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Home >> Lexus >> 2019 >> ES 350 Luxury >> Repair and Diagnosis >> External Pages >> Different car >> Section 85 (Pre-Collision System (Hybrid) - Diagnostic Codes) >> PRE-COLLISION SYSTEM (for HV Model) >> DTC U0235-87: Lost Communication with Cruise Control Front Distance Range Sensor Missing Message [07/2019 - 08/2021] >> Procedure

DTC U0235-87: Lost Communication with Cruise Control Front Distance Range Sensor Missing Message [07/2019 - 08/2021]: Procedure

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  1. CHECK FOR DTCs 
    1. Using the Techstream, 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  6

    Result: 

    A 

    See step  2

  2. INSPECT HEADLAMP ECU SUB-ASSEMBLY LH 
    1. Disconnect the A11*1 or A78*2 headlight ECU sub-assembly LH connector.
      1. *1: for TMMK Made Before Sep. 2019 Production
      2. *2: for TMC Made or TMMK Made From Sep. 2019 Production
    2. Clear the DTCs.

      Body Electrical > Pre-Collision System > Clear DTCs 

    3. Make sure that the DTC detection conditions are met.

      HINT: 

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

    4. Check for DTCs.

      Body Electrical > Pre-Collision System > Trouble Codes 

    5. Connect the A11*1 or A78*2 headlight ECU sub-assembly LH connector.
      1. *1: for TMMK Made Before Sep. 2019 Production
      2. *2: for TMC Made or TMMK Made From Sep. 2019 Production

      Result

      Result Proceed to
      DTC U0235-87 is not output A
      DTC U0235-87 is output B

    Result: 

    A 

    REPLACE HEADLAMP ECU SUB-ASSEMBLY LH. Refer to  COMPONENTS [06/2018 - ] 

    Result: 

    B 

    See step  3

  3. CHECK CAN BUS LINES (NO. 17 CAN JUNCTION CONNECTOR) 
    1. Disconnect the cable from the negative (-) auxiliary battery terminal.
    2. Disconnect the G96 No. 17 CAN junction connector.
      GTY807039Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
      *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
    3. 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
    4. 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
    5. Connect the G96 No. 17 CAN junction connector.

      Result

      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

    Result: 

    A 

    REPLACE NO. 17 CAN JUNCTION CONNECTOR 

    Result: 

    C 

    See step  5

    Result: 

    D 

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

    Result: 

    B 

    See step  4

  4. CHECK CAN BUS LINES (FORWARD RECOGNITION CAMERA - NO. 17 CAN JUNCTION CONNECTOR) 
    1. Disconnect the P5 forward recognition camera connector.
      GTY823506Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
      *1 DLC3 - -
      *a Front view of wire harness connector
      (to Forward Recognition Camera)      		 - -
    2. 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
    3. 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
    4. Connect the P5 forward recognition camera connector.

      Result

      Proceed to
      OK
      NG

    Result: 

    OK 

    REPLACE FORWARD RECOGNITION CAMERA. Refer to  COMPONENTS [06/2018 - ] 

    Result: 

    NG 

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

  5. CHECK CAN BUS LINES (MILLIMETER WAVE RADAR SENSOR ASSEMBLY - NO. 17 CAN JUNCTION CONNECTOR) 
    1. Disconnect the A37 millimeter wave radar sensor assembly connector.
      GTY802798Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
      *1 DLC3 - -
      *a Front view of wire harness connector
      (to Millimeter Wave Radar Sensor Assembly)      		 - -
    2. 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
    3. 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
    4. Connect the A37 millimeter wave radar sensor assembly connector.

      Result

      Proceed to
      OK
      NG

    Result: 

    OK 

    REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY. Refer to  COMPONENTS [06/2018 - ] 

    Result: 

    NG 

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

  6. 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  7

  7. CHECK HARNESS AND CONNECTOR (POWER SOURCE CIRCUIT) 
    1. Disconnect the cable from the negative (-) auxiliary battery terminal.
    2. Disconnect the A37 millimeter wave radar sensor assembly connector.
      GTY835120Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
      *a Front view of wire harness connector
      (to Millimeter Wave Radar Sensor Assembly)
    3. Measure the resistance according to the value(s) in the table below.

      Standard Resistance

      Tester Connection Condition Specified Condition
      A37-1 (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
      A37-8 (IGB) - Body ground Power switch on (IG) 11 to 14 V
    6. Connect the A37 millimeter wave radar sensor assembly connector.

      Result

      Proceed to
      OK
      NG

    Result: 

    NG 

    REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT) 

    Result: 

    OK 

    See step  8

  8. INSPECT MILLIMETER WAVE RADAR SENSOR ASSEMBLY (WAVEFORM) 
    1. Turn the power switch off.
    2. Disconnect the G96 No. 17 CAN junction connector.
    3. Turn the power switch on (IG).
    4. Using an oscilloscope, measure the waveform at G96 No. 17 CAN junction connector.
      GTY783385Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
      *a Front view of wire harness connector
      (to No. 17 CAN Junction Connector)      		 *b Waveform
      *c to Millimeter Wave Radar Sensor Assembly - -

      Measurement Condition

      Tester Connection Condition Tool Setting
      G96-9 - Body ground Power switch on (IG) 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 G96 No. 17 CAN junction connector.

      Result

      Proceed to
      OK
      NG

    Result: 

    OK 

    REPLACE FORWARD RECOGNITION CAMERA. Refer to  COMPONENTS [06/2018 - ] 

    Result: 

    NG 

    REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY. Refer to  COMPONENTS [06/2018 - ] 

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