Brake Control System: Section

F BRAKES
B
SECTION
BRAKE CONTROL SYSTEM C
E
CONTENTS
ABS ACTIVE TEST ..................................................... 31 BRC
For Fast and Accurate Diagnosis ........................... 33
PRECAUTIONS .......................................................... 4 PRECAUTIONS FOR DIAGNOSIS ..................... 33
Precautions for Supplemental Restraint System Basic Inspection ..................................................... 34 G
(SRS) “AIR BAG” and “SEAT BELT PRE-TEN- BASIC INSPECTION 1: BRAKE FLUID LEVEL
SIONER” .................................................................. 4 AND LEAK INSPECTION .................................... 34
Precautions for Brake System .................................. 4 BASIC INSPECTION 2: INSPECTION FOR
Wiring Diagrams and Trouble Diagnosis .................. 4 H
LOOSENESS OF POWER SYSTEM TERMI-
Precautions for Brake Control .................................. 4 NALS ................................................................... 34
PREPARATION ........................................................... 6 BASIC INSPECTION 3: INSPECTION OF ABS
Special Service Tools ............................................... 6 WARNING LAMP ................................................ 34 I
Commercial Service Tools ........................................ 6 Symptom Chart ....................................................... 34
GENERAL INFORMATION ......................................... 7 Inspection 1 Wheel Sensor System ........................ 35
Fail-Safe ................................................................... 7 INSPECTION PROCEDURE .............................. 35 J
ABS SYSTEM ....................................................... 7 Inspection 2 ABS Actuator and Electric Unit (Control
Hydraulic Circuit Diagram ........................................ 7 Unit) System ........................................................... 36
ABS Function ........................................................... 7 Inspection 3 Pressure Switch and Circuit Between
System Diagram ....................................................... 8 K
Pressure Switch and ABS Actuator and Electric Unit
TROUBLE DIAGNOSIS .............................................. 9 (Control Unit) .......................................................... 37
How to Proceed With Diagnosis ............................... 9 Inspection 4 Solenoid Valve and Circuits ............... 38
BASIC CONCEPT ................................................. 9 Inspection 5 Actuator Motor, Motor Relay, and Cir- L
DIAGNOSIS FLOWCHART ................................ 10 cuit .......................................................................... 39
ASKING COMPLAINTS .......................................11 Inspection 6 Stop Lamp Switch and Circuit ............ 40
EXAMPLE OF DIAGNOSIS SHEET ....................11 Inspection 7 ABS Actuator and Electric Unit (Control M
Component Installation Location ............................ 12 Unit) Power Supply and Ground Circuit .................. 41
Schematic .............................................................. 13 Inspection 8 ABS Warning Lamp Does Not Come
2–WHEEL DRIVE ............................................... 13 On When Ignition Switch Is Turned On .................. 42
4–WHEEL DRIVE ............................................... 14 Inspection 9 When "DECEL G-SENSOR" Appears
Wiring Diagram — ABS — 2WD — ....................... 15 on Self-Diagnosis Results Display (4WD Models)... 44
Wiring Diagram — ABS — 4WD — ....................... 18 Symptom 1 ABS Works Frequently ........................ 44
ABS Actuator and Electric Unit (Control Unit) Input/ Symptom 2 Unexpected Pedal Reaction ................ 44
Output Signal Standard .......................................... 21 Symptom 3 Long Stopping Distance ...................... 45
STANDARDS USING CIRCUIT TESTER AND Symptom 4 ABS Does Not Work ............................ 46
OSCILLOSCOPE ................................................ 21 Symptom 5 Pedal Vibration and Noise ................... 46
STANDARDS BY CONSULT-II ............................ 23 REMOVAL AND INSTALLATION ............................. 48
CONSULT-II Functions ........................................... 24 Front Wheel Sensor ................................................ 48
CONSULT-II FUNCTION APPLICATION TABLE... 24 Rear Wheel Sensor ................................................ 48
CONSULT-II BASIC OPERATION PROCEDURE 4WD MODELS .................................................... 48
... 25 2WD MODELS .................................................... 48
SELF-DIAGNOSIS .............................................. 26 Front Sensor Rotor ................................................. 49
DATA MONITOR ................................................. 29
BRC-1
REMOVAL ........................................................... 49 SELF-DIAGNOSIS ...............................................79
INSTALLATION .................................................... 49 DATA MONITOR ..................................................84
Rear Sensor Rotor (4WD) ...................................... 49 ACTIVE TEST ......................................................87
REMOVAL ........................................................... 49 For Fast and Accurate Diagnosis ............................90
INSTALLATION .................................................... 50 PRECAUTIONS FOR DIAGNOSIS .....................90
ABS Actuator and Electric Unit ............................... 51 Basic Inspection ......................................................92
REMOVAL ........................................................... 51 BASIC INSPECTION 1: BRAKE FLUID LEVEL
INSTALLATION .................................................... 51 AND LEAK INSPECTION ....................................92
BASIC INSPECTION 2: INSPECTION FOR
VDC/TCS/ABS LOOSENESS OF POWER SYSTEM TERMI-
NALS ....................................................................92
PRECAUTIONS ......................................................... 52 BASIC INSPECTION 3: INSPECTION OF ABS
Precautions for Supplemental Restraint System WARNING LAMP, VDC OFF INDICATOR LAMP,
(SRS) “AIR BAG” and “SEAT BELT PRE-TEN- AND SLIP INDICATOR LAMP .............................92
SIONER” ................................................................. 52 Symptom Chart .......................................................92
Precautions for Brake System ................................ 52 Inspection 1 Wheel Sensor System ........................94
Wiring Diagrams and Trouble Diagnosis ................ 52 INSPECTION PROCEDURE ...............................94
Precautions for Brake Control ................................ 52 Inspection 2 ABS Actuator and Electric Unit (Control
Diagnosis Precaution .............................................. 53 Unit) System ...........................................................95
CAN SYSTEM ..................................................... 53 Inspection 3 Pressure Sensor and Circuit Between
Precaution for Harness Repair ............................... 53 Pressure Sensor and ABS Actuator and Electric Unit
CAN SYSTEM ..................................................... 53 (Control Unit) ...........................................................96
PREPARATION ......................................................... 54 Inspection 4 Steering Angle Sensor and Circuit
Special Service Tools ............................................. 54 Between Steering Angle Sensor and ABS Actuator
Commercial Service Tools ...................................... 54 and Electric Unit (Control Unit) ...............................97
ON-VEHICLE SERVICE ............................................ 55 Inspection 5 Yaw Rate/Side/Decel G Sensor and
Adjustment of Steering Angle Sensor Neutral Posi- Circuit Between Yaw Rate/Side/Decel G Sensor
tion .......................................................................... 55 and ABS Actuator and Electric Unit (Control Unit)...98
Calibration of Decel G Sensor ................................ 55 Inspection 6 Solenoid, VDC Switching Valve, Actu-
GENERAL INFORMATION ....................................... 57 ator Relay and Circuits ............................................99
Fail-Safe ................................................................. 57 Inspection 7 Actuator Motor, Motor Relay, and Cir-
ABS SYSTEM ...................................................... 57 cuit ........................................................................ 101
VDC/TCS SYSTEM ............................................. 57 Inspection 8 Stop Lamp Switch and Circuit ........... 102
Hydraulic Circuit Diagram ....................................... 57 Inspection 9 ABS Actuator and Electric Unit (Control
ABS Function .......................................................... 58 Unit) Power Supply and Ground Circuit ................ 103
TCS Function .......................................................... 58 Inspection 10 When “STEERING ANGLE SENSOR
VDC Function ......................................................... 58 HAS NOT BEEN CORRECTED” Appears on Self-
System Diagram ..................................................... 59 Diagnosis Results Display .................................... 104
CAN COMMUNICATION ........................................... 60 Inspection 11 Brake Fluid Level in Reservoir Tank,
System Description ................................................. 60 Communication Circuit Between ABS Actuator and
SYSTEM DIAGRAM ............................................ 60 Electric Unit (Control Unit) and Brake Fluid Level
TROUBLE DIAGNOSIS ............................................ 61 Switch ................................................................... 105
How to Proceed With Diagnosis ............................. 61 Inspection 12 CAN Communications Lines, ABS
BASIC CONCEPT ............................................... 61 Actuator and Electric Unit (Control Unit), Steering
DIAGNOSIS FLOWCHART ................................. 62 Angle Sensor System and CAN-LAN Converter
ASKING COMPLAINTS ....................................... 63 ECU (CLC) ............................................................ 106
EXAMPLE OF DIAGNOSIS SHEET .................... 63 Inspection 13 ENGINE SIGNAL 1 - Engine System.107
Component Installation Location ............................ 64 Inspection 14 ENG SPEED SIG - Engine Speed Sig-
Schematic ............................................................... 65 nal ......................................................................... 108
Wiring Diagram — VDC — ..................................... 66 Inspection 15 ENG CHECK SIG - LAN Monitoring. 110
ABS Actuator and Electric Unit (Control Unit) Input/ Inspection 16 LAN SIGNAL 2 - LAN Communication
Output Signal Standard .......................................... 72 Start Procedure Incomplete .................................. 111
STANDARDS USING CIRCUIT TESTER AND Inspection 17 LAN COMM 1 - LAN Communication
OSCILLOSCOPE ................................................ 72 System Failure ...................................................... 112
STANDARDS BY CONSULT-II ............................ 74 Inspection 18 LAN SIGNAL 3 - Continued Reception
CONSULT-II Functions ........................................... 78 After LAN Communication Starts .......................... 113
CONSULT-II FUNCTION APPLICATION TABLE... 78 Inspection 19 SLIP Indicator Lamp Does Not Come
CONSULT-II BASIC OPERATION PROCEDURE On When Ignition Switch is Turned On ................. 113
... 79 Inspection 20 VDC OFF Indicator Lamp Does Not
BRC-2
Come On When Ignition Switch Is Turned On ......115 Symptom 6 Vehicle Behaves Jerkily During VDC/
Inspection 21 VDC OFF Switch Is Inoperative ......116 TCS/ABS Operation ............................................. 125 A
Inspection 22 CAN-LAN Converter Power Supply Symptom 7 Poor Acceleration .............................. 126
Circuit ....................................................................117 REMOVAL AND INSTALLATION ........................... 128
Inspection 23 CAN CIRCUIT 1 - CAN Communi- Front Wheel Sensor .............................................. 128 B
cation System Failure ............................................119 Rear Wheel Sensor .............................................. 128
Inspection 24 CAN-LAN Converter (CLC) Control Front Sensor Rotor ............................................... 128
Unit ........................................................................119 REMOVAL ......................................................... 128
Inspection 25 ABS Warning Lamp Does Not Come INSTALLATION ................................................. 129 C
On When Ignition Switch Is Turned On .................119 Rear Sensor Rotor ................................................ 129
Inspection 26 When "DECEL G-SENSOR" Appears REMOVAL ......................................................... 129
on Self-Diagnosis Results Display ....................... 121 INSTALLATION ................................................. 129 D
Inspecting Components ....................................... 121 ABS Actuator and Electric Unit ............................. 130
VDC OFF SWITCH .......................................... 121 REMOVAL ......................................................... 130
Symptom 1 ABS Works Frequently ...................... 122 INSTALLATION ................................................. 130 E
Symptom 2 Unexpected Pedal Reaction ............. 122 Yaw Rate/Side/Decel G Sensor ............................ 131
Symptom 3 Long Stopping Distance .................... 123 Steering Angle Sensor .......................................... 131
Symptom 4 ABS Does Not Work ......................... 123 CAN-LAN Converter (CLC) .................................. 131
Symptom 5 Pedal Vibration and Noise ................ 124 BRC
BRC-3
PRECAUTIONS
[ABS]
PRECAUTIONS PFP:00001
Precautions for Supplemental Restraint System (SRS) “AIR BAG” and “SEAT
BELT PRE-TENSIONER” EFS002E5
The Supplemental Restraint System such as “AIR BAG” and “SEAT BELT PRE-TENSIONER”, used along
with a front seat belt, helps to reduce the risk or severity of injury to the driver and front passenger for certain
types of collision. This system includes seat belt switch inputs and dual stage front air bag modules. The SRS
system uses the seat belt switches to determine the front air bag deployment, and may only deploy one front
air bag, depending on the severity of a collision and whether the front occupants are belted or unbelted.
Information necessary to service the system safely is included in the SRS and SB section of this Service Man-
ual.
WARNING:
● To avoid rendering the SRS inoperative, which could increase the risk of personal injury or death
in the event of a collision which would result in air bag inflation, all maintenance must be per-
formed by an authorized NISSAN/INFINITI dealer.
● Improper maintenance, including incorrect removal and installation of the SRS, can lead to per-
sonal injury caused by unintentional activation of the system. For removal of Spiral Cable and Air
Bag Module, see the SRS section.
● Do not use electrical test equipment on any circuit related to the SRS unless instructed to in this
Service Manual. SRS wiring harnesses can be identified by yellow and/or orange harnesses or
harness connectors.
Precautions for Brake System EFS002E6
● Recommended fluid is brake fluid “DOT 3”.

● Never reuse drained brake fluid.
● Be careful not to splash brake fluid on painted areas such as body. If brake fluid is splashed, wipe it off
and flush area with water immediately.
● Never use mineral oils such as gasoline or kerosene to clean. They will ruin rubber parts and cause
improper operation.
● Using a flare nut torque wrench, securely tighten brake tube
flare nuts.
● Brake system is an important safety part. If a brake fluid leak is
detected, always disassemble the affected part. If a malfunction
is detected, replace part with a new one.
● Before working, turn ignition switch OFF and disconnect electri-
cal connectors of ABS actuator and electric unit (control unit) or
battery terminals.
● When installing brake piping, be sure to check torque.
SBR686C
Wiring Diagrams and Trouble Diagnosis EFS002MQ
When you read wiring diagrams, refer to the following:

● GI-13, "How to Read Wiring Diagrams"
● PG-8, "POWER SUPPLY ROUTING" for power distribution circuit.
When you perform trouble diagnosis, refer to the following:
● GI-9, "HOW TO FOLLOW TEST GROUPS IN TROUBLE DIAGNOSES"
● GI-25, "How to Perform Efficient Diagnosis for an Electrical Incident"
Precautions for Brake Control EFS002E8
● During ABS operation, brake pedal lightly vibrates and a mechanical noise may be heard. This is normal.
● Just after starting vehicle after ignition switch ON, brake pedal may vibrate or motor operating noise may
be heard from engine compartment. This is a normal status of operation check.
● Stopping distance may be longer than that of vehicles without ABS when vehicle drives on rough, gravel,
or snow-covered (fresh, deep snow) roads.
BRC-4
PRECAUTIONS
[ABS]
● When an error is indicated by ABS or another warning lamp, collect all necessary information from cus-
tomer (what symptoms are present under what conditions) and check for simple causes before starting A
diagnostic servicing. Besides electrical system inspection, check booster operation, brake fluid level, and
oil leaks.
● If tire size and type are used in an improper combination, or brake pads are not Genuine NISSAN parts, B
stopping distance or steering stability may deteriorate.
● If there is a radio, antenna, or antenna lead-in wire (including wiring) near control module, ABS function
may have a malfunction or error.
C
● If aftermarket parts (car stereo, CD player, etc.) have been installed, check for incidents such as harness
pinches, open circuits, and improper wiring.
D
BRC
BRC-5
PREPARATION
[ABS]
PREPARATION PFP:00002
Special Service Tools EFS0037P
The actual shapes of Kent-Moore tools may differ from those of special service tools illustrated here.
Tool number
(Kent-Moore No.) Description
Tool name
KV40106500 Removing rear wheel sensor rotor
(JS25852-B)
Wheel bearing puller
NT724
Checking operation of ABS active wheel sen-

(J-45741) sor
ABS active wheel sensor tester
WFIA0101E
Commercial Service Tools EFS0037Q
Tool name Description

1 Flare nut crowfoot Removing and installing each brake piping
2 Torque wrench a: 10 mm (0.39 in)
NT360
Rear wheel sensor rotor drift Installing rear wheel sensor rotor
a: 75 mm (2.95 in) dia.
b: 63 mm (2.48 in) dia.
NT509
BRC-6
GENERAL INFORMATION
[ABS]
GENERAL INFORMATION PFP:00000
A
Fail-Safe EFS002EF
ABS SYSTEM
If a malfunction occurs in electrical system, ABS warning lamp in combination meter turns ON. In this condi- B
tion, the fail-safe function puts ABS and electronic brake force distribution (EBD) into one of the following con-
ditions.
1. Only EBD operates.
C
2. ABS and EBD do not operate. All 4 wheels operate as normal brakes.
NOTE:
In step 1 shown above, self-diagnosis when ignition switch is turned ON and when vehicle starts at initial time
D
is carried out. ABS self-diagnosis noise may be heard as usual.
CAUTION:
If fail-safe mode is initiated, carry out self-diagnosis for ABS control system.
E
Hydraulic Circuit Diagram EFS002EG
BRC
LFIA0173E
1. Inlet solenoid valve 2. Outlet solenoid valve 3. Reservoir

4. Pump 5. Motor 6. Inlet valve
7. Outlet valve 8. Bypass check valve 9. Damper
10. Pressure switch
CAUTION:
● When installing parts, avoid twist and fracture conditions.
● Make sure there is no interference with other parts when turning steering both clockwise and
counterclockwise.
● Brake system is an important safety part. If a brake fluid leak is detected, always disassemble the
affected part. If a malfunction is detected, replace it with a new one.
ABS Function EFS002EH
1. During ABS operation, brake pedal lightly vibrates and a mechanical noise may be heard. This is normal.
BRC-7
GENERAL INFORMATION
[ABS]
2. When starting engine, or just after starting vehicle, brake pedal may vibrate or motor operating noises
may be heard from engine compartment. This is a normal status of operation check.
3. Stopping distance may be longer than that of vehicles without ABS when vehicle drives on rough, gravel,
4. EBD is integrated in ABS system.
System Diagram EFS002EK
LFIA0174E
BRC-8
TROUBLE DIAGNOSIS
[ABS]
TROUBLE DIAGNOSIS PFP:00004
A
How to Proceed With Diagnosis EFS002EM
BASIC CONCEPT
● Most important point to perform diagnosis is to understand systems (control and mechanism) in vehicle B
thoroughly.
● It is also important to clarify customer complaints before inspec-

C
tion.
First of all, reproduce symptom, and understand it fully.
Ask customer about his/her complaints carefully. In some cases,
it will be necessary to check symptom by driving vehicle with D
customer.
NOTE:
Customers are not professionals. Do not assume “maybe cus- E
tomer means...” or “maybe customer mentioned this symptom”.
SEF234G
BRC
● It is essential to check symptoms right from beginning in order to

repair a malfunction completely.
G
For an intermittent malfunction, it is important to reproduce
symptom based on interview with customer and past examples.
Do not perform inspection on ad hoc basis. Most intermittent
malfunctions are caused by poor contacts. In this case, it will be H
effective to shake suspected harness or connector by hand.
When repairs are performed without any symptom check, no
one can judge if malfunction has actually been eliminated. I
● After diagnosis, make sure to carry out “erase memory”. Refer to
BRC-26, "Operation Procedure" . SEF233G
● For an intermittent malfunction, move harness or harness con- J

nector by hand to check poor contact or false open circuit.
● Always read “GI General Information” to confirm general precautions.
K
BRC-9
TROUBLE DIAGNOSIS
[ABS]
DIAGNOSIS FLOWCHART
LFIA0175E
BRC-10
TROUBLE DIAGNOSIS
[ABS]
ASKING COMPLAINTS
● Complaints about malfunction vary depending on each person. A
It is important to clarify customer complaints.
● Ask customer about what symptoms are present and under
what conditions. Use information to reproduce symptom while B
driving.
● It is also important to use diagnosis sheet so as not to miss infor-
mation. C
SBR339B
D
EXAMPLE OF DIAGNOSIS SHEET

E
BRC
LFIA0176E
BRC-11
TROUBLE DIAGNOSIS
[ABS]
Component Installation Location EFS002EN
LFIA0177E
BRC-12
TROUBLE DIAGNOSIS
[ABS]
Schematic EFS002FY
2–WHEEL DRIVE A
BRC
LFWA0032E
BRC-13
TROUBLE DIAGNOSIS
[ABS]
4–WHEEL DRIVE
LFWA0033E
BRC-14
TROUBLE DIAGNOSIS
[ABS]
Wiring Diagram — ABS — 2WD — EFS002FZ
BRC
LFWA0034E
BRC-15
TROUBLE DIAGNOSIS
[ABS]
LFWA0035E
BRC-16
TROUBLE DIAGNOSIS
[ABS]
BRC
WFWA0036E
BRC-17
TROUBLE DIAGNOSIS
[ABS]
Wiring Diagram — ABS — 4WD — EFS002G0
LFWA0037E
BRC-18
TROUBLE DIAGNOSIS
[ABS]
BRC
LFWA0038E
BRC-19
TROUBLE DIAGNOSIS
[ABS]
LFWA0039E
BRC-20
TROUBLE DIAGNOSIS
[ABS]
ABS Actuator and Electric Unit (Control Unit) Input/Output Signal Standard EFS002LB
STANDARDS USING CIRCUIT TESTER AND OSCILLOSCOPE A

CAUTION:
Connect ABS actuator and electric unit (control unit) connector, and then turn ignition switch ON.
B
LFIA0140E
E
Measurement
terminal Note: Error inspec-
Measuring point Standard value (Note 1) BRC
tion checklist
+ –
Actuator motor being BRC-39, "Inspec-
Approx. 12V
driven tion 5 Actuator
1 Actuator motor G
Motor, Motor Relay,
Actuator motor stopped Approx. 12V and Circuit"
Brake pedal depressed Approx. 12V BRC-37, "Inspec-
tion 3 Pressure H
Switch and Circuit
Pressure switch (2WD Between Pressure
3
models) Brake pedal not depressed Approx. 0V Switch and ABS
Actuator and Elec-
I
tric Unit (Control
Unit)"
BRC-41, "Inspec- J
Body
tion 7 ABS Actua-
ground
tor and Electric Unit
4 Power supply Ignition switch ON Approx. 12V
(Control Unit)
Power Supply and K
Ground Circuit"
BRC-41, "Inspec-
tion 7 ABS Actua- L
16 Ground — Approx. 0Ω
(Control Unit)
Power Supply and
Ground Circuit" M
Valve is active Approx. 12V BRC-38, "Inspec-
32 Solenoid valve tion 4 Solenoid
Valve is inactive Approx. 12V Valve and Circuits"
— — Front RH wheel sensor
BRC-35, "Inspec-
Rear LH wheel sensor Note 3 — tion 1 Wheel Sen-
— — (4WD) sor System"
Rear sensor (2WD)
Body
41 Stop lamp signal tion 6 Stop Lamp
ground Brake pedal not depressed Approx. 0V Switch and Circuit"
BRC-35, "Inspec-
Rear RH wheel sensor
— — Note 3 — tion 1 Wheel Sen-
(4WD)
sor System"
BRC-21
TROUBLE DIAGNOSIS
[ABS]
Measurement
Measuring point Standard value (Note 1)
tion checklist
+ –
ABS warning lamp ON BRC-42, "Inspec-
Approx. 12V
(Note 2) tion 8 ABS Warning
Body Lamp Does Not
44 ABS warning lamp
ground ABS warning lamp OFF Come On When
Approx. 0V Ignition Switch Is
(Note 2)
Turned On"
BRC-35, "Inspec-
— — Front LH wheel sensor Note 3 — tion 1 Wheel Sen-
sor System"
BRC-41, "Inspec-
tion 7 ABS Actua-
Body tor and Electric Unit
ground (Control Unit)
Power Supply and
Ground Circuit"
Note 1: When standard value is checked using a circuit tester for voltage measurement, care must be taken to avoid damage to connec-
tor terminals.
Note 2: ON/OFF timing of ABS warning lamp
ON: For approximately 2 seconds after ignition switch is turned ON, or when a malfunction is detected.
OFF: Approximately 2 seconds after ignition switch is turned ON (when system is in normal operation).
Note 3: Confirm tire pressure is normal.
BRC-22
TROUBLE DIAGNOSIS
[ABS]
STANDARDS BY CONSULT-II
CAUTION: A
Items displayed are data calculated by the control unit and may indicate normal operation even if out-
put circuit (harness) is open or shorted.
Data monitor B
Note: Error inspection
Monitor item Display content Reference value in
Condition checklist
normal operation
Vehicle stopped 0 [km/h (MPH)] C
FR RH SENSOR
FR LH SENSOR Almost in accor- BRC-35, "Inspection 1
RR RH SENSOR (4WD) Wheel speed dance with speed-
Vehicle running (Note 1) Wheel Sensor System"
RR LH SENSOR (4WD) ometer display D
REAR SENSOR (2WD) (within ±10%)
With ignition switch turned ON BRC-37, "Inspection 3
OFF
and brake pedal released Pressure Switch and Cir- E
Brake fluid pressure
cuit Between Pressure
PRESS SW detected by pressure
With ignition switch turned ON Switch and ABS Actuator
switch (2WD models) ON
and brake pedal depressed and Electric Unit (Con-
trol Unit)" BRC
BRC-41, "Inspection 7
Battery voltage sup-
ABS Actuator and Elec-
plied to ABS actuator
BATTERY VOLT Ignition switch ON 10 to 16V tric Unit (Control Unit) G
and electric unit (con-
Power Supply and
trol unit)
Ground Circuit"
Brake pedal depressed ON BRC-40, "Inspection 6
STOP LAMP SW Brake pedal operation Stop Lamp Switch and H
Brake pedal not depressed OFF Circuit"
ABS warning lamp ON ON BRC-42, "Inspection 8
ABS Warning Lamp I
ABS warning lamp ON
ABS WARN LAMP Does Not Come On
condition (Note 2) ABS warning lamp OFF OFF When Ignition Switch Is
Turned On"
J
Ignition switch ON or engine
OFF BRC-39, "Inspection 5
Operation status of running (ABS not operated)
MOTOR RELAY Actuator Motor, Motor
motor and motor relay Ignition switch ON or engine
ON Relay, and Circuit" K
running (ABS operated)
Vehicle stopped (Ignition
Actuator relay opera- switch ON)
ACTUATOR RLY
tion status
Actuator Motor, Motor L
Vehicle stopped (Engine run- Relay, and Circuit"
ON
ning)
FR LH IN SOL Actuator (solenoid) is active
FR LH OUT SOL (“ACTIVE TEST” with CON- M
ON
FR RH IN SOL SULT-II) or actuator relay is
FR RH OUT SOL Solenoid valve opera- inactive (in fail-safe mode).
Solenoid Valve and Cir-
RR RH IN SOL tion
When actuator (solenoid) is cuits"
RR RH OUT SOL
RR LH IN SOL not active and actuator relay is OFF
RR LH OUT SOL active (ignition switch ON).
ABS fail
ON
ABS FAIL SIG EBD fail ABS system
Fail signal status
EBD FAIL SIG ABS normal EBD system
OFF
EBD normal
BRC-23
TROUBLE DIAGNOSIS
[ABS]
CONSULT-II Functions EFS002LC
CONSULT-II FUNCTION APPLICATION TABLE

CAUTION:
“FUNCTION TEST” shall not be used for diagnosis. For details, refer to separately supplied “CON-
SULT-II Instruction Manual (FUNCTION TEST)”.
Item Self-diagnosis Data monitor Active test
Wheel sensors × × –
Stop lamp switch × × –
Solenoid valves × × ×
Pressure switch (2WD models) × × –
Actuator relay × × –
Motor relay × × –
ABS warning lamp – × –
Battery voltage × × –
ABS actuator and electric unit (control
× – –
unit)
ABS actuator motor × – ×
×:Applicable
–:Not applicable
BRC-24
TROUBLE DIAGNOSIS
[ABS]
CONSULT-II BASIC OPERATION PROCEDURE
1. Turn ignition switch OFF. A
2. Connect CONSULT-II and CONSULT-II CONVERTER to the
data link connector.
CAUTION: B
If CONSULT-II is used with no connection of CONSULT-II
CONVERTER, malfunctions might be detected in self-diag-
nosis depending on control unit which carry out CAN com- C
munication.
3. Turn ignition switch ON.
D
BBIA0369E
4. Touch “START (NISSAN BASED VHCL)”. E
BRC
H
WKIA1606E
5. Touch “ABS” in the “Diagnosis System Selection” screen.

If “ABS” is not indicated, go to GI-35, "CONSULT-II CHECKING I
SYSTEM" .
LKIA0339E
L
6. Select the required diagnostic location from the “Diagnosis Mode Selection” screen.
For further information, see the CONSULT-II Operation Manual.
M
BRC-25
TROUBLE DIAGNOSIS
[ABS]
SELF-DIAGNOSIS
Description
If a malfunction is detected in system, ABS warning lamp in combination meter turns ON. In this case, per-
form self-diagnosis as follows:
Operation Procedure
1. Perform BRC-34, "Basic Inspection" using information from customer.
2. After ignition switch is turned OFF, connect CONSULT-II to data
link connector.
CAUTION:
nosis depending on control unit which carry out CAN com-
munication.
3. Start engine and drive at approximately 30 km/h (19 MPH) for
approximately 1 minute.
4. After stopping vehicle, with engine still idling, touch “START”,
“ABS”, and “SELF-DIAG RESULTS” on CONSULT-II screen in LEC104A
this order.
CAUTION:
Just after starting engine, or turning ignition switch ON, “ABS” may not be displayed on system
selection screen even if “START” is touched. In this case, start self-diagnosis again from step 2. If
it cannot be shown after several attempts, ABS actuator and electric unit (control unit) may have
malfunctioned. Replace ABS actuator and electric unit (control unit). Refer to BRC-51, "ABS Actu-
ator and Electric Unit" .
5. Self-diagnosis result is displayed. (If necessary, touch “PRINT” to print self-diagnosis result.)
● When “NO FAILURE” is shown, check ABS warning lamp. Refer to BRC-33, "For Fast and Accurate
Diagnosis" .
● CONSULT-II self-diagnosis results are displayed without regard to occurrence timing. In some cases
later ones (timing value is small) appear on next screen.
6. Go to appropriate “Inspection” chart according to “Display Item List”, and repair or replace as necessary.
7. Start engine and drive at approximately 30 km/h (19 MPH) for approximately 1 minute.
CAUTION:
● Check again to make sure that there is no malfunction on other parts.
8. Turn ignition switch OFF to prepare for erasing memory.

9. Start engine and touch “START”, “ABS”, “SELF-DIAGNOSIS RESULTS”, and “ERASE MEMORY” on
CONSULT-II screen in this order to erase memory.
CAUTION:
If memory cannot be erased, return to step 6.
10. Drive vehicle at approximately 30 km/h (19 MPH) and check that ABS warning lamp lamp stays off.
BRC-26
TROUBLE DIAGNOSIS
[ABS]
Self-Diagnostic Results Mode
Self-diagnostic item Malfunction detecting condition Check system
A
FR LH SENSOR- 1 Circuit of front LH wheel sensor is open, shorted or sensor power

[C1104] voltage is unusual
B
RR RH SENSOR- 1 Circuit of rear RH wheel sensor (4WD) or rear sensor (2WD) is
[C1101] open, shorted or sensor voltage is unusual
FR RH SENSOR- 1 Circuit of front RH wheel sensor is open, shorted or sensor volt-
[C1103] age is unusual C
RR LH SENSOR- 1 Circuit of rear LH wheel sensor (4WD) or rear sensor (2WD) is
[C1102] open, shorted or sensor voltage is unusual
ABS actuator and electric unit (control unit) cannot identify sen-
D
FR LH SENSOR- 2 BRC-35, "Inspection 1
sor pulses, because of large gap between wheel sensor and sen- Wheel Sensor System"
[C1108]
sor rotor. (Note 1)
ABS actuator and electric unit (control unit) cannot identify sen- E
RR RH SENSOR- 2
sor pulses, because of large gap between wheel sensor and sen-
[C1105]
sor rotor.
ABS actuator and electric unit (control unit) cannot identify sen- BRC
FR RH SENSOR- 2
[C1107]
sor rotor.
RR LH SENSOR- 2 G
[C1106]
sor rotor.
STOP LAMP SW H
Stop lamp switch circuit is open. Stop Lamp Switch and
[C1116]
Circuit"
Pressure Switch and Cir- I
PRESS SEN CIRCUIT Pressure switch signal line is open or shorted, or pressure switch cuit Between Pressure
[C1142] is malfunctioning (2WD models). Switch and ABS Actuator
and Electric Unit (Control
Unit)" J
FR LH IN ABS SOL Circuit of front LH IN ABS solenoid is open or shorted, or control
[C1120] line is open or shorted to power supply or ground.
FR LH OUT ABS SOL Circuit of front LH OUT ABS solenoid is open or shorted, or con- K
[C1121] trol line is open or shorted to power supply or ground.
RR RH IN ABS SOL Circuit of rear RH IN ABS solenoid is open or shorted, or control
[C1126] line is open or shorted to power supply or ground. L
RR RH OUT ABS SOL Circuit of rear RH OUT ABS solenoid is open or shorted, or con-
[C1127] trol line is open or shorted to power supply or ground. BRC-38, "Inspection 4
Solenoid Valve and Cir-
FR RH IN ABS SOL Circuit of front RH IN ABS solenoid is open or shorted, or control cuits"
M
FR RH OUT ABS SOL Circuit of front RH OUT ABS solenoid is open or shorted, or con-
RR LH IN ABS SOL Circuit of rear LH IN ABS solenoid is open or shorted, or control
RR LH OUT ABS SOL Circuit of rear LH OUT ABS solenoid is open or shorted, or con-
During actuator motor operation with ON, when actuator motor
turns OFF or when control line for actuator motor relay is open. BRC-39, "Inspection 5
PUMP MOTOR (Note 2)
Actuator Motor, Motor
[C1111] During actuator motor operation with OFF, when actuator motor Relay, and Circuit"
turns ON or when control line for relay is shorted to ground.
ABS SENSOR BRC-35, "Inspection 1
[ABNORMAL SIGNAL] Wheel sensor input is abnormal. Wheel Sensor System"
[C1115] (Note 1)
BRC-27
TROUBLE DIAGNOSIS
[ABS]
BATTERY VOLTAGE ABS Actuator and Elec-
ABS actuator and electric unit (control unit) power voltage is too
[ABNORMAL] tric Unit (Control Unit)
low.
[C1109] Power Supply and
Ground Circuit"
CONTROLLER FAILURE Internal malfunction of ABS actuator and electric unit (control ABS Actuator and Elec-
[C1110] unit) tric Unit (Control Unit)
System"
DECEL G-SENSOR When "DECEL G-SEN-
Decel G-sensor is malfunctioning or signal line of decel G-sensor
[C1113] SOR" Appears on Self-
is open or shorted
(4WD models) Diagnosis Results Dis-
play (4WD Models)"
Actuator solenoid valve relay is ON, even if control unit sends off
signal BRC-39, "Inspection 5
ACTUATOR
[C1140] Actuator solenoid valve relay is OFF, even if control unit sends on Relay, and Circuit"
signal
Note 1. If wheel sensor 2 for each wheel is indicated, check ABS actuator and electric unit (control unit) power supply voltage in addition
to wheel sensor circuit check.
Note 2: "ACTUATOR RLY" on the CONSULT-II self-diagnosis results indicates the malfunction of the actuator motor relay or circuit.
BRC-28
TROUBLE DIAGNOSIS
[ABS]
DATA MONITOR
● For details of data monitor function, refer to “CONSULT-II Instruction Manual”. A
Operation Procedure
1. Turn ignition switch OFF.
B
2. Connect CONSULT-II to data link connector.
CAUTION:
If CONSULT-II is used with no connection of CONSULT-II C
munication.
3. Turn ignition switch ON. D
4. Touch “START” on display.
E
LEC104A
5. Touch “ABS” on display. BRC
PBR385C I
6. Touch “DATA MONITOR”.

J
WFIA0043E
M
7. Return to monitor item selection screen and touch any of “ECU
INPUT SIGNALS”, “MAIN SIGNALS”, "CAN DIAG SUPPORT
MNTR" or "SELECTION FROM MENU". Refer to BRC-30, "Dis-
play Item List" .
8. Touch “START”.
9. Screen of data monitor is displayed.
LFIA0141E
BRC-29
TROUBLE DIAGNOSIS
[ABS]
Display Item List
Data monitor item selection
Item
ECU INPUT MAIN SELECTION Remarks
(Unit)
SIGNALS SIGNALS FROM MENU
FR RH SENSOR Wheel speed calculated by front RH
× × ×
(km/h, MPH) wheel sensor signal is displayed.
FR LH SENSOR Wheel speed calculated by front LH
× × ×
(km/h, MPH) wheel sensor signal is displayed.
RR RH SENSOR Wheel speed calculated by rear RH
× × ×
(km/h, MPH) (4WD) wheel sensor signal is displayed.
RR LH SENSOR Wheel speed calculated by rear LH
× × ×
(km/h, MPH) (4WD) sensor signal is displayed.
RR LH SENSOR Wheel speed calculated by rear
× × ×
(km/h, MPH) (2WD) wheel sensor signal is displayed.
Voltage supplied to ABS actuator
BATTERY VOLT
× × × and electric unit (control unit) is dis-
(V)
played.
Shift position judged by PNP switch
SLCT LVR POSI × × ×
signal.
PRESS SW Brake fluid pressure detected by
× – ×
(ON/OFF) (2WD) pressure switch is displayed.
STOP LAMP SW Stop lamp switch (ON/OFF) status
× × ×
(ON/OFF) is displayed.
ABS WARN LAMP ABS warning lamp (ON/OFF) status
– × ×
FR LH IN SOL Front LH IN ABS solenoid (ON/
– × ×
(ON/OFF) OFF) status is displayed.
FR LH OUT SOL Front LH OUT ABS solenoid (ON/
– × ×
RR RH IN SOL Rear RH IN ABS solenoid (ON/
– × ×
RR RH OUT SOL Rear RH OUT ABS solenoid (ON/
– × ×
FR RH IN SOL Front RH IN ABS solenoid (ON/
– × ×
FR RH OUT SOL Front RH OUT ABS solenoid (ON/
– × ×
RR LH IN SOL Rear LH IN ABS solenoid (ON/OFF)
– × ×
(ON/OFF) status is displayed.
RR LH OUT SOL Rear LH OUT ABS solenoid (ON/
– × ×
MOTOR RELAY ABS motor relay signal (ON/OFF)
– × ×
ACTUATOR RLY ABS actuator relay signal (ON/OFF)
– × ×
ABS FAIL SIG ABS fail signal (ON/OFF) status is
– – ×
(ON/OFF) displayed.
EBD FAIL SIG EBD fail signal (ON/OFF) status is
– – ×
(ON/OFF) displayed.
EBD SIGNAL EBD operation (ON/OFF) status is
– – ×
(ON/OFF) displayed.
ABS SIGNAL ABS operation (ON/OFF) status is
– – ×
(ON/OFF) displayed.
×:Applicable
BRC-30
TROUBLE DIAGNOSIS
[ABS]
–:Not applicable
A
ACTIVE TEST
Operation Procedure
CAUTION:
B
● Do not perform active test while driving the vehicle.
● Make sure to completely bleed air from brake system.
● Active test cannot be performed when ABS warning lamp is on. C
1. Connect the CONSULT-II connector to the data link connector and start the engine.
CAUTION:
If CONSULT-II is used with no connection of CONSULT-II CONVERTER, malfunctions might be D
detected in self-diagnosis depending on control unit which carry out CAN communication.
2. Touch ″START″ on the display.
3. Touch ″ABS″ and ″ACTIVE TEST″. E
BRC
WFIA0043E H
4. Test item selection screen is displayed.

5. Touch necessary test item. I
6. Touch ″START″.
7. Carry out the active test by touching screen key.
J
LBR379
L
Solenoid Valve
1. To perform active test of ABS functions, select major items for
each test item.
2. For ABS solenoid valve, touch “UP”, “KEEP” and “DOWN”. For M
ABS solenoid valve (ACT), touch “UP,” “ACTUATOR UP” and
“ACTUATOR KEEP”. Use screen monitor to check that solenoid
valve operates as shown in Solenoid Valve Operation Chart.
Refer toBRC-31, "Solenoid Valve Operation Chart" .
LFIA0180E
Solenoid Valve Operation Chart

ABS solenoid valve ABS solenoid valve (ACT)
Operation
UP KEEP DOWN UP ACT UP ACT KEEP
FR RH SOL FR RH IN SOL OFF ON ON OFF OFF OFF
FR RH ABS SOLE-
NOID (ACT) FR RH OUT SOL OFF OFF ON* OFF OFF OFF
BRC-31
TROUBLE DIAGNOSIS
[ABS]
Operation
UP KEEP DOWN UP ACT UP ACT KEEP
FR LH SOL FR LH IN SOL OFF ON ON OFF OFF OFF
FR LH ABS SOLE-
NOID (ACT) FR LH OUT SOL OFF OFF ON* OFF OFF OFF
RR RH SOL RR RH IN SOL OFF ON ON OFF OFF OFF

RR RH ABS SOLE-
NOID (ACT) RR RH OUT SOL OFF OFF ON* OFF OFF OFF
RR LH SOL RR LH IN SOL OFF ON ON OFF OFF OFF

RR LH ABS SOLE-
NOID (ACT) RR LH OUT SOL OFF OFF ON* OFF OFF OFF
*: ON for 1 to 2 seconds after the touch, and then OFF
NOTE:
● If active test is performed with brake pedal depressed, pedal stroke may change. This is normal.
● “TEST IS STOPPED” is displayed approximately 10 seconds after operation starts.
● After “TEST IS STOPPED” is displayed, to perform test again, repeat Active Test Step 6.
ABS Motor
Touch “ON” and “OFF” on the screen. Check that ABS motor relay
operates as shown in table below.
Operation ON OFF
ABS actuator relay ON ON
ABS motor relay ON OFF
NOTE:
● If active test is performed with brake pedal depressed, pedal
stroke may change. This is normal.
● “TEST IS STOPPED” is displayed approximately 10 seconds SFIA0593E
after operation starts.
BRC-32
TROUBLE DIAGNOSIS
[ABS]
For Fast and Accurate Diagnosis EFS002LD
PRECAUTIONS FOR DIAGNOSIS A

● Before performing diagnosis, always read precautions. Refer to BRC-4, "PRECAUTIONS" .
● When replacing ABS actuator and electric unit (control unit), be sure labels on control units are the same
color. B
● After diagnosis is finished, be sure to erase memory. Refer to BRC-26, "Operation Procedure" .
● When checking continuity and voltage between units, be sure to check for disconnection, looseness,
bend, or collapse of connector terminals. If any non-standard condition is found, repair or replace connec- C
tor terminals.
● For intermittent symptoms, possible cause is malfunction in harness, harness connector, or terminals.
Move harness, harness connector, and terminals to check for poor connections. D
● If a circuit tester is used for the check, be careful not to forcibly extend any connector terminal.
● To use CONSULT-II to perform self-diagnosis of ABS actuator and electric unit (control unit), active tests,
or work support, first stop work, then connect CONSULT-II and select “ABS”. E
● CONSULT-II self-diagnosis results are displayed without regard to occurrence timing. In some cases later
ones (timing value is small) appear on the next screen.
● While self-diagnosis results of CONSULT-II shows an error, if CONSULT-II active test is performed, an BRC
engine system error may be indicated. In this case, start engine to resume the normal screen.
● The following symptoms may be caused by normal operations:
G
Symptom Symptom description Result
This is noise of motor inside ABS actuator. Slight noise may occur dur-
ing ABS operation. H
Motor operation noise When the vehicle speed goes over 20 km/h (12.5 mph), the motor and Normal
valves operating noise may be heard. It happens only once after IGN
(ignition) is ON. This is a normal status of the system operation check.
I
System operation check When the engine starts, slight “click” noise may be heard from engine
Normal
noise compartment. This is normal and is part of system operation check.
On roads with low friction coefficients, such as snowy roads or gravel J
ABS operation (Longer stop- roads, vehicles with ABS may require a longer stopping distance. There-
Normal
ping distance) fore, when driving on such roads, avoid overconfidence and keep speed
sufficiently low.
K
ON and OFF Timing for ABS Warning Lamp
×: ON –: OFF
Condition ABS warning lamp Remarks L
Ignition SW OFF – —
For approx. 2 seconds after ignition SW is
× —
turned ON M
Approx. 2 seconds after ignition switch ON – Turns OFF 2 seconds after ignition switch ON.
× —
There is an ABS
There is an ABS actuator and electric unit (control
error. ×
unit) error. (Power or ground malfunction)
BRC-33
TROUBLE DIAGNOSIS
[ABS]
Basic Inspection EFS002LE
BASIC INSPECTION 1: BRAKE FLUID LEVEL AND LEAK INSPECTION

1. Check fluid level in the brake reservoir tank. If fluid level is low, refill the brake fluid.
2. Check for leakage in brake piping and around ABS actuator. If leakage or seepage is found, check as fol-
lows.
● If ABS actuator and electric unit (control unit) connector is loose, tighten piping to specified torque.
Then inspect again and confirm that there is no leakage.
● If connection of flare nuts or screws of ABS actuator are damaged, replace damaged parts. Then
inspect again and confirm that there is no leakage.
● If there is leakage or seepage at any location other than ABS actuator connections, wipe away leakage
or seepage with clean cloth. Then inspect again and confirm that there is no leakage.
● If there is leakage from ABS actuator, wipe away leakage or seepage with clean cloth. Then inspect
again. If there is leakage or seepage, replace ABS actuator unit.
CAUTION:
ABS actuator body cannot be disassembled.
3. Check brake disc rotor and pads and brake drum and linings. Refer to MA-41, "Checking Disc Brake" and
MA-41, "Checking Drum Brake" .
BASIC INSPECTION 2: INSPECTION FOR LOOSENESS OF POWER SYSTEM TERMINALS
Check battery for looseness on the battery positive/negative terminals and ground connection. If looseness is
detected, tighten the cables to the specified torque. Check that the battery voltage does not drop and the gen-
erator is normal.
BASIC INSPECTION 3: INSPECTION OF ABS WARNING LAMP
1. Check that ABS warning lamp illuminates for approximately 2 seconds when ignition switch is turned ON.
If it does not illuminate, inspect ABS warning lamp and circuit, and inspect combination meter. Refer to
BRC-13, "Schematic" .
Symptom Chart EFS002LF
Reference
Symptom Malfunctioning part
page
ABS works frequently — BRC-44
Unexpected pedal reaction — BRC-44
Long stopping distance — BRC-45
ABS does not work — BRC-46
Pedal vibration and noise — BRC-46
● Fuse
● Combination meter
ABS warning lamp does not illuminate BRC-42
● Circuit(s)
● ABS actuator and electric unit (control unit)
BRC-34
TROUBLE DIAGNOSIS
[ABS]
Inspection 1 Wheel Sensor System EFS002EU
INSPECTION PROCEDURE A
DTC C1101, C1102, C1103, C1104, C1105, C1106, C1107, C1108 or C1115
First use CONSULT-II self-diagnosis results to determine positions of malfunctioning wheel sensors. Then
inspect parts and determine which parts to replace. B
1. CONNECTOR INSPECTION
1. Disconnect the ABS actuator and electric unit (control unit) connector E39 and wheel sensor of malfunc- C
tion code. Check the terminals for deformation, disconnection, looseness or damage.
OK or NG
OK >> GO TO 2. D
NG >> Repair or replace as necessary.
2. CHECK WHEEL SENSOR OUTPUT SIGNAL E

1. Disconnect connector from wheel sensor of malfunction code No.
2. Connect ABS active wheel sensor tester (J-45741) to wheel sensor using appropriate adapter.
3. Turn on the ABS active wheel sensor tester power switch. BRC
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. G
4. 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: H
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? I
Yes >> GO TO 3.
No >> GO TO 6.
J
3. CHECK TIRE
Check for inflation pressure, wear and size of each tire.

K
Are tire pressure and size correct and is tire wear within specifications?
Yes >> GO TO 4.
No >> Adjust tire pressure or replace tire(s).
L
4. CHECK WHEEL BEARINGS
Check wheel bearing axial end play. Refer to FAX-5, "Front Wheel Bearing" or RAX-6, "Rear Wheel Bearing" . M
Is axial end play within specifications?
Yes >> GO TO 5.
No >> Repair as necessary. Refer to FAX-12, "WHEEL HUB AND ROTOR DISC" or RAX-7, "WHEEL
HUB" . Then retest.
5. SENSOR ROTOR INSPECTION

Check for damage to sensor rotor teeth.
Is inspection result OK?
OK >> GO TO 6.
NG >> Replace sensor rotor. Refer to BRC-49, "Front Sensor Rotor" or BRC-49, "Rear Sensor Rotor
(4WD)" .
BRC-35
TROUBLE DIAGNOSIS
[ABS]
6. CHECK WIRING HARNESS FOR SHORT CIRCUIT
1. Disconnect ABS actuator and electric unit (control unit) connec-
tor and wheel sensor connector of malfunction code No.
2. Check resistance between harness connector terminal and
ground.
Continuity should not exist.
OK or NG?
OK >> GO TO 7.
NG >> Repair the circuit.
WFIA0148E
7. CHECK WIRING HARNESS FOR OPEN CIRCUIT

1. Disconnect ABS actuator and electric unit (control unit) connector and wheel sensor connector of mal-
function code No.
2. Check continuity between both wiring harness ends.
ABS actuator and
Sensor Wheel sensor Continuity
electric unit (control unit)
Connector - terminal Wire color Connector - terminal Wire color
E39 - 46 G E16 - 6 G
Front LH
E39 - 45 R E16 - 7 R
E39 - 34 P E2 - 5 P
Front RH
E39 - 33 L E2 - 4 L
E39 - 36 W C5 - 9 W
Rear (2WD) Yes
E39 - 37 B C5 - 8 B
E39 - 36 W C5 - 9 W
Rear LH (4WD)
E39 - 37 B C5 - 8 B
E39 - 42 LG C5 - 1 LG
Rear RH (4WD)
E39 - 43 PU C5- 2 PU
Continuity should exist.

OK or NG?
OK >> Replace the ABS actuator and electric unit (control unit). Refer to BRC-51, "ABS Actuator and
Electric Unit" .
Inspection 2 ABS Actuator and Electric Unit (Control Unit) System EFS002EW
DTC C1110
Inspection Procedure
1. CHECKING SELF-DIAGNOSIS RESULTS
Check self-diagnosis results.
Self-diagnosis results
CONSULT-II display items
CONTROLLER FAILURE
Does anything other than “CONTROLLER FAILURE” appear on self-diagnosis display?
YES >> Repair or replace the items indicated. Then perform self-diagnosis again.
NO >> Replace ABS actuator and electric unit (control unit). Then perform ABS actuator and electric
unit (control unit) self-diagnosis again.
BRC-36
TROUBLE DIAGNOSIS
[ABS]
Inspection 3 Pressure Switch and Circuit Between Pressure Switch and ABS
Actuator and Electric Unit (Control Unit) EFS002EX
A
NOTE:
Pressure switch applies to 2WD models only.
DTC C1142 B
1. CHECKING SELF-DIAGNOSIS RESULTS (1) C

Self-diagnosis results D
PRESS SEN CIRCUIT
E
Does “PRESS SEN CIRCUIT” appear on self-diagnosis display?
YES >> GO TO 2.
NO >> Inspection is completed. BRC
2. CHECKING SELF-DIAGNOSIS RESULTS (2)
1. Disconnect pressure switch connector E91 and ABS actuator and electric unit (control unit) connector G
E39. Then reconnect them securely.
2. Perform ABS actuator and electric unit (control unit) self-diagnosis again.
Is inspection result OK? H
OK >> Poor connection of connectors. Repair or replace suspect connector. Perform self-diagnosis
again.
NG >> GO TO 3. I
3. CHECKING PRESSURE SWITCH CIRCUIT

1. Disconnect pressure switch connector E91 and ABS actuator and electric unit (control unit) connector J
E39.
2. Check continuity between ABS actuator and electric unit (con-
trol unit) harness connector E39 and pressure switch harness K
connector E91.
ABS actuator and Pressure
electric unit (control switch L
unit) (Harness con- Continuity
(Harness connector nector E91)
E39) M
3 (R/W) 2 (R/W) Yes
Is inspection result OK? LFIA0181E
OK >> GO TO 4.
NG >> Open or short in harness. Repair or replace the suspect harness.
4. CHECKING PRESSURE SWITCH

Check pressure switch value on “DATA MONITOR”.
Condition Data monitor display
Brake pedal depressed ON
When brake pedal is released. OFF
OK >> Inspection is completed.
NG >> Pressure switch malfunction. Replace pressure switch. Refer to BR-12, "MASTER CYLINDER" .
BRC-37
TROUBLE DIAGNOSIS
[ABS]
Inspection 4 Solenoid Valve and Circuits EFS002F0
DTC C1120, C1121, C1122, C1123, C1124, C1125, C1126 or C1127

FR LH IN ABS SOL
FR LH OUT ABS SOL
RR RH IN ABS SOL
RR RH OUT ABS SOL
FR RH IN ABS SOL
FR RH OUT ABS SOL
RR LH IN ABS SOL
RR LH OUT ABS SOL
Do above items appear on self-diagnosis results display?
YES >> GO TO 2.
NO >> Inspection is completed.

1. Disconnect ABS actuator and electric unit (control unit) connector E39. Then reconnect it securely.
2. Perform self-diagnosis again.
Do any self-diagnosis items appear?
YES >> GO TO 3.
NO >> Poor connection. Repair or replace the connector.
BRC-38
TROUBLE DIAGNOSIS
[ABS]
3. CHECKING SOLENOID POWER AND GROUND
A
1. Disconnect ABS actuator and electric unit (control unit) connector E39.
2. Check voltage between ABS actuator and electric unit (control
unit) harness connector E39 and ground. B
ABS actuator and electric

Body Voltage (V)
unit (control unit)
ground (Approx.) C
(Harness connector E39)
32 (Y) — 12
D
LFIA0148E
E
3. Check resistance between ABS actuator and electric unit (con-
trol unit) harness connector E39 and body ground.
ABS actuator and electric Resistance BRC
Body
unit (control unit) value (Ω)
ground
(Harness connector E39) (Approx.)
16 (B) — 0 G
47 (B) — 0
OK >> Replace ABS actuator and electric unit (control unit). LFIA0152E
NG >> Repair harness or connectors.
Inspection 5 Actuator Motor, Motor Relay, and Circuit EFS002F1 I
DTC C1111
Inspection Procedure J
Check self-diagnosis results. K
L
PUMP MOTOR
Does “PUMP MOTOR” appear in self-diagnosis results display?

YES >> GO TO 2. M

YES >> GO TO 3.
NO >> Poor connection. Repair or replace the applicable connector.
BRC-39
TROUBLE DIAGNOSIS
[ABS]
3. CHECKING ABS MOTOR AND MOTOR RELAY POWER SYSTEM
1. Disconnect ABS actuator and electric unit (control unit) connector.

unit) connector E39 and body ground.
Body Voltage (V)
unit (control unit)
ground (Approx.)
1 (L) — 12
LFIA0149E

trol unit) connector E39 and ground.
ABS actuator and electric Resistance
Body
ground
16 (B) — 0
YES >> Replace ABS actuator and electric unit (control unit).
Refer to BRC-51, "ABS Actuator and Electric Unit" .
LFIA0147E
NO >> Repair harness or connectors.
Inspection 6 Stop Lamp Switch and Circuit EFS002F2
DTC C1116
STOP LAMP SW
Does “STOP LAMP SW” appear in self-diagnosis results display?
YES >> GO TO 2.
2. CHECKING STOP LAMP

1. Disconnect stop lamp switch connector and ABS actuator and electric unit (control unit) connector.
2. Reconnect connectors securely.
3. Start engine.
4. Repeat pumping brake pedal carefully several times, then perform self-diagnosis again.
YES >> GO TO 3.
BRC-40
TROUBLE DIAGNOSIS
[ABS]
3. CHECKING STOP LAMP SWITCH CIRCUIT A
2. Check continuity between stop lamp switch harness connector
M47 and ABS actuator and electric unit (control unit) harness B
connector E39.
ABS actuator and
electric unit (control Stop lamp switch C
unit) (Harness connec- Continuity
(Harness connector tor M47)
E39) D
41 (BR/R) 2 (BR/R) Yes
LFIA0150E
Is inspection result OK? E
OK >> Perform ABS actuator and electric unit (control unit) self-diagnosis again.
NG >> Open or short in harness between ABS actuator and electric unit (control unit) and stop lamp
switch.
BRC
Inspection 7 ABS Actuator and Electric Unit (Control Unit) Power Supply and
Ground Circuit EFS002F3
DTC C1109 G
1. CHECKING SELF-DIAGNOSIS RESULT H

Self-diagnosis results I
BATTERY VOLTAGE
J
Does “BATTERY VOLTAGE” appear in self-diagnosis results display?
YES >> GO TO 2.
NO >> Inspection is completed. K
2. STARTING INSPECTION
1. Disconnect ABS actuator and electric unit (control unit) connector E39. Then reconnect it securely. L
2. Perform self-diagnosis.
YES >> GO TO 3. M
BRC-41
TROUBLE DIAGNOSIS
[ABS]
3. CHECKING ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) POWER SUPPLY
2. Turn ignition switch ON (but do not start engine). Check voltage
between ABS actuator and electric unit (control unit) harness
connector E39 and body ground.
Body Voltage (V)
unit (control unit)
ground (Approx.)
4 (B/P) — 12
LFIA0151E

unit) harness connector E39 and ground.
Body Voltage (V)
unit (control unit)
ground (Approx.)
32 (Y) — 12
OK >> GO TO 4.
NG >> Repair power supply.
LFIA0148E
4. CHECKING ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) GROUND CIRCUITS
Check ABS actuator and electric unit (control unit) ground circuits.
Body
unit (control unit) Continuity
ground
16 (B) — Yes
47 (B) — Yes
OK >> Perform ABS actuator and electric unit (control unit) self-
diagnosis again. LFIA0152E
Inspection 8 ABS Warning Lamp Does Not Come On When Ignition Switch Is
Turned On EFS002HB
1. INSPECTION START
Warning lamp circuit inspection.
LFIA0186E
BRC-42
TROUBLE DIAGNOSIS
[ABS]
A
>> GO TO 2.
2. CHECK FUSE B
Check 10A fuse [No. 11 located in the fuse block (J/B)]. For fuse layout, refer to PG-8, "POWER SUPPLY
ROUTING" .
OK or NG? C
OK >> GO TO 3.
NG >> Replace fuse.
D
3. CHECK POWER SUPPLY CIRCUIT
1. Install 10A fuse [No. 11 located in the fuse block (J/B)].
E
4. Check voltage between ABS actuator and electric unit (control BRC
unit) connector E39 terminal 44 (L/W) and ground.
Battery voltage should exist.
G
LFIA0184E
I
OK or NG?
OK >> GO TO 5. J
NG >> GO TO 4.
4. CHECK INDICATOR BULB

K
Check indicator lamp bulb.
OK or NG?
OK >> Repair harness or connectors between fuse and ABS actuator and electric unit (control unit) ter- L
minal 44 (including combination meter).
NG >> Replace combination meter.
M
5. CHECK CIRCUIT
2. Disconnect ABS actuator and electric unit (control unit) and combination meter connectors.
3. Check continuity between ABS actuator and electric unit (control
unit) connector E39 terminal 44 (L/W) and combination meter
connector M38 terminal 24 (L/W).
LFIA0185E
BRC-43
TROUBLE DIAGNOSIS
[ABS]
OK or NG?
OK >> Reconnect connectors and perform self-diagnosis. Repair or replace.
NG >> ● Check harness connectors E39, M38
● Harness for open or short between ABS actuator and electric unit (control unit) and combina-
tion meter
Inspection 9 When "DECEL G-SENSOR" Appears on Self-Diagnosis Results
Display (4WD Models) EFS002L5
DTC C1113
DECEL G-SENSOR
Does anything besides “DECEL G-SENSOR” appear on self-diagnosis results display?
YES >> Inspect and repair the indicated items. Then perform self-diagnosis again to confirm the repair.
NO >> Replace ABS actuator and electric unit (control unit). Refer to BRC-51, "ABS Actuator and Electric
Unit" . Then perform self-diagnosis again to confirm repair.
Symptom 1 ABS Works Frequently EFS002FK
Inspect wheel sensor system.
● Sensor mounting inspection
● Sensor pick-up inspection for iron chips
● Sensor rotor inspection (e.g. Number of teeth, damaged teeth)
● Sensor connector engagement inspection
OK >> GO TO 2.
NG >> Repair wheel sensor and rotor system.
2. CHECKING FOR LOOSENESS

Check for looseness of front axle.
OK >> GO TO BRC-44, "Symptom 2 Unexpected Pedal Reaction" .
NG >> Axle inspection and repair
Symptom 2 Unexpected Pedal Reaction EFS002FL
1. BRAKE PEDAL STROKE INSPECTION
Check brake pedal stroke.
Is stroke excessively long?
YES >> Check bleeding and brake system.
NO >> GO TO 2.
BRC-44
TROUBLE DIAGNOSIS
[ABS]
2. CHECKING PEDAL FORCE A
Check that brake is effective with pedal depressed.
Is pedal heavy, but effective?
YES >> Normal. B
NO >> GO TO 3.
3. CONNECTOR AND PERFORMANCE INSPECTION C

Disconnect ABS actuator and electric unit (control unit) connector to deactivate ABS function. Check that
brake is effective.
D
Is brake effective?
YES >> GO TO 4.
NO >> Brake line inspection
E
4. CHECKING ABS WARNING LAMP INDICATION
Check that ABS warning lamp illuminates. BRC
OK >> Perform self-diagnosis.
NG >> GO TO 5. G
5. CHECKING WHEEL SENSORS

Inspect wheel sensor system. H
● Check sensor pick-up for adhering iron chips.
I
Is inspection result OK? J
OK >> Normal.
Symptom 3 Long Stopping Distance EFS002FM K
1. STARTING INSPECTION L
Check that stopping distance increases only on snowy roads and gravel roads.
M
OK >> May be longer than for vehicles without ABS.
NG >> GO TO 2.
2. CHECKING PERFORMANCE
Disconnect ABS actuator and electric unit (control unit) to deactivate ABS function.
Is stopping distance still long?
YES >> Inspect brake lines for leaks or damage. Repair as necessary. Bleed brakes. Refer to BR-9,
"Bleeding Brake System" .
NO >> GO TO 3.

Check that ABS warning lamp illuminates.
NG >> GO TO 4.
BRC-45
TROUBLE DIAGNOSIS
[ABS]
OK >> Normal.
Symptom 4 ABS Does Not Work EFS002FN
NG >> GO TO 2.

OK >> Normal.
Symptom 5 Pedal Vibration and Noise EFS002FO
1. INSPECTION (1)
Check brake system for pedal vibration or noise at engine start.
NG >> GO TO 2.
2. INSPECTION (2)
Check for vibration during soft braking (just placing foot on pedal).
CAUTION:
ABS may activate in conditions such as those listed below, when wheel speed changes.
● Gear shifting
● Turning at high speed
● Passing through gusts of wind
OK >> GO TO 3.
NG >> Normal.
BRC-46
TROUBLE DIAGNOSIS
[ABS]
3. INSPECTION (3) A
Does vibration occur during normal braking?
CAUTION:
In addition to activation for sudden braking, ABS may activate in conditions such as those listed B
below.
● Roads with low friction coefficients
● Turning at high speed C
D
OK >> GO TO 4.
NG >> Normal.
4. INSPECTION (4) E
Check for vibration when engine speed is increased while vehicle is stopped.
Is inspection result OK? BRC
OK >> GO TO 5.
NG >> ● Normal.
CAUTION: G
Vibration may occur when vehicle is stopped.
5. INSPECTION (5) H
Check for vibration when switches of electrical components are operated.
OK >> Check for any wireless devices, antennas, or antenna lead near ABS actuator and electric unit I
(control unit) (including wiring).
NG >> GO TO 6.
J
Confirm ABS warning lamp turns on.
Is inspection result OK? K
NG >> GO TO 7.
L
Inspect wheel sensor system. M
● Sensor pick-up inspection for iron chips (e.g. Number of teeth, damaged teeth)
● Inspection of wheel sensor circuit
OK >> Normal.
BRC-47
REMOVAL AND INSTALLATION
[ABS]
REMOVAL AND INSTALLATION PFP:00000
Front Wheel Sensor EFS002L6
CAUTION:
Be careful not to damage sensor edge and sensor rotor teeth. When removing the front or rear wheel
hub assembly, disconnect the ABS wheel sensor from the assembly and move it away.
ABR869
Rear Wheel Sensor EFS002L7
4WD MODELS
CAUTION:
ABR868
2WD MODELS
CAUTION:
Be careful not to damage sensor edge and sensor rotor teeth. In case the final drive assembly needs
to be removed, disconnect the ABS sensor from the final drive assembly and move it away. Failure to
do so may result in damage to the sensor wires making the sensor inoperative. For final drive models
BRC-48
[ABS]
using collapsible spacer (C200), bearing preload must be adjusted whenever companion flange is
removed. Therefore, final drive overhaul is required. Refer to RFD-11, "Components" . A
BRC
LBR115
G
Front Sensor Rotor EFS002L8
REMOVAL
CAUTION: H
1. Remove the front wheel hub. Refer to FAX-12, "WHEEL HUB I
AND ROTOR DISC" .
2. Remove the sensor rotor using suitable puller, drift and bearing
replacer. J
SBR873C L
INSTALLATION
Install the sensor rotor using suitable drift and press.
M
● Always replace sensor rotor with new one.
● Pay attention to the direction of front sensor rotor as shown in
figure.
SBR400DA
Rear Sensor Rotor (4WD) EFS002L9
REMOVAL
CAUTION:
BRC-49
[ABS]
● Remove the sensor rotor using Tool.
ARA097
INSTALLATION
● Always replace sensor rotor with a new one.
figure.
SBR402D
BRC-50
[ABS]
ABS Actuator and Electric Unit EFS002LA
REMOVAL A
BRC
I
LFIA0193E
1. Disconnect battery cable.

2. Disconnect connector and brake pipes. J
3. Remove fixing bolts.
INSTALLATION K
CAUTION:
After installation, refill brake fluid. Then bleed air. Refer to BR-9, "Bleeding Brake System" .
1. Connect brake pipes temporarily. L
2. Tighten fixing bolts.
3. Tighten brake pipes.
Tightening torque: 16.7 - 21.6 N·m (1.7 - 2.2 kg-m, 13 - 15 ft-lb) M
4. Connect connector and battery cable.
BRC-51
PRECAUTIONS
[VDC/TCS/ABS]
PRECAUTIONS PFP:00001
Precautions for Supplemental Restraint System (SRS) “AIR BAG” and “SEAT
BELT PRE-TENSIONER” EFS002CC
The Supplemental Restraint System such as “AIR BAG” and “SEAT BELT PRE-TENSIONER”, used along
with a front seat belt, helps to reduce the risk or severity of injury to the driver and front passenger for certain
types of collision. This system includes seat belt switch inputs and dual stage front air bag modules. The SRS
system uses the seat belt switches to determine the front air bag deployment, and may only deploy one front
air bag, depending on the severity of a collision and whether the front occupants are belted or unbelted.
Information necessary to service the system safely is included in the SRS and SB section of this Service Man-
ual.
WARNING:
● To avoid rendering the SRS inoperative, which could increase the risk of personal injury or death
in the event of a collision which would result in air bag inflation, all maintenance must be per-
formed by an authorized NISSAN/INFINITI dealer.
● Improper maintenance, including incorrect removal and installation of the SRS, can lead to per-
sonal injury caused by unintentional activation of the system. For removal of Spiral Cable and Air
Bag Module, see the SRS section.
● Do not use electrical test equipment on any circuit related to the SRS unless instructed to in this
Service Manual. SRS wiring harnesses can be identified by yellow and/or orange harnesses or
harness connectors.
Precautions for Brake System EFS002CD
● Recommended fluid is brake fluid “DOT 3”.

● Never reuse drained brake fluid.
● Be careful not to splash brake fluid on painted areas such as body. If brake fluid is splashed, wipe it off
and flush area with water immediately.
● Never use mineral oils such as gasoline or kerosene to clean. They will ruin rubber parts and cause
improper operation.
● Using a flare nut torque wrench, securely tighten brake tube
flare nuts.
● Brake system is an important safety part. If a brake fluid leak is
detected, always disassemble the affected part. If a malfunction
is detected, replace part with a new one.
● Before working, turn ignition switch OFF and disconnect electri-
cal connectors of ABS actuator and electric unit (control unit) or
battery terminals.
● When installing brake piping, be sure to check torque.
SBR686C
Wiring Diagrams and Trouble Diagnosis EFS002DP
When you read wiring diagrams, refer to the following:

● GI-13, "How to Read Wiring Diagrams"
● PG-8, "POWER SUPPLY ROUTING" for power distribution circuit.
When you perform trouble diagnosis, refer to the following:
● GI-9, "HOW TO FOLLOW TEST GROUPS IN TROUBLE DIAGNOSES"
● GI-25, "How to Perform Efficient Diagnosis for an Electrical Incident"
Precautions for Brake Control EFS002CE
● During ABS operation, brake pedal lightly vibrates and a mechanical noise may be heard. This is normal.
● Just after starting vehicle after ignition switch ON, brake pedal may vibrate or motor operating noise may
be heard from engine compartment. This is a normal status of operation check.
● Stopping distance may be longer than that of vehicles without ABS when vehicle drives on rough, gravel,
BRC-52
PRECAUTIONS
[VDC/TCS/ABS]
● When an error is indicated by ABS or another warning lamp, collect all necessary information from cus-
tomer (what symptoms are present under what conditions) and check for simple causes before starting A
diagnostic servicing. Besides electrical system inspection, check booster operation, brake fluid level, and
oil leaks.
● If tire size and type are used in an improper combination, or brake pads are not Genuine NISSAN parts, B
stopping distance or steering stability may deteriorate.
● If there is a radio, antenna, or antenna lead-in wire (including wiring) near control module, VDC/TCS/ABS
function may have a malfunction or error.
C
● If aftermarket parts (car stereo, CD player, etc.) have been installed, check for incidents such as harness
pinches, open circuits, and improper wiring.
Diagnosis Precaution EFS002CF D
CAN SYSTEM
● Do not apply voltage of 7.0V or higher to terminal to be measured.
● Maximum open terminal voltage of tester in use shall be 7.0V or lower. E
● Before checking harnesses, turn ignition switch to OFF and disconnect battery negative cable.
Precaution for Harness Repair EFS002CG
BRC
CAN SYSTEM
● Area to be repaired shall be soldered, and wrapped with a tape
[be sure that fraying of twisted wire shall be within 110 mm (4.33
G
in)].
PKIA0306E
J
● Do not make a bypass connection to repaired area. (If it is done,
branch part will be removed and characteristics of twisted wire
will be lost.)
K
M
PKIA0307E
BRC-53
PREPARATION
[VDC/TCS/ABS]
PREPARATION PFP:00002
Special Service Tools EFS0037R
The actual shapes of Kent-Moore tools may differ from those of special service tools illustrated here.
Tool number
(Kent-Moore No.) Description
Tool name
KV40106500 Removing rear wheel sensor rotor
(JS25852-B)
Wheel bearing puller
NT724
Checking operation of ABS active wheel sen-

(J-45741) sor
ABS active wheel sensor tester
WFIA0101E
Commercial Service Tools EFS0037S
Tool name Description

1 Flare nut crowfoot Removing and installing each brake piping
2 Torque wrench a: 10 mm (0.39 in)
NT360
Rear wheel sensor rotor drift Installing rear wheel sensor rotor
a: 75 mm (2.95 in) dia.
b: 63 mm (2.48 in) dia.
NT509
BRC-54
ON-VEHICLE SERVICE
[VDC/TCS/ABS]
ON-VEHICLE SERVICE PFP:00000
A
Adjustment of Steering Angle Sensor Neutral Position EFS002LG
NOTE:
After removing/installing or replacing ABS control unit, steering angle sensor, steering components, suspen- B
sion components, and tires, or after adjusting wheel alignment, make sure to adjust neutral position of steering
angle sensor before running vehicle.
CAUTION: C
To adjust neutral position of steering angle sensor, make sure to use CONSULT-II.
(Adjustment cannot be done without CONSULT-II.)
1. Stop vehicle with front wheels in straight-ahead position.
D
2. Connect CONSULT-II to data link connector on vehicle, and turn
ignition switch ON (do not start engine).
CAUTION:
E
munication. BRC
3. Touch “ABS”, “WORK SUPPORT” and “ST ANGLE SENSOR
ADJUSTMENT” on CONSULT-II screen in this order.
LEC104A
G
CAUTION:
Do not touch steering wheel while adjusting steering angle H
sensor.
5. After approximately 10 seconds, touch “END”. (After approxi-
mately 60 seconds, it ends automatically.) I
NOTE:
The CONSULT-II will display "ADJUSTMENT COMPLETE".
6. Turn ignition switch OFF, then turn it ON again. J
CAUTION: SFIA0371E
Be sure to carry out above operation.
7. Run vehicle with front wheels in straight-ahead position, then stop. K
8. Select “DATA MONITOR”, “SELECTION FROM MENU”, and “STR ANGLE SIG” on CONSULT-II screen.
Then check that “STR ANGLE SIG” is within 0±3.5 deg. If value is more than specification, repeat steps 1
to 5. L
9. Erase memory of ABS actuator and electric unit (control unit) and ECM.
10. Turn ignition switch to OFF.
M
Calibration of Decel G Sensor EFS002LH
CAUTION:
To calibrate decel G sensor, make sure to use CONSULT-II.
(Adjustment cannot be done without CONSULT-II.)
1. Stop vehicle with front wheels in straight-ahead position.
NOTE:
Work must be done with the vehicle unladen and parked on a
horizontal surface.
2. Connect CONSULT-II to data link connector on vehicle, and turn
ignition switch ON (do not start engine).
CAUTION:
munication. LEC104A
BRC-55
ON-VEHICLE SERVICE
[VDC/TCS/ABS]
3. Touch “ABS”, “WORK SUPPORT” and “DECEL G SEN CALIBRATION” on CONSULT-II screen in this
order.
5. After approximately 10 seconds, touch “END”. (After approxi-
mately 60 seconds, it ends automatically.)
NOTE:
The CONSULT-II will display "ADJUSTMENT COMPLETE".
6. Turn ignition switch OFF, then turn it ON again.
CAUTION:
Be sure to carry out above operation.
7. Run vehicle with front wheels in straight-ahead position, then
stop. LFIA0171E
8. Select “DATA MONITOR”, “SELECTION FROM MENU”, and

“DECEL G SEN” on CONSULT-II screen. Then check that “DECEL G SEN” is within ±0.08G. If value is
more than specification, repeat steps 1 to 5.
9. Erase memory of ABS actuator and electric unit (control unit) and ECM.
10. Turn ignition switch to OFF.
BRC-56
GENERAL INFORMATION
[VDC/TCS/ABS]
GENERAL INFORMATION PFP:00000
A
Fail-Safe EFS002LI
ABS SYSTEM
If a malfunction occurs in electrical system, ABS warning lamp, VDC OFF indicator lamp, and SLIP indicator B
lamp in combination meter turn ON. In this condition, the fail-safe function puts VDC/TCS/ABS and electronic
brake force distribution (EBD) into one of the following conditions.
1. Only EBD operates. Same condition as that of models without VDC/TCS/ABS.
C
2. VDC/TCS/ABS and EBD do not operate. All 4 wheels operate as normal brakes.
NOTE:
In step 1 shown above, self-diagnosis when ignition switch is turned ON and when vehicle starts at initial time
D
is carried out. ABS self-diagnosis noise may be heard as usual.
VDC/TCS SYSTEM
If a malfunction occurs in electrical system, VDC OFF indicator lamp and SLIP indicator lamp in combination E
meter turn on. In this condition, VDC/TCS will be deactivated and it becomes equal to that of models without
VDC/TCS. However, ABS is controlled normally.
If a malfunction occurs in engine control system, VDC/TCS control will be deactivated and only ABS control
will operate normally. BRC
CAUTION:
If fail-safe mode is initiated, carry out self-diagnosis for VDC/TCS/ABS control system.
G
Hydraulic Circuit Diagram EFS002LJ
LFIA0136E
CAUTION:
● When installing parts, avoid twist and fracture conditions.
● Make sure there is no interference with other parts when turning steering both clockwise and
counterclockwise.
● Brake system is an important safety part. If a brake fluid leak is detected, always disassemble the
affected part. If a malfunction is detected, replace it with a new one.
BRC-57
GENERAL INFORMATION
[VDC/TCS/ABS]
ABS Function EFS002LK
1. During ABS operation, brake pedal lightly vibrates and a mechanical noise may be heard. This is normal.
2. When starting engine, or just after starting vehicle, brake pedal may vibrate or motor operating noises
may be heard from engine compartment. This is a normal status of operation check.
3. Stopping distance may be longer than that of vehicles without ABS when vehicle drives on rough, gravel,
4. EBD is integrated in VDC/TCS/ABS system.
TCS Function EFS002LL
1. VDC/TCS/ABS control unit detects a spin at drive wheels by comparing wheel speed signals from all 4
wheels. At this time, output from control unit controls brake fluid pressure to spinning wheels while cutting
fuel to engine to reduce engine torque.
2. Depending on road circumstances, driver may have a sluggish feel. This is normal, because optimum
traction has highest priority under TCS operation.
3. When vehicle is passing through a road where surface friction coefficient varies, downshifting/upshifting or
depressing accelerator pedal fully may activate TCS temporarily.
4. During TCS operation, it informs driver of system operation by flashing SLIP indicator lamp.
VDC Function EFS002LM
1. In addition to TCS/ABS function, VDC detects driver's steering operation amount and brake pedal travel
from steering angle sensor and pressure sensor. Using information from yaw rate/side/decel G-sensor
and wheel sensor, VDC judges driving condition (conditions of under steer and over steer) to improve sta-
bility by controlling brake application to 4 wheels and engine output.
2. SLIP indicator lamp flashes to inform driver of VDC operation.
3. During VDC operation, body and brake pedal lightly vibrate and mechanical noises may be heard. This is
normal.
4. If vehicle is rotated on turn table, or rolled and rocked on ship, ABS warning lamp, VDC OFF indicator
lamp, and SLIP indicator lamp may turn ON. In this case, start engine on normal road again. If ABS warn-
ing lamp, VDC OFF indicator lamp, and SLIP indicator lamp turn OFF after restart, it is normal.
5. When driving in steep slope such as bank, ABS warning lamp, VDC OFF indicator lamp, and SLIP indica-
tor lamp may turn ON. In this case, start engine on normal road again. If ABS warning lamp, VDC OFF
indicator lamp, and SLIP indicator lamp turn OFF after restart, it is normal.
BRC-58
GENERAL INFORMATION
[VDC/TCS/ABS]
System Diagram EFS002LN
BRC
LFIA0137E I
BRC-59
CAN COMMUNICATION
[VDC/TCS/ABS]
CAN COMMUNICATION PFP:23710
System Description EFS002LO
CAN (Controller Area Network) is a serial communication line for real time application. It is an on-vehicle mul-
tiplex communication line with high data communication speed and excellent error detection ability. Many elec-
tronic control units are equipped onto a vehicle, and each control unit shares information and links with other
control units during operation (not independent). In CAN communication, control units are connected with 2
communication lines (CAN H line, CAN L line) allowing a high rate of information transmission with less wiring.
Each control unit transmits/receives data but selectively reads required data only.
SYSTEM DIAGRAM
LFIA0138E
Input/output signal chart

T: Transmit R: Receive
ABS actuator and
Steering angle
Signals ECM electric unit (con- TCM
sensor
trol unit)
Engine speed signal T R
Accelerator pedal position signal T R R
Steering angle sensor signal T R
BRC-60
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
TROUBLE DIAGNOSIS PFP:00004
A
How to Proceed With Diagnosis EFS002CR
BASIC CONCEPT
● Most important point to perform diagnosis is to understand systems (control and mechanism) in vehicle B
thoroughly.
● It is also important to clarify customer complaints before inspec-

C
tion.
First of all, reproduce symptom, and understand it fully.
Ask customer about his/her complaints carefully. In some cases,
it will be necessary to check symptom by driving vehicle with D
customer.
NOTE:
Customers are not professionals. Do not assume “maybe cus- E
tomer means...” or “maybe customer mentioned this symptom”.
SEF234G
BRC
● It is essential to check symptoms right from beginning in order to

repair a malfunction completely.
G
For an intermittent malfunction, it is important to reproduce
symptom based on interview with customer and past examples.
Do not perform inspection on ad hoc basis. Most intermittent
malfunctions are caused by poor contacts. In this case, it will be H
effective to shake suspected harness or connector by hand.
When repairs are performed without any symptom check, no
one can judge if malfunction has actually been eliminated. I
● After diagnosis, make sure to carry out “erase memory”. Refer to
BRC-79, "Operation Procedure" . SEF233G
● For an intermittent malfunction, move harness or harness con- J

nector by hand to check poor contact or false open circuit.
● Always read “GI General Information” to confirm general precautions.
K
BRC-61
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
DIAGNOSIS FLOWCHART
LFIA0182E
BRC-62
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
ASKING COMPLAINTS
● Complaints about malfunction vary depending on each person. A
It is important to clarify customer complaints.
● Ask customer about what symptoms are present and under
what conditions. Use information to reproduce symptom while B
driving.
● It is also important to use diagnosis sheet so as not to miss infor-
mation. C
SBR339B
D
EXAMPLE OF DIAGNOSIS SHEET

E
BRC
LFIA0183E
BRC-63
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Component Installation Location EFS002CS
LFIA0139E
BRC-64
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Schematic EFS002CT
BRC
LFWA0040E
BRC-65
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Wiring Diagram — VDC — EFS002CU
LFWA0041E
BRC-66
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
BRC
LFWA0042E
BRC-67
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
LFWA0043E
BRC-68
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
BRC
WFWA0052E
BRC-69
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
WFWA0051E
BRC-70
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
BRC
LFWA0046E
BRC-71
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
ABS Actuator and Electric Unit (Control Unit) Input/Output Signal Standard EFS002LX
STANDARDS USING CIRCUIT TESTER AND OSCILLOSCOPE

CAUTION:
Connect ABS actuator and electric unit (control unit) connector, and then turn ignition switch ON.
LFIA0140E
Measurement
tion checklist
+ –
Actuator motor being BRC-101, "Inspec-
Approx. 12V
driven tion 7 Actuator
1 Actuator motor
Motor, Motor Relay,
Actuator motor stopped Approx. 12V and Circuit"
BRC-103, "Inspec-
tion 9 ABS Actua-
4 Power supply (IGN) Ignition switch ON Approx. 12V
(Control Unit)
Power Supply and
Ground Circuit"
BRC-98, "Inspec-
tion 5 Yaw Rate/
Side/Decel G Sen-
sor and Circuit
Yaw rate/side/decel G
6 Power Approx. 8V to 16V Between Yaw Rate/
sensor
Side/Decel G Sen-
sor and ABS Actua-
(Control Unit)"
Body
ground 4WD is ON Approx. 12V 4WD switch and cir-
7 4WD switch
4WD is OFF Approx. 0V cuit
Brake fluid is not enough Approx. 12V BRC-105, "Inspec-

tion 11 Brake Fluid
Level in Reservoir
Tank, Communica-
8
Brake fluid level switch tion Circuit Between
Brake fluid is enough Approx. 0V ABS Actuator and
Electric Unit (Con-
trol Unit) and Brake
Fluid Level Switch"
BRC-119, "Inspec-
tion 23 CAN CIR-
CAN communication
11 Ignition switch ON CUIT 1 - CAN
input/output signal (H)
Communication
System Failure"
PBIA0224J
BRC-72
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Measurement
terminal Note: Error inspec- A
tion checklist
+ –
VDC OFF indicator lamp BRC-115, "Inspec-
Approx. 12V B
ON (Note 4) tion 20 VDC OFF
Indicator Lamp
13 VDC OFF indicator lamp Does Not Come On
VDC OFF indicator lamp When Ignition
Approx. 0V C
OFF (Note 4) Switch Is Turned
On"
Body
ground
D
BRC-119, "Inspec-
tion 23 CAN CIR-
CAN communication
15 Ignition switch ON CUIT 1 - CAN
input/output signal (L)
Communication E
System Failure"
PBIA0223J
BRC-103, "Inspec- BRC

tion 9 ABS Actua-
(Control Unit)
Power Supply and G
Ground Circuit"
18 Power Approx. 5V BRC-96, "Inspec-
Body
19 ground Ground Approx. 0V
tion 3 Pressure H
Sensor and Circuit
Between Pressure
Pressure sensor
Sensor and ABS
20 Output signal Approx. 0.5V to 4.5V Actuator and Elec- I
tric Unit (Control
Unit)"
24 Ground Approx. 0Ω BRC-98, "Inspec- J
tion 5 Yaw Rate/
Side/Decel G Sen-
sor and Circuit
Yaw rate/side/decel G Between Yaw Rate/ K
25 — CAN-L — Side/Decel G Sen-
sensor
sor and ABS Actua-
(Control Unit)" L
SLIP indicator lamp ON BRC-113, "Inspec-
Approx. 0V
(Note 5) tion 19 SLIP Indica-
26
Body
SLIP indicator lamp
tor Lamp Does Not M
ground SLIP indicator lamp OFF Come On When
Approx. 12V Ignition Switch is
(Note 5)
Turned On"
BRC-98, "Inspec-
tion 5 Yaw Rate/
Side/Decel G Sen-
sor and Circuit
Yaw rate/side/decel G
29 — CAN-H — Between Yaw Rate/
sensor
Side/Decel G Sen-
sor and ABS Actua-
(Control Unit)"
Valve is active Approx. 12V BRC-99, "Inspec-
tion 6 Solenoid,
Body
32 Solenoid valve VDC Switching
ground Valve is inactive Approx. 12V Valve, Actuator
Relay and Circuits"
BRC-73
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Measurement
tion checklist
+ –
— — Front RH wheel sensor — — BRC-94, "Inspec-
tion 1 Wheel Sen-
— — Rear LH wheel sensor — — sor System"
VDC OFF switch pressed Approx. 0V BRC-116, "Inspec-
tion 21 VDC OFF
40 VDC OFF switch VDC OFF switch
Approx. 12V Switch Is Inopera-
Body released tive"
ground
41 Stop lamp signal tion 8 Stop Lamp
Brake pedal not depressed Approx. 0V Switch and Circuit"
BRC-94, "Inspec-
— — Rear RH wheel sensor — — tion 1 Wheel Sen-
sor System"
ABS warning lamp ON BRC-119, "Inspec-
Approx. 12V
(Note 3) tion 25 ABS Warn-
Body ing Lamp Does Not
44 ABS warning lamp
ground ABS warning lamp OFF Come On When
Approx. 0V Ignition Switch Is
(Note 3)
Turned On"
BRC-94, "Inspec-
— — Front LH wheel sensor — — tion 1 Wheel Sen-
sor System"
BRC-103, "Inspec-
tion 9 ABS Actua-
Body tor and Electric Unit
ground (Control Unit)
Power Supply and
Ground Circuit"
Note 1: When standard value is checked using a circuit tester for voltage measurement, care must be taken to avoid damage to connec-
tor terminals.
OFF: Approximately 2 seconds after ignition switch is turned ON (when system is in normal operation) and VDC/TCS function is not
activated.
Note 4: ON/OFF timing of VDC OFF indicator lamp
ON: For approximately 2 seconds after ignition switch is turned ON, or when a malfunction is detected and VDC OFF switch is ON.
Note 5: SLIP indicator lamp ON/OFF timing
ON: For approximately 2 seconds after ignition switch is turned ON, or when a malfunction is detected and VDC/TCS function is acti-
vated while driving.
activated.
Blinking: VDC/TCS function is active during driving
STANDARDS BY CONSULT-II
CAUTION:
Items displayed are data calculated by the control unit and may indicate normal operation even if out-
put circuit (harness) is open or shorted.
BRC-74
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Data monitor
Note: Error inspection A
Condition checklist
normal operation
A/T shift position = N or P posi-
tion
N/P B
PNP, reverse switch
A/T shift position = Reverse PNP, reverse switch cir-
SLCT LVR POSI signal ON/OFF condi- R
position cuit
tion
C
A/T shift position = other than
D
N, P and reverse position
1:1st gear ● Communication circuit

2:2nd gear between TCM and D
GEAR A/T gear position CLC
3:3rd gear
4:4th gear ● CAN circuit
Vehicle stopped 0 [km/h (MPH)] E
FR RH SENSOR
FR LH SENSOR Almost in accor- BRC-94, "Inspection 1
Wheel speed dance with speed-
RR RH SENSOR Vehicle running (Note 1) Wheel Sensor System"
RR LH SENSOR ometer display BRC
(within ±10%)
Accelerator pedal not
● Communication circuit
Open/close condition depressed (ignition switch is 0%
between CLC and G
ACCEL POS SIG of throttle valve (linked ON)
ECM
with accelerator pedal). Depress accelerator pedal
0 to 100% ● CAN circuit
(engine running)
H
Almost in accor- BRC-108, "Inspection 14
ENGINE SPEED· With engine running Engine running dance with ENG SPEED SIG -
tachometer display Engine Speed Signal"
Straight-ahead Approx. 0 deg BRC-97, "Inspection 4
I
Steering Angle Sensor
Steering angle and Circuit Between
STR ANGLE SIG detected by steering Steering Angle Sensor J
angle sensor Steering wheel turned –756 to 756 deg and ABS Actuator and
Electric Unit (Control
Unit)"
Vehicle stopped Approx. 0 d/s BRC-98, "Inspection 5 K
Yaw Rate/Side/Decel G
Sensor and Circuit
Yaw rate detected by
YAW RATE SEN Between Yaw Rate/Side/ L
yaw rate sensor Vehicle running –100 to 100 d/s Decel G Sensor and ABS
Actuator and Electric Unit
(Control Unit)"
M
Vehicle stopped Approx. 0 m/s2 BRC-98, "Inspection 5
Sensor and Circuit
Transverse G detected
SIDE G SENSOR Between Yaw Rate/Side/
by side G-sensor Vehicle running –16.7 to 16.7 m/s2 Decel G Sensor and ABS
(Control Unit)"
With ignition switch turned ON BRC-96, "Inspection 3
Approx. 0 bar
and brake pedal released Pressure Sensor and Cir-
Brake fluid pressure
cuit Between Pressure
PRESS SENSOR detected by pressure
With ignition switch turned ON Sensor and ABS Actua-
sensor 0 to 350 bar
and brake pedal depressed tor and Electric Unit
(Control Unit)"
Battery voltage sup-
plied to ABS actuator
BATTERY VOLT Ignition switch ON 10 to 16V tric Unit (Control Unit)
and electric unit (con-
Power Supply and
trol unit)
Ground Circuit"
BRC-75
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Data monitor
Note: Error inspection
Condition checklist
normal operation
Brake pedal depressed ON BRC-102, "Inspection 8
STOP LAMP SW Brake pedal operation Stop Lamp Switch and
Brake pedal not depressed OFF Circuit"
VDC OFF switch ON
(When VDC OFF indicator ON
lamp is ON) BRC-116, "Inspection 21
VDC OFF switch
OFF SW VDC OFF Switch Is Inop-
ON/OFF status VDC OFF switch OFF erative"
(When VDC OFF indicator OFF
lamp is OFF)
ABS warning lamp ON ON BRC-119, "Inspection 25
ABS Warning Lamp
ABS warning lamp ON
ABS WARN LAMP Does Not Come On
condition (Note 2) ABS warning lamp OFF OFF When Ignition Switch Is
Turned On"
Ignition switch ON or engine
Operation status of running (ABS not operated)
MOTOR RELAY Actuator Motor, Motor
motor and motor relay Ignition switch ON or engine
ON Relay, and Circuit"
running (ABS operated)
Vehicle stopped (Ignition
Actuator relay opera- switch ON)
ACTUATOR RLY Actuator Motor, Motor
tion status Vehicle stopped (Engine run-
ON Relay, and Circuit"
ning)
When VDC OFF indicator BRC-115, "Inspection 20
ON
lamp is ON VDC OFF Indicator Lamp
VDC OFF indicator
OFF LAMP Does Not Come On
lamp status (Note 3) When VDC OFF indicator
OFF When Ignition Switch Is
lamp is OFF Turned On"
When SLIP indicator lamp is BRC-113, "Inspection 19
ON
ON SLIP Indicator Lamp
SLIP indicator lamp
SLIP LAMP Does Not Come On
status (Note 4) When SLIP indicator lamp is
OFF When Ignition Switch is
OFF Turned On"
FR LH IN SOL Actuator (solenoid) is active
FR LH OUT SOL (“ACTIVE TEST” with CON-
ON
FR RH IN SOL SULT-II) or actuator relay is
FR RH OUT SOL Solenoid valve opera- inactive (in fail-safe mode).
RR RH IN SOL tion
RR RH OUT SOL When actuator (solenoid) is
RR LH IN SOL not active and actuator relay is OFF
RR LH OUT SOL active (ignition switch ON). BRC-99, "Inspection 6
Solenoid, VDC Switch-
When actuator (switch-over
ing Valve, Actuator Relay
valve) is active (“ACTIVE
and Circuits"
TEST” with CONSULT-II) or ON
CV1 actuator relay is inactive (when
CV2 VDC/TCS switch-over in fail-safe mode).
SV1 valve status
SV2 When actuator (switch-over
valve) is not active and actua-
OFF
tor relay is active (ignition
switch ON).
Vehicle stopped -0.08 to 0.08G BRC-98, "Inspection 5
Longitudinal accelera- Sensor and Circuit
DECEL G-SEN tion detected by Decel Between Yaw Rate/Side/
G-Sensor Vehicle running -1.7 to 1.7G Decel G Sensor and ABS
(Control Unit)"
BRC-76
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Data monitor
Note: Error inspection A
Condition checklist
normal operation
4WD ON/OFF condi- 2WD mode 2WD

2WD/4WD SEL
tion
4WD switch and circuit B
4WD mode 4WD
When brake fluid level switch BRC-105, "Inspection 11
ON
ON Brake Fluid Level in Res-
ervoir Tank, Communica- C
ON/OFF status of
FLUID LEV SW tion Circuit Between ABS
brake fluid level switch When brake fluid level switch
OFF Actuator and Electric Unit
OFF (Control Unit) and Brake D
Fluid Level Switch"
VDC fail VDC system
VDC FAIL SIG TCS fail TCS system
TCS FAIL SIG ON E
Fail signal status ABS fail ABS system
ABS FAIL SIG EBD fail EBD system
EBD FAIL SIG
Normal OFF —
BRC
OFF: Approximately 2 seconds after ignition switch is turned ON (when system is in normal operation) and VDC/TCS function is not G
activated.
Note 3: ON/OFF timing of VDC OFF indicator lamp
ON: For approximately 2 seconds after ignition switch is turned ON, or when a malfunction is detected and VDC OFF condition by VDC
switch is ON. H
Note 4: SLIP indicator lamp ON/OFF timing
ON: For approximately 2 seconds after ignition switch is turned ON, or when a malfunction is detected and VDC/TCS function is acti-
I
vated while driving.
activated.
Blinking: VDC/TCS function is active during driving J
BRC-77
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
CONSULT-II Functions EFS002LY
CONSULT-II FUNCTION APPLICATION TABLE

CAUTION:
“FUNCTION TEST” shall not be used for diagnosis. For details, refer to separately supplied “CON-
SULT-II Instruction Manual (FUNCTION TEST)”.
Item Self-diagnosis Data monitor Active test
Wheel sensors × × –
Stop lamp switch × × –
Solenoid valves × × ×
Switch-over solenoid valves × × –
Yaw rate/side/decel G sensor × × –
Pressure sensor × × –
Steering angle sensor × × –
Actuator relay × × –
Motor relay × × –
ABS warning lamp – × –
Battery voltage × × –
ABS actuator and electric unit (control
× – –
unit)
VDC/TCS/ABS actuator motor × × ×
CAN communication × – –
Engine speed signal × × –
VDC OFF switch – × –
VDC OFF indicator lamp – × –
SLIP indicator lamp – × –
Throttle angle – × –
Gear – × –
Selector lever position – × –
4WD switch × × –
CAN-LAN converter voltage supply × × –
EBD/ABS/TCS/VDC signals × × –
Brake fluid level switch × × –
×:Applicable
–:Not applicable
BRC-78
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
CONSULT-II BASIC OPERATION PROCEDURE
1. Turn ignition switch OFF. A
2. Connect CONSULT-II and CONSULT-II CONVERTER to the
data link connector.
CAUTION: B
nosis depending on control unit which carry out CAN com- C
munication.
D
BBIA0369E
4. Touch “START (NISSAN BASED VHCL)”. E
BRC
H
WKIA1606E
5. Touch “ABS” in the “Diagnosis System Selection” screen.

If “ABS” is not indicated, go to GI-35, "CONSULT-II CHECKING I
SYSTEM" .
LKIA0339E
L
6. Select the required diagnostic location from the “Diagnosis Mode Selection” screen.
For further information, see the CONSULT-II Operation Manual.
SELF-DIAGNOSIS M
Description
If a malfunction is detected in system, ABS warning lamp, VDC OFF indicator lamp, and SLIP indicator lamp
in combination meter turn ON. In this case, perform self-diagnosis as follows:
Operation Procedure
1. Perform BRC-92, "Basic Inspection" using information from customer.
2. After ignition switch is turned OFF, connect CONSULT-II to data
link connector.
CAUTION:
munication.
3. Start engine and drive at approximately 30 km/h (19 MPH) for
approximately 1 minute.
LEC104A
BRC-79
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
4. After stopping vehicle, with engine still idling, touch “START”, “ABS”, and “SELF-DIAG RESULTS” on
CONSULT-II screen in this order.
CAUTION:
Just after starting engine, or turning ignition switch ON, “ABS” may not be displayed on system
selection screen even if “START” is touched. In this case, start self-diagnosis again from step 2. If
it cannot be shown after several attempts, ABS actuator and electric unit (control unit) may have
malfunctioned. Replace ABS actuator and electric unit (control unit). Refer to BRC-130, "ABS
Actuator and Electric Unit" .
5. Self-diagnosis result is displayed. (If necessary, touch “PRINT” to print self-diagnosis result.)
● When “NO FAILURE” is shown, check ABS warning lamp, VDC OFF indicator lamp, SLIP indicator
lamp. Refer to BRC-90, "For Fast and Accurate Diagnosis" .
● CONSULT-II self-diagnosis results are displayed without regard to occurrence timing. In some cases
later ones (timing value is small) appear on next screen.
6. Go to appropriate “Inspection” chart according to “Display Item List”, and repair or replace as necessary.
7. Start engine and drive at approximately 30 km/h (19 MPH) for approximately 1 minute.
CAUTION:
● Check again to make sure that there is no malfunction on other parts.
8. Turn ignition switch OFF to prepare for erasing memory.

9. Start engine and touch “START”, “ABS”, “SELF-DIAGNOSIS RESULTS”, and “ERASE MEMORY” on
CONSULT-II screen in this order to erase memory.
CAUTION:
If memory cannot be erased, return to step 6.
10. Drive vehicle at approximately 30 km/h (19 MPH) and check that ABS warning lamp, VDC OFF indicator
lamp, and SLIP indicator lamp stay off.
Self-Diagnostic Results Mode
FR LH SENSOR- 1 Circuit of front LH wheel sensor is open, shorted or sensor power
RR RH SENSOR- 1 Circuit of rear RH wheel sensor is open, shorted or sensor power
[C1101 voltage is unusual
FR RH SENSOR- 1 Circuit of front RH wheel sensor is open, shorted or sensor power
RR LH SENSOR- 1 Circuit of rear LH wheel sensor is open, shorted or sensor power
ABS actuator and electric unit (control unit) cannot identify sen- BRC-94, "Inspection 1
FR LH SENSOR- 2
sor pulses, because of large gap between wheel sensor and sen- Wheel Sensor System"
[C1108]
sor rotor. (Note 1)
RR RH SENSOR- 2
[C1105]
sor rotor.
FR RH SENSOR- 2
[C1107]
sor rotor.
RR LH SENSOR- 2
[C1106]
sor rotor.
STOP LAMP SW
Stop lamp switch circuit is open. Stop Lamp Switch and
[C1116]
Circuit"
Pressure Sensor and
PRESS SEN CIRCUIT Pressure sensor signal line is open or shorted, or pressure sen- Circuit Between Pres-
[C1142] sor is malfunctioning. sure Sensor and ABS
Actuator and Electric
Unit (Control Unit)"
BRC-80
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
A
and Circuit Between
ST ANGLE SEN CIRCUIT Neutral position of steering angle sensor is dislocated, or steer-
Steering Angle Sensor B
[C1143] ing angle sensor is malfunctioning.
and ABS Actuator and
Electric Unit (Control
Unit)"
C
Sensor and Circuit
YAW RATE SENSOR Yaw rate sensor has generated an error, or yaw rate sensor sig-
Between Yaw Rate/Side/ D
[C1145] nal line is open or shorted.
Decel G Sensor and
tric Unit (Control Unit)"
BRC-121, "Inspection 26 E
When "DECEL G-SEN-
DECEL G SENSOR Decel G sensor is malfunctioning or signal line of decel G sensor
SOR" Appears on Self-
[C1113] is open or shorted.
Diagnosis Results Dis-
BRC
play"
Actuator solenoid valve relay is ON, even if control unit sends
OFF signal. BRC-101, "Inspection 7
ACTUATOR RLY
[C1140]
Actuator Motor, Motor G
Actuator solenoid valve relay is OFF, even if control unit sends Relay, and Circuit"
ON signal.
FR LH IN ABS SOL Circuit of front LH IN ABS solenoid is open or shorted, or control
H
FR LH OUT ABS SOL Circuit of front LH OUT ABS solenoid is open or shorted, or con-
I
RR RH IN ABS SOL Circuit of rear RH IN ABS solenoid is open or shorted, or control
RR RH OUT ABS SOL Circuit of rear RH OUT ABS solenoid is open or shorted, or con-
[C1127] trol line is open or shorted to power supply or ground. J
FR RH IN ABS SOL Circuit of front RH IN ABS solenoid is open or shorted, or control
FR RH OUT ABS SOL Circuit of front RH OUT ABS solenoid is open or shorted, or con-
K
RR LH IN ABS SOL Circuit of rear LH IN ABS solenoid is open or shorted, or control BRC-99, "Inspection 6
[C1124] line is open or shorted to power supply or ground. Solenoid, VDC Switching L
Valve, Actuator Relay
RR LH OUT ABS SOL Circuit of rear LH OUT ABS solenoid is open or shorted, or con- and Circuits"
Front side VDC switch-over solenoid valve (cut valve 1) is open M
CV1
or shorted, or control line is open or shorted to power supply or
[C1164]
ground.
Rear side VDC switch-over solenoid valve (cut valve 2) is open
CV2
or shorted, or control line is open or shorted to power supply or
[C1165]
ground.
Front side VDC switch-over solenoid valve (suction valve 1) is
SV1
open or shorted, or control line is open or shorted to power sup-
[C1166]
ply or ground.
Rear side VDC switch-over solenoid valve (suction valve 2) is
SV2
open or shorted, or control line is open or shorted to power sup-
[C1167]
ply or ground.
During actuator motor operation with ON, when actuator motor
turns OFF or when control line for actuator motor relay is open. BRC-101, "Inspection 7
PUMP MOTOR (Note 3)
[C1111] During actuator motor operation with OFF, when actuator motor Relay, and Circuit"
turns ON or when control line for relay is shorted to ground.
BRC-81
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
ABS SENSOR BRC-94, "Inspection 1
[ABNORMAL SIGNAL] Wheel sensor input is abnormal. Wheel Sensor System"
[C1115] (Note 1)
BATTERY VOLTAGE ABS Actuator and Elec-
ABS actuator and electric unit (control unit) power voltage is too
[ABNORMAL] tric Unit (Control Unit)
low.
[C1109] Power Supply and
Ground Circuit"
ST ANGLE SEN SIGNAL Neutral position correction of steering angle sensor is not fin- BRC-97, "Inspection 4
[C1144] ished. Steering Angle Sensor
and Circuit Between
ST ANG SEN COM CIR CAN communication line or steering angle sensor has generated and ABS Actuator and
[C1156] an error. Electric Unit (Control
Unit)"
Sensor and Circuit
SIDE G-SEN CIRCUIT Side G-sensor is malfunctioning, or signal line of side G-sensor is
Between Yaw Rate/Side/
[C1146] open or shorted.
Decel G Sensor and
tric Unit (Control Unit)"
CONTROLLER FAILURE Internal malfunction of ABS actuator and electric unit (control ABS Actuator and Elec-
[C1110] unit) tric Unit (Control Unit)
System"
● CAN communication line is open or shorted. CAN Communications
Lines, ABS Actuator and
● ABS actuator and electric unit (control unit) internal malfunc-
CAN COMM CIRCUIT Electric Unit (Control
tion
[U1000] Unit), Steering Angle
● Battery voltage for ECM is suddenly interrupted for approxi- Sensor System and
mately 0.5 seconds or more. CAN-LAN Converter
ECU (CLC)" (Note 2)
Brake Fluid Level in Res-
ervoir Tank, Communica-
Brake fluid level drops or circuit between ABS actuator and elec-
BR FLUID LEVEL LOW tion Circuit Between ABS
tric unit (control unit) and brake fluid level switch is open or
[C1155] Actuator and Electric
shorted.
Unit (Control Unit) and
Brake Fluid Level
Switch"
ENGINE SPEED SIG
Engine speed signal from ECM is abnormal. ENG SPEED SIG -
[C1168]
Engine Speed Signal"
LAN COMM 1 The communication line between CAN-LAN converter (CLC) and
ENG CHECK SIG - LAN
[C1169] ECM is open or shorted.
Monitoring"
LAN SIGNAL 2 On the local area network (LAN) between CLC and ECM, ECM LAN SIGNAL 2 - LAN
[C1172] does not transmit the LAN start signal to CLC. Communication Start
Procedure Incomplete"
LAN SIGNAL 3 The communication start signal output is not terminated and the LAN SIGNAL 3 - Contin-
[C1173] ordinary signals are not entered to CLC. ued Reception After LAN
Communication Starts"
ENGINE SIGNAL 1 Based on the signal from ECM, the CLC judges that the engine
ENGINE SIGNAL 1 -
[C1130] control system is malfunctioning.
Engine System"
BRC-82
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
A
ENGINE CHECK SIG ECM judges the communication between VDC or CLC and ECM LAN COMM 1 - LAN
[C1171] is abnormal. Communication System
Failure" B
CAN COMM 1 CLC judges the CAN communication line between VDC control CAN CIRCUIT 1 - CAN
[C1174] unit and CLC is open or shorted. Communication System
Failure"
C
CLC CONTROL UNIT

Function of calculation in CLC has failed. BRC-117, "Inspection 22
[C1175]
CAN-LAN Converter D
CLC BATTERY VOLT Power Supply Circuit"
Power source voltage supplied to CLC is abnormally low.
[C1177]
The ABS actuator and
VARIANT CODING E
V coding is not functioning. electric unit (control unit)
[C1170]
and circuit
Note 1. If wheel sensor 2 for each wheel is indicated, check ABS actuator and electric unit (control unit) power
BRC
supply voltage in addition to wheel sensor circuit check.
Note 2. If multiple malfunctions are detected including CAN communication line [U1000], perform diagnosis for
CAN communication line first.
Note 3: "ACTUATOR RLY" on the CONSULT-II self-diagnosis results indicates the malfunction of the actuator G
motor relay or circuit.
BRC-83
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
DATA MONITOR
● For details of data monitor function, refer to “CONSULT-II Instruction Manual”.
Operation Procedure
2. Connect CONSULT-II to data link connector.
CAUTION:
munication.
4. Touch “START” on display.
LEC104A
5. Touch “ABS” on display.
PBR385C
6. Touch “DATA MONITOR”.
WFIA0043E
7. Return to monitor item selection screen and touch any of “ECU

INPUT SIGNALS”, “MAIN SIGNALS”, "CAN DIAG SUPPORT
MNTR" or "SELECTION FROM MENU". Refer to BRC-85, "Dis-
play Item List" .
9. Screen of data monitor is displayed.
LFIA0141E
BRC-84
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Display Item List
A
Item SELECTION CAN DIAG
ECU INPUT MAIN Remarks
(Unit) FROM SUPPORT
SIGNALS SIGNALS B
MENU MNTR
Gear position judged by TCM
GEAR × × × –
signal is displayed.
Wheel speed calculated by C
FR RH SENSOR
× × × – front RH wheel sensor signal
(km/h, MPH)
is displayed.
Wheel speed calculated by D
FR LH SENSOR
× × × – front LH wheel sensor signal
(km/h, MPH)
is displayed.
Wheel speed calculated by E
RR RH SENSOR
× × × – rear RH wheel sensor signal
(km/h, MPH)
is displayed.
Wheel speed calculated by
RR LH SENSOR BRC
× × × – rear LH wheel sensor signal is
(km/h, MPH)
displayed.
Voltage supplied to ABS actu-
BATTERY VOLT
× × × – ator and electric unit (control G
(V)
unit) is displayed.
Shift position judged by PNP,
SLCT LVR POSI × × × –
reverse switch signal. H
Throttle valve open/close sta-
ACCEL POS SIG
× – × – tus judged by ECM signal is
(%)
displayed.
I
ENGINE SPEED Engine speed judged by ECM
× × × –
(rpm) signal is displayed.
Steering angle detected by J
STR ANGLE SIG
× – × – steering angle sensor is dis-
(deg)
played.
YAW RATE SEN Yaw rate detected by yaw rate
× × × – K
(d/s) sensor is displayed.
Longintudinal acceleration
DECEL G SEN
× × × – detected by decel G sensor is
(G)
displayed. L
SIDE G-SENSOR Transverse acceleration

2 × – × – detected by side G-sensor is
(m/s ) displayed. M
Brake fluid pressure detected
PRESS SENSOR
× – × – by pressure sensor is dis-
(bar)
played.
STOP LAMP SW Stop lamp switch (ON/OFF)
× × × –
OFF SW VDC OFF switch (ON/OFF)
× × × –
ABS WARN LAMP ABS warning lamp (ON/OFF)
– × × –
SLIP LAMP SLIP indicator lamp (ON/
– × × –
FR LH IN SOL Front LH IN ABS solenoid
– × × –
(ON/OFF) (ON/OFF) status is displayed.
FR LH OUT SOL Front LH OUT ABS solenoid
– × × –
BRC-85
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Item SELECTION CAN DIAG
ECU INPUT MAIN Remarks
(Unit) FROM SUPPORT
SIGNALS SIGNALS
MENU MNTR
RR RH IN SOL Rear RH IN ABS solenoid
– × × –
RR RH OUT SOL Rear RH OUT ABS solenoid
– × × –
FR RH IN SOL Front RH IN ABS solenoid
– × × –
FR RH OUT SOL Front RH OUT ABS solenoid
– × × –
RR LH IN SOL Rear LH IN ABS solenoid
– × × –
RR LH OUT SOL Rear LH OUT ABS solenoid
– × × –
OFF LAMP OFF Lamp (ON/OFF) status
– × × –
MOTOR RELAY ABS motor relay signal (ON/
– × × –
ACTUATOR RLY ABS actuator relay signal
– × × –
Front side switch-over sole-
CV1
– – × – noid valve (cut valve 1) (ON/
(ON/OFF)
OFF) status is displayed.
Rear side switch-over sole-
CV2
– – × – noid valve (cut valve 2) (ON/
(ON/OFF)
OFF) status is displayed.
Front side switch-over sole-
SV1
– – × – noid valve (suction valve 1)
(ON/OFF)
Rear side switch-over sole-
SV2
– – × – noid valve (suction valve 2)
(ON/OFF)
VDC FAIL SIG VDC fail signal (ON/OFF) sta-
– – × –
(ON/OFF) tus is displayed.
TCS FAIL SIG TCS fail signal (ON/OFF) sta-
– – × –
ABS FAIL SIG ABS fail signal (ON/OFF) sta-
– – × –
EBD FAIL SIG EBD fail signal (ON/OFF) sta-
– – × –
FLUID LEV SW Brake fluid level switch (ON/
× – × –
EBD SIGNAL EBD operation (ON/OFF) sta-
– – × –
ABS SIGNAL ABS operation (ON/OFF) sta-
– – × –
TCS SIGNAL TCS operation (ON/OFF) sta-
– – × –
VDC SIGNAL VDC operation (ON/OFF) sta-
– – × –
CAN COMM
– – – × CAN communication signal
(OK/NG)
(OK/NG) status is displayed.
BRC-86
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Item A
SELECTION CAN DIAG Remarks
(Unit) ECU INPUT MAIN
FROM SUPPORT
SIGNALS SIGNALS
MENU MNTR
CAN CIRC 1 B
– – – ×
(OK/UNKWN)
CAN CIRC 2
– – – ×
(OK/UNKWN) C
CAN CIRC 3
– – – ×
(OK/UNKWN)
CAN CIRC 4 D
– – – × CAN communication signal
(OK/UNKWN)
(OK/UNKWN) status is dis-
CAN CIRC 5
– – – × played.
(OK/UNKWN) E
CAN CIRC 6
– – – ×
(OK/UNKWN)
CAN CIRC 7
– – – ×
BRC
(OK/UNKWN)
CAN CIRC CLC
– – – ×
(OK/UNKWN)
G
S/C is selected for engine
TRQ MAP S/C – – × –
torque map
TRQ MAP N/A – – × – N/A is selected for engine H
2WD/4WD SEL – – × – Distinguish 2WD and 4WD
CLC VOLT Voltage supplied to CAN-LAN
– – × –
(V) converter is displayed I
×:Applicable
–:Not applicable
J
ACTIVE TEST
Operation Procedure
CAUTION: K
● Do not perform active test while driving the vehicle.
● Make sure to completely bleed air from brake system.
● Active test cannot be performed when ABS warning lamp is on. L
1. Connect the CONSULT-II connector to the data link connector and start the engine.
CAUTION:
If CONSULT-II is used with no connection of CONSULT-II CONVERTER, malfunctions might be M
detected in self-diagnosis depending on control unit which carry out CAN communication.
2. Touch ″START″ on the display.
3. Touch ″ABS″ and ″ACTIVE TEST″.
WBR110
BRC-87
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
SFIA0365E
4. Test item selection screen is displayed.

5. Touch necessary test item.
LBR379
6. Touch ″START″ with ″MAIN SIGNALS″ line inverted.

7. Carry out active test by touching screen key.
SFIA0367E
Solenoid Valve
1. To perform active test of ABS functions, select major items for
each test item. To perform active test of VDC/TCS functions,
select item menu for each test item.
2. For ABS solenoid valve, touch “UP”, “KEEP” and “DOWN”. For
ABS solenoid valve (ACT), touch “UP,” “ACTUATOR UP” and
“ACTUATOR KEEP”. Use screen monitor to check that solenoid
valve operates as shown in Solenoid Valve Operation Chart.
Refer to BRC-89, "Solenoid Valve Operation Chart" .
LFIA0180E
BRC-88
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Solenoid Valve Operation Chart
A
Operation ACTUA- ACTUA-
UP KEEP DOWN UP
TOR UP TOR KEEP
B
FR RH IN SOL OFF ON ON OFF OFF ON
FR RH SOL FR RH OUT SOL OFF OFF ON* OFF OFF OFF
FR RH ABS SOLE-
NOID CUT VALVE 1 OFF OFF ON C
SUCTION VALVE 1 OFF OFF ON
FR LH IN SOL OFF ON ON OFF OFF ON
FR LH SOL FR LH OUT SOL OFF OFF ON* OFF OFF OFF
D
FR LH ABS SOLE-
NOID CUT VALVE 1 OFF OFF ON
SUCTION VALVE 1 OFF OFF ON E
RR RH IN SOL OFF ON ON OFF OFF ON
RR RH SOL RR RH OUT SOL OFF OFF ON* OFF OFF OFF
RR RH ABS SOLE-
CUT VALVE 2 OFF OFF ON BRC
NOID
SUCTION VALVE 2 OFF OFF ON
RR LH IN SOL OFF ON ON OFF OFF ON
G
RR LH SOL RR LH OUT SOL OFF OFF ON* OFF OFF OFF
RR LH ABS SOLE-
NOID CUT VALVE 2 OFF OFF ON
SUCTION VALVE 2 OFF OFF ON H
*: ON for 1 to 2 seconds after the touch, and then OFF
NOTE: I
● If active test is performed with brake pedal depressed, pedal stroke may change. This is normal.
● “TEST IS STOPPED” is displayed approximately 10 seconds after operation starts.
● After “TEST IS STOPPED” is displayed, to perform test again, repeat Step 6. J
ABS Motor
Touch “ON” and “OFF” on the screen. Check that ABS motor relay
operates as shown in table below. K
Operation ON OFF
ABS actuator relay ON ON L
ABS motor relay ON OFF
NOTE:
● If active test is performed with brake pedal depressed, pedal M
stroke may change. This is normal.
● “TEST IS STOPPED” is displayed approximately 10 seconds SFIA0593E
after operation starts.
BRC-89
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
For Fast and Accurate Diagnosis EFS002LZ
PRECAUTIONS FOR DIAGNOSIS

● Before performing diagnosis, always read precautions. Refer to BRC-52, "PRECAUTIONS" .
● If ABS actuator and electric unit (control unit), steering angle sensor, steering system parts, suspension
system parts, or tires have been replaced, or if alignment has been adjusted, be sure to adjust neutral
position of steering angle sensor before driving. Refer to BRC-55, "Adjustment of Steering Angle Sensor
Neutral Position" .
● When replacing ABS actuator and electric unit (control unit), be sure labels on control units are the same
part number.
● After diagnosis is finished, be sure to erase memory. Refer to BRC-79, "Operation Procedure" .
● When checking continuity and voltage between units, be sure to check for disconnection, looseness,
bend, or collapse of connector terminals. If any non-standard condition is found, repair or replace connec-
tor terminals.
● For intermittent symptoms, possible cause is malfunction in harness, harness connector, or terminals.
Move harness, harness connector, and terminals to check for poor connections.
● If a circuit tester is used for the check, be careful not to forcibly extend any connector terminal.
● To use CONSULT-II to perform self-diagnosis of ABS actuator and electric unit (control unit), active tests,
or work support, first stop work, then connect CONSULT-II and select “ABS”.
● CONSULT-II self-diagnosis results are displayed without regard to occurrence timing. In some cases later
ones (timing value is small) appear on the next screen.
● While self-diagnosis results of CONSULT-II shows an error, if CONSULT-II active test is performed, an
engine system error may be indicated. In this case, start engine to resume the normal screen.
● VDC/TCS/ABS system electronically controls brake operation and engine output. The following symptoms
may be caused by normal operations:
Symptom Symptom description Result

This is noise of motor inside VDC/TCS/ABS actuator. Slight noise may
occur during VDC, TCS, and ABS operation.
Motor operation noise When the vehicle speed goes over 20 km/h (12.5 mph), the motor and Normal
valves operating noise may be heard. It happens only once after IGN
(ignition) is ON. This is a normal status of the system operation check.
System operation check When the engine starts, slight “click” noise may be heard from engine
Normal
noise compartment. This is normal and is part of system operation check.
TCS may activate momentarily if wheel speed changes when driving
over location where friction coefficient varies, when downshifting /
upshifting, or when fully depressing accelerator pedal.
Normal
For inspection of speedometer or other instruments, press
Cancel the VDC/TCS
VDC OFF SW to turn VDC/TCS function off.
function for the
VDC/TCS operation
When accelerator pedal is depressed on a chassis dynamometer (fixed inspection on a chas-
(SLIP lamp blinking)
front-wheel type), vehicle speed will not increase. This is not normal. It is sis dynamometer.
result of TCS being activated by stationary front wheels. Warning lamp
may also illuminate to indicate “sensor system error”. This is also nor-
mal, and is the result of the stationary front wheels being detected. To be
certain, restart engine, and drive vehicle at 30 km/h or above. Check
that warning lamp does not illuminate.
On roads with low friction coefficients, such as snowy roads or gravel
ABS operation (Longer stop- roads, vehicles with ABS may require a longer stopping distance. There-
Normal
ping distance) fore, when driving on such roads, avoid overconfidence and keep speed
sufficiently low.
Depending on road conditions, driver may feel that feeling of accelera-
tion is insufficient. This is because traction control, which controls the
Insufficient feeling of accel-
engine and brakes to achieve optimal traction, has the highest priority Normal
eration
(for safety). As a result, there may be times when acceleration is slightly
less than usual for the same accelerator pedal operation.
BRC-90
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
ON and OFF Timing for ABS Warning Lamp, VDC OFF Indicator Lamp, and SLIP Indicator
Lamp A
×: ON –: OFF
ABS warning VDC OFF indica- SLIP indicator
Condition Remarks
lamp tor lamp lamp
B
Ignition SW OFF – – – —
For approx. 2 seconds after
× × × —
ignition SW is turned ON C
Approx. 2 seconds after igni- Turns OFF 2 seconds after igni-
– – –
tion switch ON tion switch ON.
VDC OFF SW is turned ON. D
– × – —
(VDC/TCS function is OFF.)
× × × —
There is an VDC/TCS/ABS There is an ABS actuator and E

error. electric unit (control unit) or sys-
× × ×
tem error. (Power or ground mal-
function)
BRC
When VDC/TCS is not func-
– × × —
tioning normally.
BRC-91
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Basic Inspection EFS002M0
BASIC INSPECTION 1: BRAKE FLUID LEVEL AND LEAK INSPECTION

1. Check fluid level in the brake reservoir tank. If fluid level is low, refill the brake fluid.
2. Check for leakage in brake piping and around VDC/TCS/ABS actuator. If leakage or seepage is found,
check as follows.
● If ABS actuator and electric unit (control unit) connector is loose, tighten piping to specified torque.
● If connection of flare nuts or screws of VDC/TCS/ABS actuator are damaged, replace damaged parts.
● If there is leakage or seepage at any location other than VDC/TCS/ABS actuator connections, wipe
away leakage or seepage with clean cloth. Then inspect again and confirm that there is no leakage.
● If there is leakage from VDC/TCS/ABS actuator, wipe away leakage or seepage with clean cloth. Then
inspect again. If there is leakage or seepage, replace VDC/TCS/ABS actuator unit.
CAUTION:
ABS actuator body cannot be disassembled.
3. Check brake disc rotor and pads and brake drum and linings. Refer to MA-41, "Checking Disc Brake" and
MA-41, "Checking Drum Brake" .
BASIC INSPECTION 2: INSPECTION FOR LOOSENESS OF POWER SYSTEM TERMINALS
Check cables for looseness on the battery positive/negative terminals and ground connection. If looseness is
detected, tighten the cables to the specified torque. Check that the battery voltage does not drop and the gen-
erator is normal.
BASIC INSPECTION 3: INSPECTION OF ABS WARNING LAMP, VDC OFF INDICATOR LAMP,
AND SLIP INDICATOR LAMP
1. Check that ABS warning lamp illuminates for approximately 2 seconds when ignition switch is turned ON.
If it does not illuminate, inspect ABS warning lamp and circuit, and inspect combination meter. Refer to
BRC-66, "Wiring Diagram — VDC —" .
2. Check that VDC OFF indicator lamp illuminates for approximately 2 seconds when ignition switch is
turned ON. If it does not illuminate, inspect VDC OFF indicator lamp and circuit, and inspect combination
meter. Refer to BRC-66, "Wiring Diagram — VDC —" .
3. Check that SLIP indicator lamp illuminates for approximately 2 seconds when ignition switch is turned ON.
If it does not turn on, check SLIP indicator lamp and circuit and combination meter. Refer to BRC-66, "Wir-
ing Diagram — VDC —" .
4. With engine running, turn VDC OFF switch ON and OFF. Check that VDC OFF indicator lamp turns ON
and OFF. If indicator lamp does not turn ON and OFF according to switch operation, inspect VDC OFF
switch and circuit and combination meter. Refer to BRC-66, "Wiring Diagram — VDC —" .
Symptom Chart EFS002M1
Reference
page
ABS works frequently — BRC-44
Unexpected pedal reaction — BRC-44
Long stopping distance — BRC-45
ABS does not work — BRC-46
Pedal vibration and noise — BRC-46
● Fuse
ABS indicator lamp does not come on when ignition switch ● Combination meter
BRC-42
is turned ON ● Circuit(s)
● Fuse
SLIP indicator lamp does not come on when ignition switch ● Combination meter
BRC-113
is turned ON ● Circuit(s)
BRC-92
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Reference
page A
● Fuse
VDC OFF indicator lamp does not come on when ignition ● Combination meter
BRC-115 B
switch is turned ON ● Circuit(s)
Vehicle behaves jerkily during VDC/TCS/ABS operation — BRC-125
C
BRC
BRC-93
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Inspection 1 Wheel Sensor System EFS002CZ
INSPECTION PROCEDURE
DTC C1101, C1102, C1103, C1104, C1105, C1106, C1107, C1108 or C1115
First use CONSULT-II self-diagnosis results to determine positions of malfunctioning wheel sensors. Then
inspect parts and determine which parts to replace.
1. CONNECTOR INSPECTION
1. Disconnect the ABS actuator and electric unit (control unit) connector E39 and wheel sensor of malfunc-
tion code. Check the terminals for deformation, disconnection, looseness or damage.
OK or NG
OK >> GO TO 2.
NG >> Repair or replace as necessary.
2. CHECK WHEEL SENSOR OUTPUT SIGNAL

1. Disconnect connector from wheel sensor of malfunction code No.
2. Connect ABS active wheel sensor tester (J-45741) to wheel sensor using appropriate adapter.
3. Turn on the ABS active wheel sensor tester power switch.
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.
4. 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 >> GO TO 3.
No >> GO TO 6.
3. CHECK TIRE
Check for inflation pressure, wear and size of each tire.
Are tire pressure and size correct and is tire wear within specifications?
Yes >> GO TO 4.
No >> Adjust tire pressure or replace tire(s).
4. CHECK WHEEL BEARINGS

Check wheel bearing axial end play. Refer to FAX-5, "Front Wheel Bearing" or RAX-6, "Rear Wheel Bearing" .
Is axial end play within specifications?
Yes >> GO TO 5.
No >> Repair as necessary. Refer to FAX-12, "WHEEL HUB AND ROTOR DISC" or RAX-7, "WHEEL
HUB" . Then retest.
5. SENSOR ROTOR INSPECTION

Check for damage to sensor rotor teeth.
OK >> GO TO 6.
NG >> Replace sensor rotor. Refer to BRC-128, "Front Sensor Rotor" or BRC-129, "Rear Sensor Rotor"
.
BRC-94
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
6. CHECK WIRING HARNESS FOR SHORT CIRCUIT A
1. Disconnect ABS actuator and electric unit (control unit) connec-
tor and wheel sensor connector of malfunction code No.
2. Check resistance between harness connector terminal and B
ground.
C
OK or NG?
OK >> GO TO 7.
NG >> Repair the circuit. D
WFIA0149E
7. CHECK WIRING HARNESS FOR OPEN CIRCUIT E
1. Disconnect ABS actuator and electric unit (control unit) connector and wheel sensor connector of mal-
function code No.
BRC
2. Check continuity between both wiring harness ends.
ABS actuator and
Sensor Wheel sensor Continuity
electric unit (control unit)
G
Connector - terminal Wire color Connector - terminal Wire color
E39 - 46 G E16 - 6 G
Front LH
E39 - 45 R E16 - 7 R H
E39 - 34 P E2 - 5 P
Front RH
E39 - 33 L E2 - 4 L
Yes I
E39 - 36 W C5 - 9 W
Rear LH
E39 - 37 B C5 - 8 B
E39 - 42 LG C5 - 1 LG J
Rear RH
E39 - 43 PU C5 - 2 PU
Continuity should exist. K

OK or NG?
OK >> Replace the ABS actuator and electric unit (control unit). Refer to BRC-130, "ABS Actuator and
Electric Unit" . L
Inspection 2 ABS Actuator and Electric Unit (Control Unit) System EFS002D1
M
DTC C1110
CONTROLLER FAILURE
Does anything other than “CONTROLLER FAILURE” appear on self-diagnosis display?
YES >> Repair or replace the items indicated. Then perform self-diagnosis again.
NO >> Replace ABS actuator and electric unit (control unit). Refer to BRC-130, "ABS Actuator and Elec-
tric Unit" . Then perform ABS actuator and electric unit (control unit) self-diagnosis again.
BRC-95
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Inspection 3 Pressure Sensor and Circuit Between Pressure Sensor and ABS
Actuator and Electric Unit (Control Unit) EFS002D2
DTC C1142
PRESS SEN CIRCUIT
Does “PRESS SEN CIRCUIT” appear on self-diagnosis display?

YES >> GO TO 2.

1. Disconnect pressure sensor connector E91 and ABS actuator and electric unit (control unit) connector
E39. Then reconnect them securely.
2. Perform ABS actuator and electric unit (control unit) self-diagnosis again.
OK >> Poor connection of connectors. Repair or replace suspect connector. Perform self-diagnosis
again.
NG >> GO TO 3.
3. CHECKING PRESSURE SENSOR CIRCUIT
1. Disconnect pressure sensor connector E91 and ABS actuator

and electric unit (control unit) connector E39.
trol unit) harness connector E39 and pressure sensor harness
connector E91.
LFIA0144E
ABS actuator and electric Pressure sensor

unit (control unit) (Harness connector E91) Continuity
18 (LG/B) 1 (LG/B) Yes
19 (Y/B) 2 (Y/B) Yes
20 (OR/B) 3 (OR/B) Yes
OK >> GO TO 4.
BRC-96
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
4. CHECKING PRESSURE SENSOR A
Check pressure sensor value on “DATA MONITOR”.
Condition Data monitor display
B
Brake pedal depressed Positive value
When brake pedal is released. Approx. 0 bar
Is inspection result OK? C
OK >> Inspection is completed.
NG >> Pressure sensor malfunction. Replace pressure sensor. Refer to BR-12, "MASTER CYLINDER" .
D
Inspection 4 Steering Angle Sensor and Circuit Between Steering Angle Sensor
and ABS Actuator and Electric Unit (Control Unit) EFS002D3
DTC C1143 E
1. CHECKING SELF-DIAGNOSIS RESULTS BRC
G
ST ANGLE SEN SIGNAL
H
Also perform Inspection 1 for the CAN communication system.
Does “ST ANGLE SEN CIRCUIT" appear on self-diagnosis display?
YES >> ● Poor connection. Repair or replace the applicable connector.
I
– Check connector housing for disconnected, loose, bent and collapsed terminals. If any errors
are detected, repair or replace the applicable part.
NO >> GO TO 2. J
2. CHECKING STEERING ANGLE SENSOR CIRCUIT
1. Disconnect ABS actuator and electric unit (control unit) harness connector and steering wheel angle sen- K
sor harness connector.
trol unit) harness connector E39 and steering angle sensor har- L
ness connector M145.
ABS actuator and electric Steering
unit (control unit) angle sensor M
(Harness connector E39) (Harness Continuity
connector
M145)
11 (OR/L) 3 (OR/L) Yes
15 (R/B) 4 (R/B) Yes LFIA0145E

YES >> GO TO 3.
NO >> Open or short in harness. Repair or replace the suspect harness.
BRC-97
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
3. DATA MONITOR CHECK
Execute “DATA MONITOR” for “STR ANGLE SIG”. Check that results are normal.
Steering condition Data monitor
Driving straight ±3.5 deg
Turned 90° to right Approx. +90 deg
Turned 90° to left Approx. -90 deg
YES >> Perform ABS actuator and electric unit (control unit) self-diagnosis again.
NO >> Replace spiral cable (steering angle sensor). Refer to SRS-43, "DRIVER AIR BAG MODULE
AND SPIRAL CABLE" . Adjust neutral position of steering angle sensor. Refer to BRC-55,
"Adjustment of Steering Angle Sensor Neutral Position" .
Inspection 5 Yaw Rate/Side/Decel G Sensor and Circuit Between Yaw Rate/Side/
Decel G Sensor and ABS Actuator and Electric Unit (Control Unit) EFS002D4
DTC C1145, C1113, C1146

YAW RATE SENSOR
SIDE G-SEN CIRCUIT
G-SENSOR
CAUTION:
If vehicle is on turn-table at entrance to parking garage, or on other moving surface, VDC OFF indica-
tor lamp may illuminate and CONSULT-II self-diagnosis may indicate yaw rate sensor system malfunc-
tion. However, in this case there is no malfunction in yaw rate sensor system. Take vehicle off of turn-
table or other moving surface, and start engine. Results will return to normal.
Do “YAW RATE SENSOR”, “SIDE G-SEN CIRCUIT” or "G-SENSOR" appear on self-diagnosis display?
YES >> GO TO 2.
BRC-98
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
2. CHECKING SELF-DIAGNOSIS RESULTS (2) A
1. Disconnect yaw rate/side/decel G sensor harness connector and ABS actuator and electric unit (control
unit) harness connector.
2. Check continuity between ABS actuator and electric unit (control unit) harness connector E39 and yaw B
rate/side/decel G sensor connector M69.
WFIA0162E
BRC
ABS actuator and electric Yaw rate/Side/Decel G-sensor Continuity
unit (control unit) (Harness connector M69)
(Harness connector E39) G
6 (G/OR) 3 (G/OR) Yes
24 (G/B) 5 (G/B) Yes
H
25 (Y/G) 1 (Y/G) Yes
29 (B/Y) 2 (B/Y) Yes
Is inspection result OK? I
OK >> GO TO 3.
J
3. CHECKING YAW RATE/SIDE/DECEL G SENSOR CIRCUIT
Check “DATA MONITOR” for yaw rate/side/decel G sensor. Check that results are normal.
K
Vehicle Yaw rate sensor Side G sensor Decel G Sensor
condition (Data monitor (Data monitor (Data monitor
standard) standard) standard)
L
Stopped -75 to +75 deg/s -1 to +1 m/s2 -0.08 G to + 0.08 G
Turning Negative value Negative value Negative value
right M
Turning left Positive value Positive value Positive value
NG >> Malfunction of yaw rate/side/decel G sensor. Replace sensor. Refer to BRC-131, "Yaw Rate/Side/
Decel G Sensor" . Perform ABS actuator and electric unit (control unit) self-diagnosis again.
Inspection 6 Solenoid, VDC Switching Valve, Actuator Relay and Circuits EFS002D5
DTC C1120, C1121, C1122, C1123, C1124, C1125, C1126, C1127, C1164, C1165, C1166, C1167 or C1140
BRC-99
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
FR LH IN ABS SOL
FR LH OUT ABS SOL
RR RH IN ABS SOL
RR RH OUT ABS SOL
FR RH IN ABS SOL
FR RH OUT ABS SOL
RR LH IN ABS SOL
RR LH OUT ABS SOL
CV1
CV2
SV1
SV2
Do above items appear on self-diagnosis results display?

YES >> GO TO 2.

YES >> GO TO 3.
BRC-100
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
3. CHECKING SOLENOID POWER AND GROUND
A
unit) harness connector E39 and ground. B

Body Voltage (V)
unit (control unit)
ground (Approx.) C
32 (Y) — 12
D
LFIA0148E
E
trol unit) harness connector E39 and body ground.
ABS actuator and electric Resistance BRC
Body
ground
16 (B) — 0 G
47 (B) — 0
OK >> Perform self-diagnosis again. If the same results LFIA0152E
appear, replace ABS actuator and electric unit (control
unit). Refer to BRC-130, "ABS Actuator and Electric Unit" .
I
Inspection 7 Actuator Motor, Motor Relay, and Circuit EFS002D6
DTC C1111 J
1. CHECKING SELF-DIAGNOSIS RESULTS (1) K
Self-diagnosis results L
PUMP MOTOR
ACTUATOR RLY M
Does “PUMP MOTOR” or "ACTUATOR RLY" appear in self-diagnosis results display?
YES >> GO TO 2.

YES >> GO TO 3.
BRC-101
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
3. CHECKING ABS MOTOR AND MOTOR RELAY POWER SYSTEM

unit) connector E39 and body ground.
Body Voltage (V)
unit (control unit)
ground (Approx.)
1 (L) — 12
LFIA0149E

trol unit) connector E39 and ground.
ABS actuator and electric Resistance
Body
ground
16 (B), 47 (B) — 0
YES >> Perform self-diagnosis again. If the same result
appears, replace ABS actuator and electric unit (control
LFIA0152E
unit). Refer to BRC-130, "ABS Actuator and Electric
Unit" .
NO >> Repair harness or connectors.
Inspection 8 Stop Lamp Switch and Circuit EFS002D8
DTC C1116
STOP LAMP SW
Does “STOP LAMP SW” appear in self-diagnosis results display?
YES >> GO TO 2.
2. CHECKING STOP LAMP

2. Reconnect connectors securely.
3. Start engine.
4. Repeat pumping brake pedal carefully several times, then perform self-diagnosis again.
YES >> GO TO 3.
BRC-102
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
3. CHECKING STOP LAMP SWITCH CIRCUIT A
2. Check continuity between stop lamp switch harness connector
M47 and ABS actuator and electric unit (control unit) harness B
connector E39.
ABS actuator and
electric unit (control Stop lamp switch C
unit) (Harness connec- Continuity
(Harness connector tor M47)
E39) D
41 (BR/R) 2 (BR/R) Yes
LFIA0150E
Is inspection result OK? E
NG >> Open or short in harness between ABS actuator and electric unit (control unit) and stop lamp
switch.
BRC
Inspection 9 ABS Actuator and Electric Unit (Control Unit) Power Supply and
Ground Circuit EFS002D9
DTC C1109 G
1. CHECKING SELF-DIAGNOSIS RESULT H

Self-diagnosis results I
BATTERY VOLTAGE
J
Does “BATTERY VOLTAGE” appear in self-diagnosis results display?
YES >> GO TO 2.
NO >> Inspection is completed. K
1. Disconnect ABS actuator and electric unit (control unit) connector E39. Then reconnect it securely. L
YES >> GO TO 3. M
BRC-103
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
3. CHECKING ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) POWER SUPPLY
2. Turn ignition switch ON (but do not start engine). Check voltage
between ABS actuator and electric unit (control unit) harness
connector E39 and body ground.
Body Voltage (V)
unit (control unit)
ground (Approx.)
4 (B/P) — 12
LFIA0151E

unit) harness connector E39 and ground.
Body Voltage (V)
unit (control unit)
ground (Approx.)
32 (Y) — 12
OK >> GO TO 4.
NG >> Repair power supply.
LFIA0148E
4. CHECKING ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) GROUND CIRCUITS
Check ABS actuator and electric unit (control unit) ground circuits.
Body
ground
16 (B) — Yes
47 (B) — Yes
diagnosis again. LFIA0152E
Inspection 10 When “STEERING ANGLE SENSOR HAS NOT BEEN COR-
RECTED” Appears on Self-Diagnosis Results Display EFS002DC
DTC C1144
ST ANGLE SEN CIRCUIT
Does anything besides “ST ANGLE SEN CIRCUIT” appear on self-diagnosis results display?
YES >> Inspect and repair the indicated items. Then perform self-diagnosis again.
NO >> Perform adjustment of steering angle sensor neutral position. Refer to BRC-55, "Adjustment of
Steering Angle Sensor Neutral Position" . Then GO TO 2.
BRC-104
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
2. CHECKING SELF-DIAGNOSIS RESULTS (2) A
1. Turn ignition switch OFF, and ON to erase self-diagnosis results, and perform ABS actuator and electric
unit (control unit) self-diagnosis again.
Does anything appear on self-diagnosis results display? B
YES >> Replace steering angle sensor (built into spiral cable). Refer to SRS-43, "DRIVER AIR BAG
MODULE AND SPIRAL CABLE" . Then perform adjustment of neutral position and perform self-
diagnosis again. Refer to BRC-55, "Adjustment of Steering Angle Sensor Neutral Position" . C
Inspection 11 Brake Fluid Level in Reservoir Tank, Communication Circuit
Between ABS Actuator and Electric Unit (Control Unit) and Brake Fluid Level D
Switch EFS002DD
DTC C1155 E
BRC
G
BR FLUID LEVEL LOW
Does brake warning lamp turn on? H
YES >> Check brake linings for wear. Check brake fluid for leakage. Repair as necessary.
NO >> GO TO 2.
I
1. Disconnect brake fluid level switch connector and ABS actuator and electric unit (control unit) connector.
J
2. Reconnect connectors securely, then perform ABS actuator and electric unit (control unit) self-diagnosis
again.
Does anything appear on self-diagnosis results display?
K
YES >> Poor connector connections. Repair or replace connectors.
NO >> GO TO 3.
3. CHECKING CIRCUIT BETWEEN BRAKE FLUID LEVEL SWITCH AND ABS ACTUATOR AND ELEC- L
TRIC UNIT (CONTROL UNIT)
1. Disconnect brake fluid level switch connector E37 and ABS actuator and electric unit (control unit) con- M
nector E39.
2. Check continuity between brake fluid level switch harness con-
nector E37 and ABS actuator and electric unit (control unit) har-
ness connector E39.
Brake fluid level

switch
(Harness connector
E37)
8 (GY/L) 1 (GY/L) Yes
Is inspection result OK? LFIA0153E
diagnosis again.
BRC-105
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Inspection 12 CAN Communications Lines, ABS Actuator and Electric Unit
(Control Unit), Steering Angle Sensor System and CAN-LAN Converter ECU
(CLC) EFS002M3
DTC U1000, C1156

CAN COMM CIRCUIT
ST ANGLE SEN COM CIR
CAN COMM 1
Do self-diagnosis results indicate anything other than the above?
YES >> Perform repair or replacement for the item indicated.
NO >> GO TO 2.
2. CHECKING CONNECTORS AND HARNESS BETWEEN ABS ACTUATOR AND ELECTRIC UNIT
(CONTROL UNIT) AND STEERING ANGLE SENSOR
1. Turn ignition switch OFF. Disconnect battery ground cable.
2. Disconnect ABS actuator and electric unit (control unit) harness connector and steering wheel angle sen-
sor harness connector.
trol unit) harness connector E39 and steering angle sensor har-
ABS actuator and electric Steering
unit (control unit) angle sensor
connector
M145)
4. Check all control unit and sensor connectors. (Check for missing, bent, or collapsed terminals in terminal
housing.)
OK >> GO TO 3.
NG >> Harness connector malfunction. Repair or replace. GO TO 3.
BRC-106
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
3. CHECKING CONNECTORS AND HARNESS BETWEEN ABS ACTUATOR AND ELECTRIC UNIT A
(CONTROL UNIT) AND CAN-LAN CONVERTER
1. Turn ignition switch OFF. Disconnect battery ground cable.
2. Disconnect ABS actuator and electric unit (control unit) harness connector and CAN-LAN converter har- B
ness connector.
trol unit) harness connector E39 and CAN-LAN converter har- C
ABS actuator and electric CAN-LAN
unit (control unit) converter D
connector
M147) E
BRC
4. Check all control unit and sensor connectors. (Check for missing, bent, or collapsed terminals in terminal
housing.)
G
OK >> GO TO 4.
NG >> Harness connector malfunction. Repair or replace. GO TO 4.
4. CHECKING SELF-DIAGNOSIS RESULTS (2) H
1. Connect connectors to all control units and sensors.

2. Connect battery negative terminal. Turn ignition switch ON. I
3. Erase self-diagnosis results. Then start engine and perform self-diagnosis.
Does only “ST ANGLE SEN COM CIR” appear on self-diagnosis results display?
YES >> Replace steering angle sensor (built into spiral cable). Refer to SRS-43, "DRIVER AIR BAG J
MODULE AND SPIRAL CABLE" . Then perform adjustment of neutral position and perform self-
diagnosis again. Refer to BRC-55, "Adjustment of Steering Angle Sensor Neutral Position" .
NO >> GO TO 5. K
5. CAN COMMUNICATION SYSTEM CHECK

Select “CAN DIAG SUPPORT MNTR” of data monitor items. L
Normal Error (example)

CAN COMM: OK CAN COMM: OK M
CAN CIRC 1: OK CAN CIRC 1: UNKWN
CAN CIRC 2: UNKWN CAN CIRC 2: UNKWN
CAN CIRC 5: OK CAN CIRC 5: UNKWN
CAN CIRC CLC: OK CAN CIRC CLC: UNKWN
>> Print out monitor items. Then refer to BRC-60, "CAN COMMUNICATION" .
Inspection 13 ENGINE SIGNAL 1 - Engine System EFS002M4
DTC C1130
BRC-107
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
ENGINE SIGNAL 1

NO >> GO TO 2.
2. CHECK ENGINE SYSTEM

1. Perform self-diagnostic procedures for ECM.
P0101, P0102 MAF SENSOR*1
P0117, P0118 ECT SENSOR*1
P0121, P0122, P0123 TP SENSOR*1
P0125 ECT SENSOR*1
P0605 ECM*1
P1336 CKP SENSOR (COG)*1
IGNITION SIGNAL*1
*1: Out of ECM diagnostic items, the 7 items listed above cause VDC to be suspended (VDC OFF and SLIP indicators ON) and
allow ABS actuator and electric unit (control unit) to indicate "ENGINE SIGNAL 1".
Do any of the above self-diagnostic items appear on the display?
YES >> Refer to EC Section.
NO >> GO TO 3.
3. CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) TO ECM CIRCUIT
Do “ECM — ABSTCS COMM NG” and/or "ABS-TCS C/U SIGNAL" (ECM self-diagnostic items)*2 appear on
display?
*2: Items which cause VDC to be suspended (VDC OFF and SLIP indicators ON) and allow ABS actuator and
electric unit (control unit) to indicate "ENGINE CHECK SIG".
YES >> Refer to BRC-110, "Inspection 15 ENG CHECK SIG - LAN Monitoring" , BRC-111, "Inspection 16
LAN SIGNAL 2 - LAN Communication Start Procedure Incomplete" and BRC-112, "Inspection 17
LAN COMM 1 - LAN Communication System Failure" .
NO >> GO TO 4.
4. CHECK SELF-DIAGNOSTIC ITEMS

Check self-diagnostic items.
Do any other ECM self-diagnostic items appear?
NO >> Inspection end.
Inspection 14 ENG SPEED SIG - Engine Speed Signal EFS002M5
DTC C1168
BRC-108
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
1. INSPECTION START A

B
ENGINE SPEED SIG C
NO >> GO TO 2. D

E
CONSULT-II display items BRC
P1336 CKP SENSOR (COG)*1
*1: Out of ECM diagnostic items, only P1336 CKP SENSOR (COG) causes VDC to be suspended (VDC OFF and SLIP indicators
ON) and allow ABS actuator and electric unit (control unit) to indicate "ENGINE SPEED SIG". G
Does the above self-diagnostic item appear on the display?
H
NO >> GO TO 3.
3. CHECK CAN-LAN CONVERTER (CLC) TO ECM CIRCUIT

I
Do “ECM-ABS/TCS/VDC COMM NG” and/or "ABS/TCS/VDC C/U SIGNAL" (ECM self-diagnostic items)*2
appear on display?
*2: Items which cause VDC to be suspended (VDC OFF and SLIP indicators ON) and allow ABS actuator and
J
electric unit (control unit) to indicate "ENGINE CHECK SIG".
YES >> Refer to BRC-110, "Inspection 15 ENG CHECK SIG - LAN Monitoring" , BRC-111, "Inspection 16
K
LAN SIGNAL 2 - LAN Communication Start Procedure Incomplete" and BRC-112, "Inspection 17
LAN COMM 1 - LAN Communication System Failure" .
NO >> GO TO 4.
L
4. CHECK CONNECTORS
1. Disconnect CLC connector and ECM connector.
M
2. Check for terminal separation, looseness or bending, etc. at connector housing. If necessary, repair faulty
terminals. Then reconnect them securely.
YES >> GO TO 5.
NO >> ● Check harness connectors M147, F29
● Check harness for open or short between ECM connector and CLC connector
If NG, repair harness or connectors.
BRC-109
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
5. CHECK LAN CIRCUIT
1. Disconnect CAN-LAN converter (CLC) connector and ECM connector.
2. Check continuity between CLC connector M147 terminal 14 (P/L) and ECM connector terminal 68 (W/G).
LFIA0156E

OK or NG?
OK >> Connect connectors and repeat self-diagnosis. Repair or replace.
Inspection 15 ENG CHECK SIG - LAN Monitoring EFS002M6
DTC C1171
1. INSPECTION START
ENG CHECK SIG

NO >> GO TO 2.
LFIA0157E

CAN-LAN CONVERTER COMM NG
Does the above self-diagnostic item appear on the display?
YES >> GO TO 6.
NO >> GO TO 3.
3. CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS (1)
Does ”LAN COMM 1" appear on display?
YES >> GO TO 4.
NO >> Replace CLC. Refer to BRC-131, "CAN-LAN Converter (CLC)" .
BRC-110
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
4. CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS (2) A
Does any other self-diagnostic item appear on display?
YES >> Repair or replace. B

NO >> GO TO 5.
5. CHECK VOLTAGE C
1. Check if battery voltage is too low (less than 9V) or battery terminals are loose.
OK or NG?
D
OK >> GO TO 6.
NG >> Faulty battery.
6. CHECK LAN CIRCUIT E
1. Disconnect CAN-LAN converter (CLC), TCM and ECM connectors.

2. Check continuity between connector terminals. BRC
CLC ECM TCM
16 (W/G) 68 (W/G) —
G
16 (W/G) — 33 (W/G)
— 68 (W/G) 33 (W/G)
H
OK or NG?
OK >> Connect connectors and repeat self-diagnosis. Repair I
or replace.
NG >> ● Check the following
– Harness connectors M147, M78, F29 J
– Harness for open or short between ABS actuator and
electric unit (control unit) and ECM
– Harness for open or short between ABS actuator and K
electric unit (control unit) and TCM
– Harness for open or short between ECM and TCM
● If NG, repair harness or connectors. L
LFIA0158E
Inspection 16 LAN SIGNAL 2 - LAN Communication Start Procedure Incomplete M

EFS002M7
DTC C1172
1. INSPECTION START
LAN SIGNAL 2
NO >> GO TO 2.
LFIA0157E
BRC-111
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Is self-diagnosis for ECM able to start?
YES >> GO TO 3.
NO >> ● Repair or replace data link connector to ECM harness or connector
● Faulty ECM (MIL remains ON during operation)
3. CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS

CAN-LAN CONVERTER COMM NG
Does "CAN-LAN CONVERTER COMM NG" appear on display?

YES >> Check LAN circuit. Refer to BRC-110, "Inspection 15 ENG CHECK SIG - LAN Monitoring" .
NO >> GO TO 4.
4. CHECK START SIGNAL TO ECM

Check START signal to ECM.
OK or NG?
YES >> ● If other items appear on display, repair or replace
● Repeat self-diagnosis procedures for control unit
NO >> Repair START input to ECM.

Inspection 17 LAN COMM 1 - LAN Communication System Failure EFS002M8
DTC C1169
1. INSPECTION START
LAN COMM 1

NO >> GO TO 2.

Does "CAN-LAN CONVERTER" appear on display?
YES >> Check LAN circuit. Refer to BRC-110, "Inspection 15 ENG CHECK SIG - LAN Monitoring" .
NO >> GO TO 3.
3. CHECK ECM POWER SUPPLY

Check ECM to battery power circuits, harness and connectors.
OK or NG?
OK >> ● Repeat self-diagnosis procedures for control unit
● If NG, replace control unit
NG >> Repair or replace.

BRC-112
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Inspection 18 LAN SIGNAL 3 - Continued Reception After LAN Communication
Starts EFS002M9
A
DTC 1173
B
1. INSPECTION START
Check self-diagnosis results. C
D
LAN SIGNAL 3

YES >> Perform repair or replacement for the item indicated. E
NO >> GO TO 2.
LFIA0157E BRC

1. Perform self-diagnostic procedures for ECM. G
Does "CAN-LAN CONVERTER COMM NG" appear on display?
YES >> Check ECM. Refer to EC Section.
NO >> GO TO 3. H
3. CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS

I
J
ABS-TCS C/U SIGNAL

Does "ABS-TCS C/U SIGNAL" appear on display? K
YES >> Replace CLC. Refer to BRC-131, "CAN-LAN Converter (CLC)" . Repeat self-diagnosis for control
unit.
NO >> If other items appear on display, repair or replace. L
Inspection 19 SLIP Indicator Lamp Does Not Come On When Ignition Switch is
Turned On EFS002MA
1. INSPECTION START
Indicator lamp circuit inspection.
LFIA0159E
>> GO TO 2.
BRC-113
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
2. CHECK FUSE
ROUTING" .
OK or NG?
OK >> GO TO 3.
NG >> Replace fuse.

1. Install 10A fuse.
unit) connector E39 terminal 26 (B/R) and ground.
LFIA0160E
OK or NG?
OK >> GO TO 5.
NG >> GO TO 4.

OK or NG?
OK >> Repair harness or connectors between fuse and ABS actuator and electric unit (control unit) ter-
5. CHECK CIRCUIT
unit) connector E39 terminal 26 (B/R) and combination meter
connector M38 terminal 5 (B/R).
LFIA0161E
BRC-114
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
OK or NG? A
B
tion meter
Inspection 20 VDC OFF Indicator Lamp Does Not Come On When Ignition
Switch Is Turned On EFS002MB C
1. INSPECTION START D
Indicator lamp circuit inspection.
BRC
G
LFIA0162E
>> GO TO 2.
2. CHECK FUSE I
ROUTING" . J
OK or NG?
OK >> GO TO 3.
NG >> Replace fuse. K

1. Install 10A fuse. L
M
unit) connector E39 terminal 13 (L/B) and ground.
LFIA0163E
OK or NG?
OK >> GO TO 5.
NG >> GO TO 4.
BRC-115
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
OK or NG?
5. CHECK CIRCUIT
unit) connector E39 terminal 13 (L/B) and combination meter
connector M38 terminal 4 (L/B).
LFIA0172E
OK or NG?
tion meter
Inspection 21 VDC OFF Switch Is Inoperative EFS002MC
1. INSPECTION START
Inspect VDC OFF switch circuit.
LFIA0164E
>> GO TO 2.
2. CHECK VDC OFF SWITCH

Refer to BRC-121, "VDC OFF SWITCH" .
OK or NG?
OK >> GO TO 3.
NG >> Replace VDC OFF switch.
BRC-116
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
3. CHECK VDC OFF SWITCH CIRCUIT FOR OPEN A
1. Disconnect ABS actuator and electric unit (control unit) connector and VDC OFF switch connector.
unit) connector E39 terminal 40 (PU/W) and VDC OFF switch B
connector M146 terminal 2 (PU/W).
C
LFIA0165E
E
OK or NG?
OK >> GO TO 4.
NG >> Repair harness or connectors. BRC
4. CHECK VDC OFF SWITCH CIRCUIT FOR SHORT

G
1. Check continuity between VDC OFF switch connector M146 ter-
minal 2 (PU/W) and ground.
H
J
LFIA0166E
OK or NG?
K
OK >> GO TO 5.
5. CHECK GROUND CIRCUIT L
1. Check continuity between VDC OFF switch connector M146 ter-

minal 1 (G/R) and ground.
M
LFIA0167E
OK or NG?
Inspection 22 CAN-LAN Converter Power Supply Circuit EFS002MD
DTC C1177
BRC-117
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
1. SELF-DIAGNOSIS RESULT CHECK 1

CLC BATTERY VOLTAGE [ABNORMAL]

NO >> GO TO 2.
2. SELF-DIAGNOSIS RESULT CHECK 2

1. Disconnect the CAN-LAN converter (CLC) connector. Securely connect it again.
Does "CLC BATTERY VOLTAGE [ABNORMAL]" appear on display?
YES >> GO TO 3.
NO >> Repair or replace the connector.
3. CHECK CLC POWER SUPPLY CIRCUIT

1. Disconnect CLC connector.
3. Check voltage between CLC connector M147 terminal 1 (W/B)
and ground.
LFIA0168E
OK or NG?
OK >> GO TO 4.
4. CHECK CLC GROUND CIRCUIT

1. Check continuity between CLC connector M147 terminal 10 (B)
and ground.
LFIA0169E
OK or NG?
BRC-118
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Inspection 23 CAN CIRCUIT 1 - CAN Communication System Failure EFS002ME
A
DTC C1174
1. INSPECTION START B

Self-diagnosis results C
CAN CIRCUIT 1
D
NO >> Refer to BRC-106, "Inspection 12 CAN Communications E
Lines, ABS Actuator and Electric Unit (Control Unit),
Steering Angle Sensor System and CAN-LAN Converter LFIA0170E
ECU (CLC)" .
BRC
Inspection 24 CAN-LAN Converter (CLC) Control Unit EFS002MF
G
1. INSPECTION START
H
CLC CONTROL UNIT I
NO >> Replace CAN-LAN converter. Refer to BRC-131, "CAN-LAN Converter (CLC)" . Perform self- J
diagnosis again.
Inspection 25 ABS Warning Lamp Does Not Come On When Ignition Switch Is K
Turned On EFS002MG
1. INSPECTION START L
Warning lamp circuit inspection.

M
LFIA0162E
>> GO TO 2.
BRC-119
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
2. CHECK FUSE
ROUTING" .
OK or NG?
OK >> GO TO 3.
NG >> Replace fuse.

1. Install 10A fuse.
unit) connector E39 terminal 44 (L/W) and ground.
LFIA0184E
OK or NG?
OK >> GO TO 5.
NG >> GO TO 4.

OK or NG?
5. CHECK CIRCUIT
unit) connector E39 terminal 44 (L/W) and combination meter
connector M38 terminal 24 (L/W).
LFIA0185E
BRC-120
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
OK or NG? A
B
tion meter
Inspection 26 When "DECEL G-SENSOR" Appears on Self-Diagnosis Results
Display EFS002MH C
DTC 1113
D
Check self-diagnosis results. E
BRC
DECEL G-SENSOR
Does anything besides "DECEL G-SENSOR" appear on self-diagnosis results display?
YES >> Inspect and repair the indicated items. Then perform self-diagnosis again. G
NO >> Perform calibration of decel G-sensor. Refer to BRC-55, "Calibration of Decel G Sensor" .
2. CHECKING SELF-DIAGNOSIS RESULTS (2) H

Turn ignition switch OFF and ON to erase self-diagnosis results and perform VDC/TCS/ABS self-diagnosis.
YES >> Replace decel G-sensor. Refer to BRC-131, "Yaw Rate/Side/Decel G Sensor" . Then perform cal- I
ibration of decel G-sensor and self-diagnosis again. Refer to BRC-55, "Calibration of Decel G
Sensor" .
NO >> Inspection is completed. J
Inspecting Components EFS002MI
VDC OFF SWITCH

K
● Remove VDC OFF switch. Check continuity between terminals
1 and 2 as follows.
Switch condition: Continuity L
Pressed : Yes
Released : No
M
LFIA0154E
BRC-121
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Symptom 1 ABS Works Frequently EFS002MJ
● Sensor pick-up inspection for iron chips
OK >> GO TO 2.
2. CHECKING FOR LOOSENESS

Check for looseness of front axle.
OK >> GO TO BRC-122, "Symptom 2 Unexpected Pedal Reaction" .
NG >> Axle inspection and repair.
Symptom 2 Unexpected Pedal Reaction EFS002MK
1. BRAKE PEDAL STROKE INSPECTION
Check brake pedal stroke.
Is stroke excessively long?
YES >> Check bleeding and brake system.
NO >> GO TO 2.
2. CHECKING PEDAL FORCE

Check that brake is effective with pedal depressed.
Is pedal heavy, but effective?
YES >> Normal.
NO >> GO TO 3.
3. CONNECTOR AND PERFORMANCE INSPECTION

Disconnect ABS actuator and electric unit (control unit) connector to deactivate ABS function. Check that
brake is effective.
Is brake effective?
YES >> GO TO 4.
NO >> Brake line inspection.

NG >> GO TO 5.
BRC-122
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
5. CHECKING WHEEL SENSORS A
● Check sensor pick-up for adhering iron chips. B
C
OK >> Normal.
D
Symptom 3 Long Stopping Distance EFS002ML
E
Check that stopping distance increases only on snowy roads and gravel roads.
Is inspection result OK? BRC
OK >> May be longer than for vehicles without ABS.
NG >> GO TO 2.
G
2. CHECKING PERFORMANCE
Disconnect ABS actuator and electric unit (control unit) to deactivate ABS function. H
Is stopping distance still long?
YES >> Inspect brake lines for leaks or damage. Repair as necessary. Bleed brakes. Refer to BR-9,
"Bleeding Brake System" . I
NO >> GO TO 3.

J
OK >> Perform self-diagnosis. K
NG >> GO TO 4.
4. CHECKING WHEEL SENSORS L

M
OK >> Normal.
Symptom 4 ABS Does Not Work EFS002MM
NG >> GO TO 2.
BRC-123
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
OK >> Normal.
Symptom 5 Pedal Vibration and Noise EFS002MN
1. INSPECTION (1)
Check brake system for pedal vibration or noise at engine start.
NG >> GO TO 2.
2. INSPECTION (2)
Check for vibration during soft braking (just placing foot on pedal).
CAUTION:
ABS may activate in conditions such as those listed below, when wheel speed changes.
● Gear shifting
OK >> GO TO 3.
NG >> Normal.
3. INSPECTION (3)
Does vibration occur during normal braking?
CAUTION:
In addition to activation for sudden braking, ABS may activate in conditions such as those listed
below.
● Roads with low friction coefficients
OK >> GO TO 4.
NG >> Normal.
4. INSPECTION (4)
Check for vibration when engine speed is increased while vehicle is stopped.
OK >> GO TO 5.
NG >> ● Normal.
CAUTION:
Vibration may occur when vehicle is stopped.
BRC-124
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
5. INSPECTION (5) A
Check for vibration when switches of electrical components are operated.
OK >> Check for any wireless devices, antennas, or antenna lead near ABS actuator and electric unit B
(control unit) (including wiring) or CAN-LAN converter (CLC).
NG >> GO TO 6.
C
Confirm ABS warning lamp turns on.
D
NG >> GO TO 7.
E
Inspect wheel sensor system. BRC
● Sensor pick-up inspection for iron chips (e.g. Number of teeth, damaged teeth)
● Sensor connector engagement inspection G
● Inspection of wheel sensor circuit
H
OK >> Normal.
Symptom 6 Vehicle Behaves Jerkily During VDC/TCS/ABS Operation EFS002MO
I
1. CHECKING ENGINE SPEED SIGNAL
J
On CONSULT-II, perform “DATA MONITOR” for ABS actuator and electric unit (control unit).
Is engine speed at idle 400 rpm or higher?
OK >> Normal. K
NG >> GO TO 2.
2. CHECKING SELF-DIAGNOSIS RESULTS (1) L

Perform ABS actuator and electric unit (control unit) self-diagnosis.
M
OK >> Inspect and repair items indicated. Then perform ABS actuator and electric unit (control unit) self-
diagnosis again.
NG >> GO TO 3.
3. ECM SELF-DIAGNOSIS RESULT ITEM CHECK

Perform the ECM self-diagnosis.
Is the result of self-diagnosis “P1336 CKP SENSOR (COG)”?
NO >> GO TO 4.
BRC-125
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Disconnect ABS actuator and electric unit (control unit) and ECM connectors. Then reconnect them securely.
Perform the self-diagnosis again.
OK >> Connector open, shorted or damaged. Repair or replace connector.
NG >> GO TO 5.

Perform the A/T self-diagnosis.
OK >> GO TO 6.
NG >> Repair or replace parts at location indicated.

Perform ABS actuator and electric unit (control unit) self-diagnosis again.
YES >> Repair or replace parts at location indicated.
NO >> GO TO 7.
7. CHECKING CIRCUIT BETWEEN ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) AND
CAN-LAN CONVERTER (CLC)
1. Disconnect ABS actuator and electric unit (control unit) and CLC connectors.
2. Check for open circuit or short circuits in harness between ABS actuator and electric unit (control unit) and
CLC.
3. Check ABS actuator and electric unit (control unit) and CLC connectors.
OK >> GO TO 8.
NG >> Repair or replace harness connector.
8. CHECKING CIRCUIT BETWEEN CAN-LAN CONVERTER (CLC) AND ECM

1. Disconnect CLC and ECM connectors.
2. Check for open or short circuit in harness between CLC and ECM.
3. Check CLC and ECM connectors.
OK >> Reconnect connectors and perform ABS actuator and electric unit (control unit) self-diagnosis
again.
NG >> Repair or replace harness connector.
Symptom 7 Poor Acceleration EFS002MP
1. INSPECTION START
Engine acceleration is poor while VDC/TCS is operating. Vehicle instability is caused by unstable engine rpm
operation. (Engine is shaking.)
>> GO TO 2.
BRC-126
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
2. CHECK PERFORMANCE A
Cancel VDC/TCS operation using VDC OFF switch and drive vehicle.
Is engine acceleration still poor?
YES >> Refer to EC section. B
NO >> GO TO 3.
3. CHECK SELF-DIAGNOSIS (TCM) C

Perform self-diagnostic procedures for TCM.
Do any self-diagnosis results display?
D
YES >> Refer to AT Section.
NO >> GO TO 4.
4. CHECK SELF-DIAGNOSIS (VDC/TCS/ABS) E
Perform self-diagnostic procedures for VDC/TCS/ABS.

Do any self-diagnosis results display? BRC
YES >> Refer to BRC-61, "TROUBLE DIAGNOSIS" .
NO >> Inspection END.
G
BRC-127
[VDC/TCS/ABS]
REMOVAL AND INSTALLATION PFP:00000
Front Wheel Sensor EFS002LP
CAUTION:
ABR869
Rear Wheel Sensor EFS002LQ
CAUTION:
ABR868
Front Sensor Rotor EFS002LR
REMOVAL
CAUTION:
BRC-128
[VDC/TCS/ABS]
1. Remove the front wheel hub. Refer to FAX-12, "WHEEL HUB
AND ROTOR DISC" . A
2. Remove the sensor rotor using suitable puller, drift and bearing
replacer.
B
SBR873C
D
INSTALLATION
● Always replace sensor rotor with new one. E
figure.
BRC
SBR400DA
Rear Sensor Rotor EFS002LS H

REMOVAL
CAUTION:
Be careful not to damage sensor edge and sensor rotor teeth. When removing the front or rear wheel I
● Remove the sensor rotor using Tool.
J
ARA097
M
INSTALLATION
● Always replace sensor rotor with a new one.
figure.
SBR402D
BRC-129
[VDC/TCS/ABS]
ABS Actuator and Electric Unit EFS002LT
REMOVAL
LFIA0133E
1. Disconnect battery cable.

2. Disconnect connector and brake pipes.
3. Remove fixing bolts.
INSTALLATION
CAUTION:
After installation, refill brake fluid. Then bleed air. Refer to BR-9, "Bleeding Brake System" .
1. Connect brake pipes temporarily.
2. Tighten fixing bolts.
3. Tighten brake pipes.
Tightening torque : 16.7 - 21.6 N·m (1.7 - 2.2 kg-m, 13 - 15 ft-lb)
4. Connect connector and battery cable.
5. Adjust steering angle sensor neutral position. Refer to BRC-55, "Adjustment of Steering Angle Sensor
Neutral Position" .
BRC-130
[VDC/TCS/ABS]
Yaw Rate/Side/Decel G Sensor EFS002LU
A
Always replace sensor if bumped or dropped. Otherwise, performance characteristics of sensor will
be changed, which in turn changes ABS control performance characteristics.
CAUTION:
Do not exceed 9 N·m (0.9 kg-m, 80 in-lb) total tightening torque. B
Tightening torque:
Step 1 : 7 N·m (0.7 kg-m, 62 in-lb) C
Step 2 : 9 N·m (0.9 kg-m, 80 in-lb)
E
LFIA0134E
Steering Angle Sensor EFS002LV
CAUTION: BRC
The steering angle sensor must be adjusted after the spiral cable has been removed and reinstalled or
replaced with a new one. Refer to BRC-55, "Adjustment of Steering Angle Sensor Neutral Position" .
The steering angle sensor is built into the spiral cable. For removal and installation procedures, refer to SRS- G
43, "DRIVER AIR BAG MODULE AND SPIRAL CABLE" .
CAN-LAN Converter (CLC) EFS002LW
1. Disconnect battery cable. H

2. Remove steering column cover.
3. Remove instrument lower panel driver side. Refer to IP-10, "Removal and Installation" .
I
4. Place ASCD control unit aside.
5. Disconnect CLC harness connector.
6. Remove bolt and then remove CLC. J
LFIA0194E M
BRC-131
[VDC/TCS/ABS]
BRC-132

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Brake Control System: Section

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F BRAKES

● Recommended fluid is brake fluid “DOT 3”.

Wiring Diagrams and Trouble Diagnosis EFS002MQ

When you read wiring diagrams, refer to the following:

Special Service Tools EFS0037P

Checking operation of ABS active wheel sen-

Commercial Service Tools EFS0037Q

Tool name Description

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

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

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

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

EXAMPLE OF DIAGNOSIS SHEET

STANDARDS USING CIRCUIT TESTER AND OSCILLOSCOPE A

CONSULT-II FUNCTION APPLICATION TABLE

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

5. Touch “ABS” in the “Diagnosis System Selection” screen.

8. Turn ignition switch OFF to prepare for erasing memory.

FR LH SENSOR- 1 Circuit of front LH wheel sensor is open, shorted or sensor power

5. Touch “ABS” on display. BRC

6. Touch “DATA MONITOR”.

4. Test item selection screen is displayed.

Solenoid Valve Operation Chart

RR RH SOL RR RH IN SOL OFF ON ON OFF OFF OFF

RR LH SOL RR LH IN SOL OFF ON ON OFF OFF OFF

*: ON for 1 to 2 seconds after the touch, and then OFF

after operation starts.

PRECAUTIONS FOR DIAGNOSIS A

BASIC INSPECTION 1: BRAKE FLUID LEVEL AND LEAK INSPECTION

2. CHECK WHEEL SENSOR OUTPUT SIGNAL E

Check for inflation pressure, wear and size of each tire.

5. SENSOR ROTOR INSPECTION

7. CHECK WIRING HARNESS FOR OPEN CIRCUIT

Continuity should exist.

Check self-diagnosis results.

3. CHECKING PRESSURE SWITCH CIRCUIT

4. CHECKING PRESSURE SWITCH

DTC C1120, C1121, C1122, C1123, C1124, C1125, C1126 or C1127

2. CHECKING SELF-DIAGNOSIS RESULTS (2)

ABS actuator and electric

Does “PUMP MOTOR” appear in self-diagnosis results display?

2. CHECKING SELF-DIAGNOSIS RESULTS (2)

1. Disconnect ABS actuator and electric unit (control unit) connector.

3. Check resistance between ABS actuator and electric unit (con-

2. CHECKING STOP LAMP

Check self-diagnosis results.

3. Check voltage between ABS actuator and electric unit (control

4. CHECK INDICATOR BULB

2. CHECKING FOR LOOSENESS

3. CONNECTOR AND PERFORMANCE INSPECTION C

5. CHECKING WHEEL SENSORS

3. CHECKING ABS WARNING LAMP INDICATION

2. CHECKING WHEEL SENSORS

Front Wheel Sensor EFS002L6

Rear Wheel Sensor EFS002L7

Rear Sensor Rotor (4WD) EFS002L9

1. Disconnect battery cable.

4. Connect connector and battery cable.

● Recommended fluid is brake fluid “DOT 3”.