DESCRIPTION
The millimeter wave radar sensor assembly communicates with the forward recognition camera via CAN communication.
If a communication error is detected between the forward recognition camera and millimeter wave radar sensor assembly, the millimeter wave radar sensor assembly stores this DTC.
DTC No. | Detection Item | DTC Detection Condition | Trouble Area |
---|---|---|---|
U010487 | Lost Communication with Cruise Control Module Missing Message |
|
|
Pattern | DTC output part name (Display on Techstream) | Suspected Area (Malfunction Status) | |
---|---|---|---|
Millimeter Wave Radar Sensor Assembly (Front Radar Sensor) | Forward Recognition Camera (Pre-Collision System) | ||
U010487 | U023587 | ||
○: DTC is output
-: DTC is not output | |||
Pattern 1 | ○ | ○ |
|
Pattern 2 | ○ | - |
|
HINT:
If the DTCs are output simultaneously, the inspection area can be narrowed down.
WIRING DIAGRAM
CAUTION / NOTICE / HINT
NOTICE:
Click here
Click here
HINT:
Forward recognition camera adjustment can be performed by using either One Time Recognition or Sequential Recognition.
One Time Recognition: Click here
Sequential Recognition: Click here
PROCEDURE
1. | CHECK FOR DTCs |
(a) Check for pre-collision system DTCs.
Body Electrical > Pre-Collision System > Trouble Codes Result | Proceed to |
---|---|
DTC U023587 is output | A |
DTC U023587 is not output | B |
B | ![]() | GO TO STEP 5 |
|
2. | CHECK CAN BUS LINES (NO. 1 CAN JUNCTION CONNECTOR) |
*1 | DLC3 | - | - |
*a | Front view of wire harness connector (to No. 1 CAN Junction Connector) | *b | to Millimeter Wave Radar Sensor Assembly |
*c | to Forward Recognition Camera | - | - |
(a) Disconnect the cable from the negative (-) battery terminal.
(b) Disconnect the A86 No. 1 CAN junction connector.
(c) Measure the resistance according to the value(s) in the table below.
Standard Resistance:
Tester Connection | Condition | Specified Condition |
---|---|---|
A86-1 - A86-12 | Cable disconnected from negative (-) battery terminal | 108 to 132 Ω |
A86-5 - A86-16 | Cable disconnected from negative (-) battery terminal | 108 to 132 Ω |
(d) Measure the resistance according to the value(s) in the table below.
Standard Resistance:
Tester Connection | Condition | Specified Condition |
---|---|---|
A86-1 - J141-4(CG) | Cable disconnected from negative (-) battery terminal | 200 Ω or higher |
A86-12 - J141-4(CG) | Cable disconnected from negative (-) battery terminal | 200 Ω or higher |
A86-1 - J141-16(BAT) | Cable disconnected from negative (-) battery terminal | 6 kΩ or higher |
A86-12 - J141-16(BAT) | Cable disconnected from negative (-) battery terminal | 6 kΩ or higher |
A86-5 - J141-4(CG) | Cable disconnected from negative (-) battery terminal | 200 Ω or higher |
A86-16 - J141-4(CG) | Cable disconnected from negative (-) battery terminal | 200 Ω or higher |
A86-5 - J141-16(BAT) | Cable disconnected from negative (-) battery terminal | 6 kΩ or higher |
A86-16 - J141-16(BAT) | Cable disconnected from negative (-) battery terminal | 6 kΩ or higher |
(e) Connect the A86 No. 1 CAN junction connector.
Result | Proceed to |
---|---|
OK | A |
NG (Connected to: Forward Recognition Camera) | B |
NG (Connected to: Millimeter Wave Radar Sensor Assembly) | C |
A | ![]() | REPLACE NO. 1 CAN JUNCTION CONNECTOR |
C | ![]() | GO TO STEP 4 |
|
3. | CHECK CAN BUS LINES (FORWARD RECOGNITION CAMERA - NO. 1 CAN JUNCTION CONNECTOR) |
*1 | DLC3 | - | - |
*a | Front view of wire harness connector (to Forward Recognition Camera) | - | - |
(a) Disconnect the U14 forward recognition camera connector.
(b) Measure the resistance according to the value(s) in the table below.
Standard Resistance:
Tester Connection | Condition | Specified Condition |
---|---|---|
U14-6 (CANH) - U14-12 (CANL) | Cable disconnected from negative (-) battery terminal | 108 to 132Ω |
(c) Measure the resistance according to the value(s) in the table below.
Standard Resistance:
Tester Connection | Condition | Specified Condition |
---|---|---|
U14-6 (CANH) - J141-4 (CG) | Cable disconnected from negative (-) battery terminal | 200 Ω or higher |
U14-12 (CANL) - J141-4 (CG) | Cable disconnected from negative (-) battery terminal | 200 Ω or higher |
U14-6 (CANH) - J141-16 (BAT) | Cable disconnected from negative (-) battery terminal | 6 kΩ or higher |
U14-12 (CANL) - J141-16 (BAT) | Cable disconnected from negative (-) battery terminal | 6 kΩ or higher |
(d) Connect the U14 forward recognition camera connector.
OK | ![]() | REPLACE FORWARD RECOGNITION CAMERA |
NG | ![]() | REPAIR OR REPLACE CAN BUS MAIN LINE OR CONNECTOR (FORWARD RECOGNITION CAMERA - NO. 1 CAN JUNCTION CONNECTOR) |
4. | CHECK CAN BUS LINES (MILLIMETER WAVE RADAR SENSOR ASSEMBLY - NO. 1 CAN JUNCTION CONNECTOR) |
*1 | DLC3 | - | - |
*a | Front view of wire harness connector (to Millimeter Wave Radar Sensor Assembly) | - | - |
(a) Disconnect the A70 millimeter wave radar sensor assembly connector.
(b) Measure the resistance according to the value(s) in the table below.
Standard Resistance:
Tester Connection | Condition | Specified Condition |
---|---|---|
A70-5 (CA1P) - A70-6 (CA1N) | Cable disconnected from negative (-) battery terminal | 108 to 132Ω |
(c) Measure the resistance according to the value(s) in the table below.
Standard Resistance:
Tester Connection | Condition | Specified Condition |
---|---|---|
A70-5 (CA1P) - J141-4 (CG) | Cable disconnected from negative (-) battery terminal | 200 Ω or higher |
A70-6 (CA1N) - J141-4 (CG) | Cable disconnected from negative (-) battery terminal | 200 Ω or higher |
A70-5 (CA1P) - J141-16 (BAT) | Cable disconnected from negative (-) battery terminal | 6 kΩ or higher |
A70-6 (CA1N) - J141-16 (BAT) | Cable disconnected from negative (-) battery terminal | 6 kΩ or higher |
(d) Connect the A70 millimeter wave radar sensor assembly connector.
OK | ![]() | REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY |
NG | ![]() | REPAIR OR REPLACE CAN BUS MAIN LINE OR CONNECTOR (MILLIMETER WAVE RADAR SENSOR ASSEMBLY - NO. 1 CAN JUNCTION CONNECTOR) |
5. | CHECK CONNECTOR (FORWARD RECOGNITION CAMERA) |
(a) Check the locking part and terminals of the forward recognition camera connector.
NOTICE:
OK:
The connector and terminals are normal.
NG | ![]() | REPAIR OR REPLACE HARNESS OR CONNECTOR (FORWARD RECOGNITION CAMERA) |
|
6. | CHECK HARNESS AND CONNECTOR (FORWARD RECOGNITION CAMERA POWER SOURCE CIRCUIT) |
*a | Front view of wire harness connector (to Forward Recognition Camera) |
(a) Disconnect the cable from the negative (-) battery terminal.
(b) Disconnect the U14 forward recognition camera connector.
(c) Measure the resistance according to the value(s) in the table below.
Standard Resistance:
Tester Connection | Condition | Specified Condition |
---|---|---|
U14-10 (GND) - Body ground | Always | Below 1 Ω |
(d) Connect the cable to the negative (-) battery terminal.
(e) Measure the voltage according to the value(s) in the table below.
Standard Voltage:
Tester Connection | Condition | Specified Condition |
---|---|---|
U14-7 (IGB) - Body ground | Engine switch on (IG) | 11 to 14 V |
(f) Connect the U14 forward recognition camera connector.
NG | ![]() | REPAIR OR REPLACE HARNESS OR CONNECTOR |
|
7. | INSPECT FORWARD RECOGNITION CAMERA (WAVEFORM) |
*a | Front view of wire harness connector (to No. 1 CAN Junction Connector) | *b | Waveform |
*c | to Forward Recognition Camera | - | - |
(a) Turn the engine switch off.
(b) Disconnect the A86 No. 1 CAN junction connector.
(c) Turn the engine switch on (IG).
(d) Using an oscilloscope, measure the waveform at the A86 No. 1 CAN junction connector.
Measurement Condition:
Tester Connection | Condition | Tool Setting |
---|---|---|
A86-1 - Body ground | Engine switch on (IG) | 1 V/DIV., 100 μs/DIV. |
NOTICE:
The oscilloscope waveform is for reference only and does not include noise, fluctuations, etc.
OK:
A waveform similar to that in the illustration can be observed.
(e) Connect the A86 No. 1 CAN junction connector.
OK | ![]() | REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY |
NG | ![]() | REPLACE FORWARD RECOGNITION CAMERA |
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