Last Modified: 05-13-2024 6.11:8.1.0 Doc ID: RM10000000270LR
Model Year Start: 2023 Model: GR Corolla Prod Date Range: [09/2022 - 11/2022]
Title: ADVANCED DRIVER ASSISTANCE SYSTEM: FRONT RADAR SENSOR SYSTEM (for TMC Made): U010487; Lost Communication with Cruise Control Module Missing Message; 2023 MY Corolla Corolla Hatchback Corolla HV GR Corolla [09/2022 - 11/2022]

DTC

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

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 here 2023 MY Corolla Corolla Hatchback Corolla HV GR Corolla [09/2022 - 11/2022]; ADVANCED DRIVER ASSISTANCE SYSTEM: MILLIMETER WAVE RADAR SENSOR (for TMC Made): TARGET ADJUSTMENT(TRIANGLE TARGET)

    Flat Surface Target: Click here 2023 MY Corolla Corolla Hatchback Corolla HV GR Corolla [09/2022 - 11/2022]; ADVANCED DRIVER ASSISTANCE SYSTEM: MILLIMETER WAVE RADAR SENSOR (for TMC Made): TARGET ADJUSTMENT(FLAT SURFACE TARGET)

    Driving Adjustment: Click here 2023 MY Corolla Corolla Hatchback Corolla HV GR Corolla [09/2022 - 11/2022]; ADVANCED DRIVER ASSISTANCE SYSTEM: MILLIMETER WAVE RADAR SENSOR (for TMC Made): DRIVING ADJUSTMENT

  • 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 here 2023 MY Corolla Corolla Hatchback Corolla HV GR Corolla [09/2022 - 11/2022]; ADVANCED DRIVER ASSISTANCE SYSTEM: FRONT CAMERA (for TMC Made): TARGET ADJUSTMENT(ONE TIME RECOGNITION)

    Driving Adjustment: Click here 2023 MY Corolla Corolla Hatchback Corolla HV GR Corolla [09/2022 - 11/2022]; ADVANCED DRIVER ASSISTANCE SYSTEM: FRONT CAMERA (for TMC Made): DRIVING ADJUSTMENT

    Camera Axis Adjustment Value Write: Click here 2023 MY Corolla Corolla Hatchback Corolla HV GR Corolla [09/2022 - 11/2022]; ADVANCED DRIVER ASSISTANCE SYSTEM: FRONT CAMERA (for TMC Made): CAMERA AXIS ADJUSTMENT VALUE WRITE

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

    Click here 2023 MY Corolla Corolla Hatchback Corolla HV GR Corolla [09/2022 - 11/2022]; ADVANCED DRIVER ASSISTANCE SYSTEM: UTILITY (for TMC Made): SOFTWARE VERSION CONFIRMATION

HINT:

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

Click here 2023 MY Corolla Corolla Hatchback Corolla HV GR Corolla [09/2022 - 11/2022]; SETUP: WHEN DISCONNECTING OR RECONNECTING BATTERY TERMINAL: AUTOMATIC LEARNING CHART

PROCEDURE

1.

CHECK FOR DTCs

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

Chassis > Front Recognition Camera > Trouble Codes

Body Electrical > Front Radar Sensor > Trouble Codes

Pattern

DTC output part name

(Display on GTS)

Front Radar Sensor

Front Recognition Camera

Pattern 1

U010487

U023587

Pattern 2

U010487

-

Result

Proceed to

Pattern 1

A

Pattern 2

B

A

GO TO FRONT CAMERA SYSTEM

B

2.

CHECK CAN MAIN WIRE (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)

Pre-procedure1

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

(b) Disconnect the T21 forward recognition camera connector.

Procedure1

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

Standard Resistance:

Tester Connection

Condition

Specified Condition

T21-12 (CANH) - T21-11(CANL)

Cable disconnected from negative (-) auxiliary battery terminal

108 to 132 Ω

T21-12 (CANH) - Body ground

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

T21-11 (CANL) - Body ground

T21-12 (CANH) - +B

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

T21-11 (CANL) - +B

Post-procedure1

(d) None.

NG

REPAIR OR REPLACE HARNESS OR CONNECTOR

OK

3.

CHECK FORWARD RECOGNITION CAMERA

Pre-procedure1

(a) Disconnect the A128 millimeter wave radar sensor assembly connector.

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

Procedure1

(c) Using an oscilloscope, check the waveform.

OK:

Tester Connection

Condition

Tool Setting

Specified Condition

A128-8 (CA1P) - A128-7 (CA1N)

Ignition switch ON

1V/DIV., 100μs./DIV.

Pulse generation

Post-procedure1

(d) None.

OK

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

NG

REPLACE FORWARD RECOGNITION CAMERA