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Home >> Toyota >> 2020 >> RAV4 XLE, AWD >> Repair and Diagnosis >> External Pages >> Different variant/trim >> Section 58 (Dynamic Radar Cruise Control System (HV) - Diagnostic Codes & Circuit Tests) >> DYNAMIC RADAR CRUISE CONTROL SYSTEM (for HV Model) >> Vehicle Control History [12/2021 - ] >> Vehicle Control History [12/2021 - ]

Vehicle Control History [12/2021 - ]

WARNING: This page is about a different variant/trim than selected.
NOTE:

Make sure to record any output Vehicle Control History codes before clearing them and checking the Vehicle Control History again.

  1. CHECK VEHICLE CONTROL HISTORY (DYNAMIC RADAR CRUISE CONTROL SYSTEM) 
    1. Connect the Techstream to the DLC3.
    2. Turn the ignition switch to ON.
    3. Turn the Techstream on.
    4. Enter the following menus: Powertrain / Radar Cruise2 / Utility / Vehicle Control History (RoB).

      Powertrain > Radar Cruise2 > Utility 

      Tester Display
      Vehicle Control History (RoB)
    5. Read the Vehicle Control History (RoB) according to the display on the Techstream.
      VEHICLE CONTROL HISTORY (ROB)

      Multi-information Display Code Tester Display Description Diagnostic Note
      Cruise Control Malfunction Visit Your Dealer X2000 Yaw Rate Sensor Malfunction A yaw rate sensor (airbag ECU assembly) malfunction signal was received from the No. 2 skid control ECU (brake actuator assembly). Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
      Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2021 - ]
      Cruise Control Malfunction Visit Your Dealer X2012 Front Recognition Camera Malfunction A hardware malfunction was detected in the forward recognition camera. Refer to How to Proceed with Troubleshooting in Front Camera System.
      Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2021 - ]
      Cruise Control Malfunction Visit Your Dealer X2013 Front Recognition Camera Optical Axis Misalignment Malfunction Optical axis misalignment of the forward recognition camera was detected. Refer to DTC C1AA8-00 in Front Camera System.
      Refer to DTC C1AA8-00: Front Recognition Camera Optical Axis Misalignment Malfunction [12/2021 - ]
      Cruise Control Malfunction Visit Your Dealer X2014 Front Recognition Camera Optical Axis Not Adjusted Forward recognition camera optical axis adjustment has not been performed. If this code is output, perform forward recognition camera optical axis adjustment, clear the Vehicle Control History and then check that this code is not stored again.
      HINT: 
      Forward recognition camera axis alignment can be performed by using either One Time Recognition, Sequential Recognition or Driving Adjustment.
      One Time Recognition: Refer to TARGET ADJUSTMENT (ONE TIME RECOGNITION) [12/2021 - ]
      Sequential Recognition: Refer to TARGET ADJUSTMENT (SEQUENTIAL RECOGNITION) [12/2021 - ]
      Driving Adjustment: Refer to DRIVING ADJUSTMENT [12/2021 - ]
      Radar Cruise Control Unavailable See Owner's Manual X2015 Front Recognition Camera Dirt System operation was temporarily suspended due to the forward recognition camera not being able to detect objects. Refer to vehicle control history code X2015 in Front Camera System.
      Refer to VEHICLE CONTROL HISTORY [12/2021 - 10/2022] , or refer to VEHICLE CONTROL HISTORY [10/2022 - ]
      Radar Cruise Control Unavailable X2016 Front Recognition Camera Outside Guaranteed Operating Temperature System operation was temporarily suspended due to the forward recognition camera being excessively hot or cold. Refer to vehicle control history code X2016 in Front Camera System.
      Refer to VEHICLE CONTROL HISTORY [12/2021 - 10/2022] , or refer to VEHICLE CONTROL HISTORY [10/2022 - ]
      Radar Cruise Control Unavailable X2017 Front Recognition Camera Outside Guaranteed Operating Voltage System operation was temporarily suspended due to the forward recognition camera power source voltage being excessively high or low. Refer to vehicle control history code X2017 in Front Camera System.
      Refer to VEHICLE CONTROL HISTORY [12/2021 - 10/2022] , or refer to VEHICLE CONTROL HISTORY [10/2022 - ]
      Cruise Control Malfunction Visit Your Dealer X2020 Front Radar Sensor Destination Malfunction A destination not programmed signal was received from the millimeter wave radar sensor assembly. Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.
      Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2021 - ]
      Cruise Control Malfunction Visit Your Dealer X2021 Front Radar Sensor Malfunction A hardware malfunction was detected in the millimeter wave radar sensor assembly. Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.
      Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2021 - ]
      Cruise Control Malfunction Visit Your Dealer X2022 Front Radar Sensor Optical Axis Misalignment Malfunction Optical axis misalignment of the millimeter wave radar sensor assembly was detected. Refer to DTC C1A11-00 in Front Radar Sensor System.
      Refer to DTC C1A11-00: Front Radar Sensor Optical Axis Misalignment Malfunction [12/2021 - ]
      Cruise Control Malfunction Visit Your Dealer X2023 Front Radar Sensor Optical Axis Not Adjusted It was detected that millimeter wave radar sensor assembly beam axis alignment had not been performed. If this history is output, delete the vehicle control history after adjusting the beam axis and check that the history is not output again.
      HINT: 
      Beam axis alignment of the millimeter wave radar sensor assembly can be performed using either Triangle Target, Flat Surface Target or Driving Adjustment.
      Triangle Target: Refer to TARGET ADJUSTMENT (TRIANGLE TARGET) [12/2021 - ]
      Flat Surface Target: Refer to TARGET ADJUSTMENT (FLAT SURFACE TARGET) [12/2021 - ]
      Driving Adjustment:
      Refer to DRIVING ADJUSTMENT [12/2021 - ]
      Radar Cruise Control Unavailable X2024 Front Radar Sensor Temporary Unavailable (Vertical Direction Optical Axis Misalignment) System operation was temporarily suspended due to vertical misalignment of the millimeter wave radar sensor assembly beam axis. Refer to vehicle control history code X2024 in Front Radar Sensor System.
      Refer to VEHICLE CONTROL HISTORY [12/2021 - 10/2022] , or refer to VEHICLE CONTROL HISTORY [10/2022 - ]
      Radar Cruise Control Unavailable See Owner's Manual X2026 Front Radar Sensor Dirt System operation was temporarily suspended due to the millimeter wave radar sensor assembly not being able to detect objects while driving. Refer to vehicle control history code X2026 in Front Radar Sensor System.
      Refer to VEHICLE CONTROL HISTORY [12/2021 - 10/2022] , or refer to VEHICLE CONTROL HISTORY [10/2022 - ]
      Radar Cruise Control Unavailable X2027 Front Radar Sensor Outside Guaranteed Operating Temperature System operation was temporarily suspended due to the millimeter wave radar sensor assembly being excessively hot or cold. Refer to vehicle control history code X2027 in Front Radar Sensor System.
      Refer to VEHICLE CONTROL HISTORY [12/2021 - 10/2022] , or refer to VEHICLE CONTROL HISTORY [10/2022 - ]
      Radar Cruise Control Unavailable X2028 Front Radar Sensor Outside Guaranteed Operating Voltage System operation was temporarily suspended due to the millimeter wave radar sensor assembly voltage being excessively high or low. Refer to vehicle control history code X2028 in Front Radar Sensor System.
      Refer to VEHICLE CONTROL HISTORY [12/2021 - 10/2022] , or refer to VEHICLE CONTROL HISTORY [10/2022 - ]
      Cruise Control Malfunction Visit Your Dealer X202A Front Radar Sensor Destination Not Programmed It was detected that the millimeter wave radar sensor assembly destination information had not been programmed. Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.
      Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2021 - ]
      Radar Cruise Control Unavailable X202B Front Radar Sensor Temporary Unavailable (Radio Wave Interference) System operation was temporarily suspended due to radio frequency interference with the millimeter wave radar sensor assembly. Refer to vehicle control history code X202B in Front Radar Sensor System.
      Refer to VEHICLE CONTROL HISTORY [12/2021 - 10/2022] , or refer to VEHICLE CONTROL HISTORY [10/2022 - ]
      Cruise Control Malfunction Visit Your Dealer X202E Front Radar Sensor Engine Type Information Not Programmed An engine type information not programmed signal was received from the millimeter wave radar sensor assembly. Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.
      Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2021 - ]
      Cruise Control Malfunction Visit Your Dealer X202F Front Radar Sensor Engine Type Information Malfunction An engine type information abnormal signal was received from the millimeter wave radar sensor assembly. Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.
      Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2021 - ]
      Radar Cruise Control Unavailable X20AE Radar Cruise Control Invalidation for Undetectable Vehicle Traveling Directly Ahead The forward recognition camera stores a cancellation history of control of vehicle speed when the dynamic cruise control system temporarily could not detect the preceding vehicle due to environmental influence such as bad weather.
      1. If this code is output, check for dynamic radar cruise control system DTCs or vehicle control history for other vehicle control systems.

        Check for DTCs: Refer to DTC CHECK / CLEAR [12/2021 - ]

        Vehicle Control History: Refer to VEHICLE CONTROL HISTORY

      2. If DTCs for the dynamic radar cruise control system or vehicle control history for other vehicle control systems are output, refer to the respective troubleshooting procedures.

        Diagnostic Trouble Code Chart: Refer to DIAGNOSTIC TROUBLE CODE CHART [12/2021 - ]

        Vehicle Control History: Refer to VEHICLE CONTROL HISTORY

      3. If DTCs for the dynamic radar cruise control system or vehicle control history for other vehicle control systems are not output, this code may have been stored due to environmental influence such as bad weather causing the system to cancel control of vehicle speed.
  2. CLEAR VEHICLE CONTROL HISTORY (DYNAMIC RADAR CRUISE CONTROL SYSTEM) 
    NOTE:

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

    1. Connect the Techstream to the DLC3.
    2. Turn the ignition switch to ON.
    3. Turn the Techstream on.
    4. Enter the following menus: Powertrain / Radar Cruise2 / Utility / Vehicle Control History (RoB).

      Powertrain > Radar Cruise2 > Utility 

      Tester Display
      Vehicle Control History (RoB)
    5. According to the display on the Techstream, clear the Vehicle Control History (RoB).
  3. CHECK VEHICLE CONTROL HISTORY (AIRBAG SYSTEM) 

    HINT: 

    Part of the control history can be confirmed using the vehicle control history.

    Refer to VEHICLE CONTROL HISTORY [08/2020 - ]

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