DTC U0322-51: Software Incompatibility with Body Control Module Not Programmed; DTC U1320-51: Software Incompatibility with Advanced Drive Control Module Not Programmed [11/2021 - ]: Procedure

1. Check ethernet communication system.

   Refer to HOW TO PROCEED WITH TROUBLESHOOTING [11/2021 - 10/2023] , or refer to HOW TO PROCEED WITH TROUBLESHOOTING [10/2023 - ]

   Result

   Proceed to
   NEXT

Result: 

NEXT 

See step  2

1. Update the vehicle specification information.

   Chassis > Advanced Drive Control > Utility 

   Tester Display
   Vehicle Information Registration

   Result

   Proceed to
   NEXT

Result: 

NEXT 

See step  3

1. Clear the DTCs.

   Chassis > Right Side LiDAR > Clear DTCs 

2. Check for DTCs.

   Chassis > Right Side LiDAR > Trouble Codes 

   Result

   Result	Proceed to
   DTCs U0322-51 or U1320-51 are output.	A
   DTCs are not output.	B

Result: 

B 

END (UPDATE MALFUNCTION) 

Result: 

A 

See step  4

1. Clear the vehicle control history (RoB).

   Chassis > Advanced Drive Control > Utility 

   Tester Display
   Vehicle Control History (RoB)

2. Wait at least 5 minutes.
3. Check the vehicle control history (RoB).

   Chassis > Advanced Drive Control > Utility 

   Tester Display
   Vehicle Control History (RoB)

   Result

   Result	Proceed to
   X2603, X2642 and X2651 are not output	A
   X2603, X2642 or X2651 are output	B

Result: 

A 

REPLACE LIDAR ADVANCED DRIVE ECU ASSEMBLY. Refer to  REMOVAL [11/2021 - ] 

Result: 

B 

REPLACE ADVANCED DRIVE ECU ASSEMBLY. Refer to  REMOVAL [11/2021 - 10/2022]  , or refer to  REMOVAL [10/2022 - 10/2023]  , or refer to  REMOVAL [10/2023 - ]