PRE-COLLISION SYSTEM, Diagnostic DTC:U1002

DTC Code DTC Name
U1002 Lost Communication with Gateway Module

DESCRIPTION

DTC U1002 is stored when the millimeter wave radar sensor assembly cannot receive signals from the forward recognition camera.

DTC No. Detection Item DTC Detection Condition Trouble Area
U1002 Lost Communication with Gateway Module After the engine switch is turned on (IG), communication between the millimeter wave radar sensor assembly and forward recognition camera is abnormal for 2 seconds or more.

  • CAN bus line or connector

  • Forward recognition camera

  • Millimeter wave radar sensor assembly

WIRING DIAGRAM

B006YCGE01
*a from IG1-NO. 1 Relay
*b ECU-IG1 NO. 3
*c Millimeter Wave Radar Sensor Assembly
*d Forward Recognition Camera

CAUTION / NOTICE / HINT

Note


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

  • Before measuring the resistance of the CAN bus, turn the engine switch off and leave the vehicle for 1 minute or more without operating the key or any switches, or opening or closing the doors. After that, disconnect the cable from the negative (-) battery terminal and leave the vehicle for 1 minute or more before measuring the resistance.

  • After turning the engine switch off, waiting time may be required before disconnecting the cable from the negative (-) battery terminal. Therefore, make sure to read the disconnecting the cable from the negative (-) battery terminal notices before proceeding with work.

    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

  • 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.

  • If the millimeter wave radar sensor assembly has been replaced, be sure to perform millimeter wave radar sensor assembly adjustment.

    Click here

Tech Tips


  • Before disconnecting related connectors for inspection, push in on each connector body to check that the connector is not loose or disconnected.

  • When a connector is disconnected, check that the terminals and connector body are not cracked, deformed or corroded.

PROCEDURE


  1. CHECK CAN BUS LINE (MALFUNCTION CONFIRMATION)


    1. Turn the engine switch off.

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

    3. B006ZRRC01
      *a

      Component with harness connected

      (Millimeter Wave Radar Sensor Assembly)

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

      Standard Resistance
      Tester Connection Condition Specified Condition Result
      A30-5 (CA1P) - A30-6 (CA1N) Cable disconnected from negative (-) battery terminal 54 to 69 Ω

      Below 54 Ω:

      Short circuit between CAN bus lines

      70 Ω or more:

      Open circuit in a CAN bus line
      A30-5 (CA1P) - A30-1 (SGND) Cable disconnected from negative (-) battery terminal 200 Ω or higher

      Below 200 Ω:

      Ground short
      A30-6 (CA1N) - A30-1 (SGND) Cable disconnected from negative (-) battery terminal 200 Ω or higher

      Below 200 Ω:

      Ground short
      A30-5 (CA1P) - A30-8 (IGB) Cable disconnected from negative (-) battery terminal 6 kΩ or higher

      Below 6 kΩ:

      +B short
      A30-6 (CA1N) - A30-8 (IGB) Cable disconnected from negative (-) battery terminal 6 kΩ or higher

      Below 6 kΩ:

      +B short
      Result
      Result Proceed to
      OK A
      NG (Open circuit in CAN bus line) B
      NG (Short circuit between CAN bus lines) C
      NG (Short to +B or ground) D

    B

    CHECK FOR OPEN IN CAN BUS LINES (MILLIMETER WAVE RADAR SENSOR ASSEMBLY - FORWARD RECOGNITION CAMERA) Click here

    C

    CHECK FOR SHORT BETWEEN CAN BUS LINES (FORWARD RECOGNITION CAMERA) Click here

    D

    CHECK FOR SHORT IN CAN BUS LINE (FORWARD RECOGNITION CAMERA) Click here

    A

  2. CHECK FOR DTCs (PRE-COLLISION SYSTEM)


    1. Clear the DTCs.


      Body Electrical > Pre-Collision 2 > 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 engine switch on (IG) and wait 2 seconds or more.

    3. Check for DTCs.


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

    A

    USE SIMULATION METHOD TO CHECK Click here

    B

    REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY Click here

  3. CHECK FOR OPEN IN CAN BUS LINES (MILLIMETER WAVE RADAR SENSOR ASSEMBLY - FORWARD RECOGNITION CAMERA)


    1. Disconnect the V6 forward recognition camera connector.

    2. Disconnect the A30 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
      V6-6 (CANH) - A30-5 (CA1P) Cable disconnected from negative (-) battery terminal Below 1 Ω
      V6-12 (CANL) - A30-6 (CA1N) Cable disconnected from negative (-) battery terminal Below 1 Ω

    4. Connect the A30 millimeter wave radar sensor assembly connector.

    5. Connect the V6 forward recognition camera connector.

      Result
      Proceed to
      OK
      NG

    NG

    REPAIR OR REPLACE CAN BUS LINE OR CONNECTOR (MILLIMETER WAVE RADAR SENSOR ASSEMBLY - FORWARD RECOGNITION CAMERA)

    OK

  4. CHECK FOR OPEN IN CAN BUS LINES (FORWARD RECOGNITION CAMERA)


    1. B0070BEC63
      *a

      Front view of wire harness connector

      (to Forward Recognition Camera)

      Disconnect the V6 forward recognition camera connector.

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      V6-6 (CANH) - V6-12 (CANL) Cable disconnected from negative (-) battery terminal 108 to 132 Ω

    3. Connect the V6 forward recognition camera connector.

      Result
      Proceed to
      OK
      NG

    OK

    REPLACE FORWARD RECOGNITION CAMERA Click here

    NG

    REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY Click here

  5. CHECK FOR SHORT BETWEEN CAN BUS LINES (FORWARD RECOGNITION CAMERA)


    1. B0070BEC63
      *a

      Front view of wire harness connector

      (to Forward Recognition Camera)

      Disconnect the V6 forward recognition camera connector.

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      V6-6 (CANH) - V6-12 (CANL) Cable disconnected from negative (-) battery terminal 108 to 132 Ω

    3. Connect the V6 forward recognition camera connector.

      Result
      Proceed to
      OK
      NG

    OK

    REPLACE FORWARD RECOGNITION CAMERA Click here

    NG

  6. CHECK FOR SHORT BETWEEN CAN BUS LINES (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)


    1. B006XTMC28
      *a

      Front view of wire harness connector

      (to Millimeter Wave Radar Sensor Assembly)

      Disconnect the A30 millimeter wave radar sensor assembly connector.

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      A30-5 (CA1P) - A30-6 (CA1N) Cable disconnected from negative (-) battery terminal 108 to 132 Ω

    3. Connect the A30 millimeter wave radar sensor assembly connector.

      Result
      Proceed to
      OK
      NG

    OK

    REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY Click here

    NG

    REPAIR OR REPLACE CAN BUS LINE OR CONNECTOR (MILLIMETER WAVE RADAR SENSOR ASSEMBLY - FORWARD RECOGNITION CAMERA)

  7. CHECK FOR SHORT IN CAN BUS LINE (FORWARD RECOGNITION CAMERA)


    1. Disconnect the V6 forward recognition camera connector.

      B006XF8C15
      *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
      V6-6 (CANH) - K68-4 (CG) Cable disconnected from negative (-) battery terminal 200 Ω or higher
      V6-12 (CANL) - K68-4 (CG) Cable disconnected from negative (-) battery terminal 200 Ω or higher
      V6-6 (CANH) - K68-16 (BAT) Cable disconnected from negative (-) battery terminal 6 kΩ or higher
      V6-12 (CANL) - K68-16 (BAT) Cable disconnected from negative (-) battery terminal 6 kΩ or higher

    3. Connect the V6 forward recognition camera connector.

      Result
      Proceed to
      OK
      NG

    OK

    REPLACE FORWARD RECOGNITION CAMERA Click here

    NG

  8. CHECK FOR SHORT IN CAN BUS LINE (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)


    1. Disconnect the A30 millimeter wave radar sensor assembly connector.

      B006YATC16
      *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
      A30-5 (CA1P) - K68-4 (CG) Cable disconnected from negative (-) battery terminal 200 Ω or higher
      A30-6 (CA1N) - K68-4 (CG) Cable disconnected from negative (-) battery terminal 200 Ω or higher
      A30-5 (CA1P) - K68-16 (BAT) Cable disconnected from negative (-) battery terminal 6 kΩ or higher
      A30-6 (CA1N) - K68-16 (BAT) Cable disconnected from negative (-) battery terminal 6 kΩ or higher

    3. Connect the A30 millimeter wave radar sensor assembly connector.

      Result
      Proceed to
      OK
      NG

    OK

    REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY Click here

    NG

    REPAIR OR REPLACE CAN BUS LINE OR CONNECTOR (MILLIMETER WAVE RADAR SENSOR ASSEMBLY - FORWARD RECOGNITION CAMERA)