Vehicle Control History [09/2020 - 11/2023]

HINT: 

• The vehicle control history data stores the history of the reject function and system protection operations.
• The number of occurrences, date and distance are stored in batches for each item.

1. Connect the GTS to the DLC3.
2. Turn the ignition switch to ON.
3. Turn the GTS on.
4. Enter the following menus: Body Electrical / Front Recognition Camera (Front Lighting Control) / Utility / Vehicle Control History (RoB).

   Body Electrical > Front Recognition Camera (Front Lighting Control) > Utility 

   Tester Display
   Vehicle Control History (RoB)

   RoB Code No.	Tester Display	Measurement Item	Diagnostic Note	Link
   X2000	Yaw Rate Sensor Malfunction	for Gasoline Model:  History of yaw rate sensor malfunction signals output by the skid control ECU (brake actuator assembly)	-	for Gasoline Model: Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2019 - 11/2023]
   		for HV Model:  History of yaw rate sensor malfunction signals output by the No. 2 skid control ECU (brake actuator assembly)	-	for HV Model: Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2019 - 11/2023]
   X2004	Speed Sensor Malfunction	for Gasoline Model:  History of vehicle speed sensor malfunction signals output by the skid control ECU (brake actuator assembly)	-	for Gasoline Model: Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2019 - 11/2023]
   		for HV Model:  History of vehicle speed sensor malfunction signals output by the No. 2 skid control ECU (brake actuator assembly)	-	for HV Model: Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2019 - 11/2023]
   X2011	Front Recognition Camera System Software Not Programmed	History of vehicle specifications unconfirmed malfunction signals output by the forward recognition camera	-	Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2019 - ]
   X2012	Front Recognition Camera Malfunction	History of forward recognition camera malfunction signals output by the forward recognition camera	-	Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2019 - ]
   X2013	Front Recognition Camera Optical Axis Misalignment Malfunction	History of forward recognition camera axis misalignment malfunction signals output by the forward recognition camera	-	Refer to DTC C1AA8-00: Front Recognition Camera Optical Axis Misalignment Malfunction [09/2020 - ]
   X2014	Front Recognition Camera Optical Axis Not Adjusted	History of forward recognition camera axis unadjusted malfunction signals output by the forward recognition camera	-	One Time Recognition: Refer to TARGET ADJUSTMENT (ONE TIME RECOGNITION) [09/2020 - ] Sequential Recognition: Refer to TARGET ADJUSTMENT (SEQUENTIAL RECOGNITION) [09/2020 - ] Driving Adjustment: Refer to DRIVING ADJUSTMENT [09/2020 - ]
   X2015	Front Recognition Camera Dirt	History of forward recognition camera dirty malfunction signals output by the forward recognition camera	Refer to Vehicle Control History code RoB X2015 of Front Camera System for details.	Refer to VEHICLE CONTROL HISTORY [09/2020 - 11/2023]
   X2016	Front Recognition Camera Outside Guaranteed Operating Temperature	History of forward recognition camera temperature malfunction signals output by the forward recognition camera	Refer to Vehicle Control History code RoB X2016 of Front Camera System for details.	Refer to VEHICLE CONTROL HISTORY [09/2020 - 11/2023]
   X2017	Front Recognition Camera Outside Guaranteed Operating Voltage	History of forward recognition camera voltage malfunction signals output by the forward recognition camera	Refer to Vehicle Control History code RoB X2017 of Front Camera System for details.	Refer to VEHICLE CONTROL HISTORY [09/2020 - 11/2023]
   X201D	Front Recognition Camera System Software Malfunction	History of vehicle information stored by the main body ECU (multiplex network body ECU) and forward recognition camera not matching	-	Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2019 - ]
   X2020	Front Radar Sensor Destination Malfunction	History of the millimeter wave radar sensor assembly not receiving vehicle information from the main body ECU (multiplex network body ECU) or vehicle information stored by the main body ECU (multiplex network body ECU) and millimeter wave radar sensor assembly not matching	-	Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2019 - ]
   X2021	Front Radar Sensor Malfunction	History of millimeter wave radar sensor assembly malfunction signals output by the millimeter wave radar sensor assembly	-	Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2019 - ]
   X2022	Front Radar Sensor Optical Axis Misalignment Malfunction	History of millimeter wave radar sensor assembly axis misalignment malfunction signals output by the millimeter wave radar sensor assembly	-	Refer to DTC C1A11-00: Front Radar Sensor Optical Axis Misalignment Malfunction [09/2020 - ]
   X2023	Front Radar Sensor Optical Axis Not Adjusted	History of millimeter wave radar sensor assembly axis unadjusted malfunction signals output by the millimeter wave radar sensor assembly	-	Triangle Target: Refer to TARGET ADJUSTMENT (TRIANGLE TARGET) [09/2020 - 10/2022] , or refer to TARGET ADJUSTMENT (TRIANGLE TARGET) [10/2022 - ] Flat Surface Target: Refer to TARGET ADJUSTMENT (FLAT SURFACE TARGET) [09/2020 - 10/2022] , or refer to TARGET ADJUSTMENT (FLAT SURFACE TARGET) [10/2022 - ] Driving Adjustment: Refer to DRIVING ADJUSTMENT [09/2020 - 10/2022] , or refer to DRIVING ADJUSTMENT [10/2022 - ]
   X2026	Front Radar Sensor Dirt	History of millimeter wave radar sensor assembly dirty malfunction signals output by the millimeter wave radar sensor assembly	Refer to Vehicle Control History code RoB X2026 of Front Radar Sensor System for details.	Refer to VEHICLE CONTROL HISTORY [09/2020 - ]
   X2027	Front Radar Sensor Outside Guaranteed Operating Temperature	History of millimeter wave radar sensor assembly temperature malfunction signals output by the millimeter wave radar sensor assembly	Refer to Vehicle Control History code RoB X2027 of Front Radar Sensor System for details.	Refer to VEHICLE CONTROL HISTORY [09/2020 - ]
   X2028	Front Radar Sensor Outside Guaranteed Operating Voltage	History of millimeter wave radar sensor assembly voltage malfunction signals output by the millimeter wave radar sensor assembly	Refer to Vehicle Control History code RoB X2028 of Front Radar Sensor System for details.	Refer to VEHICLE CONTROL HISTORY [09/2020 - ]
   X204C	Zero Point Calibration of Yaw Rate Sensor Undone	for Gasoline Model:  History of yaw rate sensor zero point calibration incomplete signals output by the skid control ECU (brake actuator assembly)	-	for Gasoline Model: Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2019 - 11/2023]
   		for HV Model:  History of yaw rate sensor zero point calibration incomplete signals output by the No. 2 skid control ECU (brake actuator assembly)	-	for HV Model: Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2019 - 11/2023]
   X204D	Front Lighting Control System Inoperative Condition by Front Recognition Camera High Temperature	History of high temperature condition signals output by the forward recognition camera	-	-
   X204E	Front Lighting Control System Inoperative Condition by Front Recognition Camera Adverse Environment	History of bad weather signals output by the forward recognition camera	Perform the following inspections Were the wipers being operated at high speed (HI mode)? Was the vehicle being driven in bad weather? Was the front windshield of the camera dirty? Cause:  When there is dirt or foreign matter on the area surrounding the forward recognition camera Measures:  If the inside of the front windshield is dirty, clean it. For the procedure to clean the forward recognition camera. Refer to PRECAUTION [12/2019 - 10/2022] , or refer to PRECAUTION [10/2022 - 11/2023]	-
   X2072	Communication Error from Front Radar Sensor to Driving Support Control Module	History of millimeter wave radar sensor assembly communication malfunction signals output by the millimeter wave radar sensor assembly	-	-

1. Connect the GTS to the DLC3.
2. Turn the ignition switch to ON.
3. Turn the GTS on.
4. Enter the following menus: Body Electrical / Front Recognition Camera (Front Lighting Control) / Utility / Vehicle Control History (RoB) (Clear).

   Body Electrical > Front Recognition Camera (Front Lighting Control) > Utility 

   Tester Display
   Vehicle Control History (RoB)