Brake Control System: Section

BRAKE CONTROL SYSTEM
F BRAKES
B
SECTION
BRAKE CONTROL SYSTEM C
E
CONTENTS
ABS TYPE 1/TYPE 2 ................................................... 28 BRC
TYPE 3/TYPE 4 ................................................... 31
PRECAUTIONS .......................................................... 3 TYPE 9/TYPE 10 ................................................. 33
Precautions for Supplemental Restraint System For Fast and Accurate Diagnosis ........................... 35 G
(SRS) “AIR BAG” and “SEAT BELT PRE-TEN- PRECAUTIONS FOR TROUBLE DIAGNOSIS ... 35
SIONER” .................................................................. 3 Basic Inspection ..................................................... 35
Precautions for Brake System .................................. 3 BASIC INSPECTION 1: BRAKE FLUID LEVEL,
Precautions for Brake Control .................................. 3 H
LEAK AND BRAKE PAD INSPECTION .............. 35
Precaution for Harness Repair ................................. 4 BASIC INSPECTION 2: INSPECTION OF
CAN SYSTEM ....................................................... 4 POWER SUPPLY SYSTEM TERMINAL LOOSE-
PREPARATION ........................................................... 5 NESS AND BATTERY ......................................... 35 I
Special Service Tools ............................................... 5 BASIC INSPECTION 3: ABS WARNING LAMP
SYSTEM DESCRIPTION ............................................ 6 AND BRAKE WARNING LAMP INSPECTION ... 35
System Diagram ....................................................... 6 Inspection 1 Wheel Sensor System ........................ 37 J
System Components ................................................ 6 INSPECTION PROCEDURE .............................. 37
ABS Function ........................................................... 7 Inspection 2 ABS Actuator and Electric Unit Power
EBD Function ........................................................... 7 and Ground System ................................................ 38
Fail-Safe Function .................................................... 7 K
INSPECTION PROCEDURE .............................. 38
Hydraulic Circuit Diagram ........................................ 7 Inspection 3 ABS Control Unit System ................... 39
TROUBLE DIAGNOSIS .............................................. 8 Inspection 4 ABS Actuator Relay or ABS Motor
Diagnosis Procedure ................................................ 8 Relay Power System .............................................. 39 L
BASIC CONCEPT ................................................. 8 Inspection 5 CAN Communication System ............. 40
DIAGNOSIS FLOW ............................................... 9 INSPECTION PROCEDURE .............................. 40
QUESTIONNAIRE .............................................. 10 Inspection 6 Stop Lamp Switch System ................. 41 M
EXAMPLE OF DIAGNOSIS SHEET ................... 10 INSPECTION PROCEDURE .............................. 41
Component Parts Location ......................................11 Symptom 1 ABS Works Frequently. ....................... 41
Schematic .............................................................. 12 Symptom 2 Unexpected Pedal Reaction ................ 42
Wiring Diagram — ABS — Models with CR Engine... 13 Symptom 3 Longer Stopping Distance ................... 43
Wiring Diagram — ABS — Models with K9K Engine... 16 Symptom 4 ABS Does Not Work ............................ 43
Control Unit Input/Output Signal Standard ............. 19 Symptom 5 Pedal Vibration and ABS Operation
STANDARDS BY CONSULT-II ............................ 19 Noise ...................................................................... 43
CONSULT-II Functions ........................................... 20 WHEEL SENSORS ................................................... 44
CONSULT-II FUNCTION APPLICATION TABLE... 20 Removal and Installation ........................................ 44
CONSULT-IIBASICOPERATIONPROCEDURE REMOVAL ........................................................... 44
... 21 INSTALLATION ................................................... 44
SELF-DIAGNOSIS .............................................. 22 SENSOR ROTOR ..................................................... 45
DATA MONITOR ................................................. 24 Removal and Installation ........................................ 45
ACTIVE TEST ..................................................... 25 FRONT ................................................................ 45
CAN Communication .............................................. 27 REAR .................................................................. 45
SYSTEM DESCRIPTION .................................... 27
CAN Communication Unit ...................................... 27
BRC-1
ACTUATOR AND ELECTRIC UNIT (ASSEMBLY)... 46 SELF-DIAGNOSIS ...............................................75
Removal and Installation ........................................ 46 DATA MONITOR ..................................................77
REMOVAL ........................................................... 46 ACTIVE TEST ......................................................81
INSTALLATION .................................................... 46 For Fast and Accurate Diagnosis ............................83
PRECAUTIONS FOR DIAGNOSIS .....................83
ESP/TCS/ABS Basic Inspection ......................................................84
BASIC INSPECTION 1: BRAKE FLUID
PRECAUTIONS ......................................................... 47 AMOUNT, LEAKS, AND BRAKE PADS INSPEC-
Precautions for Supplemental Restraint System TION ....................................................................84
(SRS) “AIR BAG” and “SEAT BELT PRE-TEN- BASIC INSPECTION 2: POWER SYSTEM TER-
SIONER” ................................................................. 47 MINAL LOOSENESS AND BATTERY INSPEC-
Precautions for Brake System ................................ 47 TION ....................................................................84
Precautions for Brake Control ................................ 47 BASIC INSPECTION 3: ABS WARNING LAMP,
Diagnosis Precaution .............................................. 48 ESP OFF INDICATOR LAMP AND SLIP INDI-
CAN SYSTEM ..................................................... 48 CATOR LAMP INSPECTION ...............................85
Precaution for Harness Repair ............................... 48 Inspection 1: Wheel Sensor System .......................85
CAN SYSTEM ..................................................... 48 Inspection 2: Engine System ..................................88
PREPARATION ......................................................... 49 Inspection 3: ESP/TCS/ABS Control Unit System...89
Special Service Tools ............................................. 49 Inspection 4: Steering Angle Sensor System ..........89
ON-VEHICLE SERVICE ............................................ 50 Inspection 5: Yaw Rate/Side G-Sensor System ......90
Adjustment of Steering Angle Sensor Neutral Posi- Inspection 6: ABS Actuator and Electric Unit (Con-
tion .......................................................................... 50 trol Unit) Power Supply and Ground System ..........92
OPERATION PROCEDURE ................................ 50 Inspection 7: Stop Lamp Switch System .................94
SYSTEM DESCRIPTION .......................................... 51 Inspection 8: Brake Fluid Level Switch System ......96
System Diagram ..................................................... 51 Inspection 9: CAN Communication System ............96
ESP Function .......................................................... 51 Component Inspection ............................................97
TCS Function .......................................................... 51 ESP OFF SWITCH ..............................................97
ABS Function .......................................................... 51 Symptom 1: Excessive ABS Function Operation
EBD Function ......................................................... 52 Frequency ...............................................................97
Fail-Safe Function .................................................. 52 Symptom 2: Unexpected Pedal Reaction ...............98
ESP / TCS SYSTEM ........................................... 52 Symptom 3: The Braking Distance Is Long .............98
ABS, EBD SYSTEM ............................................ 52 Symptom 4: The ABS Function Does Not Operate...99
Hydraulic Circuit Diagram ....................................... 53 Symptom 5: Pedal Vibration or ABS Operation
CAN COMMUNICATION ........................................... 54 Sound Occurs .........................................................99
System Description ................................................. 54 Symptom 6: Vehicle Jerks During ESP/TCS/ABS
CAN Communication Unit ....................................... 54 Control ....................................................................99
TYPE 5/TYPE 6 ................................................... 55 WHEEL SENSORS ................................................. 101
TYPE 7/TYPE 8 ................................................... 58 Removal and Installation ....................................... 101
TROUBLE DIAGNOSIS ............................................ 61 REMOVAL .......................................................... 101
How to Proceed With Diagnosis ............................. 61 INSTALLATION .................................................. 101
BASIC CONCEPT ............................................... 61 SENSOR ROTOR .................................................... 102
DIAGNOSIS FLOWCHART ................................. 62 Removal and Installation ....................................... 102
ASKING COMPLAINTS ....................................... 63 FRONT ............................................................... 102
EXAMPLE OF DIAGNOSIS SHEET .................... 63 REAR ................................................................. 102
Component Installation Location ............................ 64 ACTUATOR AND ELECTRIC UNIT (ASSEMBLY) .103
Schematic ............................................................... 65 Removal and Installation ....................................... 103
Wiring Diagram — ESP — ..................................... 66 REMOVAL .......................................................... 103
Control Unit Input/Output Signal Standard .............. 71 INSTALLATION .................................................. 103
REFERENCE VALUE FROM CONSULT-II ......... 71 YAW RATE/SIDE G SENSOR ................................. 104
CONSULT-II Functions ........................................... 74 Removal and Installation ....................................... 104
CONSULT-II FUNCTION APPLICATION TABLE REMOVAL .......................................................... 104
(MAIN ITEMS) ..................................................... 74 INSTALLATION .................................................. 104
CONSULT-IIBASICOPERATIONPROCEDURE STEERING ANGLE SENSOR ................................. 105
... 75 Removal and Installation ....................................... 105
BRC-2
PRECAUTIONS
[ABS]
PRECAUTIONS
[ABS] PFP:00001
A
Precautions for Supplemental Restraint System (SRS) “AIR BAG” and “SEAT
BELT PRE-TENSIONER” EFS004LN
The Supplemental Restraint System such as “AIR BAG” and “SEAT BELT PRE-TENSIONER”, used along B
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. C
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 per-
formed by an authorized NISSAN/INFINITI dealer. D
● Improper maintenance, including incorrect removal and installation of the SRS, can lead to per-
sonal injury caused by unintentional activation of the system. For removal of Spiral Cable and Air
Bag Module, see the SRS section. E
● 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. BRC
Precautions for Brake System EFS004LO
● Recommended fluid is brake fluid “DOT 3” or “DOT 4”. G

● 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. H
● 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 I
flare nuts.
● Brake system is an important safety part. If a brake fluid leak is
detected, always disassemble malfunctioning parts. If any mal- J
functioning part is found, replace the part with a new one.
● Before working, turn ignition switch OFF and disconnect con-
nectors for ABS actuator and electric unit or battery terminals.
K
● When installing brake piping, be sure to check tightening torque.
SBR820BA L
Precautions for Brake Control EFS004LP
● During ABS operation, brake pedal lightly vibrates and a mechanical noise may be heard. This is normal. M
● 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 snow-covered (fresh, deep snow) roads.
● When an error is indicated by ABS or another warning lamp, collect all necessary information from the
customer (what symptoms are present under what conditions) and check for simple causes before start-
ing diagnostic 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,
stopping 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-3
PRECAUTIONS
[ABS]
Precaution for Harness Repair EFS005VW
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-4
PREPARATION
[ABS]
PREPARATION PFP:00002
A
Special Service Tools EFS004LQ
Tool number
Description
Tool name B
GG94310000 C
Removing and installing each brake
Flare nut torque wrench
piping
a: 10 mm (0.39 in)
D
NT406
BRC
BRC-5
SYSTEM DESCRIPTION
[ABS]
SYSTEM DESCRIPTION PFP:00000
System Diagram EFS004LR
SFIA1173E
System Components EFS004LS
SFIA1174E
BRC-6
SYSTEM DESCRIPTION
[ABS]
ABS Function EFS004LT
A
● Anti-lock Brake System monitors wheel rotation in braking and electronically controls braking force (brake
fluid pressure) to prevent wheel locking. Thus, it improves vehicle stability in abrupt braking and allows
driver to clear obstacles more easily.
● In the event of an electric system malfunction, the fail-safe function will operate, the vehicle will enter the B
ABS non-operation state, and ABS warning lamp will come on.
● CONSULT-II can be used to diagnose the electrical system.
C
EBD Function EFS004LU
● The electronically controlled braking force distribution unit detects the minute slips that occur in front and
rear wheels during braking and uses electronic control to control rear wheel braking force (brake hydraulic D
pressure) to suppress rear wheel slipping as much as possible to improve stability during braking.
● In the event an electrical system malfunction occurs, the fail-safe function will operate and EBD and ABS
will enter non-operational states, and ABS warning lamp and brake warning lamp will come on. E
● CONSULT-II can be used to diagnose the electrical system.
Fail-Safe Function EFS004LV
BRC
● If a malfunction occurs in ABS system, “ABS warning lamp” turns ON.
● If a malfunction occurs in EBD, brake warning lamp and ABS warning lamp turn ON.
Hydraulic Circuit Diagram EFS004LW
G
SBR984D
1. Inlet solenoid valve 2. Outlet solenoid valve 3. Reservoir

4. Pump 5. Motor 6. Inlet valve
7. Outlet valve 8. Bypass check valve 9. Damper
BRC-7
TROUBLE DIAGNOSIS
[ABS]
TROUBLE DIAGNOSIS PFP:00004
Diagnosis Procedure EFS004LX
BASIC CONCEPT
● The most important point in performing trouble diagnosis is to thoroughly understand the vehicle systems
(both control and mechanical).
● It is also important to clarify customer concerns before starting
the inspection.
First of all, reproduce the symptom, and understand it fully.
Ask the customer about his/her complaints carefully. In some
cases, it will be necessary to check the symptoms by driving the
vehicle with the customer.
CAUTION:
Customers are not professional. It is dangerous to make an
easy guess like “maybe the customer means that...,” or
“maybe the customer mentions this symptom”.
EFJ0028D
● It is essential to check symptoms right from the beginning in

order to repair a error completely.
For an intermittent error, it is important to reproduce the symp-
tom based on an interview with the customer and past exam-
ples. Do not perform an inspection on an ad hoc basis. Most
intermittent errors are caused by poor contacts. In this case, it
will be effective to shake the suspected harness or connector by
hand. When repairs are performed without any symptom diag-
nosis, no one can judge if the error has actually been eliminated.
● After completing trouble diagnosis, be sure to perform “erase
memory”. Refer to BRC-22, "SELF-DIAGNOSIS" . SEF233G
● For an intermittent error, move the harness or harness connec-

tor by hand to check for poor contact or false open circuit.
● Always read the GI section to be aware of the general precautions. Refer to GI-4, "General Precautions" .
BRC-8
TROUBLE DIAGNOSIS
[ABS]
DIAGNOSIS FLOW
A
BRC
SFIA0953E
BRC-9
TROUBLE DIAGNOSIS
[ABS]
QUESTIONNAIRE
● Complaints against a malfunction vary depending on each per-
son. It is important to clarify the customer complaints.
● Ask the customer about what symptoms are present and under
what conditions. Use the information to reproduce the symptom
while driving.
● It is also important to use the diagnosis sheet so as not to miss
the information.
SBR339B
EXAMPLE OF DIAGNOSIS SHEET
SFIA0791E
BRC-10
TROUBLE DIAGNOSIS
[ABS]
Component Parts Location EFS004LY
BRC
SFIA1175E
BRC-11
TROUBLE DIAGNOSIS
[ABS]
Schematic EFS004LZ
MFWA0016E
BRC-12
TROUBLE DIAGNOSIS
[ABS]
Wiring Diagram — ABS — Models with CR Engine EFS004M0
SMA for VIN B

>SJN**AK12U1288860
BRC
MFWA0017E
BRC-13
TROUBLE DIAGNOSIS
[ABS]
MFWA0018E
BRC-14
TROUBLE DIAGNOSIS
[ABS]
BRC
MFWA0019E
BRC-15
TROUBLE DIAGNOSIS
[ABS]
Wiring Diagram — ABS — Models with K9K Engine EFS005YH
MFWA0031E
BRC-16
TROUBLE DIAGNOSIS
[ABS]
BRC
MFWA0032E
BRC-17
TROUBLE DIAGNOSIS
[ABS]
MFWA0033E
BRC-18
TROUBLE DIAGNOSIS
[ABS]
Control Unit Input/Output Signal Standard EFS004M1
STANDARDS BY CONSULT-II A
CAUTION:
The displayed item is the calculated data by the control unit, so it may indicate a normal value even if
an output circuit (harness) is open or shorted. B
Data monitor
Reference values Note: Error inspection
Monitor item Display content
Condition for normal opera- checklist C
tion
Vehicle stopped 0 (km/h)
FR LH SENSOR
Almost in accor- D
FR RH SENSOR BRC-37, "Inspection 1
Vehicle wheel speed dance with the
RR LH SENSOR While driving (Note 1) Wheel Sensor System"
RR RH SENSOR speedometer dis-
play (within ±10 %)
E
Brake pedal depressed ON BRC-41, "Inspection 6
STOP LAMP SWITCH Brake pedal operation Stop Lamp Switch Sys-
Brake pedal not depressed OFF tem"
BRC
ABS solenoid activated or
IN SOL ON
fail-safe activated (Note 2)
Solenoid valve opera-
tion Actuator relay is activated
OUT SOL and ABS solenoid is not acti- OFF G
vated
Vehicle stop (Ignition switch BRC-39, "Inspection 4
ON ABS Actuator Relay or H
Actuator relay acti- ON)
ACTUATOR RLY ABS Motor Relay Power
vated Vehicle stopped (engine run-
ON System"
ning)
Motor relay and motor acti- I
ON
Motor relay and motor vated
MOTOR RELAY
activated Motor relay and motor not
OFF
activated J
ABS warning lamp ON ON BRC-35, "BASIC
INSPECTION 3: ABS
ABS warning lamp ON
WARN LAMP WARNING LAMP AND K
(Note 3) ABS warning lamp OFF OFF BRAKE WARNING
LAMP INSPECTION"
BRC-38, "Inspection 2
Battery voltage sup- Approximately 10 - ABS Actuator and Elec- L
BATTERY VOLT Ignition switch ON
plied to control unit 16 V tric Unit Power and
Ground System"
CAN communication is nor- M
CAN communication OK
INITIAL DIAG mal
condition
CAN communication error NG
CAN communication is nor- BRC-40, "Inspection 5
TRANSMIT DIAG mal CAN Communication
condition
CAN communication error UNKWN System"
CAN communication is nor-

ECM mal
condition
CAN communication error UNKWN
EBD is operating ON
EBD SIGNAL EBD operation signal —
EBD is not operating OFF
ABS activated ON
ABS SIGNAL ABS operation signal —
ABS not activated OFF
During ABS fail-safe ABS system
ABS FAIL SIG ABS fail signal status OFF
During EBD fail-safe EBD system
BRC-19
TROUBLE DIAGNOSIS
[ABS]
NOTE:
1. Confirm tyre pressure is normal.
2. The solenoid turns off when the actuator relay is not operating.
3. ON/OFF timing of ABS warning lamp
ON: When the switch is turned ON for approximately 1 second or when a malfunction is detected.
OFF: Approximately 1 second after ignition switch is turned ON (when the system is in normal operation).
CONSULT-II Functions EFS004M2
CONSULT-II FUNCTION APPLICATION TABLE

● “FUNCTION TEST” shall not be used for diagnosis. For details, refer to separately supplied “CONSULT-II
Instruction Manual (FUNCTION TEST)”.
Items Self-diagnosis Data monitor Active test
FR RH SENSOR × × –
FR LH SENSOR × × –
RR RH SENSOR × × –
RR LH SENSOR × × –
Stop lamp switch × × –
FR RH IN ABS SOL × × ×
FR RH OUT ABS SOL × × ×
FR LH IN ABS SOL × × ×
FR LH OUT ABS SOL × × ×
RR RH IN ABS SOL × × ×
RR RH OUT ABS SOL × × ×
RR LH IN ABS SOL × × ×
RR LH OUT ABS SOL × × ×
ABS ACTUATOR RELAY × × ×
ABS MOTOR RELAY × × ×
ABS WARNING LAMP – × –
BATTERY VOLTAGE × × –
ABS CONTROL UNIT × – –
CAN COMMUNICATION × × –
×: Applicable
–: Not applicable
BRC-20
TROUBLE DIAGNOSIS
[ABS]
CONSULT-II BASIC OPERATION PROCEDURE
1. Turn ignition switch OFF. A
2. Connect CONSULT-II and CONSULT-II CONVERTER data link
connector and turn ignition switch ON or start engine.
CAUTION: B
If CONSULT-II is connected without the CONSULT-II CON-
VERTER, malfunction may be detected by self-diagnosis in
Control units that use CAN communication. C
D
PBIA3525E
3. Touch “START (NISSAN BASED VHCL)”. E

4. Touch “ABS” on the “SELECT SYSTEM” screen.
BRC
H
SFIA0891E
5. Select desired part to be diagnosed on “SELECT DIAG MODE” I

screen.
SFIA0892E L
BRC-21
TROUBLE DIAGNOSIS
[ABS]
SELF-DIAGNOSIS
Description
If a failure occurs in the ABS system, the “ABS warning lamp” turns ON.
Operation Procedure
1. Turn ignition switch OFF.
2. Connect CONSULT-II and CONSULT-II CONVERTER to data link connector.
3. Start engine and drive at approximately 30 km/h (19 MPH) for approximately 1 minute.
4. After stopping the vehicle, with engine running, touch “START (NISSAN BASED VHCL)”, “ABS”, and
“SELF-DIAGNOSIS” on CONSULT-II screen in this order.
CAUTION:
Just after starting the engine, or turning ignition switch ON, “ABS” may not be displayed on the
system selection screen even if “START (NISSAN BASED VHCL)” is touched. In this case, start
over from step 1
5. Self-diagnostic results is displayed. (If necessary, touch “PRINT” to print out self-diagnostic results.)
● When “NO DTC IS DETECTED” is displayed, check ABS warning lamp. Refer to BRC-35, "Basic
Inspection" .
6. Go to appropriate “Inspection” chart according to “Indication item list,” and repair or replace as necessary.
CAUTION:
If wheel sensor [SHORT] is detected, the ABS warning lamp does not turn off until the vehicle is
driven at 30km/h (19 MPH) for approximately 1 minute, even in normal conditions.
8. Turn ignition switch OFF to prepare for erasing the memory.
9. Start engine, and touch “START (NISSAN BASED VHCL)”, “ABS”, “SELF-DIAGNOSIS”, and “ERASE
MEMORY” on CONSULT-II screen in this order to erase the diagnostic memory.
CAUTION:
If memory cannot be erased, start over from step 5.
10. As the final inspection, drive at approximately 30 km/h (19 MPH) for approximately 1 minute, and confirm
that the ABS warning lamp is OFF.
Display Item List
Suspect systems Malfunction detecting condition Inspection system
FR RH SENSOR 1 (Note 1) Circuit of FR RH wheel sensor is open or shorted.
FR LH SENSOR 1 (Note 1) Circuit of FR LH wheel sensor is open or shorted.
RR RH SENSOR 1 (Note 1) Circuit of RR RH wheel sensor is open or shorted.
RR LH SENSOR 1 (Note 1) Circuit of RR LH wheel sensor is open or shorted.
When there is a sensor power voltage error in the FR RH wheel
FR RH SENSOR 2 sensor, and when the control unit cannot recognize sensor pulse
because gap between wheel sensor and sensor rotor is large.
When there is a sensor power voltage error in the FR LH wheel
Wheel sensor circuit
FR LH SENSOR 2 sensor, and when the control unit cannot recognize sensor pulse
[Inspection 1] (Note 2) BRC-
37
When there is a sensor power voltage error in the RR RH wheel
RR RH SENSOR 2 sensor, and when the control unit cannot recognize sensor pulse
When there is a sensor power voltage error in the RR LH wheel
RR LH SENSOR 2 sensor, and when the control unit cannot recognize sensor pulse
When a rotation sensor signal error is detected in one or more of
WHEEL SENSOR the four wheels, and when operation of one or more of the
wheels continues beyond the specified time.
BRC-22
TROUBLE DIAGNOSIS
[ABS]
Suspect systems Malfunction detecting condition Inspection system
A
Displays when control unit detects error in FR RH IN SOL sys-
FR RH IN ABS SOL
tem.
Displays when control unit detects error in FR LH IN SOL sys-
FR LH IN ABS SOL B
tem.
Displays when control unit detects error in RR RH IN SOL sys-
RR RH IN ABS SOL
tem.
Displays when control unit detects error in RR LH IN SOL sys- C
RR LH IN ABS SOL
tem.
Displays when control unit detects error in FR RH OUT SOL sys- ABS actuator relay or ABS
FR RH OUT ABS SOL
tem. motor relay power system D
Displays when control unit detects error in FR LH OUT SOL sys- (Note 3) [Inspection 3] BRC-
FR LH OUT ABS SOL 39
tem.
Displays when control unit detects error in RR RH OUT SOL sys- E
RR RH OUT ABS SOL
tem.
Displays when control unit detects error in RR LH OUT SOL sys-
RR LH OUT ABS SOL
tem. BRC
Displayed when control unit detects malfunction in actuator relay
MAIN RELAY
system.
Displays when control unit detects errors in motor or motor relay G
PUMP MOTOR
system.
Battery voltage of control unit is too high. ABS control unit power and
BATTERY VOLTAGE ground systems [Inspection H
Battery voltage of control unit is too low. 2] BRC-38
Stop lamp switch system
STOP LAMP SWITCH Stop lamp switch circuit is open.
[Inspection 6] BRC-41
I
ABS control unit system
CONTROL UNIT Processing function of control unit is malfunctioning.
CAN communication system J
CAN COMM CAN communication error.
NOTE:
1. Note 1: After completing repairs of the shorted sensor circuit, when ignition switch is turned ON, the ABS warning lamp turns on.
Make sure the ABS warning lamp turns off while driving the vehicle at approx. 30 km/h for approx. 1 minute according to self-diag-
K
nosis procedure.
2. Note 2: Also, when each wheel sensor displays 2, check wheel sensor path and control unit power battery voltage.
3. Note 3: If there are no errors in 1 to 3 below, replace the actuator unit.
L
– Open or short-circuit in the solenoid power supply, motor power supply, or ground harness.
– Unit side connector pin terminal
M
– Fusible link
BRC-23
TROUBLE DIAGNOSIS
[ABS]
DATA MONITOR
Operation Procedure
1. Touch “DATA MONITOR”.
2. Return to monitor item selection screen, and touch any of “control unit INPUT ITEM”, “MAIN ITEM”,
“SELECT ITEM MENU” or “CAN DIAGNOSIS SUPPORT MONITOR”. Refer to BRC-24, "Data Monitor
Item Chart" .
3. Touch “START”.
4. Screen of data monitor is displayed.
Data Monitor Item Chart
Monitor item selection
Item (Unit) ECM INPUT MAIN SELECTION CAN DIAG Remarks
SIGNALS SIGNALS FROM MENU SUPPORT MNTR
Wheel speed calculated by
FR RH SENSOR
× × × – front RH wheel sensor signal
(km/h)
is displayed.
FR LH SENSOR
× × × – front LH wheel sensor signal
(km/h)
is displayed.
RR RH SENSOR
× × × – RH rear wheel sensor signal
(km/h)
is displayed.
RR LH SENSOR
× × × – LH rear wheel sensor signal
(km/h)
is displayed.
Condition (ON/OFF) of front
FR RH IN SOL
– × × – RH inlet ABS solenoid valve
(ON/OFF)
is displayed.
FR RH OUT SOL
– × × – RH outlet ABS solenoid valve
(ON/OFF)
is displayed.
FR LH IN SOL
– × × – LH inlet ABS solenoid valve is
(ON/OFF)
displayed.
FR LH OUT SOL
– × × – LH outlet ABS solenoid valve
(ON/OFF)
is displayed.
Condition (ON/OFF) of rear
RR RH IN SOL
– × × – RH inlet ABS solenoid valve
(ON/OFF)
is displayed.
RR RH OUT SOL
– × × – RH outlet ABS solenoid valve
(ON/OFF)
is displayed.
RR LH IN SOL
– × × – LH inlet ABS solenoid valve is
(ON/OFF)
displayed.
RR LH OUT SOL
– × × – LH outlet ABS solenoid valve
(ON/OFF)
is displayed.
STOP LAMP SW Condition of stop lamp switch
× × × –
(ON/OFF) (ON/OFF) is displayed.
ACTUATOR RELAY ABS actuator relay (ON/OFF)
– × × –
(ON/OFF) condition is displayed.
MOTOR RELAY ABS motor relay (ON/OFF)
– × × –
(ON/OFF) condition is displayed.
BRC-24
TROUBLE DIAGNOSIS
[ABS]
Monitor item selection
Item (Unit) Remarks A
ECM INPUT MAIN SELECTION CAN DIAG
SIGNALS SIGNALS FROM MENU SUPPORT MNTR
ABS WARN LAMP ABS warning lamp (ON/OFF)
– × × – B
(ON/OFF) status is displayed.
BATTERY VOLT Voltage supplied to ABS con-
× × × –
(V) trol unit is displayed.
EBD SIGNAL EBD operation (ON/OFF) sta- C
– – × –
(ON/OFF) tus is displayed.
ABS SIGNAL ABS operation (ON/OFF) sta-
– – × –
(ON/OFF) tus is displayed. D
INITIAL DIAG CAN communication (OK/
– – – ×
(OK/NG) NG) status is displayed.
TRANSMIT DIAG E
– – – × CAN communication signal
(OK/UNKWN)
(OK/UNKWN) status is dis-
ECM
– – – × played.
(OK/UNKWN) BRC
×: Applicable
–: Not applicable
ACTIVE TEST G
CAUTION:
● Do not perform active test while driving.
H
● Make sure to completely bleed air from the brake system.
● During active test, ABS and brake warning lamps are on.
Operation Procedure I
1. Touch “ACTIVE TEST”.
2. The “SELECT TEST ITEM” screen is displayed.
3. Touch “TEST ITEM”. J
4. Touch “START” with “MAIN SIGNALS” line inverted.
5. The “ACTIVE TEST” screen is displayed, and the following test
can be performed. K
SFIA0840E
M
Test Item – ABS Solenoid Valve –
● Touch “UP”, “KEEP” and “DOWN” on the screen to confirm ABS
solenoid valves (inlet/outlet) operate as in the following chart.
Operation UP KEEP DOWN
ABS inlet S/V OFF ON ON
ABS outlet S/V OFF OFF ON*
*: ON for 1 to 2 seconds after touch, and then OFF
SFIA0395E
BRC-25
TROUBLE DIAGNOSIS
[ABS]
NOTE:
● If active test is performed with brake pedal depressed, pedal
stroke may change. This is normal.
● “TEST STOP” is displayed 10 seconds after operation start.
● After “TEST STOP” is displayed, to perform test again, touch
“BACK” and repeat step 6.
SFIA0396E
Test Item – ABS Motor –

● Touch “ON” and “OFF” on the screen to confirm the ABS motor
relay operates as shown in the following chart.
Operation ON OFF
ABS actuator relay ON ON
ABS motor relay ON OFF
NOTE:
● “TEST STOP” is displayed 10 seconds after operation start. SFIA0397E
BRC-26
TROUBLE DIAGNOSIS
[ABS]
CAN Communication EFS005XA
SYSTEM DESCRIPTION A
CAN (Controller Area Network) is a serial communication line for real time application. It is an on-vehicle mul-
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 B
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.
C
CAN Communication Unit EFS005XB
Go to CAN system, when selecting your car model from the following table.
D
Body type 3door/5door
Axle 2WD
Engine CR10DE/CR12DE/CR14DE K9K E
Handle LHD/RHD
Brake control ABS
BRC
Transmission A/T M/T
Not appli- Not appli- Not appli-
Intelligent Key system Applicable Applicable Applicable
cable cable cable
G
CAN communication unit
ECM × × × × × × × × × × × ×
Data link connector × × × × × × × × × × × × H
Combination meter × × × × × × × × × × × ×
Intelligent Key unit × × × × × ×
Drive computer × × × × × ×
I
EPS control unit × × × × × × × × × × × ×

BCM × × × × × × × × × × × × J
ABS actuator and electric unit (control unit) × × × × × × × × × × × ×
TCM × × × ×
IPDM E/R × × × × × × × × × × × × K
BRC-28, "TYPE 1/TYPE BRC-31, "TYPE 3/TYPE BRC-33, "TYPE 9/TYPE
CAN communication type
2" 4" 10"
L
×: Applicable
BRC-27
TROUBLE DIAGNOSIS
[ABS]
TYPE 1/TYPE 2
System diagram
● Type 1
MKIB0273E
● Type 2
MKIB0274E
Input/output signal chart

T: Transmit R: Receive
ABS
actuator
Combi- Intelli- Drive EPS and
IPDM E/
Signals ECM nation gent Key com- control BCM electric TCM
R
meter. unit puter unit unit
(control
unit)
Engine speed signal T R R R
Engine coolant temperature sig-
T R
nal
A/T self-diagnosis signal R T
Output shaft revolution signal R T
Accelerator pedal position signal T R
Closed throttle position signal T R
Wide open throttle position sig-
T R
nal
BRC-28
TROUBLE DIAGNOSIS
[ABS]
ABS
actuator A
IPDM E/
R
(control B
unit)
A/T shift position signal R T
Stop lamp switch signal T R
C
O/D OFF indicator lamp signal R T
Engine and A/T integrated con- T R

D
trol signal R T
Fuel consumption monitor signal T R
Oil pressure switch signal R R T E
A/C compressor request signal T R
Heater fan switch signal R T
BRC
Cooling fan speed request signal T R
Cooling fan speed status signal R T
Position lights request signal R R T R G
Position light status signal R T
Low beam request signal T R
H
Low beam status signal R T
High beam request signal R T R
High beam status signal R T I
Day time light request signal T R
R R R T
Vehicle speed signal J
R T R R R R
Sleep/wake up signal R R T R
Door switch signal R R R T R K
Turn indicator signal R T
R T
Buzzer output signal L
R T
MI signal T R R
Front wiper request signal T R
M
Front wiper stop position signal R T
Rear window defogger switch
T R
signal
Rear window defogger control
R T
signal
Drive computer signal T R
EPS warning lamp signal R R T
ABS warning lamp signal R R T
ABS operation signal R T
Brake warning lamp signal R R T
Buck-up lamp signal R T
Fuel low warning signal T R
Battery charge malfunction sig-
T R
nal
BRC-29
TROUBLE DIAGNOSIS
[ABS]
ABS
actuator
IPDM E/
R
(control
unit)
Air bag system warning signal T R
Brake fluid level warning signal T R
Engine coolant temperature
T R
warning signal
Front fog lamp request signal R T R
Rear fog lamp status signal R T
Headlamp washer request signal T R
Door lock/unlock request signal R T
Door lock/unlock status signal R T
KEY indicator signal R T
LOCK indicator signal R T
BRC-30
TROUBLE DIAGNOSIS
[ABS]
TYPE 3/TYPE 4
System diagram A
● Type 3
BRC
MKIB0275E
● Type 4 G
L
MKIB0276E

T: Transmit R: Receive M
ABS
actuator
Combina- Intelli-
Drive EPS con- and elec- IPDM E/
Signals ECM tion gent Key BCM
computer trol unit tric unit R
meter. unit
(control
unit)
Engine coolant temperature signal T R
Oil pressure switch signal R R T
Position lights request signal R R T R
BRC-31
TROUBLE DIAGNOSIS
[ABS]
ABS
actuator
Combina- Intelli-
meter. unit
(control
unit)
High beam status signal R T
R R R T
Vehicle speed signal
R T R R R R
Door switch signal R R R T R
R T
Buzzer output signal
R T
MI signal T R R
Rear window defogger switch signal T R
Rear window defogger control sig-
R T
nal
EPS warning indicator signal R R T
ABS operation signal R R T
Brake warning lamp signal R T
Battery charge malfunction signal T R
Engine coolant temperature warn-
T R
ing signal
BRC-32
TROUBLE DIAGNOSIS
[ABS]
TYPE 9/TYPE 10
System diagram A
● Type 9
BRC
MKIB0275E
● Type 10 G
L
MKIB0276E
BRC-33
TROUBLE DIAGNOSIS
[ABS]
ABS
actuator
Combina- Intelli-
meter. unit
(control
unit)
Engine coolant temperature signal T R R
R R R R T
R T R R R
R T
R T
MI signal T R R
EPS warning indicator signal R R T
T R
ing signal
Door lock/unlock request signal T R
BRC-34
TROUBLE DIAGNOSIS
[ABS]
ABS
actuator A
Combina- Intelli-
meter. unit
(control
unit) B
C
For Fast and Accurate Diagnosis EFS004M4
PRECAUTIONS FOR TROUBLE DIAGNOSIS

● Always read the “GI General Information” to confirm the general precautions. Refer to GI-4, "General Pre- D
cautions" .
● After completing the trouble diagnosis, always erase the fault memory. Refer to BRC-22, "SELF-DIAGNO-
SIS" . E
● When inspection of the continuity or voltage between control units is performed, check connector termi-
nals for disconnection, looseness, bend, or collapse. If any non-standard condition is detected, repair or
replace applicable part. BRC
● Intermittent errors may be caused by a poor connection in the harness, connector, or terminal.
● If a circuit tester is used for the check, be careful not to forcibly extend any connector terminal.
G
Basic Inspection EFS004M5
BASIC INSPECTION 1: BRAKE FLUID LEVEL, LEAK AND BRAKE PAD INSPECTION
1. Check fluid level in brake reservoir tank. If fluid level is low, refill the brake fluid.
H
2. Check area around the brake piping and ABS actuator for leaks. If a leak or oozing is detected, check as
follows:
● If ABS actuator connections are loose, tighten piping to the specified torque. Check again for leaks, and
make sure there is no fluid leakage. I
● If flare nuts at the connections and the threads of ABS actuator are damaged, replace damaged parts.
Then check again for leaks, and make sure that there is no fluid leak.
● If a leak or oozing is detected on other parts than ABS actuator connections, wipe the applicable part
J
with a clean cloth. Then check again for leaks, and if there is still a leak or oozing, replace damaged
part.
● If leaks or oozing are detected on ABS actuator body, wipe with a clean cloth and check again. If there K
is still a leak or oozing, replace ABS actuator.
CAUTION:
ABS actuator body cannot be disassembled. L
3. Check for brake pad wear. Refer to BR-21, "PAD WEAR INSPECTION" .
BASIC INSPECTION 2: INSPECTION OF POWER SUPPLY SYSTEM TERMINAL LOOSENESS
M
AND BATTERY
Check battery for looseness on battery positive/negative cables and ground connection. Also Make sure bat-
tery voltage dose not drop.
BASIC INSPECTION 3: ABS WARNING LAMP AND BRAKE WARNING LAMP INSPECTION
1. Make sure ABS warning lamp and brake warning lamp turn on for approximately 1 sec. When ignition
switch is turned ON. If they do not turn on, perform CAN communication system diagnosis. Refer to BRC-
40, "Inspection 5 CAN Communication System" .
If CAN communication system is normal, replace combination meter. Refer to DI-34, "Removal and Instal-
lation for Combination Meter" .
2. Make sure ABS warning lamp and brake warning lamp turn off after approximately 1 sec. When ignition
switch is turned ON. If they do not turn OFF, perform self-diagnosis.
3. Make sure that ABS warning lamp remains off after the vehicle has been driven at approx. 30 km/h (19
MPH) for approx. 1 minute. If it turns on, perform self-diagnosis.
4. After completing self-diagnosis, always erase self-diagnostic results memory. Refer to BRC-22, "SELF-
DIAGNOSIS" .
BRC-35
TROUBLE DIAGNOSIS
[ABS]
CAUTION:
The brake warning lamp comes on when the parking brake lever is pulled (when switch is on) and
when the brake fluid level sensor operates (insufficient brake fluid).
BRC-36
TROUBLE DIAGNOSIS
[ABS]
Inspection 1 Wheel Sensor System EFS004M6
INSPECTION PROCEDURE A
After identifying malfunctioning wheel sensor position according to CONSULT-II self-diagnostic results, check
the each part and identify the parts to be replaced.
1. CHECK TYRE B
Check air pressure, wear and size.

Are air pressure, wear, and size within specifications? C
YES >> GO TO 2.
NO >> Adjust air pressure, or replace tyre.
D
2. CHECK SENSOR AND SENSOR ROTOR
● Inspect the appearance of the sensor and sensor rotor.
E
● Check sensor rotor rubber bar for damage.
● Check sensor for disconnection or loose.
OK or NG BRC
OK >> GO TO 3.
NG >> Replace sensor rotor.
3. SELF-DIAGNOSTIC RESULTS G
Check the self-diagnostic results.

H
Self-diagnostic results
FR RH SENSOR 1, 2
FR LH SENSOR 1, 2 I
RR RH SENSOR 1, 2
RR LH SENSOR 1, 2
J
Is any of above displayed on self-diagnosis display?
YES >> GO TO 4.
SFIA0625E
NO >> INSPECTION END
K
4. CHECK CONNECTOR
1. Disconnect control unit connector E45 and malfunctioning wheel sensor connector E23 (FL), E38 (FR), L
B35 (RL) or B34 (RR) and check for deformation, disconnected and loose. If there is any non-standard
condition, repair the connector.
2. Reconnect connectors, drive the vehicle at 30km/h (19 MPH) for approximately 1 minute, and then per- M
form self-diagnosis.
OK or NG
OK >> The connector terminal contact is loose, damage, open or shorted.
NG >> GO TO 5.
BRC-37
TROUBLE DIAGNOSIS
[ABS]
5. CHECK WHEEL SENSOR HARNESS
1. Disconnect control unit connector E45 and wheel sensor con-
nector E23 (FL), E38 (FR), B35 (RL) and B34 (RR).
2. Check continuity between terminals. (Check resistance as well
when turning the steering wheel to the right and left, or moving
sensor harness in the wheel well.)
MFIB9019E
Power supply system Signal system Ground system

Control unit Control unit
Wheel Control unit Wheel sensor Control unit Wheel sensor
(signal) (Ground)
Front RH 10 (R) 1 (R) 9 (L) 2 (L) 9 (L), 10 (R) 4 (B)
Front LH 5 (Y) 1 (Y) 16 (BR) 2 (BR) 5 (Y), 16 (BR) 4 (B)
Rear RH 19 (LG) 1 (LG) 8 (OR) 2 (OR) 8 (OR), 19 (LG) 4 (B)
Rear LH 17 (G) 1 (G) 6 (BR) 2 (BR) 6 (BR), 17 (G) 4 (B)
Power supply system : Continuity should exist.

Signal System : Continuity should exist.
Ground system : Continuity should not exist.
OK or NG
OK >> GO TO 6.
NG >> Repair or replace harness connector between ABS actuator and electric unit (control unit) and
wheel sensor.
6. CHECK WHEEL SENSOR POWER SUPPLY CIRCUIT

1. Connect control unit connector.
2. Turn ignition switch ON.
3. Check voltage between wheel sensor power supply terminal 1
and ground.
Voltage : Approx. 12 V
OK or NG
OK >> Replace wheel sensor.
NG >> Replace ABS actuator and electric unit (control unit).
SFIA1178E
Inspection 2 ABS Actuator and Electric Unit Power and Ground System EFS004M7
INSPECTION PROCEDURE
1. CHECK SELF-DIAGNOSTIC RESULTS
BATTERY VOLTAGE

YES >> GO TO 2.
BRC-38
TROUBLE DIAGNOSIS
[ABS]
2. CHECK POWER SUPPLY AND GROUND CIRCUIT A
1. Disconnect control unit connector E45.
2. Check continuity and voltage between control unit connector ter-
minals and ground. B
Terminal Signal Ignition switch Measured value

ON Battery voltage (approx. 12 V) C
18 (PU) Power supply
OFF Approx. 0 V
4 (B) Ground OFF Continuity should exist.
OK or NG D
OK >> Check battery for loose terminal and low voltage for mal-
function. If it returns an error, repair it. SFIA1179E
NG >> Repair or replace harness connector between ABS E

actuator and electric unit (control unit) and fuse or ground.
Inspection 3 ABS Control Unit System EFS004M8
BRC
Inspection Procedure
G
H
CONTROL UNIT

YES >> Replace ABS actuator and electric unit (control unit). I
Inspection 4 ABS Actuator Relay or ABS Motor Relay Power System EFS004M9
J
K
IN ABS SOL L
OUT ABS SOL
MAIN RELAY
M
PUMP MOTOR
Is above displayed on self-diagnosis display?
YES >> GO TO 2.
2. CHECK CONNECTOR
1. Disconnect control unit connector E45. Check terminals for deformation, disconnection, and looseness. If
there is any non-standard condition, repair or replace it.
2. Reconnect connector securely, and perform self-diagnosis.
OK or NG
OK >> The connector terminal contact is loose, damaged, open or shorted.
NG >> GO TO 3.
BRC-39
TROUBLE DIAGNOSIS
[ABS]
3. ABS ACTUATOR RELAY (SOLENOID VALVE RELAY) OR ABS MOTOR RELAY POWER SYSTEM
2. For ABS actuator relay (solenoid valve relay), check voltage
between control unit connector E45 terminal 3 (W) and ground.
For the ABS motor relay, check voltage between control unit
connector E45 terminal 2 (Y) and ground.
ABS actuator relay (solenoid valve relay)
3 (W) − Ground : Battery voltage (approx. 12 V)
ABS motor relay
2 (Y) − Ground : Battery voltage (approx. 12 V)
OK or NG SFIA1181E
OK >> GO TO 4.
fusible link.
4. CHECK GROUND CIRCUIT

Check continuity between control unit connector E45 terminal 4 (B)
and ground.
4 (B) – Ground : Continuity should exist.
OK or NG
OK >> Replace ABS actuator and electric unit (control unit).
NG >> Repair or replace ABS actuator and electric unit ground
harness.
SFIA1182E
Inspection 5 CAN Communication System EFS004MA
1. START INSPECTION
1. Using CONSULT-II, perform self-diagnosis.
2. Print the result of the self-diagnosis.
3. Check “CAN communication support monitor” in data monitor.
CAN Diagnosis Support Monitor
Normal When failure occurs
INITIAL DIAG: OK INITIAL DIAG: NG
TRANSMIT DIAG: OK TRANSMIT DIAG: UNKWN
ECM: OK ECM: UNKWN
>> After printing the monitor items, GO TO “CAN System”. Refer to LAN-4, "Precautions When Using
CONSULT-II" .
BRC-40
TROUBLE DIAGNOSIS
[ABS]
Inspection 6 Stop Lamp Switch System EFS004MB
INSPECTION PROCEDURE A

Check the self-diagnostic results. B
STOP LAMP SW C
Is above displayed on self-diagnosis display?
YES >> GO TO 2.
NO >> INSPECTION END D
2. CHECK CONNECTOR
E
1. Disconnect control unit connector E45 and stop lamp switch connector E108, E109, M202 or M203.
2. Check terminals for deformation, disconnection, and looseness. If there is any non-standard condition,
repair or replace it.
BRC
3. Reconnect connector securely, and perform self-diagnosis.
OK or NG
OK >> The connector terminal contact is loose, damaged, open or shorted. G
NG >> GO TO 3.
3. CHECK STOP LAMP SWITCH CIRCUIT

H
2. Check voltage between control unit connector E45 terminal 20
(Y) and ground. I
ABS actuator and
electric unit Ground Measuring condition Voltage
(control unit) J
Battery voltage
Brake pedal depressed
20 — (approx. 12 V)
Brake pedal not depressed 0V K
OK or NG
SFIA1185E
OK >> Replace ABS actuator and electric unit (control unit).
L
stop lamp switch.
Symptom 1 ABS Works Frequently. EFS004MC
M
1. START INSPECTION
Check brake force distribution.
OK or NG
OK >> GO TO 2.
NG >> Check brake system.
2. CHECK FRONT AND REAR AXLE

Check front and real axle for significant “looseness”.
OK or NG
OK >> GO TO 3.
NG >> Repair or replace.
BRC-41
TROUBLE DIAGNOSIS
[ABS]
3. CHECK WHEEL SENSOR
Wheel Sensor Inspection
● Sensor installation and damage inspection
● Sensor rotor installation and damage inspection
● Sensor connector engagement inspection
● Sensor harness inspection
OK or NG
OK >> GO TO 4.
NG >> ● Replace wheel sensor or sensor rotor.
● Repair harness.
4. CHECK INDICATOR DISPLAY OF WARNING LAMP

Make sure warning lamp is off approximately 1 second after ignition switch is turned ON or during driving.
OK or NG
OK >> Normal
NG >> Perform self-diagnosis. Refer to BRC-22, "SELF-DIAGNOSIS" .
Symptom 2 Unexpected Pedal Reaction EFS004MD
1. CHECK BRAKE PEDAL STROKE

Check brake pedal stroke.
Is brake pedal stroke not excessive?
YES >> ● Bleed air from brake piping.
● Check for looseness of brake pedal, master back, and master cylinder. Also check brake sys-
tem for oil leak. Repair as necessary.
NO >> GO TO 2.
2. PERFORMANCE CHECK
Disconnect control unit connector E45 to deactivate ABS. In this condition, make sure braking force is normal
after inspection, reconnect connector.
OK or NG
OK >> GO TO 3. Wheel Sensor Inspection in BRC-41, "Symptom 1 ABS Works Frequently." .
BRC-42
TROUBLE DIAGNOSIS
[ABS]
Symptom 3 Longer Stopping Distance EFS004ME
A
CAUTION:
On slippery road, stopping distance could be longer when ABS is activated than when it is not.
1. CHECK FUNCTION B
Disconnect control unit connector E45 to deactivate ABS. In this condition, check braking distance After
inspection, reconnect connector.
OK or NG C
OK >> ● Bleed air from brake piping.
● Check brake system.
D
NG >> GO TO 3. Wheel Sensor Inspection in BRC-41, "Symptom 1 ABS Works Frequently." .
Symptom 4 ABS Does Not Work EFS004MF
CAUTION: E
ABS does not operate when vehicle speed is 10 km/h (6 MPH) or lower.
1. CHECK INDICATOR DISPLAY OF WARNING LAMP BRC
Make sure warning lamp is off approximately 1 second after ignition switch is turned ON or during driving.
OK or NG
OK >> GO TO 3. Wheel Sensor Inspection in BRC-41, "Symptom 1 ABS Works Frequently." . G
NG >> Perform a self-diagnosis. Refer to BRC-22, "SELF-DIAGNOSIS" .
Symptom 5 Pedal Vibration and ABS Operation Noise EFS004MG
H
CAUTION:
Under the following conditions, when brake pedal is lightly depressed (just place a foot on it), ABS is
activated and vibration is felt. However, this is normal. I
● When shifting gears and operating clutch
● When driving on slippery road
● During cornering at high speed J
● When passing over bumps or grooves [50 mm (1.97 in) or more]
● When pulling away just after starting engine [at approximately 10 km/h (6 MPH) or higher]
K
1. SYMPTOM CHECK 1
Check brake system for pedal vibration or noise at engine start.
L
OK or NG
OK >> GO TO 2.
M
2. SYMPTOM CHECK 2
Operate electrical equipment (head lamp or equivalents), and confirm symptoms.
Does symptom occur when electrical switches (head lamp, etc.) are operated?
YES >> Check for radio, antenna, and antenna lead-in wires (including wiring) near the control unit. If they
are near ABS actuator and electric unit (control unit), move them.
NO >> GO TO 3. Wheel Sensor Inspection in BRC-41, "Symptom 1 ABS Works Frequently." .
BRC-43
WHEEL SENSORS
[ABS]
WHEEL SENSORS PFP:47910
Removal and Installation EFS004MH
MFIB9020E
REMOVAL
Be careful of the following.
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-44
SENSOR ROTOR
[ABS]
SENSOR ROTOR PFP:47970
A
Removal and Installation EFS004MI
FRONT
● Because the sensor rotor is integrated with the wheel bearing, replace it together with the wheel bearing B
assembly. Refer to FAX-6, "FRONT WHEEL HUB AND KNUCKLE" .
REAR
● During removal and installation, remove the wheel hub (brake drum). Refer to RAX-5, "WHEEL HUB" . C
CAUTION:
The sensor rotor is a non-reusable part, it must be replaced by an new part when removing it.
D
BRC
BRC-45
ACTUATOR AND ELECTRIC UNIT (ASSEMBLY)
[ABS]
ACTUATOR AND ELECTRIC UNIT (ASSEMBLY) PFP:47660
Removal and Installation EFS004MJ
SFIA1183E
REMOVAL
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.
● Do not apply excessive impact to the actuator, such as dropping it.
INSTALLATION
● 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-10, "Bleeding Brake System" .
● After installing the vehicle harness connector in the actuator, make sure the connector is securely locked.
BRC-46
PRECAUTIONS
[ESP/TCS/ABS]
PRECAUTIONS
[ESP/TCS/ABS] PFP:00001
A
Precautions for Supplemental Restraint System (SRS) “AIR BAG” and “SEAT
BELT PRE-TENSIONER” EFS004JB
The Supplemental Restraint System such as “AIR BAG” and “SEAT BELT PRE-TENSIONER”, used along B
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. C
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 per-
formed by an authorized NISSAN/INFINITI dealer. D
● Improper maintenance, including incorrect removal and installation of the SRS, can lead to per-
sonal injury caused by unintentional activation of the system. For removal of Spiral Cable and Air
Bag Module, see the SRS section. E
● 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
harness connectors. BRC
Precautions for Brake System SMA for VIN EFS004JC
● Recommended fluid is brake fluid “DOT 3” or “DOT 4”. >SJN**AK12U1072423 G

● Do not reuse 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. H
● 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 I
flare nuts.
● Brake system is an important safety part. If a brake fluid leak is
detected, always disassemble the affected part. If a malfunction J
is detected, replace part with a new one.
● Before working, turn ignition switch OFF and disconnect electri-
cal connectors of ABS actuator and electric unit (control unit) or
K
battery negative terminals.
● When installing brake piping, be sure to check torque.
SBR820BA L
Precautions for Brake Control EFS004JD
● During ESP/TCS/ABS operation, brake pedal lightly vibrates and a mechanical noise may be heard. This M
is normal.
● 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.
● When an error is indicated by ABS or another warning lamp, collect all necessary information from the
customer (what symptoms are present under what conditions) and check for simple causes before start-
ing diagnostic servicing. Besides the electrical system inspection, check booster operation, brake fluid
level, and 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-47
PRECAUTIONS
[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
operation can be resumed after restarting engine.
Diagnosis Precaution EFS004JE
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 EFS004JF
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-48
PREPARATION
[ESP/TCS/ABS]
PREPARATION PFP:00002
A
Special Service Tools EFS004JG
Tool number
Description
Tool name B
GG94310000 C
Removing and installing each brake
Flare nut torque wrench
piping
a: 10 mm (0.39 in)
D
NT406
BRC
BRC-49
ON-VEHICLE SERVICE
[ESP/TCS/ABS]
ON-VEHICLE SERVICE PFP:00000
SMA for VIN
Adjustment of Steering Angle Sensor Neutral Position >SJN**AK12U1309269 EFS004JH
In case of doing work that applies to the list below, make sure to adjust neutral position of steering angle sen-
sor before running vehicle.
Situation Adjustment of Steering Angle Sensor Neutral Position
Disconnecting/connecting the battery ×
Removing/Installing ABS actuator and electric unit (control unit) −
Replacing ABS actuator and electric unit (control unit) ×
Removing/Installing steering angle sensor ×
Removing/Installing steering components ×
Removing/Installing suspension components ×
Removing/Installing the same tire to the same position –
Change 4 tires to new ones –
Change some of 4 tires to new ones (not 4 tires) –
Tire rotation –
Adjusting wheel alignment ×
×: Required
–: Not required
CAUTION:
To adjust neutral position of steering angle sensor, make sure to use CONSULT-II.
(Adjustment cannot be done without CONSULT-II.)
OPERATION PROCEDURE
● For operation procedure, refer to STC-4, "Steering Angle Adjustment (WORK SUPPORT)" .
BRC-50
SYSTEM DESCRIPTION
[ESP/TCS/ABS]
SYSTEM DESCRIPTION PFP:00000
A
System Diagram EFS004JI
BRC
MFIA0012E
G
ESP Function EFS004JJ
● In addition to the TCS/ABS function, the driver steering amount and brake operation amount are detected H
from steering angle sensor and pressure sensor, and the vehicle's driving status (amount of under steer-
ing / over steering) is determined from information from G-sensor, wheel sensor, etc., and this information
is used to improve vehicle stability by controlling the braking and engine power to all four wheels. I
● SLIP indicator lamp flashes to inform the driver of ESP operation.
● During ESP operation, body and brake pedal lightly vibrate and mechanical noises may be heard. This is
normal. J
● ABS warning lamp, ESP OFF indicator lamp, and SLIP indicator lamp might turn on when vehicle is sub-
ject to strong shaking or large vibration, such as when vehicle is on a turn table, a ship or a steep slope
such as bank while engine is running. In this case, restart engine on a normal road, and if ABS warning K
lamp, ESP OFF indicator lamp, and SLIP indicator lamp turn off, there is no problem.
TCS Function EFS004JK
L
● The wheel spin of the drive wheels is detected by ABS actuator and electric unit (control unit) from the
wheel speed signals from four wheels, so if wheel spin occurs, drive wheel right and left brake fluid pres-
sure control and engine fuel cut are performed while throttle value is restricted to reduce the engine
torque and decrease the amount of wheel spin. In addition, the degree throttle is opened is controlled to M
achieve the optimum engine torque.
● Depending on road circumstances, the driver may have a sluggish feel. This is normal, because the opti-
mum traction has the highest priority under TCS operation.
● TCS may be activated any time vehicle suddenly accelerates, suddenly down/upshifts, or is driven on a
road with a varying surface friction coefficient.
● During TCS operation, it informs a driver of system operation by flashing SLIP indicator lamp.
ABS Function EFS004JL
● The anti-lock brake system is a function that detects wheel revolution while braking, and it improves han-
dling stability during sudden braking by electrically preventing 4 wheel lock. Maneuverability is also
improved for avoiding obstacles.
● If the electrical system breaks down, then the fail-safe function starts, the ABS becomes inoperative, and
ABS warning lamp turns on.
● Electrical system diagnosis by CONSULT-II is available.
● During ABS operation, brake pedal lightly vibrates and a mechanical noise may be heard. This is normal.
BRC-51
SYSTEM DESCRIPTION
[ESP/TCS/ABS]
● When starting engine, or just after starting vehicle, brake pedal may vibrate or motor operating noises
may be heard from engine compartment. This is a normal status of operation check.
EBD Function EFS004JM
● Electronic brake distributor is a function that detects subtle slippages between front and rear wheels dur-
ing braking, and it improves handling stability by electronically controlling the brake fluid pressure which
results in reduced rear wheel slippage.
● In case of electrical system break down, the fail-safe function is activated, EBD and ABS becomes inoper-
ative, and ABS warning lamp and brake warning lamp are turned on.
● Electrical system diagnosis by CONSULT-II is available.
● During EBD 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 noises
may be heard from engine compartment. This is a normal status of operation check.
● Stopping distance may be longer than that of vehicles without EBD when vehicle drives on rough, gravel,
Fail-Safe Function EFS004JN
ESP / TCS SYSTEM

In case of malfunction in the ESP/TCS system, ESP OFF indicator lamp and SLIP indicator lamp are turned
on, and the condition of vehicle is the same as the condition of vehicles without ESP/TCS system. In case of
malfunction in the ESP/TCS system, the ABS control continues to operate normally without ESP/TCS control.
CAUTION:
If the fail-safe function is activated, then perform the self-diagnosis for ESP/TCS/ABS control system.
ABS, EBD SYSTEM
In case of electrical malfunctions with the ABS, ABS warning lamp, ESP OFF indicator lamp and SLIP indica-
tor lamp will turn on. In case of electrical malfunctions with the EBD, brake warning lamp, ABS warning lamp,
ESP OFF indicator lamp and SLIP indicator lamp will turn on. Simultaneously, the ESP/TCS/ABS become one
of the following conditions of the fail-safe function.
1. For malfunction of ABS, only the EBD is activated and the condition of vehicle is the same condition of
vehicles without TCS/ABS system.
2. For malfunction of EBD, EBD and ABS become inoperative, and the condition of vehicle is the same as
the condition of vehicles without TCS/ABS, EBD system.
NOTE:
In condition 1 described above, an ABS self-diagnosis sound may be heard. That is a normal condition
because a self-diagnosis for “Key Switch ON” and “the First Starting” are being performed.
BRC-52
SYSTEM DESCRIPTION
[ESP/TCS/ABS]
Hydraulic Circuit Diagram EFS004JO
BRC
MFIA0013E I
BRC-53
CAN COMMUNICATION
[ESP/TCS/ABS]
CAN COMMUNICATION PFP:23710
System Description EFS005XC
CAN (Controller Area Network) is a serial communication line for real time application. It is an on-vehicle mul-
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.
Each control unit transmits/receives data but selectively reads required data only.
CAN Communication Unit EFS005XD
Go to CAN system, when selecting your car model from the following table.
Body type 3door/5door
Axle 2WD
Engine CR12DE/CR14DE
Handle LHD/RHD
Brake control ESP system
Transmission A/T M/T
Intelligent Key system Applicable Not applicable Applicable Not applicable
CAN communication unit
ECM × × × × × × × ×
Data link connector × × × × × × × ×
Combination meter × × × × × × × ×
Intelligent Key unit × × × ×
Drive computer × × × ×
EPS control unit × × × × × × × ×
BCM × × × × × × × ×
ABS actuator and electric unit (control unit) × × × × × × × ×
TCM × × × ×
IPDM E/R × × × × × × × ×
CAN communication type BRC-55, "TYPE 5/TYPE 6" BRC-58, "TYPE 7/TYPE 8"
×: Applicable
BRC-54
CAN COMMUNICATION
[ESP/TCS/ABS]
TYPE 5/TYPE 6
System diagram A
● Type 5
BRC
MKIB0273E
● Type 6 G
L
MKIB0274E

T: Transmit R: Receive M
ABS
actuator
IPDM E/
R
(control
unit)
Engine speed signal T R R R R
Engine coolant temperature sig-
T R
nal
A/T self-diagnosis signal R T
Output shaft revolution signal R T
Accelerator pedal position signal T R R
Closed throttle position signal T R
Wide open throttle position sig-
T R R
nal
BRC-55
CAN COMMUNICATION
[ESP/TCS/ABS]
ABS
actuator
IPDM E/
R
(control
unit)
A/T shift position signal R T
A/T shift schedule change
T R
demand signal
Stop lamp switch signal T R
O/D OFF indicator lamp signal R T
Engine and A/T integrated con- T R

trol signal R T
A/C switch signal R T
R R R T
R T R R R R
R T
R T
MI signal T R R
Rear window defogger switch
T R
signal
Rear window defogger control
R T
signal
EPS warning lamp signal R R T
ESP warning lamp signal R R T
ESP OFF indicator signal R T
SLIP indicator lamp signal R T
BRC-56
CAN COMMUNICATION
[ESP/TCS/ABS]
ABS
actuator A
IPDM E/
R
(control B
unit)
ESP operation signal R T
TCS operation signal R T
C
Steering angle signal T R
D
Fuel low warning signal T R E
Battery charge malfunction sig-
T R
nal
BRC

Engine coolant temperature
T R G
warning signal
Rear fog lamp status signal R T H
Door lock/unlock status signal R T I
J
BRC-57
CAN COMMUNICATION
[ESP/TCS/ABS]
TYPE 7/TYPE 8
System diagram
● Type 7
MKIB0275E
● Type 8
MKIB0276E

ABS
actuator
Combina- Intelli-
meter. unit
(control
unit)
Engine speed signal T R R R R
Engine coolant temperature signal T R
Accelerator pedal position signal T R
A/C switch signal R T
BRC-58
CAN COMMUNICATION
[ESP/TCS/ABS]
ABS
actuator A
Combina- Intelli-
meter. unit
(control
unit) B
C
Low beam status signal R T D
E
R R R T
R T R R R R BRC
G
R T
R T H
MI signal T R R
Front wiper stop position signal R T I
Rear window defogger control sig-
R T J
nal
EPS warning indicator signal R R T K
ESP warning lamp signal R R T
ESP OFF indicator signal R T L
SLIP indicator lamp signal R T
ESP operation signal R T
M
TCS operation signal R T
Steering angle signal T R
T R
ing signal
BRC-59
CAN COMMUNICATION
[ESP/TCS/ABS]
ABS
actuator
Combina- Intelli-
meter. unit
(control
unit)
BRC-60
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
TROUBLE DIAGNOSIS PFP:00004
A
How to Proceed With Diagnosis EFS004JR
BASIC CONCEPT
● Most important point to perform diagnosis is to understand systems (control and mechanism) in vehicle B
thoroughly.
● It is also important to clarify customer complaints before inspec-

tion. C
First of all, reproduce symptom, and understand it fully.
Ask customer about his/her complaints carefully. In some cases,
it will be necessary to check symptom by driving vehicle with D
customer.
NOTE:
Customers are not professionals. Do not assume “maybe cus-
E
tomer means...” or “maybe customer mentioned this symptom”.
SEF234G
BRC
● It is essential to check symptoms right from beginning in order to
repair a malfunction completely.
For an intermittent malfunction, it is important to reproduce G
symptom based on interview with customer and past examples.
Do not perform inspection on ad hoc basis. Most intermittent
malfunctions are caused by poor contacts. In this case, it will be
effective to shake suspected harness or connector by hand. H
When repairs are performed without any symptom check, no
one can judge if malfunction has actually been eliminated.
● After diagnosis, make sure to carry out “erase memory”. Refer to I
BRC-75, "SELF-DIAGNOSIS" . SEF233G
● For an intermittent malfunction, move harness or harness con-

nector by hand to check poor contact or false open circuit. J
● Always read “GI General Information” to confirm general precautions. Refer to GI-4, "General Precau-
tions" .
K
BRC-61
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
DIAGNOSIS FLOWCHART
MFIA0017E
BRC-62
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
ASKING COMPLAINTS
● Complaints against malfunction vary depending on each person. A
It is important to clarify customer complaints.
● Ask customer about what symptoms are present and under
what conditions. Use information to reproduce symptom while B
driving.
● It is also important to use diagnosis sheet so as not to miss infor-
mation. C
SBR339B
D
EXAMPLE OF DIAGNOSIS SHEET

E
BRC
SFIA0791E
BRC-63
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
Component Installation Location EFS004JS
MFIA0011E
BRC-64
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
Schematic EFS004JT
BRC
MFWA0045E
BRC-65
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
Wiring Diagram — ESP — EFS004JU
MFWA0046E
BRC-66
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
BRC
MFWA0047E
BRC-67
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
MFWA0048E
BRC-68
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
BRC
MFWA0049E
BRC-69
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
MFWA0050E
BRC-70
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
Control Unit Input/Output Signal Standard EFS004JV
REFERENCE VALUE FROM CONSULT-II A

CAUTION:
The display shows ABS actuator and electric unit (control unit) calculation data, so a normal value
might be displayed even in the event the output circuit (harness) is open or short-circuited. B
Data monitor
Note: Error inspection
Monitor item Display content Reference value in
Condition checklist
normal operation C
1: 1st gear
2: 2nd gear
GEAR A/T gear position —
3: 3rd gear D
4: 4th gear
Vehicle stopped 0 [km/h (MPH)]
FR RH SENSOR
FR LH SENSOR Almost in accor- BRC-85, "Inspection 1: E
Wheel speed dance with speed-
RR RH SENSOR Vehicle running (Note 1) Wheel Sensor System"
RR LH SENSOR ometer display
(within ±10 %)
BRC
Accelerator pedal is not
depressed (ignition switch is 0%
Open/close condition ON)
ACCEL POS SIG of throttle valve (linked EC section
Accelerator pedal is G
with accelerator pedal).
depressed (ignition switch is 0 to 100 %
ON)
With engine stopped 0 rpm H
ENGINE SPEED With engine running Almost in accor- EC section
Engine running dance with
tachometer display I
Steering angle Straight-ahead Approx. 0 deg BRC-89, "Inspection 4:
STR ANGLE SIG detected by steering Steering Angle Sensor
angle sensor Steering wheel turned L600 to R600 deg System"
J
Vehicle stopped Approx. 0 d/s BRC-90, "Inspection 5:
Yaw rate detected by
YAW RATE SEN Yaw Rate/Side G-Sen-
yaw rate sensor Vehicle running –200 to 200 d/s sor System"
K
Vehicle stopped Approx. 0 G BRC-90, "Inspection 5:
Transverse G detected
SIDE G-SENSOR Yaw Rate/Side G-Sen-
by side G-sensor Vehicle running –1.8 to 1.8 G sor System"
With ignition switch turned ON L
Brake fluid pressure Approx. 0 bar BRC-89, "Inspection 3:
and brake pedal released
PRESS SENSOR detected by pressure ESP/TCS/ABS Control
sensor With ignition switch turned ON Unit System"
–42.5 to 42.5 bar
and brake pedal depressed M
BRC-92, "Inspection 6:
Battery voltage sup-
ABS Actuator and Elec-
plied to ABS actuator
BATTERY VOLT Ignition switch ON 10 to 16 V tric Unit (Control Unit)
and electric unit (con-
Power Supply and
trol unit)
Ground System"
Brake pedal is depressed ON BRC-94, "Inspection 7:
STOP LAMP SW Brake pedal operation Stop Lamp Switch Sys-
Brake pedal is not depressed OFF tem"
ESP OFF switch ON
(When ESP OFF indicator ON
ESP OFF switch lamp is ON) BRC-97, "ESP OFF
OFF SW
ON/OFF status ESP OFF switch OFF SWITCH"
(When ESP OFF indicator OFF
lamp is OFF)
BRC-71
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
Data monitor
Note: Error inspection
Condition checklist
normal operation
ABS warning lamp ON ON BRC-85, "BASIC
INSPECTION 3: ABS
ABS warning lamp ON WARNING LAMP, ESP
ABS WARN LAMP
condition (Note 2) ABS warning lamp OFF OFF OFF INDICATOR LAMP
and SLIP INDICATOR
LAMP INSPECTION"
Ignition switch ON or engine
OFF BRC-89, "Inspection 3:
Operation status of running (ABS not operated)
MOTOR RELAY ESP/TCS/ABS Control
motor and motor relay Ignition switch ON or engine
ON Unit System"
running (ABS operated)
Actuator (solenoid) is active ON BRC-89, "Inspection 3:
Actuator relay opera-
ACTUATOR RLY When actuator relay is inactive ESP/TCS/ABS Control
tion status OFF
(in fail-safe mode) Unit System"
When ESP OFF indicator

ON
ESP OFF indicator lamp is ON
OFF LAMP BRC-85, "BASIC
lamp status (Note 3) When ESP OFF indicator
OFF INSPECTION 3: ABS
lamp is OFF WARNING LAMP, ESP
When SLIP indicator lamp is OFF INDICATOR LAMP
ON and SLIP INDICATOR
SLIP indicator lamp ON
SLIP LAMP LAMP INSPECTION"
status (Note 4) When SLIP indicator lamp is
OFF
OFF
FR LH IN SOL Actuator (solenoid) is active
FR LH OUT SOL (“ACTIVE TEST” with CON-
ON
FR RH IN SOL SULT-II) and actuator relay is
FR RH OUT SOL Solenoid valve opera- active (ignition switch ON)
RR RH IN SOL tion
RR RH OUT SOL When actuator (solenoid) is
RR LH IN SOL not active or actuator relay is OFF
RR LH OUT SOL inactive (in fail-safe mode)
When actuator (switch-over ESP/TCS/ABS Control
valve) is active (“ACTIVE Unit System"
TEST” with CONSULT-II) and ON
HSV [FL-RR] actuator relay is active (ignition
HSV [FR-RL] ESP/TCS switch-over switch ON)
USV [FL-RR] valve status
USV [FR-RL] When actuator (switch-over
valve) is not active or actuator
OFF
relay is inactive (in fail-safe
mode)
When brake fluid level switch
ON BRC-96, "Inspection 8:
ON/OFF status of ON
FLUID LEV SW Brake Fluid Level Switch
brake fluid level switch When brake fluid level switch
OFF System"
OFF
Brake warning lamp ON ON BRC-85, "BASIC
INSPECTION 3: ABS
Brake warning lamp on WARNING LAMP, ESP
EBD WARN LAMP
condition (Note 5) Brake warning lamp OFF OFF OFF INDICATOR LAMP
and SLIP INDICATOR
LAMP INSPECTION"
When parking brake is applied ON
Condition of parking
PARK BRAKE SW When parking brake is —
brake OFF
released
Cranking ON
CRANKING SIG CRANKING status —
Not cranking OFF
BRC-72
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
Data monitor
Note: Error inspection A
Condition checklist
normal operation
CAN communications normal OK
CAN CIRC 1 B
CAN communications error UNKWN
CAN CIRC 2
CAN communications error UNKWN C
CAN communications normal OK BRC-96, "Inspection 9:
CAN communication
CAN CIRC 3 CAN Communication
condition CAN communications error UNKWN System"
D
CAN CIRC 4
CAN communications normal OK E
CAN CIRC 5
CAN communication normal 0
CAN 1 STAT (Note 6)
CAN communication error 40 BRC
CAN 2 STAT
CAN communication error 40
G
CAN communication normal 0 BRC-96, "Inspection 9:
CAN communication
CAN 3 STAT CAN Communication
condition CAN communication error 40 System"
CAN communication normal 0 H
CAN 4 STAT
CAN 5 STAT I
Note 1: Confirm tire pressure is normal.
Note 2: ON/OFF timing of ABS warning lamp
J
ON: Approx. Within 1.5 seconds after ignition switch is turned ON, or when a malfunction is detected.
OFF: Approx. 1.5 seconds after ignition switch is turned ON (when system is in normal operation) and ESP/TCS function is not acti-
vated.
Note 3: ON/OFF timing of ESP OFF indicator lamp K
ON: Approx. Within 1.5 seconds after ignition switch is turned ON, or when a malfunction is detected and ESP OFF switch is ON.
OFF: Approx 1.5 seconds after ignition switch is turned ON (when system is in normal operation.) And when ESP OFF switch is OFF.
Note 4: SLIP indicator lamp ON/OFF timing
ON: Approx. Within 1.5 seconds after ignition switch is turned ON, or when a malfunction is detected and ESP/TCS function is acti- L
vated while driving.
OFF: Approx. 1.5 seconds after ignition switch is turned ON (when system is in normal operation) and ESP/TCS function is not acti-
vated. M
Blinking: ESP/TCS function is active during driving
Note 5: Serves as EBD warning lamp.
Note 6: CAN status indicates the condition of the CAN communication judged by each signal input.
● Normal: If any problems were not found in the past, CAN status indicated “0”. In case of operating properly at the present in spite of
having problem in the past, then CAN status indicates “39-1”.
● Malfunction: If there is a malfunction, CAN indicates “40”.
After returning to normal condition, every time ignition switch is turned OFF from ON, the indication will change like “39”→ “38” → “37” ···
“1” and if a malfunction is detected again, CAN status indicates “40”. (Though returning to the normal condition, “0” is not indicated. To
reset, select and press the “ERASE” on the “SEFL-DIAGNOSIS” screen.)
BRC-73
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
CONSULT-II Functions EFS004JW
CAUTION:
● Do not use the “function test” for diagnosis. For more information, refer to the separate volume
“CONSULT-II OPERATION MANUAL (Function Test)”.
● When CONSULT-II is connected and communicating, ABS warning lamp, SLIP indicator lamp, and
ESP OFF indicator lamp turn on, and when the communication is interrupted, the lamps will turn
off after approximately 2 to 3 sec.
● When the self-diagnosis, data monitor, or active test functions are being executed, EBD, ABS,
TCS, and ESP control is not performed.
● When using CONSULT-II to perform ABS actuator and electric unit (control unit) self-diagnosis,
active test, work support, etc., first stop engine, connect CONSULT-II, and select “ABS”.
● When an error is shown by the CONSULT-II SELF-DIAG RESULTS and CONSULT-II is used to per-
form an active test, an engine system malfunction may be shown, but restarting engine will return
the status to normal.
● When data monitoring is executed by using CONSULT-II, a malfunction code may be indicated as
the result of the real time diagnosis. In such a case, execute data monitoring in manual mode.
Refer to CONSULT-II Operation Manual.
CONSULT-II FUNCTION APPLICATION TABLE (MAIN ITEMS)
Item Self-diagnosis Data monitor Active test
Wheel sensors × × –
Wheel sensor rotor × – –
Stop lamp switch × × –
Solenoid valves × × ×
Switch-over solenoid valves (HSV, USV) × – ×
Yaw rate/side G-sensor × × –
Pressure sensor × × –
Steering angle sensor × × –
Actuator relay × × –
Motor relay × × –
ABS warning lamp – × –
Battery voltage × × –
ABS actuator and electric unit (control unit) × – –
ESP/TCS/ABS actuator motor × – ×
CAN communication × × –
Engine speed signal – × –
ESP OFF switch – × –
ESP OFF indicator lamp – × –
SLIP indicator lamp – × –
Accel position signal – × –
Gear – × –
Brake fluid level switch × × –
Engine signals × – –
A/T signals × –
EBD warning lamp – × –
×:Applicable
–:Not applicable
BRC-74
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
CONSULT-II BASIC OPERATION PROCEDURE
1. Turn ignition switch OFF. A
CAUTION:
If CONSULT-II is used with no connection of CONSULT-II CONVERTER, malfunctions might be B
detected in self-diagnosis depending on control unit which carry out CAN communication.
C
4. Touch “START (NISSAN BASED VHCL)”.
BRC
SKIA3098E
5. Touch “ABS” in the “SELECT SYSTEM” screen. G

If “ABS” is not indicated, go to GI-36, "CONSULT-II Data Link
Connector (DLC) Circuit" .
H
MFIA0026E J
6. Select the required diagnostic location from the “SELECT DIAG

MODE” screen. K
For further information, see CONSULT-II Operation Manual.
MFIA0027E
SELF-DIAGNOSIS
Description
● If an error is detected in the system, ABS warning lamp, ESP OFF indicator lamp and SLIP indicator lamp
on the combination meter turn on. In this case, perform self-diagnosis as follows:
● While CONSULT-II is used, ABS warning lamp, ESP OFF indicator lamp, SLIP indicator lamp may be
turned on in a case of no malfunctioning.
Operation Procedure
1. Turn ignition switch OFF.
CAUTION:
If CONSULT-II is used with no connection of CONSULT-II CONVERTER, malfunctions might be
BRC-75
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
5. After stopping vehicle, with the engine running, touch “START (NISSAN BASED VHCL)”, “ABS”, “SELF-
DIAG RESULTS” in order on the CONSULT-II screen.
CAUTION:
If “START (NISSAN BASED VHCL)” is touched immediately after starting engine or turning on the
ignition switch, “ABS” might not be displayed in the System Selection screen. In this case, repeat
the operation from step 1. If it cannot be shown after several attempts, ABS actuator and electric
unit (control unit) may have malfunctioned.
6. The self-diagnostic results are displayed. (If necessary, the self-diagnostic results can be printed out by
touching “PRINT”.)
● When “NO DTC IS DETECTED. FURTHER TESTING MAY BE REQUIRED.” is displayed, check ABS
warning lamp, ESP OFF indicator lamp and SLIP indicator lamp.
7. Perform the appropriate inspection from the display item list, and repair or replace the malfunctioning
component.
8. Drive the vehicle at approximately 30 km/h (19 MPH) for approximately 1 minute.
CAUTION:
● In a case that a wheel sensor is malfunctioning, ABS warning lamp, ESP OFF indicator lamp,
SLIP indicator lamp will turn on. If vehicle is not driven at approximately 30 km/h (19 MPH) for at
least approximately 1 minute after repair of the wheel sensor system, ABS warning lamp, ESP
OFF indicator lamp and SLIP indicator lamp may not turn off even if everything is normal. Check
again to make sure that there is no malfunction on other parts.
9. Turn ignition switch OFF to prepare for erasing the memory.
10. Start engine and touch “START (NISSAN BASED VHCL)”, “ABS”, “SELF-DIAG RESULTS”, “ERASE” in
order on the CONSULT-II screen to erase the error memory.
If “ABS” is not indicated, go to GI-36, "CONSULT-II Data Link Connector (DLC) Circuit" .
CAUTION:
If the error memory is not erased, re-perform the operation from step 5.
11. For the final inspection, drive at approximately 30 km/h (19 MPH) for approximately 1 minute and confirm
that ABS warning lamp, ESP OFF indicator lamp and SLIP indicator lamp are OFF.
Display Item List
Self-diagnostic item Malfunction detecting condition Check system
FR LH SENSOR Circuit of front LH wheel sensor is open, shorted or sensor power
[C101F] voltage is unusual.
RR RH SENSOR Circuit of rear RH wheel sensor is open, shorted or sensor power
FR RH SENSOR Circuit of front RH wheel sensor is open, shorted or sensor power
RR LH SENSOR Circuit of rear LH wheel sensor is open, shorted or sensor power
ABS actuator and electric unit (control unit) cannot identify sen-
FR LH SENSOR ROTOR BRC-85, "Inspection 1:
sor pulses, because of large gap between wheel sensor and sen-
[C1042] Wheel Sensor System"
sor rotor.
RR RH SENSOR ROTOR
[C1043]
sor rotor.
FR RH SENSOR ROTOR
[C1041]
sor rotor.
RR LH SENSOR ROTOR
[C1044]
sor rotor.
STOP LAMP SW CIRC
Stop lamp switch is fixed at “ON” position. Stop Lamp Switch Sys-
[C10C6]
tem"
BRC-76
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
Self-diagnostic item Malfunction detecting condition Check system
A
STOP LAMP OR CONT
Stop lamp switch circuit is open or shorted, or controller failure. Stop Lamp Switch Sys-
[C10C6]
tem"
Neutral position of steering angle sensor is dislocated, or steer- BRC-89, "Inspection 4: B
ST ANG SEN
ing angle sensor is malfunctioning initialize of steering angle sen- Steering Angle Sensor
[C1158]
sor is not completed. System"
YAW RATE/G-SEN Yaw rate/G-sensor has generated an error, or yaw rate/G-sensor

BRC-90, "Inspection 5: C
Yaw Rate/Side G-Sensor
[C10F4] signal line is open or shorted.
System"
BRC-85, "Inspection 1: D
ABS SENSOR Wheel sensor input is malfunction or wheel sensor power voltage
Wheel Sensor System"
[C1046] is too low.
(Note 1)
ABS Actuator and Elec- E
BATTERY VOLTAGE Supply voltage for ABS actuator and electric unit (control unit) is
tric Unit (Control Unit)
[C10CC] too low or too high, or abnormal.
Power Supply and
Ground System"
BRC
CONTROLLER FAILURE Internal malfunction of ABS actuator and electric unit (control
ESP/TCS/ABS Control
[C10C3] unit)
Unit System"
G
● CAN communication line is open or shorted.
● ABS actuator and electric unit (control unit) internal malfunc- BRC-96, "Inspection 9:
CAN COMM CIRCUIT
tion CAN Communication
[U1000] H
● Battery voltage for ECM is suddenly interrupted for approxi- System" (Note 1)
mately 0.5 seconds or more.
ECM ● CAN communication line is open or shorted. Engine System", BRC- I
[C1180] ● CAN communication signal form ECM cannot be received. 96, "Inspection 9: CAN
Communication System"
● CAN communication line is open or shorted. BRC-96, "Inspection 9: J

AT
CAN Communication
[C1188] ● CAN communication signal from TCM cannot be received. System"
Brake fluid level drops or circuit between ABS actuator and elec- BRC-96, "Inspection 8: K
BR FLUID LEVEL LOW
tric unit (control unit) and brake fluid level switch is open or Brake Fluid Level Switch
[C1155]
shorted. System"
Note 1: If multiple malfunctions are detected including CAN communication line [U1000], perform diagnosis for L
CAN communication line first.
DATA MONITOR
Operation Procedure M
1. After turning OFF ignition switch, connect CONSULT-II and CONVERTER to data link connector.
CAUTION:
If CONSULT-II is used with no connection of CONSULT-II CONVERTER, malfunctions might be
3. Touch “START (NISSAN BASED VHCL)”, “ABS”, “DATA MONITOR” in order on the CONSULT-II screen.
CAUTION:
When “START (NISSAN BASED VHCL)” is touched immediately after starting engine or turning on
ignition switch, “ABS” might not be displayed in the system selection screen. In this case, repeat
the operation from step 1.
4. Return to the Monitor Item Selection screen, and touch “ECU INPUT SIGNALS”, “MAIN SIGNALS” or
“SELECTION FROM MENU”. Refer to the following information.
5. When “START” is touched, the data monitor screen is displayed.
BRC-77
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
Display Item List
Data monitor item selection
Item SELECTION CAN DIAG
ECU INPUT MAIN Remarks
(Unit) FROM SUPPORT
SIGNALS SIGNALS
MENU MNTR
Gear position judged by PNP
GEAR × × × –
switch signal is displayed.
FR RH SENSOR
× × × – front RH wheel sensor signal
(km/h, MPH)
is displayed.
FR LH SENSOR
× × × – front LH wheel sensor signal
(km/h, MPH)
is displayed.
RR RH SENSOR
× × × – rear RH wheel sensor signal
(km/h, MPH)
is displayed.
RR LH SENSOR
× × × – rear LH wheel sensor signal is
(km/h, MPH)
displayed.
Voltage supplied to ABS actu-
BATTERY VOLT
× × × – ator and electric unit (control
(V)
unit) is displayed.
Throttle valve open/close sta-
ACCEL POS SIG
– – × – tus judged by CAN communi-
(%)
cation signal is displayed.
Engine speed judged by CAN
ENGINE SPEED
– – × – communication signal is dis-
(rpm)
played.
Steering angle detected by
STR ANGLE SIG
– – × – steering angle sensor is dis-
(deg)
played.
YAW RATE SEN Yaw rate detected by yaw rate
– – × –
(d/s) sensor is displayed.
SIDE G-SENSOR Lateral acceleration detected
– – × –
(G) by side G-sensor is displayed.
Brake fluid pressure detected
PRESS SENSOR
– – × – by pressure sensor is dis-
(bar)
played.
STOP LAMP SW Stop lamp switch (ON/OFF)
– – × –
OFF SW ESP OFF switch (ON/OFF)
– – × –
ABS WARN LAMP ABS warning lamp (ON/OFF)
– × × –
SLIP LAMP SLIP indicator lamp (ON/
– – × –
(ON/OFF) OFF) status is displayed.
FR LH IN SOL Front LH IN ABS solenoid
– × × –
(ON/OFF) (ON/OFF) status is displayed.
FR LH OUT SOL Front LH OUT ABS solenoid
– × × –
RR RH IN SOL Rear RH IN ABS solenoid
– × × –
RR RH OUT SOL Rear RH OUT ABS solenoid
– × × –
FR RH IN SOL Front RH IN ABS solenoid
– × × –
BRC-78
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
Item A
SELECTION CAN DIAG Remarks
(Unit) ECU INPUT MAIN
FROM SUPPORT
SIGNALS SIGNALS
MENU MNTR
FR RH OUT SOL Front RH OUT ABS solenoid B
– × × –
RR LH IN SOL Rear LH IN ABS solenoid
– × × –
(ON/OFF) (ON/OFF) status is displayed. C
RR LH OUT SOL Rear LH OUT ABS solenoid
– × × –
OFF LAMP OFF Lamp (ON/OFF) status D
– – × –
(ON/OFF) is displayed.
MOTOR RELAY ABS motor relay signal (ON/
– × × –
(ON/OFF) OFF) status is displayed. E
ACTUATOR RLY ABS actuator relay signal
– × × –
HSV [FL-RR]
Primary side switch-over sole- BRC
– – × – noid valve 1 (cut valve 1) (ON/
(ON/OFF)
OFF) status is displayed.
Secondary side switch-over
HSV [FR-RL] G
– – × – solenoid valve 2 (cut-valve 2)
(ON/OFF)
Primary side switch-over sole-
USV [FL-RR] H
– – × – noid valve 1 (suction valve 1)
(ON/OFF)
Secondary side switch-over
USV [FR-RL] solenoid valve 2 (suction I
– – × –
(ON/OFF) valve 2) (ON/OFF) status is
displayed.
FLUID LEV SW Brake fluid level switch (ON/ J
– – × –
Brake warning lamp (ON/
EBD WARN LAMP
– – × – OFF) status is displayed.
(ON/OFF) K
(Note 1)
CRANKING SIG Cranking condition (ON/OFF)
– – × –
L
PARK BRAKE SW Park brake operation (ON/
– – × –
CAN CIRC 1
– – – × M
(OK/UNKWN)
CAN CIRC 2
– – – ×
(OK/UNKWN)
CAN communication signal
CAN CIRC 3
– – – × (OK/UNKWN) status is dis-
(OK/UNKWN)
played.
CAN CIRC 4
– – – ×
(OK/UNKWN)
CAN CIRC 5
– – – ×
(OK/UNKWN)
BRC-79
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
Item SELECTION CAN DIAG
ECU INPUT MAIN Remarks
(Unit) FROM SUPPORT
SIGNALS SIGNALS
MENU MNTR
CAN 1 STAT
– – – ×
(0 - 40)
CAN 2 STAT
– – – ×
(0 - 40)
CAN 3 STAT CAN communication line (0 -
– – – ×
(0 - 40) 40) status is displayed.
CAN 4 STAT
– – – ×
(0 - 40)
CAN 5 STAT
– – – ×
(0 - 40)
×:Applicable
–:Not applicable
Note 1: Serves as EBD warning lamp.
Note 2: CAN status indicates the condition of the CAN communication judged by each signal input.
● Normal: If any problems were not found in the past, CAN status indicated “0”. In case of operating properly at the present in spite of
having problem in the past, then CAN status indicates “39-1”.
● Malfunction: If there is a malfunction, CAN indicates “40”.
After returning to normal condition, every time ignition switch is turned OFF from ON, the indication will change like “39”→ “38” → “37” ···
“1” and if a malfunction is detected again, CAN status indicates “40”. (Though returning to the normal condition, “0” is not indicated. To
reset, select and press the “ERASE” on the “SEFL-DIAGNOSIS” screen.)
BRC-80
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
ACTIVE TEST
CAUTION: A
● Do not perform active test while driving.
● Make sure to completely bleed air from the brake system.
● Active test cannot be performed when EBD, ABS, TCS or ESP operation is malfunction. B
● ABS and brake warning lamps turn on during the active test.
Operation Procedure C
1. Connect CONSULT-II and CONVERTER to data link connector and start engine.
CAUTION:
If CONSULT-II is used with no connection of CONSULT-II CONVERTER, malfunctions might be D
2. Touch “START (NISSAN BASED VHCL) ” on the display screen.
3. Touch “ABS”. E
4. Touch “ACTIVE TEST”.
5. The test item selection screen is displayed. BRC
6. Touch necessary test item.
PFIA0301E I
7. With the “MAIN SIGNALS” display shown in reverse, touch “START”.

8. The “ACTIVE TEST” screen will be displayed, so perform the following test. J
Solenoid Valve Operation Chart
ABS solenoid valve ABS solenoid valve (ACT)
Operation K
ACTUATOR ACTUATOR
UP KEEP DOWN UP
UP KEEP
FR RH SOL OFF ON ON OFF OFF OFF
L
FR LH SOL OFF ON ON OFF OFF OFF
RR RH SOL OFF ON ON OFF OFF OFF
RR LH SOL OFF ON ON OFF OFF OFF M
FR RH ABS SOLENOID (ACT) OFF OFF OFF OFF ON* OFF
FR LH ABS SOLENOID (ACT) OFF OFF OFF OFF ON ON
RR RH ABS SOLENOID (ACT) OFF OFF OFF OFF ON* OFF
RR RL ABS SOLENOID (ACT) OFF OFF OFF OFF ON ON
*: ON for 1 to 2 seconds after the touch, and then OFF
NOTE:
● If active test is performed with brake pedal depressed, pedal stroke may change. This is normal.
● “TEST IS STOPPED” is displayed approximately 10 seconds after operation starts.
● After “TEST IS STOPPED” is displayed, touch “BACK” and conduct the test from the Step 8.
BRC-81
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
ABS Motor
Touch “ON” and “OFF” on the screen. Make sure ABS motor relay
operates as shown in table below.
Operation ON OFF
MOTOR RELAY ON OFF
ACTUATOR RELAY ON ON
NOTE:
● “TEST IS STOPPED” is displayed approximately 10 seconds SFIA0593E
after operation starts.
BRC-82
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
For Fast and Accurate Diagnosis EFS004JX
PRECAUTIONS FOR DIAGNOSIS A

● Before performing diagnosis, always read precautions. Refer to BRC-61, "How to Proceed With Diagno-
sis" .
● If ABS actuator and electric unit (control unit), steering angle sensor, steering system parts or suspension B
system parts have been replaced, or if alignment has been adjusted, be sure to adjust neutral position of
steering angle sensor before driving. Refer to BRC-50, "Adjustment of Steering Angle Sensor Neutral
Position" . C
● After diagnosis is finished, be sure to erase memory. Refer to BRC-75, "SELF-DIAGNOSIS" .
● When checking continuity and voltage between units, be sure to check for disconnection, looseness,
bend, or collapse of connector terminals. If any malfunction is found, repair or replace connector termi- D
nals.
● For intermittent symptoms, possible cause is malfunction in harness, harness connector, or terminals.
Move harness, harness connector, and terminals to check for poor connections. E
● If a circuit tester is used for the check, be careful not to forcibly extend any connector terminal.
● To use CONSULT-II to perform self-diagnosis of ABS actuator and electric unit (control unit), active tests,
or work support, first stop work, then connect CONSULT-II and select “ABS”. BRC
● While self-diagnostic results of CONSULT-II shows malfunction, if CONSULT-II active test is performed,
an engine system error may be indicated. In this case, start engine to resume the normal screen.
● ESP/TCS/ABS system electronically controls brake operation and engine output. The following symptoms G
may be caused by normal operations:
Symptom Symptom description Result

H
This is noise of motor inside ABS actuator and electric unit (control unit).
Slight noise may occur during ESP, TCS, and ABS operation.
Motor operation noise When the vehicle speed goes over 10 km/h (6 MPH), motor and valves Normal
operating noise may be heard. It happens only once after IGN (ignition) I
is ON. This is a normal status of the system operation check.
System operation check When engine starts, slight “click” noise may be heard from engine room.
Normal J
noise This is normal and is part of system operation check.
TCS may activate momentarily if wheel speed changes when driving
over location where friction coefficient varies, when up/downshifting, or
when fully depressing accelerator pedal. K
For inspection of speedometer or other instruments, press
Normal
ESP OFF SW to turn ESP/TCS function off.
ESP/TCS operation Cancel the ESP/TCS
(SLIP indicator lamp blink- When accelerator pedal is depressed on a chassis dynamometer, vehi- function for the L
ing) cle speed will not increase. This is not normal. It is result of TCS being inspection on a chas-
activated by stationary front wheels. Warning lamp may also illuminate sis dynamometer.
to indicate “sensor system error”. This is also normal, and is the result of
the stationary front wheels being detected. To be certain, restart engine, M
and drive vehicle at 30 km/h (19 MPH) or above. Make sure warning
lamp does not illuminate.
On roads with low friction coefficients, such as snowy roads or gravel
ABS operation (Longer stop- roads, vehicles with ABS may require a longer stopping distance. There-
Normal
ping distance) fore, when driving on such roads, avoid overconfidence and keep speed
sufficiently low.
Depending on road conditions, driver may feel that feeling of accelera-
tion is insufficient. This is because traction control, which controls
Insufficient feeling of accel-
engine and brakes to achieve optimal traction, has the highest priority Normal
eration
(for safety). As a result, there may be times when acceleration is slightly
less than usual for the same accelerator pedal operation.
BRC-83
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
ON and OFF Timing for ABS Warning Lamp, ESP OFF Indicator Lamp, SLIP Indicator Lamp,
Brake Warning Lamp
×: ON –: OFF
ESP OFF indicator
Condition ABS warning lamp SLIP indicator lamp Remarks
lamp
Ignition SW OFF. – – – —
Approx. 1.5 seconds after
× × × —
ignition switch is turned ON.
Approx. 1.5 seconds later Go out 1.5 seconds after igni-
– – –
after ignition switch ON. tion switch is turned ON.
ESP OFF SW is turned ON.
– × – —
(ESP/TCS function is OFF.)
There is an ABS actuator and
electric unit (control unit) error.
ESP/TCS/ABS error. × × ×
(Power, ground or system
malfunction)
When ESP/TCS is not func-
– × × —
tioning normally.
NOTE:
1. Brake warning lamp will turn on in case of operating parking brake (switch turned on) or of actuating brake
fluid level switch (brake fluid is insufficient).
Basic Inspection SMA for VIN >SJN**AK12U1072423 EFS004JY
BASIC INSPECTION 1: BRAKE FLUID AMOUNT, LEAKS, AND BRAKE PADS INSPECTION
1. Check fluid level in the brake reservoir tank. If fluid level is low, refill brake fluid.
2. Check brake piping and around ABS actuator and electric unit (control unit) for leaks. If there is leaking or
oozing fluid, check the following items.
● If ABS actuator and electric unit (control unit) connection is loose, tighten piping to the specified torque
and re-perform the leak inspection to make sure there are no leaks.
● If there is damage to the connection flare nut or ABS actuator and electric unit (control unit) screw,
replace the damaged part and re-perform the leak inspection to make sure there are no leaks.
● When there is fluid leaking or oozing from a part other than ABS actuator and electric unit (control unit)
connection, if fluid is just oozing out, use a clean cloth to wipe off the oozing fluid and re-check for
leaks. If fluid is still oozing out, replace the damaged part.
● When there is fluid leaking or oozing at ABS actuator and electric unit (control unit), if fluid is just oozing
out, use a clean cloth to wipe off oozing fluid and re-check for leaks. If fluid is still oozing out, replace
ABS actuator and electric unit (control unit) body.
CAUTION:
ABS actuator and electric unit (control unit) body cannot be disassembled.
3. Check brake pad degree of wear. Refer to BR-21, "FRONT DISC BRAKE" and BR-27, "REAR DRUM
BRAKE" .
BASIC INSPECTION 2: POWER SYSTEM TERMINAL LOOSENESS AND BATTERY INSPEC-
TION
Make sure battery positive cable, negative cable and ground connection are not loose. If looseness is
detected, tighten the cables. In addition, check the battery voltage to make sure it has not dropped and alter-
nator is normal.
BRC-84
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
BASIC INSPECTION 3: ABS WARNING LAMP, ESP OFF INDICATOR LAMP AND SLIP INDICA-
TOR LAMP INSPECTION A
1. Make sure ABS warning lamp, ESP OFF indicator lamp (when ESP OFF switch is OFF), and SLIP indica-
tor lamp turns on approximately 1.5 second when ignition switch is turned ON. If they do not, check ESP
OFF indicator lamp and then ESP OFF switch. Refer to BRC-97, "ESP OFF SWITCH" . Check CAN com- B
munications. Refer to “CAN Communication Inspection”. If there are no errors with ESP OFF switch and
CAN communication system, check combination meter. Refer to DI-5, "COMBINATION METERS" .
2. Make sure ABS warning lamp, ESP OFF indicator lamp, SLIP indicator lamp turn off approximately 1.5
C
second after turn ignition switch ON. If lamps do not turn off, perform self-diagnosis.
3. With engine running, make sure ESP OFF indicator lamp turns on and off when ESP OFF switch is turned
ON and OFF. If indicator lamp status does not correspond to switch operation, check the ESP OFF switch
system. Refer to BRC-97, "ESP OFF SWITCH" . D
4. Make sure ABS warning lamp, ESP OFF indicator lamp, and SLIP indicator lamp turn off 1.5 seconds
after engine is started. If ABS warning lamp, ESP OFF indicator lamp, and SLIP indicator lamp have not
turned off 10 seconds after engine has been started, perform self-diagnosis of ABS actuator and electric E
unit (control unit).
5. After performing the self-diagnosis, be sure to erase the error memory. Refer to BRC-75, "SELF-DIAGNO-
SIS" . BRC
Inspection 1: Wheel Sensor System EFS004JZ
DTC C100F-C103F, C1041-C1043, C1046 G

After using the CONSULT-II SELF-DIAG RESULTS to determine the location of the malfunctioning wheel sen-
sor, check all areas to determine the component to be replaced.
CAUTION:
H
● Do not measure the resistance value and also voltage between sensor terminal with tester etc.,
because sensor is an active sensor.
● Do not expand terminal of connector with a tester terminal stick, when it does the inspection with
tester. I
1. CHECK TIRE J
Check air pressure, wear and size.

Are air pressure, wear, and size within the standard values? K
YES >> GO TO 2.
NO >> Adjust air pressure, or replace tire.
2. CHECK SENSOR AND SENSOR ROTOR L
● Check the condition of the sensor mount (for looseness, etc.).

● Check the surface of front sensor rotor rubber for damage. M
● Check rear sensor rotor for damage.
OK or NG
OK >> GO TO 3.
NG >> Repair sensor mount or replace sensor rotor.
BRC-85
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
Self-diagnosis results
FR RH SENSOR
FR LH SENSOR
RR RH SENSOR
RR LH SENSOR
FR RH SENSOR ROTOR
FR LH SENSOR ROTOR
RR RH SENSOR ROTOR
RR LH SENSOR ROTOR
Is the above displayed in the self-diagnosis display items?

YES >> GO TO 4.
NO >> INSPECTION END.
4. CHECK CONNECTOR
1. Disconnect ABS actuator and electric unit (control unit) connector E47 and malfunctioning wheel sensor
connector E23 (FR-LH), E38 (FR-RH), B35 (RR-LH) or B34 (RR-RH). Check terminal for deformation,
open circuit, poor contact, etc., and repair or replace if any malfunctioning condition is found.
2. Reconnect connectors, drive at a speed of approximately 30 km/h (19 MPH) for approximately 1minute,
and perform self-diagnosis.
OK or NG
OK >> Connector terminal contact is loose, damaged, open or shorted.
NG >> GO TO 5.
BRC-86
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
5. CHECK WHEEL SENSOR HARNESS A
1. Turn ignition switch OFF and disconnect malfunctioning wheel
sensor connector E23 (FR-LH), E38 (FR-RH), B34 (RR-RH) or
B35 (RR-LH) and ABS actuator and electric unit (control unit) B
connector E47.
2. Check continuity between terminals. (Also check the continuity
when steering wheel is turned right and left and when sensor C
harness inside wheel well is moved.)
D
MFIA0018E
E
Power system Signal system Ground system
ABS actuator Wheel sensor ABS actuator Wheel sensor ABS actuator
ABS actuator and
and electric unit harness con- and electric unit harness con- and electric unit BRC
electric unit (control
Wheel (control unit) nector E23, (control unit) nector E23, (control unit)
unit) harness con-
harness con- E38, B35 or harness con- E38, B35 or harness connec-
nector E47 (signal)
nector E47 B34 nector E47 B34 tor E47 (ground)
Front RH (E38) 9 (L) 2 (L) 10 (R) 1 (R) 10 (R), 9 (L)
G
Front LH (E23) 26 (BR) 2 (BR) 5 (Y) 1 (Y) 26 (BR), 5 (Y)

1 (B), 4 (B)
Rear RH (B34) 8 (OR) 2 (OR) 29 (LG) 1 (LG) 8 (OR), 29 (LG) H
Rear LH (B35) 6 (BR) 2 (BR) 27 (G) 1 (G) 6 (BR), 27 (G)
Power system : Continuity should exist.

I
Signal system : Continuity should exist.
Ground system : Continuity should not exist.
OK or NG J
OK >> GO TO 6.
NG >> Repair harness and connector between ABS actuator and electric unit (control unit) and wheel
sensor. K
6. CHECK WHEEL SENSOR POWER SUPPLY CIRCUIT

L
1. Connect ABS actuator and electric unit (control unit) connector
E47.
2. Turn ignition switch ON and check voltage between malfunction-
ing wheel sensor harness connector power terminal and ground. M
Voltage
Front RH wheel sensor
2 (L) - Ground 8 V or more
(Harness connector E38)
Front LH wheel sensor
2 (BR) - Ground 8 V or more
(Harness connector E23) MFIB9021E
Rear RH wheel sensor

2 (OR) - Ground 8 V or more
(Harness connector B34)
Rear LH wheel sensor
2 (BR) - Ground 8 V or more
OK or NG
OK >> Replace wheel sensor.
NG >> Replace ABS actuator and electric unit (control unit).
BRC-87
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
Inspection 2: Engine System EFS004K0
DTC C1180
ECM

YES >> GO TO 2.
2. CHECK ENGINE SYSTEM

1. Perform an ECM self-diagnosis refer to EC-69, "TROUBLE DIAGNOSIS" (with EURO-OBD), EC-515,
"TROUBLE DIAGNOSIS" (without EURO-OBD) and repair or replace malfunctioning items. Re-perform
ECM self-diagnosis.
2. Re-perform ABS actuator and electric unit (control unit) self-diagnosis.
OK or NG
OK >> INSPECTION END
NG >> Repair or replace malfunctioning items. Re-perform the self-diagnosis.
BRC-88
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
Inspection 3: ESP/TCS/ABS Control Unit System EFS004K1
A
DTC C10C3
1. CHECK SELF-DIAGNOSTIC RESULTS B

Self-diagnostic results C
CONTROLLER FAILURE
Is the above displayed in the self-diagnosis display items? D

YES >> Replace ABS actuator and electric unit (control unit). Re-perform the self-diagnosis.
Inspection 4: Steering Angle Sensor System EFS004K3
E
DTC C1158
INSPECTION PROCEDURE BRC
1. CHECK SELF-DIAGNOSTIC RESULTS-1
Check the self-diagnostic results. G
CAN COMM CIRCUIT
H
Is the above displayed in the self-diagnosis item?
YES >> GO TO Inspection 9, refer to BRC-96, "Inspection 9: CAN Communication System" .
NO >> GO TO 2. I
Check the self-diagnostic results. J
ST ANG SEN K
YES >> GO TO 3.
NO >> INSPECTION END L
3. CHECK EPS SYSTEM

1. Perform an EPS self-diagnosis refer to STC-6, "TROUBLE DIAGNOSIS" and repair or replace malfunc- M
tioning items. Re-perform EPS self-diagnosis.
OK or NG
BRC-89
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
Inspection 5: Yaw Rate/Side G-Sensor System EFS004K4
DTC C10F4
CAUTION:
Sudden turns (such as spin turns, acceleration turns), drifting, etc. May cause the G-sensor system
indicate a malfunction. However, this is not a malfunction, if normal operation can be resumed after
restarting engine.
YAW RATE/G-SEN
CAUTION:
When on a turntable, such as at a parking structure entrance, or when on a moving object with engine
running, ESP OFF indicator lamp might turn on and self-diagnosis using CONSULT-II the yaw rate/side
G-sensor system might be displayed, but in this case there is no malfunction in yaw rate/side G-sen-
sor system. As soon as vehicle leaves turntable or moving object, restart engine to return the system
to normal.
YES >> GO TO 2.
2. CHECK CONNECTOR
1. Disconnect yaw rate/side G-sensor connector B61 and ABS actuator and electric unit (control unit) con-
nector E47 and check terminals for deformation, disconnection, looseness, and so on. If any malfunction
is found, repair or replace terminal.
2. Reconnect connectors and re-perform a ABS actuator and electric unit (control unit) self-diagnosis.
OK or NG
NG >> GO TO 3.
3. CHECK YAW RATE/SIDE G-SENSOR POWER SUPPLY

1. Turn ignition switch OFF and disconnect yaw rate/side G-sensor
harness connector B61.
3. Check voltage between yaw rate/side G-sensor harness con-
nector B61 and ground.
Yaw rate/side G-sensor Voltage (V)
Ground
(harness connector B61) (Approx.)
3 (PU) — 12 V
OK or NG MFIB9022E
OK >> GO TO 4.
NG >> Repair or replace power supply circuit.
BRC-90
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
4. CHECK YAW RATE/SIDE G-SENSOR HARNESS A
1. Turn ignition switch OFF and disconnect ABS actuator and elec-
tric unit (control unit) connector E47.
2. Check continuity between ABS actuator and electric unit (control B
unit) harness connector E47 and yaw rate/side G-sensor har-
ness connector B61.
C
D
MFIB9023E
E
ABS actuator and electric unit
Yaw rate/side G-sensor
(control unit) Continuity
(Harness connector E47) BRC
15 (GY) 6 (GY) Yes
16 (G) 4 (G) Yes
18 (Y) 1 (Y) Yes G
20 (W) 5 (W) Yes
37 (OR) 2 (OR) Yes
H
3. Check continuity between ABS actuator and electric unit (control unit) harness connector E47 terminals
15 (GY), 16 (G), 18 (Y), 20 (W) and 37 (OR) and ground. Continuity should not exist.
OK or NG I
OK >> GO TO 5.
NG >> If the open or short in harness, repair or replace harness.
J
5. CHECK YAW RATE/SIDE G-SENSOR
1. Connect yaw rate/side G-sensor connector B61 and ABS actuator and electric unit (control unit) connec-
tor E47. K
2. Use CONSULT-II “DATA MONITOR” to check if yaw rate/side G-sensor are normal.
Yaw rate sensor Side G-sensor L
Vehicle status
(Data monitor standard) (Data monitor standard)
When stopped –4 to +4 d/s –1.1 to +1.1 G
Right turn Negative value Negative value M
Left turn Positive value Positive value
OK or NG
OK >> Re-perform ABS actuator and electric unit (control unit) self-diagnosis.
NG >> Replace malfunctioning yaw rate/side G-sensor, and then re-perform self-diagnosis for ABS actu-
ator and electric unit (control unit).
BRC-91
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
Inspection 6: ABS Actuator and Electric Unit (Control Unit) Power Supply and
Ground System EFS004K7
DTC C10CC
BATTERY VOLTAGE
Does “BATTERY VOLTAGE” appear in self-diagnostic results display?

YES >> GO TO 2.
2. STARTING INSPECTION
1. Disconnect ABS actuator and electric unit (control unit) connector E47. Then reconnect it securely.
2. Perform self-diagnosis.
Do any self-diagnosis item appear?
YES >> GO TO 3.
NO >> Poor connection. Repair or replace connector.
3. CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) POWER SUPPLY (1)
1. Disconnect ABS actuator and electric unit (control unit) connector E47.
2. Turn ignition switch OFF. Check voltage between ABS actuator
and electric unit (control unit) harness connector E47 and
ground.
ABS actuator and electric
Voltage (V)
unit (control unit) Ground
(Approx.)
2 (Y), 3 (W) — 12 V
3. Turn ignition switch ON (but do not start engine). Check voltage
between ABS actuator and electric unit (control unit) harness
connector E47 and ground. MFIB9024E

Voltage (V)
unit (control unit) Ground
(Approx.)
28 (PU) — 12 V
OK or NG
OK >> GO TO 4.
NG >> GO TO 5.
BRC-92
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
4. CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) GROUND SYSTEM A
Check ABS actuator and electric unit (control unit) ground system.
unit (control unit) Ground Continuity B
1 (B), 4 (B) — Yes
C
OK or NG
OK >> Perform ABS actuator and electric unit (control unit) self-
diagnosis again. D
NG >> Repair or replace harness or connectors.
MFIA0022E
5. CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) POWER SUPPLY (2) E
1. Check fusible links 40A (terminal 2) and 30A (terminal 3).

2. Turn ignition switch OFF and check continuity between battery BRC
positive terminal and ABS actuator and electric unit (control unit)
harness connector E47.
ABS actuator and elec- G

Battery positive
tric unit (control unit) Continuity
terminal
2 (Y), 3 (W) — Yes H
3. Check fuse 10A (terminal 28)

4. Check continuity between 10A fuse and ABS actuator and elec- MFIA0023E
I
tric unit (control unit) harness connector.
OK or NG
OK >> Check for non-standard conditions in battery (terminal looseness, low voltage, etc.) and alternator. J
NG >> ● Replace fusible link 40A or 30A or fuse 10A.
● Open or short in harness.
BRC-93
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
Inspection 7: Stop Lamp Switch System EFS004K8
DTC C10C6
STOP LAMP SW
Is the above displayed in the self-diagnosis display item?

YES >> GO TO 2.
2. CHECK CONNECTOR
1. Disconnect stop lamp switch connector E108 (LHD MODELS WITH M/T), E109 (LHD MODELS WITH A/
T), M202 (RHD MODELS WITH M/T) or M203 (RHD MODELS WITH A/T) and ABS actuator and electric
unit (control unit) connector E47 and check terminals for deformation, disconnection, looseness, and so
on. If any malfunction is found, repair or replace terminal.
2. Securely reconnect connectors.
3. perform self-diagnosis again.
OK or NG
NG >> GO TO 3.
3. CHECK STOP LAMP SWITCH CIRCUIT

1. Turn ignition switch OFF and disconnect stop lamp switch con-
nector E108 (LHD MODELS WITH M/T), E109 (LHD MODELS
WITH A/T), M202 (RHD MODELS WITH M/T) or M203 (RHD
MODELS WITH A/T) and ABS actuator and electric unit (control
unit) connector E47.
2. Check continuity between stop lamp switch harness connector
E108 (LHD MODELS WITH M/T), E109 (LHD MODELS WITH
A/T), M202 (RHD MODELS WITH M/T) or M203 (RHD MOD-
ELS WITH A/T) and ABS actuator and electric unit (control unit)
harness connector E47.
MFIA0024E
Stop lamp switch

ABS actuator and electric unit
(Harness connector E108, Continuity
(control unit) (Harness connector E47)
E107, M202 or M203)
30 (Y) 2 (Y) Yes
OK or NG
OK >> GO TO 4.
NG >> Open or short in harness between stop lamp switch and ABS actuator and electric unit (control
unit). Repair or replace applied harness.
BRC-94
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
4. CHECK STOP LAMP SWITCH POWER SUPPLY A
1. Turn ignition switch OFF and disconnect stop lamp switch har-
ness connector E108 (LHD models with M/T), E109 (LHD mod-
els with A/T), M202 (RHD models with M/T) or M203 (RHD B
models with A/T).
2. Check voltage between stop lamp switch harness connector
E108 (LHD models with M/T), E109 (LHD models with A/T), C
M202 (RHD models with M/T) or M203 (RHD models with A/T)
and ground.
Stop lamp switch D

Voltage (V)
(harness connector E108, Ground
(approx.) MFIB9025E
E109, M202 or M203)
1 (L) — 12 V E
OK or NG
OK >> GO TO 5. BRC
NG >> Repair or replace power supply circuit.
5. CHECK STOP LAMP SWITCH

G
1. Turn ignition switch OFF and disconnect stop lamp switch E108
(LHD models with M/T), E109 (LHD models with A/T), M202
(RHD models with M/T) or M203 (RHD models with A/T). H
2. Check continuity between stop lamp switch harness connector
E108 (LHD models with M/T), E109 (LHD models with A/T),
M202 (RHD models with M/T) or M203 (RHD models with A/T)
terminals 1 and 2. I
Terminals Condition Continuity

Depressed Yes J
1 2 MFIB9026E
Released No
OK or NG K
OK >> Connect connectors and conduct an ABS actuator and electric unit (control unit) self-diagnosis.
NG >> Replace stop lamp switch.
L
BRC-95
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
Inspection 8: Brake Fluid Level Switch System EFS004K9
DTC C1155
CAN COMM CIRCUIT

YES >> GO TO Inspection 9, refer to BRC-96, "Inspection 9: CAN Communication System" .
NO >> GO TO 2.

1. Check fluid level in brake fluid reservoir tank. If the level is low, add brake fluid.
2. Clear the stored self-diagnostic results and check self-diagnosis results.
BR FLUID LEVEL LOW
Is the above displayed in the self-diagnosis display item?
YES >> GO TO 3.
3. CHECK WARNING LAMP SYSTEM

1. Perform an WARNING LAMP self-diagnosis refer to DI-65, "WARNING LAMPS" and repair or replace
malfunctioning items. Re-perform WARNING LAMP self-diagnosis.
OK or NG
Inspection 9: CAN Communication System EFS004KC
DTC U1000, C1180, C1188

1. CHECK CONNECTOR
1. Turn ignition switch OFF and disconnect ABS actuator and electric unit (control unit) connector E47.
Check terminal for deformation, disconnection, looseness, and so on. If any malfunction is found, repair or
replace terminal.
2. Securely reconnect connectors and perform self-diagnosis.
Is “CAN COMM CIRCUIT”, “ECM” or “A/T” displayed in the self-diagnosis display items?
YES >> Print out self-diagnostic results and go to 2.
NO >> Connector terminal connection is loose, damaged, open or shorted.
BRC-96
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
2. CHECK CAN COMMUNICATION SYSTEM A
Check data monitor item “CAN Diagnosis Support Monitor”.
Normal Error (example)
B
CAN CIRC 1: OK CAN CIRC 1: UNKWN
CAN CIRC 2: OK CAN CIRC 2: UNKWN
CAN CIRC 3: OK CAN CIRC 3: UNKWN C
CAN CIRC 4: UNKWN (Note 1) CAN CIRC 4: UNKWN

CAN CIRC 5: OK CAN CIRC 5: UNKWN D
CAN 1 STAT: 0 (Note2) CAN 1 STAT: 40
CAN 2 STAT: 0 CAN 2 STAT: 40 E
CAN 3 STAT: 0 CAN 3 STAT: 40
BRC
Note 1: Model with A/T is OK.
Note 2: CAN status indicates the condition of the CAN communication judged by each signal input. G
● Normal: If any problems were not found in the past, CAN status indicated “0”. In case of operating
properly at the present in spite of having problem in the past, then CAN status indicates “39-1”.
● Malfunction: If there is a malfunction, CAN indicates “40”. H
After returning to normal condition, every time ignition switch is turned OFF from ON, the indication
will change like “39” → “38” → “37” ··· “1” and if a malfunction is detected again, CAN status indicates
“40”. (Though returning to the normal condition, “0” is not indicated. To reset, select and press the I
“ERASE” on the “SEFL-DIAGNOSIS” screen.)
>> After printing out the monitor items, go to CAN system. Refer to LAN-6, "CAN COMMUNICA- J
TION" .
Component Inspection EFS004KD
ESP OFF SWITCH K

● Turn ignition switch OFF and disconnect ESP OFF switch con-
nector M14, and check continuity between ESP OFF switch con-
nector terminals 1 and 2. L
1 -2 :Continuity should exist when pushing
switch.
continuity should not exist when releasing M
switch.
MFIB9027E
Symptom 1: Excessive ABS Function Operation Frequency EFS004KE
1. FRONT AND REAR AXLE INSPECTION

Make sure there is no excessive looseness in the front and rear axles.
OK or NG
OK >> GO TO 2.
NG >> Check front or rear axle system.
BRC-97
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
2. WHEEL SENSOR INSPECTION
Perform following inspection for wheel sensor:
● Sensor mount and damage inspection
● Sensor rotor mount and damage inspection
● Sensor connector connection inspection
● Sensor harness inspection
OK or NG
OK >> GO TO 3.
NG >> Sensor or sensor rotor replacement
3. ABS WARNING LAMP DISPLAY CHECK

Make sure warning lamp turns off approximately 2 sec. After turn ignition switch ON or when driving.
OK or NG
OK >> Normal
Symptom 2: Unexpected Pedal Reaction EFS004KF
1. CHECK BRAKE PEDAL STROKE

Check brake pedal stroke.
Is the stroke too long?
YES >> ● Bleed air from brake piping.
● Check brake pedal, brake booster, and master cylinder mount for play, looseness, and brake
system for fluid leaks, etc. If any malfunctions are found, make repair.
NO >> GO TO 2.
2. CHECK FUNCTION
Disconnect ABS actuator and electric unit (control unit) connector E47 and make sure that braking force is suf-
ficient when ABS in not operating. After the inspection, reconnect connector.
OK or NG
OK >> GO TO symptom 1 “Step 2”. Refer to BRC-97, "Symptom 1: Excessive ABS Function Operation
Frequency" .
Symptom 3: The Braking Distance Is Long EFS004KG
CAUTION:
On slippery road surfaces, the stopping distance might be longer with the ABS operating than when
the ABS is not operating.
1. CHECK FUNCTION
Disconnect ABS actuator and electric unit (control unit) connector E47 to deactivate ABS. In this condition,
check stopping distance. After inspection, connect connector.
OK or NG
OK >> ● Bleed air from brake piping.
● Check brake system.
NG >> GO TO symptom 1 “Step 2”. Refer to BRC-97, "Symptom 1: Excessive ABS Function Operation
Frequency" .
BRC-98
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
Symptom 4: The ABS Function Does Not Operate EFS004KH
A
CAUTION:
The ABS does not operate when the speed is 10 km/h (6 MPH) or less.
1. CHECK ABS WARNING LAMP DISPLAY B
Make sure warning lamp turns off approximately 2 second after the ignition switch is turned on or when driv-
ing.
OK or NG C
OK >> GO TO symptom 1 “Step 2”. Refer to BRC-97, "Symptom 1: Excessive ABS Function Operation
Frequency" .
NG >> Perform self-diagnosis. Refer to BRC-75, "SELF-DIAGNOSIS" . D
Symptom 5: Pedal Vibration or ABS Operation Sound Occurs EFS004KI
CAUTION: E
Under the following conditions, when brake pedal is lightly depressed (just place a foot on it), ABS is
activated and vibration is felt. However, this is normal.
● When shifting gears BRC
● When driving on slippery road
● During cornering at high speed
● When passing over bumps or grooves G
● When pulling away just after starting engine [at approximately 10 km/h (6MPH) or higher]
1. SYMPTOM CHECK 1 H
Check if pedal vibration or operation sound occurs when engine is started.
OK or NG
OK >> Perform self-diagnosis. Refer toBRC-75, "SELF-DIAGNOSIS" . I
NG >> GO TO 2.
2. SYMPTOM CHECK 2 J
Check symptom when electrical component (headlamps, etc.) switches are operated.
Does the symptom occur when the electrical component (headlamp, etc.) switches are operated? K
YES >> Check if there is a radio, antenna, antenna lead wire, or wiring close to ABS actuator and electric
unit (control unit) (or its wiring), and if there is, move it farther away.
NO >> GO TO symptom 1 “Step 2”. Refer to BRC-97, "Symptom 1: Excessive ABS Function Operation
L
Frequency" .
Symptom 6: Vehicle Jerks During ESP/TCS/ABS Control EFS004KJ
1. CHECK ENGINE SPEED SIGNAL M
Perform CONSULT-II “DATA MONITOR” to check engine speed.

Is engine speed at idle 400 rpm or higher?
YES >> GO TO 3.
NO >> GO TO 2.
2. ABS WARNING LAMP DISPLAY CHECK

Make sure warning lamp turns off approximately 2 sec. After turn ignition switch ON or when driving.
OK or NG
OK >> System is normal.
NG >> GO TO 3.
BRC-99
TROUBLE DIAGNOSIS
[ESP/TCS/ABS]
3. CHECK ECM SELF-DIAGNOSTIC RESULTS
Perform ECM self-diagnosis.
Are self-diagnosis items displayed?
YES >> Check the corresponding items. Refer to EC-69, "TROUBLE DIAGNOSIS" (with EURO-OBD),
EC-515, "TROUBLE DIAGNOSIS" (without EURO-OBD).
NO >> GO TO 4.
4. CHECK A/T SELF-DIAGNOSTIC RESULTS

Perform A/T self-diagnosis.
OK or NG
OK >> GO TO 5.
NG >> Check the corresponding items. Refer to AT-35, "ON BOARD DIAGNOSTIC SYSTEM DESCRIP-
TION" (with EURO-OBD), AT-251, "ON BOARD DIAGNOSTIC SYSTEM DESCRIPTION" (with-
out EURO-OBD).
5. CHECK SELF-DIAGNOSTIC RESULTS 1

Perform self-diagnosis of ABS actuator and electric unit (control unit).
YES >> Check the corresponding items, make repairs, and re-perform ABS actuator and electric unit (con-
trol unit) self-diagnosis.
NO >> GO TO 6.
6. CHECK CONNECTOR
1. Disconnect ABS actuator and electric unit (control unit) connector E47 and ECM connector, check termi-
nals for deformation, disconnection, looseness, and so on. If any malfunction is found, repair or replace
connector.
2. Securely reconnect connector and perform self-diagnosis.
OK or NG
OK >> If poor connect, damaged, open or short circuit is found, repair or replace connector terminal.
NG >> GO TO 7.
7. CHECK SELF-DIAGNOSTIC RESULTS 2

Re-perform ABS actuator and electric unit (control unit) self-diagnosis.
YES >> Repair or replace malfunctioning items.
NO >> GO TO 8.
8. CHECK CIRCUIT BETWEEN ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) AND ECM
Check CAN communication system. Refer to BRC-96, "Inspection 9: CAN Communication System" .
OK or NG
NG >> Connect connectors, and re-perform ABS actuator and electric unit (control unit) self-diagnosis.
BRC-100
WHEEL SENSORS
[ESP/TCS/ABS]
WHEEL SENSORS PFP:47910
A
Removal and Installation EFS004KK
BRC
MFIB9028E
REMOVAL J
CAUTION:
● When removing the sensor, do not rotate it if possible, and not forcibly pull the sensor harness. K
● Before removing front or rear wheel hub, remove wheel sensor to avoid sensor wiring damage.
INSTALLATION L
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. M
● 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-101
SENSOR ROTOR
[ESP/TCS/ABS]
SENSOR ROTOR PFP:47970
Removal and Installation EFS004KL
FRONT
● Because the sensor rotor is integrated with the wheel bearing, replace it together with the wheel bearing
assembly. Refer to FAX-6, "FRONT WHEEL HUB AND KNUCKLE" .
REAR
● During removal and installation, remove the wheel hub (brake drum). Refer to RAX-5, "WHEEL HUB" .
CAUTION:
The sensor rotor is a non-reusable part, it must be replaced by an new part when removing it.
BRC-102
ACTUATOR AND ELECTRIC UNIT (ASSEMBLY)
[ESP/TCS/ABS]
ACTUATOR AND ELECTRIC UNIT (ASSEMBLY) PFP:47660
A
Removal and Installation EFS004KM
BRC
MFIA0015E
REMOVAL J
1. Disconnect ABS actuator and electric unit (control unit) connector.
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. K
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). L
● 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 M
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 speci-
fied 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-10, "Bleeding Brake System" .
● After installing vehicle harness connector in the actuator, make sure connector is securely locked.
BRC-103
YAW RATE/SIDE G SENSOR
[ESP/TCS/ABS]
YAW RATE/SIDE G SENSOR PFP:47931
Removal and Installation EFS004KN
MFIA0016E
REMOVAL
1. Remove center console. Refer to IP-4, "INSTRUMENT PANEL ASSEMBLY" .
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:
● 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
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.
BRC-104
STEERING ANGLE SENSOR
[ESP/TCS/ABS]
STEERING ANGLE SENSOR PFP:25554
A
Removal and Installation EFS004KO
For removal and installation of steering angle sensor, refer to PS-7, "STEERING COLUMN" .
B
BRC
BRC-105
STEERING ANGLE SENSOR
[ESP/TCS/ABS]
BRC-106

Brake Control System: Section

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Brake Control System: Section

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BRAKE CONTROL SYSTEM

● Recommended fluid is brake fluid “DOT 3” or “DOT 4”. G

● Do not make a bypass connection to repaired area. (If it is done,

System Diagram EFS004LR

System Components EFS004LS

1. Inlet solenoid valve 2. Outlet solenoid valve 3. Reservoir

Diagnosis Procedure EFS004LX

● It is essential to check symptoms right from the beginning in

● For an intermittent error, move the harness or harness connec-

EXAMPLE OF DIAGNOSIS SHEET

SMA for VIN B

CAN communication is nor-

CONSULT-II Functions EFS004M2

CONSULT-II FUNCTION APPLICATION TABLE

3. Touch “START (NISSAN BASED VHCL)”. E

5. Select desired part to be diagnosed on “SELECT DIAG MODE” I

Test Item – ABS Motor –

EPS control unit × × × × × × × × × × × ×

Input/output signal chart

Engine and A/T integrated con- T R

Input/output signal chart

PRECAUTIONS FOR TROUBLE DIAGNOSIS

Check air pressure, wear and size.

Check the self-diagnostic results.

Power supply system Signal system Ground system

Power supply system : Continuity should exist.

6. CHECK WHEEL SENSOR POWER SUPPLY CIRCUIT

Is any of above displayed on self-diagnosis display?

Terminal Signal Ignition switch Measured value

NG >> Repair or replace harness connector between ABS E

Is any of above displayed on self-diagnosis display?

4. CHECK GROUND CIRCUIT

Inspection 5 CAN Communication System EFS004MA

1. CHECK SELF-DIAGNOSTIC RESULTS

3. CHECK STOP LAMP SWITCH CIRCUIT

2. CHECK FRONT AND REAR AXLE

4. CHECK INDICATOR DISPLAY OF WARNING LAMP

1. CHECK BRAKE PEDAL STROKE

Removal and Installation EFS004MH

Removal and Installation EFS004MJ

● Recommended fluid is brake fluid “DOT 3” or “DOT 4”. >SJN**AK12U1072423 G

● Do not make a bypass connection to repaired area. (If it is done,

ESP Function EFS004JJ

ESP / TCS SYSTEM

System Description EFS005XC

Input/output signal chart

Engine and A/T integrated con- T R

Brake fluid level warning signal T R

Input/output signal chart

● It is also important to clarify customer complaints before inspec-

● For an intermittent malfunction, move harness or harness con-

EXAMPLE OF DIAGNOSIS SHEET

REFERENCE VALUE FROM CONSULT-II A

When ESP OFF indicator

5. Touch “ABS” in the “SELECT SYSTEM” screen. G

6. Select the required diagnostic location from the “SELECT DIAG

YAW RATE/G-SEN Yaw rate/G-sensor has generated an error, or yaw rate/G-sensor

● CAN communication line is open or shorted. BRC-96, "Inspection 9: J