CRUISE CONTROL

DAS
A

B
SECTION
DRIVER ASSISTANCE SYSTEM C

E
CONTENTS
DCA DIAGNOSIS SYSTEM (ICC SENSOR INTE- F
GRATED UNIT) ................................................. 22
BASIC INSPECTION ................................... 10 Diagnosis Description ..............................................22

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CONSULT Function (ICC/ADAS) ............................23 G
DIAGNOSIS AND REPAIR WORK FLOW ........10
Work Flow ............................................................... 10 DIAGNOSIS SYSTEM (ACCELERATOR
PEDAL ACTUATOR) ........................................ 31
INSPECTION AND ADJUSTMENT ....................12 H
CONSULT Function (ACCELE PEDAL ACT) ..........31
ADDITIONAL SERVICE WHEN REPLACING
CONTROL UNIT (ICC SENSOR INTEGRATED DTC/CIRCUIT DIAGNOSIS ......................... 33
UNIT) .......................................................................... 12 I
C1A00 CONTROL UNIT ................................... 33
ADDITIONAL SERVICE WHEN REPLACING Description ...............................................................33
CONTROL UNIT (ICC SENSOR INTEGRATED DTC Logic ................................................................33
UNIT) : Description .................................................. 12 J
Diagnosis Procedure ...............................................33
ADDITIONAL SERVICE WHEN REPLACING Special Repair Requirement ....................................33
CONTROL UNIT (ICC SENSOR INTEGRATED
UNIT) : Special Repair Requirement ....................... 12 C1A01 POWER SUPPLY CIRCUIT 1, C1A02 K
ADDITIONAL SERVICE WHEN REPLACING
POWER SUPPLY CIRCUIT 2 ........................... 35
Description ...............................................................35
CONTROL UNIT (ACCELERATOR PEDAL AS-
DTC Logic ................................................................35
SEMBLY) ................................................................... 12 L
Diagnosis Procedure ...............................................35
ADDITIONAL SERVICE WHEN REPLACING
Special Repair Requirement ....................................35
CONTROL UNIT (ACCELERATOR PEDAL AS-
SEMBLY) : Description ........................................... 12 C1A03 VEHICLE SPEED SENSOR .................. 37 M
ADDITIONAL SERVICE WHEN REPLACING Description ...............................................................37
CONTROL UNIT (ACCELERATOR PEDAL AS- DTC Logic ................................................................37
SEMBLY) : Special Repair Requirement ................ 12 Diagnosis Procedure ...............................................37 N
ACTION TEST ........................................................... 12 Special Repair Requirement ....................................38
ACTION TEST : Description ................................... 13 C1A04 ABS/TCS/VDC SYSTEM ...................... 39
ACTION TEST : Special Repair Requirement DAS
Description ...............................................................39
(Distance Control Assist) ......................................... 13
DTC Logic ................................................................39
SYSTEM DESCRIPTION ............................. 14 Diagnosis Procedure ...............................................39
Special Repair Requirement ....................................39 P
DISTANCE CONTROL ASSIST SYSTEM .........14
System Diagram ...................................................... 14
C1A05 BRAKE SW/STOP LAMP SW .............. 41
Description ...............................................................41
System Description ................................................. 14
DTC Logic ................................................................41
Component Parts Location ...................................... 20
Diagnosis Procedure ...............................................41
Component Description ........................................... 20
Component Inspection (ICC Brake Switch) .............44
Component Inspection (Stop Lamp Switch) ............44

Revision: July 2016 DAS-1 2016 QX50

 Special Repair Requirement ................................... 44 C1A16 RADAR STAIN ...................................... 73
Description .............................................................. 73
C1A06 OPERATION SW ................................... 46 DTC Logic ............................................................... 73
Description .............................................................. 46 Diagnosis Procedure ............................................... 73
DTC Logic ............................................................... 46 Special Repair Requirement ................................... 73
Diagnosis Procedure .............................................. 46
Component Inspection ............................................ 47 C1A18 LASER AIMING INCMP ........................ 75
Special Repair Requirement ................................... 48 Description .............................................................. 75
DTC Logic ............................................................... 75
C1A08 PRESSURE SENSOR ........................... 49 Diagnosis Procedure ............................................... 75
Description .............................................................. 49 Special Repair Requirement ................................... 75
DTC Logic ............................................................... 49
Diagnosis Procedure .............................................. 49 C1A21 UNIT HIGH TEMP .................................. 77
Special Repair Requirement ................................... 50 Description .............................................................. 77
DTC Logic ............................................................... 77
C1A09 BOOSTER SOLENOID .......................... 51 Diagnosis Procedure ............................................... 77
Description .............................................................. 51 Special Repair Requirement ................................... 77
DTC Logic ............................................................... 51
Diagnosis Procedure .............................................. 51 C1A22 BCU CIRCUIT ........................................ 79
Component Inspection ............................................ 52 Description .............................................................. 79
Special Repair Requirement ................................... 52 DTC Logic ............................................................... 79

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Diagnosis Procedure ............................................... 79
C1A10 RELEASE SWITCH ............................... 54 Special Repair Requirement ................................... 81
Description .............................................................. 54
DTC logic ................................................................ 54 C1A24 NP RANGE ............................................ 83
Diagnosis Procedure .............................................. 54 Description .............................................................. 83
Component Inspection ............................................ 55 DTC Logic ............................................................... 83
Special Repair Requirement ................................... 56 Diagnosis Procedure ............................................... 83
Special Repair Requirement ................................... 84
C1A11 PRESSURE CONTROL ......................... 57
Description .............................................................. 57 C1A28 BCU POWER SUPPLY CIRCUIT,
DTC Logic ............................................................... 57 C1A29 BCU POWER SUPPLY CIRCUIT2 ........ 85
Diagnosis Procedure .............................................. 57 Description .............................................................. 85
Component Inspection ............................................ 58 DTC Logic ............................................................... 85
Special Repair Requirement ................................... 58 Diagnosis Procedure ............................................... 85
Special Repair Requirement ................................... 85
C1A12 LASER BEAM OFF CENTER ............... 60
Description .............................................................. 60 C1A30 BCU CAN COMM CIRC ........................ 87
DTC Logic ............................................................... 60 Description .............................................................. 87
Diagnosis Procedure .............................................. 60 DTC Logic ............................................................... 87
Special Repair Requirement ................................... 60 Diagnosis Procedure ............................................... 87
Special Repair Requirement ................................... 87
C1A13 STOP LAMP RELAY ............................. 61
Description .............................................................. 61 C1A31 BCU INTERNAL MALF ......................... 88
DTC Logic ............................................................... 61 Description .............................................................. 88
Diagnosis Procedure .............................................. 61 DTC Logic ............................................................... 88
Component Inspection ............................................ 66 Diagnosis Procedure ............................................... 88
Special Repair Requirement ................................... 66 Special Repair Requirement ................................... 88
C1A14 ECM ....................................................... 68 C1A32 IBA FLAG STUCK ................................. 90
Description .............................................................. 68 Description .............................................................. 90
DTC Logic ............................................................... 68 DTC Logic ............................................................... 90
Diagnosis Procedure .............................................. 68 Diagnosis Procedure ............................................... 90
Special Repair Requirement ................................... 68 Special Repair Requirement ................................... 90
C1A15 GEAR POSITION ................................... 70 C1A33 CAN TRANSMISSION ERROR ............. 92
Description .............................................................. 70 Description .............................................................. 92
DTC Logic ............................................................... 70 DTC Logic ............................................................... 92
Diagnosis Procedure .............................................. 70 Diagnosis Procedure ............................................... 92
Special Repair Requirement ................................... 71 Special Repair Requirement ................................... 92

Revision: July 2016 DAS-2 2016 QX50

C1A34 COMMAND ERROR ...............................94 Diagnosis Procedure ............................................. 111
Description .............................................................. 94 Special Repair Requirement .................................. 111 A
DTC Logic ............................................................... 94
Diagnosis Procedure ............................................... 94 C1F05 ACCELERATOR PEDAL ACTUATOR
Special Repair Requirement ................................... 94 POWER SUPPLY CIRCUIT ............................ 113
B
Description ............................................................. 113
C1A35 ACCELERATOR PEDAL ACTUATOR....96 DTC Logic .............................................................. 113
Description .............................................................. 96 Diagnosis Procedure ............................................. 113
DTC Logic ............................................................... 96 Special Repair Requirement .................................. 113 C
Diagnosis Procedure ............................................... 96
Special Repair Requirement ................................... 96 C1F06 CAN CIRCUIT2 .................................... 115
Description ............................................................. 115 D
C1A36 ACCELERATOR PEDAL ACTUATOR DTC Logic .............................................................. 115
CAN COMM ........................................................97 Diagnosis Procedure ............................................. 115
Description .............................................................. 97 Special Repair Requirement .................................. 115
DTC Logic ............................................................... 97 E
Diagnosis Procedure ............................................... 97 C1F07 CAN CIRCUIT1 .................................... 117
Special Repair Requirement ................................... 97 Description ............................................................. 117
DTC Logic .............................................................. 117 F
C1A37 ACCELERATOR PEDAL ACTUATOR Diagnosis Procedure ............................................. 117
CAN 2 .................................................................99 Special Repair Requirement .................................. 117

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Description .............................................................. 99
DTC Logic ............................................................... 99
U0121 VDC CAN 2 .......................................... 119 G
Description ............................................................. 119
Diagnosis Procedure ............................................... 99
DTC Logic .............................................................. 119
Special Repair Requirement ................................... 99
Diagnosis Procedure ............................................. 119 H
C1A38 ACCELERATOR PEDAL ACTUATOR Special Repair Requirement .................................. 119
CAN 1 ............................................................... 101
U0126 STRG SEN CAN 1 ............................... 121
Description ............................................................ 101 I
Description ............................................................. 121
DTC Logic ............................................................. 101
DTC Logic .............................................................. 121
Diagnosis Procedure ............................................. 101
Diagnosis Procedure ............................................. 121
Special Repair Requirement ................................. 101
Special Repair Requirement .................................. 121 J
C1A39 STEERING ANGLE SENSOR .............. 103
U0129 BCU CAN 2 .......................................... 123
Description ............................................................ 103
Description ............................................................. 123
DTC Logic ............................................................. 103 K
DTC Logic .............................................................. 123
Diagnosis Procedure ............................................. 103
Diagnosis Procedure ............................................. 123
Special Repair Requirement ................................. 103
Special Repair Requirement .................................. 123
C1A40 SYSTEM SWITCH CIRCUIT ................ 105 L
U0401 ECM CAN 1 ......................................... 125
Description ............................................................ 105
Description ............................................................. 125
DTC Logic ............................................................. 105
DTC Logic .............................................................. 125
Diagnosis Procedure ............................................. 105 M
Diagnosis Procedure ............................................. 125
Component Inspection (IBA OFF Switch) ............. 106
Special Repair Requirement .................................. 125
Special Repair Requirement ................................. 107
U0402 TCM CAN 1 .......................................... 127 N
C1F01 ACCELERATOR PEDAL ACTUATOR.. 108
Description ............................................................. 127
Description ............................................................ 108
DTC Logic .............................................................. 127
DTC Logic ............................................................. 108
Diagnosis Procedure ............................................. 127 DAS
Diagnosis Procedure ............................................. 108
Special Repair Requirement .................................. 127
Special Repair Requirement ................................. 108
U0415 VDC CAN 1 .......................................... 129
C1F02 ACCELERATOR PEDAL ACTUATOR.. 110 P
Description ............................................................. 129
Description ............................................................ 110
DTC Logic .............................................................. 129
DTC Logic ............................................................. 110
Diagnosis Procedure ............................................. 129
Diagnosis Procedure ............................................. 110
Special Repair Requirement .................................. 129
Special Repair Requirement ................................. 110
U0418 BCU CAN 1 .......................................... 131
C1F03 ACCELERATOR PEDAL ACTUATOR.. 111
Description ............................................................. 131
Description ............................................................ 111
DTC Logic .............................................................. 131
DTC Logic ............................................................. 111
Revision: July 2016 DAS-3 2016 QX50
 Diagnosis Procedure .............................................131 ICC WARNING CHIME CIRCUIT ..................... 143
Special Repair Requirement ..................................131 Description ............................................................ 143
Component Function Check ................................. 143
U0428 STRG SEN CAN 2 ................................ 133 Diagnosis Procedure ............................................. 143
Description .............................................................133 Component Inspection .......................................... 144
DTC Logic ..............................................................133
Diagnosis Procedure .............................................133 ECU DIAGNOSIS INFORMATION ............ 145
Special Repair Requirement ..................................133
ICC SENSOR INTEGRATED UNIT .................. 145
U1000 CAN COMM CIRCUIT .......................... 135 Reference Value ................................................... 145
Wiring Diagram - DISTANCE CONTROL ASSIST
ICC SENSOR INTEGRATED UNIT ..........................135
- ............................................................................. 149
ICC SENSOR INTEGRATED UNIT : Description ..135
Fail-Safe ................................................................ 161
ICC SENSOR INTEGRATED UNIT : DTC Logic ..135
DTC Inspection Priority Chart ............................... 162
ICC SENSOR INTEGRATED UNIT : Diagnosis
DTC Index ............................................................. 162
Procedure ..............................................................135
ICC SENSOR INTEGRATED UNIT : Special Re- BRAKE BOOSTER CONTROL UNIT .............. 165
pair Requirement ...................................................135 Reference Value ................................................... 165
ACCELERATOR PEDAL ACTUATOR ....................136 ACCELERATOR PEDAL ACTUATOR ............ 167
ACCELERATOR PEDAL ACTUATOR : Descrip- Reference Value ................................................... 167
tion .........................................................................136

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Wiring Diagram - DISTANCE CONTROL ASSIST
ACCELERATOR PEDAL ACTUATOR : DTC Log- - ............................................................................. 169
ic ............................................................................136 DTC Inspection Priority Chart ............................... 181
ACCELERATOR PEDAL ACTUATOR : Diagnosis DTC Index ............................................................. 182
Procedure ..............................................................136
ACCELERATOR PEDAL ACTUATOR : Special SYMPTOM DIAGNOSIS ........................... 183
Repair Requirement ..............................................137
DISTANCE CONTROL ASSIST SYSTEM
U1010 CONTROL UNIT (CAN) ....................... 138 SYMPTOMS ...................................................... 183
ICC SENSOR INTEGRATED UNIT ..........................138 Symptom Table ..................................................... 183
ICC SENSOR INTEGRATED UNIT : Description ..138 SWITCH DOES NOT TURN ON / SWITCH
ICC SENSOR INTEGRATED UNIT : DTC Logic ..138 DOES NOT TURN OFF .................................... 184
ICC SENSOR INTEGRATED UNIT : Diagnosis
Description ............................................................ 184
Procedure ..............................................................138 Diagnosis Procedure ............................................. 184
ICC SENSOR INTEGRATED UNIT : Special Re-
pair Requirement ...................................................138 DCA SYSTEM SETTING CANNOT BE
ACCELERATOR PEDAL ACTUATOR ....................138
TURNED ON/OFF FROM THE NAVIGATION
ACCELERATOR PEDAL ACTUATOR : Descrip- SCREEN ........................................................... 186
tion .........................................................................138 Description ............................................................ 186
ACCELERATOR PEDAL ACTUATOR : DTC Log- Diagnosis Procedure ............................................. 186
ic ............................................................................139 DCA SYSTEM NOT ACTIVATED (SWITCH IS
ACCELERATOR PEDAL ACTUATOR : Diagnosis
ON) .................................................................... 188
Procedure ..............................................................139
Description ............................................................ 188
ACCELERATOR PEDAL ACTUATOR : Special
Diagnosis Procedure ............................................. 188
Repair Requirement ..............................................139
CHIME DOES NOT SOUND ............................. 190
POWER SUPPLY AND GROUND CIRCUIT ... 140
Description ............................................................ 190
ICC SENSOR INTEGRATED UNIT ..........................140 Diagnosis Procedure ............................................. 190
ICC SENSOR INTEGRATED UNIT : Diagnosis
Procedure ..............................................................140
NO FORCE GENERATED FOR PUTTING
BACK THE ACCELERATOR PEDAL .............. 192
BRAKE BOOSTER CONTROL UNIT ......................140 Description ............................................................ 192
BRAKE BOOSTER CONTROL UNIT : Diagnosis Diagnosis Procedure ............................................. 192
Procedure ..............................................................140
FREQUENTLY CANNOT DETECT THE VEHI-
ACCELERATOR PEDAL ACTUATOR ....................141 CLE AHEAD / DETECTION ZONE IS SHORT.. 193
ACCELERATOR PEDAL ACTUATOR : Diagnosis Description ............................................................ 193
Procedure ..............................................................141 Diagnosis Procedure ............................................. 193

Revision: July 2016 DAS-4 2016 QX50

THE SYSTEM DOES NOT DETECT THE VE- ICC SENSOR INTEGRATED UNIT ................. 222
HICLE AHEAD AT ALL .................................... 194 Reference Value .................................................... 222 A
Description ............................................................ 194 Wiring Diagram - FORWARD COLLISION
Diagnosis Procedure ............................................. 194 WARNING - ........................................................... 226
Fail-Safe ................................................................ 234 B
NORMAL OPERATING CONDITION ............... 195 DTC Inspection Priority Chart ................................ 234
Description ............................................................ 195 DTC Index ............................................................. 235
PRECAUTION ............................................ 198 LANE CAMERA UNIT ..................................... 238 C
Reference Value .................................................... 238
PRECAUTIONS ................................................ 198 Wiring Diagram - FORWARD COLLISION
Precaution for Supplemental Restraint System WARNING - ........................................................... 240 D
(SRS) "AIR BAG" and "SEAT BELT PRE-TEN- Fail-safe ................................................................. 248
SIONER" ............................................................... 198 DTC Inspection Priority Chart ................................ 249
Precautions for Removing Battery Terminal ......... 198 DTC Index ............................................................. 249
Precautions For Harness Repair ........................... 199 E
DCA System Service ............................................. 199 SYMPTOM DIAGNOSIS ............................ 250
REMOVAL AND INSTALLATION ............. 200 FORWARD COLLISION WARNING SYSTEM F
SYMPTOMS .................................................... 250
ICC SENSOR INTEGRATED UNIT .................. 200 Symptom Table ..................................................... 250

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Exploded View ...................................................... 200
Removal and Installation ....................................... 200 FCW SYSTEM IS NOT ACTIVATED .............. 251 G
Description ............................................................. 251
BRAKE BOOSTER CONTROL UNIT .............. 201 Diagnosis Procedure ............................................. 251
Exploded View ...................................................... 201 H
Removal and Installation ....................................... 201 NORMAL OPERATING CONDITION ............. 252
Description ............................................................. 252
ICC WARNING CHIME ..................................... 202
Exploded View ...................................................... 202 PRECAUTION ............................................ 253 I
Removal and Installation ....................................... 202
PRECAUTIONS ............................................... 253
ACCELERATOR PEDAL ASSEMBLY ............ 203 Precautions for Removing Battery Terminal .......... 253 J
Exploded View ...................................................... 203 Precaution for FCW System Service ..................... 253
DYNAMIC DRIVER ASSISTANCE SWITCH .. 204 REMOVAL AND INSTALLATION ............. 254
Exploded View ...................................................... 204 K
FCW WARNING SYSTEMS SWITCH ...................... 254
Exploded View ....................................................... 254
BASIC INSPECTION ................................. 205 LDW & LDP L
DIAGNOSIS AND REPAIR WORK FLOW ...... 205 BASIC INSPECTION ................................. 255
Work Flow ............................................................. 205
DIAGNOSIS AND REPAIR WORK FLOW ..... 255 M
SYSTEM DESCRIPTION ........................... 207 Work Flow .............................................................. 255
Diagnostic Work Sheet .......................................... 256
FORWARD COLLISION WARNING SYSTEM.. 207
N
System Diagram .................................................... 207 PRE-INSPECTION FOR DIAGNOSIS ............ 258
System Description ............................................... 207 Inspection Procedure ............................................. 258
Component Parts Location .................................... 209
Component Description ......................................... 209 ACTION TEST ................................................. 259 DAS
Description ............................................................. 259
DIAGNOSIS SYSTEM (ICC SENSOR INTE- Inspection Procedure ............................................. 259
GRATED UNIT) ................................................ 210
INSPECTION AND ADJUSTMENT ................ 262 P
Diagnosis Description ........................................... 210
CONSULT Function (ICC/ADAS) .......................... 211
ADDITIONAL SERVICE WHEN REPLACING
DIAGNOSIS SYSTEM (LANE CAMERA CONTROL UNIT (LANE CAMERA UNIT) ............... 262
UNIT) ................................................................ 219 ADDITIONAL SERVICE WHEN REPLACING
CONSULT Function (LANE CAMERA) ................. 219 CONTROL UNIT (LANE CAMERA UNIT) : De-
scription ................................................................. 262
ECU DIAGNOSIS INFORMATION ............ 222
Revision: July 2016 DAS-5 2016 QX50
 ADDITIONAL SERVICE WHEN REPLACING Description ............................................................ 294
CONTROL UNIT (LANE CAMERA UNIT) : Spe- DTC Logic ............................................................. 294
cial Repair Requirement ........................................262 Diagnosis Procedure ............................................ 294

CAMERA AIMING ADJUSTMENT ..........................262 U1010 CONTROL UNIT (CAN) ........................ 295
CAMERA AIMING ADJUSTMENT : Description ..262 DTC Logic ............................................................. 295
CAMERA AIMING ADJUSTMENT : Special Re- Diagnosis Procedure ............................................. 295
pair Requirement (Preparation) .............................262
CAMERA AIMING ADJUSTMENT : Special Re- U0122 VDC CAN CIR1 (LDP) .......................... 296
pair Requirement (Target Setting) .........................263 DTC Logic ............................................................. 296
CAMERA AIMING ADJUSTMENT : Special Re- Diagnosis Procedure ............................................. 296
pair Requirement (Camera Aiming Adjustment) ....265
CAMERA AIMING ADJUSTMENT : Special Re-
U0416 VDC CAN CIR2 (LDP) .......................... 298
DTC Logic ............................................................. 298
pair Requirement (Target Mark Sample) ...............266
Diagnosis Procedure ............................................. 298
SYSTEM DESCRIPTION ........................... 268
C1B00 LDP) CAMERA MALF .......................... 300
LANE DEPARTURE WARNING (LDW) SYS- DTC Logic ............................................................. 300
TEM .................................................................. 268 Diagnosis Procedure ............................................. 300
System Diagram ....................................................268 C1B04 LDP) ICC STG SW MALF .................... 301
System Description ................................................268
DTC Logic ............................................................. 301

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Component Parts Location ....................................271
Diagnosis Procedure ............................................. 301
Component Description .........................................271
C1B05 LDP) APP SEN MALF .......................... 302
LANE DEPARTURE PREVENTION (LDP) DTC Logic ............................................................. 302
SYSTEM ........................................................... 273 Diagnosis Procedure ............................................. 302
System Diagram ....................................................273
System Description ................................................273 C1B06 LDP) TCM MALF .................................. 303
Component Parts Location ....................................278 DTC Logic ............................................................. 303
Component Description .........................................278 Diagnosis Procedure ............................................. 303
DIAGNOSIS SYSTEM (LANE CAMERA U0100 LDP) ECM CAN CIR2 ........................... 304
UNIT) ................................................................ 280 DTC Logic ............................................................. 304
CONSULT Function (LANE CAMERA) ..................280 Diagnosis Procedure ............................................. 304

DIAGNOSIS SYSTEM [ABS ACTUATOR U0101 LDP) TCM CAM CAN CIR2 .................. 305
AND ELECTRIC UNIT (CONTROL UNIT)] ..... 283 DTC Logic ............................................................. 305
CONSULT Function ...............................................283 Diagnosis Procedure ............................................. 305

DTC/CIRCUIT DIAGNOSIS ........................ 289 U0104 LDP) ICC CAM CAN CIR2 .................... 306
DTC Logic ............................................................. 306
C1B00 CAMERA UNIT MALF ......................... 289 Diagnosis Procedure ............................................. 306
DTC Logic ..............................................................289
Diagnosis Procedure .............................................289 U0405 LDP) ICC CAM CAN CIR1 .................... 307
DTC Logic ............................................................. 307
C1B01 CAM AIMING INCMP .......................... 290 Diagnosis Procedure ............................................. 307
DTC Logic ..............................................................290
Diagnosis Procedure .............................................290 U1500 LDP) CAM CAN CIR1 ........................... 308
DTC Logic ............................................................. 308
C1B02 VHCL SPD DATA MALF ..................... 291 Diagnosis Procedure ............................................. 308
DTC Logic ..............................................................291
Diagnosis Procedure .............................................291 U1501 LDP) CAM CAN CIR2 ........................... 309
DTC Logic ............................................................. 309
C1B03 ABNRML TEMP DETECT ................... 292 Diagnosis Procedure ............................................. 309
DTC Logic ..............................................................292
Diagnosis Procedure .............................................292 POWER SUPPLY AND GROUND CIRCUIT .... 310

C1B07 ABS DIAGNOSIS ................................ 293 LANE CAMERA UNIT ............................................. 310
DTC Logic ..............................................................293 LANE CAMERA UNIT : Diagnosis Procedure ...... 310
Diagnosis Procedure .............................................293
WARNING SYSTEMS SWITCH CIRCUIT ........ 311
U1000 CAN COMM CIRCUIT .......................... 294 Component Function Check ................................. 311

Revision: July 2016 DAS-6 2016 QX50

 Diagnosis Procedure ............................................. 311 DYNAMIC DRIVER ASSISTANCE SWITCH .. 354
Component Inspection .......................................... 312 Exploded View ....................................................... 354 A
BSW
WARNING SYSTEMS ON INDICATOR CIR-
CUIT .................................................................. 313 PRECAUTION ............................................ 355 B
Component Function Check .................................. 313
Diagnosis Procedure ............................................. 313 PRECAUTIONS ............................................... 355
Precaution for Supplemental Restraint System
LANE DEPARTURE WARNING BUZZER (SRS) "AIR BAG" and "SEAT BELT PRE-TEN- C
CIRCUIT ........................................................... 315 SIONER" ............................................................... 355
Component Function Check .................................. 315 Precautions for Removing Battery Terminal .......... 355
Diagnosis Procedure ............................................. 315 Precaution for BSW System Service ..................... 356 D
ECU DIAGNOSIS INFORMATION ............ 317 SYSTEM DESCRIPTION ........................... 357
LANE CAMERA UNIT ...................................... 317 COMPONENT PARTS .................................... 357 E
Reference Value ................................................... 317 Component Parts Location .................................... 357
Wiring Diagram - LDW & LDP - ............................. 320 Component Description ......................................... 358
Fail-safe ................................................................ 326 F
DTC Inspection Priority Chart ............................... 327 SYSTEM .......................................................... 359
DTC Index ............................................................. 327 System Description ................................................ 359

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Fail-safe (BSW Control Module) ............................ 362
ABS ACTUATOR AND ELECTRIC UNIT Fail-safe (Side Radar) ........................................... 362 G
(CONTROL UNIT) ............................................ 328
Reference Value ................................................... 328 OPERATION ................................................... 363
Wiring Diagram - BRAKE CONTROL SYSTEM -.. 333 Switch Name and Function .................................... 363 H
Fail-Safe ................................................................ 341 System Display and Warning ................................ 363
DTC No. Index ...................................................... 342
HANDLING PRECAUTION ............................. 365
SYMPTOM DIAGNOSIS ............................ 344 Precautions for Blind Spot Warning ....................... 365 I

LDW & LDP SYSTEM SYMPTOMS ................. 344 DIAGNOSIS SYSTEM (BSW CONTROL
Symptom Table ..................................................... 344 MODULE) ........................................................ 366 J
CONSULT Function (BSW) ................................... 366
NORMAL OPERATING CONDITION ............... 346
Description ............................................................ 346 DIAGNOSIS SYSTEM (SIDE RADAR LH) ..... 368
CONSULT Function (SIDE RADAR LEFT) ........... 368 K
PRECAUTION ............................................ 348
DIAGNOSIS SYSTEM (SIDE RADAR RH) ..... 369
PRECAUTIONS ................................................ 348 CONSULT Function (SIDE RADAR RIGHT) ......... 369
L
Precaution for Supplemental Restraint System
(SRS) "AIR BAG" and "SEAT BELT PRE-TEN- ECU DIAGNOSIS INFORMATION ............ 370
SIONER" ............................................................... 348
Precaution for Supplemental Restraint System
BSW CONTROL MODULE ............................. 370 M
Reference Value .................................................... 370
(SRS) "AIR BAG" and "SEAT BELT PRE-TEN-
Fail-safe ................................................................. 371
SIONER" ............................................................... 348
DTC Inspection Priority Chart ................................ 371
Precautions for Removing Battery Terminal ......... 349 N
DTC Index ............................................................. 371
Precaution for LDW/LDP System Service ............. 349
SIDE RADAR LH ............................................. 373
REMOVAL AND INSTALLATION ............. 351
Reference Value .................................................... 373 DAS
LANE CAMERA UNIT ...................................... 351 Fail-safe ................................................................. 373
Exploded View ...................................................... 351 DTC Inspection Priority Chart ................................ 374
Removal and Installation ....................................... 351 DTC Index ............................................................. 374 P
WARNING SYSTEMS SWITCH ....................... 352 SIDE RADAR RH ............................................ 375
Exploded View ...................................................... 352 Reference Value .................................................... 375
Removal and Installation ....................................... 352 Fail-safe ................................................................. 375
DTC Inspection Priority Chart ................................ 376
LANE DEPARTURE WARNING BUZZER ....... 353 DTC Index ............................................................. 376
Exploded View ...................................................... 353
Removal and Installation ....................................... 353 WIRING DIAGRAM .................................... 377
Revision: July 2016 DAS-7 2016 QX50
BLIND SPOT WARNING ................................. 377 SIDE RADAR RH .................................................... 404
Wiring Diagram ......................................................377 SIDE RADAR RH : Description ............................. 404
SIDE RADAR RH : DTC Logic .............................. 405
BASIC INSPECTION .................................. 389 SIDE RADAR RH : Diagnosis Procedure ............. 405
DIAGNOSIS AND REPAIR WORK FLOW ...... 389 BSW CONTROL MODULE ..................................... 405
Work Flow ..............................................................389 BSW CONTROL MODULE : Description .............. 405
BSW CONTROL MODULE : DTC Logic ............... 405
PRE-INSPECTION FOR DIAGNOSIS ............. 391 BSW CONTROL MODULE : Diagnosis Procedure
Inspection Procedure .............................................391 . 405
ACTION TEST ................................................. 392 U1010 CONTROL UNIT (CAN) ........................ 407
Description .............................................................392
Work Procedure .....................................................392 SIDE RADAR LH ..................................................... 407
SIDE RADAR LH : Description ............................. 407
DTC/CIRCUIT DIAGNOSIS ........................ 394 SIDE RADAR LH : DTC Logic .............................. 407
SIDE RADAR LH : Diagnosis Procedure .............. 407
C1A00 CONTROL UNIT .................................. 394
DTC Logic ..............................................................394 SIDE RADAR RH .................................................... 407
Diagnosis Procedure .............................................394 SIDE RADAR RH : Description ............................. 407
SIDE RADAR RH : DTC Logic .............................. 407
C1A01 POWER SUPPLY CIRCUIT 1, C1A02 SIDE RADAR RH : Diagnosis Procedure ............. 407

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POWER SUPPLY CIRCUIT 2 .......................... 395
DTC Logic ..............................................................395 BSW CONTROL MODULE ..................................... 407
Diagnosis Procedure .............................................395 BSW CONTROL MODULE : Description .............. 407
BSW CONTROL MODULE : DTC Logic ............... 408
C1A03 VEHICLE SPEED SENSOR ................ 396 BSW CONTROL MODULE : Diagnosis Procedure
DTC Logic ..............................................................396 . 408
Diagnosis Procedure .............................................396
U0104 ADAS CAN 1 ......................................... 409
C1B50 SIDE RADAR MALFUNCTION ........... 397 DTC Logic ............................................................. 409
DTC LOGIC ...........................................................397 Diagnosis Procedure ............................................. 409
Diagnosis Procedure .............................................397
U0121 VDC CAN 2 ........................................... 410
C1B51 BSW/BSI INDICATOR SHORT CIR- DTC Logic ............................................................. 410
CUIT ................................................................. 398 Diagnosis Procedure ............................................. 410
DTC Logic ..............................................................398
Diagnosis Procedure .............................................398 U0401 ECM CAN 1 ........................................... 411
DTC Logic ............................................................. 411
C1B52 BSW/BSI INDICATOR OPEN CIR- Diagnosis Procedure ............................................. 411
CUIT ................................................................. 399
DTC Logic ..............................................................399 U0402 TCM CAN 1 ........................................... 412
Diagnosis Procedure .............................................399 DTC Logic ............................................................. 412
Diagnosis Procedure ............................................. 412
C1B53 SIDE RADAR RIGHT MALFUNCTION. 401
DTC Logic ..............................................................401 U0405 ADAS CAN 2 ......................................... 413
Diagnosis Procedure .............................................401 DTC Logic ............................................................. 413
Diagnosis Procedure ............................................. 413
C1B54 SIDE RADAR LEFT MALFUNCTION . 402
DTC Logic ..............................................................402 U0415 VDC CAN 1 ........................................... 414
Diagnosis Procedure .............................................402 DTC Logic ............................................................. 414
Diagnosis Procedure ............................................. 414
C1B55 RADAR BLOCKAGE ........................... 403
DTC Logic ..............................................................403 U150B ECM CAN 3 .......................................... 415
Diagnosis Procedure .............................................403 DTC Logic ............................................................. 415
Diagnosis Procedure ............................................. 415
U1000 CAN COMM CIRCUIT .......................... 404
U150C VDC CAN 3 ........................................... 416
SIDE RADAR LH ......................................................404 DTC Logic ............................................................. 416
SIDE RADAR LH : Description ..............................404 Diagnosis Procedure ............................................. 416
SIDE RADAR LH : DTC Logic ...............................404
SIDE RADAR LH : Diagnosis Procedure ...............404 U150D TCM CAN 3 .......................................... 417
DTC Logic ............................................................. 417
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 Diagnosis Procedure ............................................. 417 BSW CONTROL MODULE : Diagnosis Procedure
.. 427 A
U150E BCM CAN 3 .......................................... 418
DTC Logic ............................................................. 418 SIDE RADAR LH ..................................................... 427
Diagnosis Procedure ............................................. 418 SIDE RADAR LH : Diagnosis Procedure ............... 427
B
U1503 SIDE RDR L CAN 2 .............................. 419 SIDE RADAR RH ..................................................... 428
DTC Logic ............................................................. 419 SIDE RADAR RH : Diagnosis Procedure .............. 428
Diagnosis Procedure ............................................. 419 C
WARNING SYSTEMS SWITCH CIRCUIT ...... 430
U1504 SIDE RDR L CAN 1 .............................. 420 Component Function Check .................................. 430
DTC Logic ............................................................. 420 Diagnosis Procedure ............................................. 430
Diagnosis Procedure ............................................. 420 Component Inspection ........................................... 431 D

U1505 SIDE RDR R CAN 2 .............................. 421 WARNING SYSTEMS ON INDICATOR CIR-
DTC Logic ............................................................. 421 CUIT ................................................................ 432 E
Diagnosis Procedure ............................................. 421 Component Function Check .................................. 432
Diagnosis Procedure ............................................. 432
U1506 SIDE RDR R CAN 1 .............................. 422
DTC Logic ............................................................. 422 SYMPTOM DIAGNOSIS ............................ 434 F
Diagnosis Procedure ............................................. 422
BSW SYSTEM SYMPTOMS ........................... 434

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U1507 LOST COMM(SIDE RDR R) ................. 423 Symptom Table ..................................................... 434
G
DTC Logic ............................................................. 423
Diagnosis Procedure ............................................. 423 NORMAL OPERATING CONDITION ............. 435
Description ............................................................. 435
U1508 LOST COMM(SIDE RDR L) .................. 424 H
DTC Logic ............................................................. 424 REMOVAL AND INSTALLATION ............. 436
Diagnosis Procedure ............................................. 424
BSW CONTROL MODULE ............................. 436
U1518 SIDE RDR L CAN 3 .............................. 425 Removal and Installation ....................................... 436 I
DTC Logic ............................................................. 425
Diagnosis Procedure ............................................. 425
SIDE RADAR .................................................. 437
Removal and Installation ....................................... 437 J
U1519 SIDE RDR R CAN 3 .............................. 426
DTC Logic ............................................................. 426
BSW INDICATOR ........................................... 439
Diagnosis Procedure ............................................. 426 Removal and Installation ....................................... 439
K
POWER SUPPLY AND GROUND CIRCUIT .... 427 WARNING SYSTEMS SWITCH ...................... 440
Removal and Installation ....................................... 440
BSW CONTROL MODULE ...................................... 427 L

DAS

Revision: July 2016 DAS-9 2016 QX50

 DIAGNOSIS AND REPAIR WORK FLOW
< BASIC INSPECTION > [DCA]

BASIC INSPECTION
DIAGNOSIS AND REPAIR WORK FLOW
Work Flow INFOID:0000000012172246

OVERALL SEQUENCE

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JSOIA0485GB

DETAILED FLOW
1.INTERVIEW FOR MALFUNCTION
It is also important to clarify the customer concerns before starting the inspection. Interview the customer
about the concerns carefully and understand the symptoms fully.
NOTE:
Revision: July 2016 DAS-10 2016 QX50
 DIAGNOSIS AND REPAIR WORK FLOW
< BASIC INSPECTION > [DCA]
The customers are not professionals. Never assume that “maybe the customer means···” or “maybe the cus-
tomer mentioned this symptom”. A

>> GO TO 2.
2.SELF-DIAGNOSIS WITH CONSULT B

1. Perform “All DTC Reading” with CONSULT.

2. Check if the DTC is detected on the self-diagnosis results of “ICC/ADAS” and/or “ACCELE PEDAL ACT”.
C
Is any DTC detected?
YES >> GO TO 5.
NO >> GO TO 3. D
3.ACTION TEST
Perform DCA system action test to check the operation status. Refer to DAS-13, "ACTION TEST : Descrip-
tion". E
Check if any other malfunctions occur.

>> GO TO 4. F
4.SYMPTOM DIAGNOSIS

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Perform the applicable diagnosis according to the diagnosis chart by symptom. Refer to DAS-183, "Symptom G
Table".

>> GO TO 6. H
5.TROUBLE DIAGNOSIS BY DTC
1. Check the DTC in the self-diagnosis results.
2. Perform trouble diagnosis for the detected DTC. Refer to DAS-162, "DTC Index" (ICC/ADAS) and/or I
DAS-182, "DTC Index" (ACCELE PEDAL ACT).
NOTE:
If “DTC: U1000” is detected, first diagnose the CAN communication system or ITS communication system. J

>> GO TO 6.
6.MALFUNCTIONING PART REPAIR K

Repair or replace the identified malfunctioning parts.

L
>> GO TO 7.
7.REPAIR CHECK (SELF-DIAGNOSIS WITH CONSULT)
M
1. Erases self-diagnosis results.
2. Perform “All DTC Reading” again after repairing or replacing the specific items.
3. Check if any DTC is detected in self-diagnosis results of “ICC/ADAS” and “ACCELE PEDAL ACT”.
Is any DTC detected? N
YES >> GO TO 5.
NO >> GO TO 8.
DAS
8.REPAIR CHECK (ACTION TEST)
Perform the DCA system action test. Check that the malfunction symptom is solved or no other symptoms
occur. P
Is there a malfunction symptom?
YES >> GO TO 4.
NO >> INSPECTION END

Revision: July 2016 DAS-11 2016 QX50

 INSPECTION AND ADJUSTMENT
< BASIC INSPECTION > [DCA]
INSPECTION AND ADJUSTMENT
ADDITIONAL SERVICE WHEN REPLACING CONTROL UNIT (ICC SENSOR IN-
TEGRATED UNIT)
ADDITIONAL SERVICE WHEN REPLACING CONTROL UNIT (ICC SENSOR INTE-
GRATED UNIT) : Description INFOID:0000000012172247

• Always perform the laser beam aiming adjustment after removing and installing or replacing the ICC sensor
integrated unit. Refer to DAS-12, "ADDITIONAL SERVICE WHEN REPLACING CONTROL UNIT (ICC
SENSOR INTEGRATED UNIT) : Special Repair Requirement".
CAUTION:
The system does not operate normally unless the laser beam aiming adjustment is performed.
Always perform it.
• Perform the DCA system action test check that the DCA system operates normally.
ADDITIONAL SERVICE WHEN REPLACING CONTROL UNIT (ICC SENSOR INTE-
GRATED UNIT) : Special Repair Requirement INFOID:0000000012172248

1.LASER BEAM AIMING ADJUSTMENT

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Adjust the laser beam aiming. Refer to CCS-7, "LASER BEAM AIMING ADJUSTMENT : Description".

>> GO TO 2.
2.DCA SYSTEM ACTION TEST
1. Perform the DCA system action test. Refer to DAS-13, "ACTION TEST : Description".
2. Check that the DCA system operates normally.

>> INSPECTION END

ADDITIONAL SERVICE WHEN REPLACING CONTROL UNIT (ACCELERATOR
PEDAL ASSEMBLY)
ADDITIONAL SERVICE WHEN REPLACING CONTROL UNIT (ACCELERATOR
PEDAL ASSEMBLY) : Description INFOID:0000000012172249

• Always perform accelerator pedal released position learning when replacing the accelerator pedal assembly
or disconnecting the accelerator pedal position sensor connector. Refer to DAS-12, "ADDITIONAL SER-
VICE WHEN REPLACING CONTROL UNIT (ACCELERATOR PEDAL ASSEMBLY) : Special Repair
Requirement".
• Perform the DCA system action test check that the DCA system operates normally.
ADDITIONAL SERVICE WHEN REPLACING CONTROL UNIT (ACCELERATOR
PEDAL ASSEMBLY) : Special Repair Requirement INFOID:0000000012172250

1.ACCELERATOR PEDAL RELEASED POSITION LEARNING

Perform accelerator pedal released position learning. Refer to EC-20, "ACCELERATOR PEDAL RELEASED
POSITION LEARNING : Description".

>> GO TO 2.
2.DCA SYSTEM ACTION TEST
1. Perform the DCA system action test. Refer to DAS-13, "ACTION TEST : Description".
2. Check that the DCA system operates normally.

>> INSPECTION END

ACTION TEST
Revision: July 2016 DAS-12 2016 QX50
 INSPECTION AND ADJUSTMENT
< BASIC INSPECTION > [DCA]
ACTION TEST : Description INFOID:0000000012172251

A
Always perform the DCA system action test to check that the system operates normally after replacing the ICC
sensor integrated unit, replacing the accelerator pedal assembly, or repairing any DCA system malfunction.
Refer to DAS-13, "ACTION TEST : Special Repair Requirement (Distance Control Assist)". B
CAUTION:
Perform the DCA system action test after checking that the ICC system operates normally because the
DCA system shares components with the ICC system.
C
ACTION TEST : Special Repair Requirement (Distance Control Assist) INFOID:0000000012172252

NOTE:
When the ICC system is set, the information display changes to the ICC system display. D

1.ICC SYSTEM ACTION TEST

Perform the ICC system action test. Refer to CCS-12, "ACTION TEST : Description". E

>> GO TO 2.
2.CHECK DCA SYSTEM SETTING F

1. Start the engine.

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2. Check that the DCA system setting can be enabled/disabled on the navigation screen.
3. Turn OFF the ignition switch and wait for 5 seconds or more. G
4. Check that the previous setting is saved when the engine starts again.

H
>> GO TO 3.
3.CHECK DCA SWITCH
1. Start the engine. I
2. After starting the engine wait for 5 seconds or more.
3. Enable the setting of the DCA system on the navigation screen.
4. Press the dynamic driver assistance switch (1). J
5. Check that the DCA system switch indicator (2) on the informa-
tion display illuminates.
6. Check that the DCA system switch indicator turns off when the
system is turned OFF by pressing the dynamic driver assistance K
switch.
7. Check that the DCA system switch indicator turns OFF when the
engine starts again. L
NOTE:
• The DCA system switch indicator does not illuminate even when
the dynamic driver assistance switch is turned ON within approxi-
mately 5 seconds after starting the engine.
JSOIA0142ZZ
M
• When the DCA system setting is disabled on the navigation screen, the DCA system switch indicator is not
turned ON by pressing the dynamic driver assistance switch.
N
If the accelerator pedal assembly is not replaced>>INSPECTION END
If the accelerator pedal assembly is replaced>>GO TO 4.
4.CHECK DCA SYSTEM OPERATION DAS

Check that the accelerator pedal actuator operates by the “Active Test” items “ACCELERATOR PEDAL
ACTUATOR TEST1” and “ACCELERATOR PEDAL ACTUATOR TEST2” of “ACCELE PEDAL ACT” with
CONSULT. P

>> INSPECTION END

Revision: July 2016 DAS-13 2016 QX50

 DISTANCE CONTROL ASSIST SYSTEM
< SYSTEM DESCRIPTION > [DCA]

SYSTEM DESCRIPTION
DISTANCE CONTROL ASSIST SYSTEM
System Diagram INFOID:0000000012172253

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JSOIA0143GB

System Description INFOID:0000000012172254

FUNCTION DESCRIPTION
Revision: July 2016 DAS-14 2016 QX50
 DISTANCE CONTROL ASSIST SYSTEM
< SYSTEM DESCRIPTION > [DCA]
When a vehicle is detected ahead
• The vehicle ahead detection indicator comes on. A
When vehicle approaches a vehicle ahead
• If the driver is not depressing the accelerator pedal, the system activates the brakes to decelerate smoothly
as necessary. If the vehicle ahead comes to a stop, the vehicle decelerates to a standstill within the limita- B
tions of the system.
• If the driver is depressing the accelerator pedal, the system moves the accelerator pedal upward to assist
the driver to release the accelerator pedal.
C
When brake operation by driver is required
• The system alerts the driver by a warning chime and blinking the vehicle ahead detection indicator. If the
driver is depressing the accelerator pedal after the warning, the system moves the accelerator pedal upward D
to assist the driver to switch to the brake pedal.
CAUTION:
If the vehicle ahead comes to a standstill, the vehicle decelerates to a standstill within the limitations
of the system. The system will release brake control with a warning chime once it judges the vehicle is E
at a standstill. To prevent the vehicle from moving, the driver must depress the brake pedal. [The sys-
tem will resume control automatically once the system reaches 5 km/h (3 MPH)].
NOTE: F
• Depending on the position of the accelerator pedal, the system may not be able to assist the driver to
release the accelerator pedal appropriately.

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• When the driver depresses the accelerator pedal even further while the system is moving the accelerator
pedal upward, the accelerator pedal control will be canceled. G
• When the driver is depressing the accelerator pedal, the brake control by the system is not operated.
• When the driver is depressing the brake pedal, neither the brake control nor the alert by the system oper-
ates. H
• When the ICC system is set, the DCA system will be canceled.
OPERATION DESCRIPTION
Calculate the distance and relative speed with the vehicle ahead by ICC sensor integrated unit. Control the I
accelerator pedal actuator and brake booster control unit based on the calculated value via ITS communica-
tion.
J

If the driver is not depressing the acceler-

ator pedal, the system activates the K
brakes to decelerate smoothly as neces-
sary.
L
JSOIA0093ZZ
When vehicle approaches a vehicle ahead

M
If the driver is depressing the accelerator
pedal, the system moves the accelerator
pedal upward to assist the driver to re-
lease the accelerator pedal. N

JSOIA0094ZZ

DAS
The system alerts the driver by a warning
chime and blinking the vehicle ahead de-
tection indicator. If the driver is depressing
When brake operation by driver is required the accelerator pedal after the warning, P
the system moves the accelerator pedal
upward to assist the driver to switch to the
brake pedal.
JPOIA0170GB

Revision: July 2016 DAS-15 2016 QX50

 DISTANCE CONTROL ASSIST SYSTEM
< SYSTEM DESCRIPTION > [DCA]

It transmits the brake fluid pressure command signal to the brake booster control unit via ITS commu-
Deceleration control
nication and performs the brake control.
Accelerator pedal actuation It transmits the accelerator pedal feedback force control signal to the accelerator pedal actuator via ITS
control communication and controls the accelerator pedal in the upward direction.
NOTE:
• DCA system settings can be changed by using the vehicle settings function in the MULTI AV system.
• When the ignition switch is in ACC position, DCA system settings cannot be changed.
Operation Condition
ICC sensor integrated unit performs the control when the following conditions are satisfied.
• When the DCA system setting on the navigation screen is ON.
• When the dynamic driver assistance switch is turned to ON.
• When the brake pedal is not depressed.
• When the vehicle speed is above approximately 5 km/h (3 MPH).
• When the vehicle ahead is detected.
• When the ICC system is not set.
No Operation Condition
The ICC sensor integrated unit is not operate when the system is under any conditions of the no operation
condition.
• When the DCA system setting on the navigation screen is OFF.

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• When the brake pedal depressed.
• When the ICC system is set.
• When the system judges that the vehicle comes to a standstill by the system control.
• When the vehicle ahead is not detected.
Operation Cancellation Condition
The ICC sensor integrated unit cancels the operation when the system is under any conditions of the opera-
tion cancellation condition.
• When the dynamic driver assistance switch is turned to OFF.
• When the system malfunction occurs.
• When ABS or VDC (including the TCS) operates.
• When the VDC is turned OFF.
• When the snow mode switch is turned ON.
• When driving into a strong light (i.e., sunlight).
• When the ICC sensor integrated unit body window is dirty and the measurement of the distance between the
vehicles becomes difficult.
Operation At The Driver Operation
Give priority to the driver operation in the following situation.
• When the accelerator pedal is depressed again.
• When the brake pedal is depressed.
OPERATION AND DISPLAY
Switch and Display

JSOIA0144ZZ

1. Dynamic driver assistance switch 2. ICC system warning lamp 3. DCA system switch indicator
4. Vehicle ahead detection indicator
A. On the ICC steering switch B. On the combination meter

Revision: July 2016 DAS-16 2016 QX50

 DISTANCE CONTROL ASSIST SYSTEM
< SYSTEM DESCRIPTION > [DCA]

No. Switch name Description A

Turns the DCA system ON/OFF. (When the setting of the DCA system on the navigation
1 Dynamic driver assistance switch
screen is ON.)
2 ICC system warning lamp This indicates that an abnormal condition is present in the ICC system. B
3 DCA system switch indicator Indicates that the DCA system is ON.
Indicates whether it detects a vehicle ahead.
NOTE: C
4 Vehicle ahead detection indicator
The vehicle ahead detection indicator turns OFF when the no operation condition is sat-
isfied.

System Control Condition Display D

The DCA system switch indicator illuminates and the system is turned ON by pressing the dynamic driver
assistance switch at the system OFF.
E
Condition Display on combination meter

Vehicle ahead not detected

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G

JPOIA0163ZZ
Operation status
H

Vehicle ahead detected I

JPOIA0164ZZ
J

Approach Warning Display

• If own vehicle comes closer to the vehicle ahead due to rapid deceleration of that vehicle or if another vehi- K
cle cuts in, the system warns the driver with the chime and DCA system display. Decelerate by depressing
the brake pedal to maintain a safe vehicle distance if:
- The chime sounds.
- The vehicle ahead detection indicator blinks. L
• The warning chime may not sound in some cases when there is a short distance between vehicles. Some
examples are:
- When the vehicles are traveling at the same speed and the distance between vehicles is not changing. M
- When the vehicle ahead is traveling faster and the distance between vehicles is increasing.
- When a vehicle cuts in near own vehicle.
• The warning chime will not sound when own vehicle approaches vehicles that are parked or moving slowly.
N
Condition Display on combination meter

DAS

When the system judges that the brake operation by the driver is necessary
P

JPOIA0188ZZ

Warning Lamp Display

Revision: July 2016 DAS-17 2016 QX50

 DISTANCE CONTROL ASSIST SYSTEM
< SYSTEM DESCRIPTION > [DCA]

Condition Description Display on combination meter

When the dynamic driver assistance
The DCA system is not activated. The DCA
switch is turned ON with settings of
system indicator blinks.
DCA system and LDP system OFF
• When the VDC or ABS (including The DCA system is automatically can-
the TCS) operates celed. The chime will sound and the DCA
• When the VDC is turned OFF system switch indicator will blink.
• When the snow mode switch is NOTE:
turned ON The system operates if the dynamic driver
• When driving into a strong light assistance switch is turned OFF⇒ON after JPOIA0165ZZ
(i.e., sunlight) the condition improves.
The DCA system is automatically can-
celed. The chime sounds and the ICC sys-
tem warning lamp will come on and the
Warning “CLEAN SENSOR” indicator will appear.
When the sensor window is dirty,
display NOTE:
making it impossible to detect a vehi-
Stop the vehicle in a safe location and turn
cle ahead
the ignition switch OFF. Clean the dirty
area with soft cloth. The system returns to
normal condition when turning the ignition JPOIA0166ZZ
switch ON again.

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The chime sounds and the ICC system
warning lamp will come on.
NOTE:
When the DCA system is not operat-
Turn the ignition switch OFF, and then turn
ing properly
the ignition switch ON again. If there is no
malfunction, the system returns to the nor-
mal condition.
JPOIA0167ZZ

NOTE:
When the DCA system is automatically canceled, the cancellation condition can be displayed on “WORK SUPPORT” of CONSULT
(ICC/ADAS).

ICC SENSOR INTEGRATED UNIT INPUT/OUTPUT SIGNAL ITEM

Input Signal Item

Transmit unit Signal name Description

Receives the accelerator pedal position signal from ECM via CAN
Accelerator pedal position signal
communication.
Receives the ICC brake switch signal from ECM via CAN communi-
ICC brake switch signal
cation.
Receives the stop lamp switch signal from ECM via CAN communi-
Stop lamp switch signal
cation.
ECM
Receives the closed throttle position signal from ECM via CAN com-
Closed throttle position signal
munication.
Receives the engine speed signal from ECM via CAN communica-
Engine speed signal
tion.
ICC steering Dynamic driver assis- Receives the ICC steering switch signal (dynamic driver assistance
switch signal tance switch signal switch signal) from ECM via CAN communication.
Shift position signal Receives the shift position signal from TCM via CAN communication.
Receives the output shaft revolution signal from TCM via CAN com-
Output shaft revolution signal
munication.
TCM
Receives the current gear position signal from TCM via CAN com-
Current gear position signal
munication.
Input speed signal Receives the input speed signal from TCM via CAN communication.

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 DISTANCE CONTROL ASSIST SYSTEM
< SYSTEM DESCRIPTION > [DCA]
Transmit unit Signal name Description
A
Receives the brake fluid pressure control signal from the brake
Brake fluid pressure control signal
Brake booster booster control unit via ITS communication.
control unit Receives the release switch signal from the brake booster control
Release switch signal B
unit via ITS communication.
ABS actuator
Receives the vehicle speed signal (wheel speed) from ABS actuator
and electric unit Vehicle speed signal
and electric unit (control unit) via CAN communication.
(control unit) C
Receives the system selection signal from the AV control unit via
AV control unit System selection signal
CAN communication.
Steering angle Receives the steering angle sensor signal from the steering angle D
Steering angle sensor signal
sensor sensor via CAN communication.
Accelerator ped- Receives the accelerator pedal actuator status signal from the accel-
Accelerator pedal actuator status signal
al actuator erator pedal actuator via ITS communication. E
Output Signal Item

Reception unit Signal name Description F

Vehicle ahead detection

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Meter display indicator signal Transmits the meter display signal to the combination meter (via uni-
Combination
meter (via uni- signal DCA system switch indi- fied meter and A/C amp.) via CAN communication. G
fied meter and A/ cator signal
C amp.)
Transmits the ICC warning lamp signal to the combination meter
ICC warning lamp signal H
(through unified meter and A/C amp.) via CAN communication.
• Transmits the buzzer output signal to the brake booster control
ICC warning unit via ITS communication.
Buzzer output signal
chime • The brake booster control unit outputs the buzzer output signal I
and operates the ICC warning chime.
• Transmits the ICC brake hold relay drive signal to the brake boost-
ICC brake hold er control unit via ITS communication.
ICC brake hold relay drive signal J
relay • The brake booster control unit outputs the ICC brake hold relay
drive signal and operates the ICC brake hold relay.
Brake booster Transmits the brake fluid pressure command signal to the brake
Brake fluid pressure command signal K
control unit booster control unit via ITS communication.
Transmits the accelerator pedal position signal received from ECM
Accelerator pedal position signal via CAN communication to the accelerator pedal actuator via ITS
Accelerator ped- communication. L
al actuator
Accelerator pedal feedback force control Transmits the accelerator pedal feedback force control signal to the
signal accelerator pedal actuator via ITS communication.
M

DAS

Revision: July 2016 DAS-19 2016 QX50

 DISTANCE CONTROL ASSIST SYSTEM
< SYSTEM DESCRIPTION > [DCA]
Component Parts Location INFOID:0000000012172255

JSOIA0145GB

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1. ICC steering switch 2. Information display, ICC system 3. ICC warning chime
(Dynamic driver assistance switch) warning lamp Refer to CCS-21, "Component Parts
(On the combination meter) Location".
4. AV control unit 5. ECM 6. ICC sensor integrated unit
Refer to AV-290, "Component Parts Refer to EC-39, "Component Parts Refer to CCS-21, "Component Parts
Location". Location". Location".
7. ICC brake hold relay 8. Booster solenoid/ Release switch 9. Brake pressure sensor
Refer to CCS-21, "Component Parts Refer to CCS-21, "Component Parts Refer to CCS-21, "Component Parts
Location". Location". Location".
10. Stop lamp switch 11. ICC brake switch 12. Accelerator pedal actuator (acceler-
Refer to CCS-21, "Component Parts Refer toCCS-21, "Component Parts ator pedal assembly)
Location". Location".
13. Brake booster control unit
Refer to CCS-21, "Component Parts
Location".

Component Description INFOID:0000000012172256

Component Description
ICC sensor integrated unit Refer to DAS-33, "Description".
ECM Refer to DAS-68, "Description".
ABS actuator and electric unit (control
Refer to DAS-39, "Description".
unit)
TCM Refer to DAS-127, "Description".
Receives the meter display signal and ICC warning lamp signal from ICC sensor integrat-
Unified meter and A/C amp. ed unit via CAN communication and transmits them to the combination meter via the com-
munication line.
• Perform the following operations using the signals received from the unified meter and
A/C amp. via the communication line.
Combination meter
- Displays the DCA system operation status using the meter display signal.
- Illuminates the ICC system warning lamp using the ICC warning lamp signal.
ICC brake switch
Refer to DAS-41, "Description".
Stop lamp switch
ICC brake hold relay Refer to DAS-61, "Description".
Brake booster control unit Refer to DAS-79, "Description".

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 DISTANCE CONTROL ASSIST SYSTEM
< SYSTEM DESCRIPTION > [DCA]
Component Description
A
Brake booster Refer to DAS-79, "Description".
Brake pressure sensor Refer to DAS-49, "Description".
• Refer to DAS-51, "Description" for booster solenoid. B
Booster solenoid/release switch
• Refer to DAS-54, "Description" for release switch.
ICC warning chime Refer to DAS-143, "Description".
Steering angle sensor Refer to DAS-103, "Description". C
Accelerator pedal actuator Refer to DAS-108, "Description".
Transmits a system selection signal to the ICC sensor integrated unit via CAN communi-
AV control unit
cation. D

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G

DAS

Revision: July 2016 DAS-21 2016 QX50

 DIAGNOSIS SYSTEM (ICC SENSOR INTEGRATED UNIT)
< SYSTEM DESCRIPTION > [DCA]
DIAGNOSIS SYSTEM (ICC SENSOR INTEGRATED UNIT)
Diagnosis Description INFOID:0000000012172257

The DTC is displayed on the information display by operating the ICC steering switch.
ON BOARD SELF-DIAGNOSIS SYSTEM DIAGRAM

JPOIA0189GB

ON BOARD SELF-DIAGNOSIS OPERATION PROCEDURE

CAUTION:
Start condition of on board self-diagnosis
• ICC system OFF

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• DCA system OFF
• Vehicle speed 0 km/h (0 MPH)
1. Turn the ignition switch OFF.
2. Start the engine.
3. Wait for 5 seconds after starting the engine. Push up the
RESUME/ACCELERATE switch 5 times and push down the
SET/COAST switch 5 times within 10 seconds.
NOTE:
If the above operation cannot be performed within 10 seconds
after waiting for 5 seconds after starting the engine, repeat the
procedure from step 1.

PKIB8371E

4. The DTC is displayed on the set vehicle speed indicator (1) on the ICC system display on the information
display when the on board self-diagnosis starts. Refer to CCS-155, "DTC Index".

JSOIA0008GB

NOTE:
• It displays for up to 5 minutes and then stops.

Revision: July 2016 DAS-22 2016 QX50

 DIAGNOSIS SYSTEM (ICC SENSOR INTEGRATED UNIT)
< SYSTEM DESCRIPTION > [DCA]
• If multiple malfunctions exist, up to 3 DTCs can be stored in memory at the most, and the most recent
one is displayed first. A
WHEN THE ON BOARD SELF-DIAGNOSIS DOES NOT START
If the on board self-diagnosis does not start, check the following items.
B
Assumed abnormal part Inspection item
Check that the self-diagnosis function of the combina-
Combination meter malfunction tion meter operates. Refer to MWI-37, "Diagnosis De- C
scription".
Check power supply and ground circuit of unified meter
ICC system display Unified meter and A/C amp. malfunction and A/C amp. Refer to MWI-52, "UNIFIED METER AND D
A/C AMP. : Diagnosis Procedure".
Start the self-diagnosis of the unified meter and A/C
Communication error of the combination
amp. and then check the self-diagnosis results. Refer to
meter and the unified meter and A/C amp.
MWI-108, "DTC Index".
E

ICC steering switch malfunction

Perform the inspection for DTC “C1A06”. Refer to CCS-
Harness malfunction between ICC steering switch and ECM
60, "Diagnosis Procedure". F
ECM malfunction
• Check power supply and ground circuit of ICC sensor

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integrated unit. Refer to CCS-134, "ICC SENSOR IN- G
TEGRATED UNIT : Diagnosis Procedure".
ICC sensor integrated unit malfunction
• Perform SELF-DIAGNOSIS for “ICC/ADAS” with
CONSULT, and then check the malfunctioning parts.
Refer to CCS-155, "DTC Index". H

HOW TO ERASE ON BOARD SELF-DIAGNOSIS

1. Turn the ignition switch OFF. I
2. Start the engine, and then start the on board self-diagnosis.
3. Press the CANCEL switch 5 times, and then press the DIS-
TANCE switch 5 times under the condition that the on board J
self-diagnosis starts.
NOTE:
• Complete the operation within 10 seconds after pressing the
CANCEL switch first. K
• If the operation is not completed within 10 seconds, repeat the
procedure from step 1.
4. DTC 55 is displayed after erasing. PKIB8373E L
NOTE:
DTCs for existing malfunction can not be erased.
5. Turn ignition switch OFF, and finish the diagnosis. M
CONSULT Function (ICC/ADAS) INFOID:0000000012172258

N
DESCRIPTION
CONSULT performs the following functions via CAN communication using ICC sensor integrated unit.

Diagnosis mode Description DAS

• It can monitor the adjustment direction indication in order to perform the laser beam aiming operation
Work Support smoothly.
• Displays causes of automatic cancellation of the ICC system. P
Self Diagnostic Result Displays malfunctioning system memorized in ICC sensor integrated unit.
Data Monitor Displays real-time input/output data of ICC sensor integrated unit.
Active Test Enables operation check of electrical loads by transmitting driving signal to them.

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 DIAGNOSIS SYSTEM (ICC SENSOR INTEGRATED UNIT)
< SYSTEM DESCRIPTION > [DCA]
Diagnosis mode Description
• Displays ICC sensor integrated unit part number.
Ecu Identification • Displays brake booster control unit part number.
• Displays accelerator pedal assembly part number.
CAN Diag Support Monitor The results of transmit/receive diagnosis of CAN communication can be read.

WORK SUPPORT

Work support items Description

CAUSE OF AUTO-CANCEL Displays causes of automatic cancellation of the ICC system.
LASER BEAM ADJUST Outputs laser beam, calculates dislocation of the beam, and indicates adjustment direction.

Display Items For The Cause Of Automatic Cancellation

NOTE:
• Causes of the maximum five cancellations (system cancel) are displayed.
• The displayed cancellation causes display the number of the ignition switch ON/OFF up to 254. It is fixed to
254 if it is over 254. It returns to 0 when the same cancellation cause is detected again.
×: Applicable
Conven-
tional

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Vehicle-to-ve- (fixed
DCA
Cause of cancellation hicle distance speed) Description
system
control mode cruise
control
mode
OPERATING WIPER × The wiper operates at HI or LO
OPERATING ABS × × ABS function was operated
OPERATING TCS × × × TCS function was operated
OPERATING VDC × × × VDC function was operated
ECM CIRCUIT × × ECM did not permit ICC operation
The ICC steering switch input voltage is not within standard
OPE SW VOLT CIRC × × ×
range
Intense light such as sunlight entered ICC sensor integrated unit
LASER SUNBEAM × ×
light sensing part
LASER TEMP × × Temperature around ICC sensor integrated unit became low
OP SW DOUBLE
× × ICC steering switches were pressed at the same time
TOUCH
WHL SPD ELEC NOISE × × × Wheel speed sensor signal caught electromagnetic noise
VDC/TCS OFF SW × × VDC OFF switch was pressed
SNOW MODE SW × × Snow mode switch was pressed
VHCL SPD UNMATCH × × × Wheel speed became different from A/T vehicle speed
TIRE SLIP × × Wheel slipped
IGN LOW VOLT × × × Power supply voltage became low
WHEEL SPD UNMATCH × × × The wheel speeds of 4 wheels are out of the specified values
Vehicle speed lower than the speed as follows
• Vehicle-to-vehicle distance control mode is 24 km/h (15 MPH)
VHCL SPD DOWN × × ×
• Conventional (fixed speed) cruise control mode is 32 km/h (20
MPH)
ICC sensor integrated unit received an abnormal signal with
CAN COMM ERROR × × ×
CAN communication
ABS/TCS/VDC CIRC × × × An abnormal condition occurs in VDC/TCS/ABS system
BCU CIRCUIT × × × The brake booster control unit is malfunctioning

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 DIAGNOSIS SYSTEM (ICC SENSOR INTEGRATED UNIT)
< SYSTEM DESCRIPTION > [DCA]
A vehicle ahead is not detected during the following driving when
INCHING LOST ×
the vehicle speed is approximately 24 km/h (15 MPH) or less A
ASCD VHCL SPD DTAC × Vehicle speed is detached from set vehicle speed
ASCD DOUBLE COMD × Cancel switch and operation switch are detected simultaneously
B
PARKING BRAKE ON × × The parking brake is operating
The accelerator pedal actuator integrated motor temperature is
APA HI TEMP ×
high
C
NO RECORD × × × －

Laser Beam Adjust

Refer to CCS-7, "LASER BEAM AIMING ADJUSTMENT : Description". D

SELF DIAGNOSTIC RESULT

Refer to CCS-155, "DTC Index". E
DATA MONITOR
NOTE:
The following table includes information (items) inapplicable to this vehicle. For information (items) applicable F
to this vehicle, refer to CONSULT display items.
×: Applicable

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Monitored item MAIN
[Unit] SIGNAL
Description G
MAIN SW Indicates [On/Off] status as judged from ICC steering switch signal (ECM transmits
×
[On/Off] ICC steering switch signal through CAN communication).
H
SET/COAST SW Indicates [On/Off] status as judged from ICC steering switch signal (ECM transmits
×
[On/Off] ICC steering switch signal through CAN communication).
CANCEL SW Indicates [On/Off] status as judged from ICC steering switch signal (ECM transmits
× I
[On/Off] ICC steering switch signal through CAN communication).
RESUME/ACC SW Indicates [On/Off] status as judged from ICC steering switch signal (ECM transmits
×
[On/Off] ICC steering switch signal through CAN communication).
J
DISTANCE SW Indicates [On/Off] status as judged from ICC steering switch signal (ECM transmits
[On/Off] ICC steering switch signal through CAN communication).
CRUISE OPE
× Indicates whether controlling or not (ON means “controlling”). K
[On/Off]
BRAKE SW Indicates [On/Off] status as judged from ICC brake switch signal (ECM transmits ICC
×
[On/Off] brake switch signal through CAN communication).
STOP LAMP SW Indicates [On/Off] status as judged from stop lamp switch signal (ECM transmits stop L
×
[On/Off] lamp switch signal through CAN communication).
IDLE SW Indicates [On/Off] status of idle position read from ICC sensor integrated unit through
[On/Off] CAN communication (ECM transmits On/Off status through CAN communication). M
SET DISTANCE
× Indicates set distance memorized in ICC sensor integrated unit.
[Short/Mid/Long]
CRUISE LAMP N
× Indicates [On/Off] status of MAIN switch indicator output.
[On/Off]
OWN VHCL
Indicates [On/Off] status of own vehicle indicator output.
[On/Off] DAS
VHCL AHEAD
Indicates [On/Off] status of vehicle ahead detection indicator output.
[On/Off]
ICC WARNING P
Indicates [On/Off] status of ICC system warning lamp output.
[On/Off]
Indicates vehicle speed calculated from ICC sensor integrated unit through CAN
VHCL SPEED SE
× communication [ABS actuator and electric unit (control unit) transmits vehicle speed
[km/h] or [mph]
signal (wheel speed) through CAN communication].
SET VHCL SPD
× Indicates set vehicle speed memorized in ICC sensor integrated unit.
[km/h] or [mph]

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 DIAGNOSIS SYSTEM (ICC SENSOR INTEGRATED UNIT)
< SYSTEM DESCRIPTION > [DCA]
Monitored item MAIN
Description
[Unit] SIGNAL
BUZZER O/P
Indicates [On/Off] status of ICC warning chime output.
[On/Off]
THRTL SENSOR NOTE:
×
[deg] The item is displayed, but it is not monitored.
ENGINE RPM Indicates engine speed read from ICC sensor integrated unit through CAN communi-
[rpm] cation (ECM transmits engine speed through CAN communication).
WIPER SW Indicates wiper [Off/Low/High] status (BCM transmits front wiper request signal
[Off/Low/High] through CAN communication).
YAW RATE NOTE:
[deg/s] The item is displayed, but it is not monitored.
BA WARNING
Indicates [On/Off] status of IBA OFF indicator lamp output.
[On/Off]
FUNC ITEM
Indicates the equipment status of DCA system and LDP system.
[FUNC1]
LDP SELECT
Indicates [On/Off] status of LDP system setting displayed on the navigation screen.
[On/Off]
DCA SELECT

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Indicates [On/Off] status of DCA system setting displayed on the navigation screen.
[On/Off]
Indicates [On/Off] status as judged from release switch signal.
RELEASE SW NO
ON: When brake pedal is depressed.
[On/Off]
OFF: When brake pedal is not depressed.
Indicates [On/Off] status as judged from release switch signal.
RELEASE SW NC
ON: When brake pedal is not depressed.
[On/Off]
OFF: When brake pedal is depressed.
STP LMP DRIVE
× Indicates [On/Off] status of ICC brake hold relay drive output.
[On/Off]
PRESS SENS Indicates brake fluid pressure value calculated from signal voltage of brake pressure
×
[bar] sensor.
Indicates [On/Off] status of “D” or “DS” or “M” positions read from ICC sensor integrat-
D RANGE SW
ed unit through CAN communication; ON when position “D” or “DS” or “M” (TCM
[On/Off]
transmits shift position signal through CAN communication).
NP RANGE SW Indicates shift position signal read from ICC sensor integrated unit through CAN com-
[On/Off] munication (TCM transmits shift position signal through CAN communication).
Parking brake switch status [On/Off] judged from the parking brake switch signal that
PKB SW ICC sensor integrated unit readout via CAN communication is displayed (Unified
[On/Off] meter and A/C amp. transmits the parking brake switch signal via CAN communica-
tion).
PWR SUP MONI
× Indicates IGN voltage input by ICC sensor integrated unit.
[V]
Indicates vehicle speed calculated from A/T vehicle speed sensor read from ICC sen-
VHCL SPD AT
sor integrated unit through CAN communication (TCM transmits A/T vehicle speed
[km/h] or [mph]
sensor signal through CAN communication).
Indicates throttle position read from ICC sensor integrated unit through CAN commu-
THRTL OPENING
× nication (ECM transmits accelerator pedal position signal through CAN communica-
[%]
tion).
Indicates A/T gear position read from ICC sensor integrated unit through CAN com-
GEAR
munication (TCM transmits current gear position signal through CAN communica-
[1, 2, 3, 4, 5, 6, 7]
tion).
CLUTCH SW SIG NOTE:
×
[On/Off] The item is displayed, but it is not monitored.
NP SW SIG NOTE:
×
[On/Off] The item is displayed, but it is not used.
MODE SIG Indicates the active mode from ICC or ASCD [conventional (fixed speed) cruise con-
[OFF, ICC, ASCD] trol mode].

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 DIAGNOSIS SYSTEM (ICC SENSOR INTEGRATED UNIT)
< SYSTEM DESCRIPTION > [DCA]
Monitored item MAIN
Description
[Unit] SIGNAL A
SET DISP IND
Indicates [On/Off] status of SET switch indicator output.
[On/Off]
LDP SYSTEM ON B
Indicates [On/Off] status of LDP system.
[On/Off]
LDW SYSTEM ON
Indicates [On/Off] status of LDW system.
[On/Off] C
FCW SYSTEM ON
Indicates [On/Off] status of FCW system.
[On/Off]
DISTANCE D
Indicates the distance from the vehicle ahead.
[m]
RELATIVE SPD
Indicates the relative speed of the vehicle ahead.
[m/s] E
DCA ON SW NOTE:
×
[On/Off] The item is displayed, but it is not used.
DCA ON IND F
The status [On/Off] of DCA system switch indicator output is displayed.
[On/Off]
DCA VHL AHED The status [On/Off] of vehicle ahead detection indicator output in DCA system is dis-

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[On/Off] played.
G
Status [On/Off] judged from IBA OFF switch signal that ICC sensor integrated unit
IBA SW
readout via ITS communication is displayed (Brake booster control unit transmits the
[On/Off]
IBA OFF switch signal via ITS communication).
H
Indicates [On/Off] status as judged from ICC steering switch signal (Dynamic driver
DYNA ASIST SW
assistance switch signal) [ECM transmits ICC steering switch signal (Dynamic driver
[On/Off]
assistance switch signal) through CAN communication].
The accelerator pedal actuator integrated motor temperature that the ICC sensor in-
I
APA TEMP
tegrated unit readout via ITS communication is displayed (Accelerator pedal actuator
[°C]
transmits the integrated motor temperature via ITS communication).
Accelerator pedal actuator power supply voltage that the ICC sensor integrated unit J
APA PWR
readout via ITS communication is displayed (Accelerator pedal actuator transmits the
[V]
power supply voltage via ITS communication).

ACTIVE TEST K
CAUTION:
• Never perform “Active Test” while driving the vehicle.
• The “Active Test” cannot be performed when the ICC system warning lamp is illuminated. L
• Shift the selector lever to “P” position, and then perform the test.

Test item Description M

The ICC system warning lamp, MAIN switch indicator, SET switch indicator and IBA OFF indicator
METER LAMP
lamp can be illuminated by ON/OFF operations as necessary.
DCA INDICATOR The DCA system switch indicator can be illuminated by ON/OFF operations as necessary. N
The ICC brake hold relay can be operated by ON/OFF operations as necessary, and the stop lamp
STOP LAMP
can be illuminated.
BOOSTER SOL/V The booster solenoid can be operated as necessary, and the brake can be operated. DAS
ICC BUZZER The ICC warning chime can sound by ON/OFF operations as necessary.
ACCELERATOR PEDAL AC-
The accelerator pedal actuator can be operated as necessary. P
TUATOR

METER LAMP
NOTE:
The test can be performed only when the engine is running.

Revision: July 2016 DAS-27 2016 QX50

 DIAGNOSIS SYSTEM (ICC SENSOR INTEGRATED UNIT)
< SYSTEM DESCRIPTION > [DCA]

• MAIN switch indicator

Oper- • SET switch indicator
Test item Description
ation • ICC system warning lamp
• IBA OFF indicator lamp
Stops transmitting the signals below to end the test.
• Meter display signal
Off OFF
• ICC warning lamp signal
• IBA OFF indicator lamp signal
METER LAMP Transmits the following signals to the unified meter and A/C
amp. via CAN communication.
On • Meter display signal ON
• ICC warning lamp signal
• IBA OFF indicator lamp signal

DCA INDICATOR
NOTE:
The test can be performed only when the engine is running.

Oper-
Test item Description DCA system switch indicator
ation

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Stops transmitting the DCA system switch indicator signal
Off OFF
below to end the test.
DCA INDICATOR
Transmits the DCA system switch indicator signal to the uni-
On ON
fied meter and A/C amp. via CAN communication.

STOP LAMP

Oper-
Test item Description Stop lamp
ation
Stops transmitting the ICC brake hold relay drive signal be-
Off OFF
low to end the test.
STOP LAMP
Transmits the ICC brake hold relay drive signal to the brake
On ON
booster control unit via ITS communication.

BOOSTER SOL/V
NOTE:
The test can be performed only when the engine is running.

Test item Operation Description “PRESS SENS” value

MODE1 10 bar
Transmits the brake fluid pressure command signal to
MODE2 20 bar
the brake booster control unit via ITS communication.
MODE3 30 bar
BOOSTER SOL/V Test start Starts the tests of “MODE1”, “MODE2” and “MODE3”. —
Stops transmitting the brake fluid pressure command sig-
Reset —
nal below to end the test.
End Returns to the “SELECT TEST ITEM” screen. —
NOTE:

Revision: July 2016 DAS-28 2016 QX50

 DIAGNOSIS SYSTEM (ICC SENSOR INTEGRATED UNIT)
< SYSTEM DESCRIPTION > [DCA]
The test is finished in 10 seconds after starting.
A

PKIB1767J

ICC BUZZER D

ICC warning chime operation

Test item Operation Description
sound E
MODE1 Intermittent beep sound
Transmits the buzzer output signal to the brake booster
MODE2 Continuous beep sound
control unit via ITS communication.
F
MODE3 Beep sound
ICC BUZZER Test start Starts the tests of “MODE1”, “MODE2” and “MODE3”. —

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Stops transmitting the buzzer output signal below to end G
Reset —
the test.
End Returns to the “SELECT TEST ITEM” screen. —

ACCELERATOR PEDAL ACTUATOR H

CAUTION:
• Shift the selector lever to “P” position, and then perform the test.
• Never depress the accelerator pedal excessively. (The engine speed may rise unexpectedly when I
finishing the test.)

NOTE: J
• Depress the accelerator pedal to check when performing the test.
• The test can be performed only when the engine is running.

Test item Operation Description Accelerator pedal operation K

Constant with a force of 25 N
MODE1
for 8 seconds
Constant with a force of 15 N
L
MODE2
Transmit the accelerator pedal feedback force control signal for 8 seconds
to the accelerator pedal actuator via ITS communication. Change up to a force of 25 N for
MODE3
8 seconds M
ACCELERATOR
PEDAL ACTUA- Change up to a force of 15 N for
MODE4
TOR 8 seconds
Starts the tests of “MODE1”, “MODE2”, “MODE3”, and N
Test start —
“MODE4”.
Stops transmitting the accelerator pedal feedback force
Reset —
control signal below to end the test. DAS
End Returns to the “SELECT TEST ITEM” screen. —
NOTE:
P

Revision: July 2016 DAS-29 2016 QX50

 DIAGNOSIS SYSTEM (ICC SENSOR INTEGRATED UNIT)
< SYSTEM DESCRIPTION > [DCA]
The test is finished in 10 seconds after starting.

JPOIA0061GB

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Revision: July 2016 DAS-30 2016 QX50

 DIAGNOSIS SYSTEM (ACCELERATOR PEDAL ACTUATOR)
< SYSTEM DESCRIPTION > [DCA]
DIAGNOSIS SYSTEM (ACCELERATOR PEDAL ACTUATOR)
A
CONSULT Function (ACCELE PEDAL ACT) INFOID:0000000012172259

DESCRIPTION B
CONSULT performs the following functions via CAN communication with ICC sensor integrated unit and the
communication with accelerator pedal actuator.
C
Test mode Function
• Displays malfunctioning system memorized in accelerator pedal actuator.
Self Diagnostic Result
• Displays the Freeze Frame Data when the malfunction is detected.
D
Data Monitor Displays real-time input/output data of accelerator pedal actuator.
Active Test Enables operation check of electrical loads by sending driving signal to them.
Ecu Identification Displays accelerator pedal actuator parts number. E

SELF DIAGNOSTIC RESULT

Self Diagnostic Result F
Refer to DAS-162, "DTC Index".

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FFD (Freeze Frame Data)
The accelerator pedal actuator records the following data when the malfunction is detected. G

Freeze Frame Data item

Description
[Unit] H
It displays the target accelerator pedal actuation force that the accelerator pedal actuator read out
TGT FBK FRC
from the accelerator pedal feedback force control signal received via ITS communication at the time
[N]
when the malfunction is detected.
I
It displays the target motor position that the accelerator pedal actuator read out from the accelerator
TGT MOT POSI
pedal feedback force control signal received via ITS communication at the time when the malfunction
[%]
is detected.
J
ACT MOT POSI It displays the integrated motor position that the accelerator pedal actuator read out at the time when
[%] the malfunction is detected.
AP OPEN It displays the accelerator pedal position signal that the accelerator pedal actuator read out via ITS
[%] communication at the time when the malfunction is detected.
K

APA TEMP It displays the integrated motor temperature that the accelerator pedal actuator read out at the time
[°C] when the malfunction is detected.
L
APA CURRENT It displays the integrated motor consumption current that the accelerator pedal actuator read out at
[A] the time when the malfunction is detected.
APA PWR It displays the power supply voltage that the accelerator pedal actuator read out at the time when the
[V] malfunction is detected. M
APA OPE STATS It displays the activation permission status of accelerator pedal actuator at the time when the mal-
[On/Off] function is detected.
N
APA STATS
It displays the condition of accelerator pedal actuator at the time when the malfunction is detected.
[READY/NG/TP NG/INIT]

IGN CounterNote It displays number of ignition switch OFF → ON after the malfunction is detected.
DAS
NOTE:
• The number is 0 when is detected now.
• The number increases like 1→ 2 ··· 38 → 39 after returning to the normal condition whenever IGN OFF → ON.
P
• The number is fixed to 39 until the self-diagnosis results are erased if it is over 39.

DATA MONITOR
NOTE:
The following table includes information (items) inapplicable to this vehicle. For information (items) applicable
to this vehicle, refer to CONSULT display items.

Revision: July 2016 DAS-31 2016 QX50

 DIAGNOSIS SYSTEM (ACCELERATOR PEDAL ACTUATOR)
< SYSTEM DESCRIPTION > [DCA]

Monitor item [Unit] FUNCTION DESCRIPTION

It displays the target accelerator pedal actuation force that the accelerator pedal actuator read out
TGT FBK FRC from the accelerator pedal feedback force control signal received via ITS communication.
[N] (The ICC sensor integrated unit transmits the accelerator pedal feedback force control signal via ITS
communication)
It displays the target motor position that the accelerator pedal actuator read out from the accelerator
TGT MOT POSI pedal feedback force control signal received via ITS communication.
[%] (The ICC sensor integrated unit transmits the accelerator pedal feedback force control signal via ITS
communication)
ACT MOT POSI
It displays the integrated motor position that the accelerator pedal actuator read out.
[%]
It displays the accelerator pedal position signal that the accelerator pedal actuator read out via ITS
AP OPEN communication.
[%] (The ICC sensor integrated unit transmits with ITS communication the accelerator pedal position sig-
nal that is received from ECM via CAN communication)
APA TEMP
It displays the accelerator pedal actuator integrated motor temperature.
[°C]
APA CURRENT
It displays the accelerator pedal actuator integrated motor consumption current.
[A]

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APA PWR
It displays the power supply voltage that the accelerator pedal actuator read out.
[V]
APA OPE STATS
It displays the activation permission status of accelerator pedal actuator.
[On/Off]
APA STATS
It displays the condition of accelerator pedal actuator.
[READY/NG/TP NG/INIT]

ACTIVE TEST
CAUTION:
Never perform ACTIVE TEST while driving the vehicle.
NOTE:
The active test cannot be performed when the ICC system warning lamp is illuminated.
Item list

Active test item Description

Drive the accelerator pedal actuator and generate the constant accelerator pedal
ACCELERATOR PEDAL ACTUATOR TEST1
actuation force.
ACCELERATOR PEDAL ACTUATOR TEST2 Drive the accelerator pedal actuator and generate the vibration.

ACCELERATOR PEDAL ACTUATOR TEST 1

NOTE:
Check the accelerator pedal by depressing when performing the test.

Active test item Operation Description

ACCELERATOR PEDAL AC- STOP Finish the test.

TUATOR TEST1 START Generate the constant accelerator pedal actuation force for accelerator pedal.

ACCELERATOR PEDAL ACTUATOR TEST 2

NOTE:
Check the accelerator pedal by depressing when performing the test.

Active test item Operation Description

ACCELERATOR PEDAL AC- STOP Finish the test.

TUATOR TEST 2 START Generate the vibration for accelerator pedal.

ECU IDENTIFICATION
Displays accelerator pedal assembly parts number.

Revision: July 2016 DAS-32 2016 QX50

 C1A00 CONTROL UNIT
< DTC/CIRCUIT DIAGNOSIS > [DCA]

DTC/CIRCUIT DIAGNOSIS A
C1A00 CONTROL UNIT
Description INFOID:0000000012172260
B
ICC sensor integrated unit function description
• It detects the reflected light from the vehicle ahead by irradiating a laser forward. It calculates the vehicle dis-
tance from and relative speed with the vehicle ahead depending on the detected signal. C
• It outputs the brake fluid pressure command signal to the brake booster control unit and the accelerator
pedal feedback force control signal to the accelerator pedal actuator depending on the signal from various
sensors and switches via ITS communication. D
DTC Logic INFOID:0000000012172261

DTC DETECTION LOGIC E

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes F
play)
C1A00 ICC sensor integrated unit internal malfunc-

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CONTROL UNIT ICC sensor integrated unit
(0) tion G
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE H
1. Start the engine.
2. Perform “All DTC Reading” with CONSULT.
3. Check if the “C1A00” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”. I
Is “C1A00” detected as the current malfunction?
YES >> Refer to DAS-33, "Diagnosis Procedure".
NO >> INSPECTION END J
Diagnosis Procedure INFOID:0000000012172262

1.CHECK SELF-DIAGNOSIS RESULTS K

Check if any DTC other than “C1A00” is detected in “Self Diagnostic Result” of “ICC/ADAS”.
Is any DTC detected? L
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
DAS-162, "DTC Index".
NO >> Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
M
Special Repair Requirement INFOID:0000000012172263

DESCRIPTION N
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
• Removal and installation of ICC sensor integrated unit DAS
• Replacement of ICC sensor integrated unit
SPECIAL REPAIR REQUIREMENT
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT P

Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".

>> GO TO 2.

Revision: July 2016 DAS-33 2016 QX50

 C1A00 CONTROL UNIT
< DTC/CIRCUIT DIAGNOSIS > [DCA]

2.CHECK DCA SYSTEM

1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.

>> WORK END

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Revision: July 2016 DAS-34 2016 QX50

 C1A01 POWER SUPPLY CIRCUIT 1, C1A02 POWER SUPPLY CIRCUIT 2
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1A01 POWER SUPPLY CIRCUIT 1, C1A02 POWER SUPPLY CIRCUIT 2
A
Description INFOID:0000000012172264

The ICC sensor integrated unit controls the system with the ignition power supply. B
DTC Logic INFOID:0000000012172265

DTC DETECTION LOGIC C

DTC
Trouble diagnosis
(On board dis- DTC detecting condition Possible causes D
name
play)
C1A01 POWER SUPPLY ICC sensor integrated unit power supply voltage
(1) CIR is excessively low (less than 8 V). • Connector, harness, fuse E
C1A02 POWER SUPPLY ICC sensor integrated unit power supply voltage • ICC sensor integrated unit
(2) CIR 2 is excessively high (more than 19 V).

DTC CONFIRMATION PROCEDURE F

1.PERFORM DTC CONFIRMATION PROCEDURE

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1. Start the engine. G
2. Turn the DCA system ON.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “C1A01” or “C1A02” is detected as the current malfunction in self-diagnosis results of “ICC/
H
ADAS”.
Is “C1A01” or “C1A02” detected as the current malfunction?
YES >> Refer to DAS-35, "Diagnosis Procedure".
I
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172266

J
1.CHECK ICC SENSOR INTEGRATED UNIT POWER SUPPLY AND GROUND CIRCUIT
Check power supply and ground circuit of ICC sensor integrated unit. Refer to DAS-140, "ICC SENSOR INTE-
GRATED UNIT : Diagnosis Procedure". K
Is the inspection result normal?
YES >> Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
NO >> Repair or replace the malfunctioning parts. L

Special Repair Requirement INFOID:0000000012172267

M
DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
• Removal and installation of ICC sensor integrated unit N
• Replacement of ICC sensor integrated unit
SPECIAL REPAIR REQUIREMENT
DAS
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description". P

>> GO TO 2.
2.CHECK DCA SYSTEM
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)

Revision: July 2016 DAS-35 2016 QX50

 C1A01 POWER SUPPLY CIRCUIT 1, C1A02 POWER SUPPLY CIRCUIT 2
< DTC/CIRCUIT DIAGNOSIS > [DCA]
2. Check that the DCA system is normal.

>> WORK END

cardiagn.com

Revision: July 2016 DAS-36 2016 QX50

 C1A03 VEHICLE SPEED SENSOR
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1A03 VEHICLE SPEED SENSOR
A
Description INFOID:0000000012172268

B
The ICC sensor integrated unit receives the vehicle speed signal (wheel speed) from ABS actuator and elec-
tric unit (control unit) and the A/T vehicle speed sensor signal (output shaft revolution signal) from TCM via
CAN communication.
C
DTC Logic INFOID:0000000012172269

DTC DETECTION LOGIC D

DTC
Trouble diagnosis
(On board DTC detecting condition Possible causes
display)
name E
• Wheel speed sensor
If the vehicle speed signal (wheel speed) from
• ABS actuator and electric unit (control
ABS actuator and electric unit (control unit) and
unit) F
C1A03 VHCL SPEED SE the A/T vehicle speed sensor signal (output
• Vehicle speed sensor A/T (output speed
(3) CIRC shaft revolution signal) from TCM, received by
sensor)
the ICC sensor integrated unit via CAN commu-

cardiagn.com
• TCM
nication, are inconsistent G
• ICC sensor integrated unit
NOTE:
If DTC “C1A03” is detected along with DTC “U1000” or “C1A04”, first diagnose the DTC “U1000” or “C1A04”.
• Refer to DAS-135, "ICC SENSOR INTEGRATED UNIT : DTC Logic" for DTC “U1000”. H
• Refer to DAS-39, "DTC Logic" for DTC “C1A04”.
DTC CONFIRMATION PROCEDURE
I
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the DCA system ON. J
3. Drive the vehicle at 30 km/h (19 MPH) or more.
CAUTION:
Always drive safely. K
4. Stop the vehicle.
5. Perform “All DTC Reading” with CONSULT.
6. Check if the “C1A03” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
L
Is “C1A03” detected as the current malfunction?
YES >> Refer to DAS-37, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
M
Diagnosis Procedure INFOID:0000000012172270

1.CHECK SELF-DIAGNOSIS RESULTS N

Check if “C1A04” or “U1000” is detected other than “C1A03” in “Self Diagnostic Result” of “ICC/ADAS”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to DAS
DAS-162, "DTC Index".
NO >> GO TO 2.
2. CHECK DATA MONITOR P
1. Start the engine.
2. Drive the vehicle.
3. Check that the value of “VHCL SPD AT” is almost the same as the value of “VHCL SPEED SE” in “DATA
MONITOR” of “ICC/ADAS”.
CAUTION:
Be careful of the vehicle speed.

Revision: July 2016 DAS-37 2016 QX50

 C1A03 VEHICLE SPEED SENSOR
< DTC/CIRCUIT DIAGNOSIS > [DCA]
Is the inspection result normal?
YES >> Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
NO >> GO TO 3.
3.CHECK TCM SELF-DIAGNOSIS RESULTS
1. Perform “All DTC Reading”.
2. Check if any DTC is detected in “Self Diagnostic Result” of “TRANSMISSION”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
TM-157, "DTC Index".
NO >> GO TO 4.
4.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ABS”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
BRC-143, "DTC No. Index".
NO >> Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
Special Repair Requirement INFOID:0000000012172271

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DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
SPECIAL REPAIR REQUIREMENT
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".

>> GO TO 2.
2.CHECK DCA SYSTEM
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.

>> WORK END

Revision: July 2016 DAS-38 2016 QX50

 C1A04 ABS/TCS/VDC SYSTEM
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1A04 ABS/TCS/VDC SYSTEM
A
Description INFOID:0000000012172272

ABS actuator and electric unit (control unit) transmits the vehicle speed signal (wheel speed), and VDC/TCS/ B
ABS system operation condition to ICC sensor integrated unit via CAN communication.
DTC Logic INFOID:0000000012172273

C
DTC DETECTION LOGIC

DTC
Trouble diagnosis
D
(On board dis- DTC detecting condition Possible causes
name
play)
C1A04 If the malfunction occurs in the VDC/TCS/ABS ABS actuator and electric unit (control E
ABS/TCS/VDC CIRC
(4) system unit)
NOTE:
If DTC “C1A04” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-135, "ICC F
SENSOR INTEGRATED UNIT : DTC Logic".
Diagnosis Procedure INFOID:0000000012172274

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G
1.CHECK SELF-DIAGNOSIS RESULTS
1. Perform “All DTC Reading” with CONSULT.
2. Check if the “U1000” is detected other than “C1A04” in “Self Diagnostic Result” of “ICC/ADAS”. H
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to DAS-135, "ICC SENSOR INTEGRATED UNIT : DTC Logic". I
NO >> GO TO 2.
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS
J
Check if any DTC is detected in “Self Diagnostic Result” of “ABS”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to K
BRC-143, "DTC No. Index".
NO >> Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
Special Repair Requirement INFOID:0000000012172275 L

DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following M
operation is performed.
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
N
SPECIAL REPAIR REQUIREMENT
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
DAS
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".
P

>> GO TO 2.
2.CHECK DCA SYSTEM
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.

Revision: July 2016 DAS-39 2016 QX50

 C1A04 ABS/TCS/VDC SYSTEM
< DTC/CIRCUIT DIAGNOSIS > [DCA]

>> WORK END

cardiagn.com

Revision: July 2016 DAS-40 2016 QX50

 C1A05 BRAKE SW/STOP LAMP SW
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1A05 BRAKE SW/STOP LAMP SW
A
Description INFOID:0000000012172276

• ICC brake switch is turned OFF and stop lamp switch is turned ON, when depressing the brake pedal. B
• ICC brake switch signal and stop lamp switch signal are input to ECM. These signals are transmitted from
ECM to ICC sensor integrated unit via CAN communication.
DTC Logic INFOID:0000000012172277 C

DTC DETECTION LOGIC

D
DTC
Trouble diagnosis
(On board dis- DTC detecting condition Possible causes
name
play)
E
• Stop lamp switch circuit
• ICC brake switch circuit
• Stop lamp switch
C1A05 BRAKE SE/STOP L
If ICC sensor integrated unit receives the ICC • ICC brake switch F
brake switch signal ON status during the stop • Incorrect stop lamp switch installa-
(5) SW
lamp switch signal ON status tion

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• Incorrect ICC brake switch installa-
tion G
• ECM
NOTE:
If DTC “C1A05” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-135, "ICC H
SENSOR INTEGRATED UNIT : DTC Logic".
Diagnosis Procedure INFOID:0000000012172278
I
1.CHECK SELF-DIAGNOSIS RESULTS
1. Perform “All DTC Reading” with CONSULT. J
2. Check if the “U1000” is detected other than “C1A05” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts. K
Refer to DAS-135, "ICC SENSOR INTEGRATED UNIT : DTC Logic".
NO >> GO TO 2.
2.CHECK STOP LAMP SWITCH AND ICC BRAKE SWITCH L
Check that “STOP LAMP SW” and “BRAKE SW” operate normally in “DATA MONITOR” of “ICC/ADAS”.
Is the inspection result normal?
YES >> GO TO 12. M
NO-1 >> When “BRAKE SW” operation is malfunctioning: GO TO 3.
NO-2 >> When “STOP LAMP SW” operation is malfunctioning: GO TO 8.
3.CHECK ICC BRAKE SWITCH INSTALLATION N

1. Turn ignition switch OFF.

2. Check ICC brake switch for correct installation. Refer to BR-10, "Inspection and Adjustment".
DAS
Is the inspection result normal?
YES >> GO TO 4.
NO >> Adjust ICC brake switch installation. Refer to BR-10, "Inspection and Adjustment".
P
4.ICC BRAKE SWITCH INSPECTION
1. Disconnect ICC brake switch connector.
2. Check ICC brake switch. Refer to DAS-44, "Component Inspection (ICC Brake Switch)".
Is the inspection result normal?
YES >> GO TO 5.
NO >> Replace ICC brake switch.

Revision: July 2016 DAS-41 2016 QX50

 C1A05 BRAKE SW/STOP LAMP SW
< DTC/CIRCUIT DIAGNOSIS > [DCA]

5.CHECK ICC BRAKE HOLD RELAY

1. Remove ICC brake hold relay.
2. Check for continuity between ICC brake hold relay terminals.

ICC brake hold relay

Continuity
Terminal
3 4 Existed
Is the inspection result normal?
YES >> GO TO 6.
NO >> Replace ICC brake hold relay.
6.CHECK HARNESS BETWEEN ICC BRAKE HOLD RELAY AND ICC BRAKE SWITCH
1. Check for continuity between ICC brake hold relay harness connector and ICC brake switch harness con-
nector.

ICC brake hold relay ICC brake switch

Continuity
Connector Terminal Connector Terminal

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E50 4 E111 1 Existed
2. Check for continuity between ICC brake hold relay harness connector and ground.

ICC brake hold relay

Continuity
Connector Terminal Ground
E50 4 Not existed
Is the inspection result normal?
YES >> GO TO 7.
NO >> Repair the harnesses or connectors.
7.CHECK HARNESS BETWEEN ECM AND ICC BRAKE SWITCH
1. Disconnect ECM connector.
2. Check for continuity between the ECM harness connector and ICC brake switch harness connector.

ECM ICC brake switch

Continuity
Connector Terminal Connector Terminal
M107 126 E111 2 Existed
3. Check for continuity between ECM harness connector and ground.

ECM
Continuity
Connector Terminal Ground
M107 126 Not existed
Is the inspection result normal?
YES >> GO TO 12.
NO >> Repair the harnesses or connectors.
8.CHECK STOP LAMP FOR ILLUMINATION
Check the stop lamp for illumination.
Is the inspection result normal?
YES >> GO TO 9.
NO >> Repair the stop lamp circuit.
9.CHECK ICC BRAKE HOLD RELAY
1. Turn ignition switch OFF.

Revision: July 2016 DAS-42 2016 QX50

 C1A05 BRAKE SW/STOP LAMP SW
< DTC/CIRCUIT DIAGNOSIS > [DCA]
2. Remove ICC brake hold relay.
3. Check for continuity between ICC brake hold relay terminals. A

ICC brake hold relay

Continuity
Terminal B
3 4 Existed
6 7 Not existed
C
Is the inspection result normal?
YES >> GO TO 10.
NO >> Replace ICC brake hold relay. D
10.CHECK HARNESS BETWEEN ECM AND ICC BRAKE HOLD RELAY
1. Disconnect ECM, rear combination lamp, and high-mounted stop lamp connectors.
2. Check for continuity between the ECM harness connector and ICC brake hold relay harness connector. E

ECM ICC brake hold relay

Continuity F
Connector Terminal Connector Terminal
M107 122 E50 6 Existed

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3. Check for continuity between ECM harness connector and ground. G

ECM
Continuity H
Connector Terminal Ground
M107 122 Not existed
Is the inspection result normal? I
YES >> GO TO 11.
NO >> Repair the harnesses or connectors.
11.CHECK HARNESS BETWEEN BRAKE BOOSTER CONTROL UNIT AND ICC BRAKE HOLD RELAY J
1. Disconnect brake booster control unit connector.
2. Check for continuity between the brake booster control unit harness connector and brake hold relay har-
ness connector. K

Brake booster control unit ICC brake hold relay

Continuity L
Connector Terminal Connector Terminal
B249 47 E50 1 Existed
3. Check for continuity between brake booster control unit harness connector and ground. M

Brake booster control unit

Continuity
Connector Terminal Ground N
B249 47 Not existed
Is the inspection result normal?
DAS
YES >> GO TO 12.
NO >> Repair the harnesses or connectors.
12.PERFORM SELF-DIAGNOSIS OF ECM P
1. Connect all connectors again if the connectors are disconnected.
2. Turn ignition switch ON.
3. Perform “All DTC Reading”.
4. Check if any DTC is detected in “Self Diagnostic Result” of “ENGINE”. Refer to EC-580, "DTC Index".
Is any DTC detected?
YES >> Repair or replace the malfunctioning parts identified by the self-diagnosis result.
NO >> GO TO 13.
Revision: July 2016 DAS-43 2016 QX50
 C1A05 BRAKE SW/STOP LAMP SW
< DTC/CIRCUIT DIAGNOSIS > [DCA]

13.CHECK ICC BRAKE HOLD RELAY DRIVE SIGNAL OUTPUT

1. Select the active test item “STOP LAMP” of “ICC/ADAS”.
2. Check if “STP LMP DRIVE” is turned ON when operating the test item.
Is the inspection result normal?
YES >> Replace brake booster control unit.
NO >> Replace ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
Component Inspection (ICC Brake Switch) INFOID:0000000012172279

1.CHECK ICC BRAKE SWITCH

Check for continuity between ICC brake switch terminals.

Terminal Condition Continuity

Not exist-
When brake pedal is depressed
1 2 ed
When brake pedal is released Existed
Is the inspection result normal?
YES >> INSPECTION END

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NO >> Replace ICC brake switch.
Component Inspection (Stop Lamp Switch) INFOID:0000000012172280

1.CHECK STOP LAMP SWITCH

Check for continuity between stop lamp switch terminals.

Terminal Condition Continuity

When brake pedal is depressed Existed
1 2 Not exist-
When brake pedal is released
ed
Is the inspection result normal?
YES >> INSPECTION END
NO >> Replace stop lamp switch.
Special Repair Requirement INFOID:0000000012172281

DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
SPECIAL REPAIR REQUIREMENT
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".

>> GO TO 2.
2.CHECK DCA SYSTEM
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.

Revision: July 2016 DAS-44 2016 QX50

 C1A05 BRAKE SW/STOP LAMP SW
< DTC/CIRCUIT DIAGNOSIS > [DCA]
>> WORK END
A

cardiagn.com
G

DAS

Revision: July 2016 DAS-45 2016 QX50

 C1A06 OPERATION SW
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1A06 OPERATION SW
Description INFOID:0000000012172282

• Turns the DCA system ON/OFF. (When the setting of the DCA system on the navigation screen is ON.)
• The ICC steering switch signal is input to the ECM. It is transmitted from ECM to ICC sensor integrated unit
via CAN communication.
DTC Logic INFOID:0000000012172283

DTC DETECTION LOGIC

DTC
Trouble diagnosis
(On board dis- DTC detecting condition Possible causes
name
play)
• ICC steering switch circuit
C1A06 OPERATION SW If the input signal from ICC steering switch is
• ICC steering switch
(6) CIRC malfunctioning
• ECM
NOTE:
If DTC “C1A06” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-135, "ICC
SENSOR INTEGRATED UNIT : DTC Logic".

cardiagn.com
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Wait for approximately 5 minutes after turning the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “C1A06” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “C1A06” detected as the current malfunction?
YES >> Refer to DAS-46, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172284

1.CHECK SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “C1A06” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-131, "DTC Logic".
NO >> GO TO 2.
2.CHECK ICC STEERING SWITCH
1. Turn the ignition switch OFF.
2. Disconnect the ICC steering switch connector.
3. Check the ICC steering switch. Refer to DAS-47, "Component Inspection".
Is the inspection result normal?
YES >> GO TO 3.
NO >> Replace the ICC steering switch.
3.CHECK HARNESS BETWEEN SPIRAL CABLE AND ECM
1. Disconnect the ECM connector.
2. Check for continuity between the spiral cable harness connector and ECM harness connector.

Spiral cable ECM

Continuity
Connector Terminal Connector Terminal

Revision: July 2016 DAS-46 2016 QX50

 C1A06 OPERATION SW
< DTC/CIRCUIT DIAGNOSIS > [DCA]
25 101
M36 M107 Existed A
32 108
3. Check for continuity between spiral cable harness connector and ground.
B
Spiral cable
Continuity
Connector Terminal
Ground
25 C
M36 Not existed
32
Is the inspection result normal? D
YES >> GO TO 4.
NO >> Repair the harnesses or connectors.
4.CHECK SPIRAL CABLE E
Check for continuity between spiral cable terminals.

Spiral cable F
Continuity
Terminal

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13 25
Existed G
16 32
Is the inspection result normal?
YES >> GO TO 5. H
NO >> Replace the spiral cable.
5.PERFORM SELF-DIAGNOSIS OF ECM
I
1. Connect the connectors of ICC steering switch and ECM.
2. Turn the ignition switch ON.
3. Perform “All DTC Reading”.
4. Check if any DTC is detected in “Self Diagnostic Result” of “ENGINE”. J
Is any DTC detected?
YES >> Perform self-diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer
to EC-580, "DTC Index". K
NO >> Replace the ICC sensor integrated unit. Refer to CCS-177, "Exploded View".
Component Inspection INFOID:0000000012172285
L

1.CHECK ICC STEERING SWITCH

Check resistance between ICC steering switch terminals. M

Resistance
Terminal Switch operation
[Ω] N
When pressing MAIN switch Approx. 0
When pressing dynamic driver assistance
Approx. 267
switch DAS
When pressing CANCEL switch Approx. 615
Approx.
When pressing DISTANCE switch
1090 JSOIA0319GB P
13 16
Approx.
When pressing SET/COAST switch
1805
When pressing RESUME/ACCELERATE Approx.
switch 2985
Approx.
When all switches are not pressed
5415

Revision: July 2016 DAS-47 2016 QX50

 C1A06 OPERATION SW
< DTC/CIRCUIT DIAGNOSIS > [DCA]
Is the inspection result normal?
YES >> INSPECTION END
NO >> Replace the ICC steering switch.
Special Repair Requirement INFOID:0000000012172286

DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
SPECIAL REPAIR REQUIREMENT
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".

>> GO TO 2.
2.CHECK DCA SYSTEM

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1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.

>> WORK END

Revision: July 2016 DAS-48 2016 QX50

 C1A08 PRESSURE SENSOR
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1A08 PRESSURE SENSOR
A
Description INFOID:0000000012172287

• The brake pressure sensor detects the brake fluid pressure value in the brake master cylinder and outputs B
the value to the brake booster control unit.
• The brake booster control unit receives the brake fluid pressure command signal from the ICC sensor inte-
grated unit via ITS communication and controls the brake fluid pressure while feeding back the brake fluid
pressure value (brake fluid pressure control signal). C

DTC Logic INFOID:0000000012172288

D
DTC DETECTION LOGIC

DTC
E
(On board Trouble diagnosis name DTC detecting condition Possible causes
display)
If the brake pressure sensor value that is input • Brake pressure sensor circuit
C1A08 F
PRESS SEN CIRCUIT to the brake booster control unit is malfunc- • Brake pressure sensor
(8)
tioning • Brake booster control unit
NOTE:

cardiagn.com
If DTC “C1A08” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-135, "ICC G
SENSOR INTEGRATED UNIT : DTC Logic".
DTC CONFIRMATION PROCEDURE
H
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the DCA system ON. I
3. Perform “All DTC Reading” with CONSULT.
4. Check that the “C1A08” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
Is “C1A08” detected as the current malfunction? J
YES >> Refer to DAS-49, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172289 K

1.CHECK SELF-DIAGNOSIS RESULTS

L
Check if “U1000” is detected other than “C1A08” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
M
Refer to DAS-135, "ICC SENSOR INTEGRATED UNIT : DTC Logic".
NO >> GO TO 2.
2.CHECK HARNESS BETWEEN BRAKE BOOSTER CONTROL UNIT AND BRAKE PRESSURE SENSOR N
1. Turn the ignition switch OFF.
2. Disconnect connectors of brake booster control unit and brake pressure sensor.
3. Check for continuity between the brake booster control unit harness connector and brake pressure sensor DAS
harness connector.

Brake booster control unit Brake pressure sensor

Continuity P
Connector Terminal Connector Terminal
8 3
B250 17 E39 2 Existed
24 1
4. Check for continuity between brake booster control unit harness connector and ground.

Revision: July 2016 DAS-49 2016 QX50

 C1A08 PRESSURE SENSOR
< DTC/CIRCUIT DIAGNOSIS > [DCA]

Brake booster control unit

Continuity
Connector Terminal
8 Ground
B250 17 Not existed
24
Is the inspection result normal?
YES >> GO TO 3.
NO >> Repair the harnesses or connectors.
3.CHECK BRAKE PRESSURE SENSOR POWER SUPPLY CIRCUIT
1. Connect connectors of brake booster control unit and brake pressure sensor.
2. Turn the ignition switch ON.
3. Check voltage between brake booster control unit harness connectors.

Terminals
(+) (–) Voltage
Brake booster control unit (Approx.)

cardiagn.com
Connector Terminal
B250 8 24 5V
Is the inspection result normal?
YES >> Replace the brake pressure sensor.
NO >> Replace the brake booster control unit.
Special Repair Requirement INFOID:0000000012172290

DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
SPECIAL REPAIR REQUIREMENT
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".

>> GO TO 2.
2.CHECK DCA SYSTEM
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.

>> WORK END

Revision: July 2016 DAS-50 2016 QX50

 C1A09 BOOSTER SOLENOID
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1A09 BOOSTER SOLENOID
A
Description INFOID:0000000012172291

• The booster solenoid is integrated with the brake booster. B

• The brake booster control unit activates the booster solenoid to operate the brake booster (brake) according
to the brake fluid pressure command signal received from ICC sensor integrated unit via ITS communica-
tion.
C
DTC Logic INFOID:0000000012172292

DTC DETECTION LOGIC D

DTC
(On board Trouble diagnosis name DTC detecting condition Possible causes
display)
E
• Booster solenoid
C1A09
BOOSTER SOL/V CIRC If the booster solenoid is malfunctioning • Booster solenoid circuit
(9)
• Brake booster control unit F
NOTE:
If DTC “C1A09” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-135, "ICC

cardiagn.com
SENSOR INTEGRATED UNIT : DTC Logic". G
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE H
1. Start the engine.
2. Perform the active test item “BOOSTER SOL/V” with CONSULT.
3. Perform “All DTC Reading”. I
4. Check if the “C1A09” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
Is “C1A09” detected as the current malfunction?
YES >> Refer to DAS-51, "Diagnosis Procedure". J
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172293
K
1.CHECK SELF-DIAGNOSIS RESULTS
Check if “U1000” is detected other than “C1A09” in “Self Diagnostic Result” of “ICC/ADAS”.
L
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to DAS-135, "ICC SENSOR INTEGRATED UNIT : DTC Logic".
M
NO >> GO TO 2.
2.CHECK BRAKE BOOSTER CONTROL UNIT POWER SUPPLY CIRCUIT
Check power supply and ground circuit of brake booster control unit. Refer to DAS-140, "BRAKE BOOSTER N
CONTROL UNIT : Diagnosis Procedure".
Is the inspection result normal?
YES >> GO TO 3. DAS
NO >> Repair or replace the malfunctioning parts.
3.CHECK HARNESS BETWEEN BRAKE BOOSTER (BOOSTER SOLENOID) AND BRAKE BOOSTER
CONTROL UNIT P
1. Turn the ignition switch OFF.
2. Disconnect connectors of brake booster control unit and brake booster.
3. Check for continuity between the brake booster control unit harness connector and brake booster harness
connector.

Revision: July 2016 DAS-51 2016 QX50

 C1A09 BOOSTER SOLENOID
< DTC/CIRCUIT DIAGNOSIS > [DCA]

Brake booster control unit Brake booster

Continuity
Connector Terminal Connector Terminal
10 4
B250 E45 Existed
12 6
4. Check for continuity between brake booster control unit harness connector and ground.

Brake booster control unit

Continuity
Connector Terminal
Ground
10
B250 Not existed
12
Is the inspection result normal?
YES >> GO TO 4.
NO >> Repair the harnesses or connectors.
4.CHECK BOOSTER SOLENOID
Check the booster solenoid. Refer to DAS-52, "Component Inspection".

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Is the inspection result normal?
YES >> Replace the brake booster control unit.
NO >> Replace the brake booster.
Component Inspection INFOID:0000000012172294

1.CHECK BRAKE BOOSTER (BOOSTER SOLENOID)

Check resistance between brake booster (booster solenoid) termi-
nals.

Brake booster
Resistance
Terminal
4 6 Approx. 1.4 Ω
Is the inspection result normal?
YES >> INSPECTION END
NO >> Replace the brake booster.
JPOIA0160GB

Special Repair Requirement INFOID:0000000012172295

DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
SPECIAL REPAIR REQUIREMENT
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".

>> GO TO 2.
2.CHECK DCA SYSTEM
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
Revision: July 2016 DAS-52 2016 QX50
 C1A09 BOOSTER SOLENOID
< DTC/CIRCUIT DIAGNOSIS > [DCA]
2. Check that the DCA system is normal.
A
>> WORK END

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G

DAS

Revision: July 2016 DAS-53 2016 QX50

 C1A10 RELEASE SWITCH
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1A10 RELEASE SWITCH
Description INFOID:0000000012172296

• The release switch is integrated with the brake booster.

• The release switch detects that the driver depresses the brake pedal, and it outputs the signal to the brake
booster control unit.
• The brake booster control unit transmits the release switch signal [release switch NO signal (normal open),
release switch NC signal (normal close)] to the ICC sensor integrated unit via ITS communication.
DTC logic INFOID:0000000012172297

DTC DETECTION LOGIC

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
If the release switch NO signal and the release
• Release switch
C1A10 switch NC signal, received from the brake
RELEASE SW CIRC • Release switch circuit
(10) booster control unit via ITS communication,
• Brake booster control unit
are inconsistent

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NOTE:
If DTC “C1A10” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-135, "ICC
SENSOR INTEGRATED UNIT : DTC Logic".
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE (1)
1. Start the engine.
2. Turn the DCA system ON, and wait for 5 minutes or more.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “C1A10” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
Is “C1A10” detected as the current malfunction?
YES >> Refer to DAS-54, "Diagnosis Procedure".
NO >> GO TO 2.
2.PERFORM DTC CONFIRMATION PROCEDURE (2)
1. Depress the brake pedal strongly 10 times or more.
2. Perform “All DTC Reading”.
3. Check if the “C1A10” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
Is “C1A10” detected as the current malfunction?
YES >> Refer to DAS-54, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172298

1.CHECK SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “C1A10” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to DAS-135, "ICC SENSOR INTEGRATED UNIT : DTC Logic".
NO >> GO TO 2.
2.CHECK HARNESS BETWEEN BRAKE BOOSTER (RELEASE SWITCH) AND BRAKE BOOSTER CON-
TROL UNIT
1. Turn the ignition switch OFF.
2. Disconnect connectors of brake booster and brake booster control unit.
3. Check for continuity between the brake booster control unit harness connector and brake booster harness
connector.
Revision: July 2016 DAS-54 2016 QX50
 C1A10 RELEASE SWITCH
< DTC/CIRCUIT DIAGNOSIS > [DCA]

Brake booster control unit Brake booster A

Continuity
Connector Terminal Connector Terminal
6 1
B
B250 15 E45 3 Existed
22 2
4. Check for continuity between brake booster control unit harness connector and ground. C

Brake booster control unit

Continuity D
Connector Terminal
6 Ground
B250 15 Not existed E
22
Is the inspection result normal?
YES >> GO TO 3. F
NO >> Repair the harnesses or connectors.
3.CHECK RELEASE SWITCH POWER SUPPLY CIRCUIT

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G
1. Connect the brake booster control unit connector.
2. Turn the ignition switch ON.
3. Check voltage between brake booster control unit harness connector and ground.
H

Terminal
(+) (–) Voltage I
Brake booster control unit (Approx.)

Connector Terminal Ground

B250 6 10 V J

Is the inspection result normal?

YES >> GO TO 4. K
NO >> Replace the brake booster control unit.
4.CHECK RELEASE SWITCH
Check the release switch. Refer to DAS-55, "Component Inspection". L
Is the inspection result normal?
YES >> Replace the brake booster control unit.
NO >> Replace the brake booster. M

Component Inspection INFOID:0000000012172299

N
1.CHECK BRAKE BOOSTER (RELEASE SWITCH)
Check for continuity between brake booster (release switch) termi- DAS
nals.

Condition 1–3 1–2 2–3 P

Brake pedal not de-
Continuity No continuity No continuity
pressed
No continu-
Brake pedal depressed ContinuityNOTE No continuity
ityNOTE
NOTE:
If the depressing force is weak, it may not be changed. JPOIA0160GB

Revision: July 2016 DAS-55 2016 QX50

 C1A10 RELEASE SWITCH
< DTC/CIRCUIT DIAGNOSIS > [DCA]
Is the inspection result normal?
YES >> INSPECTION END
NO >> Replace the brake booster.
Special Repair Requirement INFOID:0000000012172300

DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
SPECIAL REPAIR REQUIREMENT
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".

>> GO TO 2.
2.CHECK DCA SYSTEM

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1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.

>> WORK END

Revision: July 2016 DAS-56 2016 QX50

 C1A11 PRESSURE CONTROL
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1A11 PRESSURE CONTROL
A
Description INFOID:0000000012172301

• The brake booster control unit receives the brake fluid pressure command signal from ICC sensor integrated B
unit via ITS communication and activates the booster solenoid to operate the brake booster.
• The brake booster adjusts the brake fluid pressure by driving the booster solenoid.
• The brake pedal is controlled when the brake booster adjusts the brake fluid pressure.
C
DTC Logic INFOID:0000000012172302

DTC DETECTION LOGIC D

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
E
C1A11
PRESSURE CONTROL If the brake booster is malfunctioning Brake booster
(11)
F
NOTE:
If DTC “C1A11” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-135, "ICC

cardiagn.com
SENSOR INTEGRATED UNIT : DTC Logic".
G
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine. H
2. Perform the active test item “BOOSTER SOL/V” with CONSULT.
3. Perform “All DTC Reading”.
4. Check if the “C1A11” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”. I
Is “C1A11” detected as the current malfunction?
YES >> Refer to DAS-57, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident". J
Diagnosis Procedure INFOID:0000000012172303

1.CHECK SELF-DIAGNOSIS RESULTS K

Check if “U1000” is detected other than “C1A11” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected? L
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to DAS-135, "ICC SENSOR INTEGRATED UNIT : DTC Logic".
NO >> GO TO 2. M
2.CHECK BRAKE OPERATION
Check if the brake operates normally.
Does it operate normally? N
YES >> GO TO 4.
NO >> GO TO 3.
DAS
3.BRAKE LINE INSPECTION
1. Check the brake system, and then repair malfunctioning parts.
2. Erases All self-diagnosis results. P
3. Perform “BOOSTER SOL/V” on “Active Test” of “ICC/ADAS”.
Does it operate normally?
YES >> INSPECTION END
NO >> GO TO 4.
4.CHECK BOOSTER SOLENOID
Check the booster solenoid. Refer to DAS-58, "Component Inspection".

Revision: July 2016 DAS-57 2016 QX50

 C1A11 PRESSURE CONTROL
< DTC/CIRCUIT DIAGNOSIS > [DCA]
Is the inspection result normal?
YES >> GO TO 5.
NO >> Replace the brake booster.
5.CHECK HARNESS BETWEEN BRAKE BOOSTER (BOOSTER SOLENOID) AND BRAKE BOOSTER
CONTROL UNIT
1. Turn the ignition switch OFF.
2. Disconnect connectors of brake booster control unit and brake booster.
3. Check for continuity between the brake booster control unit harness connector and brake booster harness
connector.

Brake booster control unit Brake booster

Continuity
Connector Terminal Connector Terminal
10 4
B250 E45 Existed
12 6
4. Check for continuity between brake booster control unit harness connector and ground.

Brake booster control unit

Continuity

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Connector Terminal
Ground
10
B250 Not existed
12
Is the inspection result normal?
YES >> Replace the brake booster control unit.
NO >> Repair the harnesses or connectors.
Component Inspection INFOID:0000000012172304

1.CHECK BRAKE BOOSTER (BOOSTER SOLENOID)

Check resistance between brake booster (booster solenoid) termi-
nals.

Brake booster
Resistance
Terminal
4 6 Approx. 1.4 Ω
Is the inspection result normal?
YES >> INSPECTION END
NO >> Replace the brake booster.
JPOIA0160GB

Special Repair Requirement INFOID:0000000012172305

DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
SPECIAL REPAIR REQUIREMENT
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".

>> GO TO 2.
Revision: July 2016 DAS-58 2016 QX50
 C1A11 PRESSURE CONTROL
< DTC/CIRCUIT DIAGNOSIS > [DCA]

2.CHECK DCA SYSTEM A

1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.
B

>> WORK END

C

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G

DAS

Revision: July 2016 DAS-59 2016 QX50

 C1A12 LASER BEAM OFF CENTER
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1A12 LASER BEAM OFF CENTER
Description INFOID:0000000012172306

ICC sensor integrated unit detects the reflected light from the vehicle ahead by irradiating a laser forward. It
calculates the distance from and relative speed with the vehicle ahead based on the detected signal.
DTC Logic INFOID:0000000012172307

DTC DETECTION LOGIC

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
C1A12 Laser beam of ICC sensor integrated unit is
LASER BEAM OFFCNTR Laser beam is off the aiming point
(12) off the aiming point

Diagnosis Procedure INFOID:0000000012172308

1.ADJUST LASER BEAM AIMING

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1. Adjust the laser beam aiming with CONSULT. Refer to CCS-7, "LASER BEAM AIMING ADJUSTMENT :
Description".
2. Perform “All DTC Reading”.
3. Check if the “C1A12” is detected in “Self Diagnostic Result” of “ICC/ADAS”.
Is “C1A12” detected?
YES >> Replace ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
NO >> INSPECTION END
Special Repair Requirement INFOID:0000000012172309

DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
SPECIAL REPAIR REQUIREMENT
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".

>> GO TO 2.
2.CHECK DCA SYSTEM
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.

>> WORK END

Revision: July 2016 DAS-60 2016 QX50

 C1A13 STOP LAMP RELAY
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1A13 STOP LAMP RELAY
A
Description INFOID:0000000012172310

• The ICC sensor integrated unit transmits the ICC brake hold relay drive signal to the brake booster control B
unit via ITS communication.
• The ICC brake hold relay activates the stop lamp by the ICC brake hold relay drive signal (stop lamp drive
signal) outputted by the brake booster control unit.
C
DTC Logic INFOID:0000000012172311

DTC DETECTION LOGIC D

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
E
• Stop lamp switch circuit
• If the stop lamp is not activated even • ICC brake switch circuit
though the ICC sensor integrated unit is • ICC brake hold relay circuit F
transmitting a ICC brake hold relay drive • Stop lamp switch
C1A13
STOP LAMP RLY FIX signal. • ICC brake switch
(13)

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• If the stop lamp is activated even though • ICC brake hold relay
the ICC sensor integrated unit is not trans- • Incorrect stop lamp switch installation G
mitting a ICC brake hold relay drive signal. • Incorrect ICC brake switch installation
• ECM
NOTE: H
If DTC “C1A13” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-135, "ICC
SENSOR INTEGRATED UNIT : DTC Logic".
DTC CONFIRMATION PROCEDURE I

1.PERFORM DTC CONFIRMATION PROCEDURE (1)

1. Start the engine. J
2. Perform the active test item “STOP LAMP” with CONSULT.
3. Perform “All DTC Reading”.
4. Check if the “C1A13” is detected as the current malfunction in the self-diagnosis results of “ICC/ADAS”.
K
Is “C1A13” detected as the current malfunction?
YES >> Refer to DAS-61, "Diagnosis Procedure".
NO >> GO TO 2.
L
2.PERFORM DTC CONFIRMATION PROCEDURE (2)
1. Drive at the vehicle speed of 40 km/h (25 MPH) or more for approximately 20 seconds or more without the
brake pedal depressed. M
CAUTION:
Always drive safely.
NOTE: N
If it is outside the above conditions, repeat the step 1.
2. Perform “All DTC Reading”.
3. Check if the “C1A13” is detected as the current malfunction in the self-diagnosis results of “ICC/ADAS”.
Is “C1A13” detected as the current malfunction? DAS
YES >> Refer to DAS-61, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
P
Diagnosis Procedure INFOID:0000000012172312

1.CHECK SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “C1A13” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?

Revision: July 2016 DAS-61 2016 QX50

 C1A13 STOP LAMP RELAY
< DTC/CIRCUIT DIAGNOSIS > [DCA]
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to DAS-135, "ICC SENSOR INTEGRATED UNIT : DTC Logic".
NO >> GO TO 2.
2.CHECK STOP LAMP SWITCH AND ICC BRAKE SWITCH
Check that “STOP LAMP SW” and “BRAKE SW” operate normally in “DATA MONITOR” of “ICC/ADAS”.
Is the inspection result normal?
YES >> GO TO 12.
NO-1 >> When “BRAKE SW” operation is malfunctioning: GO TO 3.
NO-2 >> When “STOP LAMP SW” operation is malfunctioning: GO TO 9.
3.CHECK ICC BRAKE SWITCH INSTALLATION
1. Turn ignition switch OFF.
2. Check ICC brake switch for correct installation. Refer to BR-10, "Inspection and Adjustment".
Is the inspection result normal?
YES >> GO TO 4.
NO >> Adjust ICC brake switch installation. Refer to BR-10, "Inspection and Adjustment".
4.CHECK ICC BRAKE SWITCH
1. Disconnect ICC brake switch connector.

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2. Check ICC brake switch. Refer to DAS-44, "Component Inspection (ICC Brake Switch)".
Is the inspection result normal?
YES >> GO TO 5.
NO >> Replace ICC brake switch.
5.CHECK ICC BRAKE HOLD RELAY
1. Remove ICC brake hold relay.
2. Check for continuity between ICC brake hold relay terminals.

ICC brake hold relay

Continuity
Terminal
3 4 Existed
Is the inspection result normal?
YES >> GO TO 6.
NO >> Replace ICC brake hold relay.
6.CHECK HARNESS BETWEEN ICC BRAKE HOLD RELAY AND ICC BRAKE SWITCH
1. Check for continuity between ICC brake hold relay harness connector and ICC brake switch harness con-
nector.

ICC brake hold relay ICC brake switch

Continuity
Connector Terminal Connector Terminal
E50 4 E111 1 Existed
2. Check for continuity between ICC brake hold relay harness connector and ground.

ICC brake hold relay

Continuity
Connector Terminal Ground
E50 4 Not existed
Is the inspection result normal?
YES >> GO TO 7.
NO >> Repair the harnesses or connectors.
7.CHECK HARNESS BETWEEN ECM AND ICC BRAKE SWITCH
1. Disconnect ECM connector.

Revision: July 2016 DAS-62 2016 QX50

 C1A13 STOP LAMP RELAY
< DTC/CIRCUIT DIAGNOSIS > [DCA]
2. Check for continuity between the ECM harness connector and ICC brake switch harness connector.
A
ECM ICC brake switch
Continuity
Connector Terminal Connector Terminal
B
M107 126 E111 2 Existed
3. Check for continuity between ECM harness connector and ground.
C
ECM
Continuity
Connector Terminal Ground
M107 126 Not existed D

Is the inspection result normal?

YES >> GO TO 8. E
NO >> Repair the harnesses or connectors.
8.CHECK ICC BRAKE HOLD RELAY POWER SUPPLY CIRCUIT
1. Connect ECM connector. F
2. Turn the ignition switch ON.
3. Check the voltage between ICC brake hold relay harness connector and ground.

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G
Terminals
(+) (–) Voltage
ICC brake hold relay (Approx.) H
Connector Terminal
Ground
Battery
E50 3 I
voltage
Is the inspection result normal?
YES >> GO TO 20. J
NO >> Repair ICC brake hold relay power supply circuit.
9.CHECK STOP LAMP FOR ILLUMINATION
1. Turn the ignition switch OFF. K
2. Remove ICC brake hold relay.
3. Check that the stop lamp is illuminated by depressing the brake pedal to turn the stop lamp ON.
Is the inspection result normal? L
YES >> GO TO 10.
NO >> Check the stop lamp circuit, and repair or replace the malfunctioning parts.
10.CHECK ICC BRAKE HOLD RELAY CIRCUIT M

1. Connect ICC brake hold relay.

2. Disconnect the stop lamp switch connector.
N
3. Check that the stop lamp does not illuminate when brake pedal is not depressed.
Is the inspection result normal?
YES >> GO TO 20.
DAS
NO >> GO TO 11.
11.CHECK ICC BRAKE HOLD RELAY
1. Remove ICC brake hold relay. P
2. Check for continuity between ICC brake hold relay terminals.

ICC brake hold relay

Continuity
Terminal
6 7 Not existed
Is the inspection result normal?
Revision: July 2016 DAS-63 2016 QX50
 C1A13 STOP LAMP RELAY
< DTC/CIRCUIT DIAGNOSIS > [DCA]
YES >> GO TO 20.
NO >> Replace ICC brake hold relay.
12.CHECK HARNESS BETWEEN BRAKE BOOSTER CONTROL UNIT AND ICC BRAKE HOLD RELAY
1. Turn ignition switch OFF.
2. Disconnect brake booster control unit connector and remove ICC brake hold relay.
3. Check for continuity between the brake booster control unit harness connector and ICC brake hold relay
harness connector.

Brake booster control unit ICC brake hold relay

Continuity
Connector Terminal Connector Terminal
B249 47 E50 1 Existed
4. Check for continuity between brake booster control unit harness connector and ground.

Brake booster control unit

Continuity
Connector Terminal Ground
B249 47 Not existed
Is the inspection result normal?

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YES >> GO TO 13.
NO >> Repair the harnesses or connectors.
13.CHECK HARNESS BETWEEN ICC BRAKE HOLD RELAY AND GROUND
Check for continuity between ICC brake hold relay harness connector and ground.

ICC brake hold relay

Continuity
Connector Terminal Ground
E50 2 Existed
Is the inspection result normal?
YES >> GO TO 14.
NO >> Repair the harnesses or connectors.
14.CHECK ICC BRAKE HOLD RELAY
Check resistance between ICC brake hold relay terminals.

ICC brake hold relay

Resistance
Terminal
1 2 Approx. 75 Ω
Is the inspection result normal?
YES >> GO TO 15.
NO >> Replace ICC brake hold relay.
15.CHECK BRAKE BOOSTER CONTROL UNIT OUTPUT VOLTAGE
1. Connect the brake booster control unit connector.
2. Turn ignition switch ON.
3. Perform “STOP LAMP” on “Active Test” of “ICC/ADAS”, and then check the voltage between ICC brake
hold relay harness connector and ground.

Revision: July 2016 DAS-64 2016 QX50

 C1A13 STOP LAMP RELAY
< DTC/CIRCUIT DIAGNOSIS > [DCA]

Terminal A
Condition
(+) (–)
Voltage
ICC brake hold relay Active Test (Approx.)
item B
Connector Terminal “STOP LAMP”
Ground
Off 0V
E50 1 C
Battery
On
voltage
Is the inspection result normal?
D
YES >> GO TO 16.
NO >> GO TO 21.
16.CHECK ICC BRAKE HOLD RELAY POWER SUPPLY CIRCUIT E
1. Turn ignition switch OFF.
2. Check the voltage between ICC brake hold relay harness connector and ground.
F
Terminal

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(+) (–) Voltage
ICC brake hold relay (Approx.) G

Connector Terminal
Ground
Battery H
E50 7
voltage
Is the inspection result normal?
YES >> GO TO 17. I
NO >> Repair or replace ICC brake hold relay power supply circuit.
17.CHECK HARNESS BETWEEN ICC BRAKE HOLD RELAY AND ECM
1. Disconnect ECM, rear combination lamp, and high-mounted stop lamp connectors. J
2. Check for continuity between ICC brake hold relay harness connector and ECM harness connector.

ICC brake hold relay ECM

K
Continuity
Connector Terminal Connector Terminal
E50 6 M107 122 Existed L
3. Check for continuity between ICC brake hold relay harness connector and ground.

ICC brake hold relay M

Continuity
Connector Terminal Ground
E50 6 Not existed
N
Is the inspection result normal?
YES >> GO TO 18.
NO >> Repair the harnesses or connectors. DAS
18.CHECK ICC BRAKE HOLD RELAY
1. Connect ECM, rear combination lamp, and high-mounted stop lamp connectors and ICC brake hold relay.
2. Disconnect the stop lamp switch connector. P
3. Turn ignition switch ON.
4. Perform “STOP LAMP” on “Active Test” of “ICC/ADAS”, and then check the stop lamp for illumination.
Is the inspection result normal?
YES >> GO TO 19.
NO >> Replace ICC brake hold relay.
19.CHECK ICC BRAKE SWITCH STANDARD VOLTAGE
Revision: July 2016 DAS-65 2016 QX50
 C1A13 STOP LAMP RELAY
< DTC/CIRCUIT DIAGNOSIS > [DCA]
1. Turn ignition switch OFF.
2. Connect the stop lamp switch connector.
3. Turn ignition switch ON.
4. Perform “STOP LAMP” on “Active Test” of “ICC/ADAS”, and then check the voltage between ICC brake
switch harness connector and ground.

Terminal
Condition
(+) (–)
Voltage
ICC brake switch Active Test (Approx.)
item
Connector Terminal “STOP LAMP”
Ground
Battery
Off
E111 1 voltage
On 0V
Is the inspection result normal?
YES >> GO TO 20.
NO >> Replace ICC brake hold relay.
20.PERFORM SELF-DIAGNOSIS OF ECM

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1. Connect all connectors again if the connectors are disconnected.
2. Turn ignition switch ON.
3. Perform “All DTC Reading”.
4. Check if any DTC is detected in “Self Diagnostic Result” of “ENGINE”. Refer to EC-580, "DTC Index".
Is any DTC detected?
YES >> Repair or replace the malfunctioning parts identified by the self-diagnosis result.
NO >> GO TO 21.
21.CHECK ICC BRAKE HOLD RELAY DRIVE SIGNAL OUTPUT
1. Select the active test item “STOP LAMP” of “ICC/ADAS”.
2. Check that “STP LMP DRIVE” is turned ON when operating the test item.
Is the inspection result normal?
YES >> Replace brake booster control unit.
NO >> Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
Component Inspection INFOID:0000000012172313

1.CHECK ICC BRAKE HOLD RELAY

Apply battery voltage to ICC brake hold relay terminals 1 and 2, and
then check for continuity under the following conditions.

Condition Terminal Continuity

Not exist-
3 4
When the battery voltage is applied ed
6 7 Existed
3 4 Existed
When the battery voltage is not ap-
plied Not exist-
6 7
ed MBIB0063E

Is the inspection result normal?

YES >> INSPECTION END
NO >> Replace ICC brake hold relay.
Special Repair Requirement INFOID:0000000012172314

DESCRIPTION

Revision: July 2016 DAS-66 2016 QX50

 C1A13 STOP LAMP RELAY
< DTC/CIRCUIT DIAGNOSIS > [DCA]
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed. A
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
SPECIAL REPAIR REQUIREMENT B
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING C
ADJUSTMENT : Description".

D
>> GO TO 2.
2.CHECK DCA SYSTEM
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action E
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.
F
>> WORK END

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G

DAS

Revision: July 2016 DAS-67 2016 QX50

 C1A14 ECM
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1A14 ECM
Description INFOID:0000000012172315

ECM transmits the accelerator pedal position signal, ICC brake switch signal, stop lamp switch signal, ICC
steering switch signal, etc. to ICC sensor integrated unit via CAN communication.
DTC Logic INFOID:0000000012172316

DTC DETECTION LOGIC

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
• Accelerator pedal position sensor
C1A14
ECM CIRCUIT If ECM is malfunctioning • ECM
(14)
• ICC sensor integrated unit
NOTE:
If DTC “C1A14” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-135, "ICC
SENSOR INTEGRATED UNIT : DTC Logic".
1.PERFORM DTC CONFIRMATION PROCEDURE

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1. Start the engine.
2. Operate the ICC system and drive.
CAUTION:
Always drive safely.
3. Stop the vehicle.
4. Perform “All DTC Reading” with CONSULT.
5. Check if the “C1A14” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
Is “C1A14” detected as the current malfunction?
YES >> Refer to DAS-68, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172317

1.CHECK SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “C1A14” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to DAS-135, "ICC SENSOR INTEGRATED UNIT : DTC Logic".
NO >> GO TO 2.
2.PERFORM SELF-DIAGNOSIS OF ECM
Check if any DTC is detected in “Self Diagnostic Result” of “ENGINE”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
EC-580, "DTC Index".
NO >> Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
Special Repair Requirement INFOID:0000000012172318

DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
SPECIAL REPAIR REQUIREMENT

Revision: July 2016 DAS-68 2016 QX50

 C1A14 ECM
< DTC/CIRCUIT DIAGNOSIS > [DCA]

1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT A

Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".
B

>> GO TO 2.
2.CHECK DCA SYSTEM C
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal. D

>> WORK END

E

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G

DAS

Revision: July 2016 DAS-69 2016 QX50

 C1A15 GEAR POSITION
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1A15 GEAR POSITION
Description INFOID:0000000012172319

ICC sensor integrated unit judges the gear position based on the following signals.
• Current gear position signal transmitted from TCM via CAN communication.
• Value of gear ratio calculated from input speed signal transmitted from TCM via CAN communication.
• Value of gear ratio calculated from the vehicle speed signal transmitted from ABS actuator and electric unit
(control unit) via CAN communication.
DTC Logic INFOID:0000000012172320

DTC DETECTION LOGIC

DTC
Trouble diagnosis
(On board dis- DTC detecting condition Possible causes
name
play)
If a mismatch occurs between an current • Input speed sensor
C1A15 gear position signal transmitted from TCM • Vehicle speed sensor A/T (output speed
GEAR POSITION
(15) via CAN communication and the gear posi- sensor)
tion calculated by ICC sensor integrated unit • TCM

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NOTE:
If DTC “C1A15” is detected along with DTC “U1000”, “C1A03” or “C1A04”, first diagnose the DTC “U1000”,
“C1A03” or “C1A04”.
• Refer to DAS-135, "ICC SENSOR INTEGRATED UNIT : DTC Logic" for DTC “U1000”.
• Refer to DAS-37, "DTC Logic" for DTC “C1A03”.
• Refer to DAS-39, "DTC Logic" for DTC “C1A04”.
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the DCA system ON.
3. Drive the vehicle at 10 km/h (6 MPH) or faster for approximately 15 minutes or more.
CAUTION:
Always drive safely.
4. Stop the vehicle.
5. Perform “All DTC Reading” with CONSULT.
6. Check if the “C1A15” is detected as the current malfunction in the self-diagnosis results of “ICC/ADAS”.
Is “C1A15” detected as the current malfunction?
YES >> Refer to DAS-70, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172321

1.CHECK SELF-DIAGNOSIS RESULTS

Check if “C1A03”, “C1A04”, or “U1000” is detected other than “C1A15” in “Self Diagnostic Result” of “ICC/
ADAS”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
DAS-162, "DTC Index".
NO >> GO TO 2.
2.CHECK VEHICLE SPEED SIGNAL
Check that “VHCL SPEED SE” operates normally in “DATA MONITOR” of “ICC/ADAS”.
CAUTION:
Be careful of the vehicle speed.
Is the inspection result normal?
YES >> GO TO 3.

Revision: July 2016 DAS-70 2016 QX50

 C1A15 GEAR POSITION
< DTC/CIRCUIT DIAGNOSIS > [DCA]
NO >> GO TO 7.
3.CHECK GEAR POSITION A

Check that “GEAR” operates normally in “DATA MONITOR” of “ICC/ADAS”.

CAUTION:
B
Be careful of the vehicle speed.
Is the inspection result normal?
YES >> GO TO 5.
C
NO >> GO TO 4.
4.CHECK GEAR POSITION SIGNAL
Check that “GEAR” operates normally in “DATA MONITOR” of “TRANSMISSION”. D
Is the inspection result normal?
YES >> GO TO 5.
NO >> GO TO 6. E
5.CHECK INPUT SPEED SENSOR SIGNAL
Check that “INPUT SPEED” operates normally in “DATA MONITOR” of “TRANSMISSION”. F
Is the inspection result normal?
YES >> Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View".

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NO >> GO TO 6. G
6.CHECK TCM SELF-DIAGNOSIS RESULTS
1. Perform “All DTC Reading”.
2. Check if any DTC is detected in “Self Diagnostic Result” of “TRANSMISSION”. H
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
TM-157, "DTC Index". I
NO >> Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
7.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS J
1. Perform “All DTC Reading”.
2. Check if any DTC is detected in “Self Diagnostic Result” of “ABS”.
Is any DTC detected? K
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
BRC-143, "DTC No. Index".
NO >> Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
L
Special Repair Requirement INFOID:0000000012172322

DESCRIPTION M
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
• Removal and installation of ICC sensor integrated unit N
• Replacement of ICC sensor integrated unit
SPECIAL REPAIR REQUIREMENT
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT DAS

Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".
P

>> GO TO 2.
2.CHECK DCA SYSTEM
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)

Revision: July 2016 DAS-71 2016 QX50

 C1A15 GEAR POSITION
< DTC/CIRCUIT DIAGNOSIS > [DCA]
2. Check that the DCA system is normal.

>> WORK END

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Revision: July 2016 DAS-72 2016 QX50

 C1A16 RADAR STAIN
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1A16 RADAR STAIN
A
Description INFOID:0000000012172323

ICC sensor integrated unit detects the reflected light from the vehicle ahead by irradiating a laser beam for- B
ward. It calculates the distance from and relative speed with the vehicle ahead based on the detected signal.
DTC Logic INFOID:0000000012172324

C
DTC DETECTION LOGIC

DTC
Trouble diagnosis
D
(On board dis- DTC detecting condition Possible causes
name
play)
• Stain or foreign materials is deposit- E
C1A16 If any stain occurs to ICC sensor integrated
RADAR STAIN ed
(16) unit body window
• Cracks or scratches exist
NOTE:
F
DTC “C1A16” may be detected under the following conditions. (Explain to the customer about the difference
between the contamination detection function and the indication when the error is detected and tell them “This
is not malfunction”.)

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• When contamination or foreign materials adhere on the ICC sensor integrated unit body window G
• When driving while it is snowing or when frost forms on the ICC sensor integrated unit body window
• When the ICC sensor integrated unit body window is temporarily fogged
Diagnosis Procedure INFOID:0000000012172325
H

1.VISUAL CHECK 1
I
Check ICC sensor integrated unit body window for contamination and foreign materials.
Does contamination or foreign materials adhere?
YES >> Wipe out the contamination and foreign materials from the ICC sensor integrated unit body win- J
dow.
NO >> GO TO 2.
2.VISUAL CHECK 2 K
Check ICC sensor integrated unit body window for cracks and scratches.
Is it found?
YES >> Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View". L
NO >> GO TO 3.
3.INTERVIEW
M
1. Ask if there is any trace of contamination or foreign materials adhering to the ICC sensor integrated unit
body window.
2. Ask if ICC sensor integrated unit body window was frosted during driving or if vehicle was driven in snow.
3. Ask if ICC sensor integrated unit body window was temporarily fogged. (Windshield glass may also tend N
to fog, etc.)
What is the result of the interview with the customer?
YES >> Explain to the customer about the difference between the contamination detection function and DAS
the indication when the malfunction is detected and tell them “This is not malfunction”.
NO >> Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
P
Special Repair Requirement INFOID:0000000012172326

DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit

Revision: July 2016 DAS-73 2016 QX50

 C1A16 RADAR STAIN
< DTC/CIRCUIT DIAGNOSIS > [DCA]
SPECIAL REPAIR REQUIREMENT
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".

>> GO TO 2.
2.CHECK DCA SYSTEM
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.

>> WORK END

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Revision: July 2016 DAS-74 2016 QX50

 C1A18 LASER AIMING INCMP
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1A18 LASER AIMING INCMP
A
Description INFOID:0000000012172327

Always perform the laser beam aiming adjustment after replacing the ICC sensor integrated unit. B
DTC Logic INFOID:0000000012172328

DTC DETECTION LOGIC C

DTC
Trouble diagnosis
(On board dis- DTC detecting condition Possible causes D
name
play)
• No laser beam aiming adjustment is
C1A18 LASER AIMING IN- Laser beam aiming of ICC sensor integrated unit performed
E
(18) CMP is not adjusted • Laser beam aiming adjustment has
been interrupted

DTC CONFIRMATION PROCEDURE F

1.PERFORM DTC CONFIRMATION PROCEDURE

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1. Start the engine.
G
2. Turn the DCA system ON.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “C1A18” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
Is “C1A18” detected as the current malfunction? H
YES >> Refer to DAS-75, "Diagnosis Procedure".
NO >> INSPECTION END
I
Diagnosis Procedure INFOID:0000000012172329

1.ADJUST LASER BEAM AIMING J

1. Adjust the laser beam aiming. Refer to CCS-7, "LASER BEAM AIMING ADJUSTMENT : Description".
2. Erase All self-diagnosis results with CONSULT.
3. Perform “All DTC Reading”. K
4. Check if the “C1A18” is detected in “Self Diagnostic Result” of “ICC/ADAS”.
Is “C1A18” detected?
YES >> Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View". L
NO >> INSPECTION END
Special Repair Requirement INFOID:0000000012172330

M
DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed. N
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
SPECIAL REPAIR REQUIREMENT DAS
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING P
ADJUSTMENT : Description".

>> GO TO 2.
2.CHECK DCA SYSTEM

Revision: July 2016 DAS-75 2016 QX50

 C1A18 LASER AIMING INCMP
< DTC/CIRCUIT DIAGNOSIS > [DCA]
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.

>> WORK END

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Revision: July 2016 DAS-76 2016 QX50

 C1A21 UNIT HIGH TEMP
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1A21 UNIT HIGH TEMP
A
Description INFOID:0000000012172331

ICC sensor integrated unit integrates the temperature sensor. B

DTC Logic INFOID:0000000012172332

DTC DETECTION LOGIC C

DTC
Trouble diagnosis
(On board dis- DTC detecting condition Possible causes D
name
play)
C1A21 If the temperature sensor (integrated in the ICC Temperature around ICC sensor inte-
UNIT HIGH TEMP
(21) sensor integrated unit) detects a high temperature grated unit is excessively high
E
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE F
1. Turn the ignition switch OFF.
2. Wait for 10 minutes or more and cool the ICC sensor integrated unit.

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3. Start the engine. G
4. Turn the DCA system ON.
5. Perform “All DTC Reading” with CONSULT.
6. Check if the “C1A21” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
H
Is “C1A21” detected as the current malfunction?
YES >> Refer to DAS-77, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
I
Diagnosis Procedure INFOID:0000000012172333

1.CHECK ENGINE COOLING SYSTEM J

Check for any malfunctions in engine cooling system.
Is engine cooling system normal?
YES >> Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View". K
NO >> Repair engine cooling system.
Special Repair Requirement INFOID:0000000012172334
L

DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
M
operation is performed.
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
N
SPECIAL REPAIR REQUIREMENT
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING DAS
ADJUSTMENT : Description".

P
>> GO TO 2.
2.CHECK DCA SYSTEM
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.

Revision: July 2016 DAS-77 2016 QX50

 C1A21 UNIT HIGH TEMP
< DTC/CIRCUIT DIAGNOSIS > [DCA]
>> WORK END

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Revision: July 2016 DAS-78 2016 QX50

 C1A22 BCU CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1A22 BCU CIRCUIT
A
Description INFOID:0000000012172335

• The brake booster control unit receives the brake fluid pressure command signal from ICC sensor integrated B
unit via ITS communication and activates the booster solenoid to operate the brake booster.
• The brake booster adjusts the brake fluid pressure by driving the booster solenoid.
• The brake pedal is controlled when the brake booster adjusts the brake fluid pressure.
C
DTC Logic INFOID:0000000012172336

DTC DETECTION LOGIC D

DTC
(On board Trouble diagnosis name DTC detecting condition Possible causes
display)
E
• Stop lamp switch circuit
• ICC brake switch circuit
• Stop lamp switch F
• ICC brake switch
C1A22 If the brake booster control unit cannot control
BCU CIRCUIT • Incorrect stop lamp switch installation
(22) the brake booster

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• Incorrect ICC brake switch installa-
tion G
• ECM
• Brake booster control unit
NOTE: H
If DTC “C1A22” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-135, "ICC
SENSOR INTEGRATED UNIT : DTC Logic".
DTC CONFIRMATION PROCEDURE I

1.PERFORM DTC CONFIRMATION PROCEDURE

1. Start the engine. J
2. Turn the DCA system ON.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “C1A22” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
K
Is “C1A22” detected as the current malfunction?
YES >> Refer to DAS-79, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
L
Diagnosis Procedure INFOID:0000000012172337

1.CHECK SELF-DIAGNOSIS RESULTS M

Check if “C1A05” or “U1000” is detected other than “C1A22” in “Self Diagnostic Result” of “ICC/ADAS”.
Is any DTC detected?
N
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
DAS-162, "DTC Index".
NO >> GO TO 2.
2.CHECK STOP LAMP SWITCH AND ICC BRAKE SWITCH DAS

Check that “STOP LAMP SW” and “BRAKE SW” operate normally in “DATA MONITOR” of “ICC/ADAS”.
Is the inspection result normal? P
YES >> GO TO 10.
NO-1 >> When “BRAKE SW” operation is malfunctioning: GO TO 3.
NO-2 >> When “STOP LAMP SW” operation is malfunctioning: GO TO 5.
3.CHECK ICC BRAKE SWITCH INSTALLATION
1. Turn the ignition switch OFF.
2. Check ICC brake switch for correct installation. Refer to BR-10, "Inspection and Adjustment".

Revision: July 2016 DAS-79 2016 QX50

 C1A22 BCU CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [DCA]
Is the inspection result normal?
YES >> GO TO 4.
NO >> Adjust ICC brake switch installation. Refer to BR-10, "Inspection and Adjustment".
4.ICC BRAKE SWITCH INSPECTION
1. Disconnect ICC brake switch connector.
2. Check ICC brake switch. Refer to DAS-44, "Component Inspection (ICC Brake Switch)".
Is the inspection result normal?
YES >> GO TO 7.
NO >> Replace the ICC brake switch.
5.CHECK STOP LAMP FOR ILLUMINATION
Check stop lamp illumination.
Is the inspection result normal?
YES >> GO TO 6.
NO >> Check the stop lamp circuit, and repair or replace the malfunctioning parts.
6.CHECK ICC BRAKE HOLD RELAY
1. Turn the ignition switch OFF.
2. Remove ICC brake hold relay.

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3. Check for continuity between ICC brake hold relay terminals.

ICC brake hold relay

Continuity
Terminal
3 4 Existed
6 7 Not existed
Is the inspection result normal?
YES >> GO TO 7.
NO >> Replace ICC brake hold relay.
7.CHECK HARNESS BETWEEN ECM AND ICC BRAKE HOLD RELAY
1. Disconnect ECM connector.
2. Check for continuity between the ECM harness connector and ICC brake hold relay harness connector.

ECM ICC brake hold relay

Continuity
Connector Terminal Connector Terminal
M107 122 E50 6 Existed
3. Check for continuity between ECM harness connector and ground.

ECM
Continuity
Connector Terminal Ground
M107 122 Not existed
Is the inspection result normal?
YES >> GO TO 8.
NO >> Repair the harnesses or connectors.
8.CHECK HARNESS BETWEEN ECM AND ICC BRAKE SWITCH
1. Check for continuity between the ECM harness connector and ICC brake switch harness connector.

ECM ICC brake switch

Continuity
Connector Terminal Connector Terminal
M107 126 E111 2 Existed
2. Check for continuity between ECM harness connector and ground.
Revision: July 2016 DAS-80 2016 QX50
 C1A22 BCU CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [DCA]

ECM A
Continuity
Connector Terminal Ground
M107 126 Not existed
B
Is the inspection result normal?
YES >> GO TO 9.
NO >> Repair the harnesses or connectors. C
9.CHECK HARNESS BETWEEN ICC BRAKE SWITCH AND ICC BRAKE HOLD RELAY
1. Disconnect ICC brake switch connector.
2. Check for continuity between ICC brake switch harness connector and ICC brake hold relay harness con- D
nector.

ICC brake switch ICC brake hold relay E

Continuity
Connector Terminal Connector Terminal
E111 1 E50 4 Existed
F
3. Check for continuity between ICC brake switch harness connector and ground.

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ICC brake switch G
Continuity
Connector Terminal Ground
E111 1 Not existed
H
Is the inspection result normal?
YES >> GO TO 10.
NO >> Repair the harnesses or connectors.
I
10.PERFORM SELF-DIAGNOSIS OF ECM
1. Connect all connectors again if the connectors are disconnected.
2. Turn the ignition switch ON. J
3. Perform “All DTC Reading”.
4. Check if any DTC is detected in “Self Diagnostic Result” of “ENGINE”.
Is any DTC detected? K
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
EC-580, "DTC Index".
NO >> Replace the brake booster control unit. L
Special Repair Requirement INFOID:0000000012172338

DESCRIPTION M
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
• Removal and installation of ICC sensor integrated unit N
• Replacement of ICC sensor integrated unit
SPECIAL REPAIR REQUIREMENT
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT DAS

Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".
P

>> GO TO 2.
2.CHECK DCA SYSTEM
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)

Revision: July 2016 DAS-81 2016 QX50

 C1A22 BCU CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [DCA]
2. Check that the DCA system is normal.

>> WORK END

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Revision: July 2016 DAS-82 2016 QX50

 C1A24 NP RANGE
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1A24 NP RANGE
A
Description INFOID:0000000012172339

ICC sensor integrated unit judges the NP position status from the shift position signal and current gear position B
signal received from TCM via CAN communication.
DTC Logic INFOID:0000000012172340

C
DTC DETECTION LOGIC

DTC D
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
If the shift position signal and the current gear E
C1A24 • TCM
NP RANGE position signal, transmitted from TCM via CAN
(24) • Transmission range switch
communication, are inconsistent
NOTE:
F
If DTC “C1A24” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-135, "ICC
SENSOR INTEGRATED UNIT : DTC Logic".

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DTC CONFIRMATION PROCEDURE G
1.PERFORM DTC CONFIRMATION PROCEDURE (1)
1. Start the engine.
2. Turn the DCA system ON. H
3. Wait for approximately 5 minutes or more after shifting the selector lever to “P” position.
4. Perform “All DTC Reading” with CONSULT.
5. Check if the “C1A24” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”. I
Is “C1A24” detected as the current malfunction?
YES >> Refer to DAS-83, "Diagnosis Procedure".
NO >> GO TO 2. J
2.PERFORM DTC CONFIRMATION PROCEDURE (2)
1. Wait for approximately 5 minutes or more after shifting the selector lever to “N” position.
K
2. Perform “All DTC Reading”.
3. Check if the “C1A24” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
Is “C1A24” detected as the current malfunction?
L
YES >> Refer to DAS-83, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172341
M

1.CHECK SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “C1A24” in “Self Diagnostic Result” of “ICC/ADAS”. N
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to DAS-135, "ICC SENSOR INTEGRATED UNIT : DTC Logic". DAS
NO >> GO TO 2.
2.CHECK NP POSITION SWITCH SIGNAL
P
Check that “NP RANGE SW” operates normally in “DATA MONITOR” of “ICC/ADAS”.
Is the inspection result normal?
YES >> GO TO 3.
NO >> GO TO 4.
3.CHECK TCM DATA MONITOR
Check that “SLCT LVR POSI” operates normally in “DATA MONITOR” of “TRANSMISSION”.

Revision: July 2016 DAS-83 2016 QX50

 C1A24 NP RANGE
< DTC/CIRCUIT DIAGNOSIS > [DCA]
Is the inspection result normal?
YES >> Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
NO >> GO TO 4.
4.PERFORM TCM SELF-DIAGNOSIS
1. Perform “All DTC Reading”.
2. Check if any DTC is detected in “Self Diagnostic Result” of “TRANSMISSION”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
TM-157, "DTC Index".
NO >> Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
Special Repair Requirement INFOID:0000000012172342

DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
SPECIAL REPAIR REQUIREMENT

cardiagn.com
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".

>> GO TO 2.
2.CHECK DCA SYSTEM
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.

>> WORK END

Revision: July 2016 DAS-84 2016 QX50

 C1A28 BCU POWER SUPPLY CIRCUIT, C1A29 BCU POWER SUPPLY
CIRCUIT2
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1A28 BCU POWER SUPPLY CIRCUIT, C1A29 BCU POWER SUPPLY
A
CIRCUIT2
Description INFOID:0000000012172343
B
The brake booster control unit controls the brake booster, etc. with the battery power supply and ignition
power supply.
C
DTC Logic INFOID:0000000012172344

DTC DETECTION LOGIC

D
DTC
Trouble diagnosis
(On board dis- DTC detecting condition Possible causes
name
play) E
C1A28 The brake booster control unit power supply
BCU PWR SUPLY CIR
(28) voltage is excessively low (less than 8 V). • Brake booster control unit
C1A29 BCU PWR SUPLY The brake booster control unit power supply • Harness, connector, fuse F
(29) CIR2 voltage is excessively high (more than 19 V).
NOTE:

cardiagn.com
If DTC “C1A28” or “C1A29” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to G
DAS-135, "ICC SENSOR INTEGRATED UNIT : DTC Logic".
DTC CONFIRMATION PROCEDURE
H
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the DCA system ON. I
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “C1A28” or “C1A29” is detected as the current malfunction in self-diagnosis results of “ICC/
ADAS”.
J
Is “C1A28” or “C1A29” detected as the current malfunction?
YES >> Refer to DAS-85, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
K
Diagnosis Procedure INFOID:0000000012172345

1.CHECK SELF-DIAGNOSIS RESULTS L

Check if “U1000” is detected other than “C1A28”, “C1A29” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts. M
Refer to DAS-135, "ICC SENSOR INTEGRATED UNIT : DTC Logic".
NO >> GO TO 2.
2.CHECK BRAKE BOOSTER CONTROL UNIT POWER SUPPLY AND GROUND CIRCUIT N

Check brake booster control unit power supply and ground circuit. Refer to DAS-140, "BRAKE BOOSTER
CONTROL UNIT : Diagnosis Procedure".
DAS
Is the inspection result normal?
YES >> Replace the brake booster control unit.
NO >> Repair brake booster control unit power supply and ground circuit.
P
Special Repair Requirement INFOID:0000000012172346

DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
Revision: July 2016 DAS-85 2016 QX50
 C1A28 BCU POWER SUPPLY CIRCUIT, C1A29 BCU POWER SUPPLY
CIRCUIT2
< DTC/CIRCUIT DIAGNOSIS > [DCA]
SPECIAL REPAIR REQUIREMENT
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".

>> GO TO 2.
2.CHECK DCA SYSTEM
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading”DAS-13, "ACTION TEST : Descrip-
tion" again after performing the action test. (Refer to for action test.)
2. Check that the DCA system is normal.

>> WORK END

cardiagn.com

Revision: July 2016 DAS-86 2016 QX50

 C1A30 BCU CAN COMM CIRC
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1A30 BCU CAN COMM CIRC
A
Description INFOID:0000000012172347

The brake booster control unit communicates with ICC sensor integrated unit for brake booster control via ITS B
communication.
DTC Logic INFOID:0000000012172348

C
DTC DETECTION LOGIC

DTC
Trouble diagnosis
D
(On board dis- DTC detecting condition Possible causes
name
play)
If ICC sensor integrated unit receives the sig- E
C1A30
BCU CAN COMM CIRC nal for improper condition for brake booster ITS communication system
(30)
control unit via ITS communication

Diagnosis Procedure INFOID:0000000012172349 F

1.PERFORM THE SELF-DIAGNOSIS

cardiagn.com
1. Start the engine. G
2. Turn the DCA system ON.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “C1A30” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”. H
Is “C1A30” detected as the current malfunction?
YES >> Perform trouble diagnosis for the ITS communication system. Refer to LAN-18, "Trouble Diagno-
sis Flow Chart". I
NO >> Refer to GI-42, "Intermittent Incident".
Special Repair Requirement INFOID:0000000012172350
J
DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed. K
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
SPECIAL REPAIR REQUIREMENT L

1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT

Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING M
ADJUSTMENT : Description".

N
>> GO TO 2.
2.CHECK DCA SYSTEM
DAS
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.
P
>> WORK END

Revision: July 2016 DAS-87 2016 QX50

 C1A31 BCU INTERNAL MALF
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1A31 BCU INTERNAL MALF
Description INFOID:0000000012172351

The brake booster control unit inputs the brake fluid pressure control signal and release switch signal and
transmits them to ICC sensor integrated unit via ITS communication. Also, it receives the brake fluid pressure
command signal from ICC sensor integrated unit via ITS communication and activates the booster solenoid to
operate the brake booster (brake).
DTC Logic INFOID:0000000012172352

DTC DETECTION LOGIC

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
C1A31
BCU INTERNAL MALF Brake booster control unit internal malfunction Brake booster control unit
(31)

DTC CONFIRMATION PROCEDURE

1.PERFORM DTC CONFIRMATION PROCEDURE

cardiagn.com
1. Start the engine.
2. Turn the DCA system ON.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “C1A31” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
Is “C1A31” detected as the current malfunction?
YES >> Refer to DAS-88, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172353

1.CHECK SELF-DIAGNOSIS RESULTS

Check if any DTC other than “C1A31” is detected in “Self Diagnostic Result” of “ICC/ADAS”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
DAS-162, "DTC Index".
NO >> Replace the brake booster control unit.
Special Repair Requirement INFOID:0000000012172354

DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
SPECIAL REPAIR REQUIREMENT
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".

>> GO TO 2.
2.CHECK DCA SYSTEM
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)

Revision: July 2016 DAS-88 2016 QX50

 C1A31 BCU INTERNAL MALF
< DTC/CIRCUIT DIAGNOSIS > [DCA]
2. Check that the DCA system is normal.
A
>> WORK END

cardiagn.com
G

DAS

Revision: July 2016 DAS-89 2016 QX50

 C1A32 IBA FLAG STUCK
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1A32 IBA FLAG STUCK
Description INFOID:0000000012172355

ICC sensor integrated unit shares components with the IBA system.
DTC Logic INFOID:0000000012172356

DTC DETECTION LOGIC

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
C1A32 If the control (detection) of IBA is malfunction- • ICC sensor integrated unit
IBA FLAG STUCK
(32) ing • Brake booster control unit
NOTE:
If DTC “C1A32” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-135, "ICC
SENSOR INTEGRATED UNIT : DTC Logic".
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE

cardiagn.com
1. Start the engine.
2. Turn the DCA system ON, and wait for 5 minutes or more.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “C1A32” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
Is “C1A32” detected as the current malfunction?
YES >> Refer to DAS-90, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172357

1.CHECK SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “C1A32” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to DAS-135, "ICC SENSOR INTEGRATED UNIT : DTC Logic".
NO >> GO TO 2.
2.REPLACE BRAKE BOOSTER CONTROL UNIT
1. Turn the ignition switch OFF.
2. Replace the brake booster control unit.
3. Erases All self-diagnosis results.
4. Perform DTC confirmation procedure. Refer to DAS-90, "DTC Logic".
5. Perform “All DTC Reading”.
6. Check if the “C1A32” is detected in “Self Diagnostic Result” of “ICC/ADAS”.
Is “C1A32” detected?
YES >> Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
NO >> INSPECTION END
Special Repair Requirement INFOID:0000000012172358

DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
SPECIAL REPAIR REQUIREMENT

Revision: July 2016 DAS-90 2016 QX50

 C1A32 IBA FLAG STUCK
< DTC/CIRCUIT DIAGNOSIS > [DCA]

1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT A

Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".
B

>> GO TO 2.
2.CHECK DCA SYSTEM C
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal. D

>> WORK END

E

cardiagn.com
G

DAS

Revision: July 2016 DAS-91 2016 QX50

 C1A33 CAN TRANSMISSION ERROR
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1A33 CAN TRANSMISSION ERROR
Description INFOID:0000000012172359

ICC sensor integrated unit transmits the signal required by the DCA system control to ECM via CAN commu-
nication.
DTC Logic INFOID:0000000012172360

DTC DETECTION LOGIC

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
If an error occurs in the CAN communication
C1A33 CAN TRANSMISSION
signal that ICC sensor integrated unit trans- ICC sensor integrated unit
(33) ERROR
mits to ECM
NOTE:
If DTC “C1A33” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-135, "ICC
SENSOR INTEGRATED UNIT : DTC Logic".

cardiagn.com
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the DCA system ON.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “C1A33” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
Is “C1A33” detected as the current malfunction?
YES >> Refer to DAS-92, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172361

1.CHECK SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “C1A33” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to DAS-135, "ICC SENSOR INTEGRATED UNIT : DTC Logic".
NO >> Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
Special Repair Requirement INFOID:0000000012172362

DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
SPECIAL REPAIR REQUIREMENT
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".

>> GO TO 2.
2.CHECK DCA SYSTEM
Revision: July 2016 DAS-92 2016 QX50
 C1A33 CAN TRANSMISSION ERROR
< DTC/CIRCUIT DIAGNOSIS > [DCA]
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.) A
2. Check that the DCA system is normal.

>> WORK END B

cardiagn.com
G

DAS

Revision: July 2016 DAS-93 2016 QX50

 C1A34 COMMAND ERROR
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1A34 COMMAND ERROR
Description INFOID:0000000012172363

ICC sensor integrated unit transmits the command signal required for the ECM control via CAN communica-
tion.
DTC Logic INFOID:0000000012172364

DTC DETECTION LOGIC

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
If an error occurs in the command signal that
C1A34
COMMAND ERROR ICC sensor integrated unit transmits to ECM ICC sensor integrated unit
(34)
via CAN communication
NOTE:
If DTC “C1A34” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-135, "ICC
SENSOR INTEGRATED UNIT : DTC Logic".

cardiagn.com
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Operate the ICC system and drive.
CAUTION:
Always drive safely.
3. Stop the vehicle.
4. Perform “All DTC Reading” with CONSULT.
5. Check if the “C1A34” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
Is “C1A34” detected as the current malfunction?
YES >> Refer to DAS-94, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172365

1.CHECK SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “C1A34” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to DAS-135, "ICC SENSOR INTEGRATED UNIT : DTC Logic".
NO >> Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
Special Repair Requirement INFOID:0000000012172366

DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
SPECIAL REPAIR REQUIREMENT
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".

Revision: July 2016 DAS-94 2016 QX50

 C1A34 COMMAND ERROR
< DTC/CIRCUIT DIAGNOSIS > [DCA]
>> GO TO 2.
2.CHECK DCA SYSTEM A

1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
B
2. Check that the DCA system is normal.

>> WORK END

C

cardiagn.com
G

DAS

Revision: July 2016 DAS-95 2016 QX50

 C1A35 ACCELERATOR PEDAL ACTUATOR
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1A35 ACCELERATOR PEDAL ACTUATOR
Description INFOID:0000000012172367

• The accelerator pedal actuator is integrated into the accelerator pedal assembly.
• The accelerator pedal actuator consists of the control unit and motor.
DTC Logic INFOID:0000000012172368

DTC DETECTION LOGIC

DTC
Trouble diagnosis
(On board dis- DTC detecting condition Possible causes
name
play)
C1A35 If the accelerator pedal actuator is malfunc-
APA CIR Accelerator pedal actuator
(35) tioning

Diagnosis Procedure INFOID:0000000012172369

1.PERFORM THE SELF-DIAGNOSIS

cardiagn.com
1. Start the engine.
2. Turn the DCA system ON.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “C1A35” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
Is “C1A35” detected as the current malfunction?
YES >> Replace the accelerator pedal assembly.
NO >> INSPECTION END
Special Repair Requirement INFOID:0000000012172370

DESCRIPTION
The accelerator pedal released position learning is necessary when the following operation is performed.
• Disconnection and connection of accelerator pedal assembly connector
• Replace accelerator pedal assembly
SPECIAL REPAIR REQUIREMENT
1.ACCELERATOR PEDAL RELEASED POSITION LEARNING
Perform the accelerator pedal released position learning. Refer to EC-20, "ACCELERATOR PEDAL
RELEASED POSITION LEARNING : Description".

>> GO TO 2.
2.CHECK DCA SYSTEM
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.

>> WORK END

Revision: July 2016 DAS-96 2016 QX50

 C1A36 ACCELERATOR PEDAL ACTUATOR CAN COMM
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1A36 ACCELERATOR PEDAL ACTUATOR CAN COMM
A
Description INFOID:0000000012172371

• ITS communication is a multiplex communication system. This enables the system to transmit and receive B
large quantities of data at high speed by connecting ICC sensor integrated unit, brake booster control unit,
and accelerator pedal actuator with 2 communication lines.
• ITS communication lines adopt twisted-pair line style (two lines twisted) for noise immunity.
C
DTC Logic INFOID:0000000012172372

DTC DETECTION LOGIC D

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
E
If an error occurs in the signal that the accel- • ICC sensor integrated unit
C1A36
APA CAN COMM CIR erator pedal actuator transmits via ITS com- • Accelerator pedal actuator
(36)
munication • ITS communication system F
NOTE:
If DTC “C1A36” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-135, "ICC

cardiagn.com
SENSOR INTEGRATED UNIT : DTC Logic". G
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE H
1. Start the engine.
2. Turn the DCA system ON.
3. Perform “All DTC Reading” with CONSULT. I
4. Check if the “C1A36” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
Is “C1A36” detected as the current malfunction?
YES >> Refer to DAS-97, "Diagnosis Procedure". J
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172373
K
1.CHECK ICC SENSOR INTEGRATED UNIT SELF-DIAGNOSIS RESULTS
Check if “U1000” is detected other than “C1A36” in “Self Diagnostic Result” of “ICC/ADAS”.
L
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to DAS-135, "ICC SENSOR INTEGRATED UNIT : DTC Logic".
M
NO >> GO TO 2.
2.CHECK ACCELERATOR PEDAL ACTUATOR SELF-DIAGNOSIS RESULTS
Check if the DTC is detected in “Self Diagnostic Result” of “ACCELE PEDAL ACT”. N
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
DAS-182, "DTC Index". DAS
NO >> Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
Special Repair Requirement INFOID:0000000012172374
P
DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
Check the operation after performing the accelerator pedal released position learning when the following oper-
ation is performed.
Revision: July 2016 DAS-97 2016 QX50
 C1A36 ACCELERATOR PEDAL ACTUATOR CAN COMM
< DTC/CIRCUIT DIAGNOSIS > [DCA]
• Disconnection and connection of accelerator pedal position sensor connector
• Replace accelerator pedal assembly
SPECIAL REPAIR REQUIREMENT
1.CHECK CONTROL UNIT REPLACED, REMOVED AND/OR INSTALLED
Perform the adjustment work after the replacement or removal and installation of ICC sensor integrated unit,
replacement of accelerator pedal assembly, or disconnection or connection of accelerator pedal position sen-
sor connector.

Which is replaced, removed or installed?

ICC sensor integrated unit>>GO TO 2.
Accelerator pedal assembly>>GO TO 3.
2.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".

>> GO TO 4.
3.ACCELERATOR PEDAL RELEASED POSITION LEARNING

cardiagn.com
Perform the Accelerator Pedal Released Position Learning. Refer to EC-20, "ACCELERATOR PEDAL
RELEASED POSITION LEARNING : Description".

>> GO TO 4.
4.CHECK DCA SYSTEM
1. Erase the self-diagnosis results, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.

>> WORK END

Revision: July 2016 DAS-98 2016 QX50

 C1A37 ACCELERATOR PEDAL ACTUATOR CAN 2
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1A37 ACCELERATOR PEDAL ACTUATOR CAN 2
A
Description INFOID:0000000012172375

• ITS communication is a multiplex communication system. This enables the system to transmit and receive B
large quantities of data at high speed by connecting ICC sensor integrated unit, brake booster control unit,
and accelerator pedal actuator with 2 communication lines.
• ITS communication lines adopt twisted-pair line style (two lines twisted) for noise immunity.
C
DTC Logic INFOID:0000000012172376

DTC DETECTION LOGIC D

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
E
If ICC sensor integrated unit detects an error
C1A37
APA CAN CIR2 signal that is received from accelerator pedal Accelerator pedal actuator malfunction
(133)
actuator via ITS communication F
NOTE:
If DTC “C1A37” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-135, "ICC

cardiagn.com
SENSOR INTEGRATED UNIT : DTC Logic". G
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE H
1. Start the engine.
2. Turn the DCA system ON.
3. Perform “All DTC Reading” with CONSULT. I
4. Check if the “C1A37” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
Is “C1A37” detected as the current malfunction?
YES >> Refer to DAS-99, "Diagnosis Procedure". J
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172377
K
1.CHECK ICC SENSOR INTEGRATED UNIT SELF-DIAGNOSIS RESULTS
Check if “U1000” is detected other than “C1A37” in “Self Diagnostic Result” of “ICC/ADAS”.
L
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to DAS-135, "ICC SENSOR INTEGRATED UNIT : DTC Logic".
M
NO >> GO TO 2.
2.REPLACE ACCELERATOR PEDAL ASSEMBLY
1. Turn the ignition switch OFF. N
2. Replace the accelerator pedal assembly.
3. Turn the ignition switch ON.
4. Erases All self-diagnosis results. DAS
5. Perform “All DTC Reading” again.
6. Check if the DTC “C1A37” is detected in self-diagnosis results of “ICC/ADAS”.
Is “C1A37” detected?
P
YES >> Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
NO >> INSPECTION END
Special Repair Requirement INFOID:0000000012172378

DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
Revision: July 2016 DAS-99 2016 QX50
 C1A37 ACCELERATOR PEDAL ACTUATOR CAN 2
< DTC/CIRCUIT DIAGNOSIS > [DCA]
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
Check the operation after performing the accelerator pedal released position learning when the following oper-
ation is performed.
• Disconnection and connection of accelerator pedal position sensor connector
• Replace accelerator pedal assembly
SPECIAL REPAIR REQUIREMENT
1.CHECK CONTROL UNIT REPLACED, REMOVED AND/OR INSTALLED
Perform the adjustment work after the replacement or removal and installation of ICC sensor integrated unit,
replacement of accelerator pedal assembly, or disconnection or connection of accelerator pedal position sen-
sor connector.

Which is replaced, removed or installed?

ICC sensor integrated unit>>GO TO 2.
Accelerator pedal assembly>>GO TO 3.
2.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".

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>> GO TO 4.
3.ACCELERATOR PEDAL RELEASED POSITION LEARNING
Perform the Accelerator Pedal Released Position Learning. Refer to EC-20, "ACCELERATOR PEDAL
RELEASED POSITION LEARNING : Description".

>> GO TO 4.
4.CHECK DCA SYSTEM
1. Erase the self-diagnosis results, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.

>> WORK END

Revision: July 2016 DAS-100 2016 QX50

 C1A38 ACCELERATOR PEDAL ACTUATOR CAN 1
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1A38 ACCELERATOR PEDAL ACTUATOR CAN 1
A
Description INFOID:0000000012172379

• ITS communication is a multiplex communication system. This enables the system to transmit and receive B
large quantities of data at high speed by connecting ICC sensor integrated unit, brake booster control unit,
and accelerator pedal actuator with 2 communication lines.
• ITS communication lines adopt twisted-pair line style (two lines twisted) for noise immunity.
C
DTC Logic INFOID:0000000012172380

DTC DETECTION LOGIC D

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
E
If ICC sensor integrated unit detects an error
C1A38
APA CAN CIR1 signal that is received from accelerator pedal Accelerator pedal actuator malfunction
(132)
actuator via ITS communication F
NOTE:
If DTC “C1A38” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-135, "ICC

cardiagn.com
SENSOR INTEGRATED UNIT : DTC Logic". G
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE H
1. Start the engine.
2. Turn the DCA system ON.
3. Perform “All DTC Reading” with CONSULT. I
4. Check if the “C1A38” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
Is “C1A38” detected as the current malfunction?
YES >> Refer to DAS-101, "Diagnosis Procedure". J
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172381
K
1.CHECK ICC SENSOR INTEGRATED UNIT SELF-DIAGNOSIS RESULTS
Check if “U1000” is detected other than “C1A38” in “Self Diagnostic Result” of “ICC/ADAS”.
L
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to DAS-135, "ICC SENSOR INTEGRATED UNIT : DTC Logic".
M
NO >> GO TO 2.
2.REPLACE ACCELERATOR PEDAL ASSEMBLY
1. Turn the ignition switch OFF. N
2. Replace the accelerator pedal assembly.
3. Erases All self-diagnosis results.
4. Perform “All DTC Reading” again. DAS
5. Check if the “C1A38” is detected in self-diagnosis results of “ICC/ADAS”.
Is “C1A38” detected?
YES >> Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View". P
NO >> INSPECTION END
Special Repair Requirement INFOID:0000000012172382

DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
• Removal and installation of ICC sensor integrated unit
Revision: July 2016 DAS-101 2016 QX50
 C1A38 ACCELERATOR PEDAL ACTUATOR CAN 1
< DTC/CIRCUIT DIAGNOSIS > [DCA]
• Replacement of ICC sensor integrated unit
Check the operation after performing the accelerator pedal released position learning when the following oper-
ation is performed.
• Disconnection and connection of accelerator pedal position sensor connector
• Replace accelerator pedal assembly
SPECIAL REPAIR REQUIREMENT
1.CHECK CONTROL UNIT REPLACED, REMOVED AND/OR INSTALLED
Perform the adjustment work after the replacement or removal and installation of ICC sensor integrated unit,
replacement of accelerator pedal assembly, or disconnection or connection of accelerator pedal position sen-
sor connector.

Which is replaced, removed or installed?

ICC sensor integrated unit>>GO TO 2.
Accelerator pedal assembly>>GO TO 3.
2.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".

cardiagn.com
>> GO TO 4.
3.ACCELERATOR PEDAL RELEASED POSITION LEARNING
Perform the Accelerator Pedal Released Position Learning. Refer to EC-20, "ACCELERATOR PEDAL
RELEASED POSITION LEARNING : Description".

>> GO TO 4.
4.CHECK DCA SYSTEM
1. Erase the self-diagnosis results, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.

>> WORK END

Revision: July 2016 DAS-102 2016 QX50

 C1A39 STEERING ANGLE SENSOR
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1A39 STEERING ANGLE SENSOR
A
Description INFOID:0000000012172383

It measures the rotation amount, rotation speed, and rotation direction of steering wheel, and then transmits B
them to ICC sensor integrated unit via CAN communication.
DTC Logic INFOID:0000000012172384

C
DTC DETECTION LOGIC

DTC D
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
C1A39 E
STRG SEN CIR If the steering angle sensor is malfunction Steering angle sensor is malfunction
(39)
NOTE:
If DTC “C1A39” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-135, "ICC F
SENSOR INTEGRATED UNIT : DTC Logic".
DTC CONFIRMATION PROCEDURE

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1.PERFORM DTC CONFIRMATION PROCEDURE G

1. Start the engine.

2. Turn the DCA system ON.
3. Perform “All DTC Reading” with CONSULT. H
4. Check if the “C1A39” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
Is “C1A39” detected as the current malfunction?
YES >> Refer to DAS-103, "Diagnosis Procedure". I
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172385
J

1.CHECK SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “C1A39” in “Self Diagnostic Result” of “ICC/ADAS”. K
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to DAS-135, "ICC SENSOR INTEGRATED UNIT : DTC Logic". L
NO >> GO TO 2.
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS
M
Check if any DTC is detected in “Self Diagnostic Result” of “ABS”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to N
BRC-143, "DTC No. Index".
NO >> Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
Special Repair Requirement INFOID:0000000012172386 DAS

DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following P
operation is performed.
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
SPECIAL REPAIR REQUIREMENT
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT

Revision: July 2016 DAS-103 2016 QX50

 C1A39 STEERING ANGLE SENSOR
< DTC/CIRCUIT DIAGNOSIS > [DCA]
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".

>> GO TO 2.
2.CHECK DCA SYSTEM
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.

>> WORK END

cardiagn.com

Revision: July 2016 DAS-104 2016 QX50

 C1A40 SYSTEM SWITCH CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1A40 SYSTEM SWITCH CIRCUIT
A
Description INFOID:0000000012172387

IBA OFF SWITCH B

• The IBA ON/OFF operation is performed by IBA OFF switch.
• The IBA OFF switch signal is input to the brake booster control unit and transmits from the brake booster
control unit to the ICC sensor integrated unit via ITS communication. C
DTC Logic INFOID:0000000012172388

DTC DETECTION LOGIC D

DTC
Trouble diagnosis
(On board dis- DTC detection condition Possible causes E
name
play)
• IBA OFF switch circuit
C1A40
SYSTEM SW CIRC If the IBA OFF switch is stuck to ON • IBA OFF switch
(40) F
• Brake booster control unit
NOTE:

cardiagn.com
If DTC “C1A40” is displayed along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-135,
G
"ICC SENSOR INTEGRATED UNIT : DTC Logic".
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE H

1. Start the engine and wait for approximately 10 minutes or more.

2. Perform “All DTC Reading” with CONSULT.
3. Check if the “C1A40” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”. I
Is “C1A40” detected as the current malfunction?
YES >> Refer to DAS-105, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident". J

Diagnosis Procedure INFOID:0000000012172389

K
1.CHECK SELF-DIAGNOSIS RESULTS
Check if “U1000” is detected other than “C1A40” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected? L
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to DAS-135, "ICC SENSOR INTEGRATED UNIT : DTC Logic".
NO >> GO TO 2. M
2.CHECK DATA MONITOR
Check that “IBA SW” operate normally in “DATA MONITOR” of “ICC/ADAS”.
N
Is the inspection result normal?
YES >> Refer to GI-42, "Intermittent Incident".
NO >> GO TO 3.
DAS
3.CHECK IBA OFF SWITCH
1. Turn the ignition switch OFF.
2. Disconnect the IBA OFF switch connector. P
3. Check the IBA OFF switch. Refer to DAS-106, "Component Inspection (IBA OFF Switch)".
Is the inspection result normal?
YES >> GO TO 4.
NO >> Replace the IBA OFF switch.
4.CHECK HARNESS BETWEEN BRAKE BOOSTER CONTROL UNIT AND IBA OFF SWITCH
1. Disconnect brake booster control unit connector.

Revision: July 2016 DAS-105 2016 QX50

 C1A40 SYSTEM SWITCH CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [DCA]
2. Check for continuity between the brake booster control unit harness connector and IBA OFF switch har-
ness connector.

Brake booster control unit IBA OFF switch

Continuity
Connector Terminal Connector Terminal
B249 40 M187 7 Existed
3. Check for continuity between brake booster control unit and ground.

Brake booster control unit

Continuity
Connector Terminal Ground
B249 40 Not existed
Is the inspection result normal?
YES >> GO TO 5.
NO >> Repair the harnesses or connectors.
5.CHECK IBA OFF SWITCH GROUND CIRCUIT
Check for continuity between IBA OFF switch harness connector and ground.

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IBA OFF switch
Continuity
Connector Terminal Ground
M187 6 Existed
Is the inspection result normal?
YES >> GO TO 6.
NO >> Repair the harnesses or connectors.
6.CHECK IBA OFF SWITCH SIGNAL
1. Connect the brake booster control unit connector.
2. Turn the ignition switch ON.
3. Check voltage between brake booster control unit harness connector and ground.

Terminals
(+) (–) Voltage
Brake booster control unit (Approx.)

Connector Terminal Ground

B249 40 Battery voltage
Is the inspection result normal?
YES >> Replace ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
NO >> Replace the brake booster control unit.
Component Inspection (IBA OFF Switch) INFOID:0000000012172390

1.CHECK IBA OFF SWITCH

Check for continuity of IBA OFF switch.

Terminal Condition Continuity

When the IBA OFF switch is pressed Existed
6 7
When the IBA OFF switch is released Not existed
Is the inspection result normal?
YES >> INSPECTION END
NO >> Replace the IBA OFF switch.

Revision: July 2016 DAS-106 2016 QX50

 C1A40 SYSTEM SWITCH CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [DCA]
Special Repair Requirement INFOID:0000000012172391

A
DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed. B
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
SPECIAL REPAIR REQUIREMENT C
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING D
ADJUSTMENT : Description".

E
>> GO TO 2.
2.CHECK DCA SYSTEM
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action F
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.

cardiagn.com
G
>> WORK END

DAS

Revision: July 2016 DAS-107 2016 QX50

 C1F01 ACCELERATOR PEDAL ACTUATOR
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1F01 ACCELERATOR PEDAL ACTUATOR
Description INFOID:0000000012172392

• The accelerator pedal actuator is integrated into the accelerator pedal assembly.
• The accelerator pedal actuator consists of the control unit and motor.
DTC Logic INFOID:0000000012172393

DTC DETECTION LOGIC

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
C1F01 If the accelerator pedal actuator motor error Accelerator pedal actuator integrated
APA MOTOR MALF
(91) is detected motor malfunction

DTC CONFIRMATION PROCEDURE

1.PERFORM DTC CONFIRMATION PROCEDURE
1. Turn the ignition switch OFF.

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2. Turn the ignition switch ON.
3. Slowly depress the accelerator pedal completely, and then release it.
4. Repeat step 3 several times.
5. Perform “All DTC Reading” with CONSULT.
6. Check if the DTC “C1F01” is detected as the current malfunction on the self-diagnosis results of “ICC/
ADAS” or “ACCELE PEDAL ACT”.
Is “C1F01” detected as the current malfunction?
YES >> Refer to DAS-108, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172394

1.REPLACE ACCELERATOR PEDAL ASSEMBLY

Perform DTC confirmation procedure. If “C1F01” is detected as the current malfunction, replace the accelera-
tor pedal assembly. Refer to DAS-108, "DTC Logic".

>> INSPECTION END

Special Repair Requirement INFOID:0000000012172395

DESCRIPTION
The accelerator pedal released position learning is necessary when the following operation is performed.
• Disconnection and connection of accelerator pedal assembly connector
• Replace accelerator pedal assembly
SPECIAL REPAIR REQUIREMENT
1.ACCELERATOR PEDAL RELEASED POSITION LEARNING
Perform the accelerator pedal released position learning. Refer to EC-20, "ACCELERATOR PEDAL
RELEASED POSITION LEARNING : Description".

>> GO TO 2.
2.CHECK DCA SYSTEM
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.

Revision: July 2016 DAS-108 2016 QX50

 C1F01 ACCELERATOR PEDAL ACTUATOR
< DTC/CIRCUIT DIAGNOSIS > [DCA]
>> WORK END
A

cardiagn.com
G

DAS

Revision: July 2016 DAS-109 2016 QX50

 C1F02 ACCELERATOR PEDAL ACTUATOR
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1F02 ACCELERATOR PEDAL ACTUATOR
Description INFOID:0000000012172396

• The accelerator pedal actuator is integrated into the accelerator pedal assembly.
• The accelerator pedal actuator consists of the control unit and motor.
DTC Logic INFOID:0000000012172397

DTC DETECTION LOGIC

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
C1F02 If the accelerator pedal actuator integrated Accelerator pedal actuator integrated
APA C/U MALF
(92) control unit error is detected control unit malfunction

Diagnosis Procedure INFOID:0000000012172398

1.PERFORM THE SELF-DIAGNOSIS

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1. Start the engine.
2. Turn the DCA system ON.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the DTC “C1F02” is detected as the current malfunction on the self-diagnosis results of “ICC/
ADAS” or “ACCELE PEDAL ACT”.
Is “C1F02” detected as the current malfunction?
YES >> Replace the accelerator pedal assembly.
NO >> INSPECTION END
Special Repair Requirement INFOID:0000000012172399

DESCRIPTION
The accelerator pedal released position learning is necessary when the following operation is performed.
• Disconnection and connection of accelerator pedal assembly connector
• Replace accelerator pedal assembly
SPECIAL REPAIR REQUIREMENT
1.ACCELERATOR PEDAL RELEASED POSITION LEARNING
Perform the accelerator pedal released position learning. Refer to EC-20, "ACCELERATOR PEDAL
RELEASED POSITION LEARNING : Description".

>> GO TO 2.
2.CHECK DCA SYSTEM
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.

>> WORK END

Revision: July 2016 DAS-110 2016 QX50

 C1F03 ACCELERATOR PEDAL ACTUATOR
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1F03 ACCELERATOR PEDAL ACTUATOR
A
Description INFOID:0000000012172400

The accelerator pedal actuator is integrated into with a temperature sensor. B

DTC Logic INFOID:0000000012172401

DTC DETECTION LOGIC C

Trouble diagnosis
DTC DTC detecting condition Possible causes
name D
If the accelerator pedal actuator integrated motor Accelerator pedal actuator integrated
C1F03 APA HI TEMP
temperature is excessively high motor malfunction
NOTE: E
When the accelerator pedal actuator operates excessively, “C1F03” may be detected temporarily.

DTC CONFIRMATION PROCEDURE

F
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Turn the ignition switch OFF.

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2. Wait for 10 minutes or more and cool the accelerator pedal actuator integrated motor. G
3. Drive the vehicle with DCA switch ON and operate the system.
CAUTION:
Always drive safely. H
4. Stop the vehicle.
5. Perform “All DTC Reading” with CONSULT.
6. Check if the DTC “C1F03” is detected as the current malfunction in self-diagnosis results of “ACCELE
PEDAL ACT”. I
Is “C1F03” detected as the current malfunction?
YES >> Refer to DAS-111, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident". J

Diagnosis Procedure INFOID:0000000012172402

K
1.REPLACE ACCELERATOR PEDAL ASSEMBLY
Perform DTC confirmation procedure. If “C1F03” is detected, replace the accelerator pedal assembly. Refer to
DAS-111, "DTC Logic". L

>> INSPECTION END

M
Special Repair Requirement INFOID:0000000012172403

DESCRIPTION
The accelerator pedal released position learning is necessary when the following operation is performed. N
• Disconnection and connection of accelerator pedal assembly connector
• Replace accelerator pedal assembly
DAS
SPECIAL REPAIR REQUIREMENT
1.ACCELERATOR PEDAL RELEASED POSITION LEARNING
Perform the accelerator pedal released position learning. Refer to EC-20, "ACCELERATOR PEDAL P
RELEASED POSITION LEARNING : Description".

>> GO TO 2.
2.CHECK DCA SYSTEM
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
Revision: July 2016 DAS-111 2016 QX50
 C1F03 ACCELERATOR PEDAL ACTUATOR
< DTC/CIRCUIT DIAGNOSIS > [DCA]
2. Check that the DCA system is normal.

>> WORK END

cardiagn.com

Revision: July 2016 DAS-112 2016 QX50

 C1F05 ACCELERATOR PEDAL ACTUATOR POWER SUPPLY CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1F05 ACCELERATOR PEDAL ACTUATOR POWER SUPPLY CIRCUIT
A
Description INFOID:0000000012172404

Power is supplied from ignition power supply and battery power supply to the accelerator pedal actuator. B
DTC Logic INFOID:0000000012172405

DTC DETECTION LOGIC C

DTC
(On board Trouble diagnosis name DTC detecting condition Possible causes D
display)
The voltage input to accelerator pedal actuator
C1F05 is excessively low (approximately 8 V or less) • Harness, connector, or fuse
APA PWR SUPLY CIR E
(95) or excessively high (approximately 19 V or • Accelerator pedal actuator
more).

DTC CONFIRMATION PROCEDURE F

1.PERFORM DTC CONFIRMATION PROCEDURE

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1. Start the engine.
G
2. Turn the DCA system ON.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “C1F05” is detected as the current malfunction on the self-diagnosis results of “ICC/ADAS” or
“ACCELE PEDAL ACT”. H
Is “C1F05” detected as the current malfunction?
YES >> Refer to DAS-113, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident". I

Diagnosis Procedure INFOID:0000000012172406

J
1.CHECK POWER SUPPLY CIRCUIT
Check the accelerator pedal actuator power supply circuit. Refer to DAS-141, "ACCELERATOR PEDAL
ACTUATOR : Diagnosis Procedure". K
Is the inspection result normal?
YES >> Replace the accelerator pedal assembly.
NO >> Repair or replace the malfunctioning parts. L
Special Repair Requirement INFOID:0000000012172407

DESCRIPTION M
The accelerator pedal released position learning is necessary when the following operation is performed.
• Disconnection and connection of accelerator pedal assembly connector
• Replace accelerator pedal assembly N
SPECIAL REPAIR REQUIREMENT
1.ACCELERATOR PEDAL RELEASED POSITION LEARNING DAS
Perform the accelerator pedal released position learning. Refer to EC-20, "ACCELERATOR PEDAL
RELEASED POSITION LEARNING : Description".
P
>> GO TO 2.
2.CHECK DCA SYSTEM
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.

Revision: July 2016 DAS-113 2016 QX50

 C1F05 ACCELERATOR PEDAL ACTUATOR POWER SUPPLY CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [DCA]
>> WORK END

cardiagn.com

Revision: July 2016 DAS-114 2016 QX50

 C1F06 CAN CIRCUIT2
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1F06 CAN CIRCUIT2
A
Description INFOID:0000000012172408

• ITS communication is a multiplex communication system. This enables the system to transmit and receive B
large quantities of data at high speed by connecting ICC sensor integrated unit, brake booster control unit,
and accelerator pedal actuator with 2 communication lines.
• ITS communication lines adopt twisted-pair line style (two lines twisted) for noise immunity.
C
DTC Logic INFOID:0000000012172409

DTC DETECTION LOGIC D

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
E
If accelerator pedal actuator detects an error
C1F06 CAN CIR 2 signal that is received from ICC sensor inte- ICC sensor integrated unit malfunction
grated unit via ITS communication F
NOTE:
If DTC “C1F06” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-135, "ICC

cardiagn.com
SENSOR INTEGRATED UNIT : DTC Logic". G
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE H
1. Start the engine.
2. Turn the DCA system ON.
3. Perform “All DTC Reading” with CONSULT. I
4. Check if the “C1F06” is detected as the current malfunction in self-diagnosis results of “ACCELE PEDAL
ACT”.
Is “C1F06” detected as the current malfunction? J
YES >> Refer to DAS-115, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172410 K

1.CHECK SELF-DIAGNOSIS RESULTS

L
Check if “U1000” is detected other than “C1F06” in “Self Diagnostic Result” of “ACCELE PEDAL ACT”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
M
Refer to DAS-135, "ICC SENSOR INTEGRATED UNIT : DTC Logic".
NO >> GO TO 2.
2.REPLACE ICC SENSOR INTEGRATED UNIT N
1. Turn the ignition switch OFF.
2. Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
3. Erases All self-diagnosis results. DAS
4. Perform “All DTC Reading” again.
5. Check if the “C1F06” is detected in self-diagnosis results of “ACCELE PEDAL ACT”.
Is “C1F06” detected?
P
YES >> Replace the accelerator pedal assembly.
NO >> INSPECTION END
Special Repair Requirement INFOID:0000000012172411

DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
Revision: July 2016 DAS-115 2016 QX50
 C1F06 CAN CIRCUIT2
< DTC/CIRCUIT DIAGNOSIS > [DCA]
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
Check the operation after performing the accelerator pedal released position learning when the following oper-
ation is performed.
• Disconnection and connection of accelerator pedal position sensor connector
• Replace accelerator pedal assembly
SPECIAL REPAIR REQUIREMENT
1.CHECK CONTROL UNIT REPLACED, REMOVED AND/OR INSTALLED
Perform the adjustment work after the replacement or removal and installation of ICC sensor integrated unit,
replacement of accelerator pedal assembly, or disconnection or connection of accelerator pedal position sen-
sor connector.

Which is replaced, removed or installed?

ICC sensor integrated unit>>GO TO 2.
Accelerator pedal assembly>>GO TO 3.
2.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".

cardiagn.com
>> GO TO 4.
3.ACCELERATOR PEDAL RELEASED POSITION LEARNING
Perform the Accelerator Pedal Released Position Learning. Refer to EC-20, "ACCELERATOR PEDAL
RELEASED POSITION LEARNING : Description".

>> GO TO 4.
4.CHECK DCA SYSTEM
1. Erase the self-diagnosis results, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.

>> WORK END

Revision: July 2016 DAS-116 2016 QX50

 C1F07 CAN CIRCUIT1
< DTC/CIRCUIT DIAGNOSIS > [DCA]
C1F07 CAN CIRCUIT1
A
Description INFOID:0000000012172412

• ITS communication is a multiplex communication system. This enables the system to transmit and receive B
large quantities of data at high speed by connecting ICC sensor integrated unit, brake booster control unit,
and accelerator pedal actuator with 2 communication lines.
• ITS communication lines adopt twisted-pair line style (two lines twisted) for noise immunity.
C
DTC Logic INFOID:0000000012172413

DTC DETECTION LOGIC D

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
E
If accelerator pedal actuator detects an error
C1F07 CAN CIR 1 signal that is received from ICC sensor inte- ICC sensor integrated unit malfunction
grated unit via ITS communication F
NOTE:
If DTC “C1F07” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-135, "ICC

cardiagn.com
SENSOR INTEGRATED UNIT : DTC Logic". G
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE H
1. Start the engine.
2. Turn the DCA system ON.
3. Perform “All DTC Reading” with CONSULT. I
4. Check if the “C1F07” is detected as the current malfunction in self-diagnosis results of “ACCELE PEDAL
ACT”.
Is “C1F07” detected as the current malfunction? J
YES >> Refer to DAS-117, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172414 K

1.CHECK SELF-DIAGNOSIS RESULTS

L
Check if “U1000” is detected other than “C1F07” in “Self Diagnosis Result” of “ACCELE PEDAL ACT”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
M
Refer to DAS-135, "ICC SENSOR INTEGRATED UNIT : DTC Logic".
NO >> GO TO 2.
2.REPLACE ICC SENSOR INTEGRATED UNIT N
1. Turn the ignition switch OFF.
2. Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
3. Erases All self-diagnosis results. DAS
4. Perform “All DTC Reading” again.
5. Check if the “C1F07” is detected in self-diagnosis results of “ACCELE PEDAL ACT”.
Is “C1F07” detected?
P
YES >> Replace the accelerator pedal assembly.
NO >> INSPECTION END
Special Repair Requirement INFOID:0000000012172415

DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
Revision: July 2016 DAS-117 2016 QX50
 C1F07 CAN CIRCUIT1
< DTC/CIRCUIT DIAGNOSIS > [DCA]
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
Check the operation after performing the accelerator pedal released position learning when the following oper-
ation is performed.
• Disconnection and connection of accelerator pedal position sensor connector
• Replace accelerator pedal assembly
SPECIAL REPAIR REQUIREMENT
1.CHECK CONTROL UNIT REPLACED, REMOVED AND/OR INSTALLED
Perform the adjustment work after the replacement or removal and installation of ICC sensor integrated unit,
replacement of accelerator pedal assembly, or disconnection or connection of accelerator pedal position sen-
sor connector.

Which is replaced, removed or installed?

ICC sensor integrated unit>>GO TO 2.
Accelerator pedal assembly>>GO TO 3.
2.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".

cardiagn.com
>> GO TO 4.
3.ACCELERATOR PEDAL RELEASED POSITION LEARNING
Perform the Accelerator Pedal Released Position Learning. Refer to EC-20, "ACCELERATOR PEDAL
RELEASED POSITION LEARNING : Description".

>> GO TO 4.
4.CHECK DCA SYSTEM
1. Erase the self-diagnosis results, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.

>> WORK END

Revision: July 2016 DAS-118 2016 QX50

 U0121 VDC CAN 2
< DTC/CIRCUIT DIAGNOSIS > [DCA]
U0121 VDC CAN 2
A
Description INFOID:0000000012172416

ABS actuator and electric unit (control unit) transmits the VDC system signal to ICC sensor integrated unit via B
CAN communication.
DTC Logic INFOID:0000000012172417

C
DTC DETECTION LOGIC

DTC D
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
If ICC sensor integrated unit detects an error E
U0121 signal that is received from ABS actuator and ABS actuator and electric unit (control
VDC CAN CIR2
(127) electric unit (control unit) via CAN communica- unit)
tion
NOTE: F
If DTC “U0121” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-135, "ICC
SENSOR INTEGRATED UNIT : DTC Logic".

cardiagn.com
G
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine. H
2. Turn the DCA system ON.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “U0121” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”. I
Is “U0121” detected as the current malfunction?
YES >> Refer to DAS-119, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident". J
Diagnosis Procedure INFOID:0000000012172418

1.CHECK SELF-DIAGNOSIS RESULTS K

Check if “U1000” is detected other than “U0121” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected? L
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to DAS-135, "ICC SENSOR INTEGRATED UNIT : DTC Logic".
NO >> GO TO 2.
M
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ABS”.
Is any DTC detected? N
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
BRC-143, "DTC No. Index".
NO >> Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View". DAS
Special Repair Requirement INFOID:0000000012172419

P
DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
SPECIAL REPAIR REQUIREMENT

Revision: July 2016 DAS-119 2016 QX50

 U0121 VDC CAN 2
< DTC/CIRCUIT DIAGNOSIS > [DCA]

1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT

Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".

>> GO TO 2.
2.CHECK DCA SYSTEM
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.

>> WORK END

cardiagn.com

Revision: July 2016 DAS-120 2016 QX50

 U0126 STRG SEN CAN 1
< DTC/CIRCUIT DIAGNOSIS > [DCA]
U0126 STRG SEN CAN 1
A
Description INFOID:0000000012172420

It measures the rotation amount, rotation speed, and rotation direction of steering wheel, and then transmits B
them to ICC sensor integrated unit via CAN communication.
DTC Logic INFOID:0000000012172421

C
DTC DETECTION LOGIC

DTC D
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
If ICC sensor integrated unit detects an error E
U0126
STRG SEN CAN CIR1 signal that is received from steering angle sen- Steering angle sensor error
(130)
sor via CAN communication
NOTE:
F
If DTC “U0126” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-135, "ICC
SENSOR INTEGRATED UNIT : DTC Logic".

cardiagn.com
DTC CONFIRMATION PROCEDURE G
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the DCA system ON. H
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “U0126” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
Is “U0126” detected as the current malfunction? I
YES >> Refer to DAS-121, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
J
Diagnosis Procedure INFOID:0000000012172422

1.CHECK SELF-DIAGNOSIS RESULTS K

Check if “U1000” is detected other than “U0126” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts. L
Refer to DAS-135, "ICC SENSOR INTEGRATED UNIT : DTC Logic".
NO >> GO TO 2.
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS M
Check if any DTC is detected in “Self Diagnostic Result” of “ABS”.
Is any DTC detected?
N
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
BRC-143, "DTC No. Index".
NO >> Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
DAS
Special Repair Requirement INFOID:0000000012172423

DESCRIPTION P
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
SPECIAL REPAIR REQUIREMENT
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
Revision: July 2016 DAS-121 2016 QX50
 U0126 STRG SEN CAN 1
< DTC/CIRCUIT DIAGNOSIS > [DCA]
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".

>> GO TO 2.
2.CHECK DCA SYSTEM
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.

>> WORK END

cardiagn.com

Revision: July 2016 DAS-122 2016 QX50

 U0129 BCU CAN 2
< DTC/CIRCUIT DIAGNOSIS > [DCA]
U0129 BCU CAN 2
A
Description INFOID:0000000012172424

The brake booster control unit transmits the signal related to brake control to ICC sensor integrated unit via B
ITS communication.
DTC Logic INFOID:0000000012172425

C
DTC DETECTION LOGIC

DTC
Trouble diagnosis
D
(On board dis- DTC detecting condition Possible causes
name
play)
If ICC sensor integrated unit detects an error E
U0129
BCU CAN CIR 2 signal that is received from brake booster con- Brake booster control unit
(125)
trol unit via ITS communication
NOTE:
F
If DTC “U0129” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-135, "ICC
SENSOR INTEGRATED UNIT : DTC Logic".

cardiagn.com
DTC CONFIRMATION PROCEDURE G
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the DCA system ON. H
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “U0129” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
Is “U0129” detected as the current malfunction? I
YES >> Refer to DAS-123, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
J
Diagnosis Procedure INFOID:0000000012172426

1.CHECK SELF-DIAGNOSIS RESULTS K

Check if “U1000” is detected other than “U0129” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts. L
Refer to DAS-135, "ICC SENSOR INTEGRATED UNIT : DTC Logic".
NO >> GO TO 2.
2.REPLACE BRAKE BOOSTER CONTROL UNIT M
1. Turn ignition switch OFF.
2. Replace brake booster control unit.
3. Erases All self-diagnosis results. N
4. Perform DTC confirmation procedure. Refer to DAS-123, "DTC Logic".
5. Perform “All DTC Reading”.
6. Check if the “U0129” is detected in “Self Diagnostic Result” of “ICC/ADAS”. DAS
Is “U0129” detected?
YES >> Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
NO >> INSPECTION END P
Special Repair Requirement INFOID:0000000012172427

DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
Revision: July 2016 DAS-123 2016 QX50
 U0129 BCU CAN 2
< DTC/CIRCUIT DIAGNOSIS > [DCA]
SPECIAL REPAIR REQUIREMENT
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".

>> GO TO 2.
2.CHECK DCA SYSTEM
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.

>> WORK END

cardiagn.com

Revision: July 2016 DAS-124 2016 QX50

 U0401 ECM CAN 1
< DTC/CIRCUIT DIAGNOSIS > [DCA]
U0401 ECM CAN 1
A
Description INFOID:0000000012172428

ECM transmits the signal related to engine control [DCA system] to ICC sensor integrated unit via CAN com- B
munication.
DTC Logic INFOID:0000000012172429

C
DTC DETECTION LOGIC

DTC D
(On board Trouble diagnosis name DTC detecting condition Possible causes
display)
If ICC sensor integrated unit detects an error E
U0401
ECM CAN CIR1 signal that is received from ECM via CAN ECM
(120)
communication
NOTE:
F
If DTC “U0401” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-135, "ICC
SENSOR INTEGRATED UNIT : DTC Logic".

cardiagn.com
DTC CONFIRMATION PROCEDURE G
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the DCA system ON. H
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “U0401” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
Is “U0401” detected as the current malfunction? I
YES >> Refer to DAS-125, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
J
Diagnosis Procedure INFOID:0000000012172430

1.CHECK SELF-DIAGNOSIS RESULTS K

Check if “U1000” is detected other than “U0401” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts. L
Refer to DAS-135, "ICC SENSOR INTEGRATED UNIT : DTC Logic".
NO >> GO TO 2.
2.CHECK ECM SELF-DIAGNOSIS RESULTS M
Check if any DTC is detected in “Self Diagnostic Result” of “ENGINE”.
Is any DTC detected?
N
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
EC-580, "DTC Index".
NO >> Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
DAS
Special Repair Requirement INFOID:0000000012172431

DESCRIPTION P
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
SPECIAL REPAIR REQUIREMENT
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
Revision: July 2016 DAS-125 2016 QX50
 U0401 ECM CAN 1
< DTC/CIRCUIT DIAGNOSIS > [DCA]
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".

>> GO TO 2.
2.CHECK DCA SYSTEM
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.

>> WORK END

cardiagn.com

Revision: July 2016 DAS-126 2016 QX50

 U0402 TCM CAN 1
< DTC/CIRCUIT DIAGNOSIS > [DCA]
U0402 TCM CAN 1
A
Description INFOID:0000000012172432

TCM transmits the signal related to A/T control to ICC sensor integrated unit via CAN communication. B
DTC Logic INFOID:0000000012172433

DTC DETECTION LOGIC C

DTC
Trouble diagnosis
(On board dis- DTC detecting condition Possible causes D
name
play)
If ICC sensor integrated unit detects an error
U0402
TCM CAN CIR1 signal that is received from TCM via CAN TCM
(122) E
communication
NOTE:
If DTC “U0402” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-135, "ICC
F
SENSOR INTEGRATED UNIT : DTC Logic".
DTC CONFIRMATION PROCEDURE

cardiagn.com
1.PERFORM DTC CONFIRMATION PROCEDURE G
1. Start the engine.
2. Turn the DCA system ON.
3. Perform “All DTC Reading” with CONSULT. H
4. Check if the “U0402” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
Is “U0402” detected as the current malfunction?
YES >> Refer to DAS-127, "Diagnosis Procedure". I
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172434
J

1.CHECK SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “U0402” in “Self Diagnostic Result” of “ICC/ADAS”. K
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to DAS-135, "ICC SENSOR INTEGRATED UNIT : DTC Logic". L
NO >> GO TO 2.
2.CHECK TCM SELF-DIAGNOSIS RESULTS
M
Check if any DTC is detected in “Self Diagnostic Result” of “TRANSMISSION”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
N
TM-157, "DTC Index".
NO >> Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
Special Repair Requirement INFOID:0000000012172435 DAS

DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following P
operation is performed.
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
SPECIAL REPAIR REQUIREMENT
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT

Revision: July 2016 DAS-127 2016 QX50

 U0402 TCM CAN 1
< DTC/CIRCUIT DIAGNOSIS > [DCA]
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".

>> GO TO 2.
2.CHECK DCA SYSTEM
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading”DAS-13, "ACTION TEST : Descrip-
tion" again after performing the action test. (Refer to for action test.)
2. Check that the DCA system is normal.

>> WORK END

cardiagn.com

Revision: July 2016 DAS-128 2016 QX50

 U0415 VDC CAN 1
< DTC/CIRCUIT DIAGNOSIS > [DCA]
U0415 VDC CAN 1
A
Description INFOID:0000000012172436

ABS actuator and electric unit (control unit) transmits the signal related to the VDC system to ICC sensor inte- B
grated unit via CAN communication.
DTC Logic INFOID:0000000012172437

C
DTC DETECTION LOGIC

DTC D
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
If ICC sensor integrated unit detects an error E
U0415 signal that is received from ABS actuator and ABS actuator and electric unit (control
VDC CAN CIR1
(126) electric unit (control unit) via CAN communica- unit)
tion
NOTE: F
If DTC “U0415” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-135, "ICC
SENSOR INTEGRATED UNIT : DTC Logic".

cardiagn.com
G
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine. H
2. Turn the DCA system ON.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “U0415” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”. I
Is “U0415” detected as the current malfunction?
YES >> Refer to DAS-129, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident". J
Diagnosis Procedure INFOID:0000000012172438

1.CHECK SELF-DIAGNOSIS RESULTS K

Check if “U1000” is detected other than “U0415” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected? L
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to DAS-135, "ICC SENSOR INTEGRATED UNIT : DTC Logic".
NO >> GO TO 2.
M
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ABS”.
Is any DTC detected? N
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
BRC-143, "DTC No. Index".
NO >> Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View". DAS
Special Repair Requirement INFOID:0000000012172439

P
DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
SPECIAL REPAIR REQUIREMENT

Revision: July 2016 DAS-129 2016 QX50

 U0415 VDC CAN 1
< DTC/CIRCUIT DIAGNOSIS > [DCA]

1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT

Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".

>> GO TO 2.
2.CHECK DCA SYSTEM
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.

>> WORK END

cardiagn.com

Revision: July 2016 DAS-130 2016 QX50

 U0418 BCU CAN 1
< DTC/CIRCUIT DIAGNOSIS > [DCA]
U0418 BCU CAN 1
A
Description INFOID:0000000012172440

The brake booster control unit transmits the signal related to brake control to ICC sensor integrated unit via B
ITS communication.
DTC Logic INFOID:0000000012172441

C
DTC DETECTION LOGIC

DTC
Trouble diagnosis
D
(On board dis- DTC detecting condition Possible causes
name
play)
If ICC sensor integrated unit detects an error E
U0418
BCU CAN CIR1 signal that is received from brake booster con- Brake booster control unit
(124)
trol unit via ITS communication
NOTE:
F
If DTC “U0418” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-135, "ICC
SENSOR INTEGRATED UNIT : DTC Logic".

cardiagn.com
DTC CONFIRMATION PROCEDURE G
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the DCA system ON. H
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “U0418” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
Is “U0418” detected as the current malfunction? I
YES >> Refer to DAS-131, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
J
Diagnosis Procedure INFOID:0000000012172442

1.CHECK SELF-DIAGNOSIS RESULTS K

Check if “U1000” is detected other than “U0418” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts. L
Refer to DAS-135, "ICC SENSOR INTEGRATED UNIT : DTC Logic".
NO >> GO TO 2.
2.REPLACE BRAKE BOOSTER CONTROL UNIT M
1. Turn the ignition switch OFF.
2. Replace the brake booster control unit.
3. Erases All self-diagnosis results. N
4. Perform DTC confirmation procedure. Refer to DAS-131, "DTC Logic".
5. Perform “All DTC Reading”.
6. Check if the “U0418” is detected in “Self Diagnostic Result” of “ICC/ADAS”. DAS
Is “U0418” detected?
YES >> Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
NO >> INSPECTION END P
Special Repair Requirement INFOID:0000000012172443

DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
Revision: July 2016 DAS-131 2016 QX50
 U0418 BCU CAN 1
< DTC/CIRCUIT DIAGNOSIS > [DCA]
SPECIAL REPAIR REQUIREMENT
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".

>> GO TO 2.
2.CHECK DCA SYSTEM
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.

>> WORK END

cardiagn.com

Revision: July 2016 DAS-132 2016 QX50

 U0428 STRG SEN CAN 2
< DTC/CIRCUIT DIAGNOSIS > [DCA]
U0428 STRG SEN CAN 2
A
Description INFOID:0000000012172444

It detects the rotation amount, rotation speed, and rotation direction of steering wheel, and then transmits them B
to ICC sensor integrated unit via CAN communication.
DTC Logic INFOID:0000000012172445

C
DTC DETECTION LOGIC

DTC D
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
If ICC sensor integrated unit detects an error E
U0428
STRG SEN CAN CIR2 signal that is received from steering angle sen- Steering angle sensor
(131)
sor via CAN communication
NOTE:
F
If DTC “U0428” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-135, "ICC
SENSOR INTEGRATED UNIT : DTC Logic".

cardiagn.com
DTC CONFIRMATION PROCEDURE G
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the DCA system ON. H
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “U0428” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
Is “U0428” detected as the current malfunction? I
YES >> Refer to DAS-133, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
J
Diagnosis Procedure INFOID:0000000012172446

1.CHECK SELF-DIAGNOSIS RESULTS K

Check if “U1000” is detected other than “U0428” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts. L
Refer to DAS-135, "ICC SENSOR INTEGRATED UNIT : DTC Logic".
NO >> GO TO 2.
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS M
Check if any DTC is detected in “Self Diagnostic Result” of “ABS”.
Is any DTC detected?
N
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
BRC-143, "DTC No. Index".
NO >> Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
DAS
Special Repair Requirement INFOID:0000000012172447

DESCRIPTION P
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
SPECIAL REPAIR REQUIREMENT
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
Revision: July 2016 DAS-133 2016 QX50
 U0428 STRG SEN CAN 2
< DTC/CIRCUIT DIAGNOSIS > [DCA]
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".

>> GO TO 2.
2.CHECK DCA SYSTEM
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.

>> WORK END

cardiagn.com

Revision: July 2016 DAS-134 2016 QX50

 U1000 CAN COMM CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [DCA]
U1000 CAN COMM CIRCUIT
A
ICC SENSOR INTEGRATED UNIT
ICC SENSOR INTEGRATED UNIT : Description INFOID:0000000012172448
B
CAN COMMUNICATION
CAN (Controller Area Network) is a serial communication line for real time applications. It is an on-vehicle mul-
tiplex communication line with high data communication speed and excellent error detection ability. Modern C
vehicle is equipped with many electronic control units, and each control unit shares information and links with
other control units during operation (not independent). In CAN communication, control units are connected
with 2 communication lines (CAN-H, CAN-L) allowing a high rate of information transmission with less wiring. D
Each control unit transmits/receives data but selectively reads the required data only.
CAN communication signal chart. Refer to LAN-28, "CAN Communication Signal Chart".
ITS COMMUNICATION E
• ITS communication is a multiplex communication system. This enables the system to transmit and receive
large quantities of data at high speed by connecting ICC sensor integrated unit, brake booster control unit,
and accelerator pedal actuator with 2 communication lines.
F
• ITS communication lines adopt twisted-pair line style (two lines twisted) for noise immunity.
ICC SENSOR INTEGRATED UNIT : DTC Logic INFOID:0000000012172449

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G
DTC DETECTION LOGIC

DTC H
(On board Trouble diagnosis name DTC detecting condition Possible causes
display)
If ICC sensor integrated unit is not transmitting or
U1000
CAN COMM CIRCUIT receiving CAN communication signal or ITS com-
• CAN communication system I
(100) • ITS communication system
munication signal for 2 seconds or more
NOTE:
If “U1000” is detected, first diagnose the CAN communication system. J

ICC SENSOR INTEGRATED UNIT : Diagnosis Procedure INFOID:0000000012172450

K
1.PERFORM THE SELF-DIAGNOSIS
1. Turn the ignition switch ON.
2. Turn the DCA system ON, and wait for 30 seconds or more. L
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “U1000” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
Is “U1000” detected as the current malfunction? M
YES >> Refer to LAN-18, "Trouble Diagnosis Flow Chart".
NO >> Refer to GI-42, "Intermittent Incident".
ICC SENSOR INTEGRATED UNIT : Special Repair Requirement INFOID:0000000012172451 N

DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following DAS
operation is performed.
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit P
Check the operation after performing the accelerator pedal released position learning when the following oper-
ation is performed.
• Disconnection and connection of accelerator pedal position sensor connector
• Replace accelerator pedal assembly
SPECIAL REPAIR REQUIREMENT
1.CHECK CONTROL UNIT REPLACED, REMOVED AND/OR INSTALLED
Revision: July 2016 DAS-135 2016 QX50
 U1000 CAN COMM CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [DCA]
Perform the adjustment work after the replacement or removal and installation of ICC sensor integrated unit,
replacement of accelerator pedal assembly, or disconnection or connection of accelerator pedal position sen-
sor connector.

Which is replaced, removed or installed?

ICC sensor integrated unit>>GO TO 2.
Accelerator pedal assembly>>GO TO 3.
2.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".

>> GO TO 4.
3.ACCELERATOR PEDAL RELEASED POSITION LEARNING
Perform the Accelerator Pedal Released Position Learning. Refer to EC-20, "ACCELERATOR PEDAL
RELEASED POSITION LEARNING : Description".

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>> GO TO 4.
4.CHECK DCA SYSTEM
1. Erase the self-diagnosis results, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.

>> WORK END

ACCELERATOR PEDAL ACTUATOR
ACCELERATOR PEDAL ACTUATOR : Description INFOID:0000000012172452

• ITS communication is a multiplex communication system. This enables the system to transmit and receive
large quantities of data at high speed by connecting ICC sensor integrated unit, brake booster control unit,
and accelerator pedal actuator with 2 communication lines.
• ITS communication lines adopt twisted-pair line style (two lines twisted) for noise immunity.
CAUTION:
ITS communication uses the twisted pair line. Be careful when repairing the wiring.
ACCELERATOR PEDAL ACTUATOR : DTC Logic INFOID:0000000012172453

DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition Possible causes

If accelerator pedal actuator is not transmitting or
U1000 CAN COMM CIRCUIT receiving ITS communication signal for 2 sec- ITS communication system
onds or more.

ACCELERATOR PEDAL ACTUATOR : Diagnosis Procedure INFOID:0000000012172454

1.PERFORM THE SELF-DIAGNOSIS

1. Turn ignition switch ON.
2. Turn the DCA system ON, and wait for 2 seconds or more.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “U1000” is detected as the current malfunction in self-diagnosis results of “ACCELE PEDAL
ACT”.
Is “U1000” detected as the current malfunction?

Revision: July 2016 DAS-136 2016 QX50

 U1000 CAN COMM CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [DCA]
YES >> Refer to LAN-18, "Trouble Diagnosis Flow Chart".
NO >> Refer to GI-42, "Intermittent Incident". A
ACCELERATOR PEDAL ACTUATOR : Special Repair Requirement INFOID:0000000012172455

B
DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
• Removal and installation of ICC sensor integrated unit C
• Replacement of ICC sensor integrated unit
Check the operation after performing the accelerator pedal released position learning when the following oper-
ation is performed. D
• Disconnection and connection of accelerator pedal position sensor connector
• Replace accelerator pedal assembly
SPECIAL REPAIR REQUIREMENT E
1.CHECK CONTROL UNIT REPLACED, REMOVED AND/OR INSTALLED
Perform the adjustment work after the replacement or removal and installation of ICC sensor integrated unit,
replacement of accelerator pedal assembly, or disconnection or connection of accelerator pedal position sen- F
sor connector.

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Which is replaced, removed or installed? G
ICC sensor integrated unit>>GO TO 2.
Accelerator pedal assembly>>GO TO 3.
H
2.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description". I

>> GO TO 4. J
3.ACCELERATOR PEDAL RELEASED POSITION LEARNING
Perform the Accelerator Pedal Released Position Learning. Refer to EC-20, "ACCELERATOR PEDAL
RELEASED POSITION LEARNING : Description". K

>> GO TO 4. L

4.CHECK DCA SYSTEM

1. Erase the self-diagnosis results, and then perform “All DTC Reading” again after performing the action M
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.
N
>> WORK END

DAS

Revision: July 2016 DAS-137 2016 QX50

 U1010 CONTROL UNIT (CAN)
< DTC/CIRCUIT DIAGNOSIS > [DCA]
U1010 CONTROL UNIT (CAN)
ICC SENSOR INTEGRATED UNIT
ICC SENSOR INTEGRATED UNIT : Description INFOID:0000000012172456

• CAN controller controls the communication of CAN communication signal and the error detection.
• CAN controller controls the communication of ITS communication signal and the error detection.
ICC SENSOR INTEGRATED UNIT : DTC Logic INFOID:0000000012172457

DTC DETECTION LOGIC

DTC
(On board Trouble diagnosis name DTC detecting condition Possible causes
display)
U1010 If ICC sensor integrated unit detects malfunc-
CONTROL UNIT (CAN) ICC sensor integrated unit
(110) tion by CAN controller initial diagnosis

ICC SENSOR INTEGRATED UNIT : Diagnosis Procedure INFOID:0000000012172458

1.PERFORM DTC CONFIRMATION PROCEDURE

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1. Turn the DCA system ON.
2. Perform “All DTC Reading” with CONSULT.
3. Check if the “U1010” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
Is “U1010” detected as the current malfunction?
YES >> Replace the ICC sensor integrated unit.
NO >> INSPECTION END
ICC SENSOR INTEGRATED UNIT : Special Repair Requirement INFOID:0000000012172459

DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
SPECIAL REPAIR REQUIREMENT
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-7, "LASER BEAM AIMING
ADJUSTMENT : Description".

>> GO TO 2.
2.CHECK DCA SYSTEM
1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.

>> WORK END

ACCELERATOR PEDAL ACTUATOR
ACCELERATOR PEDAL ACTUATOR : Description INFOID:0000000012172460

CAN controller controls the communication of ITS communication signal and the error detection.

Revision: July 2016 DAS-138 2016 QX50

 U1010 CONTROL UNIT (CAN)
< DTC/CIRCUIT DIAGNOSIS > [DCA]
ACCELERATOR PEDAL ACTUATOR : DTC Logic INFOID:0000000012172461

A
DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition Possible causes B

If accelerator pedal actuator detects malfunc-
U1010 CONTROL UNIT (CAN) Accelerator pedal actuator
tion by CAN controller initial diagnosis.
C
ACCELERATOR PEDAL ACTUATOR : Diagnosis Procedure INFOID:0000000012172462

1.PERFORM DTC CONFIRMATION PROCEDURE D

1. Turn the DCA system ON.
2. Perform “All DTC Reading” with CONSULT.
3. Check if the DTC “U1010” is detected as the current malfunction in self-diagnosis results of “ACCELE E
PEDAL ACT”.
Is “U1010” detected as the current malfunction?
YES >> Replace the accelerator pedal assembly. F
NO >> INSPECTION END
ACCELERATOR PEDAL ACTUATOR : Special Repair Requirement

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INFOID:0000000012172463

G
DESCRIPTION
The accelerator pedal released position learning is necessary when the following operation is performed.
• Disconnection and connection of accelerator pedal assembly connector H
• Replace accelerator pedal assembly
SPECIAL REPAIR REQUIREMENT
I
1.ACCELERATOR PEDAL RELEASED POSITION LEARNING
Perform the accelerator pedal released position learning. Refer to EC-20, "ACCELERATOR PEDAL
RELEASED POSITION LEARNING : Description". J

>> GO TO 2.
2.CHECK DCA SYSTEM K

1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
test. (Refer to DAS-13, "ACTION TEST : Description" for action test.)
L
2. Check that the DCA system is normal.

>> WORK END

M

DAS

Revision: July 2016 DAS-139 2016 QX50

 POWER SUPPLY AND GROUND CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [DCA]
POWER SUPPLY AND GROUND CIRCUIT
ICC SENSOR INTEGRATED UNIT
ICC SENSOR INTEGRATED UNIT : Diagnosis Procedure INFOID:0000000012172464

1.CHECK FUSES
Check if any of the following fuses are blown:

Signal name Fuse No.

Ignition power supply 45
Is the inspection result normal?
YES >> GO TO 2.
NO >> Replace the blown fuse after repairing the affected circuit if a fuse is blown.
2.CHECK ICC SENSOR INTEGRATED UNIT POWER SUPPLY CIRCUIT
1. Turn the ignition switch OFF.
2. Disconnect the ICC sensor integrated unit connector.
3. Turn the ignition switch ON.
4. Check voltage between ICC sensor integrated unit harness connector and ground.

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Terminal
(+) (–) Voltage
ICC sensor integrated unit (Approx.)

Connector Terminal Ground

E67 1 Battery voltage
Is the inspection result normal?
YES >> GO TO 3.
NO >> Repair the ICC sensor integrated unit power supply circuit.
3.CHECK ICC SENSOR INTEGRATED UNIT GROUND CIRCUIT
1. Turn the ignition switch OFF.
2. Check for continuity between ICC sensor integrated unit harness connector and ground.

ICC sensor integrated unit

Continuity
Connector Terminal Ground
E67 4 Existed
Is the inspection result normal?
YES >> INSPECTION END
NO >> Repair the ICC sensor integrated unit ground circuit.
BRAKE BOOSTER CONTROL UNIT
BRAKE BOOSTER CONTROL UNIT : Diagnosis Procedure INFOID:0000000012172465

1.CHECK FUSES
Check if any of the following fuses are blown:

Signal name Fuse No.

Battery power supply 63
Ignition power supply 45
Is the inspection result normal?
YES >> GO TO 2.
NO >> Replace the blown fuse after repairing the affected circuit if a fuse is blown.

Revision: July 2016 DAS-140 2016 QX50

 POWER SUPPLY AND GROUND CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [DCA]

2.CHECK BRAKE BOOSTER CONTROL UNIT POWER SUPPLY CIRCUIT A

1. Turn the ignition switch ON.
2. Check voltage between brake booster control unit harness connector and ground.
B
Terminal
Condition
(+) (–) Voltage
Brake booster control unit (Approx.) C
Ignition
Connector Terminal switch

1
B250 Ground OFF D
2 Battery volt-
33 age
B249 ON
42 E
Is the inspection result normal?
YES >> GO TO 3.
NO >> Repair the brake booster control unit power supply circuit. F
3.CHECK BRAKE BOOSTER CONTROL UNIT GROUND CIRCUIT

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1. Turn the ignition switch OFF. G
2. Disconnect brake booster control unit connector.
3. Check for continuity between brake booster control unit harness connector and ground.
H
Brake booster control unit
Continuity
Connector Terminal
19 Ground I
B250
20 Existed
B249 46
J
Is the inspection result normal?
YES >> INSPECTION END
NO >> Repair the brake booster control unit ground circuit.
K
ACCELERATOR PEDAL ACTUATOR
ACCELERATOR PEDAL ACTUATOR : Diagnosis Procedure INFOID:0000000012172466
L
1.CHECK FUSES
Check if any of the following fuses are blown:
M
Power supply Fuse No.
Battery power supply 61
N
Ignition power supply 45
Is the inspection result normal?
YES >> GO TO 2. DAS
NO >> Replace the blown fuse after repairing the affected circuit if a fuse is blown.
2.CHECK ACCELERATOR PEDAL ACTUATOR POWER SUPPLY CIRCUIT
P
1. Turn the ignition switch OFF.
2. Disconnect the accelerator pedal actuator connector.
3. Check voltage between accelerator pedal actuator harness connector and ground.

Revision: July 2016 DAS-141 2016 QX50

 POWER SUPPLY AND GROUND CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [DCA]

Terminals
Condition
(+) (–)
Voltage
Accelerator pedal actuator Ignition
Connector Terminal switch
Ground
2 OFF Battery volt-
E113
1 ON age

Is the inspection result normal?

YES >> GO TO 3.
NO >> Repair the accelerator pedal actuator power supply circuit.
3.CHECK ACCELERATOR PEDAL ACTUATOR GROUND CIRCUIT
1. Turn the ignition switch OFF.
2. Check for continuity between accelerator pedal actuator harness connector and ground.

Accelerator pedal actuator

Continuity
Connector Terminal Ground

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E113 4 Existed
Is the inspection result normal?
YES >> INSPECTION END
NO >> Repair the accelerator pedal actuator ground circuit.

Revision: July 2016 DAS-142 2016 QX50

 ICC WARNING CHIME CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [DCA]
ICC WARNING CHIME CIRCUIT
A
Description INFOID:0000000012172467

• The ICC sensor integrated unit transmits the buzzer output signal to the brake booster control unit via ITS B
communication.
• The brake booster control unit outputs the buzzer output signal to the ICC warning chime.
• A warning chime sounds when the system is canceled or when the vehicle distance from the vehicle ahead
is too close. C

Component Function Check INFOID:0000000012172468

D
1.ICC WARNING CHIME OPERATION INSPECTION
1. Select the active test item “ICC BUZZER” of “ICC/ADAS” with CONSULT.
2. Check if the ICC warning chime sounds when operating each test item. E
Does the ICC warning chime sound?
YES >> The ICC warning chime circuit is normal.
NO >> Refer to DAS-143, "Diagnosis Procedure". F
Diagnosis Procedure INFOID:0000000012172469

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1.CHECK ICC WARNING CHIME POWER SUPPLY CIRCUIT G
1. Turn ignition switch OFF.
2. Disconnect the ICC warning chime connector.
3. Turn ignition switch ON. H
4. Check voltage between ICC warning chime harness connector and ground.

Terminals I
(+) (–) Voltage
ICC warning chime (Approx.)
J
Connector Terminal Ground
M186 1 Battery voltage
Is the inspection result normal? K
YES >> GO TO 2.
NO >> Repair the harnesses or connectors.
2.CHECK ICC WARNING CHIME SIGNAL CIRCUIT L

1. Turn ignition switch OFF.

2. Disconnect brake booster control unit connector. M
3. Check for continuity between the ICC warning chime harness connector and brake booster control unit
harness connector.

N
ICC warning chime Brake booster control unit
Continuity
Connector Terminal Connector Terminal
M186 3 B250 21 Existed DAS
Is the inspection result normal?
YES >> GO TO 3.
NO >> Repair the harnesses or connectors. P
3.CHECK ICC WARNING CHIME SIGNAL CIRCUIT SHORT
Check for continuity between ICC warning chime harness connector and ground.

Revision: July 2016 DAS-143 2016 QX50

 ICC WARNING CHIME CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [DCA]

ICC warning chime

Continuity
Connector Terminal Ground
M186 3 Not existed
Is the inspection result normal?
YES >> GO TO 4.
NO >> Repair the harnesses or connectors.
4.CHECK ICC WARNING CHIME
Check the ICC warning chime. Refer to DAS-144, "Component Inspection".
Is the inspection result normal?
YES >> Replace the brake booster control unit.
NO >> Replace the ICC warning chime.
Component Inspection INFOID:0000000012172470

1.ICC WARNING CHIME INSPECTION

Apply the battery voltage between ICC warning chime terminals, and then check if the ICC warning chime
sounds.

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Terminal Warning
Condition
(+) (–) chime

When the battery voltage is applied Sounds

1 3 Does not
When the battery voltage is not applied
sound
Is the inspection result normal?
YES >> INSPECTION END
NO >> Replace the ICC warning chime.

Revision: July 2016 DAS-144 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [DCA]

ECU DIAGNOSIS INFORMATION A

ICC SENSOR INTEGRATED UNIT
Reference Value INFOID:0000000012172471
B

VALUES ON THE DIAGNOSIS TOOL

NOTE: C
The following table includes information (items) inapplicable to this vehicle. For information (items) applicable
to this vehicle, refer to CONSULT display items.

Monitor item Condition Value/Status D

When MAIN switch is pressed On
MAIN SW Ignition switch ON
When MAIN switch is not pressed Off
E
When SET/COAST switch is pressed On
SET/COAST SW Ignition switch ON
When SET/COAST switch is not pressed Off
When CANCEL switch is pressed On F
CANCEL SW Ignition switch ON
When CANCEL switch is not pressed Off

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When RESUME/ACCELERATE switch is pressed On
RESUME/ACC SW Ignition switch ON G
When RESUME/ACCELERATE switch is not pressed Off
When DISTANCE switch is pressed On
DISTANCE SW Ignition switch ON
When DISTANCE switch is not pressed Off H
Drive the vehicle and operate When ICC system is controlling On
CRUISE OPE
the ICC system. When ICC system is not controlling Off
I
When brake pedal is depressed Off
BRAKE SW Ignition switch ON
When brake pedal is not depressed On
When brake pedal is depressed On J
STOP LAMP SW Ignition switch ON
When brake pedal is not depressed Off
Idling On
IDLE SW Engine running K
Except idling (depress accelerator pedal) Off
• Start the engine and turn the When set to “long” Long
ICC system ON.
When set to “middle” Mid L
• Press the DISTANCE
SET DISTANCE
switch to change the vehi-
cle-to-vehicle distance set- When set to “short” Short
ting.
M
ICC system ON
On
Start the engine and press (MAIN switch indicator ON)
CRUISE LAMP
MAIN switch. ICC system OFF
Off N
(MAIN switch indicator OFF)
ICC system ON
On
Start the engine and press (Own vehicle indicator ON)
OWN VHCL
MAIN switch.
DAS
ICC system OFF
Off
(Own vehicle indicator OFF)
When a vehicle ahead is detected (vehicle ahead de-
Drive the vehicle and activate On P
tection indicator ON)
VHCL AHEAD the vehicle-to-vehicle distance
control mode. When a vehicle ahead is not detected (vehicle ahead
Off
detection indicator OFF)
When ICC system is malfunctioning
On
Start the engine and press the (ICC system warning lamp ON)
ICC WARNING
MAIN switch. When ICC system is normal
Off
(ICC system warning lamp OFF)

Revision: July 2016 DAS-145 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [DCA]
Monitor item Condition Value/Status
Value of vehicle
VHCL SPEED SE While driving speed signal
(wheel speed)
Displays the set
SET VHCL SPD While driving When vehicle speed is set
vehicle speed.
When the buzzer output signal is output On
BUZZER O/P Engine running
When the buzzer output signal is not output Off
NOTE:
THRTL SENSOR 0.0
The item is indicated, but not monitored.
Equivalent to ta-
ENGINE RPM Engine running chometer read-
ing
Wiper not operating Off
WIPER SW Ignition switch ON Wiper LO operation Low
Wiper HI operation High
NOTE:
YAW RATE 0.0
The item is indicated, but not monitored.

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IBA OFF indicator lamp ON
• When IBA system is malfunctioning On
• When IBA system is turned to OFF
BA WARNING Engine running
IBA OFF indicator lamp OFF
• When IBA system is normal Off
• When IBA system is turned to ON
FUNC ITEM Ignition switch ON FUNC1
When the LDP system setting is ON On
LDP SELECT Ignition switch ON
When the LDP system setting is OFF Off
When the DCA system setting is ON On
DCA SELECT Ignition switch ON
When the DCA system setting is OFF Off
When brake pedal is depressed On
RELEASE SW NO Engine running
When brake pedal is not depressed Off
When brake pedal is depressed Off
RELEASE SW NC Engine running
When brake pedal is not depressed On
Drive the vehicle and activate When ICC brake hold relay is activated On
STP LMP DRIVE the vehicle-to-vehicle distance
control mode. When the ICC brake hold relay is not activated Off

When brake pedal is not depressed 0.0

PRESS SENS Engine running Brake fluid pres-
When brake pedal is depressed
sure value
When the selector lever is in “D”, “DS” position or man-
On
ual mode
D RANGE SW Engine running
When the selector lever is in any position other than “D”,
Off
“DS” or manual mode
When the selector lever is in “N”, “P” position On
NP RANGE SW Engine running When the selector lever is in any position other than “N”,
Off
“P”
When the parking brake is applied On
PKB SW Ignition switch ON
When the parking brake is released Off
Power supply
voltage value of
PWR SUP MONI Engine running
ICC sensor inte-
grated unit

Revision: July 2016 DAS-146 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [DCA]
Monitor item Condition Value/Status
A
Value of A/T ve-
VHCL SPD AT While driving hicle speed sen-
sor signal
Displays the B
THRTL OPENING Engine running Depress accelerator pedal
throttle position.
Displays the
GEAR While driving
shift position. C
NOTE:
CLUTCH SW SIG Off
The item is indicated, but not monitored.
NOTE: D
NP SW SIG —
The item is indicated, but not used.
When ICC system is deactivated Off
When vehicle-to-vehicle distance control mode is acti- E
Start the engine and press ICC
MODE SIG vated
MAIN switch.
When conventional (fixed speed) cruise control mode is
ASCD
activated F
• Start the engine and acti- SET switch indicator lamp ON On
vate the conventional (fixed

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SET DISP IND
speed) cruise control mode. SET switch indicator lamp OFF Off G
• Press SET/COAST switch.
When the LDP system is ON
On
(LDP ON indicator lamp ON)
LDP SYSTEM ON Engine running H
When the LDP system is OFF
Off
(LDP ON indicator lamp OFF)
When the LDW system is ON
(Warning systems ON indicator lamp ON)
On I
LDW SYSTEM ON Ignition switch ON
When the LDW system is OFF
Off
(Warning systems ON indicator lamp OFF)
J
When the FCW system is ON
On
(Warning systems ON indicator lamp ON)
FCW SYSTEM ON Ignition switch ON
When the FCW system is OFF
Off K
(Warning systems ON indicator lamp OFF)
Displays the dis-
Drive the vehicle and activate tance from the
When a vehicle ahead is detected
DISTANCE the vehicle-to-vehicle distance preceding vehi- L
control mode. cle.
When a vehicle ahead is not detected 0.0

Drive the vehicle and activate Displays the rel- M

When a vehicle ahead is detected
RELATIVE SPD the vehicle-to-vehicle distance ative speed.
control mode. When a vehicle ahead is not detected 0.0
NOTE: N
DCA ON SW Off
The item is indicated, but not monitored.
DCA system OFF
Off
(DCA system switch indicator OFF) DAS
DCA ON IND Start the engine
DCA system ON
On
(DCA system switch indicator ON)
When a vehicle ahead is not detected (vehicle ahead P
Off
Drive the vehicle and activate detection indicator OFF)
DCA VHL AHED
the DCA system. When a vehicle ahead is detected (vehicle ahead de-
On
tection indicator ON)
When the IBA OFF switch is not pressed Off
IBA SW Ignition switch ON
When the IBA OFF switch is pressed On

Revision: July 2016 DAS-147 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [DCA]
Monitor item Condition Value/Status
When the dynamic driver assistance switch is pressed On
DYNA ASIST SW Ignition switch ON When the dynamic driver assistance switch is not
Off
pressed
Display the ac-
celerator pedal
APA TEMP Engine running actuator inte-
grated motor
temperature
Power supply
APA PWR Ignition switch ON
voltage

TERMINAL LAYOUT

cardiagn.com
JPOIA0105ZZ

PHYSICAL VALUES

Terminal No.
Description
(Wire color) Value
Condition
Input/ (Approx.)
+ – Signal name
Output
1
Ignition power supply Input Ignition switch ON Battery voltage
(R)
2 Input/
ITS communication-H — —
(L) Output
3 Input/
CAN-H — —
(L) Output
Ground
4
Ground — Ignition switch ON 0V
(B)
5 Input/
ITS communication-L — —
(P) Output
6 Input/
CAN-L — —
(P) Output

Revision: July 2016 DAS-148 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [DCA]
Wiring Diagram - DISTANCE CONTROL ASSIST - INFOID:0000000012172472

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G

DAS

JROWC6534GB
P

Revision: July 2016 DAS-149 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [DCA]

cardiagn.com
JROWC6535GB

Revision: July 2016 DAS-150 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [DCA]

cardiagn.com
G

DAS

JROWC6536GB

Revision: July 2016 DAS-151 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [DCA]

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JROWC6537GB

Revision: July 2016 DAS-152 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [DCA]

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G

DAS

JROWC6538GB

Revision: July 2016 DAS-153 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [DCA]

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JROWC6539GB

Revision: July 2016 DAS-154 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [DCA]

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G

DAS

JROWC6540GB

Revision: July 2016 DAS-155 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [DCA]

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JROWC6541GB

Revision: July 2016 DAS-156 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [DCA]

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G

DAS

JROWC6542GB

Revision: July 2016 DAS-157 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [DCA]

cardiagn.com
JROWC6543GB

Revision: July 2016 DAS-158 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [DCA]

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G

DAS

JROWC6544GB

Revision: July 2016 DAS-159 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [DCA]

cardiagn.com
JROWC6545GB

Revision: July 2016 DAS-160 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [DCA]

cardiagn.com
G

DAS

JROWC6546GB

P
Fail-Safe INFOID:0000000012172473

If a malfunction occurs in the system, a chime sounds a beep, and ICC sensor integrated unit cancels the con-
trol. Then the ICC system warning lamp in the combination meter illuminates.

Revision: July 2016 DAS-161 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [DCA]
DTC Inspection Priority Chart INFOID:0000000012172474

If multiple DTCs are detected simultaneously, check them one by one depending on the following DTC inspec-
tion priority chart.

Priority Detected items (DTC)

• U1000: CAN COMM CIRCUIT
1
• U1010: CONTROL UNIT (CAN)
• C1A31: BCU INTERNAL MALF
2
• C1F02: APA C/U MALF
• C1A01: POWER SUPPLY CIR
• C1A02: POWER SUPPLY CIR 2
• C1A04: ABS/TCS/VDC CIRC
• C1A05: BRAKE SW/STOP L SW
• C1A06: OPERATION SW CIRC
• C1A08: PRESS SEN CIRCUIT
• C1A09: BOOSTER SOL/V CIRC
• C1A10: RELEASE SW CIRC
• C1A11: PRESSURE CONTROL
• C1A12: LASER BEAM OFFCNTR
• C1A13: STOP LAMP RLY FIX

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• C1A14: ECM CIRCUIT
• C1A16: RADAR STAIN
• C1A18: LASER AIMING INCMP
• C1A21: UNIT HIGH TEMP
• C1A22: BCU CIRCUIT
• C1A24: NP RANGE
• C1A28: BCU PWR SUPLY CIR
• C1A29: BCU PWR SUPLY CIR2
3 • C1A30: BCU CAN COMM CIRC
• C1A32: IBA FLAG STUCK
• C1A33: CAN TRANSMISSION ERROR
• C1A34: COMMAND ERROR
• C1A35: APA CIR
• C1A36: APA CAN COMM CIR
• C1A37: APA CAN CIR2
• C1A38: APA CAN CIR1
• C1A39: STRG SEN CIR
• C1A40: SYSTEM SW CIRC
• C1F01: APA MOTOR MALF
• C1F05: APA PWR SUPLY CIR
• U0121: VDC CAN CIR2
• U0126: STRG SEN CAN CIR1
• U0129: BCU CAN CIR2
• U0401: ECM CAN CIR1
• U0402: TCM CAN CIR1
• U0415: VDC CAN CIR1
• U0418: BCU CAN CIR1
• U0428: STRG SEN CAN CIR2
4 • C1A03: VHCL SPEED SE CIRC
5 • C1A15: GEAR POSITION
6 • C1A00: CONTROL UNIT

DTC Index INFOID:0000000012172475

NOTE:
• The details of time display are as per the following.
- CRNT: A malfunction is detected now
- PAST: A malfunction was detected in the past
• IGN counter is displayed on FFD (Freeze Frame Data).
- 0: The malfunctions that are detected now
CAN communication system (U1000, U1010)

Revision: July 2016 DAS-162 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [DCA]
- 1 - 39: It increases like 0 → 1 → 2 ··· 38 → 39 after returning to the normal condition whenever the ignition
switch OFF → ON. It returns to 0 when a malfunction is detected again in the process. A
- If it is over 39, it is fixed to 39 until the self-diagnosis results are erased.
Other than CAN communication system (Other than U1000, U1010)
- 1 - 49: It increases like 0 → 1 → 2 ··· 38 → 49 after returning to the normal condition whenever the ignition
B
switch OFF → ON. It returns to 0 when a malfunction is detected again in the process.
- If it is over 49, it is fixed to 49 until the self-diagnosis results are erased.
NOTE:
IBA system automatically returns to ON, when erasing self diagnosis result. C
×: Applicable
DTC Fail-safe function

ICC sys- Conven- D

tem tional
CONSULT display Vehicle-to-ve- Reference
On board warning (fixed IBA sys-
CONSULT hicle distance
display lamp speed) tem
control mode E
cruise con-
trol mode
C1A00 0 CONTROL UNIT × × × × CCS-47
C1A01 1 POWER SUPPLY CIR × × × × CCS-49
F
C1A02 2 POWER SUPPLY CIR 2 × × × × CCS-49

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C1A03 3 VHCL SPEED SE CIRC × × × × CCS-51 G
C1A04 4 ABS/TCS/VDC CIRC × × × × CCS-53
C1A05 5 BRAKE SW/STOP L SW × × × × CCS-55
C1A06 6 OPERATION SW CIRC × × × CCS-60 H
C1A08 8 PRESS SEN CIRCUIT × × × × CCS-63
C1A09 9 BOOSTER SOL/V CIRC × × × × CCS-65
I
C1A10 10 RELEASE SW CIRC × × × × CCS-68
C1A11 11 PRESSURE CONTROL × × × × CCS-71
C1A12 12 LASER BEAM OFFCNTR × × × CCS-74 J
C1A13 13 STOP LAMP RLY FIX × × × CCS-75
C1A14 14 ECM CIRCUIT × × × CCS-82
K
C1A15 15 GEAR POSITION × × × × CCS-84
C1A16 16 RADAR STAIN × × × CCS-87
C1A18 18 LASER AIMING INCMP × × × CCS-89 L
C1A21 21 UNIT HIGH TEMP × × × × CCS-91
C1A22 22 BCU CIRCUIT × × × × CCS-93
M
C1A24 24 NP RANGE × × × × CCS-97
C1A28 28 BCU PWR SUPLY CIR × × × × CCS-99
C1A29 29 BCU PWR SUPLY CIR2 × × × × CCS-99 N
C1A30 30 BCU CAN COMM CIRC × × × × CCS-101
C1A31 31 BCU INTERNAL MALF × × × × CCS-102
C1A32 32 IBA FLAG STUCK × × × × CCS-104 DAS
C1A33 33 CAN TRANSMISSION ERROR × × × × CCS-106
C1A34 34 COMMAND ERROR × × × × CCS-108
P
C1A35 35 APA CIR × × DAS-96
C1A36 36 APA CAN COMM CIR × × DAS-97
C1A37 133 APA CAN CIR2 × × × DAS-99
C1A38 132 APA CAN CIR1 × × × DAS-101
C1A39 39 STRG SEN CIR × × × CCS-110

Revision: July 2016 DAS-163 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [DCA]
DTC Fail-safe function

ICC sys- Conven-

tem tional
CONSULT display Vehicle-to-ve- Reference
On board warning (fixed IBA sys-
CONSULT hicle distance
display lamp speed) tem
control mode
cruise con-
trol mode
C1A40 40 SYSTEM SW CIRC × × × × CCS-112
NO DTC IS
DETECTED.
NO DTC IS DETECTED.
FURTHER
55 FURTHER TESTING — — — — —
TESTING
MAY BE REQUIRED.
MAY BE RE-
QUIRED
C1F01 91 APA MOTOR MALF × × DAS-108
C1F02 92 APA C/U MALF × × DAS-110
C1F05 95 APA PWR SUPLY CIR × × DAS-113
U0121 127 VDC CAN CIR2 × × × × CCS-115
U0126 130 STRG SEN CAN CIR1 × × × CCS-117

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U0129 125 BCU CAN CIR2 × × × × CCS-119
U0401 120 ECM CAN CIR1 × × × × CCS-121
U0402 122 TCM CAN CIR1 × × × × CCS-123
U0415 126 VDC CAN CIR1 × × × × CCS-125
U0418 124 BCU CAN CIR1 × × × × CCS-127
U0428 131 STRG SEN CAN CIR2 × × × CCS-129
U1000 100 CAN COMM CIRCUIT × × × × CCS-131
U1010 110 CONTROL UNIT (CAN) × × × × CCS-133

Revision: July 2016 DAS-164 2016 QX50

 BRAKE BOOSTER CONTROL UNIT
< ECU DIAGNOSIS INFORMATION > [DCA]
BRAKE BOOSTER CONTROL UNIT
A
Reference Value INFOID:0000000012172476

TERMINAL LAYOUT B

JPOIA0106ZZ E

PHYSICAL VALUES
F
Terminal No.
Description
(Wire color) Value
Condition

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Input/ (Approx.)
+ − Signal name G
Output
Ignition
1
Battery power supply — switch — Battery voltage
(W) H
OFF
Ignition
2
Battery power supply — switch — Battery voltage
(W) Ground OFF I
5 Input/
ITS communication-L — — —
(P) Output
6 Release switch power Ignition J
— — 10 V
(SB) supply switch ON
8 24 Brake pressure sensor Ignition
— — 5V
(R) (BG) power supply switch ON K
10 Booster solenoid pow- Ignition
— — 12 V
(G) er supply switch ON
L

12 Booster solenoid Ignition At “BOOSTER SOL/V ” test

Output M
(R) ground switch ON of “Active test”
Ground

PKIB1763J N
14 Input/
ITS communication-H — — —
(L) Output

15 Release switch (nor- Ignition Press the brake pedal. 0V DAS

—
(LG) mal close) switch ON Brake pedal not depressed 10 V
Brake pedal not depressed 0.5 V
P
17 24 Brake pressure sensor Ignition 0.5 - 3.5 V
Input
(L) (BG) signal switch ON Press the brake pedal. Note: The harder the brake is
pressed, the higher the voltage.

Revision: July 2016 DAS-165 2016 QX50

 BRAKE BOOSTER CONTROL UNIT
< ECU DIAGNOSIS INFORMATION > [DCA]
Terminal No.
Description
(Wire color) Value
Condition
Input/ (Approx.)
+ − Signal name
Output
19 Ignition
Ground — — 0V
(B) switch ON
20 Ignition
Ground — — 0V
(B) switch ON
ICC warning chime not oper-
12 V
21 ICC warning chime Ignition ating
Output
(Y) signal switch ON ICC warning chime opera-
0V
tion

22 Release switch Ignition Brake pedal depressed 10 V

Input
(P) (normal open) switch ON Brake pedal not depressed 0V
24 Brake pressure sensor
— — — —
(BG) Ground ground
33 Ignition
Ignition power supply — — Battery voltage
(BR) switch ON

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40 Ignition IBA OFF switch pressed 0V
IBA OFF switch Input
(SB) switch ON IBA OFF switch not pressed 12 V
42 Ignition
Ignition power supply — — Battery voltage
(G) switch ON
46 Ignition
Ground — — 0V
(B) switch ON
— 0V
47 ICC brake hold relay Ignition
Output At “STOP LAMP” test of “Ac-
(V) drive signal switch ON 12 V
tive test”

Revision: July 2016 DAS-166 2016 QX50

 ACCELERATOR PEDAL ACTUATOR
< ECU DIAGNOSIS INFORMATION > [DCA]
ACCELERATOR PEDAL ACTUATOR
A
Reference Value INFOID:0000000012172477

VALUES ON THE DIAGNOSIS TOOL B

The following table includes information (items) inapplicable to this vehicle. For information (items) applicable
to this vehicle, refer to CONSULT display items.
C
Monitor item Condition Value/Status
Drive the vehicle and When the ICC sensor integrated unit is
It changes with the demand from
TGT FBK FRC operate the DCA sys- controlling the accelerator pedal actua-
the ICC sensor integrated unit. D
tem tor
NOTE:
TGT MOT POSI —
The item is indicated, but not used.
E
It changes according to the de-
ACT MOT POSI Engine running Depress accelerator pedal pressed amount of accelerator
pedal
It changes according to the de- F
AP OPEN Engine running Depress accelerator pedal pressed amount of accelerator
pedal

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Display the accelerator pedal ac- G
APA TEMP Engine running tuator integrated motor tempera-
ture
Drive the vehicle and When the ICC sensor integrated unit is Display the accelerator pedal ac- H
APA CURRENT operate the DCA sys- controlling the accelerator pedal actua- tuator motor operation consump-
tem tor tion current
APA PWR Ignition switch ON Battery voltage
I
When the accelerator pedal actuator
On
control is permitted
APA OPE STATS Engine running
When the accelerator pedal actuator J
Off
control is invalid
When the accelerator pedal actuator is
READY
normal
K
When the accelerator pedal actuator is
TP NG
temporarily malfunctioning
APA STATS Engine running
When the accelerator pedal actuator is
NG L
malfunctioning
During the accelerator pedal actuator
INIT
operation preparations
M
TERMINAL LAYOUT

DAS

P
JPOIA0104ZZ

PHYSICAL VALUES

Revision: July 2016 DAS-167 2016 QX50

 ACCELERATOR PEDAL ACTUATOR
< ECU DIAGNOSIS INFORMATION > [DCA]

Terminal No.
Description
(Wire color) Value
Condition
Input/ (Approx.)
+ – Signal name
Output
1
Ignition power supply Input Ignition switch ON Battery voltage
(R)
2
Battery power supply Input Ignition switch OFF Battery voltage
(BG)
3 Input/
Ground ITS communication-L — —
(P) Output
4
Ground — Ignition switch ON 0V
(B/W)
5 Input/
ITS communication-H — —
(L) Output

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Revision: July 2016 DAS-168 2016 QX50

 ACCELERATOR PEDAL ACTUATOR
< ECU DIAGNOSIS INFORMATION > [DCA]
Wiring Diagram - DISTANCE CONTROL ASSIST - INFOID:0000000012172478

cardiagn.com
G

DAS

JROWC6534GB
P

Revision: July 2016 DAS-169 2016 QX50

 ACCELERATOR PEDAL ACTUATOR
< ECU DIAGNOSIS INFORMATION > [DCA]

cardiagn.com
JROWC6535GB

Revision: July 2016 DAS-170 2016 QX50

 ACCELERATOR PEDAL ACTUATOR
< ECU DIAGNOSIS INFORMATION > [DCA]

cardiagn.com
G

DAS

JROWC6536GB

Revision: July 2016 DAS-171 2016 QX50

 ACCELERATOR PEDAL ACTUATOR
< ECU DIAGNOSIS INFORMATION > [DCA]

cardiagn.com
JROWC6537GB

Revision: July 2016 DAS-172 2016 QX50

 ACCELERATOR PEDAL ACTUATOR
< ECU DIAGNOSIS INFORMATION > [DCA]

cardiagn.com
G

DAS

JROWC6538GB

Revision: July 2016 DAS-173 2016 QX50

 ACCELERATOR PEDAL ACTUATOR
< ECU DIAGNOSIS INFORMATION > [DCA]

cardiagn.com
JROWC6539GB

Revision: July 2016 DAS-174 2016 QX50

 ACCELERATOR PEDAL ACTUATOR
< ECU DIAGNOSIS INFORMATION > [DCA]

cardiagn.com
G

DAS

JROWC6540GB

Revision: July 2016 DAS-175 2016 QX50

 ACCELERATOR PEDAL ACTUATOR
< ECU DIAGNOSIS INFORMATION > [DCA]

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JROWC6541GB

Revision: July 2016 DAS-176 2016 QX50

 ACCELERATOR PEDAL ACTUATOR
< ECU DIAGNOSIS INFORMATION > [DCA]

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G

DAS

JROWC6542GB

Revision: July 2016 DAS-177 2016 QX50

 ACCELERATOR PEDAL ACTUATOR
< ECU DIAGNOSIS INFORMATION > [DCA]

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JROWC6543GB

Revision: July 2016 DAS-178 2016 QX50

 ACCELERATOR PEDAL ACTUATOR
< ECU DIAGNOSIS INFORMATION > [DCA]

cardiagn.com
G

DAS

JROWC6544GB

Revision: July 2016 DAS-179 2016 QX50

 ACCELERATOR PEDAL ACTUATOR
< ECU DIAGNOSIS INFORMATION > [DCA]

cardiagn.com
JROWC6545GB

Revision: July 2016 DAS-180 2016 QX50

 ACCELERATOR PEDAL ACTUATOR
< ECU DIAGNOSIS INFORMATION > [DCA]

cardiagn.com
G

DAS

JROWC6546GB

P
DTC Inspection Priority Chart INFOID:0000000012172479

If multiple DTCs are detected simultaneously, check them one by one depending on the following DTC inspec-
tion priority chart.

Revision: July 2016 DAS-181 2016 QX50

 ACCELERATOR PEDAL ACTUATOR
< ECU DIAGNOSIS INFORMATION > [DCA]

Priority Detected items (DTC)

• U1000: CAN COMM CIRCUIT
1
• U1010: CONTROL UNIT (CAN)
2 • C1F02: APA C/U MALF
• C1F01: APA MOTOR MALF
• C1F03: APA HI TEMP
3 • C1F05: APA PWR SUPLY CIR
• C1F06: CAN CIR2
• C1F07: CAN CIR1

DTC Index INFOID:0000000012172480

NOTE:
• The details of time display are as per the following.
- CRNT: A malfunction is detected now
- PAST: A malfunction was detected in the past
• IGN counter is displayed in FFD (Freeze Frame Data).
- 0: The malfunctions that are detected now
- 1 - 39: It increases like 0 → 1 → 2 ··· 38 → 39 after returning to the normal condition whenever the ignition
switch OFF → ON. It returns to 0 when a malfunction is detected again in the process.

cardiagn.com
- If it is over 39, it is fixed to 39 until the self-diagnosis results are erased.
×: Applicable
CONSULT display ICC system warning lamp Fail-safe function Reference
C1F01: APA MOTOR MALF × × DAS-108
C1F02: APA C/U MALF × × DAS-110
C1F03: APA HI TEMP — — DAS-111
C1F05: APA PWR SUPLY CIR × × DAS-113
C1F06: CAN CIR2 × × DAS-115
C1F07: CAN CIR1 × × DAS-117
U1000: CAN COMM CIRCUIT × × DAS-136
U1010: CONTROL UNIT (CAN) × × DAS-139

Revision: July 2016 DAS-182 2016 QX50

 DISTANCE CONTROL ASSIST SYSTEM SYMPTOMS
< SYMPTOM DIAGNOSIS > [DCA]

SYMPTOM DIAGNOSIS A
DISTANCE CONTROL ASSIST SYSTEM SYMPTOMS
Symptom Table INFOID:0000000012172481
B

Symptoms Reference page

C
Switch does not turn ON
Refer to DAS-184, "Description".
Switch does not turn OFF
DCA system setting cannot be turned ON from D
Operation the navi screen
DAS-186, "Description"Refer to .
DCA system setting cannot be turned OFF from
the navi screen E
DCA system not activated (switch is ON) Refer to DAS-188, "Description".
Information display is not illuminated (vehicle
Refer to MWI-37, "Diagnosis Description".
Display/Chime ahead indicator) F
Chime does not sound Refer to DAS-190, "Description".
No force generated for putting back the accelera-

cardiagn.com
Control Refer to DAS-192, "Description".
tor pedal G
Frequently cannot detect the vehicle ahead
Refer to DAS-193, "Description".
Detection zone is short
H
Detection of lead System misidentifies a vehicle even though there • Adjust laser beam aiming: Refer to CCS-7, "LASER
vehicle is no vehicle ahead BEAM AIMING ADJUSTMENT : Description".
• Perform action test. Refer to DAS-13, "ACTION TEST :
System misidentifies a vehicle in the next lane Description". I
System does not detect the vehicle ahead at all Refer to DAS-194, "Description".

DAS

Revision: July 2016 DAS-183 2016 QX50

 SWITCH DOES NOT TURN ON / SWITCH DOES NOT TURN OFF
< SYMPTOM DIAGNOSIS > [DCA]
SWITCH DOES NOT TURN ON / SWITCH DOES NOT TURN OFF
Description INFOID:0000000012172482

The switch does not turn ON

• When the DCA system setting is ON, the DCA system switch indicator does not illuminate even if the
dynamic driver assistance switch is depressed.
The switch does not turn OFF
• The DCA system switch indicator does not turn off even if the dynamic driver assistance switch is pressed
when the DCA system switch indicator illuminates.
NOTE:
The system cannot be operated when setting conventional (fixed speed) cruise control mode.
Diagnosis Procedure INFOID:0000000012172483

1.CHECK DCA SYSTEM SETTING

Check that DCA system setting on the navigation screen is ON.
Is DCA system setting ON?
YES >> GO TO 2.

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NO >> Enable the DCA system setting.
2.PERFORM THE SELF-DIAGNOSIS
1. Perform “All DTC Reading” with CONSULT.
2. Check if the DTC is detected in self-diagnosis results of “ICC/ADAS”. Refer to DAS-162, "DTC Index".
Is any DTC detected?
YES >> GO TO 7.
NO >> GO TO 3.
3.DYNAMIC DRIVER ASSISTANCE SWITCH INSPECTION
1. Start the engine.
2. Check that “DYNA ASIST SW” operates normally in “DATA MONITOR” of “ICC/ADAS” with CONSULT.
Is the inspection result normal?
YES >> GO TO 4.
NO >> GO TO 6.
4.CHECK DCA SYSTEM SWITCH INDICATOR CIRCUIT
1. Start the engine.
2. Select the active test item “DCA INDICATOR” of “ICC/ADAS” with CONSULT.
3. Check if the DCA system switch indicator illuminates when the test item is operated.
Is the inspection result normal?
YES >> Refer to GI-42, "Intermittent Incident".
NO >> GO TO 5.
5.CHECK DATA MONITOR OF UNIFIED METER AND A/C AMP.
Check that “DCA IND” operates normally in “DATA MONITOR” of “METER/M&A” with CONSULT.
Is the inspection result normal?
YES >> Replace the combination meter.
NO >> Replace the unified meter and A/C amp.
6.CHECK STEERING SWITCH CIRCUIT
Check the steering switch circuit. Refer to DAS-105, "Diagnosis Procedure".
Is the inspection result normal?
YES >> GO TO 8.
NO >> GO TO 7.
7.REPAIR OR REPLACE MALFUNCTIONING PARTS.
Revision: July 2016 DAS-184 2016 QX50
 SWITCH DOES NOT TURN ON / SWITCH DOES NOT TURN OFF
< SYMPTOM DIAGNOSIS > [DCA]
Repair or replace malfunctioning parts.
A
>> GO TO 8.
8.CHECK DCA SYSTEM B
1. Erase “self-diagnosis result”, and then perform “All DTC Reading” again after performing the action test.
(Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.
C

>> INSPECTION END

D

cardiagn.com
G

DAS

Revision: July 2016 DAS-185 2016 QX50

 DCA SYSTEM SETTING CANNOT BE TURNED ON/OFF FROM THE NAVIGA-
TION SCREEN
< SYMPTOM DIAGNOSIS > [DCA]
DCA SYSTEM SETTING CANNOT BE TURNED ON/OFF FROM THE NAV-
IGATION SCREEN
Description INFOID:0000000012172484

• DCA system setting is not selectable on the navigation screen.

NOTE:
When the ignition switch is in ACC position, DCA system settings cannot be changed.
- Distance Control Assist is not indicated on the navigation screen.
- The switching between ON and OFF cannot be performed by operating the navigation system.
- The item of Distance Control Assist on the navigation screen is not active.
• The DCA system setting differs from the one set at the previous driving.
NOTE:
Turn OFF the ignition switch and wait for 5 seconds or more.
Diagnosis Procedure INFOID:0000000012172485

1.CHECK DCA SYSTEM SETTING

1. Start the engine.
2. Check that the DCA system settings is selectable on the navigation screen.

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Is the inspection result normal?
YES >> GO TO 3.
NO >> GO TO 2.
2.PERFORM THE SELF-DIAGNOSIS
1. Perform “All DTC Reading” with CONSULT.
2. Check if the DTC is detected in self-diagnosis results of “ICC/ADAS”, “MULTI AV” and “METER/M&A”.
Refer to the following.
- ICC/ADAS: DAS-162, "DTC Index"
- MULTI AV: AV-333, "DTC Index"
- METER/M&A: MWI-108, "DTC Index"
Is any DTC detected?
YES >> GO TO 5.
NO >> INSPECTION END
3.CHECK DATA MONITOR OF ICC SENSOR INTEGRATED UNIT
Check that “DCA SELECT” operates normally in “DATA MONITOR” of “ICC/ADAS” with CONSULT.
Is the inspection result normal?
YES >> Refer to AV-307, "On Board Diagnosis Function".
NO >> GO TO 4.
4.CHECK MULTIFUNCTION SWITCH
Operate the multifunction switch to check that the audio, navigation system, and air conditioner operate prop-
erly.
Is the inspection result normal?
YES >> GO TO 6.
NO >> Repair or replace malfunctioning parts.
5.REPAIR OR REPLACE MALFUNCTIONING PARTS
Repair or replace malfunctioning parts identified by the self-diagnosis result.

>> GO TO 7.
6.REPLACE ICC SENSOR INTEGRATED UNIT
1. Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
2. Adjust the laser beam aiming. Refer to CCS-7, "LASER BEAM AIMING ADJUSTMENT : Description".

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 DCA SYSTEM SETTING CANNOT BE TURNED ON/OFF FROM THE NAVIGA-
TION SCREEN
< SYMPTOM DIAGNOSIS > [DCA]
>> GO TO 7.
7.CHECK DCA SYSTEM A

1. Erase “self-diagnosis result”, and then perform “All DTC Reading” again after performing the action test.
(Refer to DAS-13, "ACTION TEST : Description" for action test.)
B
2. Check if the DCA system is normal.

>> INSPECTION END

C

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DAS

Revision: July 2016 DAS-187 2016 QX50

 DCA SYSTEM NOT ACTIVATED (SWITCH IS ON)
< SYMPTOM DIAGNOSIS > [DCA]
DCA SYSTEM NOT ACTIVATED (SWITCH IS ON)
Description INFOID:0000000012172486

The dynamic driver assistance switch can be turned ON/OFF, but the DCA system does not operate.
NOTE:
Never start the operation under the following conditions.
No operation condition
• When the brake pedal depressed
• When the ICC system is set
• When the system judges that the vehicle comes to a standstill by the system control
• When the vehicle ahead is not detected
Operation cancellation condition
• When the dynamic driver assistance switch is turned to OFF
• When the system malfunction occurs
• When ABS or VDC (including the TCS) operates
• When the VDC is turned OFF
• When the snow mode switch is turned ON
• When driving into a strong light (i.e., sunlight)
• When the ICC sensor integrated unit body window is dirty and the measurement of the distance between the
vehicles becomes difficult

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Diagnosis Procedure INFOID:0000000012172487

1.CHECK CAUSE OF AUTOMATIC CANCELLATION

Check if there is any cancellation cause in the “CAUSE OF AUTO-CANCEL” on “WORK SUPPORT” of “ICC/
ADAS” with CONSULT.
Is it displayed?
Not displayed>>GO TO 2.
“VHCL SPD UNMATCH”>>Refer to DAS-37, "DTC Logic".
“IGN LOW VOLT”>>Refer to DAS-35, "DTC Logic".
“CAN COMM ERROR”>>Refer to DAS-135, "ICC SENSOR INTEGRATED UNIT : DTC Logic".
“ABS/TCS/VDC CIRC”>>Refer to DAS-39, "DTC Logic".
“BCU CIRCUIT”>>Refer to DAS-79, "DTC Logic".
“APA HI TEMP”>>Refer to DAS-111, "DTC Logic".
2.PERFORM ALL OF THE SELF-DIAGNOSIS
1. Perform “All DTC Reading”.
2. Check if any DTC is detected in self-diagnosis results of “ICC/ADAS”. Refer to DAS-162, "DTC Index".
Is any DTC detected?
YES >> GO TO 3.
NO >> GO TO 4.
3.REPAIR OR REPLACE MALFUNCTIONING PARTS
Repair or replace malfunctioning parts identified by the self-diagnosis result.

>> GO TO 6.
4.CHECK EACH SWITCH AND VEHICLE SPEED SIGNAL
1. Start the engine.
2. Check that the following items operate normally in “DATA MONITOR” of “ICC/ADAS”.
- “VHCL SPEED SE”
- “BRAKE SW”
- “DCA ON SW”
Is there a malfunctioning item?
All items are normal>>GO TO 5.
“VHCL SPEED SE”>>Refer to DAS-37, "DTC Logic".
“BRAKE SW”>>Refer to DAS-41, "DTC Logic".
“DCA ON SW”>>Refer to DAS-105, "DTC Logic".
Revision: July 2016 DAS-188 2016 QX50
 DCA SYSTEM NOT ACTIVATED (SWITCH IS ON)
< SYMPTOM DIAGNOSIS > [DCA]

5.REPLACE ICC SENSOR INTEGRATED UNIT A

1. Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
2. Adjust the laser beam aiming. Refer to CCS-7, "LASER BEAM AIMING ADJUSTMENT : Description".
B
>> GO TO 6.
6.CHECK DCA SYSTEM
C
1. Erase “self-diagnosis result”, and then perform “All DTC Reading” again after performing the action test.
(Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.
D
>> INSPECTION END

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 CHIME DOES NOT SOUND
< SYMPTOM DIAGNOSIS > [DCA]
CHIME DOES NOT SOUND
Description INFOID:0000000012172488

The warning chime may not sound in some cases when there is a short distance between vehicles. Some
examples are:
• When the vehicles are traveling at the same speed and the distance between vehicles is not changing.
• When the vehicle ahead is traveling faster and the distance between vehicles is increasing.
• When a vehicle cuts in near own vehicle.
• The warning chime will not sound when own vehicle approaches vehicles that are parked or moving slowly.
• The warning chime does not sound when the system does not detect any vehicle ahead. (Diagnose the con-
ditions under which the system is detecting the vehicle ahead and when the system is malfunctioning. If
there is any malfunction in detecting the vehicle ahead, check the system following the DAS-193, "Descrip-
tion".)
Diagnosis Procedure INFOID:0000000012172489

1.PERFORM ACTIVE TEST

Check if the warning chime sounds on the active test item “ICC BUZZER” of “ICC/ADAS” with CONSULT.
Does the warning chime sound?

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YES >> GO TO 2.
NO >> GO TO 3.
2.CHECK THE MALFUNCTION SYMPTOM DURING WARNING CHIME OPERATION
1. Understand the vehicle ahead detection condition when the malfunction occurred. If the warning chime
should have sounded, replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
2. Adjust the laser beam aiming. Refer to CCS-7, "LASER BEAM AIMING ADJUSTMENT : Description".

>> GO TO 8.
3.CHECK ICC WARNING CHIME CIRCUIT
Check the ICC warning chime circuit. Refer to DAS-143, "Component Function Check".
Is the inspection result normal?
YES >> GO TO 4.
NO >> GO TO 6.
4.PERFORM THE SELF-DIAGNOSIS
1. Perform “All DTC Reading” with CONSULT.
2. Check if the “U1000” is detected in self-diagnosis results of “ICC/ADAS”.
Is “U1000” detected?
YES >> GO TO 5.
NO >> GO TO 7.
5.CAN COMMUNICATIONS INSPECTION
Check the CAN communication and repair or replace malfunctioning parts. Refer to DAS-135, "ICC SENSOR
INTEGRATED UNIT : DTC Logic".

>> GO TO 8.
6.REPAIR OR REPLACE MALFUNCTIONING PARTS
Repair or replace malfunctioning parts.

>> GO TO 8.
7.REPLACE ICC SENSOR INTEGRATED UNIT
1. Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
2. Adjust the laser beam aiming. Refer to CCS-7, "LASER BEAM AIMING ADJUSTMENT : Description".

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 CHIME DOES NOT SOUND
< SYMPTOM DIAGNOSIS > [DCA]

>> GO TO 8. A
8.CHECK DCA SYSTEM
1. Erase “self-diagnosis result”, and then perform “All DTC Reading” again after performing the action test. B
(Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check if the DCA system is normal.
C
>> INSPECTION END

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DAS

Revision: July 2016 DAS-191 2016 QX50

 NO FORCE GENERATED FOR PUTTING BACK THE ACCELERATOR PEDAL
< SYMPTOM DIAGNOSIS > [DCA]
NO FORCE GENERATED FOR PUTTING BACK THE ACCELERATOR
PEDAL
Description INFOID:0000000012172490

The dynamic driver assistance switch can be turned ON/OFF but the actuation force of accelerator pedal is
not generated.
NOTE:
• When the vehicle ahead detection indicator does not illuminate, the control and warning with the system are
not performed.
• The actuation force of accelerator pedal may not be generated sufficiently depending on depressing method
or depressing amount of accelerator pedal.
Diagnosis Procedure INFOID:0000000012172491

1.PERFORM THE SELF-DIAGNOSIS

1. Perform “All DTC Reading” with CONSULT.
2. Check if any DTC is detected in self-diagnosis results of “ICC/ADAS” or “ACCELE PEDAL ACT”.
Is any DTC detected?
YES >> GO TO 2.

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NO >> GO TO 3.
2.REPAIR OR REPLACE THE MALFUNCTIONING PARTS
Repair or replace malfunctioning parts. Refer to DAS-162, "DTC Index" (ICC/ADAS) or DAS-182, "DTC Index"
(ACCELE PEDAL ACT).

>> GO TO 5.
3.PERFORM ACTIVE TEST
Check if the accelerator pedal actuator operates by the active test items “ACCELERATOR PEDAL ACTUA-
TOR TEST1” and “ACCELERATOR PEDAL ACTUATOR TEST2” of “ACCELE PEDAL ACT” with CONSULT.
Does it operate?
YES >> GO TO 4.
NO >> Replace the accelerator pedal assembly.
4.CHECK VEHICLE AHEAD DETECTION PERFORMANCE
Understand the vehicle ahead detection condition when the malfunction occurred. If the detecting function is
malfunctioning, check according to DAS-193, "Description".

>> INSPECTION END

5.CHECK DCA SYSTEM
1. Erase “self-diagnosis result”, and then perform “All DTC Reading” again after performing the action test.
(Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check if the DCA system is normal.

>> INSPECTION END

Revision: July 2016 DAS-192 2016 QX50

 FREQUENTLY CANNOT DETECT THE VEHICLE AHEAD / DETECTION ZONE IS
SHORT
< SYMPTOM DIAGNOSIS > [DCA]
FREQUENTLY CANNOT DETECT THE VEHICLE AHEAD / DETECTION
A
ZONE IS SHORT
Description INFOID:0000000012172492
B
Symptom check: Detection function may become unstable under the following conditions.
• When the reflector of vehicle ahead is broken or dirty.
• When the vehicle is driving on a curve such as S-curve where the curvature changes. C
• When the vehicle is driving on up-and-down road or passing the peak or foot of slope or passing the break of
the inclination of hill.
Diagnosis Procedure INFOID:0000000012172493 D

1.VISUAL CHECK (1)

Check ICC sensor integrated unit body window for contamination and foreign materials. E
Do foreign materials adhere?
YES >> GO TO 2.
NO >> GO TO 3. F
2.WIPE OUT DIRT AND FOREIGN OBJECTS

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Wipe out the contamination and/or foreign materials from the ICC sensor integrated unit body window. G

>> GO TO 6.
3.VISUAL CHECK (2) H

Check ICC sensor integrated unit body window for cracks and/or scratches.
Are there cracks? I
YES >> GO TO 5.
NO >> GO TO 4.
4.LASER BEAM AIMING ADJUSTMENT J
1. Adjust the laser beam aiming. Refer to CCS-7, "LASER BEAM AIMING ADJUSTMENT : Description".
2. Perform action test. Refer to DAS-13, "ACTION TEST : Description".
3. Check that the vehicle ahead detection performance improves. K
Does it improve?
YES >> INSPECTION END
NO >> GO TO 5. L
5.REPLACE ICC SENSOR INTEGRATED UNIT
1. Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View". M
2. Adjust the laser beam aiming. Refer to CCS-7, "LASER BEAM AIMING ADJUSTMENT : Description".

>> GO TO 6. N
6.CHECK DCA SYSTEM
1. Erase “self-diagnosis result”, and then perform “All DTC Reading” again after performing the action test.
(Refer to DAS-13, "ACTION TEST : Description" for action test.) DAS
2. Check that the DCA system is normal.

>> INSPECTION END P

Revision: July 2016 DAS-193 2016 QX50

 THE SYSTEM DOES NOT DETECT THE VEHICLE AHEAD AT ALL
< SYMPTOM DIAGNOSIS > [DCA]
THE SYSTEM DOES NOT DETECT THE VEHICLE AHEAD AT ALL
Description INFOID:0000000012172494

When DCA system is active, the DCA system does not perform any control even through there is a vehicle
ahead.
Diagnosis Procedure INFOID:0000000012172495

1.CHECK INFORMATION DISPLAY

1. Start the self-diagnosis mode of combination meter. Refer to MWI-37, "Diagnosis Description".
2. Check that the segment of information display is displayed normally.
Is the inspection result normal?
YES >> GO TO 2.
NO >> Replace the combination meter.
2.VISUAL CHECK (1)
Check ICC sensor integrated unit body window for contamination and/or foreign materials.
Do foreign materials adhere?
YES >> GO TO 3.

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NO >> GO TO 4.
3.WIPE OUT DIRT AND FOREIGN MATERIALS
Wipe out the contamination and/or foreign materials from the ICC sensor integrated unit body window.

>> GO TO 7.
4.VISUAL CHECK (2)
Check ICC sensor integrated unit body window for cracks and/or scratches.
Are there cracks?
YES >> GO TO 6.
NO >> GO TO 5.
5.LASER BEAM AIMING ADJUSTMENT
1. Adjust the laser beam aiming. Refer to CCS-7, "LASER BEAM AIMING ADJUSTMENT : Description".
2. Perform action test. Refer to DAS-13, "ACTION TEST : Description".
3. Check that the vehicle ahead detection performance improves.
Does it improve?
YES >> INSPECTION END
NO >> GO TO 6.
6.REPLACE ICC SENSOR INTEGRATED UNIT
1. Replace the ICC sensor integrated unit. Refer to DAS-200, "Exploded View".
2. Adjust the laser beam aiming. Refer to CCS-7, "LASER BEAM AIMING ADJUSTMENT : Description".

>> GO TO 7.
7.CHECK DCA SYSTEM
1. Erase “self-diagnosis result”, and then perform “All DTC Reading” again after performing the action test.
(Refer to DAS-13, "ACTION TEST : Description" for action test.)
2. Check that the DCA system is normal.

>> INSPECTION END

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 NORMAL OPERATING CONDITION
< SYMPTOM DIAGNOSIS > [DCA]
NORMAL OPERATING CONDITION
A
Description INFOID:0000000012172496

PRECAUTIONS FOR DISTANCE CONTROL ASSIST (DCA)SYSTEM B

CAUTION:
• If the vehicle ahead comes to a stop, the vehicle decelerates to a standstill within the limitations of
the system. The system will cancel once it judges that the vehicle has come to a standstill with a C
warning chime. To prevent the vehicle from moving, the driver must depress the brake pedal.
• The DCA system will not apply brake control while the driver is depressing the accelerator pedal.
• This system is only an aid to assist the driver and is not a collision warning or avoidance device. It is
the driver's responsibility to stay alert, drive safely and be in control of the vehicle at all times. D
• This system will not adapt automatically to road conditions. Do not use the system on roads with
sharp curves, or on icy roads, in heavy rain or in fog.
• The distance sensor will not detect under most conditions. E
- Stationary and slow moving vehicles
- Pedestrians or objects in the roadway
- Oncoming vehicles in the same lane
- Motorcycles traveling offset in the travel lane F
• As there is a performance limit to the distance control function, never rely solely on the DCA system.
This system does not correct careless, inattentive or absent-minded driving, or overcome poor visi-

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bility in rain, fog, or other bad weather. Decelerate the vehicle speed by depressing the brake pedal, G
depending on the distance to the vehicle ahead and the surrounding circumstances in order to main-
tain a safe distance between vehicles.
• The system may not detect the vehicle in front of own vehicle in certain road or weather conditions.
H
To avoid accidents, never use the DCA system under the following conditions.
- On roads with sharp curves
- On slippery road surfaces such as on ice or snow, etc.
- During bad weather (rain, fog, snow, etc.) I
- When strong light (for example, at sunrise or sunset) is directly shining on the front of the vehicle
- When rain, snow or dirt adhere to the system sensor
- On steep downhill roads (frequent braking may result in overheating the brakes)
J
- On repeated uphill and downhill roads
• Do not use the DCA system if own vehicle are towing a trailer. The system may not detect a vehicle
ahead.
• In some road or traffic conditions, a vehicle or object can unexpectedly come into the sensor detec- K
tion zone and cause automatic braking. Driver may need to control the distance from other vehicles
using the accelerator pedal. Always stay alert and avoid using the DCA system when it is not recom-
mended in this section. L
• The following are some conditions in which the sensor cannot detect the signals.
- When the reflector of the vehicle ahead is positioned high on the vehicle (trailer, etc.)
- When the reflector on the vehicle ahead is missing, damaged or covered
- When the reflector of the vehicle ahead is covered with dirt, snow and road spray M
- When the snow or road spray from traveling vehicles reduces the sensor's visibility
- When dense exhaust or other smoke (black smoke) from vehicles reduces the sensor's visibility
- When excessively heavy baggage is loaded in the rear seat or the luggage room of own vehicle N
• The DCA system is designed to automatically check the sensor's operation. When the sensor is cov-
ered with dirt or is obstructed, the system will automatically be canceled. If the sensor is covered
with ice, a transparent or translucent vinyl bag, etc., the DCA system may not detect them. In these
instances, the DCA system may not be able to decelerate the vehicle properly. Be sure to check and DAS
clean the sensor regularly.
• The DCA system is designed to maintain the proper distance to a vehicle moving ahead. To maintain
the distance, the system will decelerate the vehicle as necessary. However, the DCA system can only P
apply up to 25% of the vehicles total braking power. If a vehicle moves into the traveling lane ahead
or if a vehicle traveling ahead rapidly decelerates, the distance between vehicles may become closer
because the DCA system cannot decelerate the vehicle quickly enough. If this occurs, the DCA sys-
tem will sound a warning chime and blink the system display to notify the driver to take necessary
action.
• The DCA system does not control vehicle speed or warn when driver approach stationary and slow
moving vehicles. Driver must pay attention to vehicle operation to maintain proper distance from
vehicles ahead.
Revision: July 2016 DAS-195 2016 QX50
 NORMAL OPERATING CONDITION
< SYMPTOM DIAGNOSIS > [DCA]
• The detection zone of the sensor is limited. A vehicle ahead
must be in the detection zone for the system to operate.
- A vehicle ahead may move outside of the detection zone due
to its position within the same lane of travel. Motorcycles may
not be detected in the same lane ahead if they are traveling
offset from the center line of the lane. A vehicle that is enter-
ing the lane ahead may not be detected until the vehicle has
completely moved into the lane. If this occurs, the system
may warn driver by blinking the system indicator and sound-
ing the chime. The driver may have to manually control the
proper distance away from vehicle traveling ahead.

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JPOIA0221ZZ

- When driving on some roads, such as winding, hilly, curved,

narrow roads, or roads which are under construction, the sen-
sor may detect vehicles in a different lane, or may temporarily
not detect a vehicle traveling ahead. This may cause the sys-
tem to work inappropriately. The detection of vehicles may
also be affected by vehicle operation (steering maneuver or
traveling position in the lane, etc.) or vehicle condition. If this
occurs, the system may warn driver by blinking the system
indicator and sounding the chime unexpectedly. The driver
will have to manually control the proper distance away from
the vehicle traveling ahead.
• The approach warning chime may sound and the system dis-
play may blink when the sensor detects some reflectors
which are fitted on vehicles in other lanes or on the side of the
road. This may cause the DCA system to operate inappropri-
ately. The sensor may detect these reflectors when the vehicle
is driven on winding roads, hilly roads or when entering or
exiting a curve. The sensor may also detect reflectors on nar-
row roads or in road construction zones. In these cases driver
will have to manually control the proper distance ahead of
own vehicle. Also, the sensor sensitivity can be affected by
vehicle operation (steering maneuver or driving position in
the lane) or traffic or vehicle condition (for example, if a vehi-
cle is being driven with some damage). JPOIA0220ZZ

• The DCA system automatically decelerates own vehicle to help assist the driver to maintain a follow-
ing distance from the vehicle ahead. Manually brake when deceleration is required to maintain a safe
distance upon sudden braking by the vehicle ahead or when a vehicle suddenly appears in front of
own vehicle. Always stay alert when using the DCA system.
• When the vehicle ahead detection indicator lamp is not illuminated, system will not control or warn
the driver.
• Never place a foot under the brake pedal. A foot may be caught when the system controls the brake.
• Depending on the position of the accelerator pedal, the system may not be able to assist the driver
to release the accelerator pedal appropriately.
• If the vehicle ahead comes to a standstill, the vehicle decelerates to a standstill within the limitations
of the system. The system will release brake control with a warning chime once it judges the vehicle

Revision: July 2016 DAS-196 2016 QX50

 NORMAL OPERATING CONDITION
< SYMPTOM DIAGNOSIS > [DCA]
is at a standstill. To prevent the vehicle from moving, the driver must depress the brake pedal. [The
system will resume control automatically once the system reaches 5 km/h (3 MPH)]. A

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DAS

Revision: July 2016 DAS-197 2016 QX50

 PRECAUTIONS
< PRECAUTION > [DCA]

PRECAUTION
PRECAUTIONS
Precaution for Supplemental Restraint System (SRS) "AIR BAG" and "SEAT BELT
PRE-TENSIONER" INFOID:0000000012801531

The Supplemental Restraint System such as “AIR BAG” and “SEAT BELT PRE-TENSIONER”, used along
with a front seat belt, helps to reduce the risk or severity of injury to the driver and front passenger for certain
types of collision. This system includes seat belt switch inputs and dual stage front air bag modules. The SRS
system uses the seat belt switches to determine the front air bag deployment, and may only deploy one front
air bag, depending on the severity of a collision and whether the front occupants are belted or unbelted.
Information necessary to service the system safely is included in the “SRS AIR BAG” and “SEAT BELT” of this
Service Manual.
WARNING:
Always observe the following items for preventing accidental activation.
• To avoid rendering the SRS inoperative, which could increase the risk of personal injury or death in
the event of a collision that would result in air bag inflation, it is recommended that all maintenance
and repair be performed by an authorized NISSAN/INFINITI dealer.
• Improper repair, including incorrect removal and installation of the SRS, can lead to personal injury
caused by unintentional activation of the system. For removal of Spiral Cable and Air Bag Module,

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see “SRS AIR BAG”.
• Never use electrical test equipment on any circuit related to the SRS unless instructed to in this Ser-
vice Manual. SRS wiring harnesses can be identified by yellow and/or orange harnesses or harness
connectors.
PRECAUTIONS WHEN USING POWER TOOLS (AIR OR ELECTRIC) AND HAMMERS
WARNING:
Always observe the following items for preventing accidental activation.
• When working near the Air Bag Diagnosis Sensor Unit or other Air Bag System sensors with the
ignition ON or engine running, never use air or electric power tools or strike near the sensor(s) with
a hammer. Heavy vibration could activate the sensor(s) and deploy the air bag(s), possibly causing
serious injury.
• When using air or electric power tools or hammers, always switch the ignition OFF, disconnect the
battery or batteries, and wait at least 3 minutes before performing any service.
Precautions for Removing Battery Terminal INFOID:0000000012801534

When disconnecting the battery terminal, pay attention to the following.

• Always use a 12V battery as power source.
• Never disconnect battery terminal while engine is running.
• When removing the 12V battery terminal, turn OFF the ignition
switch and wait at least 30 seconds.
• For vehicles with the engine listed below, remove the battery termi-
nal after a lapse of the specified time:

BR08DE : 4 minutes YD25DDTi : 2 minutes

D4D engine : 20 minutes YS23DDT : 4 minutes
HRA2DDT : 12 minutes YS23DDTT : 4 minutes
K9K engine : 4 minutes ZD30DDTi : 60 seconds
M9R engine : 4 minutes ZD30DDTT : 60 seconds
SEF289H
R9M engine : 4 minutes
V9X engine : 4 minutes
NOTE:
ECU may be active for several tens of seconds after the ignition switch is turned OFF. If the battery terminal
is removed before ECU stops, then a DTC detection error or ECU data corruption may occur.
• After high-load driving, if the vehicle is equipped with the V9X engine, turn the ignition switch OFF and wait
for at least 15 minutes to remove the battery terminal.
NOTE:

Revision: July 2016 DAS-198 2016 QX50

 PRECAUTIONS
< PRECAUTION > [DCA]
• Turbocharger cooling pump may operate in a few minutes after the ignition switch is turned OFF.
• Example of high-load driving A
- Driving for 30 minutes or more at 140 km/h (86 MPH) or more.
- Driving for 30 minutes or more on a steep slope.
• For vehicles with the 2-batteries, be sure to connect the main battery and the sub battery before turning ON
B
the ignition switch.
NOTE:
If the ignition switch is turned ON with any one of the terminals of main battery and sub battery discon-
nected, then DTC may be detected. C
• After installing the 12V battery, always check "Self Diagnosis Result" of all ECUs and erase DTC.
NOTE:
The removal of 12V battery may cause a DTC detection error. D
Precautions For Harness Repair INFOID:0000000012172499

ITS communication uses a twisted pair line. Be careful when repairing it. E
• Solder the repaired area and wrap tape around the soldered area.
NOTE:
A fray of twisted lines must be within 110 mm (4.33 in).
F

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G

H
SKIB8766E

• Bypass connection is never allowed at the repaired area. I

NOTE:
Bypass connection may cause ITS communication error. The
spliced wire becomes separated and the characteristics of twisted
line are lost. J

SKIB8767E L

DCA System Service INFOID:0000000012172500

M
CAUTION:
• Never look straight into the laser beam discharger when adjusting laser beam aiming.
• Turn the MAIN switch OFF in conditions similar to driving, such as free rollers or a chassis dyna-
N
mometer.
• Never use the ICC sensor integrated unit removed from vehicle. Never disassemble or remodel.
• Erase DTC when replacing parts of DCA system, then check the operation of DCA system after
adjusting laser beam aiming if necessary. DAS

Revision: July 2016 DAS-199 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< REMOVAL AND INSTALLATION > [DCA]

REMOVAL AND INSTALLATION

ICC SENSOR INTEGRATED UNIT
Exploded View INFOID:0000000012172501

CAUTION:
Always perform the laser beam aiming adjustment and check the operation after the replacement,
removal and installation of ICC sensor integrated unit.

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JPOIA0120ZZ

1. ICC sensor integrated unit

Removal and Installation INFOID:0000000012172502

REMOVAL
1. Remove front bumper fascia. Refer to EXT-12, "Exploded View".
2. Disconnect ICC sensor integrated unit connector.
3. Remove mounting bolts from ICC sensor integrated unit.
4. Remove ICC sensor integrated unit.
INSTALLATION
Install in the reverse order of removal.
CAUTION:
Always perform the laser beam aiming adjustment and check the operation after the replacement,
removal, and installation of ICC sensor integrated unit. Refer to DAS-12, "ADDITIONAL SERVICE
WHEN REPLACING CONTROL UNIT (ICC SENSOR INTEGRATED UNIT) : Description".

Revision: July 2016 DAS-200 2016 QX50

 BRAKE BOOSTER CONTROL UNIT
< REMOVAL AND INSTALLATION > [DCA]
BRAKE BOOSTER CONTROL UNIT
A
Exploded View INFOID:0000000012172503

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G
JPOIA0208ZZ

1. Brake booster control unit

H
Removal and Installation INFOID:0000000012172504

REMOVAL I
1. Remove clips on the back of the luggage side finisher lower (RH) to obtain space for work. Refer to INT-
34, "Removal and Installation".
2. Disconnect brake booster control unit connector. J
3. Remove mounting bolts from brake booster control unit.
4. Remove brake booster control unit.
K
INSTALLATION
Install in the reverse order of removal.
L

DAS

Revision: July 2016 DAS-201 2016 QX50

 ICC WARNING CHIME
< REMOVAL AND INSTALLATION > [DCA]
ICC WARNING CHIME
Exploded View INFOID:0000000012172505

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JPOIA0217ZZ

1. ICC warning chime

Removal and Installation INFOID:0000000012172506

REMOVAL
1. Remove the combination meter. Refer to MWI-136, "Exploded View".
2. Disconnect ICC warning chime connector.
3. Remove mounting screw from ICC warning chime.
4. Remove ICC warning chime.
INSTALLATION
Install in the reverse order of removal.

Revision: July 2016 DAS-202 2016 QX50

 ACCELERATOR PEDAL ASSEMBLY
< REMOVAL AND INSTALLATION > [DCA]
ACCELERATOR PEDAL ASSEMBLY
A
Exploded View INFOID:0000000012172507

Refer to ACC-4, "Exploded View". B

CAUTION:
Always perform accelerator pedal released position learning after replacement, removal, or installa-
tion of accelerator pedal assembly, and then check the DCA system operation. Refer to DAS-12,
"ADDITIONAL SERVICE WHEN REPLACING CONTROL UNIT (ACCELERATOR PEDAL ASSEMBLY) : C
Description".

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G

DAS

Revision: July 2016 DAS-203 2016 QX50

 DYNAMIC DRIVER ASSISTANCE SWITCH
< REMOVAL AND INSTALLATION > [DCA]
DYNAMIC DRIVER ASSISTANCE SWITCH
Exploded View INFOID:0000000012172508

Dynamic driver assistance switch is integrated in the ICC steering switch. Refer to CCS-180, "Exploded View".
NOTE:
Dynamic driver assistance switch is shared with LDP system.

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Revision: July 2016 DAS-204 2016 QX50

 DIAGNOSIS AND REPAIR WORK FLOW
< BASIC INSPECTION > [FCW]

BASIC INSPECTION A
DIAGNOSIS AND REPAIR WORK FLOW
Work Flow INFOID:0000000012172509
B

OVERALL SEQUENCE
C

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G

DAS

P
JSOIA0485GB

DETAILED FLOW
NOTE:
The FCW system shares component parts with the ICC system. If the FCW system has a malfunction perform
diagnosis for the ICC system.
1.INTERVIEW FOR MALFUNCTION
Revision: July 2016 DAS-205 2016 QX50
 DIAGNOSIS AND REPAIR WORK FLOW
< BASIC INSPECTION > [FCW]
It is also important to clarify the customer concerns before starting the inspection. Interview the customer
about the concerns carefully and understand the symptoms fully.
NOTE:
The customers are not professionals. Never assume that “maybe the customer means···” or “maybe the cus-
tomer mentioned this symptom”.

>> GO TO 2.
2.SELF-DIAGNOSIS WITH CONSULT
1. Perform “All DTC Reading” with CONSULT.
2. Check if the DTC is detected on the self-diagnosis results of “ICC/ADAS” and/or “LANE CAMERA”.
Is any DTC detected?
YES >> GO TO 5.
NO >> GO TO 3.
3.ACTION TEST
Perform the ICC system action test to check the operation status. Refer to CCS-12, "ACTION TEST : Descrip-
tion".

>> GO TO 4.

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4.SYMPTOM DIAGNOSIS
Perform the applicable diagnosis according to the diagnosis chart by symptom. Refer to DAS-250, "Symptom
Table".

>> GO TO 6.
5.TROUBLE DIAGNOSIS BY DTC
1. Check the DTC in the self-diagnosis results.
2. Perform trouble diagnosis for the detected DTC. Refer to DAS-235, "DTC Index" (ICC/ADAS) and/or
DAS-235, "DTC Index" (LANE CAMERA).

>> GO TO 6.
6.MALFUNCTIONING PART REPAIR
Repair or replace the identified malfunctioning parts.

>> GO TO 7.
7.REPAIR CHECK (SELF-DIAGNOSIS WITH CONSULT)
1. Erases self-diagnosis results.
2. Perform “All DTC Reading” again after repairing or replacing the specific items.
3. Check if the DTC is detected on the self-diagnosis results of “ICC/ADAS”.
Is any DTC detected?
YES >> GO TO 5.
NO >> GO TO 8.
8.REPAIR CHECK (ACTION TEST)
Perform the ICC system action test. Check that the malfunction symptom is solved or no other symptoms
occur.
Is there any malfunction symptom?
YES >> GO TO 4.
NO >> INSPECTION END

Revision: July 2016 DAS-206 2016 QX50

 FORWARD COLLISION WARNING SYSTEM
< SYSTEM DESCRIPTION > [FCW]

SYSTEM DESCRIPTION A
FORWARD COLLISION WARNING SYSTEM
System Diagram INFOID:0000000012172510
B

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G
JSOIA0448GB

System Description INFOID:0000000012172511 H

OUTLINE
• The Forward Collision Warning (FCW) system will warn the driver by a warning lamp (vehicle ahead detec- I
tion indicator) and chime when own vehicle is getting close to the vehicle ahead in the traveling lane.
• The FCW system will function when own vehicle is driven at speeds of approximately 15 km/h (10 MPH) and
above.
NOTE: J
The FCW system shares the diagnosis function with ICC system.
They share the ICC sensor integrated unit.
K
BASIC OPERATIONS
Switches And Indicator/Warning Lamps
L

JSOIA0449ZZ
DAS
1. Warning systems switch 2. Warning systems ON indicator 3. Vehicle ahead detection indicator
4. IBA OFF indicator lamp
A. On the instrument lower panel LH B. On the combination meter
P

Fail-safe Indication

Revision: July 2016 DAS-207 2016 QX50

 FORWARD COLLISION WARNING SYSTEM
< SYSTEM DESCRIPTION > [FCW]

Vehicle condition Indication on the combination meter

• When the FCW system malfunctions

• When the sensor window is dirty
• When driving into a strong light (i.e., sunlight)
NOTE:
Check that the IBA system is not OFF. The indicator lamp is shared
with IBA system.
JPOIA0179ZZ

NOTE:
Warning systems ON indicator blinks when “C1B03” is detected.

FCW INITIAL STATE CHANGE

CAUTION:
Never change FCW initial state “ON” ⇒ “OFF” without the consent of the customer.
FCW initial state can be changed.
• FCW initial ON* - FCW function is automatically turned ON, when the ignition switch OFF ⇒ ON.
• FCW initial OFF - FCW function is still OFF when the ignition switch OFF ⇒ ON.
*: Factory setting

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How to change FCW/LDW/BSW initial state
1. Turn ignition switch ON.
2. Switch FCW/LDW/BSW and LDP functions to OFF.
3. Push and hold warning systems switch for more than 4 seconds.
4. Buzzer sounds and blinking of the lane departure warning lamp informs that the FCW/LDW/BSW initial
state change is completed.
FCW OPERATING CONDITION
• Warning systems ON indicator: ON
• Vehicle speed: Approximately 15 km/h (10 MPH) and above.
ICC sensor integrated unit input/output signal item
Input Signal Item

Transmission Unit Signal Name Description

ABS actuator and elec- Receives the vehicle speed signal (wheel speed) from ABS actuator and
Vehicle speed signal
tric unit (control unit) electric unit (control unit) via CAN communication
Lame camera unit
Receives the Warning systems switch signal from lame camera unit
[through ABS actuator
Warning systems switch signal [through ABS actuator and electric unit (control unit)] via CAN communica-
and electric unit (con-
tion.
trol unit)]

Output Signal Item

Reception unit Signal name Description

Combination Meter display Vehicle ahead detection Transmits the meter display signal to the combination meter
meter (through signal indicator signal (through unified meter and A/C amp.) via CAN communication.
unified meter Transmits the IBA OFF indicator signal to the combination meter
and A/C amp.) IBA OFF indicator lamp signal
(through unified meter and A/C amp.) via CAN communication.
• Transmits the buzzer output signal to the brake booster control
ICC warning unit via ITS communication.
Buzzer output signal
chime • The brake booster control unit outputs the buzzer output signal
and operates the ICC warning chime.
Lane camera Transmits the warning systems ON indicator signal to the lane cam-
Warning systems ON indicator signal
unit era unit via CAN communication.

Revision: July 2016 DAS-208 2016 QX50

 FORWARD COLLISION WARNING SYSTEM
< SYSTEM DESCRIPTION > [FCW]
Component Parts Location INFOID:0000000012172512

JPOIA0273GB

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G
1. Lane camera unit 2. Information display, IBA OFF indica- 3. ICC warning chime
Refer to DAS-271, "Component tor lamp Refer to CCS-21, "Component Parts
Parts Location". (On the combination meter) Location".
4. ICC sensor integrated unit 5. ABS actuator and electric unit (con- 6. Warning systems switch, warning H
Refer to CCS-21, "Component Parts trol unit) systems ON indicator
Location". Refer to BRC-12, "Component Parts
Location".
I
7. Brake booster control unit
Refer to CCS-21, "Component Parts
Location".
J
Component Description INFOID:0000000012172513

K
Component Description
• Transmits warning systems switch signal to ABS actuator and electric unit (control unit) unit via
CAN communication.
Lane camera unit L
• Controls the warning systems ON indicator when receiving a warning systems ON indicator sig-
nal from the ICC sensor integrated unit via CAN communication.
ABS actuator and electric unit • Transmits vehicle speed signal to ICC sensor integrated unit via CAN communication.
(control unit) • Transmits warning systems switch signal to ICC sensor integrated unit via CAN communication. M
Warning systems switch Inputs the switch signal to lane camera unit.
Warning systems ON indicator
Indicates FCW system status.
(On the warning systems switch) N
• The ICC sensor integrated unit transmits the buzzer output signal to the brake booster control
Brake booster control unit unit via ITS communication.
• The brake booster control unit outputs the buzzer output signal to the ICC warning chime. DAS
Receives the meter display signal, and IBA OFF indicator lamp signal from ICC sensor integrated
Unified meter and A/C amp. unit via CAN communication and transmits them to the combination meter via the communication
line.
P
Perform the following operations using the signals received from the unified meter and A/C amp.
via the communication line.
Combination meter
• Displays the FCW operation status using the meter display signal.
• Illuminates the IBA OFF indicator lamp using the IBA OFF indicator lamp signal.
ICC warning chime Warning chime sounds when the vehicle distance from the vehicle ahead is too close

Revision: July 2016 DAS-209 2016 QX50

 DIAGNOSIS SYSTEM (ICC SENSOR INTEGRATED UNIT)
< SYSTEM DESCRIPTION > [FCW]
DIAGNOSIS SYSTEM (ICC SENSOR INTEGRATED UNIT)
Diagnosis Description INFOID:0000000012172514

The DTC is displayed on the information display by operating the ICC steering switch.
ON BOARD SELF-DIAGNOSIS SYSTEM DIAGRAM

JPOIA0189GB

ON BOARD SELF-DIAGNOSIS OPERATION PROCEDURE

CAUTION:
Start condition of on board self-diagnosis
• ICC system OFF

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• DCA system OFF
• Vehicle speed 0 km/h (0 MPH)
1. Turn the ignition switch OFF.
2. Start the engine.
3. Wait for 5 seconds after starting the engine. Push up the
RESUME/ACCELERATE switch 5 times and push down the
SET/COAST switch 5 times within 10 seconds.
NOTE:
If the above operation cannot be performed within 10 seconds
after waiting for 5 seconds after starting the engine, repeat the
procedure from step 1.

PKIB8371E

4. The DTC is displayed on the set vehicle speed indicator (1) on the ICC system display on the information
display when the on board self-diagnosis starts. Refer to DAS-235, "DTC Index".

JSOIA0008GB

NOTE:
• It displays for up to 5 minutes and then stops.

Revision: July 2016 DAS-210 2016 QX50

 DIAGNOSIS SYSTEM (ICC SENSOR INTEGRATED UNIT)
< SYSTEM DESCRIPTION > [FCW]
• If multiple malfunctions exist, up to 3 DTCs can be stored in memory at the most, and the most recent
one is displayed first. A
WHEN THE ON BOARD SELF-DIAGNOSIS DOES NOT START
If the on board self-diagnosis does not start, check the following items.
B
Assumed abnormal part Inspection item
Check that the self-diagnosis function of the combina-
Combination meter malfunction tion meter operates. Refer to MWI-37, "Diagnosis De- C
scription".
Check power supply and ground circuit of unified meter
ICC system display Unified meter and A/C amp. malfunction and A/C amp. Refer to MWI-52, "UNIFIED METER AND D
A/C AMP. : Diagnosis Procedure".
Start the self-diagnosis of the unified meter and A/C
Communication error of the combination
amp. and then check the self-diagnosis results. Refer to
meter and the unified meter and A/C amp.
MWI-108, "DTC Index".
E

ICC steering switch malfunction

Perform the inspection for DTC “C1A06”. Refer to CCS-
Harness malfunction between ICC steering switch and ECM
60, "Diagnosis Procedure". F
ECM malfunction
• Check power supply and ground circuit of ICC sensor

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integrated unit. Refer to CCS-134, "ICC SENSOR IN- G
TEGRATED UNIT : Diagnosis Procedure".
ICC sensor integrated unit malfunction
• Perform SELF-DIAGNOSIS for “ICC/ADAS” with
CONSULT, and then check the malfunctioning parts.
Refer to DAS-235, "DTC Index". H

HOW TO ERASE ON BOARD SELF-DIAGNOSIS

1. Turn the ignition switch OFF. I
2. Start the engine, and then start the on board self-diagnosis.
3. Press the CANCEL switch 5 times, and then press the DIS-
TANCE switch 5 times under the condition that the on board J
self-diagnosis starts.
NOTE:
• Complete the operation within 10 seconds after pressing the
CANCEL switch first. K
• If the operation is not completed within 10 seconds, repeat the
procedure from step 1.
4. DTC 55 is displayed after erasing. PKIB8373E L
NOTE:
DTCs for existing malfunction can not be erased.
5. Turn ignition switch OFF, and finish the diagnosis. M
CONSULT Function (ICC/ADAS) INFOID:0000000012172515

N
DESCRIPTION
CONSULT performs the following functions via CAN communication using ICC sensor integrated unit.

Diagnosis mode Description DAS

• It can monitor the adjustment direction indication in order to perform the laser beam aiming operation
Work Support smoothly.
• Displays causes of automatic cancellation of the ICC system. P
Self Diagnostic Result Displays malfunctioning system memorized in ICC sensor integrated unit.
Data Monitor Displays real-time input/output data of ICC sensor integrated unit.
Active Test Enables operation check of electrical loads by transmitting driving signal to them.

Revision: July 2016 DAS-211 2016 QX50

 DIAGNOSIS SYSTEM (ICC SENSOR INTEGRATED UNIT)
< SYSTEM DESCRIPTION > [FCW]
Diagnosis mode Description
• Displays ICC sensor integrated unit part number.
Ecu Identification • Displays brake booster control unit part number.
• Displays accelerator pedal assembly part number.
CAN Diag Support Monitor The results of transmit/receive diagnosis of CAN communication can be read.

WORK SUPPORT

Work support items Description

CAUSE OF AUTO-CANCEL Displays causes of automatic cancellation of the ICC system.
LASER BEAM ADJUST Outputs laser beam, calculates dislocation of the beam, and indicates adjustment direction.

Display Items For The Cause Of Automatic Cancellation

NOTE:
• Causes of the maximum five cancellations (system cancel) are displayed.
• The displayed cancellation causes display the number of the ignition switch ON/OFF up to 254. It is fixed to
254 if it is over 254. It returns to 0 when the same cancellation cause is detected again.
×: Applicable
Conven-
tional

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Vehicle-to-ve- (fixed
DCA
Cause of cancellation hicle distance speed) Description
system
control mode cruise
control
mode
OPERATING WIPER × The wiper operates at HI or LO
OPERATING ABS × × ABS function was operated
OPERATING TCS × × × TCS function was operated
OPERATING VDC × × × VDC function was operated
ECM CIRCUIT × × ECM did not permit ICC operation
The ICC steering switch input voltage is not within standard
OPE SW VOLT CIRC × × ×
range
Intense light such as sunlight entered ICC sensor integrated unit
LASER SUNBEAM × ×
light sensing part
LASER TEMP × × Temperature around ICC sensor integrated unit became low
OP SW DOUBLE
× × ICC steering switches were pressed at the same time
TOUCH
WHL SPD ELEC NOISE × × × Wheel speed sensor signal caught electromagnetic noise
VDC/TCS OFF SW × × VDC OFF switch was pressed
SNOW MODE SW × × Snow mode switch was pressed
VHCL SPD UNMATCH × × × Wheel speed became different from A/T vehicle speed
TIRE SLIP × × Wheel slipped
IGN LOW VOLT × × × Power supply voltage became low
WHEEL SPD UNMATCH × × × The wheel speeds of 4 wheels are out of the specified values
Vehicle speed lower than the speed as follows
• Vehicle-to-vehicle distance control mode is 24 km/h (15 MPH)
VHCL SPD DOWN × × ×
• Conventional (fixed speed) cruise control mode is 32 km/h (20
MPH)
ICC sensor integrated unit received an abnormal signal with
CAN COMM ERROR × × ×
CAN communication
ABS/TCS/VDC CIRC × × × An abnormal condition occurs in VDC/TCS/ABS system
BCU CIRCUIT × × × The brake booster control unit is malfunctioning

Revision: July 2016 DAS-212 2016 QX50

 DIAGNOSIS SYSTEM (ICC SENSOR INTEGRATED UNIT)
< SYSTEM DESCRIPTION > [FCW]
A vehicle ahead is not detected during the following driving when
INCHING LOST ×
the vehicle speed is approximately 24 km/h (15 MPH) or less A
ASCD VHCL SPD DTAC × Vehicle speed is detached from set vehicle speed
ASCD DOUBLE COMD × Cancel switch and operation switch are detected simultaneously
B
PARKING BRAKE ON × × The parking brake is operating
The accelerator pedal actuator integrated motor temperature is
APA HI TEMP ×
high
C
NO RECORD × × × －

Laser Beam Adjust

Refer to CCS-7, "LASER BEAM AIMING ADJUSTMENT : Description". D

SELF DIAGNOSTIC RESULT

Refer to DAS-235, "DTC Index". E
DATA MONITOR
NOTE:
The following table includes information (items) inapplicable to this vehicle. For information (items) applicable F
to this vehicle, refer to CONSULT display items.
×: Applicable

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Monitored item MAIN
[Unit] SIGNAL
Description G
MAIN SW Indicates [On/Off] status as judged from ICC steering switch signal (ECM transmits
×
[On/Off] ICC steering switch signal through CAN communication).
H
SET/COAST SW Indicates [On/Off] status as judged from ICC steering switch signal (ECM transmits
×
[On/Off] ICC steering switch signal through CAN communication).
CANCEL SW Indicates [On/Off] status as judged from ICC steering switch signal (ECM transmits
× I
[On/Off] ICC steering switch signal through CAN communication).
RESUME/ACC SW Indicates [On/Off] status as judged from ICC steering switch signal (ECM transmits
×
[On/Off] ICC steering switch signal through CAN communication).
J
DISTANCE SW Indicates [On/Off] status as judged from ICC steering switch signal (ECM transmits
[On/Off] ICC steering switch signal through CAN communication).
CRUISE OPE
× Indicates whether controlling or not (ON means “controlling”). K
[On/Off]
BRAKE SW Indicates [On/Off] status as judged from ICC brake switch signal (ECM transmits ICC
×
[On/Off] brake switch signal through CAN communication).
STOP LAMP SW Indicates [On/Off] status as judged from stop lamp switch signal (ECM transmits stop L
×
[On/Off] lamp switch signal through CAN communication).
IDLE SW Indicates [On/Off] status of idle position read from ICC sensor integrated unit through
[On/Off] CAN communication (ECM transmits On/Off status through CAN communication). M
SET DISTANCE
× Indicates set distance memorized in ICC sensor integrated unit.
[Short/Mid/Long]
CRUISE LAMP N
× Indicates [On/Off] status of MAIN switch indicator output.
[On/Off]
OWN VHCL
Indicates [On/Off] status of own vehicle indicator output.
[On/Off] DAS
VHCL AHEAD
Indicates [On/Off] status of vehicle ahead detection indicator output.
[On/Off]
ICC WARNING P
Indicates [On/Off] status of ICC system warning lamp output.
[On/Off]
Indicates vehicle speed calculated from ICC sensor integrated unit through CAN
VHCL SPEED SE
× communication [ABS actuator and electric unit (control unit) transmits vehicle speed
[km/h] or [mph]
signal (wheel speed) through CAN communication].
SET VHCL SPD
× Indicates set vehicle speed memorized in ICC sensor integrated unit.
[km/h] or [mph]

Revision: July 2016 DAS-213 2016 QX50

 DIAGNOSIS SYSTEM (ICC SENSOR INTEGRATED UNIT)
< SYSTEM DESCRIPTION > [FCW]
Monitored item MAIN
Description
[Unit] SIGNAL
BUZZER O/P
Indicates [On/Off] status of ICC warning chime output.
[On/Off]
THRTL SENSOR NOTE:
×
[deg] The item is displayed, but it is not monitored.
ENGINE RPM Indicates engine speed read from ICC sensor integrated unit through CAN communi-
[rpm] cation (ECM transmits engine speed through CAN communication).
WIPER SW Indicates wiper [Off/Low/High] status (BCM transmits front wiper request signal
[Off/Low/High] through CAN communication).
YAW RATE NOTE:
[deg/s] The item is displayed, but it is not monitored.
BA WARNING
Indicates [On/Off] status of IBA OFF indicator lamp output.
[On/Off]
FUNC ITEM
Indicates the equipment status of DCA system and LDP system.
[FUNC1]
LDP SELECT
Indicates [On/Off] status of LDP system setting displayed on the navigation screen.
[On/Off]
DCA SELECT

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Indicates [On/Off] status of DCA system setting displayed on the navigation screen.
[On/Off]
Indicates [On/Off] status as judged from release switch signal.
RELEASE SW NO
ON: When brake pedal is depressed.
[On/Off]
OFF: When brake pedal is not depressed.
Indicates [On/Off] status as judged from release switch signal.
RELEASE SW NC
ON: When brake pedal is not depressed.
[On/Off]
OFF: When brake pedal is depressed.
STP LMP DRIVE
× Indicates [On/Off] status of ICC brake hold relay drive output.
[On/Off]
PRESS SENS Indicates brake fluid pressure value calculated from signal voltage of brake pressure
×
[bar] sensor.
Indicates [On/Off] status of “D” or “DS” or “M” positions read from ICC sensor integrat-
D RANGE SW
ed unit through CAN communication; ON when position “D” or “DS” or “M” (TCM
[On/Off]
transmits shift position signal through CAN communication).
NP RANGE SW Indicates shift position signal read from ICC sensor integrated unit through CAN com-
[On/Off] munication (TCM transmits shift position signal through CAN communication).
Parking brake switch status [On/Off] judged from the parking brake switch signal that
PKB SW ICC sensor integrated unit readout via CAN communication is displayed (Unified
[On/Off] meter and A/C amp. transmits the parking brake switch signal via CAN communica-
tion).
PWR SUP MONI
× Indicates IGN voltage input by ICC sensor integrated unit.
[V]
Indicates vehicle speed calculated from A/T vehicle speed sensor read from ICC sen-
VHCL SPD AT
sor integrated unit through CAN communication (TCM transmits A/T vehicle speed
[km/h] or [mph]
sensor signal through CAN communication).
Indicates throttle position read from ICC sensor integrated unit through CAN commu-
THRTL OPENING
× nication (ECM transmits accelerator pedal position signal through CAN communica-
[%]
tion).
Indicates A/T gear position read from ICC sensor integrated unit through CAN com-
GEAR
munication (TCM transmits current gear position signal through CAN communica-
[1, 2, 3, 4, 5, 6, 7]
tion).
CLUTCH SW SIG NOTE:
×
[On/Off] The item is displayed, but it is not monitored.
NP SW SIG NOTE:
×
[On/Off] The item is displayed, but it is not used.
MODE SIG Indicates the active mode from ICC or ASCD [conventional (fixed speed) cruise con-
[OFF, ICC, ASCD] trol mode].

Revision: July 2016 DAS-214 2016 QX50

 DIAGNOSIS SYSTEM (ICC SENSOR INTEGRATED UNIT)
< SYSTEM DESCRIPTION > [FCW]
Monitored item MAIN
Description
[Unit] SIGNAL A
SET DISP IND
Indicates [On/Off] status of SET switch indicator output.
[On/Off]
LDP SYSTEM ON B
Indicates [On/Off] status of LDP system.
[On/Off]
LDW SYSTEM ON
Indicates [On/Off] status of LDW system.
[On/Off] C
FCW SYSTEM ON
Indicates [On/Off] status of FCW system.
[On/Off]
DISTANCE D
Indicates the distance from the vehicle ahead.
[m]
RELATIVE SPD
Indicates the relative speed of the vehicle ahead.
[m/s] E
DCA ON SW NOTE:
×
[On/Off] The item is displayed, but it is not used.
DCA ON IND F
The status [On/Off] of DCA system switch indicator output is displayed.
[On/Off]
DCA VHL AHED The status [On/Off] of vehicle ahead detection indicator output in DCA system is dis-

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[On/Off] played.
G
Status [On/Off] judged from IBA OFF switch signal that ICC sensor integrated unit
IBA SW
readout via ITS communication is displayed (Brake booster control unit transmits the
[On/Off]
IBA OFF switch signal via ITS communication).
H
Indicates [On/Off] status as judged from ICC steering switch signal (Dynamic driver
DYNA ASIST SW
assistance switch signal) [ECM transmits ICC steering switch signal (Dynamic driver
[On/Off]
assistance switch signal) through CAN communication].
The accelerator pedal actuator integrated motor temperature that the ICC sensor in-
I
APA TEMP
tegrated unit readout via ITS communication is displayed (Accelerator pedal actuator
[°C]
transmits the integrated motor temperature via ITS communication).
Accelerator pedal actuator power supply voltage that the ICC sensor integrated unit J
APA PWR
readout via ITS communication is displayed (Accelerator pedal actuator transmits the
[V]
power supply voltage via ITS communication).

ACTIVE TEST K
CAUTION:
• Never perform “Active Test” while driving the vehicle.
• The “Active Test” cannot be performed when the ICC system warning lamp is illuminated. L
• Shift the selector lever to “P” position, and then perform the test.

Test item Description M

The ICC system warning lamp, MAIN switch indicator, SET switch indicator and IBA OFF indicator
METER LAMP
lamp can be illuminated by ON/OFF operations as necessary.
DCA INDICATOR The DCA system switch indicator can be illuminated by ON/OFF operations as necessary. N
The ICC brake hold relay can be operated by ON/OFF operations as necessary, and the stop lamp
STOP LAMP
can be illuminated.
BOOSTER SOL/V The booster solenoid can be operated as necessary, and the brake can be operated. DAS
ICC BUZZER The ICC warning chime can sound by ON/OFF operations as necessary.
ACCELERATOR PEDAL AC-
The accelerator pedal actuator can be operated as necessary. P
TUATOR

METER LAMP
NOTE:
The test can be performed only when the engine is running.

Revision: July 2016 DAS-215 2016 QX50

 DIAGNOSIS SYSTEM (ICC SENSOR INTEGRATED UNIT)
< SYSTEM DESCRIPTION > [FCW]

• MAIN switch indicator

Oper- • SET switch indicator
Test item Description
ation • ICC system warning lamp
• IBA OFF indicator lamp
Stops transmitting the signals below to end the test.
• Meter display signal
Off OFF
• ICC warning lamp signal
• IBA OFF indicator lamp signal
METER LAMP Transmits the following signals to the unified meter and A/C
amp. via CAN communication.
On • Meter display signal ON
• ICC warning lamp signal
• IBA OFF indicator lamp signal

DCA INDICATOR
NOTE:
The test can be performed only when the engine is running.

Oper-
Test item Description DCA system switch indicator
ation

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Stops transmitting the DCA system switch indicator signal
Off OFF
below to end the test.
DCA INDICATOR
Transmits the DCA system switch indicator signal to the uni-
On ON
fied meter and A/C amp. via CAN communication.

STOP LAMP

Oper-
Test item Description Stop lamp
ation
Stops transmitting the ICC brake hold relay drive signal be-
Off OFF
low to end the test.
STOP LAMP
Transmits the ICC brake hold relay drive signal to the brake
On ON
booster control unit via ITS communication.

BOOSTER SOL/V
NOTE:
The test can be performed only when the engine is running.

Test item Operation Description “PRESS SENS” value

MODE1 10 bar
Transmits the brake fluid pressure command signal to
MODE2 20 bar
the brake booster control unit via ITS communication.
MODE3 30 bar
BOOSTER SOL/V Test start Starts the tests of “MODE1”, “MODE2” and “MODE3”. —
Stops transmitting the brake fluid pressure command sig-
Reset —
nal below to end the test.
End Returns to the “SELECT TEST ITEM” screen. —
NOTE:

Revision: July 2016 DAS-216 2016 QX50

 DIAGNOSIS SYSTEM (ICC SENSOR INTEGRATED UNIT)
< SYSTEM DESCRIPTION > [FCW]
The test is finished in 10 seconds after starting.
A

PKIB1767J

ICC BUZZER D

ICC warning chime operation

Test item Operation Description
sound E
MODE1 Intermittent beep sound
Transmits the buzzer output signal to the brake booster
MODE2 Continuous beep sound
control unit via ITS communication.
F
MODE3 Beep sound
ICC BUZZER Test start Starts the tests of “MODE1”, “MODE2” and “MODE3”. —

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Stops transmitting the buzzer output signal below to end G
Reset —
the test.
End Returns to the “SELECT TEST ITEM” screen. —

ACCELERATOR PEDAL ACTUATOR H

CAUTION:
• Shift the selector lever to “P” position, and then perform the test.
• Never depress the accelerator pedal excessively. (The engine speed may rise unexpectedly when I
finishing the test.)

NOTE: J
• Depress the accelerator pedal to check when performing the test.
• The test can be performed only when the engine is running.

Test item Operation Description Accelerator pedal operation K

Constant with a force of 25 N
MODE1
for 8 seconds
Constant with a force of 15 N
L
MODE2
Transmit the accelerator pedal feedback force control signal for 8 seconds
to the accelerator pedal actuator via ITS communication. Change up to a force of 25 N for
MODE3
8 seconds M
ACCELERATOR
PEDAL ACTUA- Change up to a force of 15 N for
MODE4
TOR 8 seconds
Starts the tests of “MODE1”, “MODE2”, “MODE3”, and N
Test start —
“MODE4”.
Stops transmitting the accelerator pedal feedback force
Reset —
control signal below to end the test. DAS
End Returns to the “SELECT TEST ITEM” screen. —
NOTE:
P

Revision: July 2016 DAS-217 2016 QX50

 DIAGNOSIS SYSTEM (ICC SENSOR INTEGRATED UNIT)
< SYSTEM DESCRIPTION > [FCW]
The test is finished in 10 seconds after starting.

JPOIA0061GB

cardiagn.com

Revision: July 2016 DAS-218 2016 QX50

 DIAGNOSIS SYSTEM (LANE CAMERA UNIT)
< SYSTEM DESCRIPTION > [FCW]
DIAGNOSIS SYSTEM (LANE CAMERA UNIT)
A
CONSULT Function (LANE CAMERA) INFOID:0000000012172516

DESCRIPTION B
CONSULT performs the following functions by communicating with the lane camera unit.

Select diag mode Function C

• Performs the camera aiming.
Work support
• Displays causes of automatic cancellation of the LDP function.
Self Diagnostic Result Displays memorized DTC in the lane camera unit. D
Data Monitor Displays real-time data of lane camera unit.
Active Test Enables operation check of electrical loads by sending driving signal to them.
E
Ecu Identification Displays part number of lane camera unit.

WORK SUPPORT
F
Work support item Function

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CAUSE OF AUTO-CANCEL Indicates causes of automatic cancellation of the LDP.
G
Outputs camera unit, calculates dislocation of the camera, and displays adjustment direction.
AUTO AIM
Refer to DAS-262, "CAMERA AIMING ADJUSTMENT : Description".

Cause of Auto-Cancel Display Item List H

When LDP control is canceled under the operating condition, “CAUSE OF AUTO-CANCEL” is memorized.
• Last five cancel (system cancel) causes are displayed.
• “CAUSE OF AUTO-CANCEL” displays the number of times of ignition switch ON/OFF up to a maximum of
“39”. “39” is kept even when the number exceeds “39”. The number returns to 0 when detecting the same I
cancellation causes are detected.

Cause of cancellation Description J

NO RECORD —
Operating VDC/ABS VDC or ABS function was operated.
K
Vehicle dynamics Vehicle behavior exceeds specified value.
Steering speed Steering speed was more than the specified value in evasive direction.
End by yaw angle Yaw angle was the end of LDP control. L
Departure yaw large Detected more than the specified value of yaw angle in departure direction.
ICC WARNING Target approach warning of ICC system or IBA system was activated.
M
VDC OFF SW VDC OFF switch was pressed.
CURVATURE Road curve was more than the specified value.
Steering angle large Steering angle was more than the specified value. N
ICC main SW hold ON ICC MAIN switch was held ON for more than a certain period.
Brake is operated Brake pedal was operated.
DAS
Lateral offset Distance of vehicle and lane was detached in lateral direction more than the specified value.
Lane marker lost Lane camera unit lost the trace of lane marker.
Lane marker unclear Detected lane marker was unclear. P
Bank Road bank angle was more than the specified value.
Yaw acceleration Detected yawing speed was more than the specified value.
Deceleration large Deceleration in a longitudinal direction was more than the specified value.
Accel is operated Accelerator pedal was depressed.
Departure steering Steering wheel was steered more than the specified value in departure direction.

Revision: July 2016 DAS-219 2016 QX50

 DIAGNOSIS SYSTEM (LANE CAMERA UNIT)
< SYSTEM DESCRIPTION > [FCW]
Evasive steering Steering wheel was steered more than the specified value in the evasive direction.
R range Selector lever was operated to R range.
Parking brake drift Rear wheels lock was detected.
Not operating condition Did not meet the operating condition (vehicle speed, turn signal operation, etc.).

SELF DIAGNOSTIC RESULT

Displays memorized DTC in lane camera unit. Refer to DAS-249, "DTC Index".
DATA MONITOR
NOTE:
The following table includes information (items) inapplicable to this vehicle. For information (items) applicable
to this vehicle, refer to CONSULT display items.

Monitored Item [unit] Description

LDW SW [On/Off] Switch status judged from warning systems switch signal
LDW ON LAMP [On/Off] Signal output status of warning systems ON indicator
LDP ON IND [On/Off] Request signal status of LDP ON indicator lamp
LANE DPRT W/L [On/Off] Request signal status of lane departure warning lamp

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BUZZER OUTPUT [On/Off] Signal output status of lane departure warning buzzer
LC INACCURAT [On/Off] Lane camera unit status
CAM HIGH TEMP [On/Off] Status of lane camera unit high temperature judgment
Vehicle speed received from ABS actuator and electric unit (control unit) via CAN communi-
VHCL SPD SE [km/h] or [mph]
cation
TURN SIGNAL [Off/LH/RH] Status of “Turn signal” determined from BCM via CAN communication
LANE DETCT LH [On/Off] Left side lane marker detection
LANE DETCT RH [On/Off] Right side lane marker detection
CROSS LANE LH [On/Off] Condition that the vehicle is crossing left lane marker
CROSS LANE RH [On/Off] Condition that the vehicle is crossing right lane marker
WARN LANE LH [On/Off] Warning for left lane marker
WARN LANE RH [On/Off] Warning for right lane marker
VALID POS LH [VLD/INVLD] Lateral position for left lane marker is valid
VALID POS RH [VLD/INVLD] Lateral position for right lane marker is valid
AIMING DONE [OK/NG] Status that camera aiming is done
AIMING RESULT [OK/NOK] Result of camera aiming
XOFFSET [pixel] Lane camera unit installation condition
CHK AIM YAW [deg] Check result of camera aiming
CHK AIM ROLL [deg] Check result of camera aiming
CHK AIM PITCH [deg] Check result of camera aiming
FCTRY AIM YAW [deg] Lane camera unit installation condition
FCTRY AIM ROL [deg] Lane camera unit installation condition
FCTRY AIM PIT [deg] Lane camera unit installation condition

ACTIVE TEST
CAUTION:
• Never perform the active test while driving.
• Active test cannot be started while the lane departure warning lamp is illuminated.

Active test item Operation Description

On Outputs the voltage to sound the lane departure warning buzzer.
BUZZER DRIVE
Off Stops the voltage to sound the lane departure warning buzzer.

Revision: July 2016 DAS-220 2016 QX50

 DIAGNOSIS SYSTEM (LANE CAMERA UNIT)
< SYSTEM DESCRIPTION > [FCW]
Active test item Operation Description
A
On Outputs the voltage to illuminate the warning systems ON indicator (on the warning
LDW ON IND systems switch).
Off Stops the voltage to illuminate the warning systems ON indicator.
B
On Requests the LDP ON indicator lamp ON [on the combination meter (Green)] to com-
LDP ON IND bination meter (through unified meter and A/C amp.) via CAN communication.
Off Stops the illumination request.
C
On Requests the lane departure warning lamp ON [on the combination meter (Yellow)]
LANE DEPARTURE W/L to combination meter (through unified meter and A/C amp.) via CAN communication.
Off Stops the illumination request.
D
NOTE:
“Active test” of indicator/warning lamp cannot be performed when applicable indicator/warning lamp is turned ON.
E

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G

DAS

Revision: July 2016 DAS-221 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [FCW]

ECU DIAGNOSIS INFORMATION

ICC SENSOR INTEGRATED UNIT
Reference Value INFOID:0000000012172517

VALUES ON THE DIAGNOSIS TOOL

NOTE:
The following table includes information (items) inapplicable to this vehicle. For information (items) applicable
to this vehicle, refer to CONSULT display items.

Monitor item Condition Value/Status

When MAIN switch is pressed On
MAIN SW Ignition switch ON
When MAIN switch is not pressed Off
When SET/COAST switch is pressed On
SET/COAST SW Ignition switch ON
When SET/COAST switch is not pressed Off
When CANCEL switch is pressed On
CANCEL SW Ignition switch ON
When CANCEL switch is not pressed Off

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When RESUME/ACCELERATE switch is pressed On
RESUME/ACC SW Ignition switch ON
When RESUME/ACCELERATE switch is not pressed Off
When DISTANCE switch is pressed On
DISTANCE SW Ignition switch ON
When DISTANCE switch is not pressed Off

Drive the vehicle and operate When ICC system is controlling On

CRUISE OPE
the ICC system. When ICC system is not controlling Off
When brake pedal is depressed Off
BRAKE SW Ignition switch ON
When brake pedal is not depressed On
When brake pedal is depressed On
STOP LAMP SW Ignition switch ON
When brake pedal is not depressed Off
Idling On
IDLE SW Engine running
Except idling (depress accelerator pedal) Off
• Start the engine and turn the When set to “long” Long
ICC system ON.
When set to “middle” Mid
• Press the DISTANCE
SET DISTANCE
switch to change the vehi-
cle-to-vehicle distance set- When set to “short” Short
ting.
ICC system ON
On
Start the engine and press (MAIN switch indicator ON)
CRUISE LAMP
MAIN switch. ICC system OFF
Off
(MAIN switch indicator OFF)
ICC system ON
On
Start the engine and press (Own vehicle indicator ON)
OWN VHCL
MAIN switch. ICC system OFF
Off
(Own vehicle indicator OFF)
When a vehicle ahead is detected (vehicle ahead de-
Drive the vehicle and activate On
tection indicator ON)
VHCL AHEAD the vehicle-to-vehicle distance
control mode. When a vehicle ahead is not detected (vehicle ahead
Off
detection indicator OFF)
When ICC system is malfunctioning
On
Start the engine and press the (ICC system warning lamp ON)
ICC WARNING
MAIN switch. When ICC system is normal
Off
(ICC system warning lamp OFF)

Revision: July 2016 DAS-222 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [FCW]
Monitor item Condition Value/Status
A
Value of vehicle
VHCL SPEED SE While driving speed signal
(wheel speed)
Displays the set B
SET VHCL SPD While driving When vehicle speed is set
vehicle speed.
When the buzzer output signal is output On
BUZZER O/P Engine running C
When the buzzer output signal is not output Off
NOTE:
THRTL SENSOR 0.0
The item is indicated, but not monitored.
D
Equivalent to ta-
ENGINE RPM Engine running chometer read-
ing
Wiper not operating Off E
WIPER SW Ignition switch ON Wiper LO operation Low
Wiper HI operation High
F
NOTE:
YAW RATE 0.0
The item is indicated, but not monitored.

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IBA OFF indicator lamp ON
G
• When IBA system is malfunctioning On
• When IBA system is turned to OFF
BA WARNING Engine running
IBA OFF indicator lamp OFF
• When IBA system is normal Off H
• When IBA system is turned to ON
FUNC ITEM Ignition switch ON FUNC1
When the LDP system setting is ON On
I
LDP SELECT Ignition switch ON
When the LDP system setting is OFF Off
When the DCA system setting is ON On J
DCA SELECT Ignition switch ON
When the DCA system setting is OFF Off
When brake pedal is depressed On
RELEASE SW NO Engine running
When brake pedal is not depressed Off K
When brake pedal is depressed Off
RELEASE SW NC Engine running
When brake pedal is not depressed On
L
Drive the vehicle and activate When ICC brake hold relay is activated On
STP LMP DRIVE the vehicle-to-vehicle distance
control mode. When the ICC brake hold relay is not activated Off
M
When brake pedal is not depressed 0.0
PRESS SENS Engine running Brake fluid pres-
When brake pedal is depressed
sure value
N
When the selector lever is in “D”, “DS” position or man-
On
ual mode
D RANGE SW Engine running
When the selector lever is in any position other than “D”,
“DS” or manual mode
Off DAS

When the selector lever is in “N”, “P” position On

NP RANGE SW Engine running When the selector lever is in any position other than “N”,
Off P
“P”
When the parking brake is applied On
PKB SW Ignition switch ON
When the parking brake is released Off
Power supply
voltage value of
PWR SUP MONI Engine running
ICC sensor inte-
grated unit

Revision: July 2016 DAS-223 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [FCW]
Monitor item Condition Value/Status
Value of A/T ve-
VHCL SPD AT While driving hicle speed sen-
sor signal
Displays the
THRTL OPENING Engine running Depress accelerator pedal
throttle position.
Displays the
GEAR While driving
shift position.
NOTE:
CLUTCH SW SIG Off
The item is indicated, but not monitored.
NOTE:
NP SW SIG —
The item is indicated, but not used.
When ICC system is deactivated Off
When vehicle-to-vehicle distance control mode is acti-
Start the engine and press ICC
MODE SIG vated
MAIN switch.
When conventional (fixed speed) cruise control mode is
ASCD
activated
• Start the engine and acti- SET switch indicator lamp ON On
vate the conventional (fixed

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SET DISP IND
speed) cruise control mode. SET switch indicator lamp OFF Off
• Press SET/COAST switch.
When the LDP system is ON
On
(LDP ON indicator lamp ON)
LDP SYSTEM ON Engine running
When the LDP system is OFF
Off
(LDP ON indicator lamp OFF)
When the LDW system is ON
On
(Warning systems ON indicator lamp ON)
LDW SYSTEM ON Ignition switch ON
When the LDW system is OFF
Off
(Warning systems ON indicator lamp OFF)
When the FCW system is ON
On
(Warning systems ON indicator lamp ON)
FCW SYSTEM ON Ignition switch ON
When the FCW system is OFF
Off
(Warning systems ON indicator lamp OFF)
Displays the dis-
Drive the vehicle and activate tance from the
When a vehicle ahead is detected
DISTANCE the vehicle-to-vehicle distance preceding vehi-
control mode. cle.
When a vehicle ahead is not detected 0.0

Drive the vehicle and activate Displays the rel-

When a vehicle ahead is detected
RELATIVE SPD the vehicle-to-vehicle distance ative speed.
control mode. When a vehicle ahead is not detected 0.0
NOTE:
DCA ON SW Off
The item is indicated, but not monitored.
DCA system OFF
Off
(DCA system switch indicator OFF)
DCA ON IND Start the engine
DCA system ON
On
(DCA system switch indicator ON)
When a vehicle ahead is not detected (vehicle ahead
Off
Drive the vehicle and activate detection indicator OFF)
DCA VHL AHED
the DCA system. When a vehicle ahead is detected (vehicle ahead de-
On
tection indicator ON)
When the IBA OFF switch is not pressed Off
IBA SW Ignition switch ON
When the IBA OFF switch is pressed On

Revision: July 2016 DAS-224 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [FCW]
Monitor item Condition Value/Status
A
When the dynamic driver assistance switch is pressed On
DYNA ASIST SW Ignition switch ON When the dynamic driver assistance switch is not
Off
pressed
B
Display the ac-
celerator pedal
APA TEMP Engine running actuator inte-
grated motor C
temperature
Power supply
APA PWR Ignition switch ON
voltage D
TERMINAL LAYOUT
E

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G
JPOIA0105ZZ

H
PHYSICAL VALUES

Terminal No.
Description I
(Wire color) Value
Condition
Input/ (Approx.)
+ – Signal name
Output
J
1
Ignition power supply Input Ignition switch ON Battery voltage
(R)
2 Input/
ITS communication-H — — K
(L) Output
3 Input/
CAN-H — —
(L) Output
Ground L
4
Ground — Ignition switch ON 0V
(B)
5 Input/
ITS communication-L — —
(P) Output M
6 Input/
CAN-L — —
(P) Output
N

DAS

Revision: July 2016 DAS-225 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [FCW]
Wiring Diagram - FORWARD COLLISION WARNING - INFOID:0000000012172518

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JROWC6547GB

Revision: July 2016 DAS-226 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [FCW]

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G

DAS

JROWC6548GB

Revision: July 2016 DAS-227 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [FCW]

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JROWC6549GB

Revision: July 2016 DAS-228 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [FCW]

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G

DAS

JROWC6550GB

Revision: July 2016 DAS-229 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [FCW]

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JROWC6551GB

Revision: July 2016 DAS-230 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [FCW]

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G

DAS

JROWC6552GB

Revision: July 2016 DAS-231 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [FCW]

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JROWC6553GB

Revision: July 2016 DAS-232 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [FCW]

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G

DAS

JROWC6554GB

Revision: July 2016 DAS-233 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [FCW]

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JROWC6555GB

Fail-Safe INFOID:0000000012172519

If a malfunction occurs in the system, a chime sounds a beep, and ICC sensor integrated unit cancels the con-
trol. Then the ICC system warning lamp in the combination meter illuminates.
DTC Inspection Priority Chart INFOID:0000000012172520

If multiple DTCs are detected simultaneously, check them one by one depending on the following DTC inspec-
tion priority chart.

Revision: July 2016 DAS-234 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [FCW]

Priority Detected items (DTC) A

• U1000: CAN COMM CIRCUIT
1
• U1010: CONTROL UNIT (CAN)
• C1A31: BCU INTERNAL MALF B
2
• C1F02: APA C/U MALF
• C1A01: POWER SUPPLY CIR
• C1A02: POWER SUPPLY CIR 2 C
• C1A04: ABS/TCS/VDC CIRC
• C1A05: BRAKE SW/STOP L SW
• C1A06: OPERATION SW CIRC
• C1A08: PRESS SEN CIRCUIT D
• C1A09: BOOSTER SOL/V CIRC
• C1A10: RELEASE SW CIRC
• C1A11: PRESSURE CONTROL
• C1A12: LASER BEAM OFFCNTR E
• C1A13: STOP LAMP RLY FIX
• C1A14: ECM CIRCUIT
• C1A16: RADAR STAIN
• C1A18: LASER AIMING INCMP F
• C1A21: UNIT HIGH TEMP
• C1A22: BCU CIRCUIT

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• C1A24: NP RANGE
G
• C1A28: BCU PWR SUPLY CIR
• C1A29: BCU PWR SUPLY CIR2
3 • C1A30: BCU CAN COMM CIRC
• C1A32: IBA FLAG STUCK H
• C1A33: CAN TRANSMISSION ERROR
• C1A34: COMMAND ERROR
• C1A35: APA CIR
• C1A36: APA CAN COMM CIR I
• C1A37: APA CAN CIR2
• C1A38: APA CAN CIR1
• C1A39: STRG SEN CIR
• C1A40: SYSTEM SW CIRC J
• C1F01: APA MOTOR MALF
• C1F05: APA PWR SUPLY CIR
• U0121: VDC CAN CIR2
• U0126: STRG SEN CAN CIR1 K
• U0129: BCU CAN CIR2
• U0401: ECM CAN CIR1
• U0402: TCM CAN CIR1 L
• U0415: VDC CAN CIR1
• U0418: BCU CAN CIR1
• U0428: STRG SEN CAN CIR2
4 • C1A03: VHCL SPEED SE CIRC M
5 • C1A15: GEAR POSITION
6 • C1A00: CONTROL UNIT
N
DTC Index INFOID:0000000012172521

NOTE: DAS
• The details of time display are as per the following.
- CRNT: A malfunction is detected now
- PAST: A malfunction was detected in the past
P
• IGN counter is displayed on FFD (Freeze Frame Data).
- 0: The malfunctions that are detected now
CAN communication system (U1000, U1010)
- 1 - 39: It increases like 0 → 1 → 2 ··· 38 → 39 after returning to the normal condition whenever the ignition
switch OFF → ON. It returns to 0 when a malfunction is detected again in the process.
- If it is over 39, it is fixed to 39 until the self-diagnosis results are erased.
Other than CAN communication system (Other than U1000, U1010)

Revision: July 2016 DAS-235 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [FCW]
- 1 - 49: It increases like 0 → 1 → 2 ··· 38 → 49 after returning to the normal condition whenever the ignition
switch OFF → ON. It returns to 0 when a malfunction is detected again in the process.
- If it is over 49, it is fixed to 49 until the self-diagnosis results are erased.
NOTE:
IBA system automatically returns to ON, when erasing self diagnosis result.
×: Applicable
DTC Fail-safe function

ICC sys- Conven-

tem tional
CONSULT display Vehicle-to-ve- Reference
On board warning (fixed IBA sys-
CONSULT hicle distance
display lamp speed) tem
control mode
cruise con-
trol mode
C1A00 0 CONTROL UNIT × × × × CCS-47
C1A01 1 POWER SUPPLY CIR × × × × CCS-49
C1A02 2 POWER SUPPLY CIR 2 × × × × CCS-49
C1A03 3 VHCL SPEED SE CIRC × × × × CCS-51
C1A04 4 ABS/TCS/VDC CIRC × × × × CCS-53
C1A05 5 BRAKE SW/STOP L SW × × × × CCS-55

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C1A06 6 OPERATION SW CIRC × × × CCS-60
C1A08 8 PRESS SEN CIRCUIT × × × × CCS-63
C1A09 9 BOOSTER SOL/V CIRC × × × × CCS-65
C1A10 10 RELEASE SW CIRC × × × × CCS-68
C1A11 11 PRESSURE CONTROL × × × × CCS-71
C1A12 12 LASER BEAM OFFCNTR × × × CCS-74
C1A13 13 STOP LAMP RLY FIX × × × CCS-75
C1A14 14 ECM CIRCUIT × × × CCS-82
C1A15 15 GEAR POSITION × × × × CCS-84
C1A16 16 RADAR STAIN × × × CCS-87
C1A18 18 LASER AIMING INCMP × × × CCS-89
C1A21 21 UNIT HIGH TEMP × × × × CCS-91
C1A22 22 BCU CIRCUIT × × × × CCS-93
C1A24 24 NP RANGE × × × × CCS-97
C1A28 28 BCU PWR SUPLY CIR × × × × CCS-99
C1A29 29 BCU PWR SUPLY CIR2 × × × × CCS-99
C1A30 30 BCU CAN COMM CIRC × × × × CCS-101
C1A31 31 BCU INTERNAL MALF × × × × CCS-102
C1A32 32 IBA FLAG STUCK × × × × CCS-104
C1A33 33 CAN TRANSMISSION ERROR × × × × CCS-106
C1A34 34 COMMAND ERROR × × × × CCS-108
C1A35 35 APA CIR × × DAS-96
C1A36 36 APA CAN COMM CIR × × DAS-97
C1A37 133 APA CAN CIR2 × × × DAS-99
C1A38 132 APA CAN CIR1 × × × DAS-101
C1A39 39 STRG SEN CIR × × × CCS-110
C1A40 40 SYSTEM SW CIRC × × × × CCS-112

Revision: July 2016 DAS-236 2016 QX50

 ICC SENSOR INTEGRATED UNIT
< ECU DIAGNOSIS INFORMATION > [FCW]
DTC Fail-safe function
A
ICC sys- Conven-
tem tional
CONSULT display Vehicle-to-ve- Reference
On board warning (fixed IBA sys-
CONSULT hicle distance
display lamp speed) tem B
control mode
cruise con-
trol mode
NO DTC IS
DETECTED.
C
NO DTC IS DETECTED.
FURTHER
55 FURTHER TESTING — — — — —
TESTING
MAY BE REQUIRED.
MAY BE RE- D
QUIRED
C1F01 91 APA MOTOR MALF × × DAS-108
C1F02 92 APA C/U MALF × × DAS-110 E
C1F05 95 APA PWR SUPLY CIR × × DAS-113
U0121 127 VDC CAN CIR2 × × × × CCS-115
U0126 130 STRG SEN CAN CIR1 × × × CCS-117
F
U0129 125 BCU CAN CIR2 × × × × CCS-119

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U0401 120 ECM CAN CIR1 × × × × CCS-121
G
U0402 122 TCM CAN CIR1 × × × × CCS-123
U0415 126 VDC CAN CIR1 × × × × CCS-125
U0418 124 BCU CAN CIR1 × × × × CCS-127 H
U0428 131 STRG SEN CAN CIR2 × × × CCS-129
U1000 100 CAN COMM CIRCUIT × × × × CCS-131
I
U1010 110 CONTROL UNIT (CAN) × × × × CCS-133

DAS

Revision: July 2016 DAS-237 2016 QX50

 LANE CAMERA UNIT
< ECU DIAGNOSIS INFORMATION > [FCW]
LANE CAMERA UNIT
Reference Value INFOID:0000000012172522

VALUES ON THE DIAGNOSIS TOOL

NOTE:
The following table includes information (items) inapplicable to this vehicle. For information (items) applicable
to this vehicle, refer to CONSULT display items.
CONSULT MONITOR ITEM

Monitor Item Condition Value/Status

Warning systems switch is ON. (Warning systems ON indicator illumi-
On
LDW SW nates.)
Warning systems switch is OFF. (Warning systems ON indicator OFF.) Off
Warning systems ON indicator illuminates On
LDW ON LAMP
Warning systems ON indicator OFF Off
LDP ON indicator lamp illuminates On
LDP ON IND
LDP ON indicator lamp OFF Off
Lane departure warning lamp illuminates On

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LANE DPRT W/L
Lane departure warning lamp OFF Off
Lane departure warning buzzer is sounding On
BUZZER OUTPUT
Lane departure warning buzzer is not sounding Off
Lane camera malfunction On
LC INACCURAT
Lane camera normal Off
Approximately equivalent to speed-
VHCL SPD SE While driving
ometer reading
Turn signal lamp LH and RH blinking LH/RH
Turn signal lamp LH blinking LH
TURN SIGNAL
Turn signal lamp RH blinking RH
Turn signal lamps OFF Off
Left side lane marker is detected On
LANE DETCT LH
Left side lane marker is not detected Off
Right side lane marker is detected On
LANE DETCT RH
Right side lane marker is not detected Off
The vehicle is crossing left side lane marker On
CROSS LANE LH
The vehicle is not crossing left side lane marker Off
The vehicle is crossing right side lane marker On
CROSS LANE RH
The vehicle is not crossing right side lane marker Off
Warning for left side lane On
WARN LANE LH
Not warning for left side lane Off
Warning for right side lane On
WARN LANE RH
Not warning for right side lane Off
Lateral position for left side lane marker is valid VLD
VALID POS LH
Lateral position for left side lane marker is invalid INVLD
Lateral position for right side lane marker is valid VLD
VALID POS RH
Lateral position for right side lane marker is invalid INVLD
Camera aiming is completed OK
AIMING DONE
Camera aiming is not adjusted NG

Revision: July 2016 DAS-238 2016 QX50

 LANE CAMERA UNIT
< ECU DIAGNOSIS INFORMATION > [FCW]
Monitor Item Condition Value/Status
A
Camera aiming is completed OK
AIMING RESULT
Camera aiming is not completed NOK
XOFFSET Camera aiming is completed Approx. 180 pixel B
NOTE:
AIM CHK YAW —
The item is indicated, but not used.
NOTE: C
AIM CHK ROLL —
The item is indicated, but not used.
NOTE:
AIM CHK PITCH —
The item is indicated, but not used.
D
Camera aiming is not completed +12.0 deg
FCTRY AIM YAW
Camera aiming is completed 0 ± 5.0 deg
Camera aiming is not completed 0.0 deg E
FCTRY AIM ROL
Camera aiming is completed 0 ± 5.0 deg
Camera aiming is not completed +12.0 deg
FCTRY AIM PIT F
Camera aiming is completed 0 ± 5.0 deg

TERMINAL LAYOUT

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JSOIA0232ZZ

J
PHYSICAL VALUES

Terminal No. K
Description
(Wire color) Value
Condition
Input/ (Approx.)
+ – Signal name
Output L
1
Ground Ground — — 0V
(B)

2 Illuminated 0V M
Ground Warning systems ON indicator Output Warning systems ON indicator
(SB) OFF 12 V

3 Pressed 0V
Ground Warning systems switch Input Warning systems switch N
(V) Released 5V
4
Ground CAN-H — — —
(L)
DAS
5
Ground Ground — — 0V
(B)

6 Sounding 0V P
Ground Lane departure warning buzzer Output Lane departure warning buzzer
(R) Not sounding 12 V
7
Ground Ignition power supply Input Ignition switch ON Battery voltage
(Y)
8
Ground CAN-L — — —
(P)

Revision: July 2016 DAS-239 2016 QX50

 LANE CAMERA UNIT
< ECU DIAGNOSIS INFORMATION > [FCW]
Wiring Diagram - FORWARD COLLISION WARNING - INFOID:0000000012172523

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JROWC6547GB

Revision: July 2016 DAS-240 2016 QX50

 LANE CAMERA UNIT
< ECU DIAGNOSIS INFORMATION > [FCW]

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DAS

JROWC6548GB

Revision: July 2016 DAS-241 2016 QX50

 LANE CAMERA UNIT
< ECU DIAGNOSIS INFORMATION > [FCW]

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JROWC6549GB

Revision: July 2016 DAS-242 2016 QX50

 LANE CAMERA UNIT
< ECU DIAGNOSIS INFORMATION > [FCW]

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DAS

JROWC6550GB

Revision: July 2016 DAS-243 2016 QX50

 LANE CAMERA UNIT
< ECU DIAGNOSIS INFORMATION > [FCW]

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JROWC6551GB

Revision: July 2016 DAS-244 2016 QX50

 LANE CAMERA UNIT
< ECU DIAGNOSIS INFORMATION > [FCW]

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G

DAS

JROWC6552GB

Revision: July 2016 DAS-245 2016 QX50

 LANE CAMERA UNIT
< ECU DIAGNOSIS INFORMATION > [FCW]

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JROWC6553GB

Revision: July 2016 DAS-246 2016 QX50

 LANE CAMERA UNIT
< ECU DIAGNOSIS INFORMATION > [FCW]

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G

DAS

JROWC6554GB

Revision: July 2016 DAS-247 2016 QX50

 LANE CAMERA UNIT
< ECU DIAGNOSIS INFORMATION > [FCW]

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JROWC6555GB

Fail-safe INFOID:0000000012172524

FAIL-SAFE CONTROL BY DTC

When any DTC is detected, the LDW/LDP systems do not operate.
TEMPORARY DISABLED STATUS AT HIGH TEMPERATURE
When using LDW

Revision: July 2016 DAS-248 2016 QX50

 LANE CAMERA UNIT
< ECU DIAGNOSIS INFORMATION > [FCW]
• If the vehicle is parked in direct sunlight under high temperature conditions [approximately over 104°F
(40°C)] and then started, the system may sound a buzzer and cancel automatically. In this case warning A
sytems ON indicator will blink.
• When the interior temperature is reduced, warning systems ON indicator is turned ON.
When using LDP B
• If the vehicle is parked in direct sunlight under high temperature conditions [approximately over 104°F
(40°C)] and then started, the system may sound a buzzer and cancel automatically. In this case LDP ON
indicator lamp will blink. C
• When the interior temperature is reduced, LDP ON indicator lamp is turned ON.
DTC Inspection Priority Chart INFOID:0000000012172525

D
If some DTCs are displayed at the same time, perform inspections one by one based on the following priority
chart.
E
Priority Detected items (DTC)
• U1000: CAN COMM CIRCUIT
1
• U1010: CONTROL UNIT (CAN)
F
• U0122: VDC CAN CIR1(LDP)
2
• U0416: VDC CAN CIR2(LDP)

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3 C1B00: CAMERA UNIT MALF
G
• C1B01: CAM AIMING INCMP
• C1B02: VHCL SPD DATA MALF
4
• C1B03: ABNRML TEMP DETECT
• C1B07: ABS DIAGNOSIS H

DTC Index INFOID:0000000012172526

×: Applicable
I
Lane departure Warning systems LDP ON indicator Reference
DTC Fail-safe
warning lamp ON indicator lamp page
C1B00 CAMERA UNIT MALF ON — — × DAS-289
J

C1B01 CAM AIMING INCMP Blink — — × DAS-290

C1B02 VHCL SPD DATA MALF ON — — × DAS-291 K
Blink Blink
C1B03 ABNRML TEMP DETECT — × DAS-292
(When using LDW) (When using LDP)
C1B07 ABS DIAGNOSIS ON — — × DAS-293 L
U1000 CAN COMM CIRCUIT ON — — × DAS-294
U1010 CONTROL UNIT (CAN) ON — — × DAS-295
U0122 VDC CAN CIR1 (LDP) ON — — × DAS-296
M
U0416 VDC CAN CIR2 (LDP) ON — — × DAS-298

DAS

Revision: July 2016 DAS-249 2016 QX50

 FORWARD COLLISION WARNING SYSTEM SYMPTOMS
< SYMPTOM DIAGNOSIS > [FCW]

SYMPTOM DIAGNOSIS
FORWARD COLLISION WARNING SYSTEM SYMPTOMS
Symptom Table INFOID:0000000012172527

CAUTION:
Perform the self-diagnosis with CONSULT before the symptom diagnosis. Perform the trouble diagno-
sis if any DTC is detected.

Symptom Possible cause Inspection item/Reference page

• Harness between lane cam-
Warning systems ON indica- era unit and warning systems
tor is not turned ON ⇔ OFF switch. Warning systems switch circuit
FCW system is not activated.
when operating warning sys- • Harness between warning DAS-251
tems switch. systems switch and ground.
• Lane camera unit

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Revision: July 2016 DAS-250 2016 QX50

 FCW SYSTEM IS NOT ACTIVATED
< SYMPTOM DIAGNOSIS > [FCW]
FCW SYSTEM IS NOT ACTIVATED
A
Description INFOID:0000000012172528

FCW system does not operate by pressing the warning systems switch. B
NOTE:
Warning systems switch is shared with LDW system and BSW system.
Diagnosis Procedure INFOID:0000000012172529 C

1.PERFORM THE SELF-DIAGNOSIS

1. Perform “All DTC Reading” with CONSULT. D
2. Check if the DTC is detected in self-diagnosis results of “ICC/ADAS” or “LANE CAMERA”. Refer to DAS-
235, "DTC Index" (ICC/ADAS) or DAS-249, "DTC Index" (LANE CAMERA).
Is any DTC detected? E
YES >> GO TO 3.
NO >> GO TO 2.
2.CHECK WARNING SYSTEMS SWITCH CIRCUIT F
Check warning systems switch circuit. Refer to DAS-311, "Component Function Check".
NOTE:

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Warning systems switch is shared with LDW system and BSW system. G
Is the inspection result normal?
YES >> Replace the lane camera unit.
NO >> GO TO 3. H

3.REPAIR OR REPLACE THE SPECIFIC ITEMS

Repair or replace malfunctioning items. I

>> INSPECTION END

J

DAS

Revision: July 2016 DAS-251 2016 QX50

 NORMAL OPERATING CONDITION
< SYMPTOM DIAGNOSIS > [FCW]
NORMAL OPERATING CONDITION
Description INFOID:0000000012172530

FORWARD COLLISION WARNING (FCW)

CAUTION:
• FCW system is intended to warn the driver before a collision but will not avoid a collision. It is the
drive's responsibility to stay alert, drive safely and be in control of the vehicle at all times.
• As there is a performance limit, the FCW system may not provide a warning in certain conditions.
• The FCW system will not detect the following objects.
- Pedestrians, animals, or obstacles in the roadway.
- On coming vehicles in the same lane
• FCW system will not detect under the following conditions.
- When the sensor gets dirty, it is impossible to detect the distance from the vehicle ahead.
- When driving into a strong light(i.e. sunlight)
• The sensor generally detects signals returned from the reflectors on a vehicle ahead. Therefore, the
FCW system may not warn properly under the following conditions:
- When the reflectors of the vehicle ahead are positioned high or close to each other (including a
small vehicle such as motorcycles).
- When the sensor gets dirty and it is impossible to detect the distance to the vehicle ahead.
- When the reflectors on the vehicle ahead is missing, damaged or covered.

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- When the reflector of the vehicle ahead is covered with dirt, snow and road spray.
- When visibility is low (such as rain, fog, snow, etc.).
- When snow or road spray from traveling vehicles are splashed.
- When dense exhaust or other smoke (black smoke) from vehicles reduces the sensor visibility.
- When excessively heavy baggage is loaded in the rear seat or the luggage room of own vehicle.
- When abruptly accelerating or decelerating.
- On steep downhill or roads with sharp curves.
- When there is a highly reflective object near the vehicle ahead.
i.e.) very close to other vehicle, signboard, etc.
- When own vehicle are towing a trailer.
• Depending on certain road conditions (curved, beginning of a curve), vehicle conditions (steering
position, vehicle position), or preceding vehicle's conditions (position in lane, etc.), the FCW system
may not function properly. The FCW system may detect highly reflective objects such as reflectors,
signs, white markers, and other stationary objects on the road or near the traveling lane, and provide
unnecessary warning.
• The FCW system may not function in offset conditions.
• The FCW system may not function when the distance to the vehicle ahead is extremely close.
• The FCW system is designed to automatically check the sensor's functionality. If the sensor is cov-
ered with ice, a transparent or translucent plastic bag, etc., the system may not detect them. In these
instances the FCW system may not be able to warn properly. Be sure to check and clean the sensor
regularly.
• Excessive noise will interfere with the warning chime sound, and the chime may not be heard.
• A sudden appearance of the vehicle in front (i.e.: when a vehicle abruptly cuts in) may not be
detected and the system may not warn soon enough.
• The FCW system will be canceled automatically with a chime sound and the IBA OFF indicator light
will illuminate under the following conditions:
- When the sensor window is dirty
- When the FCW system malfunctions

Revision: July 2016 DAS-252 2016 QX50

 PRECAUTIONS
< PRECAUTION > [FCW]

PRECAUTION A
PRECAUTIONS
Precautions for Removing Battery Terminal INFOID:0000000012801536
B
When disconnecting the battery terminal, pay attention to the following.
• Always use a 12V battery as power source.
• Never disconnect battery terminal while engine is running. C
• When removing the 12V battery terminal, turn OFF the ignition
switch and wait at least 30 seconds.
• For vehicles with the engine listed below, remove the battery termi- D
nal after a lapse of the specified time:

BR08DE : 4 minutes YD25DDTi : 2 minutes

E
D4D engine : 20 minutes YS23DDT : 4 minutes
HRA2DDT : 12 minutes YS23DDTT : 4 minutes
K9K engine : 4 minutes ZD30DDTi : 60 seconds
F
M9R engine : 4 minutes ZD30DDTT : 60 seconds
SEF289H
R9M engine : 4 minutes

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V9X engine : 4 minutes
G
NOTE:
ECU may be active for several tens of seconds after the ignition switch is turned OFF. If the battery terminal
is removed before ECU stops, then a DTC detection error or ECU data corruption may occur.
H
• After high-load driving, if the vehicle is equipped with the V9X engine, turn the ignition switch OFF and wait
for at least 15 minutes to remove the battery terminal.
NOTE:
• Turbocharger cooling pump may operate in a few minutes after the ignition switch is turned OFF. I
• Example of high-load driving
- Driving for 30 minutes or more at 140 km/h (86 MPH) or more.
- Driving for 30 minutes or more on a steep slope. J
• For vehicles with the 2-batteries, be sure to connect the main battery and the sub battery before turning ON
the ignition switch.
NOTE:
If the ignition switch is turned ON with any one of the terminals of main battery and sub battery discon- K
nected, then DTC may be detected.
• After installing the 12V battery, always check "Self Diagnosis Result" of all ECUs and erase DTC.
NOTE: L
The removal of 12V battery may cause a DTC detection error.
Precaution for FCW System Service INFOID:0000000012172532

M
CAUTION:
• Never look straight into the laser beam discharger when adjusting laser beam aiming.
• Turn the warning systems switch OFF in conditions similar to driving, such as free rollers or a chas-
sis dynamometer. N
• Never use the ICC sensor integrated unit removed from vehicle. Never disassemble or remodel.
• Erase DTC when replacing parts of ICC system, then check the operation of ICC system after adjust-
ing laser beam aiming if necessary. DAS
• Never change FCW initial state ON ⇒ OFF without the consent of the customer.

Revision: July 2016 DAS-253 2016 QX50

 WARNING SYSTEMS SWITCH
< REMOVAL AND INSTALLATION > [FCW]

REMOVAL AND INSTALLATION

WARNING SYSTEMS SWITCH
Exploded View INFOID:0000000012172533

Refer to DAS-352, "Exploded View".

NOTE:
Warning systems switch is shared with LDW system and BSW system.

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Revision: July 2016 DAS-254 2016 QX50

 DIAGNOSIS AND REPAIR WORK FLOW
< BASIC INSPECTION > [LDW & LDP]

BASIC INSPECTION A
DIAGNOSIS AND REPAIR WORK FLOW
Work Flow INFOID:0000000012172534
B

OVERALL SEQUENCE
C

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G

DAS

P
JSOIA0499GB

DETAILED FLOW
1.INTERVIEW FOR MALFUNCTION
Interview the customer to obtain information about symptoms using “Diagnostic Work Sheet”. (Refer to DAS-
256, "Diagnostic Work Sheet".)

Revision: July 2016 DAS-255 2016 QX50

 DIAGNOSIS AND REPAIR WORK FLOW
< BASIC INSPECTION > [LDW & LDP]

>> GO TO 2.
2.SELF-DIAGNOSIS WITH CONSULT
Perform self-diagnosis with CONSULT. Check if any DTC is detected.
Is any DTC detected?
YES >> GO TO 5.
NO >> GO TO 3.
3.PRE-INSPECTION FOR DIAGNOSIS
Perform pre-inspection for diagnosis. Refer to DAS-258, "Inspection Procedure".

>> GO TO 4.
4.VERIFY CUSTOMER CONCERN (ACTION TEST)
Perform action test and verify the customer's information. Refer to DAS-259, "Description".

>> GO TO 6.
5.TROUBLE DIAGNOSIS BY DTC

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Perform trouble diagnosis for the detected DTC. Specify a malfunctioning part. Refer to DAS-327, "DTC Index"
(Lane camera unit) and/or BRC-143, "DTC No. Index" [ABS actuator and electric unit (control unit)].

>> GO TO 7.
6.SYMPTOM DIAGNOSIS
Perform symptom diagnosis. Specify malfunctioning part. Refer to DAS-344, "Symptom Table".

>> GO TO 7.
7.MALFUNCTION PART REPAIR
Repair or replace the identified malfunctioning parts.

>> GO TO 8.
8.REPAIR CHECK (SELF-DIAGNOSIS WITH CONSULT)
Perform self-diagnosis with CONSULT. Check that any DTC is not detected. Erase DTC if DTC is detected
before the repair. Check that DTC is not detected again.
Is any DTC detected?
YES >> GO TO 5.
NO >> GO TO 9.
9.REPAIR CHECK (ACTION TEST)
Perform action test. Also check the system operation.
Does it operate normally?
YES >> INSPECTION END
NO >> GO TO 4.
Diagnostic Work Sheet INFOID:0000000012172535

DESCRIPTION
In general, each customer feels differently about an incident. It is important to fully understand the symptoms
or conditions for a customer complaint.
There are many operating conditions that lead to the malfunction. A good grasp of such conditions can make
troubleshooting faster and more accurate.
Some conditions may cause the lane departure warning lamp to stay ON.
Utilize a work sheet sample to organize all of the information for troubleshooting.

Revision: July 2016 DAS-256 2016 QX50

 DIAGNOSIS AND REPAIR WORK FLOW
< BASIC INSPECTION > [LDW & LDP]
KEY POINTS
• WHAT..... System and functions A
• WHEN..... Date, Frequencies
• WHERE..... Road conditions
• HOW..... Operating conditions, Symptoms
B
WORK SHEET SAMPLE

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DAS

JSOIA0287GB P

Revision: July 2016 DAS-257 2016 QX50

 PRE-INSPECTION FOR DIAGNOSIS
< BASIC INSPECTION > [LDW & LDP]
PRE-INSPECTION FOR DIAGNOSIS
Inspection Procedure INFOID:0000000012172536

1.CHECK CAMERA LENS AND WINDSHIELD

Are camera lens and windshield contaminated with foreign materials?
YES >> Clean camera lens and windshield.
NO >> GO TO 2.
2.CHECK LANE CAMERA UNIT INSTALLATION CONDITION
Check lane camera unit installation condition (installation position, properly tightened, a bent bracket).
Is it properly installed?
YES >> GO TO 3.
NO >> Install lane camera unit properly, and perform camera aiming. Refer to DAS-262, "CAMERA AIM-
ING ADJUSTMENT : Description".
3.CHECK VEHICLE HEIGHT
Check vehicle height. Refer to FSU-21, "Wheelarch Height" (2WD) or FSU-41, "Wheelarch Height" (AWD).

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Is vehicle height appropriate?
YES >> INSPECTION END
NO >> Repair vehicle to appropriate height.

Revision: July 2016 DAS-258 2016 QX50

 ACTION TEST
< BASIC INSPECTION > [LDW & LDP]
ACTION TEST
A
Description INFOID:0000000012172537

• Perform action test to verify the customer's concern. B

• Perform action test and check the system operation after system diagnosis. Refer to DAS-259, "Inspection
Procedure".
WARNING:
C
Be careful of traffic conditions and safety around the vehicle when performing road test.
CAUTION:
• Fully understand the following items well before the road test;
- Precautions: Refer to DAS-349, "Precaution for LDW/LDP System Service". D
- System description for LDW: Refer to DAS-268, "System Description".
- System description for LDP: Refer to DAS-273, "System Description".
- Normal operating condition: Refer to DAS-346, "Description". E
Inspection Procedure INFOID:0000000012172538

WARNING: F
Be careful of traffic conditions and safety around the vehicle when performing road test.
CAUTION:

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• Fully understand the following items well before the road test;
G
- Precautions: Refer to DAS-349, "Precaution for LDW/LDP System Service".
- System description for LDW: Refer to DAS-268, "System Description".
- System description for LDP: Refer to DAS-273, "System Description".
- Normal operating condition: Refer to DAS-346, "Description". H
1.ACTION TEST FOR LDW
1. Drive the vehicle. I
2. Turn warning systems switch ON (warning systems ON indicator is ON).
NOTE:
LDP system is OFF.
3. Check the LDW operation according to the following table. J

Input Output
Vehicle warning K
speed Vehicle condition/ Driver's oper- systems Indication on the combination
Action Buzzer
[km/h ation ON indica- meter
(MPH)] tor
L
Less than
Close to lane marker No action ON OFF —
60 (40)

Warning
• Buzzer sounds Short contin-
Close to lane marker ON N
70 (45) or • Warning lamp uous beeps
more blinks

JPOIA0018GB
DAS
• Close to lane marker
No action ON OFF —
• Turn signal ON (Deviate side)

P
>> GO TO 2.
2.CHECK LDP SYSTEM SETTING
1. Start the engine.
2. Check that the LDP system setting can be enabled/disabled on the navigation screen.
3. Turn OFF the ignition switch and wait for 5 seconds or more.
4. Check that the previous setting is saved when the engine starts again.

Revision: July 2016 DAS-259 2016 QX50

 ACTION TEST
< BASIC INSPECTION > [LDW & LDP]

>> GO TO 3.
3.ACTION TEST FOR LDP
1. Enable the setting of the LDP system on the navigation screen.
2. Turn dynamic driver assistance switch ON (LDP ON indicator lamp is ON).
NOTE:
LDW system is OFF.
3. Check the LDP operation according to the following table.

Input Output
Vehicle speed Vehicle condition/ Driver's
Action Indication on the combination meter Buzzer
[km/h (MPH)] operation

Less than 60
Close to lane marker No action —
(40)

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JPOIA0021GB

Revision: July 2016 DAS-260 2016 QX50

 ACTION TEST
< BASIC INSPECTION > [LDW & LDP]
Input Output
A
Vehicle speed Vehicle condition/ Driver's
Action Indication on the combination meter Buzzer
[km/h (MPH)] operation

B
Warning and yawing
• Buzzer sounds Short continu-
Close to lane marker
• Warning lamp blinks ous beeps C
• Brake control

JPOIA0022GB
D

• Close to lane marker E

• Turn signal ON (Deviate No action —
side)

F
JPOIA0021GB

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G
Warning
70 (45) or Close to lane marker with Short continu-
• Buzzer sounds
more soft braking ous beeps
• Warning lamp blinks
H

JPOIA0022GB

I
Cancellation
• Buzzer sounds
• Indicator lamp blinks
VDC OFF switch:
NOTE: Beep J
OFF ⇒ ON
When dynamic driver assis-
tance switch is ON ⇒ OFF, in-
dicator lamp is turned OFF.
JPOIA0023GB K

Cancellation
• Buzzer sounds
Snow mode switch: • Indicator lamp blinks L
OFF ⇒ ON NOTE: Beep
(If equipped) When dynamic driver assis-
tance switch is ON ⇒ OFF, in-
M
dicator lamp is turned OFF.
JPOIA0023GB

N
>> WORK END

DAS

Revision: July 2016 DAS-261 2016 QX50

 INSPECTION AND ADJUSTMENT
< BASIC INSPECTION > [LDW & LDP]
INSPECTION AND ADJUSTMENT
ADDITIONAL SERVICE WHEN REPLACING CONTROL UNIT (LANE CAMERA
UNIT)
ADDITIONAL SERVICE WHEN REPLACING CONTROL UNIT (LANE CAMERA
UNIT) : Description INFOID:0000000012172539

Always perform the camera aiming adjustment after replacing the lane camera unit. Refer to DAS-262, "ADDI-
TIONAL SERVICE WHEN REPLACING CONTROL UNIT (LANE CAMERA UNIT) : Special Repair Require-
ment".
ADDITIONAL SERVICE WHEN REPLACING CONTROL UNIT (LANE CAMERA
UNIT) : Special Repair Requirement INFOID:0000000012172540

1.CAMERA AIMING ADJUSTMENT

Perform the camera aiming adjustment with CONSULT. Refer to DAS-262, "CAMERA AIMING ADJUSTMENT
: Description".

>> GO TO 2.

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2.PERFORM SELF-DIAGNOSIS
Perform the self-diagnosis of lane camera unit with CONSULT. Check if any DTC is detected.
Is any DTC detected?
YES >> Perform the trouble diagnosis for the detected DTC. Refer to DAS-327, "DTC Index".
NO >> GO TO 3.
3.LDW/LDP SYSTEM ACTION TEST
1. Perform the LDW/LDP system action test. Refer to DAS-259, "Description".
2. Check that the LDW/LDP system operates normally.

>> WORK END

CAMERA AIMING ADJUSTMENT
CAMERA AIMING ADJUSTMENT : Description INFOID:0000000012172541

OUTLINE
Perform the camera aiming every time the lane camera unit is removed and installed. Refer to DAS-262,
"CAMERA AIMING ADJUSTMENT : Special Repair Requirement (Preparation)".
CAUTION:
• Place the vehicle on level ground when the camera aiming adjustment is operated.
• Follow the CONSULT when performing the camera aiming. (Camera aiming adjustment cannot be
operated without CONSULT.)
CAMERA AIMING ADJUSTMENT : Special Repair Requirement (Preparation)
INFOID:0000000012172542

1.PERFORM SELF-DIAGNOSIS
Perform self-diagnosis of lane camera unit.
Is any DTC detected?
Except “C1B01”>>Perform diagnosis on the detected DTC and repair or replace the applicable item. Refer to
DAS-327, "DTC Index".
“C1B01” or no DTC>>GO TO 2.
2.PREPARATION BEFORE CAMERA AIMING ADJUSTMENT
1. Perform pre-inspection for diagnosis. Refer to DAS-258, "Inspection Procedure".
2. Adjust the tire pressure to the specified pressure value.

Revision: July 2016 DAS-262 2016 QX50

 INSPECTION AND ADJUSTMENT
< BASIC INSPECTION > [LDW & LDP]
3. Maintain no-load in vehicle.
4. Check if coolant and Engine oil are filled up to correct level and fuel tank is full. A
5. Shift the selector lever to “P” position and release the parking brake.
6. Clean the windshield.
7. Completely clear off the instrument panel.
B

>> GO TO 3.
3. PREPARATION OF AIMING ADJUSTMENT JIG C
Prepare the aiming adjustment jig according to the following procedure and the figure.
1. Print out the target mark attached in this service manual. Refer to DAS-266, "CAMERA AIMING ADJUST-
MENT : Special Repair Requirement (Target Mark Sample)". D
2. Stick a printed target mark on the board with a scotch tape or a piece of double-sided tape.
NOTE:
• Use the board that peripheral area of the target is monochrome such as a white-board. E
• Notice that the cross of the target is horizontal and vertical.

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G

JPOIA0011ZZ
K
1. Board 2. String 3. Cone
: Target mark
L
Diameter of a target (D) : 200 mm (7.87 in)
Height of a target center (H) : 1450 mm (57.09 in) M
Width between a right target cen- : 600 mm (23.62 in)
ter from a left target center (W)
N
>> Go to DAS-263, "CAMERA AIMING ADJUSTMENT : Special Repair Requirement (Target Set-
ting)".
DAS
CAMERA AIMING ADJUSTMENT : Special Repair Requirement (Target Setting)
INFOID:0000000012172543

CAUTION: P
• Perform this operation in a horizontal position where there is a clear view for 5 m (16.4 ft) forward
and 3 m (9.84 ft) wide.
• Place the target in a well-lighted location. (Poor lighting may make it hard to adjust.)
• The target may not be detected when there is a light source within 1.5 m (4.92 ft) from either side and
within 1 m (3.28 ft) upward/downward from the target.
• Check the location of the sun. (Sunlight should not shine directly on the front of the vehicle.)

Revision: July 2016 DAS-263 2016 QX50

 INSPECTION AND ADJUSTMENT
< BASIC INSPECTION > [LDW & LDP]
• The target may not be detected when there is the same pattern of black and white as the target when
the pattern is within 1 m (3.28 ft) from either side and upward/downward position from the target. (It
is desirable that the vehicle is positioned on the opposite side of a single-color wall.)
1.TARGET SETTING

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PKIB4694E

“A” – “E” (“C” – “F”) : 3850 mm (151.57 in)

1. Mark points “A”, “B”, “C” and “D”at the center of the lateral sur-
face of each wheels.
NOTE:
Hang a string with a cone from the fender so as to pass through
the center of wheel, and then mark a point at the center of the
lateral surface of the wheel.
2. Draw line “LH” passing through points “A” and “B” on the left side
of vehicle.
NOTE:
Approximately 4 m (13.12 ft) or more from the front end of vehi-
cle.
JPMIA0930GB
3. Mark point “E” on the line “LH” at the positions 3850 mm (151.57
in) from point “A”.
4. Draw line “RH” passing through points “C” and “D” on the right side of vehicle in the same way as step 2.
NOTE:
Approximately 4 m (13.12 ft) or more from the front end of vehicle.
5. Mark point “F” on the line “RH” at the positions 3850 mm (151.57 in) from point “C”.
6. Draw line “FW” passing through the points “E” and “F” on the front side of vehicle.
7. Mark point “X” at the center of point “E” and “F” on the line “FW”.
CAUTION:
Make sure that “E” to “X” is equal to “F” to “X”.
8. Position the center of the right target to point of “X”.

>> Go to DAS-265, "CAMERA AIMING ADJUSTMENT :

Special Repair Requirement (Camera Aiming Adjust-
ment)".

JPMIA0931GB

Revision: July 2016 DAS-264 2016 QX50

 INSPECTION AND ADJUSTMENT
< BASIC INSPECTION > [LDW & LDP]
CAMERA AIMING ADJUSTMENT : Special Repair Requirement (Camera Aiming Ad-
A
justment) INFOID:0000000012172544

CAUTION:
Perform the adjustment under unloaded vehicle condition. B
1.CHECK VEHICLE HEIGHT
Measure the wheelarch height. Calculate “Dh”.
C
Dh [mm] = (Hfl + Hfr) ÷ 2 − 747
where,
D
Hfl: Front left wheelarch height [mm]
Hfr: Front right wheelarch height [mm]
NOTE: E
“Dh” may be calculated as a minus value.
JPMIA0929ZZ
>> GO TO 2. F

2.CAMERA AIMING ADJUSTMENT

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CONSULT WORK SUPPORT G
CAUTION:
Operate CONSULT outside the vehicle, and close all the doors. (To retain vehicle attitude appropri-
ately) H
1. Select “Work Support” on “LANE CAMERA” with CONSULT.
2. Select “AUTO AIM”.
3. Confirm the following items;
- The target should be accurately placed. I
- The vehicle should be stopped.
4. Select “Start” to perform camera aiming.
CAUTION: J
Never select “Start” when the target is not accurately placed.
5. Input “Dh”, and then select “Start”.
CAUTION:
Never change “Ht” and “Dt”. K
6. Confirm the displayed item.
- “Normally Completed”: Select “Completion”.
- “SUSPENSION” or “ABNORMALLY COMPLETED”: Perform the following services. L

Displayed item Possible cause Service procedure

• A target is not-yet-placed. M
(The lane camera unit cannot detect Position the target appropriately
00H Routine not activated again. Perform the aiming
a target.)
• Lane camera unit malfunction. again. Refer to DAS-263,
SUSPENSION
"CAMERA AIMING ADJUST- N
• Temporary malfunction in internal MENT : Special Repair Require-
10H Writing error processing of the lane camera unit. ment (Target Setting)".
• Lane camera unit malfunction.
• The position of the target is not cor- Position the target appropriately DAS
rect. again. Perform the aiming
• The position of the lane camera unit again. Refer to DAS-262,
ABNORMALLY COMPLETED —
is not correct. "CAMERA AIMING ADJUST-
• Inappropriate work environment. MENT : Special Repair Require- P
• Inappropriate vehicle condition. ment (Preparation)".
NOTE:
Replace camera unit if “SUSPENSION” is repeatedly indicated during the above two services are performed.
7. Confirm that “Normally Completed” is displayed and then select “End” to close the aiming adjustment pro-
cedure.

Revision: July 2016 DAS-265 2016 QX50

 INSPECTION AND ADJUSTMENT
< BASIC INSPECTION > [LDW & LDP]
>> GO TO 3.
3.PERFORM SELF-DIAGNOSIS
Perform self-diagnosis of lane camera unit with CONSULT.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the applicable item. Refer to DAS-
327, "DTC Index".
NO >> GO TO 4.
4.ACTION TEST
Test the LDW/LDP system operation by action test. Refer to DAS-259, "Description".

>> WORK END

CAMERA AIMING ADJUSTMENT : Special Repair Requirement (Target Mark Sample)
INFOID:0000000012172545

NOTE:
Print this illustration so that the diameter of the circle is 200 mm (7.87 in).

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Revision: July 2016 DAS-266 2016 QX50

 INSPECTION AND ADJUSTMENT
< BASIC INSPECTION > [LDW & LDP]

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DAS

PGIA0105J

Revision: July 2016 DAS-267 2016 QX50

 LANE DEPARTURE WARNING (LDW) SYSTEM
< SYSTEM DESCRIPTION > [LDW & LDP]

SYSTEM DESCRIPTION
LANE DEPARTURE WARNING (LDW) SYSTEM
System Diagram INFOID:0000000012172546

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JSOIA0480GB

System Description INFOID:0000000012172547

OUTLINE
• Lane Departure Warning (LDW) system provides a lane departure warning function when the vehicle is
driven at speeds of approximately 70 km/h (45 MPH) or more.
• When the vehicle approaches either the left or the right side of the traveling lane, a warning will sound and
the lane departure warning lamp (yellow) on the combination meter will blink to alert the driver.
• The warning function will stop when the vehicle returns inside of the lane markers.

JPOIA0014GB

BASIC OPERATIONS
Switches And Indicator/Warning Lamps

Revision: July 2016 DAS-268 2016 QX50

 LANE DEPARTURE WARNING (LDW) SYSTEM
< SYSTEM DESCRIPTION > [LDW & LDP]

JSOIA0451ZZ

D
1. Warning systems switch 2. Warning systems ON indicator 3. Lane departure warning lamp
(Yellow)
A. On the instrument lower panel LH B. On the combination meter
E
Bulb Check Action and Fail-safe Indication

Warning sys- F
Vehicle condition/ Driver's operation tems ON indi- Indication on the combination meter
cator

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G

Ignition switch:
2 sec. ON
OFF ⇒ ON H

JPOIA0017GB
I

J
When DTC is detected
(Except “C1B01” and “C1B03”) ON*

K
JPOIA0019GB

Camera aiming is not completed

(“C1B01” is detected) ON*
M

JPOIA0020GB

Temporary disabled status at high temperature N

(“C1B03” is detected) Blink* OFF

NOTE:
*: The FCW system operates. DAS
LDW INITIAL STATE CHANGE
CAUTION:
Never change LDW initial state “ON” ⇒ “OFF” without the consent of the customer. P
LDW initial state can be changed.
• LDW initial ON* - LDW function is automatically turned ON, when the ignition switch OFF ⇒ ON.
• LDW initial OFF - LDW function is still OFF when the ignition switch OFF ⇒ ON.
*: Factory setting
How to change LDW/FCW/BSW initial state
1. Turn ignition switch ON.

Revision: July 2016 DAS-269 2016 QX50

 LANE DEPARTURE WARNING (LDW) SYSTEM
< SYSTEM DESCRIPTION > [LDW & LDP]
2. Switch LDW/FCW/BSW and LDP functions to OFF.
3. Push and hold warning systems switch for more than 4 seconds.
4. Buzzer sounds and blinking of the lane departure warning lamp informs that the LDW/FCW/BSW initial
state change is completed.
LDW SYSTEM CONTROL DESCRIPTION
• LDW system is controlled by lane camera unit.
• Lane camera unit monitors lane markers of the traveling lane.
• Combination meter turns the lane departure warning lamp ON/OFF according to the signal from the lane
camera unit via CAN communication (through unified meter and A/C amp.).
• When the lane camera unit judges vehicle deviation from the traveling lane, it controls following actions to
alert the driver.
- Requests the lane departure warning lamp activation to combination meter.
- Controls the lane departure warning buzzer.
LDW OPERATING CONDITION
• Warning systems ON indicator: ON
NOTE:
LDP ON indicator lamp is OFF.
• Vehicle speed: approximately 70 km/h (45 MPH) or more
NOTE:
For details of LDW system operating conditions, refer to normal operating condition DAS-346, "Description".

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Input Output
warning
Vehicle speed
Vehicle condition/ Driver's op- systems Indication on the combination
(Approx.) Action Buzzer
eration ON in- meter
[km/h (MPH)]
dictor
Less than 60
Close to lane marker No action ON OFF —
(40)

Warning
• Buzzer sounds Short continu-
Close to lane marker ON
• Warning lamp ous beeps
70 (45) or blinks
more
JPOIA0018GB

• Close to lane marker

• Turn signal ON (Deviate No action ON OFF —
side)

SIGNAL INPUT/OUTPUT BY CAN COMMUNICATION

Lane camera unit receives signals via CAN communication. It also detects vehicle conditions that are neces-
sary for LDW control.

Reception Unit Signal Name Transmission Unit Description

ABS actuator and elec-
Vehicle speed signal Detects the vehicle speed
tric unit (control unit)
Lane camera unit Turn indicator signal BCM Detects operation of turn signals
ICC sensor integrated
Warning systems switch signal Detects the LDW ON status
unit
Combination meter
Lane departure warning lamp Turns the lane departure warning lamp ON/OFF
(through unified meter Lane camera unit
signal according to the request
and A/C amp.)
ICC sensor integrated
unit
(through ABS actua- Warning systems switch signal Lane camera unit Detects the warning systems switch status
tor and electric unit
(control unit))

Revision: July 2016 DAS-270 2016 QX50

 LANE DEPARTURE WARNING (LDW) SYSTEM
< SYSTEM DESCRIPTION > [LDW & LDP]
Component Parts Location INFOID:0000000012172548

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G

JSOIA0801ZZ
I
1. Lane camera unit 2. BCM 3. Unified meter and A/C amp.
Refer to BCS-9, "Component Parts Refer to MWI-10, "METER SYSTEM
Location". : Component Parts Location".
J
4. ICC sensor integrated unit 5. ABS actuator and electric unit (con- 6. Lane departure warning buzzer
Refer to CCS-21, "Component Parts trol unit)
Location". Refer to BRC-12, "Component Parts
Location". K
7. Warning systems switch, warning 8. Lane departure warning lamp (Yel-
systems ON indicator low)
(On the combination meter)
L
A. Front of the map lamp B. Behind the cluster lid C

Component Description INFOID:0000000012172549

M

Component Description
• Detects the lane marker by the built-in camera. N
• Judges the lane departure depending on the lane detection result and each signals.
• Controls the lane departure warning buzzer, lane departure warning lamp and warning systems
Lane camera unit
ON indicator.
• Transmits warning systems switch signal to ABS actuator and electric unit (control unit) via CAN DAS
communication.
ABS actuator and electric unit • Transmits vehicle speed signal to lane camera unit via CAN communication.
(control unit) • Transmits warning systems switch signal to ICC sensor integrated unit via CAN communication. P
Warning systems switch Inputs the switch signal to lane camera unit.
Warning systems ON indicator
Indicates LDW system status.
(On the warning systems switch)
Lane departure warning buzzer Gives a warning according to the direction from lane camera unit.
Turns the lane departure warning lamp ON/OFF according to the signal from the lane camera unit
Combination meter
via CAN communication (through unified meter and A/C amp.).

Revision: July 2016 DAS-271 2016 QX50

 LANE DEPARTURE WARNING (LDW) SYSTEM
< SYSTEM DESCRIPTION > [LDW & LDP]
Component Description
Lane departure warning lamp • Blinks when LDW is functioning to alert the driver.
(Yellow) • Stays ON when LDW system is malfunctioning.
BCM Transmits turn indicator signal to lane camera unit via CAN communication.
Transmits a warning systems switch signal to the lane camera unit when receiving a warning sys-
ICC sensor integrated unit
tems switch signal from the ABS actuator and electric unit (control unit).

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Revision: July 2016 DAS-272 2016 QX50

 LANE DEPARTURE PREVENTION (LDP) SYSTEM
< SYSTEM DESCRIPTION > [LDW & LDP]
LANE DEPARTURE PREVENTION (LDP) SYSTEM
A
System Diagram INFOID:0000000012172550

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G

DAS

P
JSOIA0772GB

System Description INFOID:0000000012172551

OUTLINE

Revision: July 2016 DAS-273 2016 QX50

 LANE DEPARTURE PREVENTION (LDP) SYSTEM
< SYSTEM DESCRIPTION > [LDW & LDP]
• Lane Departure Prevention (LDP) system provides a lane departure warning and brake control assistance
when the vehicle is driven at speeds of approximately 70 km/h (45 MPH) or more.
• When the vehicle approaches either the left or the right side of the traveling lane, a warning sounds and the
lane departure warning lamp (yellow) on the combination meter blinks to alert the driver.
• Then, the LDP system automatically applies the brakes for a short period of time to help assist the driver to
return the vehicle to the center of the traveling lane.
• The warning and assist functions stop when the vehicle returns to a position inside of the lane marker.
NOTE:
• LDP system settings can be changed by using the vehicle settings function in the navigation system.
• When the ignition switch is in ACC position, LDP system settings cannot be changed.

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JPOIA0013GB

BASIC OPERATIONS
Switches and Indicator/Warning Lamps

JSOIA0090ZZ

1. • LDP ON indicator lamp (Green) 2. Dynamic driver assistance switch

• Lane departure warning lamp (Yel-
low)
A. On the combination meter B. On the ICC steering switch

Bulb Check Action and Fail-safe Indication

Revision: July 2016 DAS-274 2016 QX50

 LANE DEPARTURE PREVENTION (LDP) SYSTEM
< SYSTEM DESCRIPTION > [LDW & LDP]

Vehicle condition/ Driver's operation Indication on the combination meter A

B
Ignition switch:
OFF ⇒ ON

C
JPOIA0017GB

When DTC is detected

(Except “C1B01” and “C1B03”)
E

JPOIA0019GB

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Camera aiming is not completed G
(“C1B01” is detected)

H
JPOIA0020GB

Temporary disabled status at high temperature

(“C1B03” is detected)
I

When the dynamic driver assistance switch is turned ON with set-

tings of DCA system and LDP system OFF J

JPOIA0036GB

LDP SYSTEM CONTROL DESCRIPTION K

• LDP system is controlled by lane camera unit and LDP controller [ABS actuator and electric unit (control
unit)].
NOTE: L
LDP controller is integrated in the ABS actuator and electric unit (control unit).
• Lane camera unit monitors lane markers of the traveling lane. It transmits the detected lane condition signal
to ABS actuator and electric unit (control unit) via CAN communication.
• ABS actuator and electric unit (control unit) detects vehicle conditions depending on each signal. M
• Combination meter turns the lane departure warning lamp and LDP ON indicator lamp ON/OFF according to
the signals from the lane camera unit via CAN communication (through unified meter and A/C amp.).
• When ABS actuator and electric unit (control unit) judges vehicle deviation from the traveling lane, it controls N
following actions.
- Requests warning to the lane camera unit via CAN communication to alert the driver. And then lane camera
unit controls the lane departure warning buzzer and it requests the lane departure warning lamp activation to
DAS
combination meter.
- Calculates the necessary yaw moment. And then it controls the brake pressure of each wheel individually to
generate the intended movement.
• ICC sensor integrated unit receives signals from the AV control unit and the ECM and transmits an LDP ON P
signal to the ABS control unit.
LDP OPERATING CONDITION
• LDP ON indicator lamp: ON
NOTE:
• When the LDP system setting on the navigation screen is ON.
• Warning systems ON indicator is OFF.
• Vehicle speed: approximately 70 km/h (45 MPH) or more
Revision: July 2016 DAS-275 2016 QX50
 LANE DEPARTURE PREVENTION (LDP) SYSTEM
< SYSTEM DESCRIPTION > [LDW & LDP]
NOTE:
For details of LDP system operating conditions, refer to normal operating condition DAS-346, "Description".

Input Output
Vehicle speed
Vehicle condition/ Driver's
(Approx.) Action Indication on the combination meter Buzzer
operation
[km/h (MPH)]

Less than 60
Close to lane marker No action —
(40)

JPOIA0021GB

Warning and yawing

• Buzzer sounds Short continu-
Close to lane marker
• Warning lamp blinks ous beeps
• Brake control

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JPOIA0022GB

• Close to lane marker

• Turn signal ON (Deviate No action —
side)

JPOIA0021GB

Warning
70 (45) or Close to lane with soft brak- Short continu-
• Buzzer sounds
more ing ous beeps
• Warning lamp blinks

JPOIA0022GB

Cancellation
• Buzzer sounds
• Indicator lamp blinks
VDC OFF switch:
NOTE: Beep
OFF ⇒ ON
When dynamic driver assis-
tance switch is ON ⇒ OFF, in-
dicator lamp is turned OFF.
JPOIA0023GB

Cancellation
• Buzzer sounds
SNOW MODE switch: • Indicator lamp blinks
OFF ⇒ ON NOTE: Beep
(If equipped) When dynamic driver assis-
tance switch is ON ⇒ OFF, in-
dicator lamp is turned OFF.
JPOIA0023GB

SIGNAL INPUT/OUTPUT BY CAN COMMUNICATION

The lane camera unit and ABS actuator and electric unit (control unit) transmit/receive each signals via CAN
communication. They also detect the vehicle conditions necessary for LDP control.

Revision: July 2016 DAS-276 2016 QX50

 LANE DEPARTURE PREVENTION (LDP) SYSTEM
< SYSTEM DESCRIPTION > [LDW & LDP]

Description A
Reception Unit Signal Name Transmission Unit
(Reception unit uses...)
LDP operation signal Detects the LDP operating condition
LDP condition signal Detects the LDP conditions B
Controls the lane departure warning buzzer ac-
LDP buzzer request signal
ABS actuator and elec- cording to the request
Lane camera unit LDP meter indication request tric unit (control unit) Controls the LDP ON indicator lamp and lane de- C
signal parture warning lamp according to the request
Vehicle speed signal Detects the vehicle speed
Front wiper status signal Detects operation of the front wiper D
Turn indicator signal BCM Detects operation of turn signals
Detected lane condition signal Detects the lane marker condition
E
Lane camera status signal Detects the lane camera status
LDW operation signal Detects the LDW operation
Lane departure buzzer opera- Detects the lane departure warning buzzer opera- F
tion signal Lane camera unit tion
Warning systems switch signal Detects warning systems switch status

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LDP ON indicator lamp signal Detects the LDP ON indicator lamp condition G
Lane departure warning lamp
Detects the lane departure warning lamp condition
signal
H
Snow mode switch signal Detects the snow mode status
Accelerator pedal position sig-
ECM Detects vehicle conditions to calculate the acceler-
nal
ABS actuator and ation/deceleration of the vehicle I
electric unit (control Engine speed signal
unit)
Shift position signal
Output shaft revolution signal J
TCM Detects the transmission conditions
Input speed signal
Current gear position signal
Steering angle sensor signal Steering angle sensor Detects the steering angle
K

ICC operation signal

Target approach warning signal ICC sensor integrated Detects ICC system conditions L
Buzzer output signal unit

LDP ON signal Detects the LDP ON status

Turn indicator signal Detects operation of turn signals M
BCM
Front wiper request signal Detects operation of the front wiper
Turns the LDP ON indicator lamp ON/OFF accord-
Combination meter LDP ON indicator lamp signal
ing to the request
N
(through unified meter Lane camera unit
and A/C amp.) Lane departure warning lamp Turns the lane departure warning lamp ON/OFF
signal according to the request
DAS
ICC steering switch signal
Detects the dynamic driver assistance switch sta-
ICC sensor integrated (Dynamic driver assistance ECM
tus
unit switch signal)
System selection signal AV control unit Detects the LDP system setting status P

Revision: July 2016 DAS-277 2016 QX50

 LANE DEPARTURE PREVENTION (LDP) SYSTEM
< SYSTEM DESCRIPTION > [LDW & LDP]
Component Parts Location INFOID:0000000012172552

JSOIA0773GB

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1. Lane camera unit 2. TCM 3. BCM
Refer to DAS-271, "Component Refer to TM-9, "Component Parts Refer to BCS-9, "Component Parts
Parts Location". Location". Location".
4. ECM 5. AV control unit 6. ICC sensor integrated unit
Refer to EC-39, "Component Parts Refer to AV-290, "Component Parts Refer to CCS-21, "Component Parts
Location". Location". Location".
7. ABS actuator and electric unit (con- 8. Lane departure warning buzzer 9. • LDP ON indicator lamp (Green)
trol unit) Refer to DAS-271, "Component • Lane departure warning lamp (Yel-
Refer to BRC-12, "Component Parts Parts Location". low)
Location". (On the combination meter)
10. Steering angle sensor 11. ICC steering switch 12. Yaw rate/side G sensor
Refer to BRC-12, "Component Parts (Dynamic driver assistance switch) Refer to BRC-12, "Component Parts
Location". Location".

Component Description INFOID:0000000012172553

Component Description
• Detects the lane marker by the built-in camera.
• Judges the lane departure depending on the lane detection result and each signal.
• Transmits the detected lane conditions to ABS actuator and electric unit (control unit) via CAN com-
Lane camera unit
munication.
• Controls the lane departure warning buzzer, lane departure warning lamp, warning systems ON in-
dicator and LDP ON indicator lamp.
• Transmits vehicle speed signal to lane camera unit via CAN communication.
ABS actuator and electric unit
• Judges necessary yaw moment depending on each signal.
(control unit)
• Controls the brake pressure of each wheel individually to generate the intended movement.
Lane departure warning buzz-
Gives a warning according to the direction from lane camera unit.
er
Dynamic driver assistance
switch Inputs the switch signal to ECM.
(On the ICC steering switch)
Turns the lane departure warning lamp and LDP ON indicator lamp ON/OFF according to the signals
Combination meter
from the lane camera unit via CAN communication (through unified meter and A/C amp.).
LDP ON indicator lamp
Indicates LDP system status.
(Green)
Lane departure warning lamp • Blinks when LDP is functioning to alert the driver.
(Yellow) • Stays ON when LDW/LDP system is malfunctioning.

Revision: July 2016 DAS-278 2016 QX50

 LANE DEPARTURE PREVENTION (LDP) SYSTEM
< SYSTEM DESCRIPTION > [LDW & LDP]
Component Description
A
• Transmits turn indicator signal to lane camera unit via CAN communication.
BCM • Transmits vehicle conditions to ABS actuator and electric unit (control unit) via CAN communica-
tion.
Transmits vehicle conditions and ICC steering switch signal (dynamic driver assistance switch signal) B
ECM
to ICC sensor integrated unit via CAN communication.
Transmits steering angle sensor signal to ABS actuator and electric unit (control unit) via CAN com-
Steering angle sensor
munication. C
TCM Transmits vehicle conditions to ABS actuator and electric unit (control unit) via CAN communication.
• Transmits ICC system conditions to ABS actuator and electric unit (control unit) via CAN communi-
ICC sensor integrated unit cation. D
• Transmits LDP ON signal to ABS actuator and electric unit (control unit) via CAN communication.
Yaw rate/side G sensor Inputs detected yaw rate signal to ABS actuator and electric unit (control unit).
AV control unit Transmits system selection signal to ICC sensor integrated unit via CAN communication. E

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G

DAS

Revision: July 2016 DAS-279 2016 QX50

 DIAGNOSIS SYSTEM (LANE CAMERA UNIT)
< SYSTEM DESCRIPTION > [LDW & LDP]
DIAGNOSIS SYSTEM (LANE CAMERA UNIT)
CONSULT Function (LANE CAMERA) INFOID:0000000012172554

DESCRIPTION
CONSULT performs the following functions by communicating with the lane camera unit.

Select diag mode Function

• Performs the camera aiming.
Work support
• Displays causes of automatic cancellation of the LDP function.
Self Diagnostic Result Displays memorized DTC in the lane camera unit.
Data Monitor Displays real-time data of lane camera unit.
Active Test Enables operation check of electrical loads by sending driving signal to them.
Ecu Identification Displays part number of lane camera unit.

WORK SUPPORT

Work support item Function

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CAUSE OF AUTO-CANCEL Indicates causes of automatic cancellation of the LDP.
Outputs camera unit, calculates dislocation of the camera, and displays adjustment direction.
AUTO AIM
Refer to DAS-262, "CAMERA AIMING ADJUSTMENT : Description".

Cause of Auto-Cancel Display Item List

When LDP control is canceled under the operating condition, “CAUSE OF AUTO-CANCEL” is memorized.
• Last five cancel (system cancel) causes are displayed.
• “CAUSE OF AUTO-CANCEL” displays the number of times of ignition switch ON/OFF up to a maximum of
“39”. “39” is kept even when the number exceeds “39”. The number returns to 0 when detecting the same
cancellation causes are detected.

Cause of cancellation Description

NO RECORD —
Operating VDC/ABS VDC or ABS function was operated.
Vehicle dynamics Vehicle behavior exceeds specified value.
Steering speed Steering speed was more than the specified value in evasive direction.
End by yaw angle Yaw angle was the end of LDP control.
Departure yaw large Detected more than the specified value of yaw angle in departure direction.
ICC WARNING Target approach warning of ICC system or IBA system was activated.
VDC OFF SW VDC OFF switch was pressed.
CURVATURE Road curve was more than the specified value.
Steering angle large Steering angle was more than the specified value.
ICC main SW hold ON ICC MAIN switch was held ON for more than a certain period.
Brake is operated Brake pedal was operated.
Lateral offset Distance of vehicle and lane was detached in lateral direction more than the specified value.
Lane marker lost Lane camera unit lost the trace of lane marker.
Lane marker unclear Detected lane marker was unclear.
Bank Road bank angle was more than the specified value.
Yaw acceleration Detected yawing speed was more than the specified value.
Deceleration large Deceleration in a longitudinal direction was more than the specified value.
Accel is operated Accelerator pedal was depressed.
Departure steering Steering wheel was steered more than the specified value in departure direction.

Revision: July 2016 DAS-280 2016 QX50

 DIAGNOSIS SYSTEM (LANE CAMERA UNIT)
< SYSTEM DESCRIPTION > [LDW & LDP]
Evasive steering Steering wheel was steered more than the specified value in the evasive direction.
A
R range Selector lever was operated to R range.
Parking brake drift Rear wheels lock was detected.
Not operating condition Did not meet the operating condition (vehicle speed, turn signal operation, etc.). B
SELF DIAGNOSTIC RESULT
Displays memorized DTC in lane camera unit. Refer to DAS-327, "DTC Index".
C
DATA MONITOR
NOTE:
The following table includes information (items) inapplicable to this vehicle. For information (items) applicable
D
to this vehicle, refer to CONSULT display items.

Monitored Item [unit] Description

E
LDW SW [On/Off] Switch status judged from warning systems switch signal
LDW ON LAMP [On/Off] Signal output status of warning systems ON indicator
LDP ON IND [On/Off] Request signal status of LDP ON indicator lamp F
LANE DPRT W/L [On/Off] Request signal status of lane departure warning lamp

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BUZZER OUTPUT [On/Off] Signal output status of lane departure warning buzzer
G
LC INACCURAT [On/Off] Lane camera unit status
CAM HIGH TEMP [On/Off] Status of lane camera unit high temperature judgment

VHCL SPD SE [km/h] or [mph]

Vehicle speed received from ABS actuator and electric unit (control unit) via CAN communi- H
cation
TURN SIGNAL [Off/LH/RH] Status of “Turn signal” determined from BCM via CAN communication
LANE DETCT LH [On/Off] Left side lane marker detection I
LANE DETCT RH [On/Off] Right side lane marker detection
CROSS LANE LH [On/Off] Condition that the vehicle is crossing left lane marker
J
CROSS LANE RH [On/Off] Condition that the vehicle is crossing right lane marker
WARN LANE LH [On/Off] Warning for left lane marker
WARN LANE RH [On/Off] Warning for right lane marker K
VALID POS LH [VLD/INVLD] Lateral position for left lane marker is valid
VALID POS RH [VLD/INVLD] Lateral position for right lane marker is valid
L
AIMING DONE [OK/NG] Status that camera aiming is done
AIMING RESULT [OK/NOK] Result of camera aiming
XOFFSET [pixel] Lane camera unit installation condition M
CHK AIM YAW [deg] Check result of camera aiming
CHK AIM ROLL [deg] Check result of camera aiming
CHK AIM PITCH [deg] Check result of camera aiming N
FCTRY AIM YAW [deg] Lane camera unit installation condition
FCTRY AIM ROL [deg] Lane camera unit installation condition
DAS
FCTRY AIM PIT [deg] Lane camera unit installation condition

ACTIVE TEST
CAUTION: P
• Never perform the active test while driving.
• Active test cannot be started while the lane departure warning lamp is illuminated.

Active test item Operation Description

On Outputs the voltage to sound the lane departure warning buzzer.
BUZZER DRIVE
Off Stops the voltage to sound the lane departure warning buzzer.

Revision: July 2016 DAS-281 2016 QX50

 DIAGNOSIS SYSTEM (LANE CAMERA UNIT)
< SYSTEM DESCRIPTION > [LDW & LDP]
Active test item Operation Description
On Outputs the voltage to illuminate the warning systems ON indicator (on the warning
LDW ON IND systems switch).
Off Stops the voltage to illuminate the warning systems ON indicator.
On Requests the LDP ON indicator lamp ON [on the combination meter (Green)] to com-
LDP ON IND bination meter (through unified meter and A/C amp.) via CAN communication.
Off Stops the illumination request.
On Requests the lane departure warning lamp ON [on the combination meter (Yellow)]
LANE DEPARTURE W/L to combination meter (through unified meter and A/C amp.) via CAN communication.
Off Stops the illumination request.
NOTE:
“Active test” of indicator/warning lamp cannot be performed when applicable indicator/warning lamp is turned ON.

cardiagn.com

Revision: July 2016 DAS-282 2016 QX50

 DIAGNOSIS SYSTEM [ABS ACTUATOR AND ELECTRIC UNIT (CONTROL
UNIT)]
< SYSTEM DESCRIPTION > [LDW & LDP]
DIAGNOSIS SYSTEM [ABS ACTUATOR AND ELECTRIC UNIT (CONTROL
A
UNIT)]
CONSULT Function INFOID:0000000012172555
B
FUNCTION
CONSULT can display each diagnostic item using the diagnostic test modes shown following.
C
Diagnostic test mode Function
This mode enables a technician to adjust some devices faster and more accurately by following
Work support D
the indications on CONSULT.
Self diagnostic result Self-diagnostic results can be read and erased quickly.
Data monitor Input/Output data in the ABS actuator and electric unit (control unit) can be read.
E
CONSULT drives some actuators apart from ABS actuator and electric unit (control unit) and
Active test
also shifts some parameters in a specified range.
ECU identification ABS actuator and electric unit (control unit) part number can be read.
F
Specific data monitor Specific LDP data in the ABS actuator and electric unit (control unit) can be read.

WORK SUPPORT

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CAUTION: G
Erase DTC memory of the lane camera unit after implementing work support. Refer to DAS-280, "CON-
SULT Function (LANE CAMERA)".
H
Item Description
ST ANGLE SENSOR ADJUSTMENT Adjusts the neutral position of the steering angle sensor.
I
SELF DIAGNOSTIC RESULT
Operation Procedure
Before performing the self-diagnosis for “ABS” with CONSULT, start engine and drive vehicle at 50 km/h (31 J
MPH) or more for approximately 2 minutes.
Display Item List
Refer to BRC-143, "DTC No. Index". K
How to Erase Self-diagnosis Results
After erasing DTC memory for “ABS” with CONSULT, start the engine and drive the vehicle at 50 km/h (31
MPH) or more for approximately 2 minutes as the final inspection, and make sure that the ABS warning lamp, L
VDC warning lamp and brake warning lamp turn OFF.
CAUTION:
If memory cannot be erased, perform applicable diagnosis.
M
NOTE:
• When the wheel sensor malfunctions, after inspecting the wheel sensor system, ABS warning lamp, VDC
warning lamp and brake warning lamp will not turn OFF even when the system is normal unless the vehicle
is driven at approximately 50 km/h (31 MPH) or more for approximately 2 minutes. N
• Brake warning lamp will turn ON in case of parking brake operation (when switch is ON) or in case of brake
fluid level switch operation (when brake fluid is insufficient).
• VDC OFF switch should not stay in “ON” position. DAS
DATA MONITOR
Display Item List
NOTE: P
The following table includes information (items) inapplicable to this vehicle. For information (items) applicable
to this vehicle, refer to CONSULT display items.

Revision: July 2016 DAS-283 2016 QX50

 DIAGNOSIS SYSTEM [ABS ACTUATOR AND ELECTRIC UNIT (CONTROL
UNIT)]
< SYSTEM DESCRIPTION > [LDW & LDP]
×: Applicable : Optional item
SELECT MONITOR ITEM
Monitor item (Unit) ECU INPUT Remarks
MAIN SIGNALS
SIGNALS
FR LH SENSOR
× ×
[km/h (MPH)]
FR RH SENSOR
× ×
[km/h (MPH)]
Wheel speed
RR LH SENSOR
× ×
[km/h (MPH)]
RR RH SENSOR
× ×
[km/h (MPH)]
STOP LAMP SW
× × Stop lamp switch signal status
(On/Off)
BATTERY VOLT Battery voltage supplied to the ABS actuator and electric
× ×
(V) unit (control unit)
GEAR × × Gear position determined by TCM
SLCT LVR POSI × × A/T selector lever position

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YAW RATE SEN
× × Yaw rate detected by yaw rate/side G sensor
(d/s)
ACCEL POS SIG Throttle actuator opening/closing is displayed (Linked with
×
(%) accelerator pedal)
SIDE G-SENSOR
× Transverse G detected by yaw rate/side G sensor
(m/s2)
STR ANGLE SIG
× Steering angle detected by steering angle sensor
(°)
PRESS SENSOR
× Brake fluid pressure detected by pressure sensor
(bar)
ENGINE RPM
× Engine speed
[tr/min (rpm)]
FLUID LEV SW
× Brake fluid level switch signal status
(On/Off)
PARK BRAKE SW
× Parking brake switch signal status
(On/Off)
FR RH IN SOL
×
(On/Off) (Note)
FR RH OUT SOL
×
(On/Off) (Note)
FR LH IN SOL
×
(On/Off) (Note)
FR LH OUT SOL
×
(On/Off) (Note)
Operation status of each solenoid valve
RR RH IN SOL
×
(On/Off) (Note)
RR RH OUT SOL
×
(On/Off) (Note)
RR LH IN SOL
×
(On/Off) (Note)
RR LH OUT SOL
×
(On/Off) (Note)
MOTOR RELAY
× Motor and motor relay operation
(On/Off)
ACTUATOR RLY
× Actuator relay operation
(On/Off) (Note)

Revision: July 2016 DAS-284 2016 QX50

 DIAGNOSIS SYSTEM [ABS ACTUATOR AND ELECTRIC UNIT (CONTROL
UNIT)]
< SYSTEM DESCRIPTION > [LDW & LDP]
SELECT MONITOR ITEM
Monitor item (Unit) Remarks A
ECU INPUT
MAIN SIGNALS
SIGNALS
ABS WARN LAMP
× ABS warning lamp B
(On/Off)
OFF LAMP
× VDC OFF indicator lamp
(On/Off)
SLIP/VDC LAMP C
× VDC warning lamp
(On/Off)
EBD SIGNAL
EBD operation
(On/Off) D
ABS SIGNAL
ABS operation
(On/Off)
TCS SIGNAL E
TCS operation
(On/Off)
VDC SIGNAL
VDC operation
(On/Off) F
EBD FAIL SIG
EBD fail-safe signal
(On/Off)

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ABS FAIL SIG G
ABS fail-safe signal
(On/Off)
TCS FAIL SIG
TCS fail-safe signal
(On/Off) H
VDC FAIL SIG
VDC fail-safe signal
(On/Off)
CRANKING SIG
Crank operation
I
(On/Off)
CV1
(On/Off) (Note) J
CV2
(On/Off) (Note)
VDC switch-over valve
SV1 K
(On/Off) (Note)
SV2
(On/Off) (Note)
L
V/R OUTPUT
Solenoid valve relay activated
(On/Off)
M/R OUTPUT M
Actuator motor and motor relay activated
(On/Off)
LDP) APP SEN Accelerator pedal position sensor status received from
× ×
(%) ECM via CAN communication
N
LDP) ICC MAIN SW ICC MAIN switch status received from ECM via CAN com-
× ×
(On/Off) munication
LDP) LDP ON SW Dynamic driver assistance switch status received from
× × DAS
(On/Off) ECM via CAN communication
LDP) WIPER SIGNAL Front wiper operating condition received from BCM via
× ×
(Stop/PRTCT/1low/1high/Low/High) CAN communication
P
LDP) BRAKE SW
× × Brake switch signal status
(On/Off)
LDP) STOP LMP SW
× × Stop lamp switch signal status
(On/Off)
LDP) LDW SW Warning systems switch status received from lane camera
× ×
(On/Off) unit via CAN communication

Revision: July 2016 DAS-285 2016 QX50

 DIAGNOSIS SYSTEM [ABS ACTUATOR AND ELECTRIC UNIT (CONTROL
UNIT)]
< SYSTEM DESCRIPTION > [LDW & LDP]
SELECT MONITOR ITEM
Monitor item (Unit) ECU INPUT Remarks
MAIN SIGNALS
SIGNALS
LDP) SHIFT POSITION
× × Shift position received from TCM via CAN communication
(OFF/P/R/N/D/MM 1st – MM 5th)
LDP) TURN SIGNAL Turn signal operating condition received from BCM via
× ×
(Off/LH/RH/LH&RH) CAN communication
NOTE:
A brief moment of On/Off condition occurs every 20 seconds after ignition switch turned ON. This is not malfunction because it is an
operation for checking.

ACTIVE TEST
CAUTION:
• Do not perform active test while driving vehicle.
• Make sure to completely bleed air from brake system.
• The active test cannot be started when ABS warning lamp, VDC warning lamp and brake warning
lamp are ON.
• ABS warning lamp, VDC warning lamp and brake warning lamp are ON during active test.
• Erase memory of ICC system after implementing active test. Refer to CCS-39, "CONSULT Function
(ICC/ADAS)".

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• Erase memory of the lane camera unit after implementing active test. Refer to DAS-280, "CONSULT
Function (LANE CAMERA)".
NOTE:
• When active test is performed while depressing the pedal, the pedal depression amount will change. This is
normal. (Only solenoid valve and ABS motor.)
• “TEST IS STOPPED” in “ABS” with CONSULT is displayed 10 seconds after operation start.
• After “TEST IS STOPPED” in “ABS” with CONSULT is displayed, to perform test again.
Test Item

ABS SOLENOID VALVE

• Select “Up”, “Keep” and “Down” of “ACTIVE TEST” in “ABS” with CONSULT. Then use screen monitor to
check that solenoid valve operates as shown in the table below.

Display (Note)
Test item Display item
Up Keep Down
FR RH IN SOL Off On On
FR RH OUT SOL Off Off On*
FR RH SOL
CV2 Off Off Off
SV2 Off Off Off
FR LH IN SOL Off On On
FR LH OUT SOL Off Off On*
FR LH SOL
CV1 Off Off Off
SV1 Off Off Off
RR RH IN SOL Off On On
RR RH OUT SOL Off Off On*
RR RH SOL
CV1 Off Off Off
SV1 Off Off Off
RR LH IN SOL Off On On
RR LH OUT SOL Off Off On*
RR LH SOL
CV2 Off Off Off
SV2 Off Off Off
*: On for 1 to 2 seconds after the select, and then Off.
NOTE:

Revision: July 2016 DAS-286 2016 QX50

 DIAGNOSIS SYSTEM [ABS ACTUATOR AND ELECTRIC UNIT (CONTROL
UNIT)]
< SYSTEM DESCRIPTION > [LDW & LDP]
A brief moment of On/Off condition occurs every 20 seconds after ignition switch turned ON. This is not malfunction because it is an
operation for checking. A
ABS SOLENOID VALVE (ACT)
• Select “Up”, “ACT UP” and “ACT KEEP” of “ACTIVE TEST” in “ABS” with CONSULT. Then use screen mon-
itor to check that solenoid valve operates as shown in the table below. B

Display (Note)
Test item Display item
Up ACT UP ACT KEEP C
FR RH IN SOL Off Off Off

FR RH ABS SOLENOID FR RH OUT SOL Off Off Off

(ACT)
D
CV2 Off On On
SV2 Off On* Off
FR LH IN SOL Off Off Off E
FR LH ABS SOLENOID FR LH OUT SOL Off Off Off
(ACT) CV1 Off On On
SV1 Off On* Off
F
RR RH IN SOL Off Off Off

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RR RH ABS SOLENOID RR RH OUT SOL Off Off Off G
(ACT) CV1 Off On On
SV1 Off On* Off
RR LH IN SOL Off Off Off H

RR LH ABS SOLENOID RR LH OUT SOL Off Off Off

(ACT) CV2 Off On On
I
SV2 Off On* Off
*: On for 1 to 2 seconds after the select, and then Off.
NOTE: J
A brief moment of On/Off condition occurs every 20 seconds after ignition switch turned ON. This is not malfunction because it is an
operation for checking.

ABS MOTOR
K
• Select “On” and “Off” of “ACTIVE TEST” in “ABS” with CONSULT on screen. Make sure motor relay and
actuator relay operates as shown in table below.
L
Display
Test item Display item
On Off
M
MOTOR RELAY On Off
ABS MOTOR
ACTUATOR RLY (Note) On On
NOTE: N
A brief moment of On/Off condition occurs every 20 seconds after ignition switch turned ON. This is not malfunction because it is an
operation for checking.

ECU IDENTIFICATION DAS

ABS actuator and electric unit (control unit) part number can be read.
SPECIFIC DATA MONITOR
Specific data monitor displays specific LDP operating conditions. P

Monitor item (Unit) Remarks

YAW RATE SEN
Yaw rate detected by yaw rate/side G sensor
(d/s)
LDP) YAW ORDER
Calculated target yaw moment
(×100Nm)

Revision: July 2016 DAS-287 2016 QX50

 DIAGNOSIS SYSTEM [ABS ACTUATOR AND ELECTRIC UNIT (CONTROL
UNIT)]
< SYSTEM DESCRIPTION > [LDW & LDP]
Monitor item (Unit) Remarks
LDP) WARN REQ
Status of warning request that transmits to lane camera unit via CAN communication
(On/Off)
LDP) WARN CONTROL
Status of warning main controller for LDP
(On/Off)
LDP) REDY SIGNAL
Status of internal judgment by LDP controller [ABS actuator and electric unit (control unit)]
(On/Off)
LDP) STATUS SIGNAL
Status of internal judgment by LDP controller [ABS actuator and electric unit (control unit)]
(STANDBY/WARN/MASK/Off)
LDP) CAMERA LOST
Lane marker detected condition received from lane camera unit via CAN communication
(Detect/Deviate/Both)
LDP) LANE UNCLEAR
Lane marker condition received from lane camera unit via CAN communication
(On/Off)

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Revision: July 2016 DAS-288 2016 QX50

 C1B00 CAMERA UNIT MALF
< DTC/CIRCUIT DIAGNOSIS > [LDW & LDP]

DTC/CIRCUIT DIAGNOSIS A
C1B00 CAMERA UNIT MALF
DTC Logic INFOID:0000000012172556
B

DTC DETECTION LOGIC

C
DTC Trouble diagnosis
DTC detecting condition DTC erase conditions Possible cause
No. name
C1B00 CAMERA UNIT MALF Lane camera unit internal malfunction Erase DTC with CONSULT Lane camera unit D
Diagnosis Procedure INFOID:0000000012172557

1.ERASE DTC E

Erase DTC memory of lane camera unit with self-diagnosis of CONSULT.

Is the DTC “C1B00” erased? F
YES >> INSPECTION END
NO >> Replace the lane camera unit.

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G

DAS

Revision: July 2016 DAS-289 2016 QX50

 C1B01 CAM AIMING INCMP
< DTC/CIRCUIT DIAGNOSIS > [LDW & LDP]
C1B01 CAM AIMING INCMP
DTC Logic INFOID:0000000012172558

DTC DETECTION LOGIC

DTC Trouble diagnosis

DTC detecting condition DTC erase conditions Possible cause
No. name
• Lane camera aiming is
C1B01 CAM AIMING INCMP Camera aiming is not completed. Camera aiming is completed. not adjusted.
• Lane camera unit

Diagnosis Procedure INFOID:0000000012172559

1.CAMERA AIMING
Perform the camera aiming. Refer to DAS-262, "CAMERA AIMING ADJUSTMENT : Description".

>> GO TO 2.
2.PERFORM SELF-DIAGNOSIS OF LANE CAMERA UNIT

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Perform the self-diagnosis of lane camera unit with CONSULT.
Is the DTC “C1B01” detected?
YES >> Replace the lane camera unit.
NO >> INSPECTION END

Revision: July 2016 DAS-290 2016 QX50

 C1B02 VHCL SPD DATA MALF
< DTC/CIRCUIT DIAGNOSIS > [LDW & LDP]
C1B02 VHCL SPD DATA MALF
A
DTC Logic INFOID:0000000012172560

DTC DETECTION LOGIC B

DTC Trouble diagnosis

DTC detecting condition DTC erase conditions Possible cause
No. name C
• Vehicle speed signal
Lane camera unit detected vehicle
VHCL SPD DATA • ABS actuator and elec-
C1B02 speed signal error from ABS actuator Erase DTC with CONSULT
MALF tric unit (control unit) D
and electric unit (control unit).
• Lane camera unit

DTC CONFIRMATION PROCEDURE

1.DTC ERASE E

Erase the DTC memory of lane camera unit with CONSULT.

F
>> GO TO 2.
2.DTC CONFIRMATION

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G
1. Turn ignition ON.
2. Drive at 40 km/h or more.
3. Stop the vehicle.
4. Perform the self-diagnosis of lane camera unit with CONSULT. H
Is the DTC “C1B02” detected?
YES >> Refer to DAS-291, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident". I

Diagnosis Procedure INFOID:0000000012172561

J
1.PERFORM SELF-DIAGNOSIS OF ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
Perform self-diagnosis of ABS actuator and electric unit (control unit) with CONSULT.
Is any DTC detected? K
YES >> Perform trouble diagnosis of ABS actuator and electric unit (control unit). Refer to BRC-143, "DTC
No. Index".
NO >> Replace the lane camera unit. L

DAS

Revision: July 2016 DAS-291 2016 QX50

 C1B03 ABNRML TEMP DETECT
< DTC/CIRCUIT DIAGNOSIS > [LDW & LDP]
C1B03 ABNRML TEMP DETECT
DTC Logic INFOID:0000000012172562

DTC DETECTION LOGIC

DTC Trouble diagnosis

DTC detecting condition DTC erase conditions Possible cause
No. name
ABNRML TEMP DE- Temperature around lane camera unit Interior room temperature is
C1B03 Erase DTC with CONSULT
TECT is excessively high. excessively high.

Diagnosis Procedure INFOID:0000000012172563

1.COOLING LANE CAMERA UNIT

Cooling the lane camera unit.

>> GO TO 2.
2.ERASE DTC

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Erase DTC memory of the lane camera unit with self-diagnosis of CONSULT.
Is the DTC “C1B03” erased?
YES >> INSPECTION END
NO >> Replace the lane camera unit.

Revision: July 2016 DAS-292 2016 QX50

 C1B07 ABS DIAGNOSIS
< DTC/CIRCUIT DIAGNOSIS > [LDW & LDP]
C1B07 ABS DIAGNOSIS
A
DTC Logic INFOID:0000000012172564

DTC DETECTION LOGIC B

DTC Trouble diagnosis

DTC detecting condition DTC erase conditions Possible cause
No. name C
• Lane camera unit received that ABS
actuator and electric unit (control
unit) is detecting any DTC. D
ABS actuator and electric
C1B07 ABS DIAGNOSIS • Lane camera unit received that ABS Erase DTC with CONSULT
unit (control unit)
actuator and electric unit (control
unit) is performing “Work support”
or “Active test” with CONSULT. E

Diagnosis Procedure INFOID:0000000012172565

1.PERFORM SELF-DIAGNOSIS OF ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) F

Perform self-diagnosis of ABS actuator and electric unit (control unit) with CONSULT.

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Is any DTC detected? G
YES >> Perform trouble diagnosis of ABS actuator and electric unit (control unit). Refer to BRC-143, "DTC
No. Index".
NO >> GO TO 2. H
2.ERASE DTC
Erase DTC memory of the lane camera unit with self-diagnosis of CONSULT.
Is the DTC “C1B07” erased? I
YES >> INSPECTION END
NO >> Replace the lane camera unit.
J

DAS

Revision: July 2016 DAS-293 2016 QX50

 U1000 CAN COMM CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [LDW & LDP]
U1000 CAN COMM CIRCUIT
Description INFOID:0000000012172566

CAN (Controller Area Network) is a serial communication line for real time applications. It is an on-vehicle mul-
tiplex communication line with high data communication speed and excellent error detection ability. Modern
vehicle is equipped with many electronic control units, and each control unit shares information and links with
other control units during operation (not independent). In CAN communication, control units are connected
with 2 communication lines (CAN H-line, CAN L-line) allowing a high rate of information transmission with less
wiring. Each control unit transmits/receives data but selectively reads the required data only.
CAN Communication Signal Chart. Refer to LAN-28, "CAN Communication Signal Chart".
DTC Logic INFOID:0000000012172567

DTC DETECTION LOGIC

DTC
Trouble diagnosis name DTC detecting condition DTC erase conditions Possible cause
No.
When lane camera unit is not trans-
U1000 CAN COMM CIRCUIT mitting or receiving CAN communica- Erase DTC with CONSULT CAN communication

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tion signal for 2 seconds or more.

Diagnosis Procedure INFOID:0000000012172568

1.ERASE DTC
Erase DTC memory of the lane camera unit with self-diagnosis of CONSULT.

>> GO TO 2.
2.PERFORM SELF-DIAGNOSIS OF LANE CAMERA UNIT
Perform the self-diagnosis of the lane camera unit with CONSULT.
Is “U1000” displayed?
YES >> Refer to LAN-18, "Trouble Diagnosis Flow Chart".
NO >> Refer to GI-42, "Intermittent Incident".

Revision: July 2016 DAS-294 2016 QX50

 U1010 CONTROL UNIT (CAN)
< DTC/CIRCUIT DIAGNOSIS > [LDW & LDP]
U1010 CONTROL UNIT (CAN)
A
DTC Logic INFOID:0000000012172569

DTC DETECTION LOGIC B

DTC
Trouble diagnosis name DTC detecting condition DTC erase conditions Possible cause
No. C
Lane camera unit detected internal
U1010 CONTROL UNIT (CAN) CAN communication circuit malfunc- Erase DTC with CONSULT Lane camera unit
tion. D
Diagnosis Procedure INFOID:0000000012172570

1.ERASE DTC E

Erase DTC memory of lane camera unit with self-diagnosis of CONSULT.

Is the DTC “U1010” erased? F
YES >> INSPECTION END
NO >> Replace the lane camera unit.

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G

DAS

Revision: July 2016 DAS-295 2016 QX50

 U0122 VDC CAN CIR1 (LDP)
< DTC/CIRCUIT DIAGNOSIS > [LDW & LDP]
U0122 VDC CAN CIR1 (LDP)
DTC Logic INFOID:0000000012172571

DTC DETECTION LOGIC

DTC Trouble diagnosis

DTC detecting condition DTC erase conditions Possible cause
No. name
Lane camera unit detected an error of
• ABS actuator and electric
CAN communication signal that was
U0122 VDC CAN CIR1 (LDP) Erase DTC with CONSULT unit (control unit)
received from ABS actuator and elec-
• Lane camera unit
tric unit (control unit).

DTC CONFIRMATION PROCEDURE

1.DTC ERASE
Erase the DTC memory of lane camera unit with CONSULT.

>> GO TO 2.
2.DTC CONFIRMATION

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1. Turn ignition switch ON and wait for 2 seconds or more.
2. Perform the self-diagnosis of lane camera unit with CONSULT.
Is the DTC “U0122” detected?
YES >> Refer to DAS-296, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172572

1.PERFORM SELF-DIAGNOSIS OF ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)

Perform self-diagnosis of ABS actuator and electric unit (control unit) with CONSULT.
Is any DTC detected?
YES >> GO TO 2.
NO >> GO TO 4.
2.ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) TROUBLE DIAGNOSIS
Perform trouble diagnosis of ABS actuator and electric unit (control unit). Refer to BRC-143, "DTC No. Index".

>> GO TO 3.
3.ERASE DTC
Erase DTC memory of lane camera unit with self-diagnosis of CONSULT.
Is the DTC “U0122” erased?
YES >> INSPECTION END
NO >> Replace the lane camera unit.
4.PROVISIONAL REPLACEMENT OF ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
Remove ABS actuator and electric unit (control unit). Install the normal ABS actuator and electric unit (control
unit).

>> GO TO 5.
5.ERASE DTC
Erase DTC memory of lane camera unit with self-diagnosis of CONSULT.
Is the DTC “U0122” erased?
YES >> Replace ABS actuator and electric unit (control unit).

Revision: July 2016 DAS-296 2016 QX50

 U0122 VDC CAN CIR1 (LDP)
< DTC/CIRCUIT DIAGNOSIS > [LDW & LDP]
NO >> Replace the lane camera unit.
A

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G

DAS

Revision: July 2016 DAS-297 2016 QX50

 U0416 VDC CAN CIR2 (LDP)
< DTC/CIRCUIT DIAGNOSIS > [LDW & LDP]
U0416 VDC CAN CIR2 (LDP)
DTC Logic INFOID:0000000012172573

DTC DETECTION LOGIC

DTC Trouble diagnosis

DTC detecting condition DTC erase conditions Possible cause
No. name
Lane camera unit detected an error of
• ABS actuator and electric
CAN communication signal that was
U0416 VDC CAN CIR2 (LDP) Erase DTC with CONSULT unit (control unit)
received from ABS actuator and elec-
• Lane camera unit
tric unit (control unit).

DTC CONFIRMATION PROCEDURE

1.DTC ERASE
Erase the DTC memory of lane camera unit with CONSULT.

>> GO TO 2.
2.DTC CONFIRMATION

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1. Turn ignition switch ON and wait for 2 seconds or more.
2. Perform the self-diagnosis of lane camera unit with CONSULT.
Is the DTC “U0416” detected?
YES >> Refer to DAS-298, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident"
Diagnosis Procedure INFOID:0000000012172574

1.PERFORM SELF-DIAGNOSIS OF ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)

Perform self-diagnosis of ABS actuator and electric unit (control unit) with CONSULT.
Is any DTC detected?
YES >> GO TO 2.
NO >> GO TO 4.
2.ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) TROUBLE DIAGNOSIS
Perform trouble diagnosis of ABS actuator and electric unit (control unit). Refer to BRC-143, "DTC No. Index".

>> GO TO 3.
3.ERASE DTC
Erase DTC memory of lane camera unit with self-diagnosis of CONSULT.
Is the DTC “U0416” erased?
YES >> INSPECTION END
NO >> Replace the lane camera unit.
4.PROVISIONAL REPLACEMENT OF ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
Remove ABS actuator and electric unit (control unit). Install the normal ABS actuator and electric unit (control
unit).

>> GO TO 5.
5.ERASE DTC
Erase DTC memory of lane camera unit with self-diagnosis of CONSULT.
Is the DTC “U0416” erased?
YES >> Replace ABS actuator and electric unit (control unit).

Revision: July 2016 DAS-298 2016 QX50

 U0416 VDC CAN CIR2 (LDP)
< DTC/CIRCUIT DIAGNOSIS > [LDW & LDP]
NO >> Replace the lane camera unit.
A

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G

DAS

Revision: July 2016 DAS-299 2016 QX50

 C1B00 LDP) CAMERA MALF
< DTC/CIRCUIT DIAGNOSIS > [LDW & LDP]
C1B00 LDP) CAMERA MALF
DTC Logic INFOID:0000000012172575

DTC DETECTION LOGIC

DTC Trouble diagnosis

DTC detecting condition DTC erase conditions Possible cause
No. name
ABS actuator and electric unit (control
unit) received that lane camera unit is
C1B00 LDP) CAMERA MALF Erase DTC with CONSULT Lane camera unit
detecting “C1B00” (Lane camera unit
internal malfunction).

Diagnosis Procedure INFOID:0000000012172576

1.LANE CAMERA UNIT TROUBLE DIAGNOSIS

Perform trouble diagnosis of the lane camera unit for “C1B00 CAMERA UNIT MALF”. Refer to DAS-289, "DTC
Logic".

cardiagn.com
>> GO TO 2.
2.ERASE DTC
Erase DTC memory of ABS actuator and electric unit (control unit) with self-diagnosis of CONSULT.
Is the DTC “C1B00” erased?
YES >> INSPECTION END
NO >> Replace ABS actuator and electric unit (control unit).

Revision: July 2016 DAS-300 2016 QX50

 C1B04 LDP) ICC STG SW MALF
< DTC/CIRCUIT DIAGNOSIS > [LDW & LDP]
C1B04 LDP) ICC STG SW MALF
A
DTC Logic INFOID:0000000012172577

DTC DETECTION LOGIC B

DTC
Trouble diagnosis name DTC detecting condition DTC erase conditions Possible cause
No. C
• ICC steering switch circuit
ABS actuator and electric unit (control • ICC steering switch
Erase DTC with CON-
C1B04 LDP) ICC STG SW MALF unit) received ICC steering switch • ECM D
SULT
malfunction from ECM. • ABS actuator and electric
unit (control unit)

Diagnosis Procedure INFOID:0000000012172578 E

1.ECM TROUBLE DIAGNOSIS

Perform trouble diagnosis of ECM for “P1564 ICC STEERING SWITCH”. Refer to EC-441, "Description". F

cardiagn.com
>> GO TO 2.
G
2.ERASE DTC
Erase DTC memory of ABS actuator and electric unit (control unit) with self-diagnosis of CONSULT.
Is the DTC “C1B04” erased? H
YES >> INSPECTION END
NO >> Replace ABS actuator and electric unit (control unit).
I

DAS

Revision: July 2016 DAS-301 2016 QX50

 C1B05 LDP) APP SEN MALF
< DTC/CIRCUIT DIAGNOSIS > [LDW & LDP]
C1B05 LDP) APP SEN MALF
DTC Logic INFOID:0000000012172579

DTC DETECTION LOGIC

DTC Trouble diagnosis

DTC detecting condition DTC erase conditions Possible cause
No. name
• Accelerator pedal position
sensor
ABS actuator and electric unit (control
• Accelerator pedal position
unit) detects that accelerator pedal
C1B05 LDP) APP SEN MALF Erase DTC with CONSULT sensor circuit
position sensor signal is malfunction-
• ECM
ing.
• ABS actuator and electric
unit (control unit)

Diagnosis Procedure INFOID:0000000012172580

1.ECM TROUBLE DIAGNOSIS

Perform trouble diagnosis of ECM for “P2122, P2123 APP SENSOR and P2127, P2128 APP SENSOR”.

cardiagn.com
Refer to the following items;
• P2122, P2123 APP SENSOR: EC-476, "Description"
• P2127, P2128 APP SENSOR: EC-480, "Description"

>> GO TO 2.
2.ERASE DTC
Erase DTC memory of ABS actuator and electric unit (control unit) with self-diagnosis of CONSULT.
Is the DTC “C1B05” erased?
YES >> INSPECTION END
NO >> Replace ABS actuator and electric unit (control unit).

Revision: July 2016 DAS-302 2016 QX50

 C1B06 LDP) TCM MALF
< DTC/CIRCUIT DIAGNOSIS > [LDW & LDP]
C1B06 LDP) TCM MALF
A
DTC Logic INFOID:0000000012172581

DTC DETECTION LOGIC B

DTC Trouble diagnosis

DTC detecting condition DTC erase conditions Possible cause
No. name C
• Any of A/T system com-
ABS actuator and electric unit (control ponents
C1B06 LDP) TCM MALF unit) detects that TCM has a malfunc- Erase DTC with CONSULT • TCM D
tion. • ABS actuator and electric
unit (control unit)

Diagnosis Procedure INFOID:0000000012172582 E

1.PERFORM SELF-DIAGNOSIS OF TCM

Perform self-diagnosis of TCM with CONSULT. F
Is any DTC detected?

cardiagn.com
YES >> GO TO 2.
NO >> Replace ABS actuator and electric unit (control unit). G
2.TCM TROUBLE DIAGNOSIS
Perform trouble diagnosis of TCM. Refer to TM-157, "DTC Index". H

>> GO TO 3.
3.ERASE DTC I

Erase DTC memory of ABS actuator and electric unit (control unit) with self-diagnosis of CONSULT.
Is the DTC “C1B06” erased? J
YES >> INSPECTION END
NO >> Replace ABS actuator and electric unit (control unit).
K

DAS

Revision: July 2016 DAS-303 2016 QX50

 U0100 LDP) ECM CAN CIR2
< DTC/CIRCUIT DIAGNOSIS > [LDW & LDP]
U0100 LDP) ECM CAN CIR2
DTC Logic INFOID:0000000012172583

DTC DETECTION LOGIC

DTC Trouble diagnosis

DTC detecting condition DTC erase conditions Possible cause
No. name
ABS actuator and electric unit (control
• ECM
unit) detected an error of CAN com-
U0100 LDP) ECM CAN CIR2 Erase DTC with CONSULT • ABS actuator and electric
munication signal that was received
unit (control unit)
from ECM.

DTC CONFIRMATION PROCEDURE

1.DTC ERASE
Erase the DTC memory of ABS actuator and electric unit (control unit) with CONSULT.

>> GO TO 2.
2.DTC CONFIRMATION

cardiagn.com
1. Turn ignition switch ON and wait for 2 seconds or more.
2. Perform the self-diagnosis of ABS actuator and electric unit (control unit) with CONSULT.
Is the DTC “U0100” detected?
YES >> Refer to DAS-304, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172584

1.PERFORM SELF-DIAGNOSIS OF ECM

Perform self-diagnosis of ECM with CONSULT.
Is any DTC detected?
YES >> GO TO 2.
NO >> GO TO 4.
2.ECM TROUBLE DIAGNOSIS
Perform trouble diagnosis of ECM. Refer to EC-580, "DTC Index".

>> GO TO 3.
3.ERASE DTC
Erase DTC memory of ABS actuator and electric unit (control unit) with self-diagnosis of CONSULT.
Is the DTC “U0100” erased?
YES >> INSPECTION END
NO >> Replace ABS actuator and electric unit (control unit).
4.PROVISIONAL REPLACEMENT OF ECM
Remove ECM. Install a normal ECM.

>> GO TO 5.
5.ERASE DTC
Erase DTC memory of ABS actuator and electric unit (control unit) with self-diagnosis of CONSULT.
Is the DTC “U0100” erased?
YES >> Replace ECM.
NO >> Replace ABS actuator and electric unit (control unit).

Revision: July 2016 DAS-304 2016 QX50

 U0101 LDP) TCM CAM CAN CIR2
< DTC/CIRCUIT DIAGNOSIS > [LDW & LDP]
U0101 LDP) TCM CAM CAN CIR2
A
DTC Logic INFOID:0000000012172585

DTC DETECTION LOGIC B

DTC Trouble diagnosis

DTC detecting condition DTC erase conditions Possible cause
No. name C
ABS actuator and electric unit (control
• TCM
unit) detected an error of CAN com-
U0101 LDP) TCM CAN CIR2 Erase DTC with CONSULT • ABS actuator and electric
munication signal that was received D
unit (control unit)
from TCM.

DTC CONFIRMATION PROCEDURE

1.DTC ERASE E

Erase the DTC memory of ABS actuator and electric unit (control unit) with CONSULT.
F
>> GO TO 2.
2.DTC CONFIRMATION

cardiagn.com
G
1. Turn ignition switch ON and wait for 2 seconds or more.
2. Perform the self-diagnosis of ABS actuator and electric unit (control unit) with CONSULT.
Is the DTC “U0101” detected?
H
YES >> Refer to DAS-305, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172586 I

1.PERFORM SELF-DIAGNOSIS OF TCM

Perform self-diagnosis of TCM with CONSULT. J
Is any DTC detected?
YES >> GO TO 2.
NO >> GO TO 4. K
2.TCM TROUBLE DIAGNOSIS
Perform trouble diagnosis of TCM. Refer to TM-157, "DTC Index". L

>> GO TO 3.
3.ERASE DTC M

Erase DTC memory of ABS actuator and electric unit (control unit) with self-diagnosis of CONSULT.
Is the DTC “U0101” erased? N
YES >> INSPECTION END
NO >> Replace ABS actuator and electric unit (control unit).
4.PROVISIONAL REPLACEMENT OF TCM DAS
Remove TCM. Install a normal TCM.

P
>> GO TO 5.
5.ERASE DTC
Erase DTC memory of ABS actuator and electric unit (control unit) with self-diagnosis of CONSULT.
Is the DTC “U0101” erased?
YES >> Replace TCM.
NO >> Replace ABS actuator and electric unit (control unit).

Revision: July 2016 DAS-305 2016 QX50

 U0104 LDP) ICC CAM CAN CIR2
< DTC/CIRCUIT DIAGNOSIS > [LDW & LDP]
U0104 LDP) ICC CAM CAN CIR2
DTC Logic INFOID:0000000012172587

DTC DETECTION LOGIC

DTC Trouble diagnosis

DTC detecting condition DTC erase conditions Possible cause
No. name
ABS actuator and electric unit (control
• ICC sensor integrated unit
LDP) ICC CAM CAN unit) detected an error of CAN com-
U0104 Erase DTC with CONSULT • ABS actuator and electric
CIR2 munication signal that was received
unit (control unit)
from ICC sensor integrated unit.

DTC CONFIRMATION PROCEDURE

1.DTC ERASE
Erase the DTC memory of ABS actuator and electric unit (control unit) with CONSULT.

>> GO TO 2.
2.DTC CONFIRMATION

cardiagn.com
1. Turn ignition switch ON and wait for 2 seconds or more.
2. Perform the self-diagnosis of ABS actuator and electric unit (control unit) with CONSULT.
Is the DTC “U0104” detected?
YES >> Refer to DAS-306, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172588

1.PERFORM SELF-DIAGNOSIS OF ICC SENSOR INTEGRATED UNIT

Perform ICC sensor integrated unit self-diagnosis with CONSULT.
Is any DTC detected?
YES >> GO TO 2.
NO >> GO TO 4.
2.ICC SENSOR INTEGRATED UNIT TROUBLE DIAGNOSIS
Perform trouble diagnosis of ICC sensor integrated unit. Refer to CCS-155, "DTC Index".

>> GO TO 3.
3.ERASE DTC
Erase DTC memory of ABS actuator and electric unit (control unit) with self-diagnosis of CONSULT.
Is the DTC “U0104” erased?
YES >> INSPECTION END
NO >> Replace ABS actuator and electric unit (control unit).
4.PROVISIONAL REPLACEMENT OF ICC SENSOR INTEGRATED UNIT
Remove ICC sensor integrated unit. Install a normal ICC sensor integrated unit.

>> GO TO 5.
5.ERASE DTC
Erase DTC memory of ABS actuator and electric unit (control unit) with self-diagnosis of CONSULT.
Is the DTC “U0104” erased?
YES >> Replace ICC sensor integrated unit.
NO >> Replace ABS actuator and electric unit (control unit).

Revision: July 2016 DAS-306 2016 QX50

 U0405 LDP) ICC CAM CAN CIR1
< DTC/CIRCUIT DIAGNOSIS > [LDW & LDP]
U0405 LDP) ICC CAM CAN CIR1
A
DTC Logic INFOID:0000000012172589

DTC DETECTION LOGIC B

DTC Trouble diagnosis

DTC detecting condition DTC erase conditions Possible cause
No. name C
ABS actuator and electric unit (control
• ICC sensor integrated unit
LDP) ICC CAM CAN unit) detected an error of CAN com-
U0405 Erase DTC with CONSULT • ABS actuator and electric
CIR1 munication signal that was received D
unit (control unit)
from ICC sensor integrated unit.

DTC CONFIRMATION PROCEDURE

1.DTC ERASE E

Erase the DTC memory of ABS actuator and electric unit (control unit) with CONSULT.
F
>> GO TO 2.
2.DTC CONFIRMATION

cardiagn.com
G
1. Turn ignition switch ON and wait for 2 seconds or more.
2. Perform the self-diagnosis of ABS actuator and electric unit (control unit) with CONSULT.
Is the DTC “U0405” detected?
H
YES >> Refer to DAS-307, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172590 I

1.PERFORM SELF-DIAGNOSIS OF ICC SENSOR INTEGRATED UNIT

Perform ICC sensor integrated unit self-diagnosis with CONSULT. J
Is any DTC detected?
YES >> GO TO 2.
NO >> GO TO 4. K
2.ICC SENSOR INTEGRATED UNIT TROUBLE DIAGNOSIS
Perform trouble diagnosis of ICC sensor integrated unit. Refer to CCS-155, "DTC Index". L

>> GO TO 3.
3.ERASE DTC M

Erase DTC memory of ABS actuator and electric unit (control unit) with self-diagnosis of CONSULT.
Is the DTC “U0405” erased? N
YES >> INSPECTION END
NO >> Replace ABS actuator and electric unit (control unit).
4.PROVISIONAL REPLACEMENT OF ICC SENSOR INTEGRATED UNIT DAS
Remove ICC sensor integrated unit. Install a normal ICC sensor integrated unit.

P
>> GO TO 5.
5.ERASE DTC
Erase DTC memory of ABS actuator and electric unit (control unit) with self-diagnosis of CONSULT.
Is the DTC “U0405” erased?
YES >> Replace ICC sensor integrated unit.
NO >> Replace ABS actuator and electric unit (control unit).

Revision: July 2016 DAS-307 2016 QX50

 U1500 LDP) CAM CAN CIR1
< DTC/CIRCUIT DIAGNOSIS > [LDW & LDP]
U1500 LDP) CAM CAN CIR1
DTC Logic INFOID:0000000012172591

DTC DETECTION LOGIC

DTC Trouble diagnosis

DTC detecting condition DTC erase conditions Possible cause
No. name
ABS actuator and electric unit (control
• Lane camera unit
unit) detected an error of CAN com-
U1500 LDP) CAM CAN CIR1 Erase DTC with CONSULT • ABS actuator and electric
munication signal that was received
unit (control unit)
from the lane camera unit.

DTC CONFIRMATION PROCEDURE

1.DTC ERASE
Erase the DTC memory of ABS actuator and electric unit (control unit) with CONSULT.

>> GO TO 2.
2.DTC CONFIRMATION

cardiagn.com
1. Turn ignition switch ON and wait for 2 seconds or more.
2. Perform the self-diagnosis of ABS actuator and electric unit (control unit) with CONSULT.
Is the DTC “U1500” detected?
YES >> Refer to DAS-308, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172592

1.PERFORM SELF-DIAGNOSIS OF LANE CAMERA UNIT

Perform self-diagnosis of lane camera unit with CONSULT.
Is any DTC detected?
YES >> GO TO 2.
NO >> GO TO 4.
2.LANE CAMERA UNIT TROUBLE DIAGNOSIS
Perform trouble diagnosis of the lane camera unit. Refer to DAS-327, "DTC Index".

>> GO TO 3.
3.ERASE DTC
Erase DTC memory of ABS actuator and electric unit (control unit) with self-diagnosis of CONSULT.
Is the DTC “U1500” erased?
YES >> INSPECTION END
NO >> Replace ABS actuator and electric unit (control unit).
4.PROVISIONAL REPLACEMENT OF LANE CAMERA UNIT
Remove the lane camera unit. Install a normal lane camera unit.

>> GO TO 5.
5.ERASE DTC
Erase DTC memory of ABS actuator and electric unit (control unit) with self-diagnosis of CONSULT.
Is the DTC “U1500” erased?
YES >> Replace the lane camera unit.
NO >> Replace ABS actuator and electric unit (control unit).

Revision: July 2016 DAS-308 2016 QX50

 U1501 LDP) CAM CAN CIR2
< DTC/CIRCUIT DIAGNOSIS > [LDW & LDP]
U1501 LDP) CAM CAN CIR2
A
DTC Logic INFOID:0000000012172593

DTC DETECTION LOGIC B

DTC Trouble diagnosis

DTC detecting condition DTC erase conditions Possible cause
No. name C
ABS actuator and electric unit (control
• Lane camera unit
unit) detected an error of CAN com-
U1501 LDP) CAM CAN CIR2 Erase DTC with CONSULT • ABS actuator and electric
munication signal that was received D
unit (control unit)
from the lane camera unit.

DTC CONFIRMATION PROCEDURE

1.DTC ERASE E

Erase the DTC memory of ABS actuator and electric unit (control unit) with CONSULT.
F
>> GO TO 2.
2.DTC CONFIRMATION

cardiagn.com
G
1. Turn ignition switch ON and wait for 2 seconds or more.
2. Perform the self-diagnosis of ABS actuator and electric unit (control unit) with CONSULT.
Is the DTC “U1501” detected?
H
YES >> Refer to DAS-309, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172594 I

1.PERFORM SELF-DIAGNOSIS OF LANE CAMERA UNIT

Perform self-diagnosis of lane camera unit with CONSULT. J
Is any DTC detected?
YES >> GO TO 2.
NO >> GO TO 4. K
2.LANE CAMERA UNIT TROUBLE DIAGNOSIS
Perform trouble diagnosis of the lane camera unit. Refer to DAS-327, "DTC Index". L

>> GO TO 3.
3.ERASE DTC M

Erase DTC memory of ABS actuator and electric unit (control unit) with self-diagnosis of CONSULT.
Is the DTC “U1501” erased? N
YES >> INSPECTION END
NO >> Replace ABS actuator and electric unit (control unit).
4.PROVISIONAL REPLACEMENT OF LANE CAMERA UNIT DAS
Remove lane camera unit. Install a normal lane camera unit.

P
>> GO TO 5.
5.ERASE DTC
Erase DTC memory of ABS actuator and electric unit (control unit) with self-diagnosis of CONSULT.
Is the DTC “U1501” erased?
YES >> Replace the lane camera unit.
NO >> Replace ABS actuator and electric unit (control unit).

Revision: July 2016 DAS-309 2016 QX50

 POWER SUPPLY AND GROUND CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [LDW & LDP]
POWER SUPPLY AND GROUND CIRCUIT
LANE CAMERA UNIT
LANE CAMERA UNIT : Diagnosis Procedure INFOID:0000000012172595

1.FUSE INSPECTION
Check that the following fuses are not fusing.

Signal name Connection position Fuse No. Capacity

Ignition power supply FUSE BLOCK (J/B) 3 10 A
Is the fuse fusing?
YES >> Replace the blown fuse after repairing the affected circuit.
NO >> GO TO 2.
2.CHECK POWER SUPPLY CIRCUIT
Check voltage between the lane camera unit harness connector and ground.

Terminals
Condition

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(+) (−) Voltage
Lane camera unit (Approx.)
Ignition switch
Connector Terminal
Ground
OFF 0V
R10 7
ON Battery voltage
Is the measurement value normal?
YES >> GO TO 3.
NO >> Check harness between lane camera unit and fuse.
3.CHECK GROUND CIRCUIT
1. Turn ignition switch OFF.
2. Disconnect the lane camera unit connector.
3. Check continuity between the lane camera unit harness connectors and ground.

Lane camera unit

Continuity
Connector Terminal
Ground
1
R10 Existed
5
Does continuity exist?
YES >> Power supply and ground circuit are normal.
NO >> Repair harness or connector.

Revision: July 2016 DAS-310 2016 QX50

 WARNING SYSTEMS SWITCH CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [LDW & LDP]
WARNING SYSTEMS SWITCH CIRCUIT
A
Component Function Check INFOID:0000000012172596

1.CHECK WARNING SYSTEMS SWITCH SIGNAL BY CONSULT B

CONSULT DATA MONITOR
1. Turn the ignition switch ON.
2. Select “LDW SW” of “LANE CAMERA” data monitor item. C
3. With operating the warning systems switch, check the monitor status.

Monitor item Condition Monitor status D

Warning sys-
LDW SW Pressed ⇔ Released On ⇔ Off
tems switch
Is the item status normal? E
YES >> Warning systems switch circuit is normal.
NO >> Refer to DAS-311, "Diagnosis Procedure".
F
Diagnosis Procedure INFOID:0000000012172597

1.CHECK WARNING SYSTEMS SWITCH SIGNAL INPUT

cardiagn.com
G
1. Turn the ignition switch ON.
2. With operating the warning systems switch, check the voltage between the lane camera unit harness con-
nector and the ground. H

Terminals
Condition
(+) (−) I
Voltage
Lane camera unit Warning (Approx.)
systems
Connector Terminal switch
Ground J
Pressed 0V
R10 3
Released 5V
Is the measurement value normal? K
YES >> Replace the lane camera unit.
NO >> GO TO 2.
L
2.CHECK WARNING SYSTEMS SWITCH
1. Turn ignition switch OFF.
2. Remove warning systems switch. M
3. Check warning systems switch. Refer to DAS-312, "Component Inspection".
Is the warning systems switch normal?
YES >> GO TO 3. N
NO >> Replace warning systems switch.
3.CHECK WARNING SYSTEMS SWITCH GROUND CIRCUIT
Check continuity between warning systems switch harness connector and the ground. DAS

Warning systems switch

Continuity P
Connector Terminal Ground
M29 6 Existed
Does continuity exist?
YES >> GO TO 4.
NO >> Repair harness or connector.
4.CHECK WARNING SYSTEMS SWITCH SIGNAL INPUT CIRCUIT FOR OPEN
Revision: July 2016 DAS-311 2016 QX50
 WARNING SYSTEMS SWITCH CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [LDW & LDP]
1. Disconnect the lane camera unit connector.
2. Check continuity between the lane camera unit harness connector and warning systems switch harness
connector.

Lane camera unit Warning systems switch

Continuity
Connector Terminal Connector Terminal
R10 3 M29 7 Existed
Does continuity exist?
YES >> GO TO 5.
NO >> Repair the harnesses or connectors.
5.CHECK WARNING SYSTEMS SWITCH SIGNAL INPUT CIRCUIT FOR SHORT
Check continuity between the lane camera unit harness connector and ground.

Lane camera unit

Continuity
Connector Terminal Ground
R10 3 Not existed
Does continuity exist?

cardiagn.com
YES >> Repair the harnesses or connectors.
NO >> Replace the lane camera unit.
Component Inspection INFOID:0000000012172598

1.CHECK WARNING SYSTEMS SWITCH

Check continuity of warning systems switch.

Warning systems switch Condition

Warning sys- Continuity
Terminal
tems switch
Pressed Existed
6 7
Released Not existed
Is the check result normal?
YES >> Warning systems switch is normal.
NO >> Replace warning systems switch.

Revision: July 2016 DAS-312 2016 QX50

 WARNING SYSTEMS ON INDICATOR CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [LDW & LDP]
WARNING SYSTEMS ON INDICATOR CIRCUIT
A
Component Function Check INFOID:0000000012172599

1.CHECK WARNING SYSTEMS ON INDICATOR BY CONSULT B

CONSULT ACTIVE TEST
1. Turn the ignition switch ON.
2. Select “LDW ON IND” of “LANE CAMERA” active test item. C
3. With operating the test item, check the operation.

On : Warning systems ON indicator illuminates. D

Off : Warning systems ON indicator is turned OFF.
Does the warning systems ON indicator illuminate?
E
YES >> Warning systems ON indicator circuit is normal.
NO >> Refer to DAS-313, "Diagnosis Procedure".
Diagnosis Procedure INFOID:0000000012172600
F

1.CHECK WARNING SYSTEMS ON INDICATOR POWER SUPPLY CIRCUIT

cardiagn.com
1. Turn ignition switch OFF. G
2. Disconnect warning systems switch connector.
3. Turn ignition switch ON.
4. Check voltage between warning systems switch harness connector and ground.
H

Terminals
(+) (−) Voltage I
Warning systems switch (Approx.)

Connector Terminal Ground

J
M29 3 Battery voltage
Is the measurement value normal?
YES >> GO TO 2. K
NO >> Check harness between fuse and warning systems switch.
2.CHECK WARNING SYSTEMS ON INDICATOR SIGNAL CIRCUIT FOR OPEN
1. Turn the ignition switch OFF. L
2. Disconnect the lane camera unit harness connector.
3. Check continuity between the lane camera unit harness connector and warning systems switch harness
connector. M

Lane camera unit Warning systems switch

Continuity
Connector Terminal Connector Terminal N
R10 2 M29 2 Existed
Does continuity exist?
DAS
YES >> GO TO 3.
NO >> Repair the harnesses or connectors.
3.CHECK WARNING SYSTEMS ON INDICATOR SIGNAL CIRCUIT FOR SHORT P
Check continuity between the lane camera unit harness connector and ground.

Lane camera unit

Continuity
Connector Terminal Ground
R10 2 Not existed

Revision: July 2016 DAS-313 2016 QX50

 WARNING SYSTEMS ON INDICATOR CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [LDW & LDP]
Does continuity exist?
YES >> Repair the harnesses or connectors.
NO >> GO TO 4.
4.CHECK WARNING SYSTEMS ON INDICATOR
1. Connect warning systems switch connector.
2. Turn ignition switch ON.
3. Apply ground to warning systems switch terminal 2.
4. Check condition of the warning systems ON indicator.
Does warning systems ON indicator illuminate?
YES >> Replace the lane camera unit.
NO >> Replace warning systems switch.

cardiagn.com

Revision: July 2016 DAS-314 2016 QX50

 LANE DEPARTURE WARNING BUZZER CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [LDW & LDP]
LANE DEPARTURE WARNING BUZZER CIRCUIT
A
Component Function Check INFOID:0000000012172601

1.CHECK LANE DEPARTURE WARNING BUZZER BY CONSULT B

CONSULT ACTIVE TEST
1. Turn the ignition switch ON.
2. Select “BUZZER DRIVE” of “LANE CAMERA” active test item. C
3. With operating the test item, check the operation.

On : Lane departure warning buzzer is activated. D

Off : Lane departure warning buzzer is not activated.
Is the lane departure warning buzzer activated?
E
YES >> Lane departure warning buzzer circuit is normal.
NO >> Refer to DAS-315, "Diagnosis Procedure".
Diagnosis Procedure INFOID:0000000012172602
F

1.CHECK LANE DEPARTURE WARNING BUZZER POWER SUPPLY CIRCUIT

cardiagn.com
1. Turn ignition switch OFF. G
2. Disconnect the lane departure warning buzzer connector.
3. Turn ignition switch ON.
4. Check voltage between the lane departure warning buzzer harness connector and ground.
H

Terminals
(+) (−) Voltage I
Lane departure warning buzzer (Approx.)

Connector Terminal Ground

J
M45 1 Battery voltage
Is the measurement value normal?
YES >> GO TO 2. K
NO >> Check harness between fuse and lane departure warning buzzer.
2.CHECK LANE DEPARTURE WARNING BUZZER GROUND CIRCUIT
1. Turn ignition switch OFF. L
2. Check continuity between lane departure warning buzzer harness connector and ground.

Lane departure warning buzzer M

Continuity
Connector Terminal Ground
M45 3 Existed
N
Does continuity exist?
YES >> GO TO 3.
NO >> Repair the harnesses or connectors. DAS
3.CHECK LANE DEPARTURE WARNING BUZZER SIGNAL CIRCUIT FOR OPEN
1. Disconnect the lane camera unit connector.
2. Check continuity between the lane camera unit harness connector and lane departure warning buzzer P
harness connector.

Lane departure warning

Lane camera unit
buzzer Continuity
Connector Terminal Connector Terminal
R10 6 M45 2 Existed

Revision: July 2016 DAS-315 2016 QX50

 LANE DEPARTURE WARNING BUZZER CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [LDW & LDP]
Does continuity exist?
YES >> GO TO 4.
NO >> Repair the harnesses or connectors.
4.CHECK LANE DEPARTURE WARNING BUZZER SIGNAL CIRCUIT FOR SHORT
Check continuity between the lane camera unit harness connector and ground.

Lane camera unit

Continuity
Connector Terminal Ground
R10 6 Not existed
Does continuity exist?
YES >> Repair the harnesses or connectors.
NO >> GO TO 5.
5.CHECK LANE DEPARTURE WARNING BUZZER OPERATION
1. Connect lane departure warning buzzer connector.
2. Turn ignition switch ON.
3. Apply ground to lane departure warning buzzer terminal 2.
4. Check condition of the lane departure warning buzzer.

cardiagn.com
Does lane departure warning buzzer sound?
YES >> Replace the lane camera unit.
NO >> Replace lane departure warning buzzer.

Revision: July 2016 DAS-316 2016 QX50

 LANE CAMERA UNIT
< ECU DIAGNOSIS INFORMATION > [LDW & LDP]

ECU DIAGNOSIS INFORMATION A

LANE CAMERA UNIT
Reference Value INFOID:0000000012172603
B

VALUES ON THE DIAGNOSIS TOOL

NOTE: C
The following table includes information (items) inapplicable to this vehicle. For information (items) applicable
to this vehicle, refer to CONSULT display items.
CONSULT MONITOR ITEM
D
Monitor Item Condition Value/Status
Warning systems switch is ON. (Warning systems ON indicator illumi-
On
LDW SW nates.) E
Warning systems switch is OFF. (Warning systems ON indicator OFF.) Off
Warning systems ON indicator illuminates On
LDW ON LAMP F
Warning systems ON indicator OFF Off
LDP ON indicator lamp illuminates On
LDP ON IND

cardiagn.com
LDP ON indicator lamp OFF Off
G
Lane departure warning lamp illuminates On
LANE DPRT W/L
Lane departure warning lamp OFF Off
Lane departure warning buzzer is sounding On H
BUZZER OUTPUT
Lane departure warning buzzer is not sounding Off
Lane camera malfunction On
LC INACCURAT I
Lane camera normal Off
Approximately equivalent to speed-
VHCL SPD SE While driving
ometer reading J
Turn signal lamp LH and RH blinking LH/RH
Turn signal lamp LH blinking LH
TURN SIGNAL
Turn signal lamp RH blinking RH K
Turn signal lamps OFF Off
Left side lane marker is detected On
LANE DETCT LH L
Left side lane marker is not detected Off
Right side lane marker is detected On
LANE DETCT RH
Right side lane marker is not detected Off M
The vehicle is crossing left side lane marker On
CROSS LANE LH
The vehicle is not crossing left side lane marker Off
N
The vehicle is crossing right side lane marker On
CROSS LANE RH
The vehicle is not crossing right side lane marker Off
Warning for left side lane On DAS
WARN LANE LH
Not warning for left side lane Off
Warning for right side lane On
WARN LANE RH P
Not warning for right side lane Off
Lateral position for left side lane marker is valid VLD
VALID POS LH
Lateral position for left side lane marker is invalid INVLD
Lateral position for right side lane marker is valid VLD
VALID POS RH
Lateral position for right side lane marker is invalid INVLD

Revision: July 2016 DAS-317 2016 QX50

 LANE CAMERA UNIT
< ECU DIAGNOSIS INFORMATION > [LDW & LDP]
Monitor Item Condition Value/Status
Camera aiming is completed OK
AIMING DONE
Camera aiming is not adjusted NG
Camera aiming is completed OK
AIMING RESULT
Camera aiming is not completed NOK
XOFFSET Camera aiming is completed Approx. 180 pixel
NOTE:
AIM CHK YAW —
The item is indicated, but not used.
NOTE:
AIM CHK ROLL —
The item is indicated, but not used.
NOTE:
AIM CHK PITCH —
The item is indicated, but not used.
Camera aiming is not completed +12.0 deg
FCTRY AIM YAW
Camera aiming is completed 0 ± 5.0 deg
Camera aiming is not completed 0.0 deg
FCTRY AIM ROL
Camera aiming is completed 0 ± 5.0 deg
Camera aiming is not completed +12.0 deg

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FCTRY AIM PIT
Camera aiming is completed 0 ± 5.0 deg

TERMINAL LAYOUT

JSOIA0232ZZ

PHYSICAL VALUES

Terminal No.
Description
(Wire color) Value
Condition
Input/ (Approx.)
+ – Signal name
Output
1
Ground Ground — — 0V
(B)

2 Illuminated 0V
Ground Warning systems ON indicator Output Warning systems ON indicator
(SB) OFF 12 V

3 Pressed 0V
Ground Warning systems switch Input Warning systems switch
(V) Released 5V
4
Ground CAN-H — — —
(L)
5
Ground Ground — — 0V
(B)

6 Sounding 0V
Ground Lane departure warning buzzer Output Lane departure warning buzzer
(R) Not sounding 12 V

Revision: July 2016 DAS-318 2016 QX50

 LANE CAMERA UNIT
< ECU DIAGNOSIS INFORMATION > [LDW & LDP]
Terminal No.
Description
(Wire color) Value A
Condition
Input/ (Approx.)
+ – Signal name
Output
7 B
Ground Ignition power supply Input Ignition switch ON Battery voltage
(Y)
8
Ground CAN-L — — —
(P) C

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G

DAS

Revision: July 2016 DAS-319 2016 QX50

 LANE CAMERA UNIT
< ECU DIAGNOSIS INFORMATION > [LDW & LDP]
Wiring Diagram - LDW & LDP - INFOID:0000000012172604

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JROWC6527GB

Revision: July 2016 DAS-320 2016 QX50

 LANE CAMERA UNIT
< ECU DIAGNOSIS INFORMATION > [LDW & LDP]

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G

DAS

JROWC6528GB

Revision: July 2016 DAS-321 2016 QX50

 LANE CAMERA UNIT
< ECU DIAGNOSIS INFORMATION > [LDW & LDP]

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JROWC6529GB

Revision: July 2016 DAS-322 2016 QX50

 LANE CAMERA UNIT
< ECU DIAGNOSIS INFORMATION > [LDW & LDP]

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G

DAS

JROWC6530GB

Revision: July 2016 DAS-323 2016 QX50

 LANE CAMERA UNIT
< ECU DIAGNOSIS INFORMATION > [LDW & LDP]

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JROWC6531GB

Revision: July 2016 DAS-324 2016 QX50

 LANE CAMERA UNIT
< ECU DIAGNOSIS INFORMATION > [LDW & LDP]

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G

DAS

JROWC6532GB

Revision: July 2016 DAS-325 2016 QX50

 LANE CAMERA UNIT
< ECU DIAGNOSIS INFORMATION > [LDW & LDP]

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JROWC6533GB

Fail-safe INFOID:0000000012172605

FAIL-SAFE CONTROL BY DTC

When any DTC is detected, the LDW/LDP systems do not operate.
TEMPORARY DISABLED STATUS AT HIGH TEMPERATURE
When using LDW

Revision: July 2016 DAS-326 2016 QX50

 LANE CAMERA UNIT
< ECU DIAGNOSIS INFORMATION > [LDW & LDP]
• If the vehicle is parked in direct sunlight under high temperature conditions [approximately over 104°F
(40°C)] and then started, the system may sound a buzzer and cancel automatically. In this case warning A
sytems ON indicator will blink.
• When the interior temperature is reduced, warning systems ON indicator is turned ON.
When using LDP B
• If the vehicle is parked in direct sunlight under high temperature conditions [approximately over 104°F
(40°C)] and then started, the system may sound a buzzer and cancel automatically. In this case LDP ON
indicator lamp will blink. C
• When the interior temperature is reduced, LDP ON indicator lamp is turned ON.
DTC Inspection Priority Chart INFOID:0000000012172606

D
If some DTCs are displayed at the same time, perform inspections one by one based on the following priority
chart.
E
Priority Detected items (DTC)
• U1000: CAN COMM CIRCUIT
1
• U1010: CONTROL UNIT (CAN)
F
• U0122: VDC CAN CIR1(LDP)
2
• U0416: VDC CAN CIR2(LDP)

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3 C1B00: CAMERA UNIT MALF
G
• C1B01: CAM AIMING INCMP
• C1B02: VHCL SPD DATA MALF
4
• C1B03: ABNRML TEMP DETECT
• C1B07: ABS DIAGNOSIS H

DTC Index INFOID:0000000012172607

×: Applicable
I
Lane departure Warning systems LDP ON indicator Reference
DTC Fail-safe
warning lamp ON indicator lamp page
C1B00 CAMERA UNIT MALF ON — — × DAS-289
J

C1B01 CAM AIMING INCMP Blink — — × DAS-290

C1B02 VHCL SPD DATA MALF ON — — × DAS-291 K
Blink Blink
C1B03 ABNRML TEMP DETECT — × DAS-292
(When using LDW) (When using LDP)
C1B07 ABS DIAGNOSIS ON — — × DAS-293 L
U1000 CAN COMM CIRCUIT ON — — × DAS-294
U1010 CONTROL UNIT (CAN) ON — — × DAS-295
U0122 VDC CAN CIR1 (LDP) ON — — × DAS-296
M
U0416 VDC CAN CIR2 (LDP) ON — — × DAS-298

DAS

Revision: July 2016 DAS-327 2016 QX50

 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< ECU DIAGNOSIS INFORMATION > [LDW & LDP]
ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
Reference Value INFOID:0000000012793956

VALUES ON THE DIAGNOSIS TOOL

CAUTION:
The display shows the control unit calculation data, so a normal value might be displayed even in the
event the output circuit (harness) is open or short-circuited.
NOTE:
The following table includes information (items) inapplicable to this vehicle. For information (items) applicable
to this vehicle, refer to CONSULT display items.

Data monitor
Monitor item Display content Reference value in
Condition
normal operation
Vehicle stopped 0 [km/h (MPH)]

FR LH SENSOR Wheel speed Nearly matches the

Vehicle running
speedometer dis-
(Note 1)
play (± 10% or less)

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Vehicle stopped 0 [km/h (MPH)]

FR RH SENSOR Wheel speed Nearly matches the

Vehicle running
speedometer dis-
(Note 1)
play (± 10% or less)
Vehicle stopped 0 [km/h (MPH)]

RR LH SENSOR Wheel speed Nearly matches the

Vehicle running
speedometer dis-
(Note 1)
play (± 10% or less)
Vehicle stopped 0 [km/h (MPH)]

RR RH SENSOR Wheel speed Nearly matches the

Vehicle running
speedometer dis-
(Note 1)
play (± 10% or less)
When brake pedal is depressed On
STOP LAMP SW Stop lamp switch signal status
When brake pedal is not depressed Off
Battery voltage supplied to the ABS ac-
BATTERY VOLT Ignition switch ON 10 – 16 V
tuator and electric unit (control unit)
First gear (1GR) 1
Second gear (2GR) 2
GEAR Gear position determined by TCM Third gear (3GR) 3
Forth gear (4GR) 4
Fifth gear (5GR) 5
P position P
R position R
SLCT LVR POSI A/T selector lever position
N position N
D position D
Vehicle stopped Approx. 0 d/s
Yaw rate detected by yaw rate/side G
YAW RATE SEN Vehicle turning right Negative value
sensor
Vehicle turning left Positive value
Accelerator pedal not depressed
Throttle actuator opening/closing is 0%
(ignition switch is ON)
ACCEL POS SIG displayed (linked with accelerator ped-
al) Depress accelerator pedal
0 - 100 %
(ignition switch is ON)
Vehicle stopped Approx. 0 m/s2
Transverse G detected by side G sen-
SIDE G-SENSOR Vehicle turning right Negative value
sor
Vehicle turning left Positive value

Revision: July 2016 DAS-328 2016 QX50

 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< ECU DIAGNOSIS INFORMATION > [LDW & LDP]
Data monitor
Monitor item Display content A
Reference value in
Condition
normal operation
Driving straight ±2.5°
Steering angle detected by steering an- B
STR ANGLE SIG Turn 90° to right Approx. +90°
gle sensor
Turn 90° to left Approx. –90°
With ignition switch turned ON and brake C
Approx. 0 bar
pedal released
Brake fluid pressure detected by pres- –40 to 300 bar
PRESS SENSOR
sure sensor With ignition switch turned ON and brake (Pressure increases
D
pedal depressed according to pedal
effort.)
With engine stopped 0 rpm
E
ENGINE RPM With engine running Almost in accor-
Engine running dance with tachome-
ter display
When brake fluid level switch ON On F
FLUID LEV SW Brake fluid level switch signal status
When brake fluid level switch OFF Off

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Parking brake switch is active On
PARK BRAKE SW Parking brake switch signal status G
Parking brake switch is inactive Off
Actuator (solenoid valve) is active (“AC-
On
TIVE TEST” in “ABS” with CONSULT) H
Operation status of each solenoid
FR RH IN SOL When the actuator (solenoid valve) is not
valve
active and actuator relay is active (igni- Off
tion switch ON)
I
Actuator (solenoid valve) is active (“AC-
On
TIVE TEST” in “ABS” with CONSULT)
Operation status of each solenoid
FR RH OUT SOL When the actuator (solenoid valve) is not
valve J
active and actuator relay is active (igni- Off
tion switch ON)
Actuator (solenoid valve) is active (“AC-
On K
TIVE TEST” in “ABS” with CONSULT)
Operation status of each solenoid
FR LH IN SOL When the actuator (solenoid valve) is not
valve
active and actuator relay is active (igni- Off
tion switch ON) L
Actuator (solenoid valve) is active (“AC-
On
TIVE TEST” in “ABS” with CONSULT)
Operation status of each solenoid
FR LH OUT SOL
valve When the actuator (solenoid valve) is not M
active and actuator relay is active (igni- Off
tion switch ON)
Actuator (solenoid valve) is active (“AC- N
On
TIVE TEST” in “ABS” with CONSULT)
Operation status of each solenoid
RR RH IN SOL When the actuator (solenoid valve) is not
valve
active and actuator relay is active (igni- Off
DAS
tion switch ON)
Actuator (solenoid valve) is active (“AC-
On
TIVE TEST” in “ABS” with CONSULT)
RR RH OUT SOL
Operation status of each solenoid P
valve When the actuator (solenoid valve) is not
active and actuator relay is active (igni- Off
tion switch ON)

Revision: July 2016 DAS-329 2016 QX50

 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< ECU DIAGNOSIS INFORMATION > [LDW & LDP]
Data monitor
Monitor item Display content Reference value in
Condition
normal operation
Actuator (solenoid valve) is active (“AC-
On
TIVE TEST” in “ABS” with CONSULT)
Operation status of each solenoid
RR LH IN SOL When the actuator (solenoid valve) is not
valve
active and actuator relay is active (igni- Off
tion switch ON)
Actuator (solenoid valve) is active (“AC-
On
TIVE TEST” in “ABS” with CONSULT)
Operation status of each solenoid
RR LH OUT SOL When the actuator (solenoid valve) is not
valve
active and actuator relay is active (igni- Off
tion switch ON)
When the motor relay and motor are op-
On
erating
MOTOR RELAY Motor and motor relay operation
When the motor relay and motor are not
Off
operating

ACTUATOR RLY When the actuator relay is operating On

Actuator relay operation
(Note 2) When the actuator relay is not operating Off

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ABS warning lamp When ABS warning lamp is ON On
ABS WARN LAMP
(Note 3) When ABS warning lamp is OFF Off

VDC OFF indicator lamp When VDC OFF indicator lamp is ON On

OFF LAMP
(Note 3) When VDC OFF indicator lamp is OFF Off

VDC warning lamp When VDC warning lamp is ON On

SLIP/VDC LAMP
(Note 3) When VDC warning lamp is OFF Off
EBD is active On
EBD SIGNAL EBD operation
EBD is inactive Off
ABS is active On
ABS SIGNAL ABS operation
ABS is inactive Off
TCS is active On
TCS SIGNAL TCS operation
TCS is inactive Off
VDC is active On
VDC SIGNAL VDC operation
VDC is inactive Off
In EBD fail-safe On
EBD FAIL SIG EBD fail-safe signal
EBD is normal Off
In ABS fail-safe On
ABS FAIL SIG ABS fail-safe signal
ABS is normal Off
In TCS fail-safe On
TCS FAIL SIG TCS fail-safe signal
TCS is normal Off
In VDC fail-safe On
VDC FAIL SIG VDC fail-safe signal
VDC is normal Off
Crank is active On
CRANKING SIG Crank operation
Crank is inactive Off
When actuator (switch-over valve) is ac-
tive (“ACTIVE TEST” in “ABS” with CON- On
CV1 SULT)
VDC switch-over valve
(Note 2) When actuator (switch-over valve) is not
active and actuator relay is active (igni- Off
tion switch ON)

Revision: July 2016 DAS-330 2016 QX50

 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< ECU DIAGNOSIS INFORMATION > [LDW & LDP]
Data monitor
Monitor item Display content A
Reference value in
Condition
normal operation
When actuator (switch-over valve) is ac-
tive (“ACTIVE TEST” in “ABS” with CON- On B
CV2 SULT)
VDC switch-over valve
(Note 2) When actuator (switch-over valve) is not
active and actuator relay is active (igni- Off C
tion switch ON)
When actuator (switch-over valve) is ac-
tive (“ACTIVE TEST” in “ABS” with CON- On D
SV1 SULT)
VDC switch-over valve
(Note 2) When actuator (switch-over valve) is not
active and actuator relay is active (igni- Off
tion switch ON) E
When actuator (switch-over valve) is ac-
tive (“ACTIVE TEST” in “ABS” with CON- On
SV2 SULT) F
VDC switch-over valve
(Note 2) When actuator (switch-over valve) is not
active and actuator relay is active (igni- Off

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tion switch ON) G
When the solenoid valve relay is active
On
V/R OUTPUT (When ignition switch OFF)
Solenoid valve relay activated
(Note 2) When the solenoid valve relay is not ac- H
Off
tive (in the fail-safe mode)
When the actuator motor and motor relay
are active
On I
Actuator motor and motor relay activat- (“ACTIVE TEST” in “ABS” with CON-
M/R OUTPUT SULT)
ed
When the actuator motor and motor relay
Off J
are inactive
Accelerator pedal is not depressed
0%
Accelerator pedal position sensor sta- (Ignition switch ON)
LDP) APP SEN K
tus Depress accelerator pedal
0 - 100 %
(Ignition switch ON)
ICC MAIN switch is ON On
LDP) ICC MAIN SW ICC MAIN switch L
ICC MAIN switch is OFF Off
Dynamic driver assistance switch is ON On
LDP) LDP ON SW Dynamic driver assistance switch
Dynamic driver assistance switch is OFF Off M
Front wiper is OFF Stop
Front wiper stops at fail-safe operation PRTCT
LDP) WIPER SIGNAL Front wiper operation Front wiper INT is operating 1low N
Front wiper LO is operating Low
Front wiper HI is operating High
DAS
When brake pedal is not depressed On
LDP) BRAKE SW Brake switch signal status
When brake pedal is depressed Off
When brake pedal is depressed On P
LDP) STOP LMP SW Stop lamp switch signal status
When brake pedal is not depressed Off
Warning systems switch is ON
On
(Warning systems ON indicator is ON)
LDP) LDW SW Warning systems switch condition
Warning systems switch is OFF
Off
(Warning systems ON indicator is OFF)

Revision: July 2016 DAS-331 2016 QX50

 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< ECU DIAGNOSIS INFORMATION > [LDW & LDP]
Data monitor
Monitor item Display content Reference value in
Condition
normal operation
Shift position is not received Off
LDP) SHIFT POSITION Shift position Selector lever position P/R/N/D
When using manual mode MM 1st – MM 5th
Turn signal is OFF. Off
Turn signal lamp RH is blinking LH
LDP) TURN SIGNAL Turn signal operation
Turn signal lamp LH is blinking RH
Turn signal lamp LH and RH are blinking. LH&RH

LDP) YAW ORDER LDP is controlling to right side deviation Negative value
Calculated target yaw moment status
(Note 4) LDP is controlling to left side deviation Positive value
Lane departure warning is operating.
LDP) WARN REQ On
Lane departure warning request status (When using LDP)
(Note 4)
Lane departure warning is not operating. Off

LDP) WARN CONTROL When using LDP On

Warning main controller status
(Note 4)

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When using LDW Off

LDP) REDY SIGNAL LDP control is ready On

LDP ready status
(Note 4) LDP control is not ready Off
LDP control is standby STANDBY
Lane departure warning is operating
LDP) STATUS SIGNAL WARN
LDP control status (When using LDP)
(Note 4)
LDP control is stopped MASK
LDP control is OFF Off
Both side lane markers are detected Detect
LDP) CAMERA LOST
Lane marker detected condition Deviate side lane marker is lost Deviate
(Note 4)
Both side lane markers are lost Both

LDP) LANE UNCLEAR Lane marker is unclear On

Lane marker condition
(Note 4) Lane marker is clear Off
NOTE:
• 1: Confirm tire pressure is normal.
• 2: A brief moment of On/Off condition occurs every 20 seconds after ignition switch turned ON. This is not malfunction because it is an
operation for checking.
• 3: On and off timing for warning lamp and indicator lamp.
- ABS warning lamp: Refer to BRC-125, "Description".
- Brake warning lamp: Refer to BRC-126, "Description".
- VDC OFF indicator lamp: Refer to BRC-127, "Description".
- VDC warning lamp: Refer to BRC-128, "Description".
• 4: The item displayed on “SPECIFIC DATA MONITOR”.

Revision: July 2016 DAS-332 2016 QX50

 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< ECU DIAGNOSIS INFORMATION > [LDW & LDP]
Wiring Diagram - BRAKE CONTROL SYSTEM - INFOID:0000000012793957

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G

DAS

JRFWC4007GB
P

Revision: July 2016 DAS-333 2016 QX50

 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< ECU DIAGNOSIS INFORMATION > [LDW & LDP]

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JRFWC4008GB

Revision: July 2016 DAS-334 2016 QX50

 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< ECU DIAGNOSIS INFORMATION > [LDW & LDP]

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G

DAS

JRFWC4009GB

Revision: July 2016 DAS-335 2016 QX50

 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< ECU DIAGNOSIS INFORMATION > [LDW & LDP]

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JRFWC4010GB

Revision: July 2016 DAS-336 2016 QX50

 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< ECU DIAGNOSIS INFORMATION > [LDW & LDP]

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G

DAS

JRFWC4011GB

Revision: July 2016 DAS-337 2016 QX50

 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< ECU DIAGNOSIS INFORMATION > [LDW & LDP]

cardiagn.com
JRFWC4012GB

Revision: July 2016 DAS-338 2016 QX50

 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< ECU DIAGNOSIS INFORMATION > [LDW & LDP]

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G

DAS

JRFWC4013GB

Revision: July 2016 DAS-339 2016 QX50

 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< ECU DIAGNOSIS INFORMATION > [LDW & LDP]

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JRFWC4014GB

Revision: July 2016 DAS-340 2016 QX50

 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< ECU DIAGNOSIS INFORMATION > [LDW & LDP]

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G

DAS

JRFWC4015GB

P
Fail-Safe INFOID:0000000012793958

ABS, EBD SYSTEM

If ABS malfunction electrically, ABS warning lamp, VDC warning lamp will turn on. If EBD malfunction electri-
cally, brake warning lamp, ABS warning lamp and VDC warning lamp will turn on. Simultaneously, the VDC/
TCS/ABS become one of the following conditions of the fail-safe function.

Revision: July 2016 DAS-341 2016 QX50

 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< ECU DIAGNOSIS INFORMATION > [LDW & LDP]
• For malfunction of ABS, only the EBD is activated and the condition of vehicle is the same condition of vehi-
cles without TCS/ABS system.
NOTE:
ABS self-diagnosis sound may be heard. That is a normal condition because a self-diagnosis for “Ignition
switch ON” and “The first starting” are being performed.
• For malfunction of EBD, EBD and ABS become inoperative, and the condition of vehicle is the same as the
condition of vehicles without TCS/ABS, EBD system.
VDC / TCS
If VDC/TCS/ABS system malfunction electrically, VDC warning lamp are turned on, and the condition of vehi-
cle is the same as the condition of vehicles without VDC/TCS control.
CAUTION:
If the Fail-Safe function is activated, then perform self-diagnosis for “ABS” with CONSULT.
LDW/LDP SYSTEM
• In case of malfunction in the LDW/LDP system, lane departure warning lamp is turned ON, and the condition
of vehicle is the same as the condition of vehicles without LDW/LDP control.
• In case of malfunction in the VDC/TCS/ABS system, lane departure warning lamp is turned ON, and the
condition of vehicle is the same as the condition of vehicles without LDW/LDP control.
DTC No. Index INFOID:0000000012793959

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DTC Items (CONSULT screen terms) Reference
C1101 RR RH SENSOR-1
C1102 RR LH SENSOR-1
BRC-36, "DTC Logic"
C1103 FR RH SENSOR-1
C1104 FR LH SENSOR-1
C1105 RR RH SENSOR-2
C1106 RR LH SENSOR-2
BRC-41, "DTC Logic"
C1107 FR RH SENSOR-2
C1108 FR LH SENSOR-2
C1109 BATTERY VOLTAGE [ABNORMAL] BRC-48, "DTC Logic"
C1110 CONTROLLER FAILURE BRC-50, "DTC Logic"
C1111 PUMP MOTOR BRC-52, "DTC Logic"
C1115 ABS SENSOR [ABNORMAL SIGNAL] BRC-55, "DTC Logic"
C1116 STOP LAMP SW BRC-62, "DTC Logic"
C1120 FR LH IN ABS SOL BRC-67, "DTC Logic"
C1121 FR LH OUT ABS SOL BRC-69, "DTC Logic"
C1122 FR RH IN ABS SOL BRC-67, "DTC Logic"
C1123 FR RH OUT ABS SOL BRC-69, "DTC Logic"
C1124 RR LH IN ABS SOL BRC-67, "DTC Logic"
C1125 RR LH OUT ABS SOL BRC-69, "DTC Logic"
C1126 RR RH IN ABS SOL BRC-67, "DTC Logic"
C1127 RR RH OUT ABS SOL BRC-69, "DTC Logic"
C1130 ENGINE SIGNAL 1 BRC-71, "DTC Logic"
C1140 ACTUATOR RLY BRC-73, "DTC Logic"
C1142 PRESS SEN CIRCUIT BRC-75, "DTC Logic"
C1143 ST ANG SEN CIRCUIT BRC-78, "DTC Logic"
C1144 ST ANG SEN SIGNAL BRC-82, "DTC Logic"
C1145 YAW RATE SENSOR
BRC-84, "DTC Logic"
C1146 SIDE G-SEN CIRCUIT

Revision: July 2016 DAS-342 2016 QX50

 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< ECU DIAGNOSIS INFORMATION > [LDW & LDP]
DTC Items (CONSULT screen terms) Reference
A
C1153 EMERGENCY BRAKE BRC-50, "DTC Logic"
C1154 PNP POSI SIG BRC-87, "DTC Logic"
C1155 BR FLUID LEVEL LOW BRC-89, "DTC Logic" B
C1164 CV 1
BRC-94, "DTC Logic"
C1165 CV 2
C1166 SV 1 C
BRC-96, "DTC Logic"
C1167 SV 2
C1170 VARIANT CORDING BRC-98, "DTC Logic"
D
C1185 ACC CONT (Note 1) BRC-99, "DTC Logic"
C1197 VACUUM SENSOR (Note 1) BRC-101, "DTC Logic"
C1198 VACUUM SEN CIR (Note 1) BRC-104, "DTC Logic" E
C1199 BRAKE BOOSTER (Note 1) BRC-107, "DTC Logic"
C119A VACUUM SEN VOLT (Note 1) BRC-110, "DTC Logic"
F
C1B00 LDP) CAMERA MALF (Note 2) DAS-300, "DTC Logic"
C1B04 LDP) ICC STG SW MALF (Note 2) DAS-301, "DTC Logic"

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C1B05 LDP) APP SEN MALF (Note 2) DAS-302, "DTC Logic" G
C1B06 LDP) TCM MALF (Note 2) DAS-303, "DTC Logic"
U0100 LDP) ECM CAN CIR2 (Note 2) DAS-304, "DTC Logic"
H
U0101 LDP) TCM CAM CAN CIR2 (Note 2) DAS-305, "DTC Logic"
U0104 LDP) ICC CAM CAN CIR2 (Note 2) DAS-306, "DTC Logic"
U0405 LDP) ICC CAM CAN CIR1 (Note 2) DAS-307, "DTC Logic" I
U1000 CAN COMM CIRCUIT BRC-113, "DTC Logic"
U1002 SYSTEM COMM (CAN) BRC-114, "DTC Logic"
U1100 ACC COMM CIRCUIT (Note 1) BRC-116, "DTC Logic"
J

U1500 LDP) CAM CAN CIR1 (Note 2) DAS-308, "DTC Logic"

U1501 LDP) CAM CAN CIR2 (Note 2) DAS-309, "DTC Logic"
K
NOTE:
1: With ICC models.
2: With LDP models. L

DAS

Revision: July 2016 DAS-343 2016 QX50

 LDW & LDP SYSTEM SYMPTOMS
< SYMPTOM DIAGNOSIS > [LDW & LDP]

SYMPTOM DIAGNOSIS
LDW & LDP SYSTEM SYMPTOMS
Symptom Table INFOID:0000000012172612

CAUTION:
Perform the self-diagnosis with CONSULT before the symptom diagnosis. Perform the trouble diagno-
sis if any DTC is detected.

Symptom Possible cause Inspection item/Reference page

• Lane departure warning lamp
signal (CAN) • LANE CAMERA Active test
Lane departure warning
- Unified meter and A/C amp. “LANE DEPARTURE W/L”
lamp (Yellow) does not illumi-
- Lane camera unit • METER/M&A Data monitor
nate.
• Lane departure warning lamp “LANE W/L”
(Combination meter)
• LDP ON indicator lamp signal
(CAN) • LANE CAMERA Active test
LDP ON indicator lamp - Unified meter and A/C amp. “LDP ON IND”
(Green) does not illuminate. - Lane camera unit • METER/M&A Data monitor

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• LDP ON indicator lamp “LDP IND”
(Combination meter)
• Harness between lane cam-
era unit and warning systems
Indicator/warning lamps do not il- Warning systems ON indica- switch. Warning systems ON indicator
luminate when ignition switch tor (on the warning systems • Warning systems ON indica- circuit
OFF ⇒ ON. switch) does not illuminate. tor DAS-313
(Warning systems switch)
• Lane camera unit
Lane departure warning
• Combination meter
lamp (Yellow) and LDP ON
• Unified meter and A/C amp. —
indicator lamp (Green) do not
• Lane camera unit
illuminate.
All of indicator/warning
lamps do not illuminate;
• Lane departure warning
• Power supply and ground cir- Power supply and ground circuit
lamp (Yellow)
cuit of lane camera unit of lane camera unit
• LDP ON indicator lamp
• Lane camera unit DAS-310
(Green)
• Warning systems ON indi-
cator

Revision: July 2016 DAS-344 2016 QX50

 LDW & LDP SYSTEM SYMPTOMS
< SYMPTOM DIAGNOSIS > [LDW & LDP]
Symptom Possible cause Inspection item/Reference page
A
• Harness between lane cam-
Warning systems ON indica- era unit and warning systems
tor is not turned ON ⇔ OFF switch. Warning systems switch circuit
when operating warning sys- • Harness between warning DAS-311 B
tems switch. systems switch and ground.
• Lane camera unit
• Harness between the fuse
and lane departure warning
C
buzzer.
LDW system is not activated. • Harness between lane cam-
(Indicator/warning lamps illumi- Lane departure warning era unit and lane departure D
Lane departure warning buzzer
nate when ignition switch OFF ⇒ buzzer is not sounding. warning buzzer.
circuit
ON.) (Lane departure warning • Harness between lane depar-
DAS-315
lamp is activated.) ture warning buzzer and
ground. E
• Lane departure warning buzz-
er
• Lane camera unit
F
Lane departure warning
lamp is not activated.
Lane camera unit —
(Lane departure warning

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buzzer is sounding.) G
• LDP system setting is not
selectable on the naviga-
LDP system setting cannot be • ICC sensor integrated unit
tion screen. ICC Data monitor
turned ON/OFF from the naviga- • AV control unit H
• LDP system setting differs “LDP SELECT”
tion screen. • Unified meter and A/C amp.
from the one set at the pre-
vious driving.
• Dynamic driver assistance I
Indicator lamp is not turned • Dynamic driver assistance
switch
ON ⇔ OFF when operating switch
(ICC steering switch)
dynamic driver assistance (ICC steering switch)
• ICC Data monitor
switch. • ICC sensor integrated unit J
“LDP SYSTEM ON”
LDP system is not activated.
• Cause of auto-cancel
(LDW system is functioning nor-
Warning is functioning but DAS-280
mally) —
yawing is not functioning. • Normal operating condition K
DAS-346
• ABS actuator and electric unit
Yawing is functioning but
(control unit) — L
warning is not functioning.
• Lane camera unit
Warning functions are not timely.
(Example)
• Does not function when driving on lane markers.
• Camera aiming adjustment Camera aiming adjustment M
• Lane camera unit DAS-262
• Functions when driving in a lane.
• Functions in a different position from the actual position.
Turn signal N
Functions when changing the course in direction of the turn sig- LANE CAMERA Data monitor
• BCM
nal. “TURN SIGNAL”
• Lane camera unit

DAS

Revision: July 2016 DAS-345 2016 QX50

 NORMAL OPERATING CONDITION
< SYMPTOM DIAGNOSIS > [LDW & LDP]
NORMAL OPERATING CONDITION
Description INFOID:0000000012172613

LANE DEPARTURE WARNING (LDW)

• LDW system is only a warning device to inform the driver of a potential unintended lane departure. It does
not steer the vehicle or prevent loss of control. It is the driver's responsibility to stay alert, drive safely, keep
the vehicle in the traveling lane, and be in control of the vehicle at all times.
• LDW system does not operate at speeds below approximately 70 km/h (45 MPH) or if it cannot detect lane
markers.
• Excessive noise interfere with the warning sound, and the buzzer may not be heard.
• LDW system may not function properly under the following conditions:
- On roads where there are multiple parallel lane markers; lane markers that are faded or not painted clearly;
yellow painted lane markers; non-standard lane markers; or covered with water, dirt or snow, etc.
- On roads where the discontinued lane markers are still detectable.
- On roads where there are sharp curves.
- On roads where there are sharply contrasting objects, such as shadows, snow, water, wheel ruts, seams or
lines remaining after road repairs. (The LDW system could detect these items as lane markers.)
- On roads where the traveling lane merges or separates.
- When the vehicle's traveling direction does not align with the lane marker.
- When traveling close to other vehicle in front of the vehicle, which obstructs the lane camera unit detection

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range.
- When rain, snow or dirt adheres to the windshield in front of the lane camera unit.
- When the headlights are not bright due to dirt on the lens or if the aiming is not adjusted properly.
- When strong light enters the lane camera unit. (For example, the light directly shines on the front of the vehi-
cle at sunrise or sunset.)
- When a sudden change in brightness occurs. (For example, when the vehicle enters or exits a tunnel or
under a bridge.)
LANE DEPARTURE PREVENTION (LDP)
• LDP system does not steer the vehicle or prevent loss of control. It is the driver's responsibility to stay alert,
drive safely, keep the vehicle in the traveling lane, and be in control of vehicle at all times.
• LDP system is primarily intended for use on well-developed freeways or highways. It may not detect the lane
markers in certain roads, weather or driving conditions.
• Using the LDP system under some conditions of road, lane marker or weather, or when driver changes lanes
without using the turn signal could lead to an unexpected system operation. In such conditions, driver needs
to correct the vehicle's direction with driver's steering operation to avoid accidents.
• When the LDP system is operating, avoid excessive or sudden steering maneuvers. Otherwise, driver could
lose control of the vehicle.
• The LDP system does not operate at speeds below approximately 70 km/h (45 MPH) or if it cannot detect
lane markers.
• The LDP system may not function properly under the following conditions, and do not use the LDP system:
- During bad weather (rain, fog, snow, wind, etc.).
- When driving on slippery roads, such as on ice or snow, etc.
- When driving on winding or uneven roads.
- When there is a lane closure due to road repairs.
- When driving in a makeshift lane.
- When driving on roads where the lane width is too narrow.
- When driving without normal tire conditions (for example, tire wear, low tire pressure, installation of spare
tire, tire chains, non-standard wheels).
- When the vehicle is equipped with non-original brake parts or suspension parts.
• Excessive noise does interfere with the warning sound, and the buzzer may not be heard.
• The functions of the LDP system (warning and brake control assist) may or may not operate properly under
the following conditions:
- On roads where there are multiple parallel lane markers; lane markers that are faded or not painted clearly;
yellow painted lane markers; non-standard lane markers or covered with water, dirt or snow, etc.
- On roads where discontinued lane markers are still detectable.
- On roads where there are sharp curves.
- On roads where there are sharply contrasting objects, such as shadows, snow, water, wheel ruts, seams or
lines remaining after road repairs (The LDP system could detect these items as lane markers.)
- On roads where the traveling lane merges or separates.

Revision: July 2016 DAS-346 2016 QX50

 NORMAL OPERATING CONDITION
< SYMPTOM DIAGNOSIS > [LDW & LDP]
- When the vehicle's traveling direction does not align with the lane marker.
- When traveling close to other vehicle in front of the vehicle, which obstructs the lane camera unit detection A
range.
- When rain, snow or dirt adheres to the windshield in front of the lane camera unit.
- When the headlights are not bright due to dirt on the lens or if the aiming is not adjusted properly.
B
- When strong light enters the lane camera unit (For example, the light directly shines on the front of the vehi-
cle at sunrise or sunset.)
- When a sudden change in brightness occurs (For example, when the vehicle enters or exits a tunnel or
under a bridge.) C
• While the LDP system is operating, driver may hear a sound of brake operation. This is normal and indicates
that the LDP system is operating properly.
D

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G

DAS

Revision: July 2016 DAS-347 2016 QX50

 PRECAUTIONS
< PRECAUTION > [LDW & LDP]

PRECAUTION
PRECAUTIONS
Precaution for Supplemental Restraint System (SRS) "AIR BAG" and "SEAT BELT
PRE-TENSIONER" INFOID:0000000012801542

The Supplemental Restraint System such as “AIR BAG” and “SEAT BELT PRE-TENSIONER”, used along
with a front seat belt, helps to reduce the risk or severity of injury to the driver and front passenger for certain
types of collision. This system includes seat belt switch inputs and dual stage front air bag modules. The SRS
system uses the seat belt switches to determine the front air bag deployment, and may only deploy one front
air bag, depending on the severity of a collision and whether the front occupants are belted or unbelted.
Information necessary to service the system safely is included in the “SRS AIR BAG” and “SEAT BELT” of this
Service Manual.
WARNING:
Always observe the following items for preventing accidental activation.
• To avoid rendering the SRS inoperative, which could increase the risk of personal injury or death in
the event of a collision that would result in air bag inflation, it is recommended that all maintenance
and repair be performed by an authorized NISSAN/INFINITI dealer.
• Improper repair, including incorrect removal and installation of the SRS, can lead to personal injury
caused by unintentional activation of the system. For removal of Spiral Cable and Air Bag Module,

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see “SRS AIR BAG”.
• Never use electrical test equipment on any circuit related to the SRS unless instructed to in this Ser-
vice Manual. SRS wiring harnesses can be identified by yellow and/or orange harnesses or harness
connectors.
PRECAUTIONS WHEN USING POWER TOOLS (AIR OR ELECTRIC) AND HAMMERS
WARNING:
Always observe the following items for preventing accidental activation.
• When working near the Air Bag Diagnosis Sensor Unit or other Air Bag System sensors with the
ignition ON or engine running, never use air or electric power tools or strike near the sensor(s) with
a hammer. Heavy vibration could activate the sensor(s) and deploy the air bag(s), possibly causing
serious injury.
• When using air or electric power tools or hammers, always switch the ignition OFF, disconnect the
battery or batteries, and wait at least 3 minutes before performing any service.
Precaution for Supplemental Restraint System (SRS) "AIR BAG" and "SEAT BELT
PRE-TENSIONER" INFOID:0000000012172614

The Supplemental Restraint System such as “AIR BAG” and “SEAT BELT PRE-TENSIONER”, used along
with a front seat belt, helps to reduce the risk or severity of injury to the driver and front passenger for certain
types of collision. This system includes seat belt switch inputs and dual stage front air bag modules. The SRS
system uses the seat belt switches to determine the front air bag deployment, and may only deploy one front
air bag, depending on the severity of a collision and whether the front occupants are belted or unbelted.
Information necessary to service the system safely is included in the “SRS AIR BAG” and “SEAT BELT” of this
Service Manual.
WARNING:
Always observe the following items for preventing accidental activation.
• To avoid rendering the SRS inoperative, which could increase the risk of personal injury or death in
the event of a collision that would result in air bag inflation, it is recommended that all maintenance
and repair be performed by an authorized NISSAN/INFINITI dealer.
• Improper repair, including incorrect removal and installation of the SRS, can lead to personal injury
caused by unintentional activation of the system. For removal of Spiral Cable and Air Bag Module,
see “SRS AIR BAG”.
• Never use electrical test equipment on any circuit related to the SRS unless instructed to in this Ser-
vice Manual. SRS wiring harnesses can be identified by yellow and/or orange harnesses or harness
connectors.
PRECAUTIONS WHEN USING POWER TOOLS (AIR OR ELECTRIC) AND HAMMERS
WARNING:

Revision: July 2016 DAS-348 2016 QX50

 PRECAUTIONS
< PRECAUTION > [LDW & LDP]
Always observe the following items for preventing accidental activation.
• When working near the Air Bag Diagnosis Sensor Unit or other Air Bag System sensors with the A
ignition ON or engine running, never use air or electric power tools or strike near the sensor(s) with
a hammer. Heavy vibration could activate the sensor(s) and deploy the air bag(s), possibly causing
serious injury.
B
• When using air or electric power tools or hammers, always switch the ignition OFF, disconnect the
battery or batteries, and wait at least 3 minutes before performing any service.
Precautions for Removing Battery Terminal INFOID:0000000012801538
C
When disconnecting the battery terminal, pay attention to the following.
• Always use a 12V battery as power source.
• Never disconnect battery terminal while engine is running. D
• When removing the 12V battery terminal, turn OFF the ignition
switch and wait at least 30 seconds.
• For vehicles with the engine listed below, remove the battery termi- E
nal after a lapse of the specified time:

BR08DE : 4 minutes YD25DDTi : 2 minutes

F
D4D engine : 20 minutes YS23DDT : 4 minutes
HRA2DDT : 12 minutes YS23DDTT : 4 minutes

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K9K engine : 4 minutes ZD30DDTi : 60 seconds
G
M9R engine : 4 minutes ZD30DDTT : 60 seconds
SEF289H
R9M engine : 4 minutes
V9X engine : 4 minutes
H
NOTE:
ECU may be active for several tens of seconds after the ignition switch is turned OFF. If the battery terminal
is removed before ECU stops, then a DTC detection error or ECU data corruption may occur.
• After high-load driving, if the vehicle is equipped with the V9X engine, turn the ignition switch OFF and wait I
for at least 15 minutes to remove the battery terminal.
NOTE:
• Turbocharger cooling pump may operate in a few minutes after the ignition switch is turned OFF. J
• Example of high-load driving
- Driving for 30 minutes or more at 140 km/h (86 MPH) or more.
- Driving for 30 minutes or more on a steep slope.
K
• For vehicles with the 2-batteries, be sure to connect the main battery and the sub battery before turning ON
the ignition switch.
NOTE:
If the ignition switch is turned ON with any one of the terminals of main battery and sub battery discon- L
nected, then DTC may be detected.
• After installing the 12V battery, always check "Self Diagnosis Result" of all ECUs and erase DTC.
NOTE: M
The removal of 12V battery may cause a DTC detection error.
Precaution for LDW/LDP System Service INFOID:0000000012172616

N
WARNING:
Be careful of traffic conditions and safety around the vehicle when performing road test.
CAUTION: DAS
• Never use the LDP system when driving with free rollers or a chassis dynamometer.
• Never perform the active test while driving.
• Never disassemble and remodel the lane camera unit.
• Do not use the lane camera unit that is removed from the vehicle. P
• Never change LDW initial state ON ⇒ OFF without the consent of the customer.
To keep the LDW/LDP system operating properly, be sure to observe the following items:
• Always keep the windshield clean. The sensing capability of the camera unit depends on the condi-
tion of the windshield. See “Appearance and care” for cleaning instructions.
• Never strike or damage the areas around the lane camera unit.
• Never touch the camera lens.

Revision: July 2016 DAS-349 2016 QX50

 PRECAUTIONS
< PRECAUTION > [LDW & LDP]
• Never attach a sticker (including transparent material) or install an accessory near the lane camera
unit.
• Never place reflective materials, such as a white paper or mirrors on the instrument panel. Reflection
of the sunlight may adversely affect the camera unit's lane marker detection capability.

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Revision: July 2016 DAS-350 2016 QX50

 LANE CAMERA UNIT
< REMOVAL AND INSTALLATION > [LDW & LDP]

REMOVAL AND INSTALLATION A

LANE CAMERA UNIT
Exploded View INFOID:0000000012172617
B

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JSOIA0774GB
G

1. Lane camera bracket 2. Lane camera unit 3. Front camera finisher

H
Removal and Installation INFOID:0000000012172618

REMOVAL I
1. Remove the front camera finisher.
2. Remove the bolts.
3. Disconnect lane camera unit connector, and remove lane camera unit. J
NOTE:
When replace the lane camera bracket, remove the headlining assembly.
K
INSTALLATION
Installation is the reverse order of removal.
CAUTION:
• Remove the camera lens cap for replacement. L
• Never give an impact to the lane camera unit.
• Perform the camera aiming every time the lane camera unit is removed and installed. Refer to DAS-
262, "CAMERA AIMING ADJUSTMENT : Description". M

DAS

Revision: July 2016 DAS-351 2016 QX50

 WARNING SYSTEMS SWITCH
< REMOVAL AND INSTALLATION > [LDW & LDP]
WARNING SYSTEMS SWITCH
Exploded View INFOID:0000000012172619

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JPOIA0276ZZ

1. Warning systems switch

A. Pawls

Removal and Installation INFOID:0000000012172620

REMOVAL
1. Remove the instrument lower panel LH. Refer to IP-12, "Exploded View".
2. Disengage the pawl. Then remove warning systems switch.
INSTALLATION
Install in the reverse order of removal.

Revision: July 2016 DAS-352 2016 QX50

 LANE DEPARTURE WARNING BUZZER
< REMOVAL AND INSTALLATION > [LDW & LDP]
LANE DEPARTURE WARNING BUZZER
A
Exploded View INFOID:0000000012172621

JPOIA0125ZZ

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1. Lane departure warning buzzer G

Removal and Installation INFOID:0000000012172622

H
REMOVAL
1. Remove the sonar control unit. Refer to AV-516, "Exploded View".
2. Remove the screw. I
3. Disconnect the connector. And remove lane departure warning buzzer.
INSTALLATION J
Installation is the reverse order of removal.

DAS

Revision: July 2016 DAS-353 2016 QX50

 DYNAMIC DRIVER ASSISTANCE SWITCH
< REMOVAL AND INSTALLATION > [LDW & LDP]
DYNAMIC DRIVER ASSISTANCE SWITCH
Exploded View INFOID:0000000012172623

Dynamic driver assistance switch is integrated in the ICC steering switch. Refer to CCS-180, "Exploded View".
NOTE:
Dynamic driver assistance switch is shared with DCA system.

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Revision: July 2016 DAS-354 2016 QX50

 PRECAUTIONS
< PRECAUTION > [BSW]

PRECAUTION A
PRECAUTIONS
Precaution for Supplemental Restraint System (SRS) "AIR BAG" and "SEAT BELT B
PRE-TENSIONER" INFOID:0000000012801540

The Supplemental Restraint System such as “AIR BAG” and “SEAT BELT PRE-TENSIONER”, used along C
with a front seat belt, helps to reduce the risk or severity of injury to the driver and front passenger for certain
types of collision. This system includes seat belt switch inputs and dual stage front air bag modules. The SRS
system uses the seat belt switches to determine the front air bag deployment, and may only deploy one front
air bag, depending on the severity of a collision and whether the front occupants are belted or unbelted. D
Information necessary to service the system safely is included in the “SRS AIR BAG” and “SEAT BELT” of this
Service Manual.
WARNING: E
Always observe the following items for preventing accidental activation.
• To avoid rendering the SRS inoperative, which could increase the risk of personal injury or death in
the event of a collision that would result in air bag inflation, it is recommended that all maintenance
F
and repair be performed by an authorized NISSAN/INFINITI dealer.
• Improper repair, including incorrect removal and installation of the SRS, can lead to personal injury
caused by unintentional activation of the system. For removal of Spiral Cable and Air Bag Module,

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see “SRS AIR BAG”. G
• Never use electrical test equipment on any circuit related to the SRS unless instructed to in this Ser-
vice Manual. SRS wiring harnesses can be identified by yellow and/or orange harnesses or harness
connectors. H
PRECAUTIONS WHEN USING POWER TOOLS (AIR OR ELECTRIC) AND HAMMERS
WARNING:
Always observe the following items for preventing accidental activation. I
• When working near the Air Bag Diagnosis Sensor Unit or other Air Bag System sensors with the
ignition ON or engine running, never use air or electric power tools or strike near the sensor(s) with
a hammer. Heavy vibration could activate the sensor(s) and deploy the air bag(s), possibly causing J
serious injury.
• When using air or electric power tools or hammers, always switch the ignition OFF, disconnect the
battery or batteries, and wait at least 3 minutes before performing any service.
K
Precautions for Removing Battery Terminal INFOID:0000000012801539

When disconnecting the battery terminal, pay attention to the following.

L
• Always use a 12V battery as power source.
• Never disconnect battery terminal while engine is running.
• When removing the 12V battery terminal, turn OFF the ignition
switch and wait at least 30 seconds. M
• For vehicles with the engine listed below, remove the battery termi-
nal after a lapse of the specified time:
N
BR08DE : 4 minutes YD25DDTi : 2 minutes
D4D engine : 20 minutes YS23DDT : 4 minutes
HRA2DDT : 12 minutes YS23DDTT : 4 minutes
DAS
K9K engine : 4 minutes ZD30DDTi : 60 seconds
M9R engine : 4 minutes ZD30DDTT : 60 seconds
SEF289H
R9M engine : 4 minutes
P
V9X engine : 4 minutes
NOTE:
ECU may be active for several tens of seconds after the ignition switch is turned OFF. If the battery terminal
is removed before ECU stops, then a DTC detection error or ECU data corruption may occur.
• After high-load driving, if the vehicle is equipped with the V9X engine, turn the ignition switch OFF and wait
for at least 15 minutes to remove the battery terminal.
NOTE:

Revision: July 2016 DAS-355 2016 QX50

 PRECAUTIONS
< PRECAUTION > [BSW]
• Turbocharger cooling pump may operate in a few minutes after the ignition switch is turned OFF.
• Example of high-load driving
- Driving for 30 minutes or more at 140 km/h (86 MPH) or more.
- Driving for 30 minutes or more on a steep slope.
• For vehicles with the 2-batteries, be sure to connect the main battery and the sub battery before turning ON
the ignition switch.
NOTE:
If the ignition switch is turned ON with any one of the terminals of main battery and sub battery discon-
nected, then DTC may be detected.
• After installing the 12V battery, always check "Self Diagnosis Result" of all ECUs and erase DTC.
NOTE:
The removal of 12V battery may cause a DTC detection error.
Precaution for BSW System Service INFOID:0000000012172626

WARNING:
Be careful of traffic conditions and safety around the vehicle when performing road test.
CAUTION:
• Never perform the active test while driving.
• Never change BSW initial state ON ⇒ OFF without the consent of the customer.
TO KEEP THE BSW SYSTEM OPERATING PROPERLY, BE SURE TO OBSERVE THE FOLLOW-

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ING ITEMS:
System Maintenance
The two side radar for the BSW system are located near the rear bumper.
• Always keep the area near the side radar clean.
• Do not attach stickers (including transparent material), install accessories or apply additional paint near the
side radar.
• Do not strike or damage the area around the side radar.

Revision: July 2016 DAS-356 2016 QX50

 COMPONENT PARTS
< SYSTEM DESCRIPTION > [BSW]

SYSTEM DESCRIPTION A
COMPONENT PARTS
Component Parts Location INFOID:0000000012172627
B

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G

N
JSOIA0444ZZ

1. Side radar RH 2. Lane camera unit 3. BCM

Refer to DAS-271, "Component Refer to BCS-9, "Component Parts DAS
Parts Location" Location"
4. ICC sensor integrated unit 5. TCM 6. ABS actuator and electric unit (con-
Refer to CCS-21, "Component Parts Refer to TM-9, "Component Parts trol unit) P
Location" Location" Refer to BRC-12, "Component Parts
Location"
7. BSW control module 8. Side radar LH 9. BSW indicator RH
10. BSW warning lamp, buzzer 11. BSW indicator LH 12. Warning systems switch
(On the combination meter)
13. Warning systems ON indicator

Revision: July 2016 DAS-357 2016 QX50

 COMPONENT PARTS
< SYSTEM DESCRIPTION > [BSW]
A. Rear bumper removed condition B. Behind of Luggage side finisher low- C. Rear bumper removed condition
er (LH)
D. Instrument lower panel (LH)

Component Description INFOID:0000000012172628

Component Description
• Being connected with side radar (LH and RH) via BSW communication, receives vehicle detec-
tion signal and transmits BSW indicator signal and BSW indicator dimmer signal to side radar
• Transmits a buzzer output signal to combination meter via CAN communication (through unified
BSW control module
meter and A/C amp.)
• Receives warning systems switch signal from lane camera unit via CAN communication [through
ABS actuator and electric unit (control unit) and ICC sensor integrated unit]
• Being connected with BSW control module via BSW communication, transmits vehicle detection
signal
Side radar LH/ RH
• Receives BSW indicator signal and BSW indicator dimmer signal from BSW control module and
transmits an indicator operation signal to BSW indicator LH/RH
BSW indicator LH/ RH Receives BSW indicator operation signal from side radar LH/RH and turns OFF, turns ON or blinks
ABS actuator and electric unit • Transmits vehicle speed signal to BSW control module via CAN communication
(control unit) • Transmits warning systems switch signal to ICC sensor integrated unit via CAN communication

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Warning systems switch Inputs the switch signal to lane camera unit
Warning systems ON indicator
Indicates BSW system status
(On the warning systems switch)
• Receives BSW warning lamp signal from BSW control module via CAN communication (through
unified meter and A/C amp.)
Combination meter • Turns the BSW warning lamp ON/OFF according to the signals from the BSW control module via
CAN communication (through unified meter and A/C amp.)
• Activates the buzzer
• Transmits turn indicator signal to BSW control module via CAN communication
BCM
• Transmits dimmer signal to BSW control module via CAN communication
TCM Transmits shift position signal to BSW control module via CAN communication
• Transmits warning systems switch signal to ABS actuator and electric unit (control unit) via CAN
Lane camera unit communication
• Activates the warning systems ON indicator
ICC sensor integrated unit Transmits warning systems switch signal to BSW control module via CAN communication

Revision: July 2016 DAS-358 2016 QX50

 SYSTEM
< SYSTEM DESCRIPTION > [BSW]
SYSTEM
A
System Description INFOID:0000000012172629

SYSTEM DIAGRAM B

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G

I
JSOIA0481GB

BSW CONTROL MODULE INPUT/OUTPUT SIGNAL ITEM J

BSW control module receives signals via CAN communication. It also detects vehicle conditions that are nec-
essary for BSW control.
Input Signal Item K

Transmit unit Signal name Description

TCM CAN communication Shift position signal Receives a selector lever position L
ABS actuator
and electric unit CAN communication Vehicle speed signal (ABS) Receives wheel speeds of four wheels
(control unit) M
Receives an operational state of the turn signal lamp and
Turn indicator signal
BCM CAN communication the hazard lamp
Dimmer signal Receives an ON/OFF state of dimmer signal N
Side radar LH,
BSW communication Vehicle detection signal Receives vehicle detection condition of detection zone
RH
ICC sensor inte- Receives an ON/OFF state of the warning systems DAS
CAN communication Warning systems switch signal
grated unit switch
ECM CAN communication Engine speed signal Receives an engine speed
P
Output Signal Item

Revision: July 2016 DAS-359 2016 QX50

 SYSTEM
< SYSTEM DESCRIPTION > [BSW]

Reception unit Signal name Description

Combination Transmits a BSW warning lamp signal to turn ON the
BSW warning lamp signal
meter BSW warning lamp
(through uni- CAN communication
fied meter and Buzzer output signal Transmits a buzzer output signal to activate buzzer
A/C amp.)
Transmits a BSW indicator signal to turn ON the BSW
BSW indicator signal
indicator
Side radar LH, Transmits a BSW indicator dimmer signal to dimmer
BSW communication BSW indicator dimmer signal
RH BSW indicator
Transmits a vehicle speed calculated by the BSW con-
Vehicle speed signal
trol module

FUNCTION DESCRIPTION
• The BSW system can help alert the driver of other vehicles in adjacent lanes when changing lanes.
• The BSW system uses side radar installed near the rear bumper to detect vehicles in an adjacent lane.
• The side radar can detect vehicles on either side of vehicle within the detection zone shown as illustrated.
• This detection zone starts from the outside mirror of vehicle and extends approximately 10 ft (3.0 m) behind
the rear bumper, and approximately 10 ft (3.0 m) sideways.
• The BSW system operates above approximately 32 km/h (20 MPH).

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• If the side radar detects vehicles in the detection zone, the BSW indicator illuminates.

JSOIA0257GB

• If the driver then activates the turn signal, a buzzer will sound twice and the BSW indicator will blink.
NOTE:
A buzzer sounds if the side radar have already detected vehicles when the driver activates the turn signal. If
a vehicle comes into the detection zone after the driver activates the turn signal, then only the BSW indicator
blinks and no buzzer sounds.

JSOIA0258GB

BSW SYSTEM OPERATION DESCRIPTION

Revision: July 2016 DAS-360 2016 QX50
 SYSTEM
< SYSTEM DESCRIPTION > [BSW]
• BSW control module enables BSW system.
• The BSW control module turns on the BSW system when the warning systems switch is turned ON. A
• Side radar detects a vehicle in the adjacent lane, and transmits the vehicle detection signal to BSW control
module via BSW communication.
• BSW control module starts the control as follows, based on a vehicle detection signal, turn signal and dim-
B
mer signal transmitted from BCM via CAN communication:
- Buzzer output signal transmission to combination meter via CAN communication.
- BSW indicator signal and BSW indicator dimmer signal transmission to side radar via BSW communication.
• Side radar transmits an indicator operation signal to the BSW indicator according to BSW indicator signal C
and BSW indicator dimmer signal.
Operation Condition of BSW System
BSW control module performs the control when the following conditions are satisfied. D
• When the warning systems switch in turned ON.
• When the vehicle drives at approximately 32 km/h (20 MPH) or more to the forward direction.
NOTE: E
• After the operating conditions of warning are satisfied, the warning continues until the vehicle speed reaches
approximately 29 km/h (18 MPH)
• The BSW system may not function properly, depending on the situation. Refer to DAS-365, "Precautions for
Blind Spot Warning". F

BULB CHECK ACTION AND FAIL-SAFE INDICATION

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G
Warning systems
Vehicle condition/Driver′s operation BSW indicator Indication on the combination meter
ON indicator

Ignition switch:
OFF ⇒ ON
Approx. 2 sec. ON Approx. 5 sec. ON*
I

JSOIA0374GB
J

K
When DTC is detected OFF ON

L
JSOIA0254GB

When radar blockage is detected OFF ON

N

JSOIA0255GB

*: If BSW initial state is ON, warning systems ON indicator continues turned ON. DAS
NOTE:
The condition is seen regardless BSW system status (ON/OFF).
P

Revision: July 2016 DAS-361 2016 QX50

 SYSTEM
< SYSTEM DESCRIPTION > [BSW]
Blinking cycle when the side radar blockage condition

JSOIA0358GB

NOTE:
Time shown in the figure is approximate time.
BSW INITIAL STATE CHANGE
CAUTION:

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Never change BSW initial state “ON” ⇒ “OFF” without the consent of the customer.
BSW initial state can be changed.
• BSW initial ON* - BSW function is automatically turned ON, when the ignition switch OFF ⇒ ON.
• BSW initial OFF - BSW function is still OFF when the ignition switch OFF ⇒ ON.
*: Factory setting
How to change FCW/LDW/BSW initial state
1. Turn ignition switch ON.
2. Switch BSW/FCW/LDW and LDP functions to OFF.
3. Push and hold warning systems switch for more than 4 seconds.
4. Buzzer sounds and blinking of the lane departure warning lamp informs that the BSW/LDW/FCW initial
state changes completed.
Fail-safe (BSW Control Module) INFOID:0000000012172630

If a malfunction occurs in the system, BSW control module cancels the control. Then the BSW warning lamp in
the combination meter illuminates.
Fail-safe (Side Radar) INFOID:0000000012172631

FAIL-SAFE CONTROL BY DTC

If a malfunction occurs in the side radar, BSW control module cancels the control. Then the BSW warning
lamp in the combination meter illuminates.
TEMPORARY DISABLED STATUS AT BLOCKAGE
When the side radar is blocked, the operation is temporarily cancelled. Then BSW warning lamp in combina-
tion meter blinks. Also, under the following conditions, the operation may be temporarily cancelled.
• The side radar may be blocked by temporary ambient conditions such as splashing water, mist or fog.
• The blocked condition may also be caused by objects such as ice, frost or dirt obstructing the side radar.

Revision: July 2016 DAS-362 2016 QX50

 OPERATION
< SYSTEM DESCRIPTION > [BSW]
OPERATION
A
Switch Name and Function INFOID:0000000012172632

D
JSOIA0446ZZ

E
No. Name Function
1 Warning systems switch Turns BSW, LDW, and FCW systems ON/OFF
F
System Display and Warning INFOID:0000000012172633

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INDICATOR AND WARNING LAMP G

JSOIA0447ZZ J

No. Name Description

1 Warning systems ON indicator Turns ON while FCW/LDW/BSW system is ON K
• Turns ON when BSW system is malfunctioning
2 BSW warning lamp
• Blinks when radar blockage is detected
L
DISPLAY AND WARNING OPERATION

Vehicle condition/ Driver's operation Action M

Status of ve-
Warning Vehicle speed hicle detec-
Turn signal Indication on the
systems ON (Approx.) tion within Buzzer
indicator [km/h (MPH)]
condition
detection
BSW indicator N
area
OFF — — — OFF OFF
DAS

Revision: July 2016 DAS-363 2016 QX50

 OPERATION
< SYSTEM DESCRIPTION > [BSW]
Vehicle condition/ Driver's operation Action
Status of ve-
Warning Vehicle speed hicle detec-
Turn signal Indication on the
systems ON (Approx.) tion within Buzzer
condition BSW indicator
indicator [km/h (MPH)] detection
area
Less than ap-
prox. — — OFF OFF
29 (18)
Vehicle is
— OFF OFF
absent
Vehicle is
OFF ON OFF
detected
Blink Short continuous beep

Before turn
signal oper-
ON ates
Approx. Vehicle is
32 (20) detected
or more ON

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(vehicle de- JSOIA0251GB JSOIA0452GB

tected direc- Blink

tion)
Vehicle is
detected af-
OFF
ter turn sig-
nal operates

JSOIA0251GB

NOTE:
• If vehicle speed exceeds approximately 32 km/h (20MPH), BSW function operates until the vehicle speed
becomes lower than approximately 29km/h (18MPH).
• Time shown in the figure is approximate time.

Revision: July 2016 DAS-364 2016 QX50

 HANDLING PRECAUTION
< SYSTEM DESCRIPTION > [BSW]
HANDLING PRECAUTION
A
Precautions for Blind Spot Warning INFOID:0000000012172634

SIDE RADAR HANDLING B

• Side radar for BSW system is located inside the rear bumper.
• Always keep the rear bumper near the side radar clean.
• Do not attach a sticker (including transparent material), install an accessory or paintwork near the side radar. C
• Do not strike or damage the areas around the side radar.
• Do not strike, damage, and scratch the side radar, especially the vent seal (gray circular) area, under repair.
PRECAUTIONS FOR BLIND SPOT WARNING D
• The BSW system is not a replacement for proper driving procedure and are not designed to prevent contact
with vehicles or objects. When changing lanes, always use the side and rear mirrors and turn and look in the
direction driver will move to ensure it is safe to change lanes. Never rely solely on the BSW system.
E
• The BSW system may not provide a warning for vehicles that pass through the detection zone quickly.
• Do not use the BSW system when towing a trailer because the system may not function properly.
• Excessive noise (e.g. audio system volume, open vehicle window) will interfere with the chime sound, and it
may not be heard. F
• The side radar may not be able to detect and activate BSW when certain objects are present such as:
- Pedestrians, bicycles, animals.

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- Several types of vehicles such as motorcycles.
G
- Oncoming vehicles.
- Vehicles remaining in the detection zone when driver accelerate from a stop.
- A vehicle merging into an adjacent lane at a speed approximately the same as vehicle.
- A vehicle approaching rapidly from behind. H
- A vehicle which vehicle overtakes rapidly.
• Severe weather or road spray conditions may reduce the ability of the side radar to detect other vehicles.
• The side radar detection zone is designed based on a standard lane width. When driving in a wider lane, the I
side radar may not detect vehicles in an adjacent lane. When driving in a narrow lane, the side radar may
detect vehicles driving two lanes away.
• The side radar are designed to ignore most stationary objects, however objects such as guardrails, walls,
foliage and parked vehicles may occasionally be detected. This is a normal operating condition. J

DAS

Revision: July 2016 DAS-365 2016 QX50

 DIAGNOSIS SYSTEM (BSW CONTROL MODULE)
< SYSTEM DESCRIPTION > [BSW]
DIAGNOSIS SYSTEM (BSW CONTROL MODULE)
CONSULT Function (BSW) INFOID:0000000012172635

APPLICATION ITEMS
CONSULT performs the following functions via CAN communication using BSW control module.

Diagnosis mode Description

Self Diagnostic Result Displays the name of a malfunctioning system stored in the BSW control module
Data Monitor Displays BSW control module input/output data in real time
Enables an operational check of a load by transmitting a driving signal from the BSW control module
Active Test
to the load
Ecu Identification Displays BSW control module part number
CAN Diag Support Monitor Displays a reception/transmission state of CAN communication and BSW communication

SELF DIAGNOSTIC RESULT

Refer to DAS-371, "DTC Index".
DATA MONITOR
NOTE:

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• The following table includes information (items) inapplicable to this vehicle. For information (items) applica-
ble to this vehicle, refer to CONSULT display items.
• SIGNAL B, SIGNAL C are displayed, but not used.
BSW MAIN SIGNAL
SIGNAL A

Monitored item
Description
[Unit]

Indicates vehicle speed calculated from BSW control module through CAN communication [ABS
VHCL SPEED SE
× × actuator and electric unit (control unit) transmits vehicle speed signal (wheel speed) through
[km/h] or [mph]
CAN communication]
BUZZER O/P
× Indicates [On/Off] status of BSW warning chime output
[On/Off]
Shift position
Indicates shift position read from BSW control module through CAN communication (TCM trans-
[Off, P, R, N, D, M/T1 - ×
mits shift position signal through CAN communication)
7]
Turn signal Indicates turn signal operation status read from BSW control module through CAN communica-
×
[OFF/LH/RH/LH&RH] tion (BCM transmits turn indicator signal through CAN communication)
WARN SYS SW
× × Indicates [On/Off] status of warning systems switch
[On/Off]
BSW/BSI WARN LMP
× Indicates [On/Off] status of BSW warning lamp output
[On/Off]
BSW SYSTEM ON
× Indicates [On/Off] status of BSW system
[On/Off]

ACTIVE TEST
CAUTION:
• Never perform “Active Test” while driving the vehicle.
• The “Active Test” cannot be performed when the BSW warning lamp is illuminated.
• Shift the selector lever to “P” position, and then perform the test.

Test item Description

ICC BUZZER Sounds a buzzer used for BSW system by arbitrarily operating ON/OFF
BSW/BSI WARNING LAMP The BSW warning lamp can be illuminated by ON/OFF operations as necessary

Revision: July 2016 DAS-366 2016 QX50

 DIAGNOSIS SYSTEM (BSW CONTROL MODULE)
< SYSTEM DESCRIPTION > [BSW]
ICC BUZZER
A
BSW warning chime operation
Test item Operation Description
sound
Transmits the buzzer output signals to the combination B
MODE1 meter via CAN communication (through unified meter Intermittent beep sound
and A/C amp.)

ICC BUZZER Test start Starts the tests of “MODE1” —

C
Stops transmitting the buzzer output signal below to end
Reset —
the test
End Returns to the “SELECT TEST ITEM” screen — D
BSW/BSI WARNING LAMP

Oper- E
Test item Description BSW warning lamp
ation
Stops transmitting the BSW warning lamp signal below
Off —
to end the test F
BSW/BSI WARNING
LAMP Transmits the BSW warning lamp signal to the combina-
On tion meter via CAN communication (through unified ON

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meter and A/C amp.)
G

DAS

Revision: July 2016 DAS-367 2016 QX50

 DIAGNOSIS SYSTEM (SIDE RADAR LH)
< SYSTEM DESCRIPTION > [BSW]
DIAGNOSIS SYSTEM (SIDE RADAR LH)
CONSULT Function (SIDE RADAR LEFT) INFOID:0000000012172636

DESCRIPTION
CONSULT performs the following functions by communicating with the side radar LH.

Select diag mode Function

Self Diagnostic Result Displays memorized DTC in the side radar
Data Monitor Displays real-time data of side radar
Active Test Enables operation check of electrical loads by sending driving signal to them
Ecu Identification Displays part number of side radar

SELF DIAGNOSTIC RESULT

Self Diagnostic Result
Displays memorized DTC in side radar LH. Refer to DAS-376, "DTC Index".
FFD (Freeze Frame Data)
The side radar records the following data when the malfunction is detected.

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Freeze Frame Data item Description
The vehicle speed (from BSW control module) at the moment a malfunction is detected is dis-
VHCL SP from ADAS
played
TURN SIG STATUS Turn signal status at the moment a malfunction is detected is displayed

DATA MONITOR
NOTE:
The following table includes information (items) inapplicable to this vehicle. For information (items) applicable
to this vehicle, refer to CONSULT display items.

Monitored item
Description
[Unit]
BEAM DISTANCE NOTE:
[—] The item is displayed, but it is not used
BEAM POSITION NOTE:
[—] The item is displayed, but it is not used
SIDE RADAR MALF
Indicates [On/Off] status of side radar malfunction
[On/Off]
BLOCKAGE COND
Indicates [On/Off] status of side radar blockage
[On/Off]
ACTIVATE OPE NOTE:
[—] The item is displayed, but it is not used
VEHICLE DETECT
Indicates [On/Off] status of vehicle detection
[On/Off]

ACTIVE TEST
CAUTION:
• Never perform the active test while driving.
• Active test cannot be started while the BSW indicator is illuminated.

Active test item Operation Description

BSW/BSI INDICATOR On Outputs the voltage to illuminate the BSW indicator

DRIVE Off Stops the voltage to illuminate the BSW indicator

Revision: July 2016 DAS-368 2016 QX50

 DIAGNOSIS SYSTEM (SIDE RADAR RH)
< SYSTEM DESCRIPTION > [BSW]
DIAGNOSIS SYSTEM (SIDE RADAR RH)
A
CONSULT Function (SIDE RADAR RIGHT) INFOID:0000000012172637

DESCRIPTION B
CONSULT performs the following functions by communicating with the side radar RH.

Select diag mode Function C

Self Diagnostic Result Displays memorized DTC in the side radar
Data Monitor Displays real-time data of side radar
D
Active Test Enables operation check of electrical loads by sending driving signal to them
Ecu Identification Displays part number of side radar

SELF DIAGNOSTIC RESULT E

Self Diagnostic Result

Displays memorized DTC in side radar RH. Refer to DAS-376, "DTC Index".
F
FFD (Freeze Frame Data)
The side radar records the following data when the malfunction is detected.

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G
Freeze Frame Data item Description
The vehicle speed (from BSW control module) at the moment a malfunction is detected is dis-
VHCL SP from ADAS
played
H
TURN SIG STATUS Turn signal status at the moment a malfunction is detected is displayed

DATA MONITOR
NOTE: I
The following table includes information (items) inapplicable to this vehicle. For information (items) applicable
to this vehicle, refer to CONSULT display items.
J
Monitored item
Description
[Unit]
BEAM DISTANCE NOTE: K
[—] The item is displayed, but it is not used
BEAM POSITION NOTE:
[—] The item is displayed, but it is not used L
SIDE RADAR MALF
Indicates [On/Off] status of side radar malfunction
[On/Off]
BLOCKAGE COND M
Indicates [On/Off] status of side radar blockage
[On/Off]
ACTIVATE OPE NOTE:
[—] The item is displayed, but it is not used
N
VEHICLE DETECT
Indicates [On/Off] status of vehicle detection
[On/Off]

ACTIVE TEST DAS

CAUTION:
• Never perform the active test while driving.
• Active test cannot be started while the BSW indicator is illuminated. P
Active test item Operation Description

BSW/BSI INDICATOR On Outputs the voltage to illuminate the BSW indicator

DRIVE Off Stops the voltage to illuminate the BSW indicator

Revision: July 2016 DAS-369 2016 QX50

 BSW CONTROL MODULE
< ECU DIAGNOSIS INFORMATION > [BSW]

ECU DIAGNOSIS INFORMATION

BSW CONTROL MODULE
Reference Value INFOID:0000000012172638

VALUES ON THE DIAGNOSIS TOOL

NOTE:
The following table includes information (items) inapplicable to this vehicle. For information (items) applicable
to this vehicle, refer to CONSULT display items.

Monitor item Condition Value/Status

Displays the ve-
hicle speed cal-
VHCL SPEED SE While driving
culated by BSW
control module
When the buzzer of the BSW system operates On
BUZZER O/P Engine running
When the buzzer of the BSW system not operates Off
• Engine running Displays the
Shift position
• While driving shift position

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Turn signal lamps OFF Off
Turn signal lamp LH blinking LH
Turn signal
Turn signal lamp RH blinking RH
Turn signal lamp LH and RH blinking LH&RH
When warning systems switch is pressed On
WARN SYS SW Ignition switch ON
When warning systems switch is not pressed Off
BSW warning lamp ON On
BSW/BSI WARN LMP Ignition switch ON
BSW warning lamp OFF Off
When the BSW system is ON
On
(Warning systems ON indicator ON)
BSW SYSTEM ON Ignition switch ON
When the BSW system is OFF
Off
(Warning systems ON indicator OFF)

TERMINAL LAYOUT
PHYSICAL VALUES

JSOIA0213ZZ

Revision: July 2016 DAS-370 2016 QX50

 BSW CONTROL MODULE
< ECU DIAGNOSIS INFORMATION > [BSW]

Terminal No. A
Description
(Wire color) Value
Condition
Input/ (Approx.)
+ − Signal name
Output
B
6
Ground — Ignition switch ON 0V
(B)
7 C
BSW communication-H — — —
(L)
8
BSW communication-L — — —
(Y)
Ground D
14
CAN -H — — —
(L)
15
CAN -L — — — E
(P)
16
Ignition power supply Input Ignition switch ON Battery Voltage
(G)
F
Fail-safe INFOID:0000000012172639

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If a malfunction occurs in the system, BSW control module cancels the control. Then the BSW warning lamp in G
the combination meter illuminates.
DTC Inspection Priority Chart INFOID:0000000012172640

H
If multiple DTCs are detected simultaneously, check them one by one depending on the following DTC inspec-
tion priority chart.
I
Priority Detected items (DTC)
1 • U1508: LOST COMM (SIDE RDR L)
• U1000: CAN COMM CIRCUIT J
2 • U1010: CONTROL UNIT (CAN)
• U1507: LOST COMM (SIDE RDR R)
• C1B53: SIDE RDR R MALF
3 K
• C1B54: SIDE RDR L MALF
• C1A01: POWER SUPPLY CIR
• C1A02: POWER SUPPLY CIR 2
• U0121: VDC CAN CIR 2 L
• U0401: ECM CAN CIR 1
• U0402: TCM CAN CIR 1
• U0415: VDC CAN CIR 1
M
• U150B: ECM CAN CIRC 3
• U150C: VDC CAN CIRC 3
4
• U150D: TCM CAN CIRC 3
• U150E: BCM CAN CIRC 3 N
• U1503: SIDE RDR L CAN CIR 2
• U1504: SIDE RDR L CAN CIR 1
• U1505: SIDE RDR R CAN CIR 2
• U1506: SIDE RDR R CAN CIR 1 DAS
• U1518: SIDE RDR L CAN CIRC 3
• U1519: SIDE RDR R CAN CIRC 3
5 • C1A03: VHCL SPEED SE CIRC
P
6 • C1A00: CONTROL UNIT

DTC Index INFOID:0000000012172641

NOTE:
• The details of time display are as per the following.
- CRNT: A malfunction is detected now

Revision: July 2016 DAS-371 2016 QX50

 BSW CONTROL MODULE
< ECU DIAGNOSIS INFORMATION > [BSW]
- PAST: A malfunction was detected in the past
• IGN counter is displayed on FFD (Freeze Frame Data).
- 0: The malfunctions that are detected now
CAN communication system (U1000, U1010)
- 1 - 39: It increases like 0 → 1 → 2 ··· 38 → 39 after returning to the normal condition whenever the ignition
switch OFF → ON. It returns to 0 when a malfunction is detected again in the process.
- If it is over 39, it is fixed to 39 until the self-diagnosis results are erased.
Other than CAN communication system (Other than U1000, U1010)
- 1 - 49: It increases like 0 → 1 → 2 ··· 38 → 49 after returning to the normal condition whenever the ignition
switch OFF → ON. It returns to 0 when a malfunction is detected again in the process.
- If it is over 49, it is fixed to 49 until the self-diagnosis results are erased.
×: Applicable

DTC BSW warning lamp Fail-safe Reference

C1A00 CONTROL UNIT ON × DAS-394
C1A01 POWER SUPPLY CIR ON × DAS-395
C1A02 POWER SUPPLY CIR 2 ON × DAS-395
C1A03 VHCL SPEED SE CIRC ON × DAS-396
C1B53 SIDE RDR R MALF ON × DAS-401
C1B54 SIDE RDR L MALF ON × DAS-402

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NO DTC IS
DETECTED.
FURTHER NO DTC IS DETECTED. FURTHER TESTING
— — —
TESTING MAY MAY BE REQUIRED
BE RE-
QUIRED
U1000 CAN COMM CIRCUIT ON × DAS-405
U1010 CONTROL UNIT (CAN) ON × DAS-408
U0121 VDC CAN CIR 2 ON × DAS-410
U0401 ECM CAN CIR 1 ON × DAS-411
U0402 TCM CAN CIR 1 ON × DAS-412
U0415 VDC CAN CIR 1 ON × DAS-414
U150B ECM CAN CIRC 3 ON × DAS-415
U150C VDC CAN CIRC 3 ON × DAS-416
U150D TCM CAN CIRC 3 ON × DAS-417
U150E BCM CAN CIRC 3 ON × DAS-418
U1503 SIDE RDR L CAN CIR 2 ON × DAS-419
U1504 SIDE RDR L CAN CIR 1 ON × DAS-420
U1505 SIDE RDR R CAN CIR 2 ON × DAS-421
U1506 SIDE RDR R CAN CIR 1 ON × DAS-422
U1507 LOST COMM (SIDE RDR R) ON × DAS-423
U1508 LOST COMM (SIDE RDR L) ON × DAS-424
U1518 SIDE RDR L CAN CIRC 3 ON × DAS-425
U1519 SIDE RDR R CAN CIRC 3 ON × DAS-426

Revision: July 2016 DAS-372 2016 QX50

 SIDE RADAR LH
< ECU DIAGNOSIS INFORMATION > [BSW]
SIDE RADAR LH
A
Reference Value INFOID:0000000012172642

VALUES ON THE DIAGNOSIS TOOL B

NOTE:
The following table includes information (items) inapplicable to this vehicle. For information (items) applicable
to this vehicle, refer to CONSULT display items. C
CONSULT MONITOR ITEM
Monitor Item Condition Value/Status
NOTE: D
BEAM DISTANCE —
The item is displayed, but it is not used.
NOTE:
BEAM POSITION —
The item is displayed, but it is not used. E
Side radar is normal. Off
SIDE RADAR MALF
Side radar is malfunctioning. On
Side radar is not blocked. Off F
BLOCKAGE COND
Side radar is blocked. On

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NOTE:
ACTIVATE OPE
The item is displayed, but it is not used.
— G

Side radar does not detect a vehicle. Off

VEHICLE DETECT
Side radar detects a vehicle. On H
TERMINAL LAYOUT

K
JSOIA0244ZZ

L
PHYSICAL VALUES

Terminal No.
Description M
(Wire color) Value
Condition
Input/ (Approx.)
+ – Signal name
Output
2 N
Ground — — 0V
(B)
3
BSW communication-L — — —
(Y) DAS
4
Ground BSW communication-H — — —
(L)
5 P
Ignition power supply Input Ignition switch ON —
(G)
6 Approx. 2 sec. after ignition switch OFF ⇒ ON
BSW indicator Output 6V
(R) (bulb check)

Fail-safe INFOID:0000000012172643

FAIL-SAFE CONTROL BY DTC

Revision: July 2016 DAS-373 2016 QX50
 SIDE RADAR LH
< ECU DIAGNOSIS INFORMATION > [BSW]
If a malfunction occurs in the side radar, BSW control module cancels the control. Then the BSW warning
lamp in the combination meter illuminates.
TEMPORARY DISABLED STATUS AT BLOCKAGE
When the side radar is blocked, the operation is temporarily cancelled. Then BSW warning lamp in combina-
tion meter blinks. Also, under the following conditions, the operation may be temporarily cancelled.
• The side radar may be blocked by temporary ambient conditions such as splashing water, mist or fog.
• The blocked condition may also be caused by objects such as ice, frost or dirt obstructing the side radar.
DTC Inspection Priority Chart INFOID:0000000012172644

If some DTCs are displayed at the same time, perform inspections one by one based on the following priority
chart.

Priority Detected items (DTC)

• U1000: CAN COMM CIRCUIT
1
• U1010: CONTROL UNIT (CAN)
• U0104: ADAS CAN CIR 1
2
• U0405: ADAS CAN CIR 2
3 C1B50: SIDE RDR MALFUNCTION
• C1B51: BSW/BSI IND SHORT CIR

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4 • C1B52: BSW/BSI IND OPEN CIR
• C1B55: RADAR BLOCKAGE

DTC Index INFOID:0000000012172645

×: Applicable
DTC BSW warning lamp Fail-safe Reference page
C1B50 SIDE RDR MALFUNCTION ON × DAS-397
C1B51 BSW/BSI IND SHORT CIR ON × DAS-398
C1B52 BSW/BSI IND OPEN CIR ON × DAS-399
C1B55 RADAR BLOCKAGE Blink × DAS-403
U1000 CAN COMM CIRCUIT ON × DAS-404
U1010 CONTROL UNIT (CAN) ON × DAS-407
U0104 ADAS CAN CIR1 ON × DAS-409
U0405 ADAS CAN CIR2 ON × DAS-413

Revision: July 2016 DAS-374 2016 QX50

 SIDE RADAR RH
< ECU DIAGNOSIS INFORMATION > [BSW]
SIDE RADAR RH
A
Reference Value INFOID:0000000012172646

VALUES ON THE DIAGNOSIS TOOL B

NOTE:
The following table includes information (items) inapplicable to this vehicle. For information (items) applicable
to this vehicle, refer to CONSULT display items. C
CONSULT MONITOR ITEM
Monitor Item Condition Value/Status
NOTE: D
BEAM DISTANCE —
The item is displayed, but it is not used.
NOTE:
BEAM POSITION —
The item is displayed, but it is not used. E
Side radar is normal. Off
SIDE RADAR MALF
Side radar is malfunctioning. On
Side radar is not blocked. Off F
BLOCKAGE COND
Side radar is blocked. On

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NOTE:
ACTIVATE OPE
The item is displayed, but it is not used.
— G

Side radar does not detect a vehicle. Off

VEHICLE DETECT
Side radar detects a vehicle. On H
TERMINAL LAYOUT

K
JSOIA0244ZZ

L
PHYSICAL VALUES

Terminal No.
Description M
(Wire color) Value
Condition
Input/ (Approx.)
+ – Signal name
Output
2 N
Ground — — 0V
(B)
3
BSW communication-L — — —
(Y) DAS
4
Ground BSW communication-H — — —
(L)
5 P
Ignition power supply Input Ignition switch ON —
(G)
6 Approx. 2 sec. after ignition switch OFF ⇒ ON
BSW indicator Output 6V
(BR) (bulb check)

Fail-safe INFOID:0000000012172647

FAIL-SAFE CONTROL BY DTC

Revision: July 2016 DAS-375 2016 QX50
 SIDE RADAR RH
< ECU DIAGNOSIS INFORMATION > [BSW]
If a malfunction occurs in the side radar, BSW control module cancels the control. Then the BSW warning
lamp in the combination meter illuminates.
TEMPORARY DISABLED STATUS AT BLOCKAGE
When the side radar is blocked, the operation is temporarily cancelled. Then BSW warning lamp in combina-
tion meter blinks. Also, under the following conditions, the operation may be temporarily cancelled.
• The side radar may be blocked by temporary ambient conditions such as splashing water, mist or fog.
• The blocked condition may also be caused by objects such as ice, frost or dirt obstructing the side radar.
DTC Inspection Priority Chart INFOID:0000000012172648

If some DTCs are displayed at the same time, perform inspections one by one based on the following priority
chart.

Priority Detected items (DTC)

• U1000: CAN COMM CIRCUIT
1
• U1010: CONTROL UNIT (CAN)
• U0104: ADAS CAN CIR 1
2
• U0405: ADAS CAN CIR 2
3 C1B50: SIDE RDR MALFUNCTION
• C1B51: BSW/BSI IND SHORT CIR

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4 • C1B52: BSW/BSI IND OPEN CIR
• C1B55: RADAR BLOCKAGE

DTC Index INFOID:0000000012172649

×: Applicable
DTC BSW warning lamp Fail-safe Reference page
C1B50 SIDE RDR MALFUNCTION ON × DAS-397
C1B51 BSW/BSI IND SHORT CIR ON × DAS-398
C1B52 BSW/BSI IND OPEN CIR ON × DAS-399
C1B55 RADAR BLOCKAGE Blink × DAS-403
U1000 CAN COMM CIRCUIT ON × DAS-405
U1010 CONTROL UNIT (CAN) ON × DAS-407
U0104 ADAS CAN CIR1 ON × DAS-409
U0405 ADAS CAN CIR2 ON × DAS-413

Revision: July 2016 DAS-376 2016 QX50

 BLIND SPOT WARNING
< WIRING DIAGRAM > [BSW]

WIRING DIAGRAM A
BLIND SPOT WARNING
Wiring Diagram INFOID:0000000012172650
B

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G

DAS

JROWC6556GB

Revision: July 2016 DAS-377 2016 QX50

 BLIND SPOT WARNING
< WIRING DIAGRAM > [BSW]

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JROWC6557GB

Revision: July 2016 DAS-378 2016 QX50

 BLIND SPOT WARNING
< WIRING DIAGRAM > [BSW]

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G

DAS

JROWC6558GB

Revision: July 2016 DAS-379 2016 QX50

 BLIND SPOT WARNING
< WIRING DIAGRAM > [BSW]

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JROWC6559GB

Revision: July 2016 DAS-380 2016 QX50

 BLIND SPOT WARNING
< WIRING DIAGRAM > [BSW]

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G

DAS

JROWC6560GB

Revision: July 2016 DAS-381 2016 QX50

 BLIND SPOT WARNING
< WIRING DIAGRAM > [BSW]

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JROWC6561GB

Revision: July 2016 DAS-382 2016 QX50

 BLIND SPOT WARNING
< WIRING DIAGRAM > [BSW]

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G

DAS

JROWC6562GB

Revision: July 2016 DAS-383 2016 QX50

 BLIND SPOT WARNING
< WIRING DIAGRAM > [BSW]

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JROWC6563GB

Revision: July 2016 DAS-384 2016 QX50

 BLIND SPOT WARNING
< WIRING DIAGRAM > [BSW]

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G

DAS

JROWC6564GB

Revision: July 2016 DAS-385 2016 QX50

 BLIND SPOT WARNING
< WIRING DIAGRAM > [BSW]

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JROWC6565GB

Revision: July 2016 DAS-386 2016 QX50

 BLIND SPOT WARNING
< WIRING DIAGRAM > [BSW]

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G

DAS

JROWC6566GB

Revision: July 2016 DAS-387 2016 QX50

 BLIND SPOT WARNING
< WIRING DIAGRAM > [BSW]

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JROWC6567GB

Revision: July 2016 DAS-388 2016 QX50

 DIAGNOSIS AND REPAIR WORK FLOW
< BASIC INSPECTION > [BSW]

BASIC INSPECTION A
DIAGNOSIS AND REPAIR WORK FLOW
Work Flow INFOID:0000000012172651
B

OVERALL SEQUENCE
C

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G

DAS

P
JSOIA0499GB

DETAILED FLOW
1.INTERVIEW FOR MALFUNCTION
It is also important to clarify the customer concerns before starting the inspection. Interview the customer
about the concerns carefully and understand the symptoms fully.
NOTE:
Revision: July 2016 DAS-389 2016 QX50
 DIAGNOSIS AND REPAIR WORK FLOW
< BASIC INSPECTION > [BSW]
The customers are not professionals. Never assume that “maybe the customer means···” or “maybe the cus-
tomer mentioned this symptom”.

>> GO TO 2.
2.SELF-DIAGNOSIS WITH CONSULT
1. Perform “All DTC Reading” with CONSULT.
2. Check if the DTC is detected on the self-diagnosis results of “SIDE RADAR LEFT/RIGHT” and/or “BSW”.
Is any DTC detected?
YES >> GO TO 5.
NO >> GO TO 3.
3.PRE-INSPECTION FOR DIAGNOSIS
Perform pre-inspection for diagnosis. Refer to DAS-391, "Inspection Procedure".

>> GO TO 4.
4.ACTION TEST
Perform BSW system action test to check the operation status. Refer to DAS-392, "Description".
Check if any other malfunctions occur.

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>> GO TO 6.
5.TROUBLE DIAGNOSIS BY DTC
1. Check the DTC in the self-diagnosis results.
2. Perform trouble diagnosis for the detected DTC. Refer to DAS-374, "DTC Index" (SIDE RADAR LEFT) or
DAS-376, "DTC Index" (SIDE RADAR RIGHT) and/or DAS-371, "DTC Index" (BSW).
NOTE:
If “DTC: U1000” is detected, first diagnose the CAN communication system or BSW communication system.

>> GO TO 7.
6.SYMPTOM DIAGNOSIS
Perform the applicable diagnosis according to the diagnosis chart by symptom. Refer to DAS-434, "Symptom
Table".

>> GO TO 7.
7.MALFUNCTIONING PART REPAIR
Repair or replace the identified malfunctioning parts.

>> GO TO 8.
8.REPAIR CHECK (SELF-DIAGNOSIS WITH CONSULT)
1. Erases self-diagnosis results.
2. Perform “All DTC Reading” again after repairing or replacing the specific items.
3. Check if any DTC is detected in self-diagnosis results of “SIDE RADAR LEFT/RIGHT” and “BSW”.
Is any DTC detected?
YES >> GO TO 5.
NO >> GO TO 9.
9.REPAIR CHECK (ACTION TEST)
Perform the BSW system action test. Check that the malfunction symptom is solved or no other symptoms
occur.
Is there a malfunction symptom?
YES >> GO TO 4.
NO >> INSPECTION END
Revision: July 2016 DAS-390 2016 QX50
 PRE-INSPECTION FOR DIAGNOSIS
< BASIC INSPECTION > [BSW]
PRE-INSPECTION FOR DIAGNOSIS
A
Inspection Procedure INFOID:0000000012172652

1.CHECK REAR BUMPER NEAR THE SIDE RADAR B

Are rear bumper near the side radar contaminated with foreign materials?
C
YES >> Clean the rear bumper.
NO >> GO TO 2.
2.CHECK SIDE RADAR AND THE SIDE RADAR OUTSKIRTS D

Are side radar and the side radar outskirts contaminated with foreign materials?
YES >> Clean the side radar or side radar outskirts. E
NO >> GO TO 3.
3.CHECK SIDE RADAR INSTALLATION CONDITION
F
Check side radar installation condition (installation position, properly tightened, a bent bracket).
Is it properly installed?

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YES >> INSPECTION END G
NO >> Install side radar properly.

DAS

Revision: July 2016 DAS-391 2016 QX50

 ACTION TEST
< BASIC INSPECTION > [BSW]
ACTION TEST
Description INFOID:0000000012172653

Always perform the BSW system action test to check that the system operates normally after replacing the
side radar LH/RH, or repairing any BSW system malfunction. Refer to DAS-392, "Work Procedure".
WARNING:
Be careful of traffic conditions and safety around the vehicle when performing road test.
CAUTION:
Fully understand the following items well before the road test;
• Precautions: Refer to DAS-356, "Precaution for BSW System Service".
• System description: Refer to DAS-359, "System Description".
• Normal operating condition: Refer to DAS-435, "Description".
Work Procedure INFOID:0000000012172654

WARNING:
Be careful of traffic conditions and safety around the vehicle when performing road test.
CAUTION:
Fully understand the following items well before the road test;
• Precautions: Refer to DAS-356, "Precaution for BSW System Service".

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• System description: Refer to DAS-359, "System Description".
• Normal operating condition: Refer to DAS-435, "Description".
1.BSW SYSTEM ACTION TEST
1. Drive the vehicle.
2. Turn warning systems switch ON (warning systems ON indicator is ON).
3. Check BSW operation according to the following table.

Vehicle condition/ Driver's operation Action

Status of ve-
Warning Vehicle speed hicle detec-
Turn signal Indication on the
systems ON (Approx.) tion within Buzzer
condition BSW indicator
indicator [km/h (MPH)] detection
area
OFF — — — OFF OFF
Less than ap-
prox. — — OFF OFF
29 (18)
Vehicle is
— OFF OFF
absent
Vehicle is
OFF ON OFF
detected
Blink Short continuous beep

Before turn
signal oper-
ON ates
Approx. Vehicle is
32 (20) detected
or more ON
(vehicle de- JSOIA0251GB JSOIA0452GB

tected direc- Blink

tion)
Vehicle is
detected af-
OFF
ter turn sig-
nal operates

JSOIA0251GB

Revision: July 2016 DAS-392 2016 QX50

 ACTION TEST
< BASIC INSPECTION > [BSW]
NOTE:
• If vehicle speed exceeds approximately 32 km/h (20MPH), BSW function operates until the vehicle speed becomes lower than A
approximately 29km/h (18MPH).
• Time shown in the figure is approximate time.
B
>> INSPECTION END

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G

DAS

Revision: July 2016 DAS-393 2016 QX50

 C1A00 CONTROL UNIT
< DTC/CIRCUIT DIAGNOSIS > [BSW]

DTC/CIRCUIT DIAGNOSIS
C1A00 CONTROL UNIT
DTC Logic INFOID:0000000012172655

DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition Possible causes

C1A00 CONTROL UNIT BSW control module internal malfunction BSW control module

DTC CONFIRMATION PROCEDURE

1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Perform “All DTC Reading” with CONSULT.
3. Check if the “C1A00” is detected as the current malfunction in “Self Diagnostic Result” of “BSW”.
Is “C1A00” detected as the current malfunction?
YES >> Refer to DAS-394, "Diagnosis Procedure".
NO >> INSPECTION END

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Diagnosis Procedure INFOID:0000000012172656

1.CHECK SELF-DIAGNOSIS RESULTS

Check if any DTC other than “C1A00” is detected in “Self Diagnostic Result” of “BSW”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
DAS-371, "DTC Index".
NO >> Replace the BSW control module. Refer to DAS-436, "Removal and Installation".

Revision: July 2016 DAS-394 2016 QX50

 C1A01 POWER SUPPLY CIRCUIT 1, C1A02 POWER SUPPLY CIRCUIT 2
< DTC/CIRCUIT DIAGNOSIS > [BSW]
C1A01 POWER SUPPLY CIRCUIT 1, C1A02 POWER SUPPLY CIRCUIT 2
A
DTC Logic INFOID:0000000012172657

DTC DETECTION LOGIC B

Trouble diagnosis
DTC DTC detecting condition Possible causes
name C
POWER SUPPLY The battery voltage sent to BSW control module
C1A01
CIR remains less than 7.9 V for 5 seconds • Connector, harness, fuse
POWER SUPPLY The battery voltage sent to BSW control module • BSW control module
C1A02 D
CIR 2 remains more than 19.3 V for 5 seconds

DTC CONFIRMATION PROCEDURE

E
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the BSW system ON. F
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “C1A01” or “C1A02” is detected as the current malfunction in “Self Diagnostic Result” of

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“BSW”.
G
Is “C1A01” or “C1A02” detected as the current malfunction?
YES >> Refer to DAS-395, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
H
Diagnosis Procedure INFOID:0000000012172658

1.CHECK BSW CONTROL MODULE POWER SUPPLY AND GROUND CIRCUIT I

Check power supply and ground circuit of BSW control module. Refer to DAS-427, "BSW CONTROL MOD-
ULE : Diagnosis Procedure".
Is the inspection result normal? J
YES >> Replace the BSW control module. Refer to DAS-436, "Removal and Installation".
NO >> Repair or replace the malfunctioning parts.
K

DAS

Revision: July 2016 DAS-395 2016 QX50

 C1A03 VEHICLE SPEED SENSOR
< DTC/CIRCUIT DIAGNOSIS > [BSW]
C1A03 VEHICLE SPEED SENSOR
DTC Logic INFOID:0000000012172659

DTC DETECTION LOGIC

Trouble diagnosis
DTC DTC detecting condition Possible causes
name
If the vehicle speed signal (wheel speed) from • Wheel speed sensor
VHCL SPEED SE ABS actuator and electric unit (control unit) re- • ABS actuator and electric unit (control
C1A03
CIRC ceived by the BSW control module via CAN unit)
communication, are inconsistent • BSW control module
NOTE:
If DTC “C1A03” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-405,
"BSW CONTROL MODULE : DTC Logic"
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the BSW system ON.

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3. Drive the vehicle at 30 km/h (19 MPH) or more.
CAUTION:
Always drive safely.
4. Stop the vehicle.
5. Perform “All DTC Reading” with CONSULT.
6. Check if the “C1A03” is detected as the current malfunction in “Self Diagnostic Result” of “BSW”.
Is “C1A03” detected as the current malfunction?
YES >> Refer to DAS-396, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172660

1.CHECK SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “C1A03” in “Self Diagnostic Result” of “BSW”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to DAS-405, "BSW CONTROL MODULE : DTC Logic".
NO >> GO TO 2.
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ABS”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
BRC-143, "DTC No. Index".
NO >> Replace the BSW control module. Refer to DAS-436, "Removal and Installation".

Revision: July 2016 DAS-396 2016 QX50

 C1B50 SIDE RADAR MALFUNCTION
< DTC/CIRCUIT DIAGNOSIS > [BSW]
C1B50 SIDE RADAR MALFUNCTION
A
DTC LOGIC INFOID:0000000012172661

DTC DETECTION LOGIC B

DTC Trouble diagnosis name DTC detecting condition Possible causes

SIDE RDR MALFUNC- C
C1B50 Side radar malfunction Side radar
TION

DTC CONFIRMATION PROCEDURE

D
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Perform “All DTC Reading” with CONSULT. E
3. Check if the “C1B50” is detected as the current malfunction in “Self Diagnostic Result” of “SIDE RADAR
RIGHT/LEFT”.
Is the “C1B50” detected as the current malfunction? F
YES >> Refer to DAS-397, "Diagnosis Procedure".
NO >> INSPECTION END

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Diagnosis Procedure INFOID:0000000012172662
G

1.CHECK SELF-DIAGNOSIS RESULT

H
Check if any DTC other than “C1B50” is detected in “Self Diagnostic Result” of “SIDE RADAR LEFT/RIGHT”
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunction part. Refer to DAS- I
376, "DTC Index" (SIDE RADAR RIGHT) or DAS-374, "DTC Index" (SIDE RADAR LEFT).
NO >> Replace the side radar. Refer to DAS-437, "Removal and Installation".
J

DAS

Revision: July 2016 DAS-397 2016 QX50

 C1B51 BSW/BSI INDICATOR SHORT CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [BSW]
C1B51 BSW/BSI INDICATOR SHORT CIRCUIT
DTC Logic INFOID:0000000012172663

DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition Possible cause

• BSW indicator circuit
Short circuit in BSW indicator circuit is detected. (Over cur-
C1B51 BSW/BSI IND SHORT CIR • BSW indicator
rent is detected)
• Side radar

DTC CONFIRMATION PROCEDURE

1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Perform “All DTC Reading” with CONSULT.
3. Check if the “C1B51” is detected as the current malfunction in “Self Diagnostic Result” of “SIDE RADAR
RIGHT/LEFT”.
Is the “C1B51” detected as the current malfunction?
YES >> Refer to DAS-398, "Diagnosis Procedure".

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NO >> INSPECTION END
Diagnosis Procedure INFOID:0000000012172664

1.CHECK BSW INDICATOR CIRCUIT FOR SHORT

1. Turn ignition switch OFF.
2. Disconnect side radar harness connector and BSW indicator harness connector.
3. Check continuity between side radar harness connector and ground.

Side radar
Continuity
Connector Terminal
Ground
B105 (LH)
6 Not existed
B107 (RH)
Is the inspection result normal?
YES >> GO TO 2.
NO >> Repair the harnesses or connectors.
2.REPLACE THE SIDE RADAR
1. Replace the side radar.
2. Perform “All DTC Reading” with CONSULT.
3. Check if the “C1B51” is detected in “Self Diagnostic Result” of “SIDE RADAR RIGHT/LEFT”
Is the DTC “C1B51” detected?
YES >> Replace the side radar. Refer to DAS-437, "Removal and Installation".
NO >> INSPECTION END

Revision: July 2016 DAS-398 2016 QX50

 C1B52 BSW/BSI INDICATOR OPEN CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [BSW]
C1B52 BSW/BSI INDICATOR OPEN CIRCUIT
A
DTC Logic INFOID:0000000012172665

DTC DETECTION LOGIC B

DTC Trouble diagnosis name DTC detecting condition Possible cause

C
• BSW indicator circuit
C1B52 BSW/BSI IND OPEN CIR Open circuit in BSW indicator circuit is detected. • BSW indicator
• Side radar
D
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine. E
2. Turn the BSW system ON.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “C1B52” is detected as the current malfunction in “Self Diagnostic Result” of “SIDE RADAR F
RIGHT/LEFT”.
Is the “C1B52” detected as the current malfunction?

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YES >> Refer to DAS-399, "Diagnosis Procedure". G
NO >> INSPECTION END
Diagnosis Procedure INFOID:0000000012172666

H
1.CHECK BSW INDICATOR CIRCUIT FOR OPEN 1
1. Turn ignition switch OFF.
2. Disconnect side radar harness connector and BSW indicator harness connector. I
3. Check continuity between side radar harness connector and BSW indicator harness connector.

J
Side radar BSW indicator
Continuity

Connector Terminal Connector Terminal K

B105 (LH) D2 (LH)
6 1 Existed
B107 (RH) D32 (RH)
L
Is the inspection result normal?
YES >> GO TO 2.
NO >> Repair the harnesses or connectors.
M
2.CHECK BSW INDICATOR CIRCUIT FOR OPEN 2
Check continuity between BSW indicator harness connector and ground.
N
BSW indicator
Continuity
Connector Terminal
Ground DAS
D2 (LH)
4 Existed
D32 (RH)
Is the inspection result normal? P
YES >> GO TO 3.
NO >> Repair the harnesses or connectors.
3.CHECK SIDE RADAR VOLTAGE OUTPUT
1. Connect side radar harness connector.
2. Check voltage between BSW indicator harness connector and ground.

Revision: July 2016 DAS-399 2016 QX50

 C1B52 BSW/BSI INDICATOR OPEN CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [BSW]

BSW indicator Voltage

Condition
Connector Terminal (Approx.)
Ground
D2 (LH) Ignition switch
1 OFF ⇒ ON 6V
D32 (RH) (Approx. 2 sec.)
Is the inspection result normal?
YES >> Replace BSW indicator.
NO >> Replace side radar. Refer to DAS-437, "Removal and Installation".

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Revision: July 2016 DAS-400 2016 QX50

 C1B53 SIDE RADAR RIGHT MALFUNCTION
< DTC/CIRCUIT DIAGNOSIS > [BSW]
C1B53 SIDE RADAR RIGHT MALFUNCTION
A
DTC Logic INFOID:0000000012172667

DTC DETECTION LOGIC B

DTC Trouble diagnosis name DTC detecting condition Possible cause

C
BSW control module detects that side radar RH
C1B53 SIDE RDR R MALF Side radar RH
has a malfunction.

DTC CONFIRMATION PROCEDURE D

1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the BSW system ON. E
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “C1B53” is detected as the current malfunction in “Self Diagnostic Result” of “BSW”.
Is “C1B53” detected as the current malfunction? F
YES >> Refer to DAS-401, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".

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G
Diagnosis Procedure INFOID:0000000012172668

1.CHECK SELF-DIAGNOSIS RESULTS H

Check if “U1000” is detected other than “C1B53” in “Self Diagnostic Result” of “BSW”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts. I
Refer to DAS-405, "BSW CONTROL MODULE : DTC Logic".
NO >> GO TO 2.
2.CHECK SELF-DIAGNOSIS RESULTS J
Check if any DTC is detected in “Self Diagnostic Result” of “SIDE RADAR RIGHT”.
Is any DTC detected?
K
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
DAS-376, "DTC Index" (SIDE RADAR RIGHT).
NO >> Replace the BSW control module. Refer to DAS-436, "Removal and Installation".
L

DAS

Revision: July 2016 DAS-401 2016 QX50

 C1B54 SIDE RADAR LEFT MALFUNCTION
< DTC/CIRCUIT DIAGNOSIS > [BSW]
C1B54 SIDE RADAR LEFT MALFUNCTION
DTC Logic INFOID:0000000012172669

DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition Possible cause

BSW control module detects that side radar LH
C1B54 SIDE RDR L MALF Side radar LH
has a malfunction.

DTC CONFIRMATION PROCEDURE

1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the BSW system ON.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “C1B54” is detected as the current malfunction in “Self Diagnostic Result” of “BSW”.
Is “C1B54” detected as the current malfunction?
YES >> Refer to DAS-402, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".

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Diagnosis Procedure INFOID:0000000012172670

1.CHECK SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “C1B54” in “Self Diagnostic Result” of “BSW”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to DAS-405, "BSW CONTROL MODULE : DTC Logic".
NO >> GO TO 2.
2.CHECK SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “SIDE RADAR LEFT”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
DAS-374, "DTC Index" (SIDE RADAR LEFT).
NO >> Replace the BSW control module. Refer to DAS-436, "Removal and Installation".

Revision: July 2016 DAS-402 2016 QX50

 C1B55 RADAR BLOCKAGE
< DTC/CIRCUIT DIAGNOSIS > [BSW]
C1B55 RADAR BLOCKAGE
A
DTC Logic INFOID:0000000012172671

DTC DETECTION LOGIC B

DTC No. Trouble diagnosis name DTC detecting condition Possible cause
C
Stain or foreign materials is deposit-
C1B55 RADAR BLOCKAGE Side radar is blocked.
ed.
NOTE:
DTC “C1B55” may be detected under the following conditions except for possible cause. (Explain to the cus- D
tomer about the difference between the contamination detection function and the indication when the malfunc-
tion is detected and tell them “This is not malfunction”.)
• The side radar may be blocked by temporary ambient conditions such as splashing water, mist or fog. E
• The blocked condition may also be caused by objects such as ice, frost or dirt obstructing the side radar.
• Due to the nature of radar technology it is possible to get a blockage warning and not actually be blocked.
This is rare and is known as a false blockage warning. A false blocked condition either self-clears or clears
F
after an ignition cycle.
Diagnosis Procedure INFOID:0000000012172672

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G
1.CHECK THE REAR BUMPER
Check rear bumper near the side radar contaminated with foreign materials.
H
>> GO TO 2.
2.CHECK THE SIDE RADAR I
Check side radar and the side radar outskirts contaminated with foreign materials.

>> GO TO 3. J
3.CHECK THE SIDE RADAR INSTALL CONDITION
Check side radar installation condition (installation position, properly tightened, a bent bracket). K

>> GO TO 4.
4.INTERVIEW L
1. Ask if there is stain or foreign materials.
2. Ask if there is any temporary ambient condition such as splashing water, mist or fog.
3. Ask if there is any object such as ice, frost or dirt obstructing the side radar. M
Is any of above conditions seen?
YES >> Explain to the customer about the difference between the blockage detection function and the
indication when the malfunction is detected and tell them “This is not malfunction”. N
NO >> INSPECTION END

DAS

Revision: July 2016 DAS-403 2016 QX50

 U1000 CAN COMM CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [BSW]
U1000 CAN COMM CIRCUIT
SIDE RADAR LH
SIDE RADAR LH : Description INFOID:0000000012172673

CAN COMMUNICATION
CAN (Controller Area Network) is a serial communication line for real time applications. It is an on-vehicle mul-
tiplex communication line with high data communication speed and excellent error detection ability. Modern
vehicle is equipped with many electronic control units, and each control unit shares information and links with
other control units during operation (not independent). In CAN communication, control units are connected
with 2 communication lines (CAN-H, CAN-L) allowing a high rate of information transmission with less wiring.
Each control unit transmits/receives data but selectively reads the required data only.
CAN communication signal chart. Refer to LAN-28, "CAN Communication Signal Chart".
BSW COMMUNICATION
• BSW communication is a multiplex communication system. This enables the system to transmit and receive
large quantities of data at high speed by connecting control units with 2 communication lines.
• BSW communication lines adopt twisted-pair line style (two lines twisted) for noise immunity.
SIDE RADAR LH : DTC Logic INFOID:0000000012172674

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DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition Possible causes

If side radar LH is not transmitting or receiving
U1000 CAN COMM CIRCUIT BSW communication system
BSW communication signal for 2 seconds or more

SIDE RADAR LH : Diagnosis Procedure INFOID:0000000012172675

1.PERFORM THE SELF-DIAGNOSIS

1. Start the engine.
2. Turn the BSW system ON, and then wait for 2 seconds or more.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “U1000” is detected as the current malfunction in “Self Diagnostic Result” of “SIDE RADAR
LEFT”.
Is “U1000” detected as the current malfunction?
YES >> Refer to LAN-18, "Trouble Diagnosis Flow Chart".
NO >> Refer to GI-42, "Intermittent Incident".
SIDE RADAR RH
SIDE RADAR RH : Description INFOID:0000000012172676

CAN COMMUNICATION
CAN (Controller Area Network) is a serial communication line for real time applications. It is an on-vehicle mul-
tiplex communication line with high data communication speed and excellent error detection ability. Modern
vehicle is equipped with many electronic control units, and each control unit shares information and links with
other control units during operation (not independent). In CAN communication, control units are connected
with 2 communication lines (CAN-H, CAN-L) allowing a high rate of information transmission with less wiring.
Each control unit transmits/receives data but selectively reads the required data only.
CAN communication signal chart. Refer to LAN-28, "CAN Communication Signal Chart".
BSW COMMUNICATION
• BSW communication is a multiplex communication system. This enables the system to transmit and receive
large quantities of data at high speed by connecting control units with 2 communication lines.
• BSW communication lines adopt twisted-pair line style (two lines twisted) for noise immunity.

Revision: July 2016 DAS-404 2016 QX50

 U1000 CAN COMM CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [BSW]
SIDE RADAR RH : DTC Logic INFOID:0000000012172677

A
DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition Possible causes B

If Side radar RH is not transmitting or receiving
U1000 CAN COMM CIRCUIT BSW communication system
BSW communication signal for 2 seconds or more
C
SIDE RADAR RH : Diagnosis Procedure INFOID:0000000012172678

1.PERFORM THE SELF-DIAGNOSIS D

1. Start the engine.
2. Turn the BSW system ON, and then wait for 2 seconds or more.
3. Perform “All DTC Reading” with CONSULT. E
4. Check if the “U1000” is detected as the current malfunction in “Self Diagnostic Result” of “SIDE RADAR
RIGHT”.
Is “U1000” detected as the current malfunction?
F
YES >> Refer to LAN-18, "Trouble Diagnosis Flow Chart".
NO >> Refer to GI-42, "Intermittent Incident".

cardiagn.com
BSW CONTROL MODULE G
BSW CONTROL MODULE : Description INFOID:0000000012172679

CAN COMMUNICATION H
CAN (Controller Area Network) is a serial communication line for real time applications. It is an on-vehicle mul-
tiplex communication line with high data communication speed and excellent error detection ability. Modern
vehicle is equipped with many electronic control units, and each control unit shares information and links with I
other control units during operation (not independent). In CAN communication, control units are connected
with 2 communication lines (CAN-H, CAN-L) allowing a high rate of information transmission with less wiring.
Each control unit transmits/receives data but selectively reads the required data only. J
CAN communication signal chart. Refer to LAN-28, "CAN Communication Signal Chart".
BSW COMMUNICATION
• BSW communication is a multiplex communication system. This enables the system to transmit and receive K
large quantities of data at high speed by connecting control units with 2 communication lines.
• BSW communication lines adopt twisted-pair line style (two lines twisted) for noise immunity.
BSW CONTROL MODULE : DTC Logic INFOID:0000000012172680 L

DTC DETECTION LOGIC

M
DTC Trouble diagnosis name DTC detecting condition Possible causes
If BSW control module is not transmitting or re-
• CAN communication system
U1000 CAN COMM CIRCUIT ceiving CAN communication signal or BSW com-
• BSW communication system
N
munication signal for 2 seconds or more
NOTE:
If “U1000” is detected, first diagnose the CAN communication system. DAS
BSW CONTROL MODULE : Diagnosis Procedure INFOID:0000000012172681

1.PERFORM THE SELF-DIAGNOSIS P

1. Turn the ignition switch ON.

2. Turn the BSW system ON, and then wait for 2 seconds or more.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “U1000” is detected as the current malfunction in “Self Diagnostic Result” of “BSW”.
Is “U1000” detected as the current malfunction?
YES >> Refer to LAN-18, "Trouble Diagnosis Flow Chart".

Revision: July 2016 DAS-405 2016 QX50

 U1000 CAN COMM CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [BSW]
NO >> Refer to GI-42, "Intermittent Incident".

cardiagn.com

Revision: July 2016 DAS-406 2016 QX50

 U1010 CONTROL UNIT (CAN)
< DTC/CIRCUIT DIAGNOSIS > [BSW]
U1010 CONTROL UNIT (CAN)
A
SIDE RADAR LH
SIDE RADAR LH : Description INFOID:0000000012172682
B
CAN controller controls the communication of BSW communication signal and the error detection.
SIDE RADAR LH : DTC Logic INFOID:0000000012172683
C
DTC DETECTION LOGIC
D
DTC Trouble diagnosis name DTC detecting condition Possible cause
If side radar LH detects malfunction by CAN controller initial
U1010 CONTROL UNIT (CAN) Side radar LH
diagnosis.
E
SIDE RADAR LH : Diagnosis Procedure INFOID:0000000012172684

1.CHECK SELF-DIAGNOSIS RESULT F

1. Turn the BSW system ON.

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2. Perform “All DTC Reading” with CONSULT.
3. Check if the “U1010” is detected as the current malfunction in “Self Diagnostic Result” of “SIDE RADAR G
LEFT”.
Is “U1010” detected as the current malfunction?
H
YES >> Replace the side radar LH. DAS-437, "Removal and Installation".
NO >> INSPECTION END
SIDE RADAR RH
I
SIDE RADAR RH : Description INFOID:0000000012172685

CAN controller controls the communication of BSW communication signal and the error detection. J
SIDE RADAR RH : DTC Logic INFOID:0000000012172686

DTC DETECTION LOGIC K

DTC Trouble diagnosis name DTC detecting condition Possible cause

L
If Side radar RH detects malfunction by CAN controller initial
U1010 CONTROL UNIT (CAN) Side radar RH
diagnosis.

SIDE RADAR RH : Diagnosis Procedure INFOID:0000000012172687 M

1.CHECK SELF-DIAGNOSIS RESULT

N
1. Turn the BSW system ON.
2. Perform “All DTC Reading” with CONSULT.
3. Check if the “U1010” is detected as the current malfunction in “Self Diagnostic Result” of “SIDE RADAR
RIGHT”. DAS
Is “U1010” detected as the current malfunction?
YES >> Replace the side radar RH. DAS-437, "Removal and Installation".
NO >> INSPECTION END P
BSW CONTROL MODULE
BSW CONTROL MODULE : Description INFOID:0000000012172688

CAN controller controls the communication of CAN communication signal and BSW communication signal,
and the error detection.

Revision: July 2016 DAS-407 2016 QX50

 U1010 CONTROL UNIT (CAN)
< DTC/CIRCUIT DIAGNOSIS > [BSW]
BSW CONTROL MODULE : DTC Logic INFOID:0000000012172689

DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition Possible causes

If BSW control module detects malfunction by
U1010 CONTROL UNIT (CAN) BSW control module
CAN controller initial diagnosis

BSW CONTROL MODULE : Diagnosis Procedure INFOID:0000000012172690

1.PERFORM DTC CONFIRMATION PROCEDURE

1. Turn the BSW system ON.
2. Perform “All DTC Reading” with CONSULT.
3. Check if the “U1010” is detected as the current malfunction in “Self Diagnostic Result” of “BSW”.
Is “U1010” detected as the current malfunction?
YES >> Replace the BSW control module. Refer to DAS-436, "Removal and Installation".
NO >> INSPECTION END

cardiagn.com

Revision: July 2016 DAS-408 2016 QX50

 U0104 ADAS CAN 1
< DTC/CIRCUIT DIAGNOSIS > [BSW]
U0104 ADAS CAN 1
A
DTC Logic INFOID:0000000012172691

DTC DETECTION LOGIC B

DTC Trouble diagnosis name DTC detecting condition Possible cause

C
Side radar detected an error of BSW communication signal
U0104 ADAS CAN CIR1 BSW control module
that was received from BSW control module.
NOTE:
If DTC “U0104” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-404, D
"SIDE RADAR LH : DTC Logic" (SIDE RADAR LEFT), DAS-405, "SIDE RADAR RH : DTC Logic" (SIDE
RADAR RIGHT).
E
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine. F
2. Turn the BSW system ON.
3. Perform “All DTC Reading” with CONSULT.

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4. Check if the U0104 is detected as the current malfunction in “Self Diagnostic Result” of “SIDE RADAR G
RIGHT/LEFT”.
Is the DTC “U0104” detected?
YES >> Refer to DAS-409, "Diagnosis Procedure". H
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172692

I
1.CHECK SELF-DIAGNOSIS RESULTS
Check if “U1000” is detected other than “U0104” in “Self Diagnostic Result” of “SIDE RADAR RIGHT/LEFT”.
J
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to DAS-404, "SIDE RADAR LH : DTC Logic" (SIDE RADAR LEFT), DAS-405, "SIDE
RADAR RH : DTC Logic" (SIDE RADAR RIGHT). K
NO >> GO TO 2.
2.CHECK BSW CONTROL MODULE SELF-DIAGNOSIS RESULTS L
Check if any DTC is detected in “Self Diagnostic Result” of “BSW”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to M
DAS-371, "DTC Index".
NO >> Replace side radar LH or RH. Refer to DAS-437, "Removal and Installation"
N

DAS

Revision: July 2016 DAS-409 2016 QX50

 U0121 VDC CAN 2
< DTC/CIRCUIT DIAGNOSIS > [BSW]
U0121 VDC CAN 2
DTC Logic INFOID:0000000012172693

DTC DETECTION LOGIC

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
If BSW control module detects an error signal
U0121 ABS actuator and electric unit (control
VDC CAN CIR2 that is received from ABS actuator and electric
(127) unit)
unit (control unit) via CAN communication
NOTE:
If DTC “U0121” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-405,
"BSW CONTROL MODULE : DTC Logic".
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the BSW system ON.

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3. Perform “All DTC Reading” with CONSULT.
4. Check if the “U0121” is detected as the current malfunction in “Self Diagnostic Result” of “BSW”.
Is “U0121” detected as the current malfunction?
YES >> Refer to DAS-410, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172694

1.CHECK SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “U0121” in “Self Diagnostic Result” of “BSW”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to DAS-405, "BSW CONTROL MODULE : DTC Logic".
NO >> GO TO 2.
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ABS”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
BRC-143, "DTC No. Index".
NO >> Replace the BSW control module. Refer to DAS-436, "Removal and Installation".

Revision: July 2016 DAS-410 2016 QX50

 U0401 ECM CAN 1
< DTC/CIRCUIT DIAGNOSIS > [BSW]
U0401 ECM CAN 1
A
DTC Logic INFOID:0000000012172695

DTC DETECTION LOGIC B

DTC
(On board Trouble diagnosis name DTC detecting condition Possible causes C
display)
If BSW control module detects an error signal
U0401
ECM CAN CIR1 that is received from ECM via CAN communi- ECM
(120) D
cation
NOTE:
If DTC “U0401” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-405,
"BSW CONTROL MODULE : DTC Logic". E

DTC CONFIRMATION PROCEDURE

1.PERFORM DTC CONFIRMATION PROCEDURE F
1. Start the engine.
2. Turn the BSW system ON.

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3. Perform “All DTC Reading” with CONSULT. G
4. Check if the “U0401” is detected as the current malfunction in “Self Diagnostic Result” of “BSW”.
Is “U0401” detected as the current malfunction?
YES >> Refer to DAS-411, "Diagnosis Procedure". H
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172696
I
1.CHECK SELF-DIAGNOSIS RESULTS
Check if “U1000” is detected other than “U0401” in “Self Diagnostic Result” of “BSW”. J
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to DAS-405, "BSW CONTROL MODULE : DTC Logic". K
NO >> GO TO 2.
2.CHECK ECM SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ENGINE”. L
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
EC-580, "DTC Index". M
NO >> Replace the BSW control module. Refer to DAS-436, "Removal and Installation".

DAS

Revision: July 2016 DAS-411 2016 QX50

 U0402 TCM CAN 1
< DTC/CIRCUIT DIAGNOSIS > [BSW]
U0402 TCM CAN 1
DTC Logic INFOID:0000000012172697

DTC DETECTION LOGIC

DTC
Trouble diagnosis
(On board dis- DTC detecting condition Possible causes
name
play)
If BSW control module detects an error signal
U0402
TCM CAN CIRC1 that is received from TCM via CAN communi- TCM
(122)
cation
NOTE:
If DTC “U0402” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-405,
"BSW CONTROL MODULE : DTC Logic".
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the BSW system ON.

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3. Perform “All DTC Reading” with CONSULT.
4. Check if the “U0402” is detected as the current malfunction in “Self Diagnostic Result” of “BSW”.
Is “U0402” detected as the current malfunction?
YES >> Refer to DAS-412, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172698

1.CHECK SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “U0402” in “Self Diagnostic Result” of “BSW”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to DAS-405, "BSW CONTROL MODULE : DTC Logic".
NO >> GO TO 2.
2.CHECK TCM SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “TRANSMISSION”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
TM-157, "DTC Index".
NO >> Replace the BSW control module. Refer to DAS-436, "Removal and Installation".

Revision: July 2016 DAS-412 2016 QX50

 U0405 ADAS CAN 2
< DTC/CIRCUIT DIAGNOSIS > [BSW]
U0405 ADAS CAN 2
A
DTC Logic INFOID:0000000012172699

DTC DETECTION LOGIC B

DTC Trouble diagnosis name DTC detecting condition Possible cause

C
Side radar detected an error of BSW communication sig-
U0405 ADAS CAN CIR2 BSW control module
nal that was received from BSW control module.
NOTE:
If DTC “U0405” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-404, D
"SIDE RADAR LH : DTC Logic" (SIDE RADAR LEFT), DAS-404, "SIDE RADAR LH : DTC Logic" (SIDE
RADAR RIGHT).
E
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine. F
2. Turn the BSW system ON.
3. Perform “All DTC Reading” with CONSULT.

cardiagn.com
4. Check if the U0405 is detected as the current malfunction in “Self Diagnostic Result” of “SIDE RADAR G
RIGHT/LEFT”.
Is the DTC “U0405” detected?
YES >> Refer to DAS-413, "Diagnosis Procedure". H
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172700

I
1.CHECK SELF-DIAGNOSIS RESULTS
Check if “U1000” is detected other than “U0405” in “Self Diagnostic Result” of “SIDE RADAR RIGHT/LEFT”.
J
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to DAS-404, "SIDE RADAR LH : DTC Logic" (SIDE RADAR LEFT), DAS-405, "SIDE
RADAR RH : DTC Logic" (SIDE RADAR RIGHT). K
NO >> GO TO 2.
2.CHECK BSW CONTROL MODULE SELF-DIAGNOSIS RESULTS L
Check if any DTC is detected in “Self Diagnostic Result” of “BSW”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to M
DAS-371, "DTC Index".
NO >> Replace side radar LH or RH. Refer to DAS-437, "Removal and Installation".
N

DAS

Revision: July 2016 DAS-413 2016 QX50

 U0415 VDC CAN 1
< DTC/CIRCUIT DIAGNOSIS > [BSW]
U0415 VDC CAN 1
DTC Logic INFOID:0000000012172701

DTC DETECTION LOGIC

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
If BSW control module detects an error signal
U0415 ABS actuator and electric unit (control
VDC CAN CIR1 that is received from ABS actuator and electric
(126) unit)
unit (control unit) via CAN communication
NOTE:
If DTC “U0415” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-405,
"BSW CONTROL MODULE : DTC Logic".
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the BSW system ON.

cardiagn.com
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “U0415” is detected as the current malfunction in “Self Diagnostic Result” of “BSW”.
Is “U0415” detected as the current malfunction?
YES >> Refer to DAS-414, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172702

1.CHECK SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “U0415” in “Self Diagnostic Result” of “BSW”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to DAS-405, "BSW CONTROL MODULE : DTC Logic".
NO >> GO TO 2.
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ABS”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
BRC-143, "DTC No. Index".
NO >> Replace the BSW control module. Refer to DAS-436, "Removal and Installation".

Revision: July 2016 DAS-414 2016 QX50

 U150B ECM CAN 3
< DTC/CIRCUIT DIAGNOSIS > [BSW]
U150B ECM CAN 3
A
DTC Logic INFOID:0000000012172703

DTC DETECTION LOGIC B

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes C
play)
BSW control module detects an error signal
U150B
ECM CAN CIRC 3 that is received from ECM via CAN communi- ECM
(157) D
cation
NOTE:
If DTC “U150B” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-405,
"BSW CONTROL MODULE : DTC Logic". E

DTC CONFIRMATION PROCEDURE

1.PERFORM DTC CONFIRMATION PROCEDURE F
1. Start the engine.
2. Turn the BSW system ON.

cardiagn.com
3. Perform “All DTC Reading” with CONSULT. G
4. Check if the “U150B” is detected as the current malfunction in “Self Diagnostic Result” of “BSW”.
Is “U150B” detected as the current malfunction?
YES >> Refer to DAS-415, "Diagnosis Procedure". H
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172704
I
1.CHECK SELF-DIAGNOSIS RESULTS
Check if “U1000” is detected other than “U150B” in “Self Diagnostic Result” of “BSW”. J
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to DAS-405, "BSW CONTROL MODULE : DTC Logic". K
NO >> GO TO 2.
2.CHECK ECM SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ENGINE”. L
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
EC-580, "DTC Index". M
NO >> Replace the BSW control module. Refer to DAS-436, "Removal and Installation".

DAS

Revision: July 2016 DAS-415 2016 QX50

 U150C VDC CAN 3
< DTC/CIRCUIT DIAGNOSIS > [BSW]
U150C VDC CAN 3
DTC Logic INFOID:0000000012172705

DTC DETECTION LOGIC

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
BSW control module detects an error signal
U150C ABS actuator and electric unit (control
VDC CAN CIRC 3 that is received from ABS actuator and electric
(158) unit)
unit (control unit) via CAN communication
NOTE:
If DTC “U150C” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-405,
"BSW CONTROL MODULE : DTC Logic".
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the BSW system ON.

cardiagn.com
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “U150C” is detected as the current malfunction in “Self Diagnostic Result” of “BSW”.
Is “U150C” detected as the current malfunction?
YES >> Refer to DAS-416, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172706

1.CHECK SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “U150C” in “Self Diagnostic Result” of “BSW”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to DAS-405, "BSW CONTROL MODULE : DTC Logic".
NO >> GO TO 2.
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ABS”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
BRC-143, "DTC No. Index".
NO >> Replace the BSW control module. Refer to DAS-436, "Removal and Installation".

Revision: July 2016 DAS-416 2016 QX50

 U150D TCM CAN 3
< DTC/CIRCUIT DIAGNOSIS > [BSW]
U150D TCM CAN 3
A
DTC Logic INFOID:0000000012172707

DTC DETECTION LOGIC B

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes C
play)
BSW control module detects an error signal
U150D
TCM CAN CIRC 3 that is received from TCM via CAN communi- TCM
(159) D
cation
NOTE:
If DTC “U150D” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-405,
"BSW CONTROL MODULE : DTC Logic". E

DTC CONFIRMATION PROCEDURE

1.PERFORM DTC CONFIRMATION PROCEDURE F
1. Start the engine.
2. Turn the BSW system ON.

cardiagn.com
3. Perform “All DTC Reading” with CONSULT. G
4. Check if the “U150D” is detected as the current malfunction in “Self Diagnostic Result” of “BSW”.
Is “U150D” detected as the current malfunction?
YES >> Refer to DAS-417, "Diagnosis Procedure". H
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172708
I
1.CHECK SELF-DIAGNOSIS RESULTS
Check if “U1000” is detected other than “U150D” in “Self Diagnostic Result” of “BSW”. J
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to DAS-405, "BSW CONTROL MODULE : DTC Logic". K
NO >> GO TO 2.
2.CHECK TCM SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “TRANSMISSION”. L
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
TM-157, "DTC Index". M
NO >> Replace the BSW control module. Refer to DAS-436, "Removal and Installation".

DAS

Revision: July 2016 DAS-417 2016 QX50

 U150E BCM CAN 3
< DTC/CIRCUIT DIAGNOSIS > [BSW]
U150E BCM CAN 3
DTC Logic INFOID:0000000012172709

DTC DETECTION LOGIC

DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
BSW control module detects an error signal
U150E
BCM CAN CIRC 3 that is received from BCM via CAN communi- BCM
(160)
cation
NOTE:
If DTC “U150E” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-405,
"BSW CONTROL MODULE : DTC Logic".
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the BSW system ON.

cardiagn.com
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “U150E” is detected as the current malfunction in “Self Diagnostic Result” of “BSW”.
Is “U150E” detected as the current malfunction?
YES >> Refer to DAS-418, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172710

1.CHECK SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “U150E” in “Self Diagnostic Result” of “BSW”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to DAS-405, "BSW CONTROL MODULE : DTC Logic".
NO >> GO TO 2.
2.CHECK BCM SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “BCM”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
BCS-90, "DTC Index".
NO >> Replace the BSW control module. Refer to DAS-436, "Removal and Installation".

Revision: July 2016 DAS-418 2016 QX50

 U1503 SIDE RDR L CAN 2
< DTC/CIRCUIT DIAGNOSIS > [BSW]
U1503 SIDE RDR L CAN 2
A
DTC Logic INFOID:0000000012172711

DTC DETECTION LOGIC B

DTC Trouble diagnosis name DTC detecting condition Possible causes

BSW control module detects an error signal that is C
U1503 SIDE RDR L CAN CIR 2 Side radar LH
received from side radar LH via BSW communication
NOTE:
If DTC “U1503” is detected along with DTC “U1000”, or “U1508”, first diagnose the DTC “U1000” or “U1508”. D
• Refer to DAS-405, "BSW CONTROL MODULE : DTC Logic" for DTC “U1000”.
• Refer to DAS-424, "DTC Logic" for DTC “U1508”.
DTC CONFIRMATION PROCEDURE E

1.PERFORM DTC CONFIRMATION PROCEDURE

1. Start the engine. F
2. Turn the BSW system ON.
3. Perform “All DTC Reading” with CONSULT.

cardiagn.com
4. Check if the “U1503” is detected as the current malfunction in “Self Diagnostic Result” of “BSW”.
G
Is “U1503” detected as the current malfunction?
YES >> Refer to DAS-419, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
H
Diagnosis Procedure INFOID:0000000012172712

1.CHECK SELF-DIAGNOSIS RESULTS I

Check if “U1000” or “U1508” is detected other than “U1503” in “Self Diagnostic Result” of “BSW”.
Is “U1000” or “U1508” detected?
J
YES-1 >> U1000 detected: Perform the CAN communication system inspection. Repair or replace the mal-
functioning parts. Refer to DAS-405, "BSW CONTROL MODULE : DTC Logic".
YES-2 >> U1508 detected: Refer to DAS-424, "DTC Logic".
NO >> GO TO 2. K
2.CHECK SIDE RADAR LH SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “SIDE RADAR LEFT”. L
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
DAS-374, "DTC Index". M
NO >> Replace the BSW control module. Refer to DAS-436, "Removal and Installation".

DAS

Revision: July 2016 DAS-419 2016 QX50

 U1504 SIDE RDR L CAN 1
< DTC/CIRCUIT DIAGNOSIS > [BSW]
U1504 SIDE RDR L CAN 1
DTC Logic INFOID:0000000012172713

DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition Possible causes

BSW control module detects an error signal that is
U1504 SIDE RDR L CAN CIR 1 Side radar LH
received from side radar LH via BSW communication
NOTE:
If DTC “U1504” is detected along with DTC “U1000”, or “U1508”, first diagnose the DTC “U1000” or “U1508”.
• Refer to DAS-404, "SIDE RADAR LH : DTC Logic" for DTC “U1000”.
• Refer to DAS-424, "DTC Logic" for DTC “U1508”.
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the BSW system ON.
3. Perform “All DTC Reading” with CONSULT.

cardiagn.com
4. Check if the “U1504” is detected as the current malfunction in “Self Diagnostic Result” of “BSW”.
Is “U1504” detected as the current malfunction?
YES >> Refer to DAS-420, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172714

1.CHECK SELF-DIAGNOSIS RESULTS

Check if “U1000” or “U1508” is detected other than “U1504” in “Self Diagnostic Result” of “BSW”.
Is “U1000” or “U1508” detected?
YES-1 >> U1000 detected: Perform the CAN communication system inspection. Repair or replace the mal-
functioning parts. Refer to DAS-405, "BSW CONTROL MODULE : DTC Logic".
YES-2 >> U1508 detected: Refer to DAS-424, "DTC Logic".
NO >> GO TO 2.
2.CHECK SIDE RADAR LH SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “SIDE RADAR LEFT”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
DAS-374, "DTC Index".
NO >> Replace the BSW control module. Refer to DAS-436, "Removal and Installation".

Revision: July 2016 DAS-420 2016 QX50

 U1505 SIDE RDR R CAN 2
< DTC/CIRCUIT DIAGNOSIS > [BSW]
U1505 SIDE RDR R CAN 2
A
DTC Logic INFOID:0000000012172715

DTC DETECTION LOGIC B

DTC Trouble diagnosis name DTC detecting condition Possible causes

BSW control module detects an error signal that is C
U1505 SIDE RDR R CAN CIR 2 received from side radar RH via BSW communica- Side radar RH
tion
NOTE: D
If DTC “U1505” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-405,
"BSW CONTROL MODULE : DTC Logic".
DTC CONFIRMATION PROCEDURE E
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine. F
2. Turn the BSW system ON.
3. Perform “All DTC Reading” with CONSULT.

cardiagn.com
4. Check if the “U1505” is detected as the current malfunction in “Self Diagnostic Result” of “BSW”.
G
Is “U1505” detected as the current malfunction?
YES >> Refer to DAS-421, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
H
Diagnosis Procedure INFOID:0000000012172716

1.CHECK SELF-DIAGNOSIS RESULTS I

Check if “U1000” is detected other than “U1505” in “Self Diagnostic Result” of “BSW”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts. J
Refer to DAS-405, "BSW CONTROL MODULE : DTC Logic".
NO >> GO TO 2.
2.CHECK SIDE RADAR RH SELF-DIAGNOSIS RESULTS K

Check if any DTC is detected in “Self Diagnostic Result” of “SIDE RADAR RIGHT”.
Is any DTC detected? L
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
DAS-376, "DTC Index".
NO >> Replace the BSW control module. Refer to DAS-436, "Removal and Installation".
M

DAS

Revision: July 2016 DAS-421 2016 QX50

 U1506 SIDE RDR R CAN 1
< DTC/CIRCUIT DIAGNOSIS > [BSW]
U1506 SIDE RDR R CAN 1
DTC Logic INFOID:0000000012172717

DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition Possible causes

BSW control module detects an error signal that is
U1506 SIDE RDR R CAN CIR 1 received from side radar RH via BSW communica- Side radar RH
tion
NOTE:
If DTC “U1506” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-405,
"BSW CONTROL MODULE : DTC Logic".
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the BSW system ON.
3. Perform “All DTC Reading” with CONSULT.

cardiagn.com
4. Check if the “U1506” is detected as the current malfunction in “Self Diagnostic Result” of “BSW”.
Is “U1506” detected as the current malfunction?
YES >> Refer to DAS-422, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172718

1.CHECK SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “U1506” in “Self Diagnostic Result” of “BSW”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to DAS-405, "BSW CONTROL MODULE : DTC Logic".
NO >> GO TO 2.
2.CHECK SIDE RADAR RH SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “SIDE RADAR RIGHT”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
DAS-376, "DTC Index".
NO >> Replace the BSW control module. Refer to DAS-436, "Removal and Installation".

Revision: July 2016 DAS-422 2016 QX50

 U1507 LOST COMM(SIDE RDR R)
< DTC/CIRCUIT DIAGNOSIS > [BSW]
U1507 LOST COMM(SIDE RDR R)
A
DTC Logic INFOID:0000000012172719

DTC DETECTION LOGIC B

DTC Trouble diagnosis name DTC detecting condition Possible causes

BSW control module cannot receive BSW C
LOST COMM(SIDE • BSW communication system
U1507 communication signal from side radar RH for 2
RDR R) • Side radar RH
seconds or more
NOTE: D
If DTC “U1507” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-405,
"BSW CONTROL MODULE : DTC Logic"
DTC CONFIRMATION PROCEDURE E
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine. F
2. Turn the BSW system ON.
3. Perform “All DTC Reading” with CONSULT.

cardiagn.com
4. Check if the “U1507” is detected as the current malfunction in “Self Diagnostic Result” of “BSW”.
G
Is “U1507” detected as the current malfunction?
YES >> Refer to DAS-423, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
H
Diagnosis Procedure INFOID:0000000012172720

1.CHECK SELF-DIAGNOSIS RESULTS I

Check if “U1000” is detected other than “U1507” in “Self Diagnostic Result” of “BSW”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts. J
Refer to DAS-405, "BSW CONTROL MODULE : DTC Logic".
NO >> GO TO 2.
2.CHECK SIDE RADAR RH SELF-DIAGNOSIS RESULTS K

Check if any DTC is detected in “Self Diagnostic Result” of “SIDE RADAR RIGHT”.
Is any DTC detected? L
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
DAS-376, "DTC Index".
NO >> Replace the BSW control module. Refer to DAS-436, "Removal and Installation".
M

DAS

Revision: July 2016 DAS-423 2016 QX50

 U1508 LOST COMM(SIDE RDR L)
< DTC/CIRCUIT DIAGNOSIS > [BSW]
U1508 LOST COMM(SIDE RDR L)
DTC Logic INFOID:0000000012172721

DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition Possible causes

BSW control module cannot receive BSW • Side radar LH harness connector
LOST COMM(SIDE
U1508 communication signal from side radar LH for 2 • BSW communication system
RDR L)
seconds or more • Side radar LH
NOTE:
DTC “U1508” is detected along with DTC “U1000”, first diagnose the DTC “U1508”.
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the BSW system ON.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “U1508” is detected as the current malfunction in “Self Diagnostic Result” of “BSW”.

cardiagn.com
Is “U1508” detected as the current malfunction?
YES >> Refer to DAS-424, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172722

1.CHECK SIDE RADAR HARNESS CONNECTOR

1. Turn the ignition switch OFF.
2. Check the terminals and connectors of the side radar LH for damage, bend and short (unit side and con-
nector side).
Is the inspection result normal?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to LAN-18, "Trouble Diagnosis Flow Chart".
NO >> Repair the terminal or connector.

Revision: July 2016 DAS-424 2016 QX50

 U1518 SIDE RDR L CAN 3
< DTC/CIRCUIT DIAGNOSIS > [BSW]
U1518 SIDE RDR L CAN 3
A
DTC Logic INFOID:0000000012172723

DTC DETECTION LOGIC B

DTC Trouble diagnosis name DTC detecting condition Possible causes

BSW control module detects an error signal that is C
U1518 SIDE RDR L CAN CIRC 3 Side radar LH
received from side radar LH via BSW communication
NOTE:
If DTC “U1518” is detected along with DTC “U1000”, or “U1508”, first diagnose the DTC “U1000” or “U1508”. D
• Refer to DAS-405, "BSW CONTROL MODULE : DTC Logic" for DTC “U1000”.
• Refer to DAS-424, "DTC Logic" for DTC “U1508”.
DTC CONFIRMATION PROCEDURE E

1.PERFORM DTC CONFIRMATION PROCEDURE

1. Start the engine. F
2. Turn the BSW system ON.
3. Perform “All DTC Reading” with CONSULT.

cardiagn.com
4. Check if the “U1518” is detected as the current malfunction in “Self Diagnostic Result” of “BSW”.
G
Is “U1518” detected as the current malfunction?
YES >> Refer to DAS-425, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
H
Diagnosis Procedure INFOID:0000000012172724

1.CHECK SELF-DIAGNOSIS RESULTS I

Check if “U1000” or “U1508” is detected other than “U1518” in “Self Diagnostic Result” of “BSW”.
Is “U1000” or “U1508” detected?
J
YES-1 >> U1000 detected: Perform the CAN communication system inspection. Repair or replace the mal-
functioning parts. Refer to DAS-405, "BSW CONTROL MODULE : DTC Logic".
YES-2 >> U1508 detected: Refer to DAS-424, "DTC Logic".
NO >> GO TO 2. K
2.CHECK SIDE RADAR LH SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “SIDE RADAR LEFT”. L
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
DAS-374, "DTC Index". M
NO >> Replace the BSW control module. Refer to DAS-436, "Removal and Installation".

DAS

Revision: July 2016 DAS-425 2016 QX50

 U1519 SIDE RDR R CAN 3
< DTC/CIRCUIT DIAGNOSIS > [BSW]
U1519 SIDE RDR R CAN 3
DTC Logic INFOID:0000000012172725

DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition Possible causes

BSW control module detects an error signal that is
U1519 SIDE RDR R CAN CIRC 3 received from side radar RH via BSW communica- Side radar RH
tion
NOTE:
If DTC “U1519” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-405,
"BSW CONTROL MODULE : DTC Logic".
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the BSW system ON.
3. Perform “All DTC Reading” with CONSULT.

cardiagn.com
4. Check if the “U1519” is detected as the current malfunction in “Self Diagnostic Result” of “BSW”.
Is “U1519” detected as the current malfunction?
YES >> Refer to DAS-426, "Diagnosis Procedure".
NO >> Refer to GI-42, "Intermittent Incident".
Diagnosis Procedure INFOID:0000000012172726

1.CHECK SELF-DIAGNOSIS RESULTS

Check if “U1000” is detected other than “U1519” in “Self Diagnostic Result” of “BSW”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to DAS-405, "BSW CONTROL MODULE : DTC Logic".
NO >> GO TO 2.
2.CHECK SIDE RADAR RH SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “SIDE RADAR RIGHT”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
DAS-376, "DTC Index".
NO >> Replace the BSW control module. Refer to DAS-436, "Removal and Installation".

Revision: July 2016 DAS-426 2016 QX50

 POWER SUPPLY AND GROUND CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [BSW]
POWER SUPPLY AND GROUND CIRCUIT
A
BSW CONTROL MODULE
BSW CONTROL MODULE : Diagnosis Procedure INFOID:0000000012172727
B
1.CHECK FUSES
Check if any of the following fuses are blown:
C
Signal name Fuse No.
Ignition power supply 45
D
Is the inspection result normal?
YES >> GO TO 2.
NO >> Replace the blown fuse after repairing the affected circuit if a fuse is blown. E
2.CHECK BSW CONTROL MODULE POWER SUPPLY CIRCUIT
Check voltage between BSW control module harness connector and ground.
F
Terminal
Condition

cardiagn.com
(+) (–) Voltage G
BSW control module (Approx.)
Ignition
Connector Terminal switch
Ground OFF 0V H
B50 16 Battery volt-
ON
age
Is the inspection result normal? I
YES >> GO TO 3.
NO >> Repair the BSW control module power supply circuit.
J
3.CHECK BSW CONTROL MODULE GROUND CIRCUIT
1. Turn the ignition switch OFF.
2. Disconnect the BSW control module connector. K
3. Check for continuity between BSW control module harness connector and ground.

BSW control module L

Continuity
Connector Terminal Ground
B50 6 Existed
M
Is the inspection result normal?
YES >> INSPECTION END
NO >> Repair the BSW control module ground circuit.
N
SIDE RADAR LH
SIDE RADAR LH : Diagnosis Procedure INFOID:0000000012172728

DAS
1.CHECK FUSES
Check if any of the following fuses are blown:
P
Signal name Fuse No.
Ignition power supply 45
Is the inspection result normal?
YES >> GO TO 2.
NO >> Replace the blown fuse after repairing the affected circuit if a fuse is blown.

Revision: July 2016 DAS-427 2016 QX50

 POWER SUPPLY AND GROUND CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [BSW]

2.CHECK POWER SUPPLY CIRCUIT

1. Turn ignition switch OFF.
2. Disconnect the side radar LH connector.
3. Check voltage between side radar LH harness connector and ground.

Terminals
Condition
(+) (−) Voltage
Side radar LH (Approx.)
Ignition switch
Connector Terminal
Ground
OFF 0V
B105 5
ON Battery voltage
Is the inspection result normal?
YES >> GO TO 3.
NO >> Repair the side radar LH power supply circuit.
3.CHECK GROUND CIRCUIT
Check continuity between side radar LH harness connectors and ground.

cardiagn.com
Side radar LH
Continuity
Connector Terminal Ground
B105 2 Existed
Is the inspection result normal?
YES >> INSPECTION END
NO >> Repair the side radar LH ground circuit.
SIDE RADAR RH
SIDE RADAR RH : Diagnosis Procedure INFOID:0000000012172729

1.CHECK FUSES
Check if any of the following fuses are blown:

Signal name Fuse No.

Ignition power supply 45
Is the inspection result normal?
YES >> GO TO 2.
NO >> Replace the blown fuse after repairing the affected circuit if a fuse is blown.
2.CHECK POWER SUPPLY CIRCUIT
1. Turn ignition switch OFF.
2. Disconnect the side radar RH connector.
3. Check voltage between side radar RH harness connector and ground.

Terminals
Condition
(+) (−) Voltage
Side radar RH (Approx.)
Ignition switch
Connector Terminal
Ground
OFF 0V
B107 5
ON Battery voltage
Is the inspection result normal?
YES >> GO TO 3.
NO >> Repair the side radar RH power supply circuit.
Revision: July 2016 DAS-428 2016 QX50
 POWER SUPPLY AND GROUND CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [BSW]

3.CHECK GROUND CIRCUIT A

Check continuity between side radar RH harness connectors and ground.

Side radar RH B
Continuity
Connector Terminal Ground
B107 2 Existed
C
Is the inspection result normal?
YES >> INSPECTION END
NO >> Repair the side radar RH ground circuit.
D

cardiagn.com
G

DAS

Revision: July 2016 DAS-429 2016 QX50

 WARNING SYSTEMS SWITCH CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [BSW]
WARNING SYSTEMS SWITCH CIRCUIT
Component Function Check INFOID:0000000012172730

1.CHECK WARNING SYSTEMS SWITCH SIGNAL BY CONSULT

CONSULT DATA MONITOR
1. Turn the ignition switch ON.
2. Select “LDW SW” of “LANE CAMERA” data monitor item.
3. With operating the warning systems switch, check the monitor status.

Monitor item Condition Monitor status

Warning sys-
LDW SW Pressed ⇔ Released On ⇔ Off
tems switch
Is the item status normal?
YES >> Warning systems switch circuit is normal.
NO >> Refer to DAS-430, "Diagnosis Procedure".
Diagnosis Procedure INFOID:0000000012172731

1.CHECK WARNING SYSTEMS SWITCH SIGNAL INPUT

cardiagn.com
1. Turn the ignition switch ON.
2. With operating the warning systems switch, check the voltage between the lane camera unit harness con-
nector and the ground.

Terminals
Condition
(+) (−)
Voltage
Lane camera unit Warning (Approx.)
systems
Connector Terminal switch
Ground
Pressed 0V
R10 3
Released 5V
Is the measurement value normal?
YES >> Replace the lane camera unit.
NO >> GO TO 2.
2.CHECK WARNING SYSTEMS SWITCH
1. Turn ignition switch OFF.
2. Remove warning systems switch.
3. Check warning systems switch. Refer to DAS-431, "Component Inspection".
Is the warning systems switch normal?
YES >> GO TO 3.
NO >> Replace warning systems switch.
3.CHECK WARNING SYSTEMS SWITCH GROUND CIRCUIT
Check continuity between warning systems switch harness connector and the ground.

Warning systems switch

Continuity
Connector Terminal Ground
M29 6 Existed
Does continuity exist?
YES >> GO TO 4.
NO >> Repair harness or connector.
4.CHECK WARNING SYSTEMS SWITCH SIGNAL INPUT CIRCUIT FOR OPEN
Revision: July 2016 DAS-430 2016 QX50
 WARNING SYSTEMS SWITCH CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [BSW]
1. Disconnect the lane camera unit connector.
2. Check continuity between the lane camera unit harness connector and warning systems switch harness A
connector.

Lane camera unit Warning systems switch B

Continuity
Connector Terminal Connector Terminal
R10 3 M29 7 Existed
C
Does continuity exist?
YES >> GO TO 5.
NO >> Repair the harnesses or connectors.
D
5.CHECK WARNING SYSTEMS SWITCH SIGNAL INPUT CIRCUIT FOR SHORT
Check continuity between the lane camera unit harness connector and ground.
E
Lane camera unit
Continuity
Connector Terminal Ground
F
R10 3 Not existed
Does continuity exist?

cardiagn.com
YES >> Repair the harnesses or connectors. G
NO >> Replace the lane camera unit.
Component Inspection INFOID:0000000012172732
H
1.CHECK WARNING SYSTEMS SWITCH
Check continuity of warning systems switch.
I

Warning systems switch Condition

Warning sys- Continuity
Terminal J
tems switch
Pressed Existed
6 7
Released Not existed K
Is the check result normal?
YES >> Warning systems switch is normal.
NO >> Replace warning systems switch. L

DAS

Revision: July 2016 DAS-431 2016 QX50

 WARNING SYSTEMS ON INDICATOR CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [BSW]
WARNING SYSTEMS ON INDICATOR CIRCUIT
Component Function Check INFOID:0000000012172733

1.CHECK WARNING SYSTEMS ON INDICATOR BY CONSULT

CONSULT ACTIVE TEST
1. Turn the ignition switch ON.
2. Select “LDW ON IND” of “LANE CAMERA” active test item.
3. With operating the test item, check the operation.

On : Warning systems ON indicator illuminates.

Off : Warning systems ON indicator is turned OFF.
Does the warning systems ON indicator illuminate?
YES >> Warning systems ON indicator circuit is normal.
NO >> Refer to DAS-432, "Diagnosis Procedure".
Diagnosis Procedure INFOID:0000000012172734

1.CHECK WARNING SYSTEMS ON INDICATOR POWER SUPPLY CIRCUIT

cardiagn.com
1. Turn ignition switch OFF.
2. Disconnect warning systems switch connector.
3. Turn ignition switch ON.
4. Check voltage between warning systems switch harness connector and ground.

Terminals
(+) (−) Voltage
Warning systems switch (Approx.)

Connector Terminal Ground

M29 3 Battery voltage
Is the measurement value normal?
YES >> GO TO 2.
NO >> Check harness between fuse and warning systems switch.
2.CHECK WARNING SYSTEMS ON INDICATOR SIGNAL CIRCUIT FOR OPEN
1. Turn the ignition switch OFF.
2. Disconnect the lane camera unit harness connector.
3. Check continuity between the lane camera unit harness connector and warning systems switch harness
connector.

Lane camera unit Warning systems switch

Continuity
Connector Terminal Connector Terminal
R10 2 M29 2 Existed
Does continuity exist?
YES >> GO TO 3.
NO >> Repair the harnesses or connectors.
3.CHECK WARNING SYSTEMS ON INDICATOR SIGNAL CIRCUIT FOR SHORT
Check continuity between the lane camera unit harness connector and ground.

Lane camera unit

Continuity
Connector Terminal Ground
R10 2 Not existed

Revision: July 2016 DAS-432 2016 QX50

 WARNING SYSTEMS ON INDICATOR CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [BSW]
Does continuity exist?
YES >> Repair the harnesses or connectors. A
NO >> GO TO 4.
4.CHECK WARNING SYSTEMS ON INDICATOR
B
1. Connect warning systems switch connector.
2. Turn ignition switch ON.
3. Apply ground to warning systems switch terminal 2.
4. Check condition of the warning systems ON indicator. C
Does warning systems ON indicator illuminate?
YES >> Replace the lane camera unit.
NO >> Replace warning systems switch. D

cardiagn.com
G

DAS

Revision: July 2016 DAS-433 2016 QX50

 BSW SYSTEM SYMPTOMS
< SYMPTOM DIAGNOSIS > [BSW]

SYMPTOM DIAGNOSIS
BSW SYSTEM SYMPTOMS
Symptom Table INFOID:0000000012172735

CAUTION:
Perform the self-diagnosis with CONSULT before the symptom diagnosis. Perform the trouble diagno-
sis if any DTC is detected.
NOTE:
For the operational conditions of BSW, refer to DAS-359, "System Description".

Symptom Possible cause Inspection item/Reference page

• Power supply and ground cir-
cuit of BSW control module
Refer to DAS-427, "BSW
CONTROL MODULE : Diagno-
sis Procedure"
• BSW control module Active
• BSW warning lamp signal test “BSW/BSI WARNING
(CAN) LAMP”

cardiagn.com
- Combination meter Refer to DAS-366, "CONSULT
BSW warning lamp (Yellow)
- Unified meter and A/C amp. Function (BSW)".
does not illuminate
- BSW control module • BSW control module Data
• BSW warning lamp (combina- monitor “BSW/BSI WARN
tion meter) LMP”
Refer to DAS-366, "CONSULT
Indicator/warning lamps do not il- Function (BSW)"
luminate when ignition switch • Unified meter and A/C amp.
OFF ⇒ ON. Data monitor “BSW W/L”
Refer to MWI-39, "CONSULT
Function (METER/M&A)"
• Harness between lane cam-
Warning systems ON indicator
Warning systems ON indica- era unit and warning systems
circuit
tor (on the warning systems switch
Refer to DAS-432, "Diagnosis
switch) does not illuminate • Warning systems switch
Procedure"
• Lane camera unit
Perform self-diagnosis of side ra-
• Harness between side radar dar
BSW indicator does not turn and BSW indicator Refer to DAS-368, "CONSULT
ON • Side radar LH/RH Function (SIDE RADAR LEFT)"
• BSW indicator or DAS-369, "CONSULT Func-
tion (SIDE RADAR RIGHT)"
• Harness between lane cam-
era unit and waning systems
Warning systems ON indica- switch Warning systems ON indicator
tor is not turned ON ⇔ OFF • Harness between warning circuit
BSW system is not activated. when operating warning sys- systems switch and ground Refer to DAS-432, "Diagnosis
(Indicator/warning lamps illumi- tems switch • BSW control module Procedure"
nate when ignition switch OFF ⇒ • Lane camera unit
ON.) • Warning systems switch
• BSW control module Meter buzzer circuit
Buzzer is not sounding • Combination meter Refer to WCS-23, "Component
• Unified meter and A/C amp. Function Check"

Revision: July 2016 DAS-434 2016 QX50

 NORMAL OPERATING CONDITION
< SYMPTOM DIAGNOSIS > [BSW]
NORMAL OPERATING CONDITION
A
Description INFOID:0000000012172736

PRECAUTIONS FOR BLIND SPOT WARNING (BSW) B

• The BSW system is not a replacement for proper driving procedure and are not designed to prevent contact
with vehicles or objects. When changing lanes, always use the side and rear mirrors and turn and look in the
direction driver will move to ensure it is safe to change lanes. Never rely solely on the BSW system. C
• The BSW system may not provide a warning for vehicles that pass through the detection zone quickly.
• Do not use the BSW system when towing a trailer because the system may not function properly.
• Excessive noise (e.g. audio system volume, open vehicle window) will interfere with the chime sound, and it
may not be heard. D
• The side radar may not be able to detect and activate BSW when certain objects are present such as:
- Pedestrians, bicycles, animals.
- Several types of vehicles such as motorcycles. E
- Oncoming vehicles.
- Vehicles remaining in the detection zone when driver accelerate from a stop.
- A vehicle merging into an adjacent lane at a speed approximately the same as vehicle.
- A vehicle approaching rapidly from behind. F
- A vehicle which vehicle overtakes rapidly.
• Severe weather or road spray conditions may reduce the ability of the side radar to detect other vehicles.

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• The side radar detection zone is designed based on a standard lane width. When driving in a wider lane, the G
side radar may not detect vehicles in an adjacent lane. When driving in a narrow lane, the side radar may
detect vehicles driving two lanes away.
• The side radar are designed to ignore most stationary objects, however objects such as guardrails, walls,
H
foliage and parked vehicles may occasionally be detected. This is a normal operating condition.

DAS

Revision: July 2016 DAS-435 2016 QX50

 BSW CONTROL MODULE
< REMOVAL AND INSTALLATION > [BSW]

REMOVAL AND INSTALLATION

BSW CONTROL MODULE
Removal and Installation INFOID:0000000012172737

REMOVAL
1. Remove clips on the back of the luggage side finisher lower (LH) to obtain space for work. Refer to INT-
34, "Removal and Installation".
2. Disconnect BSW control module connector.
3. Remove mounting bolts from BSW control module.
4. Remove BSW control module.
INSTALLATION
Install in the reverse order of removal.
CAUTION:
Always perform the BSW system action test to check that the system operates normally after replac-
ing the BSW control module. Refer to DAS-392, "Description".

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Revision: July 2016 DAS-436 2016 QX50

 SIDE RADAR
< REMOVAL AND INSTALLATION > [BSW]
SIDE RADAR
A
Removal and Installation INFOID:0000000012172738

EXPLODED VIEW B

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JSOIA0453GB G

1. Bracket 2. Bracket 3. Side radar LH

4. Bracket 5. Side radar RH 6. Bracket
H
A. LH side B. RH side
Refer to GI-4, "Components" for symbol makes in the figure.

REMOVAL AND INSTALLATION I

Removal
1. Remove the rear bumper fascia assembly. Refer to EXT-17, "Removal and Installation". J
2. Remove the side radar connector.

JSOIA0280ZZ
DAS
NOTE:
This illustration is an example.
3. Remove the mounting nuts to remove the side radar RH/LH from bracket.
P
Installation
Note the following, and install in the reverse order of removal.

Revision: July 2016 DAS-437 2016 QX50

 SIDE RADAR
< REMOVAL AND INSTALLATION > [BSW]
• Tighten mounting nuts in the numerical order as shown in the fig-
ure.
• Always lock the side radar connector.
CAUTION:
• Since right side radar and left side radar are similar in shape,
never confuse right with left.
• Always perform the BSW system action test to check that the
system operates normally after replacing the side radar LH/
RH. Refer to DAS-392, "Description".

JSOIA0359ZZ

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Revision: July 2016 DAS-438 2016 QX50

 BSW INDICATOR
< REMOVAL AND INSTALLATION > [BSW]
BSW INDICATOR
A
Removal and Installation INFOID:0000000012172739

REMOVAL AND INSTALLATION B

Removal
1. Remove the door mirror corner cover. Refer to MIR-126, "Exploded View".
C
2. Remove the BSW indicator.
Installation
Install in the reverse order of removal. D

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G

DAS

Revision: July 2016 DAS-439 2016 QX50

 WARNING SYSTEMS SWITCH
< REMOVAL AND INSTALLATION > [BSW]
WARNING SYSTEMS SWITCH
Removal and Installation INFOID:0000000012172740

REMOVAL
1. Remove the instrument lower panel (LH). Refer to IP-13, "Removal and Installation".
2. Remove warning systems switch from instrument driver lower panel.
INSTALLATION
Install in the reverse order of removal.

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Revision: July 2016 DAS-440 2016 QX50