Passenger door, where is the sensor or switch,, it beeps while in drive,, panel does not see Open/ajar message on passenger door when I open door,, all other doors,when opened,, I can see on panel...

Body Control Module (BCM)
Below the left side of the I/P to the left of the steering column.
Has three connectors.connector #1 52-Way F AMP Hybrid (BK) Body Control Module (BCM) C1 Pin
Wire Color
Circuit No.
Function
1
TN
860
Front Windshield Wiper Switch High Signal
2
WH
1459
Security System Sensor Supply Voltage
3
PK
1439
Ignition 1 Voltage
4
TN
28
Horn Relay Control
5
OG
300
Run Relay Control
6
TN
707
RAP Relay Coil Control
7
TN/WH
1969
Headlamp High Beam Relay Control
8
--
--
Not Used
9
PK/WH
1970
Headlamp Low Beam Relay Control
10
WH
1080
Park Lamp Relay Control
11
YE
749
Security Indicator Control
12
GY
91
Windshield Wiper Switch Signal 2
13
YE
196
Windshield Wiper Motor Park Switch Signal
14
TN
1835
Low Reference
15
L-GN/BK
1137
DRL Ambient Light Sensor Signal
16
YE
5066
Brake Pedal Position Sensor Signal
17
BK/WH
1651
Ground
18
--
--
Not Used
19
BK/WH
151
Ground
20
BK/WH
1651
Ground
21
YE
5
Crank Voltage
22
PK
1239
Ignition 1 Voltage
23
BN
1141
Accessory Voltage
24
--
--
Not Used
25
WH/BK
644
12-Volt Reference
26
PK/BK
109
Hood Ajar Switch Signal
27
OG
5688
10-Volt Reference
28
GY/BK
5689
Low Reference
29
BN/WH
230
Low Reference
30
PK
1444
I/P Dimming Control
31
OG/WH
812
I/P Dimming Voltage
32
--
--
Not Used
33
BN
5077
Low Reference
34
BN/WH
1571
Traction Control Switch Signal
35
GY/BK
1598
Courtesy Lamps Switch Off Signal
36
PK/BK
1597
Courtesy Lamps Switch On Signal
37
TN/WH
1455
Keyless Entry Signal
38
L-GN
1037
Class 2 Serial Data
39
L-GN
526
Stop Lamp Supply Voltage
40
L-GN
80
Key In Ignition Switch Signal
41
L-BU/WH
1314
Left Front Turn Signal Lamp Supply Voltage
42
D-BU/WH
1315
Right Front Turn Signal Lamp Supply Voltage
43
GY/BK
690
Courtesy Lamp High Control
44
OG
1732
Inadvertent Power Courtesy Lamp
45
--
--
Not Used
46
RD/WH
340
Battery Positive Voltage
47
OG
228
Windshield Washer Pump Control
48
GY
8
Instrument Panel Lamp Supply Voltage
49
D-GN/WH
1135
A/T Shift Lock Control Solenoid Control (w/o AQW)
GN/WH
1135
A/T Shift Lock Control Solenoid Control (AQW)
50
RD/WH
240
Battery Positive Voltage
51
RD/WH
2440
Battery Positive Voltage
52
RD/WH
1240
Battery Positive Voltage
Connector #2 52-Way F Receptacle 0.64, 2.8 (BK) Release Tool/Test Probe: 12094429/J-35616-4A
Body Control Module (BCM) C2 Pin
Wire Color
Circuit No.
Function
1
--
--
Not Used
2
OG/BK
780
Driver Door Lock Switch Lock Signal
3
D-GN
5512
Liftgate Open Switch Signal
4
D-BU
245
Passenger Door Lock Switch Unlock Signal
5
L-GN/BK
748
Right Rear Door Ajar Switch Signal
6
YE/BK
1181
Right Rear Door Open Switch Signal
7
L-BU/BK
747
Left Rear Door Ajar Switch Signal
8
L-GN
1177
Right Front Door Open Switch Signal
9
L-BU
1134
Park Brake Switch Signal
10
L-BU
2380
Rear Parking Assist Chime Signal (UD7)
11
OG/BK
781
Driver Door Lock Switch Unlock Signal
12-15
--
--
Not Used
16
WH
193
Rear Defog Relay Control
17
TN/WH
746
Right Front Door Ajar Switch Signal
18
D-BU/WH
1179
Left Rear Door Open Switch Signal
19-21
--
--
Not Used
22
L-GN
1123
Door Lock Key Switch Lock Signal
23
WH
5075
Current Sensor Signal
24
PU
1124
Door Lock Key Switch Unlock Signal
25
TN
126
Left Front Door Open Switch Signal
26
GY/BK
745
Left Front Door Ajar Switch Signal
27-29
--
--
Not Used
30
WH
17
Stop Lamp Supply Voltage
31
L-BU
244
Passenger Door Lock Switch Lock Signal
32-33
--
--
Not Used
34
PK/BK
1303
Liftgate Ajar Switch Signal (Early Production)
35
YE
2080
Low Reference
36
PK
2435
Low Reference
37
YE/BK
2079
Driver Heated Seat Cushion Temperature Sensor Signal
38
GY
2434
Passenger Heated Seat Cushion Temperature Sensor Signal
39
TN/WH
2430
Passenger Heated Seat Relay Control
40
PU
2477
Driver Heated Seat Relay Control
41
--
--
Not Used
42
L-GN
24
Backup Lamp Supply Voltage
43
YE
18
Left Rear Stop/Turn Lamp Supply Voltage
YE
18
Left Rear Stop/Turn Lamp Supply Voltage
44
GY
8
Instrument Panel Lamp Supply Voltage
45
L-GN
275
Park/Neutral Position Park Signal (E58 w/o AQW)
L-GN
275
Park/Neutral Position Park Signal (E59 w/o AQW)
L-GN
275
Park/Neutral Position Park Signal (AQW)
46
TN
694
Driver Door Lock Actuator Unlock Control
47
--
--
Not Used
48
D-GN
19
Right Rear Stop/Turn Lamp Supply Voltage
D-GN
19
Right Rear Stop/Turn Lamp Supply Voltage
49
RD/WH
440
Battery Positive Voltage
50
BK
550
Ground
51
TN
294
Door Lock Actuator Unlock Control
52
GY
295
Door Lock Actuator Lock Control

The light and the beeping are two differant things. Headlight switch on? Or the switch were the key gos may think the key is still in the switch.

If you need further help, I’m available over the phone at https://www.6ya.com/expert/edward_020b3320326d263d

There is a tiny switch inside the door called the "Door Ajar" sensor, remove the door panel and replace that switch, it is attached to the door latch, it just twists out and back in.

Who looked at it ? Dealer ? Did the place's you had look at the vehicle hook up a factory scan tool an view data to door module's an the BCM ? Door ajar is a fuction of the door modules an the BCM - body control module . One of these modules is seeing an input that makes it think door is open .
The door ajar indicator system consists of the following components:
• The driver door module (DDM)
• The passenger front door module (PDM)
• The body control module (BCM)
• The instrument panel cluster (IPC)
• The driver information center (DIC)
• The driver door ajar switch
• The passenger door ajar switch
• The left rear door ajar switch
• The right rear door ajar switch
• The liftgate ajar switch

Driver Door Ajar And Passenger Door Ajar
The DDM and PDM receive a discrete input from the respective door ajar switch to indicate the status of the door. The DDM or PDM then communicates this status to the IPC via class 2 message. The IPC, upon receipt of this class 2 message, will illuminate the appropriate door ajar message in the DIC and also send a class 2 message to the radio to activate the door ajar audible warning when the following conditions are met:
• The transmission is removed from PARK
• The vehicle speed is greater then 8.05 km/h (5 mph)
Left Rear Door Ajar And Right Rear Door Ajar
The BCM receives a discrete inputs from both the left and right rear door and liftgate ajar switches to indicate the status of the doors and liftgate. The BCM then communicates this status to the IPC via class 2 message. The IPC, upon receipt of this class 2 message, will illuminate the appropriate door ajar message in the DIC and also send a class 2 message to the radio to activate the door ajar audible warning when the following conditions are met:
• The transmission is removed from PARK
• The vehicle speed is greater then 8.05 km/h (5 mph)

Could have DTC'S - diagnostic trouble codes . Looking at data paramiters on the scan tool tool would show what switch is faulty or what part is .

I suspect you have a bad door ajar switch on one of your doors.

The switch is on the door latch. try pushing each door in with your hand one at a time and see if the warning goes away.
The Lighting control module is $500 and controls a lot of the vehicle functions. It is part of the headlamp switch. It has to be configured by the dealer with his NGS tester before it will work. Ebay has them cheap sometimes. Only buy Continental LCM for your model year.



info
When at least one door is ajar and the key is in the RUN position, the door ajar cluster lamp is activated and remains on until all doors are closed. A warning tone will sound once any time the key is in the ignition switch and any door is open.
-----------------------------------
Visual Inspection Chart Mechanical Electrical

• Door ajar switches.

• Fuse junction panel fuse 28 (10A), 4 (10A), 5 (10A).
• Power distribution box fuse 6 (60A).
• Circuitry.
• Damaged or corroded connectors.
• Lighting control module (LCM)
• Driver door module (DDM).
• Virtual image cluster (VIC).
• Restraint control module (RCM).
• Low tire pressure module.

------------------------------------------------------------

• The Door Ajar Chime Does Not Operate Properly

• LCM.
• Driver door ajar switch.
• Passenger door ajar switches.
• Key warning switch.
• Circuitry.

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remove the door trim panel to access the door ajar switch.


Remove the door open warning switch by turning it counterclockwise.
----------------------------------------------------------------------------
Trim Panel —Front Door Removal

1. Remove the screw cover.

1. Remove the screws.

1. Remove the front door trim panel (23942) from the door.

1. Disconnect the electrical connectors and remove the front door trim panel.

Installation

1. Follow the removal procedure in reverse order.

is the door ajar light on sometimes also when driving? I had a similar problem with the light staying on. I determined that it was the passenger front door latch sticking. I opened the door, then took a screwdriver to push the latch shut on the door jamb. (Make the truck think the door is shut even though it is open). Then lubricate that jamb and pull the handle open to open the door. Keep doing this (closing with screwdriver and opening with handle) until the latch works freely. This took care of my light and door ajar problem.

take the small black cover off from the pillar side of the switch and use the straw with the wd-40 can and lubricate the switch well.. old ford tech trick

The sensors are on all the door latches in all the doors and glass. You have to figure out which one is sticking open for example the drivers door switch and passengers door switch have the same color wires they are grey with a red tracer and black when you close the door both of the wires should be grounded when you open the door the ground should go away and you should have an open to ground. You will have to check all of your door switches the same way execpt for the rear liftgate and glass. The rear liftgate switch must be closed and have grounds on both sides of the wiring at the switch to supply the ground to one side of the switch of the liftgate glass ajar switch. I hope you find your problem.

Normal Operation When any door or the liftgate is opened, the ajar switch provides a ground signal to the smart junction box (SJB). When the door or liftgate is closed, the ajar switch opens, removing the ground signal. The SJB uses the multiple inputs from the ajar switches to determine whether the doors or the liftgate are in the open or closed position. The SJB then provides a message to the instrument cluster over the communication network. The message center uses this information to display the door/liftgate ajar message.

I suspect your door switch is not closing all the way.

It is a sticky sensor in the door latch mechanism. Spray it w/ WD-40 and follow up with a dose of silicone spray. Open/close doors several times and it should be ok. If you have a problem with 1 door the other 3 are sure to follow---DO THIS TO ALL 4 DOORS!!!!!!!!!