LEMON Manuals: Even more car manuals for everyone
Home >> Lexus >> 2020 >> ES 300h Luxury >> Repair and Diagnosis >> External Pages >> Different car >> Section 81 (Front Radar Sensor System (Except Hybrid) - Diagnostic Codes) >> FRONT RADAR SENSOR SYSTEM (for Gasoline Model) >> DTC U0104-87: Lost Communication with Cruise Control Module Missing Message [10/2019 - 08/2021] >> Procedure

DTC U0104-87: Lost Communication with Cruise Control Module Missing Message [10/2019 - 08/2021]: Procedure

WARNING: This page is about a different car, the 2021 Lexus ES 350, 2021 Lexus ES 250, 2020 Lexus ES 350, and 2019 Lexus ES 350. However, it is still accessible from the selected car via links, so may be relevant.
  1. CHECK FOR DTCs 
    1. Check for pre-collision system DTCs.

      Body Electrical > Pre-Collision System > Trouble Codes 

      Result

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

    Result: 

    B 

    See step  6

    Result: 

    A 

    See step  2

  2. INSPECT HEADLAMP ECU SUB-ASSEMBLY LH 
    1. Disconnect the A78 headlight ECU sub-assembly LH connector.
    2. Clear the DTCs.

      Body Electrical > Front Radar Sensor > 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 > Front Radar Sensor > Trouble Codes 

    5. Connect the A78 headlight ECU sub-assembly LH connector.

      Result

      Result Proceed to
      DTC U0104-87 is not output A
      DTC U0104-87 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 (-) 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 (-) battery terminal 108 to 132 Ω Forward Recognition Camera
      G96-9 - G96-20 Cable disconnected from negative (-) battery terminal 108 to 132 Ω Millimeter Wave Radar Sensor Assembly
      G96-11 - G96-22 Cable disconnected from negative (-) 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 (-) battery terminal 200 Ω or higher Forward Recognition Camera
      G96-21 - G57-4(CG) Cable disconnected from negative (-) battery terminal 200 Ω or higher
      G96-10 - G57-16(BAT) Cable disconnected from negative (-) battery terminal 6 kΩ or higher
      G96-21 - G57-16(BAT) Cable disconnected from negative (-) battery terminal 6 kΩ or higher
      G96-9 - G57-4(CG) Cable disconnected from negative (-) battery terminal 200 Ω or higher Millimeter Wave Radar Sensor Assembly
      G96-20 - G57-4(CG) Cable disconnected from negative (-) battery terminal 200 Ω or higher
      G96-9 - G57-16(BAT) Cable disconnected from negative (-) battery terminal 6 kΩ or higher
      G96-20 - G57-16(BAT) Cable disconnected from negative (-) battery terminal 6 kΩ or higher
      G96-11 - G57-4(CG) Cable disconnected from negative (-) battery terminal 200 Ω or higher Headlight ECU Sub-assembly LH
      G96-22 - G57-4(CG) Cable disconnected from negative (-) battery terminal 200 Ω or higher
      G96-11 - G57-16(BAT) Cable disconnected from negative (-) battery terminal 6 kΩ or higher
      G96-22 - G57-16(BAT) Cable disconnected from negative (-) 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 (-) 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 (-) battery terminal 200 Ω or higher
      P5-12 (CANL) - G57-4 (CG) Cable disconnected from negative (-) battery terminal 200 Ω or higher
      P5-6 (CANH) - G57-16 (BAT) Cable disconnected from negative (-) battery terminal 6 kΩ or higher
      P5-12 (CANL) - G57-16 (BAT) Cable disconnected from negative (-) 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 (FORWARD RECOGNITION CAMERA - NO. 17 CAN JUNCTION CONNECTOR) 

  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 (-) 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 (-) battery terminal 200 Ω or higher
      A37-6 (CA1N) - G57-4 (CG) Cable disconnected from negative (-) battery terminal 200 Ω or higher
      A37-5 (CA1P) - G57-16 (BAT) Cable disconnected from negative (-) battery terminal 6 kΩ or higher
      A37-6 (CA1N) - G57-16 (BAT) Cable disconnected from negative (-) 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 (MILLIMETER WAVE RADAR SENSOR ASSEMBLY - NO. 17 CAN JUNCTION CONNECTOR) 

  6. CHECK CONNECTOR (FORWARD RECOGNITION CAMERA) 
    1. Check the locking part and terminals of the forward recognition camera connector.
      NOTE:
      • 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.

      Result

      Proceed to
      OK
      NG

    Result: 

    NG 

    REPAIR OR REPLACE HARNESS OR CONNECTOR (FORWARD RECOGNITION CAMERA) 

    Result: 

    OK 

    See step  7

  7. CHECK HARNESS AND CONNECTOR (FORWARD RECOGNITION CAMERA POWER SOURCE CIRCUIT) 
    1. Disconnect the cable from the negative (-) battery terminal.
    2. Disconnect the P5 forward recognition camera connector.
      GTY792873Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
      *a Front view of wire harness connector
      (to Forward Recognition Camera)
    3. 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
    4. Connect the cable to the negative (-) battery terminal.
    5. Measure the voltage according to the value(s) in the table below.

      Standard Voltage

      Tester Connection Condition Specified Condition
      P5-7 (IGB) - Body ground Engine switch on (IG) 11 to 14 V
    6. Connect the P5 forward recognition camera connector.

      Result

      Proceed to
      OK
      NG

    Result: 

    NG 

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

    Result: 

    OK 

    See step  8

  8. INSPECT FORWARD RECOGNITION CAMERA (WAVEFORM) 
    1. Turn the engine switch off.
    2. Disconnect the G96 No. 17 CAN junction connector.
    3. Turn the engine switch on (IG).
    4. Using an oscilloscope, measure the waveform at G96 No. 17 CAN junction connector.
      Fig 1: Waveform Forward Recognition Camera [10/2019 - 08/2021]
      GTY783382Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
      *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 Engine 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 MILLIMETER WAVE RADAR SENSOR ASSEMBLY. Refer to  COMPONENTS [06/2018 - ] 

    Result: 

    NG 

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

scientia non olet · About LEMON Manuals