DTC U0235-87: Lost Communication with Cruise Control Front Distance Range Sensor Missing Message [01/2023 - ]: Procedure

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

   Body Electrical > Pre-Collision System > Trouble Codes 

   Chassis > Lane Control > Trouble Codes 

   Body Electrical > Front Recognition Camera (Front Lighting Control) > Trouble Codes 

   Powertrain > Radar Cruise2 > Trouble Codes 

   Body Electrical > Front Radar Sensor > Trouble Codes 

   Pattern	DTC output part name (Display on Techstream)
   	Pre-Collision System	Lane Control	Forward Recognition Camera (Front Lighting Control)	Radar Cruise2	Front Radar Sensor
   Pattern 1	U0235-87	U0235-87	U0235-87	U0235-87	U0104-87
   Pattern 2	U0235-87	U0235-87	U0235-87	U0235-87	-

   Result

   Result	Proceed to
   Pattern 1	A
   Pattern 2	B

Result: 

B 

See step  4

Result: 

A 

See step  2

Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

1. Disconnect the cable from the negative (-) battery terminal.
2. Disconnect the forward recognition camera connector.
3. Measure the resistance according to the value(s) in the table below.

   Standard Resistance

   Tester Connection	Condition	Specified Condition
   W18-6 (CANH) - W18-12 (CANL)	Cable disconnected from negative (-) battery terminal	108 to 132 Ω
   W18-6 (CANH) - Body ground	Cable disconnected from negative (-) battery terminal	200 Ω or higher
   W18-12 (CANL) - Body ground
   W18-6 (CANH) - +B	Cable disconnected from negative (-) battery terminal	6 kΩ or higher
   W18-12 (CANL) - +B

   Result

   Proceed to
   OK
   NG

Result: 

OK 

REPLACE FORWARD RECOGNITION CAMERA. Refer to  REMOVAL [01/2023 - ] 

Result: 

NG 

See step  3

Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

1. Disconnect the cable from the negative (-) battery terminal.
2. Connect the forward recognition camera connector.
3. Disconnect the millimeter wave radar sensor assembly connector.
4. Measure the resistance according to the value(s) in the table below.

   Standard Resistance

   Tester Connection	Condition	Specified Condition
   B9-5 (CA1P) - B9-6 (CA1N)	Cable disconnected from negative (-) battery terminal	108 to 132 Ω
   B9-5 (CA1P) - Body ground	Cable disconnected from negative (-) battery terminal	200 Ω or higher
   B9-6 (CA1N) - Body ground
   B9-5 (CA1P) - +B	Cable disconnected from negative (-) battery terminal	6 kΩ or higher
   B9-6 (CA1N) - +B

   Result

   Proceed to
   OK
   NG

Result: 

OK 

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY. Refer to  REMOVAL [01/2023 - ] 

Result: 

NG 

REPAIR OR REPLACE HARNESS OR CONNECTOR 

Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

1. Disconnect the forward recognition camera connector.
2. Using an oscilloscope, check the waveform.

   OK

   Tester Connection	Condition	Tool Setting	Specified Condition
   W18-6 (CANH) - W18-12 (CANL)	Engine switch on (IG)	1V/DIV., 100μs./DIV.	Pulse generation

   Result

   Proceed to
   OK
   NG

Result: 

OK 

REPLACE FORWARD RECOGNITION CAMERA. Refer to  REMOVAL [01/2023 - ] 

Result: 

NG 

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY. Refer to  REMOVAL [01/2023 - ]