DTC U023A-87: Lost Communication with Image Processing Module "A" Missing Message [12/2019 - 09/2020]: Procedure

1. Choose the model to be inspected.

   Result

   Result	Proceed to
   for HV Model	A
   for Gasoline Model	B

Result: 

B 

See step  4

Result: 

A 

See step  2

1. Using the GTS, check for electronically controlled brake system DTCs.

   Chassis > Brake/EPB > Trouble Codes 

   HINT: 

   If DTC U023A-87 and electronically controlled brake system DTCs are output, perform troubleshooting for the electronically controlled brake system first.

   Result

   Result	Proceed to
   Electronically controlled brake system DTCs are not output	A
   Electronically controlled brake system DTCs are output	B

Result: 

B 

GO TO ELECTRONICALLY CONTROLLED BRAKE SYSTEM. Refer to  HOW TO PROCEED WITH TROUBLESHOOTING [12/2019 - 11/2023] 

Result: 

A 

See step  3

HINT: 

When entering Dealer Mode (Signal Check), the No. 2 skid control ECU (brake actuator assembly) communicates with the forward recognition camera to judge whether the vehicle is equipped with the pre-collision system. Therefore, do not exit Dealer Mode (Signal Check) within 5 seconds of entering Dealer Mode (Signal Check).

1. Procedure to enter Dealer Mode (Signal Check)
   1. Turn the ignition switch off.
   2. Check that the steering wheel is centered.
   3. Check that the shift lever is in P.
   4. Connect the GTS to the DLC3.
   5. Turn the ignition switch to ON.
   6. Turn the GTS on.
   7. Switch the No. 2 skid control ECU (brake actuator assembly) to Dealer Mode (Signal Check) using the GTS. Enter the following menus: Chassis / Brake/EPB / Utility / Signal Check.

      Chassis > Brake/EPB > Utility 

      Tester Display
      Signal Check

      HINT: 

      Do not exit Dealer Mode (Signal Check) within 5 seconds of entering Dealer Mode (Signal Check). If Dealer Mode (Signal Check) is exited within 5 seconds of entering Dealer Mode (Signal Check), DTC U023A-87 may be stored. If DTC U023A-87 is output after exiting Dealer Mode (Signal Check), enter Dealer Mode (Signal Check) again, wait at least 5 seconds, then recheck for DTCs.

2. Confirm the system has entered Dealer Mode (Signal Check).
   1. Confirm that the ABS warning light, brake system warning light (yellow indicator) and slip indicator light indicate the Dealer Mode pattern (blinking at 0.25 second intervals).

      HINT: 

      • When in Dealer Mode (signal check), "Traction Control Turned Off" is displayed on the multi-information display.
      • When entering Dealer Mode (Signal Check), if the parking brake is engaged, the parking brake indicator light (red) will illuminate, and if the parking brake is not engaged, the parking brake indicator light (red) will blink in the Dealer Mode pattern (blinking at 0.25 second intervals).
3. End of Dealer Mode (Signal Check)
   1. Turn the ignition switch off.
   2. Disconnect the GTS.

   Result

   Proceed to
   NEXT

Result: 

NEXT 

See step  6

1. Using the GTS, check for electronically controlled brake system DTCs.

   Chassis > Brake/EPB > Trouble Codes 

   HINT: 

   If DTC U023A-87 and electronically controlled brake system DTCs are output, perform troubleshooting for the electronically controlled brake system first.

   Result

   Result	Proceed to
   Electronically controlled brake system DTCs are not output	A
   Electronically controlled brake system DTCs are output	B

Result: 

B 

GO TO ELECTRONICALLY CONTROLLED BRAKE SYSTEM. Refer to  HOW TO PROCEED WITH TROUBLESHOOTING [12/2019 - 11/2023] 

Result: 

A 

See step  5

HINT: 

When entering Dealer Mode (Signal Check), the skid control ECU (brake actuator assembly) communicates with the forward recognition camera to judge whether the vehicle is equipped with the pre-collision system. Therefore, do not exit Dealer Mode (Signal Check) within 5 seconds of entering Dealer Mode (Signal Check).

1. Procedure to enter Dealer Mode (Signal Check)
   1. Turn the ignition switch off.
   2. Apply the parking brake.
   3. Check that the shift lever is in P.
   4. Connect the GTS to the DLC3.
   5. Turn the ignition switch to ON.
   6. Check that the steering wheel is centered.
   7. Turn the GTS on.
   8. Enter the following menus: Chassis / Brake/EPB / Utility / Signal Check.

      Chassis > Brake/EPB > Utility 

      Tester Display
      Signal Check

      HINT: 

      Do not exit Dealer Mode (Signal Check) within 5 seconds of entering Dealer Mode (Signal Check). If Dealer Mode (Signal Check) is exited within 5 seconds of entering Dealer Mode (Signal Check), DTC U023A-87 may be stored. If DTC U023A-87 is output after exiting Dealer Mode (Signal Check), enter Dealer Mode (Signal Check) again, wait at least 5 seconds, then recheck for DTCs.

2. Confirm the system has entered Dealer Mode (Signal Check).
   1. Confirm that the ABS warning light and slip indicator light indicate the Dealer Mode pattern (blinking at 0.25 second intervals).

      HINT: 

      • When in Dealer Mode (signal check), "Traction Control Turned Off" is displayed on the multi-information display.
      • When entering Dealer Mode (Signal Check), if the parking brake is engaged, the parking brake indicator light (red) will illuminate, and if the parking brake is not engaged, the parking brake indicator light (red) will blink in the Dealer Mode pattern (blinking at 0.25 second intervals).
3. End of Dealer Mode (Signal Check)
   1. Turn the ignition switch off.
   2. Disconnect the GTS.

   Result

   Proceed to
   NEXT

Result: 

NEXT 

See step  6

1. Clear the DTCs.

   Body Electrical > Pre-Collision System > Clear DTCs 

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.

   Body Electrical > Pre-Collision System > Trouble Codes 

   Result

   Result	Proceed to
   DTC U023A-87 is not output	A
   DTC U023A-87 is output	B

Result: 

A 

END 

Result: 

B 

REPLACE FORWARD RECOGNITION CAMERA. Refer to  REMOVAL [12/2019 - 09/2020]