Brake Control System

BRAKES
SECTION
BRAKE CONTROL SYSTEM
BRC B
E
CONTENTS
ABS C1109 POWER AND GROUND SYSTEM ........ 26 BRC
Description ...............................................................26
BASIC INSPECTION .................................... 6 DTC Logic ................................................................26
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Diagnosis Procedure ...............................................26 G
DIAGNOSIS AND REPAIR WORKFLOW .......... 6
Work Flow ................................................................. 6 C1110, C1153 ABS ACTUATOR AND ELEC-
Diagnostic Work Sheet .............................................. 8 TRIC UNIT (CONTROL UNIT) .......................... 28
H
Description ...............................................................28
FUNCTION DIAGNOSIS ............................... 9 DTC Logic ................................................................28
ABS ..................................................................... 9 Diagnosis Procedure ...............................................28
I
System Diagram ........................................................ 9 C1111 ABS MOTOR, MOTOR RELAY SYS-
System Description ................................................... 9 TEM ................................................................... 29
Component Parts Location ........................................ 9
Description ...............................................................29 J
Component Description ........................................... 11
DTC Logic ................................................................29
EBD ....................................................................13 Diagnosis Procedure ...............................................29
System Diagram ...................................................... 13 Component Inspection .............................................30
K
System Description ................................................. 13 C1113 G SENSOR ............................................ 31
Component Parts Location ...................................... 13 Description ...............................................................31
Component Description ........................................... 15 DTC Logic ................................................................31 L
DIAGNOSIS SYSTEM [ABS ACTUATOR Diagnosis Procedure ...............................................31
AND ELECTRIC UNIT (CONTROL UNIT)] ........17 Component Inspection .............................................32
CONSULT-III Function (ABS) ................................. 17 C1114 ACTUATOR RELAY SYSTEM .............. 33 M
Description ...............................................................33
COMPONENT DIAGNOSIS ......................... 20
DTC Logic ................................................................33
C1101, C1102, C1103, C1104 WHEEL SEN- Diagnosis Procedure ...............................................33 N
SOR-1 .................................................................20 Component Inspection .............................................34
Description .............................................................. 20 C1115 WHEEL SENSOR .................................. 35
DTC Logic ............................................................... 20 O
Description ...............................................................35
Diagnosis Procedure ............................................... 20
DTC Logic ................................................................35
Component Inspection ............................................ 22 Diagnosis Procedure ...............................................35
C1105, C1106, C1107, C1108 WHEEL SEN- Component Inspection .............................................36 P
SOR-2 .................................................................23 C1116 STOP LAMP SWITCH ........................... 38
Description .............................................................. 23 Description ...............................................................38
DTC Logic ............................................................... 23 DTC Logic ................................................................38
Diagnosis Procedure ............................................... 23 Diagnosis Procedure ...............................................38
Component Inspection ............................................ 24 Component Inspection .............................................39
BRC-1
C1120, C1122, C1124, C1126 IN ABS SOL ..... 40 PEDAL VIBRATION OR ABS OPERATION
Description .............................................................. 40 SOUND OCCURS .............................................. 62
DTC Logic ............................................................... 40 Diagnosis Procedure ............................................... 62
Diagnosis Procedure .............................................. 40
Component Inspection ............................................ 41 NORMAL OPERATING CONDITION ................ 63
Description .............................................................. 63
C1121, C1123, C1125, C1127 OUT ABS SOL... 42
Description .............................................................. 42 PRECAUTION ............................................ 64
DTC Logic ............................................................... 42
Diagnosis Procedure .............................................. 42 PRECAUTIONS ................................................. 64
Component Inspection ............................................ 43 Precaution for Supplemental Restraint System
(SRS) "AIR BAG" and "SEAT BELT PRE-TEN-
U1000 CAN COMM CIRCUIT ............................ 44 SIONER" Service .................................................... 64
Description .............................................................. 44 Precaution for Brake System .................................. 64
DTC Logic ............................................................... 44 Precaution for Brake Control ................................... 64
PREPARATION .......................................... 66
BRAKE FLUID LEVEL SWITCH ....................... 45
Description .............................................................. 45 PREPARATION ................................................. 66
Component Function Check ................................... 45 Special Service Tool ............................................... 66
ON-VEHICLE REPAIR ............................... 67
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Component Inspection ............................................ 46
PARKING BRAKE SWITCH .............................. 47 WHEEL SENSOR .............................................. 67

Description .............................................................. 47 FRONT WHEEL SENSOR ........................................ 67
Diagnosis Procedure .............................................. 47 FRONT WHEEL SENSOR : Exploded View ........... 67
Component Function Check ................................... 47 FRONT WHEEL SENSOR : Removal and Instal-
Component Inspection ............................................ 47 lation ....................................................................... 67
ABS WARNING LAMP ...................................... 49 REAR WHEEL SENSOR ........................................... 67
Description .............................................................. 49 REAR WHEEL SENSOR : Exploded View ............. 67
Component Function Check ................................... 49 REAR WHEEL SENSOR : Removal and Installa-
Diagnosis Procedure .............................................. 49 tion .......................................................................... 68
BRAKE WARNING LAMP ................................. 50 SENSOR ROTOR .............................................. 69
Description .............................................................. 50
Component Function Check ................................... 50 FRONT SENSOR ROTOR ........................................ 69
Diagnosis Procedure .............................................. 50 FRONT SENSOR ROTOR : Exploded View ........... 69
FRONT SENSOR ROTOR : Removal and Instal-
ECU DIAGNOSIS ........................................ 51 lation ....................................................................... 69
ABS ACTUATOR AND ELECTRIC UNIT REAR SENSOR ROTOR ........................................... 69

(CONTROL UNIT) .............................................. 51 REAR SENSOR ROTOR : Exploded View ............. 69
Reference Value ..................................................... 51 REAR SENSOR ROTOR : Removal and Installa-
Wiring Diagram - BRAKE CONTROL SYSTEM - ... 52 tion .......................................................................... 69
Fail-Safe ................................................................. 56
DTC No. Index ........................................................ 57
ABS ACTUATOR AND ELECTRIC UNIT
(CONTROL UNIT) .............................................. 70
SYMPTOM DIAGNOSIS ............................. 58 Exploded View ........................................................ 70
Removal and Installation ......................................... 71
EXCESSIVE ABS FUNCTION OPERATION
FREQUENCY ..................................................... 58 G SENSOR ........................................................ 73
Diagnosis Procedure .............................................. 58 Exploded View ........................................................ 73
Removal and Installation ......................................... 73
UNEXPECTED PEDAL REACTION .................. 59 ESP/TCS/ABS
BASIC INSPECTION .................................. 74
THE BRAKING DISTANCE IS LONG ............... 60
Diagnosis Procedure .............................................. 60 DIAGNOSIS AND REPAIR WORKFLOW ......... 74
Work Flow ............................................................... 74
ABS FUNCTION DOES NOT OPERATE .......... 61 Diagnostic Work Sheet ........................................... 77
BRC-2
INSPECTION AND ADJUSTMENT ....................78 Diagnosis Procedure ............................................. 103
Component Inspection ........................................... 105 A
ADDITIONAL SERVICE WHEN REPLACING Special Repair Requirement .................................. 105
CONTROL UNIT ........................................................ 78
ADDITIONAL SERVICE WHEN REPLACING C1109 POWER AND GROUND SYSTEM ...... 106
CONTROL UNIT : Description ................................ 78 Description ............................................................. 106 B
ADDITIONAL SERVICE WHEN REPLACING DTC Logic .............................................................. 106
CONTROL UNIT : Special Repair Requirement .... 78 Diagnosis Procedure ............................................. 106
Special Repair Requirement .................................. 107 C
ADJUSTMENT OF STEERING ANGLE SENSOR
NEUTRAL POSITION ................................................ 78 C1110, C1153, C1170 ABS ACTUATOR AND
ADJUSTMENT OF STEERING ANGLE SENSOR ELECTRIC UNIT (CONTROL UNIT) ............... 108 D
NEUTRAL POSITION : Description ........................ 78 Description ............................................................. 108
ADJUSTMENT OF STEERING ANGLE SENSOR DTC Logic .............................................................. 108
NEUTRAL POSITION : Special Repair Require- Diagnosis Procedure ............................................. 108
ment ........................................................................ 78 Special Repair Requirement .................................. 108 E
FUNCTION DIAGNOSIS .............................. 80 C1111 ABS MOTOR, MOTOR RELAY SYS-

TEM ................................................................. 110 BRC
ESP .....................................................................80 Description ............................................................. 110
System Diagram ...................................................... 80
DTC Logic .............................................................. 110
System Description ................................................. 80
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Diagnosis Procedure ............................................. 110
Component Parts Location ...................................... 80 G
Component Inspection ........................................... 111
Special Repair Requirement .................................. 111
TCS .....................................................................84 C1114 ACTUATOR RELAY SYSTEM ............ 113 H
System Diagram ...................................................... 84
Description ............................................................. 113
DTC Logic .............................................................. 113
Component Parts Location ...................................... 84
Diagnosis Procedure ............................................. 113 I
Component Inspection ........................................... 114
ABS ....................................................................88 Special Repair Requirement .................................. 114
System Diagram ...................................................... 88 C1115 WHEEL SENSOR ................................ 115 J
Description ............................................................. 115
DTC Logic .............................................................. 115
Diagnosis Procedure ............................................. 115 K
EBD ....................................................................92 Component Inspection ........................................... 116
System Diagram ...................................................... 92 Special Repair Requirement .................................. 117
System Description ................................................. 92 C1116 STOP LAMP SWITCH ......................... 118 L
Description ............................................................. 118
DTC Logic .............................................................. 118
DIAGNOSIS SYSTEM [ABS ACTUATOR Diagnosis Procedure ............................................. 118 M
AND ELECTRIC UNIT (CONTROL UNIT)] ........96 Component Inspection ........................................... 119
Special Repair Requirement .................................. 120
CONSULT-III Function (ABS) ................................. 96
C1120, C1122, C1124, C1126 IN ABS SOL ... 121 N
COMPONENT DIAGNOSIS ....................... 100
Description ............................................................. 121
C1101, C1102, C1103, C1104 WHEEL SEN- DTC Logic .............................................................. 121
SOR-1 ............................................................... 100 Diagnosis Procedure ............................................. 121 O
Description ............................................................ 100 Component Inspection ........................................... 122
DTC Logic ............................................................. 100 Special Repair Requirement .................................. 123
Diagnosis Procedure ............................................. 100 C1121, C1123, C1125, C1127 OUT ABS SOL. 124 P
Component Inspection .......................................... 102
Description ............................................................. 124
Special Repair Requirement ................................. 102
DTC Logic .............................................................. 124
C1105, C1106, C1107, C1108 WHEEL SEN- Diagnosis Procedure ............................................. 124
SOR-2 ............................................................... 103 Component Inspection ........................................... 125
Description ............................................................ 103 Special Repair Requirement .................................. 126
DTC Logic ............................................................. 103 C1130, C1131, C1132 ENGINE SIGNAL ........ 127
BRC-3
Description .............................................................127 Component Function Check ................................. 147
DTC Logic ..............................................................127 Diagnosis Procedure ............................................. 147
Diagnosis Procedure .............................................127 Component Inspection .......................................... 148
Special Repair Requirement ..................................127
ABS WARNING LAMP ..................................... 149
C1142 PRESS SENSOR ................................. 128 Description ............................................................ 149
Description .............................................................128 Component Function Check ................................. 149
Diagnosis Procedure .............................................128
Component Inspection ...........................................129 BRAKE WARNING LAMP ................................ 150
Special Repair Requirement ..................................129 Description ............................................................ 150
Component Function Check ................................. 150
C1143, C1144 STEERING ANGLE SENSOR . 130 Diagnosis Procedure ............................................. 150
Description .............................................................130
DTC Logic ..............................................................130 ESP OFF INDICATOR LAMP ........................... 151
Diagnosis Procedure .............................................130 Description ............................................................ 151
Component Inspection ...........................................131 Component Function Check ................................. 151
Special Repair Requirement ..................................131 Diagnosis Procedure ............................................. 151
C1145 YAW RATE SENSOR .......................... 133 SLIP INDICATOR LAMP .................................. 152
Description .............................................................133 Description ............................................................ 152
Component Function Check ................................. 152
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DTC Logic ..............................................................133
Diagnosis Procedure .............................................133 Diagnosis Procedure ............................................. 152
Component Inspection ...........................................134
Special Repair Requirement ..................................135
ECU DIAGNOSIS ...................................... 153
C1146 G SENSOR ........................................... 136 ABS ACTUATOR AND ELECTRIC UNIT

Description .............................................................136 (CONTROL UNIT) ............................................. 153
DTC Logic ..............................................................136 Reference Value ................................................... 153
Diagnosis Procedure .............................................136 Wiring Diagram - BRAKE CONTROL SYSTEM - . 155
Component Inspection ...........................................137 Fail-Safe ................................................................ 159
Special Repair Requirement ..................................137 DTC No. Index ...................................................... 160
C1147, C1148, C1149, C1150 USV/HSV LINE. 138 SYMPTOM DIAGNOSIS ........................... 162
Description .............................................................138
EXCESSIVE ABS FUNCTION OPERATION
DTC Logic ..............................................................138
FREQUENCY .................................................... 162
Component Inspection ...........................................139 Diagnosis Procedure ............................................. 162
Special Repair Requirement ..................................140 UNEXPECTED PEDAL REACTION ................. 163
C1155 BRAKE FLUID LEVEL SWITCH .......... 141 Diagnosis Procedure ............................................. 163
Description .............................................................141 THE BRAKING DISTANCE IS LONG .............. 164
Component Inspection ...........................................142 ABS FUNCTION DOES NOT OPERATE ......... 165
Special Repair Requirement ..................................143 Diagnosis Procedure ............................................. 165
U1000, U1002 CAN COMM CIRCUIT ............. 144 PEDAL VIBRATION OR ABS OPERATION
Description .............................................................144 SOUND OCCURS ............................................. 166
Special Repair Requirement ..................................144 VEHICLE JERKS DURING ESP/TCS/ABS
CONTROL ........................................................ 167
PARKING BRAKE SWITCH ............................ 145 Diagnosis Procedure ............................................. 167
Description .............................................................145
Diagnosis Procedure .............................................145 NORMAL OPERATING CONDITION ............... 168
Component Function Check ..................................145 Description ............................................................ 168
Component Inspection ...........................................145
PRECAUTION ........................................... 169
ESP OFF SWITCH ........................................... 147
Description .............................................................147 PRECAUTIONS ................................................ 169
BRC-4
Precaution for Supplemental Restraint System SENSOR ROTOR ............................................ 174
(SRS) "AIR BAG" and "SEAT BELT PRE-TEN- A
SIONER" Service .................................................. 169 FRONT SENSOR ROTOR ....................................... 174
Precaution for Brake System ................................ 169 FRONT SENSOR ROTOR : Exploded View ......... 174
Precaution for Brake Control ................................. 169 FRONT SENSOR ROTOR : Removal and Instal-
lation ...................................................................... 174 B
PREPARATION ......................................... 171
REAR SENSOR ROTOR ......................................... 174
PREPARATION ................................................ 171 REAR SENSOR ROTOR : Exploded View ............ 174 C
Special Service Tool ............................................. 171 REAR SENSOR ROTOR : Removal and Installa-
tion ......................................................................... 174
ON-VEHICLE REPAIR ............................... 172
ABS ACTUATOR AND ELECTRIC UNIT D
WHEEL SENSOR ............................................. 172 (CONTROL UNIT) ........................................... 175
Exploded View ....................................................... 175
FRONT WHEEL SENSOR ....................................... 172
Removal and Installation ....................................... 176 E
FRONT WHEEL SENSOR : Exploded View ......... 172
FRONT WHEEL SENSOR : Removal and Instal- YAW RATE/SIDE G SENSOR ........................ 178
lation ...................................................................... 172 Exploded View ....................................................... 178
Removal and Installation ....................................... 178 BRC
REAR WHEEL SENSOR ......................................... 172
REAR WHEEL SENSOR : Exploded View ........... 172 STEERING ANGLE SENSOR ......................... 179
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REAR WHEEL SENSOR : Removal and Installa- Exploded View ....................................................... 179 G
tion ........................................................................ 173 Removal and Installation ....................................... 179
BRC-5
DIAGNOSIS AND REPAIR WORKFLOW
< BASIC INSPECTION > [ABS]
BASIC INSPECTION
Work Flow INFOID:0000000000924945
OVERALL SEQUENCE
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JSFIA0010GB
DETAIED FLOW
BRC-6
1.COLLECT THE INFORMATION FROM THE CUSTOMER A

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-8, "Diagnostic Work Sheet".
B
>> GO TO 2.
2.PERFORM THE SELF-DIAGNOSIS
C
Check the DTC display with the self-diagnosis function. Refer to BRC-17, "CONSULT-III Function (ABS)".
Is there any DTC displayed?
YES >> GO TO 3. D
NO >> GO TO 4.
3.PERFORM THE SYSTEM DIAGNOSIS
Perform the diagnosis applicable to the displayed DTC. Refer to BRC-57, "DTC No. Index". E
>> GO TO 7.
BRC
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-63,
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"Description". G
Is the symptom is a normal operation?
YES >> INSPECTION END
NO >> GO TO 5. H
5.CHECK THE WARNING LAMP FOR ILLUMINATION
Check that the warning lamp illuminate.
• ABS warning lamp: Refer to BRC-49, "Description". I
• Brake warning lamp: Refer to BRC-50, "Description".
Is ON/OFF timing normal?
YES >> GO TO 6. J
NO >> GO TO 2.
6.PERFORM THE DIAGNOSIS BY SYMPTOM K
Perform the diagnosis applicable to the symptom.
>> GO TO 7. L
7.REPAIR OR REPLACE THE MALFUNCTIONING PARTS
Repair or replace the specified malfunctioning parts.
M
>> GO TO 8.
8.FINAL CHECK N
Perform the self-diagnosis again, and check that the malfunction is repaired completely. After checking, erase
the self-diagnosis memory. Refer to BRC-17, "CONSULT-III Function (ABS)".
Is any DTC indicated? O
YES >> GO TO 3.
NO >> INSPECTION END
P
BRC-7
Diagnostic Work Sheet INFOID:0000000000924946
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SFIA3264E
BRC-8
ABS
< FUNCTION DIAGNOSIS > [ABS]
FUNCTION DIAGNOSIS A
ABS
System Diagram INFOID:0000000000924959
B
BRC
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G
I
JSFIA0033GB
System Description INFOID:0000000000924960

J
• Anti-Lock Braking System is a function that detects wheel revolution while braking, electronically controls
braking force, and prevents wheel locking during sudden braking. It improves handling stability and maneu- K
verability for avoiding obstacles.
• Electrical system diagnosis by CONSULT-III is available.
Component Parts Location INFOID:0000000000924961 L
BRC-9
ABS
LHD models
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JSFIA0034ZZ
1. ABS warning lamp 2. Brake warning lamp 3. ABS actuator and electric unit (con-
trol unit)
4. Front wheel sensor 5. G sensor 6. Rear wheel sensor (2WD models)
7. Rear wheel sensor (4WD models)
A. Combination meter B. Engine room (right side) C. Steering knuckle

D. Lower instrument cover RH E. Rear axle
BRC-10
ABS
RHD models
A
BRC
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G
L
JSFIA0048ZZ
1. ABS warning lamp 2. Brake warning lamp 3. ABS actuator and electric unit (con- M
trol unit)
7. Rear wheel sensor (4WD models) N
A. Combination meter B. Engine room (left side) C. Steering knuckle
O
Component Description INFOID:0000000000924962
P
Component parts Reference
Pump
BRC-29, "Description"
Motor
ABS actuator and electric unit (control unit)
Actuator relay (Main relay) BRC-33, "Description"
Solenoid valve BRC-40, "Description"
Wheel sensor BRC-20, "Description"
BRC-11
ABS
ABS warning lamp BRC-49, "Description"
Brake warning lamp BRC-50, "Description"
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BRC-12
EBD
EBD
A
BRC
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G
JSFIA0033GB
I
• Electric Brake force Distribution is a following function. ABS actuator and electric unit (control unit) detects J
subtle slippages between the front and rear wheels during braking. Then is electronically controls the rear
braking force (brake fluid pressure) to reducing and reduces rear wheel slippage. Accordingly it improves
vehicle stability. K
Component Parts Location INFOID:0000000000977415
BRC-13
EBD
LHD models
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JSFIA0034ZZ
1. ABS warning lamp 2. Brake warning lamp 3. ABS actuator and electric unit (con-
trol unit)
7. Rear wheel sensor (4WD models)
A. Combination meter B. Engine room (right side) C. Steering knuckle

BRC-14
EBD
RHD models
A
BRC
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G
L
JSFIA0048ZZ
1. ABS warning lamp 2. Brake warning lamp 3. ABS actuator and electric unit (con- M
trol unit)
7. Rear wheel sensor (4WD models) N
A. Combination meter B. Engine room (left side) C. Steering knuckle
O
P
Pump
Motor
BRC-15
EBD
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BRC-16
DIAGNOSIS SYSTEM [ABS ACTUATOR AND ELECTRIC UNIT (CONTROL
UNIT)]
A
UNIT)]
CONSULT-III Function (ABS) INFOID:0000000000924967
B
FUNCTION
CONSULT-III can display each diagnostic item using the diagnostic test modes shown following.
C
Diagnostic test mode Function
Self-diagnostic results Self-diagnostic results can be read and erased quickly.
D
Data monitor Input/Output data in the ABS actuator and electric unit (control unit) can be read.
Diagnostic test mode is which CONSULT-III drives some actuators apart from the ABS actuator
Active test
and electric unit (control unit) and also shifts some parameters in a specified range.
E
ECU part number ABS actuator and electric unit (control unit) part number can be read.
Performed by CONSULT-III instead of a technician to determine whether each system is “OK”
Function test
or “NG”.
BRC
CAN diagnostic support monitor The results of transmit/receive diagnosis of CAN communication can be read.
SELF-DIAG RESULTS MODE
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G
Operation Procedure
1. Before performing the self-diagnosis, start engine and drive vehicle at 30 km/h (19 MPH) or more for
approximately 1 minute. H
How to Erase Self-diagnosis Results
1. After erasing DTC memory, start engine and drive vehicle at 30 km/h (19 MPH) or more for approximately
1 minute as the final inspection, and make sure that the ABS warning lamp and brake warning lamp turn I
OFF.
CAUTION:
If memory cannot be erased, perform applicably diagnosis. J
NOTE:
• When the wheel sensor malfunctions, after inspecting the wheel sensor system, the ABS warning lamp
and brake warning lamp will not turn OFF even when the system is normal unless the vehicle is driving
at approximately 30 km/h (19 MPH) or more for approximately 1 minute. K
• 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).
Display Item List L
Refer to BRC-57, "DTC No. Index".
DATA MONITOR MODE
M
Display Item List
×: Applicable o: Optional item
SELECT MONITOR ITEM N

Monitor item (Unit) ECU INPUT SIG- Remarks
MAIN SIGNLAS
NALS
FR LH SENSOR O
× ×
[km/h (MPH)]
FR RH SENSOR
× ×
[km/h (MPH)] P
Wheel speed
RR LH SENSOR
× ×
[km/h (MPH)]
RR RH SENSOR
× ×
[km/h (MPH)]
STOP LAMP SW
× × Stop lamp switch signal status
(On/Off)
BRC-17
UNIT)]
SELECT MONITOR ITEM
MAIN SIGNLAS
NALS
BATTERY VOLT Battery voltage supplied to the ABS actuator and electric
× ×
(V) unit (control unit)
DECEL G SENSOR
× × Vehicle on level surface or on slope
(G) NOTE 1
FR RH IN SOL
o ×
(On/Off)
FR RH OUT SOL
o ×
(On/Off)
FR LH IN SOL
o ×
(On/Off)
FR LH OUT SOL
o ×
(On/Off)
Operation status of each solenoid valve
RR RH IN SOL
o ×
(On/Off)
RR RH OUT SOL
o ×
(On/Off)
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RR LH IN SOL
o ×
(On/Off)
RR LH OUT SOL
o ×
(On/Off)
MOTOR RELAY
o × Motor and motor relay operation
(On/Off)
ACTUATOR RLY
o × Actuator relay operation
(On/Off) NOTE 2
ABS WARN LAMP
o × ABS warning lamp
(On/Off)
G SENSOR
o o G sensor signal status
(On/Off)
EBD SIGNAL
o o EBD operation
(On/Off)
ABS SIGNAL
o o ABS operation
(On/Off)
EBD FAIL SIG
o o EBD fail-safe signal
(On/Off)
ABS FAIL SIG
o o ABS fail-safe signal
(On/Off)
NOTE:
1: Only 4WD models
2: Every 20 seconds momentary switch to OFF.
ACTIVE TEST MODE

CAUTION:
• Do not perform active test while driving vehicle.
• Make sure to completely bleed air from brake system.
• The active test cannot be performed with the ABS warning lamp and brake warning lamp are ON.
• ABS warning lamp and brake warning lamp are ON during active test.
NOTE:
• When active test is performed while depressing the pedal, the pedal depression amount will change. This is
normal. (Only solenoid valve and ABS motor.)
• “TEST IS STOPPED” is displayed 10 seconds after operation start.
• After “TEST IS STOPPED” is displayed, to perform test again.
Test Item
BRC-18
UNIT)]
ABS SOLENOID VALVE
• For ABS solenoid valve, touch “UP”, “KEEP”, and “DOWN”. Then use screen monitor to check that solenoid A
valve operates as shown in solenoid valve operation chart.
Solenoid valve operation chart
Display B
Test item Display item
UP KEEP DOWN
FR RH IN SOL OFF ON ON
FR RH SOL
FR RH OUT SOL OFF OFF ON* C
FR LH IN SOL OFF ON ON
FR LH SOL
FR LH OUT SOL OFF OFF ON*
D
RR RH IN SOL OFF ON ON
RR RH SOL
RR RH OUT SOL OFF OFF ON*
RR LH IN SOL OFF ON ON E
RR LH SOL
RR LH OUT SOL OFF OFF ON*
*: ON for 1 to 2 seconds after the touch, and then OFF.
BRC
ABS MOTOR
• Touch “ON” and “OFF” on screen. Make sure motor relay and actuator relay operates as shown in table
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below. G
Display
ON OFF H
MOTOR RELAY ON OFF
ABS MOTOR
ACTUATOR RLY NOTE ON ON
I
NOTE:
A brief moment of ON/OFF condition occurs every 20 seconds after ignition switch turned ON. This is not malfunction because it is an
operation for checking.
J
BRC-19
C1101, C1102, C1103, C1104 WHEEL SENSOR-1
< COMPONENT DIAGNOSIS > [ABS]
COMPONENT DIAGNOSIS
Description INFOID:0000000000924968
When the sensor rotor rotates, the magnetic field changes. The sensor 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:0000000000924969
DTC DETECTION LOGIC
DTC Display item Malfunction detected condition Possible cause

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

1.CHECK SELF-DIAGNOSIS RESULTS
Check the self-diagnosis results.
Self-diagnosis results
RR RH SENSOR-1
RR LH SENSOR-1
FR RH SENSOR-1
FR LH SENSOR-1
Is above displayed on the self-diagnosis display?
YES >> Proceed to diagnosis procedure. Refer to BRC-20, "Diagnosis Procedure".
Diagnosis Procedure INFOID:0000000000924970
CAUTION:
Do not check between wheel sensor terminals.
INSPECTION PROCEDURE
1.CHECK SENSOR AND SENSOR ROTOR
• Check sensor rotor for damage.
• Check wheel sensor for damage, disconnection or looseness.
Are the sensor and sensor rotor normal?
YES >> GO TO 2.
NO >> Repair wheel sensor mount or replace sensor rotor. Then perform the self-diagnosis.
2.CHECK CONNECTOR
1. Turn ignition switch OFF.
2. Disconnect ABS actuator and electric unit (control unit) connector.
3. Disconnect malfunctioning wheel sensor connector.
4. Check terminal for deformation, disconnection, looseness, and so on. If any malfunction is found, repair or
replace terminal.
BRC-20
5. Reconnect connectors and then perform the self-diagnosis. Refer to BRC-17, "CONSULT-III Function
(ABS)". A
Is any item indicated on the self-diagnosis display?
YES >> GO TO 3.
NO >> Poor connection of connector terminal. Repair or replace connector. B
3.CHECK WHEEL SENSOR HARNESS
C
4. Check continuity between terminals. (Also check continuity when steering wheel is turned right and left
and when sensor harness inside the wheel house is moved.) D
Measurement terminal for power supply circuit
ABS actuator and electric unit (control unit) Wheel sensor
Continuity E
Connector Terminal Connector Terminal
9 E39 (Front RH)
16 E22 (Front LH) BRC
E34 2 Existed
8 B41 (Rear RH)
6 B44 (Rear LH)
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G
Measurement terminal for signal circuit
Continuity
Connector Terminal Connector Terminal H
10 E39 (Front RH)
5 E22 (Front LH)
E34 1 Existed
19 B41 (Rear RH) I
17 B44 (Rear LH)
Measurement terminal for ground circuit J

Continuity
9, 10 K
16, 5
E34 E34 1, 4 Not existed
8, 19
L
6, 17
5. Reconnect ABS actuator and electric unit (control unit) connector.
Is the inspection result normal? M
YES >> GO TO 4.
NO >> Repair or replace malfunctioning components.
4.CHECK WHEEL SENSOR POWER SUPPLY CIRCUIT N
1. Turn ignition switch ON.

2. Check voltage between wheel sensor harness connector power supply terminal and ground.
O
Wheel sensor
— Voltage
Connector Terminal P
E39 (Front RH)
E22 (Front LH)
2 Ground 8 V or more
B41 (Rear RH)
B44 (Rear LH)
Is the inspection result normal?
BRC-21
YES >> Replace applicable wheel sensor.
NO >> Replace ABS actuator and electric unit (control unit).
Component Inspection INFOID:0000000000924971
1.CHECK DATA MONITOR

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

FR LH SENSOR
FR RH SENSOR Nearly matches the speedometer dis-
RR LH SENSOR play (±10% or less)
RR RH SENSOR
NO >> Go to diagnosis procedure. Refer to BRC-20, "Diagnosis Procedure".
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BRC-22
A
ABS unit continually monitors wheel speed sensors to detect abnormal signals. B
DTC DETECTION LOGIC C

Signal from rear RH wheel sensor does not match other D
C1105 RR RH SENSOR-2 • Sensor not installed correctly
3 wheel speed signals. • Sensor rotor or encoder dam-
Signal from rear LH wheel sensor does not match other aged
C1106 RR LH SENSOR-2 • Sensor rotor loose on axle
3 wheel speed signals. E
• Electrical interference
Signal from front RH wheel sensor does not match other • Wheel not turning - e.g. vehi-
C1107 FR RH SENSOR-2
3 wheel speed signals. cle driven on 2WD dyno
Signal from front LH wheel sensor does not match other • Sensor damaged BRC
C1108 FR LH SENSOR-2 • ABS unit damaged
3 wheel speed signals.
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G
H
RR RH SENSOR-2
I
RR LH SENSOR-2
FR RH SENSOR-2
FR LH SENSOR-2 J
NO >> INSPECTION END K
CAUTION: L
M
• Check wheel sensor for damage, disconnection or looseness. N
YES >> GO TO 2.
NO >> Repair wheel sensor mount or replace sensor rotor. Then perform the self-diagnosis. O
2.CHECK CONNECTOR
1. Turn ignition switch OFF. P
replace terminal.
(ABS)".
BRC-23
YES >> GO TO 3.
NO >> Poor connection of connector terminal. Repair or replace connector.
and when sensor harness inside the wheel house is moved.)
Continuity
9 E39 (Front RH)
16 E22 (Front LH)
E34 2 Existed
8 B41 (Rear RH)
6 B44 (Rear LH)

Continuity
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10 E39 (Front RH)
5 E22 (Front LH)
E34 1 Existed
19 B41 (Rear RH)
17 B44 (Rear LH)
Measurement terminal for ground circuit

Continuity
9, 10
16, 5
8, 19
6, 17
YES >> GO TO 4.
4.CHECK WHEEL SENSOR POWER SUPPLY CIRCUIT
Wheel sensor
— Voltage
Connector Terminal
E39 (Front RH)
E22 (Front LH)
B41 (Rear RH)
B44 (Rear LH)
BRC-24
1.CHECK DATA MONITOR A

B
FR LH SENSOR
FR RH SENSOR Nearly matches the speedometer dis- C
RR RH SENSOR
D
NO >> Go to diagnosis procedure. Refer to BRC-35, "Diagnosis Procedure". E
BRC
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G
BRC-25
C1109 POWER AND GROUND SYSTEM
Power is supply from the battery to ABS actuator and electric unit (control unit).
DTC DETECTION LOGIC

• Harness or connector
When the ABS actuator and electric unit (control unit) • ABS actuator and electric unit
BATTERY VOLTAGE power supply is lower than normal and vehicle speed is (control unit)
C1109
[ABNORMAL] greater than 6 km/h (4 MPH). Power supply is greater • Fuse
than normal limits. • Vehicle electrical power sys-
tem

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BATTERY VOLTAGE [ABNORMAL]
1.CHECK CONNECTOR
replace terminal.
4. Reconnect connector and then perform the self-diagnosis. Refer to BRC-17, "CONSULT-III Function
(ABS)".
YES >> GO TO 2.
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) POWER SUPPLY CIRCUIT
3. Turn ignition switch ON or OFF and check voltage between ABS actuator and electric unit (control unit)
harness connector terminal and ground.

— Condition Voltage
Connector Terminal
Ignition switch: ON Battery voltage
E34 18 Ground
Ignition switch: OFF Approx. 0 V
YES >> GO TO 3.
BRC-26
3.ABS POWER SUPPLY CHECK (UNDER LOAD CONDITIONS) A
1. Use 12V lamp (normal rating 10 to 20W) connected between E34 terminals 18 and 4. With ignition switch
ON check bulb illuminates correctly.
B
2. Check ABS motor supply under loaded condition (connector E34 terminals 1 and 2).
YES >> GO TO 4.
C
NO >> Check both power supply and ground circuit.
4.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) GROUND CIRCUIT
1. Turn ignition switch OFF. D
3. Check continuity between ABS actuator and electric unit (control unit) harness connector terminals and
ground. E

— Continuity
Connector Terminal BRC
E34 1, 4 Ground Existed
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G
YES >> Check battery for terminal looseness, low voltage, etc. if any malfunction is found, repair malfunc-
tioning parts.
NO >> Repair or replace malfunctioning components (check ABS earth bolt for tightness and corrosion).
H
BRC-27
C1110, C1153 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
C1110, C1153 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
ABS unit is continuously monitoring ECU hardware and software for correct operation.
DTC DETECTION LOGIC

• Internal failure of control unit
components
C1110 CONTROLLER FAILURE Possible internal failure of control unit components. • ABS solenoid valve or motor
power supply/ground abnor-
mality
• ABS control unit software fail-
ure
C1153 EMERGENCY BRAKE Continuous ABS/EBD control for more than 60 seconds.
• Wheel speed sensor input
abnormality
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1. Check both ABS solenoid valve and motor supply and ground circuits using a suitable electrical load.
2. Check wheel speed sensor inputs.
3. Check the self-diagnosis results.
CONTROLLER FAILURE
EMERGENCY BRAKE
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).
BRC-28
C1111 ABS MOTOR, MOTOR RELAY SYSTEM
A
PUMP B
The pump returns the brake fluid stored in the reservoir to the master cylinder by reducing the pressure.
MOTOR
The motor drives the pump according to the signals transmitted by the ABS actuator and electric unit (control C
unit).
D
DTC DETECTION LOGIC

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

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

3. Check voltage between the ABS actuator and electric unit (control unit) harness connector terminal and
ground.
BRC-29

— Voltage
Connector Terminal
E34 2 Ground Battery voltage
YES >> GO TO 3.
3.ABS POWER SUPPLY CHECK (UNDER LOAD CONDITIONS)
Use 12V lamp (normal rating 10 to 20W) connected between E34 terminals 1 and 2. With ignition switch ON
check bulb illuminates correctly.
YES >> GO TO 4.
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ground.

— Continuity
Connector Terminal
YES >> Replace ABS actuator and electric unit (control unit).
NO >> Repair or replace malfunctioning components. (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
NOTE:
A brief moment of ON/OFF condition occurs every 20 seconds after ignition switch turned ON. This is not malfunction because it is
an operation for checking.
BRC-30
C1113 G SENSOR
C1113 G SENSOR
A
G sensor detects G affecting the vehicle, and transmits the data to the ABS actuator and electric unit (control B
unit) as an analog voltage signal.
C
DTC DETECTION LOGIC
DTC Display item Malfunction detected condition Possible cause D

• ABS actuator and electric unit
(control unit) E
G sensor is malfunctioning, or signal line of G sensor is
C1113 G SENSOR • G sensor
open or shorted.
• Vehicle driven on 4WD rolling
road BRC
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1.CHECK SELF-DIAGNOSIS RESULTS G
Self-diagnosis results H
G SENSOR
Is above displayed on the self-diagnosis display? I
Diagnosis Procedure INFOID:0000000000936458 J
1.CHECK CONNECTOR K

2. Disconnect ABS actuator and electric unit (control unit) connector. L
3. Disconnect G sensor connector.
replace terminal.
5. Reconnect connectors and then perform the self-diagnosis. Refer to BRC-17, "CONSULT-III Function M
(ABS)".
YES >> GO TO 2. N
NO >> Poor connection of connector terminal. Replace or repair connector.
2.CHECK G SENSOR POWER SUPPLY CIRCUIT
O
3. Turn ignition switch ON or OFF and check voltage between G sensor harness connector terminal and
ground. P
G sensor
Connector Terminal
Ground Ignition switch: ON Battery voltage
M71 3
Ground Ignition switch: OFF Approx. 0 V
BRC-31
C1113 G SENSOR
YES >> GO TO 3.
3.CHECK G SENSOR GROUND CIRCUIT
Check continuity between G sensor harness connector terminal and ground.
G sensor
— Continuity
Connector Terminal
M71 1 Ground Existed
YES >> GO TO 4.
4.CHECK G SENSOR HARNESS
2. Check continuity between G sensor harness connector terminals and ABS actuator and electric unit (con-
trol unit) harness connector terminals.
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ABS actuator and electric unit (control unit) G sensor
Continuity
14 1
E34 21 M71 2 Existed
24 3
YES >> Replace G sensor.

Select “G SENSOR”, in “DATA MONITOR” and check G sensor signal.
Monitor item DATA MONITOR

G SENSOR ON/OFF
NO >> Go to diagnosis procedure. Refer to BRC-17, "CONSULT-III Function (ABS)".
BRC-32
C1114 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
C1114 MAIN RELAY • ABS actuator and electric unit
E
During the actuator relay operating with ON, when the (control unit)
relay is open.
BRC
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G
MAIN RELAY
YES >> Proceed to diagnosis procedure. Refer to BRC-33, "Diagnosis Procedure". I
J
1.CHECK CONNECTOR K
3. Check terminal for deformation, disconnection, looseness, and so on. If any malfunction is found, repair or L
replace terminal.
(ABS)". M
YES >> GO TO 2.
NO >> Poor connection of connector terminal. Replace or repair connector. N
2.CHECK ACTUATOR RELAY POWER SUPPLY CIRCUIT
2. Disconnect ABS actuator and electric unit (control unit) connector. O
3. Check voltage between ABS actuator and electric unit (control unit) harness connector terminal and
ground.
P
— Voltage
Connector Terminal
BRC-33
YES >> GO TO 3.
3.ABS POWER SUPPLY CHECK (UNDER LOAD CONDITIONS)
YES >> GO TO 4.
ground.

— Continuity
Connector Terminal
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NO >> Repair or replace malfunctioning components. (Check ABS each bolt for tightness and corrosion).
1.CHECK ACTIVE TEST

2. Touch “ON” and “OFF” on screen. Make sure motor relay and actuator relay operates as shown in table
below.
Operation ON OFF
MOTOR RELAY ON OFF
NOTE ON ON
ACTUATOR RLY
NOTE:
BRC-34
C1115 WHEEL SENSOR
C1115 WHEEL SENSOR
A
When the sensor rotor rotates, the magnetic field changes. The sensor converts the magnetic field changes to B
C
DTC DETECTION LOGIC

• Harness or connector not a
possible cause.
ABS SENSOR
C1115 Miss-match between the 4 wheel speed sensor signals. • Other possible causes E
[ABNORMAL SIGNAL]
- Tire radius (due to wrong size
or pressure) interference.
DTC CONFIRMATION PROCEDURE BRC

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G
ABS SENSOR [ABNORMAL SIGNAL] H
NO >> INSPECTION END I
CAUTION: J
K
• Check wheel sensor for damage, disconnection or looseness. L
YES >> GO TO 2.
NO >> Repair wheel sensor mount or replace sensor rotor. Then perform the self-diagnosis. M
2.CHECK CONNECTOR
N
replace terminal. O
(ABS)".
Is any item indicated on the self-diagnosis display? P
YES >> GO TO 3.
BRC-35
C1115 WHEEL SENSOR
Continuity
9 E39 (Front RH)
16 E22 (Front LH)
E34 2 Existed
8 B41 (Rear RH)
6 B44 (Rear LH)

Continuity
10 E39 (Front RH)
5 E22 (Front LH)
E34 1 Existed
19 B41 (Rear RH)
17 B44 (Rear LH)
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Continuity
9, 10
16, 5
8, 19
6, 17
YES >> GO TO 4.
Wheel sensor
— Voltage
Connector Terminal
E39 (Front RH)
E22 (Front LH)
B41 (Rear RH)
B44 (Rear LH)

BRC-36
C1115 WHEEL SENSOR
Wheel sensor Vehicle speed (DATA MONITOR) A

FR LH SENSOR
FR RH SENSOR Nearly matches the speedometer dis- B
RR RH SENSOR
Is the inspection result normal? C
D
BRC
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G
BRC-37
C1116 STOP LAMP SWITCH
The stop lamp switch transmits the stop lamp switch signal (ON/OFF) to the ABS actuator and electric unit
(control unit).
DTC DETECTION LOGIC

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

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STOP LAMP SW
1.CHECK STOP LAMP ILLUMINATE
Press brake pedal and check stop lamp illuminate.
YES >> GO TO 2.
2.CHECK CONNECTOR
3. Disconnect stop lamp switch connector.
replace terminal.
5. Reconnect connectors securely.
6. Start engine.
7. Repeat pumping brake pedal carefully several times, and perform self-diagnosis.
YES >> GO TO 3.
3.CHECK STOP LAMP SWITCH
3. Check continuity between stop lamp switch connector terminals.
BRC-38
Stop lamp switch A

Condition Continuity
Terminal
Release stop lamp switch
Existed B
(When brake pedal is depressed.)
1−2
Push stop lamp switch
Not existed
(When brake pedal is released.)
C
YES >> GO TO 4.
NO >> Replace stop lamp switch.
D
4.CHECK STOP LAMP SWITCH CIRCUIT
2. Connect stop lamp switch connector. E
ground.
BRC
Condition Voltage
Connector Terminal
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Brake pedal is depressed Battery voltage G
E34 20
Brake pedal is released Approx. 0 V
H
I

1. Turn ignition switch OFF. J
K
Stop lamp switch
Terminal
Release stop lamp switch L
Existed
1−2
Not existed
(When brake pedal is released.) M
NO >> Replace stop lamp switch. N
BRC-39
C1120, C1122, C1124, C1126 IN ABS SOL
C1120, C1122, C1124, C1126 IN ABS SOL
The solenoid valve increases, holds or decreases the fluid pressure of each brake caliper according to the sig-
nals transmitted by the ABS actuator and electric unit (control unit).
DTC DETECTION LOGIC

When the control unit detects a malfunction in the front
C1120 FR LH IN ABS SOL
LH inlet solenoid circuit.
C1122 FR RH IN ABS SOL
RH inlet solenoid circuit. ABS actuator and electric unit
When the control unit detects a malfunction in the rear LH (control unit)
C1124 RR LH IN ABS SOL
inlet solenoid circuit.
When the control unit detects a malfunction in the rear
C1126 RR RH IN ABS SOL
RH inlet solenoid circuit.
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FR LH IN ABS SOL
FR RH IN ABS SOL
RR LH IN ABS SOL
RR RH IN ABS SOL
1.CHECK CONNECTOR
replace terminal.
(ABS)".
YES >> GO TO 2.
ground.
BRC-40
C1120, C1122, C1124, C1126 IN ABS SOL
ABS actuator and electric unit (control unit) A

— Voltage
Connector Terminal
B
YES >> GO TO 3.
NO >> Repair or replace malfunctioning components. C
3.CHECK ACUATOR RELAY GROUND CIRCUIT
Check continuity between ABS actuator and electric unit (control unit) harness connector terminals and
ground. D

— Continuity E
Connector Terminal
Is the inspection result normal? BRC
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G
1.CHECK ACTIVE TEST

H
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.
I
Display
UP KEEP DOWN
J
FR RH SOL
FR RH OUT SOL OFF OFF ON*
FR LH IN SOL OFF ON ON K
FR LH SOL
RR RH SOL L
RR LH IN SOL OFF ON ON
RR LH SOL
RR LH OUT SOL OFF OFF ON* M
YES >> INSPECTION END N
BRC-41
C1121, C1123, C1125, C1127 OUT ABS SOL
C1121, C1123, C1125, C1127 OUT ABS SOL
DTC DETECTION LOGIC

C1121 FR LH OUT ABS SOL
LH outlet solenoid circuit.
C1123 FR RH OUT ABS SOL
RH outlet solenoid circuit. ABS actuator and electric unit
C1125 RR LH OUT ABS SOL
outlet solenoid circuit.
C1127 RR RH OUT ABS SOL
RH outlet solenoid circuit.
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FR LH OUT ABS SOL
FR RH OUT ABS SOL
RR LH OUT ABS SOL
RR RH OUT ABS SOL
1.CHECK CONNECTOR
replace terminal.
(ABS)".
YES >> GO TO 2.
ground.
BRC-42
C1121, C1123, C1125, C1127 OUT ABS SOL

— Voltage
Connector Terminal
B
YES >> GO TO 3.
3.CHECK ACUATOR RELAY GROUND CIRCUIT
ground. D

— Continuity E
Connector Terminal
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G
1.CHECK ACTIVE TEST

H
table below.
I
Display
UP KEEP DOWN
J
FR RH SOL
FR LH IN SOL OFF ON ON K
FR LH SOL
RR RH SOL L
RR LH SOL
RR LH OUT SOL OFF OFF ON* M
YES >> INSPECTION END N
BRC-43
U1000 CAN COMM CIRCUIT
U1000 CAN COMM CIRCUIT
CAN (Controller Area Network) is a serial communication line for real time application. It is an on-vehicle mul-
tiplex communication line with high data communication speed and excellent error detection ability. Many elec-
tronic control units are equipped onto a vehicle, and each control unit shares information and links with other
control units during operation (not independent). In CAN communication, control units are connected with 2
communication lines (CAN-H line, CAN-L line) allowing a high rate of information transmission with less wiring.
Each control unit transmits/receives data but selectively reads required data only.
DTC DETECTION LOGIC

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)
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1.CHECK CONNECTOR
replace terminal.
4. Reconnect connector and perform self-diagnosis.
CAN COMM CIRCUIT
YES >> Go to LAN-46, "Trouble Diagnosis Flow Chart".
BRC-44
BRAKE FLUID LEVEL SWITCH
A
The brake fluid level switch converts the brake fluid level to an electric signal and transmits it to the ABS actu- B
ator and electric unit (control unit).
Component Function Check INFOID:0000000000925730
C
1.CHECK BRAKE FLUID LEVEL SWITCH OPERATION
Operate the brake fluid level switch. Then check that the brake warning lamp in the combination meter turns
ON/OFF correctly. D
NO >> Go to diagnosis procedure. Refer to BRC-45, "Diagnosis Procedure". E
BRC
1.CHECK CONNECTOR
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1. Turn ignition switch OFF. G
2. Disconnect brake fluid level switch connector and combination meter connector.
replace terminal. H
4. Reconnect connectors and then perform component function check. Refer to BRC-45, "Component Func-
tion Check".
Is the inspection result normal? I
YES >> Poor connection of connector terminal. Replace or repair connector.
NO >> GO TO 2.
2.CHECK BRAKE FLUID LEVEL SWITCH J
2. Disconnect brake fluid level switch connector.
3. Check continuity between brake fluid level switch connector terminals. K
Brake fluid level switch

Connector Terminal L
When brake fluid is full in the reservoir tank. Not existed
E37 1–2
When brake fluid is empty in the reservoir tank. Existed
M
YES >> GO TO 3.
NO >> Brake fluid level switch is malfunction. Replace reservoir tank. N
3.CHECK BRAKE FLUID LEVEL SWITCH CIRCUIT
1. Disconnect combination meter connector.
2. Check continuity between brake fluid level switch harness connector terminals and combination meter O
harness connector terminal and/or ground.
Combination meter Brake fluid level switch P

Continuity
M34 27 E37 1 Existed
BRC-45
Combination meter
— Continuity
Connector Terminal
M34 27 Ground Not existed

— Continuity
Connector Terminal
E37 2 Ground Existed
1.CHECK BRAKE FLUID LEVEL SWITCH

3. Check continuity between brake fluid level switch connector terminals.
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Connector Terminal
E37 1–2
NO >> Replace reservoir tank.
BRC-46
PARKING BRAKE SWITCH
A
The parking brake switch converts the status of the parking brake pedal to an electric signal and transmits it to B
the ABS actuator and electric unit (control unit).
C
1.CHECK COMBINATION METER INPUT SIGNAL
2. Check voltage between combination meter harness connector terminal 26 and ground. D
26 – Ground
Parking brake ON : Approx. 0 V E
Parking brake OFF : Approx. 5 V
YES >> INSPECTION END BRC
NO >> GO TO 2.
2.CHECK PARKING BRAKE SWITCH SIGNAL CIRCUIT
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G
2. Disconnect combination meter connector and parking brake switch connector.
3. Check continuity between combination meter harness connector terminal 26 and parking brake switch
H
harness connector terminal 1.
26 – 1 : Continuity should exist.

4. Check continuity between combination meter harness connector terminal 26 and ground. I
26 – Ground : Continuity should not exist.

J
NO >> Repair harness or connector.
K
1.CHECK PARKING BRAKE SWITCH OPERATION L

Operate the parking brake pedal. Then check that the brake warning lamp in the combination meter turns on/
off correctly.
M
Condition Brake warning lamp illumination status
When the parking brake switch is opera-
ON
tion N
When the parking brake switch is not oper-
OFF
ation.
Is the inspection result normal? O
P
1.CHECK PARKING BRAKE SWITCH
2. Disconnect parking brake switch connector.
BRC-47
3. Check continuity between parking brake switch terminal and ground.
Parking brake switch

— Condition Continuity
Connector Terminal
When the parking brake switch is operated. Existed
M103 1 Ground
When the parking brake switch is not operated. Not existed
NO >> Replace parking brake switch.
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BRC-48
ABS WARNING LAMP
ABS WARNING LAMP
A
×: ON –: OFF B
Condition ABS warning lamp
Ignition switch OFF –
For 1 second after turning ON ignition switch × C
1 second later after turning ON ignition switch –
ABS function is malfunctioning. ×
D
EBD function is malfunctioning. ×

E
1.CHECK ABS WARNING LAMP OPERATION
Check that the lamp illuminates for approximately 1 second after the ignition switch is turned ON. BRC
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NO >> Go to diagnosis procedure. Refer to BRC-49, "Diagnosis Procedure". G
1.CHECK SELF-DIAGNOSIS H
Perform ABS actuator and electric unit (control unit) self-diagnosis. Refer to BRC-17, "CONSULT-III Function
(ABS)".
YES >> GO TO 2.
NO >> Check items displayed by self-diagnosis.
J
2.CHECK COMBINATION METER
Check if the indication and operation of combination meter are normal. Refer to MWI-21, "Diagnosis Descrip-
tion". K
NO >> Repair or replace combination meter. L
BRC-49
BRAKE WARNING LAMP
BRAKE WARNING LAMP
×: ON –: OFF
Condition Brake warning lamp NOTE 1

For 1 second after turning ON ignition switch × NOTE 2
1 second later after turning ON ignition switch × NOTE 2
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).
• 2: After starting engine, brake warning lamp is turned off.
1.BRAKE WARNING LAMP OPERATION CHECK 1
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Check that the lamp illuminates for approximately 1 second after the ignition switch is turned ON.
YES >> GO TO 2.
Check that the brake warning lamp in the combination meter turns ON/OFF correctly when operating the park-
ing brake pedal.
NO >> Check parking brake switch. Refer to BRC-47, "Diagnosis Procedure".

ing brake pedal.
YES >> GO TO 2.
2.CHECK SELF-DIAGNOSIS
Perform ABS actuator and electric unit (control unit) self-diagnosis.
YES >> GO TO 3.
tion".
NO >> Repair or replace combination meter.
BRC-50
ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< ECU DIAGNOSIS > [ABS]
ECU DIAGNOSIS A
Reference Value INFOID:0000000000925072
B
VALUES ON THE DIAGNOSIS TOOL

CAUTION: C
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.
Monitor item Condition Value/Status D

Vehicle stopped 0 [km/h (MPH)]
FR LH SENSOR Wheel speed Nearly matches the

E
Vehicle running NOTE 1 speed meter display
(± 10% or less)
BRC
FR RH SENSOR Wheel speed Nearly matches the
(± 10% or less)
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Vehicle stopped 0 [km/h (MPH)] G
RR LH SENSOR Wheel speed Nearly matches the

(± 10% or less) H
RR RH SENSOR Wheel speed Nearly matches the

Vehicle running NOTE 1 speed meter display I
(± 10% or less)
When brake pedal is depressed On
STOP LAMP SW Stop lamp switch signal status J
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)
K
DECEL G SENSOR According to gradi-
NOTE 2 Decel G detected by decel G sensor Vehicle on level surface or on slope
ent of slope
Actuator (solenoid valve) is active (“AC-
L
TIVE TEST” with CONSULT-III) or actu- On
Operation status of front RH inlet solenoid ator relay is inactive (in fail-safe mode)
FR RH IN SOL
valve When the actuator (solenoid valve) is
not active and actuator relay is active Off M
(ignition switch ON)
TIVE TEST” with CONSULT-III) or actu- On N
Operation status of front RH outlet solenoid ator relay is inactive (in fail-safe mode)
FR RH OUT SOL
not active and actuator relay is active Off
O
Operation status of front LH inlet solenoid ator relay is inactive (in fail-safe mode) P
FR LH IN SOL
BRC-51
Monitor item Condition Value/Status
Operation status of front LH outlet solenoid ator relay is inactive (in fail-safe mode)
FR LH OUT SOL
Operation status of rear RH inlet solenoid ator relay is inactive (in fail-safe mode)
RR RH IN SOL
Operation status of rear RH outlet solenoid ator relay is inactive (in fail-safe mode)
RR RH OUT SOL
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Operation status of rear LH inlet solenoid ator relay is inactive (in fail-safe mode)
RR LH IN SOL
Operation status of rear LH outlet solenoid ator relay is inactive (in fail-safe mode)
RR LH OUT SOL
When the motor relay and motor are op-
On
erating
MOTOR RELAY Motor and motor relay operation
When the motor relay and motor are not
Off
operating
ACTUATOR RLY When the actuator relay is operating On
NOTE 3 Actuator relay operation
When the actuator relay is not operating Off
When ABS warning lamp is ON On
ABS WARN LAMP ABS warning lamp NOTE 4
When ABS warning 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
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
NOTE:
• 1: Confirm tire pressure is normal.
• 2: Only 4WD models.
• 3: Every 20 seconds momentary switch to OFF.
• 4: On and off timing for warning lamp and indicator lamp. Refer to BRC-49, "Description".
Wiring Diagram - BRAKE CONTROL SYSTEM - INFOID:0000000000925073
BRC-52
BRC
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G
JCFWA0031GB
BRC-53
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JCFWA0032GB
BRC-54
BRC
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G
JCFWA0033GB
BRC-55
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JCFWA0034GB
Fail-Safe INFOID:0000000000925074
ABS, EBD SYSTEM

In case of electrical malfunctions with the ABS, ABS warning lamp will turn ON. In case of electrical malfunc-
tions with the EBD, brake warning lamp, ABS warning lamp will turn ON. Simultaneously, the ABS become
one of the following conditions of the fail-safe function.
BRC-56
• For malfunction of ABS, only the EBD is activated and the condition of vehicle is the same condition of vehi-
cles without 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 ABS, EBD system.
DTC No. Index INFOID:0000000000925075
C
DTC Items (CONSULT screen terms) Reference

D
C1103 FR RH SENSOR-1 E
BRC
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C1108 FR LH SENSOR-2 G
C1109 BATTERY VOLTAGE [ABNORMAL] BRC-26, "Description"
C1110 CONTROLLER FAILURE BRC-28, "Description"
C1111 PUMP MOTOR BRC-29, "Description" H
C1113 G SENSOR BRC-31, "Description"
C1114 MAIN RELAY BRC-33, "Description"
I
C1115 ABS SENSOR [ABNORMAL SIGNAL] BRC-35, "Description"
C1116 STOP LAMP SW BRC-38, "Description"
C1120 FR LH IN ABS SOL BRC-40, "Description" J
C1121 FR LH OUT ABS SOL BRC-42, "Description"
C1122 FR RH IN ABS SOL BRC-40, "Description"
K
C1123 FR RH OUT ABS SOL BRC-42, "Description"
C1124 RR LH IN ABS SOL BRC-40, "Description"
C1125 RR LH OUT ABS SOL BRC-42, "Description" L
C1126 RR RH IN ABS SOL BRC-40, "Description"
C1127 RR RH OUT ABS SOL BRC-42, "Description"
M
C1153 EMERGENCY BRAKE BRC-28, "Description"
U1000 CAN COMM CIRCUIT BRC-44, "Description"
BRC-57
EXCESSIVE ABS FUNCTION OPERATION FREQUENCY
< SYMPTOM DIAGNOSIS > [ABS]
SYMPTOM DIAGNOSIS
1.CHECK START
Check front and rear brake force distribution using a brake tester. Refer to BR-46, "General Specifications"
(LHD models), BR-90, "General Specifications" (RHD models).
YES >> GO TO 2.
NO >> Check brake system.
2.CHECK FRONT AND REAR AXLE
Make sure that there is no excessive play in the front and rear axles.
• Front: FAX-7, "Inspection" (2WD models), FAX-47, "Inspection" (4WD models)
• Rear: RAX-3, "Inspection" (2WD models), RAX-9, "Inspection" (4WD models)
YES >> GO TO 3.
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3.CHECK WHEEL SENSOR AND SENSOR ROTOR
Check the following.
• Wheel sensor installation for damage.
• Sensor rotor installation for damage.
• Wheel sensor connector connection.
• Wheel sensor harness inspection.
YES >> GO TO 4.
NO >> • Replace wheel sensor or sensor rotor.
• Repair harness.
4.CHECK ABS WARNING LAMP DISPLAY
Make sure that the ABS warning lamp is turned off after the ignition switch is turned ON or when driving.
Is the ABS warning lamp illuminated?
YES >> Perform self-diagnosis. Refer to BRC-17, "CONSULT-III Function (ABS)".
BRC-58
UNEXPECTED PEDAL REACTION
A
1.CHECK BRAKE PEDAL STROKE B

Check brake pedal stroke. Refer to BR-8, "Inspection and Adjustment" (LHD models), BR-52, "Inspection and
Adjustment" (RHD models).
Is the stroke too large? C
YES >> • Bleed air from brake tube and hose. Refer to BR-12, "Bleeding Brake System" (LHD models),
BR-56, "Bleeding Brake System" (RHD models).
• Check brake pedal, brake booster, and master cylinder for mount play, looseness, brake system D
fluid leakage, etc.
- Brake pedal: BR-8, "Exploded View" (LHD models), BR-52, "Exploded View" (RHD models).
- Brake booster: BR-14, "Exploded View" (LHD models), BR-58, "Exploded View" (RHD models). E
- Brake master cylinder: BR-13, "Exploded View" (LHD models), BR-57, "Exploded View" (RHD
models).
- Brake fluid: BR-11, "Inspection" (LHD models), BR-55, "Inspection" (RHD models).
NO >> GO TO 2. BRC
2.CHECK FUNCTION
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Disconnect ABS actuator and electric unit (control unit) connector to deactivate ABS. Check if braking force is G
normal in this condition. Connect connector after inspection.
YES >> INSPECTION END H
BRC-59
THE BRAKING DISTANCE IS LONG
CAUTION:
The stopping distance on slippery road surfaces might be longer with the ABS operating than when
the ABS is not operating.
1.CHECK FUNCTION
Turn ignition switch OFF and disconnect ABS actuator and electric unit (control unit) connector to deactivate
ABS. In this condition, check stopping distance. After inspection, connect connector.
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BRC-60
ABS FUNCTION DOES NOT OPERATE
A
CAUTION: B
ABS does not operate when speed is 10 km/h (6 MPH) or lower.
Make sure that the ABS warning lamp turns OFF after ignition switch is turned ON or when driving. C
NO >> Perform self-diagnosis. Refer to BRC-17, "CONSULT-III Function (ABS)". D
BRC
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G
BRC-61
PEDAL VIBRATION OR ABS OPERATION SOUND OCCURS
CAUTION:
Under the following conditions, ABS is activated and vibration is felt when brake pedal is lightly
depressed (just place a foot on it). However, this is normal.
• When shifting gears
• When driving on slippery road
• During cornering at high speed
• When passing over bumps or grooves [at approximately 50 mm (1.97 in) or more]
• When pulling away just after starting engine [at approximately 10 km/h (6 MPH) or higher]
1.SYMPTOM CHECK 1
Check that there are pedal vibrations when the engine is started.
Do vibrations occur?
YES >> GO TO 2.
NO >> Inspect the brake pedal.
2.SYMPTOM CHECK 2
Check that there are ABS operation noises when the engine is started.
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Do the operation noises occur?
YES >> GO TO 3.
NO >> Perform self-diagnosis. Refer to BRC-17, "CONSULT-III Function (ABS)".
3.SYMPTOM CHECK 3
Check symptoms when electrical component (headlamps, etc.) switches are operated.
Do symptoms occur?
YES >> Check if there is a radio, antenna, antenna lead wire, or wiring close to the control unit. If there is,
move it farther away.
BRC-62
NORMAL OPERATING CONDITION
A
B
Symptom Result
Slight vibrations are felt on the brake pedal and the operation noises occur, when ABS is activated. 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 ABS acti- C
snow-covered (fresh, deep snow) roads. vation.
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- D
just after the vehicle starts.
eration check.
BRC
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BRC-63
PRECAUTIONS
< PRECAUTION > [ABS]
PRECAUTION
PRECAUTIONS
Precaution for Supplemental Restraint System (SRS) "AIR BAG" and "SEAT BELT
PRE-TENSIONER" Service INFOID:0000000000925084
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 and SB section of this Service Man-
ual.
WARNING:
• To avoid rendering the SRS inoperative, which could increase the risk of personal injury or death in
the event of a collision that would result in air bag inflation, all maintenance must be performed by
an authorized NISSAN/INFINITI dealer.
• Improper maintenance, including incorrect removal and installation of the SRS, can lead to personal
injury caused by unintentional activation of the system. For removal of Spiral Cable and Air Bag
Module, see the SRS section.
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• Do not use electrical test equipment on any circuit related to the SRS unless instructed to in this
Service Manual. SRS wiring harnesses can be identified by yellow and/or orange harnesses or har-
ness connectors.
Precaution for Brake System INFOID:0000000000925085
WARNING:
Clean brake pads and shoes with a waste cloth, then wipe with a dust collector.
• Only use DOT 4 brake fluid. Refer to MA-21, "Fluids and Lubricants".
• Never to reuse drained brake fluid.
• Never to 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 to use mineral oils such as gasoline or light oil. They may damage rubber parts and cause improper
operation.
• Always loosen the brake tube flare nut with a flare nut wrench.
• Tighten the brake tube flare nut to the specified torque with a flare
nut torque wrench.
• Always conform the specified tightening torque when installing the
brake pipes.
• Brake system is an important safety part. If a brake fluid leak is
detected, always disassemble the affected part. If a malfunction is
detected, replace part with a new one.
• Turn the ignition switch OFF and disconnect the ABS actuator and
electric unit (control unit) connector or the battery negative terminal
before performing the work.
SBR820BA
Precaution for Brake Control INFOID:0000000000925086
• Just after starting vehicle after ignition switch ON, brake pedal may vibrate or motor operating noise may be
heard from engine compartment. This is normal condition.
• 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 simple causes before starting diagnostic
servicing. Besides electrical system inspection, check brake booster operation, brake fluid level, and oil
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
near the control unit.
BRC-64
PRECAUTIONS
< PRECAUTION > [ABS]
• If aftermarket parts (car stereo, CD player, etc.) have been installed, check for incidents such as harness
pinches, open circuits, and improper wiring. A
BRC
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BRC-65
PREPARATION
< PREPARATION > [ABS]
PREPARATION
PREPARATION
Special Service Tool INFOID:0000000000925087
Tool number
Description
Tool name
GG94310000
Flare nut torque wrench Installing each brake piping
a: 10 mm (0.39 in)/ 12 mm (0.47 in)
S-NT406
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BRC-66
WHEEL SENSOR
< ON-VEHICLE REPAIR > [ABS]
ON-VEHICLE REPAIR A
WHEEL SENSOR
FRONT WHEEL SENSOR
B
FRONT WHEEL SENSOR : Exploded View INFOID:0000000001115319
BRC
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G
H
JSFIA0039GB
1. Front LH wheel sensor

I
A. White line (slant line)
Refer to GI section GI-4, "Components" for symbols in the figure.
NOTE: J
The above figure (front side) shows left side. Right side is the mirror image.
FRONT WHEEL SENSOR : Removal and Installation INFOID:0000000001115320
K
REMOVAL
Pay attention to the following when removing sensor. L
CAUTION:
• Do not twist sensor harness as much as possible, when removing it. Pull sensors out without pulling
on sensor harness.
• Take care to avoid damaging sensor edges or rotor teeth. Remove wheel sensor first before remov- M
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
white lines (A) are not twisted. N
INSTALLATION
Pay attention to the following when installing wheel sensor. Tighten installation bolts to the specified torques.
Refer to BRC-67, "FRONT WHEEL SENSOR : Exploded View". O
• 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 P
in the figure. When installed, harness must not be twisted.
REAR WHEEL SENSOR
REAR WHEEL SENSOR : Exploded View INFOID:0000000001115321
BRC-67
WHEEL SENSOR
JSFIA0040GB
1. Rear LH wheel sensor
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A. 2WD models B. 4WD models
NOTE:
REAR WHEEL SENSOR : Removal and Installation INFOID:0000000001115322
REMOVAL
Pay attention to the following when removing sensor.
CAUTION:
on sensor harness.
• Take care to avoid damaging sensor edges or rotor teeth. Remove wheel sensor first before remov-
INSTALLATION
Refer to BRC-67, "REAR WHEEL SENSOR : Exploded View".
• When installing wheel sensor, be sure to press rubber grommets in until they lock at locations shown above
BRC-68
SENSOR ROTOR
SENSOR ROTOR
A
FRONT SENSOR ROTOR
FRONT SENSOR ROTOR : Exploded View INFOID:0000000001115323
B
Refer to FAX-9, "Exploded View" (2WD models), FAX-49, "Exploded View" (4WD models).
FRONT SENSOR ROTOR : Removal and Installation INFOID:0000000001115324
C
REMOVAL
Sensor rotor cannot be disassembled. Remove the sensor rotor together with wheel hub and bearing assem-
bly. Refer to FAX-9, "Removal and Installation" (2WD models), FAX-49, "Removal and Installation" (4WD mod- D
els).
INSTALLATION E
Sensor rotor cannot be disassembled. Installation the sensor rotor together with wheel hub and bearing
assembly. Refer to FAX-9, "Removal and Installation" (2WD models), FAX-49, "Removal and Installation"
(4WD models).
REAR SENSOR ROTOR BRC
REAR SENSOR ROTOR : Exploded View
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INFOID:0000000001115325
G
Refer to RAX-4, "Exploded View" (2WD models), RAX-13, "Exploded View" (4WD models).
REAR SENSOR ROTOR : Removal and Installation INFOID:0000000001115326
H
2WD MODELS
Removal
I
bly. Refer to RAX-4, "Removal and Installation".
Installation J
assembly. Refer to RAX-4, "Removal and Installation".
4WD MODELS K
For removal and installation of sensor rotor, refer to RAX-14, "Disassembly and Assembly".
BRC-69
Exploded View INFOID:0000000000925095
LHD models
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JSFIA0035GB
1. ABS actuator and electric unit (control 2. Connector 3. Bushing

unit)
4. Bracket
A. To front LH brake caliper B. To rear RH brake caliper C. To Rear LH brake caliper

D. To front RH brake caliper E. From master cylinder secondary side F. From master cylinder primary side
: Vehicle front
BRC-70
RHD models
A
BRC
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G
H
JSFIA0036GB

unit) I
4. Bracket

J
: Vehicle front
K
Removal and Installation INFOID:0000000000925096
LHD MODELS L
Removal
CAUTION: M
• 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. N
• Do not remove and install actuator by holding harness.
• After work is completed, bleed air from brake tube. Refer to BR-12, "Bleeding Brake System" (LHD
models), BR-56, "Bleeding Brake System" (RHD models). O
1. Remove cowl top cover. Refer to EXT-19, "Exploded View".
2. Remove exhaust manifold.
• HR16DE: EX-5, "Exploded View" P
• MR20DE: EX-10, "Exploded View"
• K9K: EX-15, "Exploded View"
4. Loosen brake tube flare nuts, then remove brake tubes from ABS actuator and electric unit (control unit).
5. Remove ABS actuator and electric unit (control unit) bracket mounting nut.
6. Remove ABS actuator and electric unit (control unit) from vehicle.
BRC-71
Installation
Note the following, and install in the reverse order of removal.
CAUTION:
• Do not apply excessive impact to ABS actuator and electric unit (control unit), such as dropping it.
models), BR-56, "Bleeding Brake System" (RHD models).
• After installing harness connector in the ABS actuator and electric unit (control unit), make sure
connector is securely locked.
RHD MODELS
Removal
CAUTION:
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2. Remove air cleaner and air duct.
• HR16DE: EM-27, "Exploded View"
• MR20DE: EM-144, "Exploded View"
• K9K: EM-265, "Exploded View"
Installation
CAUTION:
BRC-72
G SENSOR
G SENSOR
A
JSFIA0038GB
E
1. G sensor
: Vehicle front BRC

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G
REMOVAL
CAUTION:
H
• Do not drop or strike G sensor, because it has little endurance to impact.
• Do not use power tool etc., because G sensor is sensitive for the impact.
1. Remove lower instrument cover RH. Refer to IP-11, "Exploded View".
I
2. Disconnect G sensor harness connector.
3. Remove mounting nuts. Remove G sensor.
INSTALLATION J
CAUTION:
• Do not drop or strike G sensor, because it has little endurance to impact. K
• Do not use power tool etc., because G sensor is sensitive for the impact.
BRC-73
< BASIC INSPECTION > [ESP/TCS/ABS]
BASIC INSPECTION
Work Flow INFOID:0000000000924789
PRECAUTIONS FOR DIAGNOSIS

If steering angle sensor, steering system parts, suspension system parts, ABS actuator and electric unit (con-
trol unit) or tires have been replaced, or if wheel alignment has been adjusted, be sure to adjust neutral posi-
tion of steering angle sensor before driving. Refer to BRC-78, "ADJUSTMENT OF STEERING ANGLE
SENSOR NEUTRAL POSITION : Description".
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BRC-74
OVERALL SEQUENCE
A
BRC
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G
JSFIA0010GB
P
DETAIED FLOW
1.COLLECT THE INFORMATION FROM THE CUSTOMER
Get the detailed information from the customer about the symptom (the condition and the environment when
the incident/malfunction occurred) using the diagnosis worksheet. Refer to BRC-77, "Diagnostic Work Sheet".
>> GO TO 2.
BRC-75
2.PERFORM THE SELF-DIAGNOSIS

Check the DTC display with the self-diagnosis function. Refer to BRC-96, "CONSULT-III Function (ABS)".
Is there any DTC displayed?
YES >> GO TO 3.
NO >> GO TO 4.
3.PERFORM THE SYSTEM DIAGNOSIS
Perform the diagnosis applicable to the displayed DTC. Refer to BRC-160, "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-168,
"Description".
Is the symptom is a normal operation?
NO >> GO TO 5.
5.CHECK THE WARNING LAMP AND INDICATOR LAMP FOR ILLUMINATION
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Check that the warning lamp and indicator lamp illuminate.
• ABS warning lamp: Refer to BRC-149, "Description".
• Brake warning lamp: Refer to BRC-150, "Description".
• ESP OFF indicator lamp: Refer to BRC-151, "Description".
• SLIP indicator lamp: Refer to BRC-152, "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.FINAL CHECK
Perform the self-diagnosis again, and check that the malfunction is repaired completely. After checking, erase
the self-diagnosis memory. Refer to BRC-96, "CONSULT-III Function (ABS)".
Is any DTC indicated?
YES >> GO TO 3.
BRC-76
Diagnostic Work Sheet INFOID:0000000000924790
BRC
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G
H
SFIA3265E
BRC-77
INSPECTION AND ADJUSTMENT
ADDITIONAL SERVICE WHEN REPLACING CONTROL UNIT
ADDITIONAL SERVICE WHEN REPLACING CONTROL UNIT : Description
INFOID:0000000000924791
After replacing the ABS actuator and electric unit (control unit), perform the neutral position adjustment for the
steering angle sensor.
ADDITIONAL SERVICE WHEN REPLACING CONTROL UNIT : Special Repair Re-
quirement INFOID:0000000000924792
1.PERFORM THE NEUTRAL POSITION ADJUSTMENT FOR THE STEERING ANGLE SENSOR
Perform the neutral position adjustment for the steering angle sensor.
>> Refer to BRC-78, "ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION : Spe-
cial Repair Requirement".
ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION
ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION : Description
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INFOID:0000000000924793
In case of doing work that applies to the list below, make sure to adjust neutral position of steering angle sen-
sor before running vehicle.
×: 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:0000000000924794
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 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 ANG SEN ADJUSTMENT" in order.
2. Touch “START”.
BRC-78
CAUTION:
Do not touch steering wheel while adjusting steering angle sensor. A
3. After approximately 10 seconds, touch “END”.
NOTE:
After approximately 60 seconds, it ends automatically.
B
4. Turn ignition switch OFF, then turn it ON again.
CAUTION:
Be sure to perform above operation.
C
>> GO TO 3.
3.CHECK DATA MONITOR D
1. Run vehicle with front wheels in straight-ahead position, then stop.
2. Select “DATA MONITOR”. Then make sure “STR ANGLE SIG” is within 0±2.5°.
Is the steering angle within the specified range? E
YES >> GO TO 4.
NO >> Perform the neutral position adjustment for the steering angle sensor again, GO TO 1.
4.ERASE THE SELF-DIAGNOSIS MEMORY BRC
Erase the self-diagnosis memories of the ABS actuator and electric unit (control unit) and ECM.
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• ABS actuator and electric unit (control unit): Refer to BRC-96, "CONSULT-III Function (ABS)".
• ECM G
- HR16DE (With EURO-OBD): EC-100, "CONSULT-III Function".
- HR16DE (Without EURO-OBD): EC-430, "CONSULT-III Function".
- MR20DE (With EURO-OBD): EC-719, "CONSULT-III Function". H
- MR20DE (Without EURO-OBD): EC-1054, "CONSULT-III Function".
- K9K: EC-1315, "Diagnosis Description".
Are the memories erased? I
NO >> Check the items indicated by the self-diagnosis.
J
BRC-79
ESP
< FUNCTION DIAGNOSIS > [ESP/TCS/ABS]
FUNCTION DIAGNOSIS
ESP
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JSFIA0070GB
• Electronic Stability Program system detects driver′s steering operation amount and brake pedal travel from
steering angle sensor and pressure sensor. Using information from yaw rate sensor, G sensor and wheel
sensor, ESP judges driving condition (conditions of under steer and over steer) to improve vehicle driving
stability by controlling brake application to 4 wheels and engine output.
• During ESP operation, it informs driver of system operation by flashing SLIP indicator lamp.
BRC-80
ESP
LHD models
A
BRC
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G
JSFIA0032ZZ
P
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)
7. Front wheel sensor 8. Yaw rate/side G sensor 9. ESP OFF switch
10. Rear wheel sensor (2WD models) 11. Rear wheel sensor (4WD models)
A. Back of spiral cable assembly B. Combination meter C. Right side in engine room
BRC-81
ESP
D. Steering knuckle E. Lower instrument cover RH F. Instrument driver lower panel
G. Rear suspension arm
RHD models
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JSFIA0047ZZ

trol unit)
BRC-82
ESP
A. Back of spiral cable assembly B. Combination meter C. Left side in engine room A
B
C
Pump
Motor D
ABS actuator and electric unit (control unit) Solenoid valve BRC-121, "Description"
E
Pressure sensor BRC-128, "Description"
ESP switch-over valve
(USV1, USV2, HSV1, HSV2)
BRC
Yaw rate sensor BRC-133, "Description"
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G sensor BRC-136, "Description" G
Steering angle sensor BRC-130, "Description"
ESP OFF switch BRC-147, "Description"
H
ESP OFF indicator lamp BRC-151, "Description" I
SLIP indicator lamp BRC-152, "Description"
BRC-83
TCS
TCS
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JSFIA0070GB
• Traction Control System is a function that electronically controls engine torque, brake fluid pressure and
gear ratio (except M/T) to ensure the optimum slippage ratio at drive wheels by computing wheel speed sig-
nals from 4 wheel sensors. When ABS actuator and electric unit (control unit) detects a spin at drive wheels
(rear wheels), it compares wheel speed signals from all 4 wheels. At this time, LH and RH rear brake fluid
pressure are controlled, while fuel being cut to engine and throttle valve being closed to reduce engine
torque by the control unit. Further more, throttle position is continuously controlled to ensure the optimum
engine torque at all times.
• During TCS operation, it informs driver of system operation by flashing SLIP indicator lamp.
BRC-84
TCS
LHD models
A
BRC
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G
JSFIA0032ZZ
P
trol unit)
BRC-85
TCS
RHD models
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JSFIA0047ZZ

trol unit)
BRC-86
TCS
B
C
Pump
Motor D
ABS actuator and electric unit (control unit) Solenoid valve BRC-121, "Description"
E
Pressure sensor BRC-128, "Description"
ESP switch-over valve
(USV1, USV2, HSV1, HSV2)
BRC
Yaw rate sensor BRC-133, "Description"
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G sensor BRC-136, "Description" G
Steering angle sensor BRC-130, "Description"
ESP OFF switch BRC-147, "Description"
H
ESP OFF indicator lamp BRC-151, "Description" I
SLIP indicator lamp BRC-152, "Description"
BRC-87
ABS
ABS
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JSFIA0033GB
• Anti-Lock Braking System is a function that detects wheel revolution while braking, electronically controls
braking force, and prevents wheel locking during sudden braking. It improves handling stability and maneu-
verability for avoiding obstacles.
BRC-88
ABS
LHD models
A
BRC
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G
JSFIA0032ZZ
P
trol unit)
BRC-89
ABS
RHD models
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JSFIA0047ZZ

trol unit)
BRC-90
ABS
B
C
Pump
Motor D
E
Brake warning lamp BRC-150, "Description" BRC
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G
BRC-91
EBD
EBD
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JSFIA0033GB
• Electric Brake force Distribution is a following function. ABS actuator and electric unit (control unit) detects
subtle slippages between the front and rear wheels during braking. Then is electronically controls the rear
braking force (brake fluid pressure) to reducing and reduces rear wheel slippage. Accordingly it improves
vehicle stability.
BRC-92
EBD
LHD models
A
BRC
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G
JSFIA0032ZZ
P
trol unit)
BRC-93
EBD
RHD models
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JSFIA0047ZZ

trol unit)
BRC-94
EBD
B
C
Pump
Motor D
E
Brake warning lamp BRC-150, "Description" BRC
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G
BRC-95
UNIT)]
UNIT)]
CONSULT-III Function (ABS) INFOID:0000000000924811
FUNCTION
CONSULT-III can display each diagnostic item using the diagnostic test modes shown following.
Diagnostic test mode Function

This mode enables a technician to adjust some devices faster and more accurately by following
Work support
the indications on CONSULT-III.
Self-diagnostic results Self-diagnostic results can be read and erased quickly.
Data monitor Input/Output data in the ABS actuator and electric unit (control unit) can be read.
Diagnostic test mode is which CONSULT-III drives some actuators apart from the ABS actuator
Active test
and electric unit (control unit) and also shifts some parameters in a specified range.
ECU part number ABS actuator and electric unit (control unit) part number can be read.
CAN diagnostic support monitor The results of transmit/receive diagnosis of CAN communication can be read.
SELF-DIAG RESULTS MODE
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Operation Procedure
1. Before performing the self-diagnosis, start engine and drive vehicle at 30 km/h (19 MPH) or more for
approximately 1 minute.
How to Erase Self-diagnosis Results
1. After erasing DTC memory, start engine and drive vehicle at 30 km/h (19 MPH) or more for approximately
1 minute as the final inspection, and make sure that the ABS warning lamp, ESP OFF indicator lamp,
SLIP indicator lamp and brake warning lamp turn OFF.
CAUTION:
If memory cannot be erased, perform applicably diagnosis.
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 normal unless the vehicle is driving at approximately 30 km/h (19 MPH) or more for approxi-
mately 1 minute.
• Brake warning lamp will turn ON in case of parking brake operation (when switch is ON) or of brake fluid
level switch operation (when brake fluid is insufficient).
• ESP OFF switch should not stay “ON” position.
Display Item List
Refer to BRC-160, "DTC No. Index".
DATA MONITOR MODE
Display Item List
×: Applicable o: Optional item
SELECT MONITOR ITEM

MAIN SIGNLAS
NALS
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)]
BRC-96
UNIT)]
SELECT MONITOR ITEM
Monitor item (Unit) Remarks A
ECU INPUT SIG-
MAIN SIGNLAS
NALS
STOP LAMP SW
× × Stop lamp switch signal status B
(On/Off)
BATTERY VOLT Battery voltage supplied to the ABS actuator and electric
× ×
(V) unit (control unit)
GEAR × × Gear position determined by TCM C
SLCT LVR POSI × × Selector lever position (except M/T)
OFF SW
o × ESP OFF switch D
(On/Off)
YAW RATE SEN
× × Yaw rate detected by yaw rate/side G sensor
(°/s)
E
ACCEL POS SIG Throttle actuator opening/closing is displayed (Linked with
× o
(%) accelerator pedal)
SIDE G-SENSOR
× o Transverse G detected by yaw rate/side G sensor BRC
(m/s2)
STR ANGLE SIG
× o Steering angle detected by steering angle sensor
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(°)
G
PRESS SENSOR
× o Brake fluid pressure detected by pressure sensor
(bar)
ENGINE RPM
× o Engine speed H
[tr/min (rpm)]
FLUID LEV SW
× o Brake fluid level switch signal status
(On/Off)
I
PARK BRAKE SW
× o Parking brake switch signal status
(On/Off)
FR RH IN SOL
o × J
(On/Off)
FR RH OUT SOL
o ×
(On/Off)
K
FR LH IN SOL
o ×
(On/Off)
FR LH OUT SOL
o × L
(On/Off)
Operation status of each solenoid valve
RR RH IN SOL
o ×
(On/Off)
RR RH OUT SOL M
o ×
(On/Off)
RR LH IN SOL
o ×
(On/Off) N
RR LH OUT SOL
o ×
(On/Off)
MOTOR RELAY O
o × Motor and motor relay operation
(On/Off)
ACTUATOR RLY NOTE o × Actuator relay operation

(On/Off) P
ABS WARN LAMP
o × ABS warning lamp
(On/Off)
OFF LAMP
o × ESP OFF indicator lamp
(On/Off)
SLIP LAMP
o × SLIP indicator lamp
(On/Off)
BRC-97
UNIT)]
NOTE:
Every 20 seconds momentary switch to OFF.
ACTIVE TEST MODE

CAUTION:
• Do not perform active test while driving vehicle.
• Make sure to completely bleed air from brake system.
• The active test cannot be performed with the ABS warning lamp, ESP OFF indicator lamp, SLIP indi-
cator lamp and brake warning lamp are on.
• ABS warning lamp, ESP OFF indicator lamp, SLIP indicator lamp and brake warning lamp are on dur-
ing active test.
• Erase memory of ICC system after implementing active test.
NOTE:
• When active test is performed while depressing the pedal, the pedal depression amount will change. This is
normal. (Only solenoid valve and ABS motor.)
• “TEST IS STOPPED” is displayed 10 seconds after operation start.
• After “TEST IS STOPPED” is displayed, to perform test again.
Test Item
ABS SOLENOID VALVE

• For ABS solenoid valve, touch “UP”, “KEEP” and “DOWN”. Then use screen monitor to check that solenoid
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valve operates as shown in the table below.
Display
UP KEEP DOWN
FR RH SOL
USV [FR-RL] OFF OFF OFF
HSV [FR-RL] OFF OFF OFF
FR LH SOL
USV [FL-RR] OFF OFF OFF
HSV [FL-RR] OFF OFF OFF
RR RH SOL
RR LH SOL
NOTE:
A brief moment of ON/OFF condition occurs every 20 seconds after ignition switch turned ON. This is malfunction because it is an
operation for checking.
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.
BRC-98
UNIT)]
Display A
UP KEEP DOWN
FR RH IN SOL OFF OFF OFF
FR RH OUT SOL OFF OFF OFF
B
FR RH SOL
USV [FR-RL] OFF ON ON
HSV [FR-RL] OFF ON* OFF C
FR LH IN SOL OFF OFF OFF
FR LH OUT SOL OFF OFF OFF
FR LH SOL
USV [FL-RR] OFF ON ON D
HSV [FL-RR] OFF ON* OFF
RR RH IN SOL OFF OFF OFF
E
RR RH OUT SOL OFF OFF OFF
RR RH SOL
USV [FL-RR] OFF ON ON
HSV [FL-RR] OFF ON* OFF BRC
RR LH IN SOL OFF OFF OFF
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RR LH OUT SOL OFF OFF OFF
RR LH SOL G
HSV [FR-RL] OFF ON* OFF
*: ON for 1 to 2 seconds after the touch, and then OFF. H
NOTE:
A brief moment of ON/OFF condition occurs every 20 seconds after ignition switch turned ON. This is malfunction because it is an
operation for checking. I
ABS MOTOR
• Touch “ON” and “OFF” on screen. Make sure motor relay and actuator relay operates as shown in table
below. J
Display
Test item Display item K
ON OFF
MOTOR RELAY ON OFF
ABS MOTOR
NOTE ON ON
ACTUATOR RLY L
NOTE:
A brief moment of ON/OFF condition occurs every 20 seconds after ignition switch turned ON. This is not malfunction because it is an
operation for checking. M
BRC-99
< COMPONENT DIAGNOSIS > [ESP/TCS/ABS]
COMPONENT DIAGNOSIS
When the sensor rotor rotates, the magnetic field changes. The sensor converts the magnetic field changes to
DTC DETECTION LOGIC

Circuit of rear RH wheel sensor is open or short circuit.
Circuit of rear LH wheel sensor is open or short circuit. • Harness or connector
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)
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Circuit of front LH wheel sensor is open or short circuit.

RR RH SENSOR-1
RR LH SENSOR-1
FR RH SENSOR-1
FR LH SENSOR-1
CAUTION:
• Check wheel sensor for damage, disconnection or looseness.
YES >> GO TO 2.
NO >> Repair wheel sensor mount or replace sensor rotor. Then perform the self-diagnosis.
2.CHECK CONNECTOR
replace terminal.
BRC-100
(ABS)". A
YES >> GO TO 3.
NO >> Poor connection of connector terminal. Repair or replace connector. B
C
and when sensor harness inside the wheel house is moved.) D

ABS actuator and electric unit (control unit) Wheel sensor E
Continuity
9 E39 (Front RH)
BRC
16 E22 (Front LH)
E36 2 Existed
8 B41 (Rear RH)
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6 B44 (Rear LH) G
Continuity H
10 E39 (Front RH)
5 E22 (Front LH) I
E36 1 Existed
19 B41 (Rear RH)
17 B44 (Rear LH)
J
Continuity
Connector Terminal Connector Terminal K
10, 9
5, 16
E36 E36 1, 4 Not existed L
19, 8
17, 6
5. Reconnect ABS actuator and electric unit (control unit) connector. M
YES >> GO TO 4.
NO >> Repair or replace malfunctioning components. N
2. Check voltage between wheel sensor harness connector power supply terminal and ground. O
Wheel sensor
— Voltage P
Connector Terminal
E39 (Front RH)
E22 (Front LH)
B41 (Rear RH)
B44 (Rear LH)
BRC-101


FR LH SENSOR
RR RH SENSOR
Special Repair Requirement
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INFOID:0000000000924816
1.ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION

Always perform the neutral position adjustment for the steering angle sensor, when replacing the ABS actua-
tor and electric unit (control unit). Refer to BRC-78, "ADJUSTMENT OF STEERING ANGLE SENSOR NEU-
TRAL POSITION : Description".
>> END
BRC-102
A
ABS unit continually monitors wheel speed sensors to detect abnormal signals. B
DTC DETECTION LOGIC C

Signal from rear RH wheel sensor does not match other D
C1105 RR RH SENSOR-2 • Sensor not installed corretly
3 wheel speed signal. • Sensor rotor or encoder dam-
Signal from rear LH wheel sensor does not match other aged
C1106 RR LH SENSOR-2 • Sensor rotor loose on axle
3 wheel speed signal. E
Signal from front RH wheel sensor does not match other • Wheel not turning - e.g. vehi-
3 wheel speed signal. cle driven on 2WD dyno
Signal from front LH wheel sensor does not match other • Sensor damaged BRC
C1108 FR LH SENSOR-2 • ABS unit damaged
3 wheel speed signal.
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G
H
RR RH SENSOR-2
I
RR LH SENSOR-2
FR RH SENSOR-2
FR LH SENSOR-2 J
NO >> INSPECTION END K
CAUTION: L
M
• Check wheel sensor for damage, disconnection or looseness. N
YES >> GO TO 2.
NO >> Repair wheel sensor mount or replace sensor rotor. Then perform the self-diagnosis. O
2.CHECK CONNECTOR
replace terminal.
(ABS)".
BRC-103
YES >> GO TO 3.

Continuity
9 E39 (Front RH)
16 E22 (Front LH)
E36 2 Existed
8 B41 (Rear RH)
6 B44 (Rear LH)
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Continuity
10 E39 (Front RH)
5 E22 (Front LH)
E36 1 Existed
19 B41 (Rear RH)
17 B44 (Rear LH)

Continuity
10, 9
5, 16
19, 8
17, 6
YES >> GO TO 4.
Wheel sensor
— Voltage
Connector Terminal
E39 (Front RH)
E22 (Front LH)
B41 (Rear RH)
B44 (Rear LH)
BRC-104
A
SOR”, and check the vehicle speed. B

C
FR LH SENSOR
RR LH SENSOR play (±10% or less) D
RR RH SENSOR
E
Special Repair Requirement INFOID:0000000000977405
BRC
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Always perform the neutral position adjustment for the steering angle sensor, when replacing the ABS actua- G
H
>> END
BRC-105
Power is supplied from the battery to ABS actuator and electric unit (control unit).
DTC DETECTION LOGIC

When the ABS actuator and electric unit (control unit)
• ABS unit
BATTERY VOLTAGE power supply is lower than normal and vehicle speed is
C1109 • Fuse
[ABNORMAL] greater than 6 km/h (4 MPH). Power supply is greater
• Vehicle electrical power sys-
than normal limits.
tem

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

Connector Terminal
E36 18 Ground
YES >> GO TO 3.
BRC-106
3.ABS POWER SUPPLY CHECK (UNDER LOAD CONDITIONS) A
1. Use 12V lamp (normal rating 10 to 20W) connected between E36 terminals 18 and 4. With ignition switch
ON check bulb illuminates correctly.
B
2. Check ABS motor supply under loaded condition (connector E36 terminals 1 and 2).
YES >> GO TO 4.
C
1. Turn ignition switch OFF. D
ground. E

— Continuity
Connector Terminal BRC
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G
YES >> Check battery for terminal looseness, low voltage, etc. if any malfunction is found, repair malfunc-
tioning parts.
NO >> Repair or replace malfunctioning components. (Check ABS earth bolt for tightness and corrosion.)
H
1.ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION I

TRAL POSITION : Description". J
>> END
K
BRC-107
C1110, C1153, C1170 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
C1110, C1153, C1170 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL
UNIT)
ABS unit is continuously monitoring ECU hardware and software for correct operation.
DTC DETECTION LOGIC

• Internal failure of control unit
components.
C1110 CONTROLLER FAILURE Possible internal failure of control unit components. • ABS solenoid valve or motor
power supply / ground abnor-
mal.
• ABS control unit software fail-
ure
C1153 EMERGENCY BRAKE Continuous ABS/EBD control for more than 60 seconds.
• Wheel speed sensor input
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abnormality.
ABS actuator and electric unit
C1170 VARIANT CODING In a case where VARIANT CODING is different.
(control unit)

1. Check both ABS solenoid valve and motor supply and ground circuits using a suitable electrical load.
2. Check wheel speed sensor inputs.
3. Check the self-diagnosis results.
CONTROLLER FAILURE
EMERGENCY BRAKE
VARIANT CODING
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).


BRC-108
C1110, C1153, C1170 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
>> END
A
BRC
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G
BRC-109
PUMP
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
unit).
DTC DETECTION LOGIC

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

PUMP MOTOR
1.CHECK CONNECTOR
3. Check terminal for deformation, disconnect, looseness, and so on. If any malfunction is found, repair or
replace terminal.
(ABS)".
YES >> GO TO 2.
2.CHECK ABS MOTOR AND MOTOR RELAY POWER SUPPLY CIRCUIT
3. Check voltage between the ABS actuator and electric unit (control unit) harness connector terminal and
ground.
BRC-110

— Voltage
Connector Terminal
B
YES >> GO TO 3. C
3.ABS POWER SUPPLY CHECK (UNDER LOAD CONDITION)
D
E
YES >> GO TO 4.
4.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) GROUND CIRCUIT BRC
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3. Check continuity between ABS actuator and electric unit (control unit) harness connector terminals and G
ground.
ABS actuator and electric unit (control unit) H

— Continuity
Connector Terminal
NO >> Repair or replace malfunctioning components. (Check ABS each bolt for tightness and corrosion.)
J
1.CHECK ACTIVE TEST K

2. Touch ON and OFF on screen. Make sure motor relay and actuator relay operates as shown in table
below. L
Display
ON OFF M
MOTOR RELAY ON OFF
ABS MOTOR
N
NOTE:
O
P

BRC-111
>> END
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BRC-112
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
relay is shorted to the ground. • Harness or connector
C1114 MAIN RELAY • ABS actuator and electric unit
E
During the actuator relay operating with ON, when the (control unit)
relay is open.
BRC
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G
MAIN RELAY
J
1.CHECK CONNECTOR K
3. Check terminal for deformation, disconnection, looseness, and so on. If any malfunction is found, repair or L
replace terminal.
(ABS)". M
YES >> GO TO 2.
NO >> Poor connection of connector terminal. Replace or repair connector. N
2.CHECK SOLENOID, ESP SWITCH-OVER VALVE AND ACTUATOR RELAY POWER SUPPLY CIRCUIT
2. Disconnect ABS actuator and electric unit (control unit) connector. O
ground.
P
— Voltage
Connector Terminal
BRC-113
YES >> GO TO 3.
3.ABS POWER SUPPLY CHECK (UNDER LOAD CONDITION)
YES >> GO TO 4.
ground.

— Continuity
Connector Terminal
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NO >> Repair or replace malfunctioning components. (Check ABS each bolt for tightness and corrosion.)
1.CHECK ACTIVE TEST

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
NOTE ON ON
ACTUATOR RLY
NOTE:

>> END
BRC-114
C1115 WHEEL SENSOR
C1115 WHEEL SENSOR
A
When the sensor rotor rotates, the magnetic field changes. The sensor converts the magnetic field changes to B
C
DTC DETECTION LOGIC

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

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G
ABS SENSOR [ABNORMAL SIGNAL] H
NO >> INSPECTION END I
CAUTION: J
K
• Check wheel sensor for damage, disconnection or looseness. L
YES >> GO TO 2.
NO >> Repair wheel sensor mount or replace sensor rotor. Then perform the self-diagnosis. M
2.CHECK CONNECTOR
N
replace terminal. O
(ABS)".
Is any item indicated on the self-diagnosis display? P
YES >> GO TO 3.
BRC-115
C1115 WHEEL SENSOR

Continuity
9 E39 (Front RH)
16 E22 (Front LH)
E36 2 Existed
8 B41 (Rear RH)
6 B44 (Rear LH)

Continuity
10 E39 (Front RH)
5 E22 (Front LH)
E36 1 Existed
19 B41 (Rear RH)
17 B44 (Rear LH)
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Continuity
10, 9
5, 16
19, 8
17, 6
YES >> GO TO 4.
Wheel sensor
— Voltage
Connector Terminal
E39 (Front RH)
E22 (Front LH)
B41 (Rear RH)
B44 (Rear LH)

BRC-116
C1115 WHEEL SENSOR
Wheel sensor Vehicle speed (DATA MONITOR) A

FR LH SENSOR
FR RH SENSOR Nearly matches the speedometer dis- B
RR RH SENSOR
Is the inspection result normal? C
D
1.ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION E

BRC
>> END
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G
BRC-117
The stop lamp switch transmits the stop lamp switch signal (ON/OFF) to the ABS actuator and electric unit
(control unit).
DTC DETECTION LOGIC

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

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STOP LAMP SW
1.CHECK STOP LAMPS ILLUMINATE
Check stop lamps illuminate when brake pedal is pressed.
YES >> GO TO 2.
NO >> Check stop lamp circuit.
Using data monitor check both pressure sensor signal and brake lamp switch signal.
Pressure sensor
Condition PRESS SEN (DATA MONITOR)

Brake pedal released Approx. 3 bar
Brake pedal pressed 0 to 200 bar
Stop lamp switch
Condition STOP LAMP SW (DATA MONITOR)

Brake pedal released OFF
Brake pedal pressed ON
YES >> GO TO 3.
NO >> Repair or replace malfunctioning parts.
3.CHECK CONNECTOR
BRC-118
4. Check terminal for deformation, disconnection, looseness, and so on. If any malfunction is found, repair or A
replace terminal.
6. Start engine.
B
7. Repeat pumping brake pedal carefully several times, and perform self-diagnosis. Refer to BRC-96, "CON-
SULT-III Function (ABS)"
Is any item indicated in the self-diagnosis display?
C
YES >> GO TO 4.
4.CHECK STOP LAMP SWITCH D
E
Stop lamp switch
Terminal
Release stop lamp switch BRC
Existed
1−2
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Not existed
(When brake pedal is released.) G
YES >> GO TO 5.
NO >> Replace stop lamp switch. H

1. Disconnect ABS actuator and electric unit (control unit) connector. I
2. Connect stop lamp switch connector.
ground.
J
Condition Voltage
Connector Terminal
K
Brake pedal is depressed Battery voltage
E36 20
Is the inspection result normal? L
M
1.CHECK STOP LAMP SWITCH N

O
Stop lamp switch

Terminal P
Existed
1−2
Not existed
BRC-119

>> END
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BRC-120
C1120, C1122, C1124, C1126 IN ABS SOL
C1120, C1122, C1124, C1126 IN ABS SOL
A
The solenoid valve increases, holds or decreases the fluid pressure of each brake caliper according to the sig- B
C
DTC DETECTION LOGIC

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

Check the self-diagnosis results. H
FR LH IN ABS SOL I
FR RH IN ABS SOL
RR LH IN ABS SOL
J
RR RH IN ABS SOL
YES >> Proceed to diagnosis procedure. Refer to BRC-121, "Diagnosis Procedure". K
L
1.CHECK CONNECTOR M
3. Check terminal for deformation, disconnection, looseness, and so on. If any malfunction is found, repair or N
replace terminal.
(ABS)".
O
YES >> GO TO 2.
P
ground.
BRC-121
C1120, C1122, C1124, C1126 IN ABS SOL

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

— Continuity
Connector Terminal
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1.CHECK ACTIVE TEST

table below.
Display
UP KEEP DOWN
FR RH SOL
FR LH SOL
RR RH SOL
RR LH SOL
NOTE:
BRC-122
C1120, C1122, C1124, C1126 IN ABS SOL
A
1.ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION B

C
>> END
D
BRC
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G
BRC-123
C1121, C1123, C1125, C1127 OUT ABS SOL
C1121, C1123, C1125, C1127 OUT ABS SOL
DTC DETECTION LOGIC

C1121 FR LH OUT ABS SOL
LH outlet solenoid circuit.
C1123 FR RH OUT ABS SOL
RH outlet solenoid circuit. ABS actuator and electric unit
C1125 RR LH OUT ABS SOL
outlet solenoid circuit.
C1127 RR RH OUT ABS SOL
RH outlet solenoid circuit.
cardiagn.com
FR LH OUT ABS SOL
FR RH OUT ABS SOL
RR LH OUT ABS SOL
RR RH OUT ABS SOL
1.CHECK CONNECTOR
replace terminal.
(ABS)".
YES >> GO TO 2.
ground.
BRC-124
C1121, C1123, C1125, C1127 OUT ABS SOL

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

— Continuity E
Connector Terminal
cardiagn.com
G
1.CHECK ACTIVE TEST

H
table below.
I
Display
UP KEEP DOWN
J
FR RH SOL
USV [FR-RL] OFF OFF OFF K
L
FR LH SOL
HSV [FL-RR] OFF OFF OFF M
RR RH SOL
USV [FL-RR] OFF OFF OFF N
O
RR LH SOL
HSV [FR-RL] OFF OFF OFF P
NOTE:
BRC-125
C1121, C1123, C1125, C1127 OUT ABS SOL

>> END
cardiagn.com
BRC-126
C1130, C1131, C1132 ENGINE SIGNAL
C1130, C1131, C1132 ENGINE SIGNAL
A
ABS actuator and electric unit (control unit) receives the engine signel from ECM with CAN communication B
line.
C
DTC DETECTION LOGIC

C1130 ENGINE SIGNAL 1 • Harness or connector
C1131 ENGINE SIGNAL 2 ECM signals are invalid or ECM self diagnosis indicates
(control unit) E
a fault that prevents correct TCS operation.
• ECM
C1132 ENGINE SIGNAL 3
• CAN communication line

cardiagn.com
G
ENGINE SIGNAL 1 H
ENGINE SIGNAL 2
ENGINE SIGNAL 3
Is above displayed on the self-diagnosis display? I
J
INSPECTION PROCEDURE K
1.CHECK ENGINE SYSTEM
1. Perform ECM self-diagnosis. Repair or replace items indicated, then perform ECM self-diagnosis again.
L
- HR16DE (with EURO-OBD): EC-100, "CONSULT-III Function".
- HR16DE (without EURO-OBD): EC-430, "CONSULT-III Function".
- MR20DE (with EURO-OBD: EC-719, "CONSULT-III Function".
- MR20DE (without EURO-OBD: EC-1054, "CONSULT-III Function". M
2. Perform ABS actuator and electric unit (control unit) self-diagnosis. Refer to BRC-96, "CONSULT-III Func-
tion (ABS)".
N
YES >> Repair or replace the affected part.
O
1.ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION P

>> END
BRC-127
C1142 PRESS SENSOR
C1142 PRESS SENSOR
The pressure sensor converts the brake fluid pressure to an electric signal and transmits it to the ABS actuator
and electric unit (control unit). [The pressure sensor is integrated in the ABS actuator and electric unit (control
unit).]
DTC DETECTION LOGIC

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

cardiagn.com
PRESS SEN CIRCUIT
1.CHECK STOP LAMP SWITCH CONNECTOR
replace terminal.
6. Start engine.
7. Repeat pumping brake pedal carefully several times, and perform self-diagnosis.
YES >> GO TO 2.
Stop lamp switch

Terminal
Existed
1−2
Not existed
BRC-128
C1142 PRESS SENSOR
YES >> GO TO 3. A
B
2. Connect stop lamp switch connector.
ground. C

Condition Voltage
Connector Terminal D
Brake pedal is depressed Battery voltage
E36 20
E
NO >> Repair or replace malfunctioning components. BRC
cardiagn.com
1.CHECK DATA MONITOR G
On “DATA MONITOR”, select “PRESS SENSOR” and check the brake fluid pressure.
H
PRESS SENSOR
Condition
(DATA MONITOR)
With ignition switch turned ON and brake pedal released. Approx. 3 bar
I
With ignition switch turned ON and brake pedal depressed. 0 to 200 bar
YES >> INSPECTION END J
K
Always perform the neutral position adjustment for the steering angle sensor, when replacing the ABS actua- L
M
>> END
BRC-129
C1143, C1144 STEERING ANGLE SENSOR
The steering angle sensor detects the rotation amount, angular velocity and direction of the steering wheel,
and transmits the data to the ABS actuator and electric unit (control unit) via CAN communication.
DTC DETECTION LOGIC

Neutral position of steering angle sensor is dislocated, or • Harness or connector
C1143 ST ANG SEN CIRCUIT
the steering angle sensor is malfunctioning. • Steering angle sensor
C1144 ST ANG SEN SIGNAL Neutral position of steering angle sensor is not finished. (control unit)

cardiagn.com
ST ANG SEN CIRCUIT
ST ANG SEN SIGNAL
1.CHECK VEHICLE STATE
Check vehicle for any suspension/steering misalignment or damage.
YES >> GO TO 2.
NO >> Correct any damage found.
2.CHECK CONNECTOR
3. Disconnect steering angle sensor connector.
replace terminal.
(ABS)"
YES >> GO TO 3.
3.CHECK STEERING ANGLE SENSOR HARNESS
2. Disconnect steering angle sensor connector.
3. Check continuity between steering angle sensor harness connector terminal and ground.
BRC-130
Steering angle sensor A

— Continuity
Connector Terminal
B
5. Check voltage between steering angle sensor harness connector terminal and ground.
C
Steering angle sensor
— Voltage
Connector Terminal
M30 1 Ground Battery voltage D
YES >> GO TO 4.
NO >> Repair or replace malfunctioning components. E

1. Connect the steering angle sensor connector and ABS actuator and electric unit (control unit) connector. BRC
2. Check steering angle sensor signal.
cardiagn.com
Steering condition STR ANGLE SIG (DATA MONITOR) G
Driving straight ±2.5 °
Turn 90 ° to right Approx. +90 °
H
Turn 90 ° to left Approx. −90 °
YES >> GO TO 5. I
NO >> Adjust neutral position of steering angle sensor.
5.CHECK FOR BACKLASH
1. Check for backlash [turn wheel to left then straight then right then straight (approx. 90)]. J
2. Check straight position is always similar value.
Is there noticeable backlash?
YES >> Check sensor is correctly fitted to combination witch. K
NO >> Check sensor output is correct from lock to lock.
L

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

Driving straight ±2.5 ° N
Turn 90 ° to right Approx. +90 °
Turn 90 ° to left Approx. −90 °
O
NO >> Go to diagnosis procedure. Refer to BRC-130, "Diagnosis Procedure". P

Always perform the neutral position adjustment for the steering angle sensor, when replacing the steering
angle sensor or the ABS actuator and electric unit (control unit). Refer to BRC-78, "ADJUSTMENT OF
STEERING ANGLE SENSOR NEUTRAL POSITION : Description".
BRC-131
>> END
cardiagn.com
BRC-132
C1145 YAW RATE SENSOR
A
The yaw rate sensor detects the yaw rate affecting the vehicle, and transmits the data to the ABS actuator and B
electric unit (control unit) as an analog voltage signal.
C
DTC DETECTION LOGIC

Yaw rate sensor is malfunctioning, or the yaw rate sensor • ABS actuator and electric unit
signal line is open or shorted. (control unit) E
• Yaw rate sensor

1.CHECK SELF-DIAGNOSIS RESULTS BRC
cardiagn.com
G
YAW RATE SENSOR
Is above displayed on the self-diagnosis display? H
I
CAUTION:
• Driving on high speed banked corners can also indicate yaw rate sensor malfunction. J
• If vehicle is on turn-table at entrance to parking garage, or on other moving surface, VDC OFF indica-
tor lamp may illuminate and CONSULT-III self-diagnosis may indicate yaw rate sensor system mal-
function. However, in this case there is no malfunction in yaw rate sensor system. Take vehicle off of K
turn-table or other moving surface, and start engine. Results will return to normal. And after doing
spin turns or acceleration turns with VDC function is being off (VDC OFF switch “ON”), too, the
results will return to a normal condition by re-starting vehicle.
L
1.CHECK INSTALLATION STATE OF YAW RATE SENSOR
M
Check yaw rate sensor is correctly attached to vehicle. Refer to BRC-178, "Exploded View".
YES >> GO TO 2. N
2.CHECK CONNECTOR
1. Turn ignition switch OFF. O
3. Disconnect yaw rate sensor connector.
4. Check terminal for deformation, disconnection, looseness, and so on. If any malfunction is found, repair or P
replace terminal.
(ABS)".
YES >> GO TO 3.
BRC-133
3.CHECK YAW RATE SENSOR POWER SUPPLY CIRCUIT

2. Disconnect yaw rate sensor connector.
3. Turn ignition switch ON or OFF and check voltage between yaw rate sensor harness connector terminal
and ground.
Yaw rate sensor

Connector Terminal
M72 4 Ground
YES >> GO TO 4.
4.CHECK YAW RATE SENSOR GROUND CIRCUIT
Check continuity between yaw rate sensor harness connector terminal and ground.
Yaw rate sensor
cardiagn.com
— Continuity
Connector Terminal
YES >> GO TO 5.
5.CHECK YAW RATE SENSOR HARNESS
2. Check continuity between yaw rate sensor harness connector terminals and ABS actuator and electric
unit (control unit) harness connector terminals.
ABS actuator and electric unit (control unit) Yaw rate sensor
Continuity
14 2
E36 M72 Existed
25 3
YES >> GO TO 6.
1. Connect the yaw rate sensor connector and ABS actuator and electric unit (control unit) connector.
2. Select “YAW RATE SEN”, “SIDE G-SENSOR” in “DATA MONITOR” and check yaw rate sensor signal.
YAW RATE SEN

Vehicle condition
(DATA MONITOR)
Stopped Approx. 0 d/s
Turning right Negative value
Turning left Positive value
NO >> Replace yaw rate sensor.
BRC-134
1.CHECK DATA MONITOR A

Select “YAW RATE SEN” in “DATA MONITOR” and check yaw rate sensor signal.
Vehicle condition YAW RATE SEN (DATA MONITOR) B

Stopped Approx. 0 d/s
C
turning left Positive value
YES >> INSPECTION END D
E
tor and electric unit (control unit). Refer to BRC-78, "ADJUSTMENT OF STEERING ANGLE SENSOR NEU- BRC
cardiagn.com
>> END G
BRC-135
C1146 G SENSOR
C1146 G SENSOR
G sensor detects G affecting the vehicle, and transmits the data to the ABS actuator and electric unit (control
unit) as an analog voltage signal.
DTC DETECTION LOGIC

Side G sensor is malfunctioning, or circuit of side G sen- • ABS actuator and electric unit
C1146 SIDE G-SEN CIRCUIT
sor is open or shorted. (control unit)
• G sensor

cardiagn.com
SIDE G-SEN CIRCUIT
CAUTION:
Sudden turns (such as spin turns, acceleration turns), drifting, etc., when VDC function is off (VDC
OFF switch “ON”) may cause G sensor system to indicate a malfunction. However, this is not a mal-
function, if normal operation can be resumed after restarting engine. Then erase memory of self-diag-
nosis.
1.CHECK INSTALLATION STATE OF G SENSOR
Check G sensor is correctly attached to vehicle. Refer to BRC-178, "Exploded View".
YES >> GO TO 2.
2.CHECK CONNECTOR
replace terminal.
5. Reconnect connectors and then perform the self-diagnosis. Refer to BRC-136, "Diagnosis Procedure".
YES >> GO TO 3.
3.CHECK G SENSOR HARNESS
2. Disconnect G sensor connector and ABS actuator and electric unit (control unit) connector.
BRC-136
C1146 G SENSOR
3. Check continuity between G sensor harness connector terminals and ABS actuator and electric unit (con-
trol unit) harness connector terminals. A
ABS actuator and electric unit (control unit) G sensor

Continuity
Connector Terminal Connector Terminal B
14 1
E36 21 M71 2 Existed
C
24 3
YES >> GO TO 4. D
1. Connect the G sensor connector and ABS actuator and electric unit (control unit) connector. E
2. Select “SIDE G-SENSOR” in “DATA MONITOR” and check G sensor signal.
SIDE G-SENOR BRC

Vehicle condition
(DATA MONITOR)
cardiagn.com
Stopped Approx. 0 m/s2
G
Is the inspection result normal? H
NO >> Replace G sensor.
I
1.CHECK DATA MONITOR J

Select “SIDE G-SENSOR” in “DATA MONITOR” and check G sensor signal.
Vehicle condition SIDE G-SENSOR (DATA MONITOR) K

Stopped Approx. 0 m/s2
L
YES >> INSPECTION END M
N
tor and electric unit (control unit). Refer to BRC-78, "ADJUSTMENT OF STEERING ANGLE SENSOR NEU- O
>> END P
BRC-137
C1147, C1148, C1149, C1150 USV/HSV LINE
C1147, C1148, C1149, C1150 USV/HSV LINE
USV1, USV2 (CUT VALVE)

The cut valve shuts off the normal brake fluid path from the master cylinder, when ESP/TCS is activated.
HSV1, HSV2 (SUCTION VALVE)
The suction valve supplies the brake fluid from the master cylinder to the pump, when ESP/TCS is activated.
DTC DETECTION LOGIC

ESP switch-over solenoid valve (USV1) on the primary
C1147 USV LINE [FL-RR] side is open circuit or shorted, or the control line is open
or shorted to the power supply or the ground.
ESP switch-over solenoid valve (USV2) on the primary
C1148 USV LINE [FR-RL] side is open circuit or shorted, or the control line is open
cardiagn.com
ESP switch-over solenoid valve (HSV1) on the primary (control unit)
C1149 HSV LINE [FL-RR] side is open circuit or shorted, or the control line is open
ESP switch-over solenoid valve (HSV2) on the primary
C1150 HSV LINE [FR-RL] side is open circuit or shorted, or the control line is open

USV LINE [FL-RR]
USV LINE [FR-RL]
HSV LINE [FL-RR]
HSV LINE [FR-RL]
1.CHECK CONNECTOR
replace terminal.
(ABS)".
YES >> GO TO 2.
BRC-138
C1147, C1148, C1149, C1150 USV/HSV LINE
2.CHECK SOLENOID, ESP SWITCH-OVER VALVE AND ACTUATOR RELAY POWER SUPPLY CIRCUIT A
B
ground.

— Voltage C
Connector Terminal
Is the inspection result normal? D
YES >> GO TO 3.
3.CHECK SOLENOID, ESP SWITCH-OVER VALVE AND ACUATOR RELAY GROUND CIRCUIT E
ground.
BRC
cardiagn.com
— Continuity
Connector Terminal G
H
I
1.CHECK ACTIVE TEST

1. Select each test menu item on ”ACTIVE TEST“. J
2. On the display, touch “UP”, “ACT UP”, and “ACT KEEP”, and check that the system operates as shown in
the table below.
K
Display item Display
Test item
(Note) UP ACT UP ACT KEEP
FR RH IN SOL OFF OFF OFF L
FR RH OUT SOL OFF OFF OFF
FR RH SOL
M
FR LH IN SOL OFF OFF OFF

FR LH OUT SOL OFF OFF OFF N
FR LH SOL
RR RH IN SOL OFF OFF OFF O
RR RH OUT SOL OFF OFF OFF
RR RH SOL
P
RR LH IN SOL OFF OFF OFF
RR LH OUT SOL OFF OFF OFF
RR LH SOL
BRC-139
C1147, C1148, C1149, C1150 USV/HSV LINE
NOTE:

>> END
cardiagn.com
BRC-140
C1155 BRAKE FLUID LEVEL SWITCH
A
Brake fluid level switch contacts close when brake fluid level is low. This is detected by the combination meter B
which sends the status of fluid level to the ABS actuator and electric unit (control unit) via the CAN communi-
cation.
DTC Logic INFOID:0000000000924888 C
DTC DETECTION LOGIC

D
• Brake fluid level is low
• Brake fluid level switch E
Ignition switch ON and brake fluid signal low or not avail-
C1155 BR FLUID LEVEL LOW • Harness or connector
able for 10 seconds.
• CAN communication line
• Combination meter
BRC
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Check the self-diagnosis results. G
H
BR FLUID LEVEL LOW
J
1.CHECK BRAKE FLUID LEVEL K
Check the brake fluid level.
YES >> GO TO 2. L
NO >> Investigate and fix.
2.CHECK BRAKE WARNING LAMP 1
M
Check that the brake warning lamp illuminates after the ignition switch is turned ON.
YES >> GO TO 3. N
NO >> Check wiring to brake fluid level switch and combination meter.
3.CHECK BRAKE WARNING LAMP 2
Check that the brake warning lamp in the combination meter turns ON/OFF correctly when operating the park- O
ing brake.
YES >> GO TO 4. P
4.CHECK CONNECTOR
2. Disconnect brake fluid level switch connector and combination meter connector.
replace terminal.
BRC-141
(ABS)".
YES >> GO TO 5.

Connector Terminal
E37 1–2
YES >> GO TO 6.
NO >> Brake fluid level switch is malfunction. Replace reservoir tank.
6.CHECK BRAKE FLUID LEVEL SWITCH CIRCUIT
cardiagn.com
1. Disconnect combination meter connector.
2. Check continuity between brake fluid level switch harness connector terminals and combination meter
harness connector terminal and/or ground.
Combination meter Brake fluid level switch

Continuity
M34 27 E37 1 Existed
Combination meter
— Continuity
Connector Terminal
M34 27 Ground Not existed

— Continuity
Connector Terminal
E37 2 Ground Existed


Connector Terminal
E37 1 Ground
BRC-142
NO >> Replace reservoir tank.
A
1.ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION B

C
>> END
D
BRC
cardiagn.com
G
BRC-143
U1000, U1002 CAN COMM CIRCUIT
U1000, U1002 CAN COMM CIRCUIT
CAN (Controller Area Network) is a serial communication line for real time application. It is an on-vehicle mul-
tiplex communication line with high data communication speed and excellent error detection ability. Many elec-
tronic control units are equipped onto a vehicle, and each control unit shares information and links with other
control units during operation (not independent). In CAN communication, control units are connected with 2
communication lines (CAN-H line, CAN-L line) allowing a high rate of information transmission with less wiring.
Each control unit transmits/receives data but selectively reads required data only.
DTC DETECTION LOGIC

When ABS actuator and electric unit (control unit) is not
U1000 CAN COMM CIRCUIT transmitting or receiving CAN communication signal for 2
seconds or more. • CAN communication line
When ABS actuator and electric unit (control unit) is not (control unit)
cardiagn.com
U1002 SYSTEM COMM transmitting or receiving CAN communication signal for 2
seconds or less.
1.CHECK CONNECTOR
replace terminal.
4. Reconnect connector and perform self-diagnosis.
CAN COMM CIRCUIT
SYSTEM COMM
YES >> Go to LAN-46, "Trouble Diagnosis Flow Chart".

>> END
BRC-144
A
The parking brake switch converts the status of the parking brake pedal to an electric signal and transmits it to B
the ABS actuator and electric unit (control unit).
C
1.CHECK COMBINATION METER INPUT SIGNAL
2. Check voltage between combination meter harness connector terminal 26 and ground. D
26 – Ground
Parking brake ON : Approx. 0 V E
Parking brake OFF : Approx. 5 V
NO >> GO TO 2.
2.CHECK PARKING BRAKE SWITCH SIGNAL CIRCUIT
cardiagn.com
G
2. Disconnect combination meter connector and parking brake switch connector.
3. Check continuity between combination meter harness connector terminal 26 and parking brake switch
H
harness connector terminal 1.
26 – 1 : Continuity should exist.

4. Check continuity between combination meter harness connector terminal 26 and ground. I
26 – Ground : Continuity should not exist.

J
NO >> Repair harness or connector.
K
1.CHECK PARKING BRAKE SWITCH OPERATION L

Operate the parking brake pedal. Then check that the brake warning lamp in the combination meter turns on/
off correctly.
M
Condition Brake warning lamp illumination status
When the parking brake switch is opera-
ON
tion N
When the parking brake switch is not oper-
OFF
ation.
Is the inspection result normal? O
P
2. Disconnect parking brake switch connector.
BRC-145
3. Check continuity between parking brake switch terminal and ground.
Parking brake switch

Connector Terminal
When the parking brake switch is operated. Existed
M103 1 Ground
When the parking brake switch is not operated. Not existed
NO >> Replace parking brake switch.
cardiagn.com
BRC-146
ESP OFF SWITCH
ESP OFF SWITCH
A
ESP OFF switch can deactivate (turn OFF) the ESP/TCS function by pressing the ESP OFF switch. B
1.CHECK ESP OFF SWITCH OPERATION C

Turn ON/OFF the ESP OFF switch and check that the ESP OFF indicator lamp in the combination meter turns
ON/OFF correctly.
D
Condition ESP OFF indicator lamp illumination status
ESP OFF switch: ON ON
E
ESP OFF switch: OFF OFF
cardiagn.com
G
1.CHECK ESP OFF SWITCH
1. Turn ignition switch OFF. H
2. Disconnect ESP OFF switch connector.
3. Check continuity between ESP OFF switch connector terminals.
ESP OFF switch I

Connector Terminal
When ESP OFF switch is hold pressed. Existed
M5 1−2 J
When releasing ESP OFF switch. Not existed
YES >> GO TO 2. K
NO >> ESP OFF switch is malfunctioning. Replace ESP OFF switch.
2.CHECK ESP OFF SWITCH HARNESS
L
2. Check continuity between ESP OFF switch connector terminals and ABS actuator and electric unit (con-
trol unit) connector terminal and/or ground.
M
ABS actuator and electric unit
ESP OFF switch
(control unit) Continuity
N
E36 21 M5 1 Existed
O
— Continuity
Connector Terminal
E36 21 Ground Not existed P
ESP OFF switch

— Continuity
Connector Terminal
M5 2 Ground Existed
BRC-147
ESP OFF SWITCH
YES >> GO TO 3.
NO >> If the open or short in harness, repair or replace harness.
tion".
1.CHECK ESP OFF SWITCH
2. Disconnect ESP OFF switch connector.
3. Check continuity between ESP OFF switch connector terminals.
ESP OFF switch

cardiagn.com
Connector Terminal
When ESP OFF switch is hold pressed. Existed
M5 1−2
When releasing ESP OFF switch. Not existed
NO >> Replace ESP OFF switch.
BRC-148
ABS WARNING LAMP
ABS WARNING LAMP
A
×: ON –: OFF B
Condition ABS warning lamp
D

E
1.CHECK ABS WARNING LAMP OPERATION
Check that the lamp illuminates for approximately 1 second after the ignition switch is turned ON. BRC
cardiagn.com
NO >> Go to diagnosis procedure. Refer to BRC-149, "Diagnosis Procedure". G
1.CHECK SELF-DIAGNOSIS H
(ABS)".
YES >> GO TO 2.
J
tion". K
NO >> Repair or replace combination meter. L
BRC-149
BRAKE WARNING LAMP
BRAKE WARNING LAMP
×: ON –: OFF
Condition Brake warning lamp NOTE 1

For 1 second after turning ON ignition switch × NOTE 2
1 second later after turning ON ignition switch × NOTE 2
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).
• 2: After starting engine, brake warning lamp is turned off.
cardiagn.com
YES >> GO TO 2.
ing brake pedal.

ing brake pedal.
YES >> GO TO 2.
(ABS)".
YES >> GO TO 3.
tion".
BRC-150
ESP OFF INDICATOR LAMP
ESP OFF INDICATOR LAMP
A
×: ON –: OFF B
Condition ESP OFF indicator lamp
ESP OFF switch turned ON. (ESP function is OFF.) ×
D
ESP/TCS function is malfunctioning. ×
EBD function is malfunctioning. × E
BRC
1.ESP OFF INDICATOR LAMP OPERATION CHECK 1
cardiagn.com
Is the inspection result normal? G
YES >> GO TO 2.
2.ESP OFF INDICATOR LAMP OPERATION CHECK 2 H
Check that the ESP OFF indicator lamp in the combination meter turns ON/OFF correctly when operating the
ESP OFF switch.
I
NO >> Check ESP OFF switch. Refer to BRC-147, "Diagnosis Procedure".
J
1.CHECK SELF-DIAGNOSIS K
(ABS)".
Is the inspection result normal? L
YES >> GO TO 2.
2.CHECK ESP OFF SWITCH M
Check that the ESP OFF indicator lamp in the combination meter turns ON/OFF correctly when operating the
ESP OFF switch.
N
YES >> GO TO 3.
NO >> Check ESP OFF switch. Refer to BRC-147, "Diagnosis Procedure". O
tion". P
BRC-151
SLIP INDICATOR LAMP
SLIP INDICATOR LAMP
×: ON –: OFF
Condition SLIP indicator lamp

For 1 second after turning ON ignition switch ×
VDC/TCS function is malfunctioning. ×
1.CHECK SLIP INDICATOR LAMP OPERATION

cardiagn.com
(ABS)".
YES >> GO TO 2.
tion".
BRC-152
< ECU DIAGNOSIS > [ESP/TCS/ABS]
ECU DIAGNOSIS A
Reference Value INFOID:0000000000924916
B
VALUES ON THE DIAGNOSIS TOOL

CAUTION: C
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.
Monitor item Condition Value/Status D

FR LH SENSOR Wheel speed Nearly matches the

E
(± 10% or less)
BRC
FR RH SENSOR Wheel speed Nearly matches the
(± 10% or less)
cardiagn.com
Vehicle stopped 0 [km/h (MPH)] G
RR LH SENSOR Wheel speed Nearly matches the

(± 10% or less) H
RR RH SENSOR Wheel speed Nearly matches the

Vehicle running NOTE 1 speed meter display I
(± 10% or less)
When brake pedal is depressed ON
STOP LAMP SW Stop lamp switch signal status J
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)
K
1st gear 1
2nd gear 2
3rd gear 3
GEAR Gear position determined by TCM
4th gear 4 L
5th gear 5
6th gear 6
P position P
R position R
M
SLCT LVR POSI Selector lever position
N position N
D position D
ESP OFF switch ON N
ON
(When ESP OFF indicator lamp is ON)
OFF SW ESP OFF switch ON/OFF
ESP OFF switch OFF
OFF
(When ESP OFF indicator lamp is OFF) O
When vehicle stop Approx. 0 °/s
YAW RATE SEN Yaw rate detected by yaw rate/side G sensor
When vehicle turning −75 to 75 °/s
Accelerator pedal not depressed (igni-
P
0%
Throttle actuator opening/closing is displayed tion switch is ON)
ACCEL POS SIG
(linked with accelerator pedal) Depress accelerator pedal (ignition
0 - 100 %
switch is ON)
BRC-153
Vehicle stopped Approx. 0 m/s2
Negative value
Vehicle turning right
SIDE G-SENSOR Transverse G detected by side G sensor (m/s2)
Positive value
Vehicle turning left
(m/s2)
Steering angle detected by steering angle Straight-ahead Approx. 0°

STR ANGLE SIG
sensor Steering wheel turned –720 to 720°
With ignition switch turned ON and
Approx. 3 bar
Brake fluid pressure detected by pressure brake pedal released
PRESS SENSOR
sensor With ignition switch turned ON and
0 to 200 bar
brake pedal depressed
With engine stopped 0 tr/min
ENGINE RPM With engine running Almost in accor-

Engine running dance with tachome-
ter display
When brake fluid level switch ON ON
FLUID LEV SW Brake fluid level switch signal status
cardiagn.com
When brake fluid level switch OFF OFF
Parking brake switch is active ON
PARK BRAKE SW Parking brake switch signal status
Parking brake switch is inactive OFF
TIVE TEST” with CONSULT-III) or actu- ON
FR RH IN SOL
not active and actuator relay is active OFF
Operation status of front RH outlet solenoid ator relay is inactive (in fail-safe mode)
FR RH OUT SOL
Operation status of front LH inlet solenoid ator relay is inactive (in fail-safe mode)
FR LH IN SOL
FR LH OUT SOL
RR RH IN SOL
BRC-154
A
Operation status of rear RH outlet solenoid ator relay is inactive (in fail-safe mode)
RR RH OUT SOL
valve When the actuator (solenoid valve) is B
Actuator (solenoid valve) is active (“AC- C
Operation status of rear LH inlet solenoid ator relay is inactive (in fail-safe mode)
RR LH IN SOL
valve When the actuator (solenoid valve) is D
TIVE TEST” with CONSULT-III) or actu- ON E
RR LH OUT SOL
not active and actuator relay is active OFF BRC
When the motor relay and motor are op-
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ON
erating G
MOTOR RELAY Motor and motor relay operation
When the motor relay and motor are not
OFF
operating
ACTUATOR RLY When the actuator relay is operating ON H
NOTE 2 Actuator relay operation
When the actuator relay is not operating OFF
When ABS warning lamp is ON ON
ABS WARN LAMP ABS warning lamp NOTE 3 I
When ABS warning lamp is OFF OFF
When ESP OFF indicator lamp is ON ON
OFF LAMP ESP OFF indicator lamp NOTE 3
When ESP OFF indicator lamp is OFF OFF J
When SLIP indicator lamp is ON ON
SLIP LAMP SLIP indicator lamp NOTE 3
When SLIP indicator lamp is OFF OFF
NOTE: K
• 1: Confirm tire pressure is normal.
• 2: Every 20 seconds momentary switch to OFF.
• 3: On and off timing for warning lamp and indicator lamp. L
- ABS warning lamp: BRC-149, "Description".
- ESP OFF indicator lamp: BRC-151, "Description".
- SLIP indicator lamp: BRC-152, "Description". M
Wiring Diagram - BRAKE CONTROL SYSTEM - INFOID:0000000000924917
BRC-155
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JCFWA0027GB
BRC-156
BRC
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G
JCFWA0028GB
BRC-157
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JCFWA0029GB
BRC-158
BRC
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G
JCFWA0030GB
P
Fail-Safe INFOID:0000000000924918
ABS, EBD SYSTEM

In case of electrical malfunctions with the ABS, ABS warning lamp, ESP OFF indicator lamp, SLIP indicator
lamp will turn on. In case of electrical malfunctions with the EBD, brake warning lamp, ABS warning lamp,
ESP OFF indicator lamp and SLIP indicator lamp will turn on. Simultaneously, the ESP/TCS/ABS become one
of the following conditions of the fail-safe function.
BRC-159
• 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.
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.
• 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 SYSTEM
In case of malfunction in the ESP/TCS/ABS system, 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.
DTC No. Index INFOID:0000000000924919

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C1109 BATTERY VOLTAGE [ABNORMAL] BRC-106, "Description"
C1110 CONTROLLER FAILURE BRC-108, "Description"
C1111 PUMP MOTOR BRC-110, "Description"
C1114 MAIN RELAY BRC-113, "Description"
C1115 ABS SENSOR [ABNORMAL SIGNAL] BRC-115, "Description"
C1116 STOP LAMP SW BRC-118, "Description"
C1120 FR LH IN ABS SOL BRC-121, "Description"
C1121 FR LH OUT ABS SOL BRC-124, "Description"
C1122 FR RH IN ABS SOL BRC-121, "Description"
C1123 FR RH OUT ABS SOL BRC-124, "Description"
C1124 RR LH IN ABS SOL BRC-121, "Description"
C1125 RR LH OUT ABS SOL BRC-124, "Description"
C1126 RR RH IN ABS SOL BRC-121, "Description"
C1127 RR RH OUT ABS SOL BRC-124, "Description"
C1131 ENGINE SIGNAL 2 BRC-127, "Description"
C1142 PRESS SEN CIRCUIT BRC-128, "Description"
C1143 ST ANG SEN CIRCUIT
C1144 ST ANG SEN SIGNAL
C1145 YAW RATE SENSOR BRC-133, "Description"
C1146 SIDE G-SEN CIRCUIT BRC-136, "Description"
BRC-160
A
C1147 USV LINE [FL-RR]
C1148 USV LINE [FR-RL]
C1149 HSV LINE [FL-RR] B
C1150 HSV LINE [FR-RL]
C1153 EMERGENCY BRAKE BRC-108, "Description"
C1155 BR FLUID LEVEL LOW BRC-141, "Description" C
C1170 VARIANT CORDING BRC-108, "Description"
U1000 CAN COMM CIRCUIT BRC-144, "Description"
D
U1002 SYSTEM COMM BRC-144, "Description"
BRC
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G
BRC-161
< SYMPTOM DIAGNOSIS > [ESP/TCS/ABS]
SYMPTOM DIAGNOSIS
1.CHECK START
Check front and rear brake force distribution using a brake tester. Refer to BR-46, "General Specifications"
(LHD models), BR-90, "General Specifications" (RHD models).
YES >> GO TO 2.
2.CHECK FRONT AND REAR AXLE
Make sure that there is no excessive play in the front and rear axles.
• Front: FAX-7, "Inspection" (2WD models), FAX-47, "Inspection" (4WD models)
• Rear: RAX-3, "Inspection" (2WD models), RAX-9, "Inspection" (4WD models)
YES >> GO TO 3.
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3.CHECK WHEEL SENSOR AND SENSOR ROTOR
Check the following.
• Wheel sensor installation for damage.
• Sensor rotor installation for damage.
• Wheel sensor connector connection.
• Wheel sensor harness inspection.
YES >> GO TO 4.
NO >> • Replace wheel sensor or sensor rotor.
• Repair harness.
Make sure that the ABS warning lamp is turned off after the ignition switch is turned ON or when driving.
Is the ABS warning lamp illuminated?
YES >> Perform self-diagnosis. Refer to BRC-96, "CONSULT-III Function (ABS)".
BRC-162
A
1.CHECK BRAKE PEDAL STROKE B

Check brake pedal stroke. Refer to BR-8, "Inspection and Adjustment" (LHD models), BR-52, "Inspection and
Adjustment" (RHD models).
Is the stroke too large? C
YES >> • Bleed air from brake tube and hose. Refer to BR-12, "Bleeding Brake System" (LHD models),
BR-56, "Bleeding Brake System" (RHD models).
• Check brake pedal, brake booster, and master cylinder for mount play, looseness, brake system D
fluid leakage, etc.
- Brake pedal: BR-8, "Exploded View" (LHD models), BR-52, "Exploded View" (RHD models).
- Brake booster: BR-14, "Exploded View" (LHD models), BR-58, "Exploded View" (RHD models). E
- Brake master cylinder: BR-13, "Exploded View" (LHD models), BR-57, "Exploded View" (RHD
models).
- Brake fluid: BR-11, "Inspection" (LHD models), BR-55, "Inspection" (RHD models).
NO >> GO TO 2. BRC
2.CHECK FUNCTION
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Disconnect ABS actuator and electric unit (control unit) connector to deactivate ABS. Check if braking force is G
normal in this condition. Connect connector after inspection.
YES >> INSPECTION END H
BRC-163
CAUTION:
The stopping distance on slippery road surfaces might be longer with the ABS operating than when
the ABS is not operating.
1.CHECK FUNCTION
Turn ignition switch OFF and disconnect ABS actuator and electric unit (control unit) connector to deactivate
ABS. In this condition, check stopping distance. After inspection, connect connector.
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BRC-164
A
CAUTION: B
ABS does not operate when speed is 10 km/h (6 MPH) or lower.
Make sure that the ABS warning lamp turns OFF after ignition switch is turned ON or when driving. C
NO >> Perform self-diagnosis. Refer to BRC-96, "CONSULT-III Function (ABS)". D
BRC
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G
BRC-165
CAUTION:
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
• During cornering at high speed
• When passing over bumps or grooves [at approximately 50 mm (1.97 in) or more]
• When pulling away just after starting engine [at approximately 10 km/h (6 MPH) or higher]
1.SYMPTOM CHECK 1
Check that there are pedal vibrations when the engine is started.
Do vibrations occur?
YES >> GO TO 2.
NO >> Inspect the brake pedal.
2.SYMPTOM CHECK 2
Check that there are ABS operation noises when the engine is started.
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Do the operation noises occur?
YES >> GO TO 3.
NO >> Perform self-diagnosis. Refer to BRC-96, "CONSULT-III Function (ABS)".
3.SYMPTOM CHECK 3
Check symptoms when electrical component (headlamps, etc.) switches are operated.
Do symptoms occur?
YES >> Check if there is a radio, antenna, antenna lead wire, or wiring close to the control unit. If there is,
move it farther away.
BRC-166
VEHICLE JERKS DURING ESP/TCS/ABS CONTROL
VEHICLE JERKS DURING ESP/TCS/ABS CONTROL
A
1.SYMPTOM CHECK B
Check if the vehicle jerks during ESP/TCS/ABS control.
C
NO >> GO TO 2.
2.CHECK SELF-DIAGNOSIS RESULTS D
Perform self-diagnostic of ABS actuator and electric unit (control unit). Refer to BRC-96, "CONSULT-III Func-
tion (ABS)".
Are self-diagnosis results indicated? E
YES >> Check corresponding items, make repairs, and perform ABS actuator and electric unit (control
unit) self-diagnosis.
NO >> GO TO 3. BRC
3. CHECK CONNECTOR
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• Turn ignition switch OFF and disconnect ABS actuator and electric unit (control unit) connector and check
terminal for deformation, disconnection, looseness, etc. G
• Securely connect connectors and perform ABS actuator and electric unit (control unit) self-diagnosis.
Are self-diagnosis results indicated?
YES >> If poor contact, damage, open or short circuit of connector terminal is found, repair or replace. H
NO >> GO TO 4.
4.CHECK ECM AND TCM SELF-DIAGNOSIS RESULTS
I
Perform ECM and TCM self-diagnosis.
Are self-diagnosis results indicated?
YES >> Check the corresponding items. J
• ECM:
- HR16DE (with EURO-OBD): EC-100, "CONSULT-III Function".
- HR16DE (without EURO-OBD): EC-430, "CONSULT-III Function".
- MR20DE (with EURO-OBD): EC-719, "CONSULT-III Function". K
- MR20DE (without EURO-OBD): EC-1054, "CONSULT-III Function".
• TCM: Refer to TM-216, "CONSULT-III Function (TRANSMISSION)". L
BRC-167
Symptom Result
Slight vibrations are felt on the brake pedal and the operation noises occur, when ESP, TCS or ABS is acti-
vated.
This is a normal condi-
Stopping distance is longer than that of vehicles without ABS when the vehicle drives on rough, gravel, or
tion due to the ESP,
snow-covered (fresh, deep snow) roads.
TCS or ABS activation.
The brake pedal moves and generates noises, when TCS or ESP is activated due to rapid acceleration or
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.
Depending on the road conditions, the driver may experience a sluggish feel. This is normal, because
TCS places the highest
TCS may activate momentarily if wheel speed changes when driving over location where friction coefficient priority on the optimum
varies, when downshifting, or when fully depressing accelerator pedal. traction (stability).
The ABS warning lamp, ESP OFF indicator lamp and SLIP indicator lamp may turn ON when the vehicle is
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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
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
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
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.)
BRC-168
PRECAUTIONS
< PRECAUTION > [ESP/TCS/ABS]
PRECAUTION A
PRECAUTIONS
Precaution for Supplemental Restraint System (SRS) "AIR BAG" and "SEAT BELT B
PRE-TENSIONER" Service INFOID:0000000000924928
The Supplemental Restraint System such as “AIR BAG” and “SEAT BELT PRE-TENSIONER”, used along C
with a front seat belt, helps to reduce the risk or severity of injury to the driver and front passenger for certain
types of collision. 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. D
Information necessary to service the system safely is included in the SRS and SB section of this Service Man-
ual.
WARNING: E
• To avoid rendering the SRS inoperative, which could increase the risk of personal injury or death in
the event of a collision that would result in air bag inflation, all maintenance must be performed by
an authorized NISSAN/INFINITI dealer.
BRC
• Improper maintenance, including incorrect removal and installation of the SRS, can lead to personal
injury caused by unintentional activation of the system. For removal of Spiral Cable and Air Bag
Module, see the SRS section.
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• Do not use electrical test equipment on any circuit related to the SRS unless instructed to in this G
Service Manual. SRS wiring harnesses can be identified by yellow and/or orange harnesses or har-
ness connectors.
Precaution for Brake System INFOID:0000000000924929
H
WARNING:
Clean brake pads and shoes with a waste cloth, then wipe with a dust collector. I
• Only use DOT 4 brake fluid. Refer to MA-21, "Fluids and Lubricants".
• Never to reuse drained brake fluid.
• Never to spill or splash brake fluid on painted surfaces. Brake fluid may seriously damage paint. Wipe it off J
immediately and wash with water if it gets on a painted surface.
• Never to use mineral oils such as gasoline or light oil. They may damage rubber parts and cause improper
operation.
• Always loosen the brake tube flare nut with a flare nut wrench. K
• Tighten the brake tube flare nut to the specified torque with a flare
nut torque wrench.
• Always conform the specified tightening torque when installing the L
brake pipes.
• Brake system is an important safety part. If a brake fluid leak is
detected, always disassemble the affected part. If a malfunction is
detected, replace part with a new one. M
• Turn the ignition switch OFF and disconnect the ABS actuator and
electric unit (control unit) connector or the battery negative terminal
before performing the work. N
SBR820BA
Precaution for Brake Control INFOID:0000000000924930

O
• Just after starting vehicle after ignition switch ON, brake pedal may vibrate or motor operating noise may be
heard from engine compartment. This is normal condition.
• When an error is indicated by ABS or another warning lamp, collect all necessary information from customer P
(what symptoms are present under what conditions) and check for simple causes before starting diagnostic
servicing. Besides electrical system inspection, check brake booster operation, brake fluid level, and oil
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
near the control unit.
BRC-169
PRECAUTIONS
< PRECAUTION > [ESP/TCS/ABS]
• If aftermarket parts (car stereo, CD player, etc.) have been installed, check for incidents such as harness
pinches, open circuits, and improper wiring.
• 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
(roll bar, tower bar, etc.).
- When driving with worn or deteriorated suspension, tires and brake-related parts.
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BRC-170
PREPARATION
< PREPARATION > [ESP/TCS/ABS]
PREPARATION A
PREPARATION
Special Service Tool INFOID:0000000000936578
B
Tool number
Description C
Tool name
D
GG94310000
Flare nut torque wrench Installing each brake piping
a: 10 mm (0.39 in)/ 12 mm (0.47 in)
E
S-NT406
BRC
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G
BRC-171
WHEEL SENSOR
< ON-VEHICLE REPAIR > [ESP/TCS/ABS]
ON-VEHICLE REPAIR
WHEEL SENSOR
FRONT WHEEL SENSOR
FRONT WHEEL SENSOR : Exploded View INFOID:0000000001115340
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JSFIA0039GB
1. Front LH wheel sensor
A. White line (slant line)

NOTE:
FRONT WHEEL SENSOR : Removal and Installation INFOID:0000000001115341
REMOVAL
CAUTION:
on sensor harness.
• When you see the harness of the wheel sensor from the front side of the vehicle ensure that the
white lines (A) are not twisted.
INSTALLATION
Refer to BRC-67, "FRONT WHEEL SENSOR : Exploded View".
REAR WHEEL SENSOR
REAR WHEEL SENSOR : Exploded View INFOID:0000000001115342
BRC-172
WHEEL SENSOR
JSFIA0040GB BRC
1. Rear LH wheel sensor
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A. 2WD models B. 4WD models G
NOTE: H
REAR WHEEL SENSOR : Removal and Installation INFOID:0000000001115343
I
REMOVAL
CAUTION: J
on sensor harness.
ing front or rear wheel hub. This is to avoid damage to sensor wiring and loss of sensor function. K
INSTALLATION
Pay attention to the following when installing wheel sensor. Tighten installation bolts to the specified torques. L
Refer to BRC-67, "REAR WHEEL SENSOR : Exploded View".
rial and clean the mount. M
N
BRC-173
SENSOR ROTOR
SENSOR ROTOR
FRONT SENSOR ROTOR
FRONT SENSOR ROTOR : Exploded View INFOID:0000000001115344
Refer to FAX-9, "Exploded View" (2WD models), FAX-49, "Exploded View" (4WD models).
FRONT SENSOR ROTOR : Removal and Installation INFOID:0000000001115345
REMOVAL
bly. Refer to FAX-9, "Removal and Installation" (2WD models), FAX-49, "Removal and Installation" (4WD mod-
els).
INSTALLATION
assembly. Refer to FAX-9, "Removal and Installation" (2WD models), FAX-49, "Removal and Installation"
(4WD models).
REAR SENSOR ROTOR
REAR SENSOR ROTOR : Exploded View
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INFOID:0000000001115346
Refer to RAX-4, "Exploded View" (2WD models), RAX-13, "Exploded View" (4WD models).
REAR SENSOR ROTOR : Removal and Installation INFOID:0000000001115347
2WD MODELS
Removal
bly. Refer to RAX-4, "Removal and Installation".
Installation
assembly. Refer to RAX-4, "Removal and Installation".
4WD MODELS
For removal and installation of sensor rotor, refer to RAX-14, "Disassembly and Assembly".
BRC-174
A
LHD models B
BRC
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G
I
JSFIA0035GB
1. ABS actuator and electric unit (control 2. Connector 3. Bushing J

unit)
4. Bracket
K
: Vehicle front
L
BRC-175
RHD models
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JSFIA0036GB

unit)
4. Bracket

: Vehicle front
LHD MODELS
Removal
CAUTION:
2. Remove exhaust manifold.
• HR16DE: EX-5, "Exploded View"
• MR20DE: EX-10, "Exploded View"
• K9K: EX-15, "Exploded View"
BRC-176
Installation
Note the following, and install in the reverse order of removal. A
CAUTION:
B
• After work is completed, bleed air from brake tube. Refer to BR-12, "Bleeding Brake System" (LHD C
connector is securely locked. D
• When replacing ABS actuator and electric unit (control unit), make sure to adjust neutral position of
steering angle sensor. Refer to BRC-78, "ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL
POSITION : Special Repair Requirement".
E
RHD MODELS
Removal
CAUTION: BRC
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G
models), BR-56, "Bleeding Brake System" (RHD models). H
2. Remove air cleaner and air duct.
• HR16DE: EM-27, "Exploded View" I
• MR20DE: EM-144, "Exploded View"
• K9K: EM-265, "Exploded View"
3. Disconnect ABS actuator and electric unit (control unit) connector. J
6. Remove ABS actuator and electric unit (control unit) from vehicle. K
Installation
CAUTION: L
aged. To install, use flare nut crowfoot and torque wrench. M
N
• When replacing ABS actuator and electric unit (control unit), make sure to adjust neutral position of O
steering angle sensor. Refer to BRC-78, "ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL
POSITION : Special Repair Requirement".
P
BRC-177
YAW RATE/SIDE G SENSOR
YAW RATE/SIDE G SENSOR
JSFIA0037GB
1. Yaw rate/side G sensor
: Vehicle front
Refer to GI section GI-4, "Components" for symbol makes in the figure.
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REMOVAL
CAUTION:
• Do not drop or strike yaw rate/side G sensor, because it has little endurance to impact.
• Do not use power tool etc., because yaw rate/side G sensor is sensitive for the impact.
1. Remove lower instrument cover RH. Refer to IP-11, "Exploded View".
2. Disconnect yaw rate/side G sensor harness connector.
3. Remove mounting nuts. Remove yaw rate/side G sensor.
INSTALLATION
CAUTION:
• Do not drop or strike yaw rate/side G sensor, because it has little endurance to impact.
• Do not use power tool etc., because yaw rate/side G sensor is sensitive for the impact.
BRC-178
STEERING ANGLE SENSOR
STEERING ANGLE SENSOR
A
JSFIA0003ZZ
E
1. Steering angle sensor
: Vehicle front BRC
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G
REMOVAL
1. Remove spiral cable assembly. Refer to SR-6, "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-78, "ADJUST-
MENT OF STEERING ANGLE SENSOR NEUTRAL POSITION : Description".
J
BRC-179

Brake Control System

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Brake Control System

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BRAKES

PARKING BRAKE SWITCH .............................. 47 WHEEL SENSOR .............................................. 67

ABS ACTUATOR AND ELECTRIC UNIT REAR SENSOR ROTOR ........................................... 69

FUNCTION DIAGNOSIS .............................. 80 C1111 ABS MOTOR, MOTOR RELAY SYS-

C1146 G SENSOR ........................................... 136 ABS ACTUATOR AND ELECTRIC UNIT

1.COLLECT THE INFORMATION FROM THE CUSTOMER A

System Description INFOID:0000000000924960

A. Combination meter B. Engine room (right side) C. Steering knuckle

A. Combination meter B. Engine room (right side) C. Steering knuckle

SELF-DIAG RESULTS MODE

SELECT MONITOR ITEM N

ACTIVE TEST MODE

DTC DETECTION LOGIC

DTC Display item Malfunction detected condition Possible cause

DTC CONFIRMATION PROCEDURE

Measurement terminal for ground circuit J

1. Turn ignition switch ON.

1.CHECK DATA MONITOR

Wheel sensor Vehicle speed (DATA MONITOR)

DTC DETECTION LOGIC C

DTC Display item Malfunction detected condition Possible cause

Diagnosis Procedure INFOID:0000000001090894

Measurement terminal for signal circuit

Measurement terminal for ground circuit

1.CHECK DATA MONITOR A

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)

DTC DETECTION LOGIC

DTC Display item Malfunction detected condition Possible cause

>> Replace ABS actuator and electric unit (control unit).

DTC DETECTION LOGIC

DTC CONFIRMATION PROCEDURE

2.CHECK ABS MOTOR AND MOTOR RELAY POWER SUPPLY CIRCUIT

ABS actuator and electric unit (control unit)

ABS actuator and electric unit (control unit)

1.CHECK ACTIVE TEST

DTC Display item Malfunction detected condition Possible cause D

1. Turn ignition switch OFF.

1.CHECK DATA MONITOR

Monitor item DATA MONITOR

DTC Display item Malfunction detected condition Possible cause D

ABS actuator and electric unit (control unit)

1.CHECK ACTIVE TEST

DTC Display item Malfunction detected condition Possible cause D

DTC CONFIRMATION PROCEDURE BRC

Measurement terminal for signal circuit

1.CHECK DATA MONITOR

Wheel sensor Vehicle speed (DATA MONITOR) A

DTC DETECTION LOGIC

DTC Display item Malfunction detected condition Possible cause

DTC CONFIRMATION PROCEDURE

Stop lamp switch A

1.CHECK STOP LAMP SWITCH

DTC DETECTION LOGIC

DTC Display item Malfunction detected condition Possible cause

ABS actuator and electric unit (control unit) A