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DTC U0235-87: Lost Communication with Cruise Control Front Distance Range Sensor Missing Message [08/2019 - ]: Procedure

  1. CHECK FOR DTCs 
    1. Using the Techstream, check for front radar sensor system DTCs.

      Body Electrical > Front Radar Sensor > Trouble Codes 

      Result

      Result Proceed to
      DTC U0104-87 is output A
      DTC U0104-87 is not output B

    Result: 

    B 

    See step  5

    Result: 

    A 

    See step  2

  2. CHECK CAN BUS LINES (NO. 1 CAN JUNCTION CONNECTOR) 
    GTY949679Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
    *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 - -
    1. Disconnect the cable from the negative (-) battery terminal.
    2. Disconnect the A86 No. 1 CAN junction connector.
    3. 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
    4. 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
    5. Connect the A86 No. 1 CAN junction connector.

      Result

      Result Proceed to
      OK A
      NG (Connected to: Forward Recognition Camera) B
      NG (Connected to: Millimeter Wave Radar Sensor Assembly) C

    Result: 

    A 

    REPLACE NO. 1 CAN JUNCTION CONNECTOR 

    Result: 

    C 

    See step  4

    Result: 

    B 

    See step  3

  3. CHECK CAN BUS LINES (FORWARD RECOGNITION CAMERA - NO. 1 CAN JUNCTION CONNECTOR) 
    GTY949681Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
    *1 DLC3 - -
    *a Front view of wire harness connector
    (to Forward Recognition Camera)    		 - -
    1. Disconnect the U14 forward recognition camera connector.
    2. 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
    3. 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
    4. Connect the U14 forward recognition camera connector.

      Result

      Proceed to
      OK
      NG

    Result: 

    OK 

    REPLACE FORWARD RECOGNITION CAMERA. Refer to  COMPONENTS [08/2019 - ] 

    Result: 

    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) 
    GTY949663Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
    *1 DLC3 - -
    *a Front view of wire harness connector
    (to Millimeter Wave Radar Sensor Assembly)    		 - -
    1. Disconnect the A70 millimeter wave radar sensor assembly connector.
    2. 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
    3. 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
    4. Connect the A70 millimeter wave radar sensor assembly connector.

      Result

      Proceed to
      OK
      NG

    Result: 

    OK 

    REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY. Refer to  COMPONENTS [08/2019 - ] 

    Result: 

    NG 

    REPAIR OR REPLACE CAN BUS MAIN LINE OR CONNECTOR (MILLIMETER WAVE RADAR SENSOR ASSEMBLY - NO. 1 CAN JUNCTION CONNECTOR) 

  5. CHECK CONNECTOR (MILLIMETER WAVE RADAR SENSOR ASSEMBLY) 
    1. Check the locking part and terminals of the millimeter wave radar sensor assembly connector.
      NOTE:
      • Make sure the connector is not loose or disconnected.
      • Make sure that the connector and terminals are not deformed or damaged.

      OK

      The connector and terminals are normal.

      Result

      Proceed to
      OK
      NG

    Result: 

    NG 

    REPAIR OR REPLACE HARNESS OR CONNECTOR (MILLIMETER WAVE RADAR SENSOR ASSEMBLY) 

    Result: 

    OK 

    See step  6

  6. CHECK HARNESS AND CONNECTOR (POWER SOURCE CIRCUIT) 
    1. Disconnect the cable from the negative (-) battery terminal.
    2. Disconnect the A70 millimeter wave radar sensor assembly connector.
      GTY947177Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
      *a Front view of wire harness connector
      (to Millimeter Wave Radar Sensor Assembly)
    3. Measure the resistance according to the value (s) in the table below.

      Standard Resistance

      Tester Connection Condition Specified Condition
      A70-1 (SGND) - Body ground Always Below 1 Ω
    4. Connect the cable to the negative (-) battery terminal.
    5. Measure the voltage according to the value (s) in the table below.

      Standard Voltage

      Tester Connection Condition Specified Condition
      A70-8 (IGB) - Body ground Engine switch on (IG) 11 to 14 V
    6. Connect the A70 millimeter wave radar sensor assembly connector.

      Result

      Proceed to
      OK
      NG

    Result: 

    NG 

    REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT) 

    Result: 

    OK 

    See step  7

  7. INSPECT MILLIMETER WAVE RADAR SENSOR ASSEMBLY (WAVEFORM) 
    GTY960454Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
    *a Front view of wire harness connector
    (to No. 1 CAN Junction Connector)    		 *b Waveform
    *c to Millimeter Wave Radar Sensor Assembly - -
    1. Turn the engine switch off.
    2. Disconnect the A86 No. 1 CAN junction connector.
    3. Turn the engine switch on (IG).
    4. Using an oscilloscope, measure the waveform at A86 No. 1 CAN junction connector.

      Measurement Condition

      Tester Connection Condition Tool Setting
      A86-5 - Body ground Engine switch on (IG) 1 V/DIV., 100 μs/DIV.
      NOTE:

      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.

    5. Connect the A86 No. 1 CAN junction connector.

      Result

      Proceed to
      OK
      NG

    Result: 

    OK 

    REPLACE FORWARD RECOGNITION CAMERA. Refer to  COMPONENTS [08/2019 - ] 

    Result: 

    NG 

    REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY. Refer to  COMPONENTS [08/2019 - ] 

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