RM35X0E _51 Engine / Hybrid System _078884 CRUISE CONTROL _0383152 FRONT RADAR SENSOR SYSTEM C

CRUISE CONTROL FRONT RADAR SENSOR SYSTEM U010487 Lost Communication with Cruise Control Module Missing Message

DESCRIPTION

The millimeter wave radar sensor assembly communicates with the forward recognition camera via CAN communication.

If a communication error is detected between the forward recognition camera and millimeter wave radar sensor assembly, the millimeter wave radar sensor assembly stores this DTC.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area	DTC Output from
U010487	Lost Communication with Cruise Control Module Missing Message	Detection condition: Ignition switch ON Malfunction status: Communication malfunction with the forward recognition camera is detected Malfunction duration: 10 seconds or more	· Local bus (Open or short) · Forward recognition camera · Millimeter wave radar sensor assembly	Front Radar Sensor

HINT:

If the DTCs are output simultaneously, the inspection area can be narrowed down.

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	○	-	Millimeter wave radar sensor assembly (Internal malfunction)

WIRING DIAGRAM

0.333,1.74 2.313,1.938 1.979,0.198 10 false Forward Recognition Camera 5.344,1.76 6.781,2.125 1.438,0.365 10 false Millimeter Wave Radar Sensor Assembly 0.333,1.552 0.646,1.75 0.313,0.198 10 false a9 5.333,1.594 5.646,1.792 0.313,0.198 10 false A3 1.177,0.792 1.792,0.99 0.615,0.198 10 false CANH 1.188,1.469 1.802,1.667 0.615,0.198 10 false CANL 5.688,0.771 6.302,0.969 0.615,0.198 10 false CA1P 5.688,1.479 6.302,1.677 0.615,0.198 10 false CA1N 1.656,0.76 1.813,0.958 0.156,0.198 10 false 6 1.646,1.25 1.844,1.448 0.198,0.198 10 false 12 5.469,0.771 5.625,0.969 0.156,0.198 10 false 5 5.469,1.24 5.625,1.438 0.156,0.198 10 false 6

CAUTION / NOTICE / HINT

NOTICE:

After the ignition switch is turned off, there may be a waiting time before disconnectingthe auxiliary negative (-) battery terminal.

Click hereGeneral>SETUP>WHEN DISCONNECTING OR RECONNECTING BATTERY TERMINAL>BEFORE DISCONNECTING BATTERY201902,999999,_V1,_081196,_0393338,RM100000001HX6Q,

When disconnecting and reconnecting the auxiliary battery.

Click hereGeneral>SETUP>WHEN DISCONNECTING OR RECONNECTING BATTERY TERMINAL>WORK PROCEDURE201902,201906,_V1,_081196,_0393338,RM100000001HX6R,201906,999999,_V1,_081196,_0393338,RM100000001JBY9,

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 the millimeter wave radar sensor assembly 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,

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 the forward recognition camera 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, forward recognition camera adjustment must be performed.

HINT:: ·

When disconnecting and reconnecting the auxiliary battery, there is an automatic learningfunction that completes learning when the respective system is used.

Click hereGeneral>SETUP>WHEN DISCONNECTING OR RECONNECTING BATTERY TERMINAL>AUTOMATIC LEARNING CHART201902,201906,_V1,_081196,_0393338,RM100000001HX6S,201906,999999,_V1,_081196,_0393338,RM100000001IWEY,

·

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,

PROCEDURE

1.CHECK FOR DTC

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

Front Radar Sensor: Click hereEngine / Hybrid System>CRUISE CONTROL>FRONT RADAR SENSOR SYSTEM>DTC CHECK / CLEAR201902,999999,_51,_078884,_0383152,RM100000001G9JK,

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

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

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

Pattern	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	U010487	-

Result:

Result	Proceed to
Pattern 1	A
Pattern 2	B

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

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,

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

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

Disconnect the A3 millimeter wave radar sensor assembly connector.

1.625,0.542 2.021,0.76 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)	-	-

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

Result:

Proceed to
OK
NG

3.CHECK MILLIMETER WAVE RADAR SENSOR ASSEMBLY

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

3.CHECK MILLIMETER WAVE RADAR SENSOR ASSEMBLY

Replace the 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,

Clear the DTCs.

Click hereEngine / Hybrid System>CRUISE CONTROL>FRONT RADAR SENSOR SYSTEM>DTC CHECK / CLEAR201902,999999,_51,_078884,_0383152,RM100000001G9JK,

Body Electrical > Front Radar Sensor > Clear DTCs: 50002 429

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 hereEngine / Hybrid System>CRUISE CONTROL>FRONT RADAR SENSOR SYSTEM>DTC CHECK / CLEAR201902,999999,_51,_078884,_0383152,RM100000001G9JK,

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

OK:: DTC U010487 is not output.

Result:

Proceed to
OK
NG

END (MILLIMETER WAVE RADAR SENSOR ASSEMBLY WAS DEFECTIVE)

REPLACE FORWARD RECOGNITION CAMERA

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

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

Reconnect the A3 millimeter wave radar sensor assembly connector.

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