DTC U0104-87: Lost Communication with Cruise Control Module Missing Message [05/2019 - ]: Procedure

1. Read each DTC and check the diagnosis pattern using the table below.

   for Front Radar Sensor: Refer to DTC CHECK / CLEAR [05/2019 - ]

   for Pre-Collision System: Refer to DTC CHECK / CLEAR [05/2019 - ]

   Body Electrical > Front Radar Sensor > Trouble Codes 

   Body Electrical > Pre-Collision System > Trouble Codes 

   Pattern	Display on Techstream / Output DTC
   	Millimeter Wave Radar Sensor Assembly (Front Radar Sensor)	Forward Recognition Camera (Pre-Collision System)
   Pattern 1	U010487	U023587
   Pattern 2	U010487	-

   Result

   Result	Proceed to
   Pattern 1	A
   Pattern 2	B

Result: 

B 

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY. Refer to  REMOVAL [05/2019 - 07/2020]  , or refer to  REMOVAL [07/2020 - ] 

Result: 

A 

See step  2

1. Disconnect the cable from the negative (-) auxiliary battery terminal.
2. Disconnect the B10 millimeter wave radar sensor assembly connector.

   Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

   *a

   Front view of wire harness connector (to Millimeter Wave Radar Sensor Assembly)

   *b

   DLC3

3. Measure the resistance according to the value(s) in the table below.

   Standard Resistance

   Tester Connection	Condition	Specified Condition
   B10-5 (CA1P) - B10-6 (CA1N)	Cable disconnected from negative (-) auxiliary battery terminal	108 to 132 Ω
   B10-5 (CA1P) - I182-4 (CG)	Cable disconnected from negative (-) auxiliary battery terminal	200 Ω or higher
   B10-6 (CA1N) - I182-4 (CG)	Cable disconnected from negative (-) auxiliary battery terminal	200 Ω or higher
   B10-5 (CA1P) - I182-16 (BAT)	Cable disconnected from negative (-) auxiliary battery terminal	6 kΩ or higher
   B10-6 (CA1N) - I182-16 (BAT)	Cable disconnected from negative (-) auxiliary battery terminal	6 kΩ or higher

   Result

   Proceed to
   OK
   NG

Result: 

NG 

See step  4

Result: 

OK 

See step  3

1. Replace the millimeter wave radar sensor assembly.

   Refer to REMOVAL [05/2019 - 07/2020] , or refer to REMOVAL [07/2020 - ]

2. Clear the DTCs.

   Refer to DTC CHECK / CLEAR [05/2019 - ]

   Body Electrical > Front Radar Sensor > Clear DTCs 

3. Make sure that the DTC detection conditions are met.

   HINT: 

   If the detection conditions are not met, the system cannot detect the malfunction.

4. Recheck for DTCs and check that no DTCs are output.

   Refer to DTC CHECK / CLEAR [05/2019 - ]

   Body Electrical > Front Radar Sensor > Trouble Codes 

   OK

   DTC U010487 is not output.

   Result

   Proceed to
   OK
   NG

Result: 

OK 

END (MILLIMETER WAVE RADAR SENSOR ASSEMBLY WAS DEFECTIVE) 

Result: 

NG 

REPLACE FORWARD RECOGNITION CAMERA. Refer to  REMOVAL [05/2019 - ] 

1. Reconnect the B10 millimeter wave radar sensor assembly connector.
2. Disconnect the T18 forward recognition camera connector.

   Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

   *a

   Front view of wire harness connector (to Forward Recognition Camera)

   *b

   DLC3

3. Measure the resistance according to the value(s) in the table below.

   Standard Resistance

   Tester Connection	Condition	Specified Condition
   T18-6 (CANH) - T18-12 (CANL)	Cable disconnected from negative (-) auxiliary battery terminal	108 to 132 Ω
   T18-6 (CANH) - I182-4 (CG)	Cable disconnected from negative (-) auxiliary battery terminal	200 Ω or higher
   T18-12 (CANL) - I182-4 (CG)	Cable disconnected from negative (-) auxiliary battery terminal	200 Ω or higher
   T18-6 (CANH) - I182-16 (BAT)	Cable disconnected from negative (-) auxiliary battery terminal	6 kΩ or higher
   T18-12 (CANL) - I182-16 (BAT)	Cable disconnected from negative (-) auxiliary battery terminal	6 kΩ or higher

   Result

   Proceed to
   OK
   NG

Result: 

OK 

See step  3

Result: 

NG 

REPAIR OR REPLACE CAN MAIN WIRE OR CONNECTOR