Safety Warning
DIY auto repair can cause serious injury, fire, or vehicle damage. These guides are for informational purposes only. Always follow OEM torque specs, wear PPE, and consult a certified mechanic if you are unsure. You are solely responsible for your safety.
Local CAN
A further bus system, a local CAN, is connected to the ICM control unit in addition to the FlexRay. This serves the ICM exclusively for the purposes of communication with the active speed control radar sensors. This local CAN therefore performs the same tasks as the sensor CAN in the E6x LCI that connects the LDM control unit to the radar sensors. It transmits information on road users that has been recorded by the radar sensors.
The local CAN operates in the same way as the PT-CAN with a data transfer rate of 500 kBit/s. There are two terminating resistors for the local CAN, each with 120. One of these is in the ICM control unit, the second is integrated in the long range radar sensor (LRR). The close range sensors (SRR) are routed to the local CAN via short lines.
The pins for the local CAN are only connected at the plug of the ICM control unit if it is a high-performance version.
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When to See a Mechanic
Stop DIY work and contact a certified mechanic immediately if any of the following apply:
- • You smell fuel, burning insulation, or see smoke.
- • Brakes feel soft, pull hard to one side, or make grinding noises.
- • The engine overheats, stalls repeatedly, or misfires under load.
- • You are missing required tools, torque specs, or safe lifting equipment.
- • You are not confident in the next step or safety outcome.