DTC U0104-87: Lost Communication with Cruise Control Module Missing Message [12/2024 - ]: Procedure

1. Read each DTC and check the diagnosis pattern using the table below.

   Body Electrical > Front Radar Sensor > Trouble Codes 

   Chassis > Front Recognition Camera > Trouble Codes 

   Pattern	DTC output part name (Display on GTS)
   	Front Radar Sensor	Front Recognition Camera
   Pattern 1	U0104-87	U0235-87
   Pattern 2	U0104-87	-

   Result

   Result	Proceed to
   Pattern 1	A
   Pattern 2	B

Result: 

A 

GO TO FRONT CAMERA SYSTEM 

Refer to DTC U0235-87: Lost Communication with Cruise Control Front Distance Range Sensor Single Sensor or Center Missing Message [12/2024 - ]

Result: 

B 

See step  2

1. Check that the connectors are properly connected to the forward recognition camera and millimeter wave radar sensor assembly.

   OK

   The connectors are properly connected

   Result

   Proceed to
   OK
   NG

Result: 

NG 

CONNECT CONNECTORS PROPERLY 

Result: 

OK 

See step  3

1. Clear the DTCs.

   Body Electrical > Front Radar Sensor > Clear DTCs 

   Result

   Proceed to
   NEXT

Result: 

NEXT 

See step  4

Pre-procedure1

• Turn the ignition switch off.
• Turn the ignition switch to ON.
• Make sure that the DTC detection conditions are met.

  HINT: 

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

• Check for DTCs.

  Body Electrical > Front Radar Sensor > Trouble Codes 

  Result

  Result	Proceed to
  U0104-87 is not output	A
  U0104-87 is output	B

Post-procedure1

• None

Result: 

A 

END 

Result: 

B 

See step  5

Pre-procedure1

• Disconnect the cable from the negative (-) auxiliary battery terminal.
• Disconnect the C5 millimeter wave radar sensor assembly connector.

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

  Standard Resistance

  Tester Connection	Condition	Specified Condition	Result
  C5-8 (CA1P) - C5-7 (CA1N)	Cable disconnected from negative (-) auxiliary battery terminal	108 to 132 Ω	Ω

  Result

  Proceed to
  OK
  NG

Post-procedure1

• None

Result: 

NG 

REPAIR OR REPLACE CAN BUS HARNESS OR CONNECTOR 

Result: 

OK 

See step  6

Pre-procedure1

• Connect the cable to the negative (-) auxiliary battery terminal.

• Using an oscilloscope, check the waveform.

  OK

  Tester Connection	Condition	Tool Setting	Specified Condition
  C5-8 (CA1P) - C5-7 (CA1N)	Ignition switch ON	1 V/DIV., 100 μs./DIV.	Pulse generation

  Result

  Proceed to
  OK
  NG

Post-procedure1

• None

Result: 

OK 

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY 

Refer to REMOVAL [12/2024 - ]

Result: 

NG 

REPLACE FORWARD RECOGNITION CAMERA 

Refer to REMOVAL [12/2024 - ]