Dtc U1002 Lost Communication With Gateway Module (Sensor Bus)

DESCRIPTION

WIRING DIAGRAM

INSPECTION PROCEDURE

CHECK LOCAL BUS

CHECK FOR DTC OUTPUT

CHECK FOR OPEN IN CAN BUS MAIN WIRE (FORWARD RECOGNITION CAMERA)

CONNECT CONNECTOR

CHECK FOR OPEN IN CAN BUS MAIN WIRE (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)

CONNECT CONNECTOR

CHECK FOR OPEN IN CAN BUS MAIN WIRE (NO. 10 CAN JUNCTION CONNECTOR)

CHECK FOR SHORT IN CAN BUS WIRES (FORWARD RECOGNITION CAMERA)

CONNECT CONNECTOR

CHECK FOR SHORT IN CAN BUS WIRES (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)

CONNECT CONNECTOR

CHECK FOR SHORT IN CAN BUS WIRES (NO. 10 CAN JUNCTION CONNECTOR)

CONNECT CONNECTOR

CHECK FOR SHORT IN CAN BUS WIRES (DRIVING SUPPORT ECU ASSEMBLY)

CHECK FOR SHORT IN CAN BUS WIRES (FORWARD RECOGNITION CAMERA)

CONNECT CONNECTOR

CHECK FOR SHORT IN CAN BUS WIRES (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)

CONNECT CONNECTOR

CHECK FOR SHORT IN CAN BUS WIRES (NO. 10 CAN JUNCTION CONNECTOR)

CONNECT CONNECTOR

CHECK FOR SHORT IN CAN BUS WIRES (DRIVING SUPPORT ECU ASSEMBLY)

DESCRIPTION

1. The driving support ECU assembly will store this DTC when no signals can be received from the ECUs that have been memorized as those that are connected to local bus.
   
2. When the driving support ECU assembly receives a response signal from the ECUs connected to local bus, the driving support ECU assembly recognizes and memorizes that the ECU is connected to local bus. Based on this memorized data, the driving support ECU assembly monitors for malfunctions in the ECUs connected to local bus when communicating with those ECUs. If the driving support ECU assembly cannot receive response signals from the ECUs that have been memorized as those connected to local bus, the driving support ECU assembly determines that a malfunction exists.
   
   

   DTC Code	DTC Detection Condition	Trouble Area
   U1002	Driving support ECU assembly cannot receive signals from all ECUs that have been memorized as those connected to local bus.	Open or short in local bus CAN main wire or connector Open or short in local bus CAN branch wire or connector Driving support ECU assembly Millimeter wave radar sensor assembly Forward recognition camera No. 10 CAN junction connector

WIRING DIAGRAM

INSPECTION PROCEDURE

NOTICE:

1. Because the order of diagnosis is important to allow correct diagnosis, make sure to begin troubleshooting using How to Proceed with Troubleshooting when CAN communication system related DTCs are output (Click here).
   
2. 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, 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.
   
3. After turning the ignition switch off, waiting time may be required before disconnecting the cable from the battery terminal. Therefore, make sure to read the disconnecting the cable from the battery terminal notice before proceeding with work (Click here).
   
4. Inspect the fuses for circuits related to this system before performing the following inspection procedure.
   
5. After performing repairs, perform the DTC check procedure and confirm that the DTCs are not output again.
   
6. DTC check procedure: Turn the ignition switch to ON and wait at least 6 seconds.
   
7. After the repair, perform CAN Bus Check and check that all the ECUs and sensors connected to the CAN communication system are displayed (Click here).
   

HINT:

1. Operating the ignition switch, any switches or any doors triggers related ECU and sensor communication with the CAN, which causes resistance variation.
   
2. Even after DTCs are cleared, if a DTC is stored again after driving the vehicle for a while, the malfunction may be occurring due to vibration of the vehicle. In such a case, wiggling the ECUs or wire harness while performing the inspection below may help determine the cause of the malfunction.
   

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

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

   Standard Resistance:

   Tester Connection	Condition	Specified Condition	Resistance: Malfunction
   E164-8 (CA1P) - E164-9 (CA1N)	Cable disconnected from negative (-) battery terminal	54 to 69 Ω	Below 53 Ω: Short in line
   E164-8 (CA1P) - E164-9 (CA1N)	Cable disconnected from negative (-) battery terminal	54 to 69 Ω	Higher than 70 Ω: Open in CAN main bus line
   E164-8 (CA1P) - E22-16 (BAT)	Cable disconnected from negative (-) battery terminal	6 kΩ or higher	Below 6 kΩ: +B short
   E164-9 (CA1N) - E22-16 (BAT)	Cable disconnected from negative (-) battery terminal	6 kΩ or higher	Below 6 kΩ: +B short
   E164-8 (CA1P) - E22-4 (CG)	Cable disconnected from negative (-) battery terminal	200 Ω or higher	Below 200 Ω: Ground short
   E164-9 (CA1N) - E22-4 (CG)	Cable disconnected from negative (-) battery terminal	200 Ω or higher	Below 200 Ω: Ground short

   Text in Illustration

   *a	Component with harness connected (Driving Support ECU Assembly)
   *B	Front view of DLC3

   Result

   Result	Proceed to
   OK	A
   NG (Open circuit in CAN main bus wire)	B
   NG (Short circuit between bus wire)	C
   NG Ground short +B short	D

1. Clear the DTCs (Click here).
   

2. Recheck for DTCs and check that no DTCs are output (Click here).
   

   OK:

   DTC U1002 is not output.
   

1. Disconnect the forward recognition camera connector.
   

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

   Standard Resistance:

   Tester Connection	Condition	Specified Condition
   R20-6 (CANH) - R20-12 (CANL)	Cable disconnected from negative (-) battery terminal	108 to 132 Ω

   Text in Illustration

   *a	Front view of wire harness connector (to Forward Recognition Camera)

1. Reconnect the R20 forward recognition camera connector.
   

1. Disconnect the 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
   A72-5 (CA1P) - A72-6 (CA1N)	Cable disconnected from negative (-) battery terminal	108 to 132 Ω

   Text in Illustration

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

1. Reconnect the A72 millimeter wave radar sensor assembly connector.
   

1. Disconnect the No. 10 CAN junction connector.
   

   
   
   
   
   

   Text in Illustration

   *a	Front view of wire harness connector (to No. 10 CAN Junction Connector)	*b	to Millimeter Wave Radar Sensor Assembly
   *c	to Forward Recognition Camera	-	-

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

   Standard Resistance:

   Tester Connection	Condition	Specified Condition	Connect to
   E174-5 (CANH) - E174-15 (CANL)	Cable disconnected from negative (-) battery terminal	108 to 132 Ω	Millimeter wave radar sensor assembly
   E174-6 (CANH) - E174-16 (CANL)	Cable disconnected from negative (-) battery terminal	108 to 132 Ω	Forward recognition camera

   Result

   Result	Proceed to
   OK	A
   NG (Millimeter wave radar sensor assembly CAN main wire)	B
   NG (Forward recognition camera CAN main wire)	C

1. Disconnect the forward recognition camera connector.
   

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

   Standard Resistance:

   Tester Connection	Condition	Specified Condition
   R20-6 (CANH) - R20-12 (CANL)	Cable disconnected from negative (-) battery terminal	108 to 132 Ω

   Text in Illustration

   *a	Front view of wire harness connector (to Forward Recognition Camera)

1. Reconnect the R20 forward recognition camera connector.
   

1. Disconnect the 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
   A72-5 (CA1P) - A72-6 (CA1N)	Cable disconnected from negative (-) battery terminal	108 to 132 Ω

   Text in Illustration

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

1. Reconnect the A72 millimeter wave radar sensor assembly connector.
   

1. Disconnect the No. 10 CAN junction connector.
   

   
   
   
   
   

   Text in Illustration

   *a	Front view of wire harness connector (to No. 10 CAN Junction Connector)	*b	to Millimeter Wave Radar Sensor Assembly
   *c	to Forward Recognition Camera	*d	to Driving Support ECU Assembly

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

   Standard Resistance:

   Tester Connection	Condition	Specified Condition	Connect to
   E174-5 (CANH) - E174-15 (CANL)	Cable disconnected from negative (-) battery terminal	108 to 132 Ω	Millimeter wave radar sensor assembly
   E174-6 (CANH) - E174-16 (CANL)	Cable disconnected from negative (-) battery terminal	108 to 132 Ω	Forward recognition camera
   E174-7 (CANH) - E174-17 (CANL)	Cable disconnected from negative (-) battery terminal	200 Ω or higher	Driving support ECU assembly

   Result

   Result	Proceed to
   OK	A
   NG (Millimeter wave radar sensor assembly CAN main wire)	B
   NG (Forward recognition camera CAN main wire)	C
   NG (Driving support ECU assembly CAN branch wire)	D

1. Reconnect the E174 No. 10 CAN junction connector.
   

1. Disconnect the driving support ECU assembly connector.
   

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

   Standard Resistance:

   Tester Connection	Condition	Specified Condition
   E164-8 (CA1P) - E164-9 (CA1N)	Cable disconnected from negative (-) battery terminal	54 to 69 Ω

   Text in Illustration

   *a	Front view of wire harness connector (to Driving Support ECU Assembly)

1. Disconnect the forward recognition camera connector.
   

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

   Standard Resistance:

   Tester Connection	Condition	Specified Condition
   R20-6 (CANH) - E22-16 (BAT)	Cable disconnected from negative (-) battery terminal	6 kΩ or higher
   R20-12 (CANL) - E22-16 (BAT)	Cable disconnected from negative (-) battery terminal	6 kΩ or higher
   R20-6 (CANH) - E22-4 (CG)	Cable disconnected from negative (-) battery terminal	200 Ω or higher
   R20-12 (CANL) - E22-4 (CG)	Cable disconnected from negative (-) battery terminal	200 Ω or higher

   Text in Illustration

   *a	Front view of wire harness connector (to Forward Recognition Camera)
   *b	Front view of DLC3

1. Reconnect the R20 forward recognition camera connector.
   

1. Disconnect the 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
   A72-5 (CA1P) - E22-16 (BAT)	Cable disconnected from negative (-) battery terminal	6 kΩ or higher
   A72-6 (CA1N) - E22-16 (BAT)	Cable disconnected from negative (-) battery terminal	6 kΩ or higher
   A72-5 (CA1P) - E22-4 (CG)	Cable disconnected from negative (-) battery terminal	200 Ω or higher
   A72-6 (CA1N) - E22-4 (CG)	Cable disconnected from negative (-) battery terminal	200 Ω or higher

   Text in Illustration

   *a	Front view of wire harness connector (to Millimeter Wave Radar Sensor Assembly)
   *b	Front view of DLC3

1. Reconnect the A72 millimeter wave radar sensor assembly connector.
   

1. Disconnect the No. 10 CAN junction connector.
   

   
   
   
   
   

   Text in Illustration

   *a	Front view of wire harness connector (to No. 10 CAN Junction Connector)	*b	Front view of DLC3
   *c	to Millimeter Wave Radar Sensor Assembly	*d	to Forward Recognition Camera
   *e	to Driving Support ECU Assembly	-	-

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

   Standard Resistance:

   Tester Connection	Condition	Specified Condition	Connect to
   E174-5 (CANH) - E22-16 (BAT)	Cable disconnected from negative (-) battery terminal	6 kΩ or higher	Millimeter wave radar sensor assembly
   E174-15 (CANL) - E22-16 (BAT)	Cable disconnected from negative (-) battery terminal	6 kΩ or higher
   E174-5 (CANH) - E22-4 (CG)	Cable disconnected from negative (-) battery terminal	200 Ω or higher
   E174-15 (CANL) - E22-4 (CG)	Cable disconnected from negative (-) battery terminal	200 Ω or higher
   E174-6 (CANH) - E22-16 (BAT)	Cable disconnected from negative (-) battery terminal	6 kΩ or higher	Forward recognition camera
   E174-16 (CANL) - E22-16 (BAT)	Cable disconnected from negative (-) battery terminal	6 kΩ or higher
   E174-6 (CANH) - E22-4 (CG)	Cable disconnected from negative (-) battery terminal	200 Ω or higher
   E174-16 (CANL) - E22-4 (CG)	Cable disconnected from negative (-) battery terminal	200 Ω or higher
   E174-7 (CANH) - E22-16 (BAT)	Cable disconnected from negative (-) battery terminal	6 kΩ or higher	Driving support ECU assembly
   E174-17 (CANL) - E22-16 (BAT)	Cable disconnected from negative (-) battery terminal	6 kΩ or higher
   E174-7 (CANH) - E22-4 (CG)	Cable disconnected from negative (-) battery terminal	200 Ω or higher
   E174-17 (CANL) - E22-4 (CG)	Cable disconnected from negative (-) battery terminal	200 Ω or higher

   Result

   Result	Proceed to
   OK	A
   NG (Millimeter wave radar sensor assembly CAN main wire)	B
   NG (Driving support ECU assembly CAN main wire)	C
   NG (Forward recognition camera CAN branch wire)	D

1. Reconnect the E174 No. 10 CAN junction connector.
   

1. Disconnect the driving support ECU assembly connector.
   

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

   Standard Resistance:

   Tester Connection	Condition	Specified Condition
   E164-8 (CA1P) - E22-16 (BAT)	Cable disconnected from negative (-) battery terminal	6 kΩ or higher
   E164-9 (CA1N) - E22-16 (BAT)	Cable disconnected from negative (-) battery terminal	6 kΩ or higher
   E164-8 (CA1P) - E22-4 (CG)	Cable disconnected from negative (-) battery terminal	200 Ω or higher
   E164-9 (CA1N) - E22-4 (CG)	Cable disconnected from negative (-) battery terminal	200 Ω or higher

   Text in Illustration

   *a	Front view of wire harness connector (to Driving Support ECU Assembly)
   *b	Front view of DLC3