proceed to related output DTC or vehicle control history (RoB). |
| X215E | Backup Power Supply Mode State | History of brake control power supply assembly supplying power when electric brake booster (brake booster with master cylinder assembly) +BS terminal voltage had decreased | ·
Brake system warning light (yellow indicator) illuminates ·
Brake system warning light (red indicator) illuminates*1 ·
Buzzer sounds continuously |
Output ECU: Electric brake booster (brake booster with master cylinder assembly) |
| X215F | Brake Pressure Control Solenoid Leak | History stored by the skid control ECU (brake actuator assembly) when it has been detected that the master cylinder pressure of the electric brake booster (brake booster with master cylinder assembly) is too low | - | Output ECU: Skid control ECU (brake actuator assembly)
Refer to the brake system function check. |
| X219A | Gear Shift Control Module Malfunction | History of electronic shift lever system malfunction | - | Output ECU: Skid control ECU (brake actuator assembly)
Refer to the following diagnosis procedure: 1.
Using the GTS, perform a Health Check. 2.
Proceed to related output DTC or vehicle control history (RoB). |
| X21A1 | Electronic Brake Booster Motor "A" High Temperature(Level1) | History of electric brake booster (brake booster with master cylinder assembly) main unit temperature detected at 123°C (253°F) or more and less than 142°C (288°F) | - | Output ECU: Electric brake booster (brake booster with master cylinder assembly) |
| X21A3 | EBR Activation Request Flag Malfunction | History of skid control ECU (brake actuator assembly) having prohibited brake control request from other ECU | Brake system warning light (yellow indicator) illuminates | Output ECU: Skid control ECU (brake actuator assembly) |
| X21A4 | Force Blending Signal Malfunction | History stored by the skid control ECU (brake actuator assembly) when the electric brake booster (brake booster with master cylinder assembly) has received a counterforce control signal abnormality | Brake system warning light (yellow indicator) illuminates | Output ECU: Skid control ECU (brake actuator assembly)
Refer to the following diagnosis procedure: 1.
Using the GTS, perform a Health Check. 2.
Proceed to related output DTC or vehicle control history (RoB). |
| X21A5 | Electronic Brake Booster Input Stroke Signal Malfunction | History of relative displacement sensor (brake booster with master cylinder assembly) output abnormality received | ·
Brake system warning light (yellow indicator) illuminates ·
ABS warning light illuminates |
Output ECU: Skid control ECU (brake actuator assembly)
Refer to the following diagnosis procedure: 1.
Using the GTS, perform a Health Check. 2.
Proceed to related output DTC or vehicle control history (RoB). |
| X21A6 | Actual Electronic Brake Booster Input Stroke Signal Malfunction | History of skid control ECU (brake actuator assembly) receiving relative displacement sensor abnormal signal from electric brake booster (brake booster with master cylinder assembly) | ·
Brake system warning light (yellow indicator) illuminates ·
ABS warning light illuminates |
Output ECU: Skid control ECU (brake actuator assembly)
Refer to the following diagnosis procedure: 1.
Using the GTS, perform a Health Check. 2.
Proceed to related output DTC or vehicle control history (RoB). |
| X2443 | Electronic Brake Booster Control Module "A" (Low Voltage Shutdown Level) Remote Control Parking | History of drop in electric brake booster (brake booster with master cylinder assembly) power supply voltage while remote parking function was operating | ABS warning light illuminates | Output ECU: Electric brake booster (brake booster with master cylinder assembly)
Refer to the following diagnosis procedure: 1.
Using the GTS, perform a Health Check. 2.
Proceed to related output DTC or vehicle control history (RoB). |
| X280E | Side Wind Suppression Control Operation Request | History of side wind suppression control operation | - | Output ECU: Skid control ECU (brake actuator assembly)
|
| XF01B | ECU Security Key Not Registered | ECU security key has not been registered | *3 | Output ECU: Electric brake booster (brake booster with master cylinder assembly) and skid control ECU (brake actuator assembly)
Refer to the update ECU security key. ( 202405,999999,_V1,_106911,_0485801,RM100000002NHZW,)
|
| XFFF7 | Hybrid System Internal Failure | History of skid control ECU (brake actuator assembly) receiving regeneration control malfunction signals 2 times consecutively from hybrid vehicle control ECU. | Brake system warning light (yellow indicator) illuminates | Output ECU: Skid control ECU (brake actuator assembly)
Refer to How to Proceed with Troubleshooting in hybrid control system. ( 202307,999999,_51,_144957,_0604232,RM100000002BTK7,)
|
*1: The brake system warning light (red indicator) illuminates when any of the following vehicle conditions are met:
When EBD is prohibited
When a malfunction has occurred
When failure compensation control is prohibited
*2: When the vehicle is put into the following vehicle conditions and the brake hold switch (electric parking brake switch assembly) is turned on, the brake hold operated indicator light blinks. Conditions required for operation standby:
The driver door is closed.
The driver seat belt is fastened.
*3: Receive side ECU detects communication malfunction and may operate warning in multi-information display or indicator light.
CHECK VEHICLE CONTROL HISTORY (RoB) (STEERING ANGLE SENSOR)
Turn the ignition switch off.
Connect the GTS to the DLC3.
Turn the ignition switch to ON.
Turn the GTS on.
Enter the following menus: Chassis / Steering Angle Sensor / Utility / Vehicle Control History (RoB).
- Chassis > Steering Angle Sensor > Utility
-
Tester Display Vehicle Control History (RoB) - 50005 445 55
| Code | Tester Display | Measurement Item | User Notification | Diagnostic Note |
|---|---|---|---|---|
|
*: Receive side ECU detects communication malfunction and may operate warning in multi-information display or indicator light. |
||||
| XF01B | ECU Security Key Not Registered | ECU security key has not been registered | * | Output ECU: Steering angle sensor
Refer to the update ECU security key. ( 202307,999999,_54,_112606,_0608077,RM100000002C7CL,)
|
CLEAR VEHICLE CONTROL HISTORY (RoB) (ELECTRONICALLY CONTROLLED BRAKE SYSTEM, ELECTRIC PARKING BRAKE SYSTEM AND STEERING ANGLE SENSOR)
Turn the ignition switch off.
Connect the GTS to the DLC3.
Turn the ignition switch to ON.
Turn the GTS on.
Enter the following menus: Chassis / Brake Booster / Utility / Vehicle Control History (RoB).
- Chassis > Brake Booster > Utility
-
Tester Display Vehicle Control History (RoB) - 50005 466 55
Enter the following menus: Chassis / Brake/EPB* / Utility / Vehicle Control History (RoB).
*: Electric Parking Brake System
- Chassis > Brake/EPB > Utility
-
Tester Display Vehicle Control History (RoB) - 50005 435 55
Enter the following menus: Chassis / Steering Angle Sensor / Utility / Vehicle Control History (RoB).
- Chassis > Steering Angle Sensor > Utility
-
Tester Display Vehicle Control History (RoB) - 50005 445 55
Press the clear button.
- NOTICE:
-
By performing this procedure, all stored Vehicle Control History (RoB) items will be cleared.