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Home >> Lexus >> 2019 >> ES 350 Luxury >> Repair and Diagnosis >> External Pages >> Different car >> Section 91 (Pre-Collision System - Diagnostic Codes) >> Pre-Collision System >> DTC U0235-87: Lost Communication with Cruise Control Front Distance Range Sensor Missing Message [08/2021 - ] >> Procedure

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

WARNING: This page does not describe the selected car, but rather 9 other vehicles, including the 2024 Lexus ES 350, 2024 Lexus ES 300h, 2024 Lexus ES 250, 2023 Lexus ES 350, and 2023 Lexus ES 300h. However, it is still accessible from the selected car via links, so may be relevant.
  1. CHECK FOR DTCs 
    1. Read each DTC and check the diagnosis pattern using the table below.

      Body Electrical > Pre-Collision System > Trouble Codes 

      Chassis > Lane Control > Trouble Codes 

      Body Electrical > Front Recognition Camera (Front Lighting Control) > Trouble Codes 

      Powertrain > Radar Cruise2 > Trouble Codes 

      Body Electrical > Front Radar Sensor > Trouble Codes 

      Pattern DTC output part name
      (Display on Techstream)
      Pre-Collision System Lane Control Forward Recognition Camera (Front Lighting Control) Radar Cruise2 Front Radar Sensor
      Pattern 1 U0235-87 U0235-87 U0235-87 U0235-87 U0104-87
      Pattern 2 U0235-87 U0235-87 U0235-87 U0235-87 -

      Result

      Result Proceed to
      Pattern 1 A
      Pattern 2 B

    Result: 

    B 

    See step  4

    Result: 

    A 

    See step  2

  2. CHECK CAN MAIN WIRE (FORWARD RECOGNITION CAMERA) 
    GTY1086541Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
    *a Front view of wire harness connector
    (to Forward Recognition Camera)
    1. Disconnect the cable from the negative (-) auxiliary battery terminal.
    2. Disconnect the forward recognition camera connector.
    3. 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 132 Ω
      P5-6 (CANH) - Body ground Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
      P5-12 (CANL) - Body ground
      P5-6 (CANH) - +B Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher
      P5-12 (CANL) - +B

      Result

      Proceed to
      OK
      NG

    Result: 

    OK 

    REPLACE FORWARD RECOGNITION CAMERA. Refer to  REMOVAL [08/2021 - ] 

    Result: 

    NG 

    See step  3

  3. CHECK CAN MAIN WIRE (MILLIMETER WAVE RADAR SENSOR ASSEMBLY) 
    GTY1086457Courtesy 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 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
      A37-5 (CA1P) - A37-6 (CA1N) Cable disconnected from negative (-) auxiliary battery terminal 108 to 132 Ω
      A37-5 (CA1P) - Body ground Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
      A37-6 (CA1N) - Body ground
      A37-5 (CA1P) - +B Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher
      A37-6 (CA1N) - +B

      Result

      Proceed to
      OK
      NG

    Result: 

    OK 

    REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY. Refer to  REMOVAL [08/2021 - ] 

    Result: 

    NG 

    REPAIR OR REPLACE HARNESS OR CONNECTOR 

  4. CHECK MILLIMETER WAVE RADAR SENSOR ASSEMBLY 
    GTY1086541Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
    *a Front view of wire harness connector
    (to Forward Recognition Camera)
    1. Disconnect the forward recognition camera connector.
    2. Using an oscilloscope, check the waveform.

      OK

      Tester Connection Condition Tool Setting Specified Condition
      P5-6 (CANH) - P5-12 (CANL) Ignition switch ON 1V/DIV., 100μs./DIV. Pulse generation

      Result

      Proceed to
      OK
      NG

    Result: 

    OK 

    REPLACE FORWARD RECOGNITION CAMERA. Refer to  REMOVAL [08/2021 - ] 

    Result: 

    NG 

    REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY. Refer to  REMOVAL [08/2021 - ] 

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