Safety Warning
DIY auto repair can cause serious injury, fire, or vehicle damage. These guides are for informational purposes only. Always follow OEM torque specs, wear PPE, and consult a certified mechanic if you are unsure. You are solely responsible for your safety.
DTC U0104-87: Lost Communication with Cruise Control Module Missing Message [12/2019 - 09/2020]: Procedure
- CHECK FOR DTCs
- Check for pre-collision system DTCs.
Body Electrical > Pre-Collision System > Trouble Codes
Result
Result Proceed to DTC U0235-87 is output A DTC U0235-87 is not output B
Result:
B
See step 4
Result:
A
See step 2
- Check for pre-collision system DTCs.
- CHECK CAN BUS LINES
*1 DLC3 - - *a Front view of wire harness connector
(to Forward Recognition Camera)- - - Disconnect the R5 forward recognition camera connector.
- Measure the resistance according to the value(s) in the table below.
Standard Resistance
Tester Connection Condition Specified Condition R5-6 (CANH) - R5-12 (CANL) Cable disconnected from negative (-) auxiliary battery terminal 108 to 132Ω - Measure the resistance according to the value(s) in the table below.
Standard Resistance
Tester Connection Condition Specified Condition R5-6 (CANH) - H56-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher R5-12 (CANL) - H56-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher R5-6 (CANH) - H56-16 (BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher R5-12 (CANL) - H56-16 (BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher - Connect the R5 forward recognition camera connector.
Result
Proceed to OK NG
Result:
OK
REPLACE FORWARD RECOGNITION CAMERA. Refer to REMOVAL [12/2019 - 09/2020]
Result:
NG
See step 3
- CHECK CAN BUS LINES
*1 DLC3 - - *a Front view of wire harness connector
(to Millimeter Wave Radar Sensor Assembly)- - - Disconnect the B6 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 B6-5 (CA1P) - B6-6 (CA1N) Cable disconnected from negative (-) auxiliary battery terminal 108 to 132Ω - Measure the resistance according to the value(s) in the table below.
Standard Resistance
Tester Connection Condition Specified Condition B6-5 (CA1P) - H56-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher B6-6 (CA1N) - H56-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher B6-5 (CA1P) - H56-16 (BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher B6-6 (CA1N) - H56-16 (BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher - Connect the B6 millimeter wave radar sensor assembly connector.
Result
Proceed to OK NG
Result:
OK
REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY. Refer to REMOVAL [12/2019 - 09/2020]
Result:
NG
REPAIR OR REPLACE CAN BUS MAIN LINE OR CONNECTOR
- CHECK CONNECTOR (FORWARD RECOGNITION CAMERA)
- Check the locking part and terminals of the forward recognition camera connector.NOTE:
- Make sure the connector is not loose or disconnected.
- Make sure that the connector and terminals are not deformed or corroded.
OK
The connector and terminals are normal.
Result
Proceed to OK NG
Result:
NG
REPAIR OR REPLACE HARNESS OR CONNECTOR (FORWARD RECOGNITION CAMERA)
Result:
OK
See step 5
- Check the locking part and terminals of the forward recognition camera connector.
- CHECK HARNESS AND CONNECTOR (FORWARD RECOGNITION CAMERA POWER SOURCE CIRCUIT)
*a Front view of wire harness connector
(to Forward Recognition Camera)- Disconnect the cable from the negative (-) auxiliary battery terminal.
- Disconnect the R5 forward recognition camera connector.
- Measure the resistance according to the value(s) in the table below.
Standard Resistance
Tester Connection Condition Specified Condition R5-10 (GND) - Body ground Always Below 1 Ω - Connect the cable to the negative (-) auxiliary battery terminal.
- Measure the voltage according to the value(s) in the table below.
Standard Voltage
Tester Connection Condition Specified Condition R5-7 (IGB) - Body ground Ignition switch ON 11 to 14 V - Connect the R5 forward recognition camera connector.
Result
Proceed to OK NG
Result:
NG
REPAIR OR REPLACE HARNESS OR CONNECTOR
Result:
OK
See step 6
- INSPECT FORWARD RECOGNITION CAMERA (WAVEFORM)
*a Front view of wire harness connector
(to Millimeter Wave Radar Sensor Assembly)*b Waveform - Turn the ignition switch off.
- Disconnect the B6 millimeter wave radar sensor assembly connector.
- Turn the ignition switch to ON.
- Using an oscilloscope, measure the waveform at the B6 millimeter wave radar sensor assembly connector.
Measurement Condition
Tester Connection Condition Tool Setting B6-5 (CA1P) - Body ground Ignition switch ON 1 V/DIV., 100 μs/DIV. NOTE:The oscilloscope waveform is for reference only and does not include noise, fluctuations, etc.
OK
A waveform similar to that in the illustration can be observed.
- Connect the B6 millimeter wave radar sensor assembly connector.
Result
Proceed to OK NG
Result:
OK
REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY. Refer to REMOVAL [12/2019 - 09/2020]
Result:
NG
REPLACE FORWARD RECOGNITION CAMERA. Refer to REMOVAL [12/2019 - 09/2020]
NO RELATED
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When to See a Mechanic
Stop DIY work and contact a certified mechanic immediately if any of the following apply:
- • You smell fuel, burning insulation, or see smoke.
- • Brakes feel soft, pull hard to one side, or make grinding noises.
- • The engine overheats, stalls repeatedly, or misfires under load.
- • You are missing required tools, torque specs, or safe lifting equipment.
- • You are not confident in the next step or safety outcome.