Lexus ES manuals

Lexus ES: Lost Communication with Cruise Control Module Missing Message (U010487)

Lexus ES (XZ10) Service Manual / Engine & Hybrid System / Cruise Control / Front Radar Sensor System (for Hv Model) / Lost Communication with Cruise Control Module Missing Message (U010487)

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
  • Power switch on (IG)
  • Communication malfunction with the forward recognition camera is detected
  • 10 seconds or more
  • CAN bus line
  • Forward recognition camera
  • Millimeter wave radar sensor assembly
  • Headlight ECU sub-assembly LH

Front Radar Sensor

Pattern

DTC output part name

(Display on Techstream)

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

○

○
  • Open in CAN communication line (forward recognition camera - CAN junction connector)
  • Open in CAN communication line (millimeter wave radar sensor assembly - CAN junction connector)
  • CAN junction connector disconnected
  • CAN junction connector
  • Short in CAN communication line
  • Open or short in forward recognition camera internal circuit
  • Open or short in millimeter wave radar sensor assembly internal circuit
  • Short in headlight ECU sub-assembly LH internal circuit

Pattern 2

○

-
  • Forward recognition camera connector disconnected
  • Forward recognition camera power supply circuit malfunction
  • Forward recognition camera internal malfunction
  • Millimeter wave radar sensor assembly internal malfunction

HINT:

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

WIRING DIAGRAM

CAUTION / NOTICE / HINT

NOTICE:

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

    Click here

  • 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 with a new one, adjustment of the millimeter wave radar sensor beam axis must be performed.

    Click here

  • 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:

    Forward recognition camera adjustment can be performed by using either One Time Recognition or Sequential Recognition.

    One Time Recognition: Click here

    Sequential Recognition: Click here

  • If the headlight ECU sub-assembly LH has been replaced, it is necessary to synchronize the vehicle information and initialize the headlight ECU sub-assembly LH.

    Click here

PROCEDURE

1.

CHECK FOR DTCs

(a) Check for pre-collision system DTCs.

Body Electrical > Pre-Collision System > Trouble Codes

Result

Proceed to

DTC U023587 is output

A

DTC U023587 is not output

B
B

GO TO STEP 6

A

2.

INSPECT HEADLAMP ECU SUB-ASSEMBLY LH

(a) Disconnect the A78 headlight ECU sub-assembly LH connector.

(b) Clear the DTCs.

Body Electrical > Front Radar Sensor > Clear DTCs

(c) Make sure that the DTC detection conditions are met.

HINT:

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

(d) Check for DTCs.

Body Electrical > Front Radar Sensor > Trouble Codes

(e) Connect the A78 headlight ECU sub-assembly LH connector.

Result

Proceed to

DTC U010487 is not output

A

DTC U010487 is output

B
A

REPLACE HEADLAMP ECU SUB-ASSEMBLY LH

B

3.

CHECK CAN BUS LINES (NO. 17 CAN JUNCTION CONNECTOR)

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

(b) Disconnect the G96 No. 17 CAN junction connector.

*1

DLC3

-

-

*a

Front view of wire harness connector

(to No. 17 CAN Junction Connector)

*b

to Millimeter Wave Radar Sensor Assembly

*c

to Forward Recognition Camera

*d

to Headlight ECU Sub-assembly LH

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

Standard Resistance:

Tester Connection

Condition

Specified Condition

Connected to

G96-10 - G96-21

Cable disconnected from negative (-) auxiliary battery terminal

108 to 132 Ω

Forward Recognition Camera

G96-9 - G96-20

Cable disconnected from negative (-) auxiliary battery terminal

108 to 132 Ω

Millimeter Wave Radar Sensor Assembly

G96-11 - G96-22

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

Headlight ECU Sub-assembly LH

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

Standard Resistance:

Tester Connection

Condition

Specified Condition

Connected to

G96-10 - G57-4(CG)

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

Forward Recognition Camera

G96-21 - G57-4(CG)

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

G96-10 - G57-16(BAT)

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

G96-21 - G57-16(BAT)

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

G96-9 - G57-4(CG)

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

Millimeter Wave Radar Sensor Assembly

G96-20 - G57-4(CG)

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

G96-9 - G57-16(BAT)

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

G96-20 - G57-16(BAT)

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

G96-11 - G57-4(CG)

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

Headlight ECU Sub-assembly LH

G96-22 - G57-4(CG)

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

G96-11 - G57-16(BAT)

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

G96-22 - G57-16(BAT)

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

(e) Connect the G96 No. 17 CAN junction connector.

Result

Proceed to

OK

A

NG (Connected to: Forward Recognition Camera)

B

NG (Connected to: Millimeter Wave Radar Sensor Assembly)

C

NG (Connected to: Headlight ECU Sub-assembly LH)

D
A

REPLACE NO. 17 CAN JUNCTION CONNECTOR
C

GO TO STEP 5

D

REPAIR OR REPLACE CAN BUS MAIN LINE OR CONNECTOR (HEADLIGHT ECU SUB-ASSEMBLY LH - NO. 17 CAN JUNCTION CONNECTOR)
B

4.

CHECK CAN BUS LINES (FORWARD RECOGNITION CAMERA - NO. 17 CAN JUNCTION CONNECTOR)

(a) Disconnect the P5 forward recognition camera connector.

*1

DLC3

-

-

*a

Front view of wire harness connector

(to Forward Recognition Camera)

-

-

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

Standard Resistance:

Tester Connection

Condition

Specified Condition

P5-6 (CANH) - P5-12 (CANL)

Cable disconnected from negative (-) auxiliary battery terminal

108 to 132Ω

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

Standard Resistance:

Tester Connection

Condition

Specified Condition

P5-6 (CANH) - G57-4 (CG)

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

P5-12 (CANL) - G57-4 (CG)

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

P5-6 (CANH) - G57-16 (BAT)

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

P5-12 (CANL) - G57-16 (BAT)

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

(d) Connect the P5 forward recognition camera connector.

OK

REPLACE FORWARD RECOGNITION CAMERA

NG

REPAIR OR REPLACE CAN BUS MAIN LINE OR CONNECTOR (FORWARD RECOGNITION CAMERA - NO. 17 CAN JUNCTION CONNECTOR)

5.

CHECK CAN BUS LINES (MILLIMETER WAVE RADAR SENSOR ASSEMBLY - NO. 17 CAN JUNCTION CONNECTOR)

(a) Disconnect the A37 millimeter wave radar sensor assembly connector.

*1

DLC3

-

-

*a

Front view of wire harness connector

(to Millimeter Wave Radar Sensor Assembly)

-

-

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

Standard Resistance:

Tester Connection

Condition

Specified Condition

A37-5 (CA1P) - A37-6 (CA1N)

Cable disconnected from negative (-) auxiliary battery terminal

108 to 132Ω

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

Standard Resistance:

Tester Connection

Condition

Specified Condition

A37-5 (CA1P) - G57-4 (CG)

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

A37-6 (CA1N) - G57-4 (CG)

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

A37-5 (CA1P) - G57-16 (BAT)

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

A37-6 (CA1N) - G57-16 (BAT)

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

(d) Connect the A37 millimeter wave radar sensor assembly connector.

OK

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

NG

REPAIR OR REPLACE CAN BUS MAIN LINE OR CONNECTOR (MILLIMETER WAVE RADAR SENSOR ASSEMBLY - NO. 17 CAN JUNCTION CONNECTOR)

6.

CHECK CONNECTOR (FORWARD RECOGNITION CAMERA)

(a) Check the locking part and terminals of the forward recognition camera connector.

NOTICE:

  • Make sure the connector is not loose or disconnected.
  • Make sure that the connector and terminals are not deformed or corroded.

OK:

The connector and terminals are normal.

NG

REPAIR OR REPLACE HARNESS OR CONNECTOR (FORWARD RECOGNITION CAMERA)
OK

7.

CHECK HARNESS AND CONNECTOR (FORWARD RECOGNITION CAMERA POWER SOURCE CIRCUIT)

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

(b) Disconnect the P5 forward recognition camera connector.

*a

Front view of wire harness connector

(to Forward Recognition Camera)

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

Standard Resistance:

Tester Connection

Condition

Specified Condition

P5-10 (GND) - Body ground

Always

Below 1 Ω

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

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

Standard Voltage:

Tester Connection

Condition

Specified Condition

P5-7 (IGB) - Body ground

Power switch on (IG)

11 to 14 V

(f) Connect the P5 forward recognition camera connector.

NG

REPAIR OR REPLACE HARNESS OR CONNECTOR (FORWARD RECOGNITION CAMERA POWER SOURCE CIRCUIT)
OK

8.

INSPECT FORWARD RECOGNITION CAMERA (WAVEFORM)

(a) Turn the power switch off.

(b) Disconnect the G96 No. 17 CAN junction connector.

(c) Turn the power switch on (IG).

(d) Using an oscilloscope, measure the waveform at G96 No. 17 CAN junction connector.

*a

Front view of wire harness connector

(to No. 17 CAN Junction Connector)

*b

Waveform

*c

to Forward Recognition Camera

-

-

Measurement Condition:

Tester Connection

Condition

Tool Setting

G96-10 - Body ground

Power switch on (IG)

1 V/DIV., 100 μs/DIV.

NOTICE:

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.

(e) Connect the G96 No. 17 CAN junction connector.

OK

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

NG

REPLACE FORWARD RECOGNITION CAMERA

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