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Home >> Toyota >> 2021 >> Highlander LE, 4WD >> Repair and Diagnosis >> Brakes >> Mechanical - Hydraulic >> Electronically Controlled Brake System (Except HV) - Diagnostic Codes (1 Of 3) >> ELECTRONICALLY CONTROLLED BRAKE SYSTEM (for Gasoline Model) >> Vehicle Control History [10/2022 - 11/2023] >> Vehicle Control History [10/2022 - 11/2023]

Vehicle Control History [10/2022 - 11/2023]

  1. DESCRIPTION 
    • Vehicle Control History (RoB) is a function that captures and stores ECU data when triggered by specific vehicle behavior.
    • It may be possible to determine the cause of the malfunction by checking the vehicle history information and Freeze Frame Data.
    • The number of possible stored Freeze Frame Data sets, whether multi Freeze Frame Data is available, the number of freeze frame points, Freeze Frame Data items, the ECU internal range, etc., is different depending on the stored group.
    • The stored data items for Vehicle Control History (RoB) Freeze Frame Data are different depending on the stored group. When the value of a data item does not change across all points, only the value of the detection point will be displayed. The contents of the Freeze Frame Data is almost the same as that of the Data List.

      Refer to DATA LIST / ACTIVE TEST [12/2019 - 11/2023]

  2. PRECAUTIONS 
    • As Vehicle Control History (RoB) may be overwritten whenever the trigger conditions are met, make sure to save Vehicle Control History (RoB) before performing any inspections.
    • As Vehicle Control History (RoB) may be stored when performing an Active Test, learning, etc., make sure to clear the Vehicle Control History (RoB) before returning the vehicle to the customer.
  3. CHECK VEHICLE CONTROL HISTORY (RoB) (VEHICLE STABILITY CONTROL SYSTEM) 
    1. Turn the ignition switch off.
    2. Connect the GTS to the DLC3.
    3. Turn the ignition switch to ON.
    4. Turn the GTS on.
    5. Enter the following menus: Chassis / Brake/EPB / Utility / Vehicle Control History (RoB).

      Chassis > Brake/EPB > Utility 

      Tester Display
      Vehicle Control History (RoB)
      VEHICLE CONTROL HISTORY (ROB) ITEM

      Code Tester Display Measurement Item Indicator Light Diagnostic Note
      X204C Zero Point Calibration of Yaw Rate Sensor Undone History of incomplete yaw rate sensor zero point calibration
      • Slip indicator light illuminates
      • Brake hold operated indicator light blinks*
      		 Refer to Zero Point Calibration of Yaw Rate Sensor Undone (X204C).
      Refer to Zero Point Calibration of Yaw Rate Sensor Undone (X204C) [12/2019 - ]
      X2079 Communication Error from Brake Control Module to Engine Control Module History of being unable to send data to the ECM continuously for 2 seconds or more
      • Slip indicator light illuminates
      • Brake hold operated indicator light blinks*
      		 Refer to the following diagnosis procedure: 
      1. Using the GTS, perform a Health Check.
      2. Refer to the flow chart(s) for the output DTCs.
      X2085 Electric Parking Brake Control Module Malfunction History of receiving an electric parking brake system malfunction signal continuously for 1 second or more from the skid control ECU (brake actuator assembly) Brake hold operated indicator light blinks* Refer to How to Proceed with Troubleshooting in Electric Parking Brake System.
      Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2019 - ]
      X2086 SRS Airbag Malfunction History of receiving a malfunction signal output for a secondary collision brake control request from the airbag sensor assembly 2 consecutive times - Refer to How to Proceed with Troubleshooting in Airbag System.
      Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2019 - 11/2023]
      X2087 Engine Malfunction History of receiving an SFI system malfunction signal continuously from the ECM for 1 second or more
      • Slip indicator light illuminates
      • Brake hold operated indicator light blinks*
      		 Refer to How to Proceed with Troubleshooting in SFI System.
      Refer to HOW TO PROCEED WITH TROUBLESHOOTING [10/2022 - ]
      X2088 Bank Angle Detected History of VSC operation being temporarily prohibited when driving at a steep bank angle, etc.
      • Slip indicator light illuminates
      • Brake hold operated indicator light blinks*
      		 HINT: 
      Explain that VSC operation was temporarily prohibited when driving on a road with a steep bank angle, etc.
      X208A Zero Point Calibration of Steering Angle Sensor Initialization Malfunction History of being unable to obtain the steering angle zero point after driving at a vehicle speed exceeding 15 km/h (9 mph) for 0.05 seconds or more
      • Slip indicator light illuminates
      • Brake hold operated indicator light blinks*
      		 Refer to the following diagnosis procedure: 
      1. Perform steering angle sensor zero point calibration.
      X208B EPB Motor Continuous Operation Request History of system suspended to prevent overheat of parking brake actuator assembly when electric parking brake was used repeatedly Brake hold operated indicator light blinks* HINT: 
      • EPB: Electric Parking Brake System
      • Explain that system was suspended to prevent overheating of parking brake actuator assembly when electric parking brake was used repeatedly.
      X2096 Pre-Collision Brake History of pre-collision brake operation In accordance with Pre-collision System behavior -
      X2098 Pre-Collision Brake Assist History of pre-collision brake assist operation In accordance with Pre-collision System behavior -
      X20A0 ABS History of ABS operation - -
      X20A1 VSC History of VSC operation Slip indicator light blinks -
      X20A2 TRC (TRAC) History of TRAC operation Slip indicator light blinks -
      X20A3 High Power Assist Brake History of high power assist brake operation - -
      X20A4 Booster Failure Control History of control failure operation Brake system warning light (red indicator) illuminates -
      X20A5 Hill Start Assist History of hill start assist operation - -
      X20A6 Trailer Sway Control History of trailer sway control operation - -
      X20A7 Brake Assist History of brake assist operation - -
      X20A8 Secondary Collision Brake History of secondary collision brake operation - -
      X20D7 Zero Point Calibration of Steering Angle Sensor Malfunction History of the steering angle sensor zero point calibration position differing from the stored value
      • Slip indicator light illuminates
      • Brake hold operated indicator light blinks*
      		 Refer to Zero Point Calibration of Steering Angle Sensor Malfunction (X20D7).
      Refer to Zero Point Calibration of Steering Angle Sensor Malfunction (X20D7) [12/2019 - ]
      X20D8 Zero Point Calibration of Steering Angle Sensor Not Acquired History of being unable to obtain the steering angle zero point
      • Slip indicator light illuminates
      • Brake hold operated indicator light blinks*
      		 Refer to Zero Point Calibration of Steering Angle Sensor Not Acquired (X20D8).
      Refer to Zero Point Calibration of Steering Angle Sensor Not Acquired (X20D8) [12/2019 - ]
      X2104 Different Diameter Tire History of tires other than the specified size being installed
      • ABS warning light illuminates
      • Slip indicator light illuminates
      • Brake hold operated indicator light blinks*
      		 -
      X219C EPB Lock Control Run Detection History of vehicle being driven with electric parking brake engaged. Brake system warning light (yellow indicator) illuminates Refer to How to Proceed with Troubleshooting in Electric Parking Brake System.
      Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2019 - ]
      HINT: 
      EPB stands for electric parking brake.

      *: When the vehicle is put into the following vehicle conditions and the brake hold switch (electric parking brake switch assembly) is turned on, the brake hold operated indicator light blinks.

      1. Conditions required for operation standby:
        1. The driver door is closed.
        2. The driver seat belt is fastened.
  4. CLEAR VEHICLE CONTROL HISTORY (RoB) (VEHICLE STABILITY CONTROL SYSTEM) 
    1. Turn the ignition switch off.
    2. Connect the GTS to the DLC3.
    3. Turn the ignition switch to ON.
    4. Turn the GTS on.
    5. Enter the following menus: Chassis / Brake/EPB / Utility / Vehicle Control History (RoB).

      Chassis > Brake/EPB > Utility 

      Tester Display
      Vehicle Control History (RoB)
    6. Press the clear button.
      NOTE:

      By performing this procedure, all stored Vehicle Control History (RoB) items will be cleared.

  5. CHECK VEHICLE CONTROL HISTORY (AIRBAG SYSTEM) 

    HINT: 

    A part of the control history can be confirmed using the vehicle control history.

    Refer to VEHICLE CONTROL HISTORY [12/2019 - 11/2023]

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