Brake Control System: Section

BRAKES
SECTION
BRAKE CONTROL SYSTEM
BRC B
E
CONTENTS
ESP/TCS/ABS Component Description ...........................................22 BRC
BASIC INSPECTION .................................... 4 EBD ................................................................... 23

System Diagram ......................................................23
G
DIAGNOSIS AND REPAIR WORK FLOW ......... 4 System Description ..................................................23
Work Flow ................................................................. 4 Component Parts Location ......................................24
Diagnostic Work Sheet .............................................. 7 Component Description ...........................................26
H
INSPECTION AND ADJUSTMENT ..................... 8 DIAGNOSIS SYSTEM [ABS ACTUATOR
AND ELECTRIC UNIT (CONTROL UNIT)] ....... 27
ADJUSTMENT OF STEERING ANGLE SENSOR CONSULT-III Function ............................................27
NEUTRAL POSITION .................................................. 8 I
ADJUSTMENT OF STEERING ANGLE SENSOR COMPONENT DIAGNOSIS ......................... 32
NEUTRAL POSITION : Description .......................... 8
ADJUSTMENT OF STEERING ANGLE SENSOR C1101, C1102, C1103, C1104 WHEEL SEN- J
NEUTRAL POSITION : Special Repair Require- SOR ................................................................... 32
ment .......................................................................... 8 Description ...............................................................32
DTC Logic ................................................................32 K
CALIBRATION OF DECEL G SENSOR ..................... 9
Diagnosis Procedure ...............................................32
CALIBRATION OF DECEL G SENSOR : Descrip- Component Inspection .............................................34
tion ............................................................................ 9
Special Repair Requirement ....................................34
CALIBRATION OF DECEL G SENSOR : Special L
Repair Requirement .................................................. 9 C1105, C1106, C1107, C1108 WHEEL SEN-
SOR ................................................................... 35
FUNCTION DIAGNOSIS .............................. 11 Description ...............................................................35 M
ESP .....................................................................11 DTC Logic ................................................................35
System Diagram ...................................................... 11 Diagnosis Procedure ...............................................35
System Description ................................................. 11 Component Inspection .............................................37 N
Component Parts Location ...................................... 12 Special Repair Requirement ....................................37
Component Description ........................................... 14 C1109 POWER AND GROUND SYSTEM ........ 38
Description ...............................................................38 O
TCS .....................................................................15
System Diagram ...................................................... 15 DTC Logic ................................................................38
System Description ................................................. 15 Diagnosis Procedure ...............................................38
Component Parts Location ...................................... 16 Special Repair Requirement ....................................39 P
Component Description ........................................... 18 C1110, C1170 ABS ACTUATOR AND ELEC-
ABS ....................................................................19 TRIC UNIT (CONTROL UNIT) .......................... 40
System Diagram ...................................................... 19 Description ...............................................................40
System Description ................................................. 19 DTC Logic ................................................................40
Component Parts Location ...................................... 20 Diagnosis Procedure ...............................................40
Special Repair Requirement ....................................40
BRC-1
C1111 ABS MOTOR, MOTOR RELAY SYS- DTC Logic ............................................................... 59
TEM .................................................................... 41 Diagnosis Procedure ............................................... 59
Description .............................................................. 41 Component Inspection ............................................ 60
DTC Logic ............................................................... 41 Special Repair Requirement ................................... 60
Diagnosis Procedure .............................................. 41
Component Inspection ............................................ 42
C1143 STEERING ANGLE SENSOR ............... 61
Description .............................................................. 61
Special Repair Requirement ................................... 42
DTC Logic ............................................................... 61
C1113, C1145, C1146 YAW RATE/SIDE/DE- Diagnosis Procedure ............................................... 61
CEL G SENSOR ................................................ 43 Component Inspection ............................................ 62
Description .............................................................. 43 Special Repair Requirement ................................... 62
DTC Logic ............................................................... 43
C1144 STEERING ANGLE SENSOR ............... 63
DTC Logic ............................................................... 63
Diagnosis Procedure ............................................... 63
C1115 WHEEL SENSOR ................................... 46
C1155 BRAKE FLUID LEVEL SWITCH ........... 64
Description .............................................................. 46
Description .............................................................. 64
DTC Logic ............................................................... 46
DTC Logic ............................................................... 64
C1116 STOP LAMP SWITCH ............................ 49
C1156 STEERING ANGLE SENSOR (CAN) ... 66
Description .............................................................. 49
Description .............................................................. 66
DTC Logic ............................................................... 49
DTC Logic ............................................................... 66
C1120, C1122, C1124, C1126 IN ABS SOL ..... 51
C1160 DECEL G SENSOR ............................... 68
Description .............................................................. 51
DTC Logic ............................................................... 68
DTC Logic ............................................................... 51
Special Repair Requirement ................................... 52 C1164, C1165 CV SYSTEM .............................. 69
Description .............................................................. 69
C1121, C1123, C1125, C1127 OUT ABS SOL... 53
DTC Logic ............................................................... 69
Description .............................................................. 53
DTC Logic ............................................................... 53
Special Repair Requirement ................................... 54 C1166, C1167 SV SYSTEM .............................. 71
Description .............................................................. 71
C1130, C1131, C1132, C1133, C1136 EN-
DTC Logic ............................................................... 71
GINE SIGNAL .................................................... 55 Diagnosis Procedure ............................................... 71
Description .............................................................. 55
DTC Logic ............................................................... 55
Special Repair Requirement ................................... 55 U1000 CAN COMM CIRCUIT ............................ 73
Description .............................................................. 73
C1140 ACTUATOR RELAY SYSTEM ............... 57 DTC Logic ............................................................... 73
Description .............................................................. 57
DTC Logic ............................................................... 57
Component Inspection ............................................ 58 POWER SUPPLY AND GROUND CIRCUIT ..... 74
Special Repair Requirement ................................... 58 Description .............................................................. 74
C1142 PRESS SENSOR ................................... 59
Description .............................................................. 59 PARKING BRAKE SWITCH ...........................
BRC-2
Component Function Check .................................... 76 VEHICLE JERKS DURING ESP/TCS/ABS
Diagnosis Procedure ............................................... 76 CONTROL ....................................................... 100 A
Component Inspection ............................................ 76 Diagnosis Procedure ............................................. 100
ESP OFF SWITCH .............................................78 NORMAL OPERATING CONDITION ............. 101
Description .............................................................. 78 B
Description ............................................................. 101
Component Function Check .................................... 78
Diagnosis Procedure ............................................... 78 PRECAUTION ............................................ 102
Component Inspection ............................................ 79 C
PRECAUTIONS ............................................... 102
ABS WARNING LAMP .......................................80 Precaution for Supplemental Restraint System
Description .............................................................. 80 (SRS) "AIR BAG" and "SEAT BELT PRE-TEN-
D
Component Function Check .................................... 80 SIONER" ............................................................... 102
Diagnosis Procedure ............................................... 80 Precaution for Procedure without Cowl Top Cover.. 102
Precaution for Brake System ................................. 102
BRAKE WARNING LAMP .................................81 Precaution for Brake Control ................................. 103 E
Description .............................................................. 81
Component Function Check .................................... 81 ON-VEHICLE REPAIR ............................... 104
WHEEL SENSOR ............................................ 104 BRC
ESP OFF INDICATOR LAMP ............................82
Description .............................................................. 82 FRONT WHEEL SENSOR ....................................... 104
Component Function Check .................................... 82 FRONT WHEEL SENSOR : Exploded View ......... 104 G
Diagnosis Procedure ............................................... 82 FRONT WHEEL SENSOR : Removal and Instal-
lation ...................................................................... 104
SLIP INDICATOR LAMP ....................................83
REAR WHEEL SENSOR ......................................... 105 H
Description .............................................................. 83
Component Function Check .................................... 83 REAR WHEEL SENSOR : Exploded View ............ 105
Diagnosis Procedure ............................................... 83 REAR WHEEL SENSOR : Removal and Installa-
tion ......................................................................... 105 I
ECU DIAGNOSIS ......................................... 84
SENSOR ROTOR ............................................ 106
ABS ACTUATOR AND ELECTRIC UNIT
FRONT SENSOR ROTOR ....................................... 106 J
(CONTROL UNIT) ..............................................84 FRONT SENSOR ROTOR : Exploded View ......... 106
Reference Value ..................................................... 84
FRONT SENSOR ROTOR : Removal and Instal-
Wiring Diagram -BRAKE CONTROL SYSTEM- .... 88
lation ...................................................................... 106 K
Fail-Safe .................................................................. 92
DTC No. Index ........................................................ 93 REAR SENSOR ROTOR ......................................... 106
REAR SENSOR ROTOR : Exploded View ............ 106
SYMPTOM DIAGNOSIS .............................. 95 REAR SENSOR ROTOR : Removal and Installa- L
tion ......................................................................... 106
EXCESSIVE ABS FUNCTION OPERATION
FREQUENCY .....................................................95 ABS ACTUATOR AND ELECTRIC UNIT
Diagnosis Procedure ............................................... 95 M
(CONTROL UNIT) ........................................... 107
Exploded View ....................................................... 107
UNEXPECTED PEDAL REACTION ..................96
Removal and Installation ....................................... 108
Diagnosis Procedure ............................................... 96 N
G SENSOR ...................................................... 110
THE BRAKING DISTANCE IS LONG ................97
Exploded View ....................................................... 110
Removal and Installation ....................................... 110 O
ABS FUNCTION DOES NOT OPERATE ...........98
STEERING ANGLE SENSOR ......................... 111
Exploded View ....................................................... 111
PEDAL VIBRATION OR ABS OPERATION Removal and Installation ....................................... 111 P
SOUND OCCURS ..............................................99
BRC-3
DIAGNOSIS AND REPAIR WORK FLOW
< BASIC INSPECTION > [ESP/TCS/ABS]
BASIC INSPECTION
Work Flow INFOID:0000000004109697
PRECAUTIONS FOR DIAGNOSIS

Adjustment of Steering Angle Sensor
If steering angle sensor, steering system parts, suspension system parts, ABS actuator and electric unit (con-
trol unit) or tires have been replaced, or if wheel alignment has been adjusted, be sure to adjust neutral posi-
tion of steering angle sensor before driving. Refer to BRC-8, "ADJUSTMENT OF STEERING ANGLE
SENSOR NEUTRAL POSITION : Description".
Calibration of Decel G Sensor
If yaw rate/side/decel G sensor or ABS actuator and electric unit (control unit) have been replaced, be sure to
calibrate decel G sensor before driving. Refer to BRC-9, "CALIBRATION OF DECEL G SENSOR : Descrip-
tion".
BRC-4
OVERALL SEQUENCE
A
BRC
JSFIA0239GB
P
DETAILED FLOW
1.COLLECT THE INFORMATION FROM THE CUSTOMER
Get the detailed information from the customer about the symptom (the condition and the environment when
the incident/malfunction occurred) using the diagnosis worksheet. Refer to BRC-7, "Diagnostic Work Sheet".
>> GO TO 2.
BRC-5
2.PERFORM THE SELF-DIAGNOSIS

Check the DTC display with the self-diagnosis function.
Is there any DTC displayed?
YES >> GO TO 3.
NO >> GO TO 4.
3.PERFORM THE SYSTEM DIAGNOSIS
Perform the diagnosis applicable to the displayed DTC. Refer to BRC-93, "DTC No. Index".
>> GO TO 7.
4.CHECK THE SYMPTOM THAT IS NOT CONSIDERED A SYSTEM MALFUNCTION
Check that the symptom is a normal operation that is not considered a system malfunction. Refer to BRC-101,
"Description".
Is the symptom a normal operation?
YES >> INSPECTION END
NO >> GO TO 5.
5.CHECK THE WARNING LAMP AND INDICATOR LAMP FOR ILLUMINATION
Check that the warning lamp and indicator lamp illuminate.
• ABS warning lamp: Refer to BRC-80, "Description".
• Brake warning lamp: Refer to BRC-81, "Description".
• ESP OFF indicator lamp: Refer to BRC-82, "Description".
• SLIP indicator lamp: Refer to BRC-83, "Description".
Is ON/OFF timing normal?
YES >> GO TO 6.
NO >> GO TO 2.
6.PERFORM THE DIAGNOSIS BY SYMPTOM
Perform the diagnosis applicable to the symptom.
>> GO TO 7.
7.REPAIR OR REPLACE THE MALFUNCTIONING PARTS
Repair or replace the specified malfunctioning parts.
>> GO TO 8.
8.MEMORY CLEAR
Perform self-diagnosis memory clear.
>> GO TO 9.
9.FINAL CHECK
Perform the self-diagnosis again, and check that the malfunction is repaired completely.
Is no other DTC present and the repair completed?
NO >> GO TO 3.
BRC-6
Diagnostic Work Sheet INFOID:0000000004109698
BRC
SFIA3265E
J
BRC-7
INSPECTION AND ADJUSTMENT
ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION
ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION : Description
INFOID:0000000004109699
When doing work that applies to the list below, make sure to adjust neutral position of steering angle sensor
before running vehicle.
×: Required –: Not required
Situation Adjustment of steering angle sensor neutral position

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

pair Requirement INFOID:0000000004109700
ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION

CAUTION:
To adjust neutral position of steering angle sensor, make sure to use CONSULT-III
(Adjustment cannot be done without CONSULT-III)
1.ALIGN THE VEHICLE STATUS
Stop the vehicle with front wheels in straight-ahead position.
>> GO TO 2.
2.PERFORM THE NEUTRAL POSITION ADJUSTMENT FOR THE STEERING ANGLE SENSOR
1. On the CONSULT-III screen, touch "WORK SUPPORT" and "ST ANGLE SENSOR ADJUSTMENT" in
order.
2. Touch “START”.
CAUTION:
Do not touch steering wheel while adjusting steering angle sensor.
3. After approximately 10 seconds, touch “END”.
NOTE:
After approximately 60 seconds, it ends automatically.
4. Turn the ignition switch OFF, then turn it ON again.
CAUTION:
Be sure to perform above operation.
>> GO TO 3.
3.CHECK DATA MONITOR
1. Run the vehicle with front wheels in straight-ahead position, then stop.
2. Select “STR ANGLE SIG” in “DATA MONITOR” and check steering angle sensor signal.
STR ANGLE SIG : 0±2.5°
BRC-8
Is the steering angle within the specified range?
YES >> GO TO 4. A
NO >> Perform the neutral position adjustment for the steering angle sensor again, GO TO 1.
4.ERASE THE SELF-DIAGNOSIS MEMORY
B
Erase the self-diagnosis memories of the ABS actuator and electric unit (control unit) and ECM.
• ABS actuator and electric unit (control unit): Refer to BRC-27, "CONSULT-III Function".
• ECM: Refer to EC-101, "Diagnosis Description".
C
Are the memories erased?
NO >> Check the items indicated by the self-diagnosis.
D
CALIBRATION OF DECEL G SENSOR
CALIBRATION OF DECEL G SENSOR : Description INFOID:0000000004109701
E
When doing work that applies to the list below, make sure to calibration of decel G sensor before running vehi-
cle.
×: Required –: Not required
BRC
Situation Calibration of decel G sensor
Removing/Installing ABS actuator and electric unit (control unit) ×
Replacing ABS actuator and electric unit (control unit) × G
Removing/Installing steering components —
Removing/Installing suspension components —
H
Change tires to new ones —
Tire rotation —
Adjusting wheel alignment — I
Removing/Installing yaw rate/side/decel G sensor ×
Replacing yaw rate/side/decel G sensor ×
J
CALIBRATION OF DECEL G SENSOR : Special Repair Requirement INFOID:0000000004109702
CALIBRATION OF DECEL G SENSOR K

CAUTION:
• To calibrate decel G sensor, make sure to use CONSULT-III.
(Calibration cannot be done without CONSULT-III.) L
• Perform the G sensor calibration only with the vehicle parked on level surface.
1.ALIGN THE VEHICLE STATUS
Stop the vehicle with front wheels in straight-ahead position. M
CAUTION:
• Keep all tires inflated to correct pressures. Adjust the tire pressure to the specified pressure value.
• Check that there is specified-load in vehicle other than the driver (or equivalent weight placed in N
driver′s position).
>> GO TO 2. O
2.PERFORM THE CALIBRATION OF DECEL G SENSOR
1. On the CONSULT-III screen, touch “WORK SUPPORT” and “DECEL G SEN CALIBRATION” in order.
2. Touch “START”. P
3. After approximately 10 seconds, touch “END”.
NOTE:
After approximately 60 seconds, it ends automatically.
4. Turn the ignition switch OFF, then turn it ON again.
CAUTION:
Be sure to perform above operation.
BRC-9
>> GO TO 3.
1. Run the vehicle with front wheels in straight-ahead position, then stop.
2. Select “DECEL G-SEN” in “DATA MONITOR” and check decel G sensor signal.
DECEL G-SEN : ±0.08 G

Is the decel G within the specified range?
YES >> GO TO 4.
NO >> Perform the calibration of decel G sensor again, GO TO 1.
4.ERASE THE SELF-DIAGNOSIS MEMORY
Erase the self-diagnosis memories of the ABS actuator and electric unit (control unit) and ECM.
• ABS actuator and electric unit (control unit): Refer to BRC-27, "CONSULT-III Function".
• ECM: Refer to EC-101, "Diagnosis Description".
Are the memories erased?
NO >> Check the items indicated by the self-diagnosis.
BRC-10
ESP
< FUNCTION DIAGNOSIS > [ESP/TCS/ABS]
FUNCTION DIAGNOSIS A
ESP
System Diagram INFOID:0000000004109703
B
BRC
JSFIA0396GB J
System Description INFOID:0000000004109704
• In addition to the TCS/ABS function, the driver steering amount and brake operation amount are detected by K
the steering angle sensor and pressure sensor, and the vehicle′s driving status (amount of under steering/
over steering) is determined by the information from the yaw rate/side/decel G sensor, wheel sensor, etc.,
and this information is used to improve vehicle stability by controlling the braking and engine power to all L
four wheels.
• The SLIP indicator lamp flashes to inform the driver of ESP operation.
• During ESP operation, the body and brake pedal lightly vibrate and mechanical noises may be heard. This is
normal. M
• The ABS warning lamp, ESP OFF indicator lamp, and SLIP indicator lamp might turn ON when the vehicle is
subject to strong shaking or large vibration, such as when the vehicle is on a turn table or a ship while the
engine is running or steep slope such as bank. In this case, restart the engine on a normal road, and if the N
ABS warning lamp, ESP OFF indicator lamp, and SLIP indicator lamp turn OFF, there is no malfunction.
BRC-11
ESP
Component Parts Location INFOID:0000000004109705
LHD models
JSFIA0397ZZ
1. Steering angle sensor 2. ABS warning lamp 3. Brake warning lamp

4. ESP OFF indicator lamp 5. SLIP indicator lamp 6. ABS actuator and electric unit (con-
trol unit)
BRC-12
ESP
7. Front wheel sensor 8. Yaw rate/side/decel G sensor 9. ESP OFF switch
10. Rear wheel sensor A
A. Back of spiral cable assembly B. Combination meter C. Engine room (right side)
D. Steering knuckle E. Under center console F. Instrument driver lower panel B
G. Rear axle
RHD models
C
BRC
JSFIA0398ZZ
BRC-13
ESP

4. ESP OFF indicator lamp 5. SLIP indicator lamp 6. ESP OFF switch
7. Front wheel sensor 8. Yaw rate/side/decel G sensor 9. ABS actuator and electric unit (con-
trol unit)
10. Rear wheel sensor
A. Back of spiral cable assembly B. Combination meter C. Instrument driver lower panel
D. Steering knuckle E. Under center console F. Engine room (left side)
G. Rear axle
Component Description INFOID:0000000004109706
Component parts Reference

Pump
BRC-41, "Description"
Motor
Actuator relay (Main relay) BRC-57, "Description"
ABS actuator and electric unit (control unit)
Solenoid valve BRC-51, "Description"
ESP switch-over valve (CV1, CV2) BRC-69, "Description"
ESP switch-over valve (SV1, SV2) BRC-71, "Description"
Wheel sensor BRC-32, "Description"
Yaw rate/side/decel G sensor BRC-43, "Description"
Steering angle sensor BRC-61, "Description"
ESP OFF switch BRC-78, "Description"
ABS warning lamp BRC-80, "Description"
Brake warning lamp BRC-81, "Description"
ESP OFF indicator lamp BRC-82, "Description"
SLIP indicator lamp BRC-83, "Description"
BRC-14
TCS
TCS
A
BRC
I
JSFIA0396GB

J
• The wheel spin of the drive wheels is detected by the ABS actuator and electric unit (control unit) using the
wheel speed signals from the four wheels, so if wheel spin occurs, the drive wheel right and left brake fluid
pressure control and engine fuel cut are conducted while the throttle valve opening is restricted to reduce the K
engine torque and decrease the amount of wheel spin. In addition, the throttle opening is controlled to
achieve the optimum engine torque.
• Depending on road circumstances, the driver may have a sluggish feel. This is normal, because the opti- L
mum traction has the highest priority under TCS operation.
• TCS may be activated any time the vehicle suddenly accelerates, depressing accelerator pedal fully, sud-
denly downshifts, upshifts, or is driven on a road with a varying surface friction coefficient.
• During TCS operation, TCS informs a driver of system operation by flashing SLIP indicator lamp. M
BRC-15
TCS
LHD models
JSFIA0397ZZ

trol unit)
BRC-16
TCS
G. Rear axle
RHD models
C
BRC
JSFIA0398ZZ
BRC-17
TCS

trol unit)
G. Rear axle

Pump
Motor
BRC-18
ABS
ABS
A
BRC
I
JSFIA0396GB

J
• The Anti-Lock Braking System detects wheel revolution while braking, and it improves handling stability dur-
ing sudden braking by electrically preventing 4 wheel lock. Maneuverability is also improved for avoiding
obstacles. K
• If the electrical system malfunction, then fail-safe function is activated, ABS becomes inoperative, and ABS
warning lamp turns ON.
• Electrical system diagnosis by CONSULT-III is available. L
• During ABS operation, brake pedal lightly vibrates and a mechanical noise may be heard. This is normal.
• Just after starting the vehicle after the ignition switch ON, brake pedal may vibrate or motor operating noise
may be heard from engine component. 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 M
snow-covered (fresh, deep snow) roads.
BRC-19
ABS
LHD models
JSFIA0397ZZ

trol unit)
BRC-20
ABS
G. Rear axle
RHD models
C
BRC
JSFIA0398ZZ
BRC-21
ABS

trol unit)
G. Rear axle

Pump
Motor
BRC-22
EBD
EBD
A
BRC
I
JSFIA0396GB

J
• Electronic Brake force Distribution detects subtle slippages between front and rear wheels during braking,
and it improves handling stability by electronically controlling brake fluid pressure which results in reduced
rear wheel slippage. K
• If the electrical system malfunction, fail-safe function is activated, EBD and ABS becomes inoperative, and
ABS warning lamp and brake warning lamp are turned ON.
• Electrical system diagnosis by CONSULT-III is available. L
• During EBD operation, brake pedal lightly vibrates and a mechanical noise may be heard. This is normal.
• Just after starting the vehicle after the ignition switch ON, 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 EBD when vehicle drives on rough, gravel, or M
BRC-23
EBD
LHD models
JSFIA0397ZZ

trol unit)
BRC-24
EBD
G. Rear axle
RHD models
C
BRC
JSFIA0398ZZ
BRC-25
EBD

trol unit)
G. Rear axle

Pump
Motor
BRC-26
DIAGNOSIS SYSTEM [ABS ACTUATOR AND ELECTRIC UNIT (CONTROL
UNIT)]
A
UNIT)]
CONSULT-III Function INFOID:0000000004109719
B
FUNCTION
CONSULT-III can display each diagnostic item using the diagnostic test modes as following.
C
Diagnostic test mode Function
This mode enables a technician to adjust some devices faster and more accurately by following the indica-
Work support D
tions on CONSULT-III.
Self diagnostic result Self-diagnostic results can be read and erased quickly.
Data monitor Input/Output data in the ABS actuator and electric unit (control unit) can be read.
E
CONSULT-III drives some actuators apart from the ABS actuator and electric unit (control unit) and also
Active test
shifts some parameters in a specified range.
ECU part number ABS actuator and electric unit (control unit) part number can be read.
BRC
WORK SUPPORT
Item Description G
ST ANGLE SENSOR ADJUSTMENT Adjusts the neutral position of the steering angle sensor.
DECEL G SEN CALIBRATION Calibrates yaw rate/side/decel G sensor.
H
SELF-DIAGNOSTIC RESULT
Operation Procedure
Before performing the self-diagnosis, start the engine and drive the vehicle at 30 km/h (19 MPH) or more for I
approximately 1 minute.
Display Item List
Refer to BRC-93, "DTC No. Index". J
How to Erase Self-diagnosis Results

After erasing DTC memory, start the engine and drive the vehicle at 30 km/h (19 MPH) or more for approxi-
mately 1 minute as the final inspection, and make sure that the ABS warning lamp, ESP OFF indicator lamp, K
SLIP indicator lamp and brake warning lamp turn OFF.
CAUTION:
If memory cannot be erased, perform applicable diagnosis. L
NOTE:
• When the wheel sensor malfunctions, after inspecting the wheel sensor system, the ABS warning lamp, ESP
OFF indicator lamp, SLIP indicator lamp and brake warning lamp will not turn OFF even when the system is
M
normal unless the vehicle is driving at approximately 30 km/h (19 MPH) or more for approximately 1 minute.
• Brake warning lamp will turn ON in case of parking brake operation (when switch is ON) or of brake fluid
level switch operation (when brake fluid is insufficient).
• ESP OFF switch should not stay “ON” position. N
DATA MONITOR
Display Item List O
BRC-27
UNIT)]
×: Applicable : Optional item
SELECT MONITOR ITEM
Monitor item (Unit) ECU INPUT Remarks
MAIN SIGNALS
SIGNALS
FR LH SENSOR
× ×
[km/h (MPH)]
FR RH SENSOR
× ×
[km/h (MPH)]
Wheel speed
RR LH SENSOR
× ×
[km/h (MPH)]
RR RH SENSOR
× ×
[km/h (MPH)]
STOP LAMP SW
× × Stop lamp switch signal status
(On/Off)
BATTERY VOLT Battery voltage supplied to the ABS actuator and electric unit (control
× ×
(V) unit)
SLCT LVR POSI × × Shift position judged by shift position signal
OFF SW
× × ESP OFF switch
(On/Off)
YAW RATE SEN
× × Yaw rate detected by yaw rate/side/decel G sensor
(d/s)
DECEL G-SEN
× × Decel G detected by yaw rate/side/decel G sensor
(G)
ACCEL POS SIG Throttle actuator opening/closing is displayed (Linked with accelera-
×
(%) tor pedal)
SIDE G-SENSOR
× Transverse G detected by yaw rate/side/decel G sensor
(m/s2)
STR ANGLE SIG
× Steering angle detected by steering angle sensor
(°)
ENGINE RPM
× Engine speed
[tr/min (rpm)]
FLUID LEV SW
× Brake fluid level switch
(On/Off)
PRESS SENSOR
× Brake fluid pressure detected by pressure sensor
(bar)
FR RH IN SOL
×
(On/Off)
FR RH OUT SOL
×
(On/Off)
FR LH IN SOL
×
(On/Off)
FR LH OUT SOL
×
(On/Off)
Operation status of each solenoid valve
RR RH IN SOL
×
(On/Off)
RR RH OUT SOL
×
(On/Off)
RR LH IN SOL
×
(On/Off)
RR LH OUT SOL
×
(On/Off)
MOTOR RELAY
× Motor and motor relay operation
(On/Off)
BRC-28
UNIT)]
SELECT MONITOR ITEM
Monitor item (Unit) Remarks A
ECU INPUT
MAIN SIGNALS
SIGNALS
ACTUATOR RLY
× Actuator relay operation B
(On/Off)
ABS WARN LAMP
× ABS warning lamp
(On/Off)
OFF LAMP C
× ESP OFF indicator lamp
(On/Off)
SLIP LAMP
× SLIP indicator lamp
(On/Off) D
CV1
Cut valve 1 monitor
(On/Off)
CV2 E
Cut valve 2 monitor
(On/Off)
SV1
Suction valve 1 monitor
(On/Off) BRC
SV2
Suction valve 2 monitor
(On/Off)
EBD SIGNAL G
EBD operation
(On/Off)
ABS SIGNAL
ABS operation
(On/Off) H
TCS SIGNAL
TCS operation
(On/Off)
VDC SIGNAL
ESP operation
I
(On/Off)
EBD FAIL SIG
EBD fail-safe status
(On/Off) J
ABS FAIL SIG
ABS fail-safe status
(On/Off)
TCS FAIL SIG K
TCS fail-safe status
(On/Off)
VDC FAIL SIG
ESP fail-safe status
(On/Off)
L
EBD WARN LAMP
Brake warning lamp
(On/Off)
4WD FAIL REQ M
4WD fail-safe signal status
(On/Off)
2WD/4WD
Distinguish 2WD and 4WD
(2WD/4WD)
N
ACTIVE TEST MODE
CAUTION:
• Do not perform active test while driving vehicle. O
• Make sure to completely bleed air from brake system.
• The active test cannot be started when the ABS warning lamp is ON.
• ABS warning lamp and brake warning lamp are ON during active test.
P
NOTE:
• When active test is performed while depressing the pedal, the pedal depression amount will change. This is
normal. (Only solenoid valve and ABS motor.)
• “TEST IS STOPPED” is displayed 10 seconds after operation start.
• After “TEST IS STOPPED” is displayed, to perform test again.
Test Item
ABS SOLENOID VALVE
BRC-29
UNIT)]
• For ABS solenoid valve, touch “Up”, “Keep” and “Down”. Then use screen monitor to check that solenoid
valve operates as shown in the table below.
Display
Test item Display item
Up Keep Down
FR RH IN SOL Off On On
FR RH OUT SOL Off Off On*
FR RH SOL
CV1 Off Off Off
SV1 Off Off Off
FR LH IN SOL Off On On
FR LH OUT SOL Off Off On*
FR LH SOL
CV2 Off Off Off
SV2 Off Off Off
RR RH IN SOL Off On On
RR RH OUT SOL Off Off On*
RR RH SOL
CV2 Off Off Off
SV2 Off Off Off
RR LH IN SOL Off On On
RR LH OUT SOL Off Off On*
RR LH SOL
CV1 Off Off Off
SV1 Off Off Off
*: On for 1 to 2 seconds after the touch, and then Off.
ABS SOLENOID VALVE (ACT)

• For ABS solenoid valve (ACT), touch “Up”, “ACT UP” and “ACT KEEP”. Then use screen monitor to check
that solenoid valve operates as shown in the table below.
Display
Up ACT UP ACT KEEP
FR RH IN SOL Off Off Off
FR RH ABS SOLENOID FR RH OUT SOL Off Off Off

(ACT) CV1 Off On On
SV1 Off On* Off
FR LH IN SOL Off Off Off
FR LH ABS SOLENOID FR LH OUT SOL Off Off Off

(ACT) CV2 Off On On
SV2 Off On* Off
RR RH IN SOL Off Off Off
RR RH ABS SOLENOID RR RH OUT SOL Off Off Off

(ACT) CV2 Off On On
SV2 Off On* Off
RR LH IN SOL Off Off Off
RR LH ABS SOLENOID RR LH OUT SOL Off Off Off

(ACT) CV1 Off On On
SV1 Off On* Off
ABS MOTOR
• Touch “On” and “Off” on screen. Make sure motor relay and actuator relay operates as shown in table below.
BRC-30
UNIT)]
Display A
On Off
MOTOR RELAY On Off
ABS MOTOR B
ACTUATOR RLY On On
ECU PART NUMBER

ABS actuator and electric unit (control unit) part number can be read. C
BRC
BRC-31
C1101, C1102, C1103, C1104 WHEEL SENSOR
< COMPONENT DIAGNOSIS > [ESP/TCS/ABS]
COMPONENT DIAGNOSIS
Description INFOID:0000000004109720
When the sensor rotor rotates, the magnetic field changes. It converts the magnetic field changes to current
signals (rectangular wave) and transmits them to the ABS actuator and electric unit (control unit).
DTC Logic INFOID:0000000004109721
DTC DETECTION LOGIC
DTC Display item Malfunction detected condition Possible cause

Circuit of rear RH wheel sensor is open or short circuit.
C1101 RR RH SENSOR-1
Current signal from sensor is outside limits.
Circuit of rear LH wheel sensor is open or short circuit. • Harness or connector
C1102 RR LH SENSOR-1
Current signal from sensor is outside limits. • Wheel sensor
Circuit of front RH wheel sensor is open or short circuit. • ABS actuator and electric unit
C1103 FR RH SENSOR-1 (control unit)
Circuit of front LH wheel sensor is open or short circuit.
C1104 FR LH SENSOR-1
DTC CONFIRMATION PROCEDURE

1.DTC REPRODUCTION PROCEDURE
1. Start the engine and drive the vehicle at 30 km/h (19 MPH) or more for approximately 1 minute.
2. Perform ABS actuator and electric unit (control unit) self-diagnosis.
Is DTC “C1101”, “C1102”, “C1103” or “C1104” detected?
YES >> Proceed to diagnosis procedure. Refer to BRC-32, "Diagnosis Procedure".
NO >> INSPECTION END
Diagnosis Procedure INFOID:0000000004109722
CAUTION:
• Do not measure the resistance value and also voltage between sensor terminals with tester etc.,
because the sensors are active sensors.
• Do not expand terminal of connector with a tester terminal stick, when it does the inspection with the
tester.
1.CHECK TIRE
Check air pressure, wear, and size. Refer to WT-5, "Tire Air Pressure".
Is the inspection result normal?
YES >> GO TO 2.
NO >> Repair or replace damaged parts.
2.CHECK SENSOR AND SENSOR ROTOR
• Check that there is no damage or adherence of foreign matter on the sensor rotor surface.
• Check sensor rotor for damage.
• Check wheel sensor for damage, disconnection or looseness.
• Check that there is no deformation on the wheel sensor mounting surface.
YES >> GO TO 3.
NO >> Repair wheel sensor mount or replace sensor rotor. Then perform the self-diagnosis.
3.CHECK CONNECTOR
1. Turn the ignition switch OFF.
2. Disconnect ABS actuator and electric unit (control unit) connector.
3. Disconnect malfunctioning wheel sensor connector.
BRC-32
4. Check terminal to see if it is deformed, disconnected, loose, etc.
Is the inspection result normal? A
YES >> GO TO 4.
4.CHECK WHEEL SENSOR HARNESS B
1. Check the continuity between ABS actuator and electric unit (control unit) harness connector and wheel
sensor harness connector. (Also check continuity when steering wheel is turned right and left and when
C
sensor harness inside the wheel house is moved.)
Measurement terminal for signal circuit
ABS actuator and electric unit (control unit) Wheel sensor
Continuity D
Connector Terminal Connector Terminal
6 E39 (Front RH) 4
8 E22 (Front LH) 2 E
E36 Existed
12 C6 (Rear RH) 8
2 C5 (Rear LH) 6
BRC
Measurement terminal for power supply circuit
Continuity
Connector Terminal Connector Terminal G
5 E39 (Front RH) 3
9 E22 (Front LH) 1
E36 Existed H
11 C6 (Rear RH) 7
3 C5 (Rear LH) 5
2. Check the continuity between ABS actuator and electric unit (control unit) harness connector. I

Continuity
Connector Terminal Connector Terminal J
6, 5
8, 9
E36 E36 13, 26 Not existed K
12, 11
2, 3
Is the inspection result normal? L
YES >> GO TO 5.
5.CHECK WHEEL SENSOR POWER SUPPLY CIRCUIT M
1. Connect ABS actuator and electric unit (control unit) connector.
2. Turn the ignition switch ON.
CAUTION: N
Never start the engine.
3. Check the voltage between wheel sensor harness connector and ground.
O
Wheel sensor
— Voltage
Connector Terminal
E39 (Front RH) 3 P
E22 (Front LH) 1
Ground Approx. 8 V or more
C6 (Rear RH) 7
C5 (Rear LH) 5
YES >> GO TO 6.
BRC-33
2. Connect each wheel sensor connector.
3. Check wheel sensor signal. Refer to BRC-34, "Component Inspection".
YES >> Replace ABS actuator and electric unit (control unit).
Component Inspection INFOID:0000000004109723

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

Vehicle stopped 0 [km/h (MPH)]
FR LH SENSOR Nearly matches the speedometer dis-
Vehicle running (Note)
play (±10% or less)
FR RH SENSOR Nearly matches the speedometer dis-
RR LH SENSOR Nearly matches the speedometer dis-
RR RH SENSOR Nearly matches the speedometer dis-
NOTE:
Confirm tire pressure is normal.
NO >> Proceed to diagnosis procedure. Refer to BRC-32, "Diagnosis Procedure".
Special Repair Requirement INFOID:0000000004109724
1.ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION, CALIBRATION OF DECEL G

SENSOR
After removing/replacing an ABS actuator and electric unit (control unit), be sure to perform the following pro-
cedure.
• Adjustment of steering angle sensor neutral position: Refer to BRC-8, "ADJUSTMENT OF STEERING
ANGLE SENSOR NEUTRAL POSITION : Description".
• Calibration of decel G sensor: Refer to BRC-9, "CALIBRATION OF DECEL G SENSOR : Description".
>> END
BRC-34
A
When the sensor rotor rotates, the magnetic field changes. It converts the magnetic field changes to current B
C
DTC DETECTION LOGIC
DTC Display item Malfunction detected condition Possible cause D

Signal from rear RH wheel sensor does not match other
3 wheel speed signal.
Signal from rear LH wheel sensor does not match other • Harness or connector E
C1106 RR LH SENSOR-2 • Wheel sensor
• Sensor rotor
Signal from front RH wheel sensor does not match other • ABS actuator and electric unit
C1107 FR RH SENSOR-2
3 wheel speed signal. (control unit) BRC
Signal from front LH wheel sensor does not match other
DTC CONFIRMATION PROCEDURE G

1. Start the engine and drive the vehicle at 30 km/h (19 MPH) or more for approximately 1 minute. H
YES >> Proceed to diagnosis procedure. Refer to BRC-35, "Diagnosis Procedure". I
J
CAUTION:
because the sensors are active sensors. K
tester.
1.CHECK TIRE L
YES >> GO TO 2. M
2.CHECK SENSOR AND SENSOR ROTOR N
O
YES >> GO TO 3.
P
3.CHECK CONNECTOR
BRC-35
YES >> GO TO 4.
4.CHECK WHEEL SENSOR HARNESS
sensor harness connector. (Also check continuity when steering wheel is turned right and left and when
Continuity
6 E39 (Front RH) 4
8 E22 (Front LH) 2
E36 Existed
12 C6 (Rear RH) 8
2 C5 (Rear LH) 6

Continuity
5 E39 (Front RH) 3
9 E22 (Front LH) 1
E36 Existed
11 C6 (Rear RH) 7
3 C5 (Rear LH) 5
2. Check the continuity between ABS actuator and electric unit (control unit) harness connector.

Continuity
6, 5
8, 9
E36 E36 13, 26 Not existed
12, 11
2, 3
YES >> GO TO 5.
5.CHECK WHEEL SENSOR POWER SUPPLY CIRCUIT
CAUTION:
Wheel sensor
— Voltage
Connector Terminal
E39 (Front RH) 3
E22 (Front LH) 1
C6 (Rear RH) 7
C5 (Rear LH) 5
YES >> GO TO 6.
BRC-36
2. Connect each wheel sensor connector. A
YES >> Replace ABS actuator and electric unit (control unit). B
C
D

E
BRC
play (±10% or less) G
play (±10% or less) H
play (±10% or less) I
NOTE:
J
K
1.ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION, CALIBRATION OF DECEL G L

SENSOR
cedure. M
N
>> END
O
BRC-37
C1109 POWER AND GROUND SYSTEM
Supplies electric power to the ABS actuator and electric unit (control unit).
DTC DETECTION LOGIC

• Harness or connector
• ABS actuator and electric unit
When the ABS actuator and electric unit (control unit)
BATTERY VOLTAGE (control unit)
C1109 power supply is lower than normal. Power supply is
[ABNORMAL] • Fuse
greater than normal limits.
• Vehicle electrical power sys-
tem

1. Turn the ignition switch OFF to ON.
Is DTC “C1109” detected?
1.CHECK CONNECTOR
3. Check terminal for deformation, disconnection, looseness, etc.
YES >> GO TO 2.
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) POWER SUPPLY CIRCUIT AND
GROUND CIRCUIT
1. Turn ignition switch ON or OFF and check the voltage between ABS actuator and electric unit (control
unit) harness connector and ground.

— Condition Voltage
Connector Terminal
Ignition switch: ON Battery voltage
E36 20 Ground
Ignition switch: OFF Approx. 0 V
2. Check 10A fusible link (45).
3. Check continuity between ABS actuator and electric unit (control unit) harness connector and IPDM E/R.
ABS actuator and electric unit (control unit) IPDM E/R

Continuity
E36 20 E10 25 Existed
YES >> GO TO 3.
NO >> Repair or replace malfunctioning components.
BRC-38
3.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) GROUND CIRCUIT A
Check the continuity between ABS actuator and electric unit (control unit) harness connector and ground.
ABS actuator and electric unit (control unit) B

— Continuity
Connector Terminal
13
E36 Ground Existed C
26
YES >> Check battery for terminal looseness, low voltage, etc. if any malfunction is found, repair damaged D
parts.
NO >> Repair or replace damaged parts. (Check ABS earth bolt for tightness and corrosion.)
Special Repair Requirement INFOID:0000000004109971 E

SENSOR BRC
cedure.
• Adjustment of steering angle sensor neutral position: Refer to BRC-8, "ADJUSTMENT OF STEERING G
H
>> END
BRC-39
C1110, C1170 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
C1110, C1170 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
ABS actuator and electric unit (control unit) is continuously monitoring ECU hardware and software for correct
operation.
DTC DETECTION LOGIC

Internal failure of control unit
components. ABS solenoid
C1110 CONTROLLER FAILURE Possible internal failure of control unit components.
valve or motor power supply /
ground abnormal.
ABS actuator and electric unit
C1170 VARIANT CODING V coding is not functioning.
(control unit)

Is DTC “C1110” or “C1170” detected?
1.REPLACE ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)

CAUTION:
Replace ABS actuator and electric unit (control unit) when self-diagnostic result shows items other
than those applicable.
>> Replace ABS actuator and electric unit (control unit).


SENSOR
cedure.
>> END
BRC-40
C1111 ABS MOTOR, MOTOR RELAY SYSTEM
A
PUMP B
The pump returns the brake fluid stored in the reservoir to the master cylinder by reducing the pressure.
MOTOR
The motor drives the pump according to the signals transmitted by the ABS actuator and electric unit (control C
unit).
MOTOR RELAY
D
Activates or deactivates motor according to the signals transmitted by the ABS actuator and electric unit (con-
trol unit).
DTC Logic INFOID:0000000004109739 E
DTC DETECTION LOGIC

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

1.DTC REPRODUCTION PROCEDURE I
J
K
1.CHECK CONNECTOR L
3. Check terminal for deformation, disconnect, looseness, etc. M
YES >> GO TO 2.
NO >> Replace or repair damaged parts. N
2.CHECK ABS MOTOR AND MOTOR RELAY POWER SUPPLY CIRCUIT
Check the voltage between ABS actuator and electric unit (control unit) harness connector and ground.
O

— Voltage
Connector Terminal P
E36 14 Ground Battery voltage
YES >> GO TO 3.
3.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) GROUND CIRCUIT
BRC-41

— Continuity
Connector Terminal
13
E36 Ground Existed
26
NO >> Repair or replace damaged parts. (Check ABS earth bolt for tightness and corrosion.)
1.CHECK ACTIVE TEST

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

SENSOR
cedure.
>> END
BRC-42
C1113, C1145, C1146 YAW RATE/SIDE/DECEL G SENSOR
A
Yaw rate/side/decel G sensor detects yaw rate/side/decel G affecting the vehicle, and transmits the data to the B
ABS actuator and electric unit (control unit) as an analog voltage signal.
C
DTC DETECTION LOGIC

C1113 G SENSOR • Harness or connector
C1145 YAW RATE SENSOR
(control unit) E
Yaw rate/side/decel G sensor is malfunctioning, or signal
• Yaw rate/side/decel G sensor
line of yaw rate/side/decel G sensor is open or shorted.
• Electrical interference
C1146 SIDE G-SEN CIRCUIT
• Vehicle driven on 4WD rolling
road BRC
1.DTC REPRODUCTION PROCEDURE G
Is DTC “C1113”, “C1145” or “C1146” detected? H
I
CAUTION:
• Sudden turns (such as spin turns, acceleration turns), drifting, etc. may cause yaw rate/side/decel G J
sensor circuit indicate a malfunction. However this is not a malfunction if normal operation can be
resumed after restarting engine.
• When on a turntable, such as at a parking structure entrance, or when on a moving object with K
engine running, the ESP OFF indicator lamp might turn on and self-diagnosis using the CONSULT-III
yaw rate sensor system malfunction might be displayed, but in this case there is no malfunction with
yaw rate/side/decel G sensor circuit. As soon as the vehicle leaves the turntable or moving object,
restart the engine to return the system to normal. L
1.CHECK CONNECTOR
1. Turn the ignition switch OFF. M
3. Disconnect yaw rate/side/decel G sensor connector.
N
YES >> GO TO 2.
NO >> Replace or repair damaged parts.
O
2.CHECK YAW RATE/SIDE/DECEL G SENSOR POWER SUPPLY CIRCUIT
CAUTION: P
2. Check the voltage between yaw rate/side/decel G sensor harness connector and ground.
Yaw rate/side/decel G sensor

— Voltage
Connector Terminal
M52 3 Ground Battery voltage
BRC-43
4. Check the voltage between yaw rate/side/decel G sensor harness connector and ground.

— Voltage
Connector Terminal
M52 3 Ground Approx. 0 V
YES >> GO TO 3.
3.CHECK YAW RATE/SIDE/DECEL G SENSOR GROUND CIRCUIT
Check the continuity between yaw rate/side/decel G sensor harness connector and ground.

— Continuity
Connector Terminal
M52 5 Ground Existed
YES >> GO TO 4.
4.CHECK YAW RATE/SIDE/DECEL G SENSOR HARNESS
Check the continuity between yaw rate/side/decel G sensor harness connector and ABS actuator and electric
unit (control unit) harness connector.
ABS actuator and electric unit (control unit) Yaw rate/side/decel G sensor
Continuity
25 1
19 2
E36 M52 Existed
4 3
10 5
YES >> GO TO 5.
5.CHECK YAW RATE/SIDE/DECEL G SENSOR
Check yaw rate/side/decel G sensor signal. Refer to BRC-44, "Component Inspection".
NO >> Replace yaw rate/side/decel G sensor.

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

Vehicle stopped Approx. 0 d/s
Vehicle running −100 to 100 d/s
BRC-44
SIDE G SENSOR
Vehicle condition DATA MONITOR A

Vehicle stopped Approx. 0 m/s2
Vehicle running −16.7 – 16.7 m/s2 B
DECEL G SENSOR
Vehicle condition DATA MONITOR

C
Vehicle stopped Approx. 0 G
Vehicle running −1.7 – +1.7 G
Is the inspection result normal? D
E

BRC
SENSOR
• After removing/replacing a yaw rate/side/decel G sensor, be sure to perform the following procedure.
- Calibration of decel G sensor: Refer to BRC-9, "CALIBRATION OF DECEL G SENSOR : Description".
• After removing/replacing an ABS actuator and electric unit (control unit), be sure to perform the following G
procedure.
- Adjustment of steering angle sensor neutral position: Refer to BRC-8, "ADJUSTMENT OF STEERING
ANGLE SENSOR NEUTRAL POSITION : Description". H
>> END I
BRC-45
C1115 WHEEL SENSOR
C1115 WHEEL SENSOR
When the sensor rotor rotates, the magnetic field changes. It converts the magnetic field changes to current
DTC DETECTION LOGIC

Harness or connector not a pos-
ABS SENSOR sible cause. Other possible
C1115 Miss-match between the 4 wheel speed sensor signals.
[ABNORMAL SIGNAL] causes tire radius (due to wrong
size or pressure) interference.

1. Start the engine and drive the vehicle at 30 km/h (19 MPH) or more for approximately 1 minute.
CAUTION:
because the sensors are active sensors.
tester.
1.CHECK TIRE
YES >> GO TO 2.
2.CHECK SENSOR AND SENSOR ROTOR
YES >> GO TO 3.
3.CHECK CONNECTOR
YES >> GO TO 4.
4.CHECK WHEEL SENSOR HARNESS
BRC-46
C1115 WHEEL SENSOR
sensor harness connector. (Also check continuity when steering wheel is turned right and left and when A
ABS actuator and electric unit (control unit) Wheel sensor B
Continuity
6 E39 (Front RH) 4
C
8 E22 (Front LH) 2
E36 Existed
12 C6 (Rear RH) 8
2 C5 (Rear LH) 6 D
Continuity
Connector Terminal Connector Terminal E
5 E39 (Front RH) 3
9 E22 (Front LH) 1
E36 Existed BRC
11 C6 (Rear RH) 7
3 C5 (Rear LH) 5
2. Check the continuity between ABS actuator and electric unit (control unit) harness connector. G

Continuity
Connector Terminal Connector Terminal H
6, 5
8, 9
E36 E36 13, 26 Not existed I
12, 11
2, 3
Is the inspection result normal? J
YES >> GO TO 5.
5.CHECK WHEEL SENSOR POWER SUPPLY CIRCUIT K

L
CAUTION:
M
Wheel sensor
— Voltage
Connector Terminal
N
E39 (Front RH) 3
E22 (Front LH) 1
C6 (Rear RH) 7 O
C5 (Rear LH) 5
P
YES >> GO TO 6.
2. Connect each wheel sensor connector.
BRC-47
C1115 WHEEL SENSOR


NOTE:

SENSOR
cedure.
>> END
BRC-48
C1116 STOP LAMP SWITCH
A
The stop lamp switch transmits the stop lamp switch signal (ON/OFF) to the ABS actuator and electric unit B
(control unit).
C
DTC DETECTION LOGIC

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

1.DTC REPRODUCTION PROCEDURE BRC

G
NO >> INSPECTION END H
1.CHECK CONNECTOR I
3. Disconnect stop lamp switch connector. J
YES >> GO TO 2. K
2.CHECK STOP LAMP SWITCH
L
Check stop lamp switch. Refer to BRC-50, "Component Inspection".
YES >> GO TO 3. M
NO >> Repair or replace stop lamp switch.
3.CHECK STOP LAMP SWITCH CIRCUIT
1. Turn the ignition switch OFF. N
2. Check the voltage between ABS actuator and electric unit (control unit) harness connector and ground.
ABS actuator and electric unit (control unit) O

— Condition Voltage
Connector Terminal
Brake pedal is depressed Battery voltage
E36 16 Ground P
Brake pedal is released Approx. 0 V
BRC-49

2. Disconnect stop lamp switch connector.
3. Check the continuity between stop lamp switch connector terminals.
Stop lamp switch

Condition Continuity
Terminal
Release stop lamp switch
Existed
(When brake pedal is depressed.)
1−2
Push stop lamp switch
Not existed
(When brake pedal is released.)
NO >> Replace stop lamp switch.
• LHD models: Refer to BR-18, "Exploded View".
• RHD models: Refer to BR-61, "Exploded View".

SENSOR
cedure.
>> END
BRC-50
C1120, C1122, C1124, C1126 IN ABS SOL
C1120, C1122, C1124, C1126 IN ABS SOL
A
The solenoid valve increases, holds or decreases the fluid pressure of each brake caliper according to the sig- B
nals transmitted by the ABS actuator and electric unit (control unit).
C
DTC DETECTION LOGIC

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

1. Turn the ignition switch ON. H
J
1.CHECK CONNECTOR
K
L
YES >> GO TO 2.
2.CHECK SOLENOID, ESP SWITCH-OVER VALVE AND ACTUATOR RELAY POWER SUPPLY CIRCUIT M
ABS actuator and electric unit (control unit) N

— Voltage
Connector Terminal
O
YES >> GO TO 3.
NO >> Repair or replace damaged parts. P
3.CHECK SOLENOID, ESP SWITCH-OVER VALVE AND ACTUATOR RELAY GROUND CIRCUIT
BRC-51
C1120, C1122, C1124, C1126 IN ABS SOL

— Continuity
Connector Terminal
13
E36 Ground Existed
26
1.CHECK ACTIVE TEST

1. Select each test menu item on “ACTIVE TEST”.
2. On the display, touch “Up”, “Keep”, and “Down”, and check that the system operates as shown in the table
below.
Display
Up Keep Down
FR RH SOL
CV1 Off Off Off
SV1 Off Off Off
FR LH SOL
CV2 Off Off Off
SV2 Off Off Off
RR RH SOL
CV2 Off Off Off
SV2 Off Off Off
RR LH SOL
CV1 Off Off Off
SV1 Off Off Off

SENSOR
cedure.
>> END
BRC-52
C1121, C1123, C1125, C1127 OUT ABS SOL
C1121, C1123, C1125, C1127 OUT ABS SOL
A
The solenoid valve increases, holds or decreases the fluid pressure of each brake caliper according to the sig- B
nals transmitted by the ABS actuator and electric unit (control unit).
C
DTC DETECTION LOGIC

When the control unit detects a malfunction in the front
C1121 FR LH OUT ABS SOL
LH outlet solenoid circuit.
When the control unit detects a malfunction in the front E
C1123 FR RH OUT ABS SOL
RH outlet solenoid circuit. ABS actuator and electric unit
When the control unit detects a malfunction in the rear LH (control unit)
C1125 RR LH OUT ABS SOL
outlet solenoid circuit. BRC
When the control unit detects a malfunction in the rear
C1127 RR RH OUT ABS SOL
RH outlet solenoid circuit.

1. Turn the ignition switch ON. H
J
1.CHECK CONNECTOR
K
L
YES >> GO TO 2.
2.CHECK SOLENOID, ESP SWITCH-OVER VALVE AND ACTUATOR RELAY POWER SUPPLY CIRCUIT M
ABS actuator and electric unit (control unit) N

— Voltage
Connector Terminal
O
YES >> GO TO 3.
NO >> Repair or replace damaged parts. P
BRC-53
C1121, C1123, C1125, C1127 OUT ABS SOL

— Continuity
Connector Terminal
13
E36 Ground Existed
26
1.CHECK ACTIVE TEST

2. On the display, touch “Up”, “Keep”, and “Down”, and check that the system operates as shown in the table
below.
Display
Up Keep Down
FR RH SOL
CV1 Off Off Off
SV1 Off Off Off
FR LH SOL
CV2 Off Off Off
SV2 Off Off Off
RR RH SOL
CV2 Off Off Off
SV2 Off Off Off
RR LH SOL
CV1 Off Off Off
SV1 Off Off Off

SENSOR
cedure.
>> END
BRC-54
C1130, C1131, C1132, C1133, C1136 ENGINE SIGNAL
A
ABS actuator and electric unit (control unit) and ECM exchange the engine signal via CAN communication B
line.
C
DTC DETECTION LOGIC

C1130 ENGINE SIGNAL 1
• ABS actuator and electric unit E
ECM signals are invalid or ECM self diagnosis indicates
C1132 ENGINE SIGNAL 3 (control unit)
a fault that prevents correct TCS operation.
• ECM
• CAN communication line
C1136 ENGINE SIGNAL 6 BRC
Is DTC “C1130”, “C1131”, “C1132”, “C1133” or “C1136” detected? H
I
1.ECM SELF-DIAGNOSIS
J
Perform ECM self-diagnosis.
Is any item indicated on the self-diagnosis display?
YES >> Check the malfunctioning system. K
NO >> GO TO 2.
2.ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS
1. Erase ABS actuator and electric unit (control unit) self-diagnosis results. L
3. Start the engine. Drive the vehicle for a while.
4. Make sure that malfunction indicator lamp (MIL) turns OFF. M
5. Stop the vehicle. Perform ABS actuator and electric unit (control unit) self-diagnosis.
YES >> Replace ABS actuator and electric unit (control unit). N
NO >> Check ABS actuator and electric unit (control unit) pin terminals for damage or loose connection
with harness connector. If any items and damaged, repair or replace damaged parts.
Special Repair Requirement INFOID:0000000004109983 O

SENSOR P
cedure.
BRC-55
>> END
BRC-56
C1140 ACTUATOR RELAY SYSTEM
A
Activates or deactivates each solenoid valve according to the signals transmitted by the ABS actuator and B
electric unit (control unit).
C
DTC DETECTION LOGIC

During the actuator relay operating with OFF, when the
actuator relay turns ON, or when the control line for the
relay is shorted to the ground. • Harness or connector
C1140 ACTUATOR RLY • ABS actuator and electric unit
E
During the actuator relay operating with ON, when the (control unit)
actuator relay turns ON, or when the control line for the
relay is open.
BRC
G
Is DTC “C1140” detected? H
Diagnosis Procedure INFOID:0000000004109774 I
1.CHECK CONNECTOR
1. Turn the ignition switch OFF. J
Is the inspection result normal? K
YES >> GO TO 2.
2.CHECK SOLENOID, ESP SWITCH-OVER VALVE AND ACTUATOR RELAY POWER SUPPLY CIRCUIT L
M
— Voltage
Connector Terminal
E36 1 Ground Battery voltage N
YES >> GO TO 3.
NO >> Repair or replace damaged parts. O
3.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) GROUND CIRCUIT
Check the continuity between ABS actuator and electric unit (control unit) harness connector and ground. P

— Continuity
Connector Terminal
13
E36 Ground Existed
26
BRC-57
NO >> Repair or replace damaged parts. (Check ABS each bolt for tightness and corrosion.)
1.CHECK ACTIVE TEST

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

SENSOR
cedure.
>> END
BRC-58
C1142 PRESS SENSOR
C1142 PRESS SENSOR
A
The pressure sensor converts the brake fluid pressure to an electric signal and transmits it to the ABS actuator B
and electric unit (control unit). [The pressure sensor is integrated in the ABS actuator and electric unit (control
unit).]
DTC Logic INFOID:0000000004109778 C
DTC DETECTION LOGIC

D
Pressure sensor signal line is open or shorted, or pres- • Stop lamp switch E
C1142 PRESS SEN CIRCUIT
sure sensor is malfunctioning. • ABS actuator and electric unit
(control unit)
DTC CONFIRMATION PROCEDURE BRC

G
YES >> Proceed to diagnosis procedure. Refer to BRC-59, "Diagnosis Procedure". H
I
Check stop lamp switch. Refer to BRC-49, "Diagnosis Procedure".
Is the inspection result normal? J
YES >> GO TO 2.
K
Check pressure sensor signal. Refer to BRC-60, "Component Inspection".
YES >> GO TO 3.
NO >> • Check brake pedal, brake booster, and master cylinder for mount play, looseness, brake system
fluid leakage, etc. M
- Brake pedal
• LHD models: Refer to BR-7, "Inspection and Adjustment".
• RHD models: Refer to BR-50, "Inspection and Adjustment".
- Brake booster N
• LHD models: Refer to BR-13, "Inspection".
• RHD models: Refer to BR-56, "Inspection".
- Brake master cylinder O
3.ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS P
Perform ABS actuator and electric unit (control unit) self-diagnosis.
NO >> Check ABS actuator and electric unit (control unit) pin terminals for damage or loose connection
with harness connector. If any items are damaged, repair or replace damaged parts.
BRC-59
C1142 PRESS SENSOR

On “DATA MONITOR”, select “PRESS SENSOR” and check the brake fluid pressure.
PRESS SENSOR
Condition
(DATA MONITOR)
With ignition switch turned ON and brake pedal released. Approx. 0 bar
With ignition switch turned ON and brake pedal depressed. 0 to 170 bar

SENSOR
cedure.
>> END
BRC-60
C1143 STEERING ANGLE SENSOR
A
The steering angle sensor detects the rotation amount, angular velocity and direction of the steering wheel, B
and transmits the data to the ABS actuator and electric unit (control unit) via CAN communication.
C
DTC DETECTION LOGIC

Neutral position of steering angle sensor is dislocated, or • Steering angle sensor
C1143 ST ANG SEN CIRCUIT
the steering angle sensor is malfunctioning. • ABS actuator and electric unit E
(control unit)

1.DTC REPRODUCTION PROCEDURE BRC

G
NO >> INSPECTION END H
1.CHECK CONNECTOR I
3. Disconnect steering angle sensor connector. J
YES >> GO TO 2. K
2.CHECK STEERING ANGLE SENSOR HARNESS
L
CAUTION:
2. Check the voltage between steering angle sensor harness connector and ground. M
Steering angle sensor

— Voltage N
Connector Terminal
M30 4 Ground Battery voltage
3. Turn ignition switch OFF. O
4. Check the continuity between steering angle sensor harness connector and ground.
Steering angle sensor P

— Continuity
Connector Terminal
M30 1 Ground Existed
YES >> GO TO 3.
BRC-61
3.CHECK STEERING WHEEL PLAY

Check steering wheel play. Refer to ST-11, "Inspection".
YES >> GO TO 4.
NO >> Adjust steering wheel play.
1. Connect the steering angle sensor connector and ABS actuator and electric unit (control unit) connector.
2. Check steering angle sensor signal. Refer to BRC-62, "Component Inspection".
NO >> Adjust neutral position of steering angle sensor.

Select “STR ANGLE SIG” in “DATA MONITOR” and check steering angle sensor signal.
Steering condition STR ANGLE SIG (DATA MONITOR)

Driving straight −3.5 – +3.5°
Turn 90 ° to right Approx. −90 °
Turn 90 ° to left Approx. +90 °

SENSOR
• After removing/replacing a steering angle sensor, be sure to perform the following procedure.
• After removing/replacing an ABS actuator and electric unit (control unit), be sure to perform the following
procedure.
>> END
BRC-62
A
DTC DETECTION LOGIC B

• Harness or connector C
• Steering angle sensor
C1144 ST ANG SEN SIGNAL Neutral position of steering angle sensor is not finished.
(control unit)
D
1.DTC REPRODUCTION PROCEDURE E
2. Select “ST ANGLE SENSOR ADJUSTMENT” in “WORK SUPPORT”, and perform adjust the neutral posi-
tion of steering angle sensor.
3. Perform ABS actuator and electric unit (control unit) self-diagnosis. BRC
NO >> INSPECTION END G
H
1.CHECK STEERING ANGLE SENSOR
Check steering angle sensor. Refer to BRC-61, "Diagnosis Procedure".
Is the inspection result normal? I
J
1.ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION, CALIBRATION OF DECEL G K

SENSOR
L
procedure.
- Adjustment of steering angle sensor neutral position: Refer to BRC-8, "ADJUSTMENT OF STEERING M
N
>> END
BRC-63
C1155 BRAKE FLUID LEVEL SWITCH
The brake fluid level switch converts the brake fluid level to an electric signal and transmits it to the ABS actu-
ator and electric unit (control unit).
DTC DETECTION LOGIC

• Brake fluid level low
Ignition switch ON and brake fluid signal low or not avail- • Brake fluid level switch failure
C1155 BR FLUID LEVEL LOW
able for 10 seconds. • Wiring to brake fluid level
switch short circuit

1.CHECK BRAKE FLUID LEVEL

Check the brake fluid level.
YES >> GO TO 2.
NO >> Investigate and fix.
2.CHECK BRAKE WARNING LAMP 1
Check that the brake warning lamp illuminates after the ignition switch is turned ON.
YES >> GO TO 3.
NO >> Check wiring to brake fluid level switch.
3.CHECK BRAKE WARNING LAMP 2
Check that the brake warning lamp in the combination meter turns ON/OFF correctly when operating the park-
ing brake.
YES >> GO TO 4.
NO >> Check parking brake switch.
4.CHECK CONNECTOR
2. Disconnect brake fluid level switch connector and combination meter connector.
YES >> GO TO 5.
5.CHECK BRAKE FLUID LEVEL SWITCH
Check brake fluid level switch. Refer to BRC-65, "Component Inspection".
BRC-64
YES >> GO TO 6.
NO >> Brake fluid level switch is malfunction. Replace reservoir tank. A
• LHD models: Refer to BR-25, "Exploded View".
• RHD models: Refer to BR-68, "Exploded View".
6.CHECK BRAKE FLUID LEVEL SWITCH CIRCUIT B
1. Check the continuity between brake fluid level switch harness connector and combination meter harness
connector.
C
Combination meter Brake fluid level switch
Continuity
D
M34 27 E37 1 Existed
2. Check the continuity between brake fluid level switch harness connector and ground.
E
Brake fluid level switch
— Continuity
Connector Terminal
E37 2 Ground Existed
BRC

YES >> Replace ABS actuator and electric unit (control unit). G
H
1.CHECK BRAKE FLUID LEVEL SWITCH
2. Disconnect brake fluid level switch connector. I
3. Check the continuity between brake fluid level switch connector terminals.
Brake fluid level switch J

Condition Continuity
Terminal
When brake fluid is full in the reservoir tank. Not existed
K
1–2 When brake fluid is empty in the reservoir
Existed
tank.
Special Repair Requirement INFOID:0000000004109988 M

SENSOR N
cedure.
• Adjustment of steering angle sensor neutral position: Refer to BRC-8, "ADJUSTMENT OF STEERING O
P
>> END
BRC-65
C1156 STEERING ANGLE SENSOR (CAN)
The steering angle sensor detects the rotation amount, angular velocity and direction of the steering wheel,
and transmits the data to the ABS actuator and electric unit (control unit) via CAN communication.
DTC DETECTION LOGIC

• Steering angle sensor
CAN communication line or steering angle sensor has
C1156 ST ANG SEN COM CIR • ABS actuator and electric unit
generated an error.
(control unit)
• CAN communication line

1.CHECK CAN COMMUNICATION LINE

Check CAN communication line. Refer to BRC-73, "Diagnosis Procedure".
YES >> GO TO 2.
2.CHECK STEERING ANGLE SENSOR
Check steering angle sensor. Refer to BRC-66, "Component Inspection".
YES >> GO TO 3.
3.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
YES >> Repair or replace damaged parts.
NO >> Replace ABS actuator and electric unit (control unit).

Select “STR ANGLE SIG” in “DATA MONITOR” and check steering angle sensor signal.
Steering condition STR ANGLE SIG (DATA MONITOR)

Driving straight Approx. 0°
Turn 90° to right Approx. –90°
Turn 90° to left Approx. +90°
BRC-66
YES >> INSPECTION END A
NO >> Go to diagnosis procedure. Refer to BRC-66, "Diagnosis Procedure".
B
SENSOR
C
• After removing/replacing an ABS actuator and electric unit (control unit), be sure to perform the following D
procedure.
ANGLE SENSOR NEUTRAL POSITION : Description". E
>> END BRC
BRC-67
C1160 DECEL G SENSOR
C1160 DECEL G SENSOR
DTC DETECTION LOGIC

Calibration of yaw rate/side/decel G sensor is not fin- • yaw rate/side/decel G sensor
C1160 DECEL G SEN SET
ished. • ABS actuator and electric unit
(control unit)

2. Select “DECEL G SEN CALIBRATION” in “WORK SUPPORT”, and perform calibration of decel G sensor.
1.CHECK YAW RATE/SIDE/DECEL G SENSOR

Check yaw rate/side/decel G sensor. Refer to BRC-44, "Component Inspection".

SENSOR
• After removing/replacing a yaw rate/side/decel G sensor, be sure to perform the following procedure.
procedure.
>> END
BRC-68
C1164, C1165 CV SYSTEM
A
The cut valve shuts off the normal brake fluid path from the master cylinder, when ESP/TCS is activated. B
DTC DETECTION LOGIC C

ESP switch-over solenoid valve (CV1) on the primary D
C1164 CV1 side is open circuit or shorted, or the control line is open
or shorted to the power supply or the ground. • Harness or connector
ESP switch-over solenoid valve (CV2) on the secondary (control unit) E
C1165 CV2 side is open circuit or shorted, or the control line is open
or shorted to the power supply or the ground.

1. Turn the ignition switch ON. G
I
1.CHECK CONNECTOR
2. Disconnect ABS actuator and electric unit (control unit) connector. J
YES >> GO TO 2. K
ABS actuator and electric unit (control unit) M

— Voltage
Connector Terminal
N
YES >> GO TO 3.
O
P
— Continuity
Connector Terminal
13
E36 Ground Existed
26
BRC-69
1.CHECK ACTIVE TEST

2. On the display, touch “Up”, “ACT UP”, and “ACT KEEP”, and check that the system operates as shown in
the table below.
Display
Up ACT UP ACT KEEP

(ACT) CV1 Off On On
SV1 Off On* Off

(ACT) CV2 Off On On
SV2 Off On* Off

(ACT) CV2 Off On On
SV2 Off On* Off

(ACT) CV1 Off On On
SV1 Off On* Off

SENSOR
cedure.
>> END
BRC-70
C1166, C1167 SV SYSTEM
A
The suction valve supplies the brake fluid from the master cylinder to the pump, when ESP/TCS is activated. B
DTC DETECTION LOGIC C

ESP switch-over solenoid valve (SV1) on the primary D
C1166 SV1 side is open circuit or shorted, or the control line is open
or shorted to the power supply or the ground. • Harness or connector
ESP switch-over solenoid valve (SV2) on the secondary (control unit) E
C1167 SV2 side is open circuit or shorted, or the control line is open
or shorted to the power supply or the ground.

1. Turn the ignition switch ON. G
I
1.CHECK CONNECTOR
2. Disconnect ABS actuator and electric unit (control unit) connector. J
YES >> GO TO 2. K
ABS actuator and electric unit (control unit) M

— Voltage
Connector Terminal
N
YES >> GO TO 3.
O
P
— Continuity
Connector Terminal
13
E36 Ground Existed
26
BRC-71
1.CHECK ACTIVE TEST

2. On the display, touch “Up”, “ACT UP”, and “ACT KEEP”, and check that the system operates as shown in
the table below.
Display
Up ACT UP ACT KEEP

(ACT) CV1 Off On On
SV1 Off On* Off

(ACT) CV2 Off On On
SV2 Off On* Off

(ACT) CV2 Off On On
SV2 Off On* Off

(ACT) CV1 Off On On
SV1 Off On* Off

SENSOR
cedure.
>> END
BRC-72
U1000 CAN COMM CIRCUIT
U1000 CAN COMM CIRCUIT
A
CAN (Controller Area Network) is a serial communication line for real time application. It is an on-vehicle mul- B
tiplex communication line with high data communication speed and excellent error detection ability. Many elec-
tronic control units are equipped onto a vehicle, and each control unit shares information and links with other
control units during operation (not independent). In CAN communication, control units are connected with 2
communication lines (CAN-H line, CAN-L line) allowing a high rate of information transmission with less wiring. C
Each control unit transmits/receives data but selectively reads required data only.
D
DTC DETECTION LOGIC

E
When ABS actuator and electric unit (control unit) is not • CAN communication line
U1000 CAN COMM CIRCUIT transmitting or receiving CAN communication signal for 2 • ABS actuator and electric unit
seconds or more. (control unit) BRC

Is DTC ”U1000“ detected? H
I
1.CHECK CONNECTOR J
3. Check terminal for deformation, disconnection, looseness, etc. K
NO >> Proceed to diagnosis procedure. Refer to LAN-23, "CAN System Specification Chart". L
1.ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION, CALIBRATION OF DECEL G M

SENSOR
cedure. N
• Calibration of decel G sensor: Refer to BRC-9, "CALIBRATION OF DECEL G SENSOR : Description". O
>> END
P
BRC-73
POWER SUPPLY AND GROUND CIRCUIT
Supplies power to ABS actuator and electric unit (control unit).

1.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) IGNITION POWER SUPPLY
2. Disconnect ABS actuator and electric unit (control unit) harness connector.

— Voltage (Approx.)
Connector Terminal
E36 20 Ground 0V
CAUTION:

— Voltage
Connector Terminal
YES >> GO TO 2.
NO >> Perform the trouble diagnosis for power supply circuit.
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) POWER SUPPLY

— Voltage
Connector Terminal
CAUTION:

— Voltage
Connector Terminal
YES >> GO TO 3.
NO >> Perform the trouble diagnosis for power supply circuit.
3.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) GROUND
2. Check the continuity between ABS actuator and electric unit (control unit) harness connector and ground.
BRC-74
ABS actuator and electric unit (control unit) A

— Continuity
Connector Terminal
13
E36 Ground Existed B
26
YES >> INSPECTION END C
BRC
BRC-75
PARKING BRAKE SWITCH
Component Function Check INFOID:0000000004109819
1.CHECK PARKING BRAKE SWITCH OPERATION

Operate the parking brake pedal. Then check that the brake warning lamp in the combination meter turns ON/
OFF correctly.
Condition Brake warning lamp illumination status

When the parking brake pedal is operation ON
When the parking brake pedal is not oper-
OFF
ation.
1.CHECK PARKING BRAKE SWITCH

Check parking brake switch. Refer to BRC-76, "Component Inspection".
YES >> GO TO 2.
NO >> Replace parking brake switch.
2.CHECK COMBINATION METER
Check the indication and operation of combination meter are normal. Refer to MWI-28, "Diagnosis Descrip-
tion".
YES >> GO TO 3.
NO >> Check combination meter. Refer to MWI-28, "Diagnosis Description".
3.CHECK PARKING BRAKE SWITCH CIRCUIT
1. Turn ignition switch OFF.
2. Disconnect parking brake switch connector.
3. Disconnect combination meter connector.
4. Check the continuity between parking brake switch harness connector and combination meter harness
connector.
Parking brake switch Combination meter

Continuity
E27 1 M34 26 Existed
1.CHECK PARKING BRAKE SWITCH

2. Disconnect parking brake switch connector.
3. Check the continuity between parking brake switch connector and ground.
BRC-76
Parking brake switch A

— Condition Continuity
Connector Terminal
When the parking brake switch
Existed B
is operated.
E27 1 Ground
When the parking brake switch
Not existed
is not operated.
C
NO >> Replace parking brake switch. Refer to PB-4, "Exploded View".
D
BRC
BRC-77
ESP OFF SWITCH
ESP OFF SWITCH
ESP OFF switch can deactivate (turn OFF) the ESP/TCS function by pressing the ESP OFF switch.
1.CHECK ESP OFF SWITCH OPERATION

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

Press the ESP OFF switch when ESP
ON
OFF indicator lamp is OFF.
Press the ESP OFF switch when ESP
OFF
OFF indicator lamp is ON.
1.CHECK ESP OFF SWITCH

Check ESP OFF switch. Refer to BRC-79, "Component Inspection".
YES >> GO TO 2.
NO >> Replace ESP OFF switch.
2.CHECK ESP OFF SWITCH HARNESS
2. Disconnect ESP OFF switch connector.
3. Check the continuity between ESP OFF switch harness connector and ABS actuator and electric unit
(control unit) harness connector.
ABS actuator and electric unit

ESP OFF switch
(control unit) Continuity
E36 22 M5 1 Existed
4. Check the continuity between ABS actuator and electric unit (control unit) harness connector and ground.

— Continuity
Connector Terminal
E36 22 Ground Not existed
5. Check the continuity between ESP OFF switch harness connector and ground.
ESP OFF switch

— Continuity
Connector Terminal
M5 2 Ground Existed
YES >> GO TO 3.
BRC-78
ESP OFF SWITCH
3.CHECK COMBINATION METER A

2. Connect ESP OFF switch connector.
3. Check the indication and operation of combination meter are normal. Refer to MWI-28, "Diagnosis
B
Description".
C
NO >> Repair or replace combination meter.
D
2. Disconnect ESP OFF switch connector. E
3. Check the continuity between ESP OFF switch connector terminals.
ESP OFF switch BRC

Condition Condition
Terminal
When ESP OFF switch is hold pressed. Existed
1–2 G
When releasing ESP OFF switch. Not existed
YES >> INSPECTION END H
NO >> Replace ESP OFF switch.
BRC-79
ABS WARNING LAMP
ABS WARNING LAMP
×: ON –: OFF
Condition ABS warning lamp

Ignition switch OFF –
For 2 seconds after turning ignition switch ON ×
2 seconds later after turning ignition switch ON –
ABS function is malfunctioning. ×
EBD function is malfunctioning. ×
1.CHECK ABS WARNING LAMP OPERATION

Check that the lamp illuminates for approximately 2 seconds after the ignition switch is turned ON.
1.CHECK SELF-DIAGNOSIS
YES >> GO TO 2.
NO >> Check items displayed by self-diagnosis.
tion".
BRC-80
BRAKE WARNING LAMP
BRAKE WARNING LAMP
A
×: ON –: OFF B
Condition Brake warning lamp (Note 1)
For 2 seconds after turning ignition switch ON × (Note 2) C
2 seconds later after turning ignition switch ON × (Note 2)
D
NOTE:
• 1: Brake warning lamp will turn on in case of parking brake operation (when switch is ON) or of brake fluid level switch operation
(when brake fluid is insufficient). E
• 2: After starting the engine, brake warning lamp is turned off.
BRC
1.BRAKE WARNING LAMP OPERATION CHECK 1
G
YES >> GO TO 2.
H
2.BRAKE WARNING LAMP OPERATION CHECK 2
ing brake pedal. I
NO >> Check parking brake switch. Refer to BRC-76, "Diagnosis Procedure". J
1.CHECK PARKING BRAKE SWITCH K
ing brake pedal.
L
YES >> GO TO 2.
NO >> Check parking brake switch. Refer to BRC-76, "Diagnosis Procedure". M
Is the inspection result normal? N
YES >> GO TO 3.
O
tion". P
BRC-81
ESP OFF INDICATOR LAMP
ESP OFF INDICATOR LAMP
×: ON –: OFF
Condition ESP OFF indicator lamp

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

YES >> GO TO 2.
2.ESP OFF INDICATOR LAMP OPERATION CHECK 2
Check that the ESP OFF indicator lamp in the combination meter turns ON/OFF correctly when operating the
ESP OFF switch.
NO >> Check ESP OFF switch. Refer to BRC-78, "Diagnosis Procedure".

Perform the trouble diagnosis for ESP OFF switch. Refer to BRC-78, "Diagnosis Procedure".
YES >> GO TO 2.
NO >> Check ESP OFF switch. Refer to BRC-78, "Diagnosis Procedure".
YES >> GO TO 3.
tion".
BRC-82
SLIP INDICATOR LAMP
SLIP INDICATOR LAMP
A
×: ON : Blink –: OFF B
Condition SLIP indicator lamp
C

ESP/TCS is activated while driving. D
ESP/TCS function is malfunctioning. ×
E
BRC
1.CHECK SLIP INDICATOR LAMP OPERATION
Is the inspection result normal? G
H
1.CHECK SELF-DIAGNOSIS I
YES >> GO TO 2. J
K
tion".
L
M
BRC-83
ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< ECU DIAGNOSIS > [ESP/TCS/ABS]
ECU DIAGNOSIS
Reference Value INFOID:0000000004109838
VALUES ON THE DIAGNOSIS TOOL

CAUTION:
The display shows the control unit calculation data, so a normal value might be displayed even in the
event the output circuit (harness) is open or short-circuited.
Data monitor
Monitor item Display content Reference value in
Condition
normal operation
FR LH SENSOR Wheel speed Nearly matches the

Vehicle running (Note 1) speedometer dis-
play (± 10% or less)
FR RH SENSOR Wheel speed Nearly matches the

RR LH SENSOR Wheel speed Nearly matches the

RR RH SENSOR Wheel speed Nearly matches the

When brake pedal is depressed On
STOP LAMP SW Brake pedal operation
When brake pedal is not depressed Off
Battery voltage supplied to the ABS actuator
BATTERY VOLT Ignition switch ON 10 – 16 V
and electric unit (control unit)
P
R
CVT shift position
N
SLCT LVR POSI Select shift position (P, R, N, D, L)
D
L
Manual mode ##
ESP OFF switch ON
On
(When ESP OFF indicator lamp is ON)
OFF SW ESP OFF switch ON/OFF status
ESP OFF switch OFF
Off
(When ESP OFF indicator lamp is OFF)
Yaw rate detected by yaw rate/side/decel sen- Vehicle stopped Approx. 0 d/s
YAW RATE SEN
sor Vehicle running −100 to 100 d/s
Decel G detected by yaw rate/side/decel G Vehicle stopped Approx. 0 G

DECEL G-SEN
sensor Vehicle running −1.7 – +1.7 G
Accelerator pedal not depressed
0%
Open/Close condition of throttle valve (Engine stopped)
ACCEL POS SIG
(Linked with accelerator pedal) Depress accelerator pedal
0 - 100 %
(Engine stopped)
BRC-84
Data monitor
Monitor item Display content A
Reference value in
Condition
normal operation
Transverse G detected by yaw rate/side/decel Vehicle stopped Approx. 0 m/s2

SIDE G-SENSOR B
G sensor Vehicle running − 16.7 – 16.7 m/s2
Driving straight −3.5 – +3.5°
Steering angle detected by steering angle C
STR ANGLE SIG Turn 90 ° to right Approx. −90 °
sensor
Turn 90 ° to left Approx. +90 °
With engine stopped 0 [tr/min (rpm)]
D
ENGINE RPM With engine running Almost in accor-
Engine running dance with tachome-
ter display
E
When brake fluid level switch ON On
FLUID LEV SW Brake fluid level switch signal status
When brake fluid level switch OFF Off
Actuator (solenoid valve) is active (“AC- BRC
On
TIVE TEST” with CONSULT-III)
FR RH IN SOL Operation status of each solenoid valve When the actuator (solenoid valve) is
not active and actuator relay is active Off
(ignition switch ON)
G
Actuator (solenoid valve) is active (“AC-

On
FR RH OUT SOL Operation status of each solenoid valve
H
When the actuator (solenoid valve) is
Actuator (solenoid valve) is active (“AC- I
On
FR LH IN SOL Operation status of each solenoid valve When the actuator (solenoid valve) is
not active and actuator relay is active Off J
On
TIVE TEST” with CONSULT-III) K
FR LH OUT SOL Operation status of each solenoid valve When the actuator (solenoid valve) is
L
On
RR RH IN SOL Operation status of each solenoid valve When the actuator (solenoid valve) is
M
On N
RR RH OUT SOL Operation status of each solenoid valve When the actuator (solenoid valve) is
(ignition switch ON) O
On
RR LH IN SOL Operation status of each solenoid valve When the actuator (solenoid valve) is P
On
RR LH OUT SOL Operation status of each solenoid valve When the actuator (solenoid valve) is
BRC-85
Data monitor
Monitor item Display content Reference value in
Condition
normal operation
Ignition switch ON or engine running
On
(ABS operated)
MOTOR RELAY Motor and motor relay operation
Ignition switch ON or engine running
Off
(ABS not operated)
Vehicle stopped
On
(Engine running)
ACTUATOR RLY Actuator relay operation
Vehicle stopped
Off
(Ignition switch ON)
ABS warning lamp When ABS warning lamp is ON On

ABS WARN LAMP
(Note 2) When ABS warning lamp is OFF Off
ESP OFF indicator lamp When ESP OFF indicator lamp is ON On

OFF LAMP
(Note 2) When ESP OFF indicator lamp is OFF Off
When SLIP indicator lamp is ON
SLIP indicator lamp On
SLIP LAMP When SLIP indicator lamp is blinking
(Note 2)
When SLIP indicator lamp is OFF Off
EBD is active On
EBD SIGNAL EBD operation
EBD is inactive Off
ABS is active On
ABS SIGNAL ABS operation
ABS is inactive Off
TCS is active On
TCS SIGNAL TCS operation
TCS is inactive Off
ESP is active On
VDC SIGNAL ESP operation
ESP is inactive Off
In EBD fail-safe On
EBD FAIL SIG EBD fail-safe signal
EBD is normal Off
In ABS fail-safe On
ABS FAIL SIG ABS fail-safe signal
ABS is normal Off
In TCS fail-safe On
TCS FAIL SIG TCS fail-safe signal
TCS is normal Off
In ESP fail-safe On
VDC FAIL SIG ESP fail-safe signal
ESP is normal Off
On
CV1 Operation status of each solenoid valve When the actuator (solenoid valve) is
On
CV2 Operation status of each solenoid valve When the actuator (solenoid valve) is
On
SV1 Operation status of each solenoid valve When the actuator (solenoid valve) is
BRC-86
Data monitor
Monitor item Display content A
Reference value in
Condition
normal operation
On B
SV2 Operation status of each solenoid valve When the actuator (solenoid valve) is
(ignition switch ON) C
With ignition switch ON and brake pedal
Approx. 0 bar
Brake fluid pressure detected by pressure released
PRESS SENSOR
sensor With ignition switch ON and brake pedal D
0 – 170 bar
depressed
When brake warning lamp is ON On
EBD WARN LAMP Brake warning lamp (Note 2, Note 3)
When brake warning lamp is OFF Off E
ETS fail On
4WD FAIL REQ ETS fail status
ETS normal Off
BRC
2WD model 2WD
2WD/4WD Drive axle
4WD model 4WD
NOTE: G
• 1: Confirm tire pressure is normal.
• 2: On and off timing for warning lamp and indicator lamp.
- ABS warning lamp: Refer to BRC-80, "Description". H
- Brake warning lamp: Refer to BRC-81, "Description".
- ESP OFF indicator lamp: Refer to BRC-82, "Description".
- SLIP indicator lamp: Refer to BRC-83, "Description". I
• 3: Serves as EBD warning lamp.
BRC-87
Wiring Diagram -BRAKE CONTROL SYSTEM- INFOID:0000000004109839
JCFWA0155GB
BRC-88
BRC
JCFWA0156GB
BRC-89
JCFWA0157GB
BRC-90
BRC
JCFWA0158GB
BRC-91
JCFWA0159GB
Fail-Safe INFOID:0000000004109840
ABS, EBD SYSTEM

If ABS malfunction electrically, ABS warning lamp, ESP OFF indicator lamp, SLIP indicator lamp will turn on. If
EBD malfunction electrically, brake warning lamp, ABS warning lamp, ESP OFF indicator lamp and SLIP indi-
cator lamp will turn on. Simultaneously, the ESP/TCS/ABS become one of the following conditions of the fail-
safe function.
BRC-92
• For malfunction of ABS, only the EBD is activated and the condition of vehicle is the same condition of vehi-
cles without TCS/ABS system. A
NOTE:
ABS self-diagnosis sound may be heard. That is a normal condition because a self-diagnosis for “Ignition
switch ON” and “The first starting” are being performed.
B
• 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.
ESP/TCS C
If ESP/TCS/ABS system malfunction electrically, ESP OFF indicator lamp, SLIP indicator lamp are turned on,
and the condition of vehicle is the same as the condition of vehicles without ESP/TCS control.
CAUTION:
If the Fail-Safe function is activated, then perform self-diagnosis for ESP/TCS/ABS control system. D
DTC No. Index INFOID:0000000004109841
E
DTC Items (CONSULT screen terms) Reference
BRC
BRC-32, "DTC Logic"
C1104 FR LH SENSOR-1 G
BRC-35, "DTC Logic" H
C1109 BATTERY VOLTAGE [ABNORMAL] BRC-38, "DTC Logic" I
C1110 CONTROLLER FAILURE BRC-40, "DTC Logic"
C1111 PUMP MOTOR BRC-41, "DTC Logic"
J
C1113 G SENSOR BRC-43, "DTC Logic"
C1115 ABS SENSOR [ABNORMAL SIGNAL] BRC-46, "DTC Logic"
C1116 STOP LAMP SW BRC-49, "DTC Logic" K
C1120 FR LH IN ABS SOL BRC-51, "DTC Logic"
C1121 FR LH OUT ABS SOL BRC-53, "DTC Logic"
C1122 FR RH IN ABS SOL BRC-51, "DTC Logic" L
C1123 FR RH OUT ABS SOL BRC-53, "DTC Logic"
C1124 RR LH IN ABS SOL BRC-51, "DTC Logic"
M
C1125 RR LH OUT ABS SOL BRC-53, "DTC Logic"
C1126 RR RH IN ABS SOL BRC-51, "DTC Logic"
C1127 RR RH OUT ABS SOL BRC-53, "DTC Logic" N
C1130 ENGINE SIGNAL 1 BRC-55, "DTC Logic"
O
C1136 ENGINE SIGNAL 6 BRC-55, "DTC Logic" P
C1140 ACTUATOR RLY BRC-57, "DTC Logic"
C1142 PRESS SEN CIRCUIT BRC-57, "DTC Logic"
C1143 ST ANG SEN CIRCUIT BRC-61, "DTC Logic"
C1144 ST ANG SEN SIGNAL BRC-63, "DTC Logic"
BRC-93
DTC Items (CONSULT screen terms) Reference
C1145 YAW RATE SENSOR
BRC-43, "DTC Logic"
C1146 SIDE G-SEN CIRCUIT
C1155 BR FLUID LEVEL LOW BRC-64, "DTC Logic"
C1156 ST ANG SEN COM CIR BRC-66, "DTC Logic"
C1160 DECEL G SEN SET BRC-68, "DTC Logic"
C1164 CV1
BRC-69, "DTC Logic"
C1165 CV2
C1166 SV1
BRC-71, "DTC Logic"
C1167 SV2
C1170 VARIANT CODING BRC-40, "DTC Logic"
U1000 CAN COMM CIRCUIT BRC-73, "DTC Logic"
BRC-94
EXCESSIVE ABS FUNCTION OPERATION FREQUENCY
< SYMPTOM DIAGNOSIS > [ESP/TCS/ABS]
SYMPTOM DIAGNOSIS A
EXCESSIVE ABS FUNCTION OPERATION FREQUENCY
B
1.CHECK START
Check front and rear brake force distribution using a brake tester. C
• LHD models: Refer to BR-45, "General Specifications".
• RHD models: Refer to BR-88, "General Specifications".
YES >> GO TO 2.
NO >> Check brake system.
2.CHECK FRONT AND REAR AXLE E
Make sure that there is no excessive play in the front and rear axles.
• Front: Refer to FAX-6, "Inspection".
• Rear: Refer to RAX-5, "Inspection". BRC
YES >> GO TO 3.
NO >> Repair or replace damaged parts. G
3.CHECK WHEEL SENSOR AND SENSOR ROTOR
Check the following. H
• Wheel sensor installation for damage.
• Sensor rotor installation for damage.
• Wheel sensor connector connection.
• Wheel sensor harness inspection. I
YES >> GO TO 4.
NO >> • Replace wheel sensor or sensor rotor. J
• Repair harness.
4.CHECK ABS WARNING LAMP DISPLAY K
Make sure that the ABS warning lamp is turned off after the ignition switch is turned ON or when driving.
Is the ABS warning lamp illuminated?
YES >> Perform self-diagnosis. L
NO >> Normal
BRC-95
UNEXPECTED PEDAL REACTION
UNEXPECTED PEDAL REACTION
1.CHECK BRAKE PEDAL STROKE

Check brake pedal stroke.
Is the stroke too large?
YES >> • Bleed air from brake tube and hose.
- LHD models: Refer to BR-11, "Bleeding Brake System".
- RHD models: Refer to BR-54, "Bleeding Brake System".
• Check brake pedal, brake booster, and master cylinder for mount play, looseness, brake system
fluid leakage, etc.
- Brake pedal
- Brake master cylinder
- Brake booster
NO >> GO TO 2.
2.CHECK FUNCTION
Disconnect ABS actuator and electric unit (control unit) connector to deactivate ABS. Check if braking force is
normal in this condition. Connect connector after inspection.
YES >> Normal
BRC-96
THE BRAKING DISTANCE IS LONG
THE BRAKING DISTANCE IS LONG
A
CAUTION: B
The stopping distance on slippery road surfaces might be longer with the ABS operating than when
the ABS is not operating.
1.CHECK FUNCTION C
Turn the ignition switch OFF and disconnect ABS actuator and electric unit (control unit) connector to deacti-
vate ABS. In this condition, check stopping distance. After inspection, connect connector.
YES >> Normal
E
BRC
BRC-97
ABS FUNCTION DOES NOT OPERATE
ABS FUNCTION DOES NOT OPERATE
CAUTION:
ABS does not operate when speed is 10 km/h (6 MPH) or lower.
1.CHECK ABS WARNING LAMP DISPLAY
Make sure that the ABS warning lamp turns OFF after ignition switch is turned ON or when driving.
YES >> Normal
NO >> Perform self-diagnosis.
BRC-98
PEDAL VIBRATION OR ABS OPERATION SOUND OCCURS
PEDAL VIBRATION OR ABS OPERATION SOUND OCCURS
A
CAUTION: B
Under the following conditions, ABS is activated and vibration is felt when brake pedal is lightly
depressed (just place a foot on it).However, this is normal.
• When shifting gears
• When driving on slippery road C
• During cornering at high speed
• When passing over bumps or grooves [at approximately 50 mm (1.97 in) or more]
• When pulling away just after starting engine [at approximately 10 km/h (6 MPH) or higher] D
1.SYMPTOM CHECK 1
Check that there are pedal vibrations when the engine is started.
E
Do vibrations occur?
YES >> GO TO 2.
NO >> Inspect the brake pedal.
BRC
2.SYMPTOM CHECK 2
Check that there are ABS operation noises when the engine is started.
Do the operation noises occur? G
YES >> GO TO 3.
NO >> Perform self-diagnosis.
3.SYMPTOM CHECK 3 H
Check symptoms when electrical component (headlamps, etc.) switches are operated.
Do symptoms occur? I
YES >> Check if there is a radio, antenna, antenna lead wire, or wiring close to the control unit. If there is,
move it farther away.
NO >> Normal J
BRC-99
VEHICLE JERKS DURING ESP/TCS/ABS CONTROL
VEHICLE JERKS DURING ESP/TCS/ABS CONTROL
1.SYMPTOM CHECK
Check if the vehicle jerks during ESP/TCS/ABS control.
YES >> Normal.
NO >> GO TO 2.
2.CHECK SELF-DIAGNOSIS RESULTS
Perform self-diagnostic of ABS actuator and electric unit (control unit).
Are self-diagnosis results indicated?
YES >> Check corresponding items, make repairs, and perform ABS actuator and electric unit (control
unit) self-diagnosis.
NO >> GO TO 3.
3.CHECK CONNECTOR
• Turn the ignition switch OFF and disconnect ABS actuator and electric unit (control unit) connector and
check terminal for deformation, disconnection, looseness, etc.
• Securely connect connectors and perform ABS actuator and electric unit (control unit) self-diagnosis.
YES >> If poor contact, damage, open or short circuit of connector terminal is found, repair or replace.
NO >> GO TO 4.
4.CHECK ECM AND TCM SELF-DIAGNOSIS RESULTS
Perform ECM self-diagnosis and TCM self-diagnosis.
YES >> Check the corresponding items.
NO >> Replace ABS actuator and electric unit (control unit).
BRC-100
NORMAL OPERATING CONDITION
NORMAL OPERATING CONDITION
A
B
Symptom Result
Slight vibrations are felt on the brake pedal and the operation noises occur, when ESP, TCS or ABS is acti-
vated.
C
This is a normal condi-
Stopping distance is longer than that of vehicles without ABS when the vehicle drives on rough, gravel, or
tion due to the ESP,
TCS or ABS activation.
The brake pedal moves and generates noises, when TCS or ESP is activated due to rapid acceleration or D
sharp turn.
This is a normal, and it is
The brake pedal vibrates and motor operation noises occur from the engine room, after the engine starts and
caused by the ABS op-
just after the vehicle starts.
eration check.
E
Depending on the road conditions, the driver may experience a sluggish feel. This is normal, because
TCS places the highest
TCS may activate momentarily if wheel speed changes when driving over location where friction coefficient priority on the optimum BRC
varies, when downshifting, or when fully depressing accelerator pedal. traction (stability).
The ABS warning lamp, ESP OFF indicator lamp and SLIP indicator lamp may turn ON when the vehicle is
In this case, restart the
subject to strong shaking or large vibration, such as when the vehicle is rotating on a turntable or located on G
engine on a normal
a ship while the engine is running.
road. If the normal con-
ESP may not operate normally or the ABS warning lamp, ESP OFF indicator lamp, and SLIP indicator lamp dition is restored, there
may illuminate, when running on a special road that is extremely slanted (e.g. bank in a circuit course). is no malfunction. At
H
that time, erase the self-
A malfunction may occur in the yaw rate/side G sensor system, when the vehicle turns sharply, such as dur-
diagnosis memory.
ing a spin turn, axle turn, or drift driving, while the ESP function is off (ESP OFF indicator lamp illuminated).
Normal (Deactivate the I
ESP/TCS function be-
The vehicle speed will not increase even though the accelerator pedal is depressed, when inspecting the
fore performing an in-
speedometer on a 2-wheel chassis dynamometer.
spection on a chassis
dynamometer.) J
BRC-101
PRECAUTIONS
< PRECAUTION > [ESP/TCS/ABS]
PRECAUTION
PRECAUTIONS
Precaution for Supplemental Restraint System (SRS) "AIR BAG" and "SEAT BELT
PRE-TENSIONER" INFOID:0000000004404287
The Supplemental Restraint System such as “AIR BAG” and “SEAT BELT PRE-TENSIONER”, used along
with a front seat belt, helps to reduce the risk or severity of injury to the driver and front passenger for certain
types of collision. This system includes seat belt switch inputs and dual stage front air bag modules. The SRS
system uses the seat belt switches to determine the front air bag deployment, and may only deploy one front
air bag, depending on the severity of a collision and whether the front occupants are belted or unbelted.
Information necessary to service the system safely is included in the “SRS AIRBAG” and “SEAT BELT” of this
Service Manual.
WARNING:
• To avoid rendering the SRS inoperative, which could increase the risk of personal injury or death in
the event of a collision which would result in air bag inflation, all maintenance must be performed by
an authorized NISSAN/INFINITI dealer.
• Improper maintenance, including incorrect removal and installation of the SRS, can lead to personal
injury caused by unintentional activation of the system. For removal of Spiral Cable and Air Bag
Module, see the “SRS AIRBAG”.
• Never use electrical test equipment on any circuit related to the SRS unless instructed to in this Ser-
vice Manual. SRS wiring harnesses can be identified by yellow and/or orange harnesses or harness
connectors.
Precaution for Procedure without Cowl Top Cover INFOID:0000000004404288
When performing the procedure after removing cowl top cover, cover
the lower end of windshield with urethane, etc.
PIIB3706J
Precaution for Brake System INFOID:0000000004109851
WARNING:
Clean any dust from the front brake and rear brake with a vacuum dust collector. Never blow with com-
pressed air.
CAUTION:
• Only use “DOT 3” or “DOT 4” brake fluid. Refer to MA-11, "Fluids and Lubricants".
• Never reuse drained brake fluid.
• Never spill or splash brake fluid on painted surfaces. Brake fluid may seriously damage paint. Wipe it
off immediately and wash with water if it gets on a painted surface.
• Never use mineral oils such as gasoline or light oil to clean. They may damage rubber parts and
cause improper operation.
• Always loosen the brake tube flare nut with a flare nut wrench.
BRC-102
PRECAUTIONS
< PRECAUTION > [ESP/TCS/ABS]
• Tighten the brake tube flare nut to the specified torque with
flare nut torque wrench (A). A
• Always confirm the specified tightening torque when install-
ing the brake pipes.
• Turn the ignition switch OFF and disconnect the ABS actuator
B
and electric unit (control unit) connector or the battery nega-
tive terminal before performing the work.
• Check that no brake fluid leakage is present after replacing
the parts. C
JPFIA0061ZZ
D
Precaution for Brake Control INFOID:0000000004109852
• When starting engine or when starting vehicle just after starting engine, brake pedal may vibrate or motor
operating noise may be heard from engine compartment. This is normal condition. E
• When an error is indicated by ABS or another warning lamp, collect all necessary information from customer
(what symptoms are present under what conditions) and check for estimate causes before starting diagnos-
tic servicing. Besides electrical system inspection, check brake booster operation, brake fluid level, and oil BRC
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.
• ABS might be out of order or malfunctions by putting a radio (wiring inclusive), an antenna and a lead-in wire G
near the control unit.
• If aftermarket parts (car stereo, CD player, etc.) have been installed, check for incidents such as harness
pinches, open circuits, and improper wiring. H
• ESP system may not operate normally or a ESP OFF indicator lamp or SLIP indicator lamp may light.
- When replacing the following parts with parts other than genuine parts or making modifications: Suspension-
related parts (shock absorber, spring, bushing, etc.), tires, wheels (other than specified sizes), brake-related
parts (pad, rotor, caliper, etc.), engine-related parts (muffler, ECM, etc.) and body reinforcement-related parts I
(roll bar, tower bar, etc.).
- When driving with worn or deteriorated suspension, tires and brake-related parts.
J
BRC-103
WHEEL SENSOR
< ON-VEHICLE REPAIR > [ESP/TCS/ABS]
ON-VEHICLE REPAIR
WHEEL SENSOR
FRONT WHEEL SENSOR
FRONT WHEEL SENSOR : Exploded View INFOID:0000000004109853
JSFIA0190GB
1. Front LH wheel sensor connector 2. Front LH wheel sensor
B. Color line (slant line)

: Vehicle front
Refer to GI-4, "Components" for symbol in the figure.
NOTE:
The above figure (front side) shows left side. Right side is the mirror image.
FRONT WHEEL SENSOR : Removal and Installation INFOID:0000000004109854
REMOVAL
Be careful with the following when removing sensor.
CAUTION:
• Do not twist sensor harness as much as possible, when removing it. Pull sensors out without pulling
sensor harness.
• Be careful to avoid damaging sensor edges or rotor teeth. Remove wheel sensor first before remov-
ing front or rear wheel hub. This is to avoid damage to sensor wiring and loss of sensor function.
• When you see the harness of the wheel sensor from the front side of the vehicle ensure that the
color lines (B) are not twisted.
INSTALLATION
Be careful with the following when installing wheel sensor. Tighten installation bolts to the specified torques.
• When installing, make sure there is no foreign material such as iron chips on and in the mounting hole of the
wheel sensor. Make sure no foreign material has been caught in the sensor rotor. Remove any foreign mate-
rial and clean the mount.
BRC-104
WHEEL SENSOR
• When installing wheel sensor, be sure to press rubber grommets in until they lock at locations shown above
in the figure. When installed, harness must not be twisted. A
REAR WHEEL SENSOR
REAR WHEEL SENSOR : Exploded View INFOID:0000000004109855
B
BRC
JSFIA0191GB J
1. Rear RH wheel sensor 2. Rear RH wheel sensor connector 3. Rear LH wheel sensor connector
4. Rear LH wheel sensor
K
C. Color line (slant line)
: Vehicle front
L
REAR WHEEL SENSOR : Removal and Installation INFOID:0000000004109856
M
REMOVAL
Be careful with the following when removing sensor.
CAUTION: N
• Do not twist sensor harness as much as possible, when removing it. Pull sensors out without pulling
sensor harness.
• Be careful to avoid damaging sensor edges or rotor teeth. Remove wheel sensor first before remov-
ing front or rear wheel hub. This is to avoid damage to sensor wiring and loss of sensor function. O
INSTALLATION
Be careful with the following when installing wheel sensor. Tighten installation bolts to the specified torques. P
• When installing, make sure there is no foreign material such as iron chips on and in the mounting hole of the
wheel sensor. Make sure no foreign material has been caught in the sensor rotor. Remove any foreign mate-
rial and clean the mount.
• When installing wheel sensor, be sure to press rubber grommets in until they lock at locations shown above
in the figure. When installed, harness must not be twisted.
BRC-105
SENSOR ROTOR
SENSOR ROTOR
FRONT SENSOR ROTOR
FRONT SENSOR ROTOR : Exploded View INFOID:0000000004109857
Refer to FAX-8, "Exploded View".

FRONT SENSOR ROTOR : Removal and Installation INFOID:0000000004109858
REMOVAL
Sensor rotor cannot be disassembled. Remove the sensor rotor together with hub bearing assembly. Refer to
FAX-8, "Removal and Installation".
INSTALLATION
Sensor rotor cannot be disassembled. Install the sensor rotor together with hub bearing assembly. Refer to
FAX-8, "Removal and Installation".
REAR SENSOR ROTOR
REAR SENSOR ROTOR : Exploded View INFOID:0000000004109859
Refer to RAX-7, "Exploded View".

REAR SENSOR ROTOR : Removal and Installation INFOID:0000000004109860
REMOVAL
Sensor rotor cannot be disassembled. Remove the sensor rotor together with hub bearing assembly. Refer to
RAX-7, "Removal and Installation".
INSTALLATION
Sensor rotor cannot be disassembled. Install the sensor rotor together with hub bearing assembly. Refer to
RAX-7, "Removal and Installation".
BRC-106
A
Exploded View INFOID:0000000004109861
LHD MODELS B
BRC
I
JSFIA0192GB
1. ABS actuator and electric unit (control 2. Bracket J

unit)
A. To rear RH brake caliper B. To rear LH brake caliper C. From master cylinder primary side
K
D. To front RH brake caliper E. To front LH brake caliper F. From master cylinder secondary side
: Vehicle front
L
BRC-107
RHD MODELS
JSFIA0399GB
1. ABS actuator and electric unit (control 2. Bracket

unit)
A. From master cylinder primary side B. To front RH brake caliper C. To front LH brake caliper
D. From master cylinder secondary side E. To rear RH brake caliper F. To rear LH brake caliper
: Vehicle front
Removal and Installation INFOID:0000000004109862
REMOVAL
CAUTION:
• Before servicing, disconnect the battery cable from negative terminal.
• To remove brake tube, use a flare nut wrench to prevent flare nuts and brake tube from being dam-
aged. To install, use flare nut crowfoot and torque wrench.
• Do not apply excessive impact to ABS actuator and electric unit (control unit), such as dropping it.
• Do not remove and install actuator by holding harness.
1. Remove cowl top. Refer to EXT-22, "Exploded View".
3. Loosen brake tube flare nuts, then remove brake tubes from ABS actuator and electric unit (control unit).
4. Remove ABS actuator and electric unit (control unit) bracket mounting bolts.
5. Remove ABS actuator and electric unit (control unit) from vehicle.
INSTALLATION
Note the following, and install in the reverse order of removal.
CAUTION:
• Before servicing, disconnect the battery cable from negative terminal.
• To remove brake tube, use a flare nut wrench to prevent flare nuts and brake tube from being dam-
aged. To install, use flare nut crowfoot and torque wrench.
• Do not apply excessive impact to ABS actuator and electric unit (control unit), such as dropping it.
• Do not remove and install actuator by holding harness.
BRC-108
• After work is completed, bleed air from brake tube. Refer to BR-11, "Bleeding Brake System" (LHD
models), BR-54, "Bleeding Brake System" (RHD models). A
• After installing harness connector in the ABS actuator and electric unit (control unit), make sure
connector is securely locked.
• After removing/replacing an ABS actuator and electric unit (control unit), be sure to perform the fol-
B
lowing procedure.
- Calibration of decel G sensor: Refer to BRC-9, "CALIBRATION OF DECEL G SENSOR : Description". C
Install ABS actuator and electric unit (control unit) as per the following steps.
LHD MODELS
1. Temporarily tighten mounting bolt (1) because the bracket (2) is D
temporarily being hold.
2. Tighten mounting bolt (3) while holding the bracket.
E
3. Tighten mounting bolts to the specified torque in the order of (4),
(1).
BRC
G
JSFIA0400ZZ
RHD MODELS
1. Temporarily tighten mounting bolt (1) because the bracket (2) is H
temporarily being hold.
2. Tighten mounting bolt (3) while holding the bracket.
3. Tighten mounting bolts to the specified torque in the order of (4), I
(1).
JSFIA0401ZZ K
BRC-109
G SENSOR
G SENSOR
JSFIA0193GB
1. Yaw rate/side/decel G sensor 2. Connector
: Vehicle front
REMOVAL
CAUTION:
Do not drop or strike yaw rate/side/decel G sensor, or do not use power tool etc., because yaw rate/
side/decel G sensor is sensitive to the impact.
1. Remove center console assembly. Refer to IP-19, "Exploded View".
2. Disconnect yaw rate/side/decel G sensor harness connector.
3. Remove mounting nuts.
4. Remove yaw rate/side/decel G sensor.
INSTALLATION
CAUTION:
• Do not drop or strike yaw rate/side/decel G sensor, or do not use power tool etc., because yaw rate/
side/decel G sensor is sensitive to the impact.
• After work, make sure to calibration of decel G sensor. Refer to BRC-9, "CALIBRATION OF DECEL G
SENSOR : Description".
BRC-110
STEERING ANGLE SENSOR
STEERING ANGLE SENSOR
A
JSFIA0003ZZ
E
1. Steering angle sensor
: Vehicle front BRC
G
REMOVAL
1. Remove spiral cable assembly. Refer to SR-9, "Exploded View".
2. Remove steering angle sensor from spiral cable assembly. H
INSTALLATION
CAUTION: I
After work, make sure to adjust neutral position of steering angle sensor. Refer to BRC-8, "ADJUST-
MENT OF STEERING ANGLE SENSOR NEUTRAL POSITION : Description".
J
BRC-111

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BRAKES

BASIC INSPECTION .................................... 4 EBD ................................................................... 23

PRECAUTIONS FOR DIAGNOSIS

2.PERFORM THE SELF-DIAGNOSIS

Situation Adjustment of steering angle sensor neutral position

ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION : Special Re-

ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION

STR ANGLE SIG : 0±2.5°

CALIBRATION OF DECEL G SENSOR K

DECEL G-SEN : ±0.08 G

1. Steering angle sensor 2. ABS warning lamp 3. Brake warning lamp

1. Steering angle sensor 2. ABS warning lamp 3. Brake warning lamp

Component Description INFOID:0000000004109706

Component parts Reference

System Description INFOID:0000000004109708

1. Steering angle sensor 2. ABS warning lamp 3. Brake warning lamp

1. Steering angle sensor 2. ABS warning lamp 3. Brake warning lamp

Component Description INFOID:0000000004109960

Component parts Reference

System Description INFOID:0000000004109712

1. Steering angle sensor 2. ABS warning lamp 3. Brake warning lamp

1. Steering angle sensor 2. ABS warning lamp 3. Brake warning lamp

Component Description INFOID:0000000004109963

Component parts Reference

System Description INFOID:0000000004109716

1. Steering angle sensor 2. ABS warning lamp 3. Brake warning lamp

1. Steering angle sensor 2. ABS warning lamp 3. Brake warning lamp

Component Description INFOID:0000000004109966

Component parts Reference

How to Erase Self-diagnosis Results

ABS SOLENOID VALVE

ABS SOLENOID VALVE (ACT)

FR RH ABS SOLENOID FR RH OUT SOL Off Off Off

FR LH ABS SOLENOID FR LH OUT SOL Off Off Off

RR RH ABS SOLENOID RR RH OUT SOL Off Off Off

RR LH ABS SOLENOID RR LH OUT SOL Off Off Off

ECU PART NUMBER

DTC DETECTION LOGIC

DTC Display item Malfunction detected condition Possible cause

DTC CONFIRMATION PROCEDURE

ABS actuator and electric unit (control unit)

1.CHECK DATA MONITOR

Wheel sensor Condition Vehicle speed (DATA MONITOR)

1.ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION, CALIBRATION OF DECEL G

DTC Display item Malfunction detected condition Possible cause D

DTC CONFIRMATION PROCEDURE G

1.DTC REPRODUCTION PROCEDURE

Measurement terminal for power supply circuit

ABS actuator and electric unit (control unit)

Wheel sensor Condition Vehicle speed (DATA MONITOR)

1.ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION, CALIBRATION OF DECEL G L

DTC DETECTION LOGIC

DTC Display item Malfunction detected condition Possible cause

DTC CONFIRMATION PROCEDURE

ABS actuator and electric unit (control unit)

ABS actuator and electric unit (control unit) IPDM E/R

ABS actuator and electric unit (control unit) B

1.ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION, CALIBRATION OF DECEL G