Last Modified: 05-08-2025 6.11:8.1.0 Doc ID: RM10000000214RH
Model Year Start: 2022 Model: RAV4 Prod Date Range: [12/2021 -           ]
Title: BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (w/o Vacuum Brake Booster): U007488,...,U115987; Control Module Communication Bus "B" Off Bus Off; 2022 - 2025 MY RAV4 RAV4 HV [12/2021 -        ]

DTC

U007488

Control Module Communication Bus "B" Off Bus Off

DTC

U010087

Lost Communication With ECM/PCM "A" Missing Message

DTC

U011087

Lost Communication with Drive Motor Control Module "A" Missing Message

DTC

U012587

Lost Communication with Multi-axis Acceleration Sensor Module Missing Message

DTC

U012687

Lost Communication with Steering Angle Sensor Module Missing Message

DTC

U014087

Lost Communication with Body Control Module Missing Message

DTC

U015187

Lost Communication with Restraints Control Module Missing Message

DTC

U025E87

Lost Communication with Electronic Brake Booster Control Module "A" Missing Message

DTC

U029387

Lost Communication with Hybrid/EV Powertrain Control Module Missing Message

DTC

U110787

Lost Communication with Power Management Module Missing Message

DTC

U111A87

Lost Communication with ECM/PCM "A" (ch2) Missing Message

DTC

U115087

Lost Communication with Hybrid Powertrain Control Module (ch2) Missing Message

DTC

U115987

Lost Communication with Electronic Brake Booster Control Module "A" (ch3) Missing Message

DESCRIPTION

The airbag ECU assembly has a built-in acceleration sensor.

The No. 2 skid control ECU (brake actuator assembly) receives signals from the inverter with converter assembly, yaw rate and acceleration sensor (airbag ECU assembly), steering sensor, main body ECU (multiplex network body ECU), No. 1 skid control ECU (brake booster with master cylinder assembly), certification ECU (smart key ECU assembly) and hybrid vehicle control ECU via CAN communication.

DTC No.

Detection Item

DTC Detection Condition

Trouble Area

MIL

Note

U007488

Control Module Communication Bus "B" Off Bus Off

When the +BS terminal voltage is between 9.5 and 17.4 V, a delay in receiving data from the yaw rate sensor and steering sensor continues for 60 seconds or more.

CAN communication line

Comes on
  • SAE Code: U0074
  • Output ECU: No. 2 skid control ECU (brake actuator assembly)

U010087

Lost Communication with ECM/PCM "A" Missing Message

When terminal IG2 voltage is 10 V or more, data cannot be received from the ECM for 2 seconds or more.
  • CAN communication line
  • ECM
  • No. 2 skid control ECU (brake actuator assembly)

Comes on
  • SAE Code: U0100
  • Output ECU: No. 2 skid control ECU (brake actuator assembly)

U011087

Lost Communication with Drive Motor Control Module "A" Missing Message

When terminal IG1 voltage is 10 V or more data cannot be received from the inverter with converter assembly for 2 seconds or more.
  • CAN communication line
  • Inverter with converter assembly
  • No. 2 skid control ECU (brake actuator assembly)

Comes on
  • SAE Code: U0110 (Case 1)
  • Output ECU: No. 2 skid control ECU (brake actuator assembly)

U012587

Lost Communication with Multi-axis Acceleration Sensor Module Missing Message

Either of the following is detected:

  • When the +BS terminal voltage is between 9.5 and 17.4 V, data from the acceleration sensor cannot be received for 1 second or more.
  • When the +BS terminal voltage is between 9.5 and 17.4 V, the following occurs 10 times in succession within 60 seconds:
    • Data from the acceleration sensor cannot be received once or more within 5 seconds.
  • CAN communication line
  • Yaw rate and acceleration sensor (airbag ECU assembly)
  • No. 2 skid control ECU (brake actuator assembly)

Comes on
  • SAE Code: U0125
  • Output ECU: No. 2 skid control ECU (brake actuator assembly)

U012687

Lost Communication with Steering Angle Sensor Module Missing Message

Either of the following is detected:

  • When the +BS terminal voltage is between 9.5 and 17.4 V, data from the steering sensor cannot be received for 1 second or more.
  • When the +BS terminal voltage is between 9.5 and 17.4 V, the following occurs 10 times in succession within 60 seconds:
    • Data from the steering sensor cannot be received once or more within 5 seconds
  • CAN communication line
  • Steering sensor
  • No. 2 skid control ECU (brake actuator assembly)

Does not come on

Output ECU: No. 2 skid control ECU (brake actuator assembly)

U014087

Lost Communication with Body Control Module Missing Message

When terminal IG1 voltage is 10 V or more, data from the main body ECU cannot be received for 2 seconds or more.
  • CAN communication line
  • Main body ECU (multiplex network body ECU)
  • No. 2 skid control ECU (brake actuator assembly)

Comes on
  • SAE Code: U0140
  • Output ECU: No. 2 skid control ECU (brake actuator assembly)

U015187

Lost Communication with Restraints Control Module Missing Message

When the +BS terminal voltage is between 9.5 and 17.4 V and the vehicle speed exceeds 7 km/h (4 mph), data cannot be received from the airbag ECU assembly for 5 seconds or more.
  • CAN communication line
  • Airbag ECU assembly
  • No. 2 skid control ECU (brake actuator assembly)

Does not come on

Output ECU: No. 2 skid control ECU (brake actuator assembly)

U025E87

Lost Communication with Electronic Brake Booster Control Module "A" Missing Message

When the voltage at terminal IG1 is 10 V or more, communication between the No. 1 skid control ECU (brake booster with master cylinder assembly) and No. 2 skid control ECU (brake actuator assembly) is not possible for 2 seconds or more.
  • CAN communication line
  • No. 1 skid control ECU (brake booster with master cylinder assembly)
  • No. 2 skid control ECU (brake actuator assembly)

Comes on
  • SAE Code: U025E
  • Output ECU: No. 2 skid control ECU (brake actuator assembly)

U029387

Lost Communication with Hybrid/EV Powertrain Control Module Missing Message

When terminal IG1 voltage is 10 V or more data from the hybrid vehicle control ECU cannot be received for 2 seconds or more.
  • CAN communication line
  • Hybrid vehicle control ECU
  • No. 2 skid control ECU (brake actuator assembly)

Comes on
  • SAE Code: U0293 (Case 1)
  • Output ECU: No. 2 skid control ECU (brake actuator assembly)

U110787

Lost Communication with Power Management Module Missing Message

When the voltage at terminal IG1 is 10 V or more, the certification ECU (smart key ECU assembly) cannot communicate for 3 seconds or more.
  • CAN communication line
  • Certification ECU (smart key ECU assembly)
  • No. 2 skid control ECU (brake actuator assembly)

Comes on
  • SAE Code: U1107
  • Output ECU: No. 2 skid control ECU (brake actuator assembly)

U111A87

Lost Communication with ECM/PCM "A" (ch2) Missing Message

When terminal IG2 voltage is 10 V or more, data cannot be received from the ECM for 2 seconds or more.
  • CAN communication line
  • ECM
  • No. 2 skid control ECU (brake actuator assembly)

Comes on
  • SAE Code: U111A
  • Output ECU: No. 2 skid control ECU (brake actuator assembly)

U115087

Lost Communication with Hybrid Powertrain Control Module (ch2) Missing Message

When terminal IG1 voltage is 10 V or more data from the hybrid vehicle control ECU cannot be received for 2 seconds or more.
  • CAN communication line
  • Hybrid vehicle control ECU
  • No. 2 skid control ECU (brake actuator assembly)

Comes on
  • SAE Code: U1150 (Case 1)
  • Output ECU: No. 2 skid control ECU (brake actuator assembly)

U115987

Lost Communication with Electronic Brake Booster Control Module "A" (ch3) Missing Message

When the voltage at terminal IG1 is 10 V or more, communication between the No. 1 skid control ECU (brake booster with master cylinder assembly) and No. 2 skid control ECU (brake actuator assembly) is not possible for 2 seconds or more.
  • CAN communication line
  • No. 1 skid control ECU (brake booster with master cylinder assembly)
  • No. 2 skid control ECU (brake actuator assembly)

Does not come on

Output ECU: No. 2 skid control ECU (brake actuator assembly)

U012587 DTC Detection Conditions

 

Vehicle Condition

Pattern 1

Pattern 2

Diagnosis Condition

-

-

-

Malfunction Status

When the +BS terminal voltage is between 9.5 and 17.4 V, data from the acceleration sensor cannot be received

○

-

When the +BS terminal voltage is between 9.5 and 17.4 V, the following occurs:

- Data from the acceleration sensor cannot be received once or more within 5 seconds

-

○

Detection Time

1 second or more.

10 times in succession within 60 seconds.

Number of Trips

1 trip

1 trip

HINT:

DTC will be output when conditions for either of the patterns in the table above are met.

U012687 DTC Detection Conditions

 

Vehicle Condition

Pattern 1

Pattern 2

Diagnosis Condition

-

-

-

Malfunction Status

When the +BS terminal voltage is between 9.5 and 17.4 V, data from the steering sensor cannot be received

○

-

When the +BS terminal voltage is between 9.5 and 17.4 V, the following occurs:

- Data from the steering sensor cannot be received once or more within 5 seconds

-

○

Detection Time

1 second or more.

10 times in succession within 60 seconds.

Number of Trips

1 trip

1 trip

HINT:

DTC will be output when conditions for either of the patterns in the table above are met.

MONITOR DESCRIPTION

U0074 (Case 1 and 2):

  • If any of the following conditions are met for a certain amount of time, the No. 2 skid control ECU (brake actuator assembly) judges that there is a CAN communication error, and illuminates the MIL and stores a DTC.
    • Bus off state.
    • The load on the bus is high and the communication with the yaw rate sensor or steering angle sensor takes longer than a certain amount of time.

U0100, U0110 (Case 1), U0125, U0140, U025E, U0293 (Case 1), U1107, U111A and U1150 (Case 1):

  • When a communication error with any ECU or sensor continues for a certain amount of time or communication is unstable (communication is invalid for a certain amount of time a certain amount of times), the No. 2 skid control ECU (brake actuator assembly) judges that communication with the respective ECU is abnormal and illuminates the MIL and stores a DTC.

MONITOR STRATEGY

Related DTCs

U0074 (Case 1): Late communication with multi-axis acceleration sensor module

U0074 (Case 2): Late communication with steer sensor module

U0100: Lost communication with ECM/PCM "A" (C-bus)

U0110 (Case 1): Lost communication with drive motor control module "A"

U0125: Lost communication with multi-axis acceleration sensor module

U0140: Lost communication with BODY ECU (C1-bus)

U025E: Lost communication with electronic brake booster control unit (C-bus)

U0293 (Case 1): Lost communication with HV (C-bus)

U1107: Lost communication with collation ECU

U111A: Lost communication with ECM/PCM "A" (PL-bus)

U1150 (Case 1): Lost communication with HV (P-bus)

Required Sensors/Components(Main)

No. 2 skid control ECU (brake actuator assembly)

Required Sensors/Components(Related)

No. 2 skid control ECU (brake actuator assembly)

Frequency of Operation

Continuous

Duration

1 second: U0074 (Case 1 and 2), U0125

2 seconds: U0100, U0110 (Case 1), U0140, U025E, U0293 (Case 1), U111A and U1150 (Case 1)

3 seconds: U1107

MIL Operation

Immediately

Sequence of Operation

None

TYPICAL ENABLING CONDITIONS

U0074 (Case 1)

Monitor runs whenever the following DTCs are not stored

C123E: Brake system voltage input open circuit

C1241: Brake system voltage input out of range low

C137C: Brake system voltage input out of range low

C137D: Brake system voltage input out of range high

U0125: Lost communication with multi-axis acceleration sensor module

All of the following conditions are met

A, B, C and D

A. Communication status with yaw rate sensor

Valid

B. +BS voltage

9.5 V or more, and less than 17.4 V

C. Following condition is met

3 seconds or more

IG1 voltage

Higher than 10 V

D. Following condition is met

3 seconds or more

IG2 voltage

Higher than 10 V

U0074 (Case 2)

Monitor runs whenever the following DTCs are not stored

C1241: Brake system voltage input out of range low

C137C: Brake system voltage input out of range low

C137D: Brake system voltage input out of range high

All of the following conditions are met

A, B and C

A. Communication status with steering angle sensor

Valid

B. +BS voltage

9.5 V or more, and less than 17.4 V

C. Following condition is met

3 seconds or more

IG1 voltage

Higher than 10 V

U0100 and U111A

Monitor runs whenever the following DTCs are not stored

C123E: Brake system voltage input open circuit

C137C: Brake system voltage input out of range low

C137D: Brake system voltage input out of range high

Both of the following conditions are met

A and B

A. +BS voltage

9.5 V or more, and less than 17.4 V

B. Following condition is met

3 seconds or more

IG2 voltage

less than 10 V

U0110 (Case 1)

Monitor runs whenever the following DTCs are not stored

C123E: Brake system voltage input open circuit

C137C: Brake system voltage input out of range low

C137D: Brake system voltage input out of range high

Both of the following conditions are met

A and B

A. +BS voltage

9.5 V or more, and less than 17.4 V

B. Following condition is met

3 seconds or more

IG2 voltage

less than 10 V

U0125

Monitor runs whenever the following DTCs are not stored

C123E: Brake system voltage input open circuit

C137C: Brake system voltage input out of range low

C137D: Brake system voltage input out of range high

Both of the following conditions are met

A and B

A. +BS voltage

9.5 V or more, and less than 17.4 V

B. Following condition is met

3 seconds or more

IG2 voltage

less than 10 V

U0140

Monitor runs whenever the following DTCs are not stored

C1241: Brake system voltage input out of range low

C137C: Brake system voltage input out of range low

C137D: Brake system voltage input out of range high

Both of the following conditions are met

A and B

A. Following condition is met

3 seconds or more

+BS voltage

Higher than 10 V, and 18 V or less

B. Following condition is met

3 seconds or more

IG1 voltage

Higher than 10 V, 17.4 V or less

U025E and U1107

Monitor runs whenever the following DTCs are not stored

C1241: Brake system voltage input out of range low

C137C: Brake system voltage input out of range low

C137D: Brake system voltage input out of range high

Both of the following conditions are met

A and B

A. +BS voltage

9.5 V or more, and less than 17.4 V

B. Following condition is met

3 seconds or more

IG1 voltage

less than 10 V

U0293 (Case 1)

Monitor runs whenever the following DTCs are not stored

C123E: Brake system voltage input open circuit

C137C: Brake system voltage input out of range low

C137D: Brake system voltage input out of range high

Both of the following conditions are met

A and B

A. +BS voltage

9.5 V or more, and less than 17.4 V

B. Following condition is met

3 seconds or more

IG2 voltage

less than 10 V

U1150 (Case 1)

Monitor runs whenever the following DTCs are not stored

C123E: Brake system voltage input open circuit

C137C: Brake system voltage input out of range low

C137D: Brake system voltage input out of range high

Both of the following conditions are met

A and B

A. +BS voltage

9.5 V or more, and less than 17.4 V

B. Following condition is met

3 seconds or more

IG2 voltage

less than 10 V

TYPICAL MALFUNCTION THRESHOLDS

U0074 (Case 1)

One of the following conditions is met

-

CAN transmission stop instructions

On

Difference between CAN frame transmission time and CAN frame reception time

0.003 seconds or more

YGS0 (CAN data)

On

U0074 (Case 2)

One of the following conditions is met

-

CAN transmission stop instructions

On

Difference between CAN frame transmission time and CAN frame reception time

0.003 seconds or more

STS0 (CAN data)

On

U0100

Communication status with ECM (C-bus)

Invalid

U0110 (Case 1)

Communication status with inverter with converter assembly

Invalid

U0125

Communication status with yaw rate and acceleration sensor (airbag ECU assembly)

Invalid

U0140

Communication status with main body ECU (multiplex network body ECU) (C1-Bus)

Invalid

U025E

Communication status with No. 1 skid control ECU (brake booster with master cylinder assembly) (C-Bus)

Invalid

U0293 (Case 1)

Communication status with hybrid vehicle control ECU (C-Bus)

Invalid

U1107

Communication status with certification ECU (smart key ECU assembly)

Invalid

U111A

Communication status with ECM (P-bus)

Invalid

U1150 (Case 1)

Communication status with hybrid vehicle control ECU (P-Bus)

Invalid

COMPONENT OPERATING RANGE

U0074 (Case 1)

All of the following conditions are met

-

Communication status with yaw rate sensor

Valid

CAN transmission stop instructions

Off

Difference between CAN frame transmission time and CAN frame reception time

Less than 0.003 seconds

YGS0 (CAN data)

Off

U0074 (Case 2)

All of the following conditions are met

-

Communication status with steering angle sensor

Valid

CAN transmission stop instructions

Off

Difference between CAN frame transmission time and CAN frame reception time

Less than 0.003 seconds

STS0 (CAN data)

Off

U0100

Communication status with ECM (C-bus)

Valid

U0110 (Case 1)

Communication status with inverter with converter assembly

Valid

U0125

Communication status with yaw rate and acceleration sensor (airbag ECU assembly)

Valid

U0140

All of the following conditions are met

A, B and C

A. Following condition is met

3 seconds or more

+BS voltage

Higher than 10 V, and less than 18 V

B. Following condition is met

3 seconds or more

IG1 voltage

Higher than 10 V, 17.4 V or less

C. Communication status with main body ECU (multiplex network body ECU) (C1-Bus)

Valid

U025E

Communication status with No. 1 skid control ECU (brake booster with master cylinder assembly) (C-Bus)

Valid

U0293 (Case 1)

Communication status with hybrid vehicle control ECU (C-Bus)

Valid

U1107

Communication status with certification ECU (smart key ECU assembly)

Valid

U111A

Communication status with ECM (P-bus)

Valid

U1150 (Case 1)

Communication status with hybrid vehicle control ECU (P-Bus)

Valid

CONFIRMATION DRIVING PATTERN

NOTICE:

When performing the normal judgment procedure, make sure that the driver door is closed and is not opened at any time during the procedure.

HINT:

  • After repair has been completed, clear the DTC and then check that the vehicle has returned to normal by performing the following All Readiness check procedure.
  • When clearing the permanent DTCs, refer to the "CLEAR PERMANENT DTC" procedure.
  1. Connect the GTS to the DLC3.
  2. Turn the ignition switch to ON and turn the GTS on.
  3. Clear the DTCs (even if no DTCs are stored, perform the clear DTC procedure).
  4. Turn the ignition switch off.
  5. Turn the ignition switch to ON (READY) and turn the GTS on.
  6. Wait for 60 seconds or more. [*]

    HINT:

    [*]: Normal judgment procedure.

    The normal judgment procedure is used to complete DTC judgment and also used when clearing permanent DTCs.

  7. Enter the following menus: Chassis / Brake/EPB / Utility / All Readiness.
  8. Check the DTC judgment result.

    HINT:

    • If the judgment result shows NORMAL, the system is normal.
    • If the judgment result shows ABNORMAL, the system has a malfunction.
    • If the judgment result shows INCOMPLETE, perform driving pattern again.

PROCEDURE

1.

CHECK DTC (HEALTH CHECK)

(a) Perform the Health Check using the GTS.

Result

Proceed to

DTCs other than CAN communication system DTCs are output

A

Only CAN communication system DTCs are output

B

Other than above

C
A

GO TO DIAGNOSTIC TROUBLE CODE CHART (RELATED SYSTEM)
B

INSPECT CAN COMMUNICATION SYSTEM

C

USE SIMULATION METHOD TO CHECK