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DTC U0235-87: Lost Communication with Cruise Control Front Distance Range Sensor Single Sensor or Center Missing Message [09/2020 - 11/2023]: Procedure

  1. CHECK FOR DTCs 
    1. Using the GTS, check for front radar sensor system DTCs.

      Body Electrical > Front Radar Sensor > Trouble Codes 

      Result

      Result Proceed to
      DTC U0104-87 is output A
      DTC U0104-87 is not output B

    Result: 

    B 

    See step  4

    Result: 

    A 

    See step  2

  2. CHECK CAN BUS LINES 
    GTY922065Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
    *1 DLC3 - -
    *a Front view of wire harness connector
    (to Forward Recognition Camera)    		 - -
    1. Disconnect the R5 forward recognition camera connector.
    2. Measure the resistance according to the value(s) in the table below.

      Standard Resistance

      Tester Connection Condition Specified Condition
      R5-6 (CANH) - R5-12 (CANL) Cable disconnected from negative (-) auxiliary battery terminal 108 to 132 Ω
    3. Measure the resistance according to the value(s) in the table below.

      Standard Resistance

      Tester Connection Condition Specified Condition
      R5-6 (CANH) - H56-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
      R5-12 (CANL) - H56-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
      R5-6 (CANH) - H56-16 (BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher
      R5-12 (CANL) - H56-16 (BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher
    4. Connect the R5 forward recognition camera connector.

      Result

      Proceed to
      OK
      NG

    Result: 

    OK 

    REPLACE FORWARD RECOGNITION CAMERA. Refer to  REMOVAL [09/2020 - 11/2023] 

    Result: 

    NG 

    See step  3

  3. CHECK CAN BUS LINES 
    GTY906315Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
    *1 DLC3 - -
    *a Front view of wire harness connector
    (to Millimeter Wave Radar Sensor Assembly)    		 - -
    1. Disconnect the B6 millimeter wave radar sensor assembly connector.
    2. Measure the resistance according to the value(s) in the table below.

      Standard Resistance

      Tester Connection Condition Specified Condition
      B6-5 (CA1P) - B6-6 (CA1N) Cable disconnected from negative (-) auxiliary battery terminal 108 to 132 Ω
    3. Measure the resistance according to the value(s) in the table below.

      Standard Resistance

      Tester Connection Condition Specified Condition
      B6-5 (CA1P) - H56-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
      B6-6 (CA1N) - H56-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
      B6-5 (CA1P) - H56-16 (BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher
      B6-6 (CA1N) - H56-16 (BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher
    4. Connect the B6 millimeter wave radar sensor assembly connector.

      Result

      Proceed to
      OK
      NG

    Result: 

    OK 

    REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY. Refer to  REMOVAL [09/2020 - 11/2023] 

    Result: 

    NG 

    REPAIR OR REPLACE HARNESS OR CONNECTOR 

  4. CHECK CONNECTOR (MILLIMETER WAVE RADAR SENSOR ASSEMBLY) 
    1. Check the locking part and terminals of the millimeter wave radar sensor assembly connector.
      NOTE:
      • Make sure the connector is not loose or disconnected.
      • Make sure that the connector and terminals are not deformed or damaged.

      OK

      The connector and terminals are normal.

      Result

      Proceed to
      OK
      NG

    Result: 

    NG 

    REPAIR OR REPLACE HARNESS OR CONNECTOR (MILLIMETER WAVE RADAR SENSOR ASSEMBLY) 

    Result: 

    OK 

    See step  5

  5. CHECK HARNESS AND CONNECTOR (POWER SOURCE CIRCUIT) 
    GTY912762Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
    *a Front view of wire harness connector
    (to Millimeter Wave Radar Sensor Assembly)
    1. Disconnect the cable from the negative (-) auxiliary battery terminal.
    2. Disconnect the B6 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
      B6-1 (SGND) - Body ground Always Below 1 Ω
    4. Connect the cable to the negative (-) auxiliary battery terminal.
    5. Measure the voltage according to the value(s) in the table below.

      Standard Voltage

      Tester Connection Condition Specified Condition
      B6-8 (IGB) - Body ground Ignition switch ON 11 to 14 V
    6. Connect the B6 millimeter wave radar sensor assembly connector.

      Result

      Proceed to
      OK
      NG

    Result: 

    NG 

    REPAIR OR REPLACE HARNESS OR CONNECTOR (MILLIMETER WAVE RADAR SENSOR ASSEMBLY POWER SOURCE CIRCUIT) 

    Result: 

    OK 

    See step  6

  6. INSPECT MILLIMETER WAVE RADAR SENSOR ASSEMBLY (WAVEFORM) 
    GTY856530Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
    *a Front view of wire harness connector
    (to Forward Recognition Camera)    		 *b Waveform
    1. Turn the ignition switch off.
    2. Disconnect the R5 forward recognition camera connector.
    3. Turn the ignition switch to ON.
    4. Using an oscilloscope, measure the waveform at the R5 forward recognition camera connector.

      Measurement Condition

      Tester Connection Condition Tool Setting
      R5-6 (CANH) - Body ground Ignition switch ON 1 V/DIV., 100 μs/DIV.
      NOTE:

      The oscilloscope waveform is for reference only and does not include noise, fluctuations, etc.

      OK

      A waveform similar to that in the illustration can be observed.

    5. Connect the R5 forward recognition camera connector.

      Result

      Proceed to
      OK
      NG

    Result: 

    OK 

    REPLACE FORWARD RECOGNITION CAMERA. Refer to  REMOVAL [09/2020 - 11/2023] 

    Result: 

    NG 

    REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY. Refer to  REMOVAL [09/2020 - 11/2023] 

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