Toyota Yaris: Dynamic Radar Cruise Control System / Lost Communication with ECM/PCM "A" Missing Message (U010087,U012687,U012987,U015587)

Toyota Yaris XP210 (2020-2025) Reapir and Service Manual / Engine & Hybrid System / Cruise Control / Dynamic Radar Cruise Control System / Lost Communication with ECM/PCM "A" Missing Message (U010087,U012687,U012987,U015587)

DESCRIPTION

The millimeter wave radar sensor assembly communicates with each sensor and ECU via CAN communication.

If any malfunction is detected in a CAN communication circuit, one or more CAN communication system DTCs are stored.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area	DTC Output from
U010087	Lost Communication with ECM/PCM "A" Missing Message	When the dynamic radar cruise control system is operating, a communication malfunction between the ECM and millimeter wave radar sensor assembly is detected for 1 second or more.	CAN communication system	Radar Cruise2
U012687	Lost Communication with Steering Angle Sensor Module Missing Message	When the dynamic radar cruise control system is operating, a communication error between the millimeter wave radar sensor assembly and steering sensor continues for 5 seconds or more.	CAN communication system	Radar Cruise2
U012987	Lost Communication with Brake System Control Module Missing Message	When the dynamic radar cruise control system is operating, a communication error between the millimeter wave radar sensor assembly and skid control ECU (brake actuator assembly) continues for 5 seconds or more.	CAN communication system	Radar Cruise2
U015587	Lost Communication with Instrument Panel Cluster (IPC) Control Module Missing Message	When the dynamic radar cruise control system is operating, a communication error between the millimeter wave radar sensor assembly and combination meter assembly continues for 12 seconds or more.	CAN communication system	Radar Cruise2

PROCEDURE

CLEAR DTC

(a) Clear the DTCs.

Powertrain > Radar Cruise2 > Clear DTCs

2.	CHECK FOR DTCs

(a) Make sure that the DTC detection conditions are met.

HINT:

If the detection conditions are not met, the system cannot detect the malfunction.

(b) Check for DTCs.

Powertrain > Radar Cruise2 > Trouble Codes

Result	Proceed to
DTC U010087, U012687, U012987 or U015587 is output	A
DTCs are not output	B
None of the above conditions are met	C

GO TO CAN COMMUNICATION SYSTEM

USE SIMULATION METHOD TO CHECK

GO TO DTC CHART

Lost Communication with ECM/PCM "A" Missing Message (U010087,U010487,U012287)

DESCRIPTION The ECM communicates with each sensor and ECU via CAN communication. If any malfunction is detected in a CAN communication circuit, one or more CAN communication system DTCs are stored...

Lost Communication with Image Processing Module "A" Missing Message (U023A87)

DESCRIPTION The millimeter wave radar sensor assembly is connected to the forward recognition camera via the CAN communication line. If the millimeter wave radar sensor assembly receives signals indicating that its communication with the forward recognition camera is abnormal, the millimeter wave radar sensor assembly stores DTC U023A87...

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