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Home >> Toyota >> 2021 >> Highlander LE, 4WD >> Repair and Diagnosis >> Accessories & Equipment >> Exterior Lights >> Lighting System (W/ AFS) - Diagnostic Codes (1 Of 2) >> LIGHTING SYSTEM (w/ AFS) >> Vehicle Control History [11/2023 - ] >> Vehicle Control History [11/2023 - ]

Vehicle Control History [11/2023 - ]

  1. CHECK VEHICLE CONTROL HISTORY 

    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. Using the GTS, check the Vehicle Control History.

      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: 
      1. 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 [11/2023 - ]
      for HV Model: 
      1. 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 [11/2023 - ]
      X2004 Speed Sensor Malfunction for Gasoline Model: 
      1. 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 [11/2023 - ]
      for HV Model: 
      1. 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 [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 [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 [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 [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) [10/2022 - ]
      Flat Surface Target: Refer to TARGET ADJUSTMENT (FLAT SURFACE TARGET) [10/2022 - ]
      Driving Adjustment: 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: 
      1. 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 [11/2023 - ]
      for HV Model: 
      1. 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 [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: 

      1. When there is dirt or foreign matter on the area surrounding the forward recognition camera

      Measures: 

      1. If the inside of the front windshield is dirty, clean it.

      For the procedure to clean the forward recognition camera. Refer to PRECAUTION [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 - -

      Body Electrical > Headlight Control > Utility 

      Tester Display
      Vehicle Control History (RoB)
      RoB Code No. Tester Display Measurement Item Diagnostic Note Link
      X0455 Steering Angle Sensor Speed Sensor Wrong Installation Stores a history that the steering sensor was incorrectly installed to the headlight ECU sub-assembly LH. - Refer to INSTALLATION [11/2023 - ]
      X2001 Steering Angle Sensor Malfunction Stores a history that the headlight ECU sub-assembly LH received steering sensor malfunction signals from the steering sensor. Refer to How to Proceed with Troubleshooting for the Electronically Controlled Brake System. for HV Model: Refer to HOW TO PROCEED WITH TROUBLESHOOTING [11/2023 - ]
      for Gasoline Model: Refer to HOW TO PROCEED WITH TROUBLESHOOTING [11/2023 - ]
      X2004 Speed Sensor Malfunction for Gasoline Model: 
      1. Stores a history that the headlight ECU sub-assembly RH received vehicle speed sensor malfunction signals from the skid control ECU (brake actuator assembly).
      		 Refer to How to Proceed with Troubleshooting for the Electronically Controlled Brake System. for Gasoline Model: Refer to HOW TO PROCEED WITH TROUBLESHOOTING [11/2023 - ]
      for HV Model: 
      1. Stores a history that the headlight ECU sub-assembly RH received vehicle speed sensor malfunction signals from the No. 2 skid control ECU (brake actuator assembly).
      		 Refer to How to Proceed with Troubleshooting for the Electronically Controlled Brake System. for HV Model: Refer to HOW TO PROCEED WITH TROUBLESHOOTING [11/2023 - ]
      X2068 Rear Height Sensor Initialization Missing Calibration Stores a history that the rear height control sensor sub-assembly LH initialization was not performed for the headlight ECU sub-assembly LH. Refer to How to Initialize Headlight ECU. Refer to INITIALIZATION [11/2023 - ]
      X2069 Vehicle Variation Not Programmed Stores a history that the vehicle variation was not programmed on the headlight ECU sub-assembly LH. Refer to How to Register Vehicle Information in Headlight ECU. Refer to INITIALIZATION [11/2023 - ]
      X206B Rear Height Sensor Initialization Incorrect Assembly Stores a history that the rear height control sensor sub-assembly LH during initialization was incorrectly assembled to the headlight ECU sub-assembly LH. - Refer to INSTALLATION [12/2019 - ]
      X2601 Software Inconsistency with ENG/HV/EV Control Module Stores a history that there is an inconsistency between the specification information stored by the headlight ECU sub-assembly LH and the specification information in the hybrid vehicle control ECU.
      1. Check for the following:
        • Check if the vehicle control history (RoB) X2603 is simultaneously output
        • If the vehicle control history (RoB) X2603 is simultaneously output, replace the headlight ECU sub-assembly LH
        • If only the vehicle control history (RoB) X2601 is output, replace the hybrid vehicle control ECU
      		 -
      X2603 Software Inconsistency with Body Control Module Stores a history that there is an inconsistency between the specification information stored by the headlight ECU sub-assembly LH and the specification information in the main body ECU (multiplex network body ECU).
      1. Check for the following:
        • Check if the vehicle control history (RoB) X2601 is simultaneously output
        • If the vehicle control history (RoB) X2601 is simultaneously output, replace the headlight ECU sub-assembly LH
        • If only the vehicle control history (RoB) X2603 is output, replace the main body ECU (multiplex network body ECU)
      		 -
  2. CLEAR VEHICLE CONTROL HISTORY 
    NOTE:

    By performing this procedure, all stored Vehicle Control History will be cleared.

    1. Using the GTS, check the Vehicle Control History.

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

      Tester Display
      Vehicle Control History (RoB)

      Body Electrical > Headlight Control > Utility 

      Tester Display
      Vehicle Control History (RoB)
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