DTC U023A: Lost Communication With Image Processing Module "A" [08/2019 - 08/2021]: Procedure

1. Connect the Techstream to the DLC3.
2. Turn the ignition switch to ON.
3. Turn the Techstream on.
4. Enter the following menus: System Select / Can Bus Check.

   Refer to DIAGNOSIS SYSTEM [08/2019 - 08/2021]

   Result

   Result	Proceed to
   All of the ECUs and sensors that are currently connected to the CAN communication system are displayed	A
   None of the ECUs and sensors that are currently connected to the CAN communication system are displayed, or some of them are not displayed	B

Result: 

B 

GO TO CAN COMMUNICATION SYSTEM. Refer to  HOW TO PROCEED WITH TROUBLESHOOTING [08/2019 - ] 

Result: 

A 

See step  2

1. Clear the DTCs.

   Refer to DTC CHECK / CLEAR [08/2019 - ]

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

   HINT: 

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

3. Check for DTCs.

   Refer to DTC CHECK / CLEAR [08/2019 - ]

   Result

   Result	Proceed to
   DTC U1002 is not output	A
   DTC U1002 is output	B

Result: 

B 

GO TO DTC CHART (U1002). Refer to  DTC U1002: Lost Communication with Gateway Module [08/2019 - 08/2021]  

Result: 

A 

See step  3

1. Disconnect the S12 forward recognition camera connector.
2. Disconnect the k1 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
   S12-6 (CANH) - k1-5 (CA1P)	Cable disconnected from negative (-) battery terminal	Below 1 Ω
   S12-12 (CANL) - k1-6 (CA1N)	Cable disconnected from negative (-) battery terminal	Below 1 Ω

4. Connect the k1 millimeter wave radar sensor assembly connector.
5. Connect the S12 forward recognition camera connector.

   Result

   Proceed to
   OK
   NG

Result: 

NG 

See step  5

Result: 

OK 

See step  4

1. Disconnect the S12 forward recognition camera connector.

   Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

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

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

   Standard Resistance

   Tester Connection	Condition	Specified Condition
   S12-10 (GND) - Body ground	Always	Below 1 Ω

3. Connect the cable to the negative (-) battery terminal.
4. Measure the voltage according to the value(s) in the table below.

   Standard Voltage

   Tester Connection	Switch Condition	Specified Condition
   S12-7 (IGB) - Body ground	Ignition switch ON	11 to 14 V

5. Connect the S12 forward recognition camera connector.

   Result

   Proceed to
   OK
   NG

Result: 

OK 

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

Result: 

NG 

REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT) 

1. Disconnect the S12 forward recognition camera connector.
2. Disconnect the Ak1 millimeter wave radar wire connector.
3. Measure the resistance according to the value(s) in the table below.

   Standard Resistance

   Tester Connection	Condition	Specified Condition
   S12-6 (CANH) - Ak1-5	Cable disconnected from negative (-) battery terminal	Below 1 Ω
   S12-12 (CANL) - Ak1-6	Cable disconnected from negative (-) battery terminal	Below 1 Ω

4. Connect the S12 millimeter wave radar wire connector.
5. Connect the Ak1 forward recognition camera connector.

   Result

   Proceed to
   OK
   NG

Result: 

OK 

REPAIR MILLIMETER WAVE RADAR WIRE. Refer to  REMOVAL [08/2019 - 08/2021] 

Result: 

NG 

REPAIR OR REPLACE CAN BUS LINE OR CONNECTOR (MILLIMETER WAVE RADAR WIRE - FORWARD RECOGNITION CAMERA)