DESCRIPTION
The millimeter wave radar sensor assembly communicates with the forward recognition
camera via CAN communication. If there is a communication error with the forward
recognition camera, the millimeter wave radar sensor assembly stores DTC U023A.
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DTC No.
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Detection Item
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DTC Detection Condition
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Trouble Area
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U023A
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Lost Communication With Image Processing Module "A"
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When the ignition switch is ON, a communication error between the forward
recognition camera and millimeter wave radar sensor assembly is detected
for approximately 1 second.
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- CAN communication system
- Forward recognition camera power source circuit
- Forward recognition camera
- Wire harness or connector
- Millimeter wave radar wire
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WIRING DIAGRAM
CAUTION / NOTICE / HINT
NOTICE:
- 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 ignition 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 ignition 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.
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- 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.
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HINT:
- 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
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1.
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READ VALUE USING TECHSTREAM (CAN BUS CHECK)
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(a) Connect the Techstream to the DLC3.
(b) Turn the ignition switch to ON.
(c) Turn the Techstream on.
(d) Enter the following menus: System Select / Can Bus Check.
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Result
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Proceed to
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All of the ECUs and sensors that are currently connected to the CAN communication
system are displayed
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A
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None of the ECUs and sensors that are currently connected to the CAN
communication system are displayed, or some of them are not displayed
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B
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| B |
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GO TO CAN COMMUNICATION SYSTEM
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| A |
|
|
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2.
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CHECK FOR DTCs (PRE-COLLISION SYSTEM)
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(a) Clear the DTCs.
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(b) Make sure that the DTC detection conditions are met.
HINT:
If the detection conditions are not met, the system cannot detect the malfunction.
(c) Check for DTCs.
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Result
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Proceed to
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DTC U1002 is not output
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A
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DTC U1002 is output
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B
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| B |
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GO TO DTC CHART (U1002)
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| A |
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|
|
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3.
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CHECK FOR OPEN IN CAN BUS LINES (MILLIMETER WAVE RADAR SENSOR ASSEMBLY
- FORWARD RECOGNITION CAMERA)
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(a) Disconnect the W9 forward recognition camera connector.
(b) Disconnect the d1 millimeter wave radar sensor assembly connector.
(c) Measure the resistance according to the value(s) in the table below.
Standard Resistance:
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Tester Connection
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Condition
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Specified Condition
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W9-6 (CANH) - d1-5 (CA1P)
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Cable disconnected from negative (-) battery terminal
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Below 1 Ω
|
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W9-12 (CANL) - d1-6 (CA1N)
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Cable disconnected from negative (-) battery terminal
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Below 1 Ω
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(d) Connect the d1 millimeter wave radar sensor assembly connector.
(e) Connect the W9 forward recognition camera connector.
| NG |
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GO TO STEP 5
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| OK |
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|
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4.
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CHECK HARNESS AND CONNECTOR (POWER SOURCE VOLTAGE)
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(a) Disconnect the W9 forward recognition camera connector.
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|
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*a
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Front view of wire harness connector
(to Forward Recognition Camera)
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|
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(b) Measure the resistance according to the value(s) in the table below.
Standard Resistance:
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Tester Connection
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Condition
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Specified Condition
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W9-10 (GND) - Body ground
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Always
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Below 1 Ω
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(c) Connect the cable to the negative (-) battery terminal.
(d) Measure the voltage according to the value(s) in the table below.
Standard Voltage:
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Tester Connection
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Condition
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Specified Condition
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W9-7 (IGB) - Body ground
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Ignition switch ON
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11 to 14 V
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(e) Connect the W9 forward recognition camera connector.
| OK |
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REPLACE FORWARD RECOGNITION CAMERA
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| NG |
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REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT)
|
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5.
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CHECK FOR OPEN IN CAN BUS LINES (MILLIMETER WAVE RADAR WIRE - FORWARD
RECOGNITION CAMERA)
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(a) Disconnect the W9 forward recognition camera connector.
(b) Disconnect the Ad1 millimeter wave radar wire connector.
(c) Measure the resistance according to the value(s) in the table below.
Standard Resistance:
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Tester Connection
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Condition
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Specified Condition
|
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W9-6 (CANH) - Ad1-5
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Cable disconnected from negative (-) battery terminal
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Below 1 Ω
|
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W9-12 (CANL) - Ad1-6
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Cable disconnected from negative (-) battery terminal
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Below 1 Ω
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(d) Connect the Ad1 millimeter wave radar wire connector.
(e) Connect the W9 forward recognition camera connector.
| OK |
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REPAIR MILLIMETER WAVE RADAR WIRE
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| NG |
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REPAIR OR REPLACE CAN BUS LINE OR CONNECTOR (MILLIMETER WAVE RADAR WIRE
- FORWARD RECOGNITION CAMERA)
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