JAGUAR XFR 2010 1.G Workshop Manual

6 Clockspring 7 APP (accelerator pedal position) sensor 8 Electric throttle actuator 9 Brake lamp/brake test switch 10 Adaptive speed control radar sensor 11 Diagnostic socket 12 Instrument cluster 13 TCM (transmission control module) 14 Adaptive speed control module


SPEED CONTROL System Operation

The speed control system uses inputs from the brake lamp/brake test switch, the APP sensor, the ECM and the ABS module.
Speed control is operated by the driver using only the steering wheel switches. When speed control is active, the ECM regulates the PWM (pulse width modulation) signals to the fuel injectors to adjust the fuel supply as required to maintain the
set speed.

During speed control operation, the ECM controls vehicle speed by adjusting fuel injection duration and timing. When the accelerator pedal is pressed with speed control active, the ECM outputs a calculated throttle angle signal in place of the actual throttle angle signals produced by the APP sensor. The calculated throttle angle is derived from fuel demand.
The minimum set speed for speed control is 18 mph (30 (km/h). Speed control is automatically suspended if the following
conditions apply:

Vehicle speed falls below 18 mph (30 km/h)
The brake pedal is pressed
The cancel button is pressed
Neutral, park or reverse gear is selected
The difference between actual speed and the set speed is too great
If the engine speed becomes near to the red line (maximum engine speed)
If the accelerator pedal is used to accelerate beyond the set speed for too long.

ADAPTIVE SPEED CONTROL
The adaptive speed control system comprises the following components:
Adaptive speed control sensor
Adaptive speed control module
Steering wheel control switches
ECM
Electric throttle actuator
ABS module and pump Adaptive speed control warning indicator.

The adaptive speed control system uses a forward looking radar sensor to scan the road ahead, looking for objects that are
moving at a different rate to itself. When a target is identified the adaptive speed control system will monitor the time gap
between it and the target vehicle. When that gap falls below a set driver selected level the adaptive speed control system will
intervene slowing the vehicle by backing off the throttle and/ or applying the brakes, until the correct gap is attained. The
driver can chose between four gap settings, 1, 1.4, 1.8 and 2.2 seconds.
The system will detect but not react to the following:
Vehicles in the oncoming lane
Stationary vehicles
Pedestrians
Vehicles not in the same lane.

Adaptive speed control is active when the vehicle is moving. Adaptive Speed Control only functions when a set speed is
entered in normal speed control mode. The adaptive speed control system only intervenes with the set speed when it detects
a target vehicle, and then only if the minimum time gap is breached.

It is important to note that the system is intended for use in limited driving situations, does not remove control and
responsibility from the driver, and at all times can be quickly overridden. The adaptive speed control system is not a collision
warning system and will not react to stationary objects. The system does not operate below a minimum speed of
approximately 30 km/h (20 mph) since it is unsuitable for use in cities or congested traffic. The system is best suited to main
roads/ highways with gradual bends.
The ECM, throttle body and throttle control are unchanged from those used for non adaptive speed control variants.
The adaptive speed control system is based on the use of a front mounted radar sensor. The sensor transmits a 1.5° wide
beam forward of the vehicle and detects the returning signals reflected off other vehicles and objects ahead.
The 1.5° wide radar beam is mechanically scanned at a rate of 10 sweeps/second across a total arc of 15° centered on the

longitudinal axis of the vehicle. The radar operates at millimetric wavelengths (76 - 77 GHz) and transmits a frequency
modulated continuous wave signal at a relatively low power level (no high power pulses).

With the ignition ON, the adaptive speed control module is powered up but no radar transmissions are emitted until the
vehicle is in motion.

In follow mode a set speed is selected in the normal speed control manner and this speed is maintained until a slower vehicle
is encountered in the lane ahead. When the vehicle ahead comes within the effective range of the radar sensor, the system
identifies it as a target vehicle and an icon is illuminated on the instrument cluster to indicate that the system is in "follow
mode". When the distance between the two vehicles closes to a set time gap, the adaptive speed control system closes the
throttle and if necessary applies the brakes to maintain the set time gap. Follow mode is effectively a closed loop system. If
several vehicles are ahead, the closest vehicle is chosen as the target to follow. If the target vehicle moves out of radar range,
or if either vehicle changes lane or drops below the minimum operating speed, the system exits follow mode and the follow
mode icon is extinguished. The adaptive speed control system will only raise its speed to the originally set speed, it will not
accelerate past this speed to maintain a time gap.
Driver operation of the foot brake or control switches will immediately cancel adaptive speed control.

When the vehicle is in follow mode the follow mode warning indicator is illuminated in the instrument cluster and the current
gap setting will be displayed in the message center.






The radar sensor detects three primary parameters of objects within the scanned arc. These are:
Range
Relative velocity
Angle.

Range: The radar sensor detects the presence and ranges of different vehicles and objects within the scanned arc up to a
distance of approximately 130 meters. The transmitted signal frequency changes continuously in a cyclic pattern (modulation).
This means that, in the time taken for the signal wave front, to travel to and from a target vehicle (or other object), the
transmission frequency will have changed. The difference between the received signal frequency and the new transmission
frequency is proportional to the distance between the transmitting vehicle and the target vehicle.

Relative velocity: When the signal is reflected off a vehicle moving at a different speed (opening or closing gap) an effect
known as the Doppler shift causes an extra frequency modulation to be imposed on the signal. This Doppler frequency varies
with the relative speed of the vehicle being followed, enabling the system to differentiate between vehicles traveling at
different speeds and also between moving vehicles and stationary objects.

Angle: Using a narrow angle beam to scan horizontally enables the system to distinguish between vehicles in different lanes
and between vehicles and roadside objects.

System Restrictions

The adaptive speed control system is only intended to provide enhanced speed control as described above in certain restricted
conditions. The following points should be noted: Item Description 1 Forward Alert warning indicator 2 Follow mode warning indicator

Automatic braking is limited to approximately 30% of full pressure (0.3G deceleration) and is intended to provide a
smooth, gradual deceleration in follow mode conditions. Harsh braking by the target vehicle or following the target
vehicle down to very low speeds or to a halt will require driver override of the brakes.
While the radar sensor detects moving and stationary targets for assessment of the environment ahead, the system
does not react to or provide any control in situations other than follow mode conditions. Stationary or slow moving
vehicles (below 10 km/h), pedestrians, objects on the road and oncoming vehicles in the same lane are not recognized.


WARNING: The adaptive speed control system is not a collision warning or avoidance system and that, other than the
limited conditions of follow mode, driver intervention will be necessary to control the vehicle speed.
In follow mode, some situations may cause target ambiguities for the detection system. These situations include:
The nearby presence of a third vehicle when driving on a line slightly offset to the target vehicle.
Vehicles edging into the lane ahead which are not detected by the system until they have moved into the radar beam.

On the approach to, or exit from a bend, a target vehicle may be lost or a new target acquired as vehicles ahead change their
angular position with respect to the radar sensor. On a straight road, if the sensing vehicle is in follow mode below its selected
set speed, losing the target vehicle will cause the sensing vehicle to accelerate to this set speed. This acceleration is
undesirable either on, or entering a bend when the target is suddenly lost, and in this situation the system inhibits the
resumption of the set speed.

The speed control system compares vehicle speed data from the ABS system with the relative speed of an external object as
detected by the radar sensor to ascertain whether the object is stationary or not.


NOTE: If tires are fitted which are different in diameter from those specified for the vehicle, the vehicle speed calculated
by the ABS will not be the true road speed. This situation may cause stationary objects to be falsely identified as moving
vehicles and result in automatic deceleration on a clear road.



SPEED CONTROL SWITCHES Component Description

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1 Set speed adjustment switch 2 Time gap switch (only on vehicles with adaptive speed control fitted) 3 Cancel switch 4 Resume switch The speed control switches are located on the RH (right-hand)side of the steering wheel. The switches are connected via fly
leads to the clock spring. The speed control switches are resistive ladder type switches which vary the resistance of a 5 volt
signal sent to them. The signal is returned along a LIN bus to the instrument cluster. The instrument cluster routes the control signals to the ECM on the medium speed CAN
Speed control is engaged by rotating the speed adjustment switch to the + or - positions. Once engaged the speed can be
varied by the speed adjustment switches. Each press of the speed adjustment switch will increase or decrease the set speed
in steps of 1 mph (2 kph).

ADAPTIVE SPEED CONTROL MODULE



The adaptive speed control module, located on the drivers side at the bottom of the 'A' post. The control module is connected
to the other vehicle systems via the high speed CAN bus. Signals from the adaptive speed control forward looking radar sensor are received on a dedicated CAN bus between the two modules.
ADAPTIVE SPEED CONTROL RADAR SENSOR



The adaptive speed control radar sensor is located in the front bumper, on the RH side above the radiator grill behind the bumper cover. The sensor is connected to the adaptive speed control, module via a private CAN bus. If the unit is replaced in service the unit must be re-aligned vertically. Horizontal alignment is achieved by putting the sensor in service mode using an
approved Jaguar diagnostic system.

Item Description 1 Forward alert switch The forward alert system utilizes the adaptive speed control system components. Forward alert is turned on and off
independently of adaptive speed control, via a switch mounted in the lower outboard knee bolster switchpack. Forward alert
will notify the driver by means of a chime, a warning indicator in the instrument cluster and an indication in the message
center, when a target vehicle comes into range. The system will NOT use throttle or brake intervention to slow the vehicle.

The forward alert switch is connected to the instrument cluster in a resistive ladder with the luggage compartment opening
switch and the fuel filler flap switch. The instrument cluster sends the forward alert information to the Adaptive speed control
module on the CAN bus.

WARNING: The system is intended as a driver aid and should be used as such. The system is NOT a collision warning or
avoidance device.

The system sensitivity can be adjusted in the same manner as the adaptive speed control, via the steering wheel mounted
switches. Each adjustment is accompanied by a message in the message center. FORWARD ALERT SWITCHES

Published: 08-Nov-2013
Speed Control - V8 5.0L Petrol/V8 S/C 5.0L Petrol - Speed Control
Diagnosis and Testing

Principles of Operation

For a detailed description of the speed control system, refer to the relevant Description and Operation sections in the
workshop manual.

Inspection and Verification


CAUTION: Diagnosis by substitution from a donor vehicle is NOT acceptable. Substitution of control modules does not
guarantee confirmation of a fault, and may also cause additional faults in the vehicle being tested and/or the donor vehicle.
1. Verify the customer concern.

2. Visually inspect for obvious signs of damage and system integrity.

Visual Inspection
Mechanical Electrical
Speed control sensor
Ensure the speed control sensor is free from obstructions
Speed control module
Brake switch
Fuses
Wiring harness
Electrical connector(s)
Steering wheel switches
Brake switch
Speed control sensor
Speed control module
Engine Control Module (ECM)
3. If an obvious cause for an observed or reported concern is found, correct the cause (if possible) before proceeding to
the next step.

4. If the cause is not visually evident, verify the symptom and refer to the Symptom Chart, alternatively, check for
Diagnostic Trouble Codes (DTCs) and refer to the DTC Index.
Speed Control Sensor Adjustment (vehicles with adaptive system installed)

An incorrectly aligned speed control sensor can cause incorrect system operation. Before starting any repair work on the speed
control system, on vehicles with the adaptive system installed, check speed control sensor for correct vertical alignment, and
carry out speed control sensor alignment procedure using manufacturer approved diagnostic system.

Symptom Chart

Symptom Possible Causes Action Speed control inhibited or
disabled
Power or ground supply to
speed control module or speed
control sensor
Steering wheel speed control
switch/circuits
Throttle sensors
Brake switch
Anti-Lock Brake System fault
Check for DTCs that could be caused by power or
ground failure to the module or sensor and refer to
DTC Index
Check for sticking, jammed and broken speed control
switches. Refer to the electrical circuit diagrams and
check speed control switch circuits for short, open
circuit
For throttle position sensor tests. REFER to:
Electronic Engine Controls - 3.0L Diesel (303-14
Electronic Engine Controls - 3.0L Diesel, Diagnosis and
Testing),
Electronic Engine Controls - 3.0L (303-14B Electronic Engine Controls - V6 3.0L Petrol, Diagnosis and
Testing),
Electronic Engine Controls (303-14 Electronic Engine
Controls - V8 4.2L Petrol/V8 S/C 4.2L Petrol, Diagnosis
and Testing).
Check for correct installation and adjustment of brake
switch. Refer to the electrical circuit diagrams and
check brake switch circuits for short, open circuit
Check ABS system for related DTCs and refer to the
relevant DTC Index Unable to regulate/adjust
vehicle speed
Steering wheel switch
malfunction
Check for sticking, jammed and broken speed control
switches. Refer to the electrical circuit diagrams and
check speed control switch circuits for short, open
circuit

DTC Index

Vehicles WITH Adaptive System Installed


CAUTION: When probing connectors to take measurements in the course of the pinpoint tests, use the adaptor kit, part
number 3548-1358-00
NOTES:


If a module or component is suspect, and the vehicle remains under the Manufacturers warranty, refer to the Warranty
Policy and Procedure manual (section B1.2), or determine if any prior approval programme is in operation, prior to the
installation of a new module/component.


Generic scan tools may not read the codes listed, or may read only five digit codes. Match the five digits from the scan
tool to the first five digits of the seven digit code listed to identify the fault (the last two digits give extra information read by
the manufacturer-approved diagnostic system).


When performing voltage or resistance tests, always use a digital multimeter (DMM) accurate to three decimal places and
with a current calibration certificate. When testing resistance, always take the resistance of the DMM leads into account.


Check and rectify basic faults before beginning diagnostic routines involving pinpoint tests.


If DTCs are recorded and, after performing the pinpoint tests, a fault is not present, an intermittent concern may be the
cause. Always check for loose connections and corroded terminals.

DTC Description Possible Causes Action B1A84-81 Car Configuration Data
- Invalid serial data
received
RJB reporting invalid
data
Re-configure the RJB using manufacturer approved
diagnostic system C1A67-54 Forward Looking Sensor
- Missing calibration
Speed control sensor out
of alignment
Check speed control sensor for correct vertical
alignment, and carry out speed control sensor
alignment procedure using manufacturer approved
diagnostic system C1A67-81 Forward Looking Sensor
- Invalid serial data
received
Yaw voltage
unreasonable for 0.5
seconds or unchanged
for 1.2 seconds. Note:
Yaw sensor internal to
speed control sensor
Clear DTC and re-test, if DTC remains suspect speed
control sensor. Check and install a new sensor as
required, refer to the new module/component
installation note at the top of the DTC Index C1A67-87 Forward Looking Sensor
- Missing Message Incorrect or missing data from
speed control sensor
Carry out any pinpoint tests associated with this
DTC using the manufacturer approved diagnostic
system. Refer to the electrical circuit diagrams and
check power and ground supplies for short, open
circuit. Check private CAN network between speed
control sensor and speed control module for failure,
clear DTC and re-test. If DTC remains suspect the
speed control sensor, check and install a new sensor
as required, refer to the new module/component
installation note at the top of the DTC Index C1A67-96 Forward Looking Sensor
- Component internal
Failure
Internal hardware failure
Suspect the speed control sensor. Check and install a
new sensor as required, refer to the new
module/component installation note at the top of
the DTC Index C1A67-97 Forward Looking Sensor
- Component or system
operation obstructed or
blocked
Sensor reduced visibility
Check for blockage in front of radar. Note: This DTC
will be cleared automatically when environmental
conditions allow

DTC Description Possible Causes Action C1A67-98 Forward Looking Sensor
- Component or system
over temperature
Speed control sensor
internal temperature
exceeded threshold
Allow system to cool. Note: This DTC will be cleared
automatically when environmental conditions allow P174E-81
Output Shaft
Speed/ABS Wheel
Speed Correlation -
Invalid serial data
received
Follow speed is
mis-calculated to too
high a value
Clear DTC and re-test U0001-88
High Speed CAN
Communication Bus -
Bus off
Vehicle CAN Bus off
condition
Carry out any pinpoint tests associated with this
DTC using the manufacturer approved diagnostic
system. Carry out CAN network integrity tests using
the manufacturer approved diagnostic system U0100-00
Lost Communications
With ECM/PCM "A" - No
sub type information
ECM missing message
Carry out any pinpoint tests associated with this
DTC using the manufacturer approved diagnostic
system. Check ECM for related DTCs and refer to the
relevant DTC Index U0101-00
Lost Communications
With TCM - No sub
type information
TCM missing message
Carry out any pinpoint tests associated with this
DTC using the manufacturer approved diagnostic
system. Check TCM for related DTCs and refer to the
relevant DTC Index U0103-00
Lost Communication
With Gear Shift Control
Module A - No sub type
information
No sub type information
Refer to the electrical circuit diagrams and check the
power and ground connections to the Transmission
Shift Module. Using the manufacturer approved
diagnostic system, complete a CAN network integrity
test. Refer to the electrical circuit diagrams and
check the CAN network between the Transmission
Shift Module and Speed Control Module U0103-87
Lost Communication
With Gear Shift Module
- Missing Message
Transmission shift
module missing message
Carry out any pinpoint tests associated with this
DTC using the manufacturer approved diagnostic
system. Check transmission shift module for related
DTCs and refer to the relevant DTC Index U0121-00
Lost Communication
With Anti-lock Brake
System (ABS) Control
Module - No sub type
information
ABS missing message
Carry out any pinpoint tests associated with this
DTC using the manufacturer approved diagnostic
system. Check ABS for related DTCs and refer to the
relevant DTC Index U0128-00
Lost Communications
With Park Brake Module
- No sub type
information
Parking brake missing
message
Carry out any pinpoint tests associated with this
DTC using the manufacturer approved diagnostic
system. Check parking brake module for related
DTCs and refer to the relevant DTC Index U0155-00
Lost Communications
With Instrument Panel
Cluster (IPC) Control
Module - No sub type
information
Instrument cluster
missing message
Carry out any pinpoint tests associated with this
DTC using the manufacturer approved diagnostic
system. Check instrument cluster for related DTCs
and refer to the relevant DTC Index U0300-00
Internal Control Module
Software
Incompatibility - No
sub type information
Invalid configuration
message is received
Re-configure the speed control module using the
manufacturer approved diagnostic system. Clear
DTCs and re-test. If DTC still logged, suspect
incorrect speed control module installed. Check and
install a new module as required, refer to new
module/component installation note at top of DTC
Index U0300-55
Internal Control Module
Software
Incompatibility - Not
configured
RJB - at least one of the
car configuration
parameters is not
configured
Re-configure the RJB using the manufacturer
approved diagnostic system www.JagDocs.com

DTC Description Possible Causes Action U0401-00
Invalid Data Received
From ECM/PCM A - No
sub type information
ECM did not respond
properly to speed control
cancel or auto brake
cancel request
Check ECM for related DTCs and refer to relevant
DTC Index U0401-67
Invalid Data Received
From ECM/PCM A -
Signal incorrect after
event
ECM did not respond
properly to speed control
resume request
Check ECM for related DTCs and refer to relevant
DTC Index U0401-81
Invalid Data Received
From ECM/PCM A -
Invalid serial data
received
Invalid data received
from engine control
module
Bus signal/message
failure
Speed control inhibited
by ECM
Check the Engine Control Module for related DTCs
and refer to relevant DTC Index. If U040181 is
logged as historic but no other DTCs have logged in
the engine control module at the same time and
distance, it may be caused by cranking with low
voltage conditions. Check battery and charging
system according to instructions in the battery care
manual. Install the latest Engine Control Module
software using the manufacturer approved diagnostic
system, contact Dealer Technical Support before
replacing components U0415-53
Invalid Data Received
From Anti-Lock Braking
System (ABS) Control
Module - De-activated
Event information
Deactivated
Check the Anti-Lock Braking System Module for
related DTCs and refer to the relevant DTC index U0415-81
Invalid Data Received
From Anti-lock Brake
System (ABS) Control
Module - Invalid serial
data received
Stability assist fault
Check ABS module for related DTCs and refer to
relevant DTC Index U0417-67
Invalid Data Received
From Park Brake
Control Module - Signal
incorrect after event
Parking brake module did
not respond properly to
apply request
Check parking brake module for related DTCs and
refer to relevant DTC Index U0417-81
Invalid Data Received
From Park Brake
Control Module -
Invalid serial data
received
Speed control inhibited
by parking brake module
Check parking brake module for related DTCs and
refer to relevant DTC Index U0418-68
Invalid Data Received
From Brake System
Control Module - Event
information
Event information
Check the Anti-Lock Braking System Module for
related DTCs and refer to the relevant DTC index U0421-81
Invalid Data Received
From Suspension
Control Module 'A' -
Invalid serial data
received
Invalid serial data
received
Check the Suspension Control Module for related
DTCs and refer to the relevant DTC index U0423-81
Invalid Data Received
From Instrument Panel
Control Module -
Invalid serial data
received
Speed control inhibited
by instrument cluster
Check instrument cluster, CJB and RJB for related
DTCs and refer to relevant DTC Index U1A00-88
Private Communication
Network - Bus off
Bus off
The module setting this code has disabled CAN
transmission. Check for other bus off codes. Check
the module and circuits. Refer to the electrical circuit
diagrams. Clear all DTCs and road test the vehicle. If
the concern reoccurs contact Dealer Technical
Support for further advice. Under no circumstance
should any parts be replaced to overcome this issue U1A14-49
CAN Initialisation
Failure - Internal
electronic failure
Internal electronic failure
Suspect the speed control module. Check and install
a new module as required, refer to the new
module/component installation note at the top of
the DTC Index U2101-00
Control Module
Configuration
Incompatible - No sub
type information
Data sent from RJB is
invalid
Check/amend Car Configuration File using the
manufacturer approved diagnostic system, clear DTC
and re-test. If DTC remains, re-configure RJB using
manufacturer approved diagnostic system, clear DTC
and re-test. If DTC remains check RJB for DTCs and

DTC Description Possible Causes Action refer to DTC Index U3000-41
Control Module -
General checksum
failure
Internal micro controller
error
Checksum fault
Suspect the speed control module. Check and install
a new module as required, refer to the new
module/component installation note at the top of
the DTC Index U3000-42
Control Module -
General memory failure
Internal RAM test fault
Suspect the speed control module. Check and install
a new module as required, refer to the new
module/component installation note at the top of
the DTC Index U3000-49
Control Module -
Internal electronic
failure
Internal control module
failure
Suspect the speed control module. Check and install
a new module as required, refer to the new
module/component installation note at the top of
the DTC Index U3000-63
Control Module -
Circuit/component
protection time-out
Circuit/component
protection time-out
The Control module internal protection has been
activated. Check for other related DTCs that could
lead to this event. Clear the DTC and retest. If the
problem persists, renew the module. Refer to the
warranty policy and procedures manual if a module is
suspect U3003-62
Battery Voltage -
Signal compare failure
Signal compare failure
Battery supply voltage
below a recognized value
Check vehicle battery and charging system. Refer to
the relevant section in the workshop manual. Refer
to the electrical circuit diagrams and check the power
and ground supply circuits to the modules Vehicles WITHOUT Adaptive System Installed


CAUTION: When probing connectors to take measurements in the course of the pinpoint tests, use the adaptor kit, part
number 3548-1358-00
NOTES:


If a module or component is suspect, and the vehicle remains under the Manufacturers warranty, refer to the Warranty
Policy and Procedure manual (section B1.2), or determine if any prior approval programme is in operation, prior to the
installation of a new module/component.


Generic scan tools may not read the codes listed, or may read only five digit codes. Match the five digits from the scan
tool to the first five digits of the seven digit code listed to identify the fault (the last two digits give extra information read by
the manufacturer-approved diagnostic system).


When performing voltage or resistance tests, always use a digital multimeter (DMM) accurate to three decimal places and
with a current calibration certificate. When testing resistance, always take the resistance of the DMM leads into account.


Check and rectify basic faults before beginning diagnostic routines involving pinpoint tests.


If DTCs are recorded and, after performing the pinpoint tests, a fault is not present, an intermittent concern may be the
cause. Always check for loose connections and corroded terminals.

DTC Description Possible Causes Action P0500-82 Vehicle Speed Sensor A - Alive / sequence counter incorrect /
not updated
Vehicle speed - invalid
signal received over CAN
Check ABS for related DTCs and refer to
relevant DTC Index P0500-86
Vehicle Speed Sensor A -
Signal invalid
Vehicle speed - invalid
signal received over CAN
Check ABS for related DTCs and refer to
relevant DTC Index P0501-00
Vehicle Speed Sensor A
Range/Performance - No sub
type information
Vehicle speed signal from
ABS not plausible
Carry out CAN network integrity test using
the manufacturer approved diagnostic
system. Contact Dealer Technical Support