Last Modified: 05-08-2025 6.11:8.1.0 Doc ID: RM1000000021GSM
Model Year Start: 2022 Model: RAV4 Prod Date Range: [12/2021 -           ]
Title: LIGHTING (EXT): AUTOMATIC HIGH BEAM SYSTEM: U010087,U012587,U012687,U012987,U014087; Lost Communication With ECM/PCM "A" Missing Message; 2022 - 2025 MY RAV4 RAV4 HV [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

U012687

Lost Communication with Steering Angle 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

DESCRIPTION

These DTCs are stored if a CAN communication malfunction occurs between the forward recognition camera and other ECUs.

DTC No.

Detection Item

DTC Detection Condition

Trouble Area

DTC Output from

U010087

Lost Communication With ECM/PCM "A" Missing Message

The forward recognition camera does not receive data from the ECM for approximately 5 seconds or more.
  • CAN communication system
  • ECM

Front Recognition Camera (Front Lighting Control)

U012587

Lost Communication With Multi-axis Acceleration Sensor Module Missing Message

The airbag ECU assembly (yaw rate sensor) does not receive data from the ECM for approximately 5 seconds or more.
  • CAN communication system
  • Airbag ECU assembly (yaw rate sensor)

Front Recognition Camera (Front Lighting Control)

U012687

Lost Communication with Steering Angle Sensor Module Missing Message

The forward recognition camera does not receive data from the steering sensor for approximately 5 seconds or more.
  • CAN communication system
  • Steering sensor

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 actuator assembly (No. 2 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 actuator assembly (No. 2 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

The forward recognition camera does not receive data from the main body ECU (multiplex network body ECU) for approximately 5 seconds or more.
  • CAN communication system
  • Main body ECU (multiplex network body ECU)

Front Recognition Camera (Front Lighting Control)

PROCEDURE

1.

CLEAR DTC

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

(b) Clear the DTCs.

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

NEXT

2.

CHECK FOR DTC

(a) Turn the ignition switch to ON.

(b) Wait 10 seconds or more.

(c) Turn the Techstream on.

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

(e) Check for DTCs.

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

Result

Proceed to

DTC are not output

A

U010087, U12587, U012687, U012987 or U014087 are output

B

None of the above conditions are met

C
A

USE SIMULATION METHOD TO CHECK

B

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

C

GO TO DIAGNOSTIC TROUBLE CODE CHART