Brc-Brake Control System

BRAKES
SECTION
BRAKE CONTROL SYSTEM
BRC B
E
CONTENTS
WITH VDC TCS FUNCTION .........................................................37 BRC
TCS FUNCTION : System Description ....................37
PRECAUTION ............................................... 5
ABS FUNCTION ........................................................40
G
PRECAUTIONS ................................................... 5 ABS FUNCTION : System Description ....................40
Precautions for Performing 2-wheel Drive Test ........ 5
Precaution for Supplemental Restraint System EBD FUNCTION ........................................................42
(SRS) "AIR BAG" and "SEAT BELT PRE-TEN- EBD FUNCTION : System Description ....................42 H
SIONER" ................................................................... 5 BRAKE LIMITED SLIP DIFFERENTIAL (BLSD)
Precaution for Procedure without Cowl Top Cover...... 5 FUNCTION .................................................................44
Precautions for Removing Battery Terminal ............. 5 BRAKE LIMITED SLIP DIFFERENTIAL (BLSD) I
Precaution for Brake System .................................... 6 FUNCTION : System Description ............................44
Precaution for Brake Control System ........................ 7
Precautions for Harness Repair ................................ 8 BRAKE ASSIST FUNCTION .....................................47
J
BRAKE ASSIST FUNCTION : System Description
PREPARATION ............................................ 9 ....47
PREPARATION ................................................... 9 HILL START ASSIST FUNCTION .............................49 K
Special Service Tool ................................................. 9 hill start assist FUNCTION : System Description ....49
Commercial Service Tools ........................................ 9
BRAKE FORCE DISTRIBUTION FUNCTION ...........51
SYSTEM DESCRIPTION ............................. 10 BRAKE FORCE DISTRIBUTION FUNCTION : L
System Description ..................................................51
COMPONENT PARTS .......................................10
Component Parts Location ...................................... 10 ACTIVE TRACE CONTROL FUNCTION ...................54 M
Wheel Sensor and Sensor Rotor ............................ 14 ACTIVE TRACE CONTROL FUNCTION : System
ABS Actuator and Electric Unit (Control Unit) ......... 15 Description ...............................................................55
Stop Lamp Switch ................................................... 16 WARNING/INDICATOR/CHIME LIST ........................59 N
Steering Angle Sensor ............................................ 16 WARNING/INDICATOR/CHIME LIST : Warning
Brake Fluid Level Switch ......................................... 16 Lamp/Indicator Lamp ...............................................59
Vacuum Sensor ....................................................... 17
Parking Brake Switch .............................................. 17 DIAGNOSIS SYSTEM [ABS ACTUATOR O
VDC OFF Switch ..................................................... 17 AND ELECTRIC UNIT (CONTROL UNIT)] ....... 61
CONSULT Function .................................................61
SYSTEM .............................................................18 P
System Description ................................................. 18 ECU DIAGNOSIS INFORMATION .............. 66
Circuit Diagram ....................................................... 28
Fail-Safe .................................................................. 29 ABS ACTUATOR AND ELECTRIC UNIT
(CONTROL UNIT) ............................................. 66
VDC FUNCTION ........................................................ 32
Reference Value ......................................................66
VDC FUNCTION : System Description ................... 32
Fail-Safe ..................................................................68
DTC Inspection Priority Chart ..................................71
Revision: November 2016 BRC-1 2016 Q50

DTC Index .............................................................. 72 C1120, C1122, C1124, C1126 ABS IN VALVE
SYSTEM ........................................................... 128
WIRING DIAGRAM ..................................... 74 DTC Description .................................................... 128
BRAKE CONTROL SYSTEM ............................ 74 Diagnosis Procedure ............................................. 129
Wiring Diagram ....................................................... 74 C1121, C1123, C1125, C1127 ABS OUT
BASIC INSPECTION ................................... 87 VALVE SYSTEM .............................................. 130
DTC Description .................................................... 130
DIAGNOSIS AND REPAIR WORK FLOW ........ 87 Diagnosis Procedure ............................................. 131
Work Flow ............................................................... 87
Diagnostic Work Sheet ........................................... 88
C1130 ENGINE SIGNAL .................................. 132
DTC Description .................................................... 132
ADDITIONAL SERVICE WHEN REPLACING Diagnosis Procedure ............................................. 133
ABS ACTUATOR AND ELECTRIC UNIT
C1138 STEERING SYSTEM ............................ 134
(CONTROL UNIT) .............................................. 90 DTC Description .................................................... 134
Description .............................................................. 90 Diagnosis Procedure ............................................. 135
ADJUSTMENT OF STEERING ANGLE SEN- C1140 ACTUATOR RELAY SYSTEM ............. 136
SOR NEUTRAL POSITION ............................... 91 DTC Description .................................................... 136
Work Procedure ...................................................... 91
C1142 PRESS SENSOR .................................. 138
CALIBRATION OF DECEL G SENSOR ........... 94 DTC Description .................................................... 138
Work Procedure ...................................................... 94
C1143 STEERING ANGLE SENSOR .............. 141
CONFIGURATION [ABS ACTUATOR AND DTC Description .................................................... 141
ELECTRIC UNIT (CONTROL UNIT)] ................ 96 Diagnosis Procedure ............................................. 142
Work Procedure ...................................................... 96
C1144 INCOMPLETE STEERING ANGLE
DTC/CIRCUIT DIAGNOSIS ......................... 98 SENSOR ADJUSTMENT ................................. 145
DTC Description .................................................... 145
C1101, C1102, C1103, C1104 WHEEL SEN-
Diagnosis Procedure ............................................. 145
SOR .................................................................... 98
DTC Description ..................................................... 98 C1145, C1146 YAW RATE/SIDE/DECEL G
Diagnosis Procedure .............................................. 99 SENSOR ........................................................... 147
DTC Description .................................................... 147
C1105, C1106, C1107, C1108 WHEEL SEN-
SOR .................................................................. 103
DTC Description ....................................................103 C1155 BRAKE FLUID LEVEL SWITCH .......... 149
Diagnosis Procedure .............................................104 DTC Description .................................................... 149
C1109 POWER AND GROUND SYSTEM ....... 110 Component Inspection .......................................... 152
DTC Description ....................................................110
Diagnosis Procedure .............................................111 C1160 INCOMPLETE DECEL G SENSOR
CALIBRATION ................................................. 153
C1111 ABS MOTOR, MOTOR RELAY SYS-
DTC Description .................................................... 153
TEM .................................................................. 112 Diagnosis Procedure ............................................. 154
DTC Description ....................................................112
Diagnosis Procedure .............................................113 C1164, C1165 CV SYSTEM ............................. 155
DTC Description .................................................... 155
C1115 WHEEL SENSOR ................................. 115 Diagnosis Procedure ............................................. 156
DTC Description ....................................................115
Diagnosis Procedure .............................................116 C1170 VARIANT CODING ............................... 157
DTC Description .................................................... 157
C1116 STOP LAMP SWITCH .......................... 122 Diagnosis Procedure ............................................. 157
DTC Description ....................................................122
Diagnosis Procedure .............................................123 C1197 VACUUM SENSOR ............................... 159
Component Inspection ...........................................127 DTC Description .................................................... 159

C1198 VACUUM SENSOR .............................. 162 BRAKE PEDAL VIBRATION OR OPERA-
DTC Description .................................................... 162 TION SOUND OCCURS .................................. 188 A
Diagnosis Procedure ............................................. 162 Description ............................................................. 188
C1199 BRAKE BOOSTER ............................... 164
B
DTC Description .................................................... 164 VEHICLE JERKS DURING ............................. 189
C119A VACUUM SENSOR .............................. 167 C
DTC Description .................................................... 167 NORMAL OPERATING CONDITION ............. 190
U1000 CAN COMM CIRCUIT ........................... 170 D
REMOVAL AND INSTALLATION ............. 191
DTC Description .................................................... 170
Diagnosis Procedure ............................................. 170 WHEEL SENSOR ............................................ 191
E
POWER SUPPLY AND GROUND CIRCUIT .... 171 FRONT WHEEL SENSOR ....................................... 191
Diagnosis Procedure ............................................. 171 FRONT WHEEL SENSOR : Exploded View ......... 191
FRONT WHEEL SENSOR : Removal and Instal-
PARKING BRAKE SWITCH ............................ 174 lation ...................................................................... 191 BRC
Component Function Check .................................. 174
Diagnosis Procedure ............................................. 174 REAR WHEEL SENSOR ......................................... 192
Component Inspection .......................................... 175 REAR WHEEL SENSOR : Exploded View ............ 192 G
REAR WHEEL SENSOR : Removal and Installa-
VDC OFF SWITCH ........................................... 176 tion ......................................................................... 192
Diagnosis Procedure ............................................. 176 SENSOR ROTOR ............................................ 194 H
Component Inspection .......................................... 177
FRONT SENSOR ROTOR ....................................... 194
ABS WARNING LAMP ..................................... 178 FRONT SENSOR ROTOR : Removal and Instal-
I
Component Function Check .................................. 178 lation ...................................................................... 194
Diagnosis Procedure ............................................. 178 REAR SENSOR ROTOR ......................................... 194
BRAKE WARNING LAMP ............................... 179 REAR SENSOR ROTOR : Removal and Installa- J
tion ......................................................................... 194
Diagnosis Procedure ............................................. 179 ABS ACTUATOR AND ELECTRIC UNIT
(CONTROL UNIT) ........................................... 195 K
VDC WARNING LAMP ..................................... 181
Component Function Check .................................. 181 Exploded View ....................................................... 195
Diagnosis Procedure ............................................. 181 Removal and Installation ....................................... 195
L
VDC OFF INDICATOR LAMP .......................... 182 STEERING ANGLE SENSOR ......................... 197
Component Function Check .................................. 182 Removal and Installation ....................................... 197
Diagnosis Procedure ............................................. 182 VDC OFF SWITCH .......................................... 198 M
SYMPTOM DIAGNOSIS ............................ 183 Removal and Installation ....................................... 198
FORWARD EMERGENCY BRAKING
EXCESSIVE OPERATION FREQUENCY ........ 183 N
Description ............................................................ 183 PRECAUTION ............................................ 199
PRECAUTIONS ............................................... 199
Precautions for Removing Battery Terminal .......... 199 O
UNEXPECTED BRAKE PEDAL REACTION .. 185
Description ............................................................ 185 Precautions for FEB System Service .................... 199
SYSTEM DESCRIPTION ........................... 201 P
THE BRAKING DISTANCE IS LONG .............. 186
Description ............................................................ 186 COMPONENT PARTS .................................... 201
Diagnosis Procedure ............................................. 186 Component Parts Location .................................... 201
ADAS Control Unit ................................................. 202
DOES NOT OPERATE ..................................... 187 ICC Sensor ............................................................ 203
Description ............................................................ 187 Brake Pedal Position Switch / Stop Lamp Switch.. 203
Diagnosis Procedure ............................................. 187 ICC Brake Hold Relay ........................................... 203

Accelerator Pedal Actuator ....................................204 ADAS CONTROL UNIT .................................... 214
Driver Assistance Buzzer Control Module .............204 Reference Value ................................................... 214
Driver Assistance Buzzer ......................................204 Fail-safe (ADAS Control Unit) ............................... 221
DTC Inspection Priority Chart ............................... 222
SYSTEM ........................................................... 205 DTC Index ............................................................. 224
System Description ................................................205
Fail-safe (ADAS Control Unit) ................................209 DTC/CIRCUIT DIAGNOSIS ....................... 227
WARNING/INDICATOR/CHIME LIST ......................209 FORWARD EMERGENCY BRAKING ............. 227
WARNING/INDICATOR/CHIME LIST : Warning Diagnosis Procedure ............................................. 227
Lamp/Indicator Lamp .............................................209
SYMPTOM DIAGNOSIS ........................... 228
OPERATION .................................................... 210
Switch Name and Function ....................................210 SYSTEM SETTINGS CANNOT BE TURNED
Menu Displayed by Pressing Each Switch ............210 ON/OFF ON THE INTEGRAL SWITCH ........... 228
Symptom Table ..................................................... 228
HANDLING PRECAUTION .............................. 213 Description ............................................................ 228
Description .............................................................213
ECU DIAGNOSIS INFORMATION ............. 214

PRECAUTIONS
< PRECAUTION > [WITH VDC]
PRECAUTION A
PRECAUTIONS
Precautions for Performing 2-wheel Drive Test INFOID:0000000013508505
B
A vehicle with 2.2L diesel engine or 2.0L turbo gasoline engine of this model limits torque when a difference
occurs in each wheel speed. For this reason, it is necessary to use Chassis Dynamometer Mode when per-
forming the 2-wheel drive test (e.g. with 2-wheel chassis dynamometer, speedometer tester). C
For Chassis Dynamometer Mode, refer to ENGINE >> ENGINE CONTROL SYSTEM >> BASIC INSPECTION
>> CHASSIS DYNAMOMETER MODE >> Description.
D
Precaution for Supplemental Restraint System (SRS) "AIR BAG" and "SEAT BELT
PRE-TENSIONER" INFOID:0000000012793704
The Supplemental Restraint System such as “AIR BAG” and “SEAT BELT PRE-TENSIONER”, used along E
with a front seat belt, helps to reduce the risk or severity of injury to the driver and front passenger for certain
types of collision. This system includes seat belt switch inputs and dual stage front air bag modules. The SRS
system uses the seat belt switches to determine the front air bag deployment, and may only deploy one front BRC
air bag, depending on the severity of a collision and whether the front occupants are belted or unbelted.
Information necessary to service the system safely is included in the “SRS AIR BAG” and “SEAT BELT” of this
Service Manual.
G
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, it is recommended that all maintenance H
and repair be performed by an authorized NISSAN/INFINITI dealer.
• Improper repair, 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, I
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. J
PRECAUTIONS WHEN USING POWER TOOLS (AIR OR ELECTRIC) AND HAMMERS

WARNING: K
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
L
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 or batteries, and wait at least 3 minutes before performing any service. M
Precaution for Procedure without Cowl Top Cover INFOID:0000000012793705
When performing the procedure after removing cowl top cover, cover N
the lower end of windshield with urethane, etc to prevent damage to
windshield.
O
PIIB3706J
Precautions for Removing Battery Terminal INFOID:0000000013501207
When disconnecting the battery terminal, pay attention to the following.

PRECAUTIONS
• Always use a 12V battery as power source.
• Never disconnect battery terminal while engine is running.
• When removing the 12V battery terminal, turn OFF the ignition
switch and wait at least 30 seconds.
• For vehicles with the engine listed below, remove the battery termi-
nal after a lapse of the specified time:
BR08DE : 4 minutes V9X engine : 4 minutes

D4D engine : 20 minutes YD25DDTi : 2 minutes
HR09DET : 12 minutes YS23DDT : 4 minutes
HRA2DDT : 12 minutes YS23DDTT : 4 minutes
K9K engine : 4 minutes ZD30DDTi : 60 seconds
SEF289H
M9R engine : 4 minutes ZD30DDTT : 60 seconds
R9M engine : 4 minutes
NOTE:
ECU may be active for several tens of seconds after the ignition switch is turned OFF. If the battery terminal
is removed before ECU stops, then a DTC detection error or ECU data corruption may occur.
• After high-load driving, if the vehicle is equipped with the V9X engine, turn the ignition switch OFF and wait
for at least 15 minutes to remove the battery terminal.
NOTE:
• Turbocharger cooling pump may operate in a few minutes after the ignition switch is turned OFF.
• Example of high-load driving
- Driving for 30 minutes or more at 140 km/h (86 MPH) or more.
- Driving for 30 minutes or more on a steep slope.
• For vehicles with the 2-batteries, be sure to connect the main battery and the sub battery before turning ON
the ignition switch.
NOTE:
If the ignition switch is turned ON with any one of the terminals of main battery and sub battery discon-
nected, then DTC may be detected.
• 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.
Precaution for Brake System INFOID:0000000012793707
WARNING:
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-20, "Recommeded Fluids and Lubricants".
• Never reuse drained brake fluid.
• Never spill or splash brake fluid on painted surfaces. Brake fluid may seriously damage paint. Wipe it off
immediately and wash with water if it gets on a painted surface.
• 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
improper operation.
• Never damage caliper (made by aluminum).
• Always loosen the brake tube flare nut with a flare nut wrench.

PRECAUTIONS
• Tighten flare nut of brake tube to the specified torque using a crow-
foot (A) and torque wrench (B). 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.
B
• Check that no brake fluid leakage is present after replacing the
parts.
JPFIA0001ZZ
D
Precaution for Brake Control System INFOID:0000000012793708
• Slight vibrations are felt on the brake pedal and the operation noises occur, when VDC function, TCS func-
tion, ABS function, EBD function, Brake limited slip differential (BLSD) function, Brake assist function, hill E
start assist function or Brake force distribution function 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, hill start assist function or Brake force distribution function that is normally BRC
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.
• Brake stopping distance may become longer than models without ABS function depending on the road con- G
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-
rence, estimate cause, and perform operation. Check brake booster operation, brake fluid level, and brake H
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, hill start assist function and Brake
force distribution function, when all of brakes, suspensions and tires installed on the vehicle are the specified I
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 J
different size and combination or other parts than the specified are used.
• 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-
K
tion, ABS function, EBD function, Brake limited slip differential (BLSD) function, Brake assist function, hill
start assist function and Brake force distribution function.
• 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 L
function, TCS function, ABS function, EBD function, Brake limited slip differential (BLSD) function, Brake
assist function, hill start assist function and Brake force distribution function.
- Suspension component parts (shock absorber, spring, bushing and others) M
- 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) N
• 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- O
tial (BLSD) function, Brake assist function, hill start assist function and Brake force distribution function.
• 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- P
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, hill start assist func-
tion and Brake force distribution function. 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

PRECAUTIONS
VDC function, TCS function, ABS function, EBD function, Brake limited slip differential (BLSD) function,
Brake assist function, hill start assist function and Brake force distribution function.
• Brake pedal vibrates and operation sound occurs during sudden acceleration and cornering, when VDC
function, TCS function, Brake assist function and Brake force distribution function is operated. This is not a
malfunction because it is caused by VDC function, TCS function, Brake assist function or Brake force distri-
bution function 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, hill start assist function and Brake force distribution function may not normally
operate, when driving on a special road the is extremely slanted (bank in a circuit course). This is not a mal-
function if the status returns to normal for VDC function, TCS function, Brake limited slip differential (BLSD)
function, Brake assist function, hill start assist function and Brake force distribution function 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, TCS function, Brake force distribution
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 to normal for VDC function, TCS function and Brake force distribution func-
tion after the engine is started again. In this case, perform self-diagnosis, check self-diagnosis results, and
erase memory.
Precautions for Harness Repair INFOID:0000000012793709
• 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
• Replace the applicable harness as an assembly if error is detected on the shield lines of CAN communica-
tion line.

PREPARATION
< PREPARATION > [WITH VDC]
PREPARATION A
PREPARATION
Special Service Tool INFOID:0000000012793710
B
The actual shapes of the tools may differ from those illustrated here.
Tool number C
(TechMate No.) Description
Tool name
D
KV991J0080
(J-45741-A) Checking operation of wheel sensors E
ABS active wheel sensor tester
WFIA0101E BRC
Commercial Service Tools INFOID:0000000012793711
G
Tool name Description
Power tool Loosening bolts and nuts

I
PBIC0190E
J

COMPONENT PARTS
< SYSTEM DESCRIPTION > [WITH VDC]
SYSTEM DESCRIPTION
COMPONENT PARTS
Component Parts Location INFOID:0000000012793712
FOR VR30DDTT ENGINE MODELS
JSFIA3886ZZ

COMPONENT PARTS
Brake booster Steering knuckle Inside of brake master cylinder cover A

Brake pedal Instrument driver lower panel Back of spiral cable assembly
Rear final drive
B
No. Component parts Function

Mainly transmits the following signals to chassis control module unit. C
• Drive mode signal
Drive mode select switch
Refer to DMS-4, "Component Parts Location" for detailed installation loca-
tion.
Mainly transmits the following signals to ABS actuator and electric unit (con- D
trol unit) via CAN communication.
TCM • Current gear position signal
Refer to TM-13, "A/T CONTROL SYSTEM : Component Parts Location" for
E
detailed installation location.
Mainly transmits the following signals to ABS actuator and electric unit (con-
• Steering pinion angle signal BRC
Steering force control module* • Direct Adaptive Steering malfunction signal
Refer to STC-113, "Component Parts Location" for detailed installation loca-
tion.
G
Front RH wheel sensor BRC-14, "Wheel Sensor and Sensor Rotor"
Front RH sensor rotor BRC-14, "Wheel Sensor and Sensor Rotor"

H
• Accelerator pedal position signal
• Engine torque signal I
• Engine speed signal
Mainly receives the following signals from ABS actuator and electric unit
ECM
(control unit) via CAN communication.
• Engine torque request signal J
Refer to EC6-33, "ENGINE CONTROL SYSTEM : Component Parts Loca-
tion" (VR30DDTT FOR USA AND CANADA), EC6-1024, "ENGINE CON-
TROL SYSTEM : Component Parts Location" (VR30DDTT FOR MEXICO)
for detailed installation location. K
• Drive mode signal L
• Active Trace Control signal
Chassis control module
• Brake hold status signal
• Brake hold request signal
Refer to DAS-516, "Component Parts Location" for detailed installation loca- M
tion.
trol unit) via CAN communication. N
• Brake fluid level switch signal
• Parking brake switch signal
Combination meter
(control unit) via CAN communication. O
• ABS warning lamp signal
• Brake warning lamp signal
• VDC OFF indicator lamp signal
• VDC warning lamp signal P
Refer to MWI-8, "METER SYSTEM : Component Parts Location" for detailed
installation location.
Vacuum sensor BRC-17, "Vacuum Sensor"
Front LH wheel sensor BRC-14, "Wheel Sensor and Sensor Rotor"
Front LH sensor rotor BRC-14, "Wheel Sensor and Sensor Rotor"

COMPONENT PARTS
ABS actuator and electric unit (control unit) BRC-15, "ABS Actuator and Electric Unit (Control Unit)"
Stop lamp switch BRC-16, "Stop Lamp Switch"
VDC OFF switch BRC-17, "VDC OFF Switch"
Steering angle sensor BRC-16, "Steering Angle Sensor"
Rear LH sensor rotor BRC-14, "Wheel Sensor and Sensor Rotor"
Rear LH wheel sensor BRC-14, "Wheel Sensor and Sensor Rotor"
Rear RH wheel sensor BRC-14, "Wheel Sensor and Sensor Rotor"
Rear RH sensor rotor BRC-14, "Wheel Sensor and Sensor Rotor"
*: With Direct Adaptive Steering

FOR 2.0L TURBO GASOLINE ENGINE MODELS

COMPONENT PARTS
BRC
JSFIA3849ZZ
P
Brake booster Steering knuckle Inside of brake master cylinder cover
Brake pedal Instrument driver lower panel Back of spiral cable assembly
Rear final drive

COMPONENT PARTS

Mainly transmits the following signals to chassis control module unit.
Refer to DMS-4, "Component Parts Location" for detailed installation loca-
tion.
• Engine torque signal
ECM • Current gear position signal
• Engine torque request signal
Refer to EC4-25, "ENGINE CONTROL SYSTEM : Component Parts Loca-
tion" for detailed installation location.
Front RH wheel sensor BRC-14, "Wheel Sensor and Sensor Rotor"
Front RH sensor rotor BRC-14, "Wheel Sensor and Sensor Rotor"

• Active trace control signal
Chassis control module
• Brake hold status signal
• Brake hold request signal
Refer to DAS-516, "Component Parts Location" for detailed installation loca-
tion.
Combination meter
• VDC warning lamp signal
Refer to MWI-8, "METER SYSTEM : Component Parts Location" for detailed
installation location.
Vacuum sensor BRC-17, "Vacuum Sensor"
Front LH wheel sensor BRC-14, "Wheel Sensor and Sensor Rotor"
Front LH sensor rotor BRC-14, "Wheel Sensor and Sensor Rotor"
ABS actuator and electric unit (control unit) BRC-15, "ABS Actuator and Electric Unit (Control Unit)"
Stop lamp switch BRC-16, "Stop Lamp Switch"
VDC OFF switch BRC-17, "VDC OFF Switch"
Steering angle sensor BRC-16, "Steering Angle Sensor"
Rear LH sensor rotor BRC-14, "Wheel Sensor and Sensor Rotor"
Rear LH wheel sensor BRC-14, "Wheel Sensor and Sensor Rotor"
Rear RH wheel sensor BRC-14, "Wheel Sensor and Sensor Rotor"
Rear RH sensor rotor BRC-14, "Wheel Sensor and Sensor Rotor"
Wheel Sensor and Sensor Rotor INFOID:0000000012793713
NOTE:

COMPONENT PARTS
• Wheel sensor of front wheel is installed on steering knuckle.
• Sensor rotor of front wheel is integrated in wheel hub assembly. A
• Wheel sensor of rear wheel is installed on rear final drive.
• Sensor rotor of rear wheel is installed on drive shaft (rear final drive
side).
B
• Never measure resistance and voltage value using a tester
because sensor is active sensor.
JSFIA1272ZZ
D
• 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 E
line is read. Magnetic field that is detected is converted to current
signal.
• When sensor rotor rotates, magnetic field changes. Magnetic field
BRC
change is converted to current signals (rectangular wave) and is
transmitted to ABS actuator and electric unit (control unit). Change
of magnetic field is proportional to wheel speed.
G
JPFIC0131GB
ABS Actuator and Electric Unit (Control Unit) INFOID:0000000012793714

H
Electric unit (control unit) is integrated with actuator and comprehen-
sively controls VDC function, TCS function, ABS function, EBD func-
tion, Brake limited slip differential (BLSD) function, Brake assist I
function, hill start assist function and Brake force distribution func-
tion.
J
JSFIA2099ZZ
ELECTRIC UNIT (CONTROL UNIT) L

• Brake fluid pressure, engine and transmission are controlled according to signals from each sensor.
• If malfunction is detected, the system enters fail-safe mode.
ACTUATOR M
The following components are integrated with ABS actuator.
Pump
Returns the brake fluid reserved in reservoir to master cylinder by reducing pressure. N
Motor
Activates the pump according to signals from ABS actuator and electric unit (control unit).
O
Motor Relay
Operates the motor ON/OFF according to signals from ABS actuator and electric unit (control unit).
Actuator Relay P
Operates each valve ON/OFF according to signals from ABS actuator and electric unit (control unit).
ABS IN Valve and ABS OUT Valve
Increases, holds or decreases the fluid pressure of each caliper according to signals from ABS actuator and
electric unit (control unit).
Pressure Sensor
Detects the brake fluid pressure and transmits signal to ABS actuator and electric unit (control unit).

COMPONENT PARTS
Cut Valve 1 (Primary Line), Cut Valve 2 (Secondary Line)
Shuts off the ordinary brake line from master cylinder, when VDC function, TCS function, Brake limited slip dif-
ferential (BLSD) function, Brake assist function, hill start assist function and Brake force distribution function
are activated.
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). [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)
• Vehicle longitudinal acceleration (decel G signal)
Stop Lamp Switch INFOID:0000000012793715
Detects the operation status of brake pedal and transmits converted

electric signal to ABS actuator and electric unit (control unit).
JSFIA1143ZZ
Steering Angle Sensor INFOID:0000000012793716
Detects the following information and transmits steering angle signal

to ABS actuator and electric unit (control unit) via CAN communica-
tion.
• Steering angle sensor malfunction signal
• Steering wheel rotation amount
• Steering wheel rotation angular velocity
• Steering wheel rotation direction
JSFIA1145ZZ
Brake Fluid Level Switch INFOID:0000000012793717
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.
JSFIA2054ZZ

COMPONENT PARTS
Vacuum Sensor INFOID:0000000012793718
A
Detects the vacuum in brake booster and transmits converted elec-
tric signal to ABS actuator and electric unit (control unit).
B
D
JSFIA2055ZZ
Parking Brake Switch INFOID:0000000012793719

E
Detects the operation status of parking brake switch and transmits
converted electric signal from combination meter to ABS actuator
and electric unit (control unit). BRC
H
JSFIA1274ZZ
VDC OFF Switch INFOID:0000000012793720

I
• This is an integrated switch with switches for other functions.
• Non-operational status or standby status of the following functions
can be selected using VDC OFF switch. VDC OFF indicator lamp J
indicates the operation status of function. (ON: Non-operational
status, OFF: Standby status)
- VDC function K
- TCS function
- Active trace control function
NOTE:
ABS function, EBD function and Brake limited slip differential (BLSD) L
function control operates.
• VDC OFF indicator lamp turns OFF (standby status) when the
JSFIA1275ZZ
engine is started again after it is stopped once while VDC OFF M
indicator lamp is ON (non-operational status).

SYSTEM
SYSTEM
System Description INFOID:0000000012793721
• The system switches fluid pressure of each brake caliper 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 function, TCS function, ABS function, EBD function, brake limited slip differential (BLSD) function,
brake assist function, hill start assist function and Brake force distribution function.
• Fail-safe function is available for each function and is activated by each function when system malfunction
occurs.
SYSTEM DIAGRAM (FOR VR30DDTT ENGINE MODELS)
NOTE:
Steering force control module is applied to models with Direct adaptive steering system.
JSFIA2056GB
INPUT SIGNAL AND OUTPUT SIGNAL (FOR VR30DDTT ENGINE MODELS)

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

Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN
communication.
Steering force control module* • Steering pinion angle signal
• Direct adaptive steering malfunction signal
communication.
ECM
Mainly receives the following signals from ABS actuator and electric unit (control unit) via CAN
communication.
TCM communication.
• Current gear position signal

SYSTEM
A
Chassis control module communication.
Mainly receives the following signals from ABS actuator and electric unit (control unit) via CAN B
communication.
C
Combination meter
communication.
• ABS warning lamp signal D
communication. E
Steering angle sensor
• Steering angle sensor signal
*: Models with Direct adaptive steering system. BRC
SYSTEM DIAGRAM (FOR 2.0L TURBO GASOLINE ENGINE MODELS)

G
JSFIA3851GB N
INPUT SIGNAL AND OUTPUT SIGNAL (FOR 2.0L TURBO GASOLINE ENGINE MODELS)
O

SYSTEM

communication.
ECM • Engine speed signal
communication.
communication.
Combination meter
communication.
communication.
VALVE OPERATION (ABS AND EBD)

Each valve is operated and fluid pressure of brake caliper is controlled.
When ordinary brake is applied and ABS is in operation (when pressure increases).
JPFIC0159GB

SYSTEM
Name Not activated When Pressure Increases A

Cut valve 1 Power supply is not supplied (open) Power supply is not supplied (open)
ABS IN valve Power supply is not supplied (open) Power supply is not supplied (open)
B
ABS OUT valve Power supply is not supplied (close) Power supply is not supplied (close)
Each caliper (fluid pressure) — Pressure increases C
When front RH wheel caliper pressure increases

• Motor is activated. Brake fluid is pressurized by pump and is sent to secondary line through cut valve 2. At D
the same time, pressurized brake fluid is supplied to front RH caliper through ABS IN valve.
When front LH wheel caliper pressure increases E
• Motor is activated. Brake fluid is pressurized by pump and is sent to primary line through cut valve 1. At the
same time, pressurized brake fluid is supplied to front LH wheel caliper through ABS IN valve.
When rear RH wheel caliper pressure increases BRC
same time, pressurized brake fluid is supplied to rear RH wheel caliper through ABS IN valve.
When rear LH wheel caliper pressure increases G
• Motor is activated. Brake fluid is pressurized by pump and is sent to secondary line through cut valve 2. At
the same time, pressurized brake fluid is supplied to rear LH wheel caliper through ABS IN valve.
When ABS operation starts (when pressure holds) H
JPFIC0160GB
Name Not activated When pressure holds


SYSTEM
Name Not activated When pressure holds
ABS IN valve Power supply is not supplied (open) Power supply is supplied (close)
Each caliper (fluid pressure) — Pressure holds
When front RH wheel caliper pressure holds

the same time, because ABS IN valve and ABS OUT vale are closed, fluid pressure holds.
When front LH wheel caliper pressure holds
same time, because ABS IN valve and ABS OUT vale are closed, fluid pressure holds.
When rear RH wheel caliper pressure holds
same time, because ABS IN valve and ABS OUT vale are closed, fluid pressure holds.
When rear LH wheel caliper pressure holds
the same time, because ABS IN valve and ABS OUT vale are closed, fluid pressure holds.
ABS is in operation (when pressure decreases)
JPFIC0161GB
Name Not activated When pressure decreases

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)
Each caliper (fluid pressure) — Pressure decreases

SYSTEM
A
When front RH wheel caliper pressure decreases
• Being supplied to reservoir through ABS OUT valve, the fluid pressure of brake caliper is decreased.
When front LH wheel caliper pressure decreases B
When rear RH wheel caliper pressure decreases
• Being supplied to reservoir through ABS OUT valve, the fluid pressure of brake caliper is decreased. C
When rear LH wheel caliper pressure decreases
D
Component Parts and Function
Component FUNCTION
E
Temporarily reserves the brake fluid drained from brake caliper, so that pressure efficiently decreas-
Reservoir
es when decreasing pressure of brake caliper.
Pump Returns the brake fluid reserved in reservoir to master cylinder by reducing pressure.
BRC
Motor Drives the pump according to signals from control unit.
ABS IN valve Switches the fluid pressure line to increase or hold according to signals from control unit.
ABS OUT valve Switches the fluid pressure line to increase, hold or decrease according to signals from control unit. G
Returns the brake fluid from brake caliper to master cylinder by bypassing orifice of each valve when
Return check valve
brake is released.
Cut valve 1 H
Performs the duty control of fluid pressure increased by pump according to signals from control unit.
Cut valve 2
Pressure Sensor Detects the brake pedal operation amount.
I
VALVE OPERATION (OTHER THAN ABS AND EBD)
Each valve is operated and fluid pressure of brake caliper is controlled.
NOTE: J
There is no operation to hold and increase pressure for functions other than ABS and EBD.

SYSTEM
When Pressure Increases
JPFIC0162GB
Name Not activated When Pressure Increases

Wheel other than the one that the pressure
is to be increased: Power supply is not sup-
Cut valve 1 Power supply is not supplied (open) plied (open)
Only wheel that the pressure is to be in-
creased: Power supply is supplied (close)
is to be increased: Power supply is not sup-
Cut valve 2 Power supply is not supplied (open) plied (open)
creased: Power supply is supplied (close)
creased: Power supply is not supplied
(open)
ABS IN valve Power supply is not supplied (open)
is to be increased: Power supply is supplied
(close)
Each caliper (fluid pressure) — Pressure increases
When front RH wheel caliper pressure increases

• Motor is activated. Brake fluid from pump is supplied to front RH wheel caliper through ABS IN valve. For
other wheel, ABS IN valve is closed and brakes fluid is not supplied to caliper.
When front LH wheel caliper pressure increases
• Motor is activated. Brake fluid from pump is supplied to front LH wheel caliper through ABS IN valve. For
other wheel, ABS IN valve is closed and brakes fluid is not supplied to caliper.
When rear RH wheel caliper pressure increases

SYSTEM
• Motor is activated. Brake fluid from pump is supplied to rear RH wheel caliper through ABS IN valve. For
other wheel, ABS IN valve is closed and brakes fluid is not supplied to caliper. A
When rear LH wheel caliper pressure increases
• Motor is activated. Brake fluid from pump is supplied to rear LH wheel caliper through ABS IN valve. For
other wheel, ABS IN valve is closed and brakes fluid is not supplied to caliper. B
Released
BRC
JPFIC0163GB K
Name Not activated When pressure decreases

Cut valve 1 Power supply is not supplied (open) Power supply is not supplied (open) L
ABS IN valve Power supply is not supplied (open) Power supply is not supplied (open)
M
ABS OUT valve Power supply is not supplied (close) Power supply is supplied (open)
Each caliper (fluid pressure) — Pressure decreases
N
When front RH wheel caliper pressure decreases
• Being returned to master cylinder through ABS IN valve, fluid pressure of brake caliper is decreased.
O
When front LH wheel caliper pressure decreases
When rear RH wheel caliper pressure decreases P
When rear LH wheel caliper pressure decreases
Component Parts and Function

SYSTEM
Component Function
Temporarily reserves the brake fluid drained from brake caliper, so that pressure efficiently decreas-
Reservoir
es when decreasing pressure of brake caliper.
Pump Returns the brake fluid reserved in reservoir to master cylinder by reducing pressure.
Motor Drives the pump according to signals from control unit.
ABS IN valve Switches the fluid pressure line to increase or hold according to signals from control unit.
ABS OUT valve Switches the fluid pressure line to increase, hold or decrease according to signals from control unit.
Returns the brake fluid from brake caliper to master cylinder by bypassing orifice of each valve when
Return check valve
brake is released.
Cut valve 1
Performs the duty control of fluid pressure increased by pump according to signals from control unit.
Cut valve 2
Pressure Sensor Detects the brake pedal operation amount.
CONDITION FOR TURN ON THE WARNING LAMP

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
Ignition switch OFF. OFF OFF OFF
For approx. 1 seconds after the ignition switch is turned ON ON ON ON
Approx. 1 seconds after ignition switch is turned ON (when the
OFF OFF OFF
system is in normal operation).
After engine starts OFF OFF OFF
When brake fluid is less than the specified level (brake fluid level
OFF ON OFF
switch ON)
When parking brake operates (parking brake switch ON) OFF ON OFF
VDC function is malfunctioning OFF OFF ON
TCS function is malfunctioning OFF OFF ON
ABS function is malfunctioning ON OFF ON
EBD function is malfunctioning ON ON ON
Brake limited slip differential (BLSD) function is malfunctioning OFF OFF ON
Brake assist function is malfunctioning OFF OFF ON
hill start assist function is malfunctioning OFF OFF ON
Brake force distribution function is malfunctioning OFF OFF ON
When brake booster vacuum decreases OFF ON OFF
When vacuum sensor is malfunctioning OFF ON OFF
VDC function is operating OFF OFF Blinking
TCS function is operating OFF OFF Blinking
ABS function is operating OFF OFF OFF
EBD function is operating OFF OFF OFF
Brake limited slip differential (BLSD) function is operating OFF OFF Blinking
Brake assist function is operating OFF OFF OFF
hill start assist function is operating OFF OFF OFF
CONDITION FOR TURN ON THE INDICATOR LAMP

VDC OFF indicator lamp
• Turns ON when VDC function and TCS function are switched to non-operational status (OFF) by VDC OFF
switch.
• Turns ON when ignition switch turns ON and turns OFF when the system is normal, for bulb check purposes.

SYSTEM
Condition (status) VDC OFF indicator lamp A

Ignition switch OFF. OFF
For approx. 1 seconds after the ignition switch is turned ON ON
Approx. 1 seconds after ignition switch is turned ON (when the
B
OFF
system is in normal operation).
When VDC OFF switch is ON (VDC function, TCS function and
ON C
Active trace control function are OFF)
BRC

SYSTEM
Circuit Diagram INFOID:0000000012793722
JSFIA3846GB

SYSTEM
BRC
JSFIA2083GB
Fail-Safe INFOID:0000000012793723 P
VDC FUNCTION, TCS FUNCTION, BRAKE LIMITED SLIP DIFFERENTIAL FUNCTION, BRAKE AS-
SIST FUNCTION, hill start assist FUNCTION AND BRAKE FORCE DISTRIBUTION FUNCTION
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 differ-
ential (BLSD) function, Brake assist function, hill start assist function and Brake force distribution function. The
vehicle status becomes the same as models without VDC function, TCS function, Brake limited slip differential

SYSTEM
(BLSD) function, Brake assist function, hill start assist function and Brake force distribution function. 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, hill start assist function and
Brake force distribution function. The vehicle status becomes the same as models without VDC function, TCS
function, ABS function, Brake limited slip differential (BLSD) function, Brake assist function, hill start assist
function and Brake force distribution function. 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
assist function, hill start assist function and Brake force distribution function. The vehicle status becomes the
same as models without VDC function, TCS function, ABS function, EBD function, Brake limited slip differen-
DTC Fail-safe condition

C1101
The following functions are suspended.
C1102 • VDC function
C1103 • TCS function
• ABS function
C1104 • EBD function (only when both 2 rear wheels are malfunctioning)
C1105 • Brake limited slip differential (BLSD) function
• Brake assist function
C1106 • hill start assist function
C1107 • Brake force distribution function
• Active trace control function (control of chassis control module)
C1108
C1109 The following functions are suspended.
• VDC function
• TCS function
• ABS function
• EBD function
• hill start assist function
• Brake force distribution function
• VDC function
• TCS function
• ABS function
• Brake limited slip differential (BLSD) function
C1116 • Brake assist function

SYSTEM
A
C1120
• ABS function
B
C1123 • EBD function
• Brake assist function C
C1127
D
• VDC function
• TCS function
• Brake limited slip differential (BLSD) function E
BRC
• VDC function
• TCS function
• ABS function G
• EBD function
C1140
• hill start assist function H
The following functions are suspended. I
• VDC function
• TCS function
C1142 J
K
• VDC function
• TCS function
• Brake limited slip differential (BLSD) function L
M
• VDC function
• TCS function
• ABS function N
• Brake force distribution function O
• VDC function P
• TCS function
C1155

SYSTEM
• VDC function
• TCS function
• ABS function
• VDC function
• TCS function
• ABS function
• EBD function
• VDC function
• TCS function
• ABS function
C1197
Electrical vacuum assistance of brake booster is suspended.
C1198
C1199 —
C119A Electrical vacuum assistance of brake booster is suspended.
• VDC function
• TCS function
U1000 • Brake limited slip differential (BLSD) function
VDC FUNCTION
VDC FUNCTION : System Description INFOID:0000000012793724
• 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 ABS function, EBD function and TCS function, target side slip amount is calculated according
to steering operation amount from steering angle sensor and brake operation amount from brake pressure
sensor. By comparing this information with vehicle side slip amount that is calculated from information from
yaw rate/side/decel G sensor and wheel sensor, vehicle driving conditions (conditions of understeer or over-

SYSTEM
steer) are judged and vehicle stability is improved by brake force control on all 4 wheels and engine output
control. A
JPFIC0133GB D
• VDC function can be switched to non-operational status (OFF) by operating VDC OFF switch. In this case,
VDC OFF indicator lamp turns ON.
• 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 E
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. BRC
• Switching modes with drive mode selector allows the adjustment of VDC/TCS control timing/amount to
enable the vehicle control (e.g. acceleration and turning) just as intended by the driver (sport+).* Refer to
DMS-15, "Infiniti Drive Mode Selector : System Description (For VR30DDTT Engine Models)" G
• 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, hill start assist
function and Brake force distribution function. The vehicle status becomes the same as models without VDC H
function, TCS function, Brake limited slip differential (BLSD) function, Brake assist function, hill start assist
function and Brake force distribution function. However, ABS function and EBD function are operated nor-
mally. Refer to BRC-29, "Fail-Safe". I
NOTE:
VDC has the characteristic as described here, This is not the device that helps reckless driving.
*: VR30DDTT engine models
J
NOTE:
K

SYSTEM
JSFIA2057GB


communication.
communication.
ECM
communication.
TCM communication.

SYSTEM
A
communication.
• Parking brake switch signal B
Combination meter
communication.
• VDC OFF indicator lamp signal C
communication.
• Steering angle sensor signal D
*: Models with Direct adaptive steering system.
SYSTEM DIAGRAM (FOR 2.0L TURBO GASOLINE ENGINE MODELS) E
BRC
JSFIA3852GB
INPUT SIGNAL AND OUTPUT SIGNAL (FOR 2.0L TURBO GASOLINE ENGINE MODELS) M
Component Signal description N

communication.
• Engine torque signal O
P
communication.

SYSTEM
communication.
Combination meter
communication.
communication.
OPERATION CHARACTERISTICS
VDC Function That Prevents Oversteer Tendency
• 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.
JPFIC0135GB
• 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.
JPFIC0136GB
VDC Function That Prevents Understeer 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.
JPFIC0137GB

SYSTEM
• 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 A
decreases.
D
JPFIC0138GB
TCS FUNCTION
E
TCS FUNCTION : System Description INFOID:0000000012793725
• Wheel spin status of drive wheel is detected by wheel sensor of 4

wheels. Engine output and transmission shift status is controlled BRC
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 G
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. H
• TCS function can be switched to non-operational status (OFF) by
operating VDC OFF switch. In this case, VDC OFF indicator lamp
turns ON. I
• VDC warning lamp blinks while TCS function is in operation and
indicates to the driver that the function is in operation.
• Fail-safe function is adopted. When a malfunction occurs in TCS J
function, the control is suspended for VDC function, TCS function,
Brake limited slip differential (BLSD) function, Brake assist func-
tion, hill start assist function and Brake force distribution function K
The vehicle status becomes the same as models without VDC
function, TCS function, Brake limited slip differential (BLSD) func-
tion, Brake assist function, hill start assist function and Brake force
L
distribution function However, ABS function and EBD function are
JPFIC0139GB
operated normally. Refer to BRC-29, "Fail-Safe".
SYSTEM DIAGRAM (FOR VR30DDTT ENGINE MODELS) M
NOTE:

SYSTEM
JSFIA2057GB


communication.
communication.
ECM
communication.
TCM communication.

SYSTEM
A
communication.
Combination meter
communication.
communication.
SYSTEM DIAGRAM (FOR 2.0L TURBO GASOLINE ENGINE MODELS) E
BRC
JSFIA3852GB
INPUT SIGNAL AND OUTPUT SIGNAL (FOR 2.0L TURBO GASOLINE ENGINE MODELS) M
Component Signal description N

communication.
• Engine torque signal O
P
communication.

SYSTEM
communication.
Combination meter
communication.
communication.
ABS FUNCTION
ABS FUNCTION : System Description INFOID:0000000012793726
• 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.
• 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.
• Fail-safe function is adopted. When a malfunction occurs in ABS
ABS function, Brake limited slip differential (BLSD) function, Brake
assist function, hill start assist function and Brake force distribution
function. The vehicle status becomes the same as models without
VDC function, TCS function, ABS function, Brake limited slip differ-
ential (BLSD) function, Brake assist function, hill start assist func-
tion and Brake force distribution function. However, EBD function
is operated normally. Refer to BRC-29, "Fail-Safe".
NOTE:
• ABS 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).
JPFIC0140GB
• Self-diagnosis is performed immediately after when engine starts
and when vehicle initially is driven [by vehicle 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.
NOTE:

SYSTEM
A
BRC
H
JSFIA2058GB

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

Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN J
* communication.
Steering force control module • Steering pinion angle signal
K
communication.
• Parking brake switch signal L
Combination meter Mainly receives the following signals from ABS actuator and electric unit (control unit) via CAN
communication.
• VDC warning lamp signal M
communication.
Steering angle sensor N
O

SYSTEM
JSFIA3853GB

communication.
Combination meter Mainly receives the following signals from ABS actuator and electric unit (control unit) via CAN
communication.
communication.
EBD FUNCTION
EBD FUNCTION : System Description INFOID:0000000012793727
• 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-
ing braking is improved.

SYSTEM
• 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). A
JPFIC0142GB D
• During braking, control unit portion compares slight slip on front

and rear wheels by wheel speed sensor signal, transmits drive sig-
E
nal to actuator portion when rear wheel slip exceeds front wheel
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 BRC
equalized. ABS control is applied when slip on each wheel
increases and wheel speed is the threshold value of ABS control or
less.
G
• Fail-safe function is adopted. When a malfunction occurs in EBD
ABS function, EBD function, Brake limited slip differential (BLSD) H
function, Brake assist function, hill start assist function and Brake
force distribution function. The vehicle status becomes the same
as models without VDC function, TCS function, ABS function, EBD I
function, Brake limited slip differential (BLSD) function, Brake
assist function, hill start assist function and Brake force distribution
function. Refer to BRC-29, "Fail-Safe".
J
JPFIC0143GB
K

SYSTEM
SYSTEM DIAGRAM
JPFIC0144GB
INPUT SIGNAL AND OUTPUT SIGNAL


communication.
Combination meter • VDC warning lamp signal
BRAKE LIMITED SLIP DIFFERENTIAL (BLSD) FUNCTION

BRAKE LIMITED SLIP DIFFERENTIAL (BLSD) FUNCTION : System Description
INFOID:0000000012793728
• 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, hill start assist function and Brake force distribution function. The vehicle status
becomes the same as models without VDC function, TCS function, Brake limited slip differential (BLSD)
function, Brake assist function, hill start assist function and Brake force distribution function. However, ABS
function and EBD function are operated normally. Refer to BRC-29, "Fail-Safe".
NOTE:

SYSTEM
A
BRC
H
JSFIA2057GB


* communication.
K
communication.
• Engine speed signal L
ECM
communication.
• Engine torque request signal M
TCM communication.
N
O

SYSTEM
communication.
Combination meter
communication.
communication.
JSFIA3852GB

communication.
communication.

SYSTEM
A
communication.
Combination meter
communication.
communication.
BRAKE ASSIST FUNCTION

E
BRAKE ASSIST FUNCTION : System Description INFOID:0000000012793729
• When the driver brakes hard in an emergency, the stopping distance is reduced by increasing brake fluid
pressure. BRC
• 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, hill start
assist function and Brake force distribution function. The vehicle status becomes the same as models with- G
out VDC function, TCS function, Brake limited slip differential (BLSD) function, Brake assist function, hill
start assist function and Brake force distribution function. However, ABS function and EBD function are oper-
ated normally. Refer to BRC-29, "Fail-Safe".
H
NOTE:
Steering force control module is applied to models with Direct adaptive steering system. I
P
JSFIA2057GB


SYSTEM

* communication.
communication.
ECM
communication.
TCM communication.
communication.
Combination meter
communication.
communication.
JSFIA3852GB

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

Mainly transmits the following signals to ABS actuator and electric unit (control unit) via CAN B
communication.
ECM • Engine speed signal C
communication.
D
• Active trace control signal E
communication.
• Brake fluid level switch signal BRC
Combination meter
communication.
• VDC warning lamp signal G
communication. H
hill start assist FUNCTION I
hill start assist FUNCTION : System Description INFOID:0000000012793730
• This function maintains brake fluid pressure so that the vehicle does not move backwards even if brake J
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 on a uphill slope of slope ratio 10% or more and K
selector lever is in the position other than P or N.
• 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
L
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, the control is suspended
for VDC function, TCS function, Brake limited slip differential (BLSD) function, Brake assist function, hill start
assist function and Brake force distribution function. The vehicle status becomes the same as models with- M
out VDC function, TCS function, Brake limited slip differential (BLSD) function, Brake assist function, hill
start assist function and Brake force distribution function. However, ABS function and EBD function are oper-
ated normally. Refer to BRC-29, "Fail-Safe".
N

SYSTEM
JSFIA2059GB


communication.
ECM
communication.
TCM communication.
communication.
Combination meter
communication.

SYSTEM
A
BRC
H
JSFIA2068GB

communication.
ECM • Engine speed signal K
communication.
• Engine torque request signal L
communication.
• Brake fluid level switch signal M
Combination meter
communication.
• VDC warning lamp signal N
BRAKE FORCE DISTRIBUTION FUNCTION

O
BRAKE FORCE DISTRIBUTION FUNCTION : System Description INFOID:0000000012793731
• Brake force distribution function is controlled by ABS actuator and electric unit (control unit). P

SYSTEM
• 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, hill start assist function and Brake force dis-
tribution function. The vehicle status becomes the same as models
without VDC function, TCS function, Brake limited slip differential
(BLSD) function, Brake assist function, hill start assist function and
JPFIC0172GB
Brake force distribution function. However, ABS function and EBD
function are operated normally. Refer to BRC-29, "Fail-Safe".
NOTE:
Brake force distribution function may not always be operates in all driving conditions.
NOTE:
JSFIA2057GB


SYSTEM
Component Signal description A

communication.
B
communication.
• Accelerator pedal position signal C
ECM
communication.
D
TCM communication. E
Chassis control module communication. BRC
communication.
G
Combination meter
communication. H
• VDC OFF indicator lamp signal I
communication.
• Steering angle sensor signal J
K

SYSTEM
JSFIA3852GB

communication.
ECM • Engine torque signal
communication.
communication.
Combination meter
communication.
communication.
ACTIVE TRACE CONTROL FUNCTION

SYSTEM
ACTIVE TRACE CONTROL FUNCTION : System Description INFOID:0000000012793732
A
• Active trace control function controls the braking utilizing the ABS actuator and electric unit (control unit),
depending on cornering condition calculated from driver's steering input and plural sensors.
• Active trace control function is aimed to enhance traceability at corners and smooth the vehicle movement to B
provide confident driving.
• When the drive mode select switch is set to the “SPORT” mode, the amount of brake control provided by
active trace control is reduced.
• For “PERSONAL” mode, the active trace control can be selected ON or OFF. Refer to DMS-13, "Infiniti InTu- C
ition : System Description".
• When the VDC OFF switch is used to turn OFF the VDC system, the active trace control system is also
turned OFF. D
• When the active trace control is operated, active trace control graphics are shown on the information display
of combination meter. These are shown only when “Chassis control” is selected on the information display.
Refer to DAS-523, "INFORMATION DISPLAY (COMBINATION METER) : Chassis Control Display".
• When the active trace control is not functioning properly, the master warning lamp illuminates. Warning mes- E
sage “Chassis control” will also appear on information display.
NOTE:
• The active trace control may not be effective depending on the driving condition. Always driving carefully and BRC
attentively.
• Brake pedal may vibrate and brake pedal feel may change during active trace control operation. Also opera-
tion noise may be noticeable during operation. These are not abnormal conditions.
• When the active trace control is selected OFF, some functions will be kept ON to assist driver. (For example, G
avoidance condition.)
OPERATION CHARACTERISTICS
H
Active trace control helps enhance the transition from braking into
and then accelerating out of corners. Active trace control utilizes the
vehicle′s electrically-driven intelligent brake system to help improve
cornering feel by automatically applying brakes. Furthermore, Active I
trace control will apply selective braking to help create increased
steering response in S-turns. For example, if driving through an S-
turn that starts with steering to the right, the right-side brakes are J
engaged to create a yaw moment and help turn the vehicle.
JPFIC0167GB

SYSTEM
• Brake control amount is controlled according to steering operation status by the driver and vehicle cornering
status.
JSFIA2098GB
• During cornering, the brake control system limits changes in steer-

ing angle by controlling the inner ring brakes according to acceler-
ator pedal operation and allows smooth movement of the vehicle
to achieve stable cornering.
JSFIA2009GB

NOTE:

SYSTEM
BRC
H
JSFIA2060GB


* communication.
Mainly transmits the following signals to chassis control module via CAN communication.
K
ECM
• Engine speed signal L
TCM
Mainly transmits the following signals to chassis control module via CAN communication. M
• Front LH wheel speed signal
• Front RH wheel speed signal
• Rear LH wheel speed signal
• Rear RH wheel speed signal N
• ABS operation signal
• TCS operation signal
• VDC operation signal
ABS actuator and electric unit (control • Stop lamp switch signal O
unit) • Vehicle speed signal (ABS)
• Yaw rate signal
• Side G signal
• Decel G signal
P
• VDC OFF switch signal
• Brake fluid pressure signal
Mainly receives the following signals from chassis control module via CAN communication.

SYSTEM
Mainly transmits the following signals to chassis control module via CAN communication line.
Display control unit
• System selection signal
Mainly receives the following signals from chassis control module via CAN communication.
Combination meter • Chassis control malfunction signal
• Active trace control display signal
Mainly transmits the following signals to chassis control module.
JSFIA3854GB

SYSTEM
Component Signal description A

ECM • Engine torque signal
B
• Front LH wheel speed signal C
• Front RH wheel speed signal
• Rear LH wheel speed signal
• Rear RH wheel speed signal
• ABS operation signal
D
• TCS operation signal
• VDC operation signal
ABS actuator and electric unit (control • Stop lamp switch signal E
unit) • Vehicle speed signal (ABS)
• Yaw rate signal
• Side G signal
• Decel G signal BRC
• VDC OFF switch signal
• Brake fluid pressure signal
Mainly receives the following signals from chassis control module via CAN communication. G
• Steering angle sensor signal H
Mainly transmits the following signals to chassis control module via CAN communication line.
• System selection signal
Mainly receives the following signals from chassis control module via CAN communication. I
Combination meter • Chassis control malfunction signal
• Active trace control display signal
Mainly transmits the following signals to chassis control module. J
WARNING/INDICATOR/CHIME LIST
K
WARNING/INDICATOR/CHIME LIST : Warning Lamp/Indicator Lamp INFOID:0000000012793733
FOR U.S.A. L
Name Design Layout/Function

For layout: Refer to MWI-9, "METER SYSTEM : Design". M
ABS warning lamp For function: Refer to MWI-20, "WARNING LAMPS/INDICATOR LAMPS : ABS Warning
Lamp".
For layout: Refer to MWI-9, "METER SYSTEM : Design". N
Brake warning lamp For function: Refer to MWI-22, "WARNING LAMPS/INDICATOR LAMPS : Brake Warning
Lamp".
For layout: Refer to MWI-9, "METER SYSTEM : Design". O
VDC OFF indicator
lamp For function: Refer to MWI-51, "WARNING LAMPS/INDICATOR LAMPS : VDC OFF Indica-
tor Lamp".
For layout: Refer to MWI-9, "METER SYSTEM : Design".
P
VDC warning lamp For function: Refer to MWI-52, "WARNING LAMPS/INDICATOR LAMPS : VDC Warning
Lamp".
EXCEPT FOR U.S.A.

SYSTEM
Name Design Layout/Function

ABS warning lamp For function: Refer to MWI-20, "WARNING LAMPS/INDICATOR LAMPS : ABS Warning
Lamp".
Brake warning lamp For function: Refer to MWI-22, "WARNING LAMPS/INDICATOR LAMPS : Brake Warning
Lamp".
VDC OFF indicator
lamp For function: Refer to MWI-51, "WARNING LAMPS/INDICATOR LAMPS : VDC OFF Indica-
tor Lamp".
VDC warning lamp For function: Refer to MWI-52, "WARNING LAMPS/INDICATOR LAMPS : VDC Warning
Lamp".

DIAGNOSIS SYSTEM [ABS ACTUATOR AND ELECTRIC UNIT (CONTROL
UNIT)]
A
UNIT)]
CONSULT Function INFOID:0000000012793734
B
APPLICATION ITEMS
CONSULT can display each diagnostic item using the diagnostic test modes as follows.
C
Mode Function description
ECU identification Parts number of ABS actuator and electric unit (control unit) can be read.
D
Self Diagnostic Result Self-diagnostic results and freeze frame data can be read and erased quickly.*
DATA MONITOR Input/Output data in the ABS actuator and electric unit (control unit) can be read.
Diagnostic Test Mode in which CONSULT drives some actuators apart from the ABS actuator and elec- E
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). BRC
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 G
• Freeze frame data (FFD)
ECU IDENTIFICATION H
ABS actuator and electric unit (control unit) part number can be read.
SELF DIAGNOSTIC RESULT
Refer to BRC-72, "DTC Index". I
When “CRNT” is displayed on self-diagnosis result,

• The system is presently malfunctioning.
J
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) K
The following vehicle status is recorded when DTC is detected and is displayed on CONSULT.
Item name Display item L

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. M
(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.
N
ACTIVE TEST
The active test is used to determine and identify details of a malfunction, based on self-diagnosis test results O
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.
CAUTION: P
• Never perform ACTIVE TEST while driving the vehicle.
• Always bleed air from brake system before active test.
• Never perform active test when system is malfunctioning.
NOTE:
• “TEST IS STOPPED” is displayed approx. 10 seconds after operation start.
• When performing active test again after “TEST IS STOPPED” is displayed, select “BACK”.

UNIT)]
• ABS warning lamp, brake warning lamp and VDC warning lamp may turn ON during active test. This is not a
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
normal.
Display
Test item Display Item
Up Keep Down
FR RH IN SOL Off On* On*
FR RH SOL FR RH OUT SOL Off Off On*
CV2 Off Off Off
FR LH IN SOL Off On* On*
FR LH SOL FR LH OUT SOL Off Off On*
CV1 Off Off Off
RR RH IN SOL Off On* On*
RR RH SOL RR RH OUT SOL Off Off On*
CV1 Off Off Off
RR LH IN SOL Off On* On*
RR LH SOL RR LH OUT SOL Off Off On*
CV2 Off Off Off
*: Immediately after being selected, status is “On”. Status changes to “Off” after approx. 2 seconds.
ABS IN Valve (ACT) and 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
Up ACT UP ACT KEEP
FR RH IN SOL Off Off Off
FR RH SOL (ACT) FR RH OUT SOL Off Off Off
CV2 Off On* On*
FR LH IN SOL Off Off Off
FR LH SOL (ACT) FR LH OUT SOL Off Off Off
CV1 Off On* On*
RR RH IN SOL Off Off Off
RR RH SOL (ACT) RR RH OUT SOL Off Off Off
CV1 Off On* On*
RR LH IN SOL Off Off Off
RR LH SOL (ACT) RR LH OUT SOL Off Off Off
CV2 Off On* On*
*: Immediately after being selected, status is “On”. Status changes to “Off” after approx. 10 seconds.
ABS MOTOR
When “On” or “Off” is selected on display screen, the following items are displayed when system is normal.
Display
On Off
MOTOR RELAY On Off
ABS MOTOR
ACTUATOR RLY(Note) On On

UNIT)]
NOTE:
Display occasionally changes On/Off for a moment after ignition switch is turned ON. This is operation for A
checking purposes and is not a malfunction.
DATA MONITOR
NOTE: B
The following table includes information (items) inapplicable to this vehicle. For information (items) applicable
to this vehicle, refer to CONSULT display items.
×: Applicable C
Monitor item selection
Item (Unit) Note
INPUT SIGNALS MAIN ITEMS
FR LH SENSOR Wheel speed calculated by front LH wheel sensor is dis- D
× ×
[km/h (MPH)] played.
FR RH SENSOR Wheel speed calculated by front RH wheel sensor is dis-
× ×
[km/h (MPH)] played. E
RR LH SENSOR Wheel speed calculated by rear LH wheel sensor is dis-
× ×
RR RH SENSOR Wheel speed calculated by rear RH wheel sensor is dis- BRC
× ×
BATTERY VOLT Voltage supplied to ABS actuator and electric unit (control
× ×
(V) unit) is displayed. G
STOP LAMP SW
× × Stop lamp switch signal input status is displayed.
(On/Off)
OFF SW H
× × VDC OFF switch signal input status is displayed.
(On/Off)
YAW RATE SEN
× × Yaw rate detected by yaw rate sensor is displayed.
(d/s)
I
FR RH IN SOL Operation status of front RH wheel ABS IN valve is dis-
×
(On/Off) played.
FR RH OUT SOL Operation status of front RH wheel ABS OUT valve is dis- J
×
(On/Off) played.
FR LH IN SOL Operation status of front LH wheel ABS IN valve is dis-
×
(On/Off) played.
K
FR LH OUT SOL Operation status of front LH wheel ABS OUT valve is dis-
×
(On/Off) played.
RR RH IN SOL Operation status of rear RH wheel ABS IN valve is dis- L
×
(On/Off) played.
RR RH OUT SOL Operation status of rear RH wheel ABS OUT valve is dis-
×
(On/Off) played.
M
RR LH IN SOL Operation status of rear LH wheel ABS IN valve is dis-
×
(On/Off) played.
RR LH OUT SOL Operation status of rear LH wheel ABS OUT valve is dis-
× N
(On/Off) played.
MOTOR RELAY
× ABS motor and motor relay status is displayed.
(On/Off)
O
ACTUATOR RLY
× ABS actuator relay status is displayed.
(On/Off)
ABS WARN LAMP
× ABS warning lamp ON/OFF status is displayed. (Note 1) P
(On/Off)
OFF LAMP
× VDC OFF indicator lamp ON/OFF status is displayed.(Note 1)
(On/Off)
SLIP/VDC LAMP
× VDC warning lamp ON/OFF status is displayed.(Note 1)
(On/Off)
ACCEL POS SIG
× Displays the Accelerator pedal position
(%)

UNIT)]
Item (Unit) Note
SIDE G-SENSOR
× Side G detected by side G sensor is displayed.
(m/s2))
DECEL G-SEN
× Decel G detected by decel G sensor is displayed.
(m/s2)
STR ANGLE SIG(Note 2) ×

Steering pinion angle detected by direct adaptive steering
(°) system is displayed.
STR ANGLE SIG(Note 3) ×

Steering angle detected by steering angle sensor is dis-
(°) played.
ENGINE SPEED
× Engine speed status is displayed.
(tr/min)
PRESS SENSOR Brake fluid pressure detected by pressure sensor is dis-
×
(bar) played.
FLUID LEV SW Brake fluid level signal input status via CAN communication
×
(On/Off) is displayed.
PARK BRAKE SW Parking brake switch signal input status via CAN communi-
×
(On/Off) cation is displayed.
CV1
Cut valve 1 operation status is displayed.
(On/Off)
CV2
Cut valve 2 operation status is displayed.
(On/Off)
EBD SIGNAL
EBD operation status is displayed.
(On/Off)
ABS SIGNAL
ABS operation status is displayed.
(On/Off)
TCS SIGNAL
TCS operation status is displayed.
(On/Off)
VDC SIGNAL
VDC operation status is displayed.
(On/Off)
EBD FAIL SIG
EBD fail-safe signal status is displayed.
(On/Off)
ABS FAIL SIG
ABS fail-safe signal status is displayed.
(On/Off)
TCS FAIL SIG
TCS fail-safe signal status is displayed.
(On/Off)
VDC FAIL SIG
VDC fail-safe signal status is displayed.
(On/Off)
CRANKING SIG
Cranking status is displayed.
(On/Off)
EBD WARN LAMP
(On/Off) Brake warning lamp ON/OFF status is displayed. (Note 1)
Current gear position judged from current gear position sig-

GEAR × ×
nal is displayed.
N POSI SIG N range signal input status judged from N range signal is
(On/Off) displayed.
R POSI SIG R range signal input status judged from R range signal is
(On/Off) displayed.
4WD MODE MON(Note 4) × × AWD control status is displayed.

(AUTO/LOCK/2WD)

UNIT)]
Item (Unit) Note A
VDC control mode(Note 5) × ×

VDC control status configured with the drive mode selector
(Standard/Sports) is displayed.
B
USS SIG(Note 6) hill start assist operation status is displayed.
(On/Off)
Note 1: Refer to BRC-18, "System Description" for ON/OFF conditions of each warning lamp and indicator C
lamp.
Note 2: Models with direct adaptive steering system
Note 3: Models without direct adaptive steering system
D
Note 4: AWD models
Note 5: VR30DDTT engine models
Note 6: “USS” means “hill start assist”
E
WORK SUPPORT
Conditions Description
BRC
ST ANGLE SENSOR ADJUSTMENT Perform neutral position adjustment of steering angle sensor.
DECEL G SEN CALIBRATION Perform decel G sensor calibration.
RE/PROGRAMMING, CONFIGURATION G
Configuration includes the following functions.
Function Description H
Allows the reading of vehicle specification (Type ID) written in ABS actuator and
Before replacing ECU
electric unit (control unit) to store the specification in CONSULT.
Read/Write Configuration
Allows the writing of vehicle information (Type ID) stored in CONSULT into the I
After replacing ECU
ABS actuator and electric unit (control unit).
Allows the writing of vehicle specification (Type ID) into the ABS actuator and elec-
Manual Configuration
tric unit (control unit) by hand. J
CAUTION:
Use “Manual Configuration” only when “TYPE ID” of ABS actuator and electric unit (control unit) can-
not be read. K

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

Reference Value INFOID:0000000012793735
CONSULT DATA MONITOR STANDARD VALUE

NOTE:
Monitor item Condition Reference values in normal operation

Vehicle stopped 0.00 km/h (MPH)
FR LH SENSOR Nearly matches the speedometer dis-
When driving(Note 1) play (within ±10%)
FR RH SENSOR Nearly matches the speedometer dis-
RR LH SENSOR Nearly matches the speedometer dis-
RR RH SENSOR Nearly matches the speedometer dis-
BATTERY VOLT Ignition switch ON 10 – 16 V
Brake pedal depressed On
STOP LAMP SW
Brake pedal not depressed Off
VDC OFF switch ON On
OFF SW
VDC OFF switch OFF Off
Vehicle stopped Approx. 0 d/s
YAW RATE SEN Turning right Negative value
Turning left Positive value
Active On
FR RH IN SOL
Not activated Off
Active On
FR RH OUT SOL
Not activated Off
Active On
FR LH IN SOL
Not activated Off
Active On
FR LH OUT SOL
Not activated Off
Active On
RR RH IN SOL
Not activated Off
Active On
RR RH OUT SOL
Not activated Off
Active On
RR LH IN SOL
Not activated Off
Active On
RR LH OUT SOL
Not activated Off

A
Active On
MOTOR RELAY
Not activated Off
Active On B
ACTUATOR RLY
When not operating (in fail-safe mode) Off
When ABS warning lamp is ON(Note 2) On

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

OFF LAMP
When VDC OFF indicator lamp is OFF(Note 2) Off D
When VDC warning lamp is ON(Note 2) On

SLIP/VDC LAMP
When VDC warning lamp is OFF(Note 2) Off E
Never depress accelerator pedal
0%
(with ignition switch ON)
ACCEL POS SIG
Depress accelerator pedal BRC
0 – 100%
(with ignition switch ON)
Vehicle stopped Approx. 0 m/s2
SIDE G-SENSOR G
Right turn Negative value
Left turn Positive value
When stopped Approx. 0 m/s2 H
DECEL G-SEN During acceleration Positive value
During deceleration Negative value
I
When driving straight 0±2.5°
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° J
Engine stopped 0 tr/min
ENGINE SPEED
Engine running Almost same reading as tachometer
Brake pedal not depressed Approx. 0 bar K
PRESS SENSOR 0 – 255 bar

Brake pedal depressed (Pressure increases according to pedal
effort.) L
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 M
When parking brake is active On
PARK BRAKE SW
Parking brake is released Off
N
Active On
CV1
Not activated Off
Active On O
CV2
Not activated Off
EBD activated On
EBD SIGNAL P
EBD not activated Off
ABS is activated On
ABS SIGNAL
ABS is not activated Off
TCS activated On
TCS SIGNAL
TCS not activated Off

VDC activated On
VDC SIGNAL
VDC not activated Off
In EBD fail-safe On
EBD FAIL SIG
EBD is normal Off
In ABS fail-safe On
ABS FAIL SIG
ABS is normal Off
In TCS fail-safe On
TCS FAIL SIG
TCS is normal Off
In VDC fail-safe On
VDC FAIL SIG
VDC is normal Off
At cranking On
CRANKING SIG
Other than at cranking Off
When brake warning lamp is ON(Note 2) On

EBD WARN LAMP
When brake warning lamp is OFF(Note 2) Off
1–7
GEAR Driving
Depending on shift status
When selector lever is in the N position On
N POSI SIG
When selector lever is in the other position than N Off
When selector lever is in the R position On
R POSI SIG
When selector lever is in the other position than R Off
AUTO, LOCK, 2WD (depending on
4WD MODE MON(Note 3) Always
AWD control status)
When drive mode select switch is the Sport+ Sports
VDC control mode(Note 4)
When drive mode select switch is NOT Sport+ Standard
When hill start assist is active On
USS SIG(Note 5)
When hill start assist is not active Off
Note 1: Confirm tire pressure is standard value.
Note 2: Refer to BRC-18, "System Description" for ON/OFF conditions of each warning lamp and indicator
lamp.
Note 3: AWD models
Note 4: VR30DDTT engine models
Note 5: “USS” means “hill start assist”
Fail-Safe INFOID:0000000012793736
VDC FUNCTION, TCS FUNCTION, BRAKE LIMITED SLIP DIFFERENTIAL FUNCTION, BRAKE AS-
SIST FUNCTION, hill start assist FUNCTION AND BRAKE FORCE DISTRIBUTION FUNCTION
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 differ-
ential (BLSD) function, Brake assist function, hill start assist function and Brake force distribution function. The
vehicle status becomes the same as models without VDC function, TCS function, Brake limited slip differential
(BLSD) function, Brake assist function, hill start assist function and Brake force distribution function. 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, hill start assist function and
Brake force distribution function. The vehicle status becomes the same as models without VDC function, TCS
function, ABS function, Brake limited slip differential (BLSD) function, Brake assist function, hill start assist
function and Brake force distribution function. 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- A
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- B
function occurs in system [ABS actuator and electric unit (control unit)]. The control is suspended for VDC
assist function, hill start assist function and Brake force distribution function. The vehicle status becomes the C
same as models without VDC function, TCS function, ABS function, EBD function, Brake limited slip differen-
DTC Fail-safe condition D

C1101
C1102 • VDC function E
• ABS function
C1104 • EBD function (only when both 2 rear wheels are malfunctioning)
C1105 • Brake limited slip differential (BLSD) function BRC
• Active trace control function (control of chassis control module) G
C1108
• VDC function
H
• TCS function
• ABS function
• EBD function
C1111 • Brake limited slip differential (BLSD) function I
• Active trace control function (control of chassis control module) J
• VDC function
• TCS function K
• ABS function
• hill start assist function L
C1120
The following functions are suspended. M
• ABS function
C1123 • EBD function
N
C1125 • hill start assist function O
C1127
C1130 The following functions are suspended. P
• VDC function
• TCS function

• VDC function
• TCS function
• ABS function
• EBD function
C1140
• VDC function
• TCS function
C1142
• VDC function
• TCS function
• VDC function
• TCS function
• ABS function
• VDC function
• TCS function
C1155
• VDC function
• TCS function
• ABS function
• VDC function
• TCS function
• ABS function
• EBD function

A
• VDC function
• TCS function
• ABS function B
• Brake force distribution function C
C1197
C1198 D
C1199 —
C119A Electrical vacuum assistance of brake booster is suspended.
E
• VDC function
• TCS function
U1000 • Brake limited slip differential (BLSD) function BRC
G
DTC Inspection Priority Chart INFOID:0000000012793737
When multiple DTCs are displayed simultaneously, check one by one depending on the following priority list. H
Priority Detected item (DTC)

1 • U1000 CAN COMM CIRCUIT I
2 • C1170 VARIANT CODING
• C1130 ENGINE SIGNAL 1
3 • C1144 ST ANG SEN SIGNAL J
• C1138 4WAS CIRCUIT
• C1109 BATTERY VOLTAGE [ABNOMAL]
4 • C1111 PUMP MOTOR K
• C1140 ACTUATOR RLY

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
• C1115 ABS SENSOR [ABNORMAL SIGNAL]
• C1116 STOP LAMP SW
• C1120 FR LH IN ABS SOL
• C1121 FR LH OUT ABS SOL
• C1122 FR RH IN ABS SOL
• C1123 FR RH OUT ABS SOL
5 • C1124 RR LH IN ABS SOL
• C1125 RR LH OUT ABS SOL
• C1126 RR RH IN ABS SOL
• C1127 RR RH OUT ABS SOL
• C1142 PRESS SEN CIRCUIT
• C1143 ST ANG SEN CIRCUIT
• C1145 YAW RATE SENSOR
• C1146 SIDE G SEN CIRCUIT
• C1160 DECEL G SEN SET
• C1164 CV 1
• C1165 CV 2
• C1197 VACUUM SENSOR
• C1198 VACUUM SEN CIR
• C1199 BRAKE BOOSTER
• C119A VACUUM SEN VOLT
6 • C1155 BR FLUID LEVEL LOW
DTC Index INFOID:0000000012793738
VDC warning ABS warning Brake warning

DTC Display Item Refer to
lamp lamp lamp
C1101 RR RH SENSOR-1 ON ON OFF
C1102 RR LH SENSOR-1 ON ON OFF
BRC-98, "DTC Description"
C1103 FR RH SENSOR-1 ON ON OFF
C1104 FR LH SENSOR-1 ON ON OFF
C1105 RR RH SENSOR-2 ON ON OFF
C1106 RR LH SENSOR-2 ON ON OFF
C1107 FR RH SENSOR-2 ON ON OFF
C1108 FR LH SENSOR-2 ON ON OFF
C1109 BATTERY VOLTAGE [ABNOMAL] ON ON ON BRC-110, "DTC Description"
C1111 PUMP MOTOR ON ON ON BRC-112, "DTC Description"
C1115 ABS SENSOR [ABNORMAL SIGNAL] ON ON OFF BRC-115, "DTC Description"
C1116 STOP LAMP SW ON ON OFF BRC-122, "DTC Description"
C1120 FR LH IN ABS SOL ON ON ON BRC-128, "DTC Description"
C1121 FR LH OUT ABS SOL ON ON ON BRC-130, "DTC Description"
C1122 FR RH IN ABS SOL ON ON ON BRC-128, "DTC Description"
C1123 FR RH OUT ABS SOL ON ON ON BRC-130, "DTC Description"
C1124 RR LH IN ABS SOL ON ON ON BRC-128, "DTC Description"
C1125 RR LH OUT ABS SOL ON ON ON BRC-130, "DTC Description"
C1126 RR RH IN ABS SOL ON ON ON BRC-128, "DTC Description"

VDC warning ABS warning Brake warning
DTC Display Item Refer to
lamp lamp lamp A
C1127 RR RH OUT ABS SOL ON ON ON BRC-130, "DTC Description"
C1130 ENGINE SIGNAL 1 ON OFF OFF BRC-132, "DTC Description"
B
C1138 4WAS CIRCUIT ON OFF OFF BRC-134, "DTC Description"
C1140 ACTUATOR RLY ON ON ON BRC-136, "DTC Description"
C1142 PRESS SEN CIRCUIT ON OFF OFF BRC-138, "DTC Description" C
C1143 ST ANG SEN CIRCUIT ON OFF OFF BRC-141, "DTC Description"
C1144 ST ANG SEN SIGNAL ON OFF OFF BRC-145, "DTC Description"
D
C1145 YAW RATE SENSOR ON ON OFF
C1146 SIDE G SEN CIRCUIT ON ON OFF
C1155 BR FLUID LEVEL LOW ON OFF OFF BRC-149, "DTC Description" E
C1160 DECEL G SEN SET ON ON OFF BRC-153, "DTC Description"
C1164 CV 1 ON ON ON
C1165 CV 2 ON ON ON BRC
C1170 VARIANT CODING ON ON OFF BRC-157, "DTC Description"
C1197 VACUUM SENSOR OFF OFF ON BRC-159, "DTC Description"
G
C1198 VACUUM SEN CIR OFF OFF ON BRC-162, "DTC Description"
C1199 BRAKE BOOSTER OFF OFF ON BRC-164, "DTC Description"
C119A VACUUM SEN VOLT OFF OFF ON BRC-167, "DTC Description" H
U1000 CAN COMM CIRCUIT ON OFF OFF BRC-170, "DTC Description"

< WIRING DIAGRAM > [WITH VDC]
WIRING DIAGRAM
Wiring Diagram INFOID:0000000012793739
JRFWC5005GB

BRC
JRFWC5006GB

JRFWC5007GB

BRC
JRFWC5008GB

JRFWC5009GB

BRC
JRFWC5010GB

JRFWC5011GB

BRC
JRFWC5012GB

JRFWC5013GB

BRC
JRFWC5014GB

JRFWC5015GB

BRC
JRFWC5016GB

JRFWC5017GB

DIAGNOSIS AND REPAIR WORK FLOW
< BASIC INSPECTION > [WITH VDC]
BASIC INSPECTION A
Work Flow INFOID:0000000012793740
B
DETAILED FLOW
1.INTERVIEW FROM THE CUSTOMER C
Clarify customer complaints before inspection. First of all, perform an interview utilizing BRC-88, "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 to BRC-68, "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 THE SELF-DIAGNOSIS I
With CONSULT
1. Turn the ignition switch OFF → ON. J
CAUTION:
Be sure to wait of 10 seconds after turning ignition switch OFF or ON.
2. Perform self-diagnosis for “ABS”.
K
Is DTC detected?
YES >> Record or print self-diagnosis results and freeze frame data (FFD). GO TO 4.
NO >> GO TO 6.
L
4.RECHECK THE SYMPTOM
With CONSULT
1. Erase self-diagnostic results for “ABS”. M
2. Turn the ignition switch OFF → ON → OFF.
CAUTION:
Be sure to wait of 10 seconds after turning ignition switch OFF or ON.
N
3. 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
BRC-71, "DTC Inspection Priority Chart". O
Is DTC detected?
YES >> GO TO 5.
NO >> Check harness and connectors based on the information obtained by interview. Refer to GI-45, P
"Intermittent Incident".
5.REPAIR OR REPLACE ERROR-DETECTED PART
With CONSULT
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”.

CAUTION:
• Turn the ignition switch OFF → ON → OFF after erase self-diagnosis result.
• Be sure to wait of 10 seconds after turning ignition switch OFF or ON.
>> GO TO 7.
6.IDENTIFY ERROR-DETECTED SYSTEM BY SYMPTOM DIAGNOSIS
Estimate error-detected system based on symptom diagnosis and perform inspection.
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-45,
"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:0000000012793741
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
Engine/trac-
Storage date Mileage km (Mile)
tion Motor
Does not operate ( ) function
Warning lamp turns ON.
Symptom
or or
Other ( )
Noise (Location: ) Vibration (Location: )
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
Road conditions Ordinary road Highway Mountainous road (uphill or downhill) Rough road

Interview sheet
A
Registration Initial year
Customer number registration
MR/MS
name
Vehicle type VIN
B
Engine/trac-
Storage date Mileage km (Mile)
tion Motor
Irrelevant
When engine/traction motor starts During idling C
During driving During acceleration At constant speed driving
Operating condition, etc. During deceleration
Immediately before stop [Vehicle speed: Approx. km/h (MPH)] D
During cornering (right curve or left curve)
When steering wheel is steered (to right or to left)
VDC OFF switch operation Yes No
E
Use of other functions
Yes No ( )
(ex. ICC)
Other condi- Presence of non-genuine

Yes No ( ) BRC
tions parts installation
Memo
H

ADDITIONAL SERVICE WHEN REPLACING ABS ACTUATOR AND ELECTRIC
UNIT (CONTROL UNIT)
ADDITIONAL SERVICE WHEN REPLACING ABS ACTUATOR AND ELEC-
TRIC UNIT (CONTROL UNIT)
Description INFOID:0000000012793742
• When replaced the ABS actuator and electric unit (control unit), perform adjust the neutral position of steer-
ing angle sensor. Refer to BRC-94, "Description".
• When replaced the ABS actuator and electric unit (control unit), perform calibration of the decel G sensor.
Refer to BRC-94, "Description".
• When replaced the ABS actuator and electric unit (control unit), perform configuration of the ABS actuator
and electric unit (control unit) is required. Refer to BRC-96, "Work Procedure".

ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION
A
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:0000000012793744

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 VEHICLE SPECIFICATIONS J
Check vehicle specifications.

K
Models with direct adaptive steering system>>Refer to STC-203, "Work Procedure". GO TO 4.
Models without direct adaptive steering system>>GO TO 2.
2.CHECK THE VEHICLE STATUS (1) L
Stop vehicle with front wheels in the straight-ahead position.
Does the vehicle stay in the straight-ahead position?
M
YES >> GO TO 3.
NO >> Steer the steering wheel to the straight-ahead position. Stop the vehicle.
3.ADJUST NEUTRAL POSITION OF STEERING ANGLE SENSOR N
With CONSULT
1. Turn the ignition switch ON.
CAUTION: O
Never start engine.
2. Select “ABS”, “WORK SUPPORT” and “ST ANGLE SENSOR ADJUSTMENT” in this order.
3. Select “START”.
CAUTION: P
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.
CAUTION:
Be sure to perform the operation above.
>> GO TO 4.

4.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.
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 11.
NO >> GO TO 5.
5.CHECK STEERING COMPONENT PARTS
Check the installation condition of steering component parts.
• Vehicle speed sensitive power steering system: Refer to ST-31, "Inspection".
• Direct adaptive steering system: Refer to ST-125, "Inspection".
YES >> GO TO 6.
NO >> Repair or replace error-detected parts. GO TO 6.
6.CHECK SUSPENSION COMPONENT PARTS
Check the installation condition of suspension component parts.
• Front
- 2WD: Refer to FSU-27, "Inspection" (VR30DDTT engine models), FSU-8, "Inspection" (2.0L TURBO engine
models).
- AWD: Refer to FSU-53, "Inspection".
• Rear: Refer to RSU-5, "Inspection".
YES >> GO TO 7.
NO >> Repair or replace error-detected parts. GO TO 7.
7.CHECK WHEEL ALIGNMENT
Check the wheel alignment.
• Front
- 2WD: Refer to FSU-28, "EXCEPT DIRECT ADAPTIVE STEERING : Inspection" (VR30DDTT engine models
with hydraulic pump electric power steering system), FSU-29, "DIRECT ADAPTIVE STEERING : Inspection"
(VR30DDTT engine models with direct adaptive steering system), FSU-9, "Inspection" (2.0L TURBO engine
models).
- AWD: Refer to FSU-54, "EXCEPT DIRECT ADAPTIVE STEERING : Inspection" (models with hydraulic
pump electric power steering system), FSU-55, "DIRECT ADAPTIVE STEERING : Inspection" (models with
direct adaptive steering system).
• Rear: Refer to RSU-6, "Inspection".
YES >> Adjust the wheel alignment. GO TO 8.
• Front
- 2WD: Refer to FSU-29, "EXCEPT DIRECT ADAPTIVE STEERING : Adjustment" (VR30DDTT
engine models with hydraulic pump electric power steering system), FSU-30, "DIRECT ADAP-
TIVE STEERING : Adjustment" (VR30DDTT engine models with direct adaptive steering sys-
tem), FSU-9, "Adjustment" (2.0L TURBO engine models).
- AWD: Refer to FSU-55, "EXCEPT DIRECT ADAPTIVE STEERING : Adjustment" (models with
hydraulic pump electric power steering system), FSU-55, "DIRECT ADAPTIVE STEERING :
Inspection" (models with direct adaptive steering system).
• Rear: Refer to RSU-6, "Adjustment".
8.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 9.
NO >> Steer the steering wheel to the straight-ahead position. Stop the vehicle. GO TO 9. A
With CONSULT B
1. The vehicle is either pointing straight ahead, or the vehicle needs to be moved. Stop when it is pointing
straight ahead.
the signal is within the specified value. C

Is the inspection result normal? D
YES >> GO TO 11.
NO >> GO TO 10.
E
With CONSULT
1. The vehicle is either pointing straight ahead, or the vehicle needs to be moved. BRC
CAUTION:
• Drive the vehicle at approx. 30 km/h (19MPH) or more for 300 m (985 ft) or more.
• Never use tester
2. The vehicle is either pointing straight ahead, or the vehicle needs to be moved. Stop when it is pointing G
straight ahead.
the signal is within the specified value. H

Is the inspection result normal? I
YES >> GO TO 11.
NO >> GO TO 1.
11.ERASE SELF-DIAGNOSIS MEMORY J
With CONSULT
1. Erase self-diagnosis result of “ABS”. K
CAUTION:
Be sure to wait for 10 seconds or more after turning the ignition switch OFF or ON.
L
Are the memories erased?
YES >> INSPECTION END
NO >> Check the items indicated by the self-diagnosis.
M

CALIBRATION OF DECEL G SENSOR
CAUTION:
Always perform the decel G sensor calibration before driving when the following operation is per-
formed. Refer to BRC-94, "Work Procedure"
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. —
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
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.

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 C
: Approx. 0 m/s2
YES >> GO TO 4. D
NO >> GO TO 1.
4.ERASE SELF-DIAGNOSIS MEMORY
E
With CONSULT
Erase self-diagnosis result of “ABS”.
Are the memories erased?
BRC
NO >> Check the items indicated by the self-diagnosis.

CONFIGURATION [ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)]
CONFIGURATION [ABS ACTUATOR AND ELECTRIC UNIT (CONTROL
UNIT)]
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. Refer to BRC-195, "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)
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
Save “Type ID” on CONSULT.
>> GO TO 5.
5.REPLACING ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) (1)
Replace ABS actuator and electric unit (control unit). Refer to BRC-195, "Removal and Installation".
CAUTION:
Never perform the following work items:
• Air bleeding
• Calibration of decel G sensor
>> GO TO 6.
6.WRITING (AUTOMATIC WRITING)
1. Select “After Replace ECU” of “Re/programming, Configuration” or that of “Read / Write Configuration”.
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).

CONFIGURATION [ABS 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”. A
>> GO TO 9.
7.REPLACING ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) (2) B
Replace ABS actuator and electric unit (control unit). Refer to BRC-195, "Removal and Installation".
CAUTION:
C
Never perform the following work items:
• Air bleeding
• Calibration of decel G sensor
D
>> GO TO 8.
8.WRITING (MANUAL WRITING) E
1. Select “Manual Configuration”.
2. Select the “Type ID” searched by using FAST (service parts catalogue) to write the “Type ID” into the ABS BRC
actuator and electric unit (control unit).
NOTE:
G
>> GO TO 9.
9.VERIFYING TYPE ID (2) H
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: I
>> GO TO 10. J
10.CHECKING VDC WARNING LAMP
1. Turn the ignition switch OFF. K
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. L
YES >> GO TO 11.
NO >> Perform the self-diagnosis of “ABS”. Refer to BRC-61, "CONSULT Function". M
11.PERFORMING SUPPLEMENTARY WORK
1. Perform the air bleeding. Refer to BR-17, "Bleeding Brake System". N
2. Perform the adjustment of steering angle sensor neutral position. Refer to BRC-91, "Work Procedure".
3. Perform the calibration of decel G sensor. Refer to BRC-94, "Work Procedure".
4. Perform the self-diagnosis of all systems.
5. Erase self-diagnosis results. O
>> End of work.

P

C1101, C1102, C1103, C1104 WHEEL SENSOR
< DTC/CIRCUIT DIAGNOSIS > [WITH VDC]
DTC/CIRCUIT DIAGNOSIS
DTC Description INFOID:0000000012793748
DTC DETECTION LOGIC
Display Item
DTC Malfunction detected condition
(Trouble diagnosis content)
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
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)
FR LH SENSOR-1
C1104 When an open circuit is detected in front LH wheel sensor circuit.
(Front LH wheel sensor-1)
POSSIBLE CAUSE
NOTE:
Confirm if DTC is PAST or CRNT. If DTC is CRNT, proceed with Diagnosis Procedure. If DTC is PAST, clear
DTC. Do not replace the ABS actuator and electric unit (control unit) for a PAST DTC.
PAST DTC CRNT DTC

• Harness or connector
• Wheel sensor
• ABS actuator and electric unit (control unit)
• ABS actuator and electric unit (control unit) power supply sys-
tem
tem
• Fuse
• Fuse
• Fusible link
• Fusible link
• Battery
• Battery
• Vehicle was not driven after previous repair
FAIL-SAFE
• VDC function
• TCS function
• ABS function
• EBD function (only when both 2 rear wheels are malfunctioning)
• Active Trace 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. Start the engine.
2. Drive the vehicle at approx. 50 km/h (31 MPH) or more for approx. 2 minutes.
3. Stop the vehicle.

NOTE: A
Wait at least 10 seconds after turning ignition switch OFF.
NOTE:
B
Wait at least 10 seconds after start the engine.
Is DTC “C1101”, “C1102”, “C1103” or “C1104” detected?
C
YES-1 >> “C1101”, “C1102”, “C1103” or “C1104” is displayed by “CRNT”: Proceed to BRC-99, "Diagnosis
Procedure".
YES-2 >> “C1101”, “C1102”, “C1103” and “C1104” are displayed by “PAST”: INSPECTION END (Erase the
memory of self-diagnosis results.) D
NO-1 >> To check malfunction symptom before repair: Refer to GI-45, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000012793749
E
CAUTION:
Never check between wheel sensor harness connector terminals. BRC
1.CHECK WHEEL SENSOR
2. Check the wheel sensor for damage. G
YES >> GO TO 3.
H
NO >> GO TO 2.
2.REPLACE WHEEL SENSOR (1)
With CONSULT I
1. Replace the wheel sensor.
- Front: Refer to BRC-191, "FRONT WHEEL SENSOR : Removal and Installation".
- Rear: Refer to BRC-192, "REAR WHEEL SENSOR : Removal and Installation". J
2. Erase self-diagnosis result for “ABS”.
NOTE:
Wait at least 10 seconds after turning ignition switch OFF or ON. K
NOTE: L
Vehicle must be driven after repair or replacement to erase the previous DTCs.
NOTE: M
NOTE: N
Is DTC “C1101”, “C1102”, “C1103” or “C1104” detected? O
YES >> GO TO 3.
3.CHECK CONNECTOR P
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.
YES >> GO TO 5.
NO >> Repair / replace harness or connector, securely lock the connector, and GO TO 4.

4.PERFORM SELF-DIAGNOSIS (1)

With CONSULT
NOTE:
Wait at least 10 seconds after turning ignition switch OFF or ON.
NOTE:
NOTE:
NOTE:
YES >> GO TO 5.
5.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) POWER SUPPLY AND GROUND CIR-
CUIT
Check the ABS actuator and electric unit (control unit) power supply and ground circuit. Refer to BRC-171,
"Diagnosis Procedure".
YES >> GO TO 6.
NO >> Repair / replace harness, connector, fuse, or fusible link.
6.CHECK TERMINAL
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 wheel sensor harness connector and check each wheel sensor pin terminals for damage or
loose connection with harness connector.
YES >> GO TO 8.
NO >> Repair / replace harness, connector, or terminal, and GO TO 7.
With CONSULT
1. Connect ABS actuator and electric unit (control unit) harness connector.
2. Connect wheel sensor harness connector.
NOTE:
NOTE:
NOTE:
NOTE:

10. Perform self-diagnosis for “ABS”. A
YES >> GO TO 8.
NO >> INSPECTION END B
8.CHECK WHEEL SENSOR HARNESS
C
2. Disconnect ABS actuator and electric unit (control unit) harness connector.
3. Disconnect 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 while turning steering wheel left and right, or while mov- D
ing center harness in wheel housing.)
- Measurement connector and terminal for power supply circuit
E
ABS actuator and electric unit (control unit) Wheel sensor
Continuity
Connector Terminal Connector Terminal
BRC
20 E48 (Front LH wheel)
10 E54 (Front RH wheel)
E35 2 Existed
8 C6 (Rear LH wheel) G
18 C5 (Rear RH wheel)
- Measurement connector and terminal for signal circuit
H
Continuity
I
E35 1 Existed
7 C6 (Rear LH wheel) J
K
YES >> GO TO 10.
NO >> Repair / replace harness or connector, and GO TO 9.
9.PERFORM SELF-DIAGNOSIS (3) L
With CONSULT
2. Connect wheel sensor harness connector. M
NOTE: N
NOTE: O
8. Turn the ignition switch OFF. P
NOTE:
NOTE:

YES >> GO TO 10.
10.CHECK WHEEL SENSOR OUTPUT SIGNAL
3. Connect ABS active wheel sensor tester (SST: J-45741-A) to wheel sensor using appropriate adapter.
4. Turn the ABS active wheel sensor tester power switch ON.
NOTE:
The green POWER indicator should illuminate. If the POWER indicator does not illuminate, replace the
battery in the ABS active wheel sensor tester before proceeding.
5. Spin the wheel of the vehicle by hand and observe the red SENSOR indicator on the ABS active wheel
sensor tester. The red SENSOR indicator should flash ON and OFF to indicate an output signal.
NOTE:
If the red SENSOR indicator illuminates but does not flash, reverse the polarity of the tester leads and
retest.
Does the ABS active wheel sensor tester detect a signal?
YES >> Replace the ABS actuator and electric unit (control unit). Refer to BRC-195, "Removal and Instal-
lation".
NO >> GO TO 11.
11.REPLACE WHEEL SENSOR
With CONSULT
- Rear: Refer to BRC-192, "REAR WHEEL SENSOR : Removal and Installation".
NOTE:
NOTE:
NOTE:
NOTE:
lation".

A
DTC DETECTION LOGIC B
Display Item
(Trouble diagnosis content) C
• When power supply voltage of rear RH wheel sensor is low.
• When distance between rear RH wheel sensor and rear RH wheel sensor rotor is large.
RR RH SENSOR-2
C1105 • When installation of rear RH wheel sensor or rear RH wheel sensor rotor is not normal.
(Rear RH wheel sensor-2) D
• When there is contamination on or damage to the rear RH wheel sensor or rear RH sen-
sor rotor.
• When power supply voltage of rear LH wheel sensor is low.
• When distance between rear LH wheel sensor and rear LH wheel sensor rotor is large. E
RR LH SENSOR-2
C1106 • When installation of rear LH wheel sensor or rear LH wheel sensor rotor is not normal.
(Rear LH wheel sensor-2)
• When there is contamination on or damage to the rear LH wheel sensor or rear LH sen-
sor rotor.
BRC
• When power supply voltage of front RH wheel sensor is low.
• When distance between front RH wheel sensor and front RH wheel sensor rotor is large.
FR RH SENSOR-2
C1107 • When installation of front RH wheel sensor or front RH wheel sensor rotor is not normal.
(Front RH wheel sensor-2)
• When there is contamination on or damage to the front RH wheel sensor or front RH sen- G
sor rotor.
• When power supply voltage of front LH wheel sensor is low.
• When distance between front LH wheel sensor and front LH wheel sensor rotor is large. H
FR LH SENSOR-2
C1108 • When installation of front LH wheel sensor or front LH wheel sensor rotor is not normal.
(Front LH wheel sensor-2)
• When there is contamination on or damage to the front LH wheel sensor or front LH sen-
sor rotor.
I
POSSIBLE CAUSE
NOTE:
J
PAST DTC CRNT DTC

K
• Harness or connector • Wheel sensor
• Wheel sensor • Sensor rotor
• Sensor rotor • ABS actuator and electric unit (control unit) L
• Tire size • Tire size
• ABS actuator and electric unit (control unit) power supply sys- • ABS actuator and electric unit (control unit) power supply sys-
tem tem
• Fuse • Fuse M
• Fusible link • Fusible link
• Battery • Battery
• Vehicle was not driven after previous repair
N
FAIL-SAFE
• VDC function O
• TCS function
• ABS function
• EBD function (only when both 2 rear wheels are malfunctioning)
• Brake limited slip differential (BLSD) function P
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
NOTE:
NOTE:
YES-1 >> “C1105”, “C1106”, “C1107” or “C1108” is displayed by “CRNT”: Proceed to BRC-104, "Diagnosis
Procedure".
memory of self-diagnosis results.)
CAUTION:
Never check between wheel sensor harness connector terminals.
1.CHECK WHEEL HUB ASSEMBLY
Check that there is no excessive looseness in wheel hub assembly.
• Front
- 2WD models: Refer to FAX-7, "Inspection".
- AWD models: Refer to FAX-17, "Inspection".
• Rear: Refer to RAX-6, "Inspection".
YES >> GO TO 2.
NO >> Repair or replace the wheel hub assembly, and GO TO 2.
• Front
- 2WD models: Refer to FAX-8, "Removal and Installation".
- AWD models: Refer to FAX-19, "Removal and Installation".
• Rear: Refer to RAX-8, "Removal and Installation".
CUIT
YES >> GO TO 3.
3.CHECK TIRE
2. Check the tire air pressure, wear and size. Refer to WT-82, "Tire Air Pressure".
YES >> GO TO 6.
NO >> Adjust air pressure or replace tire, and GO TO 4.

4.CHECK DATA MONITOR (1) A

With CONSULT
2. Turn the ignition switch OFF → ON → OFF. B
NOTE:
4. Select “ABS” and “DATA MONITOR”, check “FR LH SENSOR”, “FR RH SENSOR”, “RR LH SENSOR” C
and “RR RH SENSOR”.
NOTE:
Set the “DATA MONITOR” recording speed to “10 msec”. D
5. Read a value (wheel speed) of both normal wheel sensors and error-detecting wheel sensor.
NOTE:
E
Note the difference at 50 km/h (31 MPH) between the wheel speed detected by the error detecting wheel sen-
sor and the maximum/minimum wheel speed detected by the normal wheel sensors, is the difference within
5%, respectively?
YES >> GO TO 5. BRC
NO >> GO TO 6.
5.PERFORM SELF-DIAGNOSIS (1) G
With CONSULT
H
NOTE:
NOTE: I
Is DTC “C1105”, “C1106”, “C1107” or “C1108” detected? J
YES >> GO TO 6.
6.CHECK WHEEL SENSOR AND SENSOR ROTOR K
3. Remove dust and foreign matter adhered to the wheel sensor and sensor rotor with a vacuum dust collec- L
tor through the wheel sensor mounting hole.
CAUTION:
Install wheel sensor with no backlash and float, and tighten the mounting bolt to the specified M
torque.
• Front: Refer to BRC-191, "FRONT WHEEL SENSOR : Exploded View".
• Rear: Refer to BRC-192, "REAR WHEEL SENSOR : Exploded View".
N
>> GO TO 7.
7.CHECK WHEEL SENSOR O
Check the wheel sensor for damage.
YES >> GO TO 8. P
NO >> GO TO 9.
NOTE:

sensor tester. The red SENSOR indicator should flash ON and OFF to indicate an output signal.
NOTE:
retest.
YES >> GO TO 12.
NO >> GO TO 9.
With CONSULT
NOTE:
6. Select “ABS” and “DATA MONITOR”, check “FR LH SENSOR”, “FR RH SENSOR”, “RR LH SENSOR”
NOTE:
Set the “DATA MONITOR” recording speed to “10 msec”.
NOTE:
5%, respectively?
YES >> GO TO 10.
NO >> GO TO 20.
With CONSULT
NOTE:
NOTE:
YES >> GO TO 11.
11.CHECK CONNECTOR
YES >> GO TO 14.
With CONSULT

2. Turn the ignition switch OFF → ON → OFF. A
NOTE:
B
NOTE:
Set the “DATA MONITOR” recording speed to “10 msec”. C
NOTE:
Vehicle must be driven after repair or replacement to erase the previous DTCs. D
5%, respectively?
E
YES >> GO TO 13.
NO >> GO TO 14.
13.PERFORM SELF-DIAGNOSIS (3) BRC
With CONSULT
2. Turn the ignition switch OFF. G
NOTE:
NOTE: H
Is DTC “C1105”, “C1106”, “C1107” or “C1108” detected? I
YES >> GO TO 14.
14.CHECK TERMINAL J

K
ator and electric unit (control unit) pin terminals for damage or loose connection with harness connector.
Is the inspection result normal? L
YES >> GO TO 17.
M
With CONSULT
1. Connect ABS actuator and electric unit (control unit) harness connector. N
NOTE: O
6. Select “ABS” and “DATA MONITOR”, check “FR LH SENSOR”, “FR RH SENSOR”, “RR LH SENSOR” P
NOTE:
NOTE:

5%, respectively?
YES >> GO TO 16.
NO >> GO TO 17.
With CONSULT
NOTE:
NOTE:
YES >> GO TO 17.
17.CHECK WHEEL SENSOR HARNESS
4. 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
20, 19
10, 9
E35 Ground Not existed
8, 7
18, 17
YES >> GO TO 18.
With CONSULT
NOTE:
NOTE:
NOTE:
5%, respectively?
YES >> GO TO 19.

NO >> Replace the ABS actuator and electric unit (control unit). Refer to BRC-195, "Removal and Instal-
lation". A
With CONSULT B
NOTE:
Wait at least 10 seconds after turning ignition switch OFF. C
NOTE:
Wait at least 10 seconds after start the engine. D
YES >> Replace the ABS actuator and electric unit (control unit). Refer to BRC-195, "Removal and Instal- E
lation".
20.REPLACE SENSOR ROTOR BRC
With CONSULT
1. Replace the sensor rotor.
- Front: Refer to BRC-194, "FRONT SENSOR ROTOR : Removal and Installation". G
- Rear: Refer to BRC-194, "REAR SENSOR ROTOR : Removal and Installation".
H
NOTE:
5. Drive the vehicle at approx. 50 km/h (31 MPH) or more for approx. 2 minutes. I
NOTE:
6. Stop the vehicle. J
NOTE:
8. Start the engine. K
NOTE:
9. Perform self-diagnosis for “ABS”. L
lation". M

C1109 POWER AND GROUND SYSTEM
DTC DETECTION LOGIC
Display Item
When ignition power supply voltage is in following state.
BATTERY VOLTAGE [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.
POSSIBLE CAUSE
NOTE:
PAST DTC CRNT DTC

• Harness or connector • ABS actuator and electric unit (control unit)
• ABS actuator and electric unit (control unit) power supply sys- • IPDM E/R
tem • ABS actuator and electric unit (control unit) power supply sys-
• Fuse tem
• Fusible link • Fuse
• Battery • Fusible link
• Charge system • Battery
• Charge system
FAIL-SAFE
• VDC function
• TCS function
• ABS function
• EBD function
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
NOTE:
NOTE:
Is DTC “C1109” detected?
YES-1 >> “CRNT” is displayed: Proceed to BRC-111, "Diagnosis Procedure".
YES-2 >> “PAST” is displayed: INSPECTION END (Erase the memory of self-diagnosis results.)

NO-2 >> Confirmation after repair: INSPECTION END A
1.CHECK CONNECTOR B

C
YES >> GO TO 3.
D
2.PERFORM SELF-DIAGNOSIS
With CONSULT
1. Turn the ignition switch OFF. E
NOTE:
2. Start the engine. BRC
NOTE:
G
YES >> GO TO 3.
H
CUIT
Check the ABS actuator and electric unit (control unit) power supply and ground circuit. Refer to BRC-171, I
YES >> GO TO 4. J
4.CHECK TERMINAL
K
1. Check the ABS actuator and electric unit (control unit) pin terminals for damage or loose connection with
harness connector.
2. Check the IPDM E/R pin terminals for damage or loose connection with harness connector.
lation".
NO >> Repair / replace harness, connector, or terminal. M

C1111 ABS MOTOR, MOTOR RELAY SYSTEM
DTC DETECTION LOGIC
Display Item
PUMP MOTOR
C1111 When a malfunction is detected in motor or motor relay.
(Pump motor and motor relay)
POSSIBLE CAUSE
NOTE:
PAST DTC CRNT DTC

tem
tem
• Fuse
• Fuse
• Fusible link
• Fusible link
• Battery
• Battery
FAIL-SAFE
• VDC function
• TCS function
• ABS function
• EBD function
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
1. Turn the ignition switch OFF → ON, and wait 30 seconds.
NOTE:
NOTE:

NO-2 >> Confirmation after repair: INSPECTION END A
1.CHECK CONNECTOR B

C
YES >> GO TO 3.
D
With CONSULT
1. Turn the ignition switch OFF → ON, and wait 30 seconds. E
NOTE:
Vehicle must be driven after repair or replacement to erase the previous DTCs. BRC
NOTE:
Wait at least 10 seconds after turning ignition switch OFF. G
NOTE:
Wait at least 10 seconds after start the engine. H
YES >> GO TO 3. I
CUIT J
Is the inspection result normal? K
YES >> GO TO 5.
NO >> Repair / replace harness, connector, or fuse, and GO TO 4.
L
4.ERASE SELF-DIAGNOSIS RESULT (1)
With CONSULT
1. Drive the vehicle at approx. 50 km/h (31 MPH) or more for approx. 2 minutes. M
NOTE:
3. Erase self-diagnosis result for “ABS”. N
NOTE:
Wait at least 10 seconds after turning ignition switch OFF or ON. O
>> INSPECTION END

5.CHECK TERMINAL P

harness connector.
lation".

NO >> Repair / replace harness connector, and GO TO 6.
6.ERASE SELF-DIAGNOSIS RESULT (2)
With CONSULT
NOTE:
NOTE:
>> INSPECTION END

C1115 WHEEL SENSOR
C1115 WHEEL SENSOR
A
Display Item
ABS SENSOR [ABNORMAL
SIGNAL] When difference in wheel speed between any wheel and others is detected the vehicle is
C1115
(Wheel sensor [abnormal sig- driven, because of installation of other tires than specified.
nal]) D
POSSIBLE CAUSE
NOTE: E
BRC
PAST DTC CRNT DTC
• Harness or connector • Wheel sensor
• Wheel sensor • Sensor rotor G
• Sensor rotor • ABS actuator and electric unit (control unit)
• ABS actuator and electric unit (control unit) power supply sys- • ABS actuator and electric unit (control unit) power supply sys-
tem tem
• Fuse • Fuse
H
• Fusible link • Fusible link
• Battery • Battery
• Tire size I
FAIL-SAFE
• VDC function J
• TCS function
• ABS function
• Brake limited slip differential (BLSD) function K
• Active trace control function (control of chassis control module) L

1.PRECONDITIONING M
N
>> GO TO 2.
2.CHECK DTC DETECTION O
With CONSULT
2. Drive the vehicle at approx. 50 km/h (31 MPH) or more for approx. 2 minutes. P
NOTE:
NOTE:

C1115 WHEEL SENSOR
CAUTION:
Never check between wheel sensor harness connector terminals.
1.CHECK TIRE
Check the tire air pressure, wear and size. Refer to WT-82, "Tire Air Pressure".
YES >> GO TO 4.
NO >> Adjust air pressure or replace tire and GO TO 2.
With CONSULT
NOTE:
NOTE:
NOTE:
5%, respectively?
YES >> GO TO 3.
NO >> GO TO 4.
With CONSULT
NOTE:
NOTE:
YES >> GO TO 4.
CUIT
YES >> GO TO 5.

C1115 WHEEL SENSOR
5.CHECK WHEEL SENSOR AND SENSOR ROTOR A

3. Remove dust and foreign matter adhered to the wheel sensor and sensor rotor with a vacuum dust collec-
B
tor through the wheel sensor mounting hole.
CAUTION:
Install wheel sensor with no backlash and float, and tighten the mounting bolt to the specified
torque. C
• Front: Refer to BRC-191, "FRONT WHEEL SENSOR : Exploded View".
• Rear: Refer to BRC-192, "REAR WHEEL SENSOR : Exploded View".
D
>> GO TO 6.
6.CHECK WHEEL SENSOR
E
Check the wheel sensor for damage.
YES >> GO TO 7. BRC
NO >> GO TO 8.
1. Disconnect ABS actuator and electric unit (control unit) harness connector. G
NOTE: H
sensor tester. The red SENSOR indicator should flash ON and OFF to indicate an output signal. I
NOTE:
retest. J
YES >> GO TO 11.
NO >> GO TO 8. K
With CONSULT L
- Front: Refer to BRC-191, "FRONT WHEEL SENSOR : Removal and Installation"
2. Connect ABS actuator and electric unit (control unit) harness connector. M
NOTE: N
and “RR RH SENSOR”. O
NOTE:
7. Read a value (wheel speed) of both normal wheel sensors and error-detecting wheel sensor. P
NOTE:
5%, respectively?
YES >> GO TO 9.
NO >> GO TO 19.

C1115 WHEEL SENSOR

With CONSULT
NOTE:
NOTE:
YES >> GO TO 10.
10.CHECK CONNECTOR
YES >> GO TO 12.
With CONSULT
NOTE:
NOTE:
NOTE:
5%, respectively?
YES >> GO TO 12.
NO >> GO TO 13.
With CONSULT
NOTE:
NOTE:
YES >> GO TO 13.
13.CHECK TERMINAL

C1115 WHEEL SENSOR
ator and electric unit (control unit) pin terminals for damage or loose connection with harness connector. A
Is the inspection result normal? B
YES >> GO TO 16.
14.CHECK DATA MONITOR (3) C
With CONSULT
2. Connect wheel sensor harness connector. D
NOTE: E
and “RR RH SENSOR”. BRC
NOTE:
7. Read a value (wheel speed) of both normal wheel sensors and error-detecting wheel sensor. G
NOTE:
Note the difference at 50 km/h (31 MPH) between the wheel speed detected by the error detecting wheel sen- H
5%, respectively?
YES >> GO TO 15.
I
NO >> GO TO 16.
With CONSULT J
NOTE: K
NOTE:
Wait at least 10 seconds after start the engine. L
YES >> GO TO 16. M
16.CHECK WHEEL SENSOR HARNESS N
4. Check the continuity between ABS actuator and electric unit (control unit) harness connector and wheel O
sensor harness connector. (Check continuity while turning steering wheel left and right, or while moving
center harness in wheel housing.)
- Measurement connector and terminal for power supply circuit P

C1115 WHEEL SENSOR

Continuity
E35 2 Existed
8 C6 (Rear LH wheel)
- Measurement connector and terminal for signal circuit

Continuity
E35 1 Existed
7 C6 (Rear LH wheel)
ground.

— Continuity
Connector Terminal
20, 19
10, 9
E35 Ground Not existed
8, 7
18, 17
YES >> GO TO 17.
With CONSULT
NOTE:
NOTE:
NOTE:
5%, respectively?
YES >> GO TO 18.
lation".

C1115 WHEEL SENSOR
With CONSULT
1. Stop the vehicle. A
NOTE:
Wait at least 10 seconds after turning ignition switch OFF. B
NOTE:
4. Perform self-diagnosis for “ABS”. C
lation". D
19.REPLACE SENSOR ROTOR E
With CONSULT
1. Replace the sensor rotor.
- Front: Refer to BRC-194, "FRONT SENSOR ROTOR : Removal and Installation".
BRC
- Rear: Refer to BRC-194, "REAR SENSOR ROTOR : Removal and Installation".
NOTE: G
5. Drive the vehicle at approx. 50 km/h (31 MPH) or more for approx. 2 minutes. H
NOTE:
7. Turn the ignition switch OFF. I
NOTE:
8. Start the engine. J
NOTE:
Is DTC “C1115” detected? K
lation".
NO >> INSPECTION END L

C1116 STOP LAMP SWITCH
DTC DETECTION LOGIC
Display Item
STOP LAMP SW
C1116 When stop lamp switch signal is not input when brake pedal operates.
(Stop lamp switch)
POSSIBLE CAUSE
NOTE:
PAST DTC CRNT DTC

• Stop lamp switch
• Resistor (models with ICC)
• Stop lamp switch signal circuit
tem
• Fuse
• Fusible link
• Battery
FAIL-SAFE
• VDC function
• TCS function
• ABS function
• Brake force distribution function.
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
1. Turn the ignition switch OFF, and wait 10 seconds or more.
NOTE:
Stop the vehicle.
3. Wait 1 minute or more.
NOTE:
Never depress brake pedal.
4. Depress brake pedal by 100 mm (3.94 in) or more, and maintain at that position for a minimum of 1 minute
or more.
5. Release brake pedal, and wait 1 minute or more.
6. Repeat step 4 to 5 ten or more times.
NOTE:

NOTE: A
Is DTC “C1116” detected? B
YES-1 >> “CRNT” is displayed: Proceed to BRC-123, "Diagnosis Procedure"
C
D
NOTE:
DTC “C1116” may be detected when the brake pedal and the accelerator pedal are simultaneously depressed
for 1 minute or more while driving the vehicle. This is not a malfunction.
E
1.INTERVIEW FROM THE CUSTOMER
Check if the brake pedal and the accelerator pedal are simultaneously depressed for 1 minute or more while
driving the vehicle. BRC
Is there such a history?
YES >> GO TO 2.
NO >> GO TO 3. G
2. PERFORM SELF-DIAGNOSIS
With CONSULT H
NOTE:
Wait at least 10 seconds after turning ignition switch OFF or ON. I
NOTE:
Stop the vehicle. J
4. Depress the brake pedal several times.
NOTE:
Wait at least 10 seconds after turning ignition switch OFF. K
NOTE:
Wait at least 10 seconds after start the engine. L
YES >> GO TO 3. M
3.STOP LAMP FOR ILLUMINATION
Depress brake pedal and check that stop lamp turns ON. N
Does stop lamp turn ON?
YES >> GO TO 5.
NO >> Check the stop lamp system circuit. GO TO 4. O

With CONSULT P
NOTE:
NOTE:
Stop the vehicle.

4. Select “ABS”, “DATA MONITOR” and “STOP LAMP SW” according to this order. Check that data monitor
displays “On” or “Off” when brake pedal is depressed or released. Refer to BRC-66, "Reference Value".
5. Select “ABS”, “DATA MONITOR” and “PRESS SENSOR” according to this order. Depress the brake pedal
and check if “PRESSURE SENSOR” indicates “5 bar” or less when “STOP LAMP SW” of “DATA MONI-
TOR” turns from “Off” to “On”. Refer to BRC-66, "Reference Value".
NO >> GO TO 5.
5.CHECK CONNECTOR
3. Check the stop lamp switch harness connector for disconnection or looseness.
YES >> GO TO 6.
CUIT
YES >> GO TO 7.
7.CHECK STOP LAMP SWITCH CLEARANCE
2. Check the stop lamp switch clearance. Refer to BR-12, "Inspection and Adjustment".
YES >> GO TO 9.
NO >> Adjust stop lamp switch clearance. Refer to BR-12, "Inspection and Adjustment". GO TO 8.
With CONSULT
NOTE:
NOTE:
Stop the vehicle.
NO >> GO TO 9.
9.CHECK STOP LAMP SWITCH
Check the stop lamp switch. Refer to BRC-127, "Component Inspection".
YES >> GO TO 10.
NO >> Replace the stop lamp switch. Refer to BR-24, "Removal and Installation". GO TO 10.
With CONSULT

2. Turn the ignition switch OFF → ON → OFF. A
NOTE:
B
NOTE:
Start the vehicle.
displays “On” or “Off” when brake pedal is depressed or released.Refer to BRC-66, "Reference Value". C
TOR” turns from “Off” to “On”. Refer to BRC-66, "Reference Value". D
NO >> GO TO 11. E
11.CHECK CONNECTOR AND TERMINAL
2. Disconnect ABS actuator and electric unit (control unit) harness connector. BRC
harness connector. G
5. Disconnect stop lamp switch harness connector.
6. Check the stop lamp switch harness connector for disconnection or looseness.
7. Check the stop lamp switch pin terminals for damage or loose connection with harness connector.
8. Disconnect resistor harness connector. (Models with ICC) H
9. Check the resistor harness connector for disconnection or looseness. (Models with ICC)
10. Check the resistor pin terminals for damage or loose connection with harness connector. (Models with
ICC) I
YES >> GO TO 13.
NO >> Repair / replace harness, connector, or terminal, and GO TO 12. J
12. CHECK DATA MONITOR (4)
With CONSULT
K
2. Connect stop lamp switch harness connector.
3. Connect resistor harness connector. (Models with ICC)
4. Erase self-diagnosis result for “ABS”. L
NOTE:
Wait at least 10 seconds after turning ignition switch OFF or ON. M
NOTE:
Stop the vehicle.
7. Select “ABS”, “DATA MONITOR” and “STOP LAMP SW” according to this order. Check that data monitor N
and check if “PRESSURE SENSOR” indicates “5 bar” or less when “STOP LAMP SW” of “DATA MONI- O
YES >> INSPECTION END P
NO >> GO TO 13.
13.CHECK STOP LAMP SWITCH CIRCUIT (1)
3. Check the voltage between ABS actuator and electric unit (control unit) harness connector and ground.

+
ABS actuator and electric unit (control unit) − Condition Voltage
Connector Terminal
Brake pedal depressed 10 − 16 V
E35 5 Ground
Brake pedal not depressed Approx. 0 V
lation".
NO (Models with ICC)>>Repair / replace harness or connector, and GO TO 14.
NO (Models without ICC)>>Repair / replace harness or connector, and GO TO 15.
14.CHECK STOP LAMP SWITCH CIRCUIT (2) (MODELS WITH ICC)
3. Disconnect resister harness connector.
4. Check the continuity between ABS actuator and electric unit (control unit) harness connector and stop
lamp switch harness connector.
ABS actuator and electric unit (control unit) Stop lamp switch
Continuity
E35 5 E57 2 Existed
5. Check the continuity between ABS actuator and electric unit (control unit) harness connector and resister
harness connector.
ABS actuator and electric unit (control unit) Resister

Continuity
E35 5 M85 1 Existed
ground.

— Continuity
Connector Terminal
E35 5 Ground Not existed
7. Check the continuity between resister and the ground.
Resister
— Continuity
Connector Terminal
1 Not existed
M85 Ground
2 Existed
lation".
15.CHECK STOP LAMP SWITCH CIRCUIT (2) (MODELS WITHOUT ICC)
3. Check the continuity between ABS actuator and electric unit (control unit) harness connector and stop
lamp switch harness connector.

ABS actuator and electric unit (control unit) Stop lamp switch A
Continuity
E35 5 E57 4 Existed
B
ground.
C
— Continuity
Connector Terminal
E35 5 Ground Not existed D
lation". E
16.CHECK DATA MONITOR (5) BRC
With CONSULT
2. Connect stop lamp switch harness connector. G
3. Connect resister harness connector. (Models with ICC)
NOTE: H
NOTE: I
Stop the vehicle.
8. Select “ABS”, “DATA MONITOR” and “PRESS SENSOR” according to this order. Depress the brake pedal J
lation". L
Component Inspection INFOID:0000000012793760
1.CHECK STOP LAMP SWITCH M

3. Check the continuity when stop lamp switch is operated. N
Stop lamp switch

Condition Continuity O
Terminal
When stop lamp switch is released
Existed
1−2 *1 (When brake pedal is depressed)
P
3 − 4*2 When stop lamp switch is pressed
Not existed
(When brake pedal is released)
*1: Models with ICC
*2: Models without ICC
NO >> Replace the stop lamp switch. Refer to BR-24, "Removal and Installation".

C1120, C1122, C1124, C1126 ABS IN VALVE SYSTEM
DTC DETECTION LOGIC
Display Item
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
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)
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
NOTE:
PAST DTC CRNT DTC

tem
tem
• Fuse
• Fuse
• Fusible link
• Fusible link
• Battery
• Battery
FAIL-SAFE
• VDC function
• TCS function
• ABS function
• EBD function
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
NOTE:
NOTE:

YES-1 >> “C1120”, “C1122”, “C1124” or “C1126” is displayed by “CRNT”: Proceed to BRC-129, "Diagnosis A
Procedure".
YES-2 >> “C1120”, “C1122”, “C1124” or “C1126” is displayed by “PAST”: INSPECTION END (Erase the
memory of self-diagnosis results.) B
Diagnosis Procedure INFOID:0000000012793762 C
1.CHECK CONNECTOR
1. Turn the ignition switch OFF. D
YES >> GO TO 3. E
2.PERFORM SELF-DIAGNOSIS BRC
With CONSULT
NOTE:
G
NOTE:
YES >> GO TO 3. I
CUIT J
K
YES >> GO TO 4.
L
4.CHECK TERMINAL
Check the ABS actuator and electric unit (control unit) pin terminals for damage or loose connection with har-
ness connector. M
lation". N
NO >> Repair / replace harness, connector, or terminal.

C1121, C1123, C1125, C1127 ABS OUT VALVE SYSTEM
DTC DETECTION LOGIC
Display Item
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
NOTE:
PAST DTC CRNT DTC

tem
tem
• Fuse
• Fuse
• Fusible link
• Fusible link
• Battery
• Battery
FAIL-SAFE
• VDC function
• TCS function
• ABS function
• EBD function
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
NOTE:
NOTE:

YES-1 >> “C1121”, “C1123”, “C1125” or “C1127” is displayed by “CRNT”: Proceed to BRC-131, "Diagnosis A
Procedure".
memory of self-diagnosis results.) B
Diagnosis Procedure INFOID:0000000012793764 C
1.CHECK CONNECTOR
1. Turn the ignition switch OFF. D
YES >> GO TO 3. E
2.PERFORM SELF-DIAGNOSIS BRC
With CONSULT
NOTE:
G
NOTE:
YES >> GO TO 3. I
CUIT J
K
YES >> GO TO 4.
L
4.CHECK TERMINAL
ness connector. M
lation". N

C1130 ENGINE SIGNAL
C1130 ENGINE SIGNAL
DTC DETECTION LOGIC
Display Item
ENGINE SIGNAL 1
C1130 When a malfunction is detected in ECM system.
(Engine system signal)
POSSIBLE CAUSE
NOTE:
PAST DTC CRNT DTC

• Harness or connector • ECM
• ABS actuator and electric unit (control unit) power supply sys- • ABS actuator and electric unit (control unit)
• Fuse tem
• CAN communication line • Battery
• CAN communication line
FAIL-SAFE
• VDC function
• TCS function
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
NOTE:
NOTE:

C1130 ENGINE SIGNAL
A
1.CHECK ENGINE SYSTEM
With CONSULT
B
Perform self-diagnosis for “ENGINE”.
• VR30DDTT engine models for USA and Canada: Refer to EC6-115, "CONSULT Function".
• VR30DDTT engine models for Mexico: Refer to EC6-1093, "CONSULT Function".
• 2.0L TURBO engine models: Refer to EC4-101, "CONSULT Function". C
Is DTC detected?
YES >> Check the DTC.
• VR30DDTT engine models for USA and Canada: Refer to EC6-164, "TURBO HIGH PRES- D
SURE MODEL : DTC Index".
• VR30DDTT engine models for Mexico: Refer to EC6-1139, "DTC Index".
• 2.0L TURBO engine models: Refer to EC4-146, "DTC Index". E
NO >> GO TO 2.
CUIT BRC
Is the inspection result normal? G
YES >> GO TO 3.
3. CHECK CONNECTOR AND TERMINAL H

2. Disconnect ECM harness connector.
3. Disconnect ABS actuator and electric unit (control unit) harness connector. I
4. Check the connector for disconnection or looseness.
5. Check the pin terminals for damage or loose connection with harness connector.
Is the inspection result normal? J
YES >> GO TO 4.
NO >> Repair / replace harness, connector, or terminal, securely lock the connector, and GO TO 4.
4.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) K
With CONSULT
1. Connect ECM harness connector. L
NOTE: M
NOTE: N
Is DTC “C1130” or “U1000”detected? O
YES (“C1130”)>>Replace the ABS actuator and electric unit (control unit). Refer to BRC-195, "Removal and
Installation".
YES (“U1000”)>>Refer to LAN-41, "Trouble Diagnosis Flow Chart".
NO >> INSPECTION END P

C1138 STEERING SYSTEM
DTC DETECTION LOGIC
Display Item
4WAS CIRCUIT
C1138 When a malfunction is detected in direct adaptive steering system.
(4WAS circuit)
POSSIBLE CAUSE
NOTE:
PAST DTC CRNT DTC

tem
• Direct adaptive steering system
• Fuse
• Fusible link
• Battery
FAIL-SAFE
• VDC function
• TCS function
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
NOTE:
NOTE:

A
1.CHECK DIRECT ADAPTIVE STEERING SYSTEM
With CONSULT
B
1. Perform self-diagnosis for “EPS/DAST 3”. Refer to STC-131, "CONSULT Function".
2. Perform self-diagnosis for “DAST 1”. Refer to STC-136, "CONSULT Function".
3. Perform self-diagnosis for “DAST 2”. Refer to STC-141, "CONSULT Function".
Is DTC detected? C
• “EPS/DAST 3”: Refer to STC-156, "DTC Index".
• “DAST 1”: Refer to STC-169, "DTC Index". D
• “DAST 2”: Refer to STC-182, "DTC Index".
NO >> GO TO 2.
2.CHECK CONNECTOR AND TERMINAL E
2. Disconnect steering force control module harness connector.
3. Disconnect steering angle main control module harness connector. BRC
4. Disconnect steering angle sub control module harness connector.
6. Check the connector for disconnection or looseness. G
7. Check the pin terminals for damage or loose connection with harness connector.
YES >> GO TO 3. H
NO >> Repair / replace harness, connector, or terminal, securely lock the connector, and GO TO 3.
With CONSULT I
1. Connect steering force control module harness connector.
2. Connect steering angle main control module harness connector.
3. Connect steering angle sub control module harness connector. J
K
NOTE:
NOTE: L
Is DTC “C1138” or “U1000” detected? M
YES (“C1138”)>>Replace the ABS actuator and electric unit (control unit). Refer to BRC-195, "Removal and
Installation".
YES (“U1000”)>>Refer to LAN-41, "Trouble Diagnosis Flow Chart". N

C1140 ACTUATOR RELAY SYSTEM
DTC DETECTION LOGIC
Display Item
ACTUATOR RLY
C1140 When a malfunction is detected in actuator relay.
(Actuator relay)
POSSIBLE CAUSE
NOTE:
PAST DTC CRNT DTC

tem
tem
• Fuse
• Fuse
• Fusible link
• Fusible link
• Battery
• Battery
FAIL-SAFE
• VDC function
• TCS function
• ABS function
• EBD function
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
NOTE:
NOTE:

A
1.CHECK CONNECTOR
2. Check the ABS actuator and electric unit (control unit) harness connector for disconnection or looseness. B
YES >> GO TO 3.
NO >> Repair / replace harness or connector, securely lock the connector, and GO TO 2. C
With CONSULT D
NOTE:
Wait at least 10 seconds after turning ignition switch OFF. E
NOTE:
3. Perform self-diagnosis for “ABS”. BRC
YES >> GO TO 3.
NO >> INSPECTION END G
CUIT H
Is the inspection result normal? I
YES >> GO TO 4.
4.CHECK TERMINAL J
ness connector.
lation".
NO >> Repair / replace harness, connector, or terminal. L

C1142 PRESS SENSOR
C1142 PRESS SENSOR
DTC DETECTION LOGIC
Display Item
PRESS SEN CIRCUIT
C1142 When a malfunction is detected in pressure sensor.
(Pressure sensor circuit)
POSSIBLE CAUSE
NOTE:
PAST DTC CRNT DTC

• Stop lamp switch system
• Air inclusion in the brake piping
• Brake system
• Stop lamp switch system
tem
tem
• Fuse
• Fuse
• Fusible link
• Fusible link
• Battery
• Battery
• Air inclusion in the brake piping
FAIL-SAFE
To following functions are suspended.
• VDC function
• TCS function
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
NOTE:
NOTE:

C1142 PRESS SENSOR
A
1.STOP LAMP SWITCH SYSTEM
Check the stop lamp switch system. Refer to BRC-123, "Diagnosis Procedure".
B
YES >> GO TO 2.
NO >> Repair or replace stop lamp switch system.
C
2.CHECK BRAKE FLUID LEAKAGE
Check the brake fluid leakage. Refer to BR-16, "Inspection".
Is the inspection result normal? D
YES >> GO TO 3.
NO >> Repair or replace brake fluid leakage part.
3.CHECK BRAKE PIPING E
Check the brake piping.

• Front: Refer to BR-34, "FRONT : Inspection". BRC
• Rear: Refer to BR-41, "REAR : Inspection".
YES >> GO TO 4. G
NO >> Repair or replace brake piping.
• Front: Refer to BR-28, "FRONT : Removal and Installation".
• Rear: Refer to BR-36, "REAR : Removal and Installation".
H
4.CHECK BRAKE PEDAL
Check the brake pedal.
• Brake pedal height: Refer to BR-12, "Inspection and Adjustment". I
• Brake pedal assembly: Refer to BR-25, "Inspection and Adjustment".
YES >> GO TO 5. J
NO >> Adjust the brake pedal height or replace brake pedal assembly.
• Adjust the brake pedal: Refer to BR-12, "Inspection and Adjustment".
• Replace the brake pedal: Refer to BR-24, "Removal and Installation".
K
5.CHECK BRAKE MASTER CYLINDER
Check the brake master cylinder. Refer to BR-18, "Inspection".
YES >> GO TO 6.
NO >> Repair or replace brake master cylinder. Refer to BR-42, "Removal and Installation".
6.CHECK BRAKE BOOSTER M
Check the brake booster. Refer to BR-19, "Inspection".

Is the inspection result normal? N
YES >> GO TO 7.
NO >> Repair or replace brake booster. Refer to BR-46, "Removal and Installation".
7.CHECK VACUUM PIPING O
Check the vacuum piping. Refer to BR-50, "2.0L TURBO GASOLINE ENGINE : Inspection".
P
YES >> GO TO 8.
NO >> Repair or replace vacuum piping. Refer to BR-49, "2.0L TURBO GASOLINE ENGINE : Removal
and Installation".
8.CHECK FRONT DISC BRAKE
Check the front disc brake.
• Brake caliper 2 piston type: Refer to BR-61, "BRAKE CALIPER ASSEMBLY (2 PISTON TYPE) : Inspection".

C1142 PRESS SENSOR
YES >> GO TO 9.
NO >> Repair or replace front disc brake.
• Brake caliper 2 piston type: Refer to BR-58, "BRAKE CALIPER ASSEMBLY (2 PISTON TYPE) :
Removal and Installation".
9.CHECK REAR DISC BRAKE
Check the rear disc brake.
YES >> GO TO 10.
NO >> Repair or replace rear disc brake.
10.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) POWER SUPPLY AND GROUND
CIRCUIT
YES >> GO TO 11.
11.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
With CONSULT
NOTE:
NOTE:
4. Start the engine and drive the vehicle for a short period of time.
NOTE:
lation".
NO >> Check the ABS actuator and electric unit (control unit) harness connector and terminal for dam-
age, looseness and disconnection. Repair / replace harness, connector, or terminal.

C1143 STEERING ANGLE SENSOR
A
Display Item
ST ANG SEN CIRCUIT
C1143 When a malfunction is detected in steering angle sensor.
(Steering angle sensor circuit)
POSSIBLE CAUSE D
NOTE:
DTC. Do not replace the ABS actuator and electric unit (control unit) for a PAST DTC. E
PAST DTC CRNT DTC

• Harness or connector BRC
• Steering angle sensor
• IPDM E/R
tem G
• Fuse
• Wheel alignment
• Fusible link
• Incomplete neutral position adjustment of steering angle sensor
• Battery
tem
H
• Incomplete neutral position adjustment of steering angle sensor
• Fuse
• Improper installation of steering angle sensor
• Fusible link
• Battery I
FAIL-SAFE
• VDC function J
• TCS function
• hill start assist function K
DTC CONFIRMATION PROCEDURE L
1.PRECONDITIONING
and wait at least 10 seconds before conducting the next test. M
>> GO TO 2.
N
With CONSULT
1. Turn the ignition switch OFF. O
NOTE:
2. Start the engine. P
NOTE:

1.ADJUST THE NEUTRAL POSITION OF STEERING ANGLE SENSOR

With CONSULT
Perform neutral position adjustment of steering angle sensor. Refer to BRC-91, "Description".
>> GO TO 2.
With CONSULT
NOTE:
NOTE:
YES-1 >> “CRNT” is displayed: GO TO 3.
3.CHECK CONNECTOR
3. Check the steering angle sensor harness connector for disconnection or looseness.
YES >> GO TO 5.
With CONSULT
NOTE:
NOTE:
YES >> GO TO 5.
5.CHECK STEERING ANGLE SENSOR POWER SUPPLY
2. Disconnect steering angle sensor harness connector.
3. Check the voltage between steering angle sensor harness connector and ground.
+
Steering angle sensor − Voltage
Connector Terminal
M77 4 Ground Approx. 0 V
NOTE:

Start the engine.
5. Check the voltage between steering angle sensor harness connector and ground. A
+
Steering angle sensor − Voltage B
Connector Terminal
M77 4 Ground 10 − 16 V
C
YES >> GO TO 8.
NO (For VR30DDTT engine models)>>GO TO 6. D
NO (For 2.0L TURBO engine models)>>GO TO 7.
6.CHECK STEERING ANGLE SENSOR POWER SUPPLY CIRCUIT (FOR VR30DDTT ENGINE MODELS)
2. Check the 10A fuse (#54).
3. Disconnect IPDM E/R harness connector.
4. Check the continuity between steering angle sensor harness connector and IPDM E/R harness connector. BRC
Steering angle sensor IPDM E/R

Continuity
Connector Terminal Connector Terminal G
M77 4 E121 35 Existed
5. Check the continuity between steering angle sensor harness connector and ground. H

— Continuity
Connector Terminal I
M77 4 Ground Not existed
J
YES >> Perform trouble diagnosis for ignition power supply.
NO >> Repair / replace harness, connector, or fuse.
7.CHECK STEERING ANGLE SENSOR POWER SUPPLY CIRCUIT (FOR 2.0L TURBO ENGINE MODELS) K
2. Check the 10 A fuse (#75).
3. Check the continuity and short circuit between steering angle sensor harness connector terminal (4) and L
10A fuse (#75).
YES >> Perform trouble diagnosis for ignition power supply. M
NO >> Repair or replace error-detected parts.
8.CHECK STEERING ANGLE SENSOR GROUND CIRCUIT
1. Turn the ignition switch OFF. N
2. Check the continuity between steering angle sensor harness connector and ground.
Steering angle sensor O

— Continuity
Connector Terminal
M77 1 Ground Existed
P
YES >> GO TO 9.
NO >> Repair / replace harness or connector.
CUIT

YES >> GO TO 10.
10.CHECK TERMINAL
1. Check the steering angle sensor pin terminals for damage or loose connection with harness connector.
YES >> GO TO 11.
11.CHECK CAN COMMUNICATION LINE
1. Connect steering angle sensor harness connector.
2. Connect IPDM E/R harness connector.
3. Check the CAN communication line. Refer to LAN-41, "Trouble Diagnosis Flow Chart".
YES >> GO TO 12.
NO >> Repair / replace harness or connector. Refer to LAN-31, "Precautions for Harness Repair".
12.CHECK DATA MONITOR
With CONSULT
1. “ABS”, “DATA MONITOR” and “STR ANGLE SIG” according to this order.
2. Check that the indication changes with the steering angle when the steering wheel is turned left/right from
the neutral position. Refer to BRC-66, "Reference Value".
lation".
NO >> Replace the steering angle sensor. Refer to BRC-197, "Removal and Installation".

C1144 INCOMPLETE STEERING ANGLE SENSOR ADJUSTMENT
A
Display Item
ST ANG SEN SIGNAL
C1144 (Steering angle sensor not com- When neutral position adjustment of steering angle sensor is not complete.
plete)
D
POSSIBLE CAUSE
NOTE:
Confirm if DTC is PAST or CRNT. If DTC is CRNT, proceed with Diagnosis Procedure. If DTC is PAST, clear E
PAST DTC CRNT DTC

BRC
• Steering angle sensor
Incomplete neutral position adjustment of steering angle sensor
• Incomplete neutral position adjustment of steering angle sensor G
FAIL-SAFE
The following functions are suspended. H
• VDC function
• TCS function
• hill start assist function I
DTC CONFIRMATION PROCEDURE J
1.PRECONDITIONING
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF K
>> GO TO 2. L
With CONSULT M
NOTE:
2. Start the engine. N
NOTE:
3. Perform self-diagnosis for “ABS”. O
YES-2 >> “PAST” is displayed: INSPECTION END (Erase the memory of self-diagnosis results.) P
1.ADJUST THE NEUTRAL POSITION OF STEERING ANGLE SENSOR

Perform neutral position adjustment of steering angle sensor. Refer to BRC-91, "Description".

>> GO TO 2.
With CONSULT
NOTE:
NOTE:
YES >> GO TO 3.
3.CHECK STEERING ANGLE SENSOR SYSTEM
2. Check the steering angle sensor system. Refer to BRC-142, "Diagnosis Procedure".
YES >> GO TO 4.
4.CHECK DATA MONITOR
With CONSULT
1. “ABS”, “DATA MONITOR” and “STR ANGLE SIG” according to this order.
2. Check that the indication changes with the steering angle when the steering wheel is turned left/right from
the neutral position. Refer to BRC-66, "Reference Value".
lation".
NO >> Replace the steering angle sensor. Refer to BRC-197, "Removal and Installation".

C1145, C1146 YAW RATE/SIDE/DECEL G SENSOR
A
Display Item
YAW RATE SENSOR • When a malfunction is detected in yaw rate signal.
C1145
(Yaw rate sensor circuit) • When a signal line of yaw rate/side/decel G sensor is open or shorted.
SIDE G SEN CIRCUIT • When a malfunction is detected in side/decel G signal. D
C1146
(Side G sensor circuit) • When a signal line of yaw rate/side/decel G sensor is open or shorted.
POSSIBLE CAUSE
NOTE: E
BRC
PAST DTC CRNT DTC
tem
G
• Fuse
• Fusible link
• Battery H
FAIL-SAFE
• VDC function I
• TCS function
• ABS function
• Brake limited slip differential (BLSD) function J
• Active trace control function (control of chassis control module) K

1.PRECONDITIONING L
M
>> GO TO 2.
2.CHECK DTC DETECTION N
With CONSULT
NOTE: O
NOTE:
Wait at least 10 seconds after start the engine. P
Is DTC “C1145” or “C1146” detected?
YES-1 >> “C1145” or “C1146” is displayed by “CRNT”: Proceed to BRC-148, "Diagnosis Procedure".
YES-2 >> “C1145” and “C1146” are displayed by “PAST”: INSPECTION END (Erase the memory of self-
diagnosis results.)

1.CHECK SELF-DIAGNOSIS RESULTS

With CONSULT
Replace the ABS actuator and electric unit (control unit) even if other DTCs are displayed along with “C1145”
or “C1146” in self-diagnosis for “ABS”.
>> Replace the ABS actuator and electric unit (control unit). Refer to BRC-195, "Removal and Instal-
lation".

C1155 BRAKE FLUID LEVEL SWITCH
A
Display Item
BR 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
NOTE:
PAST DTC CRNT DTC

• Brake fluid level switch
• Brake fluid level is low
• Combination meter
• Brake fluid level is low G
FAIL-SAFE
• VDC function H
• TCS function
• hill start assist function I
DTC CONFIRMATION PROCEDURE J
1.PRECONDITIONING
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF K
>> GO TO 2. L
With CONSULT M
NOTE:
2. Start the engine. N
NOTE:
3. Perform self-diagnosis for “ABS”. O
YES-2 >> “PAST” is displayed: INSPECTION END (Erase the memory of self-diagnosis results.) P
1.CHECK BRAKE FLUID LEVEL


2. Check the brake fluid level. Refer to BR-16, "Inspection".
YES >> GO TO 3.
NO >> Refill brake fluid. Refer to BR-16, "Refilling". GO TO 2.
With CONSULT
NOTE:
NOTE:
YES >> GO TO 3.
3.CHECK CONNECTOR
2. Check the brake fluid level switch harness connector for disconnection or looseness.
3. Check the combination meter harness connector for disconnection or looseness.
YES >> GO TO 5.
With CONSULT
NOTE:
NOTE:
YES >> GO TO 5.
5.CHECK BRAKE FLUID LEVEL SWITCH
Check the brake fluids level switch. Refer to BRC-152, "Component Inspection".
YES >> GO TO 7.
NO >> Replace the reservoir tank. Refer to BR-44, "Disassembly and Assembly". GO TO 6.
With CONSULT
NOTE:
NOTE:
YES >> GO TO 7.

7.CHECK CONNECTOR AND TERMINAL A

2. Disconnect brake fluid level switch harness connector.
B
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 combination meter harness connector.
6. Check the combination meter harness connector for disconnection or looseness. C
7. Check the combination meter pin terminals for damage or loose connection with harness connector.
YES >> GO TO 9. D
E
With CONSULT
1. Connect brake fluid level switch harness connector.
2. Connect combination meter harness connector.
3. Erase self-diagnosis result for “ABS”. BRC
NOTE:
Wait at least 10 seconds after turning ignition switch OFF or ON. G
NOTE:
6. Perform self-diagnosis for “ABS”. H
YES >> GO TO 9.
NO >> INSPECTION END I
9.CHECK BRAKE FLUID LEVEL SWITCH CIRCUIT

1. Turn the ignition switch OFF. J
4. Check the continuity between brake fluid level switch harness connector and combination meter harness
K
connector.
Brake fluid level switch Combination meter

Continuity L
E4 1 M57 25 Existed
5. Check the continuity between brake fluid level switch harness connector and ground. M
Brake fluid level switch

— Continuity N
Connector Terminal
Is the inspection result normal? O
YES >> GO TO 10.
10.CHECK BRAKE FLUID LEVEL SWITCH GROUND CIRCUIT P
Check the continuity between brake fluid level switch harness connector and ground.

— Continuity
Connector Terminal
E4 2 Ground Existed

YES >> GO TO 11.
11.CHECK COMBINATION METER
1. Connect brake fluid level switch harness connector.
3. Check the combination meter. Refer to MWI-68, "On Board Diagnosis Function".
lation".
NO >> Repair or replace combination meter. Refer to MWI-141, "Removal and Installation".
1.CHECK BRAKE FLUID LEVEL SWITCH

3. Check the continuity between terminals of brake fluid level switch.

Condition Continuity
Terminal
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.
NO >> Replace the reservoir tank. Refer to BR-44, "Disassembly and Assembly".

C1160 INCOMPLETE DECEL G SENSOR CALIBRATION
A
Display Item
DECEL G SEN SET
C1160 When calibration of yaw rate/side/decel G sensor is not complete.
(Decel G sensor set)
POSSIBLE CAUSE D
NOTE:
PAST DTC CRNT DTC

tem • Incomplete calibration of decel G sensor
• Fuse • ABS actuator and electric unit (control unit)
• Fusible link G
• Battery
FAIL-SAFE
H
• VDC function
• TCS function
• ABS function
• Brake limited slip differential (BLSD) function I
• Brake force distribution function J
1.PRECONDITIONING K
L
>> GO TO 2.
2.CHECK DTC DETECTION M
With CONSULT
NOTE: N
NOTE: O
P

1.CALIBRATION OF DECEL G SENSOR

Perform calibration of decel G sensor. Refer to BRC-94, "Description".
>> GO TO 2.
With CONSULT
NOTE:
NOTE:
lation".

C1164, C1165 CV SYSTEM
A
Display Item
CV 1
C1164 When a malfunction is detected in cut valve 1.
(Cut valve 1)
CV 2 D
C1165 When a malfunction is detected in cut valve 2.
(Cut valve 2)
POSSIBLE CAUSE
NOTE: E
BRC
PAST DTC CRNT DTC
• ABS actuator and electric unit (control unit) G
tem
tem
• Fuse
• Fuse
• Fusible link
• Battery
• Fusible link H
• Battery
FAIL-SAFE
The following functions are suspended. I
• VDC function
• TCS function
• ABS function J
• EBD function
• hill start assist function K
L
1.PRECONDITIONING
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF M
>> GO TO 2. N
With CONSULT O
NOTE:
2. Start the engine. P
NOTE:
YES-1 >> “C1164” or “C1165” is displayed by “CRNT”: Proceed to BRC-156, "Diagnosis Procedure".

YES-2 >> “C1164” and “C1165” are displayed by “PAST”: INSPECTION END (Erase the memory of self-
diagnosis results.)
1.CHECK CONNECTOR
YES >> GO TO 3.
With CONSULT
Perform self-diagnosis for “ABS” again.
YES >> GO TO 3.
CUIT
YES >> GO TO 4.
4.CHECK TERMINAL
ness.
lation".

C1170 VARIANT CODING
A
Display Item
VARIANT CODING
C1170 When the information in ABS actuator and electric unit (control unit) is not the same.
(Variant coding)
POSSIBLE CAUSE D
NOTE:
PAST DTC CRNT DTC

• ABS actuator and electric unit (control unit) BRC
—
• ABS actuator and electric unit (control unit) is not configured.
FAIL-SAFE
The following functions are suspended. G
• VDC function
• TCS function
• ABS function H
• Brake force distribution function I
J
1.PRECONDITIONING
and wait at least 10 seconds before conducting the next test. K
>> GO TO 2.
L
With CONSULT
1. Turn the ignition switch OFF. M
NOTE:
NOTE: N
Is DTC “C1170” detected? O
NO-1 >> To check malfunction symptom before repair: Refer to GI-45, "Intermittent Incident". P
1.CONFIGURATION OF ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)

Perform configuration of ABS actuator and electric unit (control unit). Refer to BRC-96, "Work Procedure".
CAUTION:

Never replace the ABS actuator and electric unit (control unit).
>> GO TO 2.
2.CHECK SELF-DIAGNOSIS RESULTS
With CONSULT
Replace the ABS actuator and electric unit (control unit) even if other DTC are displayed along with “C1170” in
self-diagnosis for “ABS”.
>> Replace the ABS actuator and electric unit (control unit). Refer to BRC-195, "Removal and Instal-
lation".

C1197 VACUUM SENSOR
C1197 VACUUM SENSOR
A
Display Item
VACUUM SENSOR
C1197 When a malfunction is detected in vacuum sensor.
(Vacuum sensor)
POSSIBLE CAUSE D
NOTE:
PAST DTC CRNT DTC

• ABS actuator and electric unit (control unit) power supply sys- • Harness or connector
tem • Vacuum sensor (brake booster)
• Fuse • Vacuum piping
• Fusible link • ABS actuator and electric unit (control unit) G
• Battery
FAIL-SAFE
Electrical vacuum assistance of brake booster is suspended. H

1.PRECONDITIONING I
J
>> GO TO 2.
2.CHECK DTC DETECTION K
With CONSULT
NOTE: L
NOTE:
Wait at least 10 seconds after start the engine. M
YES-1 >> “CRNT” is displayed: Proceed to BRC-159, "Diagnosis Procedure". N
NO-2 >> Confirmation after repair: INSPECTION END O
1.CHECK CONNECTOR P

2. Check the vacuum sensor harness connector for disconnection or looseness.
YES >> GO TO 2.

C1197 VACUUM SENSOR
2.CHECK BRAKE BOOSTER

2. Check the brake booster. Refer to BR-19, "Inspection".
YES >> GO TO 3.
NO >> Replace the brake booster. Refer to BR-46, "Removal and Installation".
3.CHECK VACUUM PIPING
YES >> GO TO 4.
NO >> Replace the vacuum piping. Refer to BR-49, "2.0L TURBO GASOLINE ENGINE : Removal and
Installation".
4.CHECK TERMINAL
2. Disconnect vacuum sensor harness connector.
3. Check the vacuum sensor pin terminals for damage or loose connection with harness connector.
harness connector.
YES >> GO TO 5.
5.CHECK VACUUM SENSOR CIRCUIT
4. Check the continuity between vacuum sensor harness connector and ABS actuator and electric unit (con-
trol unit) harness connector.
Vacuum sensor ABS actuator and electric unit (control unit)

Continuity
1 13
E62 2 E35 32 Existed
3 28
5. Check the continuity between vacuum sensor harness connector and ground.
Vacuum sensor
— Continuity
Connector Terminal
1
3
YES >> GO TO 6.
6.REPLACE VACUUM SENSOR
With CONSULT
2. Replace the vacuum sensor.
CAUTION:

C1197 VACUUM SENSOR
Always replace brake booster because vacuum sensor cannot be disassembled. Refer to BR-46,
"Removal and Installation". A
NOTE:
B
5. Start engine.
NOTE:
Wait at least 10 seconds after start the engine. C
YES >> Replace the ABS actuator and electric unit (control unit). Refer to BRC-195, "Removal and Instal- D
lation".
E
BRC

C1198 VACUUM SENSOR
C1198 VACUUM SENSOR
DTC DETECTION LOGIC
Display Item
• 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.
POSSIBLE CAUSE
NOTE:
PAST DTC CRNT DTC

tem
• Vacuum sensor (brake booster)
• Fuse
• Fusible link
• Battery
FAIL-SAFE
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
NOTE:
NOTE:
1.CHECK CONNECTOR
YES >> GO TO 2.

C1198 VACUUM SENSOR
2.CHECK TERMINAL A

B
harness connector. C
YES >> GO TO 3.
NO >> Repair / replace harness, connector, or terminal. D
trol unit) harness connector. BRC

Continuity G
1 13
E62 2 E35 32 Existed H
3 28
I
Vacuum sensor
— Continuity
Connector Terminal
J
1
3 K
YES >> GO TO 4.
NO >> Repair / replace harness or connector. L

With CONSULT M
CAUTION:
N
"Removal and Installation".
4. Turn the ignition switch OFF → ON → OFF. O
NOTE:
5. Start engine. P
NOTE:
lation".

C1199 BRAKE BOOSTER
C1199 BRAKE BOOSTER
DTC DETECTION LOGIC
Display Item
BRAKE BOOSTER
C1199 When brake booster vacuum is approx. 0 kPa (0 mmHg) during engine running.
(Brake booster)
POSSIBLE CAUSE
NOTE:
PAST DTC CRNT DTC

• ABS actuator and electric unit (control unit) power supply sys- • Harness or connector
tem • Vacuum sensor (brake booster)
• Fuse • Vacuum piping
• Fusible link • ABS actuator and electric unit (control unit)
• Battery
FAIL-SAFE
None
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
NOTE:
NOTE:
1.CHECK CONNECTOR
YES >> GO TO 2.

C1199 BRAKE BOOSTER
2.CHECK BRAKE BOOSTER A

2. Check the brake booster. Refer to BR-19, "Inspection".
Is the inspection result normal? B
YES >> GO TO 3.
NO >> Replace the brake booster. Refer to BR-46, "Removal and Installation".
3.CHECK VACUUM PIPING C
D
YES >> GO TO 4.
NO >> Replace the vacuum piping. Refer to BR-49, "2.0L TURBO GASOLINE ENGINE : Removal and
Installation".
E
4.CHECK TERMINAL
2. Disconnect vacuum sensor harness connector. BRC
harness connector. G
YES >> GO TO 5.
NO >> Repair / replace harness, connector, or terminal. H

1. Turn the ignition switch OFF. I
trol unit) harness connector. J

Continuity K
1 13
E62 2 E35 32 Existed L
3 28
M
Vacuum sensor
— Continuity
Connector Terminal
N
1
3 O
YES >> GO TO 6.
P
With CONSULT
CAUTION:

C1199 BRAKE BOOSTER
"Removal and Installation".
NOTE:
5. Start engine.
NOTE:
lation".

C119A VACUUM SENSOR
C119A VACUUM SENSOR
A
Display Item
VACUUM SEN VOLT
C119A When a malfunction is detected in supply power voltage of vacuum sensor.
(Vacuum sensor voltage)
POSSIBLE CAUSE D
NOTE:
PAST DTC CRNT DTC

• Harness or connector • Vacuum sensor (brake booster)
• ABS actuator and electric unit (control unit) power supply sys- • ABS actuator and electric unit (control unit)
• Fuse tem G
• Battery
H
FAIL-SAFE
DTC CONFIRMATION PROCEDURE I
1.PRECONDITIONING
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF J
>> GO TO 2. K
With CONSULT L
NOTE:
2. Start the engine. M
NOTE:
3. Perform self-diagnosis for “ABS”. N
Is DTC “C119A” detected?
YES-2 >> “PAST” is displayed: INSPECTION END (Erase the memory of self-diagnosis results.) O
Diagnosis Procedure INFOID:0000000012793795 P
1.CHECK CONNECTOR

C119A VACUUM SENSOR
YES >> GO TO 2.
2.CHECK VACUUM SENSOR POWER SUPPLY
3. Check the voltage between vacuum sensor harness connector and ground.
+
Vacuum sensor − Voltage
Connector Terminal
E62 3 Ground Approx. 0 V
NOTE:
Start the engine.
5. Check the voltage between vacuum sensor harness connector and ground.
+
Vacuum sensor − Voltage
Connector Terminal
E62 3 Ground 4.75 − 5.25 V
YES >> GO TO 4.
NO >> GO TO 3.
3.CHECK VACUUM SENSOR POWER SUPPLY CIRCUIT
trol unit) harness connector.

Continuity
E62 3 E35 28 Existed
Vacuum sensor
— Continuity
Connector Terminal
YES >> GO TO 4.
4.CHECK VACUUM SENSOR GROUND CIRCUIT
Vacuum sensor
— Continuity
Connector Terminal
YES >> GO TO 5.

C119A VACUUM SENSOR
5.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) POWER SUPPLY AND GROUND CIR- A
CUIT
B
YES >> GO TO 6. C
6.CHECK TERMINAL
1. Check the vacuum sensor pin terminals for damage or loose connection with harness connector. D
harness connector.
Is the inspection result normal? E
lation".
NO >> Repair / replace harness, connector, or terminal. BRC

U1000 CAN COMM CIRCUIT
U1000 CAN COMM CIRCUIT
DTC DETECTION LOGIC
Display Item
CAN COMM CIRCUIT When CAN communication signal is not continuously transmitted or received for 2 sec-
U1000
(CAN communication circuit) onds or more.
POSSIBLE CAUSE
NOTE:
PAST DTC CRNT DTC

CAN communication system malfunction
FAIL-SAFE
• VDC function
• TCS function
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
NOTE:
NOTE:
Is DTC “U1000” detected?
Proceed to LAN-41, "Trouble Diagnosis Flow Chart".

POWER SUPPLY AND GROUND CIRCUIT
A
1.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) IGNITION POWER SUPPLY (1) B
3. Check the voltage between ABS actuator and electric unit (control unit) harness connector and ground. C
+
ABS actuator and electric unit (control unit) − Voltage D
Connector Terminal
E35 34 Ground Approx. 0 V
E
4. Turn the ignition switch ON
NOTE:
Start the engine. BRC
+
G
ABS actuator and electric unit (control unit) − Voltage
Connector Terminal
E35 34 Ground 10 − 16 V H
YES >> GO TO 4.
NO (For VR30DDTT engine models)>>GO TO 2. I
NO (For 2.0L TURBO engine models)>>GO TO 3.
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) IGNITION POWER SUPPLY CIRCUIT J
(FOR VR30DDTT ENGINE MODELS)
2. Check the 10A (#54) K
3. Disconnect IPDM E/R harness connector.
4. Check the continuity between ABS actuator and electric unit (control unit) harness connector and IPDM E/
R harness connector.
L
ABS actuator and electric unit (control unit) IPDM E/R
Continuity
M
E35 34 B121 35 Existed
5. Check the continuity between ABS actuator and electric unit (control unit) harness connector and ground.
N
— Continuity
Connector Terminal
O
E35 34 Ground No existed
YES >> Perform trouble diagnosis for ignition power supply. P
NO >> Repair / replace harness, connector, or fuse.
3.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) IGNITION POWER SUPPLY CIRCUIT
(EXCEPT FOR 2.0L TURBO ENGINE MODELS)
2. Check the 10A fuse (#75).

3. Check the continuity and short circuit between ABS actuator and electric unit (control unit) harness con-
nector terminal (34) and 10A fuse (#75).
YES >> Perform trouble diagnosis for ignition power supply.
NO >> Repair or replace error-detected parts.
4.CHECK MOTOR AND MOTOR RELAY POWER SUPPLY
+
Connector Terminal
B35 4 Ground 10 − 16 V
YES >> GO TO 6.
NO >> GO TO 5.
5.CHECK MOTOR AND MOTOR RELAY POWER SUPPLY CIRCUIT
2. Check the 50A fusible link (#N).
nector terminal (4) and 50A fusible link (#N).
YES >> Perform trouble diagnosis for battery power supply.
NO >> Repair / replace harness, connector, or fusible link.
6.CHECK ACTUATOR RELAY, ABS IN VALVE, ABS OUT VALVE POWER SUPPLY
+
Connector Terminal
E35 3 Ground 10 − 16 V
YES >> GO TO 8.
NO >> GO TO 7.
7.CHECK ACTUATOR RELAY, ABS IN VALVE, ABS OUT VALVE POWER SUPPLY CIRCUIT
2. Check the 30A fusible link (#L).
nector terminal (3) and 30A fusible link (#L).
YES >> Perform trouble diagnosis for battery power supply.
NO >> Repair / replace harness, connector, or fusible link.
8.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) 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) A

— Continuity
Connector Terminal
1
E35 Ground Existed B
2
YES >> GO TO 9. C
9.CHECK TERMINAL
D
harness connector.
lation".
NO >> Repair / replace harness, connector, or terminal. BRC

PARKING BRAKE SWITCH
Component Function Check INFOID:0000000012793799
1.CHECK PARKING BRAKE SWITCH OPERATION

Check that brake warning lamp in combination meter turns ON/OFF when parking brake is operated.
NO >> Proceed to BRC-174, "Diagnosis Procedure".
1.CHECK PARKING BRAKE SWITCH CIRCUIT

2. Disconnect parking brake switch harness connector.
4. Check the continuity between parking brake switch harness connector and combination meter harness
connector.
Parking brake switch Combination meter

Continuity
E60 1 M57 26 Existed
5. Check the continuity between parking brake switch harness connector and ground.
Parking brake switch

— Continuity
Connector Terminal
YES >> GO TO 2.
2.CHECK PARKING BRAKE SWITCH
Check the parking brake switch. Refer to BRC-175, "Component Inspection".
YES >> GO TO 3.
NO >> Replace the parking brake switch. Refer to PB-9, "Removal and Installation".
3.CHECK PARKING BRAKE SWITCH SIGNAL
With CONSULT
1. Connect parking brake switch harness connector.
3. Select “ABS”, “DATA MONITOR” and “PARK BRAKE SW” according to this order. Check the parking
brake switch signal.
Condition DATA MONITOR

Operate parking brake On
Release the parking brake Off
NO >> GO TO 4.
4.CHECK COMBINATION METER
Check the combination meter. Refer to MWI-70, "CONSULT Function".

YES >> GO TO 5. A
NO >> Repair or replace combination meter. Refer to MWI-141, "Removal and Installation".
5.CHECK TERMINAL
B
1. Check the combination meter pin terminals for damage or loose connection with harness connector.
2. Check the parking brake switch pin terminals for damage or loose connection with harness connector.
C
lation".
D
1.CHECK PARKING BRAKE SWITCH E

2. Disconnect parking brake switch harness connector.
3. Check the continuity between parking brake switch terminal and ground. BRC
Parking brake switch

— Condition Continuity
Terminal G
When parking brake switch is pressed Existed
1 Ground
When parking brake switch is released Not existed
H
NO >> Replace the parking brake switch. Refer to PB-9, "Removal and Installation".
I

VDC OFF SWITCH
VDC OFF SWITCH
1.CHECK VDC OFF SWITCH OPERATION

Check that VDC OFF indicator lamp in combination meter turns ON/OFF when VDC OFF switch is operated.
1.CHECK VDC OFF SWITCH CIRCUIT

3. Disconnect VDC OFF switch harness connector.
4. Check the continuity between ABS actuator and electric unit (control unit) harness connector and triple
switch harness connector.
ABS actuator and electric unit (control unit) Triple switch

Continuity
E35 30 M80 3 Existed
5. Check the continuity between ABS actuator and electric unit (control unit) harness connector and ground.

— Continuity
Connector Terminal
YES >> GO TO 2.
2.CHECK VDC OFF SWITCH GROUND CIRCUIT
Check the continuity between triple switch harness connector and ground.
Triple switch
— Continuity
Connector Terminal
M80 5 Ground Existed
YES >> GO TO 3.
3.CHECK VDC OFF SWITCH
Check the VDC OFF switch. Refer to BRC-177, "Component Inspection".
YES >> GO TO 4.
NO >> Replace the VDC OFF switch. Refer to BRC-198, "Removal and Installation".
4.CHECK VDC OFF SWITCH SIGNAL
With CONSULT
2. Connect VDC OFF switch harness connector.
3. Select “ABS”, “DATA MONITOR” and “OFF SW” according to this order. Check the VDC OFF switch sig-
nal.

VDC OFF SWITCH
Condition DATA MONITOR A

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 B
Off
lamp in combination meter is in OFF status
C
NO >> GO TO 5.
5.CHECK TERMINAL D
harness connector.
2. Check the VDC OFF switch pin terminals for damage or loose connection with harness connector. E
lation". BRC
G
1.CHECK VDC OFF SWITCH
2. Disconnect triple switch harness connector. H
3. Check the continuity between terminals of triple switch connector.
Triple switch I
Condition Continuity
Terminal
When VDC OFF switch is pressed Existed
3–5 J
When VDC OFF switch is not pressed Not existed
YES >> INSPECTION END K
NO >> Replace the VDC OFF switch. Refer to BRC-198, "Removal and Installation".

ABS WARNING LAMP
ABS WARNING LAMP
1.CHECK ABS WARNING LAMP FUNCTION

Check that ABS warning lamp in combination meter turns ON for 1 second after ignition switch is turned ON.
CAUTION:
Never start the engine.
CUIT
Perform the trouble diagnosis for ABS actuator and electric unit (control unit) power supply and ground circuit.
Refer to BRC-171, "Diagnosis Procedure".
YES >> GO TO 2.
With CONSULT
1. Turn the ignition switch OFF → ON.
CAUTION:
• Start the engine.
2. Repeat step 1 two or more times.
Is any DTC detected?
YES >> Check the DTC. Refer to BRC-72, "DTC Index".
NO >> GO TO 3.
3.CHECK ABS WARNING LAMP SIGNAL
With CONSULT
1. Select “ABS”, “DATA MONITOR” and “ABS WARN LAMP” according to this order.
3. Check that data monitor displays “On” for 1 second after ignition switch is turned ON and then changes to
“Off”.
CAUTION:
YES >> Replace the combination meter. Refer to MWI-141, "Removal and Installation".
NO >> Replace the ABS actuator and electric unit (control unit). Refer to MWI-141, "Removal and Instal-
lation".

BRAKE WARNING LAMP
BRAKE WARNING LAMP
A
1.CHECK BRAKE WARNING LAMP FUNCTION (1) B

Check that brake warning lamp in combination meter turns ON for 1 second after ignition switch is turned ON.
CAUTION:
Never start the engine. C
YES >> GO TO 2.
NO >> Proceed to BRC-179, "Diagnosis Procedure". D
2.CHECK BRAKE WARNING LAMP FUNCTION (2)
Check that brake warning lamp turns ON/OFF when parking brake is operated. E
NOTE:
Brake warning lamp turns ON when parking brake is operated (when parking brake switch is ON).
BRC
YES >> GO TO 3.
NO >> Check the parking brake switch system. Refer to BRC-174, "Diagnosis Procedure".
3.CHECK BRAKE WARNING LAMP FUNCTION (3) G
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: H
Brake warning lamp turns ON when brake fluid is less than the specified level (when brake fluid level switch is
ON).
I
NO >> Check the brake fluid level switch system. Refer to BRC-149, "Diagnosis Procedure".
Diagnosis Procedure INFOID:0000000012793808 J
CUIT K
YES >> GO TO 2.
2.PERFORM THE SELF-DIAGNOSIS M
With CONSULT
1. Turn the ignition switch OFF → ON. N
CAUTION:
2. Repeat step 1 two or more times. O
YES >> Check the DTC. Refer to BRC-72, "DTC Index". P
NO >> GO TO 3.
3.CHECK BRAKE WARNING LAMP SIGNAL
With CONSULT
1. Select “ABS”, “DATA MONITOR” and “EBD WARN LAMP” according to this order.

BRAKE WARNING LAMP
3. Check that data monitor displays “On” for 1 second after ignition switch is turned ON and then changes to
“Off”.
CAUTION:
lation".

VDC WARNING LAMP
VDC WARNING LAMP
A
1.CHECK VDC WARNING LAMP FUNCTION B

Check that VDC warning lamp in combination meter turns ON for 1 second after ignition switch is turned ON.
CAUTION:
Never start the engine. C
NO >> Proceed to BRC-181, "Diagnosis Procedure". D
1.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) POWER SUPPLY AND GROUND CIR- E
CUIT
Perform the trouble diagnosis for ABS actuator and electric unit (control unit) power supply and ground circuit. BRC
YES >> GO TO 2. G
2.PERFORM THE SELF-DIAGNOSIS
With CONSULT H
CAUTION:
• Be sure to wait of 10 seconds after turning ignition switch OFF or ON. I
J
NO >> GO TO 3.
K
3.CHECK VDC WARNING LAMP SIGNAL
With CONSULT
1. Select “ABS”, “DATA MONITOR” and “SLIP/VDC LAMP” according to this order. L
3. Check that data monitor displays “On” for approx. 1 second after ignition switch is turned ON, and then
changes to “Off”. M
CAUTION:
N
NO >> Replace the ABS actuator and electric unit (control unit). Refer to MWI-141, "Removal and Instal-
lation".
O

VDC OFF INDICATOR LAMP
VDC OFF INDICATOR LAMP
1.CHECK VDC OFF INDICATOR LAMP FUNCTION (1)

Check that VDC OFF indicator lamp in combination meter turns ON for 1 second after ignition switch is turned
ON.
CAUTION:
YES >> GO TO 2.
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.
NO >> Check the VDC OFF switch system. Refer to BRC-176, "Diagnosis Procedure".
CUIT
YES >> GO TO 2.
2.CHECK VDC OFF INDICATOR LAMP SIGNAL (1)
With CONSULT
1. Select “ABS”, “DATA MONITOR” and “OFF LAMP” according to this order.
3. Check that data monitor displays “On” for 1 second after ignition switch is turned ON, and then changes to
“Off”.
CAUTION:
YES >> GO TO 3.
lation".
3.CHECK VDC OFF INDICATOR LAMP SIGNAL (2)
With CONSULT
1. Select “ABS”, “DATA MONITOR” and “OFF LAMP” according to this order.
2. Check that data monitor displays “On” or “Off” each time when VDC OFF switch is operated.
NO >> Check the VDC OFF switch system. Refer to BRC-176, "Diagnosis Procedure".

EXCESSIVE OPERATION FREQUENCY
< SYMPTOM DIAGNOSIS > [WITH VDC]
SYMPTOM DIAGNOSIS A
B
VDC function, TCS function, ABS function, EBD function, Brake limited slip differential (BLSD) function, Brake
assist function, hill start assist function or Brake force distribution function operates in excessive operation fre-
quency. C
D
1.CHECK BRAKING FORCE
Check brake force using a brake tester.
YES >> GO TO 2.
NO >> Check brake system.
2.CHECK FRONT AND REAR AXLE BRC
Check that there is no excessive looseness in front and rear axle.

• Front axle
- 2WD: Refer to FAX-7, "Inspection". G
- AWD: Refer to FAX-17, "Inspection".
• Rear axle: Refer to RAX-6, "Inspection".
Is the inspection result normal? H
YES >> GO TO 3.
NO >> Repair / replace error-detecting of front or rear axle part.
3.CHECK WHEEL SENSOR I
Check wheel sensor.

• Check installation and damage of wheel sensor.
J
• Check connection of wheel sensor harness connector.
• Check terminal of wheel sensor harness connector.
K
YES >> GO TO 4.
NO >> Repair installation or replace wheel sensor.
• Front wheel sensor: Refer to BRC-191, "FRONT WHEEL SENSOR : Removal and Installation".
• Rear wheel sensor: Refer to BRC-192, "REAR WHEEL SENSOR : Removal and Installation". L
4.CHECK SENSOR ROTOR
Check that there is no looseness, damage or foreign material on sensor rotor. M
YES >> GO TO 5.
NO >> Repair installation or replace sensor rotor. N
• Front sensor rotor: Refer to BRC-194, "FRONT SENSOR ROTOR : Removal and Installation".
• Rear sensor rotor: Refer to BRC-194, "REAR SENSOR ROTOR : Removal and Installation".
5.CHECK WARNING LAMP TURNS OFF O
Check that ABS warning lamp, brake warning lamp and VDC warning lamp turn OFF approx. 1 second after
key switch is turned ON and stay in OFF status during driving.
CAUTION: P
Brake warning lamp turns ON when parking brake is operated (parking brake switch is ON) or brake
fluid is less than the specified level (brake fluid level switch is ON).
YES >> Normal
NO >> GO TO 6.
With CONSULT
CAUTION:

UNEXPECTED BRAKE PEDAL REACTION
UNEXPECTED BRAKE PEDAL REACTION
A
A malfunction of brake pedal feel (height or others) is detected when brake pedal is depressed. B
1.CHECK FRONT AND REAR AXLE C

Check that there is no excessive looseness in front and rear axle.
• Front axle
- 2WD: Refer to FAX-7, "Inspection". D
- AWD: Refer to FAX-17, "Inspection".
• Rear axle: Refer to RAX-6, "Inspection".
YES >> GO TO 2.
NO >> Repair / replace error-detecting of front or rear axle part.
2.CHECK DISC ROTOR BRC
Check disc rotor runout.

• Front: Refer to BR-20, "DISC ROTOR : Inspection and Adjustment".
• Rear: Refer to BR-22, "DISC ROTOR : Inspection and Adjustment". G
YES >> GO TO 3.
NO >> Refinish the disc rotor. H
3.CHECK BRAKE FLUID LEAKAGE

Check fluid leakage. I
• Front: Refer to BR-34, "FRONT : Inspection".
• Rear Refer to BR-41, "REAR : Inspection".
Is the inspection result normal? J
YES >> GO TO 4.
NO >> Repair / replace fluid leakage part.
4.CHECK BRAKE PEDAL K
Check each item of brake pedal. Refer to BR-12, "Inspection and Adjustment".
L
YES >> GO TO 5.
NO >> Adjust each item of brake pedal. Refer to BR-12, "Inspection and Adjustment".
5.CHECK BRAKING FORCE M
YES >> GO TO 6. N
NO >> Check each components of brake system.
6.CHECK BRAKE PERFORMANCE
O
Disconnect 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.
P
YES >> Normal

THE BRAKING DISTANCE IS LONG
THE BRAKING DISTANCE IS LONG
Brake stopping distance is long when ABS function is operated.

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
YES >> GO TO 2.
2.CHECK BRAKE PERFORMANCE
Disconnect ABS actuator and electric unit (control unit) connector so that ABS does not operate. Check brake
stopping distance in this condition. Connect harness connectors after checking.
YES >> Normal

DOES NOT OPERATE
DOES NOT OPERATE
A
VDC function, TCS function, ABS function, EBD function, Brake limited slip differential (BLSD) function, Brake B
assist function, hill start assist function or Brake force distribution function does not operate.
C
CAUTION:
• VDC function, TCS function, ABS function, EBD function, Brake limited slip differential (BLSD) func-
tion, Brake assist function, hill start assist function and Brake force distribution function never oper-
ate when the vehicle speed is 10 km/h (6.2 MPH) or less. However, TCS function, Brake limited slip D
differential (BLSD) function and hill start assist function operates when the vehicle speed is 0 km/h
(0 MPH) (the vehicle is in stop status).
• VDC function and TCS function never operate when VDC OFF switch is operated (when VDC OFF E
indicator lamp turns ON).
1.CHECK ABS WARNING LAMP
BRC
Check that ABS warning lamp, brake warning lamp and VDC warning lamp turn ON and turn OFF approx. 1
second after key switch is turned ON. Check that ABS warning lamp, brake warning lamp and VDC warning
lamp and stay in OFF status during driving.
CAUTION: G
Brake warning lamp turns ON when parking brake is operated (parking brake switch is ON) or brake
fluid is less than the specified level (brake fluid level switch is ON).
Is the inspection result normal? H
YES >> Normal
NO >> GO TO 2.
2.PERFORM SELF-DIAGNOSIS I
With CONSULT
1. Turn the ignition switch OFF → ON. J
CAUTION:
2. Repeat step 1 two or more times. K
YES >> Check the DTC. Refer to BRC-72, "DTC Index". L

BRAKE PEDAL VIBRATION OR OPERATION SOUND OCCURS
BRAKE PEDAL VIBRATION OR OPERATION SOUND OCCURS
• 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 higher]
1.SYMPTOM CHECK 1
Check that there are pedal vibrations when the engine is started.
Do vibrations occur?
YES >> GO TO 2.
NO >> Check brake pedal. Refer to BR-25, "Inspection and Adjustment".
2.SYMPTOM CHECK 2
Check that motor sound from ABS actuator 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 >> GO TO 4.
With CONSULT
CAUTION:

VEHICLE JERKS DURING
VEHICLE JERKS DURING
A
The vehicle jerks when VDC function, TCS function, ABS function, EBD function, Brake limited slip differential B
(BLSD) function, Brake assist function, hill start assist function or Brake force distribution function operates.
C
1.CHECK SYMPTOM
Check that the vehicle jerks when VDC function, TCS function, ABS function, EBD function, Brake limited slip
differential (BLSD) function, Brake assist function, hill start assist function or Brake force distribution function D
operates.
YES >> Normal E
NO >> GO TO 2.
2.PERFORM THE SELF-DIAGNOSIS BRC
With CONSULT
CAUTION:
• Be sure to wait of 10 seconds after turning ignition switch OFF or ON. G
3. Perform self-diagnosis for “ABS”. H
NO >> GO TO 3. I
3.CHECK CONNECTOR
With CONSULT J
3. Check connector terminal for deformation, disconnection and looseness.
K
YES >> GO TO 4.
NO >> Poor connection of connector terminal. Repair or replace connector terminal.
L
With CONSULT
1. Connect harness connector. M
CAUTION:
• Be sure to wait of 10 seconds after turning ignition switch OFF or ON. N
Is any DTC detected? O
NO >> GO TO 5.
P
With CONSULT
Perform self-diagnosis for “ENGINE”, “TRANSMISSION”.
lation".

NORMAL OPERATING CONDITION
NORMAL OPERATING CONDITION
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
slip differential (BLSD) function, Brake assist function, hill start assist function or Brake This is not a malfunction, because it is
force distribution function operates. caused by VDC function, TCS function,
ABS function, EBD function, Brake limited
Brake stopping distance may become longer than models without ABS function depending
slip differential (BLSD) function, Brake
on the road conditions, when ABS function is operated on slippery road like rough road,
assist function, hill start assist function
gravel road or snowy road.
and Brake force distribution function that
Brake pedal vibrates and operation sound occurs during sudden acceleration and corner- are normally operated.
ing, when VDC function, TCS function, Brake assist function or Brake force distribution
function is operated.
This is not a malfunction, because it is
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
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 OFF indicator lamp may turn ON, when the vehicle is on a ro-
tating turntable or is given a strong shaking or large vibrations on a ship while the engine is
running.
In this case, restart the engine on a nor-
VDC warning lamp may turn ON and VDC function, TCS function, Brake assist function,
mal road. If the normal condition is re-
and Brake force distribution function may not normally operate, when driving on a special
stored, there is no malfunction. In that
road the is extremely slanted (bank in a circuit 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.
sharply turns during a spin turn, acceleration turn or drift driving while VDC function, TCS
function, are OFF (VDC OFF switch is pressed and VDC OFF indicator lamp is in ON sta-
tus).
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.)

WHEEL SENSOR
< REMOVAL AND INSTALLATION > [WITH VDC]
REMOVAL AND INSTALLATION A

WHEEL SENSOR
FRONT WHEEL SENSOR
B
FRONT WHEEL SENSOR : Exploded View INFOID:0000000012793826
BRC
J
JSFIA2014GB
Front LH wheel sensor harness con- K

Front LH wheel sensor Bracket
nector
Identification line
L
: Vehicle front
: N·m (kg-m, ft-lb)

M
: N·m (kg-m, in-lb)
NOTE:
Front RH wheel sensor is symmetrically opposite of LH. N
FRONT WHEEL SENSOR : Removal and Installation INFOID:0000000012793827
REMOVAL O
1. Remove tires with power tool.
2. Remove the fender protector (front). Refer to EXT-30, "FENDER PROTECTOR : Removal and Installa-
tion". P
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.

WHEEL SENSOR
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.
• Never twist front wheel sensor harness when installing front wheel
sensor. Check that grommet is fully inserted to bracket .
Check that front wheel sensor harness is not twisted after installa-
tion.
CAUTION:
Check that front wheel sensor identification line faces toward
the vehicle front.
JPFIC0209ZZ
REAR WHEEL SENSOR

REAR WHEEL SENSOR : Exploded View INFOID:0000000012793828
JPFIC0102GB
Rear LH wheel sensor Rear LH wheel sensor harness con- Rear RH wheel sensor harness con-
nector nector
Rear RH wheel sensor
: Vehicle front
REAR WHEEL SENSOR : Removal and Installation INFOID:0000000012793829
REMOVAL
1. Remove rear wheel sensor from rear final drive.

WHEEL SENSOR
CAUTION:
Never rotate or pull rear wheel sensor as much as possible, when pulling out. A
2. Remove rear wheel sensor harness from the vehicle.
CAUTION:
Never twist and never pull rear wheel sensor harness, when removing. B
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 C
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.
• Never twist rear wheel sensor harness when installing rear wheel sensor. Check that grommet is fully
D
inserted to bracket. Check that rear wheel sensor harness is not twisted after installation.
BRC

SENSOR ROTOR
SENSOR ROTOR
FRONT SENSOR ROTOR
FRONT SENSOR ROTOR : Removal and Installation INFOID:0000000012793830
REMOVAL
Replace wheel hub as an assembly when replacing because sensor rotor cannot be disassembled.
• 2WD: Refer to FAX-8, "Removal and Installation".
• AWD: Refer to FAX-19, "Removal and Installation".
INSTALLATION
Replace wheel hub as an assembly when replacing because sensor rotor cannot be disassembled.
• 2WD: Refer to FAX-19, "Removal and Installation".
• AWD: Refer to FAX-19, "Removal and Installation".
REAR SENSOR ROTOR
REAR SENSOR ROTOR : Removal and Installation INFOID:0000000012793831
REMOVAL
1. Remove drive shaft. Refer to RAX-13, "Removal and Installation".
2. Remove sensor rotor from rear drive shaft. Refer to RAX-18, "FINAL DRIVE SIDE : Disassembly and
Assembly".
INSTALLATION
Installation is the reverse order of removal.

A
Exploded View INFOID:0000000012793832
BRC
I
JSFIA2018GB
ABS actuator and electric unit (con- ABS actuator and electric unit (con- J
Collar
trol unit) harness connector trol unit)
Bushing Bracket
To master cylinder secondary side To master cylinder primary side To front LH caliper K
To rear RH caliper To rear LH caliper To front RH caliper
: Vehicle front
L
: N·m (kg-m, in-lb)

M
Removal and Installation INFOID:0000000012793833
REMOVAL N
CAUTION:
Never drop or strike ABS actuator and electric unit (control unit), because it has little endurance to
impact. Never use a pneumatic tool.
O
2. Disconnect battery cable from negative terminal.
3. Remove brake master cylinder cover. Refer to EXT-27, "Removal and Installation". P
4. Drain brake fluid. Refer to BR-16, "Draining".

5. Disconnect ABS actuator and electric unit (control unit) harness
connector , follow the procedure below.
a. Pull up the lever until locked.
b. Disconnect ABS actuator and electric unit (control unit) harness
connector.
JSFIA2061ZZ
6. Loosen flare nut of brake tube using a flare nut wrench,

and then remove brake tube from ABS actuator and electric unit
(control unit) . Refer to BR-26, "FRONT : Exploded View".
7. Remove front tire with power tool.
8. Remove fender protector (rear). Refer to EXT-30, "FENDER
PROTECTOR : Removal and Installation".
9. Remove ABS actuator and electric unit (control unit) and
bracket.
CAUTION:
• Never remove and never install ABS actuator and electric
JSFIA2062ZZ
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.
10. Remove bracket, bushing and collar from ABS actuator and electric unit (control unit).
INSTALLATION
• Never drop or strike ABS actuator and electric unit (control unit), because it has little endurance to impact.
Never use a pneumatic tool.
• When installing brake tube, tighten to the specified torque using a crowfoot and torque wrench so that flare
nut and brake tube are not damaged. Refer to BR-26, "FRONT : Exploded View".
• Never remove and install actuator by holding actuator harness.
• Bleed air from brake piping after installation. Refer to BR-17, "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 , push down the lever until locked.
• When replacing the ABS actuator and electric unit (control unit), be
sure to perform the following procedure.
- Configuration: Refer to BRC-96, "Work Procedure".
- Adjustment of steering angle sensor: Refer to BRC-91, "Work Pro-
cedure".
- Calibration of decel G sensor: Refer to BRC-94, "Work Procedure".
JSFIA2063ZZ

STEERING ANGLE SENSOR
STEERING ANGLE SENSOR
A
REMOVAL B
1. Remove spiral cable assembly. Refer to SR-22, "Removal and Installation".
2. Remove steering angle sensor.
C
INSTALLATION
• Perform steering angle sensor neutral position adjustment when steering angle sensor is removed and
installed, or replaced. Refer to BRC-91, "Work Procedure". D
BRC

VDC OFF SWITCH
VDC OFF SWITCH
NOTE:
This is an integrated switch with switches for other functions.
REMOVAL
1. Remove lower instrument panel. Refer to IP-13, "Removal and Installation".
2. Remove switch panel. Refer to IP-13, "Removal and Installation".
3. Remove VDC OFF switch . from switch panel while pushing
the pawl.
JSGIA0900ZZ
INSTALLATION
Installation is the reverse order of removal.

PRECAUTIONS
< PRECAUTION > [FORWARD EMERGENCY BRAKING]
PRECAUTION A
PRECAUTIONS
Precautions for Removing Battery Terminal INFOID:0000000013398614
B
When disconnecting the battery terminal, pay attention to the following.
• Always use a 12V battery as power source.
• Never disconnect battery terminal while engine is running. C
• When removing the 12V battery terminal, turn OFF the ignition
switch and wait at least 30 seconds.
• For vehicles with the engine listed below, remove the battery termi- D
nal after a lapse of the specified time:
BR08DE : 4 minutes V9X engine : 4 minutes

E
D4D engine : 20 minutes YD25DDTi : 2 minutes
HR09DET : 12 minutes YS23DDT : 4 minutes
HRA2DDT : 12 minutes YS23DDTT : 4 minutes
BRC
K9K engine : 4 minutes ZD30DDTi : 60 seconds
SEF289H
M9R engine : 4 minutes ZD30DDTT : 60 seconds
R9M engine : 4 minutes
G
NOTE:
ECU may be active for several tens of seconds after the ignition switch is turned OFF. If the battery terminal
is removed before ECU stops, then a DTC detection error or ECU data corruption may occur.
H
• After high-load driving, if the vehicle is equipped with the V9X engine, turn the ignition switch OFF and wait
for at least 15 minutes to remove the battery terminal.
NOTE:
• Turbocharger cooling pump may operate in a few minutes after the ignition switch is turned OFF. I
• Example of high-load driving
- Driving for 30 minutes or more at 140 km/h (86 MPH) or more.
- Driving for 30 minutes or more on a steep slope. J
• For vehicles with the 2-batteries, be sure to connect the main battery and the sub battery before turning ON
the ignition switch.
NOTE:
If the ignition switch is turned ON with any one of the terminals of main battery and sub battery discon- K
nected, then DTC may be detected.
• After installing the 12V battery, always check "Self Diagnosis Result" of all ECUs and erase DTC.
NOTE: L
The removal of 12V battery may cause a DTC detection error.
Precautions for FEB System Service INFOID:0000000013398613
M
CAUTION:
• Erase DTC when replacing parts of ICC system. Then check the operation of ICC system after radar
alignment if necessary.
• Never change FEB system state ON/OFF without the consent of the customer. N
• Turn the FEB system OFF in conditions similar to driving, such as free rollers or a chassis dyna-
mometer.
O
PRECAUTION FOR ICC SENSOR
• Never use the ICC sensor removed from vehicle. Never disassemble or remodel.

PRECAUTIONS
< PRECAUTION > [FORWARD EMERGENCY BRAKING]
• Never install a part that the radar irradiation range is interfered
with.
• If a part interferes with the radar irradiation range, then the follow-
ing conditions are caused:
- The condition of ICC sensor becomes equal to an unclean condi-
tion, and this makes it difficult to measure the distance between
cars.
- When it is impossible to measure the distance between cars, the
following functions stop and DTC is detected.
• Forward Emergency Braking (FEB)
• Intelligent Cruise Control (ICC) JSOIA2053ZZ
• Distance Control Assist (DCA)
• Predictive Forward Collision Warning (PFCW)

COMPONENT PARTS
< SYSTEM DESCRIPTION > [FORWARD EMERGENCY BRAKING]
SYSTEM DESCRIPTION A
COMPONENT PARTS
Component Parts Location INFOID:0000000012793837
B
BRC
N
JSOIA2500ZZ
Instrument panel (Center) Instrument lower panel (RH) Engine room (RH) (2.0L turbo gaso-
line engine) O
Front bumper (RH) Engine room (LH) (VR30DDTT) Upper side of brake pedal

COMPONENT PARTS
No. Component Description

• Refer to BRC-202, "ADAS Control Unit"
ADAS control unit
• Refer to DAS-16, "Component Parts Location" for detailed installation location.
• Performs the following operations using the signals received from the ADAS control unit
via the CAN communication
- Displays the FEB system operation status using the meter display signal
Combination meter
- Illuminates the FEB warning lamp using the FEB warning lamp signal
• Refer to MWI-8, "METER SYSTEM : Component Parts Location" for detailed installa-
tion location.
Display control unit transmits the system selection signal to ADAS control unit via CAN
communication
• ECM transmits the accelerator pedal position signal via CAN communication
ECM (2.0L turbo gasoline engine) • Refer to EC4-25, "ENGINE CONTROL SYSTEM : Component Parts Location" for de-
tailed installation location.
• ECM transmits the accelerator pedal position signal via CAN communication
• Refer to EC6-33, "ENGINE CONTROL SYSTEM : Component Parts Location" (USA
ECM (VR30DDTT)
and Canada), EC6-1024, "ENGINE CONTROL SYSTEM : Component Parts Location"
(Mexico) for detailed installation location.
• EMCM transmits the brake pedal switch signal to ADAS control unit via CAN commu-
nication
EMCM
• Refer to EC4-25, "ENGINE CONTROL SYSTEM : Component Parts Location" for de-
tailed installation location.
• TCM transmits the signal related to A/T control to ADAS control unit via CAN commu-
nication
TCM
• Refer to TM-13, "A/T CONTROL SYSTEM : Component Parts Location" for detailed in-
stallation location.
Accelerator pedal actuator receives an accelerator pedal feedback force control signal
Accelerator pedal actuator
from the ADAS control unit via ITS communication and pushes back the accelerator pedal
• ABS actuator and electric unit (control unit) transmits the vehicle speed signal (wheel
speed), stop lamp signal and VDC/TCS/ABS system operation condition to ADAS con-
ABS actuator and electric unit trol unit via CAN communication
(control unit) • ABS actuator and electric unit (control unit) controls the brake, based on a brake fluid
pressure control signal received from ADAS control unit via CAN communication
• Refer to BRC-10, "Component Parts Location" for detailed installation location.
Driver assistance buzzer Refer to BRC-204, "Driver Assistance Buzzer"
Driver assistance buzzer control
Refer to BRC-204, "Driver Assistance Buzzer Control Module"
module
ICC brake hold relay Refer to BRC-203, "ICC Brake Hold Relay"
ICC sensor Refer to BRC-203, "ICC Sensor"
Stop lamp switch

Refer to BRC-203, "Brake Pedal Position Switch / Stop Lamp Switch"
Brake pedal position switch
ADAS Control Unit INFOID:0000000013398628
• ADAS control unit is installed at trunk side of the parcel shelf.

• Communicates with each control unit via CAN communication/ITS
communication/Chassis communication.
• ADAS control unit included gateway function, and necessary for
system control signals are transmitted to each control unit between
CAN communication and ITS communication by the ADAS control
unit.
• ADAS control unit controls the each system, based on ITS commu-
nication signal, CAN communication signal, and chassis communi-
cation signal from each control unit.
JSOIA0503ZZ

COMPONENT PARTS
ICC Sensor INFOID:0000000013398633
A
• ICC sensor is installed on the back of the front bumper and detects
a vehicle ahead by using millimeter waves.
• ICC sensor detects radar reflected from a vehicle ahead by irradi- B
ating radar forward and calculates a distance from the vehicle
ahead and relative speed, based on the detected signal.
• ICC sensor transmits the presence/absence of vehicle ahead and
the distance from the vehicle to ADAS control unit via ITS commu- C
nication.
D
JSOIA0811ZZ
Brake Pedal Position Switch / Stop Lamp Switch INFOID:0000000013398629

E
• Brake pedal position switch is installed at the upper part of the
brake pedal and detects a brake operation performed by the driver.
BRC
H
JSOIA0812ZZ
• Brake pedal position switch is turned OFF when depressing the brake pedal. I
• Brake pedal position switch signal is input to ECM. Brake pedal position switch signal is transmitted from
ECM to ADAS control unit via CAN communication. (VR30DDTT)
• Brake pedal position switch signal is input to EMCM. Brake pedal position switch signal is transmitted from J
EMCM to ADAS control unit via CAN communication. (2.0 TURBO GASOLINE ENGINE)
• Stop lamp switch is installed at the upper part of the brake pedal
and detects a brake operation performed by the driver.
• Stop lamp switch is turned ON, when depressing the brake pedal. K
• Stop lamp switch signal is input to ECM and ABS actuator and
electric unit (control unit). Stop lamp switch signals are transmitted
from ECM and ABS actuator and electric unit (control unit) to L
ADAS control unit via CAN communication. (VR30DDTT)
• Stop lamp switch signal is input to BCM and ABS actuator and
electric unit (control unit). Stop lamp switch signals are transmitted
M
from BCM and ABS actuator and electric unit (control unit) to
ADAS control unit via CAN communication. (2.0 TURBO GASO-
JSOIA0439ZZ
LINE ENGINE)
N
ICC Brake Hold Relay INFOID:0000000013398634
• ICC brake hold relay is installed in the engine room (right side).
• When the brake is activated by the system, the ICC brake hold O
relay turns ON the stop lamp by bypassing the circuit of the stop
lamp, according to a signal transmitted from the ADAS control unit.
P
JSOIA0565ZZ

COMPONENT PARTS
Accelerator Pedal Actuator INFOID:0000000013398630
• Installed to the upper portion of the accelerator pedal, this consists

of the accelerator pedal actuator together with the accelerator
pedal position sensor, and is linked with the accelerator pedal.
• If accelerator pedal feedback force control signal is received from
ADAS control unit via ITS communication, it operates the inte-
grated motor for applying control to move the accelerator pedal
upward.
JSOIA0813ZZ
Driver Assistance Buzzer Control Module INFOID:0000000013398631
• Driver assistance buzzer control module is installed at the behind

of glove box.
• When driver assistance buzzer signal is received from the ADAS
control unit, the driver assistance buzzer control module transmits
the warning buzzer signal to driver assistance buzzer.
JSOIA0816ZZ
Driver Assistance Buzzer INFOID:0000000013398632
• Driver assistance buzzer is installed at the behind the display con-

trol unit.
• When a warning buzzer signal is received from the driver assis-
tance buzzer control module, the driver assistance buzzer sounds
a buzzer.
JSOIA0815ZZ

SYSTEM
SYSTEM
A
System Description INFOID:0000000012793845
SYSTEM DIAGRAM B
VR30DDTT
BRC
JSOIA0984GB J
2.0 TURBO GASOLINE ENGINE
JSOIA0945GB
NOTE:

SYSTEM
TCM is connected to drivetrain CAN communication and transmits a CAN communication signal to ADAS con-
trol unit via ECM.
ADAS CONTROL UNIT INPUT/OUTPUT SIGNAL ITEM
Input Signal Item
Transmit unit Signal name Description

Closed throttle position signal Receives idle position state (ON/OFF)
CAN com- Accelerator pedal position signal Receives accelerator pedal position (angle)
munica- Engine speed signal Receives engine speed
ECM
tion
Stop lamp switch signal Receives an operational state of the brake pedal
Brake pedal position switch signal*1 Receives an operational state of the brake pedal
CAN com-
EMCM*2 munica- Brake pedal position switch signal Receives an operational state of the brake pedal
tion
Input speed signal Receives the number of revolutions of input shaft
TCM CAN com- Current gear position signal Receives a current gear position
*2 munica-
(Via ECM) tion Shift position signal Receives a selector lever position
Output shaft revolution signal Receives the number of revolutions of output shaft
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
TCS malfunction signal Receives a malfunction state of TCS
ABS actuator CAN com- TCS operation signal Receives an operational state of TCS
and electric unit munica-
VDC OFF switch signal Receives an ON/OFF state of VDC
(control unit) tion
VDC malfunction signal Receives a malfunction state of VDC
VDC operation signal Receives an operational state of VDC
Vehicle speed signal (ABS) Receives wheel speeds of four wheels
Yaw rate signal Receives yaw rate acting on the vehicle
Stop lamp switch signal Receives an operational state of the brake pedal
Steering angle sensor malfunction signal Receives a malfunction state of steering angle sensor
CAN com-
Steering angle Receives the number of revolutions, turning direction of
munica- Steering angle sensor signal
sensor the steering wheel
tion
Steering angle speed signal Receives the turning angle speed of the steering wheel
CAN com-
Display control Receives a selection state of each item in “Driver Aids”
munica- System selection signal
unit selected with the integral switch
tion
ITS com-
Receives detection results, such as the presence or ab-
ICC sensor munica- ICC sensor signal
sence of a leading vehicle and distance from the vehicle
tion
ITS com-
Accelerator Accelerator pedal actuator operation status Receives an operational state of accelerator pedal ac-
munica-
pedal actuator signal tuator
tion
*1: VR30DDTT ENGINE
*2: 2.0 TURBO GASOLINE ENGINE
Output Signal Item

SYSTEM
Reception unit Signal name Description A

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
B
unit)
Vehicle ahead detection
indicator signal
Combination CAN commu- Meter display Transmits a signal to display a state of the system on the C
FEB/PFCW system dis-
meter nication signal information display
play signal
FEB warning signal
D
Transmits a vehicle speed calculated by the ADAS con-
Vehicle speed signal
ITS commu- trol unit
ICC sensor
nication Transmits a steering angle sensor signal received from
Steering angle sensor signal E
the steering angle sensor
Transmits an accelerator pedal angle calculated by the
Accelerator pedal position signal
Accelerator ITS commu- ADAS control unit
pedal actuator nication
BRC
Accelerator pedal feedback force control Transmits a target actuation force value calculated by
signal the ADAS control unit
Driver assis-
ITS commu- Transmits a driver assistance buzzer signal to active the G
tance buzzer Driver assistance buzzer signal
nication buzzer
control module
ICC brake hold Activates the brake hold relay and turns ON the stop
ICC brake hold relay drive signal H
relay lamp
FUNCTION DESCRIPTION
• The FEB system measures the distance from a vehicle ahead using the ICC sensor installed in the front I
bumper.
• When the system judges that a vehicle is being approached, “approach warning” is displayed in the combi-
nation meter and at the same time a warning chime sounds, the accelerator pedal is moved upward, and the
brake is operated. J
• When it is further judged that the vehicle may collide with the vehicle ahead, the system operates the brake
strongly to avoid collision while it displays FEB warning on the combination meter and rings a warning
chime. K
JSOIA0952ZZ
P
Start of warning and partial brake Start of harder brake
Applies partial braking and moves Harder brake
the accelerator pedal to upward di-
rection

SYSTEM
Situation Brake Accelerator pedal actuator Warning

No obstacle approached No operation No operation —
Partial brake Operation
• Sounds the buzzer

Start of warning and
• Blinks vehicle ahead
partial brake
indicator
JSOIA0222ZZ JSOIA0094ZZ
Harder brake Operation
• Sounds the buzzer

(Higher pitched
Start of harder brake
buzzer)
• Indicates FEB warn-
ing
JSOIA0222ZZ JSOIA0094ZZ
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.
NOTE:
The FEB system shares component parts and diagnosis with the ICC/DCA system.
OPERATION DESCRIPTION
• The ICC sensor measures the distance from the obstacle ahead and transmits the ICC sensor signal to the
ADAS control unit.
• The ADAS control unit judges the possibility of a collision from the ICC sensor signal and the vehicle speed.
• The ADAS control unit performs the following operations according to the degree of possibility of a collision.
- Transmits the driver assistance buzzer signal to the driver assistance buzzer control module and sounds the
buzzer.
- Transmits the meter display signal to the combination meter and displays the vehicle ahead indicator/FEB
warning.
- Transmits the accelerator pedal feedback force signal to the accelerator pedal actuator and moves the
accelerator pedal upward to assist the driver to release the accelerator pedal.
- Transmits the brake fluid pressure control signal to the ABS actuator and electric unit (control unit) via chas-
sis control module and performs the brake control
- Transmits the ICC brake hold relay drive signal to the ICC brake hold relay and turns ON the stop lamp.
NOTE:
• ON/OFF of FEB/PFCW system is performed with the integral switch.
• The system ON/OFF condition will be memorized even if the ignition switch turns OFF.
• The FEB system operates under the following conditions.
- The FEB system will function when the vehicle is driven at speeds of approximately 5 km/h (3 MPH) and
above, and when the vehicle′s speed is approximately 5 km/h (3 MPH) faster than that of the vehicle ahead.
• Setting of FEB is performed in synchronization with the log-in function of on-board personal assistant. For
details of the log-in function, refer to DMS-17, "LOG-IN FUNCTION : System Description".
Operation Condition
ADAS control unit performs the control when the following conditions are satisfied.
• When the FEB/PFCW system setting on the integral switch is ON.
• When the vehicle speed is above approximately 5 km/h (3 MPH).
• There is a possibility of a collision with the vehicle ahead.
No Operation Condition
The ADAS control unit is not operate when the system is under the conditions of the no operation condition.
• When the FEB system setting on the integral switch is OFF.
• When the vehicle ahead is not detected.
Operation Cancellation Condition
The ADAS control unit cancels the operation when the system is under any conditions of the operation cancel-
lation condition.

SYSTEM
• When the system judges that the vehicle comes to a standstill by the system control.
• When the system malfunction occurs. A
• When the ICC sensor area of the front bumper is dirty and the measurement of the distance between the
vehicles becomes difficult.
Fail-safe (ADAS Control Unit) INFOID:0000000013399006 B
If a malfunction occurs in each system, ADAS control unit cancels each control, sounds a beep, and turns ON
the warning or indicator lamp. C
Warning lamp/Warning dis-

System Buzzer Description
play
D
High-
Vehicle-to-vehicle distance control mode pitched ICC system warning Cancel
tone
High- E
Conventional (fixed speed) cruise control mode pitched ICC system warning Cancel
tone
High- • FEB warning lamp BRC
Forward Emergency Braking (FEB) pitched • Warning systems indicator Cancel
tone (Forward position: Yellow)
High- G
Warning systems indicator
Predictive Forward Collision Warning (PFCW) pitched Cancel
(Forward position: Yellow)
tone
High-
Distance Control Assist (DCA) pitched
Cancel
H
tone
Lane Departure Warning (LDW) — Cancel
(Lane position: Yellow) I
Low-
Lane Departure Prevention (LDP) pitched Cancel
(Lane position: Yellow)
tone J
Blind Spot Warning (BSW) — Cancel
(Blind spot position: Yellow)
Low-
K
Blind Spot Intervention pitched Cancel
tone
High- L
Back-up Collision Intervention (BCI) pitched BCI system warning Cancel
tone
WARNING/INDICATOR/CHIME LIST M
WARNING/INDICATOR/CHIME LIST : Warning Lamp/Indicator Lamp INFOID:0000000012793847
N
Name Design Function
• For layout, refer to MWI-9, "METER SYSTEM : Design". O

FEB warning lamp • For function, refer to MWI-28, "WARNING LAMPS/INDICATOR LAMPS :
FEB Warning Lamp".

OPERATION
OPERATION
Switch Name and Function INFOID:0000000012793848
JSOIA1131ZZ
No. Switch name Description

FEB system setting screen
The setting of FEB/PFCW system can be switched between ON and OFF
(Integral switch settings screen)
Menu Displayed by Pressing Each Switch INFOID:0000000012793849
SYSTEM DISPLAY
JSOIA1066ZZ
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/PFCW systems are ON
(Warning systems indicator)
• Indicates whether it detects a vehicle ahead
Vehicle ahead detection indicator
• Blinks when approaching vehicle ahead
FEB system indicator “Forward” po-
sition (Speaker icon) Indicates that FEB/PFCW system is ON
(Warning systems indicator)
FEB warning Displays immediately before the harder brake operates
DISPLAY AND WARNING

Warning Display

OPERATION
FEB warning A
System status Condition Display on combination meter Buzzer
lamp
FEB/PFCW OFF — ON —
C
JSOIA0911ZZ
FEB/PFCW ON System ON OFF — E
JSOIA0913ZZ BRC
The FEB/PFCW system is auto-

H
matically canceled. JSOIA0913ZZ
FEB/PFCW system malfunc-
NOTE:
tion ON Beep
The system operates if the igni- I
tion switch is turned OFF⇒ON
after the condition improves
JSOIA0932ZZ
K
Malfunction See Owner's Manual
Warning Operation
L
FEB warning
Condition Action Display on combination meter Chime
lamp
• Accelerator pedal ac-

There is a possibility of a colli- tuation JSOIA0921ZZ O
OFF Beep
sion with the vehicle ahead • Operates brake (Par-
tial)
JSOIA0922ZZ

OPERATION
FEB warning
Condition Action Display on combination meter Chime
lamp
An obstacle ahead is avoided

Operates brake (Emer- JSOIA0957ZZ Continuous
due to the system applying OFF
gency) beeps
braking.
JSOIA0922ZZ
The FEB system is auto-

matically canceled.
JSOIA0913ZZ
NOTE:
Dirt around the ICC sensor The system operates if ON Beep
the ignition switch is
turned OFF⇒ON after
the condition improves
JSOIA0932ZZ
Unavailable Front Radar Obstruction
The FEB system is auto-

matically canceled. JSOIA0913ZZ
NOTE:
Accelerator pedal high temper-
The system operates if ON Beep
ature
the ignition switch is
turned OFF⇒ON after
the condition improves
JSOIA0932ZZ
Unavailable High Accelerator Tempera-

ture

HANDLING PRECAUTION
HANDLING PRECAUTION
A
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 automatic braking will cease under the following conditions:
- When the steering wheel is turned as far as necessary to avoid a collision.
- When the accelerator pedal is depressed. D
- When there is no longer a vehicle detected ahead.
• If the forward emergency braking system has stopped the vehicle, the vehicle will remain at a standstill for
approximately 2 seconds before the brakes are released. E
• The system will not detect the following objects:
- Pedestrians, animals, or obstacles in the roadway
- Oncoming vehicles in the same lane
- Crossing vehicles BRC
• The radar sensor has some performance limitations. For stationary vehicles, the forward emergency braking
system can function at speeds up to approximately 70 km/h (45 MPH).
• The radar sensor may not detect a vehicle ahead in the following conditions: G
- Dirt, ice, snow or other material covering the radar sensor.
- Interference by other radar sources.
- Snow or road spray from traveling vehicles.
H
- If the vehicle ahead is narrow (e.g.motorcycle)
- When driving on a steep downhill slope or roads with sharp curves.
• In some road or traffic conditions, the forward emergency braking system may unexpectedly push the accel-
erator pedal up or apply partial braking. When acceleration is necessary, continue to depress the accelerator I
pedal to override the system.
• Braking distances increase on slippery surfaces.
• Excessive noise will interfere with the warning chime sound, and the chime may not be heard.
J

ADAS CONTROL UNIT
< ECU DIAGNOSIS INFORMATION > [FORWARD EMERGENCY BRAKING]
ECU DIAGNOSIS INFORMATION

ADAS CONTROL UNIT
Reference Value INFOID:0000000013399008
VALUES ON THE DIAGNOSIS TOOL

NOTE:
Monitor item Condition Value/Status

When MAIN switch is pressed On
MAIN SW Ignition switch ON
When MAIN switch is not pressed Off
When SET/COAST switch is pressed On
SET/COAST SW Ignition switch ON
When SET/COAST switch is not pressed Off
When CANCEL switch is pressed On
CANCEL SW Ignition switch ON
When CANCEL switch is not pressed Off
When RESUME/ACCELERATE switch is pressed On
RESUME/ACC SW Ignition switch ON
When RESUME/ACCELERATE switch is not pressed Off
When DISTANCE switch is pressed On
DISTANCE SW Ignition switch ON
When DISTANCE switch is not pressed Off
Drive the vehicle and activate When ICC system is controlling On
CRUISE OPE the vehicle-to-vehicle distance
control mode When ICC system is not controlling Off
When brake or clutch pedal is depressed Off

BRAKE SW Ignition switch ON
When brake or clutch pedal is not depressed On
When brake pedal is depressed On
STOP LAMP SW Ignition switch ON
When brake pedal is not depressed Off
Idling On
IDLE SW Engine running
Except idling (depress accelerator pedal) Off
• Start the engine and turn the When set to “long” Long
ICC system ON
When set to “middle” Mid
• Press the DISTANCE
SET DISTANCE
switch to change the vehi-
cle-to-vehicle distance set- When set to “short” Short
ting
ICC system ON
On
Start the engine and press (MAIN switch indicator ON)
CRUISE LAMP
MAIN switch ICC system OFF
Off
(MAIN switch indicator OFF)
NOTE:
OWN VHCL Off
The item is indicated, but not monitored
When a vehicle ahead is detected (vehicle ahead de-
Drive the vehicle and activate On
tection indicator ON)
VHCL AHEAD the vehicle-to-vehicle distance
control mode When a vehicle ahead is not detected (vehicle ahead
Off
detection indicator OFF)
When ICC system is malfunctioning
On
Start the engine and press (ICC system malfunction ON)
ICC WARNING
MAIN switch When ICC system is normal
Off
(ICC system malfunction OFF)

ADAS CONTROL UNIT
A
Displays the ve-
hicle speed cal-
VHCL SPEED SE While driving culated by
ADAS control B
unit
Displays the set
SET VHCL SPD While driving When vehicle speed is set
vehicle speed
C
When the buzzer of the following system operates
• Vehicle-to-vehicle distance control mode
• DCA system On
• PFCW system D
• FEB system
BUZZER O/P Engine running
When the buzzer of the following system not operates
• Vehicle-to-vehicle distance control mode E
• DCA system Off
• PFCW system
• FEB system
BRC
NOTE:
THRTL SENSOR 0.0
Equivalent to ta-
ENGINE RPM Engine running chometer read- G
ing
Wiper not operating Off
WIPER SW Ignition switch ON Wiper LO operation Low H
Wiper HI operation High
NOTE:
YAW RATE 0.0 I
FEB OFF indicator lamp ON
• When FEB system is malfunctioning On
• When FEB system is turned to OFF J
BA WARNING Engine running
FEB OFF indicator lamp OFF
• When FEB system is normal Off
• When FEB system is turned to ON K
Drive the vehicle and activate When ICC brake hold relay is activated On
STP LMP DRIVE the vehicle-to-vehicle distance
control mode When ICC brake hold relay is not activated Off
L
When the selector lever is in “D” position or manual
On
mode
D RANGE SW Engine running
When the selector lever is in any position other than “D” M
Off
or manual mode
When the selector lever is in “N”, “P” position On
NP RANGE SW Engine running When the selector lever is in any position other than “N”, N
Off
“P”
When the parking brake is applied On
PKB SW Ignition switch ON
When the parking brake is released Off O
Power supply
voltage value of
PWR SUP MONI Engine running
ADAS control P
unit
Value of A/T ve-
VHCL SPD AT While driving hicle speed sen-
sor signal
Displays the
THRTL OPENING Engine running Depress accelerator pedal
throttle position

ADAS CONTROL UNIT
Displays the
GEAR While driving
gear position
NOTE:
CLUTCH SW SIG Ignition switch ON Off
The item is indicated, but not monitored.
When the shift lever is in neutral position On
NP SW SIG Ignition switch ON
When the shift lever is in any position other than neutral Off
When ICC system is deactivated Off
When vehicle-to-vehicle distance control mode is acti-
Start the engine and press ICC
MODE SIG vated
MAIN switch
When conventional (fixed speed) cruise control mode is
ASCD
activated
• Drive the vehicle and acti- SET switch indicator ON On
vate the conventional (fixed
SET DISP IND
speed) cruise control mode SET switch indicator OFF Off
• Press SET/COAST switch
Displays the dis-
Drive the vehicle and activate tance from the
When a vehicle ahead is detected
DISTANCE the vehicle-to-vehicle distance preceding vehi-
control mode cle
When a vehicle ahead is not detected 0.0
Drive the vehicle and activate Displays the rel-

When a vehicle ahead is detected
RELATIVE SPD the vehicle-to-vehicle distance ative speed.
control mode When a vehicle ahead is not detected 0.0
ON ROOT GUID- NOTE:
Off
ANCE The item is indicated, but not monitored
When dynamic driver assistance switch is pressed On
DYNA ASIST SW Ignition switch ON
When dynamic driver assistance switch is not pressed Off
Start the engine and press dy- DCA system OFF Off
DCA ON IND namic driver assistance switch
(When DCA setting is ON) DCA system ON On
When a vehicle ahead is not detected (vehicle ahead

Off
Drive the vehicle and activate detection indicator OFF)
DCA VHL AHED
the DCA system When a vehicle ahead is detected (vehicle ahead de-
On
tection indicator ON)
NOTE:
IBA SW Off
When the PFCW system is ON On
FCW SYSTEM ON Ignition switch ON
When the PFCW system is OFF Off
Display the ac-
celerator pedal
APA TEMP Engine running actuator inte-
grated motor
temperature
Power supply
voltage value of
APA PWR Ignition switch ON
accelerator ped-
al actuator
NOTE:
NAVI-ICC DISP Off
When the LDW system is ON On
LDW SYSTEM ON Ignition switch ON
When the LDW system is OFF Off

ADAS CONTROL UNIT
A
When the LDW system is ON On
LDW ON LAMP Ignition switch ON
When the LDW system is OFF Off
Start the engine and press dy- When the LDW system is ON On B
namic driver assistance switch
LDP ON IND
(When LDP system setting is When the LDW system is OFF Off
ON)
Drive the vehicle and activate Lane departure warning lamp ON On C
LANE DPRT W/L the LDW system or LDP sys-
tem Lane departure warning lamp OFF Off
When the buzzer of the following system operates D

• LDW/LDP system On
Drive the vehicle and activate • Blind Spot Warning/Blind Spot Intervention system
LDW BUZER OUT- the LDW/LDP system or Blind
PUT Spot Warning/Blind Spot Inter- When the buzzer of the following system does not oper- E
vention system ate
Off
• LDW/LDP system
• Blind Spot Warning/Blind Spot Intervention system
Start the engine and press dy- When the LDP system is ON On
BRC
LDP SYSTEM ON
(When LDP system setting is When the LDP system is OFF Off
ON) G
Drive the vehicle and activate Lane departure warning is operating On
WARN REQ
the LDP system Lane departure warning is not operating Off
Start the engine and press dy- When the LDP system is ON On H
READY signal
(When LDP system setting is When the LDP system is OFF Off
ON)
I
Drive the vehicle and activate Both side lane markers are detected Detect
the LDW system, LDP system
Camera lost Deviate side lane marker is lost Deviate
or Blind Spot Intervention sys-
tem Both side lane markers are lost Both J
Lane marker is unclear On
Lane unclear While driving
Lane marker is clear Off
K
When the LDP system is ON Stnby
Drive the vehicle and activate When the LDP system is operating Warn
STATUS signal
the LDP system When the LDP system is canceled Cancl L
When the LDP system is OFF Off
• Engine running Displays the
Shift position M
• While driving shift position
Turn signal lamps OFF Off
Turn signal lamp LH blinking LH
Turn signal N
Turn signal lamp RH blinking RH
Turn signal lamp LH and RH blinking LH&RH
Vehicle turning right Negative value O
SIDE G While driving
Vehicle turning left Positive value
When the LDP system is ON Stnby
P
Drive the vehicle and activate When the LDP system is operating Warn
STATUS signal
the LDP system When the LDP system is canceled Cancl
When the LDP system is OFF Off
Lane marker is unclear On
Lane unclear While driving
Lane marker is clear Off
FUNC ITEM Ignition switch ON FUNC3

ADAS CONTROL UNIT
“Forward Emergency Braking” set with the integral
On
switch is ON
FUNC ITEM (FCW) Engine running
Off
switch is OFF
“Lane Departure Warning” set with the integral switch is
On
ON
FUNC ITEM (LDW) Engine running
Off
OFF
“Blind Spot Warning” set with the integral switch is ON On
FUNC ITEM (BSW) Engine running
“Blind Spot Warning” set with the integral switch is OFF Off
NOTE:
FUNC ITEM (NV-ICC) Off
FUNC ITEM (NV- NOTE:
Off
DCA) The item is indicated, but not monitored
“Distance Control Assist” set with the integral switch is
On
ON
DCA SELECT Ignition switch ON
“Distance Control Assist” set with the integral switch is
Off
OFF
“Lane Departure Intervention” set with the integral
On
switch is ON
LDP SELECT Ignition switch ON
“Lane Departure Intervention” set with the integral
Off
switch is OFF
“Blind Spot Intervention” set with the integral switch is
On
ON
BSI SELECT Ignition switch ON
“Blind Spot Intervention” set with the integral switch is
Off
OFF
On
switch is ON
FCW SELECT Ignition switch ON
Off
switch is OFF
On
ON
LDW SELECT Ignition switch ON
Off
OFF
“Blind Spot Warning” set with the integral switch is ON On
BSW SELECT Ignition switch ON
“Blind Spot Warning” set with the integral switch is OFF Off
NOTE:
NAVI ICC SELECT Off
NOTE:
NAVI DCA SELECT Off
Items set with the integral switch can be switched nor-
On
mally
SYS SELECTABILITY Ignition switch ON
Items set with the integral switch cannot be switched
Off
normally
When drive mode select switch position is STANDARD STD
When drive mode select switch position is in SPORT SPORT
When drive mode select switch position is in ECO ECO
DRIVE MODE STATS Ignition switch ON When drive mode select switch position is in SNOW SNOW
When drive mode select switch position is in PERSON-
STD
AL
A signal other than those above is input ERROR

ADAS CONTROL UNIT
A
NOTE:
WARN SYS SW Off
When the BSW system is malfunctioning On
BSW/BSI WARN LMP Ignition switch ON B
When the BSW system is normal Off
Blind Spot Intervention warning ON On
BSI ON IND Ignition switch ON
Blind Spot Intervention warning OFF Off C
When the BSW system is ON On
BSW SYSTEM ON Ignition switch ON
When the BSW system is OFF Off
D
Start the engine and press dy- When the Blind Spot Intervention system is ON On
BSI SYSTEM ON
(When Blind Spot Intervention When the Blind Spot Intervention system is OFF Off
system setting is ON) E
When the FEB/PFCW system is ON On
FCW SYSTEM ON Engine running
When the FEB/PFCW system is OFF Off
When the BCI system is ON On BRC
BCI SYSTEM ON Engine running
When the BCI system is OFF Off
NOTE:
BCI SWITCH Off G
BATTERY CIRCUIT NOTE:
Off
OFF The item is indicated, but not used
H
LDP WARNING INDI- When the LDP system is malfunctioning On
Engine running
CATOR When the LDP system is normal Off
LDW system display ON On I
LDW ON INDICATOR Ignition switch ON
LDW system display OFF Off
LDW WARNING INDI- When the LDW system is malfunctioning On

Ignition switch ON J
CATOR When the LDW system is normal Off
When the vehicle is normal NOREQ
SYSTEM CANCEL When the wheel is slipping SLIP K

Ignition switch ON
MESSAGE When the drive mode selector is SNOW mode SNOW
When the VDC is OFF VDC OFF
Lane camera unit high temperature warning display ON On L
CAMERA HI TEMP
Ignition switch ON Lane camera unit high temperature warning display
MSG Off
OFF
M
ITS SETTING
Ignition switch ON On
ITEM(DCA)
ITS SETTING
Ignition switch ON On N
ITEM(LDP)
ITS SETTING
Ignition switch ON On
ITEM(BSI)
When the Blind Spot Intervention is malfunctioning On O
BSI WARNING INDI-
Engine running
CATOR When the Blind Spot Intervention is normal Off
BSW system display ON On
BSW ON INDICATOR Ignition switch ON P
BSW system display OFF Off
SIDE RADAR BLOCK Front bumper or side radar is dirty On

Ignition switch ON
COND Front bumper and side radar is clean Off
LDW system OFF Nothing
LDW WARNING
Ignition switch ON Lane departure warning timing is early setting Early
ALERT TIMING
Lane departure warning timing is late setting Late

ADAS CONTROL UNIT
BSW system OFF Nothing
Blind Spot Warning/Blind Spot Intervention indicator
Bright
brightness bright
BSW IND BRIGHT-
Ignition switch ON Blind Spot Warning/Blind Spot Intervention indicator
NESS Normal
brightness normal
Blind Spot Warning/Blind Spot Intervention indicator
Dark
brightness dark
When speed limiter MAIN switch is pressed On
SL MAIN SW Engine running
When speed limiter MAIN switch is not pressed Off
"Forward Emergency Braking" set with the integral
On
switch is ON
FUNC ITEM (FEB) Engine running
"Forward Emergency Braking" set with the integral
Off
switch is OFF
On
switch is ON
FEB SELECT Ignition switch ON
Off
switch is OFF
FEB system ON On
FEB SW Engine running
FEB system OFF Off
SL TARGET VEHI- Displays the set
While driving When vehicle speed is set
CLE SPEED vehicle speed
• Drive the vehicle and acti- Speed limiter SET indicator ON On
vate the speed limiter
SL SET LAMP
• Press speed limiter MAIN Speed limiter SET indicator OFF Off
switch
• Drive the vehicle and acti- Speed limiter system ON On
vate the speed limiter
SL LIMIT LAMP
• Press speed limiter MAIN Speed limiter system OFF Off
switch
ASCD CANCEL Drive the vehicle and activate ASCD cancelled by low vehicle speed On
(LOW SPEED) the ASCD Other than above Off
ASCD cancelled by difference between set speed and
ASCD CANCEL Drive the vehicle and activate On
vehicle speed
(SPEED DIFF) the ASCD
Other than above Off
Drive the vehicle and activate When accelerator pedal is full depressed On
KICK DOWN
the speed limiter Other than above Off
TERMINAL LAYOUT
PHYSICAL VALUES
JSOIA0705ZZ

ADAS CONTROL UNIT
Terminal No. A
Description
(Wire color)
Condition Standard value Reference value
Input/
+ − Signal name
Output
B
1
CAN -H — — — —
(L)
—
2 C
CAN -L — — — —
(R)
5
Ground Ground — Ignition switch ON 0 - 0.1 V Approx. 0 V
(B)
D
6
ITS communication-H — — — —
(L)
7
ITS communication-L — — — — E
(Y)
—
8 Chassis communica-
— — — —
(L) tion-H
BRC
9 Chassis communica-
— — — —
(R) tion-L
12 Ignition
G
(GR)*1 Ignition power supply Input switch — 10 - 16 V Battery voltage
(G)*2 ON
5
(B) — 10 - 16 V Approx. 12 V
Ignition H
17 ICC brake hold relay
Output switch At “STOP LAMP” test of
(V) drive signal 0 - 0.1 V Approx. 0 V
ON “Active test”
23 ICC/ASCD steering I
— Ignition switch ON 0 - 0.1 V Approx. 0 V
(Y) switch signal ground
ICC steering switch:
4.1 - 4.3 V Approx. 4.3 V
OFF
J
CANCEL switch:
1.1 - 1.6 Approx. 1.3 V
Pressed
Ignition
24*3 23*3 ICC steering switch sig-
Input switch
RESUME/ACCELER-
3.5 - 3.7 V Approx. 3.7 V K
(SB) (Y) nal ATE switch: Pressed
ON
SET/COAST switch:
2.8 - 3.1 V Approx. 3.0 V
Pressed
L
DISTANCE switch:
2.0 - 2.4 V Approx. 2.2 V
Pressed
ASCD steering switch:
3.8 - 4.3 V Approx. 4.0 V M
OFF
CANCEL switch:
Ignition 0.8 - 1.3 V Approx. 1.0 V
24*4 23*4 ASCD steering switch Pressed
Input switch N
(SB) (Y) signal SET/COAST switch:
ON 1.8 - 2.2 V Approx. 2.0 V
Pressed
RESUME/ACCELER-
2.8 - 3.1 V Approx. 3.0 V O
ATE switch: Pressed
NOTE:
*1: VR30DDTT
*2: 2.0 TURBO GASOLINE ENGINE P
*3: Used only in with ICC.
*4: Used only in without ICC.
Fail-safe (ADAS Control Unit) INFOID:0000000013399009
If a malfunction occurs in each system, ADAS control unit cancels each control, sounds a beep, and turns ON
the warning or indicator lamp.

ADAS CONTROL UNIT
Warning lamp/Warning dis-

System Buzzer Description
play
High-
Vehicle-to-vehicle distance control mode pitched ICC system warning Cancel
tone
High-
Conventional (fixed speed) cruise control mode pitched ICC system warning Cancel
tone
High- • FEB warning lamp
Forward Emergency Braking (FEB) pitched • Warning systems indicator Cancel
tone (Forward position: Yellow)
High-
Predictive Forward Collision Warning (PFCW) pitched Cancel
tone
High-
Distance Control Assist (DCA) pitched Cancel
tone
Lane Departure Warning (LDW) — Cancel
Low-
Lane Departure Prevention (LDP) pitched Cancel
tone
Blind Spot Warning (BSW) — Cancel
Low-
Blind Spot Intervention pitched Cancel
tone
High-
Back-up Collision Intervention (BCI) pitched BCI system warning Cancel
tone
DTC Inspection Priority Chart INFOID:0000000013399010
If multiple DTCs are detected simultaneously, check them one by one depending on the following DTC inspec-
tion priority chart.
Priority Detected items (DTC)

• U1507: LOST COMM (SIDE RDR R)
1
• U1508: LOST COMM (SIDE RDR L)
• 1CA0A: CONFIG UNFINISHED
2 • U1000: CAN COMM CIRCUIT
• U1010: CONTROL UNIT (CAN)
• C1B00: CAMERA UNIT MALF
• C1F02: APA C/U MALF
3 • C1B53: SIDE RDR R MALF
• C1B54: SIDE RDR L MALF
• C1B84: DIST SEN MALFUNCTION

ADAS CONTROL UNIT
Priority Detected items (DTC)
A
• C1A01: POWER SUPPLY CIR • U0121: VDC CAN CIR 2
• C1A02: POWER SUPPLY CIR 2 • U0126: STRG SEN CAN CIR 1
• C1A04: ABS/TCS/VDC CIRC • U0235: ICC SENSOR CAN CIRC 1
• C1A05: BRAKE SW/STOP L SW • U0401: ECM CAN CIR 1 B
• C1A06: OPERATION SW CIRC • U0402: TCM CAN CIR 1
• C1A13: STOP LAMP RLY FIX • U0415: VDC CAN CIR 1
• C1A14: ECM CIRCUIT • U0424: HVAC CAN CIR 1
• C1A24: NP RANGE • U0428: STRG SEN CAN CIR 2 C
• C1A26: ECD MODE MALF • U1500: CAM CAN CIR 2
• C1A27: ECD PWR SUPLY CIR • U1501: CAM CAN CIR 1
• C1A33: CAN TRANSMISSION ERR • U1502: ICC SEN CAN COMM CIR
• C1A34: COMMAND ERROR • U1503: SIDE RDR L CAN CIR 2 D
• C1A35: APA CIR • U1504: SIDE RDR L CAN CIR 1
• C1A36: APA CAN COMM CIR • U1505: SIDE RDR R CAN CIR 2
• C1A37: APA CAN CIR 2 • U1506: SIDE RDR R CAN CIR 1
• C1A38: APA CAN CIR 1 • U150B: ECM CAN CIRC 3
E
• C1A39: STRG SEN CIR • U150C: VDC CAN CIRC 3
• C1B01: CAM AIMING INCMP • U150D: TCM CAN CIRC 3
• C1B03: CAM ABNRML TMP DETCT • U150E: BCM CAN CIRC 3 BRC
4 • C1B5D: FEB OPE COUNT LIMIT • U150F: AV CAN CIRC 3
• C1B56: SONAR CIRCUIT • U1512: HVAC CAN CIRC3
• C1B57: AVM CIRCUIT • U1513: METER CAN CIRC 3
• C1B59: CCM CIRCUIT • U1514: STRG SEN CAN CIRC 3 G
• C1B82: DIST SEN OFF-CENTER • U1515: ICC SENSOR CAN CIRC 3
• C1B85: DIST SEN ABNORMAL TEMP • U1516: CAM CAN CIRC 3
• C1B86: DIST SEN PWR SUP CIR • U1517: APA CAN CIRC 3
• C1F01: APA MOTOR MALF • U1518: SIDE RDR L CAN CIRC 3 H
• C1F05: APA PWR SUPLY CIR • U1519: SIDE RDR R CAN CIRC 3
• U1521: SONAR CAN COMMUNICATION 2
• U1522: SONAR CAN COMMUNICATION 1
• U1523: SONAR CAN COMMUNICATION 3 I
• U1524: AVM CAN COMMUNICATION 1
• U1525: AVM CAN COMMUNICATION 3
• U1527: CCM CAN CIR 1
• U153F: CCM CAN CIR 2
J
• U1530: DR ASSIST BUZZER CAN CIR 1
• U1538: EMCM CAN CIRCUIT 3
• U1540: DAST 3 CAN CIR 1 K
• U1541: DAST 3 CAN CIR 2
5 • C1A03: VHCL SPEED SE CIRC
6 • C1A15: GEAR POSITION L
7 • C1A00: CONTROL UNIT

ADAS CONTROL UNIT
DTC Index INFOID:0000000013399011
Systems for fail-safe

• A: Vehicle-to-vehicle distance control mode
• B: Conventional (fixed speed) cruise control mode
• C: Distance Control Assist (DCA)
• D: Forward Emergency Braking (FEB)
• E: Predictive Forward Collision Warning (PFCW)
• F: Blind Spot Warning (BSW)/Blind Spot Intervention (Without Active Lane control)
• G: Back-up Collision Intervention (BCI)
• H: Lane Departure Warning (LDW)/Lane Departure Prevention (LDP)
• I: Automatic Speed COntrol Device (ASCD) (Without ICC)
DTC Fail-safe
On board CONSULT display Reference
CONSULT System
display
NO DTC IS DE-
TECTED. FUR-
NO DTC IS DETECTED. FURTHER TESTING
THER TESTING 55 — —
MAY BE REQUIRED
MAY BE RE-
QUIRED
C1A0A 41 CONFIG UNFINISHED A, B, C, D, E, F, G, H, I DAS-103
C1A00 0 CONTROL UNIT A, B, C, D, E, F, G, H, I DAS-104
C1A01 1 POWER SUPPLY CIR A, B, C, D, E, F, G, H, I DAS-105
C1A02 2 POWER SUPPLY CIR 2 A, B, C, D, E, F, G, H, I DAS-105
C1A03 3 VHCL SPEED SE CIRC A, B, C, D, E, F, G, H, I DAS-106
C1A04 4 ABS/TCS/VDC CIRC A, B, C, D, E, F, G, H, I DAS-108
C1A05 5 BRAKE SW/STOP L SW A, B, C, D, G, H DAS-109
C1A06 6 OPERATION SW CIRC A, B, C, D, E, H, I DAS-117
C1A13 13 STOP LAMP RLY FIX A, B, C, D, E, G DAS-121
C1A14 14 ECM CIRCUIT A, B, C, D, E, I DAS-132
C1A15 15 GEAR POSITION A, B, C, D, E, I DAS-134
C1A24 24 NP RANGE A, B, C, D, E, F, G DAS-136
C1A26 26 ECD MODE MALF A, B, C, D, G DAS-138
C1A27 27 ECD PWR SUPLY CIR A, B, C, D, G DAS-140
C1A33 33 CAN TRANSMISSION ERR A, B, C, D, E, I DAS-142
C1A34 34 COMMAND ERROR A, B, C, D, E, I DAS-143
C1A35 35 APA CIR A, C, D, E DAS-144
C1A36 36 APA CAN COMM CIR A, C, D, E DAS-145
C1A37 133 APA CAN CIR 2 A, C, D, E DAS-146
C1A38 132 APA CAN CIR 1 A, C, D, E DAS-147
C1A39 39 STRG SEN CIR A, B, C, D, E, F, G DAS-148
C1B00 81 CAMERA UNIT MALF F, H DAS-149
C1B01 82 CAM AIMING INCMP F, H DAS-150
C1B03 83 CAN ABNRML TMP DETCT F, H DAS-151
C1B5D 198 FEB OPE COUNT LIMIT C, D, E DAS-152
C1B53 84 SIDE RDR R MALF F, G DAS-153
C1B54 85 SIDE RDR L MALF F, G DAS-154
C1B56 86 SONAR CIRCUIT G DAS-155
C1B57 87 AVM CIRCUIT G DAS-156
C1B59 184 CCM CIRCUIT A, B, C, F, G DAS-157

ADAS CONTROL UNIT
• A: Vehicle-to-vehicle distance control mode A
• E: Predictive Forward Collision Warning (PFCW) B
C
DTC Fail-safe
CONSULT System D
display
C1B82 12 DIST SEN OFF-CENTER A, C, D, E DAS-158
C1B84 17 DIST SEN MALFUNCTION A, C, D, E DAS-159 E
C1B85 21 DIST SEN ABNORMAL TEMP A, C, D, E DAS-160
C1B86 80 DIST SEN PWR SUP CIR A, C, D, E DAS-161
C1F01 91 APA MOTOR MALF A, C, D, E DAS-163
BRC
C1F02 92 APA C/U MALF A, C, D, E DAS-164

C1F05 95 APA PWR SUPLY CIR A, C, D, E DAS-165
G
U0121 127 VDC CAN CIR 2 A, B, C, D, E, F, G, H, I DAS-166
U0126 130 STRG SEN CAN CIR 1 A, B, C, D, E, F, G DAS-167
U0235 144 ICC SENSOR CAN CIRC 1 A, C, D, E DAS-168 H
U0401 120 ECM CAN CIR 1 A, B, C, D, E, F, G, I DAS-169
U0402 122 TCM CAN CIR 1 A, B, C, D, E, F, G, H DAS-171
I
U0415 126 VDC CAN CIR 1 A, B, C, D, E, F, G, H, I DAS-172
U0424 156 HVAC CAN CIR 1 DAS-173
U0428 131 STRG SEN CAN CIR 2 A, B, C, D, E, F, G DAS-174 J
U1000NOTE 100 CAN COMM CIRCUIT A, B, C, D, E, F, G, H, I DAS-175
U1010 110 CONTROL UNIT (CAN) A, B, C, D, E, F, G, H, I DAS-177
K
U150B 157 ECM CAN CIRC 3 A, B, C, D, E, F, G, H, I DAS-178
U150C 158 VDC CAN CIRC 3 A, B, C, D, E, F, G, H, I DAS-180
U150D 159 TCM CAN CIRC 3 A, B, C, D, E, F, G, H DAS-181 L
U150E 160 BCM CAN CIRC 3 A, B, C, D, F, G, H DAS-182
U150F 161 AV CAN CIRC 3 DAS-183
M
U1500 145 CAM CAN CIR2 F, H DAS-184
U1501 146 CAM CAN CIR 1 F, H DAS-185
U1502 147 ICC SEN CAN COMM CIR A, C, D, E DAS-186 N
U1503 150 SIDE RDR L CAN CIR 2 F, G DAS-187
U1504 151 SIDE RDR L CAN CIR 1 F, G DAS-188
O
U1505 152 SIDE RDR R CAN CIR 2 F, G DAS-189
U1506 153 SIDE RDR R CAN CIR 1 F, G DAS-190
U1507 154 LOST COMM (SIDE RDR R) F, G DAS-191 P
U1508 155 LOST COMM (SIDE RDR L) F, G DAS-192
U1512 162 HVAC CAN CIRC3 DAS-193
U1513 163 METER CAN CIRC 3 A, B, C, D, E, F, G, H, I DAS-194
U1514 164 STRG SEN CAN CIRC 3 A, B, C, D, E, F, G DAS-195
U1515 165 ICC SENSOR CAN CIRC 3 A, C, D, E DAS-196

ADAS CONTROL UNIT
• A: Vehicle-to-vehicle distance control mode
• E: Predictive Forward Collision Warning (PFCW)
DTC Fail-safe
CONSULT System
display
U1516 166 CAM CAN CIRC 3 F, G, H DAS-197
U1517 167 APA CAN CIRC 3 A, C, D, E DAS-198
U1518 168 SIDE RDR L CAN CIRC 3 F, G DAS-199
U1519 169 SIDE RDR R CAN CIRC 3 F, G DAS-200
U1521 177 SONAR CAN COMMUNICATION 2 G DAS-201
U1524 180 AVM CAN COMMUNICATION 1 G DAS-204
U1525 181 AVM CAN COMMUNICATION 3 G DAS-205
U1527 185 CCM CAN CIR1 A, B, C, F, G DAS-206
U153F 186 CCM CAN CIR2 A, B, C, F, G DAS-207
U1530 183 DR ASSIST BUZZER CAN CIR1 DAS-208
U1538 197 EMCM CAN CIRCUIT 3 A, B, C, D, E, F, G, H, I DAS-209
U1540 200 DAST CAN CIR 1 C, D, E DAS-211
U1541 201 DAST CAN CIR 2 C, D, E DAS-212
NOTE:
With the detection of “U1000” some systems do not perform the fail-safe operation.
A system controlling based on a signal received from the control unit performs fail-safe operation when the
communication with the ADAS control unit becomes inoperable.

< DTC/CIRCUIT DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
DTC/CIRCUIT DIAGNOSIS A
B
1.FORWARD EMERGENCY BRAKING DIAGNOSIS

• The system will be cancelled automatically with a beep sound and FEB warning lamp on the combination C
meter will illuminate, when the system will not operate properly.
• When the FEB warning lamp continues to illuminate even if the FEB system is turned on after the engine
restarts, perform the trouble-diagnosis.
D
>> Go to ICC. Refer to CCS-111, "Work Flow".

E
BRC

SYSTEM SETTINGS CANNOT BE TURNED ON/OFF ON THE INTEGRAL
SWITCH
< SYMPTOM DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
SYMPTOM DIAGNOSIS
SWITCH
Symptom Table INFOID:0000000012793856
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-228, "Diagnosis Procedure"
when operating integral switch
FEB system does not turn ON/OFF.

• FEB warning lamp does not illuminate even if the integral switch is operated when FEB warning lamp is not
illuminated.
• FEB warning lamp does not turn off even if the integral 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.

1. Perform “All DTC Reading” with CONSULT.
2. Check if the DTC is detected in self-diagnosis results for “ICC/ADAS” with CONSULT. Refer to BRC-224,
"DTC Index".
YES >> GO TO 6.
NO >> GO TO 2.
2.INTEGRAL SWITCH INSPECTION
2. Check that “FEB SELECT” operates normally in “DATA MONITOR” for “ICC/ADAS” with CONSULT.
YES >> GO TO 4.
NO >> GO TO 3.
3.PERFORM SELF-DIAGNOSIS OF DISPLAY CONTROL UNIT
Check if any DTC is detected in “Self Diagnostic Result” of “MULTI AV”. Refer to AV-107, "DTC Index".
YES >> Repair or replace the malfunctioning parts identified by the self-diagnosis result.
NO >> Replace the ADAS control unit. Refer to DAS-214, "Removal and Installation".
4.FEB WARNING LAMP
2. Select the active test item “METER LAMP” for “ICC/ADAS” with CONSULT.
3. Check if the FEB warning lamp illuminates when the test item is operated.
YES >> Refer to CCS-111, "Work Flow".
NO >> GO TO 5.
5.CHECK DATA MONITOR OF COMBINATION METER

SWITCH
< SYMPTOM DIAGNOSIS > [FORWARD EMERGENCY BRAKING]
Check that “BA W/L” operates normally in “DATA MONITOR” for “METER/M&A” with CONSULT, when the
FEB setting ON by integral switch. A
NO >> Replace the ADAS control unit. Refer to DAS-214, "Removal and Installation". B
6.REPAIR OR REPLACE MALFUNCTIONING PARTS
Repair or replace malfunctioning parts.
C
>> GO TO 7.
7.CHECK FEB SYSTEM D
Check that FEB warning lamp turned ON⇔OFF, when operating integral switch.
E
>> INSPECTION END
BRC

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Brc-Brake Control System

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BRAKES

Revision: November 2016 BRC-1 2016 Q50

Revision: November 2016 BRC-2 2016 Q50

Revision: November 2016 BRC-3 2016 Q50

Revision: November 2016 BRC-4 2016 Q50

PRECAUTIONS WHEN USING POWER TOOLS (AIR OR ELECTRIC) AND HAMMERS

Precautions for Removing Battery Terminal INFOID:0000000013501207

When disconnecting the battery terminal, pay attention to the following.

Revision: November 2016 BRC-5 2016 Q50

BR08DE : 4 minutes V9X engine : 4 minutes

Revision: November 2016 BRC-6 2016 Q50

Revision: November 2016 BRC-7 2016 Q50

• Bypass connection is never allowed at the repaired area.

Revision: November 2016 BRC-8 2016 Q50

Commercial Service Tools INFOID:0000000012793711

Power tool Loosening bolts and nuts

Revision: November 2016 BRC-9 2016 Q50

FOR VR30DDTT ENGINE MODELS

Revision: November 2016 BRC-10 2016 Q50

Brake booster Steering knuckle Inside of brake master cylinder cover A

No. Component parts Function

Front RH sensor rotor BRC-14, "Wheel Sensor and Sensor Rotor"

Front LH wheel sensor BRC-14, "Wheel Sensor and Sensor Rotor"

Front LH sensor rotor BRC-14, "Wheel Sensor and Sensor Rotor"

Revision: November 2016 BRC-11 2016 Q50

Stop lamp switch BRC-16, "Stop Lamp Switch"

VDC OFF switch BRC-17, "VDC OFF Switch"

Steering angle sensor BRC-16, "Steering Angle Sensor"

Rear LH sensor rotor BRC-14, "Wheel Sensor and Sensor Rotor"

Rear LH wheel sensor BRC-14, "Wheel Sensor and Sensor Rotor"

Rear RH wheel sensor BRC-14, "Wheel Sensor and Sensor Rotor"

Rear RH sensor rotor BRC-14, "Wheel Sensor and Sensor Rotor"

*: With Direct Adaptive Steering

Revision: November 2016 BRC-12 2016 Q50

Revision: November 2016 BRC-13 2016 Q50

No. Component parts Function

Front RH sensor rotor BRC-14, "Wheel Sensor and Sensor Rotor"

Front LH wheel sensor BRC-14, "Wheel Sensor and Sensor Rotor"

Front LH sensor rotor BRC-14, "Wheel Sensor and Sensor Rotor"

Stop lamp switch BRC-16, "Stop Lamp Switch"

VDC OFF switch BRC-17, "VDC OFF Switch"

Steering angle sensor BRC-16, "Steering Angle Sensor"

Rear LH sensor rotor BRC-14, "Wheel Sensor and Sensor Rotor"

Rear LH wheel sensor BRC-14, "Wheel Sensor and Sensor Rotor"

Rear RH wheel sensor BRC-14, "Wheel Sensor and Sensor Rotor"

Rear RH sensor rotor BRC-14, "Wheel Sensor and Sensor Rotor"

Wheel Sensor and Sensor Rotor INFOID:0000000012793713

Revision: November 2016 BRC-14 2016 Q50

ABS Actuator and Electric Unit (Control Unit) INFOID:0000000012793714

ELECTRIC UNIT (CONTROL UNIT) L

Revision: November 2016 BRC-15 2016 Q50

Detects the operation status of brake pedal and transmits converted

Steering Angle Sensor INFOID:0000000012793716

Detects the following information and transmits steering angle signal

Brake Fluid Level Switch INFOID:0000000012793717

Revision: November 2016 BRC-16 2016 Q50

Parking Brake Switch INFOID:0000000012793719

VDC OFF Switch INFOID:0000000012793720

Revision: November 2016 BRC-17 2016 Q50