Brake Control System: Section

BRAKES
SECTION
BRAKE CONTROL SYSTEM
BRC B
E
CONTENTS
ABS Component Description ...........................................18 BRC
BASIC INSPECTION .................................... 6 ABS ................................................................... 19

System Diagram ......................................................19
G
DIAGNOSIS AND REPAIR WORKFLOW .......... 6 System Description ..................................................19
Work Flow ................................................................. 6 Component Parts Location ......................................20
Diagnostic Work Sheet .............................................. 9 Component Description ...........................................21
H
INSPECTION AND ADJUSTMENT ....................10 EBD ................................................................... 22
System Diagram ......................................................22
ADDITIONAL SERVICE WHEN REPLACING System Description ..................................................22
CONTROL UNIT ........................................................ 10 I
Component Parts Location ......................................23
ADDITIONAL SERVICE WHEN REPLACING Component Description ...........................................24
CONTROL UNIT : Description ................................ 10
ADDITIONAL SERVICE WHEN REPLACING DIAGNOSIS SYSTEM [ABS ACTUATOR J
CONTROL UNIT : Special Repair Requirement .... 10 AND ELECTRIC UNIT (CONTROL UNIT)] ....... 25
CONSULT-III Function (ABS) ..................................25
ADJUSTMENT OF STEERING ANGLE SENSOR
NEUTRAL POSITION ................................................ 10 K
COMPONENT DIAGNOSIS ......................... 30
ADJUSTMENT OF STEERING ANGLE SENSOR
NEUTRAL POSITION : Description ........................ 10 C1101, C1102, C1103, C1104 WHEEL SEN-
ADJUSTMENT OF STEERING ANGLE SENSOR SOR-1 ................................................................ 30 L
NEUTRAL POSITION : Special Repair Require- Description ...............................................................30
ment ........................................................................ 10 DTC Logic ................................................................30
Diagnosis Procedure ...............................................30 M
CALIBRATION OF DECEL G SENSOR ................... 11
Component Inspection .............................................32
CALIBRATION OF DECEL G SENSOR : Descrip-
Special Repair Requirement ....................................32
tion .......................................................................... 11
CALIBRATION OF DECEL G SENSOR : Special C1105, C1106, C1107, C1108 WHEEL SEN- N
Repair Requirement ................................................ 12 SOR-2 ................................................................ 33
Description ...............................................................33
FUNCTION DIAGNOSIS .............................. 13 O
DTC Logic ................................................................33
VDC ....................................................................13 Diagnosis Procedure ...............................................33
System Diagram ...................................................... 13 Component Inspection .............................................35
System Description ................................................. 13 Special Repair Requirement ....................................35 P
Component Parts Location ...................................... 14
C1109 POWER AND GROUND SYSTEM ........ 36
Component Description ........................................... 15
Description ...............................................................36
TCS .....................................................................16 DTC Logic ................................................................36
System Diagram ...................................................... 16 Diagnosis Procedure ...............................................36
System Description ................................................. 16 Special Repair Requirement ....................................37
Component Parts Location ...................................... 17
BRC-1
C1110, C1170 ABS ACTUATOR AND ELEC- Special Repair Requirement ................................... 57
TRIC UNIT (CONTROL UNIT) ........................... 38
DTC Logic ............................................................... 38
U1000 CAN COMM CIRCUIT ............................ 59
Description .............................................................. 59
Diagnosis Procedure .............................................. 38
DTC Logic ............................................................... 59
Special Repair Requirement ................................... 38
Diagnosis Procedure ............................................... 59
C1111 ABS MOTOR, MOTOR RELAY SYS- Special Repair Requirement ................................... 59
TEM .................................................................... 39
ABS WARNING LAMP ...................................... 60
Description .............................................................. 39
Description .............................................................. 60
DTC Logic ............................................................... 39
Component Function Check ................................... 60
Component Inspection ............................................ 40
Special Repair Requirement ................................... 40 BRAKE WARNING LAMP ................................. 61
Description .............................................................. 61
C1115 WHEEL SENSOR ................................... 41
Component Function Check ................................... 61
Description .............................................................. 41
DTC Logic ............................................................... 41
Diagnosis Procedure .............................................. 41 ECU DIAGNOSIS ....................................... 62
Special Repair Requirement ................................... 43 ABS ACTUATOR AND ELECTRIC UNIT
(CONTROL UNIT) .............................................. 62
C1116 STOP LAMP SWITCH ............................ 44 Reference Value ..................................................... 62
Description .............................................................. 44
Wiring Diagram - LHD ............................................. 67
DTC Logic ............................................................... 44
Wiring Diagram - RHD ............................................ 69
Fail-Safe .................................................................. 70
DTC No. Index ........................................................ 71
C1120, C1122, C1124, C1126 IN ABS SOL ..... 46
SYMPTOM DIAGNOSIS ............................ 73
Description .............................................................. 46
DTC Logic ............................................................... 46 ABS .................................................................... 73
Diagnosis Procedure .............................................. 46 Symptom Table ....................................................... 73
Special Repair Requirement ................................... 48 EXCESSIVE ABS FUNCTION OPERATION
FREQUENCY ..................................................... 74
C1121, C1123, C1125, C1127 OUT ABS SOL... 49 Diagnosis Procedure ............................................... 74
Description .............................................................. 49
DTC Logic ............................................................... 49 UNEXPECTED PEDAL REACTION .................. 75
Diagnosis Procedure .............................................. 49 Diagnosis Procedure ............................................... 75
Special Repair Requirement ................................... 51 THE BRAKING DISTANCE IS LONG ............... 76
C1130, C1131, C1132, C1133, C1136 EN-
GINE SIGNAL .................................................... 52 ABS FUNCTION DOES NOT OPERATE .......... 77
Description .............................................................. 52 Diagnosis Procedure ............................................... 77
DTC Logic ............................................................... 52
PEDAL VIBRATION OR ABS OPERATION
SOUND OCCURS .............................................. 78
C1140 ACTUATOR RLY ................................... 54
Description .............................................................. 54
NORMAL OPERATING CONDITION ................ 79
Description .............................................................. 79
DTC Logic ............................................................... 54
Diagnosis Procedure .............................................. 54 PRECAUTION ............................................ 80
Special Repair Requirement ................................... 55 PRECAUTIONS ................................................. 80
Precaution for Supplemental Restraint System
C1155 BRAKE FLUID LEVEL SWITCH ............ 56 (SRS) "AIR BAG" and "SEAT BELT PRE-TEN-
Description .............................................................. 56 SIONER" ................................................................. 80
DTC Logic ............................................................... 56
Precaution for Brake System .................................. 80
Precaution for Brake Control ................................... 80
Precaution for Harness Repair ................................ 81
BRC-2
PREPARATION ........................................... 82 System Diagram ......................................................99
System Description ..................................................99 A
PREPARATION ..................................................82 Component Parts Location .................................... 100
Special Service Tool ............................................... 82 Component Description ......................................... 101
REMOVAL AND INSTALLATION ............... 83 EBD ................................................................. 102 B

System Diagram .................................................... 102
WHEEL SENSORS ............................................83 System Description ................................................ 102
Removal and Installation ......................................... 83 Component Parts Location .................................... 103 C
Component Description ......................................... 104
SENSOR ROTOR ...............................................84
Removal and Installation ......................................... 84 DIAGNOSIS SYSTEM [ABS ACTUATOR
D
ACTUATOR AND ELECTRIC UNIT (ASSEM- AND ELECTRIC UNIT (CONTROL UNIT)] ..... 105
CONSULT-III Function (ABS) ................................ 105
BLY) ....................................................................85
Removal and Installation ......................................... 85 COMPONENT DIAGNOSIS ....................... 110 E
ESP/TCS/ABS
C1101, C1102, C1103, C1104 WHEEL SEN-
BASIC INSPECTION ................................... 86 SOR-1 .............................................................. 110 BRC
Description ............................................................. 110
DIAGNOSIS AND REPAIR WORKFLOW .........86 DTC Logic .............................................................. 110
Work Flow ............................................................... 86 Diagnosis Procedure ............................................. 110
Diagnostic Work Sheet ............................................ 89 Component Inspection ........................................... 112 G
INSPECTION AND ADJUSTMENT ....................90 Special Repair Requirement .................................. 112
ADDITIONAL SERVICE WHEN REPLACING C1105, C1106, C1107, C1108 WHEEL SEN- H
CONTROL UNIT ........................................................ 90 SOR-2 .............................................................. 113
ADDITIONAL SERVICE WHEN REPLACING Description ............................................................. 113
CONTROL UNIT : Description ................................ 90 DTC Logic .............................................................. 113
I
ADDITIONAL SERVICE WHEN REPLACING Diagnosis Procedure ............................................. 113
CONTROL UNIT : Special Repair Requirement .... 90 Component Inspection ........................................... 115
Special Repair Requirement .................................. 115
ADJUSTMENT OF STEERING ANGLE SENSOR J
NEUTRAL POSITION ................................................ 90 C1109 POWER AND GROUND SYSTEM ...... 116
ADJUSTMENT OF STEERING ANGLE SENSOR Description ............................................................. 116
NEUTRAL POSITION : Description ........................ 90 DTC Logic .............................................................. 116 K
ADJUSTMENT OF STEERING ANGLE SENSOR Diagnosis Procedure ............................................. 116
NEUTRAL POSITION : Special Repair Require- Special Repair Requirement .................................. 117
ment ........................................................................ 90
C1110, C1170 ABS ACTUATOR AND ELEC- L
CALIBRATION OF DECEL G SENSOR ................... 91 TRIC UNIT (CONTROL UNIT) ........................ 118
CALIBRATION OF DECEL G SENSOR : Descrip- DTC Logic .............................................................. 118
tion .......................................................................... 91 Diagnosis Procedure ............................................. 118 M
CALIBRATION OF DECEL G SENSOR : Special Special Repair Requirement .................................. 118
Repair Requirement ................................................ 92
C1111 ABS MOTOR, MOTOR RELAY SYS-
FUNCTION DIAGNOSIS .............................. 93 TEM ................................................................. 119 N
Description ............................................................. 119
VDC ....................................................................93 DTC Logic .............................................................. 119
System Diagram ...................................................... 93 Diagnosis Procedure ............................................. 119 O
System Description ................................................. 93 Component Inspection ........................................... 120
Component Parts Location ...................................... 94 Special Repair Requirement .................................. 120
Component Description ........................................... 95
P
C1113, C1145, C1146 YAW RATE/SIDE/DE-
TCS .....................................................................96 CEL G SENSOR .............................................. 121
System Diagram ...................................................... 96 Description ............................................................. 121
System Description ................................................. 96 DTC Logic .............................................................. 121
Component Parts Location ...................................... 97 Diagnosis Procedure ............................................. 121
Component Description ........................................... 98 Component Inspection ........................................... 122
ABS ....................................................................99 Special Repair Requirement .................................. 122
BRC-3
C1115 WHEEL SENSOR ................................. 124 C1156 ST ANG SEN COM CIR ........................ 148
Description .............................................................124 Description ............................................................ 148
DTC Logic ..............................................................124 DTC Logic ............................................................. 148
Diagnosis Procedure .............................................124 Diagnosis Procedure ............................................. 148
Component Inspection ...........................................125
Special Repair Requirement ..................................126 C1160 DECEL G SEN SET .............................. 149
Description ............................................................ 149
C1116 STOP LAMP SWITCH .......................... 127 DTC Logic ............................................................. 149
Description .............................................................127 Diagnosis Procedure ............................................. 149
DTC Logic ..............................................................127
Diagnosis Procedure .............................................127 C1163 ST ANGLE SEN SAFE ......................... 150
Special Repair Requirement ..................................128 Description ............................................................ 150
DTC Logic ............................................................. 150
C1120, C1122, C1124, C1126 IN ABS SOL ... 129 Diagnosis Procedure ............................................. 150
Description .............................................................129
DTC Logic ..............................................................129 C1179 ABS DELTA S SEN NG ........................ 151
Diagnosis Procedure .............................................129 Description ............................................................ 151
Component Inspection ...........................................130 DTC Logic ............................................................. 151
Special Repair Requirement ..................................131 Diagnosis Procedure ............................................. 151
Component Inspection .......................................... 152
C1121, C1123, C1125, C1127 OUT ABS SOL. 132 Special Repair Requirement ................................. 152
Description .............................................................132
DTC Logic ..............................................................132 U1000 CAN COMM CIRCUIT ........................... 153
Diagnosis Procedure .............................................132 Description ............................................................ 153
Component Inspection ...........................................133 DTC Logic ............................................................. 153
Special Repair Requirement ..................................134 Diagnosis Procedure ............................................. 153
Special Repair Requirement ................................. 153
C1130, C1131, C1132, C1133, C1136 EN-
GINE SIGNAL .................................................. 135 VDC OFF SWITCH ........................................... 154
DTC Logic ..............................................................135 Component Function Check ................................. 154
Special Repair Requirement ..................................135 Component Inspection .......................................... 155
C1140 ACTUATOR RLY ................................. 137 ABS WARNING LAMP ..................................... 156
DTC Logic ..............................................................137 Component Function Check ................................. 156
Component Inspection ...........................................138 BRAKE WARNING LAMP ................................ 157
Special Repair Requirement ..................................138
Description ............................................................ 157
C1142 PRESS SENSOR ................................. 139 Component Function Check ................................. 157
Description .............................................................139 Diagnosis Procedure ............................................. 157
DTC Logic ..............................................................139 VDC OFF INDICATOR LAMP .......................... 158
Diagnosis Procedure .............................................139
Description ............................................................ 158
Component Function Check ................................. 158
Diagnosis Procedure ............................................. 158
C1143, C1144 STEERING ANGLE SENSOR . 142 SLIP INDICATOR LAMP .................................. 159
Description .............................................................142
Description ............................................................ 159
DTC Logic ..............................................................142
Component Function Check ................................. 159
Diagnosis Procedure .............................................142
Special Repair Requirement ..................................143 ECU DIAGNOSIS ...................................... 160
C1155 BRAKE FLUID LEVEL SWITCH .......... 145 ABS ACTUATOR AND ELECTRIC UNIT
Description .............................................................145 (CONTROL UNIT) ............................................. 160
DTC Logic ..............................................................145 Reference Value ................................................... 160
Diagnosis Procedure .............................................145 Wiring Diagram - LHD ........................................... 165
Component Inspection ...........................................146 Wiring Diagram - RHD .......................................... 167
BRC-4
Fail-Safe ................................................................ 168 PRECAUTIONS ............................................... 179
DTC No. Index ...................................................... 169 Precaution for Supplemental Restraint System A
(SRS) "AIR BAG" and "SEAT BELT PRE-TEN-
SYMPTOM DIAGNOSIS ............................ 171 SIONER" ............................................................... 179
Precaution for Brake System ................................. 179 B
VDC/TCS/ABS .................................................. 171
Precaution for Brake Control ................................. 179
Symptom Table ..................................................... 171
Diagnosis Precaution ............................................. 180
EXCESSIVE ABS FUNCTION OPERATION Precaution for Harness Repair .............................. 180
C
FREQUENCY ................................................... 172
PREPARATION ......................................... 181
PREPARATION ............................................... 181 D
UNEXPECTED PEDAL REACTION ................ 173
Special Service Tool .............................................. 181
THE BRAKING DISTANCE IS LONG .............. 174 REMOVAL AND INSTALLATION ............. 182
E
Diagnosis Procedure ............................................. 174 WHEEL SENSORS ......................................... 182
ABS FUNCTION DOES NOT OPERATE ......... 175 Removal and Installation ....................................... 182
Diagnosis Procedure ............................................. 175 SENSOR ROTOR ............................................ 183 BRC
PEDAL VIBRATION OR ABS OPERATION Removal and Installation ....................................... 183
SOUND OCCURS ............................................ 176 ACTUATOR AND ELECTRIC UNIT (ASSEM- G
Diagnosis Procedure ............................................. 176 BLY) ................................................................ 184
VEHICLE JERKS DURING VDC/TCS/ABS Removal and Installation ....................................... 184
CONTROL ........................................................ 177 YAW RATE/SIDE G SENSOR ........................ 185 H
Diagnosis Procedure ............................................. 177 Removal and Installation ....................................... 185
NORMAL OPERATING CONDITION ............... 178 STEERING ANGLE SENSOR ......................... 186 I
Description ............................................................ 178 Removal and Installation ....................................... 186
PRECAUTION ............................................ 179
J
BRC-5
DIAGNOSIS AND REPAIR WORKFLOW
< BASIC INSPECTION > [ABS]
BASIC INSPECTION
Work Flow INFOID:0000000001731351
PRECAUTIONS FOR DIAGNOSIS

If steering angle sensor, steering system parts, suspension system parts, ABS actuator and electric unit (con-
trol unit) or tires have been replaced, or if wheel alignment has been adjusted, be sure to adjust neutral posi-
tion of steering angle sensor before driving. Refer to BRC-90, "ADJUSTMENT OF STEERING ANGLE
SENSOR NEUTRAL POSITION : Description".
BRC-6
OVERALL SEQUENCE
A
BRC
JSFIA0010GB
P
DETAIED FLOW
1.COLLECT THE INFORMATION FROM THE CUSTOMER
Get the detailed information from the customer about the symptom (the condition and the environment when
the incident/malfunction occurred) using the diagnosis worksheet. Refer to BRC-89, "Diagnostic Work Sheet".
>> GO TO 2
BRC-7
2.PERFORM THE SELF-DIAGNOSIS

Check the DTC display with the self-diagnosis function. Refer to BRC-25, "CONSULT-III Function (ABS)".
Is there any DTC displayed?
YES >> GO TO 3
NO >> GO TO 4
3.PERFORM THE SYSTEM DIAGNOSIS
Perform the diagnosis applicable to the displayed DTC. Refer to BRC-71, "DTC No. Index".
>> GO TO 7
4.CHECK THE SYMPTOM THAT IS NOT CONSIDERED A SYSTEM MALFUNCTION
Check that the symptom is a normal operation that is not considered a system malfunction. Refer to BRC-79,
"Description".
Is the symptom a normal operation?
YES >> INSPECTION END
NO >> GO TO 5
5.CHECK THE WARNING LAMP AND INDICATOR LAMP FOR ILLUMINATION
Check that the warning lamp and indicator lamp illuminate.
• ABS warning lamp: Refer to BRC-60, "Description".
• Brake warning lamp: Refer to BRC-61, "Description".
• VDC OFF indicator lamp: Refer to XX-XX, "*****".
• SLIP indicator lamp: Refer to XX-XX, "*****".
Is ON/OFF timing normal?
YES >> GO TO 6
NO >> GO TO 2
6.PERFORM THE DIAGNOSIS BY SYMPTOM
Perform the diagnosis applicable to the symptom.
>> GO TO 7
7.REPAIR OR REPLACE THE MALFUNCTIONING PARTS
Repair or replace the specified malfunctioning parts.
>> GO TO 8
8.FINAL CHECK
Perform the self-diagnosis again, and check that the malfunction is repaired completely. After checking, erase
the self-diagnosis memory. Refer to BRC-25, "CONSULT-III Function (ABS)".
Is no other DTC present and the repair completed?
NO >> GO TO 3
BRC-8
Diagnostic Work Sheet INFOID:0000000001731352
BRC
H
SFIA3265E
BRC-9
INSPECTION AND ADJUSTMENT
ADDITIONAL SERVICE WHEN REPLACING CONTROL UNIT
ADDITIONAL SERVICE WHEN REPLACING CONTROL UNIT : Description
INFOID:0000000001731353
After replacing the ABS actuator and electric unit (control unit), perform the following procedures:
• Neutral position adjustment for the steering angle sensor
• Calibration of the decel G sensor
ADDITIONAL SERVICE WHEN REPLACING CONTROL UNIT : Special Repair Re-
quirement INFOID:0000000001731354
1.PERFORM THE NEUTRAL POSITION ADJUSTMENT FOR THE STEERING ANGLE SENSOR
Perform the neutral position adjustment for the steering angle sensor.
>> Refer to BRC-90, "ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION : Spe-
cial Repair Requirement", GO TO 2
2.PERFORM CALIBRATION OF THE DECEL G SENSOR
Perform calibration of the decel G sensor.
>> Refer to BRC-92, "CALIBRATION OF DECEL G SENSOR : Special Repair Requirement".

ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION
ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION : Description
INFOID:0000000001731355
Refer to the table below to determine if adjustment of steering angle sensor neutral position is required.
×: Required –: Not required
Situation Adjustment of steering angle sensor neutral position

Removing/Installing ABS actuator and electric unit (control unit) —
Replacing ABS actuator and electric unit (control unit) ×
Removing/Installing steering angle sensor ×
Replacing steering angle sensor ×
Removing/Installing steering components ×
Replacing steering components ×
Removing/Installing suspension components ×
Replacing suspension components ×
Change tires to new ones —
Tire rotation —
Adjusting wheel alignment ×
ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION : Special Re-

pair Requirement INFOID:0000000001731356

CAUTION:
To adjust neutral position of steering angle sensor, make sure to use CONSULT-III
(Adjustment cannot be done without CONSULT-III)
1.ALIGN THE VEHICLE STATUS
Stop vehicle with front wheels in straight-ahead position.
BRC-10
>> GO TO 2
2.PERFORM THE NEUTRAL POSITION ADJUSTMENT FOR THE STEERING ANGLE SENSOR A
1. On the CONSULT-III screen, touch “WORK SUPPORT” and “ST ANG SEN ADJUSTMENT” in order.
2. Touch “START”.
B
CAUTION:
Do not touch steering wheel while adjusting steering angle sensor.
3. After approximately 10 seconds, touch “END”.
NOTE: C
After approximately 60 seconds, it ends automatically.
4. Turn ignition switch OFF, then turn it ON again.
CAUTION:
D
Be sure to perform above operation.
>> GO TO 3 E
3.CHECK DATA MONITOR
1. Run vehicle with front wheels in straight-ahead position, then stop.
2. Select “DATA MONITOR”. Then make sure “STR ANGLE SIG” is within 0±2.5°. BRC
Is the steering angle within the specified range?
YES >> GO TO 4
NO >> Perform the neutral position adjustment for the steering angle sensor again, GO TO 1 G
4.ERASE THE SELF-DIAGNOSIS MEMORY
Erase the self-diagnosis memory of the ABS actuator and electric unit (control unit) and ECM. H
• ABS actuator and electric unit (control unit): Refer to BRC-25, "CONSULT-III Function (ABS)".
• ECM, refer to:
- EC-107, "CONSULT-III Function" (HR16DE with EURO-OBD)
- EC-462, "CONSULT-III Function" (HR16DE without EURO-OBD) I
- EC-772, "CONSULT-III Function" (MR18DE)
- EC-1104, "Diagnosis Description" (K9K)
Are the memories erased? J
NO >> Check the items indicated by the self-diagnosis.
CALIBRATION OF DECEL G SENSOR K
CALIBRATION OF DECEL G SENSOR : Description INFOID:0000000001731357
L
Refer to the table below to determine if calibration of the decel G sensor is required.
Situation Calibration of decel G sensor

M
Removing/Installing steering angle sensor × N
O
Replacing suspension components × P
Tire rotation —
BRC-11
CALIBRATION OF DECEL G SENSOR : Special Repair Requirement INFOID:0000000001731358
CALIBRATION OF DECEL G SENSOR

CAUTION:
To calibrate the decel G sensor, make sure to use CONSULT-III
(Calibration cannot be done without CONSULT-III)
>> GO TO 2
2.PERFORM CALIBRATION OF DECEL G SENSOR
1. On the CONSULT-III screen, touch “WORK SUPPORT” and “DECEL G SEN CALIBRATION” in order.
NOTE:
CAUTION:
>> GO TO 3
2. Select “DATA MONITOR”. Then make sure “DECEL G SEN” is within ±.
Is the inspection result normal?
YES >> GO TO 4
NO >> Perform calibration of decel G sensor again, GO TO 1
Erase the self-diagnosis memory of the ABS actuator and electric unit (control unit) and ECM.
• ECM, refer to:
- EC-462, "CONSULT-III Function" (HR16DE without EURO-OBD)
Are the memories erased?
BRC-12
VDC
< FUNCTION DIAGNOSIS > [ABS]
FUNCTION DIAGNOSIS A
VDC
System Diagram INFOID:0000000001731208
B
BRC
I
AWFIA0012GB
J
System Description INFOID:0000000001731209
• Vehicle Dynamics Control system detects driver′s steering operation amount and brake pedal travel from
steering angle sensor and pressure sensors. Using information from yaw rate/side/decel G sensor and K
wheel sensor, VDC judges driving condition (conditions of under steer and over steer) to improve vehicle
driving stability by controlling brake application to 4 wheels and engine output.
• During VDC operation, it informs driver of system operation by flashing SLIP indicator lamp. L
• Electrical system diagnosis by CONSULT-III is available.
BRC-13
VDC
Component Parts Location INFOID:0000000001731210
AWFIA0013GB
BRC-14
VDC
1. Front wheel sensor 2. ABS actuator and electric unit (con- 3. Combination meter M24 A
LH E18 trol unit) E125
RH E117
4. Rear wheel sensor 5. Yaw rate/side/decel G sensor M108 6. Steering angle sensor M17 (view
LH C11 with steering wheel removed) B
RH C10
7. VDC OFF switch M257 8. Active booster E49 9. Delta stroke sensor E114
10. Brake fluid level switch E21 11. Front pressure sensor E31 12. Rear pressure sensor E32 C
Component Description INFOID:0000000001731211
D
Component parts Reference
Pump
BRC-39, "Description" E
Motor
Actuator relay BRC-54, "Description"
ABS actuator and electric unit (control unit)
Solenoid valve BRC-46, "Description" BRC
VDC switch-over valve
XX-XX, "*****"
(CV1, CV2, SV1, SV2)
Wheel sensor BRC-30, "Description" G
Yaw rate/side/decel G sensor XX-XX, "*****"
Steering angle sensor XX-XX, "*****"
H
VDC OFF switch XX-XX, "*****"
ABS warning lamp BRC-60, "Description"
Brake warning lamp BRC-61, "Description" I
VDC OFF indicator lamp XX-XX, "*****"
SLIP indicator lamp XX-XX, "*****"
J
Front pressure sensor
XX-XX, "*****"
Rear pressure sensor
Active booster XX-XX, "*****" K
Delta stroke sensor XX-XX, "*****"
BRC-15
TCS
TCS
AWFIA0012GB
• Traction Control System is a function that electronically controls engine torque, brake fluid pressure and A/T
gear position to ensure the optimum slippage ratio at drive wheels by computing wheel speed signals from 4
wheel sensors. When ABS actuator and electric unit (control unit) detects a spin at drive wheels (rear
wheels), it compares wheel speed signals from all 4 wheels. At this time, LH and RH rear brake fluid pres-
sure are controlled, while fuel being cut to engine and throttle valve being closed to reduce engine torque by
the control unit. Further more, throttle position is continuously controlled to ensure the optimum engine
torque at all times.
• During TCS operation, it informs driver of system operation by flashing SLIP indicator lamp.
BRC-16
TCS
BRC
P
AWFIA0013GB
BRC-17
TCS
1. Front wheel sensor 2. ABS actuator and electric unit (con- 3. Combination meter M24
RH E117
LH C11 with steering wheel removed)
RH C10
10. Brake fluid level switch E21 11. Front pressure sensor E31 12. Rear pressure sensor E32

Pump
BRC-39, "Description"
Motor
Solenoid valve BRC-46, "Description"
XX-XX, "*****"
Wheel sensor BRC-30, "Description"
Brake warning lamp BRC-61, "Description"
XX-XX, "*****"
Active booster XX-XX, "*****"
BRC-18
ABS
ABS
A
BRC
AWFIA0014GB
I
J
• Anti-Lock Braking System is a function that detects wheel revolution while braking, electronically controls
braking force, and prevents wheel locking during sudden braking. It improves handling stability and maneu-
verability for avoiding obstacles.
• Electrical system diagnosis by CONSULT-III is available. K
BRC-19
ABS
AWFIA0013GB
BRC-20
ABS
RH E117
RH C10
D
Pump
Motor
G
BRC-21
EBD
EBD
AWFIA0014GB
• Electric Brake force Distribution is a following function. ABS actuator and electric unit (control unit) detects
subtle slippages between the front and rear wheels during braking. Then it electronically controls the rear
braking force (brake fluid pressure) to reduce rear wheel slippage. Accordingly, it improves vehicle stability.
BRC-22
EBD
BRC
P
AWFIA0013GB
BRC-23
EBD
RH E117
RH C10

Pump
Motor
BRC-24
DIAGNOSIS SYSTEM [ABS ACTUATOR AND ELECTRIC UNIT (CONTROL
UNIT)]
A
UNIT)]
CONSULT-III Function (ABS) INFOID:0000000001731224
B
FUNCTION
CONSULT-III can display each diagnostic item using the diagnostic test modes shown following.
C
Diagnostic test mode Function
This mode enables a technician to adjust some devices faster and more accurately by following
Work support D
the indications on CONSULT-III.
Self-diagnostic results Self-diagnostic results can be read and erased quickly.
Data monitor Input/Output data in the ABS actuator and electric unit (control unit) can be read.
E
Diagnostic test mode is which CONSULT-III drives some actuators apart from the ABS actuator
Active test
and electric unit (control unit) and also shifts some parameters in a specified range.
ECU part number ABS actuator and electric unit (control unit) part number can be read.
BRC
CAN diagnostic support monitor The results of transmit/receive diagnosis of CAN communication can be read.
SELF-DIAG RESULTS MODE

G
Operation Procedure
1. Before performing the self-diagnosis, start engine and drive vehicle at 30 km/h (19 MPH) or more for
approximately 1 minute. H
How to Erase Self-diagnosis Results
1. After erasing DTC memory, start engine and drive vehicle at 30 km/h (19 MPH) or more for approximately
1 minute as the final inspection, and make sure that the ABS warning lamp, VDC OFF indicator lamp, I
SLIP indicator lamp and brake warning lamp turn OFF.
CAUTION:
If memory cannot be erased, perform applicable diagnosis. J
NOTE:
• When the wheel sensor malfunctions, after inspecting the wheel sensor system, the ABS warning lamp,
VDC OFF indicator lamp, SLIP indicator lamp and brake warning lamp will not turn OFF even when the
system is normal unless the vehicle is driving at approximately 30 km/h (19 MPH) or more for approxi- K
mately 1 minute.
• Brake warning lamp will turn ON in case of parking brake operation (when switch is ON) or of brake fluid
level switch operation (when brake fluid is insufficient). L
• VDC OFF switch should not stay “ON” position.
Display Item List
Refer to BRC-71, "DTC No. Index". M
DATA MONITOR MODE
Display Item List
N
Data monitor item selection
Item
ECU INPUT MAIN SELECTION Remarks
(Unit) O
SIGNALS SIGNALS FROM MENU
Gear position judged by PNP switch
GEAR × × ×
signal is displayed.
P
FR RH SENSOR Wheel speed calculated by front RH
× × ×
(km/h, MPH) wheel sensor signal is displayed.
FR LH SENSOR Wheel speed calculated by front LH
× × ×
RR RH SENSOR Wheel speed calculated by rear RH
× × ×
BRC-25
UNIT)]
Item
(Unit)
RR LH SENSOR Wheel speed calculated by rear LH
× × ×
Voltage supplied to ABS actuator
BATTERY VOLT
× × × and electric unit (control unit) is dis-
(V)
played.
Shift position judged by PNP switch
N POSI SIG – – ×
signal.
P POSI SIG – – ×
signal.
Throttle valve open/close status
ACCEL POS SIG
× – × judged by CAN communication sig-
(%)
nal is displayed.
ENGINE SPEED Engine speed judged by CAN com-
× × ×
(rpm) munication signal is displayed.
STR ANGLE SIG Steering angle detected by steering
× – ×
(deg) angle sensor is displayed.
YAW RATE SEN Yaw rate detected by yaw rate sen-
× × ×
(d/s) sor is displayed.
SIDE G-SENSOR Transverse acceleration detected
× – ×
(m/s2) by side G-sensor is displayed.
STOP LAMP SW Stop lamp switch (ON/OFF) status
× × ×
(ON/OFF) is displayed.
OFF SW VDC OFF switch (ON/OFF) status
× × ×
ABS WARN LAMP ABS warning lamp (ON/OFF) status
– × ×
SLIP LAMP SLIP indicator lamp (ON/OFF) sta-
– × ×
(ON/OFF) tus is displayed.
FR LH IN SOL Front LH IN ABS solenoid (ON/
– × ×
(ON/OFF) OFF) status is displayed.
FR LH OUT SOL Front LH OUT ABS solenoid (ON/
– × ×
RR RH IN SOL Rear RH IN ABS solenoid (ON/
– × ×
RR RH OUT SOL Rear RH OUT ABS solenoid (ON/
– × ×
FR RH IN SOL Front RH IN ABS solenoid (ON/
– × ×
FR RH OUT SOL Front RH OUT ABS solenoid (ON/
– × ×
RR LH IN SOL Rear LH IN ABS solenoid (ON/OFF)
– × ×
(ON/OFF) status is displayed.
RR LH OUT SOL Rear LH OUT ABS solenoid (ON/
– × ×
OFF LAMP OFF Lamp (ON/OFF) status is dis-
– × ×
(ON/OFF) played.
MOTOR RELAY ABS motor relay signal (ON/OFF)
– × ×
ACTUATOR RLY ABS actuator relay signal (ON/OFF)
– × ×
BRC-26
UNIT)]
Item A
(Unit)
Front side switch-over solenoid
CV1 B
– – × valve (cut valve) (ON/OFF) status is
(ON/OFF)
displayed.
Rear side switch-over solenoid
CV2
– – × valve (cut-valve) (ON/OFF) status is C
(ON/OFF)
displayed.
SV1
– – × valve (suction valve) (ON/OFF) sta- D
(ON/OFF)
tus is displayed.
SV2
– – × valve (suction valve) (ON/OFF) sta-
(ON/OFF) E
tus is displayed.
VDC FAIL SIG VDC fail signal (ON/OFF) status is
– – ×
(ON/OFF) displayed.
TCS FAIL SIG TCS fail signal (ON/OFF) status is
BRC
– – ×
(ON/OFF) displayed.
ABS FAIL SIG ABS fail signal (ON/OFF) status is
– – × G
(ON/OFF) displayed.
EBD FAIL SIG EBD fail signal (ON/OFF) status is
– – ×
(ON/OFF) displayed.
FLUID LEV SW Brake fluid level switch (ON/OFF) H
× – ×
EBD SIGNAL EBD operation (ON/OFF) status is
– – ×
(ON/OFF) displayed. I
ABS SIGNAL ABS operation (ON/OFF) status is
– – ×
(ON/OFF) displayed.
TCS SIGNAL TCS operation (ON/OFF) status is J
– – ×
(ON/OFF) displayed.
VDC SIGNAL VDC operation (ON/OFF) status is
– – ×
(ON/OFF) displayed. K
Brake warning lamp (ON/OFF) sta-
EBD WARN LAMP – – ×
tus is displayed.
Shift position judged by PNP switch L
SLCT LVR POSI × × ×
signal.
R POSI SIG – – ×
signal. M
It recognizes on software whether it
2WD/4WD – – × is 2WD and whether it is in 4WD
state.
N
Active booster operation (ON/OFF)
BST OPER SIG – – ×
status is displayed.
Brake pressure detected by pres-
PRESS SENSOR × – × O
sure sensor is displayed.
The input state of the key SW
CRANKING SIG – – ×
START position signal is displayed.
P
PRESS SEN 2 – – ×
The amount of stroke sensor move-
DELTA S SEN – – × ments in the active booster detected
by DELTA S SEN is displayed.
BRC-27
UNIT)]
Item
(Unit)
Release switch signal (ON/OFF)
status is displayed. “ON” indicates
RELEASE SW NO – – × that the brake pedal is depressed.
“OFF”“ is that the brake pedal is re-
leased.
status is displayed. “OFF” indicates
RELEASE SW NC – – × that the brake pedal is depressed
on. “ON” is that the brake pedal is
released.
OHB FAIL – – × OHB fail status is displayed.
HBA FAIL – – × HBA fail status is displayed.
OHB operation (ON/OFF) status is
OHB SIG – – ×
displayed.
HBA operation (ON/OFF) status is
HBA SIG – – ×
displayed.
PRES CTRL ACC – – × This item is not used for this model.
PRES FAIL ACC – – × This item is not used for this model.
Stop lamp relay signal (ON/OFF)
STP OFF RLY – – ×
×: Applicable
–: Not applicable
ACTIVE TEST MODE

CAUTION:
• Do not perform active test while driving vehicle.
• Make sure to completely bleed air from brake system.
• The active test cannot be performed with the ABS warning lamp, VDC OFF indicator lamp, SLIP indi-
cator lamp or brake warning lamp on.
• ABS warning lamp, VDC OFF indicator lamp, SLIP indicator lamp and brake warning lamp are on
during active test.
NOTE:
• When active test is performed while depressing the pedal, the pedal depression amount will change. This is
normal. (Only solenoid valve and ABS motor.)
• “TEST IS STOPPED” is displayed 10 seconds after operation start.
• After “TEST IS STOPPED” is displayed, to perform test again, touch BACK.
Test Item
SOLENOID VALVE
• When performing an active test of the ABS function, select the “MAIN SIGNALS” for each test item. In addi-
tion, when performing an active test of the VDC/TCS function, select the item menu for each test item.
• For ABS solenoid valve, touch “UP”, “KEEP”, and “DOWN” on the display screen. For ABS solenoid valve
(ACT), touch “UP”, “ACT UP”, “ACT KEEP” and confirm that solenoid valves operate as shown in the table
below.
ABS solenoid valve ABS solenoid valve (ACT)

Operation ACTUA- ACTUA-
UP KEEP DOWN UP
TOR UP TOR KEEP
FR RH SOL FR RH IN SOL OFF ON ON OFF OFF OFF
FR RH ABS SOLE-
NOID (ACT) FR RH OUT SOL OFF OFF ON* OFF OFF OFF
FR LH SOL FR LH IN SOL OFF ON ON OFF OFF OFF

FR LH ABS SOLE-
NOID (ACT) FR LH OUT SOL OFF OFF ON* OFF OFF OFF
BRC-28
UNIT)]
Operation A
ACTUA- ACTUA-
UP KEEP DOWN UP
TOR UP TOR KEEP
RR RH SOL RR RH IN SOL OFF ON ON OFF OFF OFF
RR RH ABS SOLE- B
NOID (ACT) RR RH OUT SOL OFF OFF ON* OFF OFF OFF
RR LH SOL RR LH IN SOL OFF ON ON OFF OFF OFF

RR LH ABS SOLE- C
NOID (ACT) RR LH OUT SOL OFF OFF ON* OFF OFF OFF
RR RH IN SOL OFF ON ON OFF OFF OFF

RR RH OUT SOL OFF OFF ON* OFF OFF OFF D
REAR SOL
RR LH IN SOL OFF ON ON OFF OFF OFF
RR LH OUT SOL OFF OFF ON* OFF OFF OFF
E
*: ON for 1 to 2 seconds after the touch, and then OFF
ABS MOTOR
• Touch “ON” and “OFF” on screen. Make sure motor relay and actuator relay operates as shown in table BRC
below.
Operation ON OFF G
MOTOR RELAY ON OFF
ACTUATOR RLY ON ON
H
BOOSTER DRIVE
• Touch “UP” and “DOWN” on the screen. Check that booster drive operates as shown in table below.
CAUTION:
I
Perform active test subject to the conditions below.
• Do not operate brake pedal during active test.
• Make sure the engine revolution is over 500 rpm.
• Make sure the vehicle is not moving. J
Operation UP DOWN
STOP LAMP SW ON OFF
K
BST OPER SIG ON OFF
PRESS SENSOR 50 ± 5 bar 0 bar L
PRESS SEN 2 50 ± 5 bar 0 bar
STP OFF RLY OFF OFF
M
BRC-29
C1101, C1102, C1103, C1104 WHEEL SENSOR-1
< COMPONENT DIAGNOSIS > [ABS]
COMPONENT DIAGNOSIS
Description INFOID:0000000001731225
When the sensor rotor rotates, the magnetic field changes. It converts the magnetic field changes to current
signals (rectangular wave) and transmits them to the ABS actuator and electric unit (control unit).
DTC Logic INFOID:0000000001731226
DTC DETECTION LOGIC
DTC Display item Malfunction detected condition Possible cause

Circuit of rear RH wheel sensor is open. Or when the sen-
C1101 RR RH SENSOR-1
sor power voltage is outside the standard.
Circuit of rear LH wheel sensor is open. Or when the sen- • Harness or connector
C1102 RR LH SENSOR-1
sor power voltage is outside the standard. • Wheel sensor
Circuit of front RH wheel sensor is open. Or when the • ABS actuator and electric unit
C1103 FR RH SENSOR-1 (control unit)
sensor power voltage is outside the standard.
Circuit of front LH wheel sensor is open. Or when the
C1104 FR LH SENSOR-1
DTC CONFIRMATION PROCEDURE

1.CHECK SELF-DIAGNOSIS RESULTS
Check the self-diagnosis results.
Self-diagnosis results
RR RH SENSOR-1
RR LH SENSOR-1
FR RH SENSOR-1
FR LH SENSOR-1
Is above displayed on the self-diagnosis display?
YES >> Proceed to diagnosis procedure. Refer to BRC-30, "Diagnosis Procedure".
NO >> INSPECTION END
Diagnosis Procedure INFOID:0000000001731227
CAUTION:
Do not check between wheel sensor terminals.
INSPECTION PROCEDURE
1.CONNECTOR INSPECTION
Disconnect the ABS actuator and electric unit (control unit) connector E125 and wheel sensor of malfunction-
ing code.
Check the terminals for deformation, disconnection, looseness or damage.
YES >> GO TO 2
NO >> Repair or replace as necessary.
2.CHECK WHEEL SENSOR OUTPUT SIGNAL
1. Connect ABS active wheel sensor tester (J-45741) to wheel sensor using appropriate adapter.
2. Turn on the ABS active wheel sensor tester power switch.
NOTE:
The green POWER indicator should illuminate. If the POWER indicator does not illuminate, replace the
battery in the ABS active wheel sensor tester before proceeding.
BRC-30
3. Spin the wheel of the vehicle by hand and observe the red SENSOR indicator on the ABS active wheel
sensor tester. The red SENSOR indicator should flash on and off to indicate an output signal. A
NOTE:
If the red SENSOR indicator illuminates but does not flash, reverse the polarity of the tester leads and
retest.
B
Does the ABS active wheel sensor tester detect a signal?
YES >> GO TO 3
NO >> Replace the wheel sensor. Refer to BRC-83, "Removal and Installation".
C
3.CHECK TIRES
Check for inflation pressure, wear and size of each tire.
Are tire pressure and size correct and is tire wear within specifications? D
YES >> GO TO 4
NO >> Adjust tire pressure or replace tire(s).
E
4.CHECK WHEEL BEARINGS
Check wheel bearing axial end play. Refer to FAX-6, "On-Vehicle Inspection and Service" (front) or RAX-5,
"On-Vehicle Inspection and Service" (rear). BRC
YES >> GO TO 5
NO >> Repair or replace as necessary. Refer to FAX-7, "Removal and Installation" (front) or RAX-6, G
"Removal and Installation" (rear).
5.CHECK WIRING HARNESS FOR SHORT CIRCUIT
1. Disconnect ABS actuator and electric unit (control unit) connec- H
tor and wheel sensor connector of malfunction code No.
2. Check continuity between wheel sensor harness connector ter-
minals and ground. I
Continuity should not exist.

Is the inspection result normal? J
YES >> GO TO 6
NO >> Repair the circuit.
WFIA0343E
K
6.CHECK WIRING HARNESS FOR OPEN CIRCUIT

1. Check continuity between ABS actuator and electric unit (control unit) harness connector E125 and the L
malfunctioning wheel sensor harness connector E18, E117, C10, or C11.
ABS actuator and

Wheel sensor M
Wheel sensor electric unit (control unit) Continuity
Connector Terminal Connector Terminal
45 1 N
Front LH E18
46 2
34 1
Front RH E117
33 2 O
E125 Yes
37 2
Rear LH C11
36 1
P
42 2
Rear RH C10
43 1
YES >> Replace the ABS actuator and electric unit (control unit). Refer to BRC-85, "Removal and Installa-
tion".
BRC-31
Component Inspection INFOID:0000000001731228

On “DATA MONITOR”, select “FR LH SENSOR”, “FR RH SENSOR”, “RR LH SENSOR”, and “RR RH SEN-
SOR”, and check the vehicle speed.
Wheel sensor Vehicle speed (DATA MONITOR)

FR LH SENSOR
FR RH SENSOR Nearly matches the speedometer dis-
RR LH SENSOR play (±10% or less)
RR RH SENSOR
NO >> Go to diagnosis procedure. Refer to BRC-30, "Diagnosis Procedure".
Special Repair Requirement INFOID:0000000001731229
1.ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION

Always perform neutral position adjustment for the steering angle sensor when replacing the ABS actuator
and electric unit (control unit). Refer to BRC-90, "ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL
POSITION : Description".
>> GO TO 2
2.CALIBRATION OF DECEL G SENSOR
Always perform calibration of decel G sensor when replacing the ABS actuator and electric unit (control unit).
Refer to BRC-91, "CALIBRATION OF DECEL G SENSOR : Description".
>> END
BRC-32
A
When the sensor rotor rotates, the magnetic field changes. It converts the magnetic field changes to current B
C
DTC DETECTION LOGIC
DTC Display item Malfunction detected condition Possible cause D

When the circuit in the rear RH wheel sensor is short-cir-
cuited. Or when the distance between the wheel sensor
and sensor rotor is too large and the sensor pulse cannot E
be recognized by the control unit.
When the circuit in the rear LH wheel sensor is short-cir-
C1106 RR LH SENSOR-2 BRC
and sensor rotor is too large and the sensor pulse cannot • Harness or connector
be recognized by the control unit. • Wheel sensor
When the circuit in the front RH wheel sensor is short-cir- • ABS actuator and electric unit
cuited. Or when the distance between the wheel sensor (control unit) G
C1107 FR RH SENSOR-2
and sensor rotor is too large and the sensor pulse cannot
When the circuit in the front LH wheel sensor is short-cir- H
I
Check the self-diagnosis results. J
K
RR RH SENSOR-2
RR LH SENSOR-2
FR RH SENSOR-2 L
FR LH SENSOR-2
M
Diagnosis Procedure INFOID:0000000001731232 N
CAUTION:
O
P
ing code.
YES >> GO TO 2
BRC-33

NOTE:
sensor tester. The red SENSOR indicator should flash on and off to indicate an output signal.
NOTE:
retest.
YES >> GO TO 3
3.CHECK TIRES
Are tire pressure and size correct and is tire wear within specifications?
YES >> GO TO 4
"On-Vehicle Inspection and Service" (rear).
YES >> GO TO 5
NO >> Repair or replace as necessary. Refer to FAX-7, "Removal and Installation" (front) or RAX-6,
1. Disconnect ABS actuator and electric unit (control unit) connec-
minals and ground.

YES >> GO TO 6
WFIA0343E

1. Check continuity between ABS actuator and electric unit (control unit) harness connector E125 and the
BRC-34
ABS actuator and A

Wheel sensor
45 1 B
Front LH E18
46 2
34 1
Front RH E117 C
33 2
E125 Yes
37 2
Rear LH C11
36 1 D
42 2
Rear RH C10
43 1
E
tion".
NO >> Repair the circuit. BRC
G
SOR”, and check the vehicle speed. H

FR LH SENSOR I
J
RR RH SENSOR
YES >> INSPECTION END K
L
M
N
>> GO TO 2
Always perform calibration of decel G sensor when replacing the ABS actuator and electric unit (control unit). O
>> END P
BRC-35
C1109 POWER AND GROUND SYSTEM
Supplies electric power to the ABS actuator and electric unit (control unit).
DTC DETECTION LOGIC

• Harness or connector
BATTERY VOLTAGE When the ABS actuator and electric unit (control unit)
C1109 • ABS actuator and electric unit
[ABNORMAL] power supply voltage is lower than normal.
(control unit)

BATTERY VOLTAGE [ABNORMAL]
1.CHECK CONNECTOR
1. Turn ignition switch OFF.
2. Disconnect ABS actuator and electric unit (control unit) connector.
3. Check terminal for deformation, disconnection, looseness, and so on. If any malfunction is found, repair or
replace terminal.
4. Reconnect connectors and then perform the self-diagnosis. Refer to BRC-25, "CONSULT-III Function
(ABS)".
Is any item indicated on the self-diagnosis display?
YES >> GO TO 2
NO >> Poor connection of connector terminal. Repair or replace connector.
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) POWER SUPPLY CIRCUIT AND
GROUND CIRCUIT
3. Turn ignition switch ON or OFF and check voltage between ABS
actuator and electric unit (control unit) harness connector termi-
nal and ground.
ABS actuator and elec-

tric unit (control unit) — Condition Voltage
Connector Terminal
Ignition switch: ON Battery voltage
E125 4 Ground
Ignition switch: OFF Approx. 0V
AWFIA0015ZZ
BRC-36
5. Check continuity between ABS actuator and electric unit (control
unit) harness connector terminals and ground. A
ABS actuator and electric unit

(control unit) — Continuity B
Connector Terminal
E125 16, 47 Ground Yes
C
AWFIA0016ZZ
D
YES >> Check battery for terminal looseness, low voltage, etc. If any malfunction is found, repair malfunc-
tioning parts. E
NO >> Repair or replace malfunctioning components.
BRC
and electric unit (control unit). Refer to BRC-90, "ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL G
H
>> GO TO 2
Always perform calibration of decel G sensor when replacing the ABS actuator and electric unit (control unit). I
>> END J
BRC-37
C1110, C1170 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
DTC DETECTION LOGIC

When there is an internal malfunction in the ABS actuator
C1110 CONTROLLER FAILURE • ABS actuator and electric unit
and electric unit (control unit).
(control unit)
C1170 VARIANT CODING In a case where VARIANT CODING is different.

CONTROLLER FAILURE
VARIANT CODING
1.REPLACE ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
>> Replace ABS actuator and electric unit (control unit). Refer to BRC-85, "Removal and Installa-
tion".

>> GO TO 2
>> END
BRC-38
C1111 ABS MOTOR, MOTOR RELAY SYSTEM
A
PUMP B
The pump returns the brake fluid stored in the reservoir to the master cylinder by reducing the pressure.
MOTOR
The motor drives the pump according to the signals transmitted by the ABS actuator and electric unit (control C
unit).
D
DTC DETECTION LOGIC

E
During the actuator motor operating with ON, when the
actuator motor turns OFF, or when the control line for ac-
tuator motor relay is open. • Harness or connector BRC
C1111 PUMP MOTOR • ABS actuator and electric unit
During the actuator motor operating with OFF, when the (control unit)
actuator motor turns ON, or when the control line for relay
is shorted to ground. G

1.CHECK SELF-DIAGNOSIS RESULTS H
I
PUMP MOTOR
Is above displayed on the self-diagnosis display? J
K
L
1.CHECK CONNECTOR
2. Disconnect ABS actuator and electric unit (control unit) connector. M
3. Check terminal for deformation, disconnect, looseness, and so on. If any malfunction is found, repair or
replace terminal.
(ABS)". N
YES >> GO TO 2
NO >> Poor connection of connector terminal. Repair or replace connector. O
2.CHECK ABS MOTOR AND MOTOR RELAY POWER SUPPLY CIRCUIT

P
BRC-39
tor.
3. Check voltage between the ABS actuator and electric unit (con-
trol unit) harness connector terminal and ground.

— Voltage
Connector Terminal
E125 1 Ground Battery voltage
Is the inspection result normal? AWFIA0017ZZ
YES >> GO TO 3
3.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) GROUND CIRCUIT
Check continuity between ABS actuator and electric unit (control
unit) harness connector terminals and ground.

— Continuity
Connector Terminal
YES >> Replace ABS actuator and electric unit (control unit).
Refer to BRC-85, "Removal and Installation".
AWFIA0016ZZ
1.CHECK ACTIVE TEST

1. On “ACTIVE TEST”, select “ABS MOTOR”.
2. Touch ON and OFF on screen. Make sure motor relay and actuator relay operates as shown in table
below.
Operation ON OFF
MOTOR RELAY ON OFF
ACTUATOR RLY ON ON

>> GO TO 2
>> END
BRC-40
C1115 WHEEL SENSOR
C1115 WHEEL SENSOR
A
C
DTC DETECTION LOGIC

ABS SENSOR • Wheel sensor
C1115 When wheel sensor input signal is malfunctioning.
[ABNORMAL SIGNAL] • ABS actuator and electric unit E
(control unit)

1.CHECK SELF-DIAGNOSIS RESULTS BRC

G
ABS SENSOR [ABNORMAL SIGNAL]
Is above displayed on the self-diagnosis display? H
I
CAUTION:
Do not check between wheel sensor terminals. J
1.CONNECTOR INSPECTION K
ing code.
Check the terminals for deformation, disconnection, looseness or damage. L
YES >> GO TO 2
NO >> Repair or replace as necessary. M
1. Connect ABS active wheel sensor tester (J-45741) to wheel sensor using appropriate adapter. N
NOTE:
battery in the ABS active wheel sensor tester before proceeding. O
NOTE: P
retest.
YES >> GO TO 3
3.CHECK TIRES
BRC-41
C1115 WHEEL SENSOR
YES >> GO TO 4
YES >> GO TO 5
minals and ground.

YES >> GO TO 6
WFIA0343E

ABS actuator and

Wheel sensor
45 1
Front LH E18
46 2
34 1
Front RH E117
33 2
E125 Yes
37 2
Rear LH C11
36 1
42 2
Rear RH C10
43 1
tion".

BRC-42
C1115 WHEEL SENSOR
FR LH SENSOR
A
RR RH SENSOR B
NO >> Go to diagnosis procedure. Refer to BRC-41, "Diagnosis Procedure". C
1.ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION D
E
>> GO TO 2 BRC
Refer to BRC-91, "CALIBRATION OF DECEL G SENSOR : Description". G
>> END
H
BRC-43
C1116 STOP LAMP SWITCH
The stop lamp switch transmits the stop lamp switch signal (ON/OFF) to the ABS actuator and electric unit
(control unit).
DTC DETECTION LOGIC

• Stop lamp switch
C1116 STOP LAMP SW When stop lamp switch circuit is open.
• ABS actuator and electric unit
(control unit)

STOP LAMP SW
1. Disconnect the ABS actuator and electric unit (control unit) connector E125 and stop lamp switch connec-
tor E38.
2. Check the terminals for deformation, disconnection, looseness or damage.
YES >> GO TO 2
2.STOP LAMP SWITCH INSPECTION
Check the voltage between the ABS actuator and electric unit (con-
trol unit) harness connector E125 terminal 41 and body ground.
Brake pedal depressed : Battery voltage

(approx. 12V)
Brake pedal not depressed : Approx. 0V
YES >> Perform self-diagnosis again. If the same results
appear, replace ABS actuator and electric unit (control
unit). Refer to BRC-85, "Removal and Installation". AWFIA0019ZZ
NO >> GO TO 3
3.STOP LAMP RELAY CIRCUIT INSPECTION
BRC-44
1. Disconnect the stop lamp relay harness connector E12.
2. Check the continuity between the ABS actuator and electric unit A
(control unit) harness connector E125 (B) terminal 41 and stop
lamp relay harness connector E12 (A) terminal 4.
B
Continuity should exist.
YES >> Refer to BRC-6, "Work Flow". C
AWFIA0020ZZ
D
1.ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION E

BRC
>> GO TO 2
2.CALIBRATION OF DECEL G SENSOR G
H
>> END
BRC-45
C1120, C1122, C1124, C1126 IN ABS SOL
C1120, C1122, C1124, C1126 IN ABS SOL
The solenoid valve increases, holds or decreases the fluid pressure of each brake caliper according to the sig-
nals transmitted by the ABS actuator and electric unit (control unit).
DTC DETECTION LOGIC

When the control unit detects a malfunction in the front
C1120 FR LH IN ABS SOL
LH inlet solenoid circuit.
C1122 FR RH IN ABS SOL
RH inlet solenoid circuit. • ABS actuator and electric unit
When the control unit detects a malfunction in the rear LH (control unit)
C1124 RR LH IN ABS SOL
inlet solenoid circuit.
When the control unit detects a malfunction in the rear
C1126 RR RH IN ABS SOL
RH inlet solenoid circuit.

FR LH IN ABS SOL
FR RH IN ABS SOL
RR LH IN ABS SOL
RR RH IN ABS SOL
1.CHECK CONNECTOR
replace terminal.
(ABS)".
YES >> GO TO 2
2.CHECK SOLENOID, VDC SWITCH-OVER VALVE AND ACTUATOR RELAY POWER SUPPLY CIRCUIT
BRC-46
C1120, C1122, C1124, C1126 IN ABS SOL
2. Disconnect ABS actuator and electric unit (control unit) connec- A
tor.
3. Check voltage between ABS actuator and electric unit (control
unit) harness connector terminal and ground.
B

— Voltage
Connector Terminal C
YES >> GO TO 3 D
3.CHECK SOLENOID, VDC SWITCH-OVER VALVE AND ACUATOR RELAY GROUND CIRCUIT E
BRC
— Continuity
Connector Terminal
E125 16, 47 Ground Yes G
H
AWFIA0016ZZ
I
1.CHECK ACTIVE TEST

1. Select each test menu item on ”ACTIVE TEST“. J
2. On the display, touch “UP”, “KEEP”, and “DOWN”, and check that the system operates as shown in the
table below.
K
UP KEEP DOWN UP
TOR UP TOR KEEP
L
FR RH ABS SOLE-
M
FR LH ABS SOLE-
RR RH SOL RR RH IN SOL OFF ON ON OFF OFF OFF N

RR RH ABS SOLE-
RR LH SOL RR LH IN SOL OFF ON ON OFF OFF OFF O

RR LH ABS SOLE-

P
RR RH OUT SOL OFF OFF ON* OFF OFF OFF
REAR SOL
BRC-47
C1120, C1122, C1124, C1126 IN ABS SOL

>> GO TO 2
>> END
BRC-48
C1121, C1123, C1125, C1127 OUT ABS SOL
C1121, C1123, C1125, C1127 OUT ABS SOL
A
The solenoid valve increases, holds or decreases the fluid pressure of each brake caliper according to the sig- B
C
DTC DETECTION LOGIC

C1121 FR LH OUT ABS SOL
LH outlet solenoid circuit.
When the control unit detects a malfunction in the front E
C1123 FR RH OUT ABS SOL
RH outlet solenoid circuit. • ABS actuator and electric unit
C1125 RR LH OUT ABS SOL
outlet solenoid circuit. BRC
C1127 RR RH OUT ABS SOL
RH outlet solenoid circuit.
DTC CONFIRMATION PROCEDURE G

Check the self-diagnosis results. H
FR LH OUT ABS SOL I
FR RH OUT ABS SOL
RR LH OUT ABS SOL
J
RR RH OUT ABS SOL
YES >> Proceed to diagnosis procedure. Refer to BRC-49, "Diagnosis Procedure". K
L
1.CHECK CONNECTOR M
3. Check terminal for deformation, disconnection, looseness, and so on. If any malfunction is found, repair or N
replace terminal.
(ABS)".
O
YES >> GO TO 2
P
BRC-49
C1121, C1123, C1125, C1127 OUT ABS SOL
tor.

— Voltage
Connector Terminal
YES >> GO TO 3
3.CHECK SOLENOID, VDC SWITCH-OVER VALVE AND ACUATOR RELAY GROUND CIRCUIT

— Continuity
Connector Terminal
AWFIA0016ZZ
1.CHECK ACTIVE TEST

1. Select each test menu item on ”ACTIVE TEST“.
table below.

UP KEEP DOWN UP
TOR UP TOR KEEP
FR RH ABS SOLE-

FR LH ABS SOLE-

RR RH ABS SOLE-

RR LH ABS SOLE-

REAR SOL
BRC-50
C1121, C1123, C1125, C1127 OUT ABS SOL
A
1.ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION B

C
>> GO TO 2
2.CALIBRATION OF DECEL G SENSOR D
E
>> END
BRC
BRC-51
C1130, C1131, C1132, C1133, C1136 ENGINE SIGNAL
ABS actuator and electric unit (control unit) and ECM exchange the engine signal with CAN communication
line.
DTC DETECTION LOGIC

C1130 ENGINE SIGNAL 1
Based on the signal from ECM, ABS actuator and electric • ABS actuator and electric unit
C1132 ENGINE SIGNAL 3 unit (control unit) judges that engine fuel cut system is (control unit)
malfunctioning. • ECM
• CAN communication line

ENGINE SIGNAL 1
ENGINE SIGNAL 2
ENGINE SIGNAL 3
ENGINE SIGNAL 4
ENGINE SIGNAL 6
1.CHECK ENGINE SYSTEM
1. Perform ECM self-diagnosis. Repair or replace items indicated, then perform ECM self-diagnosis again.
Refer to:
2. Perform ABS actuator and electric unit (control unit) self-diagnosis. Refer to BRC-25, "CONSULT-III Func-
tion (ABS)".
YES >> Repair or replace the affected part.
BRC-52
and electric unit (control unit). Refer to BRC-90, "ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL A
>> GO TO 2 B
C
>> END D
BRC
BRC-53
C1140 ACTUATOR RLY
C1140 ACTUATOR RLY
Activates or deactivates each solenoid valve according to the signals transmitted by the ABS actuator and
electric unit (control unit).
DTC DETECTION LOGIC

C1140 ACTUATOR RLY ABS actuator relay or circuit malfunction. • ABS actuator and electric unit
(control unit)

ACTUATOR RLY
1.CHECK CONNECTOR
replace terminal.
(ABS)".
YES >> GO TO 2
tor.

— Voltage
Connector Terminal
YES >> GO TO 3
BRC-54
C1140 ACTUATOR RLY

— Continuity
Connector Terminal B
Is the inspection result normal? C
AWFIA0016ZZ
D
1.CHECK ACTIVE TEST E

below. BRC
Operation ON OFF
MOTOR RELAY ON OFF G
ACTUATOR RLY ON ON
Is the inspection result normal? H
Special Repair Requirement INFOID:0000000001731279 I

Always perform neutral position adjustment for the steering angle sensor when replacing the ABS actuator J
K
>> GO TO 2
2.CALIBRATION OF DECEL G SENSOR L
M
>> END
BRC-55
C1155 BRAKE FLUID LEVEL SWITCH
The brake fluid level switch converts the brake fluid level to an electric signal and transmits it to the ABS actu-
ator and electric unit (control unit).
DTC DETECTION LOGIC

Brake fluid level is low or communication line between • Harness or connector
C1155 BR FLUID LEVEL LOW the ABS actuator and electric unit (control unit) and brake • Brake fluid level switch
fluid level switch is open or shorted. • Brake fluid level

BR FLUID LEVEL LOW
1. Disconnect ABS actuator and electric unit (control unit) connector E125 and brake fluid level switch con-
nector E21.
YES >> GO TO 2
2.CHECK HARNESS BETWEEN BRAKE FLUID LEVEL SWITCH AND ABS ACTUATOR AND ELECTRIC
UNIT (CONTROL UNIT)
unit) harness connector E125 (A) and brake fluid level switch
harness connector E21 (B).

Brake fluid level switch
(control unit) Continuity
A: E125 8 B: E21 1 Yes
unit) harness connector E125 (A) and ground. AWFIA0025ZZ

— Continuity
Connector Terminal
A: E125 8 Ground No
BRC-56
YES >> GO TO 3
NO >> Repair or replace malfunctioning components. A
3.CHECK BRAKE FLUID LEVEL SWITCH GROUND
Check continuity between brake fluid level switch harness connector
B
E21 and ground.

— Continuity C
Connector Terminal
E21 2 Ground Yes
Is the inspection result normal? D
YES >> GO TO 4
AWFIA0026ZZ
E
4.CHECK BRAKE FLUID LEVEL SWITCH
Check continuity between brake fluid level switch terminals.
BRC
Condition Continuity
Terminal
G
When brake fluid is full in the reser-
No
voir tank.
1−2
When brake fluid is empty in the
Yes H
reservoir tank.
ALFIA0026ZZ
YES >> Perform self-diagnosis again. If the same results I
appear, replace ABS actuator and electric unit (control unit). Refer to BRC-85, "Removal and
Installation".
NO >> Replace brake fluid level switch.
J
1.CHECK BRAKE FLUID LEVEL SWITCH K

2. Disconnect brake fluid level switch connector.
3. Check continuity between brake fluid level switch terminals. L

Terminal M
No
voir tank.
1−2
When brake fluid is empty in the N
Yes
reservoir tank.
ALFIA0026ZZ O
P

BRC-57
>> GO TO 2
>> END
BRC-58
U1000 CAN COMM CIRCUIT
A
CAN (Controller Area Network) is a serial communication line for real time application. It is an on-vehicle mul- B
tiplex communication line with high data communication speed and excellent error detection ability. Many elec-
tronic control units are equipped onto a vehicle, and each control unit shares information and links with other
control units during operation (not independent). In CAN communication, control units are connected with 2
communication lines (CAN H line, CAN L line) allowing a high rate of information transmission with less wiring. C
Each control unit transmits/receives data but selectively reads required data only.
D
DTC DETECTION LOGIC

E
When ABS actuator and electric unit (control unit) is not • CAN communication line
U1000 CAN COMM CIRCUIT transmitting or receiving CAN communication signal for 2 • ABS actuator and electric unit
seconds or more. (control unit) BRC
G
1.CHECK CONNECTOR
H
1. Turn ignition switch OFF, disconnect the ABS actuator and electric unit (control unit) connector, and check
the terminals for deformation, disconnection, looseness, and so on. If there is a malfunction, repair or
replace the terminal.
2. Reconnect connector and perform self-diagnosis. I
Is “CAN COMM CIRCUIT” displayed in self-diagnosis display items?
YES >> Print out the self-diagnostic results, and refer to LAN-22, "Trouble Diagnosis Flow Chart".
NO >> Connector terminal is loose, damaged, open, or shorted. J
1.ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION K
and electric unit (control unit). Refer to BRC-90, "ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL L
>> GO TO 2 M
Refer to BRC-91, "CALIBRATION OF DECEL G SENSOR : Description". N
>> END
O
BRC-59
ABS WARNING LAMP
ABS WARNING LAMP
×: ON –: OFF
Condition ABS warning lamp

Ignition switch OFF –
For 1 second after turning ON ignition switch ×
1 second later after turning ON ignition switch –
ABS function is malfunctioning. ×
EBD function is malfunctioning. ×
Component Function Check INFOID:0000000001731328
1.CHECK ABS WARNING LAMP OPERATION

Check that the lamp illuminates for approximately 1 second after the ignition switch is turned ON.
1.CHECK SELF-DIAGNOSIS
Perform ABS actuator and electric unit (control unit) self-diagnosis. Refer to BRC-25, "CONSULT-III Function
(ABS)".
YES >> GO TO 2
NO >> Check items displayed by self-diagnosis.
2.CHECK COMBINATION METER
Check if the indication and operation of combination meter are normal. Refer to MWI-21, "Diagnosis Descrip-
tion".
YES >> Replace ABS actuator and electric unit (control unit). Refer to BRC-85, "Removal and Installa-
tion".
NO >> Replace combination meter. Refer to MWI-94, "Removal and Installation".
BRC-60
BRAKE WARNING LAMP
BRAKE WARNING LAMP
A
×: ON –: OFF B
Condition Brake warning lamp (Note 1)
For 1 second after turning ON ignition switch × (Note 2) C
1 second later after turning ON ignition switch × (Note 2)
D
NOTE:
• 1: Brake warning lamp will turn on in case of parking brake operation (when switch is ON) or of brake fluid level switch operation
(when brake fluid is insufficient). E
• 2: After starting engine, brake warning lamp is turned off.
BRC
1.BRAKE WARNING LAMP OPERATION CHECK
G
H
1.CHECK SELF-DIAGNOSIS I
Perform ABS actuator and electric unit (control unit) self-diagnosis.
YES >> GO TO 2 J
2.CHECK COMBINATION METER K
tion".
Is the inspection result normal? L
tion".
NO >> Replace combination meter. Refer to MWI-94, "Removal and Installation". M
BRC-61
ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< ECU DIAGNOSIS > [ABS]
ECU DIAGNOSIS
Reference Value INFOID:0000000001731339
VALUES ON THE DIAGNOSIS TOOL

CAUTION:
The display shows the control unit calculation data, so a normal value might be displayed even in the
event the output circuit (harness) is open or short-circuited.
CONSULT-III MONITOR ITEM
Data monitor
Monitor item Display content Reference value in
Condition
normal operation
0 [km/h (MPH)] Vehicle stopped
FR LH SENSOR Wheel speed Nearly matches the speed meter display Vehicle running
(± 10% or less) (Note 1)
FR RH SENSOR Wheel speed Nearly matches the speed meter display Vehicle running
RR LH SENSOR Wheel speed Nearly matches the speed meter display Vehicle running
RR RH SENSOR Wheel speed Nearly matches the speed meter display Vehicle running
When brake pedal is depressed ON
STOP LAMP SW Stop lamp switch signal status
When brake pedal is released OFF
Battery voltage supplied to the ABS actuator
BATTERY VOLT Ignition switch ON 10 – 16 V
and electric unit (control unit)
1st gear 1
2nd gear 2
GEAR Gear position determined by TCM 3rd gear 3
4th gear 4
5th gear 5
P position P
R position R
SLCT LVR POSI A/T selector lever position
N position N
D position D
VDC OFF switch ON
ON
(When VDC OFF indicator lamp is ON)
OFF SW VDC OFF switch ON/OFF
VDC OFF switch OFF
OFF
(When VDC OFF indicator lamp is OFF)
Yaw rate detected by yaw rate/side/decel G When vehicle is stopped Approx. 0 d/s
YAW RATE SEN
sensor When vehicle turning −75 to 75 d/s
Accelerator pedal not depressed (ignition
0%
Throttle actuator opening/closing is dis- switch is ON)
ACCEL POS SIG
played (linked with accelerator pedal) Accelerator pedal depressed (ignition
0 - 100 %
switch is ON)
BRC-62
Data monitor
Monitor item Display content A
Reference value in
Condition
normal operation
Vehicle stopped Approx. 0 m/s2
B
Negative value
Vehicle turning right
SIDE G-SENSOR Transverse G detected by side G sensor (m/s2)
Positive value C
Vehicle turning left
(m/s2)
Steering angle detected by steering angle Straight-ahead Approx. 0°

STR ANGLE SIG
sensor Steering wheel turned –720 to 720° D
With ignition switch turned ON and brake
Approx. 0 bar
Brake fluid pressure detected by front pres- pedal released
PRESS SENSOR E
sure sensor With ignition switch turned ON and brake
–40 to 300 bar
pedal depressed
With engine stopped 0 rpm
BRC
ENGINE SPEED With engine running Almost in accor-
Engine running dance with tachome-
ter display
When brake fluid level switch ON ON G
FLUID LEV SW Brake fluid level switch signal status
When brake fluid level switch OFF OFF
Actuator (solenoid valve) is active (“AC-
TIVE TEST” with CONSULT-III) or actua- ON
H
tor relay is inactive (in fail-safe mode)
FR RH IN SOL Operation status of each solenoid valve
When the actuator (solenoid valve) is not
active and actuator relay is active (igni- OFF I
tion switch ON)
TIVE TEST” with CONSULT-III) or actua- ON J
FR RH OUT SOL Operation status of each solenoid valve
active and actuator relay is active (igni- OFF
tion switch ON)
K

tor relay is inactive (in fail-safe mode) L
FR LH IN SOL Operation status of each solenoid valve
tion switch ON) M
FR LH OUT SOL Operation status of each solenoid valve N
tion switch ON)
O
RR RH IN SOL Operation status of each solenoid valve P
tion switch ON)
BRC-63
Data monitor
Condition
normal operation
RR RH OUT SOL Operation status of each solenoid valve
tion switch ON)
RR LH IN SOL Operation status of each solenoid valve
tion switch ON)
RR LH OUT SOL Operation status of each solenoid valve
tion switch ON)
When the motor relay and motor are op-
ON
erating
MOTOR RELAY Motor and motor relay operation
When the motor relay and motor are not
OFF
operating
When the actuator relay is operating ON
ACTUATOR RLY Actuator relay operation
When the actuator relay is not operating OFF
ABS warning lamp When ABS warning lamp is ON ON

ABS WARN LAMP
(Note 3) When ABS warning lamp is OFF OFF
VDC OFF indicator lamp When VDC OFF indicator lamp is ON ON

OFF LAMP
(Note 3) When VDC OFF indicator lamp is OFF OFF
SLIP indicator lamp When SLIP indicator lamp is ON ON

SLIP LAMP
(Note 3) When SLIP indicator lamp is OFF OFF
When transfer control unit is in fail-safe
4WD FAIL REQ ON
Transfer control unit fail-safe signal mode
(Note 2)
When transfer control unit is normal OFF
BST OPER SIG Not applied but displayed — OFF
EBD is active ON
EBD SIGNAL EBD operation
EBD is inactive OFF
ABS is active ON
ABS SIGNAL ABS operation
ABS is inactive OFF
TCS is active ON
TCS SIGNAL TCS operation
TCS is inactive OFF
VDC is active ON
VDC SIGNAL VDC operation
VDC is inactive OFF
In EBD fail-safe ON
EBD FAIL SIG EBD fail-safe signal
EBD is normal OFF
In ABS fail-safe ON
ABS FAIL SIG ABS fail-safe signal
ABS is normal OFF
BRC-64
Data monitor
Reference value in
Condition
normal operation
In TCS fail-safe ON
TCS FAIL SIG TCS fail-safe signal B
TCS is normal OFF
In VDC fail-safe ON
VDC FAIL SIG VDC fail-safe signal
VDC is normal OFF C
Crank is active ON
CRANKING SIG Crank operation
Crank is inactive OFF
D
When actuator (switch-over valve) is ac-
tive (“ACTIVE TEST” with CONSULT-III)
ON
or actuator relay is inactive (when in fail-
CV1 VDC switch-over valve safe mode) E
When actuator (switch-over valve) is not
tion switch ON)
BRC
ON
CV2 VDC switch-over valve safe mode) G
tion switch ON) H
ON
safe mode)
I
SV1 VDC switch-over valve
tion switch ON) J
ON
or actuator relay is inactive (when in fail- K
SV2 VDC switch-over valve safe mode)
active and actuator relay is active (igni- OFF L
tion switch ON)
Longitudinal acceleration detected by Decel Vehicle stopped Approx. 0 G

DECEL G-SEN
G-Sensor Vehicle running -1.7 to 1.7 G M
EBD warning lamp When EBD warning lamp is ON ON
EBD WARN LAMP
(Note 3) When EBD warning lamp is OFF OFF
A/T shift position = N position ON N
N POSI SIG PNP switch signal ON/OFF condition
A/T shift position = other than N position OFF
A/T shift position = P position ON
P POSI SIG PNP switch signal ON/OFF condition O
A/T shift position = other than P position OFF
A/T shift position = R position ON
R POSI SIG PNP switch signal ON/OFF condition
A/T shift position = other than R position OFF P
2WD model 2WD
2WD/4WD Drive axle
4WD model 4WD
Approx. 0 bar
Brake fluid pressure detected by rear pres- pedal released
PRESS SEN2
–40 to 300 bar
pedal depressed
BRC-65
Data monitor
Condition
normal operation
When brake pedal is depressed 1.05 - 1.80 mm
DELTA S SEN Value detected by delta stroke sensor
When brake pedal is released 0.00 mm (+0.6/-0.4)
RELEASE SWITCH When brake pedal is depressed ON

Active booster signal status
NO When brake pedal is released OFF
RELEASE SWITCH When brake pedal is depressed OFF

NC When brake pedal is released ON
NOTE:
• 1: Confirm tire pressure is normal.
• 2: Only 4WD models.
• 3: On and off timing for warning lamp and indicator lamp.
- ABS warning lamp: Refer to BRC-60, "Description".
- Brake warning lamp: Refer to BRC-61, "Description".
- VDC OFF indicator lamp: Refer to XX-XX, "*****".
- SLIP indicator lamp: Refer to XX-XX, "*****".
TERMINAL LAYOUT
AWFIA0032ZZ
BRC-66
Wiring Diagram - LHD INFOID:0000000001731340
BRC
AWFWA0012GB
P
BRC-67
ALFWA0019GB
BRC-68
Wiring Diagram - RHD INFOID:0000000001731382
BRC
AWFWA0013GB
P
BRC-69
ALFWA0020GB
Fail-Safe INFOID:0000000001731341
CAUTION:
If the Fail-Safe function is activated, perform Self Diagnosis for ABS/TCS/VDC system.
ABS/EBD SYSTEM
BRC-70
In case of an electrical malfunction with the ABS, the ABS warning lamp, VDC OFF indicator lamp and SLIP
indicator lamp will turn on. In case of an electrical malfunction with the EBD system, the BRAKE warning lamp, A
ABS warning lamp, VDC OFF indicator lamp and SLIP indicator lamp will turn on.
The system will revert to one of the following conditions of the Fail-Safe function.
1. For ABS malfunction, only the EBD is operative and the condition of the vehicle is the same condition of B
vehicles without ABS/TCS/VDC system.
2. For EBD malfunction, the EBD and ABS become inoperative, and the condition of the vehicle is the same
as the condition of vehicles without ABS/TCS/VDC or EBD system.
C
VDC/TCS SYSTEM
In case of TCS/VDC system malfunction, the VDC OFF indicator lamp and SLIP indicator lamp are turned on
and the condition of the vehicle is the same as the condition of vehicles without TCS/VDC system. In case of D
an electrical malfunction with the TCS/VDC system, the ABS control continues to operate normally without
TCS/VDC control.
DTC No. Index INFOID:0000000001731342 E
DTC Items (CONSULT screen terms) Reference

BRC
C1103 FR RH SENSOR-1 G
H
C1108 FR LH SENSOR-2 I
C1109 BATTERY VOLTAGE [ABNORMAL] BRC-36, "Description"
C1110 CONTROLLER FAILURE BRC-38, "DTC Logic"
J
C1111 PUMP MOTOR BRC-39, "Description"
C1113 G-SENSOR XX-XX, "*****"
C1115 ABS SENSOR [ABNORMAL SIGNAL] BRC-41, "Description" K
C1116 STOP LAMP SW BRC-44, "Description"
C1120 FR LH IN ABS SOL BRC-46, "Description"
L
C1121 FR LH OUT ABS SOL BRC-49, "Description"
C1122 FR RH IN ABS SOL BRC-46, "Description"
C1123 FR RH OUT ABS SOL BRC-49, "Description" M
C1124 RR LH IN ABS SOL BRC-46, "Description"
C1125 RR LH OUT ABS SOL BRC-49, "Description"
C1126 RR RH IN ABS SOL BRC-46, "Description" N
C1127 RR RH OUT ABS SOL BRC-49, "Description"
O
C1132 ENGINE SIGNAL 3 BRC-52, "Description"
C1133 ENGINE SIGNAL 4 P
C1140 ACTUATOR RLY BRC-54, "Description"
C1142 PRESS SEN CIRCUIT XX-XX, "*****"
C1143 ST ANG SEN CIRCUIT
XX-XX, "*****"
C1144 ST ANG SEN SIGNAL
BRC-71
C1145 YAW RATE SENSOR
XX-XX, "*****"
C1146 SIDE G-SEN CIRCUIT
C1155 BR FLUID LEVEL LOW BRC-56, "Description"
C1156 ST ANG SEN COM CIR XX-XX, "*****"
C1160 DECEL G SEN SET XX-XX, "*****"
C1163 ST ANGL SEN SAFE XX-XX, "*****"
C1164 CV1
C1165 CV2
XX-XX, "*****"
C1166 SV1
C1167 SV2
C1170 VARIANT CORDING BRC-38, "DTC Logic"
C1178 ABS ACTIVE BOOSTER SV NG XX-XX, "*****"
C1179 ABS DELTA S SEN NG XX-XX, "*****"
C1181 ABS ACTIVE BOOSTER RESPONSE NG
C1184 ABS BRAKE RELEASE SW NG XX-XX, "*****"
C1189 ABS BRAKE BOOSTER DEFECT
U1000 CAN COMM CIRCUIT BRC-59, "Description"
BRC-72
ABS
< SYMPTOM DIAGNOSIS > [ABS]
SYMPTOM DIAGNOSIS A
ABS
Symptom Table INFOID:0000000001731343
B
If ABS warning lamp, VDC OFF indicator lamp and SLIP indicator lamp turn ON, perform self-diagnosis.
Symptom Check item Reference C

Brake force distribution
Excessive ABS function operation fre- BRC-74, "Diagno-
Looseness of front and rear axle
quency sis Procedure" D
Wheel sensor and rotor system
Brake pedal stroke BRC-75, "Diagno-
Unexpected pedal reaction
Make sure the braking force is sufficient when the ABS is not operating. sis Procedure" E
BRC-76, "Diagno-
The braking distance is long Check stopping distance when the ABS is not operating.
sis Procedure"
BRC-77, "Diagno- BRC
ABS function does not operate (Note 1) ABS actuator and electric unit (control unit)
sis Procedure"
Pedal vibration or ABS operation sound Brake pedal BRC-78, "Diagno-

occurs (Note 2) ABS actuator and electric unit (control unit) sis Procedure" G
NOTE:
• 1: The ABS does not operate when the speed is 10 km/h (6 MPH) or less.
H
• 2: Under the following conditions, ABS is activated and vibration is felt when brake pedal is lightly depressed. However, this is normal.
- When shifting gears
- When driving on slippery road
I
- During cornering at high speed
- When passing over bumps or grooves [at approximately 50 mm (1.97 in) or more]
- When pulling away just after starting engine [at approximately 10 km/h (6 MPH) or higher]
J
BRC-73
EXCESSIVE ABS FUNCTION OPERATION FREQUENCY
1.CHECK START
Check front and rear brake force distribution using a brake tester.
YES >> GO TO 2
NO >> Check brake system.
2.CHECK FRONT AND REAR AXLE
Make sure that there is no excessive play in the front and rear axles. Refer to front: FAX-6, "On-Vehicle
Inspection and Service", Rear: RAX-5, "On-Vehicle Inspection and Service".
YES >> GO TO 3
3.CHECK WHEEL SENSOR AND SENSOR ROTOR
Check the following.
• Wheel sensor installation for damage.
• Sensor rotor installation for damage.
• Wheel sensor connector connection.
• Wheel sensor harness inspection.
YES >> GO TO 4
NO >> • Replace wheel sensor or sensor rotor. Refer to BRC-83, "Removal and Installation".
• Repair harness.
4.CHECK ABS WARNING LAMP DISPLAY
Make sure that the ABS warning lamp is turned off after the ignition switch is turned ON or when driving.
Is the ABS warning lamp illuminated?
YES >> Perform self-diagnosis. Refer to BRC-25, "CONSULT-III Function (ABS)".
NO >> Normal
BRC-74
UNEXPECTED PEDAL REACTION
A
1.CHECK BRAKE PEDAL STROKE B

Check brake pedal stroke. Refer to BR-6, "Inspection and Adjustment".
Is the stroke too large?
C
YES >> • Bleed air from brake tube and hose. Refer to BR-8, "Bleeding Brake System".
• Check brake pedal, brake booster, and master cylinder for mount play, looseness, brake system
fluid leakage, etc. Refer to BR-18, "On-Board Inspection" (master cylinder), BR-19, "On Board
Inspection" (brake booster). D
NO >> GO TO 2
2.CHECK FUNCTION
E
Disconnect ABS actuator and electric unit (control unit) connector to deactivate ABS. Check if braking force is
normal in this condition. Connect connector after inspection.
BRC
YES >> Normal
BRC-75
THE BRAKING DISTANCE IS LONG
CAUTION:
The stopping distance on slippery road surfaces might be longer with the ABS operating than when
the ABS is not operating.
1.CHECK FUNCTION
Turn ignition switch OFF and disconnect ABS actuator and electric unit (control unit) connector to deactivate
ABS. In this condition, check stopping distance. After inspection, connect connector.
YES >> Normal
BRC-76
ABS FUNCTION DOES NOT OPERATE
A
CAUTION: B
ABS does not operate when speed is 10 km/h (6 MPH) or lower.
Make sure that the ABS warning lamp turns OFF after ignition switch is turned ON or when driving. C
YES >> Normal
NO >> Perform self-diagnosis. Refer to BRC-25, "CONSULT-III Function (ABS)". D
BRC
BRC-77
PEDAL VIBRATION OR ABS OPERATION SOUND OCCURS
CAUTION:
Under the following conditions, ABS is activated and vibration is felt when brake pedal is lightly
depressed. However, this is normal.
• When shifting gears
• When driving on slippery road
• During cornering at high speed
• When passing over bumps or grooves [at approximately 50 mm (1.97 in) or more]
• When pulling away just after starting engine [at approximately 10 km/h (6 MPH) or higher]
1.SYMPTOM CHECK 1
Check that there are pedal vibrations when the engine is started.
Do vibrations occur?
YES >> GO TO 2
NO >> Inspect the brake pedal.
2.SYMPTOM CHECK 2
Check that there are ABS operation noises when the engine is started.
Do the operation noises occur?
YES >> GO TO 3
NO >> Perform self -diagnosis. Refer to BRC-25, "CONSULT-III Function (ABS)".
3.SYMPTOM CHECK 3
Check symptoms when electrical component (headlamps, etc.) switches are operated.
Do symptoms occur?
YES >> Check if there is a radio, antenna, antenna lead wire, or wiring close to the control unit. If there is,
move it farther away.
NO >> Normal
BRC-78
NORMAL OPERATING CONDITION
A
B
Symptom Result
Slight vibrations are felt on the brake pedal and the operation noises occur, when VDC, TCS or ABS is acti-
vated.
C
This is a normal condi-
Stopping distance is longer than that of vehicles without ABS when the vehicle drives on rough, gravel, or
tion due to the VDC,
snow-covered (fresh, deep snow) roads.
TCS or ABS activation.
The brake pedal moves and generates noises, when TCS or VDC is activated due to rapid acceleration or D
sharp turn.
This is normal, and it is
The brake pedal vibrates and motor operation noises occur from the engine room, after the engine starts and
caused by the ABS op-
just after the vehicle starts.
eration check.
E
Depending on the road conditions, the driver may experience a sluggish feel. This is normal, because
TCS places the highest
TCS may activate momentarily if wheel speed changes when driving over location where friction coefficient priority on the optimum BRC
varies, when downshifting, or when fully depressing accelerator pedal. traction (stability).
The ABS warning lamp, VDC OFF indicator lamp and SLIP indicator lamp may turn ON when the vehicle is
subject to strong shaking or large vibration, such as when the vehicle is rotating on a turntable or located on In this case, restart the G
a ship while the engine is running. engine on a normal
road. If the normal con-
VDC may not operate normally or the ABS warning lamp, VDC OFF indicator lamp, and SLIP indicator lamp
dition is restored, there
may illuminate, when running on a special road that is extremely slanted (e.g. bank in a circuit course).
is no malfunction. At H
A malfunction may occur in the yaw rate/side/decel G sensor system, when the vehicle turns sharply, such that time, erase the self-
as during a spin turn, axle turn, or drift driving, while the VDC function is off (VDC OFF indicator lamp illumi- diagnosis memory.
nated).
I
Normal (Deactivate the
VDC/TCS function be-
The vehicle speed will not increase even though the accelerator pedal is depressed, when inspecting the
fore performing an in-
speedometer on a 2-wheel chassis dynamometer.
spection on a chassis J
dynamometer.)
This is not a VDC sys-
VDC OFF indicator lamp and SLIP indicator lamp may simultaneously turn on when low tire pressure warn- tem error but results
K
ing lamp turns on. from characteristic
change of tire.
BRC-79
PRECAUTIONS
< PRECAUTION > [ABS]
PRECAUTION
PRECAUTIONS
Precaution for Supplemental Restraint System (SRS) "AIR BAG" and "SEAT BELT
PRE-TENSIONER" INFOID:0000000001691368
The Supplemental Restraint System such as “AIR BAG” and “SEAT BELT PRE-TENSIONER”, used along
with a front seat belt, helps to reduce the risk or severity of injury to the driver and front passenger for certain
types of collision. Information necessary to service the system safely is included in the SRS and SB section of
this Service Manual.
WARNING:
• To avoid rendering the SRS inoperative, which could increase the risk of personal injury or death in
the event of a collision which would result in air bag inflation, all maintenance must be performed by
an authorized NISSAN/INFINITI dealer.
• Improper maintenance, including incorrect removal and installation of the SRS, can lead to personal
injury caused by unintentional activation of the system. For removal of Spiral Cable and Air Bag
Module, see the SRS section.
• Do not use electrical test equipment on any circuit related to the SRS unless instructed to in this
Service Manual. SRS wiring harnesses can be identified by yellow and/or orange harness connec-
tors.
Precaution for Brake System INFOID:0000000001691369
• Recommended fluid is Genuine NISSAN Fluid, DOT 3 or DOT 4 (US FMVSS No. 116).
• Do not reuse the drained brake fluid.
• Be careful not to splash brake fluid on painted areas such as body. If brake fluid is splashed, wipe it off and
flush area with water immediately.
• Do not use mineral oils such as gasoline or kerosene to clean. They will ruin rubber parts and cause
improper operation.
• Using a flare nut torque wrench, securely tighten brake tube flare
nuts.
• Brake system is an important safety part. If a brake fluid leak is
detected, always disassemble malfunctioning parts. If any mal-
functioning part is found, replace the part with a new one.
• Before working, turn ignition switch OFF and disconnect connec-
tors for ABS actuator and electric unit or battery terminals.
• When installing brake piping, be sure to check tightening torque.
SBR820BA
Precaution for Brake Control INFOID:0000000001691370
• During ABS operation, brake pedal lightly vibrates and a mechanical noise may be heard. This is normal.
• When starting engine, or just after starting vehicle, brake pedal may vibrate or motor operating noise may be
heard from engine compartment. This is a normal status of operation check.
• Stopping distance may be longer than that of vehicles without ABS when vehicle drives on rough, gravel, or
• When an error is indicated by ABS or another warning lamp, collect all necessary information from the cus-
tomer (what symptoms are present under what conditions) and check for simple causes before starting diag-
nostic servicing. Besides the electrical system inspection, check booster operation, brake fluid level, and oil
leaks.
• If tyre size and type are used in an improper combination, or brake pads are not Genuine Nissan parts, stop-
ping distance or steering stability may deteriorate.
• If there is a radio, antenna, or antenna lead-in wire (including wiring) near the control unit, ABS system may
malfunction or return an error.
• If aftermarket parts (e.g. car stereo equipment, CD player) have been installed, check electrical harnesses
for pinches, open, and improper wiring.
BRC-80
PRECAUTIONS
< PRECAUTION > [ABS]
Precaution for Harness Repair INFOID:0000000001691371
A
CAN SYSTEM
• Area to be repaired shall be soldered, and wrapped with a tape (be
sure that fraying of twisted wire shall be within 110 mm 4.33 in)). B
PKIA0306E
E
• Do not make a bypass connection to repaired area. (If it is done,
branch part will be removed and characteristics of twisted wire will
be lost.) BRC
H
PKIA0307E
BRC-81
PREPARATION
< PREPARATION > [ABS]
PREPARATION
PREPARATION
Special Service Tool INFOID:0000000001691372
Tool number
Description
Tool name
GG94310000
Removing and installing each brake
Flare nut torque wrench
piping
a: 10 mm (0.39 in)
NT406
BRC-82
WHEEL SENSORS
< REMOVAL AND INSTALLATION > [ABS]
REMOVAL AND INSTALLATION A

WHEEL SENSORS
Removal and Installation INFOID:0000000001691408
B
BRC
MFIB9029E
K
REMOVAL
Be careful of the following.
CAUTION:
• When removing the sensor, do not rotate it if possible, and not forcibly pull the sensor harness. L
• Before removing front or rear wheel hub, remove wheel sensor to avoid sensor wiring damage.
INSTALLATION
M
Be certain to tighten bolts to the specified torque. Be careful of the following:
• Check the inside of the sensor mounting hole for foreign material, the rotor surface for iron chips and other
foreign material, and if anything is non-standard, clean it before installation, or replace it. N
• When installing the front sensor, completely push in the strut bracket and body bracket rubber grommets
until they lock so that the sensor harness does not become twisted. In addition, there should be no twists in
the harness when installed. Install the harness so that the painted part faces the outside of the vehicle.
• When installing the rear sensor, completely push in the rubber bracket of the suspension arm bracket and O
lock the marking area of the side member harness mount so that the sensor harness will not be twisted. In
addition, there should be no twists in the harness when installed.
P
BRC-83
SENSOR ROTOR
SENSOR ROTOR
FRONT
• Because the sensor rotor is integrated with the wheel bearing, replace it together with the wheel bearing
assembly. Refer to FAX-7, "Removal and Installation".
REAR
• During removal and installation, remove the wheel hub (brake drum). Refer to RAX-6, "Removal and Instal-
lation".
CAUTION:
The sensor rotor is a non-reusable part, it must be replaced by an new part when removing it.
BRC-84
ACTUATOR AND ELECTRIC UNIT (ASSEMBLY)
A
BRC
SFIA1183E
I
REMOVAL
J
CAUTION:
• Before servicing, disconnect the battery cables.
• To remove brake tube, use a flare nut wrench to prevent flare nuts and brake tube from being dam-
aged. To install, use a flare nut torque wrench and tighten to the specified torque. K
• Do not apply excessive impact to the actuator, such as dropping it.
INSTALLATION
Be careful of the following. L
• When setting the actuator in the bracket, push it in until it locks.
• Tighten the mounting bolts and nuts to the specified torque.
• After the work, breed the air from the brake piping. Refer to BR-8, "Bleeding Brake System". M
• After installing the vehicle harness connector in the actuator, make sure the connector is securely locked.
BRC-85
< BASIC INSPECTION > [ESP/TCS/ABS]
BASIC INSPECTION
Work Flow INFOID:0000000001731359
PRECAUTIONS FOR DIAGNOSIS

If steering angle sensor, steering system parts, suspension system parts, ABS actuator and electric unit (con-
trol unit) or tires have been replaced, or if wheel alignment has been adjusted, be sure to adjust neutral posi-
tion of steering angle sensor before driving. Refer to BRC-90, "ADJUSTMENT OF STEERING ANGLE
SENSOR NEUTRAL POSITION : Description".
BRC-86
OVERALL SEQUENCE
A
BRC
JSFIA0010GB
P
DETAIED FLOW
1.COLLECT THE INFORMATION FROM THE CUSTOMER
Get the detailed information from the customer about the symptom (the condition and the environment when
the incident/malfunction occurred) using the diagnosis worksheet. Refer to BRC-89, "Diagnostic Work Sheet".
>> GO TO 2
BRC-87
2.PERFORM THE SELF-DIAGNOSIS

Check the DTC display with the self-diagnosis function. Refer to BRC-25, "CONSULT-III Function (ABS)".
Is there any DTC displayed?
YES >> GO TO 3
NO >> GO TO 4
3.PERFORM THE SYSTEM DIAGNOSIS
Perform the diagnosis applicable to the displayed DTC. Refer to BRC-71, "DTC No. Index".
>> GO TO 7
4.CHECK THE SYMPTOM THAT IS NOT CONSIDERED A SYSTEM MALFUNCTION
Check that the symptom is a normal operation that is not considered a system malfunction. Refer to BRC-79,
"Description".
Is the symptom a normal operation?
NO >> GO TO 5
5.CHECK THE WARNING LAMP AND INDICATOR LAMP FOR ILLUMINATION
Check that the warning lamp and indicator lamp illuminate.
• ABS warning lamp: Refer to BRC-60, "Description".
• Brake warning lamp: Refer to BRC-61, "Description".
• VDC OFF indicator lamp: Refer to XX-XX, "*****".
• SLIP indicator lamp: Refer to XX-XX, "*****".
Is ON/OFF timing normal?
YES >> GO TO 6
NO >> GO TO 2
6.PERFORM THE DIAGNOSIS BY SYMPTOM
Perform the diagnosis applicable to the symptom.
>> GO TO 7
7.REPAIR OR REPLACE THE MALFUNCTIONING PARTS
Repair or replace the specified malfunctioning parts.
>> GO TO 8
8.FINAL CHECK
Perform the self-diagnosis again, and check that the malfunction is repaired completely. After checking, erase
the self-diagnosis memory. Refer to BRC-25, "CONSULT-III Function (ABS)".
Is no other DTC present and the repair completed?
NO >> GO TO 3
BRC-88
Diagnostic Work Sheet INFOID:0000000001731360
BRC
H
SFIA3265E
BRC-89
ADDITIONAL SERVICE WHEN REPLACING CONTROL UNIT
ADDITIONAL SERVICE WHEN REPLACING CONTROL UNIT : Description
INFOID:0000000001731361
After replacing the ABS actuator and electric unit (control unit), perform the following procedures:
• Neutral position adjustment for the steering angle sensor
• Calibration of the decel G sensor
ADDITIONAL SERVICE WHEN REPLACING CONTROL UNIT : Special Repair Re-
quirement INFOID:0000000001731362
1.PERFORM THE NEUTRAL POSITION ADJUSTMENT FOR THE STEERING ANGLE SENSOR
Perform the neutral position adjustment for the steering angle sensor.
>> Refer to BRC-90, "ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION : Spe-
cial Repair Requirement", GO TO 2
2.PERFORM CALIBRATION OF THE DECEL G SENSOR
Perform calibration of the decel G sensor.
>> Refer to BRC-92, "CALIBRATION OF DECEL G SENSOR : Special Repair Requirement".

ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION : Description
INFOID:0000000001731363
Refer to the table below to determine if adjustment of steering angle sensor neutral position is required.
Situation Adjustment of steering angle sensor neutral position

Removing/Installing steering angle sensor ×
Replacing suspension components ×
Tire rotation —
ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION : Special Re-

pair Requirement INFOID:0000000001731364

CAUTION:
To adjust neutral position of steering angle sensor, make sure to use CONSULT-III
(Adjustment cannot be done without CONSULT-III)
BRC-90
>> GO TO 2
2.PERFORM THE NEUTRAL POSITION ADJUSTMENT FOR THE STEERING ANGLE SENSOR A
1. On the CONSULT-III screen, touch “WORK SUPPORT” and “ST ANG SEN ADJUSTMENT” in order.
B
CAUTION:
Do not touch steering wheel while adjusting steering angle sensor.
NOTE: C
CAUTION:
D
>> GO TO 3 E
2. Select “DATA MONITOR”. Then make sure “STR ANGLE SIG” is within 0±2.5°. BRC
Is the steering angle within the specified range?
YES >> GO TO 4
NO >> Perform the neutral position adjustment for the steering angle sensor again, GO TO 1 G
Erase the self-diagnosis memory of the ABS actuator and electric unit (control unit) and ECM. H
• ECM, refer to:
- EC-462, "CONSULT-III Function" (HR16DE without EURO-OBD) I
Are the memories erased? J
CALIBRATION OF DECEL G SENSOR K
CALIBRATION OF DECEL G SENSOR : Description INFOID:0000000001731365
L
Refer to the table below to determine if calibration of the decel G sensor is required.
Situation Calibration of decel G sensor

M
Removing/Installing steering angle sensor × N
O
Replacing suspension components × P
Tire rotation —
BRC-91
CALIBRATION OF DECEL G SENSOR : Special Repair Requirement INFOID:0000000001731366
CALIBRATION OF DECEL G SENSOR

CAUTION:
To calibrate the decel G sensor, make sure to use CONSULT-III
(Calibration cannot be done without CONSULT-III)
>> GO TO 2
2.PERFORM CALIBRATION OF DECEL G SENSOR
1. On the CONSULT-III screen, touch “WORK SUPPORT” and “DECEL G SEN CALIBRATION” in order.
NOTE:
CAUTION:
>> GO TO 3
2. Select “DATA MONITOR”. Then make sure “DECEL G SEN” is within ±.
YES >> GO TO 4
NO >> Perform calibration of decel G sensor again, GO TO 1
Erase the self-diagnosis memory of the ABS actuator and electric unit (control unit) and ECM.
• ECM, refer to:
Are the memories erased?
BRC-92
VDC
< FUNCTION DIAGNOSIS > [ESP/TCS/ABS]
FUNCTION DIAGNOSIS A
VDC
B
BRC
I
AWFIA0012GB
J
• Vehicle Dynamics Control system detects driver′s steering operation amount and brake pedal travel from
steering angle sensor and pressure sensors. Using information from yaw rate/side/decel G sensor and K
wheel sensor, VDC judges driving condition (conditions of under steer and over steer) to improve vehicle
driving stability by controlling brake application to 4 wheels and engine output.
• During VDC operation, it informs driver of system operation by flashing SLIP indicator lamp. L
BRC-93
VDC
AWFIA0013GB
BRC-94
VDC
RH E117
RH C10
D
Pump
Motor
XX-XX, "*****"
Wheel sensor BRC-30, "Description" G
H
Brake warning lamp BRC-61, "Description" I
J
XX-XX, "*****"
Active booster XX-XX, "*****" K
BRC-95
TCS
TCS
AWFIA0012GB
• Traction Control System is a function that electronically controls engine torque, brake fluid pressure and A/T
gear position to ensure the optimum slippage ratio at drive wheels by computing wheel speed signals from 4
wheel sensors. When ABS actuator and electric unit (control unit) detects a spin at drive wheels (rear
wheels), it compares wheel speed signals from all 4 wheels. At this time, LH and RH rear brake fluid pres-
sure are controlled, while fuel being cut to engine and throttle valve being closed to reduce engine torque by
the control unit. Further more, throttle position is continuously controlled to ensure the optimum engine
torque at all times.
• During TCS operation, it informs driver of system operation by flashing SLIP indicator lamp.
BRC-96
TCS
BRC
P
AWFIA0013GB
BRC-97
TCS
RH E117
RH C10

Pump
Motor
XX-XX, "*****"
XX-XX, "*****"
Active booster XX-XX, "*****"
BRC-98
ABS
ABS
A
BRC
AWFIA0014GB
I
J
• Anti-Lock Braking System is a function that detects wheel revolution while braking, electronically controls
braking force, and prevents wheel locking during sudden braking. It improves handling stability and maneu-
verability for avoiding obstacles.
• Electrical system diagnosis by CONSULT-III is available. K
BRC-99
ABS
AWFIA0013GB
BRC-100
ABS
RH E117
RH C10
D
Pump
Motor
G
BRC-101
EBD
EBD
AWFIA0014GB
• Electric Brake force Distribution is a following function. ABS actuator and electric unit (control unit) detects
subtle slippages between the front and rear wheels during braking. Then it electronically controls the rear
braking force (brake fluid pressure) to reduce rear wheel slippage. Accordingly, it improves vehicle stability.
BRC-102
EBD
BRC
P
AWFIA0013GB
BRC-103
EBD
RH E117
RH C10

Pump
Motor
BRC-104
UNIT)]
A
UNIT)]
CONSULT-III Function (ABS) INFOID:0000000001731081
B
FUNCTION
CONSULT-III can display each diagnostic item using the diagnostic test modes shown following.
C
Diagnostic test mode Function
This mode enables a technician to adjust some devices faster and more accurately by following
Work support D
the indications on CONSULT-III.
Self-diagnostic results Self-diagnostic results can be read and erased quickly.
Data monitor Input/Output data in the ABS actuator and electric unit (control unit) can be read.
E
Diagnostic test mode is which CONSULT-III drives some actuators apart from the ABS actuator
Active test
and electric unit (control unit) and also shifts some parameters in a specified range.
ECU part number ABS actuator and electric unit (control unit) part number can be read.
BRC
CAN diagnostic support monitor The results of transmit/receive diagnosis of CAN communication can be read.
SELF-DIAG RESULTS MODE

G
Operation Procedure
1. Before performing the self-diagnosis, start engine and drive vehicle at 30 km/h (19 MPH) or more for
approximately 1 minute. H
How to Erase Self-diagnosis Results
1. After erasing DTC memory, start engine and drive vehicle at 30 km/h (19 MPH) or more for approximately
1 minute as the final inspection, and make sure that the ABS warning lamp, VDC OFF indicator lamp, I
SLIP indicator lamp and brake warning lamp turn OFF.
CAUTION:
If memory cannot be erased, perform applicable diagnosis. J
NOTE:
• When the wheel sensor malfunctions, after inspecting the wheel sensor system, the ABS warning lamp,
VDC OFF indicator lamp, SLIP indicator lamp and brake warning lamp will not turn OFF even when the
system is normal unless the vehicle is driving at approximately 30 km/h (19 MPH) or more for approxi- K
mately 1 minute.
• Brake warning lamp will turn ON in case of parking brake operation (when switch is ON) or of brake fluid
level switch operation (when brake fluid is insufficient). L
• VDC OFF switch should not stay “ON” position.
Display Item List
Refer to BRC-71, "DTC No. Index". M
DATA MONITOR MODE
Display Item List
N
Item
(Unit) O
Gear position judged by PNP switch
GEAR × × ×
signal is displayed.
P
FR RH SENSOR Wheel speed calculated by front RH
× × ×
FR LH SENSOR Wheel speed calculated by front LH
× × ×
RR RH SENSOR Wheel speed calculated by rear RH
× × ×
BRC-105
UNIT)]
Item
(Unit)
RR LH SENSOR Wheel speed calculated by rear LH
× × ×
Voltage supplied to ABS actuator
BATTERY VOLT
× × × and electric unit (control unit) is dis-
(V)
played.
N POSI SIG – – ×
signal.
P POSI SIG – – ×
signal.
Throttle valve open/close status
ACCEL POS SIG
× – × judged by CAN communication sig-
(%)
nal is displayed.
ENGINE SPEED Engine speed judged by CAN com-
× × ×
(rpm) munication signal is displayed.
STR ANGLE SIG Steering angle detected by steering
× – ×
(deg) angle sensor is displayed.
YAW RATE SEN Yaw rate detected by yaw rate sen-
× × ×
(d/s) sor is displayed.
SIDE G-SENSOR Transverse acceleration detected
× – ×
(m/s2) by side G-sensor is displayed.
STOP LAMP SW Stop lamp switch (ON/OFF) status
× × ×
OFF SW VDC OFF switch (ON/OFF) status
× × ×
ABS WARN LAMP ABS warning lamp (ON/OFF) status
– × ×
SLIP LAMP SLIP indicator lamp (ON/OFF) sta-
– × ×
(ON/OFF) tus is displayed.
FR LH IN SOL Front LH IN ABS solenoid (ON/
– × ×
FR LH OUT SOL Front LH OUT ABS solenoid (ON/
– × ×
RR RH IN SOL Rear RH IN ABS solenoid (ON/
– × ×
RR RH OUT SOL Rear RH OUT ABS solenoid (ON/
– × ×
FR RH IN SOL Front RH IN ABS solenoid (ON/
– × ×
FR RH OUT SOL Front RH OUT ABS solenoid (ON/
– × ×
RR LH IN SOL Rear LH IN ABS solenoid (ON/OFF)
– × ×
RR LH OUT SOL Rear LH OUT ABS solenoid (ON/
– × ×
OFF LAMP OFF Lamp (ON/OFF) status is dis-
– × ×
(ON/OFF) played.
MOTOR RELAY ABS motor relay signal (ON/OFF)
– × ×
ACTUATOR RLY ABS actuator relay signal (ON/OFF)
– × ×
BRC-106
UNIT)]
Item A
(Unit)
CV1 B
– – × valve (cut valve) (ON/OFF) status is
(ON/OFF)
displayed.
CV2
– – × valve (cut-valve) (ON/OFF) status is C
(ON/OFF)
displayed.
SV1
– – × valve (suction valve) (ON/OFF) sta- D
(ON/OFF)
tus is displayed.
SV2
– – × valve (suction valve) (ON/OFF) sta-
(ON/OFF) E
tus is displayed.
VDC FAIL SIG VDC fail signal (ON/OFF) status is
– – ×
(ON/OFF) displayed.
TCS FAIL SIG TCS fail signal (ON/OFF) status is
BRC
– – ×
(ON/OFF) displayed.
ABS FAIL SIG ABS fail signal (ON/OFF) status is
– – × G
(ON/OFF) displayed.
EBD FAIL SIG EBD fail signal (ON/OFF) status is
– – ×
(ON/OFF) displayed.
FLUID LEV SW Brake fluid level switch (ON/OFF) H
× – ×
EBD SIGNAL EBD operation (ON/OFF) status is
– – ×
(ON/OFF) displayed. I
ABS SIGNAL ABS operation (ON/OFF) status is
– – ×
(ON/OFF) displayed.
TCS SIGNAL TCS operation (ON/OFF) status is J
– – ×
(ON/OFF) displayed.
VDC SIGNAL VDC operation (ON/OFF) status is
– – ×
(ON/OFF) displayed. K
Brake warning lamp (ON/OFF) sta-
EBD WARN LAMP – – ×
tus is displayed.
Shift position judged by PNP switch L
SLCT LVR POSI × × ×
signal.
R POSI SIG – – ×
signal. M
It recognizes on software whether it
2WD/4WD – – × is 2WD and whether it is in 4WD
state.
N
Active booster operation (ON/OFF)
BST OPER SIG – – ×
PRESS SENSOR × – × O
The input state of the key SW
CRANKING SIG – – ×
START position signal is displayed.
P
PRESS SEN 2 – – ×
The amount of stroke sensor move-
DELTA S SEN – – × ments in the active booster detected
by DELTA S SEN is displayed.
BRC-107
UNIT)]
Item
(Unit)
status is displayed. “ON” indicates
RELEASE SW NO – – × that the brake pedal is depressed.
“OFF”“ is that the brake pedal is re-
leased.
status is displayed. “OFF” indicates
RELEASE SW NC – – × that the brake pedal is depressed
on. “ON” is that the brake pedal is
released.
OHB FAIL – – × OHB fail status is displayed.
HBA FAIL – – × HBA fail status is displayed.
OHB operation (ON/OFF) status is
OHB SIG – – ×
displayed.
HBA operation (ON/OFF) status is
HBA SIG – – ×
displayed.
PRES CTRL ACC – – × This item is not used for this model.
PRES FAIL ACC – – × This item is not used for this model.
Stop lamp relay signal (ON/OFF)
STP OFF RLY – – ×
×: Applicable
–: Not applicable
ACTIVE TEST MODE

CAUTION:
• Do not perform active test while driving vehicle.
• Make sure to completely bleed air from brake system.
• The active test cannot be performed with the ABS warning lamp, VDC OFF indicator lamp, SLIP indi-
cator lamp or brake warning lamp on.
• ABS warning lamp, VDC OFF indicator lamp, SLIP indicator lamp and brake warning lamp are on
during active test.
NOTE:
• When active test is performed while depressing the pedal, the pedal depression amount will change. This is
normal. (Only solenoid valve and ABS motor.)
• “TEST IS STOPPED” is displayed 10 seconds after operation start.
• After “TEST IS STOPPED” is displayed, to perform test again, touch BACK.
Test Item
SOLENOID VALVE
• When performing an active test of the ABS function, select the “MAIN SIGNALS” for each test item. In addi-
tion, when performing an active test of the VDC/TCS function, select the item menu for each test item.
• For ABS solenoid valve, touch “UP”, “KEEP”, and “DOWN” on the display screen. For ABS solenoid valve
(ACT), touch “UP”, “ACT UP”, “ACT KEEP” and confirm that solenoid valves operate as shown in the table
below.

UP KEEP DOWN UP
TOR UP TOR KEEP
FR RH ABS SOLE-

FR LH ABS SOLE-
BRC-108
UNIT)]
Operation A
ACTUA- ACTUA-
UP KEEP DOWN UP
TOR UP TOR KEEP
RR RH ABS SOLE- B

RR LH ABS SOLE- C

RR RH OUT SOL OFF OFF ON* OFF OFF OFF D
REAR SOL
E
ABS MOTOR
• Touch “ON” and “OFF” on screen. Make sure motor relay and actuator relay operates as shown in table BRC
below.
Operation ON OFF G
MOTOR RELAY ON OFF
ACTUATOR RLY ON ON
H
BOOSTER DRIVE
• Touch “UP” and “DOWN” on the screen. Check that booster drive operates as shown in table below.
CAUTION:
I
Perform active test subject to the conditions below.
• Do not operate brake pedal during active test.
• Make sure the engine revolution is over 500 rpm.
• Make sure the vehicle is not moving. J
Operation UP DOWN
STOP LAMP SW ON OFF
K
BST OPER SIG ON OFF
PRESS SENSOR 50 ± 5 bar 0 bar L
PRESS SEN 2 50 ± 5 bar 0 bar
STP OFF RLY OFF OFF
M
BRC-109
< COMPONENT DIAGNOSIS > [ESP/TCS/ABS]
COMPONENT DIAGNOSIS
DTC DETECTION LOGIC

Circuit of rear RH wheel sensor is open. Or when the sen-
sor power voltage is outside the standard.
Circuit of rear LH wheel sensor is open. Or when the sen- • Harness or connector
sor power voltage is outside the standard. • Wheel sensor
Circuit of front RH wheel sensor is open. Or when the • ABS actuator and electric unit
C1103 FR RH SENSOR-1 (control unit)
Circuit of front LH wheel sensor is open. Or when the

RR RH SENSOR-1
RR LH SENSOR-1
FR RH SENSOR-1
FR LH SENSOR-1
CAUTION:
ing code.
YES >> GO TO 2
NOTE:
BRC-110
sensor tester. The red SENSOR indicator should flash on and off to indicate an output signal. A
NOTE:
retest.
B
YES >> GO TO 3
C
3.CHECK TIRES
Are tire pressure and size correct and is tire wear within specifications? D
YES >> GO TO 4
E
"On-Vehicle Inspection and Service" (rear). BRC
YES >> GO TO 5
NO >> Repair or replace as necessary. Refer to FAX-7, "Removal and Installation" (front) or RAX-6, G
1. Disconnect ABS actuator and electric unit (control unit) connec- H
minals and ground. I

Is the inspection result normal? J
YES >> GO TO 6
WFIA0343E
K

1. Check continuity between ABS actuator and electric unit (control unit) harness connector E125 and the L
ABS actuator and

Wheel sensor M
45 1 N
Front LH E18
46 2
34 1
Front RH E117
33 2 O
E125 Yes
37 2
Rear LH C11
36 1
P
42 2
Rear RH C10
43 1
YES >> Replace the ABS actuator and electric unit (control unit). Refer to BRC-184, "Removal and Instal-
lation".
BRC-111


FR LH SENSOR
RR RH SENSOR

>> GO TO 2
>> END
BRC-112
A
C
DTC DETECTION LOGIC

When the circuit in the rear RH wheel sensor is short-cir-
and sensor rotor is too large and the sensor pulse cannot E
When the circuit in the rear LH wheel sensor is short-cir-
C1106 RR LH SENSOR-2 BRC
and sensor rotor is too large and the sensor pulse cannot • Harness or connector
be recognized by the control unit. • Wheel sensor
When the circuit in the front RH wheel sensor is short-cir- • ABS actuator and electric unit
cuited. Or when the distance between the wheel sensor (control unit) G
When the circuit in the front LH wheel sensor is short-cir- H
I
Check the self-diagnosis results. J
K
RR RH SENSOR-2
RR LH SENSOR-2
FR RH SENSOR-2 L
FR LH SENSOR-2
M
Diagnosis Procedure INFOID:0000000001731089 N
CAUTION:
O
P
ing code.
YES >> GO TO 2
BRC-113

NOTE:
NOTE:
retest.
YES >> GO TO 3
3.CHECK TIRES
YES >> GO TO 4
YES >> GO TO 5
minals and ground.

YES >> GO TO 6
WFIA0343E

BRC-114
ABS actuator and A

Wheel sensor
45 1 B
Front LH E18
46 2
34 1
Front RH E117 C
33 2
E125 Yes
37 2
Rear LH C11
36 1 D
42 2
Rear RH C10
43 1
E
lation".
NO >> Repair the circuit. BRC
G
SOR”, and check the vehicle speed. H

FR LH SENSOR I
J
RR RH SENSOR
YES >> INSPECTION END K
L
M
N
>> GO TO 2
Always perform calibration of decel G sensor when replacing the ABS actuator and electric unit (control unit). O
>> END P
BRC-115
Supplies electric power to the ABS actuator and electric unit (control unit).
DTC DETECTION LOGIC

BATTERY VOLTAGE When the ABS actuator and electric unit (control unit)
C1109 • ABS actuator and electric unit
[ABNORMAL] power supply voltage is lower than normal.
(control unit)

BATTERY VOLTAGE [ABNORMAL]
1.CHECK CONNECTOR
replace terminal.
(ABS)".
YES >> GO TO 2
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) POWER SUPPLY CIRCUIT AND
GROUND CIRCUIT
3. Turn ignition switch ON or OFF and check voltage between ABS
actuator and electric unit (control unit) harness connector termi-
nal and ground.
ABS actuator and elec-

tric unit (control unit) — Condition Voltage
Connector Terminal
Ignition switch: ON Battery voltage
E125 4 Ground
Ignition switch: OFF Approx. 0V
AWFIA0015ZZ
BRC-116

(control unit) — Continuity B
Connector Terminal
C
AWFIA0016ZZ
D
YES >> Check battery for terminal looseness, low voltage, etc. If any malfunction is found, repair malfunc-
tioning parts. E
BRC
and electric unit (control unit). Refer to BRC-90, "ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL G
H
>> GO TO 2
Always perform calibration of decel G sensor when replacing the ABS actuator and electric unit (control unit). I
>> END J
BRC-117
DTC DETECTION LOGIC

When there is an internal malfunction in the ABS actuator
C1110 CONTROLLER FAILURE • ABS actuator and electric unit
and electric unit (control unit).
(control unit)
C1170 VARIANT CODING In a case where VARIANT CODING is different.

CONTROLLER FAILURE
VARIANT CODING
1.REPLACE ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
>> Replace ABS actuator and electric unit (control unit). Refer to BRC-184, "Removal and Installa-
tion".

>> GO TO 2
>> END
BRC-118
A
PUMP B
The pump returns the brake fluid stored in the reservoir to the master cylinder by reducing the pressure.
MOTOR
The motor drives the pump according to the signals transmitted by the ABS actuator and electric unit (control C
unit).
D
DTC DETECTION LOGIC

E
During the actuator motor operating with ON, when the
actuator motor turns OFF, or when the control line for ac-
tuator motor relay is open. • Harness or connector BRC
C1111 PUMP MOTOR • ABS actuator and electric unit
During the actuator motor operating with OFF, when the (control unit)
actuator motor turns ON, or when the control line for relay
is shorted to ground. G

1.CHECK SELF-DIAGNOSIS RESULTS H
I
PUMP MOTOR
Is above displayed on the self-diagnosis display? J
K
L
1.CHECK CONNECTOR
2. Disconnect ABS actuator and electric unit (control unit) connector. M
3. Check terminal for deformation, disconnect, looseness, and so on. If any malfunction is found, repair or
replace terminal.
(ABS)". N
YES >> GO TO 2
NO >> Poor connection of connector terminal. Repair or replace connector. O
2.CHECK ABS MOTOR AND MOTOR RELAY POWER SUPPLY CIRCUIT

P
BRC-119
tor.
3. Check voltage between the ABS actuator and electric unit (con-
trol unit) harness connector terminal and ground.

— Voltage
Connector Terminal
YES >> GO TO 3
3.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) GROUND CIRCUIT

— Continuity
Connector Terminal
AWFIA0016ZZ
1.CHECK ACTIVE TEST

below.
Operation ON OFF
MOTOR RELAY ON OFF
ACTUATOR RLY ON ON

>> GO TO 2
>> END
BRC-120
C1113, C1145, C1146 YAW RATE/SIDE/DECEL G SENSOR
A
The yaw rate/side/decel G sensor detects the yaw rate/side/decel G affecting the vehicle, and transmits the B
data to the ABS actuator and electric unit (control unit) as an analog voltage signal.
C
DTC DETECTION LOGIC

Longitudinal G-sensor is malfunctioning, or signal line of
C1113 G-SENSOR
longitudinal G-sensor is open or shorted.
Yaw rate sensor is malfunctioning, or the yaw rate sensor • ABS actuator and electric unit E
signal line is open or shorted. (control unit)
• Yaw rate/side/decel G sensor
Side G sensor is malfunctioning, or circuit of side G sen-
sor is open or shorted. BRC
1.CHECK SELF-DIAGNOSIS RESULTS G
Self-diagnosis results H
G-SENSOR
YAW RATE SENSOR
I
SIDE G-SEN CIRCUIT
YES >> Proceed to diagnosis procedure. Refer to BRC-121, "Diagnosis Procedure". J
K
CAUTION:
• Sudden turns (such as spin turns, acceleration turns), drifting, etc. when VDC function is OFF may
cause the yaw rate/side/decel G sensor system to indicate a malfunction. This is not a malfunction if L
normal operation can be resumed after restarting the engine.
• If vehicle is on turn table at entrance to parking garage, or on other moving surface, VDC OFF indica-
tor lamp may illuminate and CONSULT-III self-diagnosis may indicate yaw rate sensor system mal-
function. However, in this case there is no malfunction in yaw rate sensor system. Take vehicle off of M
turn table or other moving surface, and start engine. Results will return to normal.
N
Disconnect the ABS actuator and electric unit (control unit) connector E125 and yaw rate/side/decel G sensor
connector M108. O
YES >> GO TO 2 P
2.YAW RATE/SIDE/DECEL G SENSOR HARNESS INSPECTION
BRC-121
Check continuity between the ABS actuator and electric unit (control
unit) connector E125 (A) and the yaw rate/side/decel G sensor con-
nector M108 (B).

Yaw rate/side/decel G sensor
6 3
24 5
A: E125 B: M108 Yes
AWFIA0024ZZ
25 1
29 2
YES >> GO TO 3
3.YAW RATE/SIDE/DECEL G SENSOR INSPECTION
1. Connect the yaw rate/side/decel G sensor connector M108 and ABS actuator and electric unit (control
unit) connector E125.
2. Use “DATA MONITOR” to check if the yaw rate/side/decel G sensor signals are normal.
YAW RATE SEN SIDE G-SENSOR DECEL G-SEN

Vehicle condition
(DATA MONITOR) (DATA MONITOR) (DATA MONITOR)
Stopped -4 to +4 deg/s -1.1 to +1.1 m/s -0.11 G to +0.11 G
Turning right Negative value Negative value -
Turning left Positive value Positive value -
Speed up - - Negative value
Speed down - - Positive value
lation".
NO >> Replace the yaw rate/side/decel G sensor. Refer to BRC-185, "Removal and Installation".

Select “YAW RATE SEN”, “SIDE G-SENSOR”, “DECEL G-SEN” in “DATA MONITOR” and check yaw rate/
side/decel G sensor signal.
YAW RATE SEN SIDE G-SENSOR DECEL G-SEN

Vehicle condition
(DATA MONITOR) (DATA MONITOR) (DATA MONITOR)
Stopped -4 to +4 deg/s -1.1 to +1.1 m/s -0.11 G to +0.11 G
Turning right Negative value Negative value -
Turning left Positive value Positive value -
Speed up - - Negative value
Speed down - - Positive value
BRC-122
and electric unit (control unit). Refer to BRC-90, "ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL A
>> GO TO 2 B
C
>> END D
BRC
BRC-123
C1115 WHEEL SENSOR
C1115 WHEEL SENSOR
DTC DETECTION LOGIC

ABS SENSOR • Wheel sensor
C1115 When wheel sensor input signal is malfunctioning.
[ABNORMAL SIGNAL] • ABS actuator and electric unit
(control unit)

ABS SENSOR [ABNORMAL SIGNAL]
CAUTION:
ing code.
YES >> GO TO 2
NOTE:
NOTE:
retest.
YES >> GO TO 3
3.CHECK TIRES
BRC-124
C1115 WHEEL SENSOR
Are tire pressure and size correct and is tire wear within specifications? A
YES >> GO TO 4
4.CHECK WHEEL BEARINGS B
C
YES >> GO TO 5
NO >> Repair or replace as necessary. Refer to FAX-7, "Removal and Installation" (front) or RAX-6, D
1. Disconnect ABS actuator and electric unit (control unit) connec- E
minals and ground. BRC

Is the inspection result normal? G
YES >> GO TO 6
WFIA0343E
H
1. Check continuity between ABS actuator and electric unit (control unit) harness connector E125 and the I
ABS actuator and

Wheel sensor J
45 1
Front LH E18 K
46 2
34 1
Front RH E117
33 2 L
E125 Yes
37 2
Rear LH C11
36 1
M
42 2
Rear RH C10
43 1
Is the inspection result normal? N
lation".
NO >> Repair the circuit. O
1.CHECK DATA MONITOR P
BRC-125
C1115 WHEEL SENSOR
FR LH SENSOR
RR RH SENSOR

>> GO TO 2
>> END
BRC-126
A
The stop lamp switch transmits the stop lamp switch signal (ON/OFF) to the ABS actuator and electric unit B
(control unit).
C
DTC DETECTION LOGIC

• Stop lamp switch
C1116 STOP LAMP SW When stop lamp switch circuit is open.
• ABS actuator and electric unit E
(control unit)


G
STOP LAMP SW
I
INSPECTION PROCEDURE J
1. Disconnect the ABS actuator and electric unit (control unit) connector E125 and stop lamp switch connec-
tor E38. K
YES >> GO TO 2 L
2.STOP LAMP SWITCH INSPECTION M
Check the voltage between the ABS actuator and electric unit (con-
trol unit) harness connector E125 terminal 41 and body ground.
N
Brake pedal depressed : Battery voltage
(approx. 12V)
Brake pedal not depressed : Approx. 0V
O
appear, replace ABS actuator and electric unit (control P
unit). Refer to BRC-184, "Removal and Installation". AWFIA0019ZZ
NO >> GO TO 3
3.STOP LAMP RELAY CIRCUIT INSPECTION
BRC-127
1. Disconnect the stop lamp relay harness connector E12.
2. Check the continuity between the ABS actuator and electric unit
(control unit) harness connector E125 (B) terminal 41 and stop
lamp relay harness connector E12 (A) terminal 4.
Continuity should exist.

YES >> Refer to BRC-86, "Work Flow".
AWFIA0020ZZ

>> GO TO 2
>> END
BRC-128
C1120, C1122, C1124, C1126 IN ABS SOL
C1120, C1122, C1124, C1126 IN ABS SOL
A
The solenoid valve increases, holds or decreases the fluid pressure of each brake caliper according to the sig- B
C
DTC DETECTION LOGIC

C1120 FR LH IN ABS SOL
LH inlet solenoid circuit.
When the control unit detects a malfunction in the front E
C1122 FR RH IN ABS SOL
RH inlet solenoid circuit. • ABS actuator and electric unit
C1124 RR LH IN ABS SOL
inlet solenoid circuit. BRC
C1126 RR RH IN ABS SOL
RH inlet solenoid circuit.
DTC CONFIRMATION PROCEDURE G

Check the self-diagnosis results. H
FR LH IN ABS SOL I
FR RH IN ABS SOL
RR LH IN ABS SOL
J
RR RH IN ABS SOL
YES >> Proceed to diagnosis procedure. Refer to BRC-46, "Diagnosis Procedure". K
L
1.CHECK CONNECTOR M
3. Check terminal for deformation, disconnection, looseness, and so on. If any malfunction is found, repair or N
replace terminal.
(ABS)".
O
YES >> GO TO 2
P
BRC-129
C1120, C1122, C1124, C1126 IN ABS SOL
tor.

— Voltage
Connector Terminal
YES >> GO TO 3

— Continuity
Connector Terminal
AWFIA0016ZZ
1.CHECK ACTIVE TEST

1. Select each test menu item on ”ACTIVE TEST“.
table below.

UP KEEP DOWN UP
TOR UP TOR KEEP
FR RH ABS SOLE-

FR LH ABS SOLE-

RR RH ABS SOLE-

RR LH ABS SOLE-

REAR SOL
BRC-130
C1120, C1122, C1124, C1126 IN ABS SOL
A
1.ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION B

C
>> GO TO 2
2.CALIBRATION OF DECEL G SENSOR D
E
>> END
BRC
BRC-131
C1121, C1123, C1125, C1127 OUT ABS SOL
C1121, C1123, C1125, C1127 OUT ABS SOL
The solenoid valve increases, holds or decreases the fluid pressure of each brake caliper according to the sig-
DTC DETECTION LOGIC

C1121 FR LH OUT ABS SOL
LH outlet solenoid circuit.
C1123 FR RH OUT ABS SOL
RH outlet solenoid circuit. • ABS actuator and electric unit
C1125 RR LH OUT ABS SOL
outlet solenoid circuit.
C1127 RR RH OUT ABS SOL
RH outlet solenoid circuit.

FR LH OUT ABS SOL
FR RH OUT ABS SOL
RR LH OUT ABS SOL
RR RH OUT ABS SOL
1.CHECK CONNECTOR
replace terminal.
(ABS)".
YES >> GO TO 2
BRC-132
C1121, C1123, C1125, C1127 OUT ABS SOL
2. Disconnect ABS actuator and electric unit (control unit) connec- A
tor.
B

— Voltage
YES >> GO TO 3 D
3.CHECK SOLENOID, VDC SWITCH-OVER VALVE AND ACUATOR RELAY GROUND CIRCUIT E
BRC
— Continuity
Connector Terminal
E125 16, 47 Ground Yes G
H
AWFIA0016ZZ
I
1.CHECK ACTIVE TEST

1. Select each test menu item on ”ACTIVE TEST“. J
table below.
K
UP KEEP DOWN UP
TOR UP TOR KEEP
L
FR RH ABS SOLE-
M
FR LH ABS SOLE-
RR RH SOL RR RH IN SOL OFF ON ON OFF OFF OFF N

RR RH ABS SOLE-
RR LH SOL RR LH IN SOL OFF ON ON OFF OFF OFF O

RR LH ABS SOLE-

P
REAR SOL
BRC-133
C1121, C1123, C1125, C1127 OUT ABS SOL

>> GO TO 2
>> END
BRC-134
A
ABS actuator and electric unit (control unit) and ECM exchange the engine signal with CAN communication B
line.
C
DTC DETECTION LOGIC

Based on the signal from ECM, ABS actuator and electric • ABS actuator and electric unit E
C1132 ENGINE SIGNAL 3 unit (control unit) judges that engine fuel cut system is (control unit)
malfunctioning. • ECM
• CAN communication line
C1136 ENGINE SIGNAL 6 BRC
Self-diagnosis results H
ENGINE SIGNAL 1
ENGINE SIGNAL 2
I
ENGINE SIGNAL 3
ENGINE SIGNAL 4
ENGINE SIGNAL 6 J
NO >> INSPECTION END K
L
1.CHECK ENGINE SYSTEM
1. Perform ECM self-diagnosis. Repair or replace items indicated, then perform ECM self-diagnosis again. M
Refer to:
- EC-462, "CONSULT-III Function" (HR16DE without EURO-OBD) N
2. Perform ABS actuator and electric unit (control unit) self-diagnosis. Refer to BRC-25, "CONSULT-III Func-
O
tion (ABS)".
YES >> Repair or replace the affected part.
P
BRC-135
>> GO TO 2
>> END
BRC-136
C1140 ACTUATOR RLY
C1140 ACTUATOR RLY
A
Activates or deactivates each solenoid valve according to the signals transmitted by the ABS actuator and B
electric unit (control unit).
C
DTC DETECTION LOGIC

C1140 ACTUATOR RLY ABS actuator relay or circuit malfunction. • ABS actuator and electric unit
(control unit) E
Self-diagnosis results G
ACTUATOR RLY
H
Diagnosis Procedure INFOID:0000000001731134 I
1.CHECK CONNECTOR J

3. Check terminal for deformation, disconnection, looseness, and so on. If any malfunction is found, repair or K
replace terminal.
(ABS)". L
YES >> GO TO 2
NO >> Poor connection of connector terminal. Repair or replace connector. M
N
tor.
unit) harness connector terminal and ground. O

— Voltage P
Connector Terminal
YES >> GO TO 3
BRC-137
C1140 ACTUATOR RLY

— Continuity
Connector Terminal
AWFIA0016ZZ
1.CHECK ACTIVE TEST

below.
Operation ON OFF
MOTOR RELAY ON OFF
ACTUATOR RLY ON ON

>> GO TO 2
>> END
BRC-138
C1142 PRESS SENSOR
C1142 PRESS SENSOR
A
The front and rear pressure sensors convert the brake fluid pressure to an electric signal and transmit it to the B
ABS actuator and electric unit (control unit).
C
DTC DETECTION LOGIC

Pressure sensor signal line is open or shorted, or pres- • Pressure sensor
C1142 PRESS SEN CIRCUIT
sure sensor is malfunctioning. • ABS actuator and electric unit E
(control unit)


G
PRESS SEN CIRCUIT
I
FRONT PRESSURE SENSOR INSPECTION PROCEDURE J

1. Turn the ignition switch OFF.
2. Disconnect the front pressure sensor connector E31 and ABS actuator and electric unit (control unit) con- K
nector E125 and inspect the terminals for deformation, disconnection, looseness, or damage.
YES >> GO TO 2 L
NO >> Repair connector.
2.FRONT PRESSURE SENSOR CIRCUIT INSPECTION M
1. Measure the continuity between the ABS actuator and electric
unit (control unit) harness connector E125 (A) and front pres-
sure sensor harness connector E31 (B).
N

O
18 3
A: E125 19 B: E31 1 Yes P
AWFIA0021ZZ
20 2
2. Measure the continuity between the ABS actuator and electric unit (control unit) harness connector E125
(A) and body ground.
BRC-139
C1142 PRESS SENSOR
ABS actuator and electric unit (control

unit) — Continuity
Connector Terminal
18
A: E125 19 Ground No
20
YES >> GO TO 3
NO >> Repair or replace harness or connector.
3.FRONT PRESSURE SENSOR INSPECTION
1. Reconnect the front pressure sensor and ABS actuator and electric unit (control unit) connectors.
2. Use “DATA MONITOR” to check if the status of “PRESS SENSOR” is normal.
PRESS SENSOR
Condition
(DATA MONITOR)
With ignition switch turned ON and brake pedal released. Approx. 0 bar
With ignition switch turned ON and brake pedal depressed. Positive value
YES >> Inspection End.
NO >> Replace the front pressure sensor.
REAR PRESSURE SENSOR INSPECTION PROCEDURE
2. Disconnect the rear pressure sensor connector E32 and ABS actuator and electric unit (control unit) con-
YES >> GO TO 2
2.REAR PRESSURE SENSOR CIRCUIT INSPECTION
1. Measure the continuity between the ABS actuator and electric
unit (control unit) harness connector E125 (A) and rear pressure
sensor harness connector E32 (B).

21 1
A: E125 22 B: E32 3 Yes
AWFIA0022ZZ
23 2
2. Measure the continuity between the ABS actuator and electric unit (control unit) harness connector E125
(A) and body ground.

Connector Terminal
21
23
BRC-140
C1142 PRESS SENSOR
YES >> GO TO 3 A
3.REAR PRESSURE SENSOR INSPECTION
B
1. Reconnect the rear pressure sensor and ABS actuator and electric unit (control unit) connectors.
2. Use “DATA MONITOR” to check if the status of “PRESS SEN2” is normal.
C
PRESS SEN2
Condition
(DATA MONITOR)
D
With ignition switch turned ON and brake pedal depressed. Positive value
YES >> Inspection End. E
NO >> Replace the rear pressure sensor.
BRC
On “DATA MONITOR”, select “PRESS SENSOR” and “PRESS SEN2” and check the brake fluid pressure. G
PRESS SENSOR
Condition and PRESS SEN2
H
(DATA MONITOR)
With ignition switch turned ON and brake pedal depressed. Positive value I
NO >> Go to diagnosis procedure. Refer to BRC-139, "Diagnosis Procedure". J
L
>> GO TO 2
M
>> END
O
BRC-141
C1143, C1144 STEERING ANGLE SENSOR
The steering angle sensor detects the rotation amount, angular velocity and direction of the steering wheel,
and transmits the data to the ABS actuator and electric unit (control unit) via CAN communication.
DTC DETECTION LOGIC

Neutral position of steering angle sensor is dislocated, or • Harness or connector
the steering angle sensor is malfunctioning. • Steering angle sensor
• 4WAS control unit (4WAS
models)
C1144 ST ANG SEN SIGNAL Neutral position of steering angle sensor is not finished. • ABS actuator and electric unit
(control unit)

ST ANG SEN CIRCUIT
ST ANG SEN SIGNAL
1.CHECK CONNECTOR
3. Disconnect steering angle sensor connector.
replace terminal.
(ABS)"
YES >> GO TO 2
2.CHECK STEERING ANGLE SENSOR HARNESS
2. Disconnect steering angle sensor connector.
BRC-142
3. Check continuity between steering angle sensor harness con-
nector terminal and ground. A
Steering angle sensor

— Continuity
Connector Terminal B
M17 2 Ground Yes
WFIA0399E
D
4. Turn ignition switch ON.
5. Check voltage between steering angle sensor harness connec-
tor terminal and ground. E
Steering angle sensor

— Voltage
Connector Terminal BRC
M17 3 Ground Battery voltage
G
YES >> GO TO 3
AWFIA0023ZZ
3.CHECK DATA MONITOR H
1. Connect the steering angle sensor connector and ABS actuator and electric unit (control unit) connector.
2. Select “STR ANGLE SIG” in “DATA MONITOR” and check steering angle sensor signal.
I
Steering condition STR ANGLE SIG (DATA MONITOR)
Driving straight ±2.5 °
J
Turn 90 ° to right Approx. +90 °
Turn 90 ° to left Approx. −90 °
Is the inspection result normal? K
tion".
NO >> Replace steering angle sensor and adjust neutral position of steering angle sensor. Refer to BRC- L
186, "Removal and Installation".
M
Select “STR ANGLE SIG” in “DATA MONITOR” and check steering angle sensor signal. N
Steering condition STR ANGLE SIG (DATA MONITOR)

Driving straight ±2.5 ° O
Turn 90 ° to right Approx. +90 °
Turn 90 ° to left Approx. −90 °
P

BRC-143
>> GO TO 2
>> END
BRC-144
A
The brake fluid level switch converts the brake fluid level to an electric signal and transmits it to the ABS actu- B
ator and electric unit (control unit).
C
DTC DETECTION LOGIC

Brake fluid level is low or communication line between • Harness or connector
C1155 BR FLUID LEVEL LOW the ABS actuator and electric unit (control unit) and brake • Brake fluid level switch
fluid level switch is open or shorted. • Brake fluid level E
Self-diagnosis results G
BR FLUID LEVEL LOW
H
Diagnosis Procedure INFOID:0000000001731149 I
1.CONNECTOR INSPECTION J
1. Disconnect ABS actuator and electric unit (control unit) connector E125 and brake fluid level switch con-
nector E21.
2. Check the terminals for deformation, disconnection, looseness or damage. K
YES >> GO TO 2
L
2.CHECK HARNESS BETWEEN BRAKE FLUID LEVEL SWITCH AND ABS ACTUATOR AND ELECTRIC
UNIT (CONTROL UNIT) M
unit) harness connector E125 (A) and brake fluid level switch
harness connector E21 (B). N

(control unit) Continuity O
A: E125 8 B: E21 1 Yes
2. Check continuity between ABS actuator and electric unit (control P
unit) harness connector E125 (A) and ground. AWFIA0025ZZ

— Continuity
Connector Terminal
A: E125 8 Ground No
BRC-145
YES >> GO TO 3
3.CHECK BRAKE FLUID LEVEL SWITCH GROUND
Check continuity between brake fluid level switch harness connector
E21 and ground.

— Continuity
Connector Terminal
E21 2 Ground Yes
YES >> GO TO 4
AWFIA0026ZZ

Check continuity between brake fluid level switch terminals.

Terminal
No
voir tank.
1−2
Yes
reservoir tank.
ALFIA0026ZZ
appear, replace ABS actuator and electric unit (control unit). Refer to BRC-184, "Removal and
Installation".

2. Disconnect brake fluid level switch connector.
3. Check continuity between brake fluid level switch terminals.

Terminal
No
voir tank.
1−2
Yes
reservoir tank.
ALFIA0026ZZ

BRC-146
>> GO TO 2
2.CALIBRATION OF DECEL G SENSOR A
B
>> END
C
BRC
BRC-147
C1156 ST ANG SEN COM CIR
C1156 ST ANG SEN COM CIR
The steering angle sensor is connected to the ABS actuator and electric unit (control unit) in addition to CAN
lines. CAN (Controller Area Network) is a serial communication line for real time application. It is an on-vehicle
multiplex communication line with high data communication speed and excellent error detection ability. Many
electronic control units are equipped onto a vehicle, and each control unit shares information and links with
other control units during operation (not independent). In CAN communication, control units are connected
with 2 communication lines (CAN H line, CAN L line) allowing a high rate of information transmission with less
wiring. Each control unit transmits/receives data but selectively reads required data only.
DTC DETECTION LOGIC

When steering angle sensor is not transmitting CAN • CAN communication line
C1156 ST ANG SEN COM CIR communication signal to the ABS actuator and electric • Steering angle sensor
unit (control unit). • ABS actuator and electric unit
(control unit)

ST ANG SEN COM CIR
1.CHECK CONNECTOR
1. Turn ignition switch OFF and disconnect ABS actuator and electric unit (control unit) connector E125,
check terminal for deformation, disconnection, looseness, and so on. If any malfunction is found, repair or
replace terminal.
2. Reconnect connector and perform self-diagnosis.
CAN COMM CIRCUIT
ST ANG SEN COM CIR
YES >> Refer to BRC-86, "Work Flow".
BRC-148
C1160 DECEL G SEN SET
C1160 DECEL G SEN SET
A
The yaw rate/side/decel G sensor detects the yaw rate/side/decel G affecting the vehicle, and transmits the B
data to the ABS actuator and electric unit (control unit) as an analog voltage signal.
C
DTC DETECTION LOGIC

• Decel G sensor calibration
• Yaw rate/side/decel G sensor
C1160 DECEL G SEN SET ABS decel G sensor adjustment is incomplete.
• ABS actuator and electric unit E
(control unit)


G
DECEL G SEN SET
I
INSPECTION PROCEDURE J
1.PERFORM SELF-DIAGNOSIS
K
DECEL G SEN SET
L
Do self-diagnosis results indicate anything other than shown above?
YES >> Perform repair or replacement for the item indicated.
NO >> Perform calibration of decel G sensor. Refer to BRC-91, "CALIBRATION OF DECEL G SENSOR M
: Description". GO TO 2
2.PERFORM SELF-DIAGNOSIS AGAIN
1. Turn the ignition switch to OFF and then to ON and erase self-diagnosis results. N
2. Perform ABS actuator and electric unit (control unit) self-diagnosis again.
Are any self-diagnosis results displayed?
O
YES >> Replace yaw rate/side/decel G sensor. Refer to BRC-185, "Removal and Installation".
BRC-149
C1163 ST ANGLE SEN SAFE
C1163 ST ANGLE SEN SAFE
The steering angle sensor detects the rotation amount, angular velocity and direction of the steering wheel,
and transmits the data to the ABS actuator and electric unit (control unit) via CAN communication.
DTC DETECTION LOGIC

• Adjust steering angle sensor
C1163 ST ANGL SEN SAFE When steering angle sensor is in safe mode.
neutral position

ST ANGL SEN SAFE
Adjust steering angle sensor neutral position. Refer to BRC-90, "ADJUSTMENT OF STEERING ANGLE SEN-
SOR NEUTRAL POSITION : Description".
>> GO TO 2
2.INDICATOR LAMP CHECK
Check that VDC OFF indicator lamp is off.
Is VDC OFF indicator lamp off?
NO >> Perform ABS actuator and electric unit (control unit) self-diagnosis. Refer to BRC-25, "CONSULT-
III Function (ABS)".
BRC-150
C1179 ABS DELTA S SEN NG
A
The active brake booster consists of a vacuum booster, an active booster control group and a delta stroke B
sensor. If a brake booster system malfunction occurs due to loss of vacuum, the delta stroke sensor will signal
the ABS actuator and electric unit (control unit) that a booster malfunction has occurred. The active booster
then applies supplemental force to the master cylinder relative to the amount of force exerted on the brake
pedal. C
D
DTC DETECTION LOGIC

E
Delta stroke sensor is malfunctioning, or signal line of • Delta stroke sensor
delta stroke sensor is open or shorted. • ABS actuator and electric unit
(control unit) BRC

H
ABS DELTA S SEN NG
Is above displayed on the self-diagnosis display? I
J
K
2. Disconnect the delta stroke sensor connector E114 and ABS actuator and electric unit (control unit) con- L
YES >> GO TO 2 M
2.DELTA STROKE SENSOR CIRCUIT INSPECTION
1. Measure the continuity between ABS actuator and electric unit N
(control unit) harness connector E125 (A) and delta stroke sen-
sor harness connector E114 (B).
O
Delta stroke sensor
Connector Terminal Connector Terminal P
26 1
A: E125 39 B: E114 3 Yes
AWFIA0029ZZ
40 5
2. Measure the continuity between ABS actuator and electric unit (control unit) harness connector E125 (A)
and body ground.
BRC-151

Connector Terminal
26
40
YES >> GO TO 3
3.DELTA STROKE SENSOR INSPECTION
1. Reconnect the delta stroke sensor and ABS actuator and electric unit (control unit) connectors.
2. Use “DATA MONITOR” to check if the status of “DELTA S SEN” is normal.
DELTA S SEN
Condition
(DATA MONITOR)
When brake pedal is depressed. 1.05–1.80 mm
When brake pedal is released. 0.00 mm (+0.6/-0.4)
lation".
NO >> Replace the delta stroke sensor.

Use “DATA MONITOR” to check if the status of “DELTA S SEN” is normal.
DELTA S SEN
Condition
(DATA MONITOR)
When brake pedal is depressed. 1.05–1.80 mm
When brake pedal is released. 0.00 mm (+0.6/-0.4)

>> GO TO 2
>> END
BRC-152
A
CAN (Controller Area Network) is a serial communication line for real time application. It is an on-vehicle mul- B
tiplex communication line with high data communication speed and excellent error detection ability. Many elec-
tronic control units are equipped onto a vehicle, and each control unit shares information and links with other
control units during operation (not independent). In CAN communication, control units are connected with 2
communication lines (CAN H line, CAN L line) allowing a high rate of information transmission with less wiring. C
Each control unit transmits/receives data but selectively reads required data only.
D
DTC DETECTION LOGIC

E
When ABS actuator and electric unit (control unit) is not • CAN communication line
U1000 CAN COMM CIRCUIT transmitting or receiving CAN communication signal for 2 • ABS actuator and electric unit
seconds or more. (control unit) BRC
G
1.CHECK CONNECTOR
H
1. Turn ignition switch OFF, disconnect the ABS actuator and electric unit (control unit) connector, and check
the terminals for deformation, disconnection, looseness, and so on. If there is a malfunction, repair or
replace the terminal.
2. Reconnect connector and perform self-diagnosis. I
Is “CAN COMM CIRCUIT” displayed in self-diagnosis display items?
YES >> Print out the self-diagnostic results, and refer to BRC-86, "Work Flow".
NO >> Connector terminal is loose, damaged, open, or shorted. J
and electric unit (control unit). Refer to BRC-90, "ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL L
>> GO TO 2 M
>> END
O
BRC-153
VDC OFF SWITCH
VDC OFF SWITCH
VDC OFF switch can deactivate (turn OFF) the VDC/TCS function by pressing the VDC OFF switch.
1.CHECK VDC OFF SWITCH OPERATION

Turn ON/OFF the VDC OFF switch and check that the VDC OFF indicator lamp in the combination meter turns
ON/OFF correctly.
Condition VDC OFF indicator lamp illumination status

VDC OFF switch: ON ON
VDC OFF switch: OFF OFF
1.CHECK VDC OFF SWITCH

2. Disconnect VDC OFF switch connector.
3. Check continuity between VDC OFF switch terminals.
VDC OFF switch

Terminal
When VDC OFF switch is pressed. Yes
1−2
When VDC OFF switch is released. No
PFIA0307E
YES >> GO TO 2
NO >> Replace VDC OFF switch.
2.CHECK VDC OFF SWITCH HARNESS
tor.
unit) connector E125 (A) and VDC OFF switch connector M257
(B).

VDC OFF switch
A: E125 38 B: M257 1 Yes
AWFIA0030ZZ

unit) connector E125 (A) and ground.

— Continuity
Connector Terminal
YES >> GO TO 3
BRC-154
VDC OFF SWITCH
NO >> Repair or replace harness.
3.CHECK VDC OFF SWITCH GROUND A
Check continuity between VDC OFF switch connector M257 and

ground.
B
VDC OFF switch

— Continuity
M257 2 Ground Yes
YES >> GO TO 4 D
NO >> Repair or replace harness.
AWFIA0031ZZ
4.CHECK COMBINATION METER E

tion".
Is the inspection result normal? BRC
tion".
NO >> Replace combination meter. Refer to MWI-94, "Removal and Installation". G
H
1. Turn ignition switch OFF. I
2. Disconnect VDC OFF switch connector.
3. Check continuity between VDC OFF switch terminals.
J
VDC OFF switch
Terminal
K
When VDC OFF switch is pressed. Yes
1−2
When VDC OFF switch is released. No
PFIA0307E
NO >> Replace VDC OFF switch.
M
BRC-155
ABS WARNING LAMP
ABS WARNING LAMP
×: ON –: OFF
Condition ABS warning lamp

1.CHECK ABS WARNING LAMP OPERATION

(ABS)".
YES >> GO TO 2
tion".
tion".
BRC-156
BRAKE WARNING LAMP
BRAKE WARNING LAMP
A
×: ON –: OFF B
Condition Brake warning lamp (Note 1)
For 1 second after turning ON ignition switch × (Note 2) C
1 second later after turning ON ignition switch × (Note 2)
D
NOTE:
• 1: Brake warning lamp will turn on in case of parking brake operation (when switch is ON) or of brake fluid level switch operation
(when brake fluid is insufficient). E
• 2: After starting engine, brake warning lamp is turned off.
BRC
1.BRAKE WARNING LAMP OPERATION CHECK
G
H
1.CHECK SELF-DIAGNOSIS I
YES >> GO TO 2 J
2.CHECK COMBINATION METER K
tion".
tion".
NO >> Replace combination meter. Refer to MWI-94, "Removal and Installation". M
BRC-157
VDC OFF INDICATOR LAMP
VDC OFF INDICATOR LAMP
×: ON –: OFF
Condition VDC OFF indicator lamp

VDC OFF switch turned ON. (VDC function is OFF.) ×
VDC/TCS function is malfunctioning. ×
1.VDC OFF INDICATOR LAMP OPERATION CHECK 1

YES >> GO TO 2
2.VDC OFF INDICATOR LAMP OPERATION CHECK 2
Check that the VDC OFF indicator lamp in the combination meter turns ON/OFF correctly when operating the
VDC OFF switch.
NO >> Check VDC OFF switch. Refer to BRC-154, "Diagnosis Procedure".

Check that the VDC OFF indicator lamp in the combination meter turns ON/OFF correctly when operating the
VDC OFF switch.
YES >> GO TO 2
NO >> Check VDC OFF switch. Refer to BRC-154, "Diagnosis Procedure".
(ABS)".
YES >> GO TO 3
tion".
tion".
BRC-158
SLIP INDICATOR LAMP
SLIP INDICATOR LAMP
A
×: ON –: OFF B
Condition SLIP indicator lamp
For 1 second after turning ON ignition switch × C
VDC/TCS function is malfunctioning. ×
D
E
1.CHECK SLIP INDICATOR LAMP OPERATION BRC

YES >> INSPECTION END G
H
(ABS)". I
YES >> GO TO 2 J
Check if the indication and operation of combination meter are normal. Refer to MWI-21, "Diagnosis Descrip- K
tion".
YES >> Replace ABS actuator and electric unit (control unit). Refer to BRC-184, "Removal and Installa- L
tion".
M
BRC-159
< ECU DIAGNOSIS > [ESP/TCS/ABS]
ECU DIAGNOSIS
Reference Value INFOID:0000000001731196
VALUES ON THE DIAGNOSIS TOOL

CAUTION:
The display shows the control unit calculation data, so a normal value might be displayed even in the
event the output circuit (harness) is open or short-circuited.
CONSULT-III MONITOR ITEM
Data monitor
Condition
normal operation
FR LH SENSOR Wheel speed Nearly matches the speed meter display Vehicle running
FR RH SENSOR Wheel speed Nearly matches the speed meter display Vehicle running
RR LH SENSOR Wheel speed Nearly matches the speed meter display Vehicle running
RR RH SENSOR Wheel speed Nearly matches the speed meter display Vehicle running
When brake pedal is depressed ON
STOP LAMP SW Stop lamp switch signal status
When brake pedal is released OFF
Battery voltage supplied to the ABS actuator
BATTERY VOLT Ignition switch ON 10 – 16 V
and electric unit (control unit)
1st gear 1
2nd gear 2
GEAR Gear position determined by TCM 3rd gear 3
4th gear 4
5th gear 5
P position P
R position R
SLCT LVR POSI A/T selector lever position
N position N
D position D
VDC OFF switch ON
ON
(When VDC OFF indicator lamp is ON)
OFF SW VDC OFF switch ON/OFF
VDC OFF switch OFF
OFF
(When VDC OFF indicator lamp is OFF)
Yaw rate detected by yaw rate/side/decel G When vehicle is stopped Approx. 0 d/s
YAW RATE SEN
sensor When vehicle turning −75 to 75 d/s
Accelerator pedal not depressed (ignition
0%
Throttle actuator opening/closing is dis- switch is ON)
ACCEL POS SIG
played (linked with accelerator pedal) Accelerator pedal depressed (ignition
0 - 100 %
switch is ON)
BRC-160
Data monitor
Reference value in
Condition
normal operation
Vehicle stopped Approx. 0 m/s2
B
Negative value
Vehicle turning right
SIDE G-SENSOR Transverse G detected by side G sensor (m/s2)
Positive value C
Vehicle turning left
(m/s2)
Steering angle detected by steering angle Straight-ahead Approx. 0°

STR ANGLE SIG
sensor Steering wheel turned –720 to 720° D
Approx. 0 bar
Brake fluid pressure detected by front pres- pedal released
PRESS SENSOR E
–40 to 300 bar
pedal depressed
With engine stopped 0 rpm
BRC
ENGINE SPEED With engine running Almost in accor-
Engine running dance with tachome-
ter display
When brake fluid level switch ON ON G
FLUID LEV SW Brake fluid level switch signal status
When brake fluid level switch OFF OFF
H
FR RH IN SOL Operation status of each solenoid valve
active and actuator relay is active (igni- OFF I
tion switch ON)
TIVE TEST” with CONSULT-III) or actua- ON J
FR RH OUT SOL Operation status of each solenoid valve
tion switch ON)
K

tor relay is inactive (in fail-safe mode) L
FR LH IN SOL Operation status of each solenoid valve
tion switch ON) M
FR LH OUT SOL Operation status of each solenoid valve N
tion switch ON)
O
RR RH IN SOL Operation status of each solenoid valve P
tion switch ON)
BRC-161
Data monitor
Condition
normal operation
RR RH OUT SOL Operation status of each solenoid valve
tion switch ON)
RR LH IN SOL Operation status of each solenoid valve
tion switch ON)
RR LH OUT SOL Operation status of each solenoid valve
tion switch ON)
When the motor relay and motor are op-
ON
erating
MOTOR RELAY Motor and motor relay operation
When the motor relay and motor are not
OFF
operating
When the actuator relay is operating ON
ACTUATOR RLY Actuator relay operation
When the actuator relay is not operating OFF
ABS warning lamp When ABS warning lamp is ON ON

ABS WARN LAMP
(Note 3) When ABS warning lamp is OFF OFF
VDC OFF indicator lamp When VDC OFF indicator lamp is ON ON

OFF LAMP
(Note 3) When VDC OFF indicator lamp is OFF OFF
SLIP indicator lamp When SLIP indicator lamp is ON ON

SLIP LAMP
(Note 3) When SLIP indicator lamp is OFF OFF
When transfer control unit is in fail-safe
4WD FAIL REQ ON
Transfer control unit fail-safe signal mode
(Note 2)
When transfer control unit is normal OFF
BST OPER SIG Not applied but displayed — OFF
EBD is active ON
EBD SIGNAL EBD operation
EBD is inactive OFF
ABS is active ON
ABS SIGNAL ABS operation
ABS is inactive OFF
TCS is active ON
TCS SIGNAL TCS operation
TCS is inactive OFF
VDC is active ON
VDC SIGNAL VDC operation
VDC is inactive OFF
In EBD fail-safe ON
EBD FAIL SIG EBD fail-safe signal
EBD is normal OFF
In ABS fail-safe ON
ABS FAIL SIG ABS fail-safe signal
ABS is normal OFF
BRC-162
Data monitor
Reference value in
Condition
normal operation
In TCS fail-safe ON
TCS FAIL SIG TCS fail-safe signal B
TCS is normal OFF
In VDC fail-safe ON
VDC FAIL SIG VDC fail-safe signal
VDC is normal OFF C
Crank is active ON
CRANKING SIG Crank operation
Crank is inactive OFF
D
ON
CV1 VDC switch-over valve safe mode) E
tion switch ON)
BRC
ON
CV2 VDC switch-over valve safe mode) G
tion switch ON) H
ON
safe mode)
I
SV1 VDC switch-over valve
tion switch ON) J
ON
or actuator relay is inactive (when in fail- K
SV2 VDC switch-over valve safe mode)
active and actuator relay is active (igni- OFF L
tion switch ON)
Longitudinal acceleration detected by Decel Vehicle stopped Approx. 0 G

DECEL G-SEN
G-Sensor Vehicle running -1.7 to 1.7 G M
EBD warning lamp When EBD warning lamp is ON ON
EBD WARN LAMP
(Note 3) When EBD warning lamp is OFF OFF
A/T shift position = N position ON N
N POSI SIG PNP switch signal ON/OFF condition
A/T shift position = other than N position OFF
A/T shift position = P position ON
P POSI SIG PNP switch signal ON/OFF condition O
A/T shift position = other than P position OFF
A/T shift position = R position ON
R POSI SIG PNP switch signal ON/OFF condition
A/T shift position = other than R position OFF P
2WD model 2WD
2WD/4WD Drive axle
4WD model 4WD
Approx. 0 bar
Brake fluid pressure detected by rear pres- pedal released
PRESS SEN2
–40 to 300 bar
pedal depressed
BRC-163
Data monitor
Condition
normal operation
When brake pedal is depressed 1.05 - 1.80 mm
DELTA S SEN Value detected by delta stroke sensor
When brake pedal is released 0.00 mm (+0.6/-0.4)
RELEASE SWITCH When brake pedal is depressed ON

NO When brake pedal is released OFF
RELEASE SWITCH When brake pedal is depressed OFF

NC When brake pedal is released ON
NOTE:
• 1: Confirm tire pressure is normal.
• 2: Only 4WD models.
• 3: On and off timing for warning lamp and indicator lamp.
- ABS warning lamp: Refer to BRC-60, "Description".
- Brake warning lamp: Refer to BRC-61, "Description".
- VDC OFF indicator lamp: Refer to XX-XX, "*****".
- SLIP indicator lamp: Refer to XX-XX, "*****".
TERMINAL LAYOUT
AWFIA0032ZZ
BRC-164
Wiring Diagram - LHD INFOID:0000000001731197
BRC
AWFWA0014GB
P
BRC-165
AWFWA0015GB
BRC-166
Wiring Diagram - RHD INFOID:0000000001731391
BRC
AWFWA0016GB
P
BRC-167
AWFWA0017GB
Fail-Safe INFOID:0000000001731198
CAUTION:
If the Fail-Safe function is activated, perform Self Diagnosis for ABS/TCS/VDC system.
ABS/EBD SYSTEM
BRC-168
In case of an electrical malfunction with the ABS, the ABS warning lamp, VDC OFF indicator lamp and SLIP
indicator lamp will turn on. In case of an electrical malfunction with the EBD system, the BRAKE warning lamp, A
ABS warning lamp, VDC OFF indicator lamp and SLIP indicator lamp will turn on.
The system will revert to one of the following conditions of the Fail-Safe function.
1. For ABS malfunction, only the EBD is operative and the condition of the vehicle is the same condition of B
vehicles without ABS/TCS/VDC system.
2. For EBD malfunction, the EBD and ABS become inoperative, and the condition of the vehicle is the same
as the condition of vehicles without ABS/TCS/VDC or EBD system.
C
VDC/TCS SYSTEM
In case of TCS/VDC system malfunction, the VDC OFF indicator lamp and SLIP indicator lamp are turned on
and the condition of the vehicle is the same as the condition of vehicles without TCS/VDC system. In case of D
an electrical malfunction with the TCS/VDC system, the ABS control continues to operate normally without
TCS/VDC control.
DTC No. Index INFOID:0000000001731199 E

BRC
C1103 FR RH SENSOR-1 G
H
C1108 FR LH SENSOR-2 I
C1109 BATTERY VOLTAGE [ABNORMAL] BRC-36, "Description"
C1110 CONTROLLER FAILURE BRC-38, "DTC Logic"
J
C1111 PUMP MOTOR BRC-39, "Description"
C1113 G-SENSOR XX-XX, "*****"
C1115 ABS SENSOR [ABNORMAL SIGNAL] BRC-41, "Description" K
C1116 STOP LAMP SW BRC-44, "Description"
C1120 FR LH IN ABS SOL BRC-46, "Description"
L
C1121 FR LH OUT ABS SOL BRC-49, "Description"
C1122 FR RH IN ABS SOL BRC-46, "Description"
C1123 FR RH OUT ABS SOL BRC-49, "Description" M
C1124 RR LH IN ABS SOL BRC-46, "Description"
C1125 RR LH OUT ABS SOL BRC-49, "Description"
C1126 RR RH IN ABS SOL BRC-46, "Description" N
C1127 RR RH OUT ABS SOL BRC-49, "Description"
O
C1132 ENGINE SIGNAL 3 BRC-52, "Description"
C1133 ENGINE SIGNAL 4 P
C1140 ACTUATOR RLY BRC-54, "Description"
C1142 PRESS SEN CIRCUIT XX-XX, "*****"
XX-XX, "*****"
C1144 ST ANG SEN SIGNAL
BRC-169
XX-XX, "*****"
C1155 BR FLUID LEVEL LOW BRC-56, "Description"
C1156 ST ANG SEN COM CIR XX-XX, "*****"
C1160 DECEL G SEN SET XX-XX, "*****"
C1163 ST ANGL SEN SAFE XX-XX, "*****"
C1164 CV1
C1165 CV2
XX-XX, "*****"
C1166 SV1
C1167 SV2
C1170 VARIANT CORDING BRC-38, "DTC Logic"
C1178 ABS ACTIVE BOOSTER SV NG XX-XX, "*****"
C1179 ABS DELTA S SEN NG XX-XX, "*****"
C1181 ABS ACTIVE BOOSTER RESPONSE NG
C1184 ABS BRAKE RELEASE SW NG XX-XX, "*****"
C1189 ABS BRAKE BOOSTER DEFECT
U1000 CAN COMM CIRCUIT BRC-59, "Description"
BRC-170
VDC/TCS/ABS
< SYMPTOM DIAGNOSIS > [ESP/TCS/ABS]
SYMPTOM DIAGNOSIS A
VDC/TCS/ABS
Symptom Table INFOID:0000000001731200
B
If ABS warning lamp, VDC OFF indicator lamp and SLIP indicator lamp turn ON, perform self-diagnosis.
Symptom Check item Reference C

Brake force distribution
Excessive ABS function operation fre- BRC-74, "Diagno-
Looseness of front and rear axle
quency sis Procedure" D
Wheel sensor and rotor system
Brake pedal stroke BRC-75, "Diagno-
Unexpected pedal reaction
Make sure the braking force is sufficient when the ABS is not operating. sis Procedure" E
BRC-76, "Diagno-
The braking distance is long Check stopping distance when the ABS is not operating.
sis Procedure"
BRC-77, "Diagno- BRC
ABS function does not operate (Note 1) ABS actuator and electric unit (control unit)
sis Procedure"
Pedal vibration or ABS operation sound Brake pedal BRC-78, "Diagno-

occurs (Note 2) ABS actuator and electric unit (control unit) sis Procedure" G

Vehicle jerks during VDC/TCS/ABS con-
TCM XX-XX, "*****" H
trol
ECM
NOTE:
• 1: The ABS does not operate when the speed is 10 km/h (6 MPH) or less. I
• 2: Under the following conditions, ABS is activated and vibration is felt when brake pedal is lightly depressed. However, this is normal.
- When shifting gears
- When driving on slippery road J
- During cornering at high speed
- When passing over bumps or grooves [at approximately 50 mm (1.97 in) or more]
- When pulling away just after starting engine [at approximately 10 km/h (6 MPH) or higher] K
BRC-171
1.CHECK START
Check front and rear brake force distribution using a brake tester.
YES >> GO TO 2
2.CHECK FRONT AND REAR AXLE
Make sure that there is no excessive play in the front and rear axles. Refer to front: FAX-5, "On-Vehicle
Inspection and Service", Rear: RAX-5, "On-Vehicle Inspection and Service".
YES >> GO TO 3
3.CHECK WHEEL SENSOR AND SENSOR ROTOR
Check the following.
• Wheel sensor installation for damage.
• Sensor rotor installation for damage.
• Wheel sensor connector connection.
• Wheel sensor harness inspection.
YES >> GO TO 4
NO >> • Replace wheel sensor or sensor rotor. Refer to BRC-182, "Removal and Installation".
• Repair harness.
Make sure that the ABS warning lamp is turned off after the ignition switch is turned ON or when driving.
Is the ABS warning lamp illuminated?
YES >> Perform self-diagnosis. Refer to BRC-105, "CONSULT-III Function (ABS)".
NO >> Normal
BRC-172
A
1.CHECK BRAKE PEDAL STROKE B

Check brake pedal stroke. Refer to BR-6, "Inspection and Adjustment".
Is the stroke too large?
C
YES >> • Bleed air from brake tube and hose. Refer to BR-8, "Bleeding Brake System".
• Check brake pedal, brake booster, and master cylinder for mount play, looseness, brake system
fluid leakage, etc. Refer to BR-6, "Inspection and Adjustment" (brake pedal), BR-18, "On-Board
Inspection" (master cylinder), BR-19, "On Board Inspection" (brake booster). D
NO >> GO TO 2
2.CHECK FUNCTION
E
Disconnect ABS actuator and electric unit (control unit) connector to deactivate ABS. Check if braking force is
normal in this condition. Connect connector after inspection.
BRC
YES >> Normal
BRC-173
CAUTION:
The stopping distance on slippery road surfaces might be longer with the ABS operating than when
the ABS is not operating.
1.CHECK FUNCTION
Turn ignition switch OFF and disconnect ABS actuator and electric unit (control unit) connector to deactivate
ABS. In this condition, check stopping distance. After inspection, connect connector.
YES >> Normal
BRC-174
A
CAUTION: B
ABS does not operate when speed is 10 km/h (6 MPH) or lower.
Make sure that the ABS warning lamp turns OFF after ignition switch is turned ON or when driving. C
YES >> Normal
NO >> Perform self-diagnosis. Refer to BRC-25, "CONSULT-III Function (ABS)". D
BRC
BRC-175
CAUTION:
Under the following conditions, ABS is activated and vibration is felt when brake pedal is lightly
depressed. However, this is normal.
• When shifting gears
• When driving on slippery road
• During cornering at high speed
• When passing over bumps or grooves [at approximately 50 mm (1.97 in) or more]
• When pulling away just after starting engine [at approximately 10 km/h (6 MPH) or higher]
1.SYMPTOM CHECK 1
Check that there are pedal vibrations when the engine is started.
Do vibrations occur?
YES >> GO TO 2
NO >> Inspect the brake pedal.
2.SYMPTOM CHECK 2
Check that there are ABS operation noises when the engine is started.
Do the operation noises occur?
YES >> GO TO 3
NO >> Perform self -diagnosis. Refer to BRC-25, "CONSULT-III Function (ABS)".
3.SYMPTOM CHECK 3
Check symptoms when electrical component (headlamps, etc.) switches are operated.
Do symptoms occur?
YES >> Check if there is a radio, antenna, antenna lead wire, or wiring close to the control unit. If there is,
move it farther away.
NO >> Normal
BRC-176
VEHICLE JERKS DURING VDC/TCS/ABS CONTROL
VEHICLE JERKS DURING VDC/TCS/ABS CONTROL
A
1.SYMPTOM CHECK B
Check if the vehicle jerks during VDC/TCS/ABS control.
C
YES >> Normal.
NO >> GO TO 2
2.CHECK SELF-DIAGNOSIS RESULTS D
Perform self-diagnosis of ABS actuator and electric unit (control unit). Refer to BRC-25, "CONSULT-III Func-
tion (ABS)".
Are self-diagnosis results indicated? E
YES >> Check corresponding items, make repairs, and perform ABS actuator and electric unit (control
unit) self-diagnosis.
NO >> GO TO 3 BRC
3. CHECK CONNECTOR
• Turn ignition switch OFF and disconnect ABS actuator and electric unit (control unit) connector and check
terminal for deformation, disconnection, looseness, etc. G
• Securely connect connectors and perform ABS actuator and electric unit (control unit) self-diagnosis.
Are self-diagnosis results indicated?
YES >> If poor contact, damage, open or short circuit of connector terminal is found, repair or replace. H
NO >> GO TO 4
4.CHECK ECM AND TCM SELF-DIAGNOSIS RESULTS
I
Perform ECM and TCM self-diagnosis.
Are self-diagnosis results indicated?
YES >> Check the corresponding items. J
• ECM, refer to:
- EC-772, "CONSULT-III Function" (MR18DE) K
• TCM, refer to:
- TM-35, "CONSULT-III Function (TRANSMISSION)" (4AT:RE4F03B type 1) L
- TM-348, "CONSULT-III Function (TRANSMISSION)" (4AT:RE4F03B type 2)
- TM-620, "System Description" (RS5F91R)
- TM-664, "System Description" (6MT: RS6F94R)
M
NO >> Replace ABS actuator and electric unit (control unit). Refer to BRC-184, "Removal and Installa-
tion".
BRC-177
Symptom Result
Slight vibrations are felt on the brake pedal and the operation noises occur, when VDC, TCS or ABS is acti-
vated.
This is a normal condi-
Stopping distance is longer than that of vehicles without ABS when the vehicle drives on rough, gravel, or
tion due to the VDC,
TCS or ABS activation.
The brake pedal moves and generates noises, when TCS or VDC is activated due to rapid acceleration or
sharp turn.
This is normal, and it is
The brake pedal vibrates and motor operation noises occur from the engine room, after the engine starts and
caused by the ABS op-
just after the vehicle starts.
eration check.
Depending on the road conditions, the driver may experience a sluggish feel. This is normal, because
TCS places the highest
TCS may activate momentarily if wheel speed changes when driving over location where friction coefficient priority on the optimum
varies, when downshifting, or when fully depressing accelerator pedal. traction (stability).
The ABS warning lamp, VDC OFF indicator lamp and SLIP indicator lamp may turn ON when the vehicle is
subject to strong shaking or large vibration, such as when the vehicle is rotating on a turntable or located on In this case, restart the
a ship while the engine is running. engine on a normal
road. If the normal con-
VDC may not operate normally or the ABS warning lamp, VDC OFF indicator lamp, and SLIP indicator lamp
dition is restored, there
may illuminate, when running on a special road that is extremely slanted (e.g. bank in a circuit course).
is no malfunction. At
A malfunction may occur in the yaw rate/side/decel G sensor system, when the vehicle turns sharply, such that time, erase the self-
as during a spin turn, axle turn, or drift driving, while the VDC function is off (VDC OFF indicator lamp illumi- diagnosis memory.
nated).
Normal (Deactivate the
VDC/TCS function be-
The vehicle speed will not increase even though the accelerator pedal is depressed, when inspecting the
fore performing an in-
speedometer on a 2-wheel chassis dynamometer.
spection on a chassis
dynamometer.)
This is not a VDC sys-
VDC OFF indicator lamp and SLIP indicator lamp may simultaneously turn on when low tire pressure warn- tem error but results
ing lamp turns on. from characteristic
change of tire.
BRC-178
PRECAUTIONS
< PRECAUTION > [ESP/TCS/ABS]
PRECAUTION A
PRECAUTIONS
Precaution for Supplemental Restraint System (SRS) "AIR BAG" and "SEAT BELT B
PRE-TENSIONER" INFOID:0000000001691411
The Supplemental Restraint System such as “AIR BAG” and “SEAT BELT PRE-TENSIONER”, used along C
with a front seat belt, helps to reduce the risk or severity of injury to the driver and front passenger for certain
types of collision. Information necessary to service the system safely is included in the SRS and SB section of
this Service Manual.
WARNING: D
• To avoid rendering the SRS inoperative, which could increase the risk of personal injury or death in
the event of a collision which would result in air bag inflation, all maintenance must be performed by
an authorized NISSAN/INFINITI dealer. E
• Improper maintenance, including incorrect removal and installation of the SRS, can lead to personal
injury caused by unintentional activation of the system. For removal of Spiral Cable and Air Bag
Module, see the SRS section.
BRC
• Do not use electrical test equipment on any circuit related to the SRS unless instructed to in this
Service Manual. SRS wiring harnesses can be identified by yellow and/or orange harnesses or har-
ness connectors.
G
Precaution for Brake System INFOID:0000000001691412
• Recommended fluid is Genuine NISSAN Fluid, DOT 3 or DOT 4 (US FMVSS No. 116).
• Do not reuse drained brake fluid. H
• Be careful not to splash brake fluid on painted areas such as body. If brake fluid is splashed, wipe it off and
flush area with water immediately.
• Do not use mineral oils such as gasoline or kerosene to clean. They will ruin rubber parts and cause I
improper operation.
• Using a flare nut torque wrench, securely tighten brake tube flare
nuts.
• Brake system is an important safety part. If a brake fluid leak is J
detected, always disassemble the affected part. If a malfunction is
detected, replace part with a new one.
• Before working, turn ignition switch OFF and disconnect electrical K
connectors of ABS actuator and electric unit (control unit) or bat-
tery negative terminals.
• When installing brake piping, be sure to check torque.
L
• After removing/installing any hydraulic parts of the brake or ESP
system (such as actuator and piping parts, etc), bleed air from the
SBR820BA
system.
M
Precaution for Brake Control INFOID:0000000001691413
• During ESP/TCS/ABS operation, brake pedal lightly vibrates and a mechanical noise may be heard. This is
normal. N
• When starting engine, or just after starting vehicle, brake pedal may vibrate or motor operating noise may be
heard from engine room. This is a normal status of operation check.
• Stopping distance may be longer than that of vehicles without ABS when vehicle drives on rough, gravel, or O
• When an error is indicated by ABS or another warning lamp, collect all necessary information from the cus-
tomer (what symptoms are present under what conditions) and check for simple causes before starting diag-
nostic servicing. Besides the electrical system inspection, check booster operation, brake fluid level, and P
fluid leaks.
• If tire size and type are used in an improper combination, or brake pads are not Genuine NISSAN parts,
stopping distance or steering stability may deteriorate.
• If there is a radio, antenna, or antenna lead-in wire (including wiring) near control module, ESP/TCS/ABS
function may have a malfunction or error.
• If aftermarket parts (car stereo, CD player, etc.) have been installed, check for incidents such as harness
pinches, open circuits, and improper wiring.
BRC-179
PRECAUTIONS
< PRECAUTION > [ESP/TCS/ABS]
• If the following components are replaced with non-genuine components or converted, ESP OFF indicator
lamp and SLIP indicator lamp may turn on or the ESP system may not operate properly. Components
related to suspension (Shock Absorber, Strut, Spring, Bush, etc.), Tires, wheels (exclude specified size),
components related to brake (Pad, Rotor, Caliper, etc.), components related to engine (Muffler, ECM, etc.),
components related to body reinforcement (Roll bar, Tower bar, etc.).
• Driving in the condition of breakage or excessive wear of suspension, tires or components related to the
brakes may cause ESP OFF indicator lamp and SLIP indicator lamp turn on, and the ESP system may not
operate properly.
• When the TCS or ESP is activated by sudden acceleration or sudden turn, some noise may occur. The noise
is a result of the normal operation of the TCS and ESP.
• When driving on roads which have extreme slopes (such as mountainous roads) or high banks (such as
sharp carves on a freeway), the ESP may not operate normally, or ESP warning lamp and SLIP indicator
lamp may turn on. However, this is not a malfunction, if normal operation can be resumed after restarting
engine.
• Sudden turns (such as spin turns, acceleration turns), drifting, etc. When ESP function is OFF (ESP SW ON)
may cause the G -sensor system indicate a malfunction. However, this is not a malfunction, if normal opera-
tion can be resumed after restarting engine.
Diagnosis Precaution INFOID:0000000001691414
CAN SYSTEM
• Do not apply voltage of 7.0 V or higher to terminal to be measured.
• Maximum open terminal voltage of tester in use shall be 7.0 V or lower.
• Before checking harnesses, turn ignition switch OFF and disconnect battery negative cable.
Precaution for Harness Repair INFOID:0000000001691415
CAN SYSTEM
• Area to be repaired shall be soldered, and wrapped with a tape [be
sure that fraying of twisted wire shall be within 110 mm (4.33 in)].
PKIA0306E
• Do not make a bypass connection to repaired area. (If it is done,

branch part will be removed and characteristics of twisted wire will
be lost.)
PKIA0307E
BRC-180
PREPARATION
< PREPARATION > [ESP/TCS/ABS]
PREPARATION A
PREPARATION
Special Service Tool INFOID:0000000001691416
B
Tool number
Description C
Tool name
D
GG94310000
Removing and installing each brake
Flare nut torque wrench
piping
a: 10 mm (0.39 in)
E
NT406
BRC
BRC-181
WHEEL SENSORS
< REMOVAL AND INSTALLATION > [ESP/TCS/ABS]
REMOVAL AND INSTALLATION

WHEEL SENSORS
MFIB9030E
REMOVAL
CAUTION:
• When removing the sensor, do not rotate it if possible, and not forcibly pull the sensor harness.
• Before removing front or rear wheel hub, remove wheel sensor to avoid sensor wiring damage.
INSTALLATION
Be certain to tighten bolts to the specified torque. Be careful of the following:
• Check the inside of the sensor mounting hole for foreign material, the rotor surface for iron chips and other
foreign material, and if anything is non-standard, clean it before installation, or replace it.
• When installing the front sensor, completely push in the strut bracket and body bracket rubber grommets
until they lock so that the sensor harness does not become twisted. In addition, there should be no twists in
the harness when installed. Install the harness so that the painted part faces the outside of the vehicle.
• When installing the rear sensor, completely push in the rubber bracket of the suspension arm bracket and
lock the marking area of the side member harness mount so that the sensor harness will not be twisted. In
addition, there should be no twists in the harness when installed.
BRC-182
SENSOR ROTOR
SENSOR ROTOR
A
FRONT B
• Because the sensor rotor is integrated with the wheel bearing, replace it together with the wheel bearing
assembly. Refer to FAX-7, "Removal and Installation".
REAR C
• During removal and installation, remove the wheel hub (brake drum). Refer to RAX-6, "Removal and Instal-
lation".
CAUTION: D
The sensor rotor is a non-reusable part, it must be replaced by an new part when removing it.
BRC
BRC-183
MFIA0015E
REMOVAL
2. Loosen brake tube flare nuts, then remove brake tubes from ABS actuator and electric unit (control unit).
3. Remove ABS actuator and electric unit (control unit) mounting nuts.
4. Remove ABS actuator and electric unit (control unit) from vehicle.
CAUTION:
Be careful of the following when removing ABS actuator and electric unit (control unit).
• If the part number on the part number label (pasted on actuator upper surface) is the same, ABS
actuator and electric unit (control unit) cannot be used on another vehicle.
If it is used on another vehicle, ABS warning lamp, SLIP indicator lamp and ESP OFF indicator lamp
may turn ON or ESP/TCS/ABS may not operate normally.
When replacing ABS actuator and electric unit (control unit), must use new service parts.
• Before servicing, disconnect battery cables.
• To remove brake tube, use a flare nut wrench to prevent flare nuts and brake tube from being dam-
aged. To install, use a flare nut torque wrench (commercial service tool) and tighten to the specified
torque.
• Do not apply excessive impact to actuator, such as dropping it.
• Do not remove and install ABS actuator and electric unit (control unit) by holding harness.
INSTALLATION
To install, follow procedure for removal in reverse order.
CAUTION:
Be careful of the following when installing ABS actuator and electric unit (control unit).
• Tighten the mounting bolts and nuts to the specified torque.
• After the work, bleed air from brake piping. Refer to BR-8, "Bleeding Brake System".
• After installing vehicle harness connector in the actuator, make sure connector is securely locked.
BRC-184
YAW RATE/SIDE G SENSOR
YAW RATE/SIDE G SENSOR
A
BRC
MFIA0016E
I
REMOVAL
1. Remove center console. Refer to IP-10, "Component Parts". J
2. Disconnect yaw rate/side G-sensor harness connector.
3. Remove yaw rate/side G-sensor mounting bolts. Then remove yaw rate/side G-sensor from vehicle.
CAUTION: K
• Do not drop or strike yaw rate/side G-sensor, because it has little endurance to impact.
• Do not use power tool etc., because yaw rate/side G-sensor is weak for the impact.
INSTALLATION L
To install, follow procedure for removal in reverse order.
CAUTION:
• Do not drop or strike yaw rate/side G-sensor, because it has little endurance to impact. M
BRC-185
STEERING ANGLE SENSOR
STEERING ANGLE SENSOR
For removal and installation of steering angle sensor, refer to SR-7, "Removal and Installation".
BRC-186

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Brake Control System: Section

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BRAKES

BASIC INSPECTION .................................... 6 ABS ................................................................... 19

REMOVAL AND INSTALLATION ............... 83 EBD ................................................................. 102 B

PRECAUTIONS FOR DIAGNOSIS

2.PERFORM THE SELF-DIAGNOSIS

>> Refer to BRC-92, "CALIBRATION OF DECEL G SENSOR : Special Repair Requirement".

Situation Adjustment of steering angle sensor neutral position

ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION : Special Re-

ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION

CALIBRATION OF DECEL G SENSOR : Description INFOID:0000000001731357

Situation Calibration of decel G sensor

CALIBRATION OF DECEL G SENSOR

Component Description INFOID:0000000001731211

System Description INFOID:0000000001731213

Component Description INFOID:0000000001731215

Component parts Reference

System Description INFOID:0000000001731217

Component Description INFOID:0000000001731219

System Description INFOID:0000000001731221

Component Description INFOID:0000000001731223

Component parts Reference

SELF-DIAG RESULTS MODE

ACTIVE TEST MODE

ABS solenoid valve ABS solenoid valve (ACT)

FR LH SOL FR LH IN SOL OFF ON ON OFF OFF OFF

RR LH SOL RR LH IN SOL OFF ON ON OFF OFF OFF

RR RH IN SOL OFF ON ON OFF OFF OFF

DTC DETECTION LOGIC

DTC Display item Malfunction detected condition Possible cause

DTC CONFIRMATION PROCEDURE

Continuity should not exist.

6.CHECK WIRING HARNESS FOR OPEN CIRCUIT

ABS actuator and

1.CHECK DATA MONITOR

Wheel sensor Vehicle speed (DATA MONITOR)

1.ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION

DTC Display item Malfunction detected condition Possible cause D

2.CHECK WHEEL SENSOR OUTPUT SIGNAL

Continuity should not exist.

6.CHECK WIRING HARNESS FOR OPEN CIRCUIT

ABS actuator and A

Component Inspection INFOID:0000000001731233

Wheel sensor Vehicle speed (DATA MONITOR)

DTC DETECTION LOGIC

DTC Display item Malfunction detected condition Possible cause

DTC CONFIRMATION PROCEDURE

ABS actuator and elec-

4. Turn ignition switch OFF.

ABS actuator and electric unit

DTC DETECTION LOGIC

DTC Display item Malfunction detected condition Possible cause

DTC CONFIRMATION PROCEDURE

1.ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION

DTC DETECTION LOGIC

DTC CONFIRMATION PROCEDURE

2.CHECK ABS MOTOR AND MOTOR RELAY POWER SUPPLY CIRCUIT

ABS actuator and electric unit (control unit)

ABS actuator and electric unit (control unit)

1.CHECK ACTIVE TEST

1.ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION

DTC Display item Malfunction detected condition Possible cause D

DTC CONFIRMATION PROCEDURE

Check the self-diagnosis results.