BRAKES

SECTION
BRAKE CONTROL SYSTEM
BRC B

E
CONTENTS
WITH VDC (ESP) TCS FUNCTION .........................................................51 BRC
TCS FUNCTION : System Description ....................52
HOW TO USE THIS MANUAL ...................... 7
ABS FUNCTION ........................................................53
G
HOW TO USE THIS SECTION ............................ 7 ABS FUNCTION : System Description ....................53
Information ................................................................ 7
EBD FUNCTION ........................................................55
PRECAUTION ............................................... 8 EBD FUNCTION : System Description ....................55 H

PRECAUTIONS ................................................... 8 BRAKE LIMITED SLIP DIFFERENTIAL (BLSD)

Precaution for Supplemental Restraint System FUNCTION .................................................................56
BRAKE LIMITED SLIP DIFFERENTIAL (BLSD) I
(SRS) "AIR BAG" and "SEAT BELT PRE-TEN-
SIONER" ................................................................... 8 FUNCTION : System Description ............................56
Precaution Necessary for Steering Wheel Rota- BRAKE ASSIST FUNCTION .....................................58
tion After Battery Disconnect ..................................... 8 J
BRAKE ASSIST FUNCTION : System Description
Precautions for Removing Battery Terminal ............. 9 ....58
Precaution for Procedure without Cowl Top Cover.... 10
Precaution for Stop/Start System Service ............... 10 BRAKE FORCE DISTRIBUTION FUNCTION ...........60 K
Precautions for Harness Repair .............................. 10 BRAKE FORCE DISTRIBUTION FUNCTION :
Precaution for Brake System .................................. 11 System Description ..................................................60
Precaution for Brake Control System ...................... 11 L
HILL START ASSIST (UPHILL START SUPPORT)
SYSTEM DESCRIPTION ............................. 14 FUNCTION .................................................................62
hill start assist (UPHILL START SUPPORT)
COMPONENT PARTS .......................................14 FUNCTION : System Description ............................62 M
Component Parts Location ...................................... 14
ABS Actuator and Electric Unit (Control Unit) ......... 25 ADVANCED HILL DESCENT CONTROL (DOWN-
Wheel Sensor and Sensor Rotor ............................ 27 HILL DRIVE SUPPORT) FUNCTION ........................64
ADVANCED hill descent control (DOWNHILL N
Steering Angle Sensor ............................................ 27
VDC (ESP) OFF Switch .......................................... 28 DRIVE SUPPORT) FUNCTION : System Descrip-
hill descent control (Downhill Drive Support) tion ...........................................................................64
Switch ...................................................................... 28 O
WARNING/INDICATOR/CHIME LIST ........................66
Brake Fluid Level Switch ......................................... 28
WARNING/INDICATOR/CHIME LIST : Warning
Brake Vacuum Sensor ............................................ 29 Lamp/Indicator Lamp ...............................................67
P
SYSTEM .............................................................30 INFORMATION DISPLAY (COMBINATION
System Description ................................................. 30 METER) ......................................................................67
Circuit Diagram ....................................................... 43 INFORMATION DISPLAY (COMBINATION
Fail-Safe .................................................................. 43 METER) : Chassis Control Display ..........................67
VDC (ESP) FUNCTION ............................................. 48 DIAGNOSIS SYSTEM [ABS ACTUATOR
VDC (ESP) FUNCTION : System Description ........ 48
AND ELECTRIC UNIT (CONTROL UNIT)] ....... 70

BRC-1
 CONSULT Function ................................................ 70 C1109 POWER AND GROUND SYSTEM ....... 119
DTC Description .................................................... 119
ECU DIAGNOSIS INFORMATION .............. 76 Diagnosis Procedure ............................................. 119
ABS ACTUATOR AND ELECTRIC UNIT C1110, C1153 ABS ACTUATOR AND ELEC-
(CONTROL UNIT) .............................................. 76 TRIC UNIT (CONTROL UNIT) .......................... 122
Reference Value ..................................................... 76 DTC Description .................................................... 122
Fail-Safe ................................................................. 79 Diagnosis Procedure ............................................. 122
DTC Inspection Priority Chart ................................. 83
DTC Index .............................................................. 84 C1111 ABS MOTOR, MOTOR RELAY SYS-
TEM ................................................................... 123
WIRING DIAGRAM ..................................... 86 DTC Description .................................................... 123
Diagnosis Procedure ............................................. 123
BRAKE CONTROL SYSTEM ............................ 86
LHD ........................................................................... 86
C1113, C1145, C1146 YAW RATE/SIDE/DE-
LHD : Wiring Diagram ............................................. 86 CEL G SENSOR ............................................... 126
DTC Description .................................................... 126
RHD ........................................................................... 90 Diagnosis Procedure ............................................. 126
RHD : Wiring Diagram ............................................ 91
C1115 WHEEL SENSOR ................................. 127
BASIC INSPECTION ................................... 95 DTC Description .................................................... 127
Diagnosis Procedure ............................................. 127
DIAGNOSIS AND REPAIR WORK FLOW ........ 95
Work Flow ............................................................... 95 C1116 STOP LAMP SWITCH .......................... 133
Diagnostic Work Sheet ........................................... 96 DTC Description .................................................... 133
Diagnosis Procedure ............................................. 133
ADDITIONAL SERVICE WHEN REPLACING
ABS ACTUATOR AND ELECTRIC UNIT C1118 4WD SYSTEM ....................................... 135
(CONTROL UNIT) .............................................. 98 DTC Description .................................................... 135
Description .............................................................. 98 Diagnosis Procedure ............................................. 135
Work Procedure ...................................................... 98
C1120, C1122, C1124, C1126 ABS IN VALVE
ADJUSTMENT OF STEERING ANGLE SEN- SYSTEM ........................................................... 137
SOR NEUTRAL POSITION ............................... 99 DTC Description .................................................... 137
Description .............................................................. 99 Diagnosis Procedure ............................................. 137
Work Procedure ...................................................... 99
C1121, C1123, C1125, C1127 ABS OUT
CALIBRATION OF DECEL G SENSOR ......... 102 VALVE SYSTEM .............................................. 140
Description .............................................................102 DTC Description .................................................... 140
Work Procedure .....................................................102 Diagnosis Procedure ............................................. 140

CONFIGURATION [ABS ACTUATOR AND C1130 ENGINE SIGNAL .................................. 143

ELECTRIC UNIT (CONTROL UNIT)] .............. 104 DTC Description .................................................... 143
Work Procedure .....................................................104 Diagnosis Procedure ............................................. 143

DTC/CIRCUIT DIAGNOSIS ........................ 107 C1140 ACTUATOR RELAY SYSTEM ............. 145
DTC Description .................................................... 145
C10D7 PARKING BRAKE SYSTEM ............... 107 Diagnosis Procedure ............................................. 145
DTC Description ....................................................107
Diagnosis Procedure .............................................107 C1142 PRESS SENSOR .................................. 147
DTC Description .................................................... 147
C1101, C1102, C1103, C1104 WHEEL SEN- Diagnosis Procedure ............................................. 147
SOR .................................................................. 109
DTC Description ....................................................109
C1143 STEERING ANGLE SENSOR .............. 150
DTC Description .................................................... 150
Diagnosis Procedure .............................................109
Diagnosis Procedure ............................................. 150
C1105, C1106, C1107, C1108 WHEEL SEN-
C1144 INCOMPLETE STEERING ANGLE
SOR .................................................................. 113
DTC Description ....................................................113
SENSOR ADJUSTMENT ................................. 153
DTC Description .................................................... 153
Diagnosis Procedure .............................................114
Diagnosis Procedure ............................................. 153

BRC-2
C1154 TRANSMISSION RANGE SWITCH ...... 155 Component Function Check .................................. 191
DTC Description .................................................... 155 Diagnosis Procedure ............................................. 191 A
Diagnosis Procedure ............................................. 155 Component Inspection ........................................... 192

C1155 BRAKE FLUID LEVEL SWITCH .......... 157 hill descent control (DOWNHILL DRIVE
B
DTC Description .................................................... 157 SUPPORT) SWITCH ....................................... 193
Diagnosis Procedure ............................................. 157 Component Function Check .................................. 193
Component Inspection .......................................... 159 Diagnosis Procedure ............................................. 193
Component Inspection ........................................... 194 C
C1160 INCOMPLETE DECEL G SENSOR
CALIBRATION ................................................. 161 ABS WARNING LAMP ................................... 195
DTC Description .................................................... 161 Component Function Check .................................. 195 D
Diagnosis Procedure ............................................. 161 Diagnosis Procedure ............................................. 195

C1164, C1165 CV SYSTEM ............................. 162 BRAKE WARNING LAMP .............................. 196
DTC Description .................................................... 162 Component Function Check .................................. 196 E
Diagnosis Procedure ............................................. 162 Diagnosis Procedure ............................................. 196

C1166, C1167 SV SYSTEM ............................. 165 VDC (ESP) WARNING LAMP ......................... 197
BRC
DTC Description .................................................... 165 Component Function Check .................................. 197
Diagnosis Procedure ............................................. 165 Diagnosis Procedure ............................................. 197

C1170 VARIANT CODING ............................... 168 VDC (ESP) OFF INDICATOR LAMP .............. 198 G
DTC Description .................................................... 168 Component Function Check .................................. 198
Diagnosis Procedure ............................................. 168 Diagnosis Procedure ............................................. 198

hill start assist (UPHILL START SUPPORT) H

C1197 VACUUM SENSOR .............................. 170
DTC Description .................................................... 170 INDICATOR LAMP .......................................... 199
Diagnosis Procedure ............................................. 170 Component Function Check .................................. 199
Diagnosis Procedure ............................................. 199 I
C1198 VACUUM SENSOR .............................. 173
DTC Description .................................................... 173 hill decent control (DOWNHILL DRIVE SUP-
Diagnosis Procedure ............................................. 173 PORT) INDICATOR LAMP ............................. 201 J
Component Function Check .................................. 201
C1199 BRAKE BOOSTER ............................... 176 Diagnosis Procedure ............................................. 201
DTC Description .................................................... 176
Diagnosis Procedure ............................................. 176 SYMPTOM DIAGNOSIS ............................ 202 K

C119A VACUUM SENSOR .............................. 179 EXCESSIVE OPERATION FREQUENCY ...... 202
DTC Description .................................................... 179 Description ............................................................. 202 L
Diagnosis Procedure ............................................. 179 Diagnosis Procedure ............................................. 202
C1B60 CHASSIS CONTROL SYSTEM ........... 182 UNEXPECTED BRAKE PEDAL REACTION . 204
DTC Description .................................................... 182 Description ............................................................. 204 M
Diagnosis Procedure ............................................. 182 Diagnosis Procedure ............................................. 204
U1000 CAN COMM CIRCUIT ........................... 184 THE BRAKING DISTANCE IS LONG ............. 206
DTC Description .................................................... 184 N
Description ............................................................. 206
Diagnosis Procedure ............................................. 184 Diagnosis Procedure ............................................. 206
U1002 SYSTEM COMM (CAN) ........................ 185 DOES NOT OPERATE .................................... 207 O
DTC Description .................................................... 185 Description ............................................................. 207
Diagnosis Procedure ............................................. 185 Diagnosis Procedure ............................................. 207
U1010 CONTROL UNIT (CAN) ........................ 187 BRAKE PEDAL VIBRATION OR OPERA- P
DTC Description .................................................... 187 TION SOUND OCCURS .................................. 208
Diagnosis Procedure ............................................. 187 Description ............................................................. 208
Diagnosis Procedure ............................................. 208
POWER SUPPLY AND GROUND CIRCUIT .... 188
Diagnosis Procedure ............................................. 188 VEHICLE JERKS DURING ............................. 209
Description ............................................................. 209
VDC (ESP) OFF SWITCH ................................ 191
Diagnosis Procedure ............................................. 209

BRC-3
VDC (ESP) WARNING LAMP, ABS WARN- Precautions for FEB System Service .................... 226
ING LAMP AND BRAKE WARNING LAMP
TURN ON ......................................................... 210 PREPARATION ......................................... 227
Description .............................................................210 PREPARATION ................................................ 227
Diagnosis Procedure .............................................210 Special Service Tools ........................................... 227
NORMAL OPERATING CONDITION .............. 211 Commercial Service Tools .................................... 227
Description .............................................................211 SYSTEM DESCRIPTION .......................... 228
REMOVAL AND INSTALLATION .............. 212 COMPONENT PARTS ...................................... 228
WHEEL SENSOR ............................................ 212 Component Parts Location ................................... 228
Distance Sensor .................................................... 231
FRONT WHEEL SENSOR .......................................212 Stop Lamp Switch ................................................. 231
FRONT WHEEL SENSOR : Exploded View ..........212
FRONT WHEEL SENSOR : Removal and Instal- SYSTEM ........................................................... 232
lation ......................................................................212 System Description ............................................... 232
Circuit Diagram ..................................................... 236
REAR WHEEL SENSOR .........................................213 Fail-safe (Distance Sensor) .................................. 236
REAR WHEEL SENSOR : Exploded View ............213
REAR WHEEL SENSOR : Removal and Installa- WARNING/INDICATOR/CHIME LIST ..................... 236
tion .........................................................................214 WARNING/INDICATOR/CHIME LIST : Warning
Lamp/Indicator Lamp ............................................ 237
SENSOR ROTOR ............................................ 216
OPERATION ..................................................... 238
FRONT SENSOR ROTOR .......................................216 Switch Name and Function ................................... 238
FRONT SENSOR ROTOR : Removal and Instal- Menu Displayed by Pressing Each Switch ............ 238
lation ......................................................................216
HANDLING PRECAUTION .............................. 241
REAR SENSOR ROTOR .........................................216 Description ............................................................ 241
REAR SENSOR ROTOR : Removal and Installa-
tion .........................................................................216 DIAGNOSIS SYSTEM (DISTANCE SENSOR).. 242
CONSULT Function (LASER/RADAR) ................. 242
ABS ACTUATOR AND ELECTRIC UNIT
(CONTROL UNIT) ............................................ 217 ECU DIAGNOSIS INFORMATION ............ 244
LHD ..........................................................................217 DISTANCE SENSOR ........................................ 244
LHD : Exploded View .............................................217 Reference Value ................................................... 244
LHD : Removal and Installation .............................217 Fail-safe (Distance Sensor) .................................. 246
DTC Inspection Priority Chart ............................... 246
RHD ..........................................................................219 DTC Index ............................................................. 247
RHD : Exploded View ............................................219
RHD : Removal and Installation ............................220 WIRING DIAGRAM ................................... 248
STEERING ANGLE SENSOR ......................... 222 FORWARD EMERGENCY BRAKING ............. 248
Removal and Installation .......................................222 Wiring Diagram ..................................................... 248
VDC (ESP) OFF SWITCH ................................ 223 BASIC INSPECTION ................................. 257
Removal and Installation .......................................223
DIAGNOSIS AND REPAIR WORK FLOW ....... 257
hill descent control (DOWNHILL DRIVE Work Flow ............................................................. 257
SUPPORT) SWITCH ........................................ 224
Removal and Installation .......................................224 ADDITIONAL SERVICE WHEN REPLACING
FORWARD EMERGENCY BRAKING DISTANCE SENSOR ........................................ 259
Description ............................................................ 259
PRECAUTION ............................................ 225 Work Procedure .................................................... 259

PRECAUTIONS ............................................... 225 DISTANCE SENSOR INITIAL VERTICAL

Precaution for Supplemental Restraint System ALIGNMENT ..................................................... 260
(SRS) "AIR BAG" and "SEAT BELT PRE-TEN- Description ............................................................ 260
SIONER" ................................................................225 Required Tools ...................................................... 260
Precautions for Removing Battery Terminal ..........225 Preparation ........................................................... 260

BRC-4
 Distance Sensor Initial Vertical Alignment ............ 260 C1A21 UNIT HIGH TEMP ............................... 285
DTC Logic .............................................................. 285 A
DISTANCE SENSOR ALIGNMENT ................. 262 Diagnosis Procedure ............................................. 285
Description ............................................................ 262
Work Procedure (Preparation) .............................. 262 C1A24 NP RANGE .......................................... 286
Work Procedure (Setting The ICC Target Board).. 264 B
DTC Logic .............................................................. 286
Work Procedure (Radar Alignment) ...................... 266 Diagnosis Procedure ............................................. 286
ACTION TEST .................................................. 268 C1A26 ECD MODE MALFUNCTION .............. 288 C
Description ............................................................ 268 DTC Logic .............................................................. 288
Inspection Procedure ............................................ 268 Diagnosis Procedure ............................................. 288

DTC/CIRCUIT DIAGNOSIS ....................... 269 C1A39 STEERING ANGLE SENSOR ............ 289 D
DTC Logic .............................................................. 289
C10B7 YAW RATE SENSOR .......................... 269 Diagnosis Procedure ............................................. 289
DTC Logic ............................................................. 269 E
Diagnosis Procedure ............................................. 269 C1B5D FEB OPE COUNT LIMIT .................... 290
DTC Logic .............................................................. 290
C1A01 POWER SUPPLY CIRCUIT 1, C1A02 Diagnosis Procedure ............................................. 290
POWER SUPPLY CIRCUIT 2 .......................... 270 BRC
DTC Logic ............................................................. 270 U0121 VDC CAN 2 .......................................... 291
Diagnosis Procedure ............................................. 270 DTC Logic .............................................................. 291
Diagnosis Procedure ............................................. 291 G
C1A03 VEHICLE SPEED SENSOR ................. 271
DTC Logic ............................................................. 271 U0126 STRG SEN CAN 1 ............................... 292
Diagnosis Procedure ............................................. 271 DTC Logic .............................................................. 292
Diagnosis Procedure ............................................. 292 H
C1A04 ABS/TCS/VDC SYSTEM ...................... 273
DTC Logic ............................................................. 273 U0401 ECM CAN 1 ......................................... 293
Diagnosis Procedure ............................................. 273 DTC Logic .............................................................. 293 I
Diagnosis Procedure ............................................. 293
C1A05 BRAKE SW/STOP LAMP SW ............. 274
DTC Logic ............................................................. 274 U0415 VDC CAN 1 .......................................... 294
Diagnosis Procedure ............................................. 274 DTC Logic .............................................................. 294 J
Diagnosis Procedure ............................................. 294
C1A07 CVT ....................................................... 276
DTC Logic ............................................................. 276 U0428 STRG SEN CAN 2 ............................... 295 K
Diagnosis Procedure ............................................. 276 DTC Logic .............................................................. 295
Diagnosis Procedure ............................................. 295
C1A12 RADAR OFF-CENTER ......................... 277
DTC Logic ............................................................. 277 U1000 CAN COMM CIRCUIT ......................... 296 L
Diagnosis Procedure ............................................. 277 DTC Logic .............................................................. 296
Diagnosis Procedure ............................................. 296
C1A14 ECM ...................................................... 278 M
DTC Logic ............................................................. 278 U1010 CONTROL UNIT (CAN) ....................... 297
Diagnosis Procedure ............................................. 278 DTC Logic .............................................................. 297
Diagnosis Procedure ............................................. 297
C1A15 GEAR POSITION ................................. 279 N
DTC Logic ............................................................. 279 U1527 CCM CAN 1 ......................................... 298
Diagnosis Procedure ............................................. 279 DTC Logic .............................................................. 298
Diagnosis Procedure ............................................. 298 O
C1A16 RADAR BLOCKED .............................. 281
DTC Logic ............................................................. 281 U153F CCM CAN 2 ......................................... 299
Diagnosis Procedure ............................................. 281 DTC Logic .............................................................. 299
Diagnosis Procedure ............................................. 299 P
C1A17 DISTANCE SENSOR ........................... 283
DTC Logic ............................................................. 283 POWER SUPPLY AND GROUND CIRCUIT .. 300
Diagnosis Procedure ............................................. 283 Diagnosis Procedure ............................................. 300

C1A18 RADAR AIMING INCMP ...................... 284 SYMPTOM DIAGNOSIS ............................ 301
DTC Logic ............................................................. 284
Diagnosis Procedure ............................................. 284

BRC-5
DRIVER ASSISTANCE SYSTEM SYMP- Diagnosis Procedure ............................................. 302
TOMS ............................................................... 301
Symptom Table .....................................................301 REMOVAL AND INSTALLATION ............. 304

SYSTEM SETTINGS CANNOT BE TURNED DISTANCE SENSOR ........................................ 304

ON/OFF ............................................................ 302 Exploded View ...................................................... 304
Removal and Installation ....................................... 304
Symptom Table .....................................................302
Description .............................................................302

BRC-6
 HOW TO USE THIS SECTION
< HOW TO USE THIS MANUAL > [WITH VDC (ESP)]

HOW TO USE THIS MANUAL A

HOW TO USE THIS SECTION
Information INFOID:0000000010724304
B
• Both “VDC” and “ESP” are used in this manual. These indicate the same system.
• Both “hill start assist” and “Uphill start support” are used in this manual. These indicate the same system.
• Both “advanced hill descent control” and “downhill drive support” are used in this manual. These indicate the C
same system.
• Both “active trace control” and “dynamic cornering enhancement” are used in this manual. These indicate
the same system. D

BRC

BRC-7
 PRECAUTIONS
< PRECAUTION > [WITH VDC (ESP)]

PRECAUTION
PRECAUTIONS
Precaution for Supplemental Restraint System (SRS) "AIR BAG" and "SEAT BELT
PRE-TENSIONER" INFOID:0000000010723615

The Supplemental Restraint System such as “AIR BAG” and “SEAT BELT PRE-TENSIONER”, used along
with a front seat belt, helps to reduce the risk or severity of injury to the driver and front passenger for certain
types of collision. Information necessary to service the system safely is included in the “SRS AIR BAG” and
“SEAT BELT” of this Service Manual.
WARNING:
Always observe the following items for preventing accidental activation.
• 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 “SRS AIR BAG”.
• Never use electrical test equipment on any circuit related to the SRS unless instructed to in this Ser-
vice Manual. SRS wiring harnesses can be identified by yellow and/or orange harnesses or harness
connectors.
PRECAUTIONS WHEN USING POWER TOOLS (AIR OR ELECTRIC) AND HAMMERS
WARNING:
Always observe the following items for preventing accidental activation.
• When working near the Air Bag Diagnosis Sensor Unit or other Air Bag System sensors with the
ignition ON or engine running, never use air or electric power tools or strike near the sensor(s) with
a hammer. Heavy vibration could activate the sensor(s) and deploy the air bag(s), possibly causing
serious injury.
• When using air or electric power tools or hammers, always switch the ignition OFF, disconnect the
battery, and wait at least 3 minutes before performing any service.
Precaution Necessary for Steering Wheel Rotation After Battery Disconnect
INFOID:0000000010723616

CAUTION:
Comply with the following cautions to prevent any error and malfunction.
• Before removing and installing any control units, first turn the ignition power source and accessory
power source to the OFF, then disconnect both battery cables.
• After finishing work, confirm that all control unit connectors are connected properly, then re-connect
both battery cables.
• Always use CONSULT to perform self-diagnosis as a part of each function inspection after finishing
work. If a DTC is detected, perform trouble diagnosis according to self-diagnosis results.
For vehicle with steering lock unit, if the battery is disconnected or discharged, the steering wheel will lock and
cannot be turned.
If turning the steering wheel is required with the battery disconnected or discharged, follow the operation pro-
cedure below before starting the repair operation.
OPERATION PROCEDURE
1. Connect both battery cables.
NOTE:
Supply power using jumper cables if battery is discharged.
2. Open driver door.
3. Turn the ignition switch to the ON position.
(At this time, the steering lock will be released.)
4. Turn the ignition switch to OFF position with driver door open.
5. Wait for 3 minutes or longer with driver door open.
NOTE:
• Do not close driver door because the steering wheel locks when driver door is closed.

BRC-8
 PRECAUTIONS
< PRECAUTION > [WITH VDC (ESP)]
• The auto acc function is adapted to this vehicle. For this reason, even when the ignition switch is turned
to OFF position, the accessory power source does not turned OFF and continues to be supplied for a A
certain amount of time.
6. Disconnect both battery cables. The steering lock will remain released with both battery cables discon-
nected and the steering wheel can be turned. B
7. Perform the necessary repair operation.
8. When the repair work is completed, re-connect both battery cables. With the brake pedal released, turn
the ignition switch from OFF position to ON position, then to LOCK position. (The steering wheel will lock C
when the ignition switch is turned to LOCK position.)
9. Perform self-diagnosis check of all control units using CONSULT.
Precautions for Removing Battery Terminal INFOID:0000000010735263
D

• With the adoption of Auto ACC function, ACC power is automatically supplied by operating the intelligent key
or remote keyless entry or by opening/closing the driver side door. In addition, ACC power is supplied even E
after the ignition switch is turned to the OFF position, i.e. ACC power is supplied for a certain fixed time.
• When disconnecting the 12V battery terminal, turn off the ACC
power before disconnecting the 12V battery terminal, observing
“How to disconnect 12V battery terminal” described below. BRC
NOTE:
Some ECUs operate for a certain fixed time even after ignition
switch is turned OFF and ignition power supply is stopped. If the G
battery terminal is disconnected before ECU stops, accidental DTC
detection or ECU data damage may occur.
• For vehicles with the 2-batteries, be sure to connect the main bat-
H
tery and the sub battery before turning ON the ignition switch.
NOTE:
SEF289H
If the ignition switch is turned ON with any one of the terminals of
main battery and sub battery disconnected, then DTC may be detected. I
• After installing the 12V battery, always check "Self Diagnosis Result" of all ECUs and erase DTC.
NOTE:
The removal of 12V battery may cause a DTC detection error. J
HOW TO DISCONNECT 12V BATTERY TERMINAL
Disconnect 12V battery terminal according to Instruction 1 or Instruction 2 described below.
For vehicles parked by ignition switch OFF, refer to Instruction 2. K
INSTRUCTION 1
1. Open the hood.
L
2. Turn key switch to the OFF position with the driver side door opened.
3. Get out of the vehicle and close the driver side door.
4. Wait at least 3 minutes. For vehicle with the engine listed below, remove the battery terminal after a lapse
M
of the specified time.

D4D engine : 20 minutes

HRA2DDT : 12 minutes N
K9K engine : 4 minutes
M9R engine : 4 minutes
R9M engine : 4 minutes O
V9X engine : 4 minutes
CAUTION:
While waiting, never operate the vehicle such as locking, opening, and closing doors. Violation of P
this caution results in the activation of ACC power supply according to the Auto ACC function.
5. Remove 12V battery terminal.
CAUTION:
After installing 12V battery, always check self-diagnosis results of all ECUs and erase DTC.
INSTRUCTION 2 (FOR VEHICLES PARKED BY IGNITION SWITCH OFF)
1. Unlock the door with intelligent key or remote keyless entry.

BRC-9
 PRECAUTIONS
< PRECAUTION > [WITH VDC (ESP)]
NOTE:
At this moment, ACC power is supplied.
2. Open the driver side door.
3. Open the hood.
4. Close the driver side door.
5. Wait at least 3 minutes.
CAUTION:
While waiting, never operate the vehicle such as locking, opening, and closing doors. Violation of
this caution results in the activation of ACC power supply according to the Auto ACC function.
6. Remove 12V battery terminal.
CAUTION:
After installing 12V battery, always check self-diagnosis results of all ECUs and erase DTC.
Precaution for Procedure without Cowl Top Cover INFOID:0000000010723618

When performing the procedure after removing cowl top cover, cover
the lower end of windshield with urethane, etc to prevent damage to
windshield.

PIIB3706J

Precaution for Stop/Start System Service INFOID:0000000011003224

CAUTION:
When performing an inspection and its related work with the engine at idle, always turn the stop/start
OFF switch ON or open the hood to release the stop/start system.
Precautions for Harness Repair INFOID:0000000010723619

• Solder the repaired area and wrap tape around the soldered area.
NOTE:
A fray of twisted lines must be within 110 mm (4.33 in).

SKIB8766E

• Bypass connection is never allowed at the repaired area.

NOTE:
Bypass connection may cause CAN communication error. The
spliced wire becomes separated and the characteristics of twisted
line are lost.

SKIB8767E

BRC-10
 PRECAUTIONS
< PRECAUTION > [WITH VDC (ESP)]
• Replace the applicable harness as an assembly if error is detected on the shield lines of CAN communica-
tion line. A
Precaution for Brake System INFOID:0000000010723620

WARNING: B
Since dust covering the front and rear brakes has an affect on human body, the dust must be removed
with a dust collector. Never splatter the dust with an air blow gun.
• Brake fluid use refer to MA-23, "Fluids and Lubricants". C
• Never reuse drained brake fluid.
• Never spill or splash brake fluid on painted surfaces. Brake fluid may seriously damage paint. Wipe it off
immediately and wash with water if it gets on a painted surface.
D
• Always confirm the specified tightening torque when installing the brake pipes.
• After pressing the brake pedal more deeply or harder than normal driving, such as air bleeding, check each
item of brake pedal. Adjust brake pedal if it is outside the standard value.
• Never use mineral oils such as gasoline or light oil to clean. They may damage rubber parts and cause E
improper operation.
• Always loosen the brake tube flare nut with a flare nut wrench.
• Tighten flare nut of brake tube to the specified torque using a flare BRC
nut torque wrench (A).
• Turn the ignition switch OFF and disconnect the ABS actuator and
electric unit (control unit) harness connector or the battery negative
terminal before performing the work. Refer to BRC-9, "Precautions G
for Removing Battery Terminal".
• Check that no brake fluid leakage is present after replacing the
parts. H

JPFIA0061ZZ
I
Precaution for Brake Control System INFOID:0000000010723621

• Always perform a pre-driving check to drive the vehicle. J

• Always check speed and safety while driving the vehicle.
• To operate CONSULT while driving, more than one person is required to be in the vehicle to avoid interfer-
ence to driving and ensure safety.
• Slight vibrations are felt on the brake pedal and the operation noises occur, when VDC function, TCS func- K
tion, ABS function, EBD function, brake limited slip differential (BLSD) function, brake assist function, brake
force distribution function, hill start assist function, advanced hill descent control function (4WD models with
gasoline engine), active trace control function (control of chassis control module) or active ride control func- L
tion (control of chassis control module) operates. This is not a malfunction because it is caused by VDC
function, TCS function, ABS function, EBD function, brake limited slip differential (BLSD) function, brake
assist function, brake force distribution function, hill start assist function, advanced hill descent control func-
M
tion (4WD models with gasoline engine), active trace control function (control of chassis control module) or
active ride control function (control of chassis control module) that is normally operated.
• When starting engine or when starting vehicle just after starting engine, brake pedal may vibrate or motor
operating noise may be heard from engine compartment. This is normal condition. N
• Brake stopping distance may become longer than models without ABS function depending on the road con-
ditions, when ABS function is operated on slippery road like rough road, gravel road or snowy road.
• When a malfunction is indicated, always collect information from the customer about conditions of occur-
O
rence, estimate cause, and perform operation. Check brake booster operation, brake fluid level, and brake
fluid leakage, as well as electrical system.
• The optimum performance is achieved by control for VDC function, TCS function, ABS function, EBD func-
tion, brake limited slip differential (BLSD) function, brake assist function, brake force distribution function, hill P
start assist function, advanced hill descent control function (4WD models with gasoline engine), active trace
control function (control of chassis control module) and active ride control function (control of chassis control
module), when all of brakes, suspensions and tires installed on the vehicle are the specified size and parts.
Brake performance and controllability may be negatively affected when other parts than the specified are
installed.
• Brake stopping distance may become longer and steering stability may be negatively affected, when tires in
different size and combination or other parts than the specified are used.

BRC-11
 PRECAUTIONS
< PRECAUTION > [WITH VDC (ESP)]
• When a radio (including wiring), antenna and antenna lead line are located near ABS actuator and electric
unit (control unit), a malfunction or improper operation may occur for the control of VDC function, TCS func-
tion, ABS function, EBD function, brake limited slip differential (BLSD) function, brake assist function, brake
force distribution function, hill start assist function, advanced hill descent control function (4WD models with
gasoline engine), active trace control function (control of chassis control module) and active ride control
function (control of chassis control module).
• When the following items are replaced by other parts than genuine parts or modified, ABS warning lamp,
brake warning lamp and VDC warning lamp may turn ON, and the control may not operate normally for VDC
function, TCS function, ABS function, EBD function, brake limited slip differential (BLSD) function, brake
assist function, brake force distribution function, hill start assist function, advanced hill descent control func-
tion (4WD models with gasoline engine), active trace control function (control of chassis control module) and
active ride control function (control of chassis control module).
- Suspension component parts (shock absorber, spring, bushing and others)
- Tire and wheel (other than the specified size)
- Brake component parts (brake pad, disc rotor, brake caliper and others)
- Engine component parts (ECM, muffler and others)
- Body reinforcement component parts (rollover bar, tower bar and others)
• When suspension, tire and brake related parts are excessively worn or deteriorated and the vehicle is
driven, ABS warning lamp, brake warning lamp and VDC warning lamp may turn ON, and the control may
not operate normally for VDC function, TCS function, ABS function, EBD function, brake limited slip differen-
tial (BLSD) function, brake assist function, brake force distribution function, hill start assist function,
advanced hill descent control function (4WD models with gasoline engine), active trace control function
(control of chassis control module) and active ride control function (control of chassis control module).
• ABS warning lamp, brake warning lamp and VDC warning lamp may turn ON, when only front wheel or rear
wheel is rotated using a free roller. This is not a malfunction, because it is caused by wheel speed difference
between wheel that is rotated and wheel that is not rotated. In this case, perform self-diagnosis, check self-
diagnosis results, and erase memory.
• When power supply voltage is not normal, ABS warning lamp, brake warning lamp and VDC warning lamp
turn ON. ABS actuator and electric unit (control unit) stops control for VDC function, TCS function, ABS func-
tion, EBD function, brake limited slip differential (BLSD) function, brake assist function, brake force distribu-
tion function, hill start assist function, advanced hill descent control function (4WD models with gasoline
engine), active trace control function (control of chassis control module) and active ride control function (con-
trol of chassis control module). Ordinary brake operates. After power supply returns to normal, ABS warning
lamp, brake warning lamp and VDC warning lamp turn OFF. The control becomes operative for VDC func-
tion, TCS function, ABS function, EBD function, brake limited slip differential (BLSD) function, brake assist
function, brake force distribution function, hill start assist function, advanced hill descent control function
(4WD models with gasoline engine), active trace control function (control of chassis control module) and
active ride control function (control of chassis control module).
• Brake pedal vibrates and operation sound occurs during sudden acceleration and cornering, when VDC
function, TCS function, brake limited slip differential (BLSD) function, brake assist function, brake force dis-
tribution function, hill start assist function, advanced hill descent control function (4WD models with gasoline
engine), active trace control function (control of chassis control module) and active ride control function (con-
trol of chassis control module) are operated. This is not a malfunction because it is caused by VDC function,
TCS function, brake limited slip differential (BLSD) function, brake assist function, brake force distribution
function, hill start assist function, advanced hill descent control function (4WD models with gasoline engine),
active trace control function (control of chassis control module) and active ride control function (control of
chassis control module) that is operated normally.
• VDC warning lamp may turn ON and VDC function, TCS function, brake limited slip differential (BLSD) func-
tion, brake assist function, brake force distribution function, hill start assist function, advanced hill descent
control function (4WD models with gasoline engine), active trace control function (control of chassis control
module) and active ride control function (control of chassis control module) may not normally operate, when
driving on a special road the is extremely slanted (bank in a circuit course). This is not a malfunction if the
status returns to normal for VDC function, TCS function, brake limited slip differential (BLSD) function, brake
assist function, brake force distribution function, hill start assist function, advanced hill descent control func-
tion (4WD models with gasoline engine), active trace control function (control of chassis control module) and
active ride control function (control of chassis control module) after the engine is started again. In this case,
perform self-diagnosis, check self-diagnosis results, and erase memory.
• A malfunction in yaw rate/side/decel G sensor system may be detected when the vehicle sharply turns dur-
ing a spin turn, acceleration turn or drift driving while VDC function and TCS function are OFF (VDC OFF
switch is pressed and VDC OFF indicator lamp is in ON status). This is not a malfunction if the status returns

BRC-12
 PRECAUTIONS
< PRECAUTION > [WITH VDC (ESP)]
to normal for VDC function and TCS function after the engine is started again. In this case, perform self-diag-
nosis, check self-diagnosis results, and erase memory. A

BRC

BRC-13
 COMPONENT PARTS
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]

SYSTEM DESCRIPTION
COMPONENT PARTS
Component Parts Location INFOID:0000000010723622

LHD
2WD Models

JSFIA2501ZZ

Back of spiral cable assembly Engine room (RH side) Steering knuckle
Engine room (LH side) Instrument driver lower panel Rear axle housing

No. Component parts Function

Rear RH wheel sensor BRC-27, "Wheel Sensor and Sensor Rotor"

Rear RH sensor rotor BRC-27, "Wheel Sensor and Sensor Rotor"

BRC-14
 COMPONENT PARTS
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
No. Component parts Function
A
Mainly transmits the following signals to ABS actuator and electric
unit (control unit) via CAN communication.
• Parking brake switch signal
• Brake fluid level switch signal B
Mainly receives the following signals from ABS actuator and electric
unit (control unit) via CAN communication.
• ABS warning lamp signal
Combination meter • VDC OFF indicator lamp signal C
• VDC warning lamp signal
• Brake warning lamp signal
• hill start assist indicator lamp signal
Mainly receives the following signals from ABS actuator and electric D
unit (control unit) via chassis control module via CAN communication.
• hill start assist display request signal
Refer to MWI-7, "METER SYSTEM : Component Parts Location" for
detailed installation location.
E
Mainly transmits the following signals to ABS actuator and electric
unit (control unit) via CAN communication.
• Active trace control signal BRC
• Active ride control signal
• Chassis control module malfunction signal
Mainly receives the following signals from ABS actuator and electric
Chassis control module unit (control unit) via CAN communication. G
• hill start assist display request signal
Mainly transmits the following signals to combination meter via CAN
communication.
H
• hill start assist display request signal
Refer to DAS-166, "Component Parts Location" for detailed installa-
tion location.
Front RH wheel sensor BRC-27, "Wheel Sensor and Sensor Rotor" I

Front RH sensor rotor BRC-27, "Wheel Sensor and Sensor Rotor"

Mainly transmits the following signals to ABS actuator and electric J
unit (control unit) via CAN communication.
• N range signal
• P range signal
• R range signal K
* • Current gear position signal
TCM • Shift position signal
• TCM malfunction signal
Refer to TM-235, "CVT CONTROL SYSTEM : Component Parts Lo- L
cation" (gasoline engine models), TM-466, "CVT CONTROL SYS-
TEM : Component Parts Location" (diesel engine models) for detailed
installation location.
M
Mainly transmits the following signals to ABS actuator and electric
unit (control unit) via CAN communication.
• Accelerator pedal position signal
• Engine speed signal N
ECM • Engine status signal
• ECM malfunction signal
Refer to EC-28, "ENGINE CONTROL SYSTEM : Component Parts
Location" (MR20DD models), EC-812, "Component Parts Location" O
(R9M models) for detailed installation location.
Mainly transmits the following signals to ABS actuator and electric
unit (control unit) via CAN communication. P
IPDM E/R • Ignition switch ON signal
Refer to PCS-5, "Component Parts Location" for detailed installation
location.

BRC-15
 COMPONENT PARTS
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
No. Component parts Function
Mainly transmits the following signals to ABS actuator and electric
unit (control unit) via CAN communication.
• Stop lamp switch signal
• Brake pedal position switch signal
BCM
• Cranking signal
• Ignition switch ON signal
Refer to BCS-6, "BODY CONTROL SYSTEM : Component Parts Lo-
cation" for detailed installation location.
Mainly transmits the following signals to ABS actuator and electric
unit (control unit) via CAN communication.
Electric parking brake control module • Electric parking brake operation signal
Refer to PB-8, "Component Parts Location" for detailed installation
location.
Steering angle sensor BRC-27, "Steering Angle Sensor"

ABS actuator and electric unit (control unit) BRC-25, "ABS Actuator and Electric Unit (Control Unit)"

Front LH wheel sensor BRC-27, "Wheel Sensor and Sensor Rotor"

Front LH sensor rotor BRC-27, "Wheel Sensor and Sensor Rotor"

Brake fluid level switch BRC-28, "Brake Fluid Level Switch"

Brake vacuum sensor BRC-29, "Brake Vacuum Sensor"

VDC OFF switch BRC-28, "VDC (ESP) OFF Switch"

Rear LH wheel sensor BRC-27, "Wheel Sensor and Sensor Rotor"

Rear LH sensor rotor BRC-27, "Wheel Sensor and Sensor Rotor"

*: CVT models
4WD Models

BRC-16
 COMPONENT PARTS
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]

BRC

JSFIA2502ZZ

P
Back of spiral cable assembly Engine room (RH side) Steering knuckle
Engine room (LH side) Instrument driver lower panel Center console
Rear axle housing

BRC-17
 COMPONENT PARTS
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]

No. Component parts Function

Rear RH wheel sensor BRC-27, "Wheel Sensor and Sensor Rotor"

Rear RH sensor rotor BRC-27, "Wheel Sensor and Sensor Rotor"

Mainly transmits the following signals to ABS actuator and electric unit
(control unit) via CAN communication.
• Parking brake switch signal
• Brake fluid level switch signal
Mainly receives the following signals from ABS actuator and electric unit
(control unit) via CAN communication.
• ABS warning lamp signal
• VDC OFF indicator lamp signal
Combination meter • VDC warning lamp signal
• Brake warning lamp signal
• hill start assist indicator lamp signal
• hill descent control indicator lamp signal*2
Mainly receives the following signals from ABS actuator and electric unit
(control unit) via chassis control module via CAN communication.
• hill start assist display request signal
• hill descent control display request signal*2
Refer to MWI-7, "METER SYSTEM : Component Parts Location" for de-
tailed installation location.
Mainly transmits the following signals to ABS actuator and electric unit
(control unit) via CAN communication.
• Active trace control signal
• Active ride control signal
• Chassis control module malfunction signal
Mainly receives the following signals from ABS actuator and electric unit
(control unit) via CAN communication.
Chassis control module • hill start assist display request signal
• hill descent control display request signal*2
Mainly transmits the following signals to combination meter via CAN
communication.
• hill start assist display request signal
• hill descent control display request signal*2
Refer to DAS-166, "Component Parts Location" for detailed installation
location.
Front RH wheel sensor BRC-27, "Wheel Sensor and Sensor Rotor"

Front RH sensor rotor BRC-27, "Wheel Sensor and Sensor Rotor"

Mainly transmits the following signals to ABS actuator and electric unit
(control unit) via CAN communication.
• N range signal
• P range signal
• R range signal
• Current gear position signal
TCM*1 • Shift position signal
• TCM malfunction signal
Refer to TM-235, "CVT CONTROL SYSTEM : Component Parts Loca-
tion" (gasoline engine models), TM-466, "CVT CONTROL SYSTEM :
Component Parts Location" (diesel engine models) for detailed installa-
tion location.

BRC-18
 COMPONENT PARTS
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
No. Component parts Function
A
Mainly transmits the following signals to ABS actuator and electric unit
(control unit) via CAN communication.
• Accelerator pedal position signal
• Engine speed signal B
• Engine status signal
ECM • ECM malfunction signal
Refer to EC-28, "ENGINE CONTROL SYSTEM : Component Parts Lo-
cation" (MR20DD engine models), EC-440, C
"Component Parts Location" (QR25DE engine models), EC-812, "Com-
ponent Parts Location" (R9M engine models) for detailed installation lo-
cation.
D
Mainly transmits the following signals to ABS actuator and electric unit
(control unit) via CAN communication.
IPDM E/R • Ignition switch ON signal
Refer to PCS-5, "Component Parts Location" for detailed installation lo- E
cation.
Mainly transmits the following signals to ABS actuator and electric unit
(control unit) via CAN communication.
BRC
• Stop lamp switch signal
• Brake pedal position switch signal
BCM
• Cranking signal
• Ignition switch ON signal G
Refer to BCS-6, "BODY CONTROL SYSTEM : Component Parts Loca-
tion" for detailed installation location.
Mainly transmits the following signals to ABS actuator and electric unit
H
(control unit) via CAN communication.
Electric parking brake control module • Electric parking brake operation signal
Refer to PB-8, "Component Parts Location" for detailed installation loca-
tion. I
Mainly transmits the following signals to ABS actuator and electric unit
(control unit) via CAN communication.
• 4WD malfunction signal
4WD control unit • 4WD operation signal J
Refer to DLN-14, "Component Parts Location" (MR20DD engine and
QR25DE engine models), DLN-117, "Component Parts Location" (R9M
engine models) for detailed installation location.
K
Steering angle sensor BRC-27, "Steering Angle Sensor"

ABS actuator and electric unit (control unit) BRC-25, "ABS Actuator and Electric Unit (Control Unit)"
L
Front LH wheel sensor BRC-27, "Wheel Sensor and Sensor Rotor"

Front LH sensor rotor BRC-27, "Wheel Sensor and Sensor Rotor"

Brake fluid level switch BRC-28, "Brake Fluid Level Switch" M

Brake vacuum sensor BRC-29, "Brake Vacuum Sensor"

VDC OFF switch BRC-28, "VDC (ESP) OFF Switch" N

MWI-42, "WARNING LAMPS/INDICATOR LAMPS : hill descent control
hill descent control switch*2 (Downhill Drive Support) Indicator lamp"
Rear LH wheel sensor BRC-27, "Wheel Sensor and Sensor Rotor" O

Rear LH sensor rotor BRC-27, "Wheel Sensor and Sensor Rotor"

*1: CVT models P

*
2: Gasoline engine models
RHD
2WD Models

BRC-19
 COMPONENT PARTS
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]

JSFIA2503ZZ

Back of spiral cable assembly Instrument driver lower panel Engine room (RH side)
Steering knuckle Engine room (LH side) Rear axle housing

No. Component parts Function

Rear RH wheel sensor BRC-27, "Wheel Sensor and Sensor Rotor"

Rear RH sensor rotor BRC-27, "Wheel Sensor and Sensor Rotor"

BRC-20
 COMPONENT PARTS
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
No. Component parts Function
A
Mainly transmits the following signals to ABS actuator and electric unit
(control unit) via CAN communication.
• Parking brake switch signal
• Brake fluid level switch signal B
Mainly receives the following signals from ABS actuator and electric unit
(control unit) via CAN communication.
• ABS warning lamp signal
Combination meter • VDC OFF indicator lamp signal C
• VDC warning lamp signal
• Brake warning lamp signal
• hill start assist indicator lamp signal
Mainly receives the following signals from ABS actuator and electric unit D
(control unit) via chassis control module via CAN communication.
• hill start assist display request signal
Refer to MWI-7, "METER SYSTEM : Component Parts Location" for de-
tailed installation location.
E

Front RH wheel sensor BRC-27, "Wheel Sensor and Sensor Rotor"

Front RH sensor rotor BRC-27, "Wheel Sensor and Sensor Rotor" BRC
Mainly transmits the following signals to ABS actuator and electric unit
(control unit) via CAN communication.
• N range signal G
• P range signal
• R range signal
TCM* • Current gear position signal
• Shift position signal H
• TCM malfunction signal
Refer to TM-466, "CVT CONTROL SYSTEM : Component Parts Loca-
tion" for detailed installation location.
I
Mainly transmits the following signals to ABS actuator and electric unit
(control unit) via CAN communication.
• Accelerator pedal position signal
• Engine speed signal J
ECM
• Engine status signal
• ECM malfunction signal
Refer to EC-812, "Component Parts Location" for detailed installation lo-
cation. K
Mainly transmits the following signals to ABS actuator and electric unit
(control unit) via CAN communication.
IPDM E/R • Ignition switch ON signal L
Refer to PCS-5, "Component Parts Location" for detailed installation lo-
cation.
Mainly transmits the following signals to ABS actuator and electric unit
(control unit) via CAN communication. M
• Stop lamp switch signal
• Brake pedal position switch signal
BCM
• Cranking signal
N
• Ignition switch ON signal
Refer to BCS-6, "BODY CONTROL SYSTEM : Component Parts Loca-
tion" for detailed installation location.
O

BRC-21
 COMPONENT PARTS
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
No. Component parts Function
Mainly transmits the following signals to ABS actuator and electric unit
(control unit) via CAN communication.
• Active trace control signal
• Active ride control signal
• Chassis control module malfunction signal
Mainly receives the following signals from ABS actuator and electric unit
Chassis control module (control unit) via CAN communication.
• hill start assist display request signal
Mainly transmits the following signals to combination meter via CAN
communication.
• hill start assist display request signal
Refer to DAS-166, "Component Parts Location" for detailed installation
location.
Mainly transmits the following signals to ABS actuator and electric unit
(control unit) via CAN communication.
Electric parking brake control module • Electric parking brake operation signal
Refer to PB-8, "Component Parts Location" for detailed installation loca-
tion.
Steering angle sensor BRC-27, "Steering Angle Sensor"

VDC OFF switch BRC-28, "VDC (ESP) OFF Switch"

Brake fluid level switch BRC-28, "Brake Fluid Level Switch"

Brake vacuum sensor BRC-29, "Brake Vacuum Sensor"

Front LH wheel sensor BRC-27, "Wheel Sensor and Sensor Rotor"

Front LH sensor rotor BRC-27, "Wheel Sensor and Sensor Rotor"

ABS actuator and electric unit (control unit) BRC-25, "ABS Actuator and Electric Unit (Control Unit)"

Rear LH wheel sensor BRC-27, "Wheel Sensor and Sensor Rotor"

Rear LH sensor rotor BRC-27, "Wheel Sensor and Sensor Rotor"

*: CVT models
4WD Models

BRC-22
 COMPONENT PARTS
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]

BRC

L
JSFIA2504ZZ

Back of spiral cable assembly Instrument driver lower panel Engine room (RH side) M
Steering knuckle Engine room (LH side) Rear axle housing

N
No. Component parts Function
Rear RH wheel sensor BRC-27, "Wheel Sensor and Sensor Rotor"

Rear RH sensor rotor BRC-27, "Wheel Sensor and Sensor Rotor" O

BRC-23
 COMPONENT PARTS
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
No. Component parts Function
Mainly transmits the following signals to ABS actuator and electric unit
(control unit) via CAN communication.
• Parking brake switch signal
• Brake fluid level switch signal
Mainly receives the following signals from ABS actuator and electric unit
(control unit) via CAN communication.
• ABS warning lamp signal
Combination meter • VDC OFF indicator lamp signal
• VDC warning lamp signal
• Brake warning lamp signal
• hill start assist indicator lamp signal
Mainly receives the following signals from ABS actuator and electric unit
(control unit) via chassis control module via CAN communication.
• hill start assist display request signal
Refer to MWI-7, "METER SYSTEM : Component Parts Location" for de-
tailed installation location.
Front RH wheel sensor BRC-27, "Wheel Sensor and Sensor Rotor"

Front RH sensor rotor BRC-27, "Wheel Sensor and Sensor Rotor"

Mainly transmits the following signals to ABS actuator and electric unit
(control unit) via CAN communication.
• N range signal
• P range signal
• R range signal
TCM* • Current gear position signal
• Shift position signal
• TCM malfunction signal
Refer to TM-466, "CVT CONTROL SYSTEM : Component Parts Loca-
tion" for detailed installation location.
Mainly transmits the following signals to ABS actuator and electric unit
(control unit) via CAN communication.
• Accelerator pedal position signal
• Engine speed signal
ECM
• Engine status signal
• ECM malfunction signal
Refer to EC-812, "Component Parts Location" for detailed installation lo-
cation.
Mainly transmits the following signals to ABS actuator and electric unit
(control unit) via CAN communication.
IPDM E/R • Ignition switch ON signal
Refer to PCS-5, "Component Parts Location" for detailed installation lo-
cation.
Mainly transmits the following signals to ABS actuator and electric unit
(control unit) via CAN communication.
• Stop lamp switch signal
• Brake pedal position switch signal
BCM
• Cranking signal
• Ignition switch ON signal
Refer to BCS-6, "BODY CONTROL SYSTEM : Component Parts Loca-
tion" for detailed installation location.

BRC-24
 COMPONENT PARTS
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
No. Component parts Function
A
Mainly transmits the following signals to ABS actuator and electric unit
(control unit) via CAN communication.
• Active trace control signal
• Active ride control signal B
• Chassis control module malfunction signal
Mainly receives the following signals from ABS actuator and electric unit
Chassis control module (control unit) via CAN communication.
• hill start assist display request signal C
Mainly transmits the following signals to combination meter via CAN
communication.
• hill start assist display request signal
Refer to DAS-166, "Component Parts Location" for detailed installation D
location.
Mainly transmits the following signals to ABS actuator and electric unit
(control unit) via CAN communication. E
Electric parking brake control module • Electric parking brake operation signal
Refer to PB-8, "Component Parts Location" for detailed installation loca-
tion.
BRC
Mainly transmits the following signals to ABS actuator and electric unit
(control unit) via CAN communication.
• 4WD malfunction signal
4WD control unit
• 4WD operation signal G
Refer to DLN-117, "Component Parts Location" for detailed installation
location.
Steering angle sensor BRC-27, "Steering Angle Sensor" H
VDC OFF switch BRC-28, "VDC (ESP) OFF Switch"

Brake fluid level switch BRC-28, "Brake Fluid Level Switch"

I
Brake vacuum sensor BRC-29, "Brake Vacuum Sensor"

Front LH wheel sensor BRC-27, "Wheel Sensor and Sensor Rotor"

J
Front LH sensor rotor BRC-27, "Wheel Sensor and Sensor Rotor"

ABS actuator and electric unit (control unit) BRC-25, "ABS Actuator and Electric Unit (Control Unit)"

Rear LH wheel sensor BRC-27, "Wheel Sensor and Sensor Rotor" K

Rear LH sensor rotor BRC-27, "Wheel Sensor and Sensor Rotor"

*: CVT models L
ABS Actuator and Electric Unit (Control Unit) INFOID:0000000010723623

Electric unit (control unit) is integrated with actuator and comprehen- M

sively controls VDC function, TCS function, ABS function, EBD func-
tion, Brake limited slip differential (BLSD) function, Brake assist
function, bake force distribution function, hill start assist function and
advanced hill descent control function (4WD models with Gasoline N
engine).

JSFIA2254ZZ P
CONTROL UNIT
• Brake fluid pressure, engine and transaxle are controlled according to signals from each sensor.
• If malfunction is detected, the system enters fail-safe mode.
ACTUATOR
The following components are integrated with ABS actuator.
Pump
BRC-25
 COMPONENT PARTS
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
• Pressure the brake fluid and send.
• Returns the brake fluid reserved in reservoir to master cylinder by reducing pressure.
Motor
Activates the pump according to signals from ABS actuator and electric unit (control unit).
Motor Relay
Operates the motor ON/OFF according to signals from ABS actuator and electric unit (control unit).
Actuator Relay
Operates each valve ON/OFF according to signals from ABS actuator and electric unit (control unit).
ABS In Valve
Switches the fluid pressure line to increase or hold according to signals from control unit.
NOTE:
Valve is a solenoid valve.
ABS Out Valve
Switches the fluid pressure line to increase, hold or decrease according to signals from control unit.
NOTE:
Valve is a solenoid valve.
Cut Valve 1, Cut Valve 2
Shuts off the ordinary brake line from master cylinder, when VDC function, TCS function, brake limited slip dif-
ferential (BLSD) function, brake assist function, brake force distribution function, hill start assist function and
advanced hill descent control function (4WD models with gasoline engine) are activated.
NOTE:
Valve is a solenoid valve.
Suction Valve 1, Suction Valve 2
Supplies the brake fluid from master cylinder to the pump, when VDC function, TCS function, brake limited slip
differential (BLSD) function, brake assist function, brake force distribution function, hill start assist function and
advanced hill descent control function (4WD models with gasoline engine) are activated.
NOTE:
Valve is a solenoid valve.
Inlet Valve
Brake fluid sucked from the reservoir by the pump does not backflow.
NOTE:
Valve is a solenoid valve.
Outlet Valve
Brake fluid discharged from the pump does not backflow.
NOTE:
Valve is a solenoid valve.
Return Check Valve
Returns the brake fluid from brake caliper to master cylinder by bypassing orifice of each valve when brake is
released.
Reservoir
Temporarily reserves the brake fluid drained from brake caliper and wheel cylinder, so that pressure efficiently
decreases when decreasing pressure of brake caliper.
Yaw Rate/Side/Decel G Sensor
Calculates the following information that affects the vehicle, and transmits a signal to ABS actuator and elec-
tric unit (control unit) via communication lines. [Yaw rate/side/decel G sensor is integrated in ABS actuator and
electric unit (control unit).]
• Vehicle rotation angular velocity (yaw rate signal)
• Vehicle lateral acceleration (side G signal) and longitudinal acceleration (decel G signal)
Pressure Sensor
Detects the brake fluid pressure and transmits signal to ABS actuator and electric unit (control unit). [Pressure
sensor is integrated in ABS actuator and electric unit (control unit).]

BRC-26
 COMPONENT PARTS
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
Wheel Sensor and Sensor Rotor INFOID:0000000010723624

A
• Wheel sensor of front wheel is installed on steering knuckle.
CAUTION:
Never measure resistance and voltage value using a tester B
because sensor is active sensor.
• Sensor rotor of front wheel is integrated in wheel hub assembly.
• Wheel sensor of rear wheel is installed on wheel hub assembly.
(2WD models) C
CAUTION:
Never measure resistance and voltage value using a tester
because sensor is active sensor. D
• Wheel sensor of rear wheel is installed on rear axle housing. (4WD
JSFIA1272ZZ
models)
CAUTION:
Never measure resistance and voltage value using a tester because sensor is active sensor. E
• Sensor rotor of rear wheel is integrated in wheel hub assembly. (2WD models)
• Sensor rotor of rear wheel is installed on drive shaft (wheel side).
(4WD models) BRC

JSFIA1567ZZ

I
• Downsize and weight reduction is aimed. IC for detection portion
and magnet for sensor rotor are adopted.
• Power supply is supplied to detection portion so that magnetic field J
line is read. Magnetic field that is detected is converted to current
signal.
• When sensor rotor rotates, magnetic field changes. Magnetic field
change is converted to current signals (rectangular wave) and is K
transmitted to ABS actuator and electric unit (control unit). Change
of magnetic field is proportional to wheel speed.
L
JPFIC0131GB

Steering Angle Sensor INFOID:0000000010723625

M
Detects the following information and transmits steering angle sen-
sor signal to ABS actuator and electric unit (control unit) via CAN
communication. N
• Steering wheel rotation amount
• Steering wheel rotation angular velocity
• Steering wheel rotation direction O

P
JSFIA2318ZZ

BRC-27
 COMPONENT PARTS
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
VDC (ESP) OFF Switch INFOID:0000000010723626

• Non-operational status or standby status of the following functions

can be selected using VDC OFF switch. VDC OFF indicator lamp
indicates the operation status of function. (ON: Non-operational
status, OFF: Standby status)
- VDC function
- TCS function
- Active trace control function (control of chassis control module)
- Active ride control function (control of chassis control module)
NOTE:
ABS function, EBD function, Brake limited slip differential (BLSD)
function, brake assist function, brake force distribution function, hill
JSFIA1148ZZ
start assist function and advanced hill descent control function (4WD
models with gasoline engine) control operates.
• VDC OFF indicator lamp turns OFF (standby status) when the engine is started again after it is stopped once
while VDC OFF indicator lamp is ON (non-operational status).
hill descent control (Downhill Drive Support) Switch INFOID:0000000010723627

The operation of the hill descent control switch enables the arbitrary
switching of the advanced hill descent control function between stop
status and standby status. The status of the function is indicated by
the hill descent control indicator lamp.
• ON:
- When advanced hill descent control function is under operating
condition
- Advanced hill descent control function operating or operational
(condition is satisfied)
• Blinking: Advanced hill descent control function operating or oper-
ational (condition is not satisfied)
JSFIA2255ZZ
• OFF: Advanced hill descent control function switch OFF (non-
operational status)
NOTE:
Applied to 4WD models with gasoline engine.
Brake Fluid Level Switch INFOID:0000000010723628

Detects the brake fluid level in reservoir tank and transmits con-
verted electric signal from combination meter to ABS actuator and
electric unit (control unit) via CAN communication, when brake fluid
level is the specified level or less.

JSFIA2256ZZ

BRC-28
 COMPONENT PARTS
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
Brake Vacuum Sensor INFOID:0000000010723629

A
Detects the vacuum in brake booster and transmits converted elec-
tric signal to ABS actuator and electric unit (control unit).
B

D
JSFIA2257ZZ

BRC

BRC-29
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
SYSTEM
System Description INFOID:0000000010723631

• The system switches fluid pressure of each brake to increase, to hold or to decrease according to signals
from control unit in ABS actuator and electric unit (control unit). This control system is applied to VDC func-
tion, TCS function, ABS function, EBD function, brake limited slip differential (BLSD) function, brake assist
function, brake force distribution function, hill start assist function and advanced hill descent control function
(4WD models with gasoline engine).
• Fail-safe function is available for each function and is activated by each function when system malfunction
occurs.
SYSTEM DIAGRAM
NOTE:
• 4WD control unit is applied to 4WD models.
• TCM is applied to CVT models.
• hill descent control switch is applied to 4WD models with gasoline engine.

JSFIA2365GB

INPUT SIGNAL AND OUTRET SIGNAL

Major signal transmission between each unit via communication lines is shown in the following table.

BRC-30
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]

Component parts Signal description A

Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
communication.
• Parking brake switch signal
B
• Brake fluid level switch signal
Mainly receives the following signals from ABS actuator and electric unit (control unit) via
CAN communication.
• ABS warning lamp signal C
• VDC OFF indicator lamp signal
Combination meter • VDC warning lamp signal
• Brake warning lamp signal
• hill start assist indicator lamp signal D
• hill descent control indicator lamp signal*1
Mainly receives the following signals from ABS actuator and electric unit (control unit) via
chassis control module via CAN communication.
• hill start assist display request signal E
• hill descent control display request signal*1
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
communication. BRC
• N range signal
• P range signal
TCM*2 • R range signal
• Current gear position signal
G
• Shift position signal
• TCM malfunction signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN H
communication.
• Accelerator pedal position signal
ECM
• Engine speed signal
• Engine status signal I
• ECM malfunction signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
IPDM E/R communication. J
• Ignition switch ON signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
communication. K
• Stop lamp switch signal
BCM
• Brake pedal position switch signal
• Cranking signal
• Ignition switch ON signal L
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
communication.
• Active trace control signal M
• Active ride control signal
Mainly receives the following signals from ABS actuator and electric unit (control unit) via
Chassis control module CAN communication.
• hill start assist display request signal N
• hill descent control display request signal*1
Mainly transmits the following signals to combination meter via CAN communication.
• hill start assist display request signal
O
• hill descent control display request signal*1
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
Electric parking brake control module communication.
• Electric parking brake operation signal P
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
*3 communication.
4WD control unit • 4WD malfunction signal
• 4WD operation signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
Steering angle sensor communication.
• Steering angle sensor signal

BRC-31
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
*1: 4WD models with gasoline engine
*2: CVT models
*3: 4WD models
VALVE OPERATION [VDC FUNCTION, TCS FUNCTION, BRAKE LIMITED SLIP DIFFERENTIAL
(BLSD) FUNCTION, BRAKE ASSIST FUNCTION, BRAKE FORCE DISTRIBUTION FUNCTION, hill
start assist FUNCTION AND ADVANCED hill descent control FUNCTION (4WD MODELS WITH
GASOLINE ENGINE)]
Each valve is operated and fluid pressure of brake is controlled.
VDC Function, TCS Function, Brake Limited Slip Differential (BLSD) Function, Brake Assist Function, Brake force
distribution Function, hill start assist Function and Advanced hill descent control Function (4WD Models with Gaso-
line Engine) are in Operation (During Pressure Increases)

JSFIA1735GB

Component parts Not activated When pressure increases

Cut valve 1 Power supply is not supplied (open) Power supply is supplied (close)
Cut valve 2 Power supply is not supplied (open) Power supply is supplied (close)
Suction valve 1 Power supply is not supplied (close) Power supply is supplied (open)
Suction valve 2 Power supply is not supplied (close) Power supply is supplied (open)
ABS IN valve Power supply is not supplied (open) Power supply is not supplied (open)
ABS OUT valve Power supply is not supplied (close) Power supply is not supplied (close)
Each brake (fluid pressure) — Pressure increases

During pressure front RH brake increases

• Brake fluid is conveyed to the pump from the master cylinder through suction valve 1 and is pressurized by
the pump operation. The pressurized brake fluid is supplied to the front RH brake through the ABS IN valve.
For the left brake, brake fluid pressure is maintained because the pressurization is unnecessary. The pres-
surization for the left brake is controlled separately from the right brake.
During pressure front LH brake increases
• Brake fluid is conveyed to the pump from the master cylinder through suction valve 2 and is pressurized by
the pump operation. The pressurized brake fluid is supplied to the front LH brake through the ABS IN valve.

BRC-32
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
For the right brake, brake fluid pressure is maintained because the pressurization is unnecessary. The pres-
surization for the right brake is controlled separately from the left brake. A
During pressure rear RH brake increases
• Brake fluid is conveyed to the pump from the master cylinder through suction valve 2 and is pressurized by
the pump operation. The pressurized brake fluid is supplied to the rear RH brake through the ABS IN valve. B
For the left brake, brake fluid pressure is maintained because the pressurization is unnecessary. The pres-
surization for the left brake is controlled separately from the right brake.
During pressure rear LH brake increases
C
• Brake fluid is conveyed to the pump from the master cylinder through suction valve 1 and is pressurized by
the pump operation. The pressurized brake fluid is supplied to the rear LH brake through the ABS IN valve.
For the right brake, brake fluid pressure is maintained because the pressurization is unnecessary. The pres- D
surization for the right brake is controlled separately from the left brake.
VDC Function, TCS Function, Brake Limited Slip Differential (BLSD) Function, Brake Assist Function, Brake force
distribution Function, hill start assist Function and Advanced hill descent control Function (4WD Models with Gaso- E
line Engine) are in Operation (During Pressure Holds)

BRC

JSFIA1736GB
M
Component parts Not activated When pressure holds
Cut valve 1 Power supply is not supplied (open) Power supply is supplied (close)
Cut valve 2 Power supply is not supplied (open) Power supply is supplied (close) N
Suction valve 1 Power supply is not supplied (close) Power supply is not supplied (close)
Suction valve 2 Power supply is not supplied (close) Power supply is not supplied (close)
O
ABS IN valve Power supply is not supplied (open) Power supply is not supplied (open)
ABS OUT valve Power supply is not supplied (close) Power supply is not supplied (close)
Each brake (fluid pressure) — Pressure holds P

During pressure front RH brake holds

• Since the cut valve 1 and the suction valve 1 are closed, the front RH brake, master cylinder, and reservoir
are blocked. This maintains fluid pressure applied on the front RH brake. The pressurization for the left
brake is controlled separately from the right brake.

BRC-33
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
During pressure front LH brake holds
• Since the cut valve 2 and the suction valve 2 are closed, the front LH brake, master cylinder, and reservoir
are blocked. This maintains fluid pressure applied on the front LH brake. The pressurization for the right
brake is controlled separately from the left brake.
During pressure rear RH brake holds
• Since the cut valve 2 and the suction valve 2 are closed, the rear RH brake, master cylinder, and reservoir
are blocked. This maintains fluid pressure applied on the rear RH brake. The pressurization for the left brake
is controlled separately from the right brake.
During pressure rear LH brake holds
• Since the cut valve 1 and the suction valve 1 are closed, the rear LH brake, master cylinder, and reservoir
are blocked. This maintains fluid pressure applied on the rear LH brake. The pressurization for the right
brake is controlled separately from the left brake.
VDC Function, TCS Function, Brake Limited Slip Differential (BLSD) Function, Brake Assist Function, Brake force
distribution Function, hill start assist Function and Advanced hill descent control Function (4WD Models with Gaso-
line Engine) are in Operation (During Pressure Decrease)

JSFIA1737GB

Component parts Not activated When pressure decrease

Cut valve 1 Power supply is not supplied (open) Power supply is not supplied (open)
Cut valve 2 Power supply is not supplied (open) Power supply is not supplied (open)
Suction valve 1 Power supply is not supplied (close) Power supply is not supplied (close)
Suction valve 2 Power supply is not supplied (close) Power supply is not supplied (close)
ABS IN valve Power supply is not supplied (open) Power supply is not supplied (open)
ABS OUT valve Power supply is not supplied (close) Power supply is not supplied (close)
Each brake (fluid pressure) — Pressure decreases

During pressure front RH brake decreased

• Since the suction valve 1 and the ABS OUT valve close and the cut valve 1 and the ABS IN valve open, the
fluid pressure applied on the front RH brake is reduced by supplying the fluid pressure to the master cylinder
via the ABS IN valve and the cut valve 1. The pressurization for the right brake is controlled separately from
the left brake.

BRC-34
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
During pressure front LH brake decreased
• Since the suction valve 2 and the ABS OUT valve close and the cut valve 2 and the ABS IN valve open, the A
fluid pressure applied on the front LH brake is reduced by supplying the fluid pressure to the master cylinder
via the ABS IN valve and the cut valve 2. The pressurization for the left brake is controlled separately from
the right brake.
B
During pressure rear RH brake decreased
• Since the suction valve 2 and the ABS OUT valve close and the cut valve 2 and the ABS IN valve open, the
fluid pressure applied on the rear RH brake is reduced by supplying the fluid pressure to the master cylinder
via the ABS IN valve and the cut valve 2. The pressurization for the right brake is controlled separately from C
the left brake.
During pressure rear LH brake decreased D
• Since the suction valve 1 and the ABS OUT valve close and the cut valve 1 and the ABS IN valve open, the
fluid pressure applied on the rear LH brake is reduced by supplying the fluid pressure to the master cylinder
via the ABS IN valve and the cut valve 1. The pressurization for the left brake is controlled separately from
the right brake. E
Component Parts and Function

Component parts Function

BRC

• Pressure the brake fluid and send.

Pump
• Returns the brake fluid reserved in reservoir to master cylinder by reducing pressure.
G
Motor Activates the pump according to signals from ABS actuator and electric unit (control unit).
Cut valve 1
Shuts off the ordinary brake line from master cylinder.
Cut valve 2
H
Suction valve 1
Supplies the brake fluid from master cylinder to the pump.
Suction valve 2
ABS IN valve Switches the fluid pressure line to increase or hold according.
I
ABS OUT valve Switches the fluid pressure line to increase, hold or decrease according.
Returns the brake fluid from each brake to master cylinder by bypassing orifice of each valve when
return check valve
brake is released. J
Temporarily reserves the brake fluid drained from each brake, so that pressure efficiently decreases
Reservoir
when decreasing pressure of each brake.
Pressure sensor Detects the brake fluid pressure and transmits signal to ABS actuator and electric unit (control unit). K
VALVE OPERATION (ABS FUNCTION)
Each valve is operated and fluid pressure of brake is controlled.
L

BRC-35
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
When Brake Pedal is Applied

JSFIA1738GB

Component parts Not activated When pressure increases

Cut valve 1 Power supply is not supplied (open) Power supply is not supplied (open)
Cut valve 2 Power supply is not supplied (open) Power supply is not supplied (open)
Suction valve 1 Power supply is not supplied (close) Power supply is not supplied (close)
Suction valve 2 Power supply is not supplied (close) Power supply is not supplied (close)
ABS IN valve Power supply is not supplied (open) Power supply is not supplied (open)
ABS OUT valve Power supply is not supplied (close) Power supply is not supplied (close)
Each brake (fluid pressure) — Pressure increases

During pressure front RH brake increases

• When the cut valve 1 and the ABS IN valve opens, brake fluid is supplied to the front RH brake from the
master cylinder through the ABS IN valve. Brake fluid does not flow into the reservoir because the ABS OUT
valve is closed.
During pressure front LH brake increases
• When the cut valve 2 and the ABS IN valve opens, brake fluid is supplied to the front LH brake from the mas-
ter cylinder through the ABS IN valve. Brake fluid does not flow into the reservoir because the ABS OUT
valve is closed.
During pressure rear RH brake increases
• When the cut valve 2 and the ABS IN valve opens, brake fluid is supplied to the rear RH brake from the mas-
ter cylinder through the ABS IN valve. Brake fluid does not flow into the reservoir because the ABS OUT
valve is closed.
During pressure rear LH brake increases
• When the cut valve 1 and the ABS IN valve opens, brake fluid is supplied to the rear LH brake from the mas-
ter cylinder through the ABS IN valve. Brake fluid does not flow into the reservoir because the ABS OUT
valve is closed.

BRC-36
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
When ABS Function is in Operation (During Pressure Increases)
A

BRC

H
JSFIA1738GB

Component parts Not activated When pressure increases

Cut valve 1 Power supply is not supplied (open) Power supply is not supplied (open) I
Cut valve 2 Power supply is not supplied (open) Power supply is not supplied (open)
Suction valve 1 Power supply is not supplied (close) Power supply is not supplied (close)
J
Suction valve 2 Power supply is not supplied (close) Power supply is not supplied (close)
ABS IN valve Power supply is not supplied (open) Power supply is not supplied (open)
ABS OUT valve Power supply is not supplied (close) Power supply is not supplied (close) K
Each brake (fluid pressure) — Pressure increases

L
During pressure front RH brake increases
• Brake fluid is supplied to the front RH brake from the master cylinder through the cut valve 1 and the ABS IN
valve. Since the suction valve 1 and the ABS OUT valve is closed, the fluid does not flow into the reservoir. M
The amount of brake fluid supplied to the front RH brake from the master cylinder is controlled according to
time that the ABS IN valve is not energized (time that the ABS IN valve is open).
During pressure front LH brake increases N
• Brake fluid is supplied to the front LH brake from the master cylinder through the cut valve 2 and the ABS IN
valve. Since the suction valve 2 and the ABS OUT valve is closed, the fluid does not flow into the reservoir.
The amount of brake fluid supplied to the front LH brake from the master cylinder is controlled according to
O
time that the ABS IN valve is not energized (time that the ABS IN valve is open).
During pressure rear RH brake increases
• Brake fluid is supplied to the rear RH brake from the master cylinder through the cut valve 2 and the ABS IN P
valve. Since the suction valve 2 and the ABS OUT valve is closed, the fluid does not flow into the reservoir.
The amount of brake fluid supplied to the rear RH brake from the master cylinder is controlled according to
time that the ABS IN valve is not energized (time that the ABS IN valve is open).
During pressure rear LH brake increases
• Brake fluid is supplied to the rear LH brake from the master cylinder through the cut valve 1 and the ABS IN
valve. Since the suction valve 1 and the ABS OUT valve is closed, the fluid does not flow into the reservoir.

BRC-37
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
The amount of brake fluid supplied to the rear LH brake from the master cylinder is controlled according to
time that the ABS IN valve is not energized (time that the ABS IN valve is open).
When ABS Function is Operating (During Pressure Holds)

JSFIA1739GB

Component parts Not activated When pressure holds

Cut valve 1 Power supply is not supplied (open) Power supply is not supplied (open)
Cut valve 2 Power supply is not supplied (open) Power supply is not supplied (open)
Suction valve 1 Power supply is not supplied (close) Power supply is not supplied (close)
Suction valve 2 Power supply is not supplied (close) Power supply is not supplied (close)
ABS IN valve Power supply is not supplied (open) Power supply is supplied (close)
ABS OUT valve Power supply is not supplied (close) Power supply is not supplied (close)
Each brake (fluid pressure) — Pressure holds

During pressure front RH brake holds

• Since the ABS IN valve and the ABS OUT valve are closed, the front RH brake, master cylinder, and reser-
voir are blocked. This maintains fluid pressure applied on the front RH brake.
During pressure front LH brake holds
• Since the ABS IN valve and the ABS OUT valve are closed, the front LH brake, master cylinder, and reser-
voir are blocked. This maintains fluid pressure applied on the front LH brake.
During pressure rear RH brake holds
• Since the ABS IN valve and the ABS OUT valve are closed, the rear RH brake, master cylinder, and reser-
voir are blocked. This maintains fluid pressure applied on the rear RH brake.
During pressure rear LH brake holds
• Since the ABS IN valve and the ABS OUT valve are closed, the rear LH brake, master cylinder, and reser-
voir are blocked. This maintains fluid pressure applied on the rear LH brake.

BRC-38
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
When ABS Function is in Operation (During Pressure Decreases)
A

BRC

H
JSFIA1740GB

Component parts Not activated When pressure decreases

Cut valve 1 Power supply is not supplied (open) Power supply is not supplied (open) I
Cut valve 2 Power supply is not supplied (open) Power supply is not supplied (open)
Suction valve 1 Power supply is not supplied (close) Power supply is not supplied (close)
J
Suction valve 2 Power supply is not supplied (close) Power supply is not supplied (close)
ABS IN valve Power supply is not supplied (open) Power supply is supplied (close)
ABS OUT valve Power supply is not supplied (close) Power supply is supplied (open) K
Each brake (fluid pressure) — Pressure decreases

During pressure front RH brake decreased L

• Since the ABS IN valve is closed and the ABS OUT valve is opened, fluid pressure applied on the front RH
brake is supplied to the reservoir through the ABS OUT valve. This fluid pressure decreases when sent to
the master cylinder by the pump.
M
During pressure front LH brake decreased
• Since the ABS IN valve is closed and the ABS OUT valve is opened, fluid pressure applied on the front LH
brake is supplied to the reservoir through the ABS OUT valve. This fluid pressure decreases when sent to N
the master cylinder by the pump.
During pressure rear RH brake decreased
• Since the ABS IN valve is closed and the ABS OUT valve is opened, fluid pressure applied on the rear RH O
brake is supplied to the reservoir through the ABS OUT valve. This fluid pressure decreases when sent to
the master cylinder by the pump.
During pressure rear LH brake decreased P
• Since the ABS IN valve is closed and the ABS OUT valve is opened, fluid pressure applied on the rear LH
brake is supplied to the reservoir through the ABS OUT valve. This fluid pressure decreases when sent to
the master cylinder by the pump.

BRC-39
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
When Brake Release

JSFIA1741GB

Component pars Not activated When pressure decrease

Cut valve 1 Power supply is not supplied (open) Power supply is not supplied (open)
Cut valve 2 Power supply is not supplied (open) Power supply is not supplied (open)
Suction valve 1 Power supply is not supplied (close) Power supply is not supplied (close)
Suction valve 2 Power supply is not supplied (close) Power supply is not supplied (close)
ABS IN valve Power supply is not supplied (open) Power supply is not supplied (open)
ABS OUT valve Power supply is not supplied (close) Power supply is not supplied (close)
Each brake (fluid pressure) — Pressure decreases

During pressure front RH brake release

• Brake fluid is supplied to the front RH brake through the return check valve of the ABS IN valve and the cut
valve 1, and returns to the master cylinder.
During pressure front LH brake release
• Brake fluid is supplied to the front LH brake through the return check valve of the ABS IN valve and the cut
valve 2, and returns to the master cylinder.
During pressure rear RH brake release
• Brake fluid is supplied to the rear RH brake through the return check valve of the ABS IN valve and the cut
valve 2, and returns to the master cylinder.
During pressure rear LH brake release
• Brake fluid is supplied to the rear LH brake through the return check valve of the ABS IN valve and the cut
valve 1, and returns to the master cylinder.
Component Parts and Function

Component parts Function

• Pressure the brake fluid and send.
Pump
• Returns the brake fluid reserved in reservoir to master cylinder by reducing pressure.
Motor Activates the pump according to signals from ABS actuator and electric unit (control unit).

BRC-40
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
Component parts Function
A
Cut valve 1
Shuts off the ordinary brake line from master cylinder.
Cut valve 2
Suction valve 1
Supplies the brake fluid from master cylinder to the pump. B
Suction valve 2
ABS IN valve Switches the fluid pressure line to increase or hold according.
ABS OUT valve Switches the fluid pressure line to increase, hold or decrease according.
C
Returns the brake fluid from each brake to master cylinder by bypassing orifice of each valve when
return check valve
brake is released.
Temporarily reserves the brake fluid drained from each brake, so that pressure efficiently decreases
Reservoir D
when decreasing pressure of each brake.
Pressure sensor Detects the brake fluid pressure and transmits signal to ABS actuator and electric unit (control unit).

CONDITION FOR TURN ON THE WARNING LAMP E

Turns ON when ignition switch turns ON and turns OFF when the system is normal, for bulb check purposes.

Condition (status) ABS warning lamp Brake warning lamp VDC warning lamp BRC
Ignition switch OFF OFF OFF OFF
For approx. 1 second after the ignition switch is turned ON ON ON ON
G
Approx. 1 second after ignition switch is turned ON (when the before
OFF ON OFF
engine starts, system is in normal operation)
After engine starts OFF OFF OFF
H
When parking brake operates (parking brake switch ON) OFF OFF OFF
When brake fluid is less than the specified level (brake fluid level
OFF ON ON
switch ON)
I
VDC function is malfunctioning OFF OFF ON
TCS function is malfunctioning OFF OFF ON
ABS function is malfunctioning ON OFF ON J
EBD function is malfunctioning ON ON ON
Brake limited slip differential (BLSD) function is malfunctioning OFF OFF ON
K
Brake assist function is malfunctioning OFF OFF ON
Brake force distribution function is malfunctioning OFF OFF ON
hill start assist function is malfunctioning OFF OFF ON L
* OFF OFF ON
Advanced hill descent control function is malfunctioning
Brake vacuum sensor function is malfunctioning OFF ON OFF
M
VDC function is operating OFF OFF Blinking
TCS function is operating OFF OFF Blinking
ABS function is operating OFF OFF OFF N
EBD function is operating OFF OFF OFF
Brake limited slip differential (BLSD) function is operating OFF OFF Blinking
O
Brake assist function is operating OFF OFF OFF
Brake force distribution function is operating OFF OFF OFF
hill start assist function is operating OFF OFF OFF P
Advanced hill descent control function is operating* OFF OFF OFF

*: 4WD models with gasoline engine

CONDITION FOR TURN ON THE INDICATOR LAMP
Turns ON when ignition switch turns ON and turns OFF when the system is normal, for bulb check purposes.

BRC-41
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]

hill descent
VDC OFF indi- hill start assist control indica-
Condition (status)
cator lamp indicator lamp
tor lamp*
Ignition switch OFF OFF OFF OFF
For approx. 1 second after the ignition switch is turned ON ON ON ON
Approx. 1 second after ignition switch is turned ON (when system is in normal
OFF OFF OFF
operation)
After engine starts (when system is in normal operation) OFF OFF OFF
When VDC OFF switch is ON (VDC function and TCS function are OFF) ON OFF OFF
VDC function is malfunctioning OFF OFF OFF
TCS function is malfunctioning OFF OFF OFF
hill start assist function is operating OFF Blinking OFF
hill start assist function is operational (condition is satisfied) OFF ON OFF
hill start assist function is operational (condition is not satisfied) OFF OFF OFF
hill start assist function is malfunctioning OFF OFF OFF

Advanced hill descent control function is operating* OFF OFF ON

Advanced hill descent control function is operational (condition is satisfied)* OFF OFF ON

Advanced hill descent control function is operational (condition is not satisfied)* OFF OFF Blinking

Advanced hill descent control function is malfunctioning* OFF OFF OFF

*: 4WD models with gasoline engine

BRC-42
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
Circuit Diagram INFOID:0000000010723632

BRC

P
JSFIA2516GB

Fail-Safe INFOID:0000000010735268

VDC FUNCTION, TCS FUNCTION, BRAKE LIMITED SLIP DIFFERENTIAL (BLSD) FUNCTION,
BRAKE ASSIST FUNCTION, BRAKE FORCE DISTRIBUTION FUNCTION, hill start assist FUNC-
TION AND ADVANCED hill descent control FUNCTION (4WD MODELS WITH GASOLINE ENGINE)
BRC-43
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
VDC warning lamp in combination meter turn ON when a malfunction occurs in system [ABS actuator and
electric unit (control unit)]. The control is suspended for VDC function, TCS function, brake limited slip differen-
tial (BLSD) function, brake assist function, brake force distribution function, hill start assist function, advanced
hill descent control function (4WD models with gasoline engine), active trace control function (control of chas-
sis control module) and active ride control function (control of chassis control module). The vehicle status
becomes the same as models without VDC function, TCS function, brake limited slip differential (BLSD) func-
tion, brake assist function, brake force distribution function, hill start assist function, advanced hill descent con-
trol function (4WD models with gasoline engine), active trace control function (control of chassis control
module) and active ride control function (control of chassis control module). However, ABS function and EBD
function are operated normally.
ABS FUNCTION
ABS warning lamp and VDC warning lamp in combination meter turn ON when a malfunction occurs in system
[ABS actuator and electric unit (control unit)]. The control is suspended for VDC function, TCS function, ABS
function, brake limited slip differential (BLSD) function, brake assist function, brake force distribution function,
hill start assist function, advanced hill descent control function (4WD models with gasoline engine), active
trace control function (control of chassis control module) and active ride control function (control of chassis
control module). The vehicle status becomes the same as models without VDC function, TCS function, ABS
function, brake limited slip differential (BLSD) function, brake assist function, brake force distribution function,
hill start assist function, advanced hill descent control function (4WD models with gasoline engine), active
trace control function (control of chassis control module) and active ride control function (control of chassis
control module). However, EBD function is operated normally.
NOTE:
ABS self-diagnosis sound may be heard the same as in the normal condition, because self-diagnosis is per-
formed when ignition switch turns ON and when vehicle initially starts.
EBD FUNCTION
ABS warning lamp, brake warning lamp and VDC warning lamp in combination meter turn ON when a mal-
function occurs in system [ABS actuator and electric unit (control unit)]. The control is suspended for VDC
function, TCS function, ABS function, EBD function, brake limited slip differential (BLSD) function, brake assist
function, brake force distribution function, hill start assist function, advanced hill descent control function (4WD
models with gasoline engine), active trace control function (control of chassis control module) and active ride
control function (control of chassis control module). The vehicle status becomes the same as models without
VDC function, TCS function, ABS function, EBD function, brake limited slip differential (BLSD) function, brake
assist function, brake force distribution function, hill start assist function, advanced hill descent control function
(4WD models with gasoline engine), active trace control function (control of chassis control module) and
active ride control function (control of chassis control module).

DTC Fail-safe condition

The following functions are suspended.
C10D7 • Deceleration control (brake control by VDC function) performed by pulling the parking brake switch while driving the
vehicle [10 km/h (6.2 MPH) or more].
C1101 The following functions are suspended.
• VDC function
C1102
• TCS function
C1103 • ABS function
• EBD function (only when both 2 rear wheels are malfunctioning)
C1104
• Brake limited slip differential (BLSD) function
C1105 • Brake assist function
C1106 • Brake force distribution function
• hill start assist function
C1107 • Advanced hill descent control function*1
• Active trace control function (control of chassis control module)
C1108
• Active ride control function (control of chassis control module)

BRC-44
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
DTC Fail-safe condition
A
C1109 The following functions are suspended.
• VDC function
• TCS function
• ABS function B
• EBD function
• Brake limited slip differential (BLSD) function
C1110 • Brake assist function
• Brake force distribution function C
• hill start assist function
• Advanced hill descent control function*1
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module) D
The following functions are suspended.
• VDC function
• TCS function E
• ABS function
• Brake limited slip differential (BLSD) function
C1111 • Brake assist function
• Brake force distribution function BRC
• hill start assist function
• Advanced hill descent control function*1
• Active trace control function (control of chassis control module) G
• Active ride control function (control of chassis control module)
The following functions are suspended.
• VDC function
• TCS function
H
*1
• ABS function
• Brake limited slip differential (BLSD) function
C1113 • Brake assist function*1 I
• Brake force distribution function
• hill start assist function
• Advanced hill descent control function*1
J
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
The following functions are suspended.
• VDC function K
• TCS function
• ABS function
• EBD function
• Brake limited slip differential (BLSD) function
L
C1115 • Brake assist function
• Brake force distribution function
• hill start assist function M
• Advanced hill descent control function*1
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
N
The following functions are suspended.
• VDC function
• TCS function
• Brake limited slip differential (BLSD) function O
• Brake assist function
C1116 • Brake force distribution function
• hill start assist function
• Advanced hill descent control function*1 P
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
The following functions are suspended.
C1118
• Advanced hill descent control function*1

BRC-45
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
DTC Fail-safe condition
C1120 The following functions are suspended.
• VDC function
C1121
• TCS function
C1122 • ABS function
• EBD function
C1123
• Brake limited slip differential (BLSD) function
C1124 • Brake assist function
C1125 • Brake force distribution function
• hill start assist function
C1126 • Advanced hill descent control function*1
• Active trace control function (control of chassis control module)
C1127
• Active ride control function (control of chassis control module)
The following functions are suspended.
• VDC function
• TCS function
• Brake limited slip differential (BLSD) function
C1130 • Brake force distribution function
• hill start assist function
• Advanced hill descent control function*1
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
The following functions are suspended.
• VDC function
• TCS function
• ABS function
• EBD function
• Brake limited slip differential (BLSD) function
C1140 • Brake assist function
• Brake force distribution function
• hill start assist function
• Advanced hill descent control function*1
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
The following functions are suspended.
• VDC function
• TCS function
• Brake limited slip differential (BLSD) function
• Brake assist function
C1142 • Brake force distribution function
• hill start assist function
• Advanced hill descent control function*1
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
C1143 The following functions are suspended.
• VDC function
• TCS function
• Brake limited slip differential (BLSD) function
• Brake force distribution function
C1144 • hill start assist function
• Advanced hill descent control function*1
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)

BRC-46
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
DTC Fail-safe condition
A
C1145 The following functions are suspended.
• VDC function
• TCS function
• ABS function*1 B
• Brake limited slip differential (BLSD) function
• Brake assist function*1
C1146 • Brake force distribution function
• hill start assist function C
• Advanced hill descent control function*1
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module) D
The following functions are suspended.
• VDC function
• TCS function
E
• ABS function
• Brake limited slip differential (BLSD) function
C1153 • Brake assist function
• Brake force distribution function BRC
• hill start assist function
• Advanced hill descent control function*1
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module) G
The following functions are suspended.
• VDC function
• TCS function H
• Brake limited slip differential (BLSD) function
C1154 • Brake force distribution function
• hill start assist function
• Advanced hill descent control function*1 I
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
The following functions are suspended. J
• VDC function
• TCS function
• Brake limited slip differential (BLSD) function
• Brake assist function K
C1155 • Brake force distribution function
• hill start assist function
• Advanced hill descent control function*1 L
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
The following functions are suspended.
• VDC function M
• TCS function
• ABS function*1
• Brake limited slip differential (BLSD) function N
C1160 • Brake assist function*1
• Brake force distribution function
• hill start assist function
• Advanced hill descent control function*1 O
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
P

BRC-47
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
DTC Fail-safe condition
C1164 The following functions are suspended.
• VDC function
C1165
• TCS function
C1166 • ABS function
• EBD function
C1167
• Brake limited slip differential (BLSD) function
• Brake assist function
• Brake force distribution function
• hill start assist function
C1170
• Advanced hill descent control function*1
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
C1197
Electrical vacuum assistance of brake booster is suspended
C1198
C1199 Normal control
C119A Electrical vacuum assistance of brake booster is suspended
The following functions are suspended.
C1B60 • Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
U1000 The following functions are suspended.
• VDC function
U1002
• TCS function
• ABS function*2
• EBD function*2
• Brake limited slip differential (BLSD) function
• Brake assist function
U1010 • Brake force distribution function
• hill start assist function
• Advanced hill descent control function*1
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
*1: 4WD models with gasoline engine
*2: When a malfunction detected in CAN communication [between ABS actuator and electric unit (control unit)
and chassis control module].
VDC (ESP) FUNCTION
VDC (ESP) FUNCTION : System Description INFOID:0000000010723634

• Side slip or tail slip may occur while driving on a slippery road or intending an urgent evasive driving. VDC
function detects side slip status using each sensor when side slip or tail slip is about to occur and improves
vehicle stability by brake control and engine output control during driving.
• In addition to TCS function, ABS function and EBD function, target side slip amount is calculated according
to steering operation amount from steering angle sensor and brake operation amount from pressure sensor.
By comparing this information with vehicle side slip amount that is calculated from information from yaw rate/
side G sensor and wheel sensor, vehicle driving conditions (conditions of understeer or oversteer) are
judged and vehicle stability is improved by brake force control on all 4 wheels and engine output control.

JSFIA0672GB

• VDC function can be switched to non-operational status (OFF) by operating VDC OFF switch. In this case,
VDC OFF indicator lamp turns ON.

BRC-48
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
• Control unit portion automatically improves driving stability by performing brake force control as well as
engine output control, by transmitting drive signal to actuator portion according to difference between target A
side slip amount and vehicle side slip amount.
• VDC warning lamp blinks while VDC function is in operation and indicates to the driver that the function is in
operation.
B
• CONSULT can be used to diagnose the system diagnosis.
• Fail-safe function is adopted. When a malfunction occurs in VDC function, the control is suspended for VDC
function, TCS function, brake limited slip differential (BLSD) function, brake assist function, brake force dis-
tribution function, hill start assist function, advanced hill descent control function (4WD models with gasoline C
engine), active trace control function (control of chassis control module) and active ride control function (con-
trol of chassis control module). The vehicle status becomes the same as models without VDC function, TCS
function, brake limited slip differential (BLSD) function, brake assist function, brake force distribution func- D
tion, hill start assist function, advanced hill descent control function (4WD models with gasoline engine),
active trace control function (control of chassis control module) and active ride control function (control of
chassis control module). However, ABS function and EBD function are operated normally. Refer to BRC-43,
"Fail-Safe". E
NOTE:
VDC has the characteristic as described here, This is not the device that helps reckless driving.
SYSTEM DIAGRAM BRC
NOTE:
• 4WD control unit is applied to 4WD models.
• TCM is applied to CVT models. G

N
JSFIA2367GB

INPUT SIGNAL AND OUTPUT SIGNAL O

Major signal transmission between each unit via communication lines is shown in the following table.

BRC-49
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]

Component parts Signal description

Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
communication.
• Parking brake switch signal
• Brake fluid level switch signal
Mainly receives the following signals from ABS actuator and electric unit (control unit) via CAN
Combination meter
communication.
• ABS warning lamp signal
• VDC OFF indicator lamp signal
• VDC warning lamp signal
• Brake warning lamp signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
communication.
• N range signal
• P range signal
TCM*1 • R range signal
• Current gear position signal
• Shift position signal
• TCM malfunction signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
communication.
• Accelerator pedal position signal
ECM
• Engine speed signal
• Engine status signal
• ECM malfunction signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
IPDM E/R communication.
• Ignition switch ON signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
communication.
• Stop lamp switch signal
BCM
• Brake pedal position switch signal
• Cranking signal
• Ignition switch ON signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
Electric parking brake control module communication.
• Electric parking brake operation signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
*2 communication.
4WD control unit • 4WD malfunction signal
• 4WD operation signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
Steering angle sensor communication.
• Steering angle sensor signal
*1: CVT models
*2: 4WD models
OPERATION CHARACTERISTICS
VDC Function That Prevents Oversteer Tendency

BRC-50
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
• During a cornering, brake force (brake fluid pressure) is applied on front wheel and rear wheel on the outer
side of turn. Moment directing towards the outer side of turn is generated. Oversteer is prevented. A

JPFIC0135GB D

• Changing driving lane on a slippery road, when oversteer tendency is judged large, engine output is con-
trolled as well as brake force (brake fluid pressure) of 4 wheels. Oversteer tendency decreases.
E

BRC

JPFIC0136GB
H
VDC Function That Prevents Tendency
• During a cornering, brake force (brake fluid pressure) is applied on front wheel and rear wheel on the inner
side of turn. Moment directing towards the inner side of turn is generated. Understeer is prevented.
I

JPFIC0137GB
L
• Applying braking during a cornering on a slippery road, when understeer tendency is judged large, engine
output is controlled as well as brake force (brake fluid pressure) of four wheels. Understeer tendency
decreases. M

JPFIC0138GB P
TCS FUNCTION

BRC-51
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
TCS FUNCTION : System Description INFOID:0000000010723635

• Wheel spin status of drive wheel is detected by wheel sensor of 4

wheels. Engine output and transmission shift status is controlled
so that slip rate of drive wheels is in appropriate level. When wheel
spin occurs on drive wheel, ABS actuator and electric unit (control
unit) perform brake force control of LH and RH drive wheels (apply
brake force by increasing brake fluid pressure of drive wheel) and
decrease engine torque by engine torque control. Wheel spin
amount decreases. Engine torque is controlled to appropriate
level.
• TCS function can be switched to non-operational status (OFF) by
operating VDC OFF switch. In this case, VDC OFF indicator lamp
turns ON.
• VDC warning lamp blinks while TCS function is in operation and
indicates to the driver that the function is in operation.
• CONSULT can be used to diagnose the system diagnosis.
• Fail-safe function is adopted. When a malfunction occurs in TCS
function, the control is suspended for VDC function, TCS function,
brake limited slip differential (BLSD) function, brake assist function,
brake force distribution function, hill start assist function, advanced
hill descent control function (4WD models with gasoline engine),
active trace control function (control of chassis control module) and
active ride control function (control of chassis control module). The
vehicle status becomes the same as models without VDC function,
JSFIA0972GB
TCS function, brake limited slip differential (BLSD) function, brake
assist function, brake force distribution function, hill start assist function, advanced hill descent control func-
tion (4WD models with gasoline engine), active trace control function (control of chassis control module) and
active ride control function (control of chassis control module). However, ABS function and EBD function are
operated normally. Refer to BRC-43, "Fail-Safe".
SYSTEM DIAGRAM
NOTE:
• 4WD control unit is applied to 4WD models.
• TCM is applied to CVT models.

JSFIA2367GB

BRC-52
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
INPUT SIGNAL AND OUTPUT SIGNAL
Major signal transmission between each unit via communication lines is shown in the following table. A

Component parts Signal description

Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN B
communication.
• Parking brake switch signal
• Brake fluid level switch signal
Mainly receives the following signals from ABS actuator and electric unit (control unit) via CAN C
Combination meter
communication.
• ABS warning lamp signal
• VDC OFF indicator lamp signal
D
• VDC warning lamp signal
• Brake warning lamp signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
communication. E
• N range signal
• P range signal
TCM*1 • R range signal
• Current gear position signal
BRC
• Shift position signal
• TCM malfunction signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN G
communication.
• Accelerator pedal position signal
ECM
• Engine speed signal
• Engine status signal H
• ECM malfunction signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
IPDM E/R communication. I
• Ignition switch ON signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
communication. J
• Stop lamp switch signal
BCM
• Brake pedal position switch signal
• Cranking signal
• Ignition switch ON signal K
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
Electric parking brake control module communication.
• Electric parking brake operation signal L
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
communication.
4WD control unit*2 • 4WD malfunction signal
• 4WD operation signal M
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
Steering angle sensor communication.
• Steering angle sensor signal N
*1: CVT models
*2: 4WD models
ABS FUNCTION O

ABS FUNCTION : System Description INFOID:0000000010723636

P
• By preventing wheel lock through brake force (brake fluid pressure) control that is electronically controlled by
detecting wheel speed during braking, stability during emergency braking is improved so that obstacles can
be easily bypassed by steering operation.
• During braking, control units calculates wheel speed and pseudo-vehicle speed, and transmits pressure
increase, hold or decrease signals to actuator portion according to wheel slip status.

BRC-53
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
• The following effects are obtained by preventing wheel lock during
braking.
- Vehicle tail slip is prevented during braking when driving straight.
- Understeer and oversteer tendencies are moderated during brak-
ing driving on a corner.
- Obstacles may be easily bypassed by steering operation during
braking.
• CONSULT can be used to diagnose the system diagnosis.
• Fail-safe function is adopted. When a malfunction occurs in ABS
function, the control is suspended for VDC function, TCS function,
ABS function, brake limited slip differential (BLSD) function, brake
assist function, brake force distribution function, hill start assist
function, advanced hill descent control function (4WD models with
gasoline engine), active trace control function (control of chassis
control module) and active ride control function (control of chassis
control module). The vehicle status becomes the same as models
without VDC function, TCS function, ABS function, brake limited
slip differential (BLSD) function, brake assist function, brake force
distribution function, hill start assist function, advanced hill descent
control function (4WD models with gasoline engine), active trace
control function (control of chassis control module) and active ride
control function (control of chassis control module). However, EBD
function is operated normally. Refer to BRC-43, "Fail-Safe".
JPFIC0140GB
NOTE:

• ABS function has the characteristic as described here, This is not the device that helps reckless driving.
• To stop vehicle efficiently, ABS does not operate and ordinary brake operates at low speed [approx. 10 km/h
(6 MPH) or less, but differs subject to road conditions).
• Self-diagnosis is performed immediately after when engine starts and when vehicle initially is driven [by vehi-
cle speed approx. 15 km/h (9 MPH)]. Motor sounds are generated during self-diagnosis. In addition, brake
pedal may be felt heavy when depressing brake pedal lightly. These symptoms are not malfunctions.
SYSTEM DIAGRAM

JSFIA2368GB

INPUT SIGNAL AND OUTPUT SIGNAL

Major signal transmission between each unit via communication lines is shown in the following table.

BRC-54
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]

Component parts Signal description A

Mainly receives the following signals from ABS actuator and electric unit (control unit) via CAN
communication.
Combination meter
• VDC warning lamp signal
B
• ABS warning lamp signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
BCM communication.
• Stop lamp switch signal C

EBD FUNCTION
EBD FUNCTION : System Description INFOID:0000000010723637
D

• By preventing rear wheel slip increase through rear wheel brake force (brake fluid pressure) control that is
electronically controlled when slight skip on front and rear wheels are detected during braking, stability dur- E
ing braking is improved.
• EBD function is expanded and developed from conventional ABS function and corrects rear wheel brake
force to appropriate level by electronic control according to load weight (number of passengers).
BRC

JPFIC0142GB
I
• During braking, control unit portion compares slight slip on front
and rear wheels by wheel speed sensor signal, transmits drive sig-
nal to actuator portion when rear wheel slip exceeds front wheel J
slip for the specified value or more, and controls rear wheel brake
force (brake fluid pressure) so that increase of rear wheel slip is
prevented and slips on front wheel and rear wheel are nearly
K
equalized. ABS control is applied when slip on each wheel
increases and wheel speed is the threshold value of ABS control or
less.
• CONSULT can be used to diagnose the system diagnosis. L
• Fail-safe function is adopted. When a malfunction occurs in EBD
function, the control is suspended for VDC function, TCS function,
ABS function, EBD function, brake limited slip differential (BLSD) M
function, brake assist function, brake force distribution function, hill
start assist function, advanced hill descent control function (4WD
models with gasoline engine), active trace control function (control
of chassis control module) and active ride control function (control N
of chassis control module). The vehicle status becomes the same
as models without VDC function, TCS function, ABS function, EBD
function, brake limited slip differential (BLSD) function, brake assist O
function, brake force distribution function, hill start assist function,
advanced hill descent control function (4WD models with gasoline
engine), active trace control function (control of chassis control
module) and active ride control function (control of chassis control JPFIC0143GB
P
module). Refer to BRC-43, "Fail-Safe".

BRC-55
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
SYSTEM DIAGRAM

JSFIA2368GB

INPUT SIGNAL AND OUPUT SIGNAL

Major signal transmission between each unit via communication lines is shown in the following table.

Component parts Signal description

Mainly receives the following signals from ABS actuator and electric unit (control unit) via CAN
communication.
Combination meter • VDC warning lamp signal
• ABS warning lamp signal
• Brake warning lamp signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
BCM communication.
• Stop lamp switch signal

BRAKE LIMITED SLIP DIFFERENTIAL (BLSD) FUNCTION

BRAKE LIMITED SLIP DIFFERENTIAL (BLSD) FUNCTION : System Description
INFOID:0000000010723638

• LH and RH driving wheel spin is always monitored. If necessary, appropriate brake force is independently
applied to LH or RH driving wheel so that one-sided wheel spin is avoided and traction is maintained. Mainly
starting ability is improved.
• Brake limited slip differential (BLSD) function operates while VDC function is in non-operational status (OFF)
by VDC OFF switch.
• VDC warning lamp blinking while brake limited slip differential (BLSD) function is in operation and indicates
to the driver that the function is in operation.
• Slight vibrations are felt on the brake pedal and the operation noises occur, when brake limited slip differen-
tial (BLSD) function operates. This is not a malfunction because it is caused by brake limited slip differential
(BLSD) function that is normally operated.
• Fail-safe function is adopted. When a malfunction occurs in brake limited slip differential (BLSD) function,
the control is suspended for VDC function, TCS function, brake limited slip differential (BLSD) function,
brake assist function, brake force distribution function, hill start assist function, advanced hill descent control
function (4WD models with gasoline engine), active trace control function (control of chassis control module)
and active ride control function (control of chassis control module). The vehicle status becomes the same as
models without VDC function, TCS function, brake limited slip differential (BLSD) function, brake assist func-

BRC-56
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
tion, brake force distribution function, hill start assist function, advanced hill descent control function (4WD
models with gasoline engine), active trace control function (control of chassis control module) and active ride A
control function (control of chassis control module). However, ABS function and EBD function are operated
normally. Refer to BRC-43, "Fail-Safe".
SYSTEM DIAGRAM B
NOTE:
• 4WD control unit is applied to 4WD models.
• TCM is applied to CVT models. C

BRC

J
JSFIA2367GB

INPUT SIGNAL AND OUTPUT SIGNAL

K
Major signal transmission between each unit via communication lines is shown in the following table.

Component parts Signal description

L
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
communication.
• Parking brake switch signal
• Brake fluid level switch signal M
Mainly receives the following signals from ABS actuator and electric unit (control unit) via CAN
Combination meter
communication.
• ABS warning lamp signal
• VDC OFF indicator lamp signal N
• VDC warning lamp signal
• Brake warning lamp signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN O
communication.
• N range signal
• P range signal
TCM*1 • R range signal P
• Current gear position signal
• Shift position signal
• TCM malfunction signal

BRC-57
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
Component parts Signal description
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
communication.
• Accelerator pedal position signal
ECM
• Engine speed signal
• Engine status signal
• ECM malfunction signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
IPDM E/R communication.
• Ignition switch ON signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
communication.
• Stop lamp switch signal
BCM
• Brake pedal position switch signal
• Cranking signal
• Ignition switch ON signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
Electric parking brake control module communication.
• Electric parking brake operation signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
*2 communication.
4WD control unit • 4WD malfunction signal
• 4WD operation signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
Steering angle sensor communication.
• Steering angle sensor signal
*1: CVT models
*2: 4WD models
BRAKE ASSIST FUNCTION
BRAKE ASSIST FUNCTION : System Description INFOID:0000000010723639

• When the driver brakes hard in an emergency, the stopping distance is reduced by increasing brake fluid
pressure.
• Fail-safe function is adopted. When a malfunction occurs in brake assist function, the control is suspended
for VDC function, TCS function, brake limited slip differential (BLSD) function, brake assist function, brake
force distribution function, hill start assist function, advanced hill descent control function (4WD models with
gasoline engine), active trace control function (control of chassis control module) and active ride control
function (control of chassis control module). The vehicle status becomes the same as models without VDC
function, TCS function, brake limited slip differential (BLSD) function, brake assist function, brake force dis-
tribution function, hill start assist function, advanced hill descent control function (4WD models with gasoline
engine), active trace control function (control of chassis control module) and active ride control function (con-
trol of chassis control module). However, ABS function and EBD function are operated normally. Refer to
BRC-43, "Fail-Safe".
SYSTEM DIAGRAM
NOTE:
• 4WD control unit is applied to 4WD models.

BRC-58
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
• TCM is applied to CVT models.
A

BRC

H
JSFIA2367GB

INPUT SIGNAL AND OUTPUT SIGNAL

Major signal transmission between each unit via communication lines is shown in the following table. I

Component parts Signal description

Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN J
communication.
• Parking brake switch signal
• Brake fluid level switch signal
Mainly receives the following signals from ABS actuator and electric unit (control unit) via K
Combination meter
CAN communication.
• ABS warning lamp signal
• VDC OFF indicator lamp signal
• VDC warning lamp signal L
• Brake warning lamp signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
communication. M
• N range signal
• P range signal
TCM*1 • R range signal
• Current gear position signal N
• Shift position signal
• TCM malfunction signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN O
communication.
• Accelerator pedal position signal
ECM
• Engine speed signal
• Engine status signal P
• ECM malfunction signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
IPDM E/R communication.
• Ignition switch ON signal

BRC-59
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
Component parts Signal description
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
communication.
• Stop lamp switch signal
BCM
• Brake pedal position switch signal
• Cranking signal
• Ignition switch ON signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
Electric parking brake control module communication.
• Electric parking brake operation signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
communication.
4WD control unit*2 • 4WD malfunction signal
• 4WD operation signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
Steering angle sensor communication.
• Steering angle sensor signal
*1: CVT models
*2: 4WD models
BRAKE FORCE DISTRIBUTION FUNCTION
BRAKE FORCE DISTRIBUTION FUNCTION : System Description INFOID:0000000010723640

• Brake force distribution function helps provide a more stable and

secure feeling.

JPFIC0171GB

• During cornering, when brake operation is performed brake fluid

pressure of each wheel is controlled based on steering operation
amount by the driver and vehicle cornering status amount detected
by each sensor.
• Fail-safe function is adopted. When a malfunction occurs in brake
force distribution function, the control is suspended for VDC func-
tion, TCS function, brake limited slip differential (BLSD) function,
brake assist function, brake force distribution function, hill start
assist function, advanced hill descent control function (4WD mod-
els with gasoline engine), active trace control function (control of
chassis control module) and active ride control function (control of
JPFIC0172GB
chassis control module). The vehicle status becomes the same as
models without VDC function, TCS function, brake limited slip differential (BLSD) function, brake assist func-
tion, brake force distribution function, hill start assist function, advanced hill descent control function (4WD
models with gasoline engine), active trace control function (control of chassis control module) and active ride
control function (control of chassis control module). However ABS function and EBD function are operated
normally. Refer to BRC-43, "Fail-Safe".
NOTE:
Brake force distribution function may not always be operates in all driving conditions.
SYSTEM DIAGRAM
NOTE:
• 4WD control unit is applied to 4WD models.

BRC-60
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
• TCM is applied to CVT models.
A

BRC

H
JSFIA2369GB

INPUT SIGNAL AND OUTPUT SIGNAL

Major signal transmission between each unit via communication lines is shown in the following table. I

Component parts Signal description

Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN J
communication.
• Parking brake switch signal
• Brake fluid level switch signal
Mainly receives the following signals from ABS actuator and electric unit (control unit) via K
Combination meter
CAN communication.
• ABS warning lamp signal
• VDC OFF indicator lamp signal
• VDC warning lamp signal L
• Brake warning lamp signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
communication. M
• N range signal
• P range signal
TCM*1 • R range signal
• Current gear position signal N
• Shift position signal
• TCM malfunction signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN O
communication.
• Accelerator pedal position signal
ECM
• Engine speed signal
• Engine status signal P
• ECM malfunction signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
IPDM E/R communication.
• Ignition switch ON signal

BRC-61
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
Component parts Signal description
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
communication.
• Stop lamp switch signal
BCM
• Brake pedal position switch signal
• Cranking signal
• Ignition switch ON signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
communication.
Chassis control module
• Active trace control signal
• Active ride control signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
Electric parking brake control module communication.
• Electric parking brake operation signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
communication.
4WD control unit*2 • 4WD malfunction signal
• 4WD operation signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
Steering angle sensor communication.
• Steering angle sensor signal
*1: CVT models
*2: 4WD models
hill start assist (UPHILL START SUPPORT) FUNCTION
hill start assist (UPHILL START SUPPORT) FUNCTION : System Description
INFOID:0000000010723641

• This function maintains brake fluid pressure so that the vehicle does not move backwards even if brake
pedal is released to depress accelerator pedal to start the vehicle while it is stopped on an uphill slope by
depressing brake pedal.
• This function operates when the vehicle is in stop status (engine running) on an uphill slope of slope ratio
10% or more, selector lever is in the position other than P or N, brake pedal is depressed and accelerator
pedal is not depressed. (CVT models)
• This function operates when the vehicle is in stop status (engine running) on an uphill slope of slope ratio
10% or more, shift lever is in the position other than neutral position, brake pedal is depressed and acceler-
ator pedal is not depressed. (M/T models)
• hill start assist indicator lamp turn ON when hill start assist function is satisfied to operational conditions.
• hill start assist indicator lamp blinks when hill start assist function is operation conditions.
• hill start assist function is only for the start aid. It maintains the brake fluid pressure for approx. 2 seconds
after releasing the brake pedal, and then decreases the pressure gradually. If the vehicle can start by the
accelerator operation, the brake is released automatically and a smooth start can be performed.
• Fail-safe function is adopted. When a malfunction occurs in hill start assist function, does not turn ON or
blink the hill start assist indicator lamp on the combination meter, the control is suspended for VDC function,
TCS function, brake limited slip differential (BLSD) function, brake assist function, brake force distribution
function, hill start assist function, advanced hill descent control function (4WD models with gasoline engine),
active trace control function (control of chassis control module) and active ride control function (control of
chassis control module). The vehicle status becomes the same as models without VDC function, TCS func-
tion, brake limited slip differential (BLSD) function, brake assist function, brake force distribution function, hill
start assist function, advanced hill descent control function (4WD models with gasoline engine), active trace
control function (control of chassis control module) and active ride control function (control of chassis control
module). However, ABS function and EBD function are operated normally. Refer to BRC-43, "Fail-Safe".
SYSTEM DIAGRAM
NOTE:
• 4WD control unit is applied to 4WD models.

BRC-62
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
• TCM is applied to CVT models.
A

BRC

H
JSFIA2369GB

INPUT SIGNAL AND OUTPUT SIGNAL

Major signal transmission between each unit via communication lines is shown in the following table. I

Component parts Signal description

Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN J
communication.
• Parking brake switch signal
• Brake fluid level switch signal
Mainly receives the following signals from ABS actuator and electric unit (control unit) via K
CAN communication.
• ABS warning lamp signal
Combination meter
• VDC OFF indicator lamp signal
• VDC warning lamp signal L
• Brake warning lamp signal
• hill start assist indicator lamp signal
Mainly receives the following signals from ABS actuator and electric unit (control unit) via
chassis control module via CAN communication.
M
• hill start assist display request signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
communication. N
• N range signal
• P range signal
TCM*1 • R range signal
• Current gear position signal O
• Shift position signal
• TCM malfunction signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN P
communication.
• Accelerator pedal position signal
ECM
• Engine speed signal
• Engine status signal
• ECM malfunction signal

BRC-63
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
Component parts Signal description
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
IPDM E/R communication.
• Ignition switch ON signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
communication.
• Stop lamp switch signal
BCM
• Brake pedal position switch signal
• Cranking signal
• Ignition switch ON signal
Mainly receives the following signals from ABS actuator and electric unit (control unit) via
CAN communication.
Chassis control module • hill start assist display request signal
Mainly transmits the following signals to combination meter via CAN communication.
• hill start assist display request signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
Electric parking brake control module communication.
• Electric parking brake operation signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
communication.
4WD control unit*2 • 4WD malfunction signal
• 4WD operation signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
Steering angle sensor communication.
• Steering angle sensor signal
*1: CVT models
*2: 4WD models
ADVANCED hill descent control (DOWNHILL DRIVE SUPPORT) FUNCTION
ADVANCED hill descent control (DOWNHILL DRIVE SUPPORT) FUNCTION : System
Description INFOID:0000000010723642

• Advanced hill descent control function is applied to 4WD models with gasoline engine.
• At a steep descent, vehicle speed is normally controlled by the driver′s brake operation. On the other hand,
advanced hill descent control function automatically reduces and maintains vehicle speed.
• Advanced hill descent control function starts when all of the following conditions are satisfied: hill descent
control switch is ON and, vehicle speed is 25 km/h (15.5 MPH) or less, the inclination is 10% or more and
selector lever is in the other than P and N position.
• Advanced hill descent control function is cancelled when depressing the accelerator pedal or brake pedal.
(Advanced hill descent control function restarts when releasing the accelerator pedal or brake pedal.)
NOTE:
• While driving in the forward direction, the vehicle decelerates when the brake pedal is depressed and
maintains the speed [15 km/h (9.3 MPH) or less] achieved at a brake pedal release.
• While driving in the forward direction, the vehicle accelerates when the accelerator pedal is depressed and
maintains a speed [15 km/h (9.3 MPH) or less] achieved at an accelerator pedal release.
• As for M/T models, although the hill descent control indicator lamp blinks and advanced hill descent control
function becomes deactivated when engine coolant water temperature is low, this is normal. (advanced hill
descent control function starts when engine coolant water temperature rises and hill descent control indica-
tor lamp turns ON.)
• hill descent control switch is ON and turns ON when advanced hill descent control function are operation or
satisfied to operational conditions.
• The Stop lamp of the rear combination lamp stays ON during the operation of advanced hill descent control
function.
• Slight vibrations are felt on the brake pedal and the operation noises occur, when advanced hill descent con-
trol function operates. This is not a malfunction because it is caused by advanced hill descent control func-
tion that is normally operated.
• Fail-safe function is adopted. When a malfunction occurs in advanced hill descent control function, the oper-
ation of the hill descent control switch does not turn ON or blink the hill descent control indicator lamp on the
combination meter, and the control is suspended for VDC function, TCS function, brake limited slip differen-
tial (BLSD) function, brake assist function, brake force distribution function, hill start assist function,
BRC-64
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
advanced hill descent control function, active trace control function (control of chassis control module) and
active ride control function (control of chassis control module). The vehicle status becomes the same as A
models without VDC function, TCS function, brake limited slip differential (BLSD) function, brake assist func-
tion, brake force distribution function, hill start assist function, advanced hill descent control function, active
trace control function (control of chassis control module) and active ride control function (control of chassis
B
control module). However, ABS function and EBD function are operated normally. Refer to BRC-43, "Fail-
Safe".
SYSTEM DIAGRAM C
NOTE:
TCM is applied to CVT models.
D

BRC

JSFIA2370GB K
INPUT SIGNAL AND OUTPUT SIGNAL
Major signal transmission between each unit via communication lines is shown in the following table.
L

BRC-65
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]

Component parts Signal description

Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
communication.
• Parking brake switch signal
• Brake fluid level switch signal
Mainly receives the following signals from ABS actuator and electric unit (control unit) via CAN
communication.
• ABS warning lamp signal
Combination meter
• VDC OFF indicator lamp signal
• VDC warning lamp signal
• Brake warning lamp signal
• hill descent control indicator lamp signal
Mainly receives the following signals from ABS actuator and electric unit (control unit) via chas-
sis control module via CAN communication.
• hill descent control display request signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
communication.
• N range signal
• P range signal
TCM* • R range signal
• Current gear position signal
• Shift position signal
• TCM malfunction signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
communication.
• Accelerator pedal position signal
ECM
• Engine speed signal
• Engine status signal
• ECM malfunction signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
IPDM E/R communication.
• Ignition switch ON signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
communication.
• Stop lamp switch signal
BCM
• Brake pedal position switch signal
• Cranking signal
• Ignition switch ON signal
Mainly receives the following signals from ABS actuator and electric unit (control unit) via CAN
communication.
Chassis control module • hill descent control display request signal
Mainly transmits the following signals to combination meter via CAN communication.
• hill descent control display request signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
communication.
4WD control unit
• 4WD malfunction signal
• 4WD operation signal
Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
Steering angle sensor communication.
• Steering angle sensor signal
*: CVT models
WARNING/INDICATOR/CHIME LIST

BRC-66
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
WARNING/INDICATOR/CHIME LIST : Warning Lamp/Indicator Lamp INFOID:0000000010723643

Name Design Layout/Function

For layout: Refer to MWI-10, "METER SYSTEM : Design".
B
ABS warning lamp For function: Refer to MWI-24, "WARNING LAMPS/INDICATOR
LAMPS : ABS Warning Lamp".
C
For layout: Refer to MWI-10, "METER SYSTEM : Design".
VDC warning lamp For function: Refer to MWI-61, "WARNING LAMPS/INDICATOR
LAMPS : VDC (ESP) Warning Lamp".
D
For layout: Refer to MWI-10, "METER SYSTEM : Design".
Brake warning lamp For function: Refer to MWI-26, "WARNING LAMPS/INDICATOR
LAMPS : Brake Warning Lamp (Red)".
E
For layout: Refer to MWI-10, "METER SYSTEM : Design".
VDC OFF indicator lamp For function: Refer to MWI-60, "WARNING LAMPS/INDICATOR
LAMPS : VDC (ESP) OFF Indicator Lamp". BRC
For layout: Refer to MWI-10, "METER SYSTEM : Design".
hill start assist indicator lamp For function: Refer to MWI-44, "WARNING LAMPS/INDICATOR
LAMPS : hill start assist (Uphill Start Support) Indicator lamp". G
For layout: Refer to MWI-10, "METER SYSTEM : Design".
hill descent control indicator
lamp* For function: Refer to MWI-42, "WARNING LAMPS/INDICATOR
LAMPS : hill descent control (Downhill Drive Support) Indicator lamp". H
*: 4WD models with gasoline engine
INFORMATION DISPLAY (COMBINATION METER)
I
INFORMATION DISPLAY (COMBINATION METER) : Chassis Control Display
INFOID:0000000010723644

J
DESIGN/PURPOSE
• hill start assist function information is displayed on the information display.
• Advanced hill descent control function information is displayed on the information display. (4WD models with
K
gasoline engine)
System Information
L

BRC-67
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
hill start assist function
Design Description

hill start assist function operation condition is not satisfied

JSFIA2371ZZ

• Not blinking (tire): hill start assist function operation condition is satisfied (not
operating)
• Blinking (tire): hill start assist function is operating

JSFIA2372ZZ

Advanced hill descent control function (4WD models with gasoline engine)
Design Description

Advanced hill descent control function is not operating

JSFIA2371ZZ

Advanced hill descent control function is operating

JSFIA2373ZZ

SYNCHRONIZATION WITH MASTER WARNING LAMP

Not applicable
SYSTEM DIAGRAM
NOTE:

BRC-68
 SYSTEM
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
hill descent control display request signal is 4WD models
A

JSFIA2493GB

SIGNAL PATH D

hill start assist Function

• The ABS actuator and electric unit (control unit) transmits a hill start assist display request signal to the E
chassis control module via CAN communication when operating status in the hill assist function.
• The chassis control module receiving a hill start assist display request signal, and transmits a hill start assist
display request signal to the combination meter via CAN communication.
• The combination meter shows the chassis control display on the information display, according to the signal. BRC
Advanced hill descent control Function (4WD Models with Gasoline Engine)
• The ABS actuator and electric unit (control unit) transmits a hill descent control display request signal to the
chassis control module via CAN communication when operating status in the advanced hill descent control G
function.
• The chassis control module receiving a hill descent control display request signal, and transmits a hill
descent control display request signal to the combination meter via CAN communication. H
• The combination meter shows the chassis control display on the information display, according to the signal.

BRC-69
 DIAGNOSIS SYSTEM [ABS ACTUATOR AND ELECTRIC UNIT (CONTROL
UNIT)]
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
DIAGNOSIS SYSTEM [ABS ACTUATOR AND ELECTRIC UNIT (CONTROL
UNIT)]
CONSULT Function INFOID:0000000010723645

APPLICATION ITEMS
CONSULT can display each diagnostic item using the diagnostic test modes as follows.

Mode Function description

ECU identification Parts number of ABS actuator and electric unit (control unit) can be read.
Self Diagnostic Result Self-diagnostic results and freeze frame data can be read and erased quickly.*
Date Monitor Input/Output data in the ABS actuator and electric unit (control unit) can be read.
Diagnostic Test Mode in which CONSULT drives some actuators apart from the ABS actuator and elec-
Active Test
tric unit (control unit) and also shifts some parameters in a specified range.
Work support Components can be quickly and accurately adjusted.
Re/programming, Configura- • Read and save the vehicle specification (TYPE ID).
tion • Write the vehicle specification (TYPE ID) when replacing ABS actuator and electric unit (control unit).
*: The following diagnosis information is erased by erasing
• DTC
• Freeze frame data (FFD)
ECU IDENTIFICATION
ABS actuator and electric unit (control unit) part number can be read.
SELF DIAGNOSTIC RESULT
Refer to BRC-84, "DTC Index".
When “CRNT” is displayed on self-diagnosis result
• The system is presently malfunctioning.
When “PAST” is displayed on self-diagnosis result
• System malfunction in the past is detected, but the system is presently normal.
Freeze frame data (FFD)
The following vehicle status is recorded when DTC is detected and is displayed on CONSULT.

Item name Display Item

The number of times that ignition switch is turned ON after the DTC is detected is displayed.
• When “0” is displayed: It indicates that the system is presently malfunctioning.
• When except “0” is displayed: It indicates that system malfunction in the past is detected, but the system is pres-
IGN counter ently normal.
(0 – 39) NOTE:
Each time when ignition switch is turned OFF to ON, numerical number increases in 1→2→3...38→39. When
the operation number of times exceeds 39, the number do not increase and “39” is displayed until self diagnosis
is erased.

DATA MONITOR
NOTE:
The following table includes information (items) inapplicable to this vehicle. For information (items) applicable
to this vehicle, refer to CONSULT display items.
×: Applicable
Monitor item selection
Item (Unit) Note
INPUT SIGNALS MAIN ITEMS
FR LH SENSOR Wheel speed calculated by front LH wheel sensor is dis-
× ×
(km/h) played.
FR RH SENSOR Wheel speed calculated by front RH wheel sensor is dis-
× ×
(km/h) played.

BRC-70
 DIAGNOSIS SYSTEM [ABS ACTUATOR AND ELECTRIC UNIT (CONTROL
UNIT)]
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
Monitor item selection
Item (Unit) Note A
INPUT SIGNALS MAIN ITEMS
RR LH SENSOR Wheel speed calculated by rear LH wheel sensor is dis-
× ×
(km/h) played.
B
RR RH SENSOR Wheel speed calculated by rear RH wheel sensor is dis-
× ×
(km/h) played.
DECEL G-SEN
× × Decel G detected by decel G sensor is displayed. C
(G)

FR RH IN SOL*1 ×
Operation status of front RH wheel ABS IN valve is dis-
(On/Off) played.
D
FR RH OUT SOL*1 ×
Operation status of front RH wheel ABS OUT valve is dis-
(On/Off) played.

FR LH IN SOL*1 ×
Operation status of front LH wheel ABS IN valve is dis- E
(On/Off) played.

FR LH OUT SOL*1 ×
Operation status of front LH wheel ABS OUT valve is dis-
(On/Off) played. BRC
*1 Operation status of rear RH wheel ABS IN valve is dis-
RR RH IN SOL ×
(On/Off) played.

RR RH OUT SOL*1 Operation status of rear RH wheel ABS OUT valve is dis- G
×
(On/Off) played.

RR LH IN SOL*1 ×
Operation status of rear LH wheel ABS IN valve is dis-
(On/Off) played. H

RR LH OUT SOL*1 ×
Operation status of rear LH wheel ABS OUT valve is dis-
(On/Off) played.
I
EBD WARN LAMP
(On/Off) Brake warning lamp ON/OFF status is displayed.*2

STOP LAMP SW
× × Stop lamp switch signal input status is displayed. J
(On/Off)
MOTOR RELAY
× ABS motor and motor relay status is displayed.
(On/Off)
K
ACTUATOR RLY*1 × ABS actuator relay status is displayed.
(On/Off)
ABS WARN LAMP
× ABS warning lamp ON/OFF status is displayed.*2 L
(On/Off)
OFF LAMP
× VDC OFF indicator lamp ON/OFF status is displayed.*2
(On/Off)
M
SLIP/VDC LAMP
× VDC warning lamp ON/OFF status is displayed.*2
(On/Off)
BATTERY VOLT Voltage supplied to ABS actuator and electric unit (control
× × N
(V) unit) is displayed.
Current gear position judged from current gear position sig-
GEAR*3 × ×
nal is displayed.
Current shift position judged from shift position signal is dis-
O
SELECT LVR POSI*3 × ×
played.
YAW RATE SEN Yaw rate detected by yaw rate/side/decel G sensor is dis-
× × P
(d/s) played.
R range signal input status judged from R range signal is
R POSI SIG*3 displayed.
4WD MODE MON
× Drive status is displayed.
(2WD/4WD)
N range signal input status judged from N range signal is
N POSI SIG*3 displayed.

BRC-71
 DIAGNOSIS SYSTEM [ABS ACTUATOR AND ELECTRIC UNIT (CONTROL
UNIT)]
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
Monitor item selection
Item (Unit) Note
INPUT SIGNALS MAIN ITEMS
P range signal input status judged from P range signal is dis-
P POSI SIG*3 played.
ACCEL POS SIG
× Displays the Accelerator pedal position.
(%)
SIDE G-SENSOR Side G detected by yaw rate/side/decel G sensor is dis-
×
(m/s2) played.
STR ANGLE SIG Steering angle detected by steering angle sensor is dis-
×
(deg) played.
PRESS SENSOR Brake fluid pressure detected by pressure sensor is dis-
×
(bar) played.
EBD SIG
Operation status of EBD function is displayed.
(On/Off)
ABS SIG
Operation status of ABS function is displayed.
(On/Off)
TCS SIG
Operation status of TCS function is displayed.
(On/Off)
VDC SIG
Operation status of VDC function is displayed.
(On/Off)
EBD FAIL SIG
Fail-safe signal status of EBD function is displayed.
(On/Off)
ABS FAIL SIG
Fail-safe signal status of ABS function is displayed.
(On/Off)
TCS FAIL SIG
Fail-safe signal status of TCS function is displayed.
(On/Off)
VDC FAIL SIG
Fail-safe signal status of VDC function is displayed.
(On/Off)
CRANKING SIG
Cranking status is displayed.
(On/Off)
FLUID LEV SW
× Brake fluid level signal input status is displayed.
(On/Off)
PARK BRAKE SW
Parking brake switch signal input status is displayed.
(On/Off)

USV[FL-RR]*1 Operation status of cut valve 1 is displayed.

(On/Off)

USV[FR-RL]*1 Operation status of cut valve 2 is displayed.

(On/Off)

HSV[FL-RR]*1 Operation status of suction valve 1 is displayed.

(On/Off)

HSV[FR-RL]*1 Operation status of suction valve 2 is displayed.

(On/Off)

V/ROUTPUT*1 ABS actuator relay status is displayed.

(On/Off)
M/R OUTPUT
ABS motor and motor relay status is displayed.
(On/Off)
ENGINE RPM Engine speed status is displayed.
STP ON RLY
Operation status of stop lamp ON relay is displayed.
(On/Off)

DDS SW*4 Operation status of hill descent control switch is displayed.

(On/Off)

BRC-72
 DIAGNOSIS SYSTEM [ABS ACTUATOR AND ELECTRIC UNIT (CONTROL
UNIT)]
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
Monitor item selection
Item (Unit) Note A
INPUT SIGNALS MAIN ITEMS

DDS SIG*4 Operation status of advanced hill descent control function is

(On/Off) displayed.
B
USS SIG*5 Operation status of hill start assist function is displayed.
(On/Off)

1ST GEAR SIG*6 1st range status is displayed.

C
(On/Off)
OFF SW
× × VDC OFF switch status is displayed.
(On/Off) D
*1: Display occasionally changes On/Off for a moment after ignition switch is turned ON. This is operation for
checking purposes and is not a malfunction.
*2: Refer to BRC-67, "WARNING/INDICATOR/CHIME LIST : Warning Lamp/Indicator Lamp" for ON/OFF con- E
ditions of each warning lamp and indicator lamp.
*3: CVT models
*4: “DDS” means “hill descent control” or “downhill drive support”.
*5: “USS” means “hill start assist” or “Uphill Start Support”. BRC
*6: M/T models
ACTIVE TEST
G
The active test is used to determine and identify details of a malfunction, based on self-diagnosis test results
and data obtained in the DATA MONITOR. In response to instructions from CONSULT, instead of those from
ABS actuator and electric unit (control unit) on the vehicle, a drive signal is sent to the actuator to check its
operation. H
CAUTION:
• Never perform ACTIVE TEST while driving the vehicle.
• Always bleed air from brake system before active test. I
• Never perform active test when system is malfunctioning.
NOTE:
• When active test is performed while depressing the pedal, the pedal depressing stroke may change. This is
not a malfunction. J
• “TEST IS STOPPED” is displayed approx. 10 seconds after operation start.
• When performing active test again after “TEST IS STOPPED” is displayed, select “BACK”.
• ABS warning lamp, brake warning lamp and VDC warning lamp may turn ON during active test. This is not a K
malfunction.
ABS In Valve and ABS Out Valve
When “Up”, “Keep” or “Down” is selected on display screen, the following items are displayed when system is L
normal.

Display
Test item Display item M
Up Keep Down
FR RH IN SOL Off On On
FR RH OUT SOL Off Off On* N
USV[FL-RR] Off Off Off
FR RH SOL
USV[FR-RL] Off Off Off
O
HSV[FL-RR] Off Off Off
HSV[FR-RL] Off Off Off
FR LH IN SOL Off Off On P
FR LH OUT SOL Off Off *
On
USV[FL-RR] Off Off Off
FR LH SOL
USV[FR-RL] Off Off Off
HSV[FL-RR] Off Off Off
HSV[FR-RL] Off Off Off

BRC-73
 DIAGNOSIS SYSTEM [ABS ACTUATOR AND ELECTRIC UNIT (CONTROL
UNIT)]
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
Display
Test item Display item
Up Keep Down
RR RH IN SOL Off On On
RR RH OUT SOL Off Off On*
USV[FL-RR] Off Off Off
RR RH SOL
USV[FR-RL] Off Off Off
HSV[FL-RR] Off Off Off
HSV[FR-RL] Off Off Off
RR LH IN SOL Off On On
RR LH OUT SOL Off Off On*
USV[FL-RR] Off Off Off
RR LH SOL
USV[FR-RL] Off Off Off
HSV[FL-RR] Off Off Off
HSV[FR-RL] Off Off Off
*: Immediately after being selected, status is “On”. Status changes to “Off” after approx. 2 seconds.
ABS In Valve (ACT), ABS Out Valve (ACT)
When “Up”, “ACT UP” or “ACT KEEP” is selected on display screen, the following items are displayed when
system is normal.

Display
Test item Display item
Up ACT KEEP ACT UP
FR RH IN SOL Off Off Off
FR RH OUT SOL Off Off Off

FR RH ABS SOLE- USV[FL-RR] Off Off Off

NOID(ACT) USV[FR-RL] Off On On
HSV[FL-RR] Off Off Off
HSV[FL-RL] Off On* Off
FR LH IN SOL Off Off Off
FR LH OUT SOL Off Off Off

FR LH ABS SOLE- USV[FL-RR] Off On On

NOID(ACT) USV[FR-RL] Off Off Off
HSV[FL-RR] Off On* Off
HSV[FR-RL] Off Off Off
RR RH IN SOL Off Off Off
RR RH OUT SOL Off Off Off

RR RH ABS SOLE- USV[FL-RR] Off On On

NOID(ACT) USV[FR-RL] Off Off Off
HSV[FL-RR] Off On* Off
HSV[FR-RL] Off Off Off
RR LH IN SOL Off Off Off
RR LH OUT SOL Off Off Off

RR LH ABS SOLE- USV[FL-RR] Off Off Off

NOID(ACT) USV[FR-RL] Off On On
HSV[FL-RR] Off Off Off
HSV[FR-RL] Off On* Off

BRC-74
 DIAGNOSIS SYSTEM [ABS ACTUATOR AND ELECTRIC UNIT (CONTROL
UNIT)]
< SYSTEM DESCRIPTION > [WITH VDC (ESP)]
*: Immediately after being selected, status is “On”. Status changes to “Off” after approx. 2 seconds.
A
ABS MOTOR
When “ON” or “OFF” is selected on display screen, the following items are displayed when system is normal.

Display B
Test item Display item
On Off
MOTOR RELAY On Off
C
ACTUATOR RLY On On
ABS MOTOR
V/R OUTPUT On Off
M/R OUTPUT On Off D

STOP LAMP ON RELAY

When “ON” or “OFF” is selected on display screen, the following items are displayed when system is normal. E

Display
Test item
On Off
BRC
STOP ON RLY On Off

WORK SUPPORT
G
Item Description
ST ANGLE SENSOR ADJUSTMENT Perform neutral position adjustment of steering angle sensor.
H
DECEL G SEN CALIBRATION Perform decel G sensor calibration.

RE/PROGRAMMING, CONFIGURATION
Configuration includes the following functions. I

Function Description
• Allows the reading of vehicle specification (Type ID) written in ABS ac- J
Before replacing ECU tuator and electric unit (control unit).
Read/Write Configuration • Allows the reading of vehicle specification (Type ID) store in CONSULT.
Allows the writing of vehicle information (Type ID) stored in CONSULT K
After replacing ECU
into the ABS actuator and electric unit (control unit).
Allows the writing of vehicle specification (Type ID) into the ABS actuator
Manual Configuration
and electric unit (control unit) by hand. L

BRC-75
 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< ECU DIAGNOSIS INFORMATION > [WITH VDC (ESP)]

ECU DIAGNOSIS INFORMATION

ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
Reference Value INFOID:0000000010723646

CONSULT DATA MONITOR STANDARD VALUE

NOTE:
The following table includes information (items) inapplicable to this vehicle. For information (items) applicable
to this vehicle, refer to CONSULT display items.

Monitor item Condition Reference valve in normal operation

Vehicle stopped 0.00 km/h (MPH)
FR LH SENSOR Nearly matches the speedometer dis-
When driving*1 play (within ±10%)
Vehicle stopped 0.00 km/h (MPH)
FR RH SENSOR Nearly matches the speedometer dis-
When driving*1 play (within ±10%)
Vehicle stopped 0.00 km/h (MPH)
RR LH SENSOR Nearly matches the speedometer dis-
When driving*1 play (within ±10%)
Vehicle stopped 0.00 km/h (MPH)
RR RH SENSOR Nearly matches the speedometer dis-
When driving*1 play (within ±10%)
When stopped Approx. 0 G
DECEL G-SEN During acceleration Positive value
During deceleration Negative value
When front RH ABS IN valve is active On
FR RH IN SOL*2
When front RH ABS IN valve is not activated Off
When front RH ABS OUT valve is active On
FR RH OUT SOL*2
When front RH ABS OUT valve is not activated Off
When front LH ABS IN valve is active On
FR LH IN SOL*2
When front LH ABS IN valve is not activated Off
When front LH ABS OUT valve is active On
FR LH OUT SOL*2
When front LH ABS OUT valve is not activated Off
When rear RH ABS IN valve is active On
RR RH IN SOL*2
When rear RH ABS IN valve is not activated Off
When rear RH ABS OUT valve is active On
RR RH OUT SOL*2
When rear RH ABS OUT valve is not activated Off
When rear LH ABS IN valve is active On
RR LH IN SOL*2
When rear LH ABS IN valve is not activated Off
When rear LH ABS OUT valve is active On
RR LH OUT SOL*2
When rear LH ABS OUT valve is not activated Off

Brake warning lamp is ON*3 On

EBD WARN LAMP
Brake warning lamp is OFF*3 Off
Brake pedal depressed On
STOP LAMP SW
Brake pedal not depressed Off
When ABS motor and motor relay are active On
MOTOR RELAY
When ABS motor and motor relay are not activated Off

BRC-76
 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< ECU DIAGNOSIS INFORMATION > [WITH VDC (ESP)]
Monitor item Condition Reference valve in normal operation
A
When ABS actuator relay is active On
ACTUATOR RLY*2 When ABS actuator relay is not activated (in fail-
Off
safe mode)
B
ABS warning lamp is ON*3 On
ABS WARN LAMP
ABS warning lamp is OFF*3 Off
C
VDC OFF indicator lamp is ON*3 On
OFF LAMP
VDC OFF indicator lamp is OFF*3 Off

VDC warning lamp is ON*3 On D

SLIP/VDC LAMP
VDC warning lamp is OFF*3 Off
BATTERY VOLT Ignition switch ON 10 – 16 V
E
GEAR*4 When driving Depending on shift status
SLCT LVR POSI When selector lever operating Selector lever position is displayed
Vehicle stopped Approx. 0 d/s BRC
YAW RATE SEN Turning right Negative value
Turning left Positive value
G
When selector lever is in the R position On
R POSI SIG*4
When selector lever is in the other than R position Off
When 2WD 2WD H
4WD MODE MON
When 4WD 4WD
When selector lever is in the N position On
N POSI SIG*4 I
When selector lever is in the other than N position Off
When selector lever is in the P position On
P POSI SIG*4
When selector lever is in the other than P position Off J
Never depress accelerator pedal
0%
(Ignition switch ON)
ACCEL POS SIG
Depress accelerator pedal K
0 – 100%
(Ignition switch ON)
Vehicle stopped Approx. 0 m/s2
SIDE G-SENSOR
L
Turning right Negative value
Turning left Positive value
When driving straight ±2.5° M
STR ANGLE SIG When steering wheel is steered to RH by 90° Approx. +90°
When steering wheel is steered to LH by 90° Approx. −90°
Brake pedal not depressed Approx. 0 bar N
PRESS SENSOR
Brake pedal depressed (−40) – 300 bar
When EBD function is active On
EBD SIGNAL O
When EBD function is not activated Off
When ABS function is active On
ABS SIGNAL
When ABS function is not activated Off P
When TCS function is active On
TCS SIGNAL
When TCS function is not activated Off
When VDC function is active On
VDC SIGNAL
When VDC function is not activated Off

BRC-77
 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< ECU DIAGNOSIS INFORMATION > [WITH VDC (ESP)]
Monitor item Condition Reference valve in normal operation
When EBD function is fail-safe On
EBD FAIL SIG
When EBD function is normal Off
When ABS function is fail-safe On
ABS FAIL SIG
When ABS function is normal Off
When TCS function is fail-safe On
TCS FAIL SIG
When TCS function is normal Off
When VDC function is fail-safe On
VDC FAIL SIG
When VDC function is normal Off
When cranking On
CRANKING SIG
When other than cranking Off
When brake fluid level switch is ON (brake fluid level
On
FLUID LEV SW is less than the specified level)
When brake fluid level switch is OFF Off
When parking brake is active On
PARK BRAKE SW
When parking brake is released Off
When cut valve 1 is active On
USV[FL-RR]
When cut valve 1 is not activated Off
When cut valve 2 is active On
USV[FR-RL]
When cut valve 2 is not activated Off
When suction valve 1 is active On
HSV[FL-RR]
When suction valve is not activated Off
When suction valve 2 is active On
HSV[FR-RL]
When suction valve is not activated Off
When ABS actuator relay is active On
V/R OUTPUT
When ABS actuator relay is not activated Off
When ABS motor and motor relay are active On
M/R OUTPUT
When ABS motor and motor relay are not activated Off
Engine stopped 0 tr/min
ENGINE RPM
Engine running Almost same reading as tachometer
When stop lamp ON relay is active On
STP ON RLY
When stop lamp ON relay is not activated Off
When hill descent control switch is ON On
DDS SW*5
When hill descent control switch is OFF Off
When advanced hill descent control function is ac-
On
tive
DDS SIG*5
When advanced hill descent control function is not
Off
activated
When hill start assist function is active On
USS SIG*6
When hill start assist function is not activated Off
When shifter lever is in the 1st gear position On
1ST GEAR SIG*7 When shifter lever is in the other than 1st gear posi-
Off
tion
When VDC OFF switch is ON On
OFF SW
When VDC OFF switch is OFF Off
*1: Confirm tire pressure is standard value.

BRC-78
 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< ECU DIAGNOSIS INFORMATION > [WITH VDC (ESP)]
*2:Display occasionally changes On/Off for a moment after ignition switch is turned ON. This is operation for
checking purposes and is not a malfunction. A
*3: Refer to BRC-67, "WARNING/INDICATOR/CHIME LIST : Warning Lamp/Indicator Lamp" for ON/OFF con-
ditions of each warning lamp and indicator lamp.
*4: CVT models
B
*5: “DDS” means “hill descent control” or “downhill drive support”.
*6: “USS” means “hill start assist” or “Uphill Start Support”.
*7: M/T models
C
Fail-Safe INFOID:0000000010723647

VDC FUNCTION, TCS FUNCTION, BRAKE LIMITED SLIP DIFFERENTIAL (BLSD) FUNCTION, D
BRAKE ASSIST FUNCTION, BRAKE FORCE DISTRIBUTION FUNCTION, hill start assist FUNC-
TION AND ADVANCED hill descent control FUNCTION (4WD MODELS WITH GASOLINE ENGINE)
VDC warning lamp in combination meter turn ON when a malfunction occurs in system [ABS actuator and E
electric unit (control unit)]. The control is suspended for VDC function, TCS function, brake limited slip differen-
tial (BLSD) function, brake assist function, brake force distribution function, hill start assist function, advanced
hill descent control function (4WD models with gasoline engine), active trace control function (control of chas-
sis control module) and active ride control function (control of chassis control module). The vehicle status BRC
becomes the same as models without VDC function, TCS function, brake limited slip differential (BLSD) func-
tion, brake assist function, brake force distribution function, hill start assist function, advanced hill descent con-
trol function (4WD models with gasoline engine), active trace control function (control of chassis control G
module) and active ride control function (control of chassis control module). However, ABS function and EBD
function are operated normally.
ABS FUNCTION H
ABS warning lamp and VDC warning lamp in combination meter turn ON when a malfunction occurs in system
[ABS actuator and electric unit (control unit)]. The control is suspended for VDC function, TCS function, ABS
function, brake limited slip differential (BLSD) function, brake assist function, brake force distribution function,
hill start assist function, advanced hill descent control function (4WD models with gasoline engine), active I
trace control function (control of chassis control module) and active ride control function (control of chassis
control module). The vehicle status becomes the same as models without VDC function, TCS function, ABS
function, brake limited slip differential (BLSD) function, brake assist function, brake force distribution function, J
hill start assist function, advanced hill descent control function (4WD models with gasoline engine), active
trace control function (control of chassis control module) and active ride control function (control of chassis
control module). However, EBD function is operated normally.
K
NOTE:
ABS self-diagnosis sound may be heard the same as in the normal condition, because self-diagnosis is per-
formed when ignition switch turns ON and when vehicle initially starts.
L
EBD FUNCTION
ABS warning lamp, brake warning lamp and VDC warning lamp in combination meter turn ON when a mal-
function occurs in system [ABS actuator and electric unit (control unit)]. The control is suspended for VDC
function, TCS function, ABS function, EBD function, brake limited slip differential (BLSD) function, brake assist M
function, brake force distribution function, hill start assist function, advanced hill descent control function (4WD
models with gasoline engine), active trace control function (control of chassis control module) and active ride
control function (control of chassis control module). The vehicle status becomes the same as models without N
VDC function, TCS function, ABS function, EBD function, brake limited slip differential (BLSD) function, brake
assist function, brake force distribution function, hill start assist function, advanced hill descent control function
(4WD models with gasoline engine), active trace control function (control of chassis control module) and
active ride control function (control of chassis control module). O

DTC Fail-safe condition

The following functions are suspended. P
C10D7 • Deceleration control (brake control by VDC function) performed by pulling the parking brake switch while driving the
vehicle [10 km/h (6.2 MPH) or more].

BRC-79
 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< ECU DIAGNOSIS INFORMATION > [WITH VDC (ESP)]
DTC Fail-safe condition
C1101 The following functions are suspended.
• VDC function
C1102
• TCS function
C1103 • ABS function
• EBD function (only when both 2 rear wheels are malfunctioning)
C1104
• Brake limited slip differential (BLSD) function
C1105 • Brake assist function
C1106 • Brake force distribution function
• hill start assist function
C1107 • Advanced hill descent control function*1
• Active trace control function (control of chassis control module)
C1108
• Active ride control function (control of chassis control module)
C1109 The following functions are suspended.
• VDC function
• TCS function
• ABS function
• EBD function
• Brake limited slip differential (BLSD) function
C1110 • Brake assist function
• Brake force distribution function
• hill start assist function
• Advanced hill descent control function*1
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
The following functions are suspended.
• VDC function
• TCS function
• ABS function
• Brake limited slip differential (BLSD) function
C1111 • Brake assist function
• Brake force distribution function
• hill start assist function
• Advanced hill descent control function*1
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
The following functions are suspended.
• VDC function
• TCS function
• ABS function*1
• Brake limited slip differential (BLSD) function
C1113 • Brake assist function*1
• Brake force distribution function
• hill start assist function
• Advanced hill descent control function*1
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
The following functions are suspended.
• VDC function
• TCS function
• ABS function
• EBD function
• Brake limited slip differential (BLSD) function
C1115 • Brake assist function
• Brake force distribution function
• hill start assist function
• Advanced hill descent control function*1
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)

BRC-80
 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< ECU DIAGNOSIS INFORMATION > [WITH VDC (ESP)]
DTC Fail-safe condition
A
The following functions are suspended.
• VDC function
• TCS function
• Brake limited slip differential (BLSD) function B
• Brake assist function
C1116 • Brake force distribution function
• hill start assist function
• Advanced hill descent control function*1 C
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
The following functions are suspended. D
C1118
• Advanced hill descent control function*1
C1120 The following functions are suspended.
• VDC function E
C1121
• TCS function
C1122 • ABS function
• EBD function
C1123
• Brake limited slip differential (BLSD) function BRC
C1124 • Brake assist function
C1125 • Brake force distribution function
• hill start assist function
C1126 • Advanced hill descent control function*1 G
• Active trace control function (control of chassis control module)
C1127
• Active ride control function (control of chassis control module)
The following functions are suspended. H
• VDC function
• TCS function
• Brake limited slip differential (BLSD) function
C1130 • Brake force distribution function I
• hill start assist function
• Advanced hill descent control function*1
• Active trace control function (control of chassis control module) J
• Active ride control function (control of chassis control module)
The following functions are suspended.
• VDC function
• TCS function
K
• ABS function
• EBD function
• Brake limited slip differential (BLSD) function L
C1140 • Brake assist function
• Brake force distribution function
• hill start assist function
• Advanced hill descent control function*1 M
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
The following functions are suspended. N
• VDC function
• TCS function
• Brake limited slip differential (BLSD) function
• Brake assist function O
C1142 • Brake force distribution function
• hill start assist function
• Advanced hill descent control function*1
• Active trace control function (control of chassis control module) P
• Active ride control function (control of chassis control module)

BRC-81
 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< ECU DIAGNOSIS INFORMATION > [WITH VDC (ESP)]
DTC Fail-safe condition
C1143 The following functions are suspended.
• VDC function
• TCS function
• Brake limited slip differential (BLSD) function
• Brake force distribution function
C1144 • hill start assist function
• Advanced hill descent control function*1
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
C1145 The following functions are suspended.
• VDC function
• TCS function
• ABS function*1
• Brake limited slip differential (BLSD) function
• Brake assist function*1
C1146 • Brake force distribution function
• hill start assist function
• Advanced hill descent control function*1
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
The following functions are suspended.
• VDC function
• TCS function
• ABS function
• Brake limited slip differential (BLSD) function
C1153 • Brake assist function
• Brake force distribution function
• hill start assist function
• Advanced hill descent control function*1
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
The following functions are suspended.
• VDC function
• TCS function
• Brake limited slip differential (BLSD) function
C1154 • Brake force distribution function
• hill start assist function
• Advanced hill descent control function*1
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
The following functions are suspended.
• VDC function
• TCS function
• Brake limited slip differential (BLSD) function
• Brake assist function
C1155 • Brake force distribution function
• hill start assist function
• Advanced hill descent control function*1
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
The following functions are suspended.
• VDC function
• TCS function
• ABS function*1
• Brake limited slip differential (BLSD) function
C1160 • Brake assist function*1
• Brake force distribution function
• hill start assist function
• Advanced hill descent control function*1
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)

BRC-82
 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< ECU DIAGNOSIS INFORMATION > [WITH VDC (ESP)]
DTC Fail-safe condition
A
C1164 The following functions are suspended.
• VDC function
C1165
• TCS function
C1166 • ABS function B
• EBD function
C1167
• Brake limited slip differential (BLSD) function
• Brake assist function
• Brake force distribution function C
• hill start assist function
C1170
• Advanced hill descent control function*1
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module) D
C1197
Electrical vacuum assistance of brake booster is suspended
C1198
E
C1199 Normal control
C119A Electrical vacuum assistance of brake booster is suspended
The following functions are suspended. BRC
C1B60 • Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
U1000 The following functions are suspended. G
• VDC function
U1002
• TCS function
• ABS function*2
H
• EBD function*2
• Brake limited slip differential (BLSD) function
• Brake assist function
U1010 • Brake force distribution function I
• hill start assist function
• Advanced hill descent control function*1
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module) J
*1: 4WD models with gasoline engine
*2: When a malfunction detected in CAN communication [between ABS actuator and electric unit (control unit)
and chassis control module]. K

DTC Inspection Priority Chart INFOID:0000000010723648

When multiple DTCs are displayed simultaneously, check one by one depending on the following priority list. L

Priority Detected item (DTC)

• U1000 CAN COMM CIRCUIT M
1 • U1002 SYSTEM COMM (CAN)
• U1010 CONTROL UNIT (CAN)
• C1110 CONTROLLER FAILURE N
2 • C1153 EMERGENCY BRAKE
• C1170 VARIANT CODING
• C10D7 PARKING BRAKE SYSTEM O
• C1118 4WD SYSTEM
3 • C1130 ENGINE SIGNAL 1
• C1144 ST ANG SEN SIGNAL
• C1B60 EXTERNAL CONTROL MODULE P
• C1109 BATTERY VOLTAGE [ABNROMAL]
4 • C1111 PUMP MOTOR
• C1140 ACTUATOR RLY

BRC-83
 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< ECU DIAGNOSIS INFORMATION > [WITH VDC (ESP)]
Priority Detected item (DTC)
• C1101 RR RH SENSOR-1
• C1102 RR LH SENSOR-1
• C1103 FR RH SENSOR-1
• C1104 FR LH SENSOR-1
• C1105 RR RH SENSOR-2
• C1106 RR LH SENSOR-2
• C1107 FR RH SENSOR-2
• C1108 FR LH SENSOR-2
• C1113 G SENSOR
• C1115 ABS SENSOR [ABNORMAL SIGNAL]
• C1116 STOP LAMP SW
• C1120 FR LH IN SOL
• C1121 FR LH OUT SOL
• C1122 FR RH IN SOL
• C1123 FR RH OUT SOL
• C1124 RR LH IN SOL
5
• C1125 RR LH OUT SOL
• C1126 RR RH IN SOL
• C1127 RR RH OUT SOL
• C1142 PRESS SEN CIRCUIT
• C1143 ST ANG SEN CIRCUIT
• C1145 YAW RATE SENSOR
• C1146 SIDE G SEN CITCUIT
• C1154 PNP POSI SIG
• C1160 DECEL G SEN SET
• C1164 CV 1
• C1165 CV 2
• C1166 SV 1
• C1167 SV 2
• C1197 VACUUM SENSOR
• C1198 VACUUM SEN CIR
• C1199 BRAKE BOOSTER
• C119A VACUUM SEN VOLT
6 • C1155 BR FLUID LEVEL LOW

DTC Index INFOID:0000000010723649

VDC warning ABS warning Brake warning

DTC Display item Refer to
lamp lamp lamp
C10D7 PARKING BRAKE SYSTEM OFF OFF OFF BRC-107, "DTC Description"
C1101 RR RH SENSOR-1 ON ON ON*1
C1102 RR LH SENSOR-1 ON ON ON*1
BRC-109, "DTC Description"
C1103 FR RH SENSOR-1 ON ON ON*1
C1104 FR LH SENSOR-1 ON ON ON*1
C1105 RR RH SENSOR-2 ON ON ON*1
C1106 RR LH SENSOR-2 ON ON ON*1
BRC-113, "DTC Description"
C1107 FR RH SENSOR-2 ON ON ON*1
C1108 FR LH SENSOR-2 ON ON ON*1
BATTERY VOLTAGE [ABNROM-
C1109 ON ON ON BRC-119, "DTC Description"
AL]
C1110 CONTROLLER FAILURE ON ON ON BRC-122, "DTC Description"
C1111 PUMP MOTOR ON ON ON BRC-123, "DTC Description"

OFF*2
C1113 G SENSOR ON OFF BRC-126, "DTC Description"
ON*3

BRC-84
 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< ECU DIAGNOSIS INFORMATION > [WITH VDC (ESP)]
VDC warning ABS warning Brake warning
DTC Display item Refer to
lamp lamp lamp A
ABS SENSOR [ABNORMAL SIG-
C1115 ON ON ON BRC-127, "DTC Description"
NAL]
C1116 STOP LAMP SW ON OFF OFF BRC-133, "DTC Description" B
C1118 4WD SYSTEM OFF OFF OFF BRC-135, "DTC Description"
C1120 FR LH IN SOL ON ON ON BRC-137, "DTC Description"
C
C1121 FR LH OUT SOL ON ON ON BRC-140, "DTC Description"
C1122 FR RH IN SOL ON ON ON BRC-137, "DTC Description"
C1123 FR RH OUT SOL ON ON ON BRC-140, "DTC Description" D
C1124 RR LH IN SOL ON ON ON BRC-137, "DTC Description"
C1125 RR LH OUT SOL ON ON ON BRC-140, "DTC Description"
E
C1126 RR RH IN SOL ON ON ON BRC-137, "DTC Description"
C1127 RR RH OUT SOL ON ON ON BRC-140, "DTC Description"
C1130 ENGINE SIGNAL 1 ON OFF OFF BRC-143, "DTC Description" BRC
C1140 ACTUATOR RLY ON ON ON BRC-145, "DTC Description"
C1142 PRESS SEN CIRCUIT ON OFF OFF BRC-147, "DTC Description"
C1143 ST ANG SEN CIRCUIT ON OFF OFF BRC-150, "DTC Description"
G

C1144 ST ANG SEN SIGNAL ON OFF OFF BRC-153, "DTC Description"

C1145 YAW RATE SENSOR ON OFF OFF H
BRC-126, "DTC Description"
C1146 SIDE G SEN CITCUIT ON OFF OFF
C1153 EMERGENCY BRAKE ON ON OFF BRC-122, "DTC Description"
C1154 PNP POSI SIG ON OFF OFF BRC-155, "DTC Description" I
C1155 BR FLUID LEVEL LOW ON OFF OFF BRC-157, "DTC Description"
*2
OFF J
C1160 DECEL G SEN SET ON OFF BRC-161, "DTC Description"
ON*3
C1164 CV 1 ON ON ON
BRC-162, "DTC Description"
C1165 CV 2 ON ON ON K
C1166 SV 1 ON ON ON
BRC-165, "DTC Description"
C1167 SV 2 ON ON ON
L
C1170 VARIANT CODING ON ON ON BRC-168, "DTC Description"
C1197 VACUUM SENSOR OFF OFF ON BRC-170, "DTC Description"
C1198 VACUUM SEN CIR OFF OFF ON BRC-173, "DTC Description" M
C1199 BRAKE BOOSTER OFF OFF ON BRC-176, "DTC Description"
C119A VACUUM SEN VOLT OFF OFF ON BRC-179, "DTC Description"
N
C1B60 EXTERNAL CONTROL MODULE OFF OFF OFF BRC-182, "DTC Description"
U1000 CAN COMM CIRCUIT ON ON ON BRC-184, "DTC Description"
U1002 SYSTEM COMM (CAN) ON ON ON BRC-185, "DTC Description" O
U1010 CONTROL UNIT (CAN) ON ON ON BRC-187, "DTC Description"
*1: Only when both 2 rear wheels are malfunctioning
*2: 2WD models P
*3: 4WD models

BRC-85
 BRAKE CONTROL SYSTEM
< WIRING DIAGRAM > [WITH VDC (ESP)]

WIRING DIAGRAM
BRAKE CONTROL SYSTEM
LHD
LHD : Wiring Diagram INFOID:0000000010723650

JRFWC1746GB

BRC-86
 BRAKE CONTROL SYSTEM
< WIRING DIAGRAM > [WITH VDC (ESP)]

BRC

JRFWC1747GB

BRC-87
 BRAKE CONTROL SYSTEM
< WIRING DIAGRAM > [WITH VDC (ESP)]

JRFWC1748GB

BRC-88
 BRAKE CONTROL SYSTEM
< WIRING DIAGRAM > [WITH VDC (ESP)]

BRC

JRFWC1749GB

BRC-89
 BRAKE CONTROL SYSTEM
< WIRING DIAGRAM > [WITH VDC (ESP)]

JRFWC1750GB

RHD

BRC-90
 BRAKE CONTROL SYSTEM
< WIRING DIAGRAM > [WITH VDC (ESP)]
RHD : Wiring Diagram INFOID:0000000010723651

BRC

JRFWC1751GB
P

BRC-91
 BRAKE CONTROL SYSTEM
< WIRING DIAGRAM > [WITH VDC (ESP)]

JRFWC1752GB

BRC-92
 BRAKE CONTROL SYSTEM
< WIRING DIAGRAM > [WITH VDC (ESP)]

BRC

JRFWC1753GB

BRC-93
 BRAKE CONTROL SYSTEM
< WIRING DIAGRAM > [WITH VDC (ESP)]

JRFWC1754GB

BRC-94
 DIAGNOSIS AND REPAIR WORK FLOW
< BASIC INSPECTION > [WITH VDC (ESP)]

BASIC INSPECTION A
DIAGNOSIS AND REPAIR WORK FLOW
Work Flow INFOID:0000000010723652
B

DETAILED FLOW
1.INTERVIEW FROM THE CUSTOMER C
Clarify customer complaints before inspection. First of all, perform an interview utilizing BRC-96, "Diagnostic
Work Sheet" and reproduce the symptom as well as fully understand it. Ask customer about his/her complaints
carefully. Check symptoms by driving vehicle with customer, if necessary. D
CAUTION:
Customers are not professional. Never guess easily like “maybe the customer means that...,” or “
maybe the customer mentions this symptom”. E

>> GO TO 2.
2.CHECK SYMPTOM BRC

Reproduce the symptom that is indicated by the customer, based on the information from the customer
obtained by interview. Also check that the symptom is not caused by fail-safe mode. Refer toBRC-79, "Fail-
Safe". G
CAUTION:
When the symptom is caused by normal operation, fully inspect each portion and obtain the under-
standing of customer that the symptom is not caused by a malfunction. H

>> GO TO 3.
3.PERFORM SELF-DIAGNOSIS I

With CONSULT
Perform self-diagnosis for “ABS”. J
Is DTC detected?
YES >> Record or print self-diagnosis results and freeze frame data (FFD). GO TO 4.
NO >> GO TO 6. K
4.RECHECK SYMPTOM
With CONSULT
1. Erase self-diagnostic results for “ABS”. L
2. Perform DTC confirmation procedures for the error-detected system.
NOTE:
If some DTCs are detected at the some time, determine the order for performing the diagnosis based on M
BRC-83, "DTC Inspection Priority Chart".
Is DTC detected?
YES >> GO TO 5. N
NO >> Check harness and connectors based on the information obtained by interview. Refer to GI-44,
"Intermittent Incident".
5.REPAIR OR REPLACE ERROR-DETECTED PART O
1. Repair or replace error-detected parts.
2. Reconnect part or connector after repairing or replacing.
3. When DTC is detected, erase self-diagnostic result for “ABS”. P

>> GO TO 7.
6.IDENTIFY ERROR-DETECTED SYSTEM BY SYMPTOM DIAGNOSIS
Estimate error-detected system based on symptom diagnosis and perform inspection.

BRC-95
 DIAGNOSIS AND REPAIR WORK FLOW
< BASIC INSPECTION > [WITH VDC (ESP)]
Can the error-detected system be identified?
YES >> GO TO 7.
NO >> Check harness and connectors based on the information obtained by interview. Refer to GI-44,
"Intermittent Incident".
7.FINAL CHECK
With CONSULT
1. Check the reference value for “ABS”.
2. Recheck the symptom and check that the symptom is not reproduced on the same conditions.
Is the symptom reproduced?
YES >> GO TO 3.
NO >> INSPECTION END
Diagnostic Work Sheet INFOID:0000000010723653

Description
• In general, customers have their own criteria for a problem. Therefore, it is important to understand the
symptom and status well enough by asking the customer about his/her concerns carefully. To systemize all
the information for the diagnosis, prepare the interview sheet referring to the interview points.
• In some cases, multiple conditions that appear simultaneously may cause a DTC to be detected.
INTERVIEW SHEET SAMPLE

Interview sheet
Registration Initial year
Customer number registration
MR/MS
name
Vehicle type VIN
Storage date Engine Mileage km (Mile)
† Does not operate ( ) function
† Warning lamp for ( ) turns ON.
Symptom † Noise † Vibration
† Other
( )
First occurrence † Recently † Other ( )
Frequency of occurrence † Always † Under a certain conditions of † Sometimes ( time(s)/day)
† Irrelevant

Climate con- Weather † Fine † Cloud † Rain †Snow † Others ( )

ditions Temperature † Hot †Warm † Cool † Cold † Temperature [Approx. °C (°F)]
Relative humidity † High † Moderate † Low
† Urban area † Suburb area † Highway
Road conditions
† Mountainous road (uphill or downhill) † Rough road
†Irrelevant
†When engine starts † During idling
† During driving † During acceleration † At constant speed driving
Operating condition, etc.
† During deceleration
† During cornering (right curve or left curve)
† When steering wheel is steered (to right or to left)

BRC-96
 DIAGNOSIS AND REPAIR WORK FLOW
< BASIC INSPECTION > [WITH VDC (ESP)]
Interview sheet
A
Registration Initial year
Customer number registration
MR/MS
name
Vehicle type VIN
B
Storage date Engine Mileage km (Mile)

Other conditions
C
Memo

BRC

BRC-97
 ADDITIONAL SERVICE WHEN REPLACING ABS ACTUATOR AND ELECTRIC
UNIT (CONTROL UNIT)
< BASIC INSPECTION > [WITH VDC (ESP)]
ADDITIONAL SERVICE WHEN REPLACING ABS ACTUATOR AND ELEC-
TRIC UNIT (CONTROL UNIT)
Description INFOID:0000000010723654

When replaced the ABS actuator and electric unit (control unit), be sure to perform the following item.
• Configuration: Refer to BRC-104, "Work Procedure".
• Adjust the neutral position of steering angle sensor: Refer to BRC-99, "Work Procedure".
• Calibration of the decel G sensor. Refer to BRC-102, "Work Procedure".
Work Procedure INFOID:0000000010723655

1.CONFIGURATION
With CONSULT
Perform configuration of the ABS actuator and electric unit. Refer to BRC-104, "Work Procedure".

>> GO TO 2.
2.ADJUSTMENT THE NEUTRAL POSITION OF STEERING ANGLE SENSOR
With CONSULT
Perform adjustment the neutral of steering angle sensor. Refer to BRC-99, "Work Procedure".

>> GO TO 3.
3.CALIBRATION OF DECEL G SENSOR
With CONSULT
Perform calibration of decel G sensor. Refer to BRC-102, "Work Procedure".

>> END of work.

BRC-98
 ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION
< BASIC INSPECTION > [WITH VDC (ESP)]
ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION
A
Description INFOID:0000000010723656

Always adjust the neutral position of steering angle sensor before driving when the following operation is per- B
formed.
×: Required —: Not required

Procedure Adjust the neutral position of steering angle sensor C

Removing/ installing ABS actuator and electric unit (control unit) —
Replacing ABS actuator and electric unit (control unit) ×
Removing/installing steering angle sensor × D
Replacing steering angle sensor ×
Removing/installing steering components ×
E
Replacing steering components ×
Removing/installing suspension components ×
Replacing suspension components × BRC
Removing/installing tire —
Replacing tire —
G
Tire rotation —
Adjusting wheel alignment. ×

Work Procedure INFOID:0000000010723657

H

ADJUST THE NEUTRAL POSITION OF STEERING ANGLE SENSOR

CAUTION: I
Always use CONSULT when adjusting the neutral position of steering angle sensor. (It cannot be
adjusted other than with CONSULT.)
1.CHECK THE VEHICLE STATUS (1) J

Stop vehicle with front wheels in the straight-ahead position.

Does the vehicle stay in the straight-ahead position? K
YES >> GO TO 2.
NO >> Steer the steering wheel to the straight-ahead position. Stop the vehicle.
2.ADJUST NEUTRAL POSITION OF STEERING ANGLE SENSOR L
With CONSULT
1. Turn the ignition switch ON.
CAUTION: M
Never start engine.
2. Select “ABS”, “WORK SUPPORT” and “ST ANGLE SENSOR ADJUSTMENT” in this order.
3. Select “START”. N
CAUTION:
Never touch steering wheel while adjusting steering angle sensor.
4. After approx. 10 seconds, select “END”.
5. Turn ignition switch OFF, and then turn it ON again. O
CAUTION:
Be sure to perform the operation above.
P
>> GO TO 3.
3.CHECK DATA MONITOR (1)
With CONSULT
1. The vehicle is either pointing straight ahead, or the vehicle needs to be moved. Stop when it is pointing
straight ahead.

BRC-99
 ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION
< BASIC INSPECTION > [WITH VDC (ESP)]
2. Select “ABS”, “DATA MONITOR”, “ECU INPUT SIGNALS” and “STR ANGLE SIG” in the order. Check that
the signal is within the specified value.

STR ANGLE SIG : 0±2.5°

Is the inspection result normal?
YES >> GO TO 10.
NO >> GO TO 4.
4.CHECK STEERING COMPONENT PARTS
Check the installation condition of steering component parts. Refer to ST-11, "Inspection".
Is the inspection result normal?
YES >> GO TO 5.
NO >> Repair or replace error-detected parts. GO TO 5.
5.CHECK SUSPENSION COMPONENT PARTS
Check the installation condition of suspension component parts.
• Front: Refer to FSU-7, "Inspection".
• Rear: Refer to RSU-6, "Inspection".
Is the inspection result normal?
YES >> GO TO 6.
NO >> Repair or replace error-detected parts. GO TO 6.
6.CHECK WHEEL ALIGMENT
Check the wheel alignment.
• Front: Refer to FSU-8, "Inspection".
• Rear: Refer to RSU-7, "Inspection".
Is the inspection result normal?
YES >> GO TO 7.
NO >> Adjust the wheel alignment. GO TO 7.
• Front: Refer to FSU-9, "Adjustment".
• Rear: Refer to RSU-8, "Adjustment".
7.CHECK THE VEHICLE STATUS (2)
Stop vehicle with front wheels in the straight-ahead position.
Does the vehicle stay in the straight-ahead position?
YES >> GO TO 8.
NO >> Steer the steering wheel to the straight-ahead position. GO TO 8.
8.CHECK DATA MONITOR (2)
With CONSULT
1. The vehicle is either pointing straight ahead, or the vehicle needs to be moved. Stop when it is pointing
straight ahead.
2. Select “ABS”, “DATA MONITOR”, “ECU INPUT SIGNALS” and “STR ANGLE SIG” in the order. Check that
the signal is within the specified value.

STR ANGLE SIG : 0±2.5°

Is the inspection result normal?
YES >> GO TO 10.
NO >> GO TO 9.
9.CHECK DATA MONITOR (3)
With CONSULT
1. The vehicle is either pointing straight ahead, or the vehicle needs to be moved.
CAUTION:
• Drive the vehicle at approx. 30 km/h (19MPH) or more for 300 m (985 ft) or more.
• Never use tester

BRC-100
 ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION
< BASIC INSPECTION > [WITH VDC (ESP)]
2. The vehicle is either pointing straight ahead, or the vehicle needs to be moved. Stop when it is pointing
straight ahead. A
3. Select “ABS”, “DATA MONITOR”, “ECU INPUT SIGNALS” and “STR ANGLE SIG” in the order. Check that
the signal is within the specified value.
B
STR ANGLE SIG : 0±2.5°
Is the inspection result normal?
YES >> GO TO 10. C
NO >> GO TO 1.
10.ERASE SELF-DIAGNOSIS MEMORY
D
With CONSULT
1. Record or print self-diagnosis results and freeze frame data (FFD).
2. Erase self-diagnosis result of “ABS”.
Are the memories erased? E
YES >> End of work.
NO >> Check the items indicated by the self-diagnosis.
BRC

BRC-101
 CALIBRATION OF DECEL G SENSOR
< BASIC INSPECTION > [WITH VDC (ESP)]
CALIBRATION OF DECEL G SENSOR
Description INFOID:0000000010723658

CAUTION:
Always perform the decel G sensor calibration before driving when the following operation is per-
formed.
NOTE:
Yaw rate/side/decel G sensor calibration is performed when performing the decel G sensor calibration.
×: Required —: Not required

Procedure Decel G sensor calibration

Removing/ installing ABS actuator and electric unit (control unit) ×
Replacing ABS actuator and electric unit (control unit) ×
Removing/installing steering components —
Replacing steering components —
Removing/installing suspension components —
Replacing suspension components —
Removing/installing tire —
Replacing tire —
Tire rotation —
Adjusting wheel alignment. —

Work Procedure INFOID:0000000010723659

Decel G sensor calibration

CAUTION:
Always use CONSULT for the decel G sensor calibration. (It cannot be adjusted other than with CON-
SULT.)
NOTE:
Yaw rate/side/decel G sensor calibration is performed when performing the decel G sensor calibration.
1.CHECK THE VEHICLE STATUS
1. Steer the steering wheel to the straight-ahead position. Stop the vehicle on level surface.
2. Stop the engine.
3. Turn the ignition switch OFF.
Is the vehicle stopped in the straight-ahead position on level surface?
YES >> GO TO 2.
NO >> Steer the steering wheel to the straight-ahead position. Stop the vehicle on level surface.
2.PERFORM DECEL G SENSOR CALIBRATION
CAUTION:
• Never allow passenger or load on the vehicle.
• Never apply vibration to the vehicle body when opening or closing door during calibration.
With CONSULT
1. Turn the ignition switch ON.
CAUTION:
Never start engine.
2. Select “ABS”, “WORK SUPPORT”, “DECEL G SENSOR CALIBRATION” in this order.
3. Select “START”.
4. After approx. 10 seconds, select “END”.
5. Turn ignition switch OFF and then turn it ON again.
CAUTION:
Be sure to perform the operation above.

>> GO TO 3.

BRC-102
 CALIBRATION OF DECEL G SENSOR
< BASIC INSPECTION > [WITH VDC (ESP)]

3.CHECK DATA MONITOR A

With CONSULT
1. Drive the vehicle. Steer the steering wheel to the straight-ahead position. Stop the vehicle on level sur-
face. B
2. Select “ABS”, “DATA MONITOR”, “ECU INPUT SIGNALS” and “DECEL G SENSOR” in this order. Check
that the signal is within the specified value.

DECEL G SENSOR : Approx. ±0.08 G C

Is the inspection result normal?

YES >> GO TO 4. D
NO >> GO TO 1.
4.ERASE SELF-DIAGNOSIS MEMORY
With CONSULT E
Erase self-diagnosis result of “ABS”.
Are the memories erased?
YES >> End of work. BRC
NO >> Check the items indicated by the self-diagnosis.

BRC-103
 CONFIGURATION [ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)]
< BASIC INSPECTION > [WITH VDC (ESP)]
CONFIGURATION [ABS ACTUATOR AND ELECTRIC UNIT (CONTROL
UNIT)]
Work Procedure INFOID:0000000010723660

CAUTION:
• Use “Manual Configuration” only when “TYPE ID” of ABS actuator and electric unit (control unit)
cannot be read.
• After configuration, turn the ignition switch from OFF to ON and check that the VDC warning lamp
turns OFF after staying illuminated for approximately two seconds.
• If an error occurs during configuration, start over from the beginning.
1.CHECKING TYPE ID (1)
Use FAST (service parts catalogue) to search ABS actuator and electric unit (control unit) of the applicable
vehicle and find “Type ID”.
Is “Type ID” displayed?
YES >> Print out “Type ID” and GO TO 2.
NO >> “Configuration” is not required for ABS actuator and electric unit (control unit). Replace in the
usual manner.
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".
2.CHECKING TYPE ID (2)
CONSULT Configuration
1. Select “Before Replace ECU” of “Read/Write Configuration”.
2. Check that “Type ID” is displayed on the CONSULT screen.
Is “Type ID” displayed?
YES >> GO TO 3.
NO >> GO TO 7.
3.VERIFYING TYPE ID (1)
CONSULT Configuration
Compare a “Type ID” displayed on the CONSULT screen with the one searched by using FAST (service parts
catalogue) to check that these “Type ID” agree with each other.
NOTE:
For the “Type ID” searched by using FAST (service parts catalog), use the last five digits of the “Type ID”.

>> GO TO 4.
4.SAVING TYPE ID
CONSULT Configuration
Save “Type ID” on CONSULT.

>> GO TO 5.
5.REPLACING ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) (1)
Replace the ABS actuator and electric unit (control unit).
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".
CAUTION:
Never perform the following work items:
• Air bleeding
• Adjustment of steering angle sensor neutral position
• Calibration of decel G sensor

>> GO TO 6.
6.WRITING (AUTOMATIC WRITING)
BRC-104
 CONFIGURATION [ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)]
< BASIC INSPECTION > [WITH VDC (ESP)]
CONSULT Configuration
1. Select “After Replace ECU” of “Re/programming, Configuration” or that of “Read / Write Configuration”. A
2. Select the “Type ID” agreeing with the one stored on CONSULT and the one searched by using FAST
(service parts catalogue) to write the “Type ID” into the ABS actuator and electric unit (control unit).
NOTE: B
For the “Type ID” searched by using FAST (service parts catalog), use the last five digits of the “Type ID”.

>> GO TO 9. C
7.REPLACING ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) (2)
Replace the ABS actuator and electric unit (control unit).
• LHD models: Refer to BRC-217, "LHD : Removal and Installation". D
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".
CAUTION:
Never perform the following work items: E
• Air bleeding
• Adjustment of steering angle sensor neutral position
• Calibration of decel G sensor
BRC

>> GO TO 8.
8.WRITING (MANUAL WRITING) G
CONSULT Configuration
1. Select “Manual Configuration”.
2. Select the “Type ID” searched by using FAST (service parts catalogue) to write the “Type ID” into the ABS H
actuator and electric unit (control unit).
NOTE:
For the “Type ID” searched by using FAST (service parts catalog), use the last five digits of the “Type ID”. I

>> GO TO 9.
9.VERIFYING TYPE ID (2) J
Compare “Type ID” written into the ABS actuator and electric unit (control unit) with the one searched by using
FAST (service parts catalogue) to check that these “Type ID” agree with each other.
NOTE: K
For the “Type ID” searched by using FAST (service parts catalog), use the last five digits of the “Type ID”.

>> GO TO 10. L

10.CHECKING VDC WARNING LAMP

1. Turn the ignition switch OFF. M
2. Turn the ignition switch ON and check that the VDC warning lamp turns OFF after staying illuminated for
approximately two seconds.
CAUTION:
Never start the engine. N
Is the inspection result normal?
YES >> GO TO 11.
NO >> Perform the self-diagnosis of “ABS”. O

11.PERFORMING SUPPLEMENTARY WORK

1. Perform the air bleeding. P
- LHD: Refer to BR-14, "Bleeding Brake System".
- RHD: Refer to BR-78, "Bleeding Brake System".
2. Perform the adjustment of steering angle sensor neutral position. Refer to BRC-99, "Work Procedure".
3. Perform the calibration of decel G sensor. Refer to BRC-102, "Work Procedure".
4. Perform the self-diagnosis of all systems.
5. Record or print self-diagnosis result and freeze frame data (FFD).
6. Erase self-diagnosis results.

BRC-105
 CONFIGURATION [ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)]
< BASIC INSPECTION > [WITH VDC (ESP)]

>> End of work.

BRC-106
 C10D7 PARKING BRAKE SYSTEM
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]

DTC/CIRCUIT DIAGNOSIS A
C10D7 PARKING BRAKE SYSTEM
DTC Description INFOID:0000000010723661
B

DTC DETECTION LOGIC

C
Display Item
DTC Malfunction detected condition
(Trouble diagnosis content)
PARKING BRAKE SYSTEM
C10D7 When a malfunction is detected in electric parking brake system. D
(Parking brake system)

POSSIBLE CAUSE
• Harness or connector E
• Electric parking brake control module
• ABS actuator and electric unit (control unit)
FAIL-SAFE BRC
The following functions are suspended.
• Deceleration control (brake control by VDC function) performed by pulling the parking brake switch while
driving the vehicle [10 km/h (6.2 MPH) or more]. G
DTC CONFIRMATION PROCEDURE
1.PRECONDITIONING H
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF
and wait at least 10 seconds before conducting the next test.
I
>> GO TO 2.
2.CHECK DTC DETECTION
J
With CONSULT
1. Turn the ignition switch OFF to ON.
2. Perform self-diagnosis for “ABS”.
K
Is DTC “C10D7” detected?
YES >> Proceed to BRC-107, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
L
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010723662

M
1.CHECK ELECTRIC PARKING BRAKE SYSTEM
With CONSULT
Perform self-diagnosis for “EHS/PKB”. N
Is any DTC detected?
YES >> Check the DTC. Refer to PB-36, "DTC Index".
NO >> GO TO 2. O
2.CHECK CONNECTOR AND TERMINALS
1. Turn the ignition switch OFF. P
2. Disconnect the electric parking brake control module harness connector.
3. Disconnect the ABS actuator and electric unit (control unit) harness connector.
4. Check the each harness connector for disconnection or looseness.
5. Check the each pin terminals for damage or loose connection with harness.
Is the inspection result normal?
YES >> GO TO 3
NO >> Repair or replace error-detected parts, securely lock the connector, and GO TO 3.

BRC-107
 C10D7 PARKING BRAKE SYSTEM
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]

3.PERFORM SELF-DIAGNOSIS
With CONSULT
1. Connect the electric parking brake control module harness connector.
2. Connect the ABS actuator and electric unit (control unit) harness connector.
3. Erase self-diagnosis result for “ABS”.
4. Turn the ignition switch OFF to ON.
5. Perform self-diagnosis for “ABS”.
Is any DTC “C10D7” or “U1000” detected?
YES (“C10D7”)>>Replace the ABS actuator and electric unit (control unit).
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".
YES (“U1000”)>>Refer to LAN-17, "Trouble Diagnosis Flow Chart".
NO >> INSPECTION END

BRC-108
 C1101, C1102, C1103, C1104 WHEEL SENSOR
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
C1101, C1102, C1103, C1104 WHEEL SENSOR
A
DTC Description INFOID:0000000010723663

DTC DETECTION LOGIC B

Display Item
DTC Malfunction detected condition
(Trouble diagnosis content) C
RR RH SENSOR-1
C1101 When an open circuit is detected in rear RH wheel sensor circuit.
(Rear RH wheel sensor-1)
RR LH SENSOR-1 D
C1102 When an open circuit is detected in rear LH wheel sensor circuit.
(Rear LH wheel sensor-1)
FR RH SENSOR-1
C1103 When an open circuit is detected in front RH wheel sensor circuit.
(Front RH wheel sensor-1)
E
FR LH SENSOR-1
C1104 When an open circuit is detected in front LH wheel sensor circuit.
(Front LH wheel sensor-1)

POSSIBLE CAUSE BRC

• Harness or connector
• Wheel sensor
• ABS actuator and electric unit (control unit) G
FAIL-SAFE
The following functions are suspended.
• VDC function H
• TCS function
• ABS function
• EBD function (only when both 2 rear wheels are malfunctioning) I
• Brake limited slip differential (BLSD) function
• Brake assist function
• hill start assist function
• Brake force distribution function J
• Advanced hill descent control function (4WD models with gasoline engine)
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module) K
DTC CONFIRMATION PROCEDURE
1.PRECONDITIONING L
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF
and wait at least 10 seconds before conducting the next test.
M
>> GO TO 2.
2.CHECK DTC DETECTION
N
With CONSULT
1. Start the engine.
2. Drive the vehicle at approx. 30 km/h (19 MPH) or more for approx. 1 minute.
3. Stop the vehicle. O
4. Perform self-diagnosis for “ABS”.
Is any DTC “C1101”, “C1102”, “C1103”, “C1104” detected?
YES >> Proceed to BRC-109, "Diagnosis Procedure". P
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010723664

CAUTION:
Never check between wheel sensor harness connector terminals.

BRC-109
 C1101, C1102, C1103, C1104 WHEEL SENSOR
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]

1.CHECK WHEEL SENSOR

1. Turn the ignition switch OFF.
2. Check the wheel sensor for damage.
Is the inspection result normal?
YES >> GO TO 3.
NO >> GO TO 2.
2.REPLACE WHEEL SENSOR (1)
With CONSULT
1. Replace the wheel sensor.
- Front: Refer to BRC-212, "FRONT WHEEL SENSOR : Removal and Installation".
- Rear: Refer to BRC-214, "REAR WHEEL SENSOR : Removal and Installation".
2. Erase self-diagnosis result for “ABS”.
3. Turn the ignition switch OFF, and wait 10 seconds or more.
4. Start the engine.
5. Drive the vehicle at approx. 30 km/h (19 MPH) or more for approx. 1 minute.
6. Stop the vehicle.
7. Perform self-diagnosis for “ABS”.
Is any DTC “C1101”, “C1102”, “C1103”, “C1104” detected?
YES >> GO TO 3.
NO >> INSPECTION END
3.CHECK CONNECTOR
1. Turn the ignition switch OFF.
2. Check the ABS actuator and electric unit (control unit) harness connector for disconnection or looseness.
3. Check the wheel sensor harness connector for disconnection or looseness.
Is the inspection result normal?
YES >> GO TO 4.
NO >> Repair or replace error-detected parts, securely lock the connector, and GO TO 4.
4.PERFORM SELF-DIAGNOSIS (1)
With CONSULT
1. Erase self-diagnosis result for “ABS”.
2. Turn the ignition switch OFF, and wait 10 seconds or more.
3. Start the engine.
4. Drive the vehicle at approx. 30 km/h (19 MPH) or more for approx. 1 minute.
5. Stop the vehicle.
6. Perform self-diagnosis for “ABS”.
Is any DTC “C1101”, “C1102”, “C1103”, “C1104” detected?
YES >> GO TO 5.
NO >> INSPECTION END
5.CHECK TERMINAL
1. Turn the ignition switch OFF.
2. Disconnect the ABS actuator and electric unit (control unit) harness connector and then check the ABS
actuator and electric unit (control unit) pin terminals for damage or loose connection with harness connec-
tor.
3. Disconnect the each wheel sensor harness connector and then check the each wheel sensor pin termi-
nals for damage or loose connection with harness connector.
Is the inspection result normal?
YES >> GO TO 7.
NO >> Repair or replace error-detected parts, and GO TO 6.
6.PERFORM SELF-DIAGNOSIS (2)
With CONSULT
1. Connect the ABS actuator and electric unit (control unit) harness connector.
2. Connect the wheel sensor harness connector.

BRC-110
 C1101, C1102, C1103, C1104 WHEEL SENSOR
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
3. Erase self-diagnosis result for “ABS”.
4. Turn the ignition switch OFF, and wait 10 seconds or more. A
5. Start the engine.
6. Drive the vehicle at approx. 30 km/h (19 MPH) or more for approx. 1 minute.
7. Stop the vehicle.
B
8. Perform self-diagnosis for “ABS”.
Is any DTC “C1101”, “C1102”, “C1103”, “C1104” detected?
YES >> GO TO 7.
C
NO >> INSPECTION END
7.CHECK WHEEL SENSOR HARNESS
1. Turn the ignition switch OFF. D
2. Disconnect the ABS actuator and electric unit (control unit) harness connector.
3. Disconnect the wheel sensor harness connector.
4. Check the continuity between ABS actuator and electric unit (control unit) harness connector and wheel E
sensor harness connector. (Check the continuity when steering wheel is steered to RH and LH, or center
harness in wheel housing is moved.)
Measurement connector and terminal for power supply circuit
BRC
ABS actuator and electric unit (control unit) Wheel sensor
Continuity
Connector Terminal Connector Terminal
19 E22 (FR LH wheel) 1 G
16 E39 (FR RH wheel) 3
E36 Existed
31 B44 (RR LH wheel) 5
H
17 B41 (RR RH wheel) 7

Measurement connector and terminal for signal circuit

ABS actuator and electric unit (control unit) Wheel sensor I

Continuity
Connector Terminal Connector Terminal
8 E22 (FR LH wheel) 2
J
4 E39 (FR RH wheel) 4
E36 Existed
18 B44 (RR LH wheel) 6
29 B41 (RR RH wheel) 8 K
Is the inspection result normal?
YES >> GO TO 9.
NO >> Repair or replace error-detected parts, and GO TO 8. L

8.PERFORM SELF-DIAGNOSIS (3)

With CONSULT M
1. Connect the ABS actuator and electric unit (control unit) harness connector.
2. Connect the wheel sensor harness connector.
3. Turn the ignition switch OFF, and wait 10 seconds or more. N
4. Erase self-diagnosis result for “ABS”.
5. Start the engine.
6. Drive the vehicle at approx. 30 km/h (19 MPH) or more for approx. 1 minute.
7. Stop the vehicle. O
8. Perform self-diagnosis for “ABS”.
Is any DTC “C1101”, “C1102”, “C1103”, “C1104” detected?
YES >> GO TO 9. P
NO >> INSPECTION END
9.REPLACE WHEEL SENSOR (2)
With CONSULT
1. Replace the wheel sensor.
- Front: Refer to BRC-212, "FRONT WHEEL SENSOR : Removal and Installation".
- Rear: Refer to BRC-214, "REAR WHEEL SENSOR : Removal and Installation".

BRC-111
 C1101, C1102, C1103, C1104 WHEEL SENSOR
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
2. Turn the ignition switch OFF, and wait 10 seconds or more.
3. Erase self-diagnosis result for “ABS”.
4. Start the engine.
5. Drive the vehicle at approx. 30 km/h (19 MPH) or more for approx. 1 minute.
6. Stop the vehicle.
7. Perform self-diagnosis for “ABS”.
Is any DTC “C1101”, “C1102”, “C1103”, “C1104” detected?
YES >> Replace the ABS actuator and electric unit (control unit).
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".
NO >> INSPECTION END

BRC-112
 C1105, C1106, C1107, C1108 WHEEL SENSOR
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
C1105, C1106, C1107, C1108 WHEEL SENSOR
A
DTC Description INFOID:0000000010723665

DTC DETECTION LOGIC B

Display Item
DTC Malfunction detected condition
(Trouble diagnosis content) C
• When a short circuit is detected in rear RH wheel sensor circuit.
• When power supply voltage of rear RH wheel sensor is in following state.
RR RH SENSOR-2 - Rear RH wheel sensor power supply voltage: 7.2 V ≥ Rear RH wheel sensor power supply
C1105 D
(Rear RH wheel sensor-2) voltage
• When distance between rear RH wheel sensor and rear RH wheel sensor rotor is large.
• When installation of rear RH wheel sensor or rear RH wheel sensor rotor is not normal.
• When a short circuit is detected in rear LH wheel sensor circuit. E
• When power supply voltage of rear LH wheel sensor is in following state.
RR LH SENSOR-2 - Rear LH wheel sensor power supply voltage: 7.2 V ≥ Rear LH wheel sensor power supply
C1106
(Rear LH wheel sensor-2) voltage
• When distance between rear LH wheel sensor and rear LH wheel sensor rotor is large. BRC
• When installation of rear LH wheel sensor or rear LH wheel sensor rotor is not normal.
• When a short circuit is detected in front RH wheel sensor circuit.
• When power supply voltage of front RH wheel sensor is in following state. G
FR RH SENSOR-2 - Front RH wheel sensor power supply voltage: 7.2 V ≥ Front RH wheel sensor power sup-
C1107
(Front RH wheel sensor-2) ply voltage
• When distance between front RH wheel sensor and front RH wheel sensor rotor is large.
• When installation of front RH wheel sensor or front RH wheel sensor rotor is not normal. H
• When a short circuit is detected in front LH wheel sensor circuit.
• When power supply voltage of front LH wheel sensor is in following state.
FR LH SENSOR-2 - Front LH wheel sensor power supply voltage: 7.2 V ≥ Front LH wheel sensor power supply I
C1108
(Front LH wheel sensor-2) voltage
• When distance between front LH wheel sensor and front LH wheel sensor rotor is large.
• When installation of front LH wheel sensor or front LH wheel sensor rotor is not normal.
J
POSSIBLE CAUSE
• Harness or connector
• Wheel sensor K
• ABS actuator and electric unit (control unit)
• Sensor rotor
FAIL-SAFE L
The following functions are suspended.
• VDC function
• TCS function
M
• ABS function
• EBD function (only when both 2 rear wheels are malfunctioning)
• Brake limited slip differential (BLSD) function
• Brake assist function N
• Brake force distribution function
• hill start assist function
• Advanced hill descent control function (4WD models with gasoline engine)
O
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
DTC CONFIRMATION PROCEDURE P
1.PRECONDITIONING
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF
and wait at least 10 seconds before conducting the next test.

>> GO TO 2.

BRC-113
 C1105, C1106, C1107, C1108 WHEEL SENSOR
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]

2.CHECK DTC DETECTION

With CONSULT
1. Start the engine.
2. Drive the vehicle at approx. 30 km/h (19 MPH) or more for approx. 1 minute.
3. Stop the vehicle.
4. Perform self-diagnosis for “ABS”.
Is any DTC “C1105”, “C1106”, “C1107”, “C1108” detected?
YES >> Proceed to BRC-114, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010723666

CAUTION:
Never check between wheel sensor harness connector terminals.
1.ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) POWER SUPPLY SYSTEM
Check the ABS actuator and electric unit (control unit) power supply system. Refer to BRC-188, "Diagnosis
Procedure".
Is the inspection result normal?
YES >> GO TO 2.
NO >> Repair or replace error-detected parts.
2.CHECK TIRE
1. Turn the ignition switch OFF.
2. Check tire air pressure, wear and size. Refer to WT-66, "Tire Air Pressure".
Is the inspection result normal?
YES >> GO TO 5.
NO >> Adjust air pressure or replace tire, and GO TO 3.
3.CHECK DATA MONITOR (1)
With CONSULT
1. Erase self-diagnosis result for “ABS”.
2. Turn the ignition switch OFF, and wait 10 seconds or more.
3. Start the engine.
4. Select “ABS” and “DATA MONITOR”, check “FR LH SENSOR”, “FR RH SENSOR”, “RR LH SENSOR”
and “RR RH SENSOR”.
NOTE:
Set the “DATA MONITOR” recording speed to “10 msec”.
5. Read a value (wheel speed) of both normal wheel sensors and error-detecting wheel sensor.
Regarding the deference at 30 km/h (19 MPH) between the wheel speed detected by the error detecting
wheel sensor and the maximum/minimum wheel speed detected by the normal wheel sensors, is the differ-
ence within 5%, respectively?
YES >> GO TO 4.
NO >> GO TO 5.
4.PERFORM SELF-DIAGNOSIS (1)
With CONSULT
1. Drive the vehicle at approx. 30 km/h (19 MPH) or more for approx. 1 minute.
2. Stop the vehicle.
3. Perform self-diagnosis for “ABS”.
Is any DTC “C1105”, “C1106”, “C1107”, “C1108” detected?
YES >> GO TO 5.
NO >> INSPECTION END
5.CHECK WHEEL SENSOR
1. Turn the ignition switch OFF.
2. Check the wheel sensor for damage.
BRC-114
 C1105, C1106, C1107, C1108 WHEEL SENSOR
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
3. Remove dust and foreign matter adhered to the sensor rotor with a vacuum dust collector through the
wheel sensor mounting hole. A
CAUTION:
Install wheel sensor with no backlash and float, and tighten the mounting bolt to the specified
torque.
B
• Front: Refer to BRC-212, "FRONT WHEEL SENSOR : Exploded View".
• Rear: BRC-213, "REAR WHEEL SENSOR : Exploded View".
Is the inspection result normal?
C
YES >> GO TO 8.
NO >> GO TO 6.
6.REPLACE WHEEL SENSOR (1) D
With CONSULT
1. Replace the wheel sensor.
- Front: Refer to BRC-212, "FRONT WHEEL SENSOR : Removal and Installation". E
- Rear: Refer to BRC-214, "REAR WHEEL SENSOR : Removal and Installation".
2. Erase self-diagnosis result for “ABS”.
3. Turn the ignition switch OFF, and wait 10 seconds or more.
4. Start the engine. BRC
5. Select “ABS” and “DATA MONITOR”, check “FR LH SENSOR”, “FR RH SENSOR”, “RR LH SENSOR”
and “RR RH SENSOR”.
NOTE: G
Set the “DATA MONITOR” recording speed to “10 msec”.
6. Read a value (wheel speed) of both normal wheel sensors and error-detecting wheel sensor.
Regarding the deference at 30 km/h (19 MPH) between the wheel speed detected by the error detecting H
wheel sensor and the maximum/minimum wheel speed detected by the normal wheel sensors, is the differ-
ence within 5%, respectively?
YES >> GO TO 7.
I
NO >> GO TO 19.
7.PERFORM SELF-DIAGNOSIS (2)
With CONSULT J
1. Drive the vehicle at approx. 30 km/h (19 MPH) or more for approx. 1 minute.
2. Stop the vehicle.
3. Perform self-diagnosis for “ABS”. K
Is any DTC “C1105”, “C1106”, “C1107”, “C1108” detected?
YES >> GO TO 19.
NO >> INSPECTION END L
8.CHECK CONNECTOR
1. Turn the ignition switch OFF.
2. Check the ABS actuator and electric unit (control unit) harness connector for disconnection or looseness. M
3. Check the wheel sensor harness connector for disconnection or looseness.
Is the inspection result normal?
YES >> GO TO 11. N
NO >> Repair or replace error-detected parts, securely lock the connector, and GO TO 9.
9.CHECK DATA MONITOR (2) O
With CONSULT
1. Erase self-diagnosis result for “ABS”.
2. Turn the ignition switch OFF, and wait 10 seconds or more.
P
3. Start the engine.
4. Select “ABS” and “DATA MONITOR”, check “FR LH SENSOR”, “FR RH SENSOR”, “RR LH SENSOR”
and “RR RH SENSOR”.
NOTE:
Set the “DATA MONITOR” recording speed to “10 msec”.
5. Read a value (wheel speed) of both normal wheel sensors and error-detecting wheel sensor.

BRC-115
 C1105, C1106, C1107, C1108 WHEEL SENSOR
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
Regarding the deference at 30 km/h (19 MPH) between the wheel speed detected by the error detecting
wheel sensor and the maximum/minimum wheel speed detected by the normal wheel sensors, is the differ-
ence within 5%, respectively?
YES >> GO TO 10.
NO >> GO TO 11.
10.PERFORM SELF-DIAGNOSIS (3)
With CONSULT
1. Drive the vehicle at approx. 30 km/h (19 MPH) or more for approx. 1 minute.
2. Stop the vehicle.
3. Perform self-diagnosis for “ABS”.
Is any DTC “C1105”, “C1106”, “C1107”, “C1108” detected?
YES >> GO TO 11.
NO >> INSPECTION END
11.CHECK TERMINAL
1. Turn the ignition switch OFF.
2. Disconnect the ABS actuator and electric unit (control unit) harness connector and then check the ABS
actuator and electric unit (control unit) pin terminals for damage or loose connection with harness connec-
tor.
3. Disconnect the each wheel sensor harness connector and then check the each wheel sensor pin termi-
nals for damage or loose connection with harness connector.
Is the inspection result normal?
YES >> GO TO 14.
NO >> Repair or replace error-detected parts, and GO TO 12.
12.CHECK DATA MONITOR (3)
With CONSULT
1. Connect the ABS actuator and electric unit (control unit) harness connector.
2. Connect the wheel sensor harness connector.
3. Erase self-diagnosis result for “ABS”.
4. Turn the ignition switch OFF, and wait 10 seconds or more.
5. Start the engine.
6. Select “ABS” and “DATA MONITOR”, check “FR LH SENSOR”, “FR RH SENSOR”, “RR LH SENSOR”
and “RR RH SENSOR”.
NOTE:
Set the “DATA MONITOR” recording speed to “10 msec”.
7. Read a value (wheel speed) of both normal wheel sensors and error-detecting wheel sensor.
Regarding the deference at 30 km/h (19 MPH) between the wheel speed detected by the error detecting
wheel sensor and the maximum/minimum wheel speed detected by the normal wheel sensors, is the differ-
ence within 5%, respectively?
YES >> GO TO 13.
NO >> GO TO 14.
13.PERFORM SELF-DIAGNOSIS (4)
With CONSULT
1. Drive the vehicle at approx. 30 km/h (19 MPH) or more for approx. 1 minute.
2. Stop the vehicle.
3. Perform self-diagnosis for “ABS”.
Is any DTC “C1105”, “C1106”, “C1107”, “C1108” detected?
YES >> GO TO 14.
NO >> INSPECTION END
14.CHECK WHEEL SENSOR HARNESS
1. Turn the ignition switch OFF.
2. Disconnect the ABS actuator and electric unit (control unit) harness connector.
3. Disconnect the wheel sensor harness connector.
4. Check the continuity between ABS actuator and electric unit (control unit) harness connector and the
ground.
BRC-116
 C1105, C1106, C1107, C1108 WHEEL SENSOR
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]

ABS actuator and electric unit (control unit) A

— Continuity
Connector Terminal
19, 8
B
16, 4
E36 Ground Not existed
31, 18
17, 29 C
Is the inspection result normal?
YES >> GO TO 15.
NO >> Repair or replace error-detected parts, and GO TO 15. D
15.CHECK DATA MONITOR (4)
With CONSULT E
1. Connect the ABS actuator and electric unit (control unit) harness connector.
2. Connect the wheel sensor harness connector.
3. Erase self-diagnosis result for “ABS”.
BRC
4. Turn the ignition switch OFF, and wait 10 seconds or more.
5. Start the engine.
6. Select “ABS” and “DATA MONITOR”, check “FR LH SENSOR”, “FR RH SENSOR”, “RR LH SENSOR”
and “RR RH SENSOR”. G
NOTE:
Set the “DATA MONITOR” recording speed to “10 msec”.
7. Read a value (wheel speed) of both normal wheel sensors and error-detecting wheel sensor. H
Regarding the deference at 30 km/h (19 MPH) between the wheel speed detected by the error detecting
wheel sensor and the maximum/minimum wheel speed detected by the normal wheel sensors, is the differ-
ence within 5%, respectively?
I
YES >> GO TO 16.
NO >> GO TO 17.
16.PERFORM SELF-DIAGNOSIS (5) J
With CONSULT
1. Drive the vehicle at approx. 30 km/h (19 MPH) or more for approx. 1 minute.
2. Stop the vehicle. K
3. Perform self-diagnosis for “ABS”.
Is any DTC “C1105”, “C1106”, “C1107”, “C1108” detected?
YES >> GO TO 17. L
NO >> INSPECTION END
17.REPLACE WHEEL SENSOR (2)
M
With CONSULT
1. Replace the wheel sensor.
- Front: Refer to BRC-212, "FRONT WHEEL SENSOR : Removal and Installation".
- Rear: Refer to BRC-214, "REAR WHEEL SENSOR : Removal and Installation". N
2. Erase self-diagnosis result for “ABS”.
3. Turn the ignition switch OFF, and wait 10 seconds or more.
4. Start the engine. O
5. Select “ABS” and “DATA MONITOR”, check “FR LH SENSOR”, “FR RH SENSOR”, “RR LH SENSOR”
and “RR RH SENSOR”.
NOTE:
Set the “DATA MONITOR” recording speed to “10 msec”. P
6. Read a value (wheel speed) of both normal wheel sensors and error-detecting wheel sensor.
Regarding the deference at 30 km/h (19 MPH) between the wheel speed detected by the error detecting
wheel sensor and the maximum/minimum wheel speed detected by the normal wheel sensors, is the differ-
ence within 5%, respectively?
YES >> GO TO 18.
NO >> GO TO 19.

BRC-117
 C1105, C1106, C1107, C1108 WHEEL SENSOR
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]

18.PERFORM SELF-DIAGNOSIS (6)

With CONSULT
1. Drive the vehicle at approx. 30 km/h (19 MPH) or more for approx. 1 minute.
2. Stop the vehicle.
3. Perform self-diagnosis for “ABS”.
Is any DTC “C1105”, “C1106”, “C1107”, “C1108” detected?
YES >> GO TO 19.
NO >> INSPECTION END
19.REPLACE SENSOR ROTOR
With CONSULT
1. Replace the sensor rotor.
- Front: Refer to BRC-216, "FRONT SENSOR ROTOR : Removal and Installation".
- Rear: Refer to BRC-216, "REAR SENSOR ROTOR : Removal and Installation".
2. Erase self-diagnosis result for “ABS”.
3. Turn the ignition switch OFF, and wait 10 seconds or more.
4. Start the engine.
5. Drive the vehicle at approx. 30 km/h (19 MPH) or more for approx. 1 minute.
6. Stop the vehicle.
7. Perform self-diagnosis for “ABS”.
Is any DTC “C1105”, “C1106”, “C1107”, “C1108” detected?
YES >> Replace the ABS actuator and electric unit (control unit).
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".
NO >> INSPECTION END

BRC-118
 C1109 POWER AND GROUND SYSTEM
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
C1109 POWER AND GROUND SYSTEM
A
DTC Description INFOID:0000000010723667

DTC DETECTION LOGIC B

Display Item
DTC Malfunction detected condition
(Trouble diagnosis content) C
When ignition power supply voltage is in following state.
BATTERY VOLTAG [ABNORMAL]
C1109 • Ignition power supply voltage: 10 V ≥ Ignition power supply voltage
(Battery voltage [abnormal])
• Ignition power supply voltage: 16 V ≤ Ignition power supply voltage
D
POSSIBLE CAUSE
• Harness or connector
• ABS actuator and electric unit (control unit) E
• Fuse
• Ignition power supply system
• Battery
BRC
FAIL-SAFE
The following functions are suspended.
• VDC function G
• TCS function
• ABS function
• EBD function
• Brake limited slip differential (BLSD) function H
• Brake assist function
• Brake force distribution function
• hill start assist function I
• Advanced hill descent control function (4WD models with gasoline engine)
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
J
DTC CONFIRMATION PROCEDURE
1.PRECONDITIONING
K
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF
and wait at least 10 seconds before conducting the next test.

L
>> GO TO 2.
2.CHECK DTC DETECTION
With CONSULT M
1. Turn the ignition switch OFF to ON.
2. Perform self-diagnosis for “ABS”.
Is DTC “C1109” detected? N
YES >> Proceed to BRC-119, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END O
Diagnosis Procedure INFOID:0000000010723668

1.CHECK CONNECTOR P

1. Turn the ignition switch OFF.

2. Check the ABS actuator and electric unit (control unit) harness connector for disconnection or looseness.
Is the inspection result normal?
YES >> GO TO 3.
NO >> Repair or replace error-detected parts, securely lock the connector, and GO TO 2.

BRC-119
 C1109 POWER AND GROUND SYSTEM
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]

2.PERFORM SELF-DIAGNOSIS
Perform self-diagnosis for “ABS” again.
Is DTC “C1109” detected?
YES >> GO TO 3.
NO >> INSPECTION END
3.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) IGNITION POWER SUPPLY
1. Turn the ignition switch OFF.
2. Disconnect the ABS actuator and electric unit (control unit) harness connector.
3. Check the voltage between ABS actuator and electric unit (control unit) harness connector and ground.

ABS actuator and electric unit (control unit)

— Voltage
Connector Terminal
E36 28 Ground Approx. 0 V
4. Turn the ignition switch ON.
CAUTION:
Never start engine.
5. Check the voltage between ABS actuator and electric unit (control unit) harness connector and ground.

ABS actuator and electric unit (control unit)

— Voltage
Connector Terminal
E36 28 Ground 10 − 16 V
Is the inspection result normal?
YES >> GO TO 6.
NO (with stop / start system)>>GO TO 4.
NO (without stop / start system)>>GO TO 5.
4.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) IGNITION POWER SUPPLY CIRCUIT
(WITH STOP / START SYSTEM)
1. Turn the ignition switch OFF.
2. Check the 10A fuse (#60).
3. Check the continuity and short circuit between ABS actuator and electric unit (control unit) harness con-
nector terminal (28) and 10A fuse (#60).
Is the inspection result normal?
YES >> Perform trouble diagnosis for ignition power supply.
NO >> Repair or replace error-detected parts.
5.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) IGNITION POWER SUPPLY CIRCUIT
(WITHOUT STOP / START SYSTEM)
1. Turn the ignition switch OFF.
2. Check the 10A fuse (#21).
3. Check the continuity and short circuit between ABS actuator and electric unit (control unit) harness con-
nector terminal (28) and 10A fuse (#21).
Is the inspection result normal?
YES >> Perform trouble diagnosis for ignition power supply.
NO >> Repair or replace error-detected parts.
6.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) GROUND CIRCUIT
1. Turn the ignition switch OFF.
2. Check the continuity between ABS actuator and electric unit (control unit) harness connector and the
ground.

BRC-120
 C1109 POWER AND GROUND SYSTEM
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]

ABS actuator and electric unit (control unit) A

— Continuity
Connector Terminal
13
E36 Ground Existed B
38
Is the inspection result normal?
YES >> GO TO 7. C
NO >> Repair or replace error-detected parts.
7.CHECK TERMINAL
D
Check ABS actuator and electric unit (control unit) pin terminals for damage or loose connection with harness.
Is the inspection result normal?
YES >> Replace the ABS actuator and electric unit (control unit). E
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".
NO >> Repair or replace error-detected parts.
BRC

BRC-121
 C1110, C1153 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
C1110, C1153 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
DTC Description INFOID:0000000010723669

DTC DETECTION LOGIC

Display Item
DTC Malfunction detected condition
(Trouble diagnosis content)
CONTROLLER FAILURE
C1110 When there is an internal malfunction in the ABS actuator and electric unit (control unit).
(Controller failure)
EMERGENCY BRAKE When ABS actuator and electric unit (control unit) is malfunctioning. (Pressure increase
C1153
(Emergency brake) is too much or too little)

POSSIBLE CAUSE
• ABS actuator and electric unit (control unit)
FAIL-SAFE
The following functions are suspended.
• VDC function
• TCS function
• ABS function
• EBD function (When DTC “C1110”)
• Brake limited slip differential (BLSD) function
• Brake assist function
• hill start assist function
• Brake force distribution function
• Advanced hill descent control function (4WD models with gasoline engine)
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
DTC CONFIRMATION PROCEDURE
1.PRECONDITIONING
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF
and wait at least 10 seconds before conducting the next test.

>> GO TO 2.
2.CHECK DTC DETECTION
With CONSULT
1. Turn the ignition switch OFF to ON.
2. Perform self-diagnosis for “ABS”.
Is any DTC “C1110” or “C1153” detected?
YES >> Proceed to BRC-122, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010723670

1.CHECK SELF-DIAGNOSIS RESULTS

Replace the ABS actuator and electric unit (control unit) even if other display than “C1110” or “C1153” is dis-
played in self-diagnosis for “ABS”.

>> Replace the ABS actuator and electric unit (control unit).
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".

BRC-122
 C1111 ABS MOTOR, MOTOR RELAY SYSTEM
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
C1111 ABS MOTOR, MOTOR RELAY SYSTEM
A
DTC Description INFOID:0000000010723671

DTC DETECTION LOGIC B

Display Item
DTC Malfunction detected condition
(Trouble diagnosis content) C
PUMP MOTOR
C1111 When a malfunction is detected in motor or motor relay.
(Pump motor and motor relay)

POSSIBLE CAUSE D
• Harness or connector
• ABS actuator and electric unit (control unit)
• Fusible link E
• Battery power supply system
FAIL-SAFE
The following functions are suspended. BRC
• VDC function
• TCS function
• ABS function G
• Brake limited slip differential (BLSD) function
• Brake assist function
• hill start assist function
• Brake force distribution function H
• Advanced hill descent control function (4WD models with gasoline engine)
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module) I
DTC CONFIRMATION PROCEDURE
1.PRECONDITIONING J
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF
and wait at least 10 seconds before conducting the next test.
K
>> GO TO 2.
2.CHECK DTC DETECTION
L
With CONSULT
1. Turn the ignition switch OFF to ON.
2. Perform self-diagnosis for “ABS”.
M
Is DTC “C1111” detected?
YES >> Proceed to BRC-123, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END N

Diagnosis Procedure INFOID:0000000010723672

O
1.CHECK CONNECTOR
1. Turn the ignition switch OFF.
2. Check the ABS actuator and electric unit (control unit) harness connector for disconnection or looseness. P
Is the inspection result normal?
YES >> GO TO 3.
NO >> Repair or replace error-detected parts, securely lock the connector, and GO TO 2.
2.PERFORM SELF-DIAGNOSIS
Perform self-diagnosis for “ABS” again.
Is DTC “C1111” detected?

BRC-123
 C1111 ABS MOTOR, MOTOR RELAY SYSTEM
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
YES >> GO TO 3.
NO >> INSPECTION END
3.CHECK ABS MOTOR AND MOTOR RELAY POWER SUPPLY
1. Turn the ignition switch OFF.
2. Disconnect the ABS actuator and electric unit (control unit) harness connector.
3. Check the voltage between ABS actuator and electric unit (control unit) harness connector and ground.

ABS actuator and electric unit (control unit)

— Voltage
Connector Terminal
E36 1 Ground 10 – 16 V
4. Turn the ignition switch ON.
CAUTION:
Never start engine.
5. Check the voltage between ABS actuator and electric unit (control unit) harness connector and ground.

ABS actuator and electric unit (control unit)

— Voltage
Connector Terminal
E36 1 Ground 10 – 16 V
Is the inspection result normal?
YES >> GO TO 6.
NO (R9M engine models)>>GO TO 4.
NO (Except for R9M engine models)>>GO TO 5.
4.CHECK ABS MOTOR AND MOTOR RELAY POWER SUPPLY CIRCUIT (R9M ENGINE MODELS)
1. Turn the ignition switch OFF.
2. Check the 40A fusible link (#M).
3. Check continuity and short circuit between ABS actuator and electric unit (control unit) harness connector
terminal (1) and 40A fusible link (#M).
Is the inspection result normal?
YES >> Perform trouble diagnosis for battery power supply.
NO >> Repair or replace error-detected parts.
5.CHECK ABS MOTOR AND MOTOR RELAY POWER SUPPLY CIRCUIT (EXCEPT FOR R9M ENGINE
MODELS)
1. Turn the ignition switch OFF.
2. Check the 40A fusible link (#K).
3. Check continuity and short circuit between ABS actuator and electric unit (control unit) harness connector
terminal (1) and 40A fusible link (#K).
Is the inspection result normal?
YES >> Perform trouble diagnosis for battery power supply.
NO >> Repair or replace error-detected parts.
6.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) GROUND CIRCUIT
1. Turn the ignition switch OFF.
2. Check the continuity between ABS actuator and electric unit (control unit) harness connector and the
ground.

ABS actuator and electric unit (control unit)

— Continuity
Connector Terminal
13 Existed
E36 Ground
38
Is the inspection result normal?
YES >> GO TO 7.

BRC-124
 C1111 ABS MOTOR, MOTOR RELAY SYSTEM
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
NO >> Repair or replace error-detected parts.
7.CHECK TERMINAL A

Check ABS actuator and electric unit (control unit) pin terminals for damage or loose connection with harness.
Is the inspection result normal? B
YES >> Replace the ABS actuator and electric unit (control unit).
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".
C
NO >> Repair or replace error-detected parts.

BRC

BRC-125
 C1113, C1145, C1146 YAW RATE/SIDE/DECEL G SENSOR
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
C1113, C1145, C1146 YAW RATE/SIDE/DECEL G SENSOR
DTC Description INFOID:0000000010723673

DTC DETECTION LOGIC

Display Item
DTC Malfunction detected condition
(Trouble diagnosis content)
G SENSOR
C1113 When a malfunction is detected in decel G sensor signal.
(Decel G sensor)
YAW RATE SENSOR
C1145 When a malfunction is detected in yaw rate sensor signal.
(Yaw rate sensor circuit)
SIDE G-SEN CIRCUIT
C1146 When a malfunction is detected in side G sensor signal.
(Side G sensor circuit)

POSSIBLE CAUSE
• Harness or connector
• ABS actuator and electric unit (control unit)
FAIL-SAFE
The following functions are suspended.
• VDC function
• TCS function
• ABS function (4WD models)
• Brake limited slip differential (BLSD) function
• Brake assist function (4WD models)
• Brake force distribution function
• hill start assist function
• Advanced hill descent control function (4WD models with gasoline engine)
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
DTC CONFIRMATION PROCEDURE
1.PRECONDITIONING
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF
and wait at least 10 seconds before conducting the next test.

>> GO TO 2.
2.CHECK DTC DETECTION
With CONSULT
1. Turn the ignition switch OFF to ON.
2. Perform self-diagnosis for “ABS”.
Is any DTC “C1113”, “C1145”, “C1146” detected?
YES >> Proceed to BRC-126, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010723674

1.CHECK SELF-DIAGNOSIS RESULTS

Replace the ABS actuator and electric unit (control unit) even if other display than “C1113”, “C1145” or “C1146”
is displayed in self-diagnosis for “ABS”.

>> Replace the ABS actuator and electric unit (control unit).
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".

BRC-126
 C1115 WHEEL SENSOR
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
C1115 WHEEL SENSOR
A
DTC Description INFOID:0000000010723675

DTC DETECTION LOGIC B

Display Item
DTC Malfunction detected condition
(Trouble diagnosis content) C
ABS SENSOR [ABNORMAL SIGNAL] When difference in wheel speed between any wheel and others is detected during
C1115
(Wheel sensor [abnormal signal]) the vehicle is driven, because of installation of other tires than specified.

POSSIBLE CAUSE D
• Harness or connector
• Wheel sensor
• Sensor rotor E
• ABS actuator and electric unit (control unit)
FAIL-SAFE
The following functions are suspended. BRC
• VDC function
• TCS function
• ABS function G
• EBD function
• Brake limited slip differential (BLSD) function
• Brake assist function
• Brake force distribution function H
• hill start assist function
• Advanced hill descent control function (4WD models with gasoline engine)
• Active trace control function (control of chassis control module) I
• Active ride control function (control of chassis control module)
DTC CONFIRMATION PROCEDURE
J
1.PRECONDITIONING
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF
and wait at least 10 seconds before conducting the next test. K

>> GO TO 2.
2.CHECK DTC DETECTION L

With CONSULT
1. Start the engine.
2. Drive the vehicle at approx. 30 km/h (19 MPH) or more for approx. 1 minute. M
3. Stop the vehicle.
4. Perform self-diagnosis for “ABS”.
Is DTC “C1115” detected? N
YES >> Proceed to BRC-127, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END O
Diagnosis Procedure INFOID:0000000010723676

CAUTION: P
Never check between wheel sensor harness connector terminals.
1.ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) POWER SUPPLY SYSTEM
Check the ABS actuator and electric unit (control unit) power supply system. Refer to BRC-188, "Diagnosis
Procedure".
Is the inspection result normal?
YES >> GO TO 2.
BRC-127
 C1115 WHEEL SENSOR
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
NO >> Repair or replace error-detected parts.
2.CHECK TIRE
1. Turn the ignition switch OFF.
2. Check tire air pressure, wear and size. Refer to WT-66, "Tire Air Pressure".
Is the inspection result normal?
YES >> GO TO 5.
NO >> Adjust air pressure or replace tire, and GO TO 3.
3.CHECK DATA MONITOR (1)
With CONSULT
1. Erase self-diagnosis result for “ABS”.
2. Turn the ignition switch OFF, and wait 10 seconds or more.
3. Start the engine.
4. Select “ABS” and “DATA MONITOR”, check “FR LH SENSOR”, “FR RH SENSOR”, “RR LH SENSOR”
and “RR RH SENSOR”.
NOTE:
Set the “DATA MONITOR” recording speed to “10 msec”.
5. Read a value (wheel speed) of both normal wheel sensors and error-detecting wheel sensor.
Regarding the deference at 30 km/h (19 MPH) between the wheel speed detected by the error detecting
wheel sensor and the maximum/minimum wheel speed detected by the normal wheel sensors, is the differ-
ence within 5%, respectively?
YES >> GO TO 4.
NO >> GO TO 5.
4.PERFORM SELF-DIAGNOSIS (1)
With CONSULT
1. Drive the vehicle at approx. 30 km/h (19 MPH) or more for approx. 1 minute.
2. Stop the vehicle.
3. Perform self-diagnosis for “ABS”.
Is DTC “C1115” detected?
YES >> GO TO 5.
NO >> INSPECTION END
5.CHECK WHEEL SENSOR
1. Turn the ignition switch OFF.
2. Check the wheel sensor for damage.
3. Remove dust and foreign matter adhered to the sensor rotor with a vacuum dust collector through the
wheel sensor mounting hole.
CAUTION:
Install wheel sensor with no backlash and float, and tighten the mounting bolt to the specified
torque.
• Front: Refer to BRC-212, "FRONT WHEEL SENSOR : Exploded View".
• Rear: Refer to BRC-213, "REAR WHEEL SENSOR : Exploded View".
Is the inspection result normal?
YES >> GO TO 8.
NO >> GO TO 6.
6.REPLACE WHEEL SENSOR (1)
With CONSULT
1. Replace the wheel sensor.
- Front: Refer to BRC-212, "FRONT WHEEL SENSOR : Removal and Installation".
- Rear: Refer to BRC-214, "REAR WHEEL SENSOR : Removal and Installation".
2. Erase self-diagnosis result for “ABS”.
3. Turn the ignition switch OFF, and wait 10 seconds or more.
4. Start the engine.
5. Select “ABS” and “DATA MONITOR”, check “FR LH SENSOR”, “FR RH SENSOR”, “RR LH SENSOR”
and “RR RH SENSOR”.
NOTE:

BRC-128
 C1115 WHEEL SENSOR
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
Set the “DATA MONITOR” recording speed to “10 msec”.
6. Read a value (wheel speed) of both normal wheel sensors and error-detecting wheel sensor. A
Regarding the deference at 30 km/h (19 MPH) between the wheel speed detected by the error detecting
wheel sensor and the maximum/minimum wheel speed detected by the normal wheel sensors, is the differ-
ence within 5%, respectively? B
YES >> GO TO 7.
NO >> GO TO 19.
7.PERFORM SELF-DIAGNOSIS (2) C
With CONSULT
1. Drive the vehicle at approx. 30 km/h (19 MPH) or more for approx. 1 minute.
2. Stop the vehicle. D
3. Perform self-diagnosis for “ABS”.
Is DTC “C1115” detected?
YES >> GO TO 19. E
NO >> INSPECTION END
8.CHECK CONNECTOR (2) BRC
1. Turn the ignition switch OFF.
2. Check the ABS actuator and electric unit (control unit) harness connector for disconnection or looseness.
3. Check the wheel sensor harness connector for disconnection or looseness.
G
Is the inspection result normal?
YES >> GO TO 11.
NO >> Repair or replace error-detected parts, securely lock the connector, and GO TO 9.
H
9.CHECK DATA MONITOR (2)
With CONSULT
1. Erase self-diagnosis result for “ABS”. I
2. Turn the ignition switch OFF, and wait 10 seconds or more.
3. Start the engine.
4. Select “ABS” and “DATA MONITOR”, check “FR LH SENSOR”, “FR RH SENSOR”, “RR LH SENSOR” J
and “RR RH SENSOR”.
NOTE:
Set the “DATA MONITOR” recording speed to “10 msec”.
5. Read a value (wheel speed) of both normal wheel sensors and error-detecting wheel sensor. K
Regarding the deference at 30 km/h (19 MPH) between the wheel speed detected by the error detecting
wheel sensor and the maximum/minimum wheel speed detected by the normal wheel sensors, is the differ-
ence within 5%, respectively? L
YES >> GO TO 10.
NO >> GO TO 11.
10.PERFORM SELF-DIAGNOSIS (3) M

With CONSULT
1. Drive the vehicle at approx. 30 km/h (19 MPH) or more for approx. 1 minute.
N
2. Stop the vehicle.
3. Perform self-diagnosis for “ABS”.
Is DTC “C1115” detected?
O
YES >> GO TO 11.
NO >> INSPECTION END
11.CHECK TERMINAL P
1. Turn the ignition switch OFF.
2. Disconnect ABS actuator and electric unit (control unit) harness connector and then check the ABS actu-
ator and electric unit (control unit) pin terminals for damage or loose connection with harness connector.
3. Disconnect each wheel sensor harness connector and then check the each wheel sensor pin terminals for
damage or loose connection with harness connector.
Is the inspection result normal?
YES >> GO TO 14.
BRC-129
 C1115 WHEEL SENSOR
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
NO >> Repair or replace error-detected parts, and GO TO 12.
12.CHECK DATA MONITOR (3)
With CONSULT
1. Connect the ABS actuator and electric unit (control unit) harness connector.
2. Connect the wheel sensor harness connector.
3. Erase self-diagnosis result for “ABS”.
4. Turn the ignition switch OFF, and wait 10 seconds or more.
5. Start the engine.
6. Select “ABS” and “DATA MONITOR”, check “FR LH SENSOR”, “FR RH SENSOR”, “RR LH SENSOR”
and “RR RH SENSOR”.
NOTE:
Set the “DATA MONITOR” recording speed to “10 msec”.
7. Read a value (wheel speed) of both normal wheel sensors and error-detecting wheel sensor.
Regarding the deference at 30 km/h (19 MPH) between the wheel speed detected by the error detecting
wheel sensor and the maximum/minimum wheel speed detected by the normal wheel sensors, is the differ-
ence within 5%, respectively?
YES >> GO TO 13.
NO >> GO TO 14.
13.PERFORM SELF-DIAGNOSIS (4)
With CONSULT
1. Drive the vehicle at approx. 30 km/h (19 MPH) or more for approx. 1 minute.
2. Stop the vehicle.
3. Perform self-diagnosis for “ABS”.
Is DTC “C1115” detected?
YES >> GO TO 14.
NO >> INSPECTION END
14.CHECK WHEEL SENSOR HARNESS
1. Turn the ignition switch OFF.
2. Disconnect the ABS actuator and electric unit (control unit) harness connector.
3. Disconnect the wheel sensor harness connector.
4. Check the continuity between ABS actuator and electric unit (control unit) harness connector and wheel
sensor harness connector. (Check the continuity when steering wheel is steered to RH and LH, or center
harness in wheel housing is moved.)
Measurement connector and terminal for power supply circuit

ABS actuator and electric unit (control unit) Wheel sensor

Continuity
Connector Terminal Connector Terminal
19 E22 (FR LH wheel) 1
16 E39 (FR RH wheel) 3
E36 Existed
31 B44 (RR LH wheel) 5
17 B41 (RR RH wheel) 7

Measurement connector and terminal for signal circuit

ABS actuator and electric unit (control unit) Wheel sensor

Continuity
Connector Terminal Connector Terminal
8 E22 (FR LH wheel) 2
4 E39 (FR RH wheel) 4
E36 Existed
18 B44 (RR LH wheel) 6
29 B41 (RR RH wheel) 8
5. Check the continuity between ABS actuator and electric unit (control unit) harness connector and the
ground.

BRC-130
 C1115 WHEEL SENSOR
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]

ABS actuator and electric unit (control unit) A

— Continuity
Connector Terminal
19, 8
B
16, 4
E36 Ground Not existed
31, 18
17, 29 C
Is the inspection result normal?
YES >> GO TO 15.
NO >> Repair or replace error-detected parts, and GO TO 15. D
15.CHECK DATA MONITOR (4)
With CONSULT E
1. Connect the ABS actuator and electric unit (control unit) harness connector.
2. Connect the wheel sensor harness connector.
3. Erase self-diagnosis result for “ABS”.
BRC
4. Turn the ignition switch OFF, and wait 10 seconds or more.
5. Start the engine.
6. Select “ABS” and “DATA MONITOR”, check “FR LH SENSOR”, “FR RH SENSOR”, “RR LH SENSOR”
and “RR RH SENSOR”. G
NOTE:
Set the “DATA MONITOR” recording speed to “10 msec”.
7. Read a value (wheel speed) of both normal wheel sensors and error-detecting wheel sensor. H
Regarding the deference at 30 km/h (19 MPH) between the wheel speed detected by the error detecting
wheel sensor and the maximum/minimum wheel speed detected by the normal wheel sensors, is the differ-
ence within 5%, respectively?
I
YES >> GO TO 16.
NO >> GO TO 17.
16.PERFORM SELF-DIAGNOSIS (5) J
With CONSULT
1. Drive the vehicle at approx. 30 km/h (19 MPH) or more for approx. 1 minute.
2. Stop the vehicle. K
3. Perform self-diagnosis for “ABS”.
Is DTC “C1115” detected?
YES >> GO TO 17. L
NO >> INSPECTION END
17.REPLACE WHEEL SENSOR (2)
M
With CONSULT
1. Replace the wheel sensor.
- Front: Refer to BRC-212, "FRONT WHEEL SENSOR : Removal and Installation".
- Rear: Refer to BRC-214, "REAR WHEEL SENSOR : Removal and Installation". N
2. Erase self-diagnosis result for “ABS”.
3. Turn the ignition switch OFF, and wait 10 seconds or more.
4. Start the engine. O
5. Select “ABS” and “DATA MONITOR”, check “FR LH SENSOR”, “FR RH SENSOR”, “RR LH SENSOR”
and “RR RH SENSOR”.
NOTE:
Set the “DATA MONITOR” recording speed to “10 msec”. P
6. Read a value (wheel speed) of both normal wheel sensors and error-detecting wheel sensor.
Regarding the deference at 30 km/h (19 MPH) between the wheel speed detected by the error detecting
wheel sensor and the maximum/minimum wheel speed detected by the normal wheel sensors, is the differ-
ence within 5%, respectively?
YES >> GO TO 18.
NO >> GO TO 19.

BRC-131
 C1115 WHEEL SENSOR
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]

18.PERFORM SELF-DIAGNOSIS (6)

With CONSULT
1. Drive the vehicle at approx. 30 km/h (19 MPH) or more for approx. 1 minute.
2. Stop the vehicle.
3. Perform self-diagnosis for “ABS”.
Is DTC “C1115” detected?
YES >> GO TO 19.
NO >> INSPECTION END
19.REPLACE SENSOR ROTOR
With CONSULT
1. Replace the sensor rotor.
- Front: Refer to BRC-216, "FRONT SENSOR ROTOR : Removal and Installation".
- Rear: Refer to BRC-216, "REAR SENSOR ROTOR : Removal and Installation".
2. Erase self-diagnosis result for “ABS”.
3. Turn the ignition switch OFF, and wait 10 seconds or more.
4. Start the engine.
5. Drive the vehicle at approx. 30 km/h (19 MPH) or more for approx. 1 minute.
6. Stop the vehicle.
7. Perform self-diagnosis for “ABS”.
Is DTC “C1115” detected?
YES >> Replace the ABS actuator and electric unit (control unit).
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".
NO >> INSPECTION END

BRC-132
 C1116 STOP LAMP SWITCH
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
C1116 STOP LAMP SWITCH
A
DTC Description INFOID:0000000010723677

DTC DETECTION LOGIC B

Display Item
DTC Malfunction detected condition
(Trouble diagnosis content) C
STOP LAMP SW
C1116 When stop lamp switch signal is not input when brake pedal operates.
(Stop lamp switch)

POSSIBLE CAUSE D
• Stop lamp switch
• BCM
• ABS actuator and electric unit (control unit) E
FAIL-SAFE
The following functions are suspended.
• VDC function BRC
• TCS function
• Brake limited slip differential (BLSD) function
• Brake assist function G
• Brake force distribution function
• hill start assist function
• Advanced hill descent control function (4WD models with gasoline engine)
• Active trace control function (control of chassis control module) H
• Active ride control function (control of chassis control module)
DTC CONFIRMATION PROCEDURE
I
1.PRECONDITIONING
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF
and wait at least 10 seconds before conducting the next test. J

>> GO TO 2.
K
2.CHECK DTC DETECTION
With CONSULT
1. Turn the ignition switch OFF to ON. L
2. Perform self-diagnosis for “ABS”.
Is DTC “C1116” detected?
YES >> Proceed to BRC-133, "Diagnosis Procedure". M
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010723678 N

1.CHECK BCM SYSTEM

O
With CONSULT
Perform self-diagnosis for “BCM”.
Is any DTC detected?
P
YES >> Check the DTC. Refer to BCS-78, "DTC Index".
NO >> GO TO 2.
2.PERFORM SELF-DIAGNOSIS
With CONSULT
1. Erase self-diagnosis result for “ABS”.
2. Turn the ignition switch OFF, and wait 10 seconds or more.
3. Start the engine and drive the vehicle for a short period of time.
BRC-133
 C1116 STOP LAMP SWITCH
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
4. Stop the vehicle.
5. Vehicle stopped, and perform self-diagnosis for “ABS”.
Is DTC “C1116” detected?
YES >> Replace the ABS actuator and electric unit (control unit).
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".
NO >> Check pin terminals and connection of each harness connector for abnormal conditions. Repair or
replace error-detected parts.

BRC-134
 C1118 4WD SYSTEM
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
C1118 4WD SYSTEM
A
DTC Description INFOID:0000000010723679

DTC DETECTION LOGIC B

Display Item
DTC Malfunction detected condition
(Trouble diagnosis content) C
4WD SYSTEM
C1118 When a malfunction is detected in 4WD system.
(4WD system)

POSSIBLE CAUSE D
• Harness or connector
• 4WD control unit
• ABS actuator and electric unit (control unit) E
FAIL-SAFE
The following functions are suspended.
• Advanced hill descent control function (Gasoline engine models) BRC
DTC CONFIRMATION PROCEDURE
1.PRECONDITIONING G
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF
and wait at least 10 seconds before conducting the next test.
H
>> GO TO 2.
2.CHECK DTC DETECTION I
With CONSULT
1. Turn the ignition switch OFF to ON.
2. Perform self-diagnosis for “ABS”. J
Is DTC “C1118” detected?
YES >> Proceed to BRC-135, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident". K
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010723680

L
1.CHECK 4WD SYSTEM
With CONSULT
Perform self-diagnosis for “ALL MODE AWD/4WD”. M
Is any DTC detected?
YES >> Check the DTC.
• MR20DD engine and QR25DE engine models: Refer to DLN-30, "DTC Index". N
• R9M engine models: Refer to DLN-134, "DTC Index".
NO >> GO TO 2.
2.PERFORM SELF-DIAGNOSIS O

With CONSULT
1. Erase self-diagnosis result for “ABS”.
P
2. Turn the ignition switch OFF, and wait 10 seconds or more.
3. Start the engine and drive the vehicle for a short period of time.
4. Stop the vehicle.
5. Vehicle stooped, and perform self-diagnosis for “ABS”.
Is DTC “C1118” detected?
YES >> Replace the ABS actuator and electric unit (control unit).
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".

BRC-135
 C1118 4WD SYSTEM
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".
NO >> Check pin terminals and connection of each harness connector for abnormal conditions. Repair or
replace error-detected parts.

BRC-136
 C1120, C1122, C1124, C1126 ABS IN VALVE SYSTEM
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
C1120, C1122, C1124, C1126 ABS IN VALVE SYSTEM
A
DTC Description INFOID:0000000010723681

DTC DETECTION LOGIC B

Display Item
DTC Malfunction detected condition
(Trouble diagnosis content) C
FR LH IN ABS SOL
C1120 When a malfunction is detected in front LH ABS IN valve.
(Front LH ABS IN solenoid valve)
FR RH IN ABS SOL D
C1122 When a malfunction is detected in front RH ABS IN valve.
(Front RH ABS IN solenoid valve)
RR LH IN ABS SOL
C1124 When a malfunction is detected in rear LH ABS IN valve.
(Rear LH ABS IN solenoid valve)
E
RR RH IN ABS SOL
C1126 When a malfunction is detected in rear RH ABS IN valve.
(Rear RH ABS IN solenoid valve)

POSSIBLE CAUSE BRC

• Harness or connector
• ABS actuator and electric unit (control unit)
• Fusible link G
• Battery power supply system
FAIL-SAFE
The following functions are suspended. H
• VDC function
• TCS function
• ABS function I
• EBD function
• Brake limited slip differential (BLSD) function
• Brake assist function
• Brake force distribution function J
• hill start assist function
• Advanced hill descent control function (4WD models with gasoline engine)
• Active trace control function (control of chassis control module) K
• Active ride control function (control of chassis control module)
DTC CONFIRMATION PROCEDURE
1.PRECONDITIONING L

If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF
and wait at least 10 seconds before conducting the next test. M

>> GO TO 2.
2.CHECK DTC DETECTION N

With CONSULT
1. Turn the ignition switch OFF to ON.
2. Perform self-diagnosis for “ABS”. O
Is any DTC “C1120”, “C1122”, “C1124”, “C1126” detected?
YES >> Proceed to BRC-137, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident". P
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010723682

1.CHECK CONNECTOR
1. Turn the ignition switch OFF.
2. Check the ABS actuator and electric unit (control unit) harness connector for disconnection or looseness.
BRC-137
 C1120, C1122, C1124, C1126 ABS IN VALVE SYSTEM
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
Is the inspection result normal?
YES >> GO TO 3.
NO >> Repair or replace error-detected parts, securely lock the connector, and GO TO 2.
2.PERFORM SELF-DIAGNOSIS
Perform self-diagnosis for “ABS” again.
Is any DTC “C1120”, “C1122”, “C1124”, “C1126” detected?
YES >> GO TO 3.
NO >> INSPECTION END
3.CHECK ABS IN VALVE POWER SUPPLY
1. Turn the ignition switch OFF.
2. Disconnect the ABS actuator and electric unit (control unit) harness connector.
3. Check the voltage between ABS actuator and electric unit (control unit) harness connector and ground.

ABS actuator and electric unit (control unit)

— Voltage
Connector Terminal
E36 25 Ground 10 – 16 V
4. Turn the ignition switch ON.
CAUTION:
Never start engine.
5. Check the voltage between ABS actuator and electric unit (control unit) harness connector and ground.

ABS actuator and electric unit (control unit)

— Voltage
Connector Terminal
E36 25 Ground 10 – 16 V
Is the inspection result normal?
YES >> GO TO 5.
NO >> GO TO 4.
4.CHECK ABS IN VALVE POWER SUPPLY CIRCUIT
1. Turn the ignition switch OFF.
2. Check the 30A fusible link (#G).
3. Check the continuity and short circuit between ABS actuator and electric unit (control unit) harness con-
nector terminal (25) and 30A fusible link (#G).
Is the inspection result normal?
YES >> Perform trouble diagnosis for battery power supply.
NO >> Repair or replace error-detected parts.
5.CHECK ABS IN VALVE GROUND CIRCUIT
1. Turn the ignition switch OFF.
2. Check the continuity between ABS actuator and electric unit (control unit) harness connector and the
ground.

ABS actuator and electric unit (control unit)

— Continuity
Connector Terminal
13
E36 Ground Existed
38
Is the inspection result normal?
YES >> GO TO 6.
NO >> Repair or replace error-detected parts.
6.CHECK TERMINAL
Check ABS actuator and electric unit (control unit) pin terminals for damage or loose connection with harness.

BRC-138
 C1120, C1122, C1124, C1126 ABS IN VALVE SYSTEM
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
Is the inspection result normal?
YES >> Replace the ABS actuator and electric unit (control unit). A
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".
NO >> Repair or replace error-detected parts. B

BRC

BRC-139
 C1121, C1123, C1125, C1127 ABS OUT VALVE SYSTEM
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
C1121, C1123, C1125, C1127 ABS OUT VALVE SYSTEM
DTC Description INFOID:0000000010723683

DTC DETECTION LOGIC

Display Item
DTC Malfunction detected condition
(Trouble diagnosis content)
FR LH OUT ABS SOL
C1121 When a malfunction is detected in front LH ABS OUT valve.
(Front LH ABS OUT solenoid valve)
FR RH OUT ABS SOL
C1123 When a malfunction is detected in front RH ABS OUT valve.
(Front RH ABS OUT solenoid valve)
RR LH OUT ABS SOL
C1125 When a malfunction is detected in rear LH ABS OUT valve.
(Rear LH ABS OUT solenoid valve)
RR RH OUT ABS SOL
C1127 When a malfunction is detected in rear RH ABS OUT valve.
(Rear RH ABS OUT solenoid valve)

POSSIBLE CAUSE
• Harness or connector
• ABS actuator and electric unit (control unit)
• Fusible link
• Battery power supply system
FAIL-SAFE
The following functions are suspended.
• VDC function
• TCS function
• ABS function
• EBD function
• Brake limited slip differential (BLSD) function
• Brake assist function
• Brake force distribution function
• hill start assist function
• Advanced hill descent control function (4WD models with gasoline engine)
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
DTC CONFIRMATION PROCEDURE
1.PRECONDITIONING
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF
and wait at least 10 seconds before conducting the next test.

>> GO TO 2.
2.CHECK DTC DETECTION
With CONSULT
1. Turn the ignition switch OFF to ON.
2. Perform self-diagnosis for “ABS”.
Is any DTC “C1121”, “C1123”, “C1125”, “C1127” detected?
YES >> Proceed to BRC-140, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010723684

1.CHECK CONNECTOR
1. Turn the ignition switch OFF.
2. Check the ABS actuator and electric unit (control unit) harness connector for disconnection or looseness.
BRC-140
 C1121, C1123, C1125, C1127 ABS OUT VALVE SYSTEM
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
Is the inspection result normal?
YES >> GO TO 3. A
NO >> Repair or replace error-detected parts, securely lock the connector, and GO TO 2.
2.PERFORM SELF-DIAGNOSIS
B
Perform self-diagnosis for “ABS” again.
Is any DTC“C1121”, “C1123”, “C1125”, “C1127” detected?
YES >> GO TO 3. C
NO >> INSPECTION END
3.CHECK ABS ONT VALVE POWER SUPPLY
1. Turn the ignition switch OFF. D
2. Disconnect the ABS actuator and electric unit (control unit) harness connector.
3. Check the voltage between ABS actuator and electric unit (control unit) harness connector and ground.
E
ABS actuator and electric unit (control unit)
— Voltage
Connector Terminal
BRC
E36 25 Ground 10 – 16 V
4. Turn the ignition switch ON.
CAUTION:
G
Never start engine.
5. Check the voltage between ABS actuator and electric unit (control unit) harness connector and ground.

H
ABS actuator and electric unit (control unit)
— Voltage
Connector Terminal
E36 25 Ground 10 – 16 V I
Is the inspection result normal?
YES >> GO TO 5.
NO >> GO TO 4. J
4.CHECK ABS OUT VALVE POWER SUPPLY CIRCUIT
1. Turn the ignition switch OFF. K
2. Check the 30A fusible link (#G).
3. Check the continuity and short circuit between ABS actuator and electric unit (control unit) harness con-
nector terminal (25) and 30A fusible link (#G).
L
Is the inspection result normal?
YES >> Perform trouble diagnosis for battery power supply.
NO >> Repair or replace error-detected parts.
M
5.CHECK ABS OUT VALVE GROUND CIRCUIT
1. Turn the ignition switch OFF.
2. Check the continuity between ABS actuator and electric unit (control unit) harness connector and the N
ground.

ABS actuator and electric unit (control unit) O

— Continuity
Connector Terminal
13
E36 Ground Existed
38 P

Is the inspection result normal?

YES >> GO TO 6.
NO >> Repair or replace error-detected parts.
6.CHECK TERMINAL
Check ABS actuator and electric unit (control unit) pin terminals for damage or loose connection with harness.

BRC-141
 C1121, C1123, C1125, C1127 ABS OUT VALVE SYSTEM
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
Is the inspection result normal?
YES >> Replace the ABS actuator and electric unit (control unit).
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".
NO >> Repair or replace error-detected parts.

BRC-142
 C1130 ENGINE SIGNAL
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
C1130 ENGINE SIGNAL
A
DTC Description INFOID:0000000010723685

DTC DETECTION LOGIC B

Display Item
DTC Malfunction detected condition
(Trouble diagnosis content) C
ENGINE SIGNAL 1
C1130 When a malfunction is detected in ECM system.
(Engine system signal)

POSSIBLE CAUSE D
• ECM
• ABS actuator and electric unit (control unit)
• CAN communication line E
FAIL-SAFE
The following functions are suspended.
• VDC function BRC
• TCS function
• Brake limited slip differential (BLSD) function
• Brake force distribution function G
• hill start assist function
• Advanced hill descent control function (4WD models with gasoline engine)
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module) H

DTC CONFIRMATION PROCEDURE

1.PRECONDITIONING I
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF
and wait at least 10 seconds before conducting the next test.
J
>> GO TO 2.
2.CHECK DTC DETECTION K
With CONSULT
1. Turn the ignition switch OFF to ON.
2. Perform self-diagnosis for “ABS”. L
Is DTC “C1130” detected?
YES >> Proceed to BRC-143, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident". M
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010723686
N
1.CHECK ENGINE SYSTEM
With CONSULT
O
Perform self-diagnosis for “ENGINE”.
Is any DTC detected?
YES >> Check the DTC. P
• MR20DD models: Refer to EC-109, "DTC Index".
• QR25DE models: Refer to EC-517, "DTC Index".
• R9M models: Refer to EC-908, "DTC Index".
NO >> GO TO 2.
2.PERFORM SELF-DIAGNOSIS
With CONSULT
1. Erase self-diagnosis result for “ABS”.
BRC-143
 C1130 ENGINE SIGNAL
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
2. Turn the ignition switch OFF, and wait 10 seconds or more.
3. Start the engine and drive the vehicle for a short period of time.
4. Stop the vehicle.
5. Check that the malfunction indicator lamp (MIL) turns OFF.
6. Vehicle stopped, and perform self-diagnosis for “ABS”.
Is DTC “C1130” detected?
YES >> Replace the ABS actuator and electric unit (control unit).
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".
NO >> Check pin terminals and connection of each harness connector for abnormal conditions. Repair or
replace error-detected parts.

BRC-144
 C1140 ACTUATOR RELAY SYSTEM
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
C1140 ACTUATOR RELAY SYSTEM
A
DTC Description INFOID:0000000010723687

DTC DETECTION LOGIC B

Display Item
DTC Malfunction detected condition
(Trouble diagnosis content) C
ACTUATOR RLY
C1140 When a malfunction is detected in actuator relay.
(Actuator relay)

POSSIBLE CAUSE D
• Harness or connector
• ABS actuator and electric unit (control unit)
• Fusible link E
• Battery power supply system
FAIL-SAFE
The following functions are suspended. BRC
• VDC function
• TCS function
• ABS function G
• EBD function
• Brake limited slip differential (BLSD) function
• Brake assist function
• Brake force distribution function H
• hill start assist function
• Advanced hill descent control function (4WD models with gasoline engine)
• Active trace control function (control of chassis control module) I
• Active ride control function (control of chassis control module)
DTC CONFIRMATION PROCEDURE
J
1.PRECONDITIONING
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF
and wait at least 10 seconds before conducting the next test. K

>> GO TO 2.
2.CHECK DTC DETECTION L

With CONSULT
1. Turn the ignition switch OFF to ON.
2. Perform self-diagnosis for “ABS”. M
Is DTC “C1140” detected?
YES >> Proceed to BRC-145, "Diagnosis Procedure".
N
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010723688
O

1.CHECK CONNECTOR
1. Turn the ignition switch OFF. P
2. Check the ABS actuator and electric unit (control unit) harness connector for disconnection or looseness.
Is the inspection result normal?
YES >> GO TO 3.
NO >> Repair or replace error-detected parts, securely lock the connector, and GO TO 2.
2.PERFORM SELF-DIAGNOSIS
Perform self-diagnosis for “ABS” again.

BRC-145
 C1140 ACTUATOR RELAY SYSTEM
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
Is DTC “C1140” detected?
YES >> GO TO 3.
NO >> INSPECTION END
3.CHECK ACTUATOR RELAY POWER SUPPLY
1. Turn the ignition switch OFF.
2. Disconnect the ABS actuator and electric unit (control unit) harness connector.
3. Check the voltage between ABS actuator and electric unit (control unit) harness connector and ground.

ABS actuator and electric unit (control unit)

— Voltage
Connector Terminal
E36 25 Ground 10 – 16 V
4. Turn the ignition switch ON.
CAUTION:
Never start engine.
5. Check the voltage between ABS actuator and electric unit (control unit) harness connector and ground.

ABS actuator and electric unit (control unit)

— Voltage
Connector Terminal
E36 25 Ground 10 – 16 V
Is the inspection result normal?
YES >> GO TO 5.
NO >> GO TO 4.
4.CHECK ACTUATOR RELAY POWER SUPPLY CIRCUIT
1. Turn the ignition switch OFF.
2. Check the 30A fusible link (#G).
3. Check the continuity and short circuit between ABS actuator and electric unit (control unit) harness con-
nector terminal (25) and 30A fusible link (#G).
Is the inspection result normal?
YES >> Perform trouble diagnosis for battery power supply.
NO >> Repair or replace error-detected parts.
5.CHECK ACTUATOR RELAY GROUND CIRCUIT
1. Turn the ignition switch OFF.
2. Check the continuity between ABS actuator and electric unit (control unit) harness connector and the
ground.

ABS actuator and electric unit (control unit)

— Continuity
Connector Terminal
13
E36 Ground Existed
38
Is the inspection result normal?
YES >> GO TO 6.
NO >> Repair or replace error-detected parts.
6.CHECK TERMINAL
Check ABS actuator and electric unit (control unit) pin terminals for damage or loose connection with harness.
Is the inspection result normal?
YES >> Replace the ABS actuator and electric unit (control unit).
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".
NO >> Repair or replace error-detected parts.

BRC-146
 C1142 PRESS SENSOR
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
C1142 PRESS SENSOR
A
DTC Description INFOID:0000000010723689

DTC DETECTION LOGIC B

Display Item
DTC Malfunction detected condition
(Trouble diagnosis content) C
PRESS SEN CIRCUIT
C1142 When a malfunction is detected in pressure sensor.
(Pressure sensor circuit)

POSSIBLE CAUSE D
• Stop lamp switch system
• ABS actuator and electric unit (control unit)
• Brake system E
FAIL-SAFE
The following functions are suspended.
• VDC function BRC
• TCS function
• Brake limited slip differential (BLSD) function
• Brake assist function G
• Brake force distribution function
• hill start assist function
• Advanced hill descent control function (4WD models with gasoline engine)
• Active trace control function (control of chassis control module) H
• Active ride control function (control of chassis control module)
DTC CONFIRMATION PROCEDURE
I
1.PRECONDITIONING
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF
and wait at least 10 seconds before conducting the next test. J

>> GO TO 2.
2.CHECK DTC DETECTION K

With CONSULT
1. Turn the ignition switch OFF to ON. L
2. Perform self-diagnosis for “ABS”.
Is DTC “C1142” detected?
YES >> Proceed to BRC-147, "Diagnosis Procedure". M
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010723690 N

1.CHECK STOP LAMP SWITCH SYSTEM

Check the stop lamp switch system. Refer to BRC-133, "Diagnosis Procedure". O
Is the inspection result normal?
YES >> GO TO 2.
NO >> Repair or replace error-detected parts. P
2.CHECK BRAKE FLUID LEAKAGE
Check the brake fluid leakage.
• LHD models: Refer to BR-13, "Inspection".
• RHD models: Refer to BR-77, "Inspection".
Is the inspection result normal?
YES >> GO TO 3.
BRC-147
 C1142 PRESS SENSOR
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
NO >> Repair or replace error-detected parts.
3.CHECKBR-100, "INSPECTION AND ADJUSTMENT" BRAKE PIPING
Check the brake piping.
• Front
- LHD models: Refer to BR-27, "FRONT : Inspection".
- RHD models: Refer to BR-91, "FRONT : Inspection".
• Rear
- LHD models: Refer to BR-31, "REAR : Inspection".
- RHD models: Refer to BR-94, "REAR : Inspection".
Is the inspection result normal?
YES >> GO TO 4.
NO >> Repair or replace error-detected parts.
4.CHECK BRAKE PEDAL
Check the brake pedal.
• LHD models: Refer to BR-22, "Inspection and Adjustment".
• RHD models: Refer to BR-86, "Inspection and Adjustment".
Is the inspection result normal?
YES >> GO TO 5.
NO >> Repair or replace error-detected parts.
5.CHECK BRAKE MASTER CYLINDER
Check the brake master cylinder.
• LHD models: Refer to BR-35, "Inspection".
• RHD models: Refer to BR-98, "Inspection".
Is the inspection result normal?
YES >> GO TO 6.
NO >> Repair or replace error-detected parts.
6.CHECK BRAKE BOOSTER AND CHECK VALVE
Check the brake booster and the check valve.
• LHD models: Refer to BR-38, "Inspection and Adjustment".
• RHD models: Refer to BR-100, "Inspection and Adjustment".
Is the inspection result normal?
YES >> GO TO 7.
NO >> Repair or replace error-detected parts.
7.CHECK VACUUM PIPING
Check the vacuum piping.
• LHD models
- MR20DD: Refer to BR-40, "MR20DD : Inspection".
- QR25DE: Refer to BR-41, "QR25DE : Inspection".
- R9M: Refer to BR-42, "R9M : Inspection".
• RHD models: Refer to BR-102, "Inspection".
Is the inspection result normal?
YES >> GO TO 8.
NO >> Repair or replace error-detected parts.
8.CHECK FRONT DISC BRAKE
Check the front disc brake.
• LHD models
- 1 piston type: Refer to BR-54, "BRAKE CALIPER ASSEMBLY (1 PISTON TYPE) : Inspection".
- 2 piston type: Refer to BR-59, "BRAKE CALIPER ASSEMBLY (2 PISTON TYPE) : Inspection".
• RHD models
- 1 piston type: Refer to BR-114, "BRAKE CALIPER ASSEMBLY (1 PISTON TYPE) : Inspection".
- 2 piston type: Refer to BR-119, "BRAKE CALIPER ASSEMBLY (2 PISTON TYPE) : Inspection".
Is the inspection result normal?

BRC-148
 C1142 PRESS SENSOR
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
YES >> GO TO 9.
NO >> Repair or replace error-detected parts. A
9.CHECK REAR DISC BRAKE
Check the rear disc brake.
B
• LHD models: Refer to BR-66, "BRAKE CALIPER ASSEMBLY : Inspection and Adjustment".
• RHD models: Refer to BR-126, "BRAKE CALIPER ASSEMBLY : Inspection and Adjustment".
Is the inspection result normal?
C
YES >> GO TO 10.
NO >> Repair or replace error-detected parts.
10.PERFORM SELF-DIAGNOSIS D
With CONSULT
1. Erase self-diagnosis result for “ABS”.
2. Start the engine and drive the vehicle for a short period of time. E
3. Perform self-diagnosis for “ABS”.
Is DTC “C1142” detected?
YES >> Replace the ABS actuator and electric unit (control unit). BRC
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".
NO >> Check ABS actuator and electric unit (control unit) harness connector and terminal for damage,
looseness and disconnection. Repair or replace error-detected parts. G

BRC-149
 C1143 STEERING ANGLE SENSOR
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
C1143 STEERING ANGLE SENSOR
DTC Description INFOID:0000000010723691

DTC DETECTION LOGIC

Display Item
DTC Malfunction detected condition
(Trouble diagnosis content)
ST ANG SEN CIRCUIT
C1143 When a malfunction is detected in steering angle sensor.
(Steering angle sensor circuit)

POSSIBLE CAUSE
• Harness or connector
• Steering angle sensor
• ABS actuator and electric unit (control unit)
• Fuse
• Ignition power supply system
• CAN communication line
FAIL-SAFE
The following functions are suspended.
• VDC function
• TCS function
• Brake limited slip differential (BLSD) function
• Brake force distribution function
• hill start assist function
• Advanced hill descent control function (4WD models with gasoline engine)
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
DTC CONFIRMATION PROCEDURE
1.PRECONDITIONING
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF
and wait at least 10 seconds before conducting the next test.

>> GO TO 2.
2.CHECK DTC DETECTION
With CONSULT
1. Turn the ignition switch OFF to ON.
2. Perform self-diagnosis for “ABS”.
Is DTC “C1143” detected?
YES >> Proceed to BRC-150, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010723692

1.CHECK CONNECTOR
1. Turn the ignition switch OFF.
2. Check the ABS actuator and electric unit (control unit) harness connector for disconnection or looseness.
Is the inspection result normal?
YES >> GO TO 3.
NO >> Repair or replace error-detected parts, securely lock the connector, and GO TO 2.
2.PERFORM SELF-DIAGNOSIS
Perform self-diagnosis for “ABS” again.
Is DTC “C1143” detected?
BRC-150
 C1143 STEERING ANGLE SENSOR
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
YES >> GO TO 3.
NO >> INSPECTION END A
3.CHECK STEERING ANGLE SENSOR POWER SUPPLY
1. Turn the ignition switch OFF.
B
2. Disconnect the steering angle sensor harness connector.
3. Check the voltage between steering angle sensor harness connector and ground.

Steering angle sensor

C
— Voltage
Connector Terminal
M30 4 Ground Approx. 0 V D
4. Turn the ignition switch ON.
CAUTION:
Never start engine. E
5. Check the voltage between steering angle sensor harness connector and ground.

Steering angle sensor BRC

— Voltage
Connector Terminal
M30 4 Ground 10 – 16 V
Is the inspection result normal? G
YES >> GO TO 6.
NO (With stop / start system)>>GO TO 4.
NO (Without stop / start system)>>GO TO 5. H
4.CHECK STEERING ANGLE SENSOR POWER SUOOLY CIRCUIT (WITH STOP / START SYSTEM)
1. Turn the ignition switch OFF. I
2. Check the 10A fuse (#54).
3. Check the continuity and short circuit between steering angle sensor harness connector terminal (4) and
10A fuse (#54).
J
Is the inspection result normal?
YES >> Perform trouble diagnosis for ignition power supply.
NO >> Repair or replace error-detected parts.
K
5.CHECK STEERING ANGLE SENSOR POWER SUOOLY CIRCUIT (WITHOUT STOP / START SYSTEM)
1. Turn the ignition switch OFF.
2. Check the 10A fuse (#30). L
3. Check the continuity and short circuit between steering angle sensor harness connector terminal (4) and
10A fuse (#30).
Is the inspection result normal? M
YES >> Perform trouble diagnosis for ignition power supply.
NO >> Repair or replace error-detected parts.
6.CHECK STEERING ANGLE SENSOR GROUND CIRCUIT N
1. Turn the ignition switch OFF.
2. Check continuity between steering angle sensor harness connector and ground.
O
Steering angle sensor
— Continuity
Connector Terminal
P
M30 1 Ground Existed
Is the inspection result normal?
YES >> GO TO 7.
NO >> Repair or replace error-detected parts.
7.CHECK TERMINAL
Check steering angle sensor pin terminals for damage or loose connection with harness connector.

BRC-151
 C1143 STEERING ANGLE SENSOR
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
Is the inspection result normal?
YES >> GO TO 8.
NO >> Repair or replace error-detected parts.
8.CHECK CAN COMMUNICATION LINE
Check the CAN communication. Refer to LAN-17, "Trouble Diagnosis Flow Chart".
Is the inspection result normal?
YES >> Replace the ABS actuator and electric unit (control unit).
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".
NO >> Repair or replace error-detected parts. Refer to BRC-10, "Precautions for Harness Repair".

BRC-152
 C1144 INCOMPLETE STEERING ANGLE SENSOR ADJUSTMENT
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
C1144 INCOMPLETE STEERING ANGLE SENSOR ADJUSTMENT
A
DTC Description INFOID:0000000010723693

DTC DETECTION LOGIC B

Display Item
DTC Malfunction detected condition
(Trouble diagnosis content) C
ST ANG SEN SIGNAL
C1144 When neutral position adjustment of steering angle sensor is not complete.
(Steering angle sensor not complete)

POSSIBLE CAUSE D
• Harness or connector
• Steering angle sensor
• ABS actuator and electric unit (control unit) E
• Incomplete neutral position adjustment of steering angle sensor
FAIL-SAFE
The following functions are suspended. BRC
• VDC function
• TCS function
• Brake limited slip differential (BLSD) function G
• Brake force distribution function
• hill start assist function
• Advanced hill descent control function (4WD models with gasoline engine)
• Active trace control function (control of chassis control module) H
• Active ride control function (control of chassis control module)
DTC CONFIRMATION PROCEDURE
I
1.PRECONDITIONING
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF
and wait at least 10 seconds before conducting the next test. J

>> GO TO 2.
K
2.CHECK DTC DETECTION
With CONSULT
1. Turn the ignition switch OFF to ON. L
2. Perform self-diagnosis for “ABS”.
Is DTC “C1144” detected?
YES >> Proceed to BRC-153, "Diagnosis Procedure". M
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010723694 N

1.ADJUST THE NEUTRAL POSITION OF STEERING ANGLE SENSOR

Perform neutral position adjustment of steering angle sensor. Refer to BRC-99, "Work Procedure". O

>> GO TO 2.
P
2.PERFORM SELF-DIAGNOSIS
With CONSULT
Perform self-diagnosis for “ABS”.
Is DTC “C1144” detected?
YES >> GO TO 3.
NO >> INSPECTION END

BRC-153
 C1144 INCOMPLETE STEERING ANGLE SENSOR ADJUSTMENT
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]

3.CHECK STEERING ANGLE SENSOR

1. Turn the ignition switch OFF.
2. Check the steering angle sensor. Refer to BRC-150, "Diagnosis Procedure".
Is the inspection result normal?
YES >> Replace the ABS actuator and electric unit (control unit).
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".
NO >> Repair or replace error-detected parts.

BRC-154
 C1154 TRANSMISSION RANGE SWITCH
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
C1154 TRANSMISSION RANGE SWITCH
A
DTC Description INFOID:0000000010723695

DTC DETECTION LOGIC B

Display Item
DTC Malfunction detected condition
(Trouble diagnosis content) C
PNP POSI SIG
C1154 When a malfunction is detected in TCM system.
(PNP position signal)

POSSIBLE CAUSE D
• TCM
• ABS actuator and electric unit (control unit)
• CAN communication line E
FAIL-SAFE
The following functions are suspended.
• VDC function BRC
• TCS function
• Brake limited slip differential (BLSD) function
• Brake force distribution function G
• hill start assist function
• Advanced hill descent control function (4WD models with gasoline engine)
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module) H

DTC CONFIRMATION PROCEDURE

1.PRECONDITIONING I
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF
and wait at least 10 seconds before conducting the next test.
J
>> GO TO 2.
2.CHECK DTC DETECTION K
With CONSULT
1. Turn the ignition switch OFF to ON.
2. Perform self-diagnosis for “ABS”. L
Is DTC “C1154” detected?
YES >> Proceed to BRC-155, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident". M
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010723696
N
CAUTION:
“C1154” may be detected when going up a slope, being toed with ignition switch ON and the gear in a
shift position other than R position. This is not a shift position error. The system returns to normal O
when parking on level ground after stopping the traction and restarting the engine.
1.CHECK CVT SYSTEM
With CONSULT P
Perform self-diagnosis for “TRANSMISSION”.
Is any DTC detected?
YES >> Check the DTC.
• Gasoline engine models: Refer to TM-288, "DTC Index".
• Diesel engine models: Refer to TM-529, "DTC Index".
NO >> GO TO 2.

BRC-155
 C1154 TRANSMISSION RANGE SWITCH
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]

2.PERFORM SELF-DIAGNOSIS
With CONSULT
1. Erase Self-diagnosis result for “ABS”.
2. Turn the ignition switch OFF, and wait 10 seconds or more.
3. Start the engine and drive the vehicle for a short period of time.
4. Stop the vehicle.
5. Vehicle stopped, and perform self-diagnosis for “ABS”.
Is DTC “C1154” detected?
YES >> Replace the ABS actuator and electric unit (control unit).
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".
NO >> Check pin terminals and connection of each harness connector for abnormal conditions. Repair or
replace error-detected parts.

BRC-156
 C1155 BRAKE FLUID LEVEL SWITCH
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
C1155 BRAKE FLUID LEVEL SWITCH
A
DTC Description INFOID:0000000010723697

DTC DETECTION LOGIC B

Display Item
DTC Malfunction detected condition
(Trouble diagnosis content) C
BE FLUID LEVEL LOW • When brake fluid level low signal is detected.
C1155
(Brake fluid level low) • When an open circuit is detected in brake fluid level switch circuit.

POSSIBLE CAUSE D
• Harness or connector
• ABS actuator and electric unit (control unit)
• Brake fluid level switch E
• Combination meter
FAIL-SAFE
The following functions are suspended. BRC
• VDC function
• TCS function
• Brake limited slip differential (BLSD) function G
• Brake assist function
• Brake force distribution function
• hill start assist function
• Advanced hill descent control function (4WD models with gasoline engine) H
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
DTC CONFIRMATION PROCEDURE I

1.PRECONDITIONING
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF J
and wait at least 10 seconds before conducting the next test.

>> GO TO 2. K
2.CHECK DTC DETECTION
With CONSULT L
1. Turn the ignition switch OFF to ON.
2. Perform self-diagnosis for “ABS”.
Is DTC “C1155” detected?
M
YES >> Proceed to BRC-157, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
N
Diagnosis Procedure INFOID:0000000010723698

1.CHECK BRAKE FLUID LEVEL O

1. Turn the ignition switch OFF.
2. Check the brake fluid level.
- LHD models: Refer to BR-13, "Inspection". P
- RHD models: Refer to BR-77, "Inspection".
Is the inspection result normal?
YES >> GO TO 3.
NO >> Refill the brake fluid, and GO TO 2.
• LHD models: Refer to BR-13, "Refilling".
• RHD models: Refer to BR-77, "Refilling".

BRC-157
 C1155 BRAKE FLUID LEVEL SWITCH
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]

2.PERFORM SELF-DIAGNOSIS (1)

With CONSULT
1. Erase self-diagnosis result for “ABS”.
2. Turn the ignition switch OFF, and wait 10 seconds or more.
3. Turn the ignition switch ON.
CAUTION:
Never start the engine.
4. Perform self-diagnosis for “ABS”.
Is DTC “C1155” detected?
YES >> GO TO 3.
NO >> INSPECTION END
3.CHECK BRAKE FLUID LEVEL SWITCH
Check the brake fluid level switch. Refer to BRC-159, "Component Inspection".
Is the inspection result normal?
YES >> GO TO 5.
NO >> Replace the reservoir tank, and GO TO 4.
• LHD models: Refer to BR-34, "Disassembly and Assembly".
• RHD models: Refer to BR-97, "Disassembly and Assembly".
4.PERFORM SELF-DIAGNOSIS (2)
With CONSULT
1. Erase self-diagnosis result for “ABS”.
2. Turn the ignition switch OFF, and wait 10 seconds or more.
3. Turn the ignition switch ON.
CAUTION:
Never start the engine.
4. Perform self-diagnosis for “ABS”.
Is DTC “C1155” detected?
YES >> GO TO 5.
NO >> INSPECTION END
5.CHECK CONNECTOR AND TERMINALS
1. Turn the ignition switch OFF.
2. Disconnect the brake fluid level switch harness connector.
3. Check the brake fluid level switch harness connector for disconnection or looseness.
4. Check the brake fluid level switch pin terminals for damage or loose connection with harness connector.
5. Disconnect the combination meter harness connector.
6. Check the combination meter harness connector for disconnection or looseness.
7. Check the combination meter pin terminals for damage or loose connection with harness connector.
Is the inspection result normal?
YES >> GO TO 7.
NO >> Repair or replace error-detected parts, and GO TO 6.
6.PERFORM SELF-DIAGNOSIS (3)
With CONSULT
1. Connect the brake fluid level switch harness connector.
2. Connect the combination meter harness connector.
3. Erase self-diagnosis result for “ABS”.
4. Turn the ignition switch OFF, and wait 10 seconds or more.
5. Turn the ignition switch ON.
CAUTION:
Never start the engine.
6. Perform self-diagnosis for “ABS”.
Is DTC “C1155” detected?
YES >> GO TO 7.
NO >> INSPECTION END

BRC-158
 C1155 BRAKE FLUID LEVEL SWITCH
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]

7.CHECK BRAKE FLUID LEVEL SWITCH CIRCUIT A

1. Turn the ignition switch OFF.
2. Disconnect the brake fluid level switch harness connector.
3. Disconnect the combination meter harness connector.
B
4. Check the continuity between brake fluid level switch harness connector and combination meter harness
connector.

Brake fluid level switch Combination meter

C
Continuity
Connector Terminal Connector Terminal
E37 1 M34 25 Existed D
5. Check the continuity between brake fluid level switch harness connector and ground.

Brake fluid level switch E

— Continuity
Connector Terminal
E37 1 Ground Not existed
BRC
Is the inspection result normal?
YES >> GO TO 8.
NO >> Repair or replace error-detected parts, and GO TO 8. G
8.CHECK BRAKE FLUID LEVEL SWITCH GROUND CIRCUIT
Check the continuity between brake fluid level switch harness connector and ground.
H
Brake fluid level switch
— Continuity
Connector Terminal
I
E37 2 Ground Existed
Is the inspection result normal?
YES >> GO TO 9. J
NO >> Repair or replace error-detected parts, and GO TO 9.
9.CHECK COMBINATION METER
K
Check the combination meter.
Is the inspection result normal?
YES >> Replace the ABS actuator and electric unit (control unit). L
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".
NO >> Repair or replace combination meter. Refer to MWI-151, "Removal and Installation".
M
Component Inspection INFOID:0000000010723699

1.CHECK BRAKE FLUID LEVEL SWITCH N

1. Turn the ignition switch OFF.
2. Disconnect the brake fluid level switch harness connector.
3. Check continuity between terminals of brake fluid level switch. O

Brake fluid level switch

Condition Continuity
Terminal P
When brake fluid level in reservoir tank is within the specified level. Not existed
1–2 When brake fluid level in reservoir tank is less than the specified
Existed
level.
Is the inspection result normal?
YES >> INSPECTION END
NO >> Replace the reservoir tank.

BRC-159
 C1155 BRAKE FLUID LEVEL SWITCH
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
• LHD models: Refer to BR-34, "Disassembly and Assembly".
• RHD models: Refer to BR-97, "Disassembly and Assembly".

BRC-160
 C1160 INCOMPLETE DECEL G SENSOR CALIBRATION
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
C1160 INCOMPLETE DECEL G SENSOR CALIBRATION
A
DTC Description INFOID:0000000010723700

DTC DETECTION LOGIC B

Display Item
DTC Malfunction detected condition
(Trouble diagnosis content) C
DECEL G SEN SET
C1160 When calibration of yaw rate/side/decel G sensor is not complete.
(Decel G sensor set)

POSSIBLE CAUSE D
• ABS actuator and electric unit (control unit)
• Incomplete calibration of decel G sensor
E
FAIL-SAFE
The following functions are suspended.
• VDC function
• TCS function BRC
• ABS function (4WD models)
• Brake limited slip differential (BLSD) function
• Brake assist function (4WD models) G
• Brake force distribution function
• hill start assist function
• Advanced hill descent control function (4WD models with gasoline engine)
• Active trace control function (control of chassis control module) H
• Active ride control function (control of chassis control module)
DTC CONFIRMATION PROCEDURE
I
1.CHECK DTC DETECTION
With CONSULT
1. Turn the ignition switch OFF to ON. J
2. Perform self-diagnosis for “ABS”.
Is DTC “C1160” detected?
YES >> Proceed to BRC-161, "Diagnosis Procedure". K
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
L
Diagnosis Procedure INFOID:0000000010723701

1.CALIBRATION OF DECEL G SENSOR M

Perform decel G sensor calibration. Refer to BRC-102, "Work Procedure".

>> GO TO 2. N
2.PERFORM SELF-DIAGNOSIS
With CONSULT
O
1. Turn the ignition switch OFF, and wait 10 seconds or more.
2. Perform self-diagnosis for “ABS”.
Is DTC “C1160” detected?
P
YES >> Replace the ABS actuator and electric unit (control unit).
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".
NO >> INSPECTION END

BRC-161
 C1164, C1165 CV SYSTEM
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
C1164, C1165 CV SYSTEM
DTC Description INFOID:0000000010723702

DTC DETECTION LOGIC

Display Item
DTC Malfunction detected condition
(Trouble diagnosis content)
CV 1
C1164 When a malfunction is detected in cut valve 1.
(Cut valve 1)
CV 2
C1165 When a malfunction is detected in cut valve 2.
(Cut valve 2)

POSSIBLE CAUSE
• Harness or connector
• ABS actuator and electric unit (control unit)
• Fusible link
• Battery power supply system
FAIL-SAFE
The following functions are suspended.
• VDC function
• TCS function
• ABS function
• EBD function
• Brake limited slip differential (BLSD) function
• Brake assist function
• Brake force distribution function
• hill start assist function
• Advanced hill descent control function (4WD models with gasoline engine)
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
DTC CONFIRMATION PROCEDURE
1.PRECONDITIONING
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF
and wait at least 10 seconds before conducting the next test.

>> GO TO 2.
2.CHECK DTC DETECTION
With CONSULT
1. Turn the ignition switch OFF to ON.
2. Perform self-diagnosis for “ABS”.
Is any DTC “C1164” or “C1165” detected?
YES >> Proceed to BRC-162, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010723703

1.CHECK CONNECTOR
1. Turn the ignition switch OFF.
2. Check the ABS actuator and electric unit (control unit) harness connector for disconnection or looseness.
Is the inspection result normal?
YES >> GO TO 3.
NO >> Repair or replace error-detected parts, securely lock the connector, and GO TO 2.

BRC-162
 C1164, C1165 CV SYSTEM
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]

2.PERFORM SELF-DIAGNOSIS A
Perform self-diagnosis for “ABS” again.
Is any DTC “C1164” or “C1165” detected?
YES >> GO TO 3. B
NO >> INSPECTION END
3.CHECK CUT VALVE POWER SUPPLY
C
1. Turn the ignition switch OFF.
2. Disconnect the ABS actuator and electric unit (control unit) harness connector.
3. Check the voltage between ABS actuator and electric unit (control unit) harness connector and ground.
D
ABS actuator and electric unit (control unit)
— Voltage
Connector Terminal
E
E36 25 Ground 10 – 16 V
4. Turn the ignition switch ON.
CAUTION: BRC
Never start engine.
5. Check the voltage between ABS actuator and electric unit (control unit) harness connector and ground.
G
ABS actuator and electric unit (control unit)
— Voltage
Connector Terminal
E36 25 Ground 10 – 16 V H
Is the inspection result normal?
YES >> GO TO 5.
NO >> GO TO 4. I
4.CHECK CUT VALVE POWER SUPPLY CIRCUIT
1. Turn the ignition switch OFF. J
2. Check the 30A fusible link (#G).
3. Check the continuity and short circuit between ABS actuator and electric unit (control unit) harness con-
nector terminal (25) and 30A fusible link (#G).
K
Is the inspection result normal?
YES >> Perform trouble diagnosis for battery power supply.
NO >> Repair or replace error-detected parts.
L
5.CHECK CUT VALVE GGROUND CIRCUIT
1. Turn the ignition switch OFF.
2. Check the continuity between ABS actuator and electric unit (control unit) harness connector and the M
ground.

ABS actuator and electric unit (control unit) N

— Continuity
Connector Terminal
13
E36 Ground Existed O
38
Is the inspection result normal?
YES >> GO TO 6. P
NO >> Repair or replace error-detected parts.
6.CHECK TERMINAL
Check ABS actuator and electric unit (control unit) pin terminals for damage or loose connection with harness.
Is the inspection result normal?
YES >> Replace the ABS actuator and electric unit (control unit).
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".

BRC-163
 C1164, C1165 CV SYSTEM
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".
NO >> Repair or replace error-detected parts.

BRC-164
 C1166, C1167 SV SYSTEM
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
C1166, C1167 SV SYSTEM
A
DTC Description INFOID:0000000010723704

DTC DETECTION LOGIC B

Display Item
DTC Malfunction detected condition
(Trouble diagnosis content) C
SV 1
C1166 When a malfunction is detected in suction valve 1.
(Suction valve 1)
SV 2 D
C1167 When a malfunction is detected in suction valve 2.
(Suction valve 2)

POSSIBLE CAUSE
• Harness or connector E
• ABS actuator and electric unit (control unit)
• Fusible link
• Battery power supply system BRC
FAIL-SAFE
The following functions are suspended.
• VDC function G
• TCS function
• ABS function
• EBD function
H
• Brake limited slip differential (BLSD) function
• Brake assist function
• Brake force distribution function
• hill start assist function I
• Advanced hill descent control function (4WD models with gasoline engine)
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module) J
DTC CONFIRMATION PROCEDURE
1.PRECONDITIONING
K
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF
and wait at least 10 seconds before conducting the next test.
L
>> GO TO 2.
2.CHECK DTC DETECTION
M
With CONSULT
1. Turn the ignition switch OFF to ON.
2. Perform self-diagnosis for “ABS”.
Is any DTC “C1166” or “C1167” detected? N
YES >> Proceed to BRC-165, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END O

Diagnosis Procedure INFOID:0000000010723705

1.CHECK CONNECTOR P

1. Turn the ignition switch OFF.

2. Check the ABS actuator and electric unit (control unit) harness connector for disconnection or looseness.
Is the inspection result normal?
YES >> GO TO 3.
NO >> Repair or replace error-detected parts, securely lock the connector, and GO TO 2.

BRC-165
 C1166, C1167 SV SYSTEM
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]

2.PERFORM SELF-DIAGNOSIS
Perform self-diagnosis for “ABS” again.
Is any DTC “C1166” or “C1167” detected?
YES >> GO TO 3.
NO >> INSPECTION END
3.CHECK SUCTION VALVE POWER SUPPLY
1. Turn the ignition switch OFF.
2. Disconnect the ABS actuator and electric unit (control unit) harness connector.
3. Check the voltage between ABS actuator and electric unit (control unit) harness connector and ground.

ABS actuator and electric unit (control unit)

— Voltage
Connector Terminal
E36 25 Ground 10 – 16 V
4. Turn the ignition switch ON.
CAUTION:
Never start engine.
5. Check the voltage between ABS actuator and electric unit (control unit) harness connector and ground.

ABS actuator and electric unit (control unit)

— Voltage
Connector Terminal
E36 25 Ground 10 – 16 V
Is the inspection result normal?
YES >> GO TO 5.
NO >> GO TO 4.
4.CHECK SUCTION VALVE POWER SUPPLY CIRCUIT
1. Turn the ignition switch OFF.
2. Check the 30A fusible link (#G).
3. Check the continuity and short circuit between ABS actuator and electric unit (control unit) harness con-
nector terminal (25) and 30A fusible link (#G).
Is the inspection result normal?
YES >> Perform trouble diagnosis for battery power supply.
NO >> Repair or replace error-detected parts.
5.CHECK SUCTION VALVE GROUND CIRCUIT
1. Turn the ignition switch OFF.
2. Check the continuity between ABS actuator and electric unit (control unit) harness connector and the
ground.

ABS actuator and electric unit (control unit)

— Continuity
Connector Terminal
13
E36 Ground Existed
38
Is the inspection result normal?
YES >> GO TO 6.
NO >> Repair or replace error-detected parts.
6.CHECK TERMINAL
Check ABS actuator and electric unit (control unit) pin terminals for damage or loose connection with harness.
Is the inspection result normal?
YES >> Replace the ABS actuator and electric unit (control unit).
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".

BRC-166
 C1166, C1167 SV SYSTEM
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".
NO >> Repair or replace error-detected parts. A

BRC

BRC-167
 C1170 VARIANT CODING
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
C1170 VARIANT CODING
DTC Description INFOID:0000000010723706

DTC DETECTION LOGIC

Display Item
DTC Malfunction detected condition
(Trouble diagnosis content)
VARIANT CODING
C1170 When calibration of configuration is not complete.
(Variant coding)

POSSIBLE CAUSE
• ABS actuator and electric unit (control unit)
FAIL-SAFE
The following functions are suspended.
• VDC function
• TCS function
• ABS function
• EBD function
• Brake limited slip differential (BLSD) function
• Brake assist function
• Brake force distribution function
• hill start assist function
• Advanced hill descent control function (4WD models with gasoline engine)
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
DTC CONFIRMATION PROCEDURE
1.PRECONDITIONING
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF
and wait at least 10 seconds before conducting the next test.

>> GO TO 2.
2.CHECK DTC DETECTION
With CONSULT
1. Turn the ignition switch OFF to ON.
2. Perform self-diagnosis for “ABS”.
Is DTC “C1170” detected?
YES >> Proceed to BRC-168, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010723707

1.CONFIGURATION OF ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)

Perform configuration of ABS actuator and electric unit (control unit). Refer to BRC-104, "Work Procedure".

>> GO TO 2.
2.PERFORM SELF-DIAGNOSIS
With CONSULT
1. Turn the ignition switch OFF, and wait 10 seconds or more.
2. Perform self-diagnosis for “ABS”.
Is DTC “C1170” detected?
YES >> Replace the ABS actuator and electric unit (control unit).

BRC-168
 C1170 VARIANT CODING
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".
• RHD models: Refer to BRC-220, "RHD : Removal and Installation". A
NO >> INSPECTION END

BRC

BRC-169
 C1197 VACUUM SENSOR
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
C1197 VACUUM SENSOR
DTC Description INFOID:0000000010723708

DTC DETECTION LOGIC

Display Item
DTC Malfunction detected condition
(Trouble diagnosis content)
VACUUM SENSOR
C1197 When a malfunction is detected in brake vacuum sensor.
(Vacuum sensor)

POSSIBLE CAUSE
• Harness or connector
• Brake vacuum sensor
• Vacuum piping
• ABS actuator and electric unit (control unit)
FAIL-SAFE
Electrical vacuum assistance of brake booster is suspended.
DTC CONFIRMATION PROCEDURE
1.PRECONDITIONING
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF
and wait at least 10 seconds before conducting the next test.

>> GO TO 2.
2.CHECK DTC DETECTION
With CONSULT
1. Turn the ignition switch OFF to ON.
2. Perform self-diagnosis for “ABS”.
Is DTC “C1197” detected?
YES >> Proceed to BRC-170, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010723709

1.CHECK CONNECTOR
1. Turn the ignition switch OFF.
2. Check the brake vacuum sensor harness connector for disconnection or looseness.
3. Check the ABS actuator and electric unit (control unit) harness connector for disconnection or looseness.
Is the inspection result normal?
YES >> GO TO 3.
NO >> Repair or replace error-detected parts, and GO TO 2.
2.PERFORM SELF-DIAGNOSIS (1)
With CONSULT
1. Connect the brake vacuum sensor harness connector.
2. Connect the ABS actuator and electric unit (control unit) harness connector.
3. Turn the ignition switch ON.
4. Perform self-diagnosis for “ABS”.
Is DTC “C1197” detected?
YES >> GO TO 3.
NO >> INSPECTION END
3.CHECK BRAKE BOOSTER AND CHECK VALVE
BRC-170
 C1197 VACUUM SENSOR
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
1. Turn the ignition switch OFF.
2. Check the brake booster and the check valve. A
- LHD models: Refer to BR-38, "Inspection and Adjustment".
- RHD models: Refer to BR-100, "Inspection and Adjustment".
Is the inspection result normal? B
YES >> GO TO 4.
NO >> Replace the brake booster or the check valve.
• LHD models: Refer to BR-36, "Removal and installation".
C
• RHD models: Refer to BR-99, "Removal and installation".
4.PERFORM SELF-DIAGNOSIS (2)
With CONSULT D
1. Erase self-diagnosis result for “ABS”.
2. Turn the ignition switch ON.
3. Perform self-diagnosis for “ABS”. E
Is DTC “C1197” detected?
YES >> GO TO 5.
NO >> INSPECTION END BRC
5.CHECK VACUUM PIPING
1. Turn the ignition switch OFF.
2. Check the vacuum piping. G
- LHD models
• MR20DD: Refer to BR-40, "MR20DD : Inspection".
• QR25DE: Refer to BR-41, "QR25DE : Inspection". H
• R9M: Refer to BR-42, "R9M : Inspection".
- RHD models: Refer to BR-102, "Inspection".
Is the inspection result normal? I
YES >> GO TO 6.
NO >> Replace the vacuum piping.
• LHD models
J
- MR20DD: Refer to BR-40, "MR20DD : Removal and Installation".
- QR25DE: Refer to BR-41, "QR25DE : Removal and Installation".
- R9M: Refer to BR-42, "R9M : Removal and Installation".
• RHD models: Refer to BR-102, "Removal and Installation". K
6.PERFORM SELF-DIAGNOSIS (3)
With CONSULT L
1. Erase self-diagnosis result for “ABS”.
2. Turn the ignition switch ON.
3. Perform self-diagnosis for “ABS”.
M
Is DTC “C1197” detected?
YES >> GO TO 7.
NO >> INSPECTION END
N
7.CHECK TERMINAL
1. Turn the ignition switch OFF.
2. Disconnect the brake vacuum sensor harness connector. O
3. Check the brake vacuum sensor pin terminals for damage or loose connection with harness connector.
4. Disconnect the ABS actuator and electric unit (control unit) harness connector.
5. Check the ABS actuator and electric unit (control unit) pin terminals for damage or loose connection with
harness connector. P
Is the inspection result normal?
YES >> GO TO 8.
NO >> Repair or replace error-detected parts.
8.PERFORM SELF-DIAGNOSIS (4)
With CONSULT

BRC-171
 C1197 VACUUM SENSOR
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
1. Connect the brake vacuum sensor harness connector.
2. Connect the ABS actuator and electric unit (control unit) harness connector.
3. Erase self-diagnosis result for “ABS”.
4. Turn the ignition switch ON.
5. Perform self-diagnosis for “ABS”.
Is DTC “C1197” detected?
YES >> GO TO 9.
NO >> INSPECTION END
9.CHECK BRAKE VACUUMSENSOR CIRCUIT
1. Turn the ignition switch OFF.
2. Disconnect the brake vacuum sensor harness connector.
3. Disconnect the ABS actuator and electric unit (control unit) harness connector.
4. Check the continuity between brake vacuum sensor harness connector and ABS actuator and electric unit
(control unit) harness connector.

Brake vacuum sensor ABS actuator and electric unit (control unit)
Continuity
Connector Terminal Connector Terminal
1 12
E31 2 E36 24 Existed
3 5
5. Check the continuity between brake vacuum sensor harness connector and ground.

Brake vacuum sensor

— Continuity
Connector Terminal
1
E31 2 Ground Not existed
3
Is the inspection result normal?
YES >> GO TO 10.
NO >> Repair or replace error-detected parts.
10.REPLACE BRAKE VACUUM SENSOR
With CONSULT
1. Connect the ABS actuator and electric unit (control unit) harness connector.
2. Connect the brake vacuum sensor harness connector.
3. Replace the brake vacuum sensor.
- LHD models: Refer to BR-36, "Removal and installation".
- RHD models: Refer to BR-99, "Removal and installation".
4. Erase self-diagnosis result for “ABS”.
5. Turn the ignition switch OFF, and wait 10 seconds or more.
6. Start the engine.
7. Perform self-diagnosis for “ABS”.
Is DTC “C1197” detected?
YES >> Replace the ABS actuator and electric unit (control unit).
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".
NO >> INSPECTION END

BRC-172
 C1198 VACUUM SENSOR
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
C1198 VACUUM SENSOR
A
DTC Description INFOID:0000000010723710

DTC DETECTION LOGIC B

Display Item
DTC Malfunction detected condition
(Trouble diagnosis content) C
• When an open circuit is detected in vacuum sensor circuit.
VACUUM SEN CIR
C1198 • When a short circuit is detected in vacuum sensor circuit.
(Vacuum sensor circuit)
• When a malfunction is detected in vacuum sensor noise.
D
POSSIBLE CAUSE
• Harness or connector
• Brake vacuum sensor E
• ABS actuator and electric unit (control unit)
FAIL-SAFE
Electrical vacuum assistance of brake booster is suspended. BRC
DTC CONFIRMATION PROCEDURE
1.PRECONDITIONING G
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF
and wait at least 10 seconds before conducting the next test.
H
>> GO TO 2.
2.CHECK DTC DETECTION I
With CONSULT
1. Turn the ignition switch OFF to ON.
2. Perform self-diagnosis for “ABS”.
J
Is DTC “C1198” detected?
YES >> Proceed to BRC-173, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident". K
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010723711

L
1.CHECK CONNECTOR
1. Turn the ignition switch OFF.
2. Check the brake vacuum sensor harness connector for disconnection or looseness. M
3. Check the ABS actuator and electric unit (control unit) harness connector for disconnection or looseness.
Is the inspection result normal?
YES >> GO TO 3. N
NO >> Repair or replace error-detected parts, and GO TO 2.
2.PERFORM SELF-DIAGNOSIS (1)
O
With CONSULT
1. Connect the brake vacuum sensor harness connector.
2. Connect the ABS actuator and electric unit (control unit) harness connector.
3. Turn the ignition switch ON. P
4. Perform self-diagnosis for “ABS”.
Is DTC “C1198” detected?
YES >> GO TO 3.
NO >> INSPECTION END
3.CHECK TERMINAL
BRC-173
 C1198 VACUUM SENSOR
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
1. Turn the ignition switch OFF.
2. Disconnect the brake vacuum sensor harness connector.
3. Check the brake vacuum sensor pin terminals for damage or loose connection with harness connector.
4. Disconnect the ABS actuator and electric unit (control unit) harness connector.
5. Check the ABS actuator and electric unit (control unit) pin terminals for damage or loose connection with
harness connector.
Is the inspection result normal?
YES >> GO TO 4.
NO >> Repair or replace error-detected parts.
4.PERFORM SELF-DIAGNOSIS (2)
With CONSULT
1. Connect the brake vacuum sensor harness connector.
2. Connect the ABS actuator and electric unit (control unit) harness connector.
3. Erase self-diagnosis result for “ABS”.
4. Turn the ignition switch ON.
5. Perform self-diagnosis for “ABS”.
Is DTC “C1198” detected?
YES >> GO TO 5.
NO >> INSPECTION END
5.CHECK BRAKE VACUUM SENSOR CIRCUIT
1. Turn the ignition switch OFF.
2. Disconnect the brake vacuum sensor harness connector.
3. Disconnect the ABS actuator and electric unit (control unit) harness connector.
4. Check the continuity between brake vacuum sensor harness connector and ABS actuator and electric unit
(control unit) harness connector.

Brake vacuum sensor ABS actuator and electric unit (control unit)
Continuity
Connector Terminal Connector Terminal
1 12
E31 2 E36 24 Existed
3 5
5. Check the continuity between brake vacuum sensor harness connector and ground.

Brake vacuum sensor

— Continuity
Connector Terminal
1
E31 2 Ground Not existed
3
Is the inspection result normal?
YES >> GO TO 6.
NO >> Repair or replace error-detected parts.
6.REPLACE BRAKE VACUUM SENSOR
With CONSULT
1. Connect the ABS actuator and electric unit (control unit) harness connector.
2. Connect the brake vacuum sensor harness connector.
3. Replace the brake vacuum sensor.
- LHD models: Refer to BR-36, "Removal and installation".
- RHD models: Refer to BR-99, "Removal and installation".
4. Erase self-diagnosis result for “ABS”.
5. Turn the ignition switch OFF, and wait 10 seconds or more.
6. Start the engine.
7. Perform self-diagnosis for “ABS”.

BRC-174
 C1198 VACUUM SENSOR
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
Is DTC “C1198” detected?
YES >> Replace the ABS actuator and electric unit (control unit). A
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".
NO >> INSPECTION END B

BRC

BRC-175
 C1199 BRAKE BOOSTER
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
C1199 BRAKE BOOSTER
DTC Description INFOID:0000000010723712

DTC DETECTION LOGIC

Display Item
DTC Malfunction detected condition
(Trouble diagnosis content)
BRAKE BOOSTER
C1199 When brake booster vacuum is approx. 0 kPa (0 mmHg) during engine running.
(Brake booster)

POSSIBLE CAUSE
• Harness or connector
• Brake vacuum sensor
• Vacuum piping
• ABS actuator and electric unit (control unit)
DTC CONFIRMATION PROCEDURE
1.PRECONDITIONING
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF
and wait at least 10 seconds before conducting the next test.

>> GO TO 2.
2.CHECK DTC DETECTION
With CONSULT
1. Turn the ignition switch OFF to ON.
2. Perform self-diagnosis for “ABS”.
Is DTC “C1199” detected?
YES >> Proceed to BRC-176, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010723713

1.CHECK CONNECTOR
1. Turn the ignition switch OFF.
2. Check the brake vacuum sensor harness connector for disconnection or looseness.
3. Check the ABS actuator and electric unit (control unit) harness connector for disconnection or looseness.
Is the inspection result normal?
YES >> GO TO 3.
NO >> Repair or replace error-detected parts, and GO TO 2.
2.PERFORM SELF-DIAGNOSIS (1)
With CONSULT
1. Connect the brake vacuum sensor harness connector.
2. Connect the ABS actuator and electric unit (control unit) harness connector.
3. Turn the ignition switch ON.
4. Perform self-diagnosis for “ABS”.
Is DTC “C1199” detected?
YES >> GO TO 3.
NO >> INSPECTION END
3.CHECK BRAKE BOOSTER AND CHECK VALVE
1. Turn the ignition switch OFF.
2. Check the brake booster and the check valve.
- LHD models: Refer to BR-38, "Inspection and Adjustment".

BRC-176
 C1199 BRAKE BOOSTER
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
- RHD models: Refer toBR-100, "Inspection and Adjustment".
Is the inspection result normal? A
YES >> GO TO 4.
NO >> Replace the brake booster or the check valve.
• LHD models: Refer to BR-36, "Removal and installation". B
• RHD models: Refer to BR-99, "Removal and installation".
4.PERFORM SELF-DIAGNOSIS (2)
C
With CONSULT
1. Erase self-diagnosis result for “ABS”.
2. Connect the brake vacuum sensor harness connector.
3. Connect the ABS actuator and electric unit (control unit) harness connector. D
4. Turn the ignition switch ON.
5. Perform self-diagnosis for “ABS”.
Is DTC “C1199” detected? E
YES >> GO TO 5.
NO >> INSPECTION END
5.CHECK VACUUM PIPING BRC

1. Turn the ignition switch OFF.

2. Check the vacuum piping.
- LHD models G
• MR20DD: Refer to BR-40, "MR20DD : Inspection".
• QR25DE: Refer to BR-41, "QR25DE : Inspection".
• R9M: Refer to BR-42, "R9M : Inspection". H
- RHD models: Refer to BR-102, "Inspection".
Is the inspection result normal?
YES >> GO TO 6. I
NO >> Replace the vacuum piping.
• LHD models
- MR20DD: Refer to BR-40, "MR20DD : Removal and Installation".
J
- QR25DE: Refer to BR-41, "QR25DE : Removal and Installation".
- R9M: Refer to BR-42, "R9M : Removal and Installation".
• RHD models: Refer to BR-102, "Removal and Installation".
6.PERFORM SELF-DIAGNOSIS (3) K

With CONSULT
1. Erase self-diagnosis result for “ABS”. L
2. Connect the brake vacuum sensor harness connector.
3. Connect the ABS actuator and electric unit (control unit) harness connector.
4. Turn the ignition switch ON.
5. Perform self-diagnosis for “ABS”. M
Is DTC “C1199” detected?
YES >> GO TO 7.
NO >> INSPECTION END N

7.CHECK TERMINAL
1. Turn the ignition switch OFF. O
2. Disconnect the brake vacuum sensor harness connector.
3. Check the brake vacuum sensor pin terminals for damage or loose connection with harness connector.
4. Disconnect the ABS actuator and electric unit (control unit) harness connector.
5. Check the ABS actuator and electric unit (control unit) pin terminals for damage or loose connection with P
harness connector.
Is the inspection result normal?
YES >> GO TO 8.
NO >> Repair or replace error-detected parts.
8.PERFORM SELF-DIAGNOSIS (4)
BRC-177
 C1199 BRAKE BOOSTER
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
With CONSULT
1. Connect the brake vacuum sensor harness connector.
2. Connect the ABS actuator and electric unit (control unit) harness connector.
3. Erase self-diagnosis result for “ABS”.
4. Turn the ignition switch ON.
5. Perform self-diagnosis for “ABS”.
Is DTC “C1199” detected?
YES >> GO TO 9.
NO >> INSPECTION END
9.CHECK BRAKE VACUUM SENSOR CIRCUIT
1. Turn the ignition switch OFF.
2. Disconnect the brake vacuum sensor harness connector.
3. Disconnect the ABS actuator and electric unit (control unit) harness connector.
4. Check the continuity between brake vacuum sensor harness connector and ABS actuator and electric unit
(control unit) harness connector.

Brake vacuum sensor ABS actuator and electric unit (control unit)
Continuity
Connector Terminal Connector Terminal
1 12
E31 2 E36 24 Existed
3 5
5. Check the continuity between brake vacuum sensor harness connector and ground.

Brake vacuum sensor

— Continuity
Connector Terminal
1
E31 2 Ground Not existed
3
Is the inspection result normal?
YES >> GO TO 10.
NO >> Repair or replace error-detected parts.
10.REPLACE BRAKE VACUUM SENSOR
With CONSULT
1. Connect the ABS actuator and electric unit (control unit) harness connector.
2. Connect the brake vacuum sensor harness connector.
3. Replace the brake vacuum sensor.
- LHD models: Refer to BR-36, "Removal and installation".
- RHD models: Refer to BR-99, "Removal and installation".
4. Erase self-diagnosis result for “ABS”.
5. Turn the ignition switch OFF, and wait 10 seconds or more.
6. Start the engine.
7. Perform self-diagnosis for “ABS”.
Is DTC “C1199” detected?
YES >> Replace the ABS actuator and electric unit (control unit).
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".
NO >> INSPECTION END

BRC-178
 C119A VACUUM SENSOR
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
C119A VACUUM SENSOR
A
DTC Description INFOID:0000000010723714

DTC DETECTION LOGIC B

Display Item
DTC Malfunction detected condition
(Trouble diagnosis content) C
VACUUM SEN VOLT
C119A When a malfunction is detected in supply power voltage of vacuum sensor.
(Vacuum sensor voltage)

POSSIBLE CAUSE D
• Harness or connector
• Brake vacuum sensor
• ABS actuator and electric unit (control unit) E
FAIL-SAFE
Electrical vacuum assistance of brake booster is suspended.
BRC
DTC CONFIRMATION PROCEDURE
1.PRECONDITIONING
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF G
and wait at least 10 seconds before conducting the next test.

>> GO TO 2. H

2.CHECK DTC DETECTION

With CONSULT I
1. Turn the ignition switch OFF to ON.
2. Perform self-diagnosis for “ABS”.
Is DTC “C119A” detected? J
YES >> Proceed to BRC-179, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END K
Diagnosis Procedure INFOID:0000000010723715

1.CHECK CONNECTOR L
1. Turn the ignition switch OFF.
2. Check the brake vacuum sensor harness connector for disconnection or looseness.
3. Check the ABS actuator and electric unit (control unit) harness connector for disconnection or looseness. M
Is the inspection result normal?
YES >> GO TO 3.
NO >> Repair or replace error-detected parts, and GO TO 2. N
2.PERFORM SELF-DIAGNOSIS
With CONSULT O
1. Connect the brake vacuum sensor harness connector.
2. Connect the ABS actuator and electric unit (control unit) harness connector.
3. Turn the ignition switch ON.
4. Perform self-diagnosis for “ABS”. P
Is DTC “C119A” detected?
YES >> GO TO 3.
NO >> INSPECTION END
3.CHECK BRAKE VACUUM SENSOR POWER SUPPLY
1. Turn the ignition switch OFF.

BRC-179
 C119A VACUUM SENSOR
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
2. Disconnect the brake vacuum sensor harness connector.
3. Check the voltage between brake vacuum sensor harness connector and ground.

Brake vacuum sensor

— Voltage
Connector Terminal
E31 3 Ground Approx. 0 V
4. Turn the ignition switch ON.
CAUTION:
Start the engine.
5. Check the voltage between brake vacuum sensor harness connector and ground.

Brake vacuum sensor

— Voltage
Connector Terminal
E31 3 Ground 4.75 − 5.25 V
Is the inspection result normal?
YES >> GO TO 5.
NO >> GO TO 4.
4.CHECK BRAKE VACUUM SENSOR POWER SUPPLY CIRCUIT
1. Turn the ignition switch OFF.
2. Disconnect the ABS actuator and electric unit (control unit) harness connector.
3. Check the continuity between brake vacuum sensor harness connector and ABS actuator and electric unit
(control unit) harness connector.

Brake vacuum sensor ABS actuator and electric unit (control unit)
Continuity
Connector Terminal Connector Terminal
E31 3 E36 5 Existed
4. Check the continuity between brake vacuum sensor harness connector and ground.

Brake vacuum sensor

— Continuity
Connector Terminal
E31 3 Ground Not existed
Is the inspection result normal?
YES >> Check the ABS actuator and electric unit (control unit) power supply system. Refer to BRC-188,
"Diagnosis Procedure".
NO >> Repair or replace error-detected parts.
5.CHECK BRAKE VACUUM SENSOR GROUND CIRCUIT
1. Turn the ignition switch OFF.
2. Check the continuity between brake vacuum sensor harness connector and ground.

Brake vacuum sensor

— Continuity
Connector Terminal
E31 2 Ground Not existed
Is the inspection result normal?
YES >> GO TO 6.
NO >> Repair or replace error-detected parts.
6.CHECK TERMINAL
1. Check the vacuum sensor pin terminals for damage or loose connection with harness connector.
2. Check the ABS actuator and electric unit (control unit) pin terminals for damage or loose connection with
harness connector.

BRC-180
 C119A VACUUM SENSOR
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
Is the inspection result normal?
YES >> Replace the ABS actuator and electric unit (control unit). A
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".
NO >> Repair or replace error-detected parts. B

BRC

BRC-181
 C1B60 CHASSIS CONTROL SYSTEM
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
C1B60 CHASSIS CONTROL SYSTEM
DTC Description INFOID:0000000010723716

DTC DETECTION LOGIC

Display Item
DTC Malfunction detected condition
(Trouble diagnosis content)
EXTERNAL CONTROL MODULE
C1B60 When a malfunction is detected in chassis control system.
(External control module)

POSSIBLE CAUSE
• Harness or connector
• Chassis control module
• ABS actuator and electric unit (control unit)
FAIL-SAFE
The following functions are suspended.
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
DTC CONFIRMATION PROCEDURE
1.PRECONDITIONING
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF
and wait at least 10 seconds before conducting the next test.

>> GO TO 2.
2.CHECK DTC DETECTION
With CONSULT
1. Turn the ignition switch OFF to ON.
2. Perform self-diagnosis for “ABS”.
Is DTC “C1B60” detected?
YES >> Proceed to BRC-182, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010723717

1.CHECK CHASSIS CONTROL SYSTEM

With CONSULT
Perform self-diagnosis for “CHASSIS CONTROL”.
Is any DTC detected?
YES >> Check the DTC. Refer to DAS-204, "DTC Index".
NO >> GO TO 2.
2.CHECK CONNECTOR AND TERMINALS
1. Turn the ignition switch OFF.
2. Disconnect the chassis control module harness connector.
3. Check the chassis control module harness connector for disconnection or looseness.
4. Check the chassis control module pin terminals for damage or loose connection with harness.
5. Disconnect the ABS actuator and electric unit (control unit) harness connector.
6. Check the ABS actuator and electric unit (control unit) harness connector for disconnection or looseness.
7. Check the ABS actuator and electric unit (control unit) pin terminals for damage or loose connection with
harness.
Is the inspection result normal?
YES >> GO TO 3.

BRC-182
 C1B60 CHASSIS CONTROL SYSTEM
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
NO >> Repair or replace error-detected parts, securely lock the connector, and GO TO 3.
3.PERFORM SELF-DIAGNOSIS A

With CONSULT
1. Connect the chassis control module harness connector. B
2. Connect the ABS actuator and electric unit (control unit) harness connector.
3. Erase self-diagnosis result for “ABS”.
4. Turn the ignition switch OFF to ON.
5. Perform self-diagnosis for “ABS”. C
Is any DTC “C1B60” or “U1000” detected?
YES (“C1B60”)>>Replace the ABS actuator and electric unit (control unit).
• LHD models: Refer to BRC-217, "LHD : Removal and Installation". D
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".
YES (“U1000”)>>Refer to LAN-17, "Trouble Diagnosis Flow Chart".
NO >> INSPECTION END E

BRC

BRC-183
 U1000 CAN COMM CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
U1000 CAN COMM CIRCUIT
DTC Description INFOID:0000000010723718

DTC DETECTION LOGIC

Display Item
DTC Malfunction detected condition
(Trouble diagnosis content)
CAN COMM CIRCUIT When CAN communication signal is not continuously transmitted or received for
U1000
(CAN communication circuit) 2 seconds or more.

POSSIBLE CAUSE
• CAN communication system malfunction
FAIL-SAFE
The following functions are suspended.
• VDC function
• TCS function
• ABS function*
• EBD function*
• Brake limited slip differential (BLSD) function
• Brake assist function
• Brake force distribution function
• hill start assist function
• Advanced hill descent control function (4WD models with gasoline engine)
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
*: When a malfunction detected in CAN communication [between ABS actuator and electric unit (control unit)
and chassis control module]
DTC CONFIRMATION PROCEDURE
1.PRECONDITIONING
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF
and wait at least 10 seconds before conducting the next test.

>> GO TO 2.
2.CHECK DTC DETECTION
With CONSULT
1. Turn the ignition switch OFF to ON.
2. Perform self-diagnosis for “ABS”.
Is DTC “U1000” detected?
YES >> Proceed to BRC-184, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010723719

Proceed to LAN-17, "Trouble Diagnosis Flow Chart".

BRC-184
 U1002 SYSTEM COMM (CAN)
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
U1002 SYSTEM COMM (CAN)
A
DTC Description INFOID:0000000010723720

DTC DETECTION LOGIC B

Display Item
DTC Malfunction detected condition
(Trouble diagnosis content) C
SYSTEM COMM(CAN) When ABS actuator and electric unit (control unit) is not transmitting or receiving
U1002
(CAN system communication) CAN communication signal for 2 seconds or less.

POSSIBLE CAUSE D
• CAN communication line
• ABS actuator and electric unit (control unit)
E
FAIL-SAFE
The following functions are suspended.
• VDC function
• TCS function BRC
*
• ABS function
• EBD function*
• Brake limited slip differential (BLSD) function G
• Brake assist function
• Brake force distribution function
• hill start assist function H
• Advanced hill descent control function (4WD models with gasoline engine)
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
*: When a malfunction detected in CAN communication [between ABS actuator and electric unit (control unit) I
and chassis control module]
DTC CONFIRMATION PROCEDURE
J
1.PRECONDITIONING
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF
and wait at least 10 seconds before conducting the next test. K

>> GO TO 2.
L
2.CHECK DTC DETECTION
With CONSULT
1. Turn the ignition switch OFF to ON. M
2. Perform self-diagnosis for “ABS”.
Is DTC “U1002” detected?
YES >> Proceed to BRC-185, "Diagnosis Procedure". N
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010723721 O

CAUTION:
• Never apply 7.0 V or more to the measurement terminal.
P
• Use a tester with open terminal voltage of 7.0 V or less.
• Turn the ignition switch OFF and disconnect the battery cable from the negative terminal when
checking the harness.
1.CHECK CAN DIAGNOSIS SUPPORT MONITOR
With CONSULT
1. Select “ABS” and “CAN Diagnosis Support Monitor” in order with CONSULT.

BRC-185
 U1002 SYSTEM COMM (CAN)
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
2. Check the malfunction history between each control unit connected to ABS actuator and electric unit (con-
trol unit).
Check the result of “PAST”?
All items are “OK”>>Refer to GI-44, "Intermittent Incident".
“TRANSMIT DIAG” is other than ”OK”>>GO TO 2.
“METER/M&A” is other than “OK”>>GO TO 3.
A control unit other than “ABS” and “METER/M&A” are anything other than “OK”>>GO TO 4.
2.CHECK TRANSMITTING SIDE UNIT
Check the ABS actuator and electric unit (control unit) harness connector terminals (14) and (26) for damage
or loose connection.
Is the inspection result normal?
YES >> Erase self-diagnosis results. Then perform self-diagnosis for “ABS” with CONSULT.
NO >> Recheck terminals for damage or loose connection. Refer to LAN-7, "Precautions for Harness
Repair".
3.CHECK COMBINATION METER
• Check damage or loose connection between the ABS actuator and electric unit (control unit) harness con-
nector terminal (14) and combination meter harness connector terminal (42).
• Check damage or loose connection between the ABS actuator and electric unit (control unit) harness con-
nector terminal (26) and combination meter harness connector terminal (41).
Is the inspection result normal?
YES >> Erase self-diagnosis results for “METER/M&A”. Then perform self-diagnosis for “METER/M&A”
with CONSULT.
NO >> Recheck terminals for damage or loose connection. Refer to LAN-7, "Precautions for Harness
Repair".
4.CHECK APPLICABLE CONTROL UNIT
Check damage or loose connection of each CAN communication line harness connector terminals.
Is the inspection result normal?
YES >> Erase self-diagnosis results. Then perform self-diagnosis for applicable control unit with CON-
SULT.
NO >> Recheck terminals for damage or loose connection. Refer to LAN-7, "Precautions for Harness
Repair".

BRC-186
 U1010 CONTROL UNIT (CAN)
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
U1010 CONTROL UNIT (CAN)
A
DTC Description INFOID:0000000010723722

DTC DETECTION LOGIC B

Display Item
DTC Malfunction detected condition
(Trouble diagnosis content) C
CONTROL UNIT (CAN) When detecting error during the initial diagnosis of CAN controller of ABS actuator
U1010
(Control unit [CAN communication]) and electric unit (control unit).

POSSIBLE CAUSE D
• ABS actuator and electric unit (control unit)
FAIL-SAFE E
The following functions are suspended.
• VDC function
• TCS function
BRC
• ABS function*
• EBD function*
• Brake limited slip differential (BLSD) function
• Brake assist function G
• Brake force distribution function
• hill start assist function
• Advanced hill descent control function (4WD models with gasoline engine) H
• Active trace control function (control of chassis control module)
• Active ride control function (control of chassis control module)
*: When a malfunction detected in CAN communication [between ABS actuator and electric unit (control unit)
and chassis control module] I

DTC CONFIRMATION PROCEDURE

1.PRECONDITIONING J
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF
and wait at least 10 seconds before conducting the next test.
K
>> GO TO 2.
2.CHECK DTC DETECTION L
With CONSULT
1. Turn the ignition switch OFF to ON.
2. Perform self-diagnosis for “ABS”. M
Is DTC “C1010” detected?
YES >> Proceed to BRC-187, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident". N
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010723723
O
1.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
Check the ABS actuator and electric unit (control unit) harness connector for disconnection and deformation.
P
Is the inspection result normal?
YES >> Replace the ABS actuator and electric unit (control unit).
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".
NO >> Repair or replace error-detected parts.

BRC-187
 POWER SUPPLY AND GROUND CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
POWER SUPPLY AND GROUND CIRCUIT
Diagnosis Procedure INFOID:0000000010723724

1.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) IGNITION POWER SUPPLY
1. Turn the ignition switch OFF.
2. Disconnect the ABS actuator and electric unit (control unit) harness connector.
3. Check the voltage between ABS actuator and electric unit (control unit) harness connector and ground.

ABS actuator and electric unit (control unit)

— Voltage
Connector Terminal
E36 28 Ground Approx. 0 V
4. Turn the ignition switch ON.
CAUTION:
Never start engine.
5. Check the voltage between ABS actuator and electric unit (control unit) harness connector and ground.

ABS actuator and electric unit (control unit)

— Voltage
Connector Terminal
E36 28 Ground 10 − 16 V
Is the inspection result normal?
YES >> GO TO 4.
NO (With stop / start system)>>GO TO 2.
NO (Without stop / start system)>>GO TO 3.
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) IGNITION POWER SUPPLY CIRCUIT
(WITH STOP / START SYSTEM)
1. Turn the ignition switch OFF.
2. Check the 10A fuse (#60).
3. Check the continuity and short circuit between ABS actuator and electric unit (control unit) harness con-
nector terminal (28) and 10A fuse (#60).
Is the inspection result normal?
YES >> Perform trouble diagnosis for ignition power supply.
NO >> Repair or replace error-detected parts.
3.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) IGNITION POWER SUPPLY CIRCUIT
(WITHOUT STOP / START SYSTEM)
1. Turn the ignition switch OFF.
2. Check the 10A fuse (#21).
3. Check the continuity and short circuit between ABS actuator and electric unit (control unit) harness con-
nector terminal (28) and 10A fuse (#21).
Is the inspection result normal?
YES >> Perform trouble diagnosis for ignition power supply.
NO >> Repair or replace error-detected parts.
4.CHECK ABS MOTOR AND ABS MOTOR RELAY POWER SUPPLY
1. Turn the ignition switch OFF.
2. Check the voltage between ABS actuator and electric unit (control unit) harness connector and ground.

ABS actuator and electric unit (control unit)

— Voltage
Connector Terminal
E36 1 Ground 10 – 16 V
3. Turn the ignition switch ON.
CAUTION:

BRC-188
 POWER SUPPLY AND GROUND CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
Never start engine.
4. Check the voltage between ABS actuator and electric unit (control unit) harness connector and ground. A

ABS actuator and electric unit (control unit)

— Voltage
Connector Terminal B
E36 1 Ground 10 – 16 V
Is the inspection result normal? C
YES >> GO TO 7.
NO (R9M engine models)>>GO TO 5.
NO (except for R9M engine models)>>GO TO 6.
D
5.CHECK ABS MOTOR AND ABS MOTOR RELAY POWER SUPPLY CIRCUIT (R9M ENGINE MODELS)
1. Turn the ignition switch OFF.
2. Check the 40A fusible link (#M). E
3. Check the continuity and short circuit between ABS actuator and electric unit (control unit) harness con-
nector terminal (1) and 40A fusible link (#M).
Is the inspection result normal? BRC
YES >> Perform trouble diagnosis for battery power supply.
NO >> Repair or replace error-detected parts.
6.CHECK ABS MOTOR AND ABS MOTOR RELAY POWER SUPPLY CIRCUIT (EXCEPT FOR R9M ENGINE G
MODELS)
1. Turn the ignition switch OFF.
2. Check the 40A fusible link (#K). H
3. Check the continuity and short circuit between ABS actuator and electric unit (control unit) harness con-
nector terminal (1) and 40A fusible link (#K).
Is the inspection result normal? I
YES >> Perform trouble diagnosis for battery power supply.
NO >> Repair or replace error-detected parts.
7.CHECK ACTUATOR RELAY, ABS IN VALVE, ABS OUT VALVE, CUT VALVE AND SUCTION VALVE POW- J
ER SUPPLY
1. Turn the ignition switch OFF.
2. Check the voltage between ABS actuator and electric unit (control unit) harness connector and ground. K

ABS actuator and electric unit (control unit)

— Voltage L
Connector Terminal
E36 25 Ground 10 – 16 V
3. Turn the ignition switch ON. M
CAUTION:
Never start engine.
4. Check the voltage between ABS actuator and electric unit (control unit) harness connector and ground. N

ABS actuator and electric unit (control unit)

— Voltage
Connector Terminal O
E36 25 Ground 10 – 16 V
Is the inspection result normal?
P
YES >> GO TO 9.
NO >> GO TO 8.
8.CHECK ACTUATOR RELAY, ABS IN VALVE, ABS OUT VALVE, CUT VALVE AND SUCTION VALVE POW-
ER SUPPLY CIRCUIT
1. Turn the ignition switch OFF.
2. Check the 30A fusible link (#G).

BRC-189
 POWER SUPPLY AND GROUND CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
3. Check the continuity and short circuit between ABS actuator and electric unit (control unit) harness con-
nector terminal (25) and 30A fusible link (#G).
Is the inspection result normal?
YES >> Perform trouble diagnosis for battery power supply.
NO >> Repair or replace error-detected parts.
9.CHECK GROUND CIRCUIT
Check the continuity between ABS actuator and electric unit (control unit) harness connector and the ground.

ABS actuator and electric unit (control unit)

— Continuity
Connector Terminal
13
E36 Ground Existed
38
Is the inspection result normal?
YES >> GO TO 10.
NO >> Repair or replace error-detected parts.
10.CHECK TERMINAL
Check ABS actuator and electric unit (control unit) pin terminals for damage or loose connection with harness
connector.
Is the inspection result normal?
YES >> INSPECTION END
NO >> Repair or replace error-detected parts.

BRC-190
 VDC (ESP) OFF SWITCH
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
VDC (ESP) OFF SWITCH
A
Component Function Check INFOID:0000000010723728

1.CHECK VDC OFF SWITCH OPERATION B

Check that VDC OFF indicator lamp in combination meter turns ON/OFF when VDC OFF switch is operated.
Is the inspection result normal?
C
YES >> INSPECTION END
NO >> Proceed to BRC-191, "Diagnosis Procedure".
Diagnosis Procedure INFOID:0000000010723729
D

1.CHECK VDC OFF SWITCH CIRCUIT

1. Turn the ignition switch OFF. E
2. Disconnect the ABS actuator and electric unit (control unit) harness connector.
3. Disconnect the VDC OFF switch harness connector.
4. Check the continuity between ABS actuator and electric unit (control unit) harness connector and VDC
BRC
OFF switch harness connector.

ABS actuator and electric unit (control unit) VDC OFF switch
Continuity G
Connector Terminal Connector Terminal
E36 15 M5 1 Existed
5. Check the continuity between ABS actuator and electric unit (control unit) harness connector and the H
ground.

ABS actuator and electric unit (control unit) I

— Continuity
Connector Terminal
E36 15 Ground Not existed
J
Is the inspection result normal?
YES >> GO TO 2.
NO >> Repair or replace error-detected parts. K
2.CHECK VDC OFF SWITCH GROUND CIRCUIT
Check the continuity between VDC OFF switch harness connector and ground.
L

VDC OFF switch

— Continuity
Connector Terminal
M
M5 2 Ground Existed
Is the inspection result normal?
YES >> GO TO 3. N
NO >> Repair or replace error-detected parts.
3.CHECK VDC OFF SWITCH
O
Check the VDC OFF switch. Refer to BRC-192, "Component Inspection".
Is the inspection result normal?
YES >> GO TO 4. P
NO >> Replace the VDC OFF switch. Refer to BRC-223, "Removal and Installation".
4.CHECK VDC OFF SWITCH SIGNAL
With CONSULT
1. Connect the ABS actuator and electric unit (control unit) harness connector.
2. Connect the VDC OFF switch harness connector.
3. Select “ABS”, “DATA MONITOR” and “OFF SW” according to this order. Check VDC OFF switch signal.

BRC-191
 VDC (ESP) OFF SWITCH
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]

Condition DATA MONITOR

When VDC OFF switch is pressed and VDC OFF indicator
On
lamp in combination meter is in ON status
When VDC OFF switch is pressed and VDC OFF indicator
Off
lamp in combination meter is in OFF status
Is the inspection result normal?
YES >> INSPECTION END
NO >> GO TO 5.
5.CHECK TERMINAL
1. Check ABS actuator and electric unit (control unit) pin terminals for damage or loose connection with har-
ness connector.
2. Check VDC OFF switch pin terminals for damage or loose connection with harness connector.
Is the inspection result normal?
YES >> Replace the ABS actuator and electric unit (control unit).
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".
NO >> Repair or replace error-detected parts.
Component Inspection INFOID:0000000010723730

1.CHECK VDC OFF SWITCH

1. Turn the ignition switch OFF.
2. Remove the VDC OFF switch. Refer to BRC-223, "Removal and Installation".
3. Check continuity between terminals of VDC OFF switch connector.

VDC OFF switch

Condition Continuity
Terminal
When VDC OFF switch is pressed Existed
1–2
When VDC OFF switch is not pressed Not existed
Is the inspection result normal?
YES >> INSPECTION END
NO >> Replace the VDC OFF switch. Refer to BRC-223, "Removal and Installation".

BRC-192
 HILL DESCENT CONTROL (DOWNHILL DRIVE SUPPORT) SWITCH
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
HILL DESCENT CONTROL (DOWNHILL DRIVE SUPPORT) SWITCH
A
Component Function Check INFOID:0000000010723731

1.CHECK HILL DESCENT CONTROL SSWITCH OPERATION B

Check that hill descent control indicator lamp in combination meter turns ON/OFF/Blinking when hill descent
control switch is operated.
• ON: hill descent control switch is ON and the operational conditions are satisfied C
• Blinking: hill descent control switch is ON and the operational conditions are not satisfied
• OFF: hill descent control switch is OFF
Is the inspection result normal? D
YES >> INSPECTION END
NO >> Proceed to BRC-193, "Diagnosis Procedure".
Diagnosis Procedure INFOID:0000000010723732
E

1.CHECK HILL DESCENT CONTROL SWITCH CIRCUIT

BRC
1. Turn the ignition switch OFF.
2. Disconnect the ABS actuator and electric unit (control unit) harness connector.
3. Disconnect the hill descent control switch harness connector.
4. Check the continuity between ABS actuator and electric unit (control unit) harness connector and hill G
descent control switch harness connector.

ABS actuator and electric unit (control unit) hill descent control switch H
Continuity
Connector Terminal Connector Terminal
E36 9 M183 1 Existed
I
5. Check the continuity between ABS actuator and electric unit (control unit) harness connector and the
ground.
J
ABS actuator and electric unit (control unit)
— Continuity
Connector Terminal
E36 9 Ground Existed K
Is the inspection result normal?
YES >> GO TO 2.
NO >> Repair or replace error-detected parts. L

2.CHECK HILL DESCENT CONTROL SWITCH GROUND CIRCUIT

Check the continuity between hill descent control switch harness connector and the ground. M

hill descent control switch

— Continuity
Connector Terminal N
M183 3 Ground Existed
Is the inspection result normal?
O
YES >> GO TO 3.
NO >> Repair or replace error-detected parts.
3.CHECK HILL DESCENT CONTROL SWITCH P
Check the hill descent control switch. Refer to BRC-194, "Component Inspection".
Is the inspection result normal?
YES >> GO TO 4.
NO >> Replace the hill descent control switch. Refer to BRC-224, "Removal and Installation".
4.CHECK HILL DESCENT CONTROL SWITCH SIGNAL

BRC-193
 HILL DESCENT CONTROL (DOWNHILL DRIVE SUPPORT) SWITCH
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
With CONSULT
1. Connect the ABS actuator and electric unit (control unit) harness connector.
2. Connect the hill descent control switch harness connector.
3. Select “ABS”, “DATA MONITOR” and “DDS SW” according to this order. Check hill descent control switch
signal.

Condition DATA MONITOR

When hill descent control switch is pressed and hill descent
On
control indicator lamp in combination meter is in ON status
When hill descent control switch is pressed and hill descent
Off
control indicator lamp in combination meter is in OFF status
Is the inspection result normal?
YES >> INSPECTION END
NO >> GO TO 5.
5.CHECK TERMINAL
1. Check ABS actuator and electric unit (control unit) pin terminals for damage or loose connection with har-
ness connector.
2. Check hill descent control switch pin terminals for damage or loose connection with harness connector.
Is the inspection result normal?
YES >> Replace the ABS actuator and electric unit (control unit). Refer to BRC-217, "LHD : Removal and
Installation".
NO >> Repair or replace error-detected parts.
Component Inspection INFOID:0000000010723733

1.CHECK HILL DESCENT CONTROL SWITCH

1. Turn the ignition switch OFF.
2. Remove the hill descent control switch. Refer to BRC-224, "Removal and Installation".
3. Check the continuity between hill descent control switch connector terminals.

hill descent control switch

Condition Continuity
Terminal
hill descent control switch is ON Existed
1–3
hill descent control switch is OFF Not existed
Is the inspection result normal?
YES >> INSPECTION END
NO >> Replace the hill descent control switch. Refer to BRC-224, "Removal and Installation".

BRC-194
 ABS WARNING LAMP
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
ABS WARNING LAMP
A
Component Function Check INFOID:0000000010723734

1.CHECK ABS WARNING LAMP FUNCTION B

Check that ABS warning lamp in combination meter turns ON for approx. 1 second after ignition switch is
turned ON.
CAUTION: C
Never start engine.
Is the inspection result normal?
YES >> INSPECTION END D
NO >> Proceed to BRC-195, "Diagnosis Procedure".
Diagnosis Procedure INFOID:0000000010723735
E
1.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) POWER SUPPLY AND GROUND CIR-
CUIT
BRC
Perform the trouble diagnosis for ABS actuator and electric unit (control unit) power supply and ground circuit.
Refer to BRC-188, "Diagnosis Procedure".
Is the inspection result normal?
G
YES >> GO TO 2.
NO >> Repair or replace error-detected parts.
2.PERFORM SELF-DIAGNOSIS H
With CONSULT
Perform self-diagnosis for “ABS”.
Is any DTC detected? I
YES >> Check the DTC. Refer to BRC-84, "DTC Index".
NO >> GO TO 3.
3.CHECK ABS WARNING LAMP SIGNAL J

With CONSULT
1. Turn the ignition switch OFF to ON, and wait for 10 seconds or more. K
CAUTION:
Never start engine.
2. Select “ABS”, “DATA MONITOR” and “ABS WARN LAMP” according to this order.
3. Check that data monitor displays “On” for approx. 1 second after ignition switch is turned ON and then L
changes to “Off”.
Is the inspection result normal?
YES >> Replace the combination meter. refer to MWI-151, "Removal and Installation". M
NO >> Replace the ABS actuator and electric unit (control unit).
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".
• RHD models: Refer to BRC-220, "RHD : Removal and Installation". N

BRC-195
 BRAKE WARNING LAMP
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
BRAKE WARNING LAMP
Component Function Check INFOID:0000000010723736

1.CHECK BRAKE WARNING LANP FUNCTION (1)

Check that brake warning lamp in combination meter turns ON for approx. 1 second after ignition switch is
turned ON (before engine start).
Is the inspection result normal?
YES >> GO TO 2.
NO >> Proceed to BRC-196, "Diagnosis Procedure".
2.CHECK BRAKE WARNING LANP FUNCTION (2)
Check that brake warning lamp in combination meter turns ON/OFF when brake fluid level switch is operated
while brake fluid level in reservoir tank is with the specified level.
NOTE:
Brake warning lamp turns ON when brake fluid is less than the specified level (when brake fluid level switch is
ON).
Is the inspection result normal?
YES >> INSPECTION END
NO >> Check the brake fluid level switch system. Refer to BRC-157, "Diagnosis Procedure".
Diagnosis Procedure INFOID:0000000010723737

1.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) POWER SUPPLY AND GROUND CIR-
CUIT
Perform the trouble diagnosis for ABS actuator and electric unit (control unit) power supply and ground circuit.
Refer to BRC-188, "Diagnosis Procedure".
Is the inspection result normal?
YES >> GO TO 2.
NO >> Repair or replace error-detected parts.
2.PERFORM SELF-DIAGNOSIS
With CONSULT
Perform self-diagnosis for “ABS”.
Is any DTC detected?
YES >> Check the DTC. Refer to BRC-84, "DTC Index".
NO >> GO TO 3.
3.CHECK BRAKE WARNING LAMP SIGNAL
With CONSULT
1. Turn the ignition switch OFF to ON, and wait for 10 seconds or more.
CAUTION:
Never start engine.
2. Select “ABS”, “DATA MONITOR” and “EBD WARN LAMP” according to this order.
3. Check that data monitor displays “On” for approx. 1 second after ignition switch is turned ON and then
changes to “Off”.
Is the inspection result normal?
YES >> Replace the combination meter. refer to MWI-151, "Removal and Installation".
NO >> Replace the ABS actuator and electric unit (control unit).
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".

BRC-196
 VDC (ESP) WARNING LAMP
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
VDC (ESP) WARNING LAMP
A
Component Function Check INFOID:0000000010723738

1.CHECK VDC WARNING LAMP FUNCTION B

Check that VDC warning lamp in combination meter turns ON for approx. 1 second after ignition switch is
turned ON.
CAUTION: C
Never start engine.
Is the inspection result normal?
YES >> INSPECTION END D
NO >> Proceed to BRC-197, "Diagnosis Procedure".
Diagnosis Procedure INFOID:0000000010723739
E
1.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) POWER SUPPLY AND GROUND CIR-
CUIT
BRC
Perform the trouble diagnosis for ABS actuator and electric unit (control unit) power supply and ground circuit.
Refer to BRC-188, "Diagnosis Procedure".
Is the inspection result normal?
G
YES >> GO TO 2.
NO >> Repair or replace error-detected parts.
2.PERFORM SELF-DIAGNOSIS H
With CONSULT
Perform self-diagnosis for “ABS”.
Is any DTC detected? I
YES >> Check the DTC. Refer to BRC-84, "DTC Index".
NO >> GO TO 3.
3.CHECK VDC WARNING LAMP SIGNAL J

With CONSULT
1. Turn the ignition switch OFF to ON, and wait for 10 seconds or more. K
CAUTION:
Never start engine.
2. Select “ABS”, “DATA MONITOR” and “SLIP/VDC LAMP” according to this order.
3. Check that data monitor displays “On” for approx. 1 second after ignition switch is turned ON and then L
changes to “Off”.
Is the inspection result normal?
YES >> Replace the combination meter. refer to MWI-151, "Removal and Installation". M
NO >> Replace the ABS actuator and electric unit (control unit).
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".
• RHD models: Refer to BRC-220, "RHD : Removal and Installation". N

BRC-197
 VDC (ESP) OFF INDICATOR LAMP
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
VDC (ESP) OFF INDICATOR LAMP
Component Function Check INFOID:0000000010723740

1.CHECK VDC OFF INDICATOR LAMP FUNCTION (1)

Check that VDC OFF indicator lamp in combination meter turns ON for approx. 1 second after ignition switch
is turned ON.
CAUTION:
Never start engine.
Is the inspection result normal?
YES >> GO TO 2.
NO >> Proceed to BRC-198, "Diagnosis Procedure".
2.CHECK VDC OFF INDICATOR LAMP FUNCTION (2)
Check that VDC OFF indicator lamp in combination meter turns ON/OFF when VDC OFF switch is operated.
Is the inspection result normal?
YES >> INSPECTION END
NO >> Check VDC OFF switch system. Refer to BRC-191, "Diagnosis Procedure".
Diagnosis Procedure INFOID:0000000010723741

1.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) POWER SUPPLY AND GROUND CIR-
CUIT
Perform the trouble diagnosis for ABS actuator and electric unit (control unit) power supply and ground circuit.
Refer to BRC-188, "Diagnosis Procedure".
Is the inspection result normal?
YES >> GO TO 2.
NO >> Repair or replace error-detected parts.
2.CHECK VDC OFF INDICATOR LAMP SIGNAL (1)
With CONSULT
1. Turn the ignition switch ON.
CAUTION:
Never start engine.
2. Select “ABS”, “DATA MONITOR” and “OFF LAMP” according to this order.
3. Check that data monitor displays “On” for approx. 1 second after ignition switch is turned ON, and then
changes to “Off”.
Is the inspection result normal?
YES >> GO TO 3.
NO >> Replace the ABS actuator and electric unit (control unit).
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".
• RHD models: Refer to BRC-220, "RHD : Removal and Installation".
3.CHECK VDC OFF INDICATOR LAMP SIGNAL (2)
With CONSULT
Check that data monitor displays “On” or “Off” each time when VDC OFF switch is operated.
Is the inspection result normal?
YES >> Replace the combination meter. Refer to MWI-151, "Removal and Installation".
NO >> Check the VDC OFF switch system. Refer to BRC-191, "Diagnosis Procedure".

BRC-198
 HILL START ASSIST (UPHILL START SUPPORT) INDICATOR LAMP
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
HILL START ASSIST (UPHILL START SUPPORT) INDICATOR LAMP
A
Component Function Check INFOID:0000000011004422

1.CHECK HILL START ASSIST INDICATOR LAMP FUNCTION (1) B

Check that hill start assist indicator lamp in combination meter turn ON when hill start assist function is satis-
fied to operational conditions.
NOTE: C
About satisfied to operational conditions, refer to BRC-62, "hill start assist (UPHILL START SUPPORT)
FUNCTION : System Description".
Is the inspection result normal? D
YES >> GO TO 2.
NO >> Proceed to BRC-199, "Diagnosis Procedure".
2.CHECK HILL START ASSIST INDICATOR LAMP FUNCTION (2) E
Check that hill start assist indicator lamp in combination meter blinks when hill start assist function is operating
conditions.
NOTE: BRC
About operating conditions, refer to BRC-62, "hill start assist (UPHILL START SUPPORT) FUNCTION : Sys-
tem Description".
Is the inspection result normal? G
YES >> INSPECTION END
NO >> Proceed to BRC-199, "Diagnosis Procedure".
H
Diagnosis Procedure INFOID:0000000011004423

1.CHECK COMBINATION METER

I
Check the combination meter.
Is the inspection result normal?
YES >> GO TO 2. J
NO >> Repair or replace error-detected parts.
2.CHECK HILL START ASSIST INDICATOR LAMP FUNCTION (1)
Check that hill start assist indicator lamp in combination meter turn ON when hill start assist function is satis- K
fied to operational conditions.
NOTE:
About satisfied to operational conditions, refer to BRC-62, "hill start assist (UPHILL START SUPPORT) L
FUNCTION : System Description".

>> GO TO 3. M
3.CHECK HILL START ASSIST INDICATOR LAMP FUNCTION (2)
Check that hill start assist indicator lamp in combination meter blinks when hill start assist function is operating
conditions. N
NOTE:
About operating conditions, refer to BRC-62, "hill start assist (UPHILL START SUPPORT) FUNCTION : Sys-
tem Description". O
Is the inspection result normal?
YES >> INSPECTION END
NO >> GO TO 4. P
4.CHECK CHASSIS CONTROL MODULE
Check the chassis control module.
Is the inspection result normal?
YES >> GO TO 5.
NO >> Repair or replace error-detected parts.

BRC-199
 HILL START ASSIST (UPHILL START SUPPORT) INDICATOR LAMP
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]

5.CHECK HILL START ASSIST INDICATOR LAMP FUNCTION (3)

Check that hill start assist indicator lamp in combination meter turn ON when hill start assist function is satis-
fied to operational conditions.
NOTE:
About satisfied to operational conditions, refer to BRC-62, "hill start assist (UPHILL START SUPPORT)
FUNCTION : System Description".

>> GO TO 6.
6.CHECK HILL START ASSIST INDICATOR LAMP FUNCTION (4)
Check that hill start assist indicator lamp in combination meter blinks when hill start assist function is operating
conditions.
NOTE:
About operating conditions, refer to BRC-62, "hill start assist (UPHILL START SUPPORT) FUNCTION : Sys-
tem Description".
Is the inspection result normal?
YES >> INSPECTION END
NO >> GO TO 7.
7.PERFORM SELF-DIAGNOSIS
With CONSULT
Perform self-diagnosis for “ABS”.
Is DTC detected?
YES >> Check the DTC. Refer to BRC-84, "DTC Index".
NO >> Replace the ABS actuator and electric unit (control unit).
• LHD: Refer to BRC-217, "LHD : Removal and Installation".
• RHD: Refer to BRC-220, "RHD : Removal and Installation".

BRC-200
 HILL DECENT CONTROL (DOWNHILL DRIVE SUPPORT) INDICATOR LAMP
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC (ESP)]
HILL DECENT CONTROL (DOWNHILL DRIVE SUPPORT) INDICATOR
A
LAMP
Component Function Check INFOID:0000000010723742
B
1.CHECK HILL DESCENT CONTROL INDICATOR LAMP FUNCTION (1)
Check that hill descent control indicator lamp in combination meter turns ON for approx. 1 second after ignition
C
switch is turned ON.
CAUTION:
Never start engine.
Is the inspection result normal? D
YES >> GO TO 2.
NO >> Proceed to BRC-201, "Diagnosis Procedure".
E
2.CHECK HILL DESCENT CONTROL INDICATOR LAMP FUNCTION (2)
Check that hill descent control indicator lamp in combination meter turns ON/OFF when hill descent control
switch is operated. BRC
Is the inspection result normal?
YES >> INSPECTION END
NO >> Check hill descent control switch system. Refer to BRC-193, "Diagnosis Procedure". G
Diagnosis Procedure INFOID:0000000010723743

1.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) POWER SUPPLY AND GROUND CIR- H
CUIT
Perform the trouble diagnosis for ABS actuator and electric unit (control unit) power supply and ground circuit.
Refer to BRC-188, "Diagnosis Procedure". I
Is the inspection result normal?
YES >> GO TO 2.
NO >> Repair or replace error-detected parts. J

2.PERFORM SELF-DIAGNOSIS
With CONSULT K
Perform self-diagnosis for “ABS”.
Is any DTC detected?
YES >> Check the DTC. Refer to BRC-84, "DTC Index". L
NO >> Replace the combination meter. Refer to MWI-151, "Removal and Installation".

BRC-201
 EXCESSIVE OPERATION FREQUENCY
< SYMPTOM DIAGNOSIS > [WITH VDC (ESP)]

SYMPTOM DIAGNOSIS
EXCESSIVE OPERATION FREQUENCY
Description INFOID:0000000010723744

VDC function, TCS function, ABS function, EBD function, brake limited slip differential (BLSD) function, brake
assist function, brake force distribution function, hill start assist function or advanced hill descent control func-
tion (4WD models with gasoline engine) operates in excessive operation frequency.
Diagnosis Procedure INFOID:0000000010723745

1.CHECK BRAKING FORCE

Check brake force using a brake tester.
Is the inspection result normal?
YES >> GO TO 2.
NO >> Check the brake system.
2.CHECK FRONT AXLE AND REAR AXLE
Check that there is no excessive looseness in front and rear axle.
• Front axle
- 2WD models: Refer to FAX-9, "Inspection".
- 4WD models: Refer to FAX-70, "Inspection".
• Rear axle
- 2WD models: Refer to RAX-6, "Inspection".
- 4WD models: Refer to RAX-16, "Inspection".
Is the inspection result normal?
YES >> GO TO 3.
NO >> Repair or replace error-detected parts.
3.CHECK WHEEL SENSOR
Check the wheel sensor.
• Check installation and damage of wheel sensor.
• Check connection of wheel sensor harness connector.
• Check terminal of wheel sensor harness connector.
Is the inspection result normal?
YES >> GO TO 4.
NO >> Repair or replace the wheel sensor.
• Front wheel sensor: Refer to BRC-212, "FRONT WHEEL SENSOR : Removal and Installation".
• Rear sensor rotor: Refer to BRC-214, "REAR WHEEL SENSOR : Removal and Installation".
4.CHECK SENSOR ROTOR
Check that there is no looseness, damage or foreign material on sensor rotor.
Is the inspection result normal?
YES >> GO TO 5.
NO >> Repair or replace the sensor rotor.
• Front sensor rotor: Refer to BRC-216, "FRONT SENSOR ROTOR : Removal and Installation".
• Rear sensor rotor: Refer to BRC-216, "REAR SENSOR ROTOR : Removal and Installation".
5.CHECK WARNING LAMP TURN OFF
• Check that VDC warning lamp and ABS warning lamp turn OFF approx. 1 second after ignition switch is
turned ON.
• Check that VDC warning lamp and ABS warning lamp turn OFF after engine started or driving.
CAUTION:
Brake warning lamp turns ON when parking brake is operated (parking brake switch is ON) (without
electric parking brake system) or brake fluid is less than the specified level (brake fluid level switch is
ON).
Is the inspection result normal?

BRC-202
 EXCESSIVE OPERATION FREQUENCY
< SYMPTOM DIAGNOSIS > [WITH VDC (ESP)]
YES >> Normal
NO >> Perform self-diagnosis for “ABS” with CONSULT. A

BRC

BRC-203
 UNEXPECTED BRAKE PEDAL REACTION
< SYMPTOM DIAGNOSIS > [WITH VDC (ESP)]
UNEXPECTED BRAKE PEDAL REACTION
Description INFOID:0000000010723746

A malfunction of brake pedal feel (height or others) is detected when brake pedal is depressed.
Diagnosis Procedure INFOID:0000000010723747

1.CHECK FRONT AXLE AND REAR AXLE

Check that there is no excessive looseness in front and rear axle.
• Front axle
- 2WD models: Refer to FAX-9, "Inspection".
- 4WD models: Refer to FAX-70, "Inspection".
• Rear axle
- 2WD models: Refer to RAX-6, "Inspection".
- 4WD models: Refer to RAX-16, "Inspection".
Is the inspection result normal?
YES >> GO TO 2.
NO >> Repair or replace error-detected parts.
2.CHECK DISC ROTOR
Check the disc rotor.
• Front
- LHD models: Refer to BR-17, "DISC ROTOR : Inspection and Adjustment".
- RHD models: Refer to BR-81, "DISC ROTOR : Inspection and Adjustment".
• Rear
- LHD models: Refer to BR-19, "DISC ROTOR : Inspection and Adjustment".
- RHD models: Refer to BR-83, "DISC ROTOR : Inspection and Adjustment".
Is the inspection result normal?
YES >> GO TO 3.
NO >> Refinish or replace the disc rotor.
3.CHECK BRAKE FLUID LEAKAGE
Check the fluid leakage.
• Front
- LHD models: Refer to BR-27, "FRONT : Inspection".
- RHD models: Refer to BR-77, "Inspection".
• Rear
- LHD models: Refer to BR-31, "REAR : Inspection".
- RHD models: Refer to BR-94, "REAR : Inspection".
Is the inspection result normal?
YES >> GO TO 4.
NO >> Repair or replace error-detected parts.
4.CHECK BRAKE PEDAL
Check the each item of brake pedal.
• LHD models: Refer to BR-11, "Inspection and Adjustment".
• RHD models: Refer to BR-75, "Inspection and Adjustment".
Is the inspection result normal?
YES >> GO TO 5.
NO >> Adjust the each item of brake pedal.
• LHD models: Refer to BR-11, "Inspection and Adjustment".
• RHD models: Refer to BR-75, "Inspection and Adjustment".
5.CHECK BRAKING FORCE
Check the brake force using a brake tester.
Is the inspection result normal?
YES >> GO TO 6.

BRC-204
 UNEXPECTED BRAKE PEDAL REACTION
< SYMPTOM DIAGNOSIS > [WITH VDC (ESP)]
NO >> Check each components of brake system.
6.CHECK BRAKE PERFORMANCE A

Disconnect the ABS actuator and electric unit (control unit) connector so that ABS does not operate. Check
that brake force is normal in this condition. Connect harness connectors after checking.
B
Is the inspection result normal?
YES >> Normal
NO >> Check each components of brake system.
C

BRC

BRC-205
 THE BRAKING DISTANCE IS LONG
< SYMPTOM DIAGNOSIS > [WITH VDC (ESP)]
THE BRAKING DISTANCE IS LONG
Description INFOID:0000000010723748

Brake stopping distance is long when ABS function is operated.

Diagnosis Procedure INFOID:0000000010723749

CAUTION:
Brake stopping distance on slippery road like rough road, gravel road or snowy road may become
longer when ABS is operated than when ABS is not operated.
1.CHECK BRAKING FORCE
Check the brake force using a brake tester.
Is the inspection result normal?
YES >> GO TO 2.
NO >> Check each components of brake system.
2.CHECK BRAKE PERFORMANCE
Disconnect the ABS actuator and electric unit (control unit) connector so that ABS does not operate. Check
the brake stopping distance in this condition. Connect harness connectors after checking.
Is the inspection result normal?
YES >> Normal
NO >> Check each components of brake system.

BRC-206
 DOES NOT OPERATE
< SYMPTOM DIAGNOSIS > [WITH VDC (ESP)]
DOES NOT OPERATE
A
Description INFOID:0000000010723750

VDC function, TCS function, ABS function, EBD function, brake limited slip differential (BLSD) function, brake B
assist function, brake force distribution function, hill start assist function, or advanced hill descent control func-
tion (4WD models with gasoline engine) does not operate.
Diagnosis Procedure INFOID:0000000010723751 C

CAUTION:
VDC function, ABS function and EBD function never operate when the vehicle speed is 10 km/h (6.2
MPH) or less. D

1.CHECK WARNING LAMP

• Check that ABS warning lamp and VDC warning lamp turn ON and turn OFF approx. 1 second after ignition E
switch is turned ON or driving.
• Check that brake warning lamp turn ON and turn OFF after engine start or driving.
CAUTION:
BRC
Brake warning lamp turns ON when parking brake is operated (parking brake switch is ON) (without
electric parking brake system) or brake fluid is less than the specified level (brake fluid level switch is
ON).
Is the inspection result normal? G
YES >> Normal
NO >> Perform self-diagnosis for “ABS” with CONSULT.
H

BRC-207
 BRAKE PEDAL VIBRATION OR OPERATION SOUND OCCURS
< SYMPTOM DIAGNOSIS > [WITH VDC (ESP)]
BRAKE PEDAL VIBRATION OR OPERATION SOUND OCCURS
Description INFOID:0000000010723752

• Brake pedal vibrates and motor sound from ABS actuator and electric unit (control unit) occurs, when the
engine starts.
• Brake pedal vibrates during braking.
CAUTION:
Vibration may be felt during brake pedal is lightly depressed (just placing a foot on it) in the following
conditions. This is normal.
• When shifting gears
• When driving on slippery road
• During cornering at high speed
• When passing over bumps or grooves [Approx. 50 mm (1.97 in) or more]
• When pulling away just after starting engine [at approx. 10 km/h (6.2 MPH) or more]
Diagnosis Procedure INFOID:0000000010723753

1.SYMPTOM CHECK 1
Check that there are pedal vibrations when the engine is started.
Do vibrations occur?
YES >> GO TO 2.
NO >> Check the brake pedal.
• LHD models: Refer to BR-22, "Inspection and Adjustment".
• RHD models: Refer to BR-86, "Inspection and Adjustment".
2.SYMPTOM CHECK 2
Check that motor sound from ABS actuator and electric unit (control unit) occurs when the engine starts.
Does the operation sound occur?
YES >> GO TO 3.
NO >> Perform self-diagnosis for “ABS” with CONSULT.
3.SYMPTOM CHECK 3
Check symptoms when electrical component (headlamps, etc.) switches are operated.
Does the symptom occur?
YES >> Check that radio (including wiring), antenna and antenna lead-in wires are not located near ABS
actuator and electric unit (control unit). Move them if they are located near ABS actuator and elec-
tric unit (control unit).
NO >> Normal

BRC-208
 VEHICLE JERKS DURING
< SYMPTOM DIAGNOSIS > [WITH VDC (ESP)]
VEHICLE JERKS DURING
A
Description INFOID:0000000010723754

The vehicle jerks when VDC function, TCS function, ABS function, EBD function, brake limited slip differential B
(BLSD) function, brake assist function, brake force distribution function, hill start assist function or advanced
hill descent control function (4WD models with gasoline engine) operates.
Diagnosis Procedure INFOID:0000000010723755 C

1.CHECK SYMPTOM
Check that the vehicle jerks when VDC function, TCS function, ABS function, EBD function, brake limited slip D
differential (BLSD) function, brake assist function, brake force distribution function, hill start assist function or
advanced hill descent control function operates.
Is the inspection result normal? E
YES >> Normal
NO >> GO TO 2.
2.PERFORM SELF-DIAGNOSIS (1) BRC

With CONSULT
Perform self-diagnosis for “ABS”.
G
Is DTC detected?
YES >> Check the DTC.
NO >> GO TO 3. H
3.CHECK CONNECTOR
With CONSULT
1. Turn the ignition switch OFF. I
2. Disconnect the ABS actuator and electric unit (control unit) harness connector.
3. Check the connector terminal for deformation, disconnection and looseness.
4. Connect the ABS actuator and electric unit (control unit) harness connector, and perform self-diagnosis J
for “ABS” again.
Is the inspection result normal?
YES >> GO TO 4. K
NO >> Poor connection of connector terminal. Repair or replace connector terminal.
4.PERFORM SELF-DIAGNOSIS (2)
L
With CONSULT
Perform self-diagnosis for “ENGINE” and “TRANSMISSION”.
Is DTC detected?
M
YES >> Check the DTC.
NO >> Replace the ABS actuator and electric unit (control unit).
• LHD models: Refer to BRC-217, "LHD : Removal and Installation".
• RHD models: Refer to BRC-220, "RHD : Removal and Installation". N

BRC-209
 VDC (ESP) WARNING LAMP, ABS WARNING LAMP AND BRAKE WARNING
LAMP TURN ON
< SYMPTOM DIAGNOSIS > [WITH VDC (ESP)]
VDC (ESP) WARNING LAMP, ABS WARNING LAMP AND BRAKE WARN-
ING LAMP TURN ON
Description INFOID:0000000010737210

ABS warning lamp and Brake warning lamp turn ON for a moment when restating the engine. (Vehicles with
the stop / start system)
Diagnosis Procedure INFOID:0000000010737211

1.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)

With CONSULT
1. Start the engine.
CAUTION:
The vehicle must be in a stopped state.
2. Connect booster battery (12V) and jumper cable to battery cable.
3. Select “ACTIVE TEST” in “ENGINE”.
4. Select “AUTO STOP START” in “ACTIVE TEST”.
5. Touch “Start”.
CAUTION:
• Since the engine runs with the hood open, special care must be taken when performing the
work.
• If the idling stop state cannot be developed.
- M/T models: Refer to EC-848, "STOP/START SYSTEM : System Description (M/T models)".
- CVT models: Refer to EC-856, "STOP/START SYSTEM : System Description (CVT models)".
6. Check the ABS warning lamp state and the brake warning lamp state when “Cancel” is touched under the
idling stop state.
Are the ABS warning lamp and the brake warning lamp OFF?
YES >> Check the battery. Refer to PG-120, "R9M : Work Flow".
NO >> GO TO 2.
2.PERFORM THE SELF-DIAGNOSIS
With CONSULT
1. Turn the ignition switch OFF → ON.
CAUTION:
• Be sure to wait of 10 seconds after turning ignition switch OFF or ON.
• Start the engine.
2. Repeat step 1 two or more times.
3. Perform self-diagnosis for “ABS”.
Is any DTC detected?
YES >> Check the DTC. Refer to BRC-84, "DTC Index".
NO >> INSPECTION END

BRC-210
 NORMAL OPERATING CONDITION
< SYMPTOM DIAGNOSIS > [WITH VDC (ESP)]
NORMAL OPERATING CONDITION
A
Description INFOID:0000000010723756

B
Symptom Result
Brake pedal slightly vibrates and operation sound (motor sound and sound from suspen-
sion) occurs when VDC function, TCS function, ABS function, EBD function, brake limited
This is not a malfunction, because it is C
slip differential (BLSD) function, brake assist function, brake force distribution function, hill
caused by VDC function, TCS function,
start assist function or advanced hill descent control function (4WD models with gasoline
ABS function, EBD function, brake limited
engine) operates.
slip differential (BLSD) function, brake as-
Brake stopping distance may become longer than models without ABS function depending sist function, brake force distribution func- D
on the road conditions, when ABS function is operated on slippery road like rough road, tion, hill start assist function and
gravel road or snowy road. advanced hill descent control function
(4WD models with gasoline engine) that
Brake pedal vibrates and operation sound occurs during sudden acceleration and corner-
are normally operated.
E
ing, when VDC function, TCS function, brake limited slip differential (BLSD) function, brake
assist function or brake force distribution function is operated.
This is not a malfunction, because it is BRC
Brake pedal vibrates and motor sound from the engine room occurs, when the engine starts
caused by operation check of ABS actua-
or the vehicle starts just after starting the engine.
tor and electric unit (control unit).
Acceleration may be felt insufficient depending on the road conditions. This is not a malfunction, because it is
caused by TCS function that puts the G
TCS function may operate momentarily, while driving on a road where friction coefficient highest priority to obtain the optimum
varies, or when downshifting, or fully depressing accelerator pedal. traction (stability).
ABS warning lamp and VDC warning lamp may turn ON, when the vehicle is on a rotating H
turntable or is given a strong shaking or large vibrations on a ship while the engine is run-
ning.
VDC warning lamp may turn ON and VDC function, TCS function, brake limited slip differ- In this case, restart the engine on a nor- I
ential (BLSD) function, brake assist function and brake force distribution function may not mal road. If the normal condition is re-
normally operate, when driving on a special road the is extremely slanted (bank in a circuit stored, there is no malfunction. In that
course). case, erase “ABS” self-diagnosis result
A malfunction in yaw rate/side/decel G sensor system may be detected when the vehicle
memory with CONSULT. J
sharply turns during a spin turn, acceleration turn or drift driving while VDC function, TCS
function, brake assist function and brake force distribution function are OFF (VDC OFF
switch is pressed and VDC OFF indicator lamp is in ON status).
K
This is normal. (When checking the vehi-
The vehicle speed does not increase, when the accelerator pedal is depressed while the cle on a chassis dynamometer, operate
vehicle is on a 2-wheel chassis dynamometer for speedometer check. VDC OFF switch so that TCS function is
OFF.) L
This is not a malfunction, because it is
Flow sound of brake fluid from engine room occurs when hill start assist function operates. caused by hill start assist function that is
normally operated. M

BRC-211
 WHEEL SENSOR
< REMOVAL AND INSTALLATION > [WITH VDC (ESP)]

REMOVAL AND INSTALLATION

WHEEL SENSOR
FRONT WHEEL SENSOR
FRONT WHEEL SENSOR : Exploded View INFOID:0000000010723757

JSFIA0955GB

Front LH wheel sensor

Identification line

: N·m (kg-m, in-lb)

NOTE:
Front RH wheel sensor is symmetrically opposite of LH.
FRONT WHEEL SENSOR : Removal and Installation INFOID:0000000010723758

REMOVAL
1. Remove tires. Refer to WT-61, "Removal and Installation".
2. Remove the mudguard (front). Refer to EXT-30, "FRONT MUDGUARD : Removal and Installation" .
3. Remove front wheel sensor from steering knuckle.
CAUTION:
Never rotate and never pull front wheel sensor as much as possible, when pulling out.
4. Remove front wheel sensor harness from the vehicle.
CAUTION:
Never twist or pull front wheel sensor harness, when removing.
INSTALLATION
Note the following, and install in the reverse order of the removal.
• Check that there is no foreign material like iron powder or damage on inner surface of front wheel sensor
mounting hole of steering knuckle and sensor rotor. Install after cleaning when there are foreign material like
iron powder, or replace when there is a malfunction.

BRC-212
 WHEEL SENSOR
< REMOVAL AND INSTALLATION > [WITH VDC (ESP)]
• Never twist front wheel sensor harness when installing front wheel
sensor. Check that grommet is fully inserted to bracket . A
Check that front wheel sensor harness is not twisted after installa-
tion.
CAUTION:
B
Check that front wheel sensor identification line faces toward
the vehicle front.

JPFIC0209ZZ

REAR WHEEL SENSOR D

REAR WHEEL SENSOR : Exploded View INFOID:0000000010723759

E
2WD

BRC

JSFIA2266GB
M

Rear LH wheel sensor Rear LH wheel sensor harness con-

nector N
: Vehicle front

: N·m (kg-m, in-lb) O

NOTE:
Rear RH wheel sensor is symmetrically opposite of LH.
4WD P

BRC-213
 WHEEL SENSOR
< REMOVAL AND INSTALLATION > [WITH VDC (ESP)]

JSFIA2267GB

Rear LH wheel sensor Rear LH wheel sensor harness con-

nector

: Vehicle front

: N·m (kg-m, in-lb)

NOTE:
Rear RH wheel sensor is symmetrically opposite of LH.
REAR WHEEL SENSOR : Removal and Installation INFOID:0000000010723760

REMOVAL
1. Remove rear wheel sensor from rear wheel hub assembly. (2WD)
CAUTION:
Never rotate or pull rear wheel sensor as much as possible, when pulling out.
2. Remove rear wheel sensor from axle housing. (4WD)
CAUTION:
Never rotate or pull rear wheel sensor as much as possible, when pulling out.
3. Remove rear wheel sensor harness from the vehicle.
CAUTION:
Never twist and never pull rear wheel sensor harness, when removing.
INSTALLATION
Note the following, and install in the reverse order of removal.
• Check that there is no foreign material like iron powder or damage on inner surface of rear wheel sensor
mounting hole of rear final drive and sensor rotor. Install after cleaning when there are foreign material like
iron powder, or replace when there is a malfunction.

BRC-214
 WHEEL SENSOR
< REMOVAL AND INSTALLATION > [WITH VDC (ESP)]
• Never twist rear wheel sensor harness when installing rear wheel
sensor. Check that grommet is fully inserted to bracket . A
Check that rear wheel sensor harness is not twisted after installa-
tion.
B

JPFIC0209ZZ

BRC

BRC-215
 SENSOR ROTOR
< REMOVAL AND INSTALLATION > [WITH VDC (ESP)]
SENSOR ROTOR
FRONT SENSOR ROTOR
FRONT SENSOR ROTOR : Removal and Installation INFOID:0000000010723761

REMOVAL
Replace wheel hub as an assembly when replacing because sensor rotor cannot be disassembled.
• 2WD: Refer to FAX-11, "Removal and Installation".
• 4WD: Refer to FAX-72, "Removal and Installation".
INSTALLATION
Replace wheel hub as an assembly when replacing because sensor rotor cannot be disassembled.
• 2WD: Refer to FAX-72, "Removal and Installation".
• 4WD: Refer to FAX-72, "Removal and Installation".
REAR SENSOR ROTOR
REAR SENSOR ROTOR : Removal and Installation INFOID:0000000010723762

REMOVAL
2WD
Replace wheel hub as a assembly when replacing because sensor rotor cannot be disassembled. Refer to
RAX-7, "Removal and Installation".
4WD
1. Remove drive shaft. Refer to RAX-22, "Removal and Installation".
2. Remove sensor rotor from rear drive shaft. Refer to RAX-22, "Removal and Installation".
INSTALLATION
Installation is the reverse order of removal.

BRC-216
 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< REMOVAL AND INSTALLATION > [WITH VDC (ESP)]
ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
A
LHD
LHD : Exploded View INFOID:0000000010723763
B
LHD
C

BRC

J
JSFIA2432GB

ABS actuator and electric unit (con- ABS actuator and electric unit (con- Bracket
trol unit) harness connector trol unit) K
To master cylinder secondary side To master cylinder primary side To rear LH caliper
To front RH caliper To front LH caliper To rear RH caliper
L
: Vehicle front

: N·m (kg-m, ft-lb)

M
: N·m (kg-m, in-lb)

LHD : Removal and Installation INFOID:0000000010723764

N
REMOVAL
1. Disconnect the battery cable from negative terminal. Refer to BRC-9, "Precautions for Removing Battery
Terminal". O
2. Drain brake fluid. Refer to BR-13, "Draining".
3. Remove the engine cover. Refer to EM-306, "Removal and Installation".
P
4. Remove the cowl top cover. Refer to EXT-25, "Removal and Installation".
5. Remove the cowl top extension. Refer to EXT-25, "Removal and Installation".

BRC-217
 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< REMOVAL AND INSTALLATION > [WITH VDC (ESP)]
6. Disconnect ABS actuator and electric unit (control unit) harness
connector , follow the procedure below.
a. Push the pawl .
b. Move the lever in the direction until locked.
c. Disconnect ABS actuator and electric unit (control unit) harness
connector.

JSFIA1350ZZ

7. Loosen flare nut of brake tube using a flare nut wrench, and then remove brake tube between master cyl-
inder and ABS actuator and electric unit (control unit). Refer to BR-32, "Removal and Installation".
8. LIft up the vehicle.
9. Remove clip at the heat insulator lower side to make working
space.

: Vehicle front

JSFIA2488ZZ

10. Remove bolts at the ABS actuator and electric unit (control
unit) bracket lower side.

: Vehicle front

JSFIA2489ZZ

11. Lift down the vehicle.

12. Remove the clip of the air compressor high-pressure pipe to
make working space.

: Vehicle front

13. Remove the bolt at the ABS actuator and electric unit (control
unit) bracket upper side, then remove the ABS actuator and
electric unit as a set with bracket.
CAUTION:
• Never remove and never install ABS actuator and electric
unit (control unit) by holding harness connector. JSFIA2490ZZ
• Be careful not to drop ABS actuator and electric unit (con-
trol unit) and apply excessive impact to it.
14. Remove bracket from ABS actuator and electric unit (control unit).
INSTALLATION
Note the following, and install in the reverse order of removal.

BRC-218
 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< REMOVAL AND INSTALLATION > [WITH VDC (ESP)]
• When replacing ABS actuator and electric unit (control unit), remove the inlet hole protector for brake tube
just before performing. A
• When installing brake tube, tighten to the specified torque using a flare nut torque wrench so that flare nut
and brake tube are not damaged. Refer to BR-32, "Exploded View".
• Never remove and install actuator by holding actuator harness.
B
• Bleed air from brake piping after installation. Refer to BR-14, "Bleeding Brake System".
• Never apply excessive impact to actuator, such as by dropping it.
• After installing the ABS actuator and electric unit (control unit) har-
ness connector , move the lever in the direction to secure C
the locking.
• When replacing the ABS actuator and electric unit (control unit), be
sure to perform the configuration. Refer to BRC-104, "Work Proce- D
dure".

JSFIA1352ZZ

RHD BRC

RHD : Exploded View INFOID:0000000010723765

G
RHD

JSFIA2433GB
O

ABS actuator and electric unit (con- ABS actuator and electric unit (con- Bracket
trol unit) harness connector trol unit) P
To master cylinder secondary side To master cylinder primary side To rear LH caliper
To front RH caliper To front LH caliper To rear RH caliper
: Vehicle front

: N·m (kg-m, ft-lb)

: N·m (kg-m, in-lb)

BRC-219
 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< REMOVAL AND INSTALLATION > [WITH VDC (ESP)]
RHD : Removal and Installation INFOID:0000000010723766

REMOVAL
1. Disconnect the battery cable from negative terminal. Refer to BRC-9, "Precautions for Removing Battery
Terminal".
2. Drain brake fluid. Refer to BR-77, "Draining".
3. Remove air duct and air cleaner body. Refer to EM-308, "Removal and Installation".
4. Disconnect ABS actuator and electric unit (control unit) harness
connector , follow the procedure below.
a. Push the pawl .
b. Move the lever in the direction until locked.
c. Disconnect ABS actuator and electric unit (control unit) harness
connector.

JSFIA1350ZZ

5. Loosen flare nut of brake tube using a flare nut wrench, and
then remove brake tube between master cylinder and ABS
actuator and electric unit (control unit) . Refer to BR-95,
"Exploded View".

JSFIA2273ZZ

6. Remove ABS actuator and electric unit (control unit) and bracket.
CAUTION:
• Never remove and never install ABS actuator and electric unit (control unit) by holding harness
connector.
• Be careful not to drop ABS actuator and electric unit (control unit) and apply excessive impact to
it.
7. Remove bracket, bushing and collar from ABS actuator and electric unit (control unit).
INSTALLATION
Note the following, and install in the reverse order of removal.
• When replacing ABS actuator and electric unit (control unit), remove the inlet hole protector for brake tube
just before performing.
• When installing brake tube, tighten to the specified torque using a flare nut torque wrench so that flare nut
and brake tube are not damaged. Refer to BR-95, "Exploded View".
• Never remove and install actuator by holding actuator harness.
• Bleed air from brake piping after installation. Refer to BR-78, "Bleeding Brake System".
• Never apply excessive impact to actuator, such as by dropping it.

BRC-220
 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
< REMOVAL AND INSTALLATION > [WITH VDC (ESP)]
• After installing the ABS actuator and electric unit (control unit) har-
ness connector , move the lever in the direction to secure A
the locking.
• When replacing the ABS actuator and electric unit (control unit), be
sure to perform the configuration. Refer to BRC-104, "Work Proce-
B
dure".

JSFIA1352ZZ

BRC

BRC-221
 STEERING ANGLE SENSOR
< REMOVAL AND INSTALLATION > [WITH VDC (ESP)]
STEERING ANGLE SENSOR
Removal and Installation INFOID:0000000010723767

REMOVAL
1. Remove spiral cable assembly. Refer to SR-23, "Removal and Installation".
2. Remove steering angle sensor.
INSTALLATION
Note the following, and install in the reverse order of removal.
• Perform steering angle sensor neutral position adjustment when steering angle sensor is removed and
installed, or replaced. Refer to BRC-99, "Work Procedure".

BRC-222
 VDC (ESP) OFF SWITCH
< REMOVAL AND INSTALLATION > [WITH VDC (ESP)]
VDC (ESP) OFF SWITCH
A
Removal and Installation INFOID:0000000010723768

REMOVAL B
1. Remove lower instrument panel.
• For LHD, refer to IP-14, "Removal and Installation".
• For RHD, refer to IP-41, "Removal and Installation". C
2. Remove switch bracket.
• For LHD, refer to IP-14, "Removal and Installation".
• For RHD, refer to IP-41, "Removal and Installation". D
3. Remove VDC OFF switch from switch bracket while pushing
the pawl.
NOTE: E
For design of VDC OFF switch, refer to BRC-48, "VDC (ESP) FUNC-
TION : System Description".
BRC

G
JSFIA2274ZZ

INSTALLATION
Installation is the reverse order of removal. H

BRC-223
 HILL DESCENT CONTROL (DOWNHILL DRIVE SUPPORT) SWITCH
< REMOVAL AND INSTALLATION > [WITH VDC (ESP)]
HILL DESCENT CONTROL (DOWNHILL DRIVE SUPPORT) SWITCH
Removal and Installation INFOID:0000000010723769

REMOVAL
1. Remove center console switch panel.
• For LHD, refer to IP-25, "Removal and Installation".
• For RHD, refer to IP-52, "Removal and Installation".
2. Remove switch bracket.
3. Remove hill descent control switch from switch bracket while
pushing the pawl.
NOTE:
For design of hill descent control switch, refer to BRC-28, "hill
descent control (Downhill Drive Support) Switch".

JSFIA2274ZZ

INSTALLATION
Installation is the reverse order of removal.

BRC-224
 PRECAUTIONS
< PRECAUTION > [FORWARD EMERGENCY BRAKING]

PRECAUTION A
PRECAUTIONS
Precaution for Supplemental Restraint System (SRS) "AIR BAG" and "SEAT BELT B
PRE-TENSIONER" INFOID:0000000010930903

The Supplemental Restraint System such as “AIR BAG” and “SEAT BELT PRE-TENSIONER”, used along C
with a front seat belt, helps to reduce the risk or severity of injury to the driver and front passenger for certain
types of collision. Information necessary to service the system safely is included in the “SRS AIR BAG” and
“SEAT BELT” of this Service Manual.
WARNING: D
Always observe the following items for preventing accidental activation.
• 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 E
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
BRC
Module, see “SRS AIR BAG”.
• Never use electrical test equipment on any circuit related to the SRS unless instructed to in this Ser-
vice Manual. SRS wiring harnesses can be identified by yellow and/or orange harnesses or harness
connectors. G
PRECAUTIONS WHEN USING POWER TOOLS (AIR OR ELECTRIC) AND HAMMERS
WARNING: H
Always observe the following items for preventing accidental activation.
• When working near the Air Bag Diagnosis Sensor Unit or other Air Bag System sensors with the
ignition ON or engine running, never use air or electric power tools or strike near the sensor(s) with
a hammer. Heavy vibration could activate the sensor(s) and deploy the air bag(s), possibly causing I
serious injury.
• When using air or electric power tools or hammers, always switch the ignition OFF, disconnect the
battery, and wait at least 3 minutes before performing any service. J
Precautions for Removing Battery Terminal INFOID:0000000010930904

• With the adoption of Auto ACC function, ACC power is automatically supplied by operating the intelligent key K
or remote keyless entry or by opening/closing the driver side door. In addition, ACC power is supplied even
after the ignition switch is turned to the OFF position, i.e. ACC power is supplied for a certain fixed time.
• When disconnecting the 12V battery terminal, turn off the ACC
L
power before disconnecting the 12V battery terminal, observing
“How to disconnect 12V battery terminal” described below.
NOTE:
Some ECUs operate for a certain fixed time even after ignition M
switch is turned OFF and ignition power supply is stopped. If the
battery terminal is disconnected before ECU stops, accidental DTC
detection or ECU data damage may occur.
N
• For vehicles with the 2-batteries, be sure to connect the main bat-
tery and the sub battery before turning ON the ignition switch.
NOTE:
SEF289H
If the ignition switch is turned ON with any one of the terminals of O
main battery and sub battery disconnected, then DTC may be detected.
• After installing the 12V battery, always check "Self Diagnosis Result" of all ECUs and erase DTC.
NOTE: P
The removal of 12V battery may cause a DTC detection error.
HOW TO DISCONNECT 12V BATTERY TERMINAL
Disconnect 12V battery terminal according to Instruction 1 or Instruction 2 described below.
For vehicles parked by ignition switch OFF, refer to Instruction 2.
INSTRUCTION 1
1. Open the hood.

BRC-225
 PRECAUTIONS
< PRECAUTION > [FORWARD EMERGENCY BRAKING]
2. Turn key switch to the OFF position with the driver side door opened.
3. Get out of the vehicle and close the driver side door.
4. Wait at least 3 minutes. For vehicle with the engine listed below, remove the battery terminal after a lapse
of the specified time.

D4D engine : 20 minutes

HRA2DDT : 12 minutes
K9K engine : 4 minutes
M9R engine : 4 minutes
R9M engine : 4 minutes
V9X engine : 4 minutes
CAUTION:
While waiting, never operate the vehicle such as locking, opening, and closing doors. Violation of
this caution results in the activation of ACC power supply according to the Auto ACC function.
5. Remove 12V battery terminal.
CAUTION:
After installing 12V battery, always check self-diagnosis results of all ECUs and erase DTC.
INSTRUCTION 2 (FOR VEHICLES PARKED BY IGNITION SWITCH OFF)
1. Unlock the door with intelligent key or remote keyless entry.
NOTE:
At this moment, ACC power is supplied.
2. Open the driver side door.
3. Open the hood.
4. Close the driver side door.
5. Wait at least 3 minutes.
CAUTION:
While waiting, never operate the vehicle such as locking, opening, and closing doors. Violation of
this caution results in the activation of ACC power supply according to the Auto ACC function.
6. Remove 12V battery terminal.
CAUTION:
After installing 12V battery, always check self-diagnosis results of all ECUs and erase DTC.
Precautions for FEB System Service INFOID:0000000010721662

CAUTION:
• Never use the distance sensor removed from vehicle. Never disassemble or remodel.
• Erase DTC when replacing parts of FEB system. Then check the operation of FEB system after radar
alignment if necessary.
• Never change FEB system state ON/OFF without the consent of the customer.
• Turn the FEB system OFF in conditions similar to driving, such as free rollers or a chassis dyna-
mometer.

BRC-226
 PREPARATION
< PREPARATION > [FORWARD EMERGENCY BRAKING]

PREPARATION A
PREPARATION
Special Service Tools INFOID:0000000010836772
B

Tool number
(Kent-Moore No.) Description C
Tool name

D
KV99112700
(—) Uses for radar alignment
ICC target board E

JSOIA1012ZZ

BRC
Commercial Service Tools INFOID:0000000010836765

G
Tool name Description
Spirit level Uses for distance sensor initial vertical align-
ment.
H

JSOIA1620ZZ

BRC-227
 COMPONENT PARTS
< SYSTEM DESCRIPTION > [FORWARD EMERGENCY BRAKING]

SYSTEM DESCRIPTION
COMPONENT PARTS
Component Parts Location INFOID:0000000010721663

LHD MODELS

JSOIA1636ZZ

Back side of front bumper

No. Component parts Function

• Brake fluid pressure control signal is received from distance sensor
via chassis communication.
• Brake fluid pressure control signal is transmitted to ABS actuator
Chassis control unit
electric unit (control unit) via CAN communication.
• Refer to DAS-166, "Component Parts Location" for detailed installa-
tion location.
• Vehicle speed signal and the operation statuses of the VDC, TCS and
ABS systems, etc. are transmitted to the distance sensor via CAN
ABS actuator and electric unit (control unit) communication.
• Refer to BRC-14, "Component Parts Location" for detailed installation
location.
• CVT control related signal is transmitted to distance sensor via CAN
communication.
• Refer to TM-235, "CVT CONTROL SYSTEM : Component Parts Lo-
TCM
cation" for detailed installation location. (Gasoline engine models)
• Refer to TM-466, "CVT CONTROL SYSTEM : Component Parts Lo-
cation" for detailed installation location. (Diesel engine models)

BRC-228
 COMPONENT PARTS
< SYSTEM DESCRIPTION > [FORWARD EMERGENCY BRAKING]
No. Component parts Function
A
• When Forward Emergency Braking operates, an engine torque down
request signal is received from the distance sensor.
• Refer to EC-28, "ENGINE CONTROL SYSTEM : Component Parts
Location" for detailed installation location. (MR20DD engine models) B
ECM
• Refer to EC-440, "Component Parts Location" for detailed installa-
tion location. (QR25DE engine models)
• Refer to EC-812, "Component Parts Location" for detailed installation
location. (R9M engine models) C
Stop lamp switch is installed at the upper part of the brake pedal and
Stop lamp switch
detects a brake operation performed by the driver.
• Performs the following operations using the signals received from the D
distance sensor via the CAN communication
- Description: Displays the FEB operation status
Combination meter - System display and warning: BRC-238, "Menu Displayed by Pressing
Each Switch" E
• Refer to MWI-7, "METER SYSTEM : Component Parts Location" for
detailed installation location.
• Stop lamp switch signal is transmitted to the distance sensor via CAN BRC
communication.
BCM
• Refer to BCS-6, "BODY CONTROL SYSTEM : Component Parts Lo-
cation" for detailed installation location.
G
Steering angle sensor signal is transmitted to distance sensor via CAN
Steering angle sensor
communication.
• While Forward Emergency Braking is operating, when the system
wants to recommend an operation to the driver, and when the system
H
is canceled, a buzzer sounds due to a sonar output request from the
distance sensor.
Sonar control unit
• Refer to SN-8, "Component Parts Location" for detailed installation
I
location. (With Park Assist)
• Refer to SN-119, "Component Parts Location" for detailed installation
location. (Without Park Assist)
Distance sensor detects radar reflected from a vehicle ahead by irradi- J
Distance sensor ating radar forward and calculates a distance from the vehicle ahead
and relative speed, based on the detected signal.
K
RHD MODELS

BRC-229
 COMPONENT PARTS
< SYSTEM DESCRIPTION > [FORWARD EMERGENCY BRAKING]

JSOIA1637ZZ

Back side of front bumper

No. Component parts Function

Steering angle sensor signal is transmitted to distance sensor via CAN
Steering angle sensor
communication.
• Performs the following operations using the signals received from the
distance sensor via the CAN communication
- Description: Displays the FEB operation status
Combination meter - System display and warning: BRC-238, "Menu Displayed by Pressing
Each Switch"
• Refer to MWI-7, "METER SYSTEM : Component Parts Location" for
detailed installation location.
Stop lamp switch is installed at the upper part of the brake pedal and
Stop lamp switch
detects a brake operation performed by the driver.
• CVT control related signal is transmitted to distance sensor via CAN
communication.
• Refer to TM-235, "CVT CONTROL SYSTEM : Component Parts Lo-
TCM
cation" for detailed installation location. (Gasoline engine models)
• Refer to TM-466, "CVT CONTROL SYSTEM : Component Parts Lo-
cation" for detailed installation location. (Diesel engine models)
• When Forward Emergency Braking operates, an engine torque down
request signal is received from the distance sensor.
• Refer to EC-28, "ENGINE CONTROL SYSTEM : Component Parts
Location" for detailed installation location. (MR20DD engine models)
ECM
• Refer to EC-440, "Component Parts Location" for detailed installa-
tion location. (QR25DE engine models)
• Refer to EC-812, "Component Parts Location" for detailed installation
location. (R9M engine models)
• Vehicle speed signal and the operation statuses of the VDC, TCS and
ABS systems, etc. are transmitted to the distance sensor via CAN
ABS actuator and electric unit (control unit) communication.
• Refer to BRC-14, "Component Parts Location" for detailed installation
location.

BRC-230
 COMPONENT PARTS
< SYSTEM DESCRIPTION > [FORWARD EMERGENCY BRAKING]
No. Component parts Function
A
• Stop lamp switch signal is transmitted to the distance sensor via CAN
communication.
BCM
• Refer to BCS-6, "BODY CONTROL SYSTEM : Component Parts Lo-
cation" for detailed installation location. B
• Brake fluid pressure control signal is received from distance sensor
via chassis communication.
• Brake fluid pressure control signal is transmitted to ABS actuator
Chassis control unit
electric unit (control unit) via CAN communication.
C
• Refer to DAS-166, "Component Parts Location" for detailed installa-
tion location.
• While Forward Emergency Braking is operating, when the system D
wants to recommend an operation to the driver, and when the system
is canceled, a buzzer sounds due to a sonar output request from the
distance sensor.
Sonar control unit E
• Refer to SN-8, "Component Parts Location" for detailed installation
location. (With Park Assist)
• Refer to SN-119, "Component Parts Location" for detailed installation
location. (Without Park Assist)
BRC
Distance sensor detects radar reflected from a vehicle ahead by irradi-
Distance sensor ating radar forward and calculates a distance from the vehicle ahead
and relative speed, based on the detected signal.
G
Distance Sensor INFOID:0000000010727967

• Distance sensor is installed on the back of the front bumper and H

detects a vehicle ahead by using millimeter waves.
• Distance sensor detects radar reflected from a vehicle ahead by
irradiating radar forward and calculates a distance from the vehicle
ahead and relative speed, based on the detected signal. I
• When judging the danger of crash according to the distance from
the vehicle ahead and the relative speed, the distance sensor
transmits a signal to ABS actuator and electric unit (control unit). J

JSOIA1619ZZ
K
Stop Lamp Switch INFOID:0000000010727968

• Stop lamp switch is installed at the upper part of the brake pedal L
and detects a brake operation performed by the driver.
• Stop lamp switch is turned ON, when depressing the brake pedal.
• Stop lamp switch signal is input to BCM. Stop lamp switch signals
M
are transmitted from BCM to distance sensor via CAN communica-
tion.

JSOIA0439ZZ O

BRC-231
 SYSTEM
< SYSTEM DESCRIPTION > [FORWARD EMERGENCY BRAKING]
SYSTEM
System Description INFOID:0000000010721664

SYSTEM DIAGRAM

JSOIA1621GB

DISTANCE SENSOR INPUT/OUTPUT SIGNAL ITEM

Input Signal Item

Transmit unit Signal name Description

Closed throttle position signal Receives idle position state (ON/OFF)
CAN com-
ECM munica- Accelerator pedal position signal Receives accelerator pedal position (angle)
tion
Engine speed signal Receives engine speed
Input speed signal Receives the number of revolutions of input shaft
CAN com- Current gear position signal Receives a current gear position
TCM munica-
tion Shift position signal Receives a selector lever position
Output shaft revolution signal Receives the number of revolutions of output shaft
CAN com-
BCM munica- Stop lamp switch signal Receives an operational state of the brake pedal
tion

BRC-232
 SYSTEM
< SYSTEM DESCRIPTION > [FORWARD EMERGENCY BRAKING]
Transmit unit Signal name Description
A
ABS malfunction signal Receives a malfunction state of ABS
ABS operation signal Receives an operational state of ABS
ABS warning lamp signal Receives an ON/OFF state of ABS warning lamp B
TCS malfunction signal Receives a malfunction state of TCS
ABS actuator CAN com-
and electric unit munica- TCS operation signal Receives an operational state of TCS
(control unit) tion VDC OFF switch signal Receives an ON/OFF state of VDC C
VDC malfunction signal Receives a malfunction state of VDC
VDC operation signal Receives an operational state of VDC
D
Vehicle speed signal (ABS) Receives wheel speeds of four wheels
Yaw rate signal Receives yaw rate acting on the vehicle
CAN com- E
Steering angle Receives the number of revolutions, turning direction,
munica- Steering angle sensor signal
sensor turning angle speed of the steering wheel
tion
CAN com- BRC
Combination Receives a selection state of Forward Emergency
munica- System selection signal
meter Brake
tion
Stop lamp Transmits a operational state of the brake pedal to the
Stop lamp switch signal G
switch BCM

Output Signal Item

H
Reception unit Signal name Description
CAN commu-
ECM Engine torque down request signal Transmits a signal to control the engine torque.
nication I
ABS actuator
and electric CAN commu- Transmits a brake fluid pressure control signal to acti-
Brake fluid pressure control signal
unit (control nication vates the brake via chassis control module
J
unit)
Vehicle ahead detection
indicator signal
Meter display Transmits a signal to display a state of the system on the K
Combination CAN commu- FEB system display sig-
signal information display via front camera unit
meter nication nal
FEB warning signal
L
FEB warning lamp signal Transmits a signal to illuminate the FEB warning lamp
CAN commu-
BCM Stop lamp drive signal Transmits a signal to active the stop lamp.
nication
M
Sonar control CAN commu-
Buzzer drive signal Transmits a buzzer signal to active the buzzer
unit nication

DESCRIPTION N
• Forward emergency braking (FEB) system can assist the driver when there is a risk of a forward collision
with the vehicle ahead in the traveling lane.
• FEB system operate at speeds above approximately 5km/h (3 MPH). O
FUNCTION DESCRIPTION
• The FEB system uses a distance sensor to measure the distance to the vehicle ahead in the traveling lane.
• If there is a risk of a collision, FEB issues a visual and audible warning signal to the combination meter via P
CAN communication.
• If the driver does not take action, FEB issues the second visual and audible warning.
• And if the risk of a collision becomes imminent, FEB system applies braking command to ABS actuator and
electric unit (control unit) via CAN communication.
FEB Operating Condition
• FEB setting is ON (FEB warning lamp OFF)
• Vehicle speed: Approximately 5km/h and above
BRC-233
 SYSTEM
< SYSTEM DESCRIPTION > [FORWARD EMERGENCY BRAKING]
CVT models

JSOIA0952ZZ

Start of warning and partial brake Start of harder brake

Partial brake Harder brake

Situation Brake Warning

No obstacle approached No operation —
Partial brake

• Sounds the buzzer

Start of warning and partial brake
• Blinks vehicle ahead indicator

JSOIA0222ZZ

Harder brake

• Sounds the buzzer

Start of harder brake (Higher pitched buzzer)
• Indicates FEB warning

JSOIA0222ZZ

M/T models

JSOIA1130ZZ

BRC-234
 SYSTEM
< SYSTEM DESCRIPTION > [FORWARD EMERGENCY BRAKING]

Start of warning Start of partial brake Start of harder brake A

Partial brake Harder brake

B
Situation Brake Warning
No obstacle approached No operation —
• Sounds the buzzer C
Start of warning No operation
• Blinks vehicle ahead indicator
Partial brake

D
• Sounds the buzzer
Start of partial brake (Higher pitched buzzer)
• Indicates FEB warning
E

JSOIA0222ZZ

Harder brake BRC

• Sounds the buzzer

Start of harder brake (Higher pitched buzzer) G
• Indicates FEB warning

JSOIA0222ZZ H
CAUTION:
It is the driver′s responsibility to stay alert, drive safely and be in control of the vehicle at all times. As
there is a performance limit, it may not provide a warning or brake in certain conditions. I

BRC-235
 SYSTEM
< SYSTEM DESCRIPTION > [FORWARD EMERGENCY BRAKING]
Circuit Diagram INFOID:0000000010727972

JSOIA1638GB

Fail-safe (Distance Sensor) INFOID:0000000010930906

If a malfunction occurs in the distance sensor cancels control, sounds a beep, and turns ON the FEB system
warning and warning lamp.

System Buzzer Warning lamp/Indicator lamp Description

• FEB system display: Yellow
Forward Emergency Braking (FEB) Beep Cancel
• FEB warning lamp: On

WARNING/INDICATOR/CHIME LIST

BRC-236
 SYSTEM
< SYSTEM DESCRIPTION > [FORWARD EMERGENCY BRAKING]
WARNING/INDICATOR/CHIME LIST : Warning Lamp/Indicator Lamp INFOID:0000000010727970

Name Design Layout/Function

For layout, refer to MWI-10, "METER SYSTEM : Design".
B
FEB warning lamp For function, refer to MWI-36, "WARNING LAMPS/INDICATOR LAMPS :
FEB Warning Lamp".
C

BRC

BRC-237
 OPERATION
< SYSTEM DESCRIPTION > [FORWARD EMERGENCY BRAKING]
OPERATION
Switch Name and Function INFOID:0000000010721665

JSOIA1622ZZ

No. Switch name Description

FEB system setting screen
The setting of FEB system can be switched between ON and OFF
(Information display)

Menu Displayed by Pressing Each Switch INFOID:0000000010721666

SYSTEM DISPLAY

JSOIA1623ZZ

No. Switch name Description

• FEB warning lamp indicates that an abnormal condition is present in FEB system
FEB warning lamp
• When the FEB system turns OFF, the FEB warning lamp will illuminate.
FEB system indicator • Indicates that FEB system is ON
(Warning systems indicator) • Blinks when approaching vehicle ahead
FEB system indicator “Forward” po- • Indicates that FEB system is ON
sition • Blinks when approaching vehicle ahead
FEB warning Displays immediately before the harder brake operates

DISPLAY AND WARNING

Setting Display

BRC-238
 OPERATION
< SYSTEM DESCRIPTION > [FORWARD EMERGENCY BRAKING]

Display on combination meter Display on combination meter FEB warn- A

System status Condition Buzzer
Upper part Middle part ing lamp

FEB OFF — — —
C

JSOIA1624ZZ

White White
D

E
FEB ON System ON OFF —

JSOIA1428ZZ JSOIA1625ZZ
BRC

Warning Operation
G
Display on combination meter Display on combination meter FEB warn-
System status Action Buzzer
Upper part Middle part ing lamp

Yellow (Blink) Yellow (Blink) H

There is a
possibility of a Short con-
collision with Partial brake tinuous I
the vehicle beeps
ahead

JSOIA1290ZZ JSOIA1625ZZ J
Red⇔White Yellow (Blink)

An obstacle K
ahead is
Continu-
avoided due to Harder brake
ous beeps
the system ap-
plying braking. L
JSOIA1477ZZ JSOIA1625ZZ

Warning Display M

BRC-239
 OPERATION
< SYSTEM DESCRIPTION > [FORWARD EMERGENCY BRAKING]

Display on combination meter Display on combination meter FEB Master

System sta- warn- warn-
Condition Buzzer
tus Upper part Middle part ing ing
lamp lamp
Yellow (Blink) Yellow

Yellow
FEB system
malfunction Beep

The FEB sys-

tem is auto- JSOIA1290ZZ JSOIA1625ZZ

matically Yellow (Blink) Yellow

canceled.*
Yellow
Dirt around
the distance Beep
sensor

JSOIA1290ZZ JSOIA1625ZZ

NOTE:
*: The system operates if the ignition switch is turned OFF⇒ON after the condition improves

BRC-240
 HANDLING PRECAUTION
< SYSTEM DESCRIPTION > [FORWARD EMERGENCY BRAKING]
HANDLING PRECAUTION
A
Description INFOID:0000000010721667

PRECAUTIONS FOR FORWARD EMERGENCY BRAKING B

• The forward emergency braking system is a supplemental aid to the driver. It is not a replacement for the
driver’s attention to traffic conditions or responsibility to drive safely. It cannot prevent accidents due to care-
lessness or dangerous driving techniques. C
• The forward emergency braking system does not function in all driving, traffic, weather and road conditions.
• The radar sensor has some performance limitations. If a stationary vehicle is in the vehicle’s path, the for-
ward emergency braking system will not function when the vehicle is driven at speeds over approximately 80
km/h (50 MPH). D
• The distance sensor does not detect the following objects:
- Pedestrians, animals, or obstacles in the roadway
- Oncoming vehicles E
- Crossing vehicles
• The distance sensor may not detect a vehicle ahead in the following conditions:
- Dirt, ice, snow or other material covering the radar sensor.
- Interference by other radar sources. BRC
- Snow or road spray from traveling vehicles.
- If the vehicle ahead is narrow (e.g.motorcycle)
- When driving on a steep downhill slope or roads with sharp curves. G
- When towing a trailer.
• In some road or traffic conditions, the forward emergency braking system may unexpectedly apply partial
braking. When acceleration is necessary, continue to depress the accelerator pedal to override the system.
H
• Braking distances increase on slippery surfaces.
• Excessive noise will interfere with the warning chime sound, and the chime may not be heard.
• The system is designed to automatically check the sensor’s functionality, within certain limitations. The sys-
tem may not detect some forms of obstruction of the sensor area of the front bumper such as ice, snow, I
stickers, for example. In these cases, the system may not be able to warn the driver properly. Be sure that
check, clean and clear the sensor area of the front bumper regularly.
J

BRC-241
 DIAGNOSIS SYSTEM (DISTANCE SENSOR)
< SYSTEM DESCRIPTION > [FORWARD EMERGENCY BRAKING]
DIAGNOSIS SYSTEM (DISTANCE SENSOR)
CONSULT Function (LASER/RADAR) INFOID:0000000010981498

APPLICATION ITEMS
CONSULT performs the following functions via CAN communication with Distance sensor.

Diagnosis mode Description

Self Diagnostic Result Displays malfunctioning system memorized in Distance sensor.
Data Monitor Displays real-time input/output data of Distance sensor.
Active Test Distance sensor activates outputs to components.
It can monitor the adjustment direction indication in order to perform the radar alignment operation
Work Support
smoothly.
ECU Identification Displays Distance sensor part number.
CAN Diag Support Monitor Monitor the reception status of CAN communication viewed from Distance sensor.

SELF DIAGNOSTIC RESULT

Refer to BRC-247, "DTC Index".
DATA MONITOR
NOTE:
The following table includes information (items) inapplicable to this vehicle. For information (items) applicable
to this vehicle, refer to CONSULT display items.

Monitored item
Description
[Unit]
VHCL SPEED SE Vehicle speed signal received from ABS actuator and electric unit (control unit) via CAN com-
[km/h] munication.
YAW RATE Yaw rate signal received from ABS actuator and electric unit (control unit) via CAN communi-
[deg/s] cation.
PWR SUP MONI
Indicates IGN voltage input by Distance sensor.
[V]
DISTANCE
Indicates the distance from the vehicle ahead.
[m]
RELATIVE SPD
Indicates the relative speed of the vehicle ahead.
[m/s]
RADAR OFFSET NOTE:
[m] The item is indicated, but not used.
RADAR HEIGHT NOTE:
[m] The item is indicated, but not used.
STEERING ANGLE
The steering angle is displayed.
[deg]
STRG ANGLE SPEED
The steering angle speed is displayed.
[deg/s]
L/R ADJUST
Indicates a horizontal correction value of the radar.
[deg]
U/D ADJUST
Indicates a vertical correction value of the radar.
[deg]
FCW SYSTEM ON NOTE:
[On/Off] The item is indicated, but not used.
FCW SELECT NOTE:
[On/Off] The item is indicated, but not used.
PFCW SYSTEM ON NOTE:
[On/Off] The item is indicated, but not used.

BRC-242
 DIAGNOSIS SYSTEM (DISTANCE SENSOR)
< SYSTEM DESCRIPTION > [FORWARD EMERGENCY BRAKING]
Monitored item
Description
[Unit] A
PFCW SELECT NOTE:
[On/Off] The item is indicated, but not used.
FEB SW B
Indicates [On/Off] status of FEB system
[On/Off]
FEB SELECT
Indicates an ON/OFF state of the FEB system.
[On/Off] C
BRAKE SW Indicates [On/Off] status as judged from brake pedal position switch signal (BCM transmits
[On/Off] brake pedal position switch signal through CAN communication)
IDLE SW Indicates [On/Off] status of idle switch read from distance sensor through CAN communication D
[On/Off] (ECM transmits On/Off status through CAN communication)
THRTL SENSOR NOTE:
[On/Off] The item is indicated, but not used. E
VEHICLE AHEAD DETECT
Indicates [On/Off] status of vehicle ahead detection indicator output
[On/Off]
STATIC OBSTACLE DETECT
Indicates [On/Off] status of static obstacle detection
BRC
[On/Off]
BUZZER O/P
Indicates [On/Off] status of warning chime output
[On/Off]
G
FUNC ITEM (FCW) NOTE:
[Without FCW/With FCW] The item is indicated, but not used.
FUNC ITEM (PFCW) NOTE: H
[Without P-FCW/With- PFCW] The item is indicated, but not used.
FUNC ITEM (FEB)
Indicates systems which can be set to ON/OFF by selecting FEB.
[Without FCA/With FCA]
I
FUNC ITEM (ICC) NOTE:
[Without ICC/With ICC] The item is indicated, but not used.
PRESS ORDER Indicates status as judged from brake fluid pressure signal [ABS actuator and electric unit (con- J
[bar] trol unit) transmits brake fluid pressure signal through CAN communication].

WORK SUPPORT
K
Work support items Description
Outputs millimeter waves, calculates dislocation of the millimeter waves, and indicates adjust-
MILLIWAVE RADAR ADJUST
ment direction. L
FEB OPERATION MILEAGE The mileage information for FEB operation is displayed.

Distance sensor alignment M

Refer to BRC-262, "Description".
ACTIVE TEST
N
Test item Description
BRAKE ACTUATOR Activates the brake by an arbitrary operation
ICC BUZZER This test is able to check FEB warning chime operation [On/Off] in the combination meter. O
This test is able to check FEB warning indicator operation [On/Off] in the combination meter
METER LAMP
information display.
P

BRC-243
 DISTANCE SENSOR
< ECU DIAGNOSIS INFORMATION > [FORWARD EMERGENCY BRAKING]

ECU DIAGNOSIS INFORMATION

DISTANCE SENSOR
Reference Value INFOID:0000000010721668

VALUES ON THE DIAGNOSIS TOOL

NOTE:
The following table includes information (items) inapplicable to this vehicle. For information (items) applicable
to this vehicle, refer to CONSULT display items.

Monitor item Condition Value/Status

Value of vehicle
VHCL SPEED SE While driving speed signal
(wheel speed)
Vehicle stopped 0.0
YAW RATE While driving Vehicle turning right Positive value
Vehicle turning left Negative value
Power supply volt-
PWR SUP MONI Ignition switch ON age value of dis-
tance sensor
Displays the dis-
Drive the vehicle and ac- When a vehicle ahead is detected tance from the pre-
DISTANCE tivate the vehicle-to-vehi- ceding vehicle
cle distance control mode
When a vehicle ahead is not detected 0.0

Drive the vehicle and ac- Displays the rela-

When a vehicle ahead is detected
RELATIVE SPD tivate the vehicle-to-vehi- tive speed
cle distance control mode When a vehicle ahead is not detected 0.0
NOTE:
LASER OFFSET —
The item is indicated, but not used
NOTE:
LASER HEIGHT —
The item is indicated, but not used
When setting the steering wheel in straight-ahead po-
0.0
sition
STEERING ANGLE Ignition switch ON
When turning the steering wheel 90° rightward +90
When turning the steering wheel 90° leftward -90
Steering wheel
STRG ANGLE
Ignition switch ON At the time of turning the steering wheel turning speed is
SPEED
displayed
Horizontal correc-
L/R ADJUST Ignition switch ON At the completion of radar alignment adjustment tion value is dis-
played
Vertical correction
U/D ADJUST Ignition switch ON At the completion of radar alignment adjustment
value is displayed
When the FEB system is ON On
FCW SYSTEM ON Engine running
When the FEB system is OFF Off
FEB system set with the information display is ON On
FCW SELECT Ignition switch ON
FEB system set with the information display is OFF Off
NOTE:
PFCW SYSTEM ON Off
The item is indicated, but not used
NOTE:
PFCW SELECT Off
The item is indicated, but not used

BRC-244
 DISTANCE SENSOR
< ECU DIAGNOSIS INFORMATION > [FORWARD EMERGENCY BRAKING]
Monitor item Condition Value/Status
A
FEB system ON On
FEB SW Engine running
FEB system OFF Off
FEB system set with the information display is ON On B
FEB SELECT Ignition switch ON
FEB system set with the information display is OFF Off
When brake pedal is depressed On
BRAKE SW Ignition switch ON
When brake pedal is not depressed Off C
When brake pedal is depressed On
STOP LAMP SW Ignition switch ON
When brake pedal is not depressed Off
D
Idling On
IDLE SW Engine running
Except idling (depress accelerator pedal) Off
NOTE: E
THRTL SENSOR Off
The item is indicated, but not used
When a vehicle ahead is detected (vehicle ahead de-
On
VEHICLE AHEAD tection indicator ON) BRC
Drive the vehicle
DETECT When a vehicle ahead is not detected (vehicle ahead
Off
detection indicator OFF)

STATIC OBSTACLE When a vehicle static obstacle is detected On G

Drive the vehicle
DETECT When a vehicle static obstacle is not detected Off
When the buzzer of the FEB system operates On
BUZZER O/P Engine running H
When the buzzer of the FEB system not operates Off
FEB system set with the integral switch ON On
FUNC ITEM (FCW) Engine running
FEB system set with the integral switch OFF Off I
NOTE:
FUNC ITEM (PFCW) Off
The item is indicated, but not used
FEB system set with the integral switch ON On J
FUNC ITEM (FEB) Engine running
FEB system set with the integral switch OFF Off
NOTE:
FUNC ITEM (ICC) Off K
The item is indicated, but not used
When brake pedal is depressed Approx. 0 bar
PRESS ORDER
When brake pedal is not depressed 0 – 255 bar
L
TERMINAL LAYOUT

O
JSOIA1678ZZ

PHYSICAL VALUES P

BRC-245
 DISTANCE SENSOR
< ECU DIAGNOSIS INFORMATION > [FORWARD EMERGENCY BRAKING]

Terminal No.
Description
(Wire color) Reference val-
Condition Standard value
Input/ ue
+ – Signal name
Output
1
Ground Ground — Ignition switch ON 0 - 0.1 V Approx. 0 V
(B)
2
— CAN communication-H — — — —
(L)
3
— CAN communication-L — — — —
(R)
5
— CHASSIS communication-H — — — —
(L)
6
— CHASSIS communication-L — — — —
(W)
8 1
Ignition power supply Input Ignition switch ON 10 - 16 V Battery voltage
(P) (B)

Fail-safe (Distance Sensor) INFOID:0000000010721669

If a malfunction occurs in the distance sensor cancels control, sounds a beep, and turns ON the FEB system
warning and warning lamp.

System Buzzer Warning lamp/Indicator lamp Description

• FEB system display: Yellow
Forward Emergency Braking (FEB) Beep Cancel
• FEB warning lamp: On

DTC Inspection Priority Chart INFOID:0000000010721670

If multiple DTCs are detected simultaneously, check them one by one depending on the following DTC inspec-
tion priority chart.

Priority Detected items (DTC)

• U1000: CAN COMM CIRCUIT
1
• U1010: CONTROL UNIT (CAN)
• C10B7: YAW RATE SENSOR
• C1A01: POWER SUPPLY CIR
• C1A02: POWER SUPPLY CIR 2
• C1A03: VHCL SPEED SE CIRC
• C1A04: ABS/TCS/VDC CIRC
• C1A05: BRAKE SW/STOP L SW
• C1A07: CVT CIRCUIT
• C1A12: LASER BEAM OFF CNTR
• C1A14: ECM CIRCUIT
• C1A15: GEAR POSITION
• C1A16: RADAR STAIN
• C1A17: ICC SENSOR MALF
2 • C1A18: LASER AIMING INCMP
• C1A21: UNIT HIGH TEMP
• C1A24: NP RANGE
• C1A26: ECD MODE MALF
• C1A39: STRG SEN CIR
• C1B5D: FEB OPE COUNT LIMIT
• U0121: VDC CAN CIR 2
• U0126: STRG SEN CAN CIR 1
• U0401: ECM CAN CIR 1
• U0415: VDC CAN CIR 1
• U0428: STRG SEN CAN CIR 2
• U1527: CCM CAN CIR 1
• U153F: CCM CAN CIR 2

BRC-246
 DISTANCE SENSOR
< ECU DIAGNOSIS INFORMATION > [FORWARD EMERGENCY BRAKING]
DTC Index INFOID:0000000010721671

DTC
CONSULT display Reference
CONSULT B
C10B7 YAW RATE SENSOR BRC-269, "DTC Logic"
C1A01 POWER SUPPLY CIR BRC-270, "DTC Logic"
C
C1A02 POWER SUPPLY CIR 2 BRC-270, "DTC Logic"
C1A03 VHCL SPEED SE CIRC BRC-271, "DTC Logic"
C1A04 ABS/TCS/VDC CIRC BRC-273, "DTC Logic" D
C1A05 BRAKE SW/STOP L SW BRC-274, "DTC Logic"
C1A07 CVT CIRCUIT BRC-276, "DTC Logic"
E
C1A12 LASER BEAM OFF CNTR BRC-277, "DTC Logic"
C1A14 ECM CIRCUIT BRC-278, "DTC Logic"
C1A15 GEAR POSITION BRC-279, "DTC Logic" BRC
C1A16 RADAR STAIN BRC-281, "DTC Logic"
C1A17 ICC SENSOR MALF BRC-283, "DTC Logic"
C1A18 LASER AIMING INCMP BRC-284, "DTC Logic" G
C1A21 UNIT HIGH TEMP BRC-285, "DTC Logic"
C1A24 NP RANGE BRC-286, "DTC Logic"
H
C1A26 ECD MODE MALF BRC-288, "DTC Logic"
C1A39 STRG SEN CIR BRC-289, "DTC Logic"
C1B5D FEB OPE COUNT LIMIT BRC-290, "DTC Logic" I
U0121 VDC CAN CIR 2 BRC-291, "DTC Logic"
U0126 STRG SEN CAN CIR 1 BRC-292, "DTC Logic"
J
U0401 ECM CAN CIR 1 BRC-293, "DTC Logic"
U0415 VDC CAN CIR 1 BRC-294, "DTC Logic"
U0428 STRG SEN CAN CIR 2 BRC-295, "DTC Logic" K
U1000 CAN COMM CIRCUIT BRC-296, "DTC Logic"
U1010 CONTROL UNIT (CAN) BRC-297, "DTC Logic"
L
U1527 CCM CAN CIR 1 BRC-298, "DTC Logic"
U153F CCM CAN CIR 2 BRC-299, "DTC Logic"

BRC-247
 FORWARD EMERGENCY BRAKING
< WIRING DIAGRAM > [FORWARD EMERGENCY BRAKING]

WIRING DIAGRAM
FORWARD EMERGENCY BRAKING
Wiring Diagram INFOID:0000000010956827

JRFWC1755GB

BRC-248
 FORWARD EMERGENCY BRAKING
< WIRING DIAGRAM > [FORWARD EMERGENCY BRAKING]

BRC

JRFWC1756GB

BRC-249
 FORWARD EMERGENCY BRAKING
< WIRING DIAGRAM > [FORWARD EMERGENCY BRAKING]

JRFWC1757GB

BRC-250
 FORWARD EMERGENCY BRAKING
< WIRING DIAGRAM > [FORWARD EMERGENCY BRAKING]

BRC

JRFWC1758GB

BRC-251
 FORWARD EMERGENCY BRAKING
< WIRING DIAGRAM > [FORWARD EMERGENCY BRAKING]

JRFWC1759GB

BRC-252
 FORWARD EMERGENCY BRAKING
< WIRING DIAGRAM > [FORWARD EMERGENCY BRAKING]

BRC

JRFWC1760GB

BRC-253
 FORWARD EMERGENCY BRAKING
< WIRING DIAGRAM > [FORWARD EMERGENCY BRAKING]

JRFWC1761GB

BRC-254
 FORWARD EMERGENCY BRAKING
< WIRING DIAGRAM > [FORWARD EMERGENCY BRAKING]

BRC

JRFWC1762GB

BRC-255
 FORWARD EMERGENCY BRAKING
< WIRING DIAGRAM > [FORWARD EMERGENCY BRAKING]

JRFWC1763GB

BRC-256
 DIAGNOSIS AND REPAIR WORK FLOW
< BASIC INSPECTION > [FORWARD EMERGENCY BRAKING]

BASIC INSPECTION A
DIAGNOSIS AND REPAIR WORK FLOW
Work Flow INFOID:0000000010721828
B

OVERALL SEQUENCE
C

BRC

P
JSOIA0485GB

DETAILED FLOW

1.INTERVIEW FOR MALFUNCTION

It is also important to clarify the customer concerns before starting the inspection. Interview the customer
about the concerns carefully and understand the symptoms fully.
BRC-257
 DIAGNOSIS AND REPAIR WORK FLOW
< BASIC INSPECTION > [FORWARD EMERGENCY BRAKING]
NOTE:
The customers are not professionals. Never assume that “maybe the customer means···” or “maybe the cus-
tomer mentioned this symptom”.

>> GO TO 2.
2.SELF-DIAGNOSIS WITH CONSULT
1. Perform “All DTC Reading” with CONSULT.
2. Check if the DTC is detected on the “Self-Diagnostic Results” of “LASER/RADAR”
Is any DTC detected?
YES >> GO TO 5.
NO >> GO TO 3.
3.ACTION TEST
Perform the FEB system action test to check the system operation. Check if any other malfunctions occur.

>> GO TO 4.
4.SYMPTOM DIAGNOSIS
Perform the applicable diagnosis according to the diagnosis chart by symptom. Refer to BRC-301, "Symptom
Table".

>> GO TO 6.
5.TROUBLE DIAGNOSIS BY DTC
1. Check the DTC in the “Self-Diagnostic Results”.
2. Perform trouble diagnosis for the detected DTC. Refer to BRC-247, "DTC Index".

>> GO TO 6.
6.MALFUNCTIONING PART REPAIR
Repair or replace the identified malfunctioning parts.

>> GO TO 7.
7.REPAIR CHECK (SELF-DIAGNOSIS WITH CONSULT)
1. Erases self-diagnosis results.
2. Perform “All DTC Reading” again after repairing or replacing the specific items.
3. Check if any DTC is detected in self-diagnosis results of “LASER/RADAR”.
Is any DTC detected?
YES >> GO TO 5.
NO >> GO TO 8.
8.REPAIR CHECK (ACTION TEST)
Perform the following system action test. Check that the malfunction symptom is solved or no other symptoms
occur.
Is there a malfunction symptom?
YES >> GO TO 4.
NO >> Inspection End.

BRC-258
 ADDITIONAL SERVICE WHEN REPLACING DISTANCE SENSOR
< BASIC INSPECTION > [FORWARD EMERGENCY BRAKING]
ADDITIONAL SERVICE WHEN REPLACING DISTANCE SENSOR
A
Description INFOID:0000000010721834

B
Always perform the following after removing and installing or replacing the distance sensor:
1. Distance sensor initial vertical alignment
2. Distance sensor alignment C
CAUTION:
The system does not operate normally unless the distance sensor is aligned properly.
Work Procedure INFOID:0000000010721835 D

1.DISTANCE SENSOR INITIAL VERTICAL ALIGNMENT

Perform the distance sensor initial vertical alignment. Refer to BRC-260, "Description". E

>> GO TO 2.
BRC
2.DISTANCE SENSOR ALIGNMENT
Perform the distance sensor alignment. Refer to BRC-262, "Description".
G
>> Work End.

BRC-259
 DISTANCE SENSOR INITIAL VERTICAL ALIGNMENT
< BASIC INSPECTION > [FORWARD EMERGENCY BRAKING]
DISTANCE SENSOR INITIAL VERTICAL ALIGNMENT
Description INFOID:0000000010721838

OUTLINE OF DISTANCE SENSOR INITIAL ALIGNMENT PROCEDURE

Always perform the distance sensor initial vertical alignment before distance sensor alignment.
NOTE:
If initial vertical alignment is not performed, the distance sensor adjustment may not be performed.
1. Required tools, refer to BRC-260, "Required Tools".
2. Preparation, refer to BRC-260, "Preparation".
3. Distance sensor initial vertical alignment, refer to BRC-260, "Distance Sensor Initial Vertical Alignment".
Required Tools INFOID:0000000010721839

The following tool is necessary to perform the distance sensor initial vertical alignment:
• Spirit level.

AWOIA0048ZZ

Preparation INFOID:0000000010721840

1.PREPARATION FOR DISTANCE SENSOR INITIAL VERTICAL ALIGNMENT PROCEDURE

1. Verify correct vehicle suspension height. Refer to FSU-24, "Wheelarch Height".
2. Repair or replace any damaged body components.
3. Verify proper tire inflation pressures. Refer to WT-66, "Tire Air Pressure".
4. Remove any accumulations of mud, snow or ice from the vehicle underbody.
5. Verify that there is no load in the vehicle (cargo or passenger).
6. Place the vehicle on a known level horizontal surface such as a wheel or frame alignment rack to achieve
satisfactory sensor vertical alignment results.
7. Remove front fascia. Refer to EXT-15, "Removal and Installation".

>> Refer to BRC-260, "Distance Sensor Initial Vertical Alignment".

Distance Sensor Initial Vertical Alignment INFOID:0000000010721841

NOTE:
The distance sensor initial vertical alignment procedure must be performed anytime the distance sensor is
removed and reinstalled.
1. The distance sensor is located near the right front head lamp
behind the front bumper fascia.

AWOIA0049ZZ

BRC-260
 DISTANCE SENSOR INITIAL VERTICAL ALIGNMENT
< BASIC INSPECTION > [FORWARD EMERGENCY BRAKING]
2. Place the spirit level against the face of the distance sensor
. A

AWOIA0050ZZ

D
3. Turn the distance sensor adjustment screw to level the sen-
sor.
E

BRC

G
AWOIA0051ZZ

4. Insure the distance sensor electrical connector located on the bottom of the sensor is connected. H
5. Reinstall the front bumper fascia. Refer to EXT-15, "Removal and Installation".
6. Perform the distance sensor alignment procedure. Refer to BRC-262, "Description".
NOTE: I
With the front grill left removed, radar adjustment becomes easier.

BRC-261
 DISTANCE SENSOR ALIGNMENT
< BASIC INSPECTION > [FORWARD EMERGENCY BRAKING]
DISTANCE SENSOR ALIGNMENT
Description INFOID:0000000010721842

OUTLINE OF RADAR ALIGNMENT PROCEDURE

• A 4-wheel vehicle alignment must be performed before proceeding with radar alignment procedure.
• Always perform the radar alignment after removing and installing or replacing the distance sensor.
WARNING:
Radio waves could adversely affect electric medical equipment. Those who use a pacemaker should
contact the electric medical equipment manufacturer for the possible influences before use.
CAUTION:
The system does not operate normally unless the radar alignment is performed. Always perform it.
1. Preparation, refer to BRC-262, "Work Procedure (Preparation)".
2. Set the ICC sensor target board (SST: KV99112700) to the correct position in front of the vehicle. Refer to
BRC-264, "Work Procedure (Setting The ICC Target Board)".
3. Set the radar alignment mode (“MILLIWAVE RADAR ADJUST” on “Work support”) with CONSULT, and
then perform the adjustment according to the display. Refer to BRC-266, "Work Procedure (Radar Align-
ment)".
CAUTIONARY POINT FOR RADAR ALIGNMENT PROCEDURE
CAUTION:
• For radar alignment procedure, choose a level location with a few meter of working space in front
and surrounding the vehicle.
• Vehicle must be stationary and unoccupied during the whole alignment procedure.
• Any slight vibration during the alignment procedure can cause the test to fail. If this happens, you
will have to restart the alignment process.
• The ignition switch must be in the ON position.
• The battery voltage must not fall below 12 volts during the whole alignment procedure. Failure to
maintain adequate battery voltage will cause the test to fail. If this happens, you will have to restart
the alignment process.
• The ICC target board must be set in front of the vehicle facing the sensor.
• Adjust the radar alignment with CONSULT. (The radar alignment procedure cannot be adjusted with-
out CONSULT.)
• Never enter the vehicle during radar alignment.
• Never block the area between the radar and the ICC target board at any time during the alignment
process.
• Accurate steering wheel setting is crucial. Once set, do not disturb the steering wheel for the
remainder of the alignment procedure.
• For proper system operation and adjustment, all vehicle wheels must be of the same size.
Work Procedure (Preparation) INFOID:0000000010721843

1.ADVANCE PREPARATION FOR RADAR ALIGNMENT

1. Adjust all tire pressure to the specified value.
2. Empty the vehicle. (Remove any luggage from the passenger compartment, trunk room, etc.)
3. Fully fill the fuel tank, and then check that the coolant and oils are filled up to correct level.
4. Shift the selector lever to “P” position, and release the parking brake. (CVT models)
5. Shift the selector lever to “N” position, and release the parking brake. (M/T models)
CAUTION:
Apply wheel chocks or other tire blocks to the wheels to prevent the vehicle from moving.

BRC-262
 DISTANCE SENSOR ALIGNMENT
< BASIC INSPECTION > [FORWARD EMERGENCY BRAKING]
6. Clean the right front side of the fascia in front of the distance
sensor . A
NOTE:
Check the distance sensor surface is clean.
B
>> GO TO 2.

JMOIA0055ZZ

2.PREPOSITION TARGET BOARD D

Adjust the height of the ICC target board center position.

E

BRC

JMOIA0057ZZ

H
H : 693 mm (27.28 in)
: Distance sensor

NOTE: I
Adjusting the ICC target board height may not allow the center to reach to H. In this case, raise the height to
upper limit of the adjustment range.
CAUTION:
To prevent damage to ICC target board, use a weight to protect the board from falling. J

>> GO TO 3.
K
3.RADAR ALIGNMENT OPERATION AREA
L

BRC-263
 DISTANCE SENSOR ALIGNMENT
< BASIC INSPECTION > [FORWARD EMERGENCY BRAKING]
Position the vehicle in a place that is level and where area can be secured.

JMOIA0058ZZ

W : 3,000 mm (118.11 in)

L : 2,000 mm (78.74 in)
H : 2,000 mm (78.74 in)
NOTE:
is a no object zone.

>> Go to BRC-264, "Work Procedure (Setting The ICC Target Board)".

Work Procedure (Setting The ICC Target Board) INFOID:0000000010721844

DESCRIPTION
Accurate adjustment of the radar alignment requires that the ICC target board be accurately positioned.
CAUTION:
If the radar alignment is adjusted with the ICC target board in the incorrect position, the FEB system
does not function normally.
1.PREPARATION OF SETTING ICC TARGET BOARD (1)

BRC-264
 DISTANCE SENSOR ALIGNMENT
< BASIC INSPECTION > [FORWARD EMERGENCY BRAKING]

PKIB4694E BRC

“A” – “E” (“C” – “F”) : 2,040 mm (80.00 in)

G
1. Mark points “A”, “B”, “C” and “D”at the center of the lateral sur-
face of each wheels.
NOTE:
Hang a string with a cone from the fender so as to pass through H
the center of wheel, and then mark a point at the center of the
lateral surface of the wheel.
2. Draw line “LH” passing through points “A” and “B” on the left side I
of vehicle.
NOTE:
Approximately 2 m (6.56 ft) or more from the front end of vehi-
J
cle.
PKIB7667E
3. Mark point “E” on the line “LH” at the positions 2,040 mm (80.00
in) from point “A”.
4. Draw line “RH” passing through points “C” and “D” on the right side of vehicle in the same way as step 2. K
NOTE:
Approximately 2 m (6.56 ft) or more from the front end of vehicle.
5. Mark point “F” on the line “RH” at the positions 2,040 mm (80.00 in) from point “C”. L
6. Draw line “FW” passing through the points “E” and “F” on the front side of vehicle.
7. Mark point “X” at the center of point “E” and “F” on the line “FW”.
CAUTION:
Make sure that “E” to “X” is equal to “F” to “X”. M
8. With point “X” as the starting point, mark point “G” on “F” point
side 291 mm.
N
L1 : 2,040 mm (80.00 in)
L2 : 291 mm (11.46 in)

O
>> GO TO 2.

P
JSOIA0824ZZ

2.SETTING ICC TARGET BOARD

Place the center of ICC target board on point “G” at line “E-F” and install the ICC target board.
CAUTION:
For performing the radar alignment correctly, securely install (ICC target board) to be parallel with the
“E-F” line.

BRC-265
 DISTANCE SENSOR ALIGNMENT
< BASIC INSPECTION > [FORWARD EMERGENCY BRAKING]

>> GO TO 3.
3.CHECK THE ICC TARGET BOARD INSTALLATION AREA
Do not place anything other than ICC target board in the space shown in the figure (view from top).

JSOIA0825ZZ

No object zone Distance sensor ICC target board

W. 3,000 mm (118.11 in) L. 1,000 mm (39.37 in)

>> Go to BRC-266, "Work Procedure (Radar Alignment)".

Work Procedure (Radar Alignment) INFOID:0000000010721845

DESCRIPTION
The radar alignment is performed automatically with CONSULT.
CAUTION:
Perform all necessary work for radar alignment until the adjustment completes as shown in the proce-
dure. If the procedure does not complete, the FEB system is inoperable.
1.PERFORM RADAR ALIGNMENT
1. Start the engine.
2. Connect CONSULT and select “Work support” of “LASER/RADAR”.
3. Select “MILLIWAVE RADAR ADJUST” after the “Work support” screen is displayed.
NOTE:
Confirm the following items;
• The target should be accurately placed.
• The vehicle should be stopped.
4. Select “Start” after the “MILLIWAVE RADAR ADJUST” screen is displayed.
NOTE:
If the adjustment screen does not appear or an error appears within approximately 10 seconds after “MIL-
LIWAVE RADAR ADJUST” is selected, the following causes are possible.
• The ICC target board is not installed in the correct position.
• Adequate space is not secured around the ICC target board.
• The radar alignment procedure exceeds its proper installation range.
- Deformation of vehicle body.
- Deformation of unit.
- Deformation of bracket.
• The area is not suitable for the adjustment work.
• Right front side of fascia (distance sensor view) is not clean.
• The FEB warning lamp illuminates.

>> GO TO 2.

BRC-266
 DISTANCE SENSOR ALIGNMENT
< BASIC INSPECTION > [FORWARD EMERGENCY BRAKING]

2.RADAR ALIGNMENT A
1. Once the radar alignment procedure is started, you will be prompted by the CONSULT for the next instruc-
tion is displayed on the CONSULT screen.
2. Follow all the following instructions requested by CONSULT:
B
- Adjust ICC target board to position (top tilted toward vehicle)
- Adjust ICC target board to position (vertical position)
- Adjust ICC target board to position (top tilted away from vehi-
cle) C

JSOIA1629ZZ
E

3. Following instructions to perform physical adjustment to the sen-

sor which may include turning the screw driver by a specified
BRC
number of turns counter-clockwise or clockwise as speci-
fied on CONSULT.
CAUTION:
After the position 3 reading and during manual adjustment, G
it is OK to stand in front of the side of the fascia (distance
sensor view). Otherwise be careful not to cover the right
front side of the fascia (distance sensor view) with a hand H
or any other body part during adjustment.
NOTE: JSOIA1630ZZ
Reading on the CONSULT is not real-time and not automatically
update while turning the tool. To check the angle, end the alignment and restart the procedure. I

>> ALIGNMENT END

NOTE: J
If front grill is left removed, it must be installed.

BRC-267
 ACTION TEST
< BASIC INSPECTION > [FORWARD EMERGENCY BRAKING]
ACTION TEST
Description INFOID:0000000010721856

• Perform action test to verify the customer's concern.

• Perform action test and check the system operation after system diagnosis.
Inspection Procedure INFOID:0000000010721857

1.CHECK FEB SYSTEM SETTING

1. Start the engine.
2. Check that the FEB system setting can be enabled/disabled on the vehicle information display.
3. Turn OFF the ignition switch and wait for 30 seconds or more.
4. Check that the previous setting is saved when the engine starts again.

>> GO TO 2.
2.CHECK FEB SYSTEM
1. Enable the setting of the FEB system on the vehicle information display.
2. Check FEB warning lamp is OFF.

>> Inspection End.

BRC-268
 C10B7 YAW RATE SENSOR
< DTC/CIRCUIT DIAGNOSIS > [FORWARD EMERGENCY BRAKING]

DTC/CIRCUIT DIAGNOSIS A
C10B7 YAW RATE SENSOR
DTC Logic INFOID:0000000010727798
B

DTC DETECTION LOGIC

C
DTC Trouble diagnosis name DTC detecting condition
YAW RATE SENSOR
C10B7 Yaw rate/side/decel G sensor calibration incorrect.
(Yaw rate sensor)
D
POSSIBLE CAUSE
• Calibration of yaw rate/side/decel G sensor not performed.
• Interruption in yaw rate/side/decel G sensor calibration. E
FAIL-SAFE
FEB system is canceled.
BRC
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
G
1. Start the engine.
2. Turn the FEB system ON.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “C10B7” is detected as the current malfunction in “Self Diagnostic Result” of “LASER/ H
RADAR”.
Is “C10B7” detected as the current malfunction?
YES >> Refer to BRC-269, "Diagnosis Procedure". I
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
J
Diagnosis Procedure INFOID:0000000010727799

1.PERFORM YAW RATE/SIDE/DECEL G SENSOR CALIBRATION

K
1. Perform calibration of yaw rate/side/decel G sensor. Refer to BRC-102, "Work Procedure".
2. Erase DTCs using CONSULT.
3. Perform “Self Diagnostic Result” of “LASER/RADAR” using CONSULT.
L
Are any DTCs detected?
YES >> Replace the distance sensor. Refer to BRC-304, "Removal and Installation".
NO >> Inspection End.
M

BRC-269
 C1A01 POWER SUPPLY CIRCUIT 1, C1A02 POWER SUPPLY CIRCUIT 2
< DTC/CIRCUIT DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
C1A01 POWER SUPPLY CIRCUIT 1, C1A02 POWER SUPPLY CIRCUIT 2
DTC Logic INFOID:0000000010766405

DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition

POWER SUPPLY CIR The battery voltage sent to distance sensor remains less than 7.9 V for 5 sec-
C1A01
(Power supply circuit) onds
POWER SUPPLY CIR 2 The battery voltage sent to distance sensor remains more than 19.3 V for 5
C1A02
(Power supply circuit 2) seconds

POSSIBLE CAUSE
• Connector, harness, fuse
• Distance sensor
FAIL-SAFE
FEB system is canceled.
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the FEB system ON.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “C1A01” or “C1A02” is detected as the current malfunction in “Self Diagnostic Result” of
“RADAR”.
Is “C1A01” or “C1A02” detected as the current malfunction?
YES >> Refer to BRC-270, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010766406

1.CHECK DISTANCE SENSOR POWER SUPPLY AND GROUND CIRCUIT

Check power supply and ground circuit of distance sensor. Refer to BRC-300, "Diagnosis Procedure".
Is the inspection result normal?
YES >> Replace the distance sensor. Refer to BRC-304, "Removal and Installation".
NO >> Repair or replace the malfunctioning parts.

BRC-270
 C1A03 VEHICLE SPEED SENSOR
< DTC/CIRCUIT DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
C1A03 VEHICLE SPEED SENSOR
A
DTC Logic INFOID:0000000010766623

DTC DETECTION LOGIC B

DTC Trouble diagnosis name DTC detecting condition

If the vehicle speed signal (wheel speed) from ABS actuator and electric unit (con- C
VHCL SPEED SE CIRC trol unit) and the A/T vehicle speed sensor signal (output shaft revolution signal)
C1A03
(Vehicle speed sensor circuit) from TCM, received by the distance sensor via CAN communication, are inconsis-
tent
D
POSSIBLE CAUSE
• Wheel speed sensor
• ABS actuator and electric unit (control unit) E
• Vehicle speed sensor A/T (output speed sensor)
• TCM
• Distance sensor
BRC
FAIL-SAFE
FEB system is canceled.
DTC CONFIRMATION PROCEDURE G

1.CHECK DTC PRIORITY

If DTC “C1A03” is displayed with DTC “U1000” or “C1A04”, first diagnose the DTC “U1000” or “C1A04”. H
Is applicable DTC detected?
YES >> Perform diagnosis of applicable.
• U1000: Refer to BRC-296, "DTC Logic" I
• C1A04: Refer to BRC-273, "DTC Logic"
NO >> GO TO 2.
2.PERFORM DTC CONFIRMATION PROCEDURE J
1. Start the engine.
2. Turn the FEB system ON.
3. Drive the vehicle at 30 km/h (19 MPH) or more. K
CAUTION:
Always drive safely.
4. Stop the vehicle. L
5. Perform “All DTC Reading” with CONSULT.
6. Check if the “C1A03” is detected as the current malfunction in “Self Diagnostic Result” of “LASER/
RADAR”.
M
Is “C1A03” detected as the current malfunction?
YES >> Refer to BRC-271, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END N

Diagnosis Procedure INFOID:0000000010766624

O
1.CHECK DTC PRIORITY
If DTC “C1A03” is displayed with DTC “U1000” or “C1A04”, first diagnose the DTC “U1000” or “C1A04”.
Is applicable DTC detected? P
YES >> Perform diagnosis of applicable.
• U1000: Refer to BRC-296, "DTC Logic"
• C1A04: Refer to BRC-273, "DTC Logic"
NO >> GO TO 2.
2.CHECK DATA MONITOR
1. Start the engine.

BRC-271
 C1A03 VEHICLE SPEED SENSOR
< DTC/CIRCUIT DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
2. Drive the vehicle.
3. Check that the value of “VHCL SPD AT” is almost the same as the value of “VHCL SPEED SE” in “DATA
MONITOR” of “LASER/RADAR”.
CAUTION:
Be careful of the vehicle speed.
Is the inspection result normal?
YES >> Replace the distance sensor. Refer to BRC-304, "Removal and Installation".
NO >> GO TO 3.
3.CHECK TCM SELF-DIAGNOSIS RESULTS
1. Perform “All DTC Reading”.
2. Check if any DTC is detected in “Self Diagnostic Result” of “TRANSMISSION”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
BRC-247, "DTC Index".
NO >> GO TO 4.
4.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ABS”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
BRC-247, "DTC Index".
NO >> Replace the distance sensor. Refer to BRC-304, "Removal and Installation".

BRC-272
 C1A04 ABS/TCS/VDC SYSTEM
< DTC/CIRCUIT DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
C1A04 ABS/TCS/VDC SYSTEM
A
DTC Logic INFOID:0000000010766625

DTC DETECTION LOGIC B

DTC Trouble diagnosis name DTC detecting condition

ABS/TCS/VDC CIRC C
C1A04 If a malfunction occurs in the VDC/TCS/ABS system
(ABS/TCS/VDC circuit)

POSSIBLE CAUSE
D
ABS actuator and electric unit (control unit)
FAIL-SAFE
FEB system is canceled. E
DTC CONFIRMATION PROCEDURE
1.CHECK DTC PRIORITY BRC
If DTC “C1A04” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
Is applicable DTC detected?
YES >> Perform diagnosis of applicable. Refer to BRC-296, "DTC Logic". G
NO >> GO TO 2.
2.PERFORM DTC CONFIRMATION PROCEDURE
H
1. Start the engine.
2. Turn the FEB system ON.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “C1A04” is detected as the current malfunction in “Self Diagnostic Result” of “LASER/ I
RADAR”.
Is “C1A04” detected as the current malfunction?
YES >> Refer to BRC-273, "Diagnosis Procedure". J
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
K
Diagnosis Procedure INFOID:0000000010766626

1.CHECK DTC PRIORITY L

If DTC “C1A04” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
Is applicable DTC detected?
YES >> Perform diagnosis of applicable. Refer to BRC-296, "DTC Logic". M
NO >> GO TO 2.
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ABS”. N
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
BRC-188, "Diagnosis Procedure". O
NO >> Replace the distance sensor. Refer to BRC-304, "Removal and Installation".

BRC-273
 C1A05 BRAKE SW/STOP LAMP SW
< DTC/CIRCUIT DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
C1A05 BRAKE SW/STOP LAMP SW
DTC Logic INFOID:0000000010766627

DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition

BRAKE SW/STOP L SW
C1A05 Stop lamp switch signal received from BCM is abnormal
(Brake switch/Stop lamp switch)

POSSIBLE CAUSE
• Stop lamp switch circuit
• Stop lamp switch
• Incorrect stop lamp switch installation
• BCM
FAIL-SAFE
FEB system is canceled.
DTC CONFIRMATION PROCEDURE
1.CHECK DTC PRIORITY
If DTC “C1A05” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
Is applicable DTC detected?
YES >> Perform diagnosis of applicable. Refer to BRC-296, "DTC Logic".
NO >> GO TO 2.
2.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the FEB system ON.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “C1A05” is detected as the current malfunction in “Self Diagnostic Result” of “LASER/
RADAR”.
Is “C1A05” detected as the current malfunction?
YES >> Refer to BRC-274, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010766628

1.CHECK DTC PRIORITY

If DTC “C1A05” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
Is applicable DTC detected?
YES >> Perform diagnosis of applicable. Refer to BRC-296, "DTC Logic".
NO >> GO TO 2.
2.CHECK STOP LAMP
Check the stop lamp when brake pedal is depressed/not depressed.
Is the inspection result normal?
YES >> GO TO 3.
NO >> Check the stop lamp. Refer to EXL-176, "Symptom Table" (LED headlamp) or EXL-361, "Symp-
tom Table" (Halogen headlamp)
3.CHECK STOP LAMP CIRCUIT
1. Turn ignition switch ON.
2. Perform “STOP LAMP” on “Active test” of “BCM-HEADLAMP” with CONSULT.
Is the inspection result normal?
YES >> GO TO 4.

BRC-274
 C1A05 BRAKE SW/STOP LAMP SW
< DTC/CIRCUIT DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
NO >> Check the stop lamp circuit. Refer to EXL-176, "Symptom Table" (LED headlamp) or EXL-361,
"Symptom Table" (Halogen headlamp) A
4.PERFORM SELF-DIAGNOSIS OF CHASSIS CONTROL MODULE
1. Perform “All DTC Reading”.
B
2. Check if any DTC is detected in “Self Diagnostic Result” of “CHASSIS CONTROL”. Refer to DAS-204,
"DTC Index".
Is any DTC detected?
C
YES >> Repair or replace the malfunctioning parts identified by the self-diagnosis result.
NO >> GO TO 5.
5.PERFORM SELF-DIAGNOSIS OF ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) D
1. Perform “All DTC Reading”.
2. Check if any DTC is detected in “Self Diagnostic Result” of “ABS”. Refer to BRC-84, "DTC Index".
Is any DTC detected? E
YES >> Repair or replace the malfunctioning parts identified by the self-diagnosis result.
NO >> GO TO 6.
6.PERFORM SELF-DIAGNOSIS OF BCM BRC
1. Perform “All DTC Reading”.
2. Check if any DTC is detected in “Self Diagnostic Result” of “BCM”. Refer to BCS-78, "DTC Index".
Is any DTC detected? G
YES >> Repair or replace the malfunctioning parts identified by the self-diagnosis result.
NO >> GO TO 7.
H
7.PERFORM SELF-DIAGNOSIS OF DISTANCE SENSOR
Check if any DTC is detected in “Self Diagnostic Result” of “LASER/RADAR”. Refer to BRC-247, "DTC Index".
Is any DTC detected? I
YES >> Repair or replace the malfunctioning parts identified by the self-diagnosis result.
NO >> INSPECTION END
J

BRC-275
 C1A07 CVT
< DTC/CIRCUIT DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
C1A07 CVT
DTC Logic INFOID:0000000010927801

DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detection condition

CVT CIRCUIT
C1A07 If CVT is malfunctioning
(CVT circuit)

POSSIBLE CAUSE
• Transmission assembly
• TCM
FAIL-SAFE
FEB system is canceled.
DTC CONFIRMATION PROCEDURE
1.CHECK DTC PRIORITY
If DTC “C1A07” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
Is applicable DTC detected?
YES >> Perform diagnosis of applicable. Refer to BRC-296, "DTC Logic".
NO >> GO TO 2.
2.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn ON FEB system and drive.
CAUTION:
Always drive safely.
3. Stop the vehicle.
4. Perform “All DTC Reading” with CONSULT.
5. Check if the “C1A07” is detected as the current malfunction in “Self Diagnostic Result” of “LASER/
RADAR”.
Is “C1A07” detected as the current malfunction?
YES >> Refer to BRC-276, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010927802

1.CHECK DTC PRIORITY

If DTC “C1A07” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
Is applicable DTC detected?
YES >> Perform diagnosis of applicable. Refer to BRC-296, "DTC Logic".
NO >> GO TO 2.
2.PERFORM SELF-DIAGNOSIS OF TCM
Check if any DTC is detected in “Self Diagnostic Result” of “TRANSMISSION”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
TM-288, "DTC Index" (Gasoline engine models) or TM-529, "DTC Index" (Diesel engine models).
NO >> Replace the distance sensor. Refer to BRC-304, "Removal and Installation".

BRC-276
 C1A12 RADAR OFF-CENTER
< DTC/CIRCUIT DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
C1A12 RADAR OFF-CENTER
A
DTC Logic INFOID:0000000010766413

DTC DETECTION LOGIC B

DTC Trouble diagnosis name DTC detecting condition

RADAR OFF-CENTER C
C1A12 Radar of distance sensor is off the aiming point
(Radar off-center)

POSSIBLE CAUSE
D
Radar is off the aiming point
FAIL-SAFE
The following systems are canceled. E
• Vehicle-to-vehicle distance control mode
• Distance Control Assist (DCA)
• Forward Emergency Braking (FEB)
• Predictive Forward Collision Warning (PFCW) BRC

DTC CONFIRMATION PROCEDURE

1.PERFORM DTC CONFIRMATION PROCEDURE G
1. Start the engine.
2. Turn the FEB system ON.
3. Perform “All DTC Reading” with CONSULT. H
4. Check if the “C1A12” is detected as the current malfunction in “Self Diagnostic Result” of “LASER/
RADAR”.
Is “C1A12” detected as the current malfunction? I
YES >> Refer to BRC-277, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END J
Diagnosis Procedure INFOID:0000000010766414

1.ADJUST RADAR AIMING K

1. Adjust the radar beam aiming with CONSULT. Refer to BRC-262, "Description".
2. Perform “All DTC Reading”.
3. Check if the “C1A12” is detected in “Self Diagnostic Result” of “LASER/RADAR”. L
Is “C1A12” detected?
YES >> Replace the distance sensor. Refer to BRC-304, "Removal and Installation".
NO >> INSPECTION END M

BRC-277
 C1A14 ECM
< DTC/CIRCUIT DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
C1A14 ECM
DTC Logic INFOID:0000000010766629

DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition

ECM CIRCUIT
C1A14 If ECM is malfunctioning
(ECM circuit)

POSSIBLE CAUSE
• Accelerator pedal position sensor
• ECM
• Distance sensor
FAIL-SAFE
FEB system is canceled.
DTC CONFIRMATION PROCEDURE
1.CHECK DTC PRIORITY
If DTC “C1A14” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
Is applicable DTC detected?
YES >> Perform diagnosis of applicable. Refer to BRC-296, "DTC Logic".
NO >> GO TO 2.
2.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Operate the FEB system and drive.
CAUTION:
Always drive safely.
3. Stop the vehicle.
4. Perform “All DTC Reading” with CONSULT.
5. Check if the “C1A14” is detected as the current malfunction in “Self Diagnostic Result” of “LASER/
RADAR”.
Is “C1A14” detected as the current malfunction?
YES >> Refer to BRC-278, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010766630

1.CHECK DTC PRIORITY

If DTC “C1A14” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
Is applicable DTC detected?
YES >> Perform diagnosis of applicable. Refer to BRC-296, "DTC Logic".
NO >> GO TO 2.
2.PERFORM SELF-DIAGNOSIS OF ECM
Check if any DTC is detected in “Self Diagnostic Result” of “ENGINE”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
EC-109, "DTC Index" (MR20DD) or EC-517, "DTC Index" (QR25DE) or EC-908, "DTC Index"
(R9M).
NO >> Replace the distance sensor. Refer to BRC-304, "Removal and Installation".

BRC-278
 C1A15 GEAR POSITION
< DTC/CIRCUIT DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
C1A15 GEAR POSITION
A
DTC Logic INFOID:0000000010766632

DTC DETECTION LOGIC B

DTC Trouble diagnosis name DTC detecting condition

A mismatch between an current gear position signal transmitted from TCM via C
GEAR POSITION
C1A15 ECM and a gear position calculated by the distance sensor continues for approx-
(Gear position)
imately 11 minutes or more

POSSIBLE CAUSE D
• Input speed sensor
• Vehicle speed sensor A/T (output speed sensor)
• TCM E
FAIL-SAFE
FEB system is canceled.
BRC
DTC CONFIRMATION PROCEDURE
1.CHECK DTC PRIORITY
G
If DTC “C1A15” is displayed with DTC “U1000”, “C1A03” or “C1A04” first diagnose the DTC “U1000”, “C1A03”
or “C1A04”
Is applicable DTC detected?
H
YES >> Perform diagnosis of applicable.
• U1000: Refer to BRC-296, "DTC Logic"
• C1A03: Refer to BRC-271, "DTC Logic"
• C1A04: Refer to BRC-273, "DTC Logic" I
NO >> GO TO 2.
2.PERFORM DTC CONFIRMATION PROCEDURE
J
1. Start the engine.
2. Turn the FEB system ON.
3. Drive the vehicle at 10 km/h (6 MPH) or faster for approximately 15 minutes or more.
CAUTION: K
Always drive safely.
4. Stop the vehicle.
5. Perform “All DTC Reading” with CONSULT. L
6. Check if “C1A15” is detected as the current malfunction in the “Self Diagnostic Result” of “LASER/
RADAR”.
Is “C1A15” detected as the current malfunction? M
YES >> Refer to BRC-279, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
N
Diagnosis Procedure INFOID:0000000010766633

1.CHECK DTC PRIORITY O

If DTC “C1A15” is displayed with DTC “U1000”, “C1A03” or “C1A04” first diagnose the DTC “U1000”, “C1A03”
or “C1A04”
Is applicable DTC detected? P
YES >> Perform diagnosis of applicable.
• U1000: Refer to BRC-296, "DTC Logic"
• C1A03: Refer to BRC-271, "DTC Logic"
• C1A04: Refer to BRC-273, "DTC Logic"
NO >> GO TO 2.
2.CHECK VEHICLE SPEED SIGNAL
BRC-279
 C1A15 GEAR POSITION
< DTC/CIRCUIT DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
Check that “VHCL SPEED SE” operates normally in “DATA MONITOR” of “LASER/RADAR”.
CAUTION:
Be careful of the vehicle speed.
Is the inspection result normal?
YES >> GO TO 3.
NO >> GO TO 7.
3.CHECK GEAR POSITION
Check that “GEAR” operates normally in “DATA MONITOR” of “LASER/RADAR”.
CAUTION:
Be careful of the vehicle speed.
Is the inspection result normal?
YES >> GO TO 5.
NO >> GO TO 4.
4.CHECK GEAR POSITION SIGNAL
Check that “GEAR” operates normally in “DATA MONITOR” of “TRANSMISSION”.
Is the inspection result normal?
YES >> GO TO 5.
NO >> GO TO 6.
5.CHECK INPUT SPEED SENSOR SIGNAL
Check that “INPUT SPEED” operates normally in “DATA MONITOR” of “TRANSMISSION”.
Is the inspection result normal?
YES >> Replace the distance sensor. Refer to BRC-304, "Removal and Installation".
NO >> GO TO 6.
6.CHECK TCM SELF-DIAGNOSIS RESULTS
1. Perform “All DTC Reading”.
2. Check if any DTC is detected in “Self Diagnostic Result” of “TRANSMISSION”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
TM-288, "DTC Index" (Gasoline engine models) or TM-529, "DTC Index" (Diesel engine models).
NO >> Replace the distance sensor. Refer to BRC-304, "Removal and Installation".
7.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS
1. Perform “All DTC Reading”.
2. Check if any DTC is detected in “Self Diagnostic Result” of “ABS”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
BRC-84, "DTC Index".
NO >> Replace the distance sensor. Refer to BRC-304, "Removal and Installation".

BRC-280
 C1A16 RADAR BLOCKED
< DTC/CIRCUIT DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
C1A16 RADAR BLOCKED
A
DTC Logic INFOID:0000000010766415

DTC DETECTION LOGIC B

DTC Trouble diagnosis name DTC detecting condition

RADAR BLOCKED C
C1A16 Inclusion of dirt or stains on the distance sensor area of the front bumper
(Radar blocked)
NOTE:
DTC “C1A16” may be detected under the following conditions. (Explain to the customer about the difference D
between the contamination detection function and the indication when the malfunction is detected and tell
them “This is not malfunction”.)
• When contamination or foreign materials adhere to the distance sensor area of the front bumper E
• When driving while it is snowing or when frost forms on the distance sensor area of the front bumper
• When distance sensor area of the front bumper is temporarily fogged
POSSIBLE CAUSE BRC
• Stain or foreign materials is deposited
• Cracks or scratches exist
FAIL-SAFE G
FEB system is canceled.
DTC CONFIRMATION PROCEDURE
H
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the FEB system ON. I
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “C1A16” is detected as the current malfunction in “Self Diagnostic Result” of “LASER/
RADAR”.
J
Is “C1A16” detected as the current malfunction?
YES >> Refer to BRC-281, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
K
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010766416

L
1.VISUAL CHECK 1
Check the contamination and foreign matter on the distance sensor area of the front bumper.
Does contamination or foreign materials adhere? M
YES >> Wipe out the contamination and foreign matter on the distance sensor area of the front bumper.
NO >> GO TO 2.
2.VISUAL CHECK 2 N

1. Remove the front bumper. Refer to EXT-15, "Removal and Installation".

2. Check distance sensor for contamination and foreign matter.
O
Does contamination or foreign matter adhere?
YES >> Wipe out the contamination and foreign matter from the distance sensor.
NO >> GO TO 3. P
3.VISUAL CHECK 3
Check distance sensor for cracks and scratches.
Is it found?
YES >> Replace the distance sensor. Refer to BRC-304, "Removal and Installation".
NO >> GO TO 4.

BRC-281
 C1A16 RADAR BLOCKED
< DTC/CIRCUIT DIAGNOSIS > [FORWARD EMERGENCY BRAKING]

4.PERFORM RADAR ALIGNMENT

1. Adjust the radar alignment with CONSULT. Refer to BRC-262, "Description".
2. Perform FEB system action test to check the operation status. Refer to BRC-268, "Description".
3. Perform “All DTC Reading”.
4. Check the “C1A16” is detected in “Self Diagnostic Result” of “LASER/RADAR”.
Is “C1A16” detected?
YES >> Replace the distance sensor. Refer to BRC-304, "Removal and Installation".
NO >> GO TO 5.
5.INTERVIEW
1. Ask if there is any trace of contamination or foreign materials adhering to the distance sensor area of the
front bumper.
2. Ask if distance sensor area of the front bumper was frosted during driving or if vehicle was driven in snow.
3. Ask if distance sensor area of the front bumper was temporarily fogged. (Windshield glass may also tend
to fog, etc.)
Is any of above conditions seen?
YES >> Explain to the customer about the difference between the contamination detection function and
the indication when the malfunction is detected and tell them “This is not malfunction”.
NO >> Replace the distance sensor. Refer to BRC-304, "Removal and Installation".

BRC-282
 C1A17 DISTANCE SENSOR
< DTC/CIRCUIT DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
C1A17 DISTANCE SENSOR
A
DTC Logic INFOID:0000000010727824

DTC DETECTION LOGIC B

NOTE:
If DTC C1A17 is displayed with DTC U1000, first perform the trouble diagnosis for DTC U1000. Refer to BRC-
296, "DTC Logic". C

DTC Trouble diagnosis name DTC detecting condition

ICC SENSOR MALF D
C1A17 Distance sensor is malfunctioning.
(ICC sensor malfunction)

POSSIBLE CAUSE
Distance sensor E
FAIL-SAFE
FEB system is canceled.
BRC
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
G
1. Turn the ignition switch OFF.
2. Wait for 10 minutes or more.
3. Start the engine.
4. Turn the FEB system ON. H
5. Perform “All DTC Reading” with CONSULT.
6. Check if the “C1A17” is detected as the current malfunction in “Self Diagnostic Result” of “LASER/
RADAR”. I
Is “C1A17” detected as the current malfunction?
YES >> Refer to BRC-285, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident". J
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010727825

K
1.REPLACE DISTANCE SENSOR
L

>> Replace distance sensor. Refer to BRC-304, "Removal and Installation".

M

BRC-283
 C1A18 RADAR AIMING INCMP
< DTC/CIRCUIT DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
C1A18 RADAR AIMING INCMP
DTC Logic INFOID:0000000010727826

DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition

LASER AIMING INCMP
C1A18 Distance sensor not adjusted.
(Laser aiming incomplete)

POSSIBLE CAUSE
• Distance sensor aiming adjustment not performed.
• Distance sensor aiming adjustment interrupted.
FAIL-SAFE
FEB system is canceled.
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Turn the ignition switch OFF.
2. Wait for 10 minutes or more.
3. Start the engine.
4. Turn the FEB system ON.
5. Perform “All DTC Reading” with CONSULT.
6. Check if the “C1A18” is detected as the current malfunction in “Self Diagnostic Result” of “LASER/
RADAR”.
Is “C1A18” detected as the current malfunction?
YES >> Refer to BRC-285, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010727827

1.ADJUST DISTANCE SENSOR

Perform distance sensor Initial vertical alignment and distance sensor alignment.

>> Refer to BRC-260, "Description" and BRC-262, "Description".

BRC-284
 C1A21 UNIT HIGH TEMP
< DTC/CIRCUIT DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
C1A21 UNIT HIGH TEMP
A
DTC Logic INFOID:0000000010766427

DTC DETECTION LOGIC B

DTC Trouble diagnosis name DTC detecting condition

UNIT HIGH TEMP Temperature detected by the temperature sensor integrated in distance sensor C
C1A21
(Unit high temperature) remains more than 105 °C (221 °F) for 5 seconds or more

POSSIBLE CAUSE
D
Temperature around the distance sensor becomes extremely low or high
FAIL-SAFE
FEB system is canceled. E
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE BRC
1. Turn the ignition switch OFF.
2. Wait for 10 minutes or more.
3. Start the engine.
G
4. Turn the FEB system ON.
5. Perform “All DTC Reading” with CONSULT.
6. Check if the “C1A21” is detected as the current malfunction in “Self Diagnostic Result” of “LASER/
RADAR”. H
Is “C1A21” detected as the current malfunction?
YES >> Refer to BRC-285, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident". I
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010766428
J
1.CHECK ENGINE COOLING SYSTEM
Check for any malfunctions in engine cooling system. K
Is engine cooling system normal?
YES >> Replace the distance sensor. Refer to BRC-304, "Removal and Installation".
NO >> Repair engine cooling system. L

BRC-285
 C1A24 NP RANGE
< DTC/CIRCUIT DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
C1A24 NP RANGE
DTC Logic INFOID:0000000010766634

DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition

NP RANGE A mismatch between a shift position signal transmitted from TCM via ECM and an
C1A24
(NP range) current gear position signal continues for 60 seconds or more

POSSIBLE CAUSE
• TCM
• Transmission range switch
FAIL-SAFE
FEB system is canceled.
DTC CONFIRMATION PROCEDURE
1.CHECK DTC PRIORITY
If DTC “C1A24” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
Is applicable DTC detected?
YES >> Perform diagnosis of applicable. Refer to BRC-296, "DTC Logic".
NO >> GO TO 2.
2.CHECK DTC REPRODUCE (1)
1. Start the engine.
2. Turn the FEB system ON.
3. Wait for approximately 5 minutes or more after shifting the selector lever to “P” position.
4. Perform “All DTC Reading” with CONSULT.
5. Check if the “C1A24” is detected as the current malfunction in “Self Diagnostic Result” of “LASER/
RADAR”.
Is “C1A24” detected as the current malfunction?
YES >> Refer to BRC-286, "Diagnosis Procedure".
NO >> GO TO 3.
3.CHECK DTC REPRODUCE (2)
1. Wait for approximately 5 minutes or more after shifting the selector lever to “N” position.
2. Perform “All DTC Reading”.
3. Check if the “C1A24” is detected as the current malfunction in “Self Diagnostic Result” of “LASER/
RADAR”.
Is “C1A24” detected as the current malfunction?
YES >> Refer to BRC-286, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010766635

1.CHECK DTC PRIORITY

If DTC “C1A24” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
Is applicable DTC detected?
YES >> Perform diagnosis of applicable. Refer to BRC-296, "DTC Logic".
NO >> GO TO 2.
2.CHECK TCM DATA MONITOR
Check that “SLCT LVR POSI” operates normally in “DATA MONITOR” of “TRANSMISSION”.
Is the inspection result normal?
YES >> GO TO 3.

BRC-286
 C1A24 NP RANGE
< DTC/CIRCUIT DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
NO >> Perform diagnosis for transmission range switch circuit and repair or replace the malfunctioning
parts. Refer to TM-322, "Diagnosis Procedure" (Gasoline engine models) or TM-568, "Diagnosis A
Procedure" (Diesel engine models).
3.PERFORM TCM SELF-DIAGNOSIS
B
1. Perform “All DTC Reading”.
2. Check if any DTC is detected in “Self Diagnostic Result” of “TRANSMISSION”.
Is any DTC detected?
C
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
TM-288, "DTC Index" (Gasoline engine models) or TM-529, "DTC Index" (Diesel engine models).
NO >> Replace the distance sensor. Refer to BRC-304, "Removal and Installation".
D

BRC

BRC-287
 C1A26 ECD MODE MALFUNCTION
< DTC/CIRCUIT DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
C1A26 ECD MODE MALFUNCTION
DTC Logic INFOID:0000000010766636

DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition

ECD MODE MALF
C1A26 If an abnormal condition occurs with ECD system
(ECD mode malfunction)

POSSIBLE CAUSE
ABS actuator and electric unit (control unit)
FAIL-SAFE
FEB system is canceled.
DTC CONFIRMATION PROCEDURE
1.CHECK DTC PRIORITY
If DTC “C1A26” is displayed with DTC “U1000”, “U0415” or “U0121” first diagnose the DTC “U1000”, “U0415”
or “U0121”
Is applicable DTC detected?
YES >> Perform diagnosis of applicable.
• U1000: Refer to BRC-296, "DTC Logic"
• U0415: Refer to BRC-294, "DTC Logic"
• U0121: Refer to BRC-291, "DTC Logic"
NO >> GO TO 2.
2.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Wait for approximately 1 minute after turning the FEB system ON.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “C1A26” is detected as the current malfunction in “Self Diagnostic Result” of “LASER/
RADAR”.
Is “C1A26” detected as the current malfunction?
YES >> Refer to BRC-288, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010766637

1.CHECK DTC PRIORITY

If DTC “C1A26” is displayed with DTC “U1000”, “U0415” or “U0121” first diagnose the DTC “U1000”, “U0415”
or “U0121”
Is applicable DTC detected?
YES >> Perform diagnosis of applicable.
• U1000: Refer to BRC-296, "DTC Logic"
• U0415: Refer to BRC-294, "DTC Logic"
• U0121: Refer to BRC-291, "DTC Logic"
NO >> GO TO 2.
2.PERFORM SELF-DIAGNOSIS OF ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
Check if any DTC is detected in “Self Diagnostic Result” of “ABS”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
BRC-84, "DTC Index".
NO >> Replace distance sensor. Refer to BRC-304, "Removal and Installation".

BRC-288
 C1A39 STEERING ANGLE SENSOR
< DTC/CIRCUIT DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
C1A39 STEERING ANGLE SENSOR
A
DTC Logic INFOID:0000000010766639

DTC DETECTION LOGIC B

DTC Trouble diagnosis name DTC detecting condition

STRG SEN CIR C
C1A39 If the steering angle sensor is malfunction
(Steering angle sensor circuit)

POSSIBLE CAUSE
D
Steering angle sensor
FAIL-SAFE
FEB system is canceled. E
DTC CONFIRMATION PROCEDURE
1.CHECK DTC PRIORITY BRC
If DTC “C1A39” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
Is applicable DTC detected?
YES >> Perform diagnosis of applicable. Refer to BRC-296, "DTC Logic". G
NO >> GO TO 2.
2.PERFORM DTC CONFIRMATION PROCEDURE
H
1. Start the engine.
2. Turn the FEB system ON.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “C1A39” is detected as the current malfunction in self-diagnosis results of “LASER/RADAR”. I
Is “C1A39” detected as the current malfunction?
YES >> Refer to BRC-289, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident". J
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010766640
K
1.CHECK DTC PRIORITY
If DTC “C1A39” is displayed with DTC “U1000”, first diagnose the DTC “U1000”. L
Is applicable DTC detected?
YES >> Perform diagnosis of applicable. Refer to BRC-296, "DTC Logic".
NO >> GO TO 2. M
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ABS”.
N
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
BRC-84, "DTC Index".
NO >> Replace the distance sensor. Refer to BRC-304, "Removal and Installation". O

BRC-289
 C1B5D FEB OPE COUNT LIMIT
< DTC/CIRCUIT DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
C1B5D FEB OPE COUNT LIMIT
DTC Logic INFOID:0000000010766641

DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition

FEB OPE COUNT LIMIT
C1B5D (Forward Emergency Braking oper- FEB system operated 3 times within ignition switch ON.
ation count limit)
NOTE:
If “C1B5D” detected, perform the FEB system action test and check FEB system operates normally.
POSSIBLE CAUSE
FEB system operated 3 times within ignition switch ON.
FAIL-SAFE
FEB system is canceled.
DTC CONFIRMATION PROCEDURE
1.PERFORM FEB SYSTEM ACTION TEST
Perform the FEB system action test.
Is there any malfunction symptom?
YES >> Refer to BRC-290, "Diagnosis Procedure".
NO >> INSPECTION END
Diagnosis Procedure INFOID:0000000010766642

1.DTC CHECK SELF-DIAGNOSIS RESULTS

1. Turn ignition switch OFF.
2. Turn ignition switch ON.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “C1B5D” is detected as the current malfunction in “Self Diagnostic Result” of “LASER/
RADAR”.
Is C1B5D detected as current malfunction?
YES >> Replace the distance sensor. Refer to BRC-304, "Removal and Installation".
NO >> Perform FEB system action test. Refer to BRC-268, "Description".

BRC-290
 U0121 VDC CAN 2
< DTC/CIRCUIT DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
U0121 VDC CAN 2
A
DTC Logic INFOID:0000000010766643

DTC DETECTION LOGIC B

DTC Trouble diagnosis name DTC detecting condition

VDC CAN CIR2 If distance sensor detects an error signal that is received from ABS actuator and C
U0121
(VDC CAN circuit2) electric unit (control unit) via CAN communication

POSSIBLE CAUSE
D
ABS actuator and electric unit (control unit)
FAIL-SAFE
FEB system is canceled. E
DTC CONFIRMATION PROCEDURE
1.CHECK DTC PRIORITY BRC
If DTC “U0121” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
Is applicable DTC detected?
YES >> Perform diagnosis of applicable. Refer to BRC-296, "DTC Logic". G
NO >> GO TO 2.
2.PERFORM DTC CONFIRMATION PROCEDURE
H
1. Start the engine.
2. Turn the FEB system ON.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “U0121” is detected as the current malfunction in “Self Diagnostic Result” of “LASER/ I
RADAR”.
Is “U0121” detected as the current malfunction?
YES >> Refer to BRC-291, "Diagnosis Procedure". J
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
K
Diagnosis Procedure INFOID:0000000010766644

1.CHECK DTC PRIORITY L

If DTC “U0121” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
Is applicable DTC detected?
YES >> Perform diagnosis of applicable. Refer to BRC-296, "DTC Logic". M
NO >> GO TO 2.
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ABS”. N
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
BRC-84, "DTC Index". O
NO >> Replace the distance sensor. Refer to BRC-304, "Removal and Installation".

BRC-291
 U0126 STRG SEN CAN 1
< DTC/CIRCUIT DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
U0126 STRG SEN CAN 1
DTC Logic INFOID:0000000010766645

DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition

STRG SEN CAN CIR1 If distance sensor detects an error signal that is received from steering angle sen-
U0126
(Steering sensor CAN circuit1) sor via CAN communication

POSSIBLE CAUSE
Steering angle sensor
FAIL-SAFE
FEB system is canceled.
DTC CONFIRMATION PROCEDURE
1.CHECK DTC PRIORITY
If DTC “U0126” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
Is applicable DTC detected?
YES >> Perform diagnosis of applicable. Refer to BRC-296, "DTC Logic".
NO >> GO TO 2.
2.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the FEB system ON.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “U0126” is detected as the current malfunction in “Self Diagnostic Result” of “LASER/
RADAR”.
Is “U0126” detected as the current malfunction?
YES >> Refer to BRC-292, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010766646

1.CHECK DTC PRIORITY

If DTC “U0126” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
Is applicable DTC detected?
YES >> Perform diagnosis of applicable. Refer to BRC-296, "DTC Logic".
NO >> GO TO 2.
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ABS”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
BRC-84, "DTC Index".
NO >> Replace the distance sensor. Refer to BRC-304, "Removal and Installation".

BRC-292
 U0401 ECM CAN 1
< DTC/CIRCUIT DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
U0401 ECM CAN 1
A
DTC Logic INFOID:0000000010766647

DTC DETECTION LOGIC B

DTC Trouble diagnosis name DTC detecting condition

ECM CAN CIR1 If distance sensor detects an error signal that is received from ECM via CAN com- C
U0401
(ECM CAN circuit1) munication

POSSIBLE CAUSE
D
ECM
FAIL-SAFE
FEB system is canceled. E
DTC CONFIRMATION PROCEDURE
1.CHECK DTC PRIORITY BRC
If DTC “U0401” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
Is applicable DTC detected?
YES >> Perform diagnosis of applicable. Refer to BRC-296, "DTC Logic". G
NO >> GO TO 2.
2.PERFORM DTC CONFIRMATION PROCEDURE
H
1. Start the engine.
2. Turn the FEB system ON.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “U0401” is detected as the current malfunction in “Self Diagnostic Result” of “LASER/ I
RADAR”.
Is “U0401” detected as the current malfunction?
YES >> Refer to BRC-293, "Diagnosis Procedure". J
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
K
Diagnosis Procedure INFOID:0000000010766648

1.CHECK DTC PRIORITY L

If DTC “U0401” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
Is applicable DTC detected?
YES >> Perform diagnosis of applicable. Refer to BRC-296, "DTC Logic". M
NO >> GO TO 2.
2.CHECK ECM SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ENGINE”. N
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
EC-109, "DTC Index" (MR20DD) or EC-517, "DTC Index" (QR25DE) or EC-908, "DTC Index" O
(R9M).
NO >> Replace the distance sensor. Refer to BRC-304, "Removal and Installation".
P

BRC-293
 U0415 VDC CAN 1
< DTC/CIRCUIT DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
U0415 VDC CAN 1
DTC Logic INFOID:0000000010766649

DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition

VDC CAN CIR1 If distance sensor detects an error signal that is received from ABS actuator and
U0415
(VDC CAN circuit1) electric unit (control unit) via CAN communication

POSSIBLE CAUSE
ABS actuator and electric unit (control unit)
FAIL-SAFE
FEB system is canceled.
DTC CONFIRMATION PROCEDURE
1.CHECK DTC PRIORITY
If DTC “U0415” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
Is applicable DTC detected?
YES >> Perform diagnosis of applicable. Refer to BRC-296, "DTC Logic".
NO >> GO TO 2.
2.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the FEB system ON.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “U0415” is detected as the current malfunction in “Self Diagnostic Result” of “LASER/
RADAR”.
Is “U0415” detected as the current malfunction?
YES >> Refer to BRC-294, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010766650

1.CHECK DTC PRIORITY

If DTC “U0415” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
Is applicable DTC detected?
YES >> Perform diagnosis of applicable. Refer to BRC-296, "DTC Logic".
NO >> GO TO 2.
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ABS”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
BRC-84, "DTC Index".
NO >> Replace the distance sensor. Refer to BRC-304, "Removal and Installation".

BRC-294
 U0428 STRG SEN CAN 2
< DTC/CIRCUIT DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
U0428 STRG SEN CAN 2
A
DTC Logic INFOID:0000000010766651

DTC DETECTION LOGIC B

DTC Trouble diagnosis name DTC detecting condition

STRG SEN CAN CIR2 If distance sensor detects an error signal that is received from steering angle sen- C
U0428
(Steering sensor CAN circuit2) sor via CAN communication

POSSIBLE CAUSE
D
Steering angle sensor
FAIL-SAFE
FEB system is canceled. E
DTC CONFIRMATION PROCEDURE
1.CHECK DTC PRIORITY BRC
If DTC “U0428” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
Is applicable DTC detected?
YES >> Perform diagnosis of applicable. Refer to BRC-296, "DTC Logic". G
NO >> GO TO 2.
2.PERFORM DTC CONFIRMATION PROCEDURE
H
1. Start the engine.
2. Turn the FEB system ON.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “U0428” is detected as the current malfunction in “Self Diagnostic Result” of “LASER/ I
RADAR”.
Is “U0428” detected as the current malfunction?
YES >> Refer to BRC-295, "Diagnosis Procedure". J
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
K
Diagnosis Procedure INFOID:0000000010766652

1.CHECK DTC PRIORITY L

If DTC “U0428” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
Is applicable DTC detected?
YES >> Perform diagnosis of applicable. Refer to BRC-296, "DTC Logic". M
NO >> GO TO 2.
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ABS”. N
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
BRC-84, "DTC Index". O
NO >> Replace the distance sensor. Refer to BRC-304, "Removal and Installation".

BRC-295
 U1000 CAN COMM CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
U1000 CAN COMM CIRCUIT
DTC Logic INFOID:0000000010766408

DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition

CAN COMM CIRCUIT If distance sensor is not transmitting or receiving CAN communication signal for 2
U1000
(CAN communication circuit) seconds or more

POSSIBLE CAUSE
ITS communication system
FAIL-SAFE
FEB system is canceled.
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the FEB system ON.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “U1000” is detected as the current malfunction in “Self Diagnostic Result” of “LASER/
RADAR”.
Is “U1000” detected as the current malfunction?
YES >> Refer to BRC-296, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010766409

1.PERFORM THE SELF-DIAGNOSIS

1. Turn the ignition switch ON.
2. Turn the FEB system ON, and then wait for 2 seconds or more.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “U1000” is detected as the current malfunction in “Self Diagnostic Result” of “LASER/
RADAR”.
Is “U1000” detected as the current malfunction?
YES >> Refer to LAN-17, "Trouble Diagnosis Flow Chart".
NO >> INSPECTION END

BRC-296
 U1010 CONTROL UNIT (CAN)
< DTC/CIRCUIT DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
U1010 CONTROL UNIT (CAN)
A
DTC Logic INFOID:0000000010766411

DTC DETECTION LOGIC B

DTC Trouble diagnosis name DTC detecting condition

CONTROL UNIT (CAN) C
U1010 If distance sensor detects malfunction by CAN controller initial diagnosis
[Control unit (CAN)]

POSSIBLE CAUSE
D
Distance sensor
FAIL-SAFE
FEB system is canceled. E
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE BRC
1. Start the engine.
2. Turn the FEB system ON.
3. Perform “All DTC Reading” with CONSULT.
G
4. Check if the “U1010” is detected as the current malfunction in “Self Diagnostic Result” of “LASER/
RADAR”.
Is “U1010” detected as the current malfunction?
H
YES >> Refer to BRC-297, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
I
Diagnosis Procedure INFOID:0000000010766412

1.PERFORM DTC CONFIRMATION PROCEDURE J

1. Turn the FEB system ON.
2. Perform “All DTC Reading” with CONSULT.
3. Check if the “U1010” is detected as the current malfunction in “Self Diagnostic Result” of “LASER/ K
RADAR”.
Is “U1010” detected as the current malfunction?
YES >> Replace the distance sensor. Refer to BRC-304, "Removal and Installation". L
NO >> INSPECTION END

BRC-297
 U1527 CCM CAN 1
< DTC/CIRCUIT DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
U1527 CCM CAN 1
DTC Logic INFOID:0000000010927797

DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition

CCM CAN CIR 1
U1527 (Chassis control module CAN Distance sensor detects that chassis control module has a malfunction.
circuit 1)

POSSIBLE CAUSE
Chassis control module
FAIL-SAFE
FEB system is canceled.
DTC CONFIRMATION PROCEDURE
1.CHECK DTC PRIORITY
If DTC “U1527” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
Is applicable DTC detected?
YES >> Perform diagnosis of applicable. Refer to DAS-204, "DTC Index".
NO >> GO TO 2.
2.PERFORM DTC CONFIRMATION PROCEDURE
1. Start the engine.
2. Turn the FEB system ON.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “U1527” is detected as the current malfunction in “Self Diagnostic Result” of “LASER/
RADAR”.
Is “U1527” detected as the current malfunction?
YES >> Refer to BRC-298, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000010927798

1.CHECK DTC PRIORITY

If DTC “U1527” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
Is applicable DTC detected?
YES >> Perform diagnosis of applicable. Refer to BRC-296, "DTC Logic".
NO >> GO TO 2.
2.CHECK SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “CHASSIS CONTROL MODULE”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
DAS-204, "DTC Index".
NO >> Replace the distance sensor. Refer toBRC-304, "Removal and Installation".

BRC-298
 U153F CCM CAN 2
< DTC/CIRCUIT DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
U153F CCM CAN 2
A
DTC Logic INFOID:0000000010927799

DTC DETECTION LOGIC B

DTC Trouble diagnosis name DTC detecting condition

CCM CAN CIR 2 C
Distance sensor detects an error signal that is received from chassis control mod-
U153F (Chassis control module CAN
ule via CAN communication
circuit 2)

POSSIBLE CAUSE D
Chassis control module
FAIL-SAFE E
FEB system is canceled.
DTC CONFIRMATION PROCEDURE
1.CHECK DTC PRIORITY BRC

If DTC “U153F” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
Is applicable DTC detected? G
YES >> Perform diagnosis of applicable. Refer to BRC-296, "DTC Logic".
NO >> GO TO 2.
2.PERFORM DTC CONFIRMATION PROCEDURE H
1. Start the engine.
2. Turn the FEB system ON.
3. Perform “All DTC Reading” with CONSULT. I
4. Check if the “U153F” is detected as the current malfunction in “Self Diagnostic Result” of “LASER/
RADAR”.
Is “U153F” detected as the current malfunction? J
YES >> Refer to BRC-299, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END K
Diagnosis Procedure INFOID:0000000010927800

1.CHECK DTC PRIORITY L

If DTC “U153F” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
Is applicable DTC detected?
M
YES >> Perform diagnosis of applicable. Refer to BRC-296, "DTC Logic".
NO >> GO TO 2.
2.CHECK CHASSIS CONTROL MODULE SELF-DIAGNOSIS RESULTS N
Check if any DTC is detected in “Self Diagnostic Result” of “CHASSIS CONTROL”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to O
DAS-204, "DTC Index".
NO >> Replace the distance sensor. Refer to BRC-304, "Removal and Installation".
P

BRC-299
 POWER SUPPLY AND GROUND CIRCUIT
< DTC/CIRCUIT DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
POWER SUPPLY AND GROUND CIRCUIT
Diagnosis Procedure INFOID:0000000010731072

1.CHECK FUSES
Check if any of the following fuses are blown:

Signal name Fuse No.

Ignition power supply 30
Is the inspection result normal?
YES >> GO TO 2.
NO >> Replace the blown fuse after repairing the affected circuit if a fuse is blown.
2.CHECK DISTANCE SENSOR POWER SUPPLY CIRCUIT
Check voltage between distance sensor harness connector and ground.

Terminal
Condition
(+) (–) Voltage
Distance sensor (Approx.)
Ignition
Connector Terminal switch
Ground OFF 0V
E78 8 Battery volt-
ON
age
Is the inspection result normal?
YES >> GO TO 3.
NO >> Repair the distance sensor power supply circuit.
3.CHECK DISTANCE SENSOR GROUND CIRCUIT
1. Turn the ignition switch OFF.
2. Disconnect the distance sensor connector.
3. Check for continuity between distance sensor harness connector and ground.

Distance sensor
Continuity
Connector Terminal Ground
E78 1 Existed
Is the inspection result normal?
YES >> INSPECTION END
NO >> Repair the distance sensor ground circuit.

BRC-300
 DRIVER ASSISTANCE SYSTEM SYMPTOMS
< SYMPTOM DIAGNOSIS > [FORWARD EMERGENCY BRAKING]

SYMPTOM DIAGNOSIS A
DRIVER ASSISTANCE SYSTEM SYMPTOMS
Symptom Table INFOID:0000000010727978
B
Before performing diagnosis, check that it is not a symptom caused by normal operation. Refer to BRC-232,
"System Description".
C
Symptom Confirmation item Inspection item/Reference page
System settings cannot be
turned ON/OFF D
All of system display does not illuminate
FEB system display does not il- Refer to BRC-302, "Diagnosis
luminate Procedure"
Combination meter E
Other information display is not illuminated
Refer to MWI-105, "DTC Index"
System settings cannot be
turned ON/OFF
All of system display does not illuminate BRC
FEB warning lamp does not illu- Refer to BRC-302, "Diagnosis
minate Procedure"
Combination meter
Other information display is not illuminated G
Refer to MWI-105, "DTC Index"
Chime does not sound. Refer to
FEB warning buzzer is not SN-109, "Symptom Table"
sounding (Warning display is — (Without Park Assist) or SN-235, H
functioning normally) "Symptom Table" (Without Park
Assist).

BRC-301
 SYSTEM SETTINGS CANNOT BE TURNED ON/OFF
< SYMPTOM DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
SYSTEM SETTINGS CANNOT BE TURNED ON/OFF
Symptom Table INFOID:0000000010721673

CAUTION:
Perform the self-diagnosis with CONSULT before the symptom diagnosis. Perform the trouble diagno-
sis if any DTC is detected.

Symptom Inspection item/Reference page

FEB warning lamp is not turned ON⇔OFF
FEB system does not turn ON/OFF BRC-302, "Diagnosis Procedure"
when operating steering switch

Description INFOID:0000000010721674

FEB system does not turn on/off.

• FEB warning lamp does not illuminate even if the steering switch is operated when FEB warning lamp is not
illuminated.
• FEB warning lamp does not turn off even if the steering switch is operated when FEB warning lamp is illumi-
nated.
NOTE:
The system ON/OFF condition will be memorized even if the ignition switch turns OFF.
Diagnosis Procedure INFOID:0000000010721675

1.PERFORM THE SELF-DIAGNOSIS

1. Perform “All DTC Reading” with CONSULT.
2. Check if the DTC is detected in self-diagnosis results for “LASER/RADAR” with CONSULT.
Is any DTC detected?
YES >> GO TO 5.
NO >> GO TO 2.
2.STEERING SWITCH INSPECTION
1. Turn ignition switch ON.
2. Check that “FEB SELECT” operates normally in “” for “LASER/RADAR” with CONSULT.
Is the inspection result normal?
YES >> GO TO 3.
NO >> Replace the distance sensor. Refer to BRC-304, "Removal and Installation".
3.FEB WARNING LAMP
1. Select the active test item “” for “LASER/RADAR” with CONSULT.
2. Check if the FEB warning lamp illuminates when the test item is operated.
Is the inspection result normal?
YES >> Refer to BRC-257, "Work Flow".
NO >> GO TO 4.
4.CHECK DATA MONITOR OF COMBINATION METER
Check that “BA W/L” operates normally in “” for “METER/M&A” with CONSULT, when the FEB setting ON by
steering switch.
Is the inspection result normal?
YES >> Replace the combination meter. MWI-151, "Removal and Installation".
NO >> Replace the distance sensor. Refer to BRC-304, "Removal and Installation".
5.REPAIR OR REPLACE MALFUNCTIONING PARTS
Repair or replace malfunctioning parts.

>> GO TO 6.
6.CHECK FEB SYSTEM
BRC-302
 SYSTEM SETTINGS CANNOT BE TURNED ON/OFF
< SYMPTOM DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
Check that FEB warning lamp turned ON⇔OFF, when operating steering switch.
A
>> INSPECTION END

BRC

BRC-303
 DISTANCE SENSOR
< REMOVAL AND INSTALLATION > [FORWARD EMERGENCY BRAKING]

REMOVAL AND INSTALLATION

DISTANCE SENSOR
Exploded View INFOID:0000000010744025

JSOIA1631GB

Distance sensor Distance sensor bracket Front bumper reinforce

: N·m (kg-m, in-lb)

Removal and Installation INFOID:0000000010744026

REMOVAL
1. Remove front bumper fascia. Refer to EXT-15, "Removal and Installation".
2. Disconnect distance sensor connector.

BRC-304
 DISTANCE SENSOR
< REMOVAL AND INSTALLATION > [FORWARD EMERGENCY BRAKING]
3. Remove harness protectors from distance sensor bracket .
A

BRC

G
JSOIA1628ZZ

4. Remove distance sensor bracket mounting bolts to remove distance sensor with bracket from front
bumper reinforce. H
CAUTION:
Never give an impact to the distance sensor.
5. Remove distance sensor mounting bolts to remove distance sensor from distance sensor bracket. I
CAUTION:
Never give an impact to the distance sensor.
INSTALLATION J
Installation is in the reverse order of removal.
CAUTION:
Perform additional service when replacing distance sensor. Refer to BRC-259, "Work Procedure". K

BRC-305