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DTC C1A67:86 [VEHICLE CONTROL MODULE (E)]

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Without Mazda M Hybrid

Outline

System malfunction location

Error signal received from other modules of front radar sensor

Detection condition

•  The vehicle control module (VCM) detects that the front radar sensor received error signals from the following modules for 12 s.

―  DSC HU/CM

―  Steering angle sensor

―  Vehicle control module (VCM)

―  Body control module (BCM)

Fail-safe

(See DTC TABLE [VEHICLE CONTROL MODULE (E)].)

Possible cause

•  Malfunction in each CAN communication related module

―  DSC HU/CM

―  Steering angle sensor

―  Vehicle control module (VCM)

―  Body control module (BCM)

•  Yaw rate initial setting for vehicle control module (VCM) not implemented or error

•  Vehicle control module (VCM) malfunction (built into body control module (BCM))

•  Body control module (BCM) malfunction

•  Front radar sensor malfunction

System wiring diagram

Not applicable

Connector diagram

Not applicable

System malfunction location	Error signal received from other modules of front radar sensor
Detection condition	• The vehicle control module (VCM) detects that the front radar sensor received error signals from the following modules for 12 s. ― DSC HU/CM ― Steering angle sensor ― Vehicle control module (VCM) ― Body control module (BCM)
Fail-safe	(See DTC TABLE [VEHICLE CONTROL MODULE (E)].)
Possible cause	• Malfunction in each CAN communication related module ― DSC HU/CM ― Steering angle sensor ― Vehicle control module (VCM) ― Body control module (BCM) • Yaw rate initial setting for vehicle control module (VCM) not implemented or error • Vehicle control module (VCM) malfunction (built into body control module (BCM)) • Body control module (BCM) malfunction • Front radar sensor malfunction
System wiring diagram	Not applicable
Connector diagram	Not applicable

Diagnostic Procedure

Step

Inspection

Results

Action

1

INSPECT VEHICLE CONTROL MODULE (VCM) AND BODY CONTROL MODULE (BCM) FOR MALFUNCTION

•  Perform the DTC inspection for the vehicle control module (VCM) and the body control module (BCM).
(See DTC INSPECTION.)

•  Is a DTC related to an internal malfunction displayed?

Yes

Repair the malfunctioning location according to the applicable DTC troubleshooting.

(See DTC TABLE [VEHICLE CONTROL MODULE (E)].)

(See DTC TABLE [BODY CONTROL MODULE (BCM) (E)].)

No

Go to the next step.

2

INSPECT FRONT RADAR SENSOR FOR MALFUNCTION

•  Perform the DTC inspection for the front radar sensor.
(See DTC INSPECTION.)

•  Is a DTC displayed?

Yes

Repair the malfunctioning location according to the applicable DTC troubleshooting.

(See DTC TABLE [FRONT RADAR SENSOR (E)].)

No

Go to the next step.

3

VERIFY DSC HU/CM DTCs

•  Perform the DTC inspection for the DSC HU/CM.
(See DTC INSPECTION.)

•  Is a DTC displayed?

Yes

Repair the malfunctioning location according to the applicable DTC troubleshooting.

(See DTC TABLE [DSC HU/CM (E)].)

No

Go to the next step.

4

VERIFY STEERING ANGLE SENSOR RELATED DTCs

•  Perform the DTC inspection for the body control module (BCM).
(See DTC INSPECTION.)

•  Is a steering angle sensor related DTC displayed?

Yes

Repair the malfunctioning location according to the applicable DTC troubleshooting.

(See DTC TABLE [BODY CONTROL MODULE (BCM) (E)].)

No

Go to the next step.

5

VERIFY VEHICLE CONTROL MODULE (VCM) DTCs

Note

•  When the last 2 digits of a DTC are 68, 82, and 86, the DTC indicates a malfunction related to a CAN communication error signal.

•  Perform the DTC inspection for the vehicle control module (VCM).
(See DTC INSPECTION.)

•  Is a DTC related to a CAN error signal displayed for a module other than an i-ACTIVSENSE related module?

Yes

Repair the malfunctioning location according to the applicable DTC troubleshooting.

(See DTC TABLE [VEHICLE CONTROL MODULE (E)].)

No

Go to the next step.

6

VERIFY ALL SYSTEM DTCs

•  Perform the CMDTC self-test.
(See DTC INSPECTION.)

•  Are any DTCs other than this DTC displayed?

Yes

Repair the malfunctioning location according to the applicable DTC troubleshooting.

No

Go to the next step.

7

PERFORM YAW RATE INITIAL SETTING FOR VEHICLE CONTROL MODULE (VCM)

•  Perform the yaw rate initial setting for the vehicle control module (VCM) using the M-MDS.
(See VCM INITIAL SETTING.)

•  Switch the ignition OFF.

•  Clear the DTC recorded in the memory.
(See CLEARING DTC.)

•  Perform the DTC inspection for the vehicle control module (VCM).
(See DTC INSPECTION.)

•  Is the same Pending DTC present?

Yes

Go to the next step.

No

Go to repair completion verification 2.

8

INSPECT FRONT RADAR SENSOR FOR MALFUNCTION DEPENDING ON REPEATABILITY

•  Install/connect the part removed/disconnected during the troubleshooting procedure.

•  Clear the DTC recorded in the memory.
(See CLEARING DTC.)

•  Perform the Sophisticated Airbag Sensor (SAS) control module sensor initialization.
(See DSC RELATED PARTS SENSOR INITIALIZATION PROCEDURE [(E)].)

•  Perform the DTC inspection for the vehicle control module (VCM).
(See DTC INSPECTION.)

•  Is the same Pending DTC present?

Yes

Refer to the controller area network (CAN) malfunction diagnosis flow to inspect for a CAN communication error.

(See CONTROLLER AREA NETWORK (CAN) MALFUNCTION DIAGNOSIS FLOW [(E)].)

If the CAN communication is normal, replace the front radar sensor and perform the repair completion verification.

(See FRONT RADAR SENSOR REMOVAL/INSTALLATION.)

No

Perform the [ACTION FOR NON-REPEATABLE MALFUNCTIONS].

(See TROUBLESHOOTING PROCEDURE [(E)].)

If DTC is displayed

•  Repeat the diagnosis from Step 1.

If DTC is not displayed

•  Go to repair completion verification 2.

Repair completion verification 1

VERIFY THAT VEHICLE IS REPAIRED

•  Install/connect the part removed/disconnected during the troubleshooting procedure.

•  Clear the DTC recorded in the memory.
(See CLEARING DTC.)

•  Perform the DTC inspection for the vehicle control module (VCM).
(See DTC INSPECTION.)

•  Is the same Pending DTC present?

Yes

Refer to the controller area network (CAN) malfunction diagnosis flow to inspect for a CAN communication error.

(See CONTROLLER AREA NETWORK (CAN) MALFUNCTION DIAGNOSIS FLOW [(E)].)

If the CAN communication is normal, perform the diagnosis from Step 1.

•  If the malfunction recurs, replace the body control module (BCM), then go to the next step.
(See BODY CONTROL MODULE (BCM) REMOVAL/INSTALLATION [(E)].)

No

Go to the next step.

Repair completion verification 2

VERIFY IF OTHER DTC IS DISPLAYED

•  Perform the DTC inspection.
(See DTC INSPECTION.)

•  Are any other DTCs displayed?

Yes

Repair the malfunctioning location according to the applicable DTC troubleshooting.

No

DTC troubleshooting completed.

Step	Inspection	Results	Action
1	INSPECT VEHICLE CONTROL MODULE (VCM) AND BODY CONTROL MODULE (BCM) FOR MALFUNCTION • Perform the DTC inspection for the vehicle control module (VCM) and the body control module (BCM). (See DTC INSPECTION.) • Is a DTC related to an internal malfunction displayed?	Yes	Repair the malfunctioning location according to the applicable DTC troubleshooting. (See DTC TABLE [VEHICLE CONTROL MODULE (E)].) (See DTC TABLE [BODY CONTROL MODULE (BCM) (E)].)
No	Go to the next step.
2	INSPECT FRONT RADAR SENSOR FOR MALFUNCTION • Perform the DTC inspection for the front radar sensor. (See DTC INSPECTION.) • Is a DTC displayed?	Yes	Repair the malfunctioning location according to the applicable DTC troubleshooting. (See DTC TABLE [FRONT RADAR SENSOR (E)].)
No	Go to the next step.
3	VERIFY DSC HU/CM DTCs • Perform the DTC inspection for the DSC HU/CM. (See DTC INSPECTION.) • Is a DTC displayed?	Yes	Repair the malfunctioning location according to the applicable DTC troubleshooting. (See DTC TABLE [DSC HU/CM (E)].)
No	Go to the next step.
4	VERIFY STEERING ANGLE SENSOR RELATED DTCs • Perform the DTC inspection for the body control module (BCM). (See DTC INSPECTION.) • Is a steering angle sensor related DTC displayed?	Yes	Repair the malfunctioning location according to the applicable DTC troubleshooting. (See DTC TABLE [BODY CONTROL MODULE (BCM) (E)].)
No	Go to the next step.
5	VERIFY VEHICLE CONTROL MODULE (VCM) DTCs Note • When the last 2 digits of a DTC are 68, 82, and 86, the DTC indicates a malfunction related to a CAN communication error signal. • Perform the DTC inspection for the vehicle control module (VCM). (See DTC INSPECTION.) • Is a DTC related to a CAN error signal displayed for a module other than an i-ACTIVSENSE related module?	Yes	Repair the malfunctioning location according to the applicable DTC troubleshooting. (See DTC TABLE [VEHICLE CONTROL MODULE (E)].)
No	Go to the next step.
6	VERIFY ALL SYSTEM DTCs • Perform the CMDTC self-test. (See DTC INSPECTION.) • Are any DTCs other than this DTC displayed?	Yes	Repair the malfunctioning location according to the applicable DTC troubleshooting.
No	Go to the next step.
7	PERFORM YAW RATE INITIAL SETTING FOR VEHICLE CONTROL MODULE (VCM) • Perform the yaw rate initial setting for the vehicle control module (VCM) using the M-MDS. (See VCM INITIAL SETTING.) • Switch the ignition OFF. • Clear the DTC recorded in the memory. (See CLEARING DTC.) • Perform the DTC inspection for the vehicle control module (VCM). (See DTC INSPECTION.) • Is the same Pending DTC present?	Yes	Go to the next step.
No	Go to repair completion verification 2.
8	INSPECT FRONT RADAR SENSOR FOR MALFUNCTION DEPENDING ON REPEATABILITY • Install/connect the part removed/disconnected during the troubleshooting procedure. • Clear the DTC recorded in the memory. (See CLEARING DTC.) • Perform the Sophisticated Airbag Sensor (SAS) control module sensor initialization. (See DSC RELATED PARTS SENSOR INITIALIZATION PROCEDURE [(E)].) • Perform the DTC inspection for the vehicle control module (VCM). (See DTC INSPECTION.) • Is the same Pending DTC present?	Yes	Refer to the controller area network (CAN) malfunction diagnosis flow to inspect for a CAN communication error. (See CONTROLLER AREA NETWORK (CAN) MALFUNCTION DIAGNOSIS FLOW [(E)].) If the CAN communication is normal, replace the front radar sensor and perform the repair completion verification. (See FRONT RADAR SENSOR REMOVAL/INSTALLATION.)
No	Perform the [ACTION FOR NON-REPEATABLE MALFUNCTIONS]. (See TROUBLESHOOTING PROCEDURE [(E)].) If DTC is displayed • Repeat the diagnosis from Step 1. If DTC is not displayed • Go to repair completion verification 2.
Repair completion verification 1	VERIFY THAT VEHICLE IS REPAIRED • Install/connect the part removed/disconnected during the troubleshooting procedure. • Clear the DTC recorded in the memory. (See CLEARING DTC.) • Perform the DTC inspection for the vehicle control module (VCM). (See DTC INSPECTION.) • Is the same Pending DTC present?	Yes	Refer to the controller area network (CAN) malfunction diagnosis flow to inspect for a CAN communication error. (See CONTROLLER AREA NETWORK (CAN) MALFUNCTION DIAGNOSIS FLOW [(E)].) If the CAN communication is normal, perform the diagnosis from Step 1. • If the malfunction recurs, replace the body control module (BCM), then go to the next step. (See BODY CONTROL MODULE (BCM) REMOVAL/INSTALLATION [(E)].)
No	Go to the next step.
Repair completion verification 2	VERIFY IF OTHER DTC IS DISPLAYED • Perform the DTC inspection. (See DTC INSPECTION.) • Are any other DTCs displayed?	Yes	Repair the malfunctioning location according to the applicable DTC troubleshooting.
No	DTC troubleshooting completed.

With Mazda M Hybrid

Outline

System malfunction location

Error signal received from other modules of front radar sensor

Detection condition

•  The vehicle control module (VCM) detects that the front radar sensor received error signals from the following modules for 12 s.

―  Electronically controlled brake unit

―  Steering angle sensor

―  Vehicle control module (VCM)

―  Body control module (BCM)

Fail-safe

(See DTC TABLE [VEHICLE CONTROL MODULE (E)].)

Possible cause

•  Malfunction in each CAN communication related module

―  Electronically controlled brake unit

―  Steering angle sensor

―  Vehicle control module (VCM)

―  Body control module (BCM)

•  Cariblating yaw rate for vehicle control module (VCM) not implemented or error

•  Vehicle control module (VCM) malfunction (built into body control module (BCM))

•  Body control module (BCM) malfunction

•  Front radar sensor malfunction

System wiring diagram

Not applicable

Connector diagram

Not applicable

System malfunction location	Error signal received from other modules of front radar sensor
Detection condition	• The vehicle control module (VCM) detects that the front radar sensor received error signals from the following modules for 12 s. ― Electronically controlled brake unit ― Steering angle sensor ― Vehicle control module (VCM) ― Body control module (BCM)
Fail-safe	(See DTC TABLE [VEHICLE CONTROL MODULE (E)].)
Possible cause	• Malfunction in each CAN communication related module ― Electronically controlled brake unit ― Steering angle sensor ― Vehicle control module (VCM) ― Body control module (BCM) • Cariblating yaw rate for vehicle control module (VCM) not implemented or error • Vehicle control module (VCM) malfunction (built into body control module (BCM)) • Body control module (BCM) malfunction • Front radar sensor malfunction
System wiring diagram	Not applicable
Connector diagram	Not applicable

Diagnostic Procedure

Step

Inspection

Results

Action

1

INSPECT VEHICLE CONTROL MODULE (VCM) AND BODY CONTROL MODULE (BCM) FOR MALFUNCTION

•  Perform the DTC inspection for the vehicle control module (VCM) and the body control module (BCM).
(See DTC INSPECTION.)

•  Is a DTC related to an internal malfunction displayed?

Yes

Repair the malfunctioning location according to the applicable DTC troubleshooting.

(See DTC TABLE [VEHICLE CONTROL MODULE (E)].)

(See DTC TABLE [BODY CONTROL MODULE (BCM) (E)].)

No

Go to the next step.

2

INSPECT FRONT RADAR SENSOR FOR MALFUNCTION

•  Perform the DTC inspection for the front radar sensor.
(See DTC INSPECTION.)

•  Is a DTC displayed?

Yes

Repair the malfunctioning location according to the applicable DTC troubleshooting.

(See DTC TABLE [FRONT RADAR SENSOR (E)].)

No

Go to the next step.

3

VERIFY ELECTRONICALLY CONTROLLED BRAKE UNIT DTCs

•  Perform the DTC inspection for the electronically controlled brake unit.
(See DTC INSPECTION.)

•  Is a DTC displayed?

Yes

Repair the malfunctioning location according to the applicable DTC troubleshooting.

(See DTC TABLE [ELECTRONICALLY CONTROLLED BRAKE UNIT].)

No

Go to the next step.

4

VERIFY STEERING ANGLE SENSOR RELATED DTCs

•  Perform the DTC inspection for the body control module (BCM).
(See DTC INSPECTION.)

•  Is a steering angle sensor related DTC displayed?

Yes

Repair the malfunctioning location according to the applicable DTC troubleshooting.

(See DTC TABLE [BODY CONTROL MODULE (BCM) (E)].)

No

Go to the next step.

5

VERIFY VEHICLE CONTROL MODULE (VCM) DTCs

Note

•  When the last 2 digits of a DTC are 68, 82, and 86, the DTC indicates a malfunction related to a CAN communication error signal.

•  Perform the DTC inspection for the vehicle control module (VCM).
(See DTC INSPECTION.)

•  Is a DTC related to a CAN error signal displayed for a module other than an i-ACTIVSENSE related module?

Yes

Repair the malfunctioning location according to the applicable DTC troubleshooting.

(See DTC TABLE [VEHICLE CONTROL MODULE (E)].)

No

Go to the next step.

6

INSPECT FRONT RADAR SENSOR FOR MALFUNCTION

•  Perform the DTC inspection for the front radar sensor.
(See DTC INSPECTION.)

•  Is a DTC displayed?

Yes

Repair the malfunctioning location according to the applicable DTC troubleshooting.

(See DTC TABLE [FRONT RADAR SENSOR (E)].)

No

Go to the next step.

7

VERIFY ALL SYSTEM DTCs

•  Perform the CMDTC self-test.
(See DTC INSPECTION.)

•  Are any DTCs other than this DTC displayed?

Yes

Repair the malfunctioning location according to the applicable DTC troubleshooting.

No

Go to the next step.

8

PERFORM THE CARIBLATING YAW RATE FOR VEHICLE CONTROL MODULE (VCM)

•  Perform the cariblating yaw rate for vehicle control module (VCM) using the M-MDS.
(See VCM INITIAL SETTING.)

•  Switch the ignition OFF.

•  Clear the DTC recorded in the memory.
(See CLEARING DTC.)

•  Perform the DTC inspection for the vehicle control module (VCM).
(See DTC INSPECTION.)

•  Is the same Pending DTC present?

Yes

Go to the next step.

No

Go to repair completion verification 2.

9

INSPECT FRONT RADAR SENSOR FOR MALFUNCTION DEPENDING ON REPEATABILITY

•  Install/connect the part removed/disconnected during the troubleshooting procedure.

•  Clear the DTC recorded in the memory.
(See CLEARING DTC.)

•  Perform the Sophisticated Airbag Sensor (SAS) control module sensor initialization.
(See DSC RELATED PARTS SENSOR INITIALIZATION PROCEDURE [(E)].)

•  Perform the DTC inspection for the vehicle control module (VCM).
(See DTC INSPECTION.)

•  Is the same Pending DTC present?

Yes

Refer to the controller area network (CAN) malfunction diagnosis flow to inspect for a CAN communication error.

(See CONTROLLER AREA NETWORK (CAN) MALFUNCTION DIAGNOSIS FLOW [(E)].)

If the CAN communication is normal, replace the front radar sensor and perform the repair completion verification.

(See FRONT RADAR SENSOR REMOVAL/INSTALLATION.)

No

Perform the [ACTION FOR NON-REPEATABLE MALFUNCTIONS].

(See TROUBLESHOOTING PROCEDURE [(E)].)

If DTC is displayed

•  Repeat the diagnosis from Step 1.

If DTC is not displayed

•  Go to repair completion verification 2.

Repair completion verification 1

VERIFY THAT VEHICLE IS REPAIRED

•  Install/connect the part removed/disconnected during the troubleshooting procedure.

•  Clear the DTC recorded in the memory.
(See CLEARING DTC.)

•  Perform the DTC inspection for the vehicle control module (VCM).
(See DTC INSPECTION.)

•  Is the same Pending DTC present?

Yes

Refer to the controller area network (CAN) malfunction diagnosis flow to inspect for a CAN communication error.

(See CONTROLLER AREA NETWORK (CAN) MALFUNCTION DIAGNOSIS FLOW [(E)].)

If the CAN communication is normal, perform the diagnosis from Step 1.

•  If the malfunction recurs, replace the body control module (BCM), then go to the next step.
(See BODY CONTROL MODULE (BCM) REMOVAL/INSTALLATION [(E)].)

No

Go to the next step.

Repair completion verification 2

VERIFY IF OTHER DTC IS DISPLAYED

•  Perform the DTC inspection.
(See DTC INSPECTION.)

•  Are any other DTCs displayed?

Yes

Repair the malfunctioning location according to the applicable DTC troubleshooting.

No

DTC troubleshooting completed.