DTC U023A-87: Lost Communication with Image Processing Module "A" Missing Message [12/2021 - 10/2022]: Procedure

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

   Body Electrical > Pre-Collision System > Trouble Codes 

   Powertrain > Radar Cruise2 > Trouble Codes 

   Chassis > Lane Control > Trouble Codes 

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

   Pattern	DTC output part name (Display on Techstream / Output DTC)
   	Radar Cruise2	Pre-Collision System	Lane Control	Forward Recognition Camera (Front Lighting Control)
   Pattern 1	U023A-87	U023A-87	U0235-87	U0235-87
   Pattern 2	U023A-87	U023A-87	-	-

   Result

   Result	Proceed to
   Pattern 1	A
   Pattern 2	B

Result: 

B 

See step  4

Result: 

A 

See step  2

1. Disconnect the cable from the negative (-) auxiliary battery terminal.
2. Disconnect the B9 millimeter wave radar sensor assembly connector.
3. 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 (-) auxiliary battery terminal	108 to 132 Ω
   B9-5 (CA1P) - Body ground	Cable disconnected from negative (-) auxiliary battery terminal	200 Ω or higher
   B9-6 (CA1N) - Body ground	Cable disconnected from negative (-) auxiliary battery terminal	200 Ω or higher
   B9-5 (CA1P) - +B	Cable disconnected from negative (-) auxiliary battery terminal	6 kΩ or higher
   B9-6 (CA1N) - +B	Cable disconnected from negative (-) auxiliary battery terminal	6 kΩ or higher

   Result

   Proceed to
   OK
   NG

Result: 

OK 

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY. Refer to  REMOVAL [12/2021 - ] 

Result: 

NG 

See step  3

1. Disconnect the cable from the negative (-) auxiliary battery terminal.
2. Disconnect the P8 forward recognition camera connector.
3. Measure the resistance according to the value(s) in the table below.
   STANDARD RESISTANCE:
   
   

   Tester Connection	Condition	Specified Condition
   P8-6 (CANH) - P8-12 (CANL)	Cable disconnected from negative (-) auxiliary battery terminal	108 to 132 Ω
   P8-6 (CANH) - Body ground	Cable disconnected from negative (-) auxiliary battery terminal	200 Ω or higher
   P8-12 (CANL) - Body ground	Cable disconnected from negative (-) auxiliary battery terminal	200 Ω or higher
   P8-6 (CANH) - +B	Cable disconnected from negative (-) auxiliary battery terminal	6 kΩ or higher
   P8-12 (CANL) - +B	Cable disconnected from negative (-) auxiliary battery terminal	6 kΩ or higher

   Result

   Proceed to
   OK
   NG

Result: 

OK 

REPLACE FORWARD RECOGNITION CAMERA. Refer to  REMOVAL [12/2021 - ] 

Result: 

NG 

REPAIR OR REPLACE CAN BUS SUB LINE OR CONNECTOR 

1. Disconnect the B9 millimeter wave radar sensor assembly connector.
2. Measure the waveform according to the table below.
   MEASUREMENT CONDITION:
   
   

   Tester Connection	Condition	Tool Setting	Specified Condition
   B9-5 (CA1P) - B9-6 (CA1N)	Ignition switch ON	1 V/DIV., 100 μs./DIV.	Waveform generation

   Result

   Proceed to
   OK
   NG

Result: 

OK 

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY. Refer to  REMOVAL [12/2021 - ] 

Result: 

NG 

REPLACE FORWARD RECOGNITION CAMERA. Refer to  REMOVAL [12/2021 - ]