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Normal Operation and Fault Conditions

With the ignition ON, the PCM sends messages to the GWM over the HS-CAN 1, the GWM relays these message to the ABS module over the HS-CAN 2. If the ABS module does not receive these messages within the specified time frame, the module sets DTCs. This can be due to a PCM failure, a GWM failure, a circuit failure on the network or an excessive load on the network. For information on the messages sent to the ABS module by the PCM, refer to  Anti-Lock Brake System (ABS) And Stability Control  Description and Operation. 

PPT IA ABS MODULE DTC FAULT TRIGGER CONDITIONS

DTC Description Fault Trigger Conditions
U0401:00 Invalid Data Received From ECM/PCM "A": No Sub Type Information This DTC sets if the ABS module receives invalid data in any of the following messages; brake pedal position, gear lever position or driven wheel torque.