Toyota Camry (XV70): Lost Communication with Cruise Control Module Missing Message (U010487)

DESCRIPTION

The millimeter wave radar sensor assembly communicates with the forward recognition camera via CAN communication.

If a communication error is detected between the forward recognition camera and millimeter wave radar sensor assembly, the millimeter wave radar sensor assembly stores this DTC.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
U010487	Lost Communication with Cruise Control Module Missing Message	Detection condition: Ignition switch ON Malfunction status: Communication malfunction with the forward recognition camera is detected Malfunction duration: 10 seconds or more	Pre-collision system Forward recognition camera Millimeter wave radar sensor assembly

Pattern	DTC output part name (Display on Techstream)					Suspected Area (Malfunction Status)
	Millimeter Wave Radar Sensor Assembly	Forward Recognition Camera
	Front Radar Sensor	Pre-Collision System	Lane Control	Forward Recognition Camera (Front Lighting Control)	Radar Cruise2
	U010487	U023587	U023587	U023587	U023587
○: DTC is output -: DTC is not output
Pattern 1	○	○	○	○	○	Harness or connector (Open or short)
						Millimeter wave radar sensor assembly (Internal malfunction)
						Forward recognition camera (Internal malfunction)
Pattern 2	○	-	-	-	-	Forward recognition camera (Internal malfunction)
						Millimeter wave radar sensor assembly (Internal malfunction)

HINT:

If the DTCs are output simultaneously, the inspection area can be narrowed down.

WIRING DIAGRAM

CAUTION / NOTICE / HINT

NOTICE:

• 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 and a DTC may be stored.
• When the millimeter wave radar sensor assembly has been replaced with a new one, it is necessary to perform millimeter wave radar sensor assembly beam axis alignment and to clear the vehicle control history. Before performing the Driving Adjustment, make sure to read Before Starting Driving Adjustment.

  HINT:

  Beam axis alignment of the millimeter wave radar sensor assembly can be performed using either Triangle Target, Flat Surface Target or Driving Adjustment.

  Triangle Target: Click here

  Flat Surface Target: Click here

  Driving Adjustment: 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 and a DTC may be stored.
• When the forward recognition camera is replaced with a new one or the windshield glass is replaced or removed/installed, make sure to read Before Starting Adjustment, then perform optical axis alignment for the forward recognition camera and clear the vehicle control history for each system.

  HINT:

  Forward recognition camera axis alignment can be performed by using either One Time Recognition, Sequential Recognition or Driving Adjustment.

  One Time Recognition: Click here

  Sequential Recognition: Click here

  Driving Adjustment: Click here

PROCEDURE

1.	CHECK FOR DTCs

(a) Read each DTC and check the diagnosis pattern using the table below.

Body Electrical > Front Radar Sensor > Trouble Codes 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

Pattern	DTC output part name (Display on Techstream)
	Front Radar Sensor	Pre-Collision System	Lane Control	Forward Recognition Camera (Front Lighting Control)	Radar Cruise2
Pattern 1	U010487	U023587	U023587	U023587	U023587
Pattern 2	U010487	-	-	-	-

Result	Proceed to
Pattern 1	A
Pattern 2	B

A

GO TO PRE-COLLISION SYSTEM

B

2.	CHECK FORWARD RECOGNITION CAMERA

*a	Front view of wire harness connector (to Millimeter Wave Radar Sensor Assembly)

(a) Disconnect the millimeter wave radar sensor assembly connector.

(b) Using an oscilloscope, check the waveform.

OK:

Tester Connection	Condition	Tool Setting	Specified Condition
A30-5 (CA1P) - A30-6 (CA1N)	Ignition switch ON	1V/DIV., 100μs./DIV.	Pulse generation

OK

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

NG

REPLACE FORWARD RECOGNITION CAMERA

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