FORWARD RECOGNITION CAMERA SYSTEM, Diagnostic DTC:U0235, U1104

DTC Code DTC Name
U0235 Lost Communication with Cruise Control Front Distance Range Sensor
U1104 Lost Communication with Driving Support ECU

DESCRIPTION

The forward recognition camera communicates with the driving support ECU assembly and millimeter wave radar sensor assembly via CAN communication. If there is a communication error with the driving support ECU assembly or millimeter wave radar sensor assembly, the forward recognition camera stores DTC U0235 or U1104.

DTC No. Detection Item DTC Detection Condition Trouble Area
U0235 Lost Communication with Cruise Control Front Distance Range Sensor 2 seconds after the power switch is turned on (IG), a communication error between the millimeter wave radar sensor assembly and the forward recognition camera is detected for approximately 5 seconds.

  • CAN communication system

  • Millimeter wave radar sensor assembly

  • Forward recognition camera
U1104 Lost Communication with Driving Support ECU 2 seconds after the power switch is turned on (IG), a communication error between the driving support ECU assembly and the forward recognition camera is detected for approximately 5 seconds.

  • CAN communication system

  • Driving support ECU assembly

  • Forward recognition camera

WIRING DIAGRAM

B004EPPE22

CAUTION / NOTICE / HINT

Note


  • Inspect the fuses for circuits related to this system before performing the following procedure.

  • When replacing the driving support ECU assembly, always replace it with a new one. If a driving support ECU assembly which was installed to another vehicle is used, the information stored in the driving support ECU assembly will not match the information from the vehicle. As a result, a DTC may be stored.

  • 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. As a result, a DTC may be stored.

  • When the millimeter wave radar sensor assembly is replaced with a new one, adjustment of the radar sensor beam axis must be performed.

    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. As a result, a DTC may be stored.

  • If the forward recognition camera has been replaced with a new one, be sure to perform forward recognition camera adjustment.

    Click here

  • 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

PROCEDURE


  1. READ VALUE USING GTS (CAN BUS CHECK)


    1. Connect the GTS to the DLC3.

    2. Turn the power switch on (IG).

    3. Turn the GTS on.

    4. Enter the following menus: System Select / Can Bus Check.

      Click here


      CAN Bus Check
      Result
      Result Proceed to
      All of the ECUs and sensors that are currently connected to the CAN communication system are displayed A
      None of the ECUs and sensors that are currently connected to the CAN communication system are displayed, or some of them are not displayed B

    B

    GO TO CAN COMMUNICATION SYSTEM Click here

    A

  2. CHECK FOR DTCs (CAN COMMUNICATION DTC OUTPUT)

    Tech Tips

    When pre-collision system DTC U1002 is output, check that the local bus is functioning normally by performing the diagnostic procedure for U1002.


    1. Check for DTCs.

      Click here


      Body Electrical > Pre-Collision 2 > Trouble Codes
      Result
      Result Proceed to
      DTC U1002 is not output A
      DTC U1002 is output B

    B

    GO TO PRE-COLLISION SYSTEM Click here

    A

  3. CHECK CAN BUS LINE


    1. Turn the power switch off.

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

    3. B004FTXC05
      *a

      Front view of wire harness connector

      (to Forward Recognition Camera)

      Disconnect the W18 forward recognition camera connector.

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      W18-6 (CANH) - W18-12 (CANL) Cable disconnected from negative (-) auxiliary battery terminal 108 to 132 Ω

      Tech Tips

      If the result is not as specified, a malfunction in a CAN communication line is suspected.

    5. Connect the W18 forward recognition camera connector.

      Result
      Proceed to
      OK
      NG

    NG

    REPAIR OR REPLACE HARNESS OR CONNECTOR (CAN BUS LINE)

    OK

  4. CHECK FOR DTCs (FORWARD RECOGNITION CAMERA SYSTEM)


    1. Check for DTCs.

      Click here


      Chassis > Front Recognition Camera > Trouble Codes
      Result
      Result Proceed to
      DTC U0235 and U1104 are output A
      Only DTC U1104 is output B
      Only DTC U0235 is output C

    B

    CHECK POWER SOURCE CIRCUIT (DRIVING SUPPORT ECU ASSEMBLY) Click here

    C

    CHECK POWER SOURCE CIRCUIT (MILLIMETER WAVE RADAR SENSOR ASSEMBLY) Click here

    A

  5. CHECK POWER SOURCE CIRCUIT (DRIVING SUPPORT ECU ASSEMBLY)


    1. B004GA4C06
      *a

      Front view of wire harness connector

      (to Driving Support ECU Assembly)

      Disconnect the Q2 driving support ECU assembly connector.

    2. Turn the power switch on (IG).

    3. Measure the voltage according to the value(s) in the table below.

      Standard Voltage
      Tester Connection Condition Specified Condition
      Q2-7 (B) - Body ground Power switch on (IG) 11 to 14 V

    4. Turn the power switch off.

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      Q2-28 (GND) - Body ground Always Below 1 Ω

    6. Reconnect the Q2 driving support ECU assembly connector.

      Result
      Proceed to
      OK
      NG

    NG

    REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT)

    OK

  6. CHECK POWER SOURCE CIRCUIT (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)


    1. B004EMLC03
      *a

      Front view of wire harness connector

      (to Millimeter Wave Radar Sensor Assembly)

      Disconnect the B9 millimeter wave radar sensor assembly connector.

    2. Turn the power switch on (IG).

    3. Measure the voltage according to the value(s) in the table below.

      Standard Voltage
      Tester Connection Condition Specified Condition
      B9-8 (IGB) - Body ground Power switch on (IG) 11 to 14 V

    4. Turn the power switch off.

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      B9-1 (SGND) - Body ground Always Below 1 Ω

    6. Reconnect the B9 millimeter wave radar sensor assembly connector.

      Result
      Proceed to
      OK
      NG

    OK

    REPLACE FORWARD RECOGNITION CAMERA Click here

    NG

    REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT)

  7. CHECK POWER SOURCE CIRCUIT (DRIVING SUPPORT ECU ASSEMBLY)


    1. B004GA4C06
      *a

      Front view of wire harness connector

      (to Driving Support ECU Assembly)

      Disconnect the Q2 driving support ECU assembly connector.

    2. Turn the power switch on (IG).

    3. Measure the voltage according to the value(s) in the table below.

      Standard Voltage
      Tester Connection Condition Specified Condition
      Q2-7 (B) - Body ground Power switch on (IG) 11 to 14 V

    4. Turn the power switch off.

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      Q2-28 (GND) - Body ground Always Below 1 Ω

    6. Reconnect the Q2 driving support ECU assembly connector.

      Result
      Proceed to
      OK
      NG

    NG

    REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT)

    OK

  8. REPLACE DRIVING SUPPORT ECU ASSEMBLY


    1. Replace the driving support ECU assembly.

      Click here

      Result
      Proceed to
      NEXT

    NEXT

  9. CHECK FOR DTCs (FORWARD RECOGNITION CAMERA SYSTEM)


    1. Clear the DTCs.

      Click here


      Chassis > Front Recognition Camera > Clear DTCs

    2. Perform the following procedure.

      Tech Tips

      If the following procedure is not performed, the previously output DTC cannot be detected.


      1. Turn the power switch on (IG) and wait 7 seconds or more.

    3. Check for DTCs.

      Click here


      Chassis > Front Recognition Camera > Trouble Codes
      Result
      Result Proceed to
      DTC U1104 is not output A
      DTC U1104 is output B

    A

    END (DRIVING SUPPORT ECU ASSEMBLY WAS DEFECTIVE)

    B

    REPLACE FORWARD RECOGNITION CAMERA Click here

  10. CHECK POWER SOURCE CIRCUIT (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)


    1. B004EMLC03
      *a

      Front view of wire harness connector

      (to Millimeter Wave Radar Sensor Assembly)

      Disconnect the B9 millimeter wave radar sensor assembly connector.

    2. Turn the power switch on (IG).

    3. Measure the voltage according to the value(s) in the table below.

      Standard Voltage
      Tester Connection Condition Specified Condition
      B9-8 (IGB) - Body ground Power switch on (IG) 11 to 14 V

    4. Turn the power switch off.

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      B9-1 (SGND) - Body ground Always Below 1 Ω

    6. Reconnect the B9 millimeter wave radar sensor assembly connector.

      Result
      Proceed to
      OK
      NG

    NG

    REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT)

    OK

  11. REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY


    1. Replace the millimeter wave radar sensor assembly.

      Click here

    2. Adjust the millimeter wave radar sensor assembly.

      Click here

      Result
      Proceed to
      NEXT

    NEXT

  12. CHECK FOR DTCs (FORWARD RECOGNITION CAMERA SYSTEM)


    1. Clear the DTCs.

      Click here


      Chassis > Front Recognition Camera > Clear DTCs

    2. Perform the following procedure.

      Tech Tips

      If the following procedure is not performed, the previously output DTC cannot be detected.


      1. Turn the power switch on (IG) and wait 7 seconds or more.

    3. Check for DTCs.

      Click here


      Chassis > Front Recognition Camera > Trouble Codes
      Result
      Result Proceed to
      DTC U0235 is not output A
      DTC U0235 is output B

    A

    END (MILLIMETER WAVE RADAR SENSOR ASSEMBLY WAS DEFECTIVE)

    B

    REPLACE FORWARD RECOGNITION CAMERA Click here