- Open in CAN communication line (forward recognition camera - millimeter wave radar sensor assembly)
- 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
| Last Modified: 05-13-2024 | 6.11:8.1.0 | Doc ID: RM100000001G4E4 |
| Model Year Start: 2020 | Model: Corolla | Prod Date Range: [01/2019 - 09/2022] |
| Title: PRE-COLLISION: PRE-COLLISION SYSTEM (for HV Model): U023587; Lost Communication with Cruise Control Front Distance Range Sensor Missing Message; 2020 - 2022 MY Corolla Corolla HV [01/2019 - 09/2022] | ||
|
DTC |
U023587 |
Lost Communication with Cruise Control Front Distance Range Sensor Missing Message |
DESCRIPTION
The forward recognition camera and millimeter wave radar sensor assembly communicate via CAN communication. If a signal is not received from the millimeter wave radar sensor assembly, the forward recognition camera stores a DTC.
|
DTC No. |
Detection Item |
DTC Detection Condition |
Trouble Area |
|---|---|---|---|
|
U023587 |
Lost Communication with Cruise Control Front Distance Range Sensor Missing Message |
3 seconds or more after the power switch is turned on (IG), a communication malfunction with the millimeter wave radar sensor assembly is detected for 2 seconds or more. |
|
|
Pattern |
DTC Location Name (Techstream Displayed Name) |
Suspected Area (Malfunction Status) |
|
|---|---|---|---|
|
Forward recognition camera (Pre-Collision System) |
Millimeter wave radar sensor assembly (Front Radar Sensor) |
||
|
U023587 |
U010487 |
||
|
○: DTC is stored
-: DTC is not stored |
|||
|
Pattern 1 |
○ |
○ |
|
|
Pattern 2 |
○ |
- |
|
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
![2020 MY Corolla Corolla Hatchback Corolla HV GR Corolla [01/2019 - 03/2019]; INTRODUCTION: REPAIR INSTRUCTION: INITIALIZATION](/t3Portal/stylegraphics/info.gif)
- 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 adjustment and front radar acceleration sensor calibration, and to clear the vehicle control history.
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.
-
When the forward recognition camera has been replaced with a new one or the windshield glass has been removed and installed, it is necessary to perform forward recognition camera adjustment and to clear the vehicle control history.
HINT:
Forward recognition camera adjustment can be performed by using either One Time Recognition or Sequential Recognition. When clearing vehicle control history, refer to the following links:
One Time Recognition: Click here
Sequential Recognition: Click here
PROCEDURE
|
1. |
CHECK FOR DTCs |
(a) Using the Techstream, check for front radar sensor system DTCs.
Body Electrical > Front Radar Sensor > Trouble Codes
|
Result |
Proceed to |
|---|---|
|
DTC U010487 is output |
A |
|
DTC U010487 is not output |
B |
| B |
|
|
|
2. |
CHECK CAN BUS LINES |
(a) Disconnect the T9 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 |
|---|---|---|
|
T9-6 (CANH) - T9-12 (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 |
|---|---|---|
|
T9-6 (CANH) - I26-4 (CG) |
Cable disconnected from negative (-) auxiliary battery terminal |
200 Ω or higher |
|
T9-12 (CANL) - I26-4 (CG) |
Cable disconnected from negative (-) auxiliary battery terminal |
200 Ω or higher |
|
T9-6 (CANH) - I26-16 (BAT) |
Cable disconnected from negative (-) auxiliary battery terminal |
6 kΩ or higher |
|
T9-12 (CANL) - I26-16 (BAT) |
Cable disconnected from negative (-) auxiliary battery terminal |
6 kΩ or higher |
(d) Connect the T9 forward recognition camera connector.
| OK |
|
|
|
3. |
CHECK CAN BUS LINES |
(a) Disconnect the A1 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 |
|---|---|---|
|
A1-5 (CA1P) - A1-6 (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 |
|---|---|---|
|
A1-5 (CA1P) - I26-4 (CG) |
Cable disconnected from negative (-) auxiliary battery terminal |
200 Ω or higher |
|
A1-6 (CA1N) - I26-4 (CG) |
Cable disconnected from negative (-) auxiliary battery terminal |
200 Ω or higher |
|
A1-5 (CA1P) - I26-16 (BAT) |
Cable disconnected from negative (-) auxiliary battery terminal |
6 kΩ or higher |
|
A1-6 (CA1N) - I26-16 (BAT) |
Cable disconnected from negative (-) auxiliary battery terminal |
6 kΩ or higher |
(d) Connect the A1 millimeter wave radar sensor assembly connector.
| OK |
|
| NG |
|
REPAIR OR REPLACE HARNESS OR CONNECTOR |
|
4. |
CHECK CONNECTOR (MILLIMETER WAVE RADAR SENSOR ASSEMBLY) |
(a) Check the locking part and terminals of the millimeter wave radar sensor assembly connector.
NOTICE:
- 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.
| NG |
|
REPAIR OR REPLACE HARNESS OR CONNECTOR (MILLIMETER WAVE RADAR SENSOR ASSEMBLY) |
|
|
5. |
CHECK HARNESS AND CONNECTOR (POWER SOURCE CIRCUIT) |
(a) Disconnect the cable from the negative (-) auxiliary battery terminal.
|
(b) Disconnect the A1 millimeter wave radar sensor assembly connector. |
|
(c) Measure the resistance according to the value(s) in the table below.
Standard Resistance:
|
Tester Connection |
Condition |
Specified Condition |
|---|---|---|
|
A1-1 (SGND) - 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 |
|---|---|---|
|
A1-8 (IGB) - Body ground |
Power switch on (IG) |
11 to 14 V |
(f) Connect the A1 millimeter wave radar sensor assembly connector.
| NG |
|
REPAIR OR REPLACE HARNESS OR CONNECTOR (MILLIMETER WAVE RADAR SENSOR ASSEMBLY POWER SOURCE CIRCUIT) |
|
|
6. |
INSPECT MILLIMETER WAVE RADAR SENSOR ASSEMBLY (WAVEFORM) |
(a) Turn the power switch off.
(b) Disconnect the T9 forward recognition camera connector.
(c) Turn the power switch on (IG).
(d) Using an oscilloscope, measure the waveform at T9 forward recognition camera connector.
|
*a |
Front view of wire harness connector (to Forward Recognition Camera Connector) |
*b |
Waveform |
Measurement Condition:
|
Tester Connection |
Condition |
Tool Setting |
|---|---|---|
|
T9-6 (CANH) - 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 T9 forward recognition camera connector.
| OK |
|
| NG |
|
|
|