RM3660EC _95 ADAS / AD _139716 ADVANCED DRIVER ASSISTANCE SYSTEM _0584194 FRONT RADAR SENSOR SYSTEM(except NR Series Engine) C

ADVANCED DRIVER ASSISTANCE SYSTEM FRONT RADAR SENSOR SYSTEM(except NR Series Engine) 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	Priority
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	· Front camera system · Harness or connector · Forward recognition camera · Millimeter wave radar sensor assembly	Front Radar Sensor	A

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	Forward Recognition Camera
	Front Radar Sensor	Front Recognition Camera
	U010487	U023587
○: DTC is output -: DTC is not output
Pattern 1	○	○	Harness or connector (Open or short)
			Millimeter wave radar sensor assembly (Internal malfunction)
			Forward recognition camera (Internal malfunction)
Pattern 2	○	-	Harness or connector (Open or short)
			Millimeter wave radar sensor assembly (Internal malfunction)
			Forward recognition camera (Internal malfunction)

WIRING DIAGRAM

4.667,1.667 5.208,1.906 0.542,0.24 10 false T17 4.667,1.844 6.844,2.094 2.177,0.25 10 false Forward Recognition Camera 0.833,1.667 1.385,1.865 0.552,0.198 10 false A136 0.823,1.833 4.802,2.031 3.979,0.198 10 false Millimeter Wave Radar Sensor Assembly 1.583,0.76 2.198,1.667 0.615,0.906 10 false CA1P 4.823,0.76 5.375,0.958 0.552,0.198 10 false 12 5.156,0.76 5.708,0.958 0.552,0.198 10 false CANH 5.135,1.427 5.833,1.833 0.698,0.406 10 false CANL 4.833,1.229 5.385,1.427 0.552,0.198 10 false 11 2.083,1.229 2.635,1.427 0.552,0.198 10 false 7 1.583,1.417 2.135,1.615 0.552,0.198 10 false CA1N 2.083,0.75 2.635,0.948 0.552,0.198 10 false 8

CAUTION / NOTICE / HINT

NOTICE:

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 has been replaced with a new one, it is necessary to perform millimeter wave radar sensor assembly beam axis alignment and to clear the vehicle control history. Before performing the Driving Adjustment, make sure to read Before Starting Driving Adjustment.

HINT:: Beam axis alignment of the millimeter wave radar sensor assembly can be performed using either Triangle Target, Flat Surface Target or Driving Adjustment.; Triangle Target: Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>MILLIMETER WAVE RADAR SENSOR (except NR Series Engine)>TARGET ADJUSTMENT(TRIANGLE TARGET)202304,202307,_95,_139716,_0584197,RM1000000029F5V,202307,999999,_95,_139716,_0584197,RM100000002D3IS,; Flat Surface Target: Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>MILLIMETER WAVE RADAR SENSOR (except NR Series Engine)>TARGET ADJUSTMENT(FLAT SURFACE TARGET)202304,202307,_95,_139716,_0584197,RM1000000029F5W,202307,999999,_95,_139716,_0584197,RM100000002D3IR,; Driving Adjustment: Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>MILLIMETER WAVE RADAR SENSOR (except NR Series Engine)>DRIVING ADJUSTMENT202304,202307,_95,_139716,_0584197,RM1000000029F5U,202307,999999,_95,_139716,_0584197,RM100000002D3IU,

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.

When the forward recognition camera has been replaced with a new one, make sure to clear all stored vehicle control history of each system and the forward recognition camera beam axis alignment data.

HINT:: Forward recognition camera beam axis alignment can be performed by using "One Time Recognition", "Driving Adjustment" or "Camera Axis Adjustment Value Write".; One Time Recognition: Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>FRONT CAMERA (except NR Series Engine)>TARGET ADJUSTMENT(ONE TIME RECOGNITION)202304,999999,_95,_139716,_0584196,RM1000000029F5M,; Driving Adjustment: Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>FRONT CAMERA (except NR Series Engine)>DRIVING ADJUSTMENT202304,999999,_95,_139716,_0584196,RM1000000029F5O,; Camera Axis Adjustment Value Write: Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>FRONT CAMERA (except NR Series Engine)>CAMERA AXIS ADJUSTMENT VALUE WRITE202304,999999,_95,_139716,_0584196,RM1000000029F5P,

If the forward recognition camera has been replaced with a new one, make sure to perform Software Version Confirmation.

Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>UTILITY (except NR Series Engine)>SOFTWARE VERSION CONFIRMATION202304,999999,_95,_139716,_0584199,RM1000000029F61,

HINT:: When disconnecting and reconnecting the auxiliary battery, there is an automatic learning function that completes learning when the respective system is used.; Click hereGeneral>SETUP>WHEN DISCONNECTING OR RECONNECTING BATTERY TERMINAL>AUTOMATIC LEARNING CHART202304,999999,_V1,_143216,_0598315,RM100000002B3MJ,

PROCEDURE

1.CHECK FOR DTCs

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

Chassis > Front Recognition Camera > Trouble Codes: 50001 498

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

Pattern	DTC output part name (Display on GTS)
Pattern	Front Radar Sensor	Front Recognition Camera
Pattern 1	U010487	U023587
Pattern 2	U010487	-

Result:

Result	Proceed to
Pattern 1	A
Pattern 2	B

GO TO FRONT CAMERA SYSTEM

Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>FRONT CAMERA SYSTEM (except NR Series Engine)>U023587202304,999999,_95,_139716,_0584193,RM1000000029F4K,U023587

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

Pre-procedure1

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

Disconnect the T17 forward recognition camera connector.

Procedure1

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

Standard Resistance:

Tester Connection	Condition	Specified Condition
T17-12 (CANH) - T17-11(CANL)	Cable disconnected from negative (-) auxiliary battery terminal	108 to 132 Ω
T17-12 (CANH) - Body ground	Cable disconnected from negative (-) auxiliary battery terminal	200 Ω or higher
T17-11 (CANL) - Body ground		200 Ω or higher
T17-12 (CANH) - +B	Cable disconnected from negative (-) auxiliary battery terminal	6 kΩ or higher
T17-11 (CANL) - +B		6 kΩ or higher

Result:

Proceed to
OK
NG

Post-procedure1

None.

3.CHECK FORWARD RECOGNITION CAMERA

REPAIR OR REPLACE HARNESS OR CONNECTOR

3.CHECK FORWARD RECOGNITION CAMERA

Pre-procedure1

Disconnect the A136 millimeter wave radar sensor assembly connector.

Connect the cable to the negative (-) auxiliary battery terminal.

Procedure1

Using an oscilloscope, check the waveform.

OK:

Tester Connection	Condition	Tool Setting	Specified Condition
A136-8 (CA1P) - A136-7 (CA1N)	Ignition switch ON	1V/DIV., 100μs./DIV.	Pulse generation

Result:

Proceed to
OK
NG

Post-procedure1

None.

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>MILLIMETER WAVE RADAR SENSOR (except NR Series Engine)>REMOVAL202304,202307,_95,_139716,_0584197,RM1000000029F5R,202307,999999,_95,_139716,_0584197,RM100000002CW5C,

REPLACE FORWARD RECOGNITION CAMERA

Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>FRONT CAMERA (except NR Series Engine)>REMOVAL202304,999999,_95,_139716,_0584196,RM1000000029F5J,