Last Modified: 05-08-2025 6.11:8.1.0 Doc ID: RM100000001WDII
Model Year Start: 2021 Model: RAV4 Prod Date Range: [08/2020 - 12/2021]
Title: LIGHTING (EXT): AUTOMATIC HIGH BEAM SYSTEM: U010087,U012587,U012987,U014087,U029387; Lost Communication with ECM/PCM "A" Missing Message; 2021 MY RAV4 RAV4 HV [08/2020 - 12/2021]

DTC

U010087

Lost Communication with ECM/PCM "A" Missing Message

DTC

U012587

Lost Communication with Multi-axis Acceleration Sensor Module Missing Message

DTC

U012987

Lost Communication with Brake System Control Module Missing Message

DTC

U014087

Lost Communication with Body Control Module Missing Message

DTC

U029387

Lost Communication With Hybrid Powertrain Control Module Missing Message

DESCRIPTION

DTC No.

Detection Item

DTC Detection Condition

Trouble Area

DTC Output from

Note

U010087

Lost Communication with ECM/PCM "A" Missing Message

Communication stop occurs between the forward recognition camera and ECM continuously for 5 seconds or more.
  • CAN communication system
  • ECM
  • Forward recognition camera

Front Recognition Camera (Front Lighting Control)

for Gasoline Model

U012587

Lost Communication with Multi-axis Acceleration Sensor Module Missing Message

Communication stop occurs between the forward recognition camera and airbag sensor assembly continuously for 5 seconds or more.
  • CAN communication system
  • Airbag sensor assembly
  • Forward recognition camera

Front Recognition Camera (Front Lighting Control)

-

U012987

Lost Communication with Brake System Control Module Missing Message

for HV Model:

  • Communication stop occurs between the forward recognition camera and brake booster with master cylinder assembly (skid control ECU) continuously for 5 seconds or more.

for Gasoline Model:

  • Communication stop occurs between the forward recognition camera and brake actuator assembly (skid control ECU) continuously for 5 seconds or more.

for HV Model:

  • CAN communication system
  • Brake booster with master cylinder assembly (skid control ECU)
  • Forward recognition camera

for Gasoline Model:

  • CAN communication system
  • Brake actuator assembly (skid control ECU)
  • Forward recognition camera

Front Recognition Camera (Front Lighting Control)

-

U014087

Lost Communication with Body Control Module Missing Message

Communication stop occurs between the forward recognition camera and main body ECU (multiplex network body ECU) continuously for 5 seconds or more.
  • CAN communication system
  • Main body ECU (multiplex network body ECU) and
  • Forward recognition camera

Front Recognition Camera (Front Lighting Control)

-

U029387

Lost Communication With Hybrid Powertrain Control Module Missing Message

Communication stop occurs between the forward recognition camera and hybrid vehicle control ECU assembly continuously for 5 seconds or more.
  • CAN communication system
  • Hybrid vehicle control ECU assembly
  • Forward recognition camera

Front Recognition Camera (Front Lighting Control)

for HV Model

PROCEDURE

1.

CLEAR DTC

(a) Connect the Techstream to the DLC3.

(b) Turn the ignition switch to ON.

(c) Turn the Techstream on.

(d) Enter the following menus: Body Electrical / Front Recognition Camera (Front Lighting Control) / Clear DTCs.

(e) Clear the DTCs.

Body Electrical > Front Recognition Camera (Front Lighting Control) > Clear DTCs

NEXT

2.

CHECK FOR DTC

(a) Connect the Techstream to the DLC3.

(b) Turn the ignition switch to ON.

(c) Wait 5 seconds or more.

(d) Turn the Techstream on.

(e) Enter the following menus: Body Electrical / Front Recognition Camera (Front Lighting Control) / Trouble Codes.

(f) Check for DTCs.

Body Electrical > Front Recognition Camera (Front Lighting Control) > Trouble Codes

OK:

DTCs are not output.

OK

USE SIMULATION METHOD TO CHECK

NG

GO TO CAN COMMUNICATION SYSTEM

for HV Model:

Click here 2019 - 2025 MY RAV4 HV [02/2019 -        ]; NETWORKING: CAN COMMUNICATION SYSTEM (for HV Model): HOW TO PROCEED WITH TROUBLESHOOTING

for Gasoline Model:

Click here 2019 - 2025 MY RAV4 [11/2018 -        ]; NETWORKING: CAN COMMUNICATION SYSTEM (for Gasoline Model): HOW TO PROCEED WITH TROUBLESHOOTING