Reverse Automatic Braking(DIAGNOSTICS)
RAB(diag)
  1. Basic Diagnostic Procedure
  2. Check List for Interview
  3. General Description
  4. Electrical Component Location
  5. Control Module I/O Signal
  6. Inspection Mode
  7. Warning Light Illumination Pattern
  8. Diagnostic Procedure for Subaru Select Monitor Communication
  9. Data Monitor
  10. Freeze Frame Data
  11. Customize
  12. Work Support
  13. Diagnostic Trouble Code (DTC)
  14. Diagnostic Procedure with Diagnostic Trouble Code (DTC)
  15. Cancel Code
Reverse Automatic Braking(DIAGNOSTICS) > Basic Diagnostic Procedure　
PROCEDURE

1. PERFORM CUSTOMER INTERVIEW.

Ask the customer when and how the trouble occurred using the interview check list. Reverse Automatic Braking(DIAGNOSTICS)>Check List for Interview

Did you interview the customer?

2

Perform the interview, and 2

2. PERFORM BASIC INSPECTION.

Perform basic inspection.

Is the check result OK?

3

Repair the faulty part found in basic inspection, and 3

3. CHECK SUBARU SELECT MONITOR COMMUNICATION.
1.

Turn the ignition switch to OFF.

2.

Connect the Subaru Select Monitor to data link connector. COMMON(diag)>Data Link Connector

3.

Turn the ignition switch to ON and run the Subaru Select Monitor.

4.

Select [Reverse Automatic Braking].

 

For detailed operation procedures, refer to “Help” of application.

Is communication possible?

4

Check the communication circuit. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure for Subaru Select Monitor Communication

4. CHECK DTC.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Are any DTCs displayed? (Current malfunction)

Record the DTC, time stamp and freeze frame data, and go to next. 5

Reverse Automatic Braking is normal.

5. PERFORM DIAGNOSIS.
1.

Perform the diagnosis for the displayed DTCs. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)>LIST

2.

Repair or replace the cause of trouble.

3.

Using the Subaru Select Monitor, perform the clear memory of [Reverse Automatic Braking]. COMMON(diag)>Clear memory

4.

Execute the inspection mode. Reverse Automatic Braking(DIAGNOSTICS)>Inspection Mode

5.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Are any DTCs displayed? (Current malfunction)

Repeat step 5 until DTC is not shown.

Finish the diagnosis.

Reverse Automatic Braking(DIAGNOSTICS) > Check List for Interview　
CHECK

Inspect the following items regarding the vehicle’s state.

Reverse Automatic Braking Check List for Interview

Received   Year    Month    Date

Customer’s name

Registration No.

Initial year of registration

   Year    Month    Date

Vehicle model

Frame number

Interviewer

 

Inspector

Engine type

Odometer reading

Customer specified content

Date and time when the trouble occurred

Frequency of trouble occurrence

Always occurs

Sometimes occurs (   times per day,   times per month)

Location where the trouble occurred

Weather

 Fine  Cloudy  Rainy  Snowy  Others

Temperature

 °C (°F) —      °C (°F)

Road conditions

Road condition

　　　　　　　　　

Condition of warning light

 On  Off  Blink　　　　　　

Accessory installation condition

Diagnostic trouble code

Time stamp

Control module item number/ver

Condition of trouble occurrence

(How the trouble occurs)

Vehicle bring-in history information

Reverse Automatic Braking(DIAGNOSTICS) > General Description　
CAUTION
1. Reverse Automatic Braking

When removing the parts related to Reverse Automatic Braking, refer to the caution of the Reverse Automatic Braking.

2. AIRBAG

When removing airbag related parts, refer to Cautions for Airbags. AIRBAG SYSTEM>General Description>CAUTION

Reverse Automatic Braking(DIAGNOSTICS) > General Description　
INSPECTION

Before performing diagnostics, check the following item which might affect the Reverse Automatic Braking problems.

1. BASIC INSPECTION
1.

Check the battery. STARTING/CHARGING SYSTEMS(H4DO)>Battery>INSPECTION

2.

Check the main and other fuses, harnesses and connectors. Also check for proper grounding.

Reverse Automatic Braking(DIAGNOSTICS) > General Description　
PREPARATION TOOL
1. SPECIAL TOOL

ILLUSTRATION

TOOL NUMBER

DESCRIPTION

REMARKS

—

SUBARU SELECT MONITOR 4

Used for setting of each function and troubleshooting for electrical system.

 

For detailed operation procedures, refer to “Help” of application.
2. GENERAL TOOL

TOOL NAME

REMARKS

Circuit tester

Used for measuring resistance, voltage and current.

DST-i

Used together with Subaru Select Monitor 4.
Reverse Automatic Braking(DIAGNOSTICS) > General Description　
SYSTEM BLOCK DIAGRAM

The Reverse Automatic Braking is a system to avoid collision or reduce collision damage by informing with sound and operating the brake automatically, when the vehicle may collide with walls or obstacles on the rear during reversing.

RAB CM ECM TCM BIU(G/W) TFT ADA10504 HMI · Alarm control Control command Vehicle information Function ON/OFF Estimated forward/reverse logic Control G/W + CM adjustment function Reverse automatic braking control Alarm control CAN (body) CAN (main) Door switch Alarm speaker VDC CM (& EPB) Stereo camera CAN (local) Ultrasonic sonar x4 Display (MFD/Display Audio/NAVI) Meter · RAB ON/OFF (temporary) · Alarm ON/OFF (temporary) · RAB ON/OFF (permanent) · Alarm ON/OFF (permanent) · Vehicle speed pulse · Brake fluid pressure · Shift position · Accelerator pedal opening angle · Steering angle · Other · Target brake fluid pressure · Other · Drive force limit value · Alarm output command · HMI output command · Other Vehicle speed sensor Steering angle sensor Parking brake control Brake pressure control Brake light relay
 

Some signals vary depending on the destinations.

Reverse Automatic Braking(DIAGNOSTICS) > Electrical Component Location　
LOCATION

(1)

VDC CM

(4)

MFD

(7)

Combination meter

(2)

Engine CM

(5)

Data link connector

(8)

Body integrated unit

(3)

Transmission CM

(6)

Stereo camera

(9)

RAB CM

(1)

Sonar sensor (left corner)

(3)

Sonar sensor (right inner)

(4)

Sonar sensor (right corner)

(2)

Sonar sensor (left inner)
Reverse Automatic Braking(DIAGNOSTICS) > Control Module I/O Signal　
ELECTRICAL SPECIFICATION
1. RAB CM
R361 1 2 3 4 5 6 7 8 9 19 20 21 13 14 15 16 17 18 22 23 24 10 11 12 ADA10166 TO

Terminal No.

Content

Measuring condition

Standard

(R361) No. 1 ←→ Chassis ground:

Ignition power supply

Ignition switch ON

Battery voltage

(R361) No. 2 ←→ Chassis ground:

Ground

Always

1 Ω or less

(R361) No. 3

Blank

—

—

(R361) No. 4

Main CAN-L

—

—

(R361) No. 5

Local CAN-H (stereo camera communication line)

—

—

(R361) No. 6

Blank

—

—

(R361) No. 7

Blank

—

—

(R361) No. 8

Sonar sensor communication line (left corner −)

—

—

(R361) No. 9

Sonar sensor communication line (right inner −)

—

—

(R361) No. 10

Blank

—

—

(R361) No. 11

Sonar sensor communication line (left inner +)

—

—

(R361) No. 12

Sonar sensor communication line (right corner +)

—

—

(R361) No. 13 ←→ Chassis ground:

Battery power supply

Always

Battery voltage

(R361) No. 14

Blank

—

—

(R361) No. 15

Blank

—

—

(R361) No. 16

Main CAN-H

—

—

(R361) No. 17

Blank

—

—

(R361) No. 18

Local CAN-L (stereo camera communication line)

—

—

(R361) No. 19

Blank

—

—

(R361) No. 20

Blank

—

—

(R361) No. 21

Sonar sensor communication line (left inner −)

—

—

(R361) No. 22

Sonar sensor communication line (right corner −)

—

—

(R361) No. 23

Sonar sensor communication line (left corner +)

—

—

(R361) No. 24

Sonar sensor communication line (right inner +)

—

—

Reverse Automatic Braking(DIAGNOSTICS) > Inspection Mode　
PROCEDURE

It is possible to diagnose the DTC by performing the indicated inspection mode. After correcting the DTC, perform the inspection mode and make sure that the function is resumed correctly and the DTC is recorded.

1.

Turn the ignition switch to ON, and wait for 6 seconds or more. (∗1)

2.

Confirm that the RAB warning light (RAB malfunction indicator light) of MID in the combination meter is off.

3.

Read the DTC and check that the DTC is not displayed. (∗2)

∗1: Even with normal condition, “RAB warning light (RAB OFF indicator light)” illuminates for 6 seconds after turning the ignition switch to ON, and then goes off after 6 seconds.

∗2: Perform all DTC diagnosis within 3 seconds after the ignition switch is turned to ON. It is not necessary to shift the gear in the R range to operate the function.

Reverse Automatic Braking(DIAGNOSTICS) > Warning Light Illumination Pattern　
INSPECTION
 

Even with normal condition, “RAB warning light (RAB OFF indicator light)” illuminates for 6 seconds after turning the ignition switch to ON, and then goes off after 6 seconds.

Reverse Automatic Braking(DIAGNOSTICS) > Warning Light Illumination Pattern　
WARNING LIGHT DOES NOT ILLUMINATE

Wiring diagram:

Reverse Automatic Braking WIRING SYSTEM>Reverse Automatic Braking

A: A: A7 A6 4 16 i10 R361 24 26 25 28 27 35 37 36 39 38 40 30 32 31 34 33 29 15 17 16 19 18 21 20 23 22 10 12 11 14 13 1 3 2 5 4 7 6 9 8 i10 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 R361 ADA10308 RAB CM COMBINATION METER REF. TO CAN COMMUNICATION SYSTEM
1. CHECK OTHER INDICATOR.

Turn the ignition switch to ON.

Do other indicators illuminate?

2

Check the combination meter. COMBINATION METER (DIAGNOSTICS)>Basic Diagnostic Procedure

2. ACTIVE TEST FOR THE COMBINATION METER.

Using the Subaru Select Monitor, perform [Active Test] of [Combination Meter]. COMBINATION METER (DIAGNOSTICS)>Active Test

  • All lamps lighted

Does the indicator illuminate?

3

Replace the combination meter. INSTRUMENTATION/DRIVER INFO>Combination Meter

3. CHECK DTC.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Are any DTCs displayed? (Current malfunction)

Perform the diagnosis for the displayed DTCs.

4

4. CHECK LAN SYSTEM.

Perform the diagnosis for LAN system. LAN SYSTEM (DIAGNOSTICS)>Basic Diagnostic Procedure>PROCEDURE

Is the check result OK?

Replace the RAB CM. Reverse Automatic Braking>Reverse Automatic Braking CM

Perform the inspection according to the diagnosis for LAN system.

Reverse Automatic Braking(DIAGNOSTICS) > Warning Light Illumination Pattern　
WARNING LIGHT REMAINS ON
 

For the diagnostic procedures, refer to “WARNING LIGHT DOES NOT COME ON”. Reverse Automatic Braking(DIAGNOSTICS)>Warning Light Illumination Pattern>WARNING LIGHT DOES NOT ILLUMINATE

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure for Subaru Select Monitor Communication　
INSPECTION

Trouble symptom:

Cannot communicate with [Reverse Automatic Braking].

Detecting condition:

  • Defective harness connector

  • Power supply circuit malfunction

  • Defective RAB CM

  • Defective CAN communication circuit

  • Defective Subaru Select Monitor

Wiring diagram:

Reverse Automatic Braking WIRING SYSTEM>Reverse Automatic Braking

i288 1 9 8 16 2 10 7 15 3 11 6 14 4 12 5 13 2 1 13 4 16 14 6 8 16 4 5 i288 R361 64 63 62 61 60 59 58 57 56 40 39 38 16 15 14 13 12 11 37 36 35 34 33 32 49 48 47 46 45 44 43 42 41 25 24 23 6 5 4 3 2 1 22 21 20 19 18 17 55 54 53 52 51 50 31 30 29 10 9 8 7 28 27 26 R466 48 47 46 45 44 43 42 41 40 30 29 28 12 11 10 9 8 7 27 26 25 24 23 22 39 38 37 36 35 34 33 32 31 21 20 19 6 5 4 3 2 1 18 17 16 15 14 13 R467 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 R361 2 R467 i285 R466 i284 56 ADA10968 RAB CM DATA LINK CONNECTOR REF. TO ENGINE ELECTRICAL SYSTEM REF. TO CAN COMMUNICATION SYSTEM FB-47F/B FUSE NO. 19(IG) MB-17M/B FUSE NO. 11(B) FB-37F/B FUSE NO. 38(B) FB-26F/B FUSE NO. 16(IG)
 

Before performing diagnosis, refer to “CAUTION” in “General Description”. Reverse Automatic Braking(DIAGNOSTICS)>General Description>CAUTION

1. CHECK FUSE.
1.

Turn the ignition switch to OFF.

2.

Check the fuse.

Is the check result OK?

2

Replace the fuse. If the replaced fuse has blown out immediately, repair the short circuit to ground in harness between fuse — RAB CM.

2. CHECK POWER SUPPLY CIRCUIT (OPEN).
1.

Disconnect the RAB CM connector.

2.

Turn the ignition switch to ON.

3.

Using a tester, measure the voltage between the RAB CM connector and chassis ground.

Connector & terminal

(R361) No. 1 (+) — Chassis ground (−):

(R361) No. 13 (+) — Chassis ground (−):

Is the voltage 10 V or more?

3

Repair the open circuit in the harness between fuse and RAB CM connector.

3. CHECK GROUND CIRCUIT (OPEN).
1.

Turn the ignition switch to OFF.

2.

Using a tester, measure the resistance between the RAB CM connector and chassis ground.

Connector & terminal

(R361) No. 2 — Chassis ground:

Is the resistance less than 1 Ω?

4

Repair the open circuit of harness between RAB CM connector and chassis ground.

4. CHECK LAN SYSTEM.
1.

Connect the RAB CM connector.

2.

Perform the diagnosis for LAN system. LAN SYSTEM (DIAGNOSTICS)>Basic Diagnostic Procedure>PROCEDURE

Is the check result OK?

5

Perform the inspection according to the diagnosis for LAN system.

5. CHECK SUBARU SELECT MONITOR.

Connect the Subaru Select Monitor to another vehicle.

Is the communication possible with the vehicle?

6

Replace or repair the Subaru Select Monitor.

6. CHECK RAB CM.
1.

Turn the ignition switch to ON.

2.

Communicate with [Reverse Automatic Braking] using the select monitor.

Is communication possible?

  • The circuit has returned to a normal condition at this time. Reproduce the failure, and then perform the diagnosis again.

     

    In this case, temporary poor contact of connector, temporary open or short circuit of harness may be the cause.

Replace the RAB CM. Reverse Automatic Braking>Reverse Automatic Braking CM

Reverse Automatic Braking(DIAGNOSTICS) > Data Monitor　
OPERATION
 
Reverse Automatic Braking(DIAGNOSTICS) > Data Monitor　
LIST

Item

Contents

Standard/Unit

Note

Battery Voltage

System information

0 — 24.5 V

—

Ignition Voltage

System information

0 — 17.85 V

—

Sonar

System information

0 — 24.5 V

—

RAB Detection Distance(Coordinate:X)

Sonar sensor detection information

0 — 510 cm

—

RAB Detection Distance(Coordinate:Y)

Sonar sensor detection information

–255 — 254 cm

—

RR Sonar Detection Distance

Sonar sensor detection information

0 — 510 cm

—

RRC Sonar Detection Distance

Sonar sensor detection information

0 — 510 cm

—

RL Sonar Detection Distance

Sonar sensor detection information

0 — 510 cm

—

RLC Sonar Detection Distance

Sonar sensor detection information

0 — 510 cm

—

Drive Wheel Average Speed

Vehicle information

0 — 3686.4 km/h

—

Wheel Speed for Fail Safe

Vehicle information

0 — 3686.4 km/h

—

Vehicle Height Sensor Voltage

Vehicle information

0 — 5.1 V

—

Ambient Air Temperature

Vehicle information

–40 — 87°C

—

Shift Position

Vehicle information

—

—

EPB Equipment Information

Operation instruction from EyeSight

  • Vehicle without EPB

  • Vehicle with EPB

—

EyeSight Initialization(RAB)

Operation instruction from EyeSight

  • During initialization of EyeSight

  • Initialization completion

—

Recession Control Permission(RAB)

Operation instruction from EyeSight

  • Can not Reverse Control

  • Permit

—

RAB Fail Indication(EyeSight→RAB)

Operation instruction from EyeSight

  • No failure

  • NG

—

RAB OFF Indication(EyeSight→RAB)

Operation instruction from EyeSight

  • RAB ON

  • RAB Force OFF

—

RAB Acceleration Suppression Control State(EyeSight→RAB)

Operation instruction from EyeSight

  • No Control

  • Precom

  • Recruitment

—

RAB Brake Control State(EyeSight→RAB)

Operation instruction from EyeSight

  • No Control

  • Precompression

  • Brake Control In

  • Stop holding

  • Recruitment

—

RAB Precompression Control

Braking control instruction from RAB CM

  • No

  • Yes

—

RAB Acceleration Suppression Control

Braking control instruction from RAB CM

  • No

  • Yes

—

Recession Pre-Collision Brake Control

Braking control instruction from RAB CM

  • No

  • RAB activated

—

RAB Function OFF Information

HMI control instruction from RAB CM

  • ON

  • OFF

—

Audible Alarm function OFF Information(RAB)

HMI control instruction from RAB CM

  • ON

  • OFF

—

Sonar System HALT(RAB)

HMI control instruction from RAB CM

  • NORMAL

  • Extraneous Matter on Sonar

  • Detection Abnormality

—

RAB Sonar System Failure(EyeSight→RAB)

HMI control instruction from RAB CM

  • NORMAL

  • Sonar Failure

  • System Failure

—

RAB Function pause Do Not Disturb

HMI control instruction from RAB CM

  • Ready

  • Do Not Disturb

—

RAB Alarm pause Do Not Disturb

HMI control instruction from RAB CM

  • Ready

  • Do Not Disturb

—

Rear Sonar Distance Alarm Information (Rear_Center)

HMI control instruction from RAB CM

  • No Obstacle

  • Far

  • Middle

  • Short

  • Closest Approach

—

Rear Sonar Distance Alarm Information (Rear Right Corner)

HMI control instruction from RAB CM

  • No Obstacle

  • Far

  • Middle

  • Short

  • Closest Approach

—

Rear Sonar Distance Alarm Information (Rear Left Corner)

HMI control instruction from RAB CM

  • No Obstacle

  • Far

  • Middle

  • Short

  • Closest Approach

—

RAB Alarm Level

HMI control instruction from RAB CM

  • OFF

  • LEVEL1

  • Level2

  • Level3

  • LEVEL4

  • LEVEL5

—

RAB Alarm Interrupt Display Instruction

HMI control instruction from RAB CM

  • No display

  • Backward Note

  • Encourage Stepping Brake

—

RAB Function Pause Information(MFD)

HMI settings instruction from MFD/navigation

  • ON

  • OFF

—

RAB Alarm Pause Information(MFD)

HMI settings instruction from MFD/navigation

  • ON

  • OFF

—

RAB Function Pause Information Change Request(MFD)

HMI settings instruction from MFD/navigation

  • support

  • no support

—

RAB Function ON/OFF Information(MET)

HMI settings instruction from the combination meter

  • ON

  • OFF

—

RAB Alarm ON/OFF Information(MET)

HMI settings instruction from the combination meter

  • ON

  • OFF

—

RAB Function ON/OFF Information Change Request(MET)

HMI settings instruction from the combination meter

  • support

  • no support

—

ECU Destination Information

Vehicle information

  • Japan

  • North America (U.S./Canada)

  • EU/General

—

Body-type Information

Vehicle information

  • SDN

  • WGN

  • OBK

  • STD

  • XV

  • SUV

—

Reverse Automatic Braking(DIAGNOSTICS) > Freeze Frame Data　
OPERATION
 
Reverse Automatic Braking(DIAGNOSTICS) > Freeze Frame Data　
LIST

Item

Contents

Standard/Unit

Note

Trip Count

Time stamp information. LAN SYSTEM (DIAGNOSTICS)>General Description>CAUTION > TIME STAMP

time

—

Count

—

—

Time Count

ms

—

Battery Voltage

System information

0 — 24.5 V

—

Ignition Voltage

System information

0 — 17.85 V

—

Sonar

System information

0 — 24.5 V

—

RAB Operation Times

System information

0 — 255 times (in one IGN_ON)

—

RAB Cancel Times

System information

0 — 255 times (in one IGN_ON)

—

Stop Hold Cancel Times

System information

0 — 255 times (in one IGN_ON)

—

FAIL times

System information

0 — 255 times (in one IGN_ON)

—

HALT times

System information

0 — 255 times (in one IGN_ON)

—

RR Sonar Sensitivity

System information

–128 — 127

—

RRC Sonar Sensitivity

System information

–128 — 127

—

RL Sonar Sensitivity

System information

–128 — 127

—

RLC Sonar Sensitivity

System information

–128 — 127

—

RAB Detection Distance(Coordinate:X)

Sonar sensor detection information

0 — 510 cm

—

RAB Detection Distance(Coordinate:Y)

Sonar sensor detection information

–255 — 254 cm

—

RR Sonar Detection Distance

Sonar sensor detection information

0 — 510 cm

—

RRC Sonar Detection Distance

Sonar sensor detection information

0 — 510 cm

—

RL Sonar Detection Distance

Sonar sensor detection information

0 — 510 cm

—

RLC Sonar Detection Distance

Sonar sensor detection information

0 — 510 cm

—

Drive Wheel Average Speed

Vehicle information

0 — 3686.4 km/h

—

Wheel Speed for Fail Safe

Vehicle information

0 — 3686.4 km/h

—

Driver Brake Detection

Vehicle information

  • ON

  • OFF

—

Vehicle Height Sensor Voltage

Vehicle information

0 — 5.1 V

—

Ambient Air Temperature

Vehicle information

–40 — 87°C

—

Shift Position

Vehicle information

—

—

EPB Equipment Information

Operation instruction from EyeSight

  • Vehicle without EPB

  • Vehicle with EPB

—

EyeSight Initialization(RAB)

Operation instruction from EyeSight

  • During initialization of EyeSight

  • Initialization completion

—

Recession Control Permission(RAB)

Operation instruction from EyeSight

  • Can not Reverse Control

  • Permit

—

RAB Fail Indication(EyeSight→RAB)

Operation instruction from EyeSight

  • No failure

  • NG

—

RAB OFF Indication(EyeSight→RAB)

Operation instruction from EyeSight

  • RAB ON

  • RAB Force OFF

—

RAB Acceleration Suppression Control State(EyeSight→RAB)

Operation instruction from EyeSight

  • No Control

  • Precom

  • Recruitment

—

RAB Brake Control State(EyeSight→RAB)

Operation instruction from EyeSight

  • No Control

  • Precompression

  • Brake Control In

  • Stop holding

  • Recruitment

—

RAB Precompression Control

Braking control instruction from RAB CM

  • No

  • Yes

—

RAB Acceleration Suppression Value

Braking control instruction from RAB CM

0 — 2.55 G

—

RAB Acceleration Suppression Control

Braking control instruction from RAB CM

  • No

  • Yes

—

Deceleration Braking Instruction

Braking control instruction from RAB CM

0 — 2.55 G

—

Recession Pre-Collision Brake Control

Braking control instruction from RAB CM

  • No

  • RAB activated

—

RAB Function OFF Information

HMI control instruction from RAB CM

  • ON

  • OFF

—

Audible Alarm function OFF Information(RAB)

HMI control instruction from RAB CM

  • ON

  • OFF

—

Sonar System HALT(RAB)

HMI control instruction from RAB CM

  • NORMAL

  • Extraneous Matter on Sonar

  • Detection Abnormality

—

RAB Sonar System Failure(EyeSight→RAB)

HMI control instruction from RAB CM

  • NORMAL

  • Sonar Failure

  • System Failure

—

RAB Function pause Do Not Disturb

HMI control instruction from RAB CM

  • Ready

  • Do Not Disturb

—

RAB Alarm pause Do Not Disturb

HMI control instruction from RAB CM

  • Ready

  • Do Not Disturb

—

Rear Sonar Distance Alarm Information (Rear_Center)

HMI control instruction from RAB CM

  • No Obstacle

  • Far

  • Middle

  • Short

  • Closest Approach

—

Rear Sonar Distance Alarm Information (Rear Right Corner)

HMI control instruction from RAB CM

  • No Obstacle

  • Far

  • Middle

  • Short

—

Rear Sonar Distance Alarm Information (Rear Left Corner)

HMI control instruction from RAB CM

  • No Obstacle

  • Far

  • Middle

  • Short

—

RAB Alarm Level

HMI control instruction from RAB CM

  • OFF

  • LEVEL1

  • Level2

  • Level3

  • LEVEL4

  • LEVEL5

—

RAB Alarm Interrupt Display Instruction

HMI control instruction from RAB CM

  • No display

  • Backward Note

  • Encourage Stepping Brake

—

RAB Function Pause Information(MFD)

HMI settings instruction from MFD/navigation

  • ON

  • OFF

—

RAB Alarm Pause Information(MFD)

HMI settings instruction from MFD/navigation

  • ON

  • OFF

—

RAB Function Pause Information Change Request(MFD)

HMI settings instruction from MFD/navigation

  • support

  • no support

—

RAB Function ON/OFF Information(MET)

HMI settings instruction from the combination meter

  • ON

  • OFF

—

RAB Alarm ON/OFF Information(MET)

HMI settings instruction from the combination meter

  • ON

  • OFF

—

RAB Function ON/OFF Information Change Request(MET)

HMI settings instruction from the combination meter

  • support

  • no support

—

DTC Sub Code FS A001

Information for failure analysis

  • 0

  • 1

—

DTC Sub Code FS A002

Information for failure analysis

  • 0

  • 1

—

DTC Sub Code FS A003

Information for failure analysis

  • 0

  • 1

—

DTC Sub Code FS A004

Information for failure analysis

  • 0

  • 1

—

DTC Sub Code FS A005

Information for failure analysis

  • 0

  • 1

—

DTC Sub Code FS A006

Information for failure analysis

  • 0

  • 1

—

DTC Sub Code FS A007

Information for failure analysis

  • 0

  • 1

—

DTC Sub Code FS A008

Information for failure analysis

  • 0

  • 1

—

DTC Sub Code FS A009

Information for failure analysis

  • 0

  • 1

—

DTC Sub Code FS A010

Information for failure analysis

  • 0

  • 1

—

DTC Sub Code FS A011

Information for failure analysis

  • 0

  • 1

—

DTC Sub Code FS A012

Information for failure analysis

  • 0

  • 1

—

DTC Sub Code FS A013

Information for failure analysis

  • 0

  • 1

—

DTC Sub Code FS A014

Information for failure analysis

  • 0

  • 1

—

DTC Sub Code FS A015

Information for failure analysis

  • 0

  • 1

—

DTC Sub Code FS A016

Information for failure analysis

  • 0

  • 1

—

DTC Sub Code FS A017

Information for failure analysis

  • 0

  • 1

—

DTC Sub Code FS A018

Information for failure analysis

  • 0

  • 1

—

DTC Sub Code FS A019

Information for failure analysis

  • 0

  • 1

—

RRC <A-01> Count

Information for failure analysis

—

—

RRC <A-02> Count

Information for failure analysis

—

—

RRC <A-03> Count

Information for failure analysis

—

—

RRC <A-04> Count

Information for failure analysis

—

—

RRC <A-05> Count

Information for failure analysis

—

—

RRC <B-01> Count

Information for failure analysis

—

—

RRC <B-02> Count

Information for failure analysis

—

—

RRC <B-03> Count

Information for failure analysis

—

—

RRC <B-04> Count

Information for failure analysis

—

—

RRC <B-05> Count

Information for failure analysis

—

—

RRC <C-01> Count

Information for failure analysis

—

—

RRC <C-02> Count

Information for failure analysis

—

—

RRC <C-03> Count

Information for failure analysis

—

—

RRC <C-04> Count

Information for failure analysis

—

—

RRC <C-05> Count

Information for failure analysis

—

—

RRC <D-02> Count

Information for failure analysis

—

—

RRC <D-05> Count

Information for failure analysis

—

—

RLC <A-01> Count

Information for failure analysis

—

—

RLC <A-02> Count

Information for failure analysis

—

—

RLC <A-03> Count

Information for failure analysis

—

—

RLC <A-04> Count

Information for failure analysis

—

—

RLC <A-05> Count

Information for failure analysis

—

—

RLC <B-01> Count

Information for failure analysis

—

—

RLC <B-02> Count

Information for failure analysis

—

—

RLC <B-03> Count

Information for failure analysis

—

—

RLC <B-04> Count

Information for failure analysis

—

—

RLC <B-05> Count

Information for failure analysis

—

—

RLC <C-01> Count

Information for failure analysis

—

—

RLC <C-02> Count

Information for failure analysis

—

—

RLC <C-03> Count

Information for failure analysis

—

—

RLC <C-04> Count

Information for failure analysis

—

—

RLC <C-05> Count

Information for failure analysis

—

—

RLC <D-02> Count

Information for failure analysis

—

—

RLC <D-05> Count

Information for failure analysis

—

—

RR <A-01> Count

Information for failure analysis

—

—

RR <A-02> Count

Information for failure analysis

—

—

RR <A-03> Count

Information for failure analysis

—

—

RR <A-04> Count

Information for failure analysis

—

—

RR <A-05> Count

Information for failure analysis

—

—

RR <B-01> Count

Information for failure analysis

—

—

RR <B-02> Count

Information for failure analysis

—

—

RR <B-03> Count

Information for failure analysis

—

—

RR <B-04> Count

Information for failure analysis

—

—

RR <B-05> Count

Information for failure analysis

—

—

RR <C-01> Count

Information for failure analysis

—

—

RR <C-02> Count

Information for failure analysis

—

—

RR <C-03> Count

Information for failure analysis

—

—

RR <C-04> Count

Information for failure analysis

—

—

RR <C-05> Count

Information for failure analysis

—

—

RR <D-02> Count

Information for failure analysis

—

—

RR <D-05> Count

Information for failure analysis

—

—

RL <A-01> Count

Information for failure analysis

—

—

RL <A-02> Count

Information for failure analysis

—

—

RL <A-03> Count

Information for failure analysis

—

—

RL <A-04> Count

Information for failure analysis

—

—

RL <A-05> Count

Information for failure analysis

—

—

RL <B-01> Count

Information for failure analysis

—

—

RL <B-02> Count

Information for failure analysis

—

—

RL <B-03> Count

Information for failure analysis

—

—

RL <B-04> Count

Information for failure analysis

—

—

RL <B-05> Count

Information for failure analysis

—

—

RL <C-01> Count

Information for failure analysis

—

—

RL <C-02> Count

Information for failure analysis

—

—

RL <C-03> Count

Information for failure analysis

—

—

RL <C-04> Count

Information for failure analysis

—

—

RL <C-05> Count

Information for failure analysis

—

—

RL <D-02> Count

Information for failure analysis

—

—

RL <D-05> Count

Information for failure analysis

—

—

Reverse Automatic Braking(DIAGNOSTICS) > Customize　
OPERATION
1.

On [Start] screen, select [Diagnosis].

2.

On [Vehicle selection] screen, enter vehicle information and select [OK].

3.

On [Main Menu] screen, select [Each System].

4.

On [Select System] screen, select [Reverse Automatic Braking] and select [Enter].

5.

On [Select Function] screen, select [Customize] and select [Next].

 

For detailed operation procedures, refer to “Help” of application.

Reverse Automatic Braking(DIAGNOSTICS) > Customize　
LIST

Item

Initial setting value

Setting value

Contents

RAB Function ON/OFF Information(SSM)

Always ON

Always ON

Always OFF

ON/OFF of the RAB function can be selected.
Reverse Automatic Braking(DIAGNOSTICS) > Work Support　
OPERATION
1.

On [Start] screen, select [Diagnosis].

2.

On [Vehicle selection] screen, input the target vehicle information and select [OK].

3.

On [Main Menu] screen, select [Each System].

4.

On [Select System] screen, select Reverse Automatic Braking and select [Enter].

5.

On [Select Function] screen, select [Work Support] and select [Next].

 

For detailed operation procedures, refer to “Help” of application.

Reverse Automatic Braking(DIAGNOSTICS) > Work Support　
LIST

Items

Contents

RAB Operation Record Data Save

When ignition switch ON counts of “Latest”, “1 block before”, “2 blocks before” ... “4 blocks before” all shows “0”, it can be judged that there is no data. The display shows the latest data and the data in the previous 4 times in the order of their occurrence. Blue letter means that the data exists, and black letter means that there is no data. Select the blue letters and read out the details.

ECU Initialize

RAB CM is reset to the factory settings.

ECU Parts Number

RAB CM part number is displayed.

Software information

Software information is displayed.

Sensitivity of each sonar sensor can NOT be adjusted.

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Trouble Code (DTC)　
OPERATION
 
Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Trouble Code (DTC)　
LIST

Code

Description & trouble part

Reference

B2C00

SONAR CONTROL MODULE CIRCUIT

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C00 SONAR CONTROL MODULE CIRCUIT

B2C01

RR SONAR CONTROL MODULE CIRCUIT

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C01 RR SONAR CONTROL MODULE CIRCUIT

B2C02

RRC SONAR CONTROL MODULE CIRCUIT

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C02 RRC SONAR CONTROL MODULE CIRCUIT

B2C03

RL SONAR CONTROL MODULE CIRCUIT

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C03 RL SONAR CONTROL MODULE CIRCUIT

B2C04

RLC SONAR CONTROL MODULE CIRCUIT

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C04 RLC SONAR CONTROL MODULE CIRCUIT

B2C05

SONAR CONTROL MODULE POWER SUPPLY

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C05 SONAR CONTROL MODULE POWER SUPPLY

B2C06

RR SONAR SENSOR CIRCUIT / NO SIGNAL

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C06 RR SONAR SENSOR CIRCUIT / NO SIGNAL

B2C07

RR SONAR SENSOR / SONAR CONTROL MODULE CIRCUIT

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C07 RR SONAR SENSOR / SONAR CONTROL MODULE CIRCUIT

B2C08

RRC SONAR SENSOR CIRCUIT / NO SIGNAL

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C08 RRC SONAR SENSOR CIRCUIT / NO SIGNAL

B2C09

RRC SONAR SENSOR / SONAR CONTROL MODULE CIRCUIT

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C09 RRC SONAR SENSOR / SONAR CONTROL MODULE CIRCUIT

B2C0A

RL SONAR SENSOR CIRCUIT / NO SIGNAL

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C0A RL SONAR SENSOR CIRCUIT / NO SIGNAL

B2C0B

RL SONAR SENSOR / SONAR CONTROL MODULE CIRCUIT

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C0B RL SONAR SENSOR / SONAR CONTROL MODULE CIRCUIT

B2C0C

RLC SONAR SENSOR CIRCUIT / NO SIGNAL

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C0C RLC SONAR SENSOR CIRCUIT / NO SIGNAL

B2C0D

RLC SONAR SENSOR / SONAR CONTROL MODULE CIRCUIT

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C0D RLC SONAR SENSOR / SONAR CONTROL MODULE CIRCUIT

B2C0E

RR SONAR HARNESS HIGH

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C0E RR SONAR HARNESS HIGH

B2C0F

RR SONAR HARNESS LOW

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C0F RR SONAR HARNESS LOW

B2C10

RRC SONAR HARNESS HIGH

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C10 RRC SONAR HARNESS HIGH

B2C11

RRC SONAR HARNESS LOW

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C11 RRC SONAR HARNESS LOW

B2C12

RL SONAR HARNESS HIGH

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C12 RL SONAR HARNESS HIGH

B2C13

RL SONAR HARNESS LOW

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C13 RL SONAR HARNESS LOW

B2C14

RLC SONAR HARNESS HIGH

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C14 RLC SONAR HARNESS HIGH

B2C15

RLC SONAR HARNESS LOW

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C15 RLC SONAR HARNESS LOW

B2C16

RRC SONAR HARNESS HIGH / RRC SONAR CONTROL MODULE CIRCUIT

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C16 RRC SONAR HARNESS HIGH / RRC SONAR CONTROL MODULE CIRCUIT

B2C17

RLC SONAR HARNESS HIGH / RLC SONAR CONTROL MODULE CIRCUIT

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C17 RLC SONAR HARNESS HIGH / RLC SONAR CONTROL MODULE CIRCUIT

B2C18

RR SONAR HARNESS HIGH / RR SONAR CONTROL MODULE CIRCUIT

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C18 RR SONAR HARNESS HIGH / RR SONAR CONTROL MODULE CIRCUIT

B2C19

RL SONAR HARNESS HIGH / RL SONAR CONTROL MODULE CIRCUIT

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C19 RL SONAR HARNESS HIGH / RL SONAR CONTROL MODULE CIRCUIT

B2C1A

RRC SONAR SENSOR

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C1A RRC SONAR SENSOR

B2C1B

RLC SONAR SENSOR

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C1B RLC SONAR SENSOR

B2C1C

RR SONAR SENSOR

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C1C RR SONAR SENSOR

B2C1D

RL SONAR SENSOR

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C1D RL SONAR SENSOR

B2C1E

RRC SONAR HARNESS LOW / RRC SONAR CONTROL MODULE CIRCUIT

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C1E RRC SONAR HARNESS LOW / RRC SONAR CONTROL MODULE CIRCUIT

B2C1F

RLC SONAR HARNESS LOW / RLC SONAR CONTROL MODULE CIRCUIT

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C1F RLC SONAR HARNESS LOW / RLC SONAR CONTROL MODULE CIRCUIT

B2C20

RR SONAR HARNESS LOW / RR SONAR CONTROL MODULE CIRCUIT

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C20 RR SONAR HARNESS LOW / RR SONAR CONTROL MODULE CIRCUIT

B2C21

RL SONAR HARNESS LOW / RL SONAR CONTROL MODULE CIRCUIT

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C21 RL SONAR HARNESS LOW / RL SONAR CONTROL MODULE CIRCUIT

B2C22

Eyesight System

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C22 Eyesight System

U0077

LOCAL CAN COMMUNICATION BUS OFF

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC U0077 LOCAL CAN COMMUNICATION BUS OFF

U0100

LOST COMMUNICATION WITH ECM/PCM "A"

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC U0100 LOST COMMUNICATION WITH ECM/PCM "A"

U0101

LOST COMMUNICATION WITH TCM

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC U0101 LOST COMMUNICATION WITH TCM

U0122

LOST COMMUNICATION WITH VEHICLE DYNAMICS CONTROL MODULE

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC U0122 LOST COMMUNICATION WITH VEHICLE DYNAMICS CONTROL MODULE

U0140

LOST COMMUNICATION WITH BODY CONTROL MODULE

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC U0140 LOST COMMUNICATION WITH BODY CONTROL MODULE

U0155

LOST COMMUNICATION WITH INSTRUMENT PANEL CLUSTER (IPC) CONTROL MODULE

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC U0155 LOST COMMUNICATION WITH INSTRUMENT PANEL CLUSTER (IPC) CONTROL MODULE

U0401

INVALID DATA RECEIVED FROM ECM/PCM "A"

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC U0401 INVALID DATA RECEIVED FROM ECM/PCM "A"

U0402

INVALID DATA RECEIVED FROM TCM

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC U0402 INVALID DATA RECEIVED FROM TCM

U0416

INVALID DATA RECEIVED FROM VEHICLE DYNAMICS CONTROL MODULE

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC U0416 INVALID DATA RECEIVED FROM VEHICLE DYNAMICS CONTROL MODULE

U0422

INVALID DATA RECEIVED FROM BODY CONTROL MODULE

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC U0422 INVALID DATA RECEIVED FROM BODY CONTROL MODULE

U0423

INVALID DATA RECEIVED FROM INSTRUMENT PANEL CLUSTER CONTROL MODULE

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC U0423 INVALID DATA RECEIVED FROM INSTRUMENT PANEL CLUSTER CONTROL MODULE

U0457

INVALID DATA RECEIVED FROM INFORMATION CENTER "A"

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC U0457 INVALID DATA RECEIVED FROM INFORMATION CENTER "A"

U1235

LOST COMMUNICATION WITH EyeSight

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC U1235 LOST COMMUNICATION WITH EyeSight

U1433

INVALID DATA RECEIVED FROM EyeSight

Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC U1433 INVALID DATA RECEIVED FROM EyeSight
Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C00 SONAR CONTROL MODULE CIRCUIT

Outline of diagnosis:

Detect the malfunction of the RAB CM.

Time needed for diagnosis:

10 ms

Recovery conditions:

Ignition switch OFF → ON

 

Before performing diagnosis, refer to “CAUTION” in “General Description”. Reverse Automatic Braking(DIAGNOSTICS)>General Description>CAUTION

1. CHECK DTC.
1.

Turn the ignition switch to ON.

2.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Are DTCs other than DTC B2C00 displayed? (Current malfunction)

Perform the diagnosis for DTC other than DTC B2C00. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)>LIST

Replace the RAB CM. Reverse Automatic Braking>Reverse Automatic Braking CM

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C01 RR SONAR CONTROL MODULE CIRCUIT

Outline of diagnosis:

Detect the malfunction of the RAB CM.

Time needed for diagnosis:

1200 ms

Recovery conditions:

Ignition switch OFF → ON

 

Before performing diagnosis, refer to “CAUTION” in “General Description”. Reverse Automatic Braking(DIAGNOSTICS)>General Description>CAUTION

1. CHECK DTC.
1.

Turn the ignition switch to ON.

2.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is a DTC other than DTC B2C01 displayed? (Current malfunction)

Perform the diagnosis for DTC other than DTC B2C01. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)>LIST

Replace the RAB CM. Reverse Automatic Braking>Reverse Automatic Braking CM

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C02 RRC SONAR CONTROL MODULE CIRCUIT

Outline of diagnosis:

Detect the malfunction of the RAB CM.

Time needed for diagnosis:

1200 ms

Recovery conditions:

Ignition switch OFF → ON

 

Before performing diagnosis, refer to “CAUTION” in “General Description”. Reverse Automatic Braking(DIAGNOSTICS)>General Description>CAUTION

1. CHECK DTC.
1.

Turn the ignition switch to ON.

2.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is a DTC other than DTC B2C02 displayed? (Current malfunction)

Perform the diagnosis for DTC other than DTC B2C02. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)>LIST

Replace the RAB CM. Reverse Automatic Braking>Reverse Automatic Braking CM

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C03 RL SONAR CONTROL MODULE CIRCUIT

Outline of diagnosis:

Detect the malfunction of the RAB CM.

Time needed for diagnosis:

1200 ms

Recovery conditions:

Ignition switch OFF → ON

 

Before performing diagnosis, refer to “CAUTION” in “General Description”. Reverse Automatic Braking(DIAGNOSTICS)>General Description>CAUTION

1. CHECK DTC.
1.

Turn the ignition switch to ON.

2.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is a DTC other than DTC B2C03 displayed? (Current malfunction)

Perform the diagnosis for DTC other than DTC B2C03. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)>LIST

Replace the RAB CM. Reverse Automatic Braking>Reverse Automatic Braking CM

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C04 RLC SONAR CONTROL MODULE CIRCUIT

Outline of diagnosis:

Detect the malfunction of the RAB CM.

Time needed for diagnosis:

1200 ms

Recovery conditions:

Ignition switch OFF → ON

 

Before performing diagnosis, refer to “CAUTION” in “General Description”. Reverse Automatic Braking(DIAGNOSTICS)>General Description>CAUTION

1. CHECK DTC.
1.

Turn the ignition switch to ON.

2.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is a DTC other than DTC B2C04 displayed? (Current malfunction)

Perform the diagnosis for DTC other than DTC B2C04. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)>LIST

Replace the RAB CM. Reverse Automatic Braking>Reverse Automatic Braking CM

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C05 SONAR CONTROL MODULE POWER SUPPLY

Outline of diagnosis:

Voltage supply to the ignition power supply terminal and the battery power supply terminal was 16 V or more.

Time needed for diagnosis:

200 ms

Recovery conditions:

Ignition switch OFF → ON

Wiring diagram:

Reverse Automatic Braking WIRING SYSTEM>Reverse Automatic Braking

R466 i284 64 63 62 61 60 59 58 57 56 40 39 38 16 15 14 13 12 11 37 36 35 34 33 32 49 48 47 46 45 44 43 42 41 25 24 23 6 5 4 3 2 1 22 21 20 19 18 17 55 54 53 52 51 50 31 30 29 10 9 8 7 28 27 26 48 47 46 45 44 43 42 41 40 30 29 28 12 11 10 9 8 7 27 26 25 24 23 22 39 38 37 36 35 34 33 32 31 21 20 19 6 5 4 3 2 1 18 17 16 15 14 13 R467 i285 R466 R467 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 R361 ADA10969 R361 13 1 56 2 RAB CM FB-26F/B FUSE NO. 16(IG) FB-37F/B FUSE NO. 38(B)
 

Before performing diagnosis, refer to “CAUTION” in “General Description”. Reverse Automatic Braking(DIAGNOSTICS)>General Description>CAUTION

1. CHECK CONNECTOR.
1.

Turn the ignition switch to OFF.

2.

Disconnect the RAB CM connector.

3.

Connect the disconnected connectors.

4.

Turn the ignition switch to ON.

5.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is DTC B2C05 displayed? (Current malfunction)

2

  • Even if DTC is displayed, the circuit has returned to a normal condition at this time. Reproduce the failure, and then perform the diagnosis again.

     

    In this case, temporary poor contact of connector, temporary open or short circuit of harness may be the cause.

2. CHECK RAB CM POWER SUPPLY CIRCUIT.
1.

Turn the ignition switch to OFF.

2.

Disconnect the RAB CM connector.

3.

Turn the ignition switch to ON.

4.

Using a tester, measure the voltage between the RAB CM connector and chassis ground.

Connector & terminal

(R361) No. 1 (+) — Chassis ground (−):

(R361) No. 13 (+) — Chassis ground (−):

Is the voltage 16 V or less?

Replace the RAB CM. Reverse Automatic Braking>Reverse Automatic Braking CM

Check the harness between the RAB CM connector and power supply.

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C06 RR SONAR SENSOR CIRCUIT / NO SIGNAL

Outline of diagnosis:

Sonar sensor (right corner) harness is open.

Time needed for diagnosis:

1200 ms

Recovery conditions:

Ignition switch OFF → ON

Wiring diagram:

Reverse Automatic Braking WIRING SYSTEM>Reverse Automatic Braking

1 2 R366 2 1 1 2 4 3 6 5 8 7 10 9 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 R361 R368 ADA10918 R366 1 6 12 22 R368 R362 R361 RAB CM SONAR SENSOR (RIGHT CORNER)
 

Before performing diagnosis, refer to “CAUTION” in “General Description”. Reverse Automatic Braking(DIAGNOSTICS)>General Description>CAUTION

1. CHECK CONNECTOR.
1.

Turn the ignition switch to OFF.

2.

Disconnect the sonar sensor (right corner) connector.

3.

Connect the disconnected connectors.

4.

Turn the ignition switch to ON.

5.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is DTC B2C06 displayed? (Current malfunction)

2

  • Even if DTC is displayed, the circuit has returned to a normal condition at this time. Reproduce the failure, and then perform the diagnosis again.

     

    In this case, temporary poor contact of connector, temporary open or short circuit of harness may be the cause.

2. CHECK HARNESS BETWEEN SONAR SENSOR CONNECTOR AND RAB CM CONNECTOR. (OPEN CIRCUIT).
1.

Turn the ignition switch to OFF.

2.

Disconnect the sonar sensor (right corner) connector and the RAB CM connector.

3.

Using a tester, measure resistance value of the harness between the sonar sensor (right corner) connector and RAB CM connector.

Connector & terminal

(R361) No. 12 — (R366) No. 2:

(R361) No. 22 — (R366) No. 1:

Is the resistance less than 10 Ω?

3

Repair or replace the open circuit in the harness between sonar sensor connector and RAB CM connector.

3. CHECK SONAR SENSOR.
1.

Switch the sonar sensor (right corner) and sonar sensor (right inner).

2.

Connect the disconnected connectors.

3.

Turn the ignition switch to ON.

4.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is DTC B2C06 displayed? (Current malfunction)

Replace the RAB CM. Reverse Automatic Braking>Reverse Automatic Braking CM

Replace the sensor installed as a sonar sensor (right corner). Reverse Automatic Braking>Sensor and Harness

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C07 RR SONAR SENSOR / SONAR CONTROL MODULE CIRCUIT
 

For the diagnostic procedure, refer to DTC B2C06. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C06 RR SONAR SENSOR CIRCUIT / NO SIGNAL

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C08 RRC SONAR SENSOR CIRCUIT / NO SIGNAL

Outline of diagnosis:

Sonar sensor (right inner) harness is open.

Time needed for diagnosis:

1200 ms

Recovery conditions:

Ignition switch OFF → ON

Wiring diagram:

Reverse Automatic Braking WIRING SYSTEM>Reverse Automatic Braking

1 2 R367 2 1 1 2 4 3 6 5 8 7 10 9 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 R361 R368 ADA10919 R367 3 8 24 9 R368 R362 R361 RAB CM SONAR SENSOR (RIGHT INNER)
 

Before performing diagnosis, refer to “CAUTION” in “General Description”. Reverse Automatic Braking(DIAGNOSTICS)>General Description>CAUTION

1. CHECK CONNECTOR.
1.

Turn the ignition switch to OFF.

2.

Disconnect the sonar sensor (right inner) connector.

3.

Connect the disconnected connectors.

4.

Turn the ignition switch to ON.

5.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is DTC B2C08 displayed? (Current malfunction)

2

  • Even if DTC is displayed, the circuit has returned to a normal condition at this time. Reproduce the failure, and then perform the diagnosis again.

     

    In this case, temporary poor contact of connector, temporary open or short circuit of harness may be the cause.

2. CHECK BETWEEN SONAR SENSOR CONNECTOR AND RAB CM CONNECTOR. (OPEN CIRCUIT).
1.

Turn the ignition switch to OFF.

2.

Disconnect the sonar sensor (right inner) connector and the RAB CM connector.

3.

Using a tester, measure resistance value of the harness between the sonar sensor (right inner) connector and RAB CM connector.

Connector & terminal

(R361) No. 24 — (R367) No. 2:

(R361) No. 9 — (R367) No. 1:

Is the resistance less than 10 Ω?

3

Repair or replace the open circuit in the harness between sonar sensor connector and RAB CM connector.

3. CHECK SONAR SENSOR.
1.

Switch the sonar sensor (right inner) and sonar sensor (right corner).

2.

Connect the disconnected connectors.

3.

Turn the ignition switch to ON.

4.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is DTC B2C08 displayed? (Current malfunction)

Replace the RAB CM. Reverse Automatic Braking>Reverse Automatic Braking CM

Replace the sensor installed as a sonar sensor (right inner). Reverse Automatic Braking>Sensor and Harness

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C09 RRC SONAR SENSOR / SONAR CONTROL MODULE CIRCUIT
 

For the diagnostic procedure, refer to DTC B2C08. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C08 RRC SONAR SENSOR CIRCUIT / NO SIGNAL

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C0A RL SONAR SENSOR CIRCUIT / NO SIGNAL

Outline of diagnosis:

Sonar sensor (left corner) harness is open.

Time needed for diagnosis:

1200 ms

Recovery conditions:

Ignition switch OFF → ON

Wiring diagram:

Reverse Automatic Braking WIRING SYSTEM>Reverse Automatic Braking

1 2 R364 2 1 1 2 4 3 6 5 8 7 10 9 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 R361 R368 ADA10920 R364 2 7 23 8 R368 R362 R361 RAB CM SONAR SENSOR (LEFT CORNER)
 

Before performing diagnosis, refer to “CAUTION” in “General Description”. Reverse Automatic Braking(DIAGNOSTICS)>General Description>CAUTION

1. CHECK CONNECTOR.
1.

Turn the ignition switch to OFF.

2.

Disconnect the sonar sensor (left corner) connector.

3.

Connect the disconnected connectors.

4.

Turn the ignition switch to ON.

5.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is DTC B2C0A displayed? (Current malfunction)

2

  • Even if DTC is displayed, the circuit has returned to a normal condition at this time. Reproduce the failure, and then perform the diagnosis again.

     

    In this case, temporary poor contact of connector, temporary open or short circuit of harness may be the cause.

2. CHECK HARNESS BETWEEN SONAR SENSOR CONNECTOR AND RAB CM CONNECTOR. (OPEN CIRCUIT).
1.

Turn the ignition switch to OFF.

2.

Disconnect the sonar sensor (left corner) connector and the RAB CM connector.

3.

Using a tester, measure resistance value of the harness between the sonar sensor (left corner) connector and RAB CM connector.

Connector & terminal

(R361) No. 8 — (R364) No. 1:

(R361) No. 23 — (R364) No. 2:

Is the resistance less than 10 Ω?

3

Repair or replace the open circuit in the harness between sonar sensor connector and RAB CM connector.

3. CHECK SONAR SENSOR.
1.

Switch the sonar sensor (left corner) and sonar sensor (left inner).

2.

Connect the disconnected connectors.

3.

Turn the ignition switch to ON.

4.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is DTC B2C0A displayed? (Current malfunction)

Replace the RAB CM. Reverse Automatic Braking>Reverse Automatic Braking CM

Replace the sensor installed as a sonar sensor (left corner). Reverse Automatic Braking>Sensor and Harness

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C0B RL SONAR SENSOR / SONAR CONTROL MODULE CIRCUIT
 

For the diagnostic procedure, refer to DTC B2C0A. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C0A RL SONAR SENSOR CIRCUIT / NO SIGNAL

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C0C RLC SONAR SENSOR CIRCUIT / NO SIGNAL

Outline of diagnosis:

Sonar sensor (left inner) harness is open.

Time needed for diagnosis:

1200 ms

Recovery conditions:

Ignition switch OFF → ON

Wiring diagram:

Reverse Automatic Braking WIRING SYSTEM>Reverse Automatic Braking

1 2 R365 2 1 1 2 4 3 6 5 8 7 10 9 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 R361 R368 ADA10922 R365 4 9 11 21 R368 R362 R361 RAB CM SONAR SENSOR (LEFT INNER)
 

Before performing diagnosis, refer to “CAUTION” in “General Description”. Reverse Automatic Braking(DIAGNOSTICS)>General Description>CAUTION

1. CHECK CONNECTOR.
1.

Turn the ignition switch to OFF.

2.

Disconnect the sonar sensor (left inner) connector.

3.

Connect the disconnected connectors.

4.

Turn the ignition switch to ON.

5.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is DTC B2C0C displayed? (Current malfunction)

2

  • Even if DTC is displayed, the circuit has returned to a normal condition at this time. Reproduce the failure, and then perform the diagnosis again.

     

    In this case, temporary poor contact of connector, temporary open or short circuit of harness may be the cause.

2. CHECK BETWEEN SONAR SENSOR CONNECTOR AND RAB CM CONNECTOR. (OPEN CIRCUIT).
1.

Turn the ignition switch to OFF.

2.

Disconnect the sonar sensor (left inner) connector and the RAB CM connector.

3.

Using a tester, measure resistance value of the harness between the sonar sensor (left inner) connector and RAB CM connector.

Connector & terminal

(R361) No. 11 — (R365) No. 2:

(R361) No. 21 — (R365) No. 1:

Is the resistance less than 10 Ω?

3

Repair or replace the open circuit in the harness between sonar sensor connector and RAB CM connector.

3. CHECK SONAR SENSOR.
1.

Switch the sonar sensor (left inner) and sonar sensor (left corner).

2.

Connect the disconnected connectors.

3.

Turn the ignition switch to ON.

4.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is DTC B2C0C displayed? (Current malfunction)

Replace the RAB CM. Reverse Automatic Braking>Reverse Automatic Braking CM

Replace the sensor installed as a sonar sensor (left inner). Reverse Automatic Braking>Sensor and Harness

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C0D RLC SONAR SENSOR / SONAR CONTROL MODULE CIRCUIT
 

For the diagnostic procedure, refer to DTC B2C0C. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C0C RLC SONAR SENSOR CIRCUIT / NO SIGNAL

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C0E RR SONAR HARNESS HIGH

Outline of diagnosis:

Sonar sensor (right corner) harness is shorted to power supply.

Time needed for diagnosis:

1200 ms

Recovery conditions:

Ignition switch OFF → ON

Wiring diagram:

Reverse Automatic Braking WIRING SYSTEM>Reverse Automatic Braking

1 2 R366 2 1 1 2 4 3 6 5 8 7 10 9 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 R361 R368 ADA10918 R366 1 6 12 22 R368 R362 R361 RAB CM SONAR SENSOR (RIGHT CORNER)
 

Before performing diagnosis, refer to “CAUTION” in “General Description”. Reverse Automatic Braking(DIAGNOSTICS)>General Description>CAUTION

1. CHECK CONNECTOR.
1.

Turn the ignition switch to OFF.

2.

Disconnect the sonar sensor (right corner) connector.

3.

Connect the disconnected connectors.

4.

Turn the ignition switch to ON.

5.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is DTC B2C0E displayed? (Current malfunction)

2

  • Even if DTC is displayed, the circuit has returned to a normal condition at this time. Reproduce the failure, and then perform the diagnosis again.

     

    In this case, temporary poor contact of connector, temporary open or short circuit of harness may be the cause.

2. CHECK HARNESS BETWEEN SONAR SENSOR CONNECTOR AND RAB CM CONNECTOR. (SHORT CIRCUIT TO POWER SUPPLY).
1.

Turn the ignition switch to OFF.

2.

Disconnect the sonar sensor (right corner) connector and the RAB CM connector.

3.

Turn the ignition switch to ON.

4.

Using a tester, measure the voltage between sonar sensor (right corner) connector and chassis ground.

Connector & terminal

(R366) No. 2 (+) — Chassis ground (−):

Is the voltage less than 1 V?

3

Repair or replace the short circuit in the harness between sonar sensor connector and RAB CM connector.

3. CHECK SONAR SENSOR.
1.

Turn the ignition switch to OFF.

2.

Switch the sonar sensor (right corner) and sonar sensor (right inner).

3.

Connect the disconnected connectors.

4.

Turn the ignition switch to ON.

5.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is DTC B2C0E displayed? (Current malfunction)

Replace the RAB CM. Reverse Automatic Braking>Reverse Automatic Braking CM

Replace the sensor installed as a sonar sensor (right corner). Reverse Automatic Braking>Sensor and Harness

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C0F RR SONAR HARNESS LOW

Outline of diagnosis:

Sonar sensor (right corner) harness is shorted to ground.

Time needed for diagnosis:

1200 ms

Recovery conditions:

Ignition switch OFF → ON

Wiring diagram:

Reverse Automatic Braking WIRING SYSTEM>Reverse Automatic Braking

1 2 R366 2 1 1 2 4 3 6 5 8 7 10 9 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 R361 R368 ADA10918 R366 1 6 12 22 R368 R362 R361 RAB CM SONAR SENSOR (RIGHT CORNER)
 

Before performing diagnosis, refer to “CAUTION” in “General Description”. Reverse Automatic Braking(DIAGNOSTICS)>General Description>CAUTION

1. CHECK CONNECTOR.
1.

Turn the ignition switch to OFF.

2.

Disconnect the sonar sensor (right corner) connector.

3.

Connect the disconnected connectors.

4.

Turn the ignition switch to ON.

5.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is DTC B2C0F displayed? (Current malfunction)

2

  • Even if DTC is displayed, the circuit has returned to a normal condition at this time. Reproduce the failure, and then perform the diagnosis again.

     

    In this case, temporary poor contact of connector, temporary open or short circuit of harness may be the cause.

2. CHECK HARNESS BETWEEN SONAR SENSOR CONNECTOR AND RAB CM CONNECTOR. (SHORTED TO GROUND).
1.

Turn the ignition switch to OFF.

2.

Disconnect the sonar sensor (right corner) connector and the RAB CM connector.

3.

Using a tester, measure the resistance between sonar sensor (right corner) connector and chassis ground.

Connector & terminal

(R366) No. 2 — Chassis ground:

Is the resistance 1 MΩ or more?

3

Repair or replace the short circuit in the harness between sonar sensor connector and RAB CM connector.

3. CHECK SONAR SENSOR.
1.

Switch the sonar sensor (right corner) and sonar sensor (right inner).

2.

Connect the disconnected connectors.

3.

Turn the ignition switch to ON.

4.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is DTC B2C0F displayed? (Current malfunction)

Replace the RAB CM. Reverse Automatic Braking>Reverse Automatic Braking CM

Replace the sensor installed as a sonar sensor (right corner). Reverse Automatic Braking>Sensor and Harness

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C10 RRC SONAR HARNESS HIGH

Outline of diagnosis:

Sonar sensor (right inner) harness is shorted to power supply.

Time needed for diagnosis:

1200 ms

Recovery conditions:

Ignition switch OFF → ON

Wiring diagram:

Reverse Automatic Braking WIRING SYSTEM>Reverse Automatic Braking

1 2 R367 2 1 1 2 4 3 6 5 8 7 10 9 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 R361 R368 ADA10919 R367 3 8 24 9 R368 R362 R361 RAB CM SONAR SENSOR (RIGHT INNER)
 

Before performing diagnosis, refer to “CAUTION” in “General Description”. Reverse Automatic Braking(DIAGNOSTICS)>General Description>CAUTION

1. CHECK CONNECTOR.
1.

Turn the ignition switch to OFF.

2.

Disconnect the sonar sensor (right inner) connector.

3.

Connect the disconnected connectors.

4.

Turn the ignition switch to ON.

5.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is DTC B2C10 displayed? (Current malfunction)

2

  • Even if DTC is displayed, the circuit has returned to a normal condition at this time. Reproduce the failure, and then perform the diagnosis again.

     

    In this case, temporary poor contact of connector, temporary open or short circuit of harness may be the cause.

2. CHECK HARNESS BETWEEN SONAR SENSOR CONNECTOR AND RAB CM CONNECTOR. (SHORTED TO GROUND).
1.

Turn the ignition switch to OFF.

2.

Disconnect the sonar sensor (right inner) connector and the RAB CM connector.

3.

Using a tester, measure the voltage between sonar sensor (right inner) connector and chassis ground.

Connector & terminal

(R367) No. 2 (+) — Chassis ground (−):

Is the voltage less than 1 V?

3

Repair or replace the short circuit in the harness between sonar sensor connector and RAB CM connector.

3. CHECK SONAR SENSOR.
1.

Switch the sonar sensor (right inner) and sonar sensor (right corner).

2.

Connect the disconnected connectors.

3.

Turn the ignition switch to ON.

4.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is DTC B2C10 displayed? (Current malfunction)

Replace the RAB CM. Reverse Automatic Braking>Reverse Automatic Braking CM

Replace the sensor installed as a sonar sensor (right inner). Reverse Automatic Braking>Sensor and Harness

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C11 RRC SONAR HARNESS LOW

Outline of diagnosis:

Sonar sensor (right inner) harness is shorted to ground.

Time needed for diagnosis:

1200 ms

Recovery conditions:

Ignition switch OFF → ON

Wiring diagram:

Reverse Automatic Braking WIRING SYSTEM>Reverse Automatic Braking

1 2 R367 2 1 1 2 4 3 6 5 8 7 10 9 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 R361 R368 ADA10919 R367 3 8 24 9 R368 R362 R361 RAB CM SONAR SENSOR (RIGHT INNER)
 

Before performing diagnosis, refer to “CAUTION” in “General Description”. Reverse Automatic Braking(DIAGNOSTICS)>General Description>CAUTION

1. CHECK CONNECTOR.
1.

Turn the ignition switch to OFF.

2.

Disconnect the sonar sensor (right inner) connector.

3.

Connect the disconnected connectors.

4.

Turn the ignition switch to ON.

5.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is DTC B2C11 displayed? (Current malfunction)

2

  • Even if DTC is displayed, the circuit has returned to a normal condition at this time. Reproduce the failure, and then perform the diagnosis again.

     

    In this case, temporary poor contact of connector, temporary open or short circuit of harness may be the cause.

2. CHECK HARNESS BETWEEN SONAR SENSOR CONNECTOR AND RAB CM CONNECTOR. (SHORTED TO GROUND).
1.

Turn the ignition switch to OFF.

2.

Disconnect the sonar sensor (right inner) connector and the RAB CM connector.

3.

Using a tester, measure the resistance between sonar sensor (right inner) connector and chassis ground.

Connector & terminal

(R367) No. 2 — Chassis ground:

Is the resistance less than 1 MΩ?

3

Repair or replace the short circuit in the harness between sonar sensor connector and RAB CM connector.

3. CHECK SONAR SENSOR.
1.

Switch the sonar sensor (right inner) and sonar sensor (right corner).

2.

Connect the disconnected connectors.

3.

Turn the ignition switch to ON.

4.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is DTC B2C11 displayed? (Current malfunction)

Replace the RAB CM. Reverse Automatic Braking>Reverse Automatic Braking CM

Replace the sensor installed as a sonar sensor (right inner). Reverse Automatic Braking>Sensor and Harness

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C12 RL SONAR HARNESS HIGH

Outline of diagnosis:

Sonar sensor (left corner) harness is shorted to power supply.

Time needed for diagnosis:

1200 ms

Recovery conditions:

Ignition switch OFF → ON

Wiring diagram:

Reverse Automatic Braking WIRING SYSTEM>Reverse Automatic Braking

1 2 R364 2 1 1 2 4 3 6 5 8 7 10 9 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 R361 R368 ADA10920 R364 2 7 23 8 R368 R362 R361 RAB CM SONAR SENSOR (LEFT CORNER)
 

Before performing diagnosis, refer to “CAUTION” in “General Description”. Reverse Automatic Braking(DIAGNOSTICS)>General Description>CAUTION

1. CHECK CONNECTOR.
1.

Turn the ignition switch to OFF.

2.

Disconnect the sonar sensor (left corner) connector.

3.

Connect the disconnected connectors.

4.

Turn the ignition switch to ON.

5.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is DTC B2C12 displayed? (Current malfunction)

2

  • Even if DTC is displayed, the circuit has returned to a normal condition at this time. Reproduce the failure, and then perform the diagnosis again.

     

    In this case, temporary poor contact of connector, temporary open or short circuit of harness may be the cause.

2. CHECK HARNESS BETWEEN SONAR SENSOR CONNECTOR AND RAB CM CONNECTOR. (SHORT CIRCUIT TO POWER SUPPLY).
1.

Turn the ignition switch to OFF.

2.

Disconnect the sonar sensor (left corner) connector and the RAB CM connector.

3.

Turn the ignition switch to ON.

4.

Using a tester, measure the voltage between sonar sensor (left corner) connector and chassis ground.

Connector & terminal

(R364) No. 2 (+) — Chassis ground (−):

Is the voltage less than 1 V?

3

Repair or replace the short circuit in the harness between sonar sensor connector and RAB CM connector.

3. CHECK SONAR SENSOR.
1.

Switch the sonar sensor (left corner) and sonar sensor (left inner).

2.

Connect the disconnected connectors.

3.

Turn the ignition switch to ON.

4.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is DTC B2C12 displayed? (Current malfunction)

Replace the RAB CM. Reverse Automatic Braking>Reverse Automatic Braking CM

Replace the sensor installed as a sonar sensor (left corner). Reverse Automatic Braking>Sensor and Harness

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C13 RL SONAR HARNESS LOW

Outline of diagnosis:

Sonar sensor (left corner) harness is shorted to ground.

Time needed for diagnosis:

1200 ms

Recovery conditions:

Ignition switch OFF → ON

Wiring diagram:

Reverse Automatic Braking WIRING SYSTEM>Reverse Automatic Braking

1 2 R364 2 1 1 2 4 3 6 5 8 7 10 9 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 R361 R368 ADA10920 R364 2 7 23 8 R368 R362 R361 RAB CM SONAR SENSOR (LEFT CORNER)
 

Before performing diagnosis, refer to “CAUTION” in “General Description”. Reverse Automatic Braking(DIAGNOSTICS)>General Description>CAUTION

1. CHECK CONNECTOR.
1.

Turn the ignition switch to OFF.

2.

Disconnect the sonar sensor (left corner) connector.

3.

Connect the disconnected connectors.

4.

Turn the ignition switch to ON.

5.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is DTC B2C13 displayed? (Current malfunction)

2

  • Even if DTC is displayed, the circuit has returned to a normal condition at this time. Reproduce the failure, and then perform the diagnosis again.

     

    In this case, temporary poor contact of connector, temporary open or short circuit of harness may be the cause.

2. CHECK HARNESS BETWEEN SONAR SENSOR CONNECTOR AND RAB CM CONNECTOR. (SHORTED TO GROUND).
1.

Turn the ignition switch to OFF.

2.

Disconnect the sonar sensor (left corner) connector and the RAB CM connector.

3.

Using a tester, measure the resistance between sonar sensor (left corner) connector and chassis ground.

Connector & terminal

(R364) No. 2 — Chassis ground:

Is the resistance 1 MΩ or more?

3

Repair or replace the short circuit in the harness between sonar sensor connector and RAB CM connector.

3. CHECK SONAR SENSOR.
1.

Switch the sonar sensor (left corner) and sonar sensor (left inner).

2.

Connect the disconnected connectors.

3.

Turn the ignition switch to ON.

4.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is DTC B2C13 displayed? (Current malfunction)

Replace the RAB CM. Reverse Automatic Braking>Reverse Automatic Braking CM

Replace the sensor installed as a sonar sensor (left corner). Reverse Automatic Braking>Sensor and Harness

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C14 RLC SONAR HARNESS HIGH

Outline of diagnosis:

Sonar sensor (left inner) harness is shorted to power supply.

Time needed for diagnosis:

1200 ms

Recovery conditions:

Ignition switch OFF → ON

Wiring diagram:

Reverse Automatic Braking WIRING SYSTEM>Reverse Automatic Braking

1 2 R365 2 1 1 2 4 3 6 5 8 7 10 9 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 R361 R368 ADA10922 R365 4 9 11 21 R368 R362 R361 RAB CM SONAR SENSOR (LEFT INNER)
 

Before performing diagnosis, refer to “CAUTION” in “General Description”. Reverse Automatic Braking(DIAGNOSTICS)>General Description>CAUTION

1. CHECK CONNECTOR.
1.

Turn the ignition switch to OFF.

2.

Disconnect the sonar sensor (left inner) connector.

3.

Connect the disconnected connectors.

4.

Turn the ignition switch to ON.

5.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is DTC B2C14 displayed? (Current malfunction)

2

  • Even if DTC is displayed, the circuit has returned to a normal condition at this time. Reproduce the failure, and then perform the diagnosis again.

     

    In this case, temporary poor contact of connector, temporary open or short circuit of harness may be the cause.

2. CHECK HARNESS BETWEEN SONAR SENSOR CONNECTOR AND RAB CM CONNECTOR. (SHORT CIRCUIT TO POWER SUPPLY).
1.

Turn the ignition switch to OFF.

2.

Disconnect the sonar sensor (left inner) connector and the RAB CM connector.

3.

Turn the ignition switch to ON.

4.

Using a tester, measure the voltage between sonar sensor (left inner) connector and chassis ground.

Connector & terminal

(R365) No. 2 (+) — Chassis ground (−):

Is the voltage less than 1 V?

3

Repair or replace the short circuit in the harness between sonar sensor connector and RAB CM connector.

3. CHECK SONAR SENSOR.
1.

Switch the sonar sensor (left inner) and sonar sensor (left corner).

2.

Connect the disconnected connectors.

3.

Turn the ignition switch to ON.

4.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is DTC B2C14 displayed? (Current malfunction)

Replace the RAB CM. Reverse Automatic Braking>Reverse Automatic Braking CM

Replace the sensor installed as a sonar sensor (left inner). Reverse Automatic Braking>Sensor and Harness

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C15 RLC SONAR HARNESS LOW

Outline of diagnosis:

Sonar sensor (left inner) harness is shorted to ground.

Time needed for diagnosis:

1200 ms

Recovery conditions:

Ignition switch OFF → ON

Wiring diagram:

Reverse Automatic Braking WIRING SYSTEM>Reverse Automatic Braking

1 2 R365 2 1 1 2 4 3 6 5 8 7 10 9 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 R361 R368 ADA10922 R365 4 9 11 21 R368 R362 R361 RAB CM SONAR SENSOR (LEFT INNER)
 

Before performing diagnosis, refer to “CAUTION” in “General Description”. Reverse Automatic Braking(DIAGNOSTICS)>General Description>CAUTION

1. CHECK CONNECTOR.
1.

Turn the ignition switch to OFF.

2.

Disconnect the sonar sensor (left inner) connector.

3.

Connect the disconnected connectors.

4.

Turn the ignition switch to ON.

5.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is DTC B2C15 displayed? (Current malfunction)

2

  • Even if DTC is displayed, the circuit has returned to a normal condition at this time. Reproduce the failure, and then perform the diagnosis again.

     

    In this case, temporary poor contact of connector, temporary open or short circuit of harness may be the cause.

2. CHECK HARNESS BETWEEN SONAR SENSOR CONNECTOR AND RAB CM CONNECTOR. (SHORTED TO GROUND).
1.

Turn the ignition switch to OFF.

2.

Disconnect the sonar sensor (left inner) connector and the RAB CM connector.

3.

Using a tester, measure the resistance between sonar sensor (left inner) connector and chassis ground.

Connector & terminal

(R365) No. 2 — Chassis ground:

Is the resistance 1 MΩ or more?

3

Repair or replace the short circuit in the harness between sonar sensor connector and RAB CM connector.

3. CHECK SONAR SENSOR.
1.

Switch the sonar sensor (left inner) and sonar sensor (left corner).

2.

Connect the disconnected connectors.

3.

Turn the ignition switch to ON.

4.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is DTC B2C15 displayed? (Current malfunction)

Replace the RAB CM. Reverse Automatic Braking>Reverse Automatic Braking CM

Replace the sensor installed as a sonar sensor (left inner). Reverse Automatic Braking>Sensor and Harness

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C16 RRC SONAR HARNESS HIGH / RRC SONAR CONTROL MODULE CIRCUIT
 

For the diagnostic procedure, refer to DTC B2C10. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C10 RRC SONAR HARNESS HIGH

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C17 RLC SONAR HARNESS HIGH / RLC SONAR CONTROL MODULE CIRCUIT
 

For the diagnostic procedure, refer to DTC B2C14. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C14 RLC SONAR HARNESS HIGH

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C18 RR SONAR HARNESS HIGH / RR SONAR CONTROL MODULE CIRCUIT
 

For the diagnostic procedure, refer to DTC B2C0E. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C0E RR SONAR HARNESS HIGH

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C19 RL SONAR HARNESS HIGH / RL SONAR CONTROL MODULE CIRCUIT
 

For the diagnostic procedure, refer to DTC B2C12. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C12 RL SONAR HARNESS HIGH

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C1A RRC SONAR SENSOR

Outline of diagnosis:

Sonar sensor (right inner) is faulty.

Time needed for diagnosis:

1200 ms

Recovery conditions:

Ignition switch OFF → ON

Wiring diagram:

Reverse Automatic Braking WIRING SYSTEM>Reverse Automatic Braking

1 2 R367 2 1 1 2 4 3 6 5 8 7 10 9 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 R361 R368 ADA10919 R367 3 8 24 9 R368 R362 R361 RAB CM SONAR SENSOR (RIGHT INNER)
 

Before performing diagnosis, refer to “CAUTION” in “General Description”. Reverse Automatic Braking(DIAGNOSTICS)>General Description>CAUTION

1. CHECK CONNECTOR.
1.

Turn the ignition switch to OFF.

2.

Disconnect the sonar sensor (right inner) connector.

3.

Connect the disconnected connectors.

4.

Turn the ignition switch to ON.

5.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is DTC B2C1A displayed? (Current malfunction)

2

  • Even if DTC is displayed, the circuit has returned to a normal condition at this time. Reproduce the failure, and then perform the diagnosis again.

     

    In this case, temporary poor contact of connector, temporary open or short circuit of harness may be the cause.

2. CHECK SONAR SENSOR.
1.

Switch the sonar sensor (right inner) and sonar sensor (right corner).

2.

Connect the disconnected connectors.

3.

Turn the ignition switch to ON.

4.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is DTC B2C1A displayed? (Current malfunction)

Replace the RAB CM. Reverse Automatic Braking>Reverse Automatic Braking CM

Replace the sensor installed as a sonar sensor (right inner). Reverse Automatic Braking>Sensor and Harness

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C1B RLC SONAR SENSOR

Outline of diagnosis:

Sonar sensor (left inner) is faulty.

Time needed for diagnosis:

1200 ms

Recovery conditions:

Ignition switch OFF → ON

Wiring diagram:

Reverse Automatic Braking WIRING SYSTEM>Reverse Automatic Braking

1 2 R365 2 1 1 2 4 3 6 5 8 7 10 9 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 R361 R368 ADA10922 R365 4 9 11 21 R368 R362 R361 RAB CM SONAR SENSOR (LEFT INNER)
 

Before performing diagnosis, refer to “CAUTION” in “General Description”. Reverse Automatic Braking(DIAGNOSTICS)>General Description>CAUTION

1. CHECK CONNECTOR.
1.

Turn the ignition switch to OFF.

2.

Disconnect the sonar sensor (left inner) connector.

3.

Connect the disconnected connectors.

4.

Turn the ignition switch to ON.

5.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is DTC B2C1B displayed? (Current malfunction)

2

  • Even if DTC is displayed, the circuit has returned to a normal condition at this time. Reproduce the failure, and then perform the diagnosis again.

     

    In this case, temporary poor contact of connector, temporary open or short circuit of harness may be the cause.

2. CHECK SONAR SENSOR.
1.

Switch the sonar sensor (left inner) and sonar sensor (left corner).

2.

Connect the disconnected connectors.

3.

Turn the ignition switch to ON.

4.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is DTC B2C1B displayed? (Current malfunction)

Replace the RAB CM. Reverse Automatic Braking>Reverse Automatic Braking CM

Replace the sensor installed as a sonar sensor (left inner). Reverse Automatic Braking>Sensor and Harness

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C1C RR SONAR SENSOR

Outline of diagnosis:

Sonar sensor (right corner) is shorted to power supply.

Time needed for diagnosis:

1200 ms

Recovery conditions:

Ignition switch OFF → ON

Wiring diagram:

Reverse Automatic Braking WIRING SYSTEM>Reverse Automatic Braking

1 2 R366 2 1 1 2 4 3 6 5 8 7 10 9 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 R361 R368 ADA10918 R366 1 6 12 22 R368 R362 R361 RAB CM SONAR SENSOR (RIGHT CORNER)
 

Before performing diagnosis, refer to “CAUTION” in “General Description”. Reverse Automatic Braking(DIAGNOSTICS)>General Description>CAUTION

1. CHECK CONNECTOR.
1.

Turn the ignition switch to OFF.

2.

Disconnect the sonar sensor (right corner) connector.

3.

Connect the disconnected connectors.

4.

Turn the ignition switch to ON.

5.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is DTC B2C1C displayed? (Current malfunction)

2

  • Even if DTC is displayed, the circuit has returned to a normal condition at this time. Reproduce the failure, and then perform the diagnosis again.

     

    In this case, temporary poor contact of connector, temporary open or short circuit of harness may be the cause.

2. CHECK SONAR SENSOR.
1.

Switch the sonar sensor (right corner) and sonar sensor (right inner).

2.

Connect the disconnected connectors.

3.

Turn the ignition switch to ON.

4.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is DTC B2C1C displayed? (Current malfunction)

Replace the RAB CM. Reverse Automatic Braking>Reverse Automatic Braking CM

Replace the sensor installed as a sonar sensor (right corner). Reverse Automatic Braking>Sensor and Harness

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C1D RL SONAR SENSOR

Outline of diagnosis:

Sonar sensor (left corner) is shorted to ground.

Time needed for diagnosis:

1200 ms

Recovery conditions:

Ignition switch OFF → ON

Wiring diagram:

Reverse Automatic Braking WIRING SYSTEM>Reverse Automatic Braking

1 2 R364 2 1 1 2 4 3 6 5 8 7 10 9 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 R361 R368 ADA10920 R364 2 7 23 8 R368 R362 R361 RAB CM SONAR SENSOR (LEFT CORNER)
 

Before performing diagnosis, refer to “CAUTION” in “General Description”. Reverse Automatic Braking(DIAGNOSTICS)>General Description>CAUTION

1. CHECK CONNECTOR.
1.

Turn the ignition switch to OFF.

2.

Disconnect the sonar sensor (left corner) connector.

3.

Connect the disconnected connectors.

4.

Turn the ignition switch to ON.

5.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is DTC B2C1D displayed? (Current malfunction)

2

  • Even if DTC is displayed, the circuit has returned to a normal condition at this time. Reproduce the failure, and then perform the diagnosis again.

     

    In this case, temporary poor contact of connector, temporary open or short circuit of harness may be the cause.

2. CHECK SONAR SENSOR.
1.

Switch the sonar sensor (left corner) and sonar sensor (left inner).

2.

Connect the disconnected connectors.

3.

Turn the ignition switch to ON.

4.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is DTC B2C1D displayed? (Current malfunction)

Replace the RAB CM. Reverse Automatic Braking>Reverse Automatic Braking CM

Replace the sensor installed as a sonar sensor (left corner). Reverse Automatic Braking>Sensor and Harness

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C1E RRC SONAR HARNESS LOW / RRC SONAR CONTROL MODULE CIRCUIT
 

For the diagnostic procedure, refer to DTC B2C11. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C11 RRC SONAR HARNESS LOW

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C1F RLC SONAR HARNESS LOW / RLC SONAR CONTROL MODULE CIRCUIT
 

For the diagnostic procedure, refer to DTC B2C15. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C15 RLC SONAR HARNESS LOW

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C20 RR SONAR HARNESS LOW / RR SONAR CONTROL MODULE CIRCUIT
 

For the diagnostic procedure, refer to DTC B2C0F. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C0F RR SONAR HARNESS LOW

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C21 RL SONAR HARNESS LOW / RL SONAR CONTROL MODULE CIRCUIT
 

For the diagnostic procedure, refer to DTC B2C13. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Procedure with Diagnostic Trouble Code (DTC)>DTC B2C13 RL SONAR HARNESS LOW

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC B2C22 Eyesight System

Outline of diagnosis:

EyeSight is faulty.

Time needed for diagnosis:

800 ms

Recovery conditions:

Ignition switch OFF → ON

 

Perform the diagnosis for EyeSight. EyeSight (DIAGNOSTICS)>Basic Diagnostic Procedure>PROCEDURE

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC U0077 LOCAL CAN COMMUNICATION BUS OFF

Outline of diagnosis:

Local communication is faulty.

Time needed for diagnosis:

500 ms

Recovery conditions:

Ignition switch OFF → ON

 

Before performing diagnosis, refer to “CAUTION” in “General Description”. Reverse Automatic Braking(DIAGNOSTICS)>General Description>CAUTION

1. CHECK DTC.

Read the DTC of [Reverse Automatic Braking] using the Subaru Select Monitor. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)

Is a DTC other than DTC U0077 displayed? (Current malfunction)

Perform the diagnosis for DTC other than DTC U0077. Reverse Automatic Braking(DIAGNOSTICS)>Diagnostic Trouble Code (DTC)>LIST

Replace the RAB CM. Reverse Automatic Braking>Reverse Automatic Braking CM

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC U0100 LOST COMMUNICATION WITH ECM/PCM "A"
 

Perform the diagnosis for LAN system. LAN SYSTEM (DIAGNOSTICS)>Basic Diagnostic Procedure>PROCEDURE

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC U0101 LOST COMMUNICATION WITH TCM
 

Perform the diagnosis for LAN system. LAN SYSTEM (DIAGNOSTICS)>Basic Diagnostic Procedure>PROCEDURE

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC U0122 LOST COMMUNICATION WITH VEHICLE DYNAMICS CONTROL MODULE
 

Perform the diagnosis for LAN system. LAN SYSTEM (DIAGNOSTICS)>Basic Diagnostic Procedure>PROCEDURE

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC U0140 LOST COMMUNICATION WITH BODY CONTROL MODULE
 

Perform the diagnosis for LAN system. LAN SYSTEM (DIAGNOSTICS)>Basic Diagnostic Procedure>PROCEDURE

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC U0155 LOST COMMUNICATION WITH INSTRUMENT PANEL CLUSTER (IPC) CONTROL MODULE
 

Perform the diagnosis for LAN system. LAN SYSTEM (DIAGNOSTICS)>Basic Diagnostic Procedure>PROCEDURE

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC U0401 INVALID DATA RECEIVED FROM ECM/PCM "A"
 

Perform the diagnosis for LAN system. LAN SYSTEM (DIAGNOSTICS)>Basic Diagnostic Procedure>PROCEDURE

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC U0402 INVALID DATA RECEIVED FROM TCM
 

Perform the diagnosis for LAN system. LAN SYSTEM (DIAGNOSTICS)>Basic Diagnostic Procedure>PROCEDURE

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC U0416 INVALID DATA RECEIVED FROM VEHICLE DYNAMICS CONTROL MODULE
 

Perform the diagnosis for LAN system. LAN SYSTEM (DIAGNOSTICS)>Basic Diagnostic Procedure>PROCEDURE

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC U0422 INVALID DATA RECEIVED FROM BODY CONTROL MODULE
 

Perform the diagnosis for LAN system. LAN SYSTEM (DIAGNOSTICS)>Basic Diagnostic Procedure>PROCEDURE

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC U0423 INVALID DATA RECEIVED FROM INSTRUMENT PANEL CLUSTER CONTROL MODULE
 

Perform the diagnosis for LAN system. LAN SYSTEM (DIAGNOSTICS)>Basic Diagnostic Procedure>PROCEDURE

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC U0457 INVALID DATA RECEIVED FROM INFORMATION CENTER "A"
 

Perform the diagnosis for LAN system. LAN SYSTEM (DIAGNOSTICS)>Basic Diagnostic Procedure>PROCEDURE

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC U1235 LOST COMMUNICATION WITH EyeSight
 

Perform the diagnosis for LAN system. LAN SYSTEM (DIAGNOSTICS)>Basic Diagnostic Procedure>PROCEDURE

Reverse Automatic Braking(DIAGNOSTICS) > Diagnostic Procedure with Diagnostic Trouble Code (DTC)　
DTC U1433 INVALID DATA RECEIVED FROM EyeSight
 

Perform the diagnosis for LAN system. LAN SYSTEM (DIAGNOSTICS)>Basic Diagnostic Procedure>PROCEDURE

Reverse Automatic Braking(DIAGNOSTICS) > Cancel Code　
NOTE

When the cancel codes are detected from the RAB CM, the Reverse Automatic Braking will be cancelled.

Reverse Automatic Braking(DIAGNOSTICS) > Cancel Code　
OPERATION
1.

On [Start] screen, select [Diagnosis].

2.

On [Vehicle selection] screen, input the target vehicle information and select [OK].

3.

On [Main Menu] screen, select [Each System].

4.

On [Select System] screen, select [Reverse Automatic Braking], and then select [Enter].

5.

On [Select Function] screen, select [Cancel Code].

 

  • For detailed operation procedures, refer to “Help” of application.

  • Up to 3 codes can be stored. When there are four or more codes, the oldest code is deleted and the newest code is stored.

Reverse Automatic Braking(DIAGNOSTICS) > Cancel Code　
LIST

Code

Description & trouble part

Contents

0X01

+B Low Voltage

The battery power supply of RAB CM is reduced.

0X02

IGN Low Voltage

The ignition power supply of RAB CM is reduced.

0X03

RRC Sonar Noise

Sonar sensor (right inner) signal is interfered due to noise.

0X04

RLC Sonar Noise

Sonar sensor (left inner) signal is interfered due to noise.

0X05

RR Sonar Noise

Sonar sensor (right corner) signal is interfered due to noise.

0X06

RL Sonar Noise

Sonar sensor (left corner) signal is interfered due to noise.

0X07

RRC Sonar Dirty HALT I

Substance adhered to the sonar sensor (right inner).

0X08

RLC Sonar Dirty HALT I

Substance adhered to the sonar sensor (left inner).

0X09

RR Sonar Dirty HALT I

Substance adhered to the sonar sensor (right corner).

0X0A

RL Sonar Dirty HALT I

Substance adhered to the sonar sensor (left corner).

0X0B

RRC Sonar Dirty HALT II

Substance adhered to the sonar sensor (right inner).

0X0C

RLC Sonar Dirty HALT II

Substance adhered to the sonar sensor (left inner).

0X0D

RR Sonar Dirty HALT II

Substance adhered to the sonar sensor (right corner).

0X0E

RL Sonar Dirty HALT II

Substance adhered to the sonar sensor (left corner).

0X0F

RRC Sonar Mount Error

Substance adhered to the sonar sensor (right inner).

0X10

RLC Sonar Mount Error

Substance adhered to the sonar sensor (left inner).