RM35X0E _58 Vehicle Interior _078886 PRE-COLLISION _0382740 PRE-COLLISION SYSTEM C

PRE-COLLISION PRE-COLLISION SYSTEM U023587 Lost Communication with Cruise Control Front Distance Range Sensor Missing Message

DESCRIPTION

The forward recognition camera is connected to the millimeter wave radar sensor assembly via the CAN communication line. When the signal from the millimeter wave radar sensor assembly is interrupted, the forward recognition camera outputs U023587.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
U023587	Lost Communication with Cruise Control Front Distance Range Sensor Missing Message	Once 3 seconds elapse after turning the ignition switch to ON, a communication malfunction between the millimeter wave radar sensor assembly continues for approximately 2 seconds or more.	· Local bus (Open or short) · Forward recognition camera · Millimeter wave radar sensor assembly

Pattern	DTC output part name (Display on GTS)		Suspected Area (Malfunction Status)
	Millimeter Wave Radar Sensor Assembly (Front Radar Sensor)	Forward Recognition Camera (Pre-collision System)
	U010487	U023587
○: DTC is output -: DTC is not output
Pattern 1	○	○	Local bus (Open or short)
			Forward recognition camera (Internal malfunction)
			Millimeter wave radar sensor assembly (Internal malfunction)
Pattern 2	-	○	Forward recognition camera (Internal malfunction)
Pattern 2	-	○	Millimeter wave radar sensor assembly (Internal malfunction)

WIRING DIAGRAM

5.677,0.792 6.292,0.99 0.615,0.198 10 false CANH 5.677,1.448 6.292,1.646 0.615,0.198 10 false CANL 5.427,1.25 6.042,1.448 0.615,0.198 10 false 12 5.458,0.771 6.073,0.969 0.615,0.198 10 false 6 1.229,0.781 1.844,0.979 0.615,0.198 10 false CA1P 1.198,1.438 1.813,1.635 0.615,0.198 10 false CA1N 1.667,1.24 2.281,1.438 0.615,0.198 10 false 6 1.677,0.792 2.292,0.99 0.615,0.198 10 false 5 5.26,1.719 7.156,2.292 1.896,0.573 10 false a9 0.625,1.865 3.125,2.375 2.5,0.51 10 false Millimeter Wave Radar Sensor Assembly 0.615,1.708 2.51,2.281 1.896,0.573 10 false A3 5.26,1.875 7.042,2.229 1.781,0.354 10 false Forward Recognition Camera

CAUTION / NOTICE / HINT

NOTICE:

When replacing the forward recognition camera, always replace it with a new one. If a forward recognition camera which was installed to another vehicle is used, the information stored in it will not match the information from the vehicle and a DTC may be stored.

If the forward recognition camera has been replaced with a new one, be sure to perform forward recognition camera adjustment.

HINT:: Forward recognition camera adjustment can be performed by using either "One Time Recognition" or "Sequential Recognition".; One Time Recognition: Click hereEngine / Hybrid System>CRUISE CONTROL>FRONT CAMERA>ADJUSTMENT (ONE TIME RECOGNITION)201902,201906,_51,_078884,_0384728,RM100000001GI2G,201906,202208,_51,_078884,_0384728,RM100000001IUI2,202208,999999,_51,_078884,_0384728,RM1000000024I1G,; Sequential Recognition: Click hereEngine / Hybrid System>CRUISE CONTROL>FRONT CAMERA>ADJUSTMENT (SEQUENTIAL RECOGNITION)201902,201906,_51,_078884,_0384728,RM100000001GI2H,201906,202208,_51,_078884,_0384728,RM100000001IULT,202208,999999,_51,_078884,_0384728,RM1000000024I1H,

When replacing the millimeter wave radar sensor assembly, always replace it with a new one. If a millimeter wave radar sensor assembly which was installed to another vehicle is used, the information stored in it will not match the information from the vehicle and a DTC may be stored.

When the millimeter wave radar sensor assembly is replaced, be sure to adjust the millimeter wave radar sensor assembly beam axis, perform front radar acceleration sensor calibration, and clear the vehicle control history for each system.

Click hereEngine / Hybrid System>CRUISE CONTROL>MILLIMETER WAVE RADAR SENSOR>ADJUSTMENT201902,201906,_51,_078884,_0384730,RM100000001GI2O,201906,202208,_51,_078884,_0384730,RM100000001IUMI,202208,999999,_51,_078884,_0384730,RM1000000024I1I,

Before measuring the resistance of the CAN bus, turn the ignition switch off and leave the vehicle for 1 minute or more without operating the key or any switches, or opening or closing the doors. After that, disconnect the cable from the negative (-) battery terminal and leave the vehicle for 1 minute or more before measuring the resistance.

After turning the ignition switch off, waiting time may be required before disconnecting the cable from the negative (-) battery terminal. Therefore, make sure to read the disconnecting the cable from the negative (-) battery terminal notices before proceeding with work.

Click hereGeneral>INTRODUCTION>REPAIR INSTRUCTION>PRECAUTION201902,999999,_V1,_078841,_0382392,RM100000001GTX7,

Before troubleshooting, perform CAN bus diagnostics and check that there are no malfunctions in ECUs connected to the CAN communication system.

PROCEDURE

1.CHECK FOR DTC

Check for DTCs.

Body Electrical > Front Radar Sensor > Trouble Codes: 50001 429

Body Electrical > Pre-Collision System > Trouble Codes: 50001 432

Pattern	DTC Output Part Name (Display on GTS / Output DTC)
Pattern	Millimeter Wave Radar Sensor Assembly (Front Radar Sensor)	Forward Recognition Camera (Pre-Collision System)
Pattern 1	U010487	U023587
Pattern 2	-	U023587

Result:

Result	Proceed to
Pattern 1	A
Pattern 2	B

2.CHECK CAN MAIN WIRE (FORWARD RECOGNITION CAMERA CAN MAIN WIRE)

6.CHECK FORWARD RECOGNITION CAMERA

2.CHECK CAN MAIN WIRE (FORWARD RECOGNITION CAMERA CAN MAIN WIRE)

Disconnect the cable from the negative (-) battery terminal.

Disconnect the a9 forward recognition camera connector.

1.5,0.51 2,0.75 0.5,0.24 5,0.594 5.5,0.833 0.5,0.24 2.167,1.49 2.594,1.396 true 2.125,1.813 2.177,2.323 true 5.865,1.75 5.875,2.26 true 5.167,1.188 5.885,0.75 true 1.698,0.552 2.01,0.75 0.313,0.198 10 false a9 0.771,0.604 1.083,0.802 0.313,0.198 10 false *a 2,2.385 2.615,2.583 0.615,0.198 10 false CANH 2.667,1.302 3.281,1.5 0.615,0.198 10 false CANL 5.167,0.635 5.479,0.833 0.313,0.198 10 false N8 4.115,0.75 4.427,0.948 0.313,0.198 10 false *1 5.99,0.656 6.302,0.854 0.313,0.198 10 false CG 5.781,2.344 6.24,2.542 0.458,0.198 10 false BAT

*1	DLC3	-	-
*a	Front view of wire harness connector (to Forward Recognition Camera)	-	-

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

Standard Resistance:

Tester Connection	Condition	Specified Condition
a9-6 (CANH) - a9-12 (CANL)	Cable disconnected from negative (-) battery terminal	108 to 132 Ω
a9-6 (CANH) - N8-4 (CG)	Cable disconnected from negative (-) battery terminal	200 Ω or higher
a9-12 (CANL) - N8-4 (CG)	Cable disconnected from negative (-) battery terminal	200 Ω or higher
a9-6 (CANH) - N8-16 (BAT)	Cable disconnected from negative (-) battery terminal	6 kΩ or higher
a9-12 (CANL) - N8-16 (BAT)	Cable disconnected from negative (-) battery terminal	6 kΩ or higher

Result:

Proceed to
OK
NG

3.CHECK FORWARD RECOGNITION CAMERA

4.CHECK CAN MAIN WIRE (MILLIMETER WAVE RADAR SENSOR ASSEMBLY CAN MAIN WIRE)

3.CHECK FORWARD RECOGNITION CAMERA

Replace the forward recognition camera.

Click hereEngine / Hybrid System>CRUISE CONTROL>FRONT CAMERA>REMOVAL201902,201906,_51,_078884,_0384728,RM100000001GI2D,201906,999999,_51,_078884,_0384728,RM100000001JAEE,

Clear the DTCs.

Click hereVehicle Interior>PRE-COLLISION>PRE-COLLISION SYSTEM>DTC CHECK / CLEAR201902,999999,_58,_078886,_0382740,RM100000001G6XG,

Body Electrical > Pre-Collision System > Clear DTCs: 50002 432

Make sure that the DTC detection conditions are met.

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

Recheck for DTCs and check that no DTCs are output.

Click hereVehicle Interior>PRE-COLLISION>PRE-COLLISION SYSTEM>DTC CHECK / CLEAR201902,999999,_58,_078886,_0382740,RM100000001G6XG,

Body Electrical > Pre-Collision System > Trouble Codes: 50001 432

OK:: DTC U023587 is not output.

Result:

Proceed to
OK
NG

END (FORWARD RECOGNITION CAMERA WAS DEFECTIVE)

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

Click hereEngine / Hybrid System>CRUISE CONTROL>MILLIMETER WAVE RADAR SENSOR>REMOVAL201902,201906,_51,_078884,_0384730,RM100000001GI2M,201906,999999,_51,_078884,_0384730,RM100000001IUMH,

4.CHECK CAN MAIN WIRE (MILLIMETER WAVE RADAR SENSOR ASSEMBLY CAN MAIN WIRE)

Reconnect the a9 forward recognition camera connector.

Disconnect the A3 millimeter wave radar sensor assembly connector.

1.604,0.531 2,0.75 0.396,0.219 5.021,0.531 5.417,0.75 0.396,0.219 1.583,1.49 0.802,1.521 true 1.75,1.531 1.76,2.188 true 5.99,1.74 6.01,2.281 true 5.26,1.188 5.979,0.688 true 1.75,0.573 2.063,0.771 0.313,0.198 10 false A3 5.146,0.573 5.458,0.771 0.313,0.198 10 false N8 0.969,0.729 1.281,0.927 0.313,0.198 10 false *a 4.021,0.75 4.333,0.948 0.313,0.198 10 false *1 0.385,1.469 1,1.667 0.615,0.198 10 false CA1P 1.583,2.25 2.198,2.448 0.615,0.198 10 false CA1N 6.031,0.594 6.344,0.792 0.313,0.198 10 false CG 5.885,2.344 6.344,2.542 0.458,0.198 10 false BAT

*1	DLC3	-	-
*a	Front view of wire harness connector (to Millimeter Wave Radar Sensor Assembly)	-	-

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

Standard Resistance:

Tester Connection	Condition	Specified Condition
A3-5 (CA1P) - A3-6 (CA1N)	Cable disconnected from negative (-) battery terminal	108 to 132 Ω
A3-5 (CA1P) - N8-4 (CG)	Cable disconnected from negative (-) battery terminal	200 Ω or higher
A3-6 (CA1N) - N8-4 (CG)	Cable disconnected from negative (-) battery terminal	200 Ω or higher
A3-5 (CA1P) - N8-16 (BAT)	Cable disconnected from negative (-) battery terminal	6 kΩ or higher
A3-6 (CA1N) - N8-16 (BAT)	Cable disconnected from negative (-) battery terminal	6 kΩ or higher