SORENTO(BL) > 2008 > G 3.

3 DOHC > Brake System

Brake System > General Information > Special Service Tools

SPECIAL SERVICE TOOLS
Tool (Number and Name) Illustration Usage
09581 - 11000 Pushing back of the front disc and rear disc
Piston expander brake piston

0K993 430 032 Used to adjust push rod gap

Adjustment gauge

Brake System > General Information > Troubleshooting

TROUBLESHOOTING
Trouble symptom Possible cause Remedy
Noise or vibration when Caliper improperly mounted Correct
brakes are applied Loose caliper mounting bolts Retighten
Unevenly worn or cracked brake drum or brake disc Replace
Foreign material in brake drum Clean
Seized pad or lining contact surface Replace
Excessive clearance between pad assembly and Correct
caliper Correct
Uneven pad contact Lubricate
Lack of lubrication in sliding parts Retighten
Loose suspension parts Correct the runout
Excessive of disc runout Replace disc
Excessive variation of disc thickness
Vehicle pulls to one side Difference in left and right tire inflation pressure Adjust
when brakes are applied Inadequate contact of pad Correct
Grease or oil on pad surface Replace
Incorrect wheel cylinder installation Correct
Insufficient braking power Low or deteriorated brake fluid Refill or change
Air in the brake system Bleed the system
Brake booster malfunction Correct
Inadequate contact of pad Correct
Grease or oil on pad surface Replace
Overheated brake rotor due to dragging of pad Correct
Clogged brake line Replace
Proportioning valve malfunction Replace

Brake System > General Information > Repair procedures

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 SERVICE ADJUSTMENT PROCEDURES
INSPECTION AND ADJUSTMENT
1. Measure the brake pedal height. If the brake pedal height is not within the standard value, adjust as follows.

Standard value :
200 mm (7.87 in.)

(1) Disconnect the stop lamp switch connector, loosen the lock nut, and move the stop lamp switch to a position where it
does not contact thebrake pedal arm.
(2) Adjust the brake pedal height by turning the operating rod with pliers (with the operating rod lock nut loosened), until
the correct brakepedal height is obtained.

(3) After turning the stop lamp switch until it contacts the brake pedal stopper (just before the brake pedal is caused to
move), return the stop lampswitch 1/2 to 1 turn and secure by tightening the lock nut.
(4) Connect the connector of the stop lamp switch.
(5) Check that the stop lamp is not illuminated with the brake pedal unpressed.

2. With the engine stopped, depress the brake pedal two or three times. After eliminating the vacuum in the power brake
booster, press the pedal down by hand, and confirm that the amount of movement before resistance is met(the free play)
is within the standard value.

Standard value
4 - 7 mm (0.157 - 0.275 in.)

If free play does not reach the standard value, check that clearance between the outer case of stop light switch and
brake pedal is within thestandard value.
If free play exceeds the standard value, it is probably due to excessive clearance between the clevis pin and brake pedal
arm.
Check for excessive clearance and replace faulty parts as required.

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 3. Start the engine, depress the brake pedal with approximately 120kgf of force, and check for oil leakage in the master
cylinder, brake line andeach connecting part.
Repair the faulty parts as required.

STOP LAMP SWITCH INSPECTION

BRAKE BOOSTER OPERATING TEST

1. Run the engine for one or two minutes, and then stop it.
If the pedal depresses fully the first time but gradually becomes higher when depressed succeeding times, the booster is
operating properly, if thepedal height remains unchanged, the booster is defective.

2. With the engine stopped, step on the brake pedal several times.
Then step on the brake pedal and start the engine.
If the pedal moves downward slightly, the booster is in good condition. If there is no change, the booster is defective.

3. With the engine running, step on the brake pedal and then stop the engine.
Hold the pedal depressed for 30 seconds. If the pedal height does not change, the booster is in good condition, if the
pedal rises, the boosteris defective.
If the above three tests are okay, the booster performance can be determined as good.
Even if one of the above three tests is not okay, check the check valve, vacuum hose and booster for defect.

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 CHECK VALVE INSPECTION
1. Disconnect the vacuum hose.
2. Check to be sure that air passes to the engine and not from the engine when air is taken in from the power-brake unit
side of the vacuum hose.

• The check valve is pressed into the vacuum hose, and there is an arrow on the hose surface to indicate the
installation direction.

BLEEDING OF BRAKE SYSTEM

1. Remove the reservoir cap and fill the brake reservoir with brake fluid.

• Do not allow brake fluid to remain on a painted surface. Wash it off immediately.
• Use the specified brake fluid. Avoid using a mixture of the specified brake fluid and other fluid.

2. Connect a vinyl tube to the wheel cylinder bleeder screw and insert the other end of the tube in a container of brake fluid
which is half full.

3. Start the engine.

4. Slowly depress the brake pedal several times.
5. While depressing the brake pedal fully, loosen the bleeder screw until fluid runs out. Then close the bleeder screw and
release the brake pedal.

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 6. Repeat steps 4 and 5 until there are no more bubbles in the fluid.
7. Tighten the bleeder screw.

7 - 9 N·m (70-90 kg·cm, 5-6.6 lb·ft)

8. Repeat the above procedure for each wheel in the sequence shown in the illustration.

Brake System > General Information > Specifications

GENERAL
SPECIFICATION (ABS)

Part Item Standard value Remark

4 channel 4 sensor
System
(Solenoid)
Motor, valve relay
HECU(Hydraulic and Type ·ABS system:ABS &
intergrated type
Electronic Control Unit) EBD control
Operating voltage 8 V ~ 16 V(DC)
-40 ~ 120 °C
Operating temperature
(-40 ~ 248 °F)
·ABS W/L:ABS failure
Operating voltage 12 V ·Brake W/L:Parking,
Warning lamp brake oil, EBD failure
Current consumption 80 mA
Supply voltage DC 4.5 ~ 2.0 V
-40 ~ 150 °C
Operating temperature
(-40 ~ 302 °F)
Output current low 5.9 ~ 8.4 mA Typ.7 mA
Acitve wheel speed Output current High 11.8 ~ 16.8 mA Typ.14 mA
sensor
Frequency range 1 ~ 2500 HZ
0.4 ~ 1.0 mm
Front Typ.0.7 mm(0.03 in)
(0.02 ~ 0.04 in)
Air gap
0.4 ~ 1.0 mm
Rear Typ.0.7 mm(0.03 in)
(0.02 ~ 0.04 in)

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 Tone wheel 48 teeth
Output duty 30~70 %

SPECIFICATION(VDC)
Part Item Standard Value Remark
4 channel 4
System
sensor(Solenoid)
Motor, valve relay
HECU(Hydraulic and Type ·Total control(ABS,
intergrated type
Electronic Control Unit) EBD, TCS, ESC)
Operating voltage 8 V ~ 16 V(DC)
-40 ~ 120 °C
Operating temperature
(-40 ~ 248 °F)
Operating voltage 12 V ·ESC Operating Lamp
Warning lamp
Current consumption 80 mA ·ESC Warning Lamp

Supply voltage DC 4.5 ~ 20V

-40 ~ 150 °C
Operating temperature
(-40 ~ 302 °F)
Output current low 5.9 ~ 8.4 mA
Output current high 11.8 ~ 16.8 mA
Active wheel speed
sensor Tone wheel 48 teeth
Frequency range 1 ~ 2500 HZ
0.4 ~ 1.0 mm
Front Typ. 0.7 mm(0.03 in)
(0.02 ~ 0.04 in)
Airgap
0.4 ~ 1.0 mm
Rear Typ. 0.7 mm(0.03 in)
(0.02 ~ 0.04 in)
Operating Voltage 8V ~ 16 V
Steering Wheel Angle
Current Consumption Max 150 mA
Sensor
Operating Angular velocity Max ± 780 °/sec
Operating Voltage 8 V ~ 16 V
Current Consumption Max. 120 mA
Output Voltage high 4.35 V~ 4.65 V Typ. 4.5 V
Yaw-rate & Lateral G
Output Voltage low 0.35 ~ 0.65 V Typ. 0.5 V
sensor
Yaw Sensor Operating Range ±100 ° /s
G Sensor Operating Range ±1.8 G
Reference voltage output 2.464 ~ 2.536 V Typ. 2.5 V

SERVICE STANDARD
ITEMS SPECIFICATIONS
Standard value
Brake pedal height 200 mm (7.87 in.)
Clearance between stop lamp switch outer case and pedal 1.5 ~ 2.0mm(0.06 ~ 0.08in.)
arm
Brake pedal free play 4-7 mm (0.157 - 0.275 in.)
Parking brake lever stroke 6-8 clicks (When lever assembly is pulled with 10kgf)
Service limit
Front disc brake pad thickness 2.0 mm (0.0787 in.)
Front disc thickness (minimum) 26 mm (1.02 in.)

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 Front disc runout 0.03 mm ( 0.0012 in.)
Front disc thickness variation 0.005 mm (0.0002 in.)
Rear disc brake pad thickness 2.0 mm (0.079 in.)
Rear disc thickness 18.4 mm (0.724 in.)
Parking brake drum I.D. 191 mm (7.52 in.)
Parking brake lining thickness 1.5 mm (0.059 in.)

LUBRICANTS
Items Recommended lubricant Quantity
Brake fluid DOT 3 or equivalent As required
Brake pedal bushing and brake Chassis grease SAE J310, NLGI No.0 As required
pedal bolt
Joint pin Wheel bearing grease SAE J310, NLGI No.2 As required
Parking brake shoe and backing Bearing grease, NLGI No.0-1 As required
plate contact surfaces

Brake System > Brake System > Description and Operation

DESCRIPTION
The EBD system (Electronic Brake force Distribution) as a sub-system of the ABS system is to control the effective adhesion
utilization by the rear wheels.
It further utilizes the efficiency of highly developed ABS equipment by controlling the slip of the rear wheels in the partial
braking range.
The brake force is moved even closer to the optimum and controlled electronically, thus dispensing with the need for the
proportioning valve.
The proportioning valve, because of a mechanical device, has limitations to achieve an ideal brake force distribution tothe
rear wheels as well as to carry out the flexible brake force distribution proportioning to the vehicle load or weight increasing.
And in the event of malfunctioning, driver cannot notice whether it fails or not.
EBD controlled by the ABS Control Module, calculates the slip ratio of each wheel at all times and controls the brake
pressure of the rear wheels not to exceed that of the front wheels.
If the EBD fails, the EBD warning lamp (Parking brake lamp) lights up.

ADVANTAGES
- Function improvement of the base-brake system.
- Compensation for the different friction coefficients.
- Elimination of the proportioning valve.
- Failure recognition by the warning lamp.

Comparison between Proportioning valve and EBD

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 Brake System > Brake System > Brake Booster > Repair procedures
REMOVAL
1. Remove master cylinder and gasket.
2. Disconnect vacuum hose from the booster.

3. Remove the shift knock cable (A/T) and then remove joint pin and snap pin.

4. Remove the lock nut and then remove brake booster.

INSTALLATION
1. When installing the booster assembly, replace the packing of each end of booster installation holder.
2. Insert the booster and tighten the nut.

Tightening torque :
19 - 26 N·m (1.9 - 2.6 kg-m, 13 - 18 lb-ft)

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 3. Connect the booster push rod and brake pedal with a joint pin and install a snap pin to the joint pin and then install the
shift knock cable (A/T).

When installing the snap pin, A new one must be used.

4. Adjust push rod length

(1) Insert the gasket onto the master cylinder.
(2) Put the SST onto the gasket and tighten the adjusting bolt until the bolt touches the bottom of the push rod hole.

(3) Apply 500 mmHg vacuum with a vacuum pump.

(4) Invert the SST used in step 2 and place it on the booster.

(5) Check whether the clearance between the edge of the adjust bolt and the push rod of the booster is 1.2 - 1.7 mm
(0.047 - 0.067 in.)
If it is not 1.2 - 1.7 mm (0.047 - 0.067 in.), loosen the lock nut of the push rod, and turn the push rod to make the
adjustment.

Permissible play :
1.2 - 1.7 mm (0.047 - 0.067 in.)

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 5. Install the master cylinder.

Tightening torque :
10-16 Nm (1.0-1.6 kg-m, 7-11 lb-ft)

6. Connect the vacuum hose to the brake booster.

7. After filling the brake reservoir with brake fluid, bleed the system.
8. Check for fluid leakage.
9. Check and adjust the brake pedal for proper operation.
10. After installing, apply grease to the contact parts of the joint pin and brake pedal.

Brake System > Brake System > Master Cylinder > Repair procedures
REMOVAL
1. Detach the brake tubes from the master cylinder, and then install the plug.

Do not allow brake fluid to remain on a painted surface. Wash it off immediately.

2. Remove the master cylinder mounting nuts and then remove the master cylinder.

INSTALLATION
1. Install the master cylinder on the brake booster with 2 nuts.

Tightening torque
Master cylinder installation nut :
10-16 Nm (100-160 kg·cm, 7-11 lb·ft)

2. Connect 2 brake tubes and the brake fluid level warning connector.

Tightening torque
Brake tube flare nut :
13-22 (130-220 kg·cm, 9.5-15 in.)

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 DISASSEMBLY
1. Remove the reservoir cap and drain the brake fluid into a suitable container.
2. Remove the reservoir from the master cylinder.
3. Using a snap ring pliers, remove the retainer ring.

1. Remove the bolt with the primary piston pushed completely using a screwdriver. Remove the primary piston assembly.
2. Remove the bolt with the secondary piston pushed completely using a screwdriver. Remove the secondary piston
assembly.

Do not disassemble the primary and secondary piston assembly.

INSPECTION
1. Check the master cylinder bore for rust or scratch.
2. Check the master cylinder for wear or damage. If necessary, clean or replace the cylinder.

1. If the cylinder bore is damaged, replace the master cylinder assembly.

2. Wash the contaminated parts in alchohol.

REASSEMBLY

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 1. Apply genuine brake fluid to the rubber parts of the cylinder kit and grommets.

1. Carefully insert the springs and pistons in the proper direction.

2. Press the piston with a screwdriver and install the retainer ring.

1. With the piston pushed completely by a screwdriver, install the bolt.

Tightening torque :
7-10 N·m (0.7-1.0 kg-m, 5-7 lb-ft)

2. Mount two grommets.

3. Install the reservoir on the cylinder.

Tightening torque :
1-1.5 N·m (0.1-0.15 kg-m, 0.7-1.0 lb-ft)

Brake System > Brake System > Proportioning Valve > Repair procedures
INSPECTION
1. Connect the two oil pressure gauges 9810 kPa (100 kg/cm², 1422 psi) to the outlet valve of front and rearbrake.

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 2. Bleed the air from the brake system.
3. Depress the brake pedal until the front brake pressure equal to A; then record rear brake pressure A'.
4. Depress the brake pedal again, and apply additional pressure until the pressure equal to B; then record pressure B'.
SPECIFICATIONS (DYNAMIC CONDITION)

Slope (tan θ) Split point

11.3 26 bar

Front brake pressure Rear brake pressure

A:26(369.8) A':26(369.8)
B:80(1137.8) B':40(568.9)

5. If the test value exceeds standard value, replace the proportioning valve.

Tightening torque
35-55 N·m (3.5-5.5 kg-m, 25-40 lb-ft)

Brake System > Brake System > Brake Line > Components and Components Location
COMPONENTS

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 Brake System > Brake System > Brake Line > Repair procedures
REMOVAL

INSTALLATION
1. Install the brake hoses without twisting them.

When installing, be sure the brake hose does not contact edges, welding or moving parts.

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 2. Tighten to the specified torque as follows.

Items Torque N·m (kg-m, lb-ft)

Brake flare nut and brake hose 13 - 22 (1.3-2.2, 9-15)
Brake hose and caliper 17 - 20 (1.7-2.0, 12-14)
Air bleed screw 7 - 9 (0.7-0.9, 5-7)

INSPECTION
- Check the brake tubes for cracks, crimps and corrosion.
- Check the brake hoses for cracks, damaged and oil leakage.
- Check the brake tube flare nuts for damage and oil leakage.

Brake System > Brake System > Brake Pedal > Components and Components Location
COMPONENTS

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 Brake System > Brake System > Brake Pedal > Repair procedures
REMOVAL
1. Remove the stop lamp switch connector.
2. Remove the joint pin and snap pin.

3. Remove the nut and then remove the brake pedal.

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 INSTALLATION
1. Installation is the reverse of removal.

Nut tightening torque :

20-35 N·m (2.0-3.5 kg-m, 14-25 lb-ft)

Coat the inner surface of the bushings with the specified grease.
Specified grease :
Chassis grease LiG-2

2. Before inserting the joint pin, apply the specified grease to the joint pin.

INSPECTION
1. Check the bushing for wear.
2. Check the brake pedal for bending or twisting.
3. Check the brake pedal return spring for damage.
4. Check all parts for crack and wear.

Brake System > Brake System > Front Disc Brake > Repair procedures
INSPECTION AND REPLACEMENT OF FRONT DISC BRAKE PAD
1. Check the brake pad thickness through the caliper body inspection hole.

Pad lining thickness

Standard value : 10.5 mm (0.413 in.)
Service limit : 2.0 mm (0.0787 in.)

1. If the pad lining thickness is out of specification, left and right pads must be replaced as a complete set.
2. When the thickness difference between the left pad and right pad is large, check the sliding condition of the
piston, the lock pin and theguide pin.

2. Remove the guide pin, lift the caliper assembly up and suspend it with a wire.

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 Be careful not to contaminate the lock pin and guide pin with grease.

3. Remove the following parts from the caliper support.

A. Pad and wear sensor assembly
B. Pad spring
C. Outer shim

INSTALLATION
1. Install the pad clips.
2. Install the pads on each pad clip.

1. All four pads must be replaced as a complete set.

2. When replacing the brake pads, check for deformation. When replacing the guide spring, use a new one or

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 thoroughly clean the used one.

3. Press-fit the piston with a hammer handle or the special tool (09581-11000).

1. Lower and insert the brake cylinder carefully so as not to damage the boot.
2. Tighten the two guide rod bolts to the specified torque.

Tightening torque
Guide rod bolt :
22 - 32 Nm (220 - 320 kg·cm, 16 - 24 lb·ft)

INSTALLATION
1. Install the pads and brake cylinder.
2. Install the brake hose to the caliper.

Tightening torque
17-20 Nm (170-200 kg·cm, 12-14 lb·ft)

3. Fill the brake reservoir with brake fluid.

4. Bleed the system.

DISASSEMBLY
Front disc brakes should be disassembled separately into the left and right as a set.
1. Remove the piston boot/piston.Blow compressed air into the brake hose seating hole so as to remove the piston and the
piston boot.

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 When removing the piston, blow air slowly, adjusting the heights of the two pistons to push them out equally.
The secondary piston should not be removed before the primary piston is removed completely. Otherwise the
secondary piston can't be removed.

2. Remove the piston seal.

(1) Remove the piston seal with your finger.

Do not use a screwdriver or another tool because it may damage the cylinder.

(2) Clean the piston surface and inner cylinder using alcohol or the specified brake fluid.

Brake fluid : DOT 3 or DOT 4

INSPECTION
FRONT BRAKE THICKNESS CHECK
1. Remove all rust and contamination from the disc surface, and then measure the disc thickness at 4 positions at least.

Front brake disc thickness

Standard value : 28mm (1.10 in.)
Limit : 26mm (1.02 in.)

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 2. Thickness variation should not exceed 0.005mm (circumference) and 0.05mm (radius) at any directions.
3. If wear exceeds the limit, replace the discs and pad assembly for left and right of the vehicle.

FRONT BRAKE DISC RUNOUT CHECK

1. Remove the caliper support, then raise the caliper assembly upward and suspend with a wire.

Tightening torque :
65-75 N·m (6.5-7.5 kg·m, 47-54 lb·ft)

2. Place a dial gauge about 5mm (0.2 in.) from the outer circumference of the brake disc, and measure the runout of the
disc.

Brake disc runout

Limit : 0.03mm (0.0012 in.) or less

Fix the disc to the hub by tightening the nut.

FRONT BRAKE DISC RUN OUT CORRECTION

1. If the runout of the brake disc is equivalent to or exceeds the limit specification, replace the disc and hub, and then
measure the runoutagain.
(1) Before removing the brake disc, chalk both sides of the screw on the side at which the runout is greatest.

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 (2) If it is exceeds the limit, disassemble the hub knuckle and check each part.
(3) If the runout does not exceed the limit specification, install the brake disc after turning it 180° from the chalk mark,
and then check therunout of the brake disc again.

2. If the runout cannot be corrected by changing the position of the brake disc, replace the brake disc.

INSPECTION
1. Check the cylinder for wear, damage and rust.
2. Check the piston surface for wear, damage and rust.
3. Check the caliper body and sleeve for wear.
4. Check that grease is applied, and the pad and backing metal are not damaged.
5. Check the pad wear. Measure the pad thickness and replace it if it is less than the specified value.

Pad thickness
Specification : 10.5 mm (0.413 in.)
Service limit : 2.5 mm (0.098 in.)

REASSEMBLY
1. Clean all components with isopropyl alcohol except for the pad and shim.
2. Install the piston seal.
3. After applying the specified brake fluid to the piston outer surface, install the piston into the cylinder.
4. Install the piston boot.

5. Install the guide pin boots and guide pin.

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 Brake System > Brake System > Rear Disc Brake > Repair procedures
REMOVAL
1. Remove the wheel.
2. Remove the guide bolt, lift up the caliper assembly, and remove the pad assembly.

DISASSEMBLY SERVICE POINT

1. Remove the piston boot/piston.
Wrap the caliper body with a rag. Blow compressed air into the brake hose, and remove the piston and the piston boot.

Blow air slowly.

2. Remove the piston seal.

(1) Remove the piston seal with your finger.

Do not use a screwdriver or another tool in order to avoid damage the inside of the cylinder.

(2) Clean the piston surface and the inside of the cylinder using trichloro-ethylene, alcohol or the specified brake fluid.

Brake fluid : DOT 3 or DOT 4

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 REMOVAL (CALIPER)
1. Remove the rear wheel.
2. Remove the caliper assembly.
3. Remove the brake hose from the caliper.

INSTALLATION
1. Before replacing the brake pads, drain brake fluid from the master cylinder reservoir until it remains half full.
2. Remove the brake pad by turning the piston in the housing assembly. Using the special tool (09581-11000), remove the
piston.

3. Install two caliper guide rods and tighten to a torque of 22-32 Nm (220-320 kg·cm, 16-23 lb·ft)
4. After filling the master cylinder reservoir with the fluid, bleed the brake line.

Recommended brake fluid : DOT 3 or DOT 4

DISASSEMBLY (CALIPER)
1. Remove the pad.
2. Remove the piston boot from the housing, and then remove the piston.

Using a wire hanger or equivalent, remove the caliper so as not to damage the brake hose.

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 3. Remove the piston by applying compressed air through the brake hose fitting.

Do not place your fingers in front of the piston when using compressed air.

4. Remove the piston seal carefully so as not to damage the cylinder wall.
5. Clean all removed parts with the specified fluid.

Item Specified fluid

Metal section Trichloroethylene, alcohol or brake fluid
Piston seal If the oil level is low, add fluid (about 70cc).
Piston boot and other rubber parts Alcohol

Rubber parts should be replaced with new ones but if you want to reuse them, don't put them in alcohol for more
thanthirty minutes.

INSPECTION
1. Check the cylinder for wear, damage and rust.
2. Check the piston surface for wear, damage and rust.
3. Check the caliper body and sleeve for wear.
4. Check that grease is adhesive, and the pad and backing metal are damaged.
5. Check the pads for wear or oil contamination and replace if necessary.

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 The pads for the right and left wheels should be replaced at the same time.

Pad thickness wear limit : 2.0mm (0.08 in.)

6. Check for worn or damaged dust boots. If dust or mud had entered the caliper assembly through the seal, the caliper
assembly must be replaced orrepaired.

INSPECTION (CALIPER)
1. Check the piston and its inside for wear, damage and rust.
Replace the damaged parts if necessary.
2. Check the piston seal, boot, and pin insulators for wear and damage.

INSTALLATION (CALIPER)
1. Install the caliper mounting bolts.

Tightening torque :
65-75 N·m (6.5-7.5 kg-m, 47-54 lb-ft)

2. Refer to "Brake pad installation" for detail.

3. Install the brake hose connector

Tightening torque :
17-20 N·m (1.7-2.0 kg-m, 12-14 lb-ft)

4. Install the caliper guide bolt.

Tightening torque :
22-32 N·m (2.2-3.2 kg-m, 16-23 lb-ft)

5. Bleed the system.

When replacing the piston seal, check the pedal stroke.If the pedal stroke is too excessive, the piston may not retain
the piston seal.
Adjust as follows :

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 1. After removing the pad from the piston, push the piston into the cylinder 3-5mm. Put a lever or steel plate (1mm
x 0.3m) between the piston and disc, being careful not to damage the contact surface of the disc or the
pistonend.
2. Install the pad. To restore the brake pedal to the original position, step on it 2-3 times.
3. Repeat the above procedure more than 5 times and move the piston outward and inward to assure that the
piston seal is properly installed.
4. Before driving a vehicle, step on the brake pedal and release it several times.
5. Perform the road test.

REASSEMBLY (CALIPER)
1. When disassembling the caliper assembly, use a new piston seal and boot.
2. Apply the recommended fluid to the bearing part of the piston seal and piston. Insert the piston seal into grooves inside
the caliper, being carefulnot to twist the seal.

Item Recommended fluid Quantity

Piston seal Brake fluid (DOT3, DOT4) As required
Inside of piston cylinder Brake fluid (DOT3, DOT4) As required
Piston boot Brake fluid (DOT3, DOT4) As required
Locating pin insulator White silicone grease As required

3. Install the piston boot to the piston.Confirm that the concave part of the piston is placed outward and the boot is seated in
grooves of the piston completely.

4. Install the piston and boot in the caliper housing. Insert the boot flange in the caliper housing and check that the boot fits
in grooves aroundthe piston.
5. Apply the recommended oil to the inside of the locating pin insulator.

Brake System > Parking Brake System > Parking Brake Assembly > Components and
Components Location
COMPONENT

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 Brake System > Parking Brake System > Parking Brake Assembly > Repair procedures
REMOVAL (LEVER)
1. Remove the console
2. Loosen the lever adjusting nut
3. Detach the cable from the lever
4. Remove the lever mounting bolts and nuts
5. Disconnect the parking brake switch connector

REMOVAL (CABLE)
1. Remove the console
2. Loosen the lever adjusting nut
3. Detach the cable from the lever
4. Remove the cable clip which connect the cable to the body and install the axle housing
5. Remove the parking cable from the operating lever

REMOVAL (BRAKE SHOE)

1. Remove rear disk caliper assembly.(Refer to "Rear disk brake")
2. Before removing the brake disk, chalk both sides of the screw.

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 Reduce the shoe gap by turning the adjuster with appropriate tool.

3. After turning the pin to coincide with hole of spring cap, remove the shoe hold spring.

4. Remove the lower return spring.

5. Remove the parking brake cable mounting nuts.

6. Remove the parking brake shoes.

ASSEMBLY (BRAKE SHOE)

1. Install the parking brake cable to the operating lever and then install the operating lever as shown in the figure.

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 2. Tighten the parking brake cable mounting nuts.

Tightening torque
47-54 N·m (4.7-5.4 kg·m, 34-39 lb·ft)

3. Apply the grease to the area in the figure.

4. Install the upper return spring and brake shoes

5. Turn the adjuster in clockwise direction and install.

irection of adjuster turn

Clockwise : narrowing the shoe gap.
Counterclockwise : widen the shoe gap.

6. Install the lower return spring.

7. Install the shoe hold spring with a plier.

8. Install the disk brake and then align the mark while tightening the screw.

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 INSPECTION
1. Measure the drum inside diameter.

Standard value : 190mm (7.48 in.)

Service limit : 191mm (7.52 in.)

If the brake drum inner diameter is greater than the service limit, replace the brake drum.

2. Measure the brake lining thickness.

Standard value : 4mm (0.157 in.)

Service limit : 1.5mm (0.059 in.)

If the brake lining thickness is less than the service limit, replace the brake lining.

3. Inspect the brake lining and drum for proper contact.

ADJUSTMENT PROCEDURE
Parking brake stroke adjustment
1. Pull the brake lever with force of 100N (10kg, 22lbs) and count the number of notches.

Parking brake stroke

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 Standard value : 4 ~ 6 clicks

2. If the parking brake stroke is out of the standard value, adjust it as follows :
(1) Loosen the adjusting nut to release the parking brake cable.
(2) Remove the adjusting hole plug, and then turn the adjuster in the direction of the arrow. To prevent the disc from
rotating, use a screwdriver (flat tip(-)).

(3) Turn the adjuster 5 notches in the opposite direction of arrow.

(4) Turn the adjuster nut to adjust the parking brake stroke to the specification.

If the number of parking brake notches is less than the specification, loosen the adjusting nut and readjust.

(5) After adjusting the parking brake stroke, raise the rear of vehicle with a jack.
(6) Check that the rear brakes do not drag by turning the rear wheel when the parking brake lever is released.

PARKING BRAKE BED-IN (DIH)

1. When the parking brake lever is pulled with force of 15 kg(f), drive the vehicle 500m at 60 kph, or accelerate to 60 kph on
a roll device.
2. Repeat step 1 more than 2 times.
3. Parking should be possible on a hill of 30% with gross vehicle weight.

• BED-IN : Procedure of operating the vehicle with parking brakes active for the purpose of setting the position of the
brake pads.
• DIH (Drum in hat) : Disk brake type parking system.

Brake System > ABS(Anti-Lock Brake System) > Schematic Diagrams

ABS CIRCUIT DIAGRAM(1)

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 ABS CIRCUIT DIAGRAM(2)

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 ECU CONNECTOR INPUT/OUTPUT(ABS)

Current max.permissible min.leakage

Wire No. Designation wire resistance resistance R_P
max min R_L (mΩ) (kΩ)
1 Ground for recirculation pump 20~39 A 10 A 10
Ground for solenoid valves and
4 5~15 A 2.5 A 10
ECU
2 Voltage supply for pump motor 20~39 A 10 A 10 200
3 Voltage supply for solenoid valves 5~15 A 2A 10 200
18 Voltage for hybrid ECU 1A 500 mA 60 200

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 signal wheel speed sensor FL, FR, 200 to ground
5,10,17,19 16 mA 6 mA 250
RL,RR 1.5M to bat
Voltage supply for the active wheel 200 to ground
16,9,6,8 10 mA 6 mA 250
speed sensor FL,FR, RL, RR 1.5M to bat
11 Diagnostic wire K 6 mA 3 mA 250 200
22 ABS-warning lamp actuation 30 mA 5 mA 250 200
12 EBD-warning lamp actuation 30 mA 5 mA 250 200
20 brake light switch 10 mA 5 mA 250 200
15 CAN Low 30 mA 20 mA 250 200
26 CAN High 30 mA 20 mA 250 200

ABS HECU CONNECTOR

Connector terminal
Specification Condition
Number Description
Current range: Min.10A
1 Ground for recirculation pump Always
Max.20~39A
Ground for solenoid valves and Current range: Min.2.5A
4 Always
ECU Max.5~15A
2 Voltage supply for pump motor
Battery voltage Always
3 Voltage supply for solenoid valves
16
9 Voltage supply for the active wheel
Battery voltage IG ON
6 speed sensor FL,FR, RL, RR

8
5
10 signal wheel speed sensor FL, FR, Voltage(High) : 0.89~1.26 V
On driving
17 RL,RR Voltage (Low) : 0.44~0.63 V

19
Voltage (High) ≥ 0.8 * IG ON On SCAN TOOL
11 Diagnostic wire K
Voltage (Low) ≤ 0.2 * IG ON communication
18 Voltage for hybrid ECU Battery voltage KEY ON/OFF
Voltage (High) ≥ 4.5 * IG ON
20 Brake light switch BRAKE ON/OFF
Voltage (Low) ≤ 2.0 * IG ON

SENSOR OUTPUT ON SCAN TOOL(ABS)

Description Abbreviation Unit Remarks

1 Vehicle speed sensor VEH. SPD Km/h
2 Battery voltage BATT. VOL V
3 FL Wheel speed sensor FL WHEEL Km/h
4 FR Wheel speed sensor FR WHEEL Km/h
5 RL Wheel speed sensor RL WHEEL Km/h
6 RR Wheel speed sensor RR WHEEL Km/h
7 ABS Warning lamp ABS LAMP -
8 EBD Warning lamp EBD LAMP -
9 Brake Lamp B/LAMP -
10 Pump relay state PUMP RLY -

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 11 Valve relay state VALVE RLY -
12 Motor MOTOR -
13 Front Left valve(IN) FL INLET -
14 Front Right valve (IN) FR INLET -
15 Rear Left valve (IN) RL INLET -
16 Rear Right valve (IN) RR INLET -
17 Front Left valve (OUT) FL OUTLET -
18 Front Right valve (OUT) FR OUTLET -
19 Rear Left valve(OUT) RL OUTLET -
20 Rear Right valve (OUT) RR OUTLET -

Brake System > ABS(Anti-Lock Brake System) > Description and Operation
DESCRIPTION
This specification applies to HCU(Hydraulic Control Unit) and ECU(Electronic Control Unit) of the HECU.(Hydraulic and
Electronic Control Unit)
This specification is for the wiring design and installation of ABS/TCS/ESC ECU.
This unit has the functions as follows.
- Input of signal from Pressure sensor, Steering angle sensor, Yaw & Lateral G sensor, the wheel speed sensors attached
to each wheel.
- Control of braking force / traction force/ yaw moment.
- Failsafe function.
- Self diagnosis function.
- Interface with the external diagnosis tester.
Installation position : engine compartment
- Brake tube length from Master cylinder port to HECU inlet port should be max. 1m
- The position should not be close to the engine block and not lower than the wheel.

OPERATION
The ECU shall be put into operation by switching on the operating voltage (IGN).
On completion of the initialization phase, the ECU shall be ready for operation.
In the operating condition, the ECU shall be ready, within the specified limits (voltage and temperature), to process the
signals offered by the various sensors and switches in accordance with the control algorithm defined by the software and to
control the hydraulic and electrical actuators.

Wheel Sensor signal processing

The ECU shall receive wheel speed signal from the four active wheel sensors.
The wheel signals are converted to voltage signal by the signal conditioning circuit after receiving current signal from active
wheel sensors and given as input to the MCU.

Solenoid Valve Control

When one side of the valve coil is connected to the positive voltage that is provided through the valve relay and the other
side is connected to the ground by the semiconductor circuit, the solenoid valve goes into operation.
The electrical function of the coils are always monitored by the valve test pulse under normal operation conditions.

Voltage limits
- Overvoltage
When overvoltage is detected(above 16.8 V), the ECU switches off the valve relay and shuts down the system.
When voltage is returned to operating range, the system goes back to the normal condition after the initialization phase.
- Undervoltage
In the event of undervoltage(below 9.3 V), ABS control shall be inhibited and the warning lamp shall be turned on.
When voltage is returned to operating range, the warning lamp is switched off and ECU returns to normal operating
mode.

Pump Motor Checking

The ECU performs a pump motor test at a speed of 30km/h(18.6mph) once after IGN is switched on.

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 Diagnostic Interface
Failures detected by the ECU are encoded on the ECU, stored in a EEPROM and read out by diagnostic equipment when
the ignition switch is turned on.
The diagnosis interface can also be used for testing the ECU during production of the ECU and for actuating the HCU
(Air-bleeding line or Roll and Brake Test line).

Warning Lamp module

1. ABS WARNING LAMP MODULE

The active ABS warning lamp module indicates the selftest and failure status of the ABS.The ABS warning lamp shall be
on:
A. During the initialization phase after IGN ON. (continuously 3 seconds).
B. In the event of inhibition of ABS functions by failure.
C. During diagnostic mode.
D. When the ECU Connector is separated from ECU.
2. PARKING/EBD WARNING LAMP MODULE
The active EBD warning lamp module indicates the selftest and failure status of the EBD.However, in case the Parking
Brake Switch is turned on, the EBD warning lamp is always turned on regardless of EBD functions.The EBD warning
lamp shall be on:
A. During the initialization phase after IGN ON. (continuously 3 seconds).
B. When the Parking Brake Switch is ON or brake fluid level is low.
C. When the EBD function is out of order.
D. During diagnostic mode.
E. When the ECU Connector is separated from ECU.

ABS CONTROL
1. NORMAL BRAKING without ABS

Inlet valve(EV) Outlet valve(AV) Pump motor

Operation Open Close OFF

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 EV : Inlet Valve
AV : Outlet Valve
LR : Rear left wheel
RF : Front right wheel
LF : Front left wheel
RR : Rear right wheel
PE : Pump motor

2. DECREASE MODE

Inlet valve(EV) Outlet valve(AV) Pump motor

Operation Close Open ON(Motor speed control)

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 EV : Inlet Valve
AV : Outlet Valve
LR : Rear left wheel
RF : Front right wheel
LF : Front left wheel
RR : Rear right wheel
PE : Pump motor

3. HOLD MODE

Inlet valve(EV) Outlet valve(AV) Pump motor

Operation Close Close ON(Motor speed control)

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 EV : Inlet Valve
AV : Outlet Valve
LR : Rear left wheel
RF : Front right wheel
LF : Front left wheel
RR : Rear right wheel
PE : Pump motor

4. INCREASE MODE

Inlet valve(EV) Outlet valve(AV) Pump motor

Operation Open Close ON(Motor speed control)

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 EV : Inlet Valve
AV : Outlet Valve
LR : Rear left wheel
RF : Front right wheel
LF : Front left wheel
RR : Rear right wheel
PE : Pump motor

Brake System > ABS(Anti-Lock Brake System) > Components and Components Location
COMPONENTS

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 Brake System > ABS(Anti-Lock Brake System) > Troubleshooting
STANDARD FLOW OF DIAGNOSTIC TROUBLESHOOTING

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 NOTES WITH REGARD TO DIAGNOSIS
The phenomena listed in the following table are not abnormal.

Phenomenon Explanation
System check sound When starting the engine, a thudding sound can sometimes be heard coming from
inside the engine compartment. This is because the system operation check is being
performed.
ABS operation sound 1. Sound of the motor inside the ABS hydraulic unit operation (whine).
2. Sound is generated along with vibration of the brake pedal (scraping).
3. When ABS operates, sound is generated from the vehicle chassis due to
repeated brake application and release
(Thump : suspension; squeak: tires)
ABS operation (Long braking For road surfaces such as snow-covered and gravel roads, the braking distance for
distance) vehicles with ABS can sometimes be longer than that for other vehicles. Accordingly,
advise the customer to drive safely on such roads by lowering the vehicle speed.
Diagnosis detection conditions can vary depending on the diagnosis code. When checking the trouble symptom after the
diagnosis code has been erased, ensure that the requirements listed in "Comment" are met.

SCAN TOOL CHECK

1. Turn the ignition switch OFF.
2. Connector the Scan tool to the 16P data link connector located the driver's side kick panel.

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 3. Turn the ignition switch ON.
4. Check for DTC using the Scan tool
5. After completion trouble of the repair or correction of the problem, erase the stored fault codes using the scan tool.
6. Disconnect the Scan tool from the 16P data link connector.

ABS CHECK SHEET

PROBLEM SYMPTOMS TABLE

Symptom Suspect Area
ABS does not operate. Only when 1. -4. are all normal and the problem is still
occurring, replace the HECU.
1. Check the DTC reconfirming that the normal code is

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 output.
2. Power source circuit.
3. Speed sensor circuit.
4. Check the hydraulic circuit for leakage.
ABS does not operate intermittently. Only when 1. -4. are all normal and the problem is still
occurring, replace the ABS actuator assembly.
1. Check the DTC reconfirming that the system is operating
to specifications.
2. Wheel speed sensor circuit.
3. Stop lamp switch circuit.
4. Check the hydraulic circuit for leakage.
Communication with Scan tool is not possible. 1. Power source circuit
(Communication with any system is not possible) 2. Diagnosis line
Communication with Scan tool is not possible. 1. Power source circuit
(Communication with ABS only is not possible) 2. Diagnosis line
3. HECU
When ignition key is turned ON (engine OFF), the ABS 1. ABS warning lamp circuit
warning lamp does not light up. 2. HECU
Even after the engine is started, the ABS warning lamp 1. ABS warning lamp circuit
remains ON. 2. HECU

During ABS operation, the brake pedal may vibrate or may not be able to be depressed. Such phenomena are due to
intermittent changes in hydraulic pressure inside the brake line to prevent the wheels from locking and is not an
abnormality.

DETECTING CONDITION

Trouble Symptoms Possible Cause

Brake operation varies depending on driving conditions and road surface - Inoperative power source circuit
conditions, so diagnosis can be difficult.However if a normal DTC is - Inoperative wheel speed sensor circuit
displayed, check the following probable cause. When the problem is still - Inoperative hydraulic circuit for leakage
occurring, replace the ABS control module.
- Inoperative HECU

INSPECTION PROCEDURES
DTC INSPECTION
1. Connect the Scan Tool with the data link connector and turn the ignition switch ON.
2. Is the ABS MIL on?

▶ Check the power source circuit.

▶ Read DTC and troubleshoot said DTC.

CHECK THE POWER SOURCE CIRCUIT.

1. Disconnect the connector from the ABS control module.
2. Turn the ignition switch ON, measure the voltage between terminal 18 of the ABS control module harness side connector
and body ground.

Specification: approximately B+

Is the voltage within specification?

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 ▶ Check the ground circuit.

▶ Check the harness or connector between the fuse (10A) in the engine compartment junction block and the ABS control
module. Repair if necessary.

CHECK THE GROUND CIRCUIT.

1. Disconnect the connector from the ABS control module.
2. Check for continuity between terminals 1,4 of the ABS control module harness side connector and ground point.
Is there continuity?

▶ No further action is required.

▶ Repair an open in the wire and ground point.

CHECK THE HYDRAULIC CIRCUIT.

Refer to the DTC troubleshooting procedures.
Is the system operating to specifications?

▶ Check for DTC troublecodes.

▶ Check the hydraulic circuit for leakage.

CHECK THE HYDRAULIC CIRCUIT FOR LEAKAGE.

Refer to the hydraulic lines.
Inspect leakage of the hydraulic lines.
Is the system operating to specifications?

▶ The problem is still occurring, replace the ABS control module.

▶ Replace the leaking hydraulic lines.

DETECTING CONDITION
Trouble Symptoms Possible Cause

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 Brake operation varies depending on driving conditions and road surface - Inoperative power source circuit
conditions, so diagnosis can be difficult.However if a normal DTC is - Inoperative wheel speed sensor circuit
displayed, check the following probable cause. When the problem is still - Inoperative hydraulic circuit for leakage
occurring, replace the ABS control module.
- Inoperative HECU

INSPECTION PROCEDURES
DTC INSPECTION
1. Connect the Scan Tool with the data link connector and turn the ignition switch ON.
2. Is the ABS MIL on?

▶ Check the wheel speed sensor circuit.

▶ Read DTC and troubleshoot said DTC.

CHECK FOR DTC's.

Refer to the DTC troubleshooting procedures.
Is the system operating to specifications?

▶ Check the stop lamp switch circuit.

▶ Repair or replace the wheel speed sensor.

CHECK THE STOP LAMP SWITCH CIRCUIT.

1. Check that stop lamp lights up when brake pedal is depressed and turns off when brake pedal is released.
2. Measure the voltage between terminal 20 of the ABS control module harness side connector and body ground when
brake pedal is depressed.

Specification: approximately B+

Is the voltage within specification?

▶ Check for DTC troublecodes.

▶ Repair the stop lamp switch. Repair an open in the wire between the ABS control module and the stop lamp switch.

CHECK THE HYDRAULIC CIRCUIT FOR LEAKAGE.

Refer to the hydraulic lines.
Inspect leakage of the hydraulic lines.
Is the system operating to specifications?

▶ The problem is still occurring, replace the ABS control module.

▶ Replace the leaking hydraulic lines.

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 DETECTING CONDITION

Trouble Symptoms Possible Cause

Possible malfunction in the power supply system (including ground) for - An open in the wire
the diagnosis line. - Poor ground
- Inoperative power source circuit

INSPECTION PROCEDURES
CHECK THE POWER SUPPLY CIRCUIT FOR THE DIAGNOSIS
Measure the voltage between terminal 9 of the data link connector and body ground.

Specification: approximately B+

Is voltage within specification?

▶ Check the ground circuit for the diagnosis.

▶ Repair an open in the wire. Check and replace fuse (15A) from the engine compartment junction block.

CHECK THE GROUND CIRCUIT FOR THE DIAGNOSIS

Check for continuity between terminal 5 of the data link connector and body ground.
Is there continuity?

▶ Repair an open in the wire between terminal 5 of the data link connector and ground point.

DETECTING CONDITION

Trouble Symptoms Possible Cause

When communication with Scan Tool is not possible, the cause may be - An open in the wire
probably an open in the HECU power circuit or an open in the diagnosis - Inoperative HECU
output circuit. - Inoperative power source circuit

INSPECTION PROCEDURES
CHECK FOR CONTINUITY IN THE DIAGNOSIS LINE
1. Disconnect the connector from the ABS control module.

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 2. Check for continuity between terminals 11 of the ABS control module connector and 1 of the data link connector.
Is there continuity?

▶ Check the power source of ABS control module.

▶ Repair an open in the wire.

CHECK THE POWER SOURCE OF ABS CONTROL MODULE

1. Disconnect the connector from the ABS control module.
2. Turn the ignition switch ON, measure the voltage between terminal 18 of the ABS control module harness side connector
and body ground.

Specification: approximately B+

Is voltage within specification?

▶ Check for poor ground.

▶ Check the harness or connector between the fuse (10A) in the engine compartment junction block and the ABS control
module.Repair if necessary.

CHECK FOR POOR GROUND

Check for continuity between terminal 5 of the data link connector and ground point.

▶ Replace the ABS control module and recheck.

▶ Repair an open in the wire or poor ground.

DETECTING CONDITION

Trouble Symptoms Possible Cause

When current flows in the HECU the ABS warning lamp turns from ON to - Inoperative ABS warning lamp bulb
OFF as the initial check.Therefore if the lamp does not light up, the - Blown No.2 fuse (10A) in the engine
cause may be an open in the lamp power supply circuit, a blown bulb, an compartment junction block
open in the both circuits between the ABS warning lamp and the HECU, - Inoperative ABS warning lamp module
and the inoperative HECU.
- Inoperative HECU

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 INSPECTION PROCEDURES
PROBLEM VERIFICATION
Disconnect the connector from the ABS control module and turn the ignition switch ON.
Does the ABS warning lamp light up?

▶ It is normal. Recheck the ABS control module.

▶ Check the power source for the ABS warning lamp.

CHECK THE POWER SOURCE FOR THE ABS WARNING LAMP

1. Disconnect the instrument cluster connector and turn the ignition switch ON.
2. Measure the voltage between terminal 13 of the cluster harness side connector and body ground.

Specification: approximately B+

Is voltage within specification?

▶ Repair bulb or instrument cluster assembly.

▶ Check for blown fuse.

CHECK FOR BLOWN FUSE

Check continuity of fuse (10A) from the engine compartment junction block.
Is there continuity?

▶ Repair an open in the wire between ABS fuse and 13 of cluster connector.

▶ Replace the blown fuse.

DETECTING CONDITION

Trouble Symptoms Possible Cause

If the HECU detects trouble, it lights the ABS warning lamp while at the - An open in the wire
same time prohibiting ABS control. At this time, the HECU records a DTC - Inoperative instrument cluster assembly
in memory.Even though the normal code is output, the ABS warning - Inoperative ABS warning lamp module
lamp remains ON, then the cause may be probably an open or short in
- Inoperative HECU
the ABS warning lamp circuit.

INSPECTION PROCEDURES
CHECK DTC OUTPUT.
1. Connect the Scan Tool to the 16P data link connector located behind the driver's side kick panel.
2. Check the DTC output using Scan Tool.
Is DTC output?

▶ Repair circuit indicated by code output.

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 ▶ Check instrument cluster.

CHECK INSTRUMENT CLUSTER

Disconnect the cluster connector and turn the ignition switch ON.
Does the ABS warning lamp remains ON?

▶ Replace the instrument cluster.

▶ Check for short to B+ in the wire.

CHECK FOR BATTERY VOLTAGE IN THE WIRE

Check for continuity in the wire between cluster and ABS control module.
Is there continuity?

▶ Replace the ABS control module and recheck.

▶ Repair an open in the wire between cluster and ABS control module.

BLEEDING OF BRAKE SYSTEM

1. Remove the reservoir cap and fill the brake reservoir with brake fluid.

If there is any brake fluid on any painted surface, wash it off immediately.

When pressure bleeding, do not depress the brake pedal.

Recommended fluid........ DOT3 or DOT4

2. Connect a clear plastic tube to the brake caliper bleeder plug and insert the other end of the tube into a half filled clear
plastic bottle.
3. Connect the scan tool to the data link connector located underneath the dash panel.

4. Select and operate according to the instructions on the scan tool screen.

You must obey the maximum operating time of the ABS motor with the scan tool to prevent the motor pump from
burning.

(1) Select Kia vehicle diagnosis.

(2) Select vehicle name.
(3) Select Anti-Lock Brake system.
(4) Select air bleeding mode.
(5) Press "YES" to operate motor pump and solenoid valve.

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 (6) Wait 60 sec. before operating the air bleeding again. (If not, you may damage the motor.)

5. Pump the brake pedal several times, and then loosen the bleeder screw until fluid starts to run out without bubbles. Start
with bleeder screw furthest away from master cylinder. Then close the bleeder screw.
6. Repeat step 5 until there are no more bubbles in the fluid for each wheel.

7. Tighten the bleeder screw.

Bleed screw tightening torque:

7~13 Nm (0.7 ~1.3 kgf·m, 5.1 ~ 9.4 lb-ft)

DIAGNOSTIC TROUBLE CODE CHART(DTC)

● : MIL ON ○ : MIL OFF

Warning lamp
DTC condition
Trouble description Etc.
CODE
EBD ABS ESC

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 C1101 Battery voltage high ● ● ●  
C1102 Battery voltage low ○/● ● ●  
C1200 Wheel speed sensor front-LH open/short ○/● ● ●  
C1201 Wheel speed sensor front-LH range / performance / intermittent ○/● ● ●  
C1202 Wheel speed sensor front-LH invalid/no signal ○/● ● ●  
C1203 Wheel speed sensor front-RH open/short ○/● ● ●  
C1204 Wheel speed sensor front-RH range / performance / intermittent ○/● ● ●  
C1205 Wheel speed sensor front-RH invalid/no signal ○/● ● ●  
C1206 Wheel speed sensor rear-LH open/short ○/● ● ●  
C1207 Wheel speed sensor rear-LH range / performance / intermittent ○/● ● ●  
C1208 Wheel speed sensor rear-LH invalid/no signal ○/● ● ●  
C1209 Wheel speed sensor rear-RH open/short ○/● ● ●  
C1210 Wheel speed sensor rear-RH range / performance / intermittent ○/● ● ●  
C1211 Wheel speed sensor rear-RH invalid/no signal ○/● ● ●  
C1213 Wheel speed frequency error ○/● ● ●  
C1235 Primary pressure sensor-electrical ○ ● ● ESC only
C1237 Primary pressure sensor-signal ○ ● ● ESC only
C1260 Steering angle sensor-signal ○ ○ ● ESC only
C1261 Steering angle sensor not calibrated ○ ○ ● ESC only
C1274 Longitudinal G sensor error ○ ● - ABS 4WD(EST)
C1275 Longitudinal G sensor Range/Performance error ○ ● - ABS 4WD(EST)
C1282 Yaw rate & lateral G sensor-electrical ○ ○ ● ESC only
C1283 Yaw rate & lateral G sensor-signal ○ ○ ● ESC only
C1503 ESC switch error ○ ○ ● ESC only
C1513 Brake switch error ○ ● ● ESC only
C1604 ECU(brake system) hardware error ● ● ●  
C1605 CAN hardware error ○ ○ ● ESC only
C1611 CAN time-out EMS ○ ○ ● ESC only
C1612 CAN time-out TCM ○ ○ ● ESC only
C1616 CAN bus off ○ ○ ● ESC only
C1623 CAN time-out SAS ○ ○ ● ESC only
C1625 CAN time-out ESC ○ ○ ● ESC only
C1626 Implausible Control ○ ● ● ESC only
C1627 CAN time-out 4WD ○ ○ ● 4WD
ABS TOD,
C1702 Variant Coding ● ● ●
ESC only
C2112 Valve relay error ○/● ● ●  
C2308 Front-LH Valve error (Inlet valve) ● ● ●  
C2312 Front-LH Valve error (Outlet valve) ● ● ●  
C2316 Front-RH Valve error (Inlet valve) ● ● ●  
C2320 Front-RH Valve error (Outlet valve) ● ● ●  
C2324 Rear-LH Valve error (Inlet valve) ● ● ●  
C2328 Rear-LH Valve error (Outlet valve) ● ● ●  
C2332 Rear-RH Valve error (Inlet valve) ● ● ●  

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 C2336 Rear-RH Valve error (Outlet valve) ● ● ●  
C2366 USV1 error ● ● ● ESC only
C2370 USV2 error ● ● ● ESC only
C2372 HSV1 error ● ● ● ESC only
C2374 HSV2 error ● ● ● ESC only
C2402 Motor electrical ● ● ●  

Brake System > ABS(Anti-Lock Brake System) > ABS Control Unit > Components and
Components Location
COMPONENTS

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 Brake System > ABS(Anti-Lock Brake System) > ABS Control Unit > Repair procedures
REMOVAL
1. Disconnect the battery(-) terminal.
2. Disconnect the brake tubes from the HECU.

Tightening torque Nm (kgf.m, lb-ft):

5.9 ~ 9.8 (0.6 ~ 1.0, 4.3 ~ 7.2)

3. Disconnect the HECU connector.

4. Remove the HECU by loosening the bracket mounting bolts.

Tightening torque Nm (kgf.m, lb-ft):

16.7 ~ 25.5 (1.7 ~ 2.6, 12.3 ~ 18.8)

• Never attempt to disassemble the HECU.

• The HECU must be protected during storage and transport, and must not be subjected to excessive shock.

INSTALLATION
1. Installation is the reverse of removal.
2. After installation, bleed the brake system. (Refer to ABS bleeding)

Brake System > ABS(Anti-Lock Brake System) > Front Wheel Speed Sensor > Components
and Components Location
COMPONENTS

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 Brake System > ABS(Anti-Lock Brake System) > Front Wheel Speed Sensor > Repair
procedures
INSPECTION
1. Measure the output voltage between the terminal of the wheel speed sensor and the body ground.

In order to protect the wheel speed sensor, when measuring output voltage, a 75Ω resistor must be used as shown.

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 2. Compare the change of the output voltage of the wheel speed sensor to the normal change of the output voltage as
shown below.

A. V_low : 0.44 V ~ 0.63 V

B. V_high : 0.885 V ~ 1.26 V
C. Frequency range : 1~2,500 Hz

Brake System > ABS(Anti-Lock Brake System) > Rear Wheel Speed Sensor > Components
and Components Location
COMPONENTS

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 Brake System > ABS(Anti-Lock Brake System) > Rear Wheel Speed Sensor > Repair
procedures
INSPECTION
1. Measure the output voltage between the terminal of the wheel speed sensor and the body ground.

In order to protect the wheel speed sensor, when measuring output voltage, a 75Ω resistor must be used as shown.

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 2. Compare the change of the output voltage of the wheel speed sensor to the normal change of the output voltage as
shown below.

A. V_low : 0.44 V ~ 0.63 V

B. V_high : 0.885 V ~ 1.26 V
C. Frequency range : 1~2,500 Hz

Brake System > ESP(Electronic Stability Program) System > Schematic Diagrams
ESC circuit DIAGRAM(1)

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 ESC circuit DIAGRAM(2)

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 ESC HECU CONNECTOR INPUT / OUTPUT

Connector Terminal
Specifications Conditions
No Description
Current range : Min-10 A
1 Ground(Pump) Always
Max-20 ~ 39 A
Current range : Min-2.5 A
4 Ground(Valve,ECU) Always
Max-5 ~ 15 A
2 Supply voltage(Pump)
Battery voltage Always
3 Supply voltage(Valve)
26 Wheel sensor voltage(FL)
Battery voltage IG ON
9 Wheel sensor voltage(FR)

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 6 Wheel sensor voltage(RL)
8 Wheel sensor voltage(RR)
5 Wheel sensor signal(FL)
10 Wheel sensor signal(FR) Voltage(High) : 0.89~1.26 V
RUNNING
27 Wheel sensor signal(RL) Voltage(Low) : 0.44~0.63 V

29 Wheel sensor signal(RR)

Voltage(High) : 0.8 * IG ON more SCAN TOOL
11 Diagnosis Input/oupput
Voltage(Low) : 0.2 * IG ON lower Communication
28 Ignition Battery voltage KEY ON/OFF
Voltage(High) : 0.6 * IG ON more
31 ESC Passive switch Switch ON/OFF
Voltage(Low) : 0.4 * IG ON lower
Voltage(High) : 4.1 V more
37 Yaw Rate Sensor Test IG ON
Voltage(Low) : 1 V lower
18 Yaw Rate Sensor Reference 2.464 V ~ 2.536 V IG ON
Yaw Rate Sensor Signal Offset voltage :2.5 V
16 IG ON
range : 0.35 V ~ 4.65 V(-100 ~ 100 °/s)
Offset voltage :2.5 V
20 Acceleration Sensor Signal IG ON
range : 0.35 V ~ 4.65 V(-1.8 g ~ 1.8 g)
15 Yaw Rate Sensor Ground GND LEVEL Always
not communicating:2.5 ± 0.5 V
35 CAN High communication :

IG ON

14 CAN Low

voltage(High) : 0.8 * IG ON more

30 BRAKE LIGHT SWITCH BRAKE ON/OFF
voltage(Low) : 0.3 * IG ON lower

Brake System > ESP(Electronic Stability Program) System > Description and Operation
description of ESC
Optimum driving safety now has a name : ESC, the Electronic Stability Control.
ESC recognizes critical driving conditions, such as emergency reactions in dangerous situations, and stabilizes the vehicle
by wheel-individual braking and engine control intervention with no needfor actuating the brake or the gas pedal.
ESC adds a further function known as Active Yaw Control (AYC) to the ABS, TCS, EBD and ESC functions. Whereas the
ABS/TCS function controls wheel slip during braking and engine control intervention.
This is achieved by wheel individual brake intervention and adaptation of the momentary engine torque with no need for any
action to be taken by the driver.
ESC essentially consists of three assemblies : the sensors, the electronic control unit and the actuators.
Of course, the stability control feature works under all driving and operating conditions. Under certain driving conditions, the
ABS/TCS function can be activated simultaneously with the ESC function in response to a command by the driver.
In the event of a failure of the stability control function, the basic safety function, ABS, is still maintained.

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 DESCRIPTION OF ESC CONTROL
ESC system includes ABS/EBD, TCS and AYC (Active yaw control) function.
ABS/EBD function : The ECU changes the active sensor signal (current shift) coming from the four wheel sensors to the
square waveform.By using the input of above signals, the ECU calculates the vehicle speed and the acceleration &
deceleration of the four wheels.And, the ECU judges whether the ABS/EBD should be actuated or not.
TCS function prevents the wheel slip of drive direction by adding the brake pressure and engine torque reduction via CAN
communication.TCS function uses the wheel speed sensor signal to determine the wheel slip as far as ABS function.
AYC function prevents unstable maneuver of the vehicle. To determine the vehicle maneuver, AYC function uses the
maneuver sensor signals(Yaw Rate Sensor, Lateral Acceleration Sensor, Steering Wheel Angle Sensor).If vehicle maneuver
is unstable (Over Steer or Under Steer), AYC function applies the brake pressure on certain wheel, and send engine torque
reduction signal by CAN.
After the key-on, the ECU continually diagnoses the system failure. (self-diagnosis)If the system failure is detected, the ECU
informs driver of the system failure through the BRAKE/ABS/ESC warning lamp. (fail-safe warning)

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 VARIANT CODING
The HECU is programmed with a variant code based on the vehicle powertrain configuration. This variant code is used to
determine the appropriate ESC calculations. Variant code programming should be performed whenever an HECU is
replaced.

PROCEDURE OF VARIANT CODING

1. Connect the scan tool to the data link connector located underneath the dash panel. Turn ign key to the ON position
2. Select vehicle name.
3. Select ANTI-LOCK BRAKE SYSTEM.
4. Select the variant coding.

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 5. Follow the next procedure according to the comment .

6. Confirm the condition , and then push the "REST".

7. If the procedure is finished, the screen is displayed as shown below.

8. IGN off.
9. IGN on.
10. The variant coding is completed.

• If the warning lamp(ESC, EBD, ABS) is illuminated, follow the "Variant coding" again.

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 • For the vehicle equipped 4WD, delete the DTC(s) memorized in 4WD ECU when variant coding is completed.

INPUT AND OUTPUT DIAGRAM

ESC OPERATION MODE

1. STEP 1
The ESC analyzes the intention of the driver.

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 2. STEP 2
It analyzes the movement of the ESC vehicle.

3. STEP 3
The HECU calculates the required strategy, then actuates the appropriate valves and sends torque control requests via
CAN to maintain vehicle stability.

ESC OPERATION MODE

1. ESC Non-operation-Normal braking.

High pressure
Inlet valve(EV) Outlet valve(AV) Pilot valve(USV) Pump motor
switch valve(HSV)
Normal braking Open Close Open Close OFF

EV : Inlet Valve
AV : Outlet Valve
LR : Rear left wheel
RF : Front right wheel
LF : Front left wheel
RR : Rear right wheel
PE : Pump motor
USV : Pilot Valve
HSV : High pressure Switch Valve

2. ESC INCREASE MODE

High pressure
Inlet valve(EV) Outlet valve(AV) Pilot valve(USV) Pump motor
switch valve(HSV)

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 ON(Motor speed
Normal braking Open Close Close(Partial) Open
control)

EV : Inlet Valve
AV : Outlet Valve
LR : Rear left wheel
RF : Front right wheel
LF : Front left wheel
RR : Rear right wheel
PE : Pump motor
USV : Pilot Valve
HSV : High pressure Switch Valve

3. ESC HOLD MODE ( FR is only controlled.)

High pressure
Inlet valve(EV) Outlet valve(AV) Pilot valve(USV) Pump motor
switch valve(HSV)
ON(Motor speed
Normal braking Close Close Close(Partial) Open
low control)

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 EV : Inlet Valve
AV : Outlet Valve
LR : Rear left wheel
RF : Front right wheel
LF : Front left wheel
RR : Rear right wheel
PE : Pump motor
USV : Pilot Valve
HSV : High pressure Switch Valve

4. ESC DECREASE MODE (FR is only controlled)

High pressure
Inlet valve(EV) Outlet valve(AV) Pilot valve(USV) Pump motor
switch valve(HSV)
ON(Motor speed
Normal braking Close Open Close(Partial) Open
low control)

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 EV : Inlet Valve
AV : Outlet Valve
LR : Rear left wheel
RF : Front right wheel
LF : Front left wheel
RR : Rear right wheel
PE : Pump motor
USV : Pilot Valve
HSV : High pressure Switch Valve

ABS Warning Lamp module

The active ABS warning lamp module indicates the self-test and failure status of the ABS .The ABS warning lamp may be
on:
- During the initialization phase after IGN ON. (continuously 3 seconds).
- In the event of inhibition of ABS functions by failure.
- During diagnostic mode.
- When the ECU Connector is separated from ECU.

EBD/PARKING BRAKE WARNING LAMP MODULE

The active EBD warning lamp module indicates the self-test and failure status of the EBD. However, in case the Parking
Brake Switch is turned on, the EBD warning lamp is always turned on regardless of EBD functions. The EBD warning lamp
shall be on:

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 - During the initialization phase after IGN ON. (continuously 3 seconds).
- When the Parking Brake Switch is ON or brake fluid level is low.
- When the EBD function is out of order .
- During diagnostic mode.
- When the ECU Connector is separated from ECU.

ESC Warning Lamp (ESC system)

The ESC warning lamp indicates the self-test and failure status of the ESC.
The ESC warning lamp may be turned on under the following conditions :
- During the initialization phase after IGN ON. (continuously 3 seconds).
- In the event of inhibition of ESC functions by failure.
- When driver turn off the ESC function by on/off switch.
- During diagnostic mode.

ESC Function Lamp (ESC system)

The ESC function lamp indicates the self-test and operating status of the ESC.
The ESC Function lamp operates under the following conditions :
- During the initialization phase after IGN ON. (continuously 3 seconds).
- When the ESC control is operating. (Blinking - 2Hz)

ESC On/Off Switch (ESC system)

The ESC On/Off Switch shall be used to toggle the ESC function between On/Off states based upon driver input.
The On/Off switch shall be a normally open, momentary contact switch.
Initial status of the ESC function is on and the switch is used to request an ESC status change.

Brake System > ESP(Electronic Stability Program) System > Components and Components
Location
COMPONENTS

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 Brake System > ESP(Electronic Stability Program) System > Troubleshooting
FAILURE DIAGNOSIS
1. In principle, ESC and TCS controls are prohibited in case of ABS failure.
2. When ESC or TCS fails, only the failed system control is prohibited.
3. However, when the solenoid valve relay should be turned off in case of ESC failure, refer to the ABS fail-safe.
4. Information on ABS fail-safe is identical to the fail-safe in systems where ESC is not installed.

MEMORY OF FAIL CODE

1. It keeps the code as far as the backup lamp power is connected. (O)
2. It keeps the code as long as the HCU power is on. (X)

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 FAILURE CHECKUP
1. Initial checkup is performed immediately after the HECU power on.
2. Valve relay checkup is performed immediately after the IG2 ON.
3. It executes the checkup all the time while the IG2 power is on.
4. Initial checkup is made in the following cases.
(1) When no failure is detected
(2) When ABS and ESC are not in control.
(3) Initial checkup is not made after ECU power on.
(4) If the vehicle speed is over 8 km/h(5 mph) when the brake lamp switch is off.
(5) When the vehicle speed is over 40 km/h(24.9 mph).

5. Though, it keeps on checkup even if the brake lamp switch is on.

6. When performing ABS or ESC control before the initial checkup, stop the initial checkup and wait for the HECU power
input again.
7. Judge failure in the following cases.
(1) When the power is normal.
(2) From the point in which the vehicle speed reaches 8 km/h(5.0 mph) after HECU power on.

COUNTERMEASURES IN FAIL
1. Shut the system down and perform the following actions and wait for HECU power OFF.
2. Turn the valve relay off.
3. Do not perform any ABS/TCS/ESC functions until normal operating condition is restored.

WARNING LAMP ON
1. ABS warning lamp turns on when ABS is malfunctioning.
2. ESC operation lamp turns on when ESC is malfunctioning.
When power voltage and valve relay voltage are abnormal, input/output related failure judgment is not made.

Brake System > ESP(Electronic Stability Program) System > Yaw-rate and Lateral G Sensor
> Description and Operation
DESCRIPTION
1. The yaw-rate & lateral G sensor is applied for the ESC system.
2. The yaw-rate is the angular velocity, when a vehicle turns a corner, and the lateral G is the acceleration to move a vehicle
out of the way when cornering.
3. The sensor is located in the crash pad lower floor on vehicle.

SPECIFICATION

Description Specification Remark

Nominal supply voltage 11.5 ~ 12.5 V
Supply voltage range 8 ~ 16 V
Supply current Max. 120 mA Typ. 75 mA

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 Reference Voltage Output 2.464 ~ 2.536 V Typ. 2.5 V
-40 ~ 85°C
Operating temperature range
(-40 ~ 185°F)
Yaw-late sensor +w direction, left turn Min.100 °/s Typ. 111 °/S
Measurement range
-w direction, right turn Min.-100 °/s Typ. -111 °/S
Non-linearity -1 ~ 1 %
Offset (within life,within operating temperature) 3.75 °/S
Upper cut-off frequency Min. 45 Hz Typ. 60 Hz
Lateral G sensor +y direction, left turn Min.1.8 g Typ. 2 g
Measurement range
-y direction, right turn Min. -1.8 g Typ. -2 g
Non-linearity -4 ~ 4 %
Offset (within life,within operating temperature) -0.09 ~ 0.09 g
Upper cut-off frequency Min. 20 Hz Typ. 40 Hz

OUTPUT CHARACTERISTIC

CIRCUIT DIAGRAM (YAW-RATE & LATERAL G SENSOR)

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 Brake System > ESP(Electronic Stability Program) System > ESP OFF Switch > Description
and Operation
DESCRIPTION
1. The ESC OFF switch is for the user to turn off the ESC system.
2. The ESC OFF lamp is on when ESC OFF switch is engaged.

Brake System > ESP(Electronic Stability Program) System > ESP OFF Switch > Repair
procedures
INSPECTION
1. Remove the ESC OFF switch from the switch panel on the crash pad of the driver's side.

2. Check the continuity between the switch terminals as the ESC OFF switch is engaged. (Refer to circuit diagram)

Brake System > ESP(Electronic Stability Program) System > Steering Angle Sensor >
Description and Operation
DESCRIPTION
GENERAL DATA
The steering angle speed sensor detects the angle of the steering wheel in order to which direction a user chooses.

MEASURING PRINCIPLE

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 A non contact, analog angle sensor carrying out absolute measuring by the use of the Anisotropic-Magneto-Resistive effect
(AMR).Measuring of the absolute angle by means of a toothed measuring gear with magnetic properties in combination with
different ratios. Corresponding AMR elements that change their electrical resistance according to the magnetic field direction
detect the angle position of the measuring gears.A micro-controller decodes the measured voltage signals after A/D
converting with the help of a mathematical function. Output of the digital angle value and velocity via CAN-interface.
SPECIFICATION

Description Specification
Operating voltage 8~16 V
-40 ~ 85 °C
Operating temperature
(-40 ~ 185°F)
Current consumption Max.150 mA
Steering angle velocity Max. ±2000 °/sec
Connection delay time t < 200 ms
Reverse voltage -13.5 V
Angle -780 ° ~ 779 °
Measuring range
Angular velocity 0~ 1016 °/s
Nonlinearity angle -2.5 ° ~ +2.5 °
Hysteresis angle 0°~5°
Rotational friction torque measuring 10 °/s

CIRCUIT DIAGRAM( STEERING WHEEL SPEED ANGLE SENSOR)

STEERING ANGLE SENSOR (SAS) calibration

1. PURPOSE OF calibration
A. On vehicle control, an ESC analyzes the intention of the driver.
B. An ESC recognizes a steering angle which a driver rotates through the steering angle sensor.
C. A steering angle sensor used in ESC adjusts 0° setting of steering wheel through K-line or CAN communication.
2. STEERING ANGLE SENSOR (SAS) CALIBRATION METHOD

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 (1) Align the wheel to the straight line. (steering wheel < ± 5° )
ex) Perform the wheel alignment first.
Align the wheel to the straight line.
A driver moves the vehicle to the front and back about 5 meters twice or three times.
(2) Connect Scan tool to the vehicle.
(3) Select Brake system.
(4) Select Steering angle sensor(SAS) calibration.

(5) Perform the Steering angle sensor(SAS) calibration.

(6) Perform the procedure continuously.

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 (7) The procedure is finished. Push the "ESC" key.

(8) Scanner OFF.

(9) Remove the scanner from the vehicle.
(10) Confirm the Steering angle sensor(SAS) calibration as driving the vehicle.(turn left once, turn right once)

Brake System > ESP(Electronic Stability Program) System > Steering Angle Sensor >
Components and Components Location
COMPONENT LOCATION

Brake System > Troubleshooting > C1101

COMPONENT LOCATION

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 General Description
The ABS ECU(Electronic Control Unit) checks the battery voltage to and alternator output voltage determine, as a safety
issue, whether the ABS system can operate normally or not. The normal battery voltage range is essential for controlling the
ABS system as intended.

DTC Description
The ABS ECU monitors battery voltage and alternator output voltage by reading the value of voltage. When the voltage is
higher than the expected normal value, this code is set, and the ABS/EBD/ESC functions are prohibited. If the voltage
recovers, to within normal operating ranges, then the controller returns to normal operation as well.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Battery Voltage Monitoring
Monitoring
• Continuous (Over voltage faults will be always stored.)
Period
• When ign V is higher than 16.8 V.
- If the voltage is recovered to 16.7 V, the controller returns to normal • Poor connection in power
Enable
state. supply circuit (IGN+)
Conditions
- The monitored supply voltage is filtered and limited to a rise time of
• Inoperative Alternator
4 volts per second.
• The ABS/EBD/ESC functions are inhibited.
- The proper function of valves and return pump is not guaranteed.
Fail Safe
• The ABS/EBD/ESC warning lamps are activated.
• The supply voltage to wheel speed sensor is interrupted.

Monitor Scantool Data

1. Connect scantool to Data Link Connector(DLC)
2. Engine "ON".
3. Monitor the "BATTERY VOLTAGE" parameter on the scantool.

Specification : Approx. Below. 16.7 V

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 4. Is parameter displayed within specifications?

▶ Fault is intermittent caused by poor connection in power harness (IGN+) and/or HECU's connector or was repaired
and HECU memory was not cleared. Thoroughly check connectors for looseness, poor connection, bending, corrosion,
contamination, deterioration, or damage. Repair or replace as necessary and then go to "Verification Of Vehicle Repair"
procedure.

▶ Go to "W/Harness Inspection" procedure.

Terminal & Connector Inspection

1. Many malfunctions in the electrical system are caused by poor harness(es) and terminals condition. Faults can also be
caused by interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage.
3. Has a problem been found?

▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Confirm the DTC status at another system to be able to confirm C1101 or DTC code related to over voltage.
▶ If there isn't C1101 code at another system, Go to "Power Circuit Inspection" procedure.
▶ If there is C1101 or DTC code related to over voltage at another system, Go to "Alternator Output Voltage Inspection"
procedure.

Alternator Output Voltage Inspection

1. Engine "ON".
2. Measure voltage between the battery terminal(+) and the battery terminal(-) with maintaining ENG RPM 2,500RPM
(idle).over 2 minutes.

Specification : Below. 16.7 V

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 3. Is the measured voltage within specifications?

▶ Go to "Power Circuit Inspection" procedure.

▶ Check that the tension of driving belt, ENG RPM, fuse, terminal of battery, all terminals of alternator are in good
condition and Check for damaged harness and poor connection between alternator and battery. If OK repair or replace
alternator and then go to "Verification Of Vehicle Repair" procedure.

Power Supply Circuit Inspection

1. Engine "ON".
2. Measure voltage between the battery terminal(+) and terminal "28(ESC), 18(ABS)" of the HECU harness connector.

Specification : Approx. below 0.2 V

3. Is the measured voltage within specifications?

▶ Go to "Ground Circuit Inspection" procedure.

▶ Check for damaged harness and poor connection between the battery terminal(+) and terminal "28(ESC), 18(ABS)" of
the HEC Uharness connector. Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

Ground Circuit Inspection

1. Ignition "OFF".
2. Disconnect HECU connector.
3. Measure resistance between terminal "4" of the HECU harness connector and chassis ground.

Specification : Approx. below 1 Ω

4. Is the measured resistance within specifications?

▶ Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification of Vehicle Repair" procedure.

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 ▶ Check for damaged harness and poor connection between terminal "4" of the HECU harness connector and chassis
ground. Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C1102

COMPONENT LOCATION

General Description
The ABS ECU(Electronic Control Unit) checks the battery voltage to and alternator output voltage determine, as a safety
issue, whether the ABS system can operate normally or not. The normal battery voltage range is essential for controlling the
ABS system as intended.

DTC Description
The ABS ECU monitors the battery voltage and alternator output voltage by reading the value of voltage. When the voltage
is lower than the expected normal value, this code is set.The ABS/ESC functions are prohibited and the EBD function is
allowed on LOW VOLTAGE CONDITION, the ABS/EBD/ESC functions are prohibited on UNDER VOLTAGE CONDITION. If
the voltage recovers, to within normal operating ranges, then the controller returns to normal operations as well.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Battery Voltage Monitoring

Monitoring Period • Continuous • Poor connection in power

• When ign V is lower than 9.3 V outside ABS/ESC control. supply circuit (IGN+)
Case1 • When ign V is lower than 9.2V inside ABS/ESC control. • Inoperative Alternator
Enable
(Low - If IGN voltage is recovered to 9.6 V, the system recovers to • Battery discharge
Conditions
voltage) normal state.

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 - The monitored supply voltage is filtered and limited to a rise
time of 4 volts per second.
• The ABS/ESC functions are inhibited.
Fail Safe
• The ABS/ESC warning lamps are activated.

• When ign V is lower than 7.7V.

-If IGN voltage is recovered to 7.8V, the system recovers to
normal state.
- The monitored supply voltage is filtered and limited to a rise
Enable time of 4 volts per second.
Case2 Conditions Under voltage faults are only entered in the EEPROM if the
(Under vehicle speed is > 6km/h.
voltage) If FSA test detect under voltage. this will have entered,
because no vehicle speed is available during test.
※ FSA test : fail save circuit test

• The ABS/EBD/ESC functions are inhibited.

Fail Safe
• The ABS/EBD/ESC warning lamps are activated.

Monitor Scantool Data

1. Connect scantool to Data Link Connector(DLC)
2. Engine "ON".
3. Monitor the "BATTERY VOLTAGE" parameter on the scantool.

Specification : Above. 9.6 V

4. Is parameter displayed within specifications?

▶ Fault is intermittent caused by poor connection in power harness (IGN+) and/or HECU's connector or was repaired
and HECU memory was not cleared. Thoroughly check connectors for looseness, poor connection, bending, corrosion,
contamination, deterioration, or damage. Repair or replace as necessary and then go to "Verification Of Vehicle Repair"
procedure

▶ Go to "W/Harness Inspection" procedure.

Terminal & Connector Inspection

1. Many malfunctions in the electrical system are caused poor harness(es) and terminals condition. Faults can also be
caused by interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage.

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 3. Has a problem been found?

▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Go to "Alternator Output Voltage" procedure.

Alternator Output Voltage Inspection

1. Engine "ON".
2. Measure voltage between the battery terminal(+) and the battery terminal(-) with maintaining ENG RPM 2,500RPM (idle)
over 2 minutes.

Specification : Above. 9.6 V

3. Is the measured voltage within specifications?

▶ Go to "Power Circuit Inspection" procedure.

▶ Check that the tension of driving belt, ENG RPM, fuse, terminal of battery, all terminals of alternator are in good
condition and check for damaged harness and poor connection between alternator and battery. If OK repair or replace
alternator and then go to "Verification Of Vehicle Repair" procedure.

Power Circuit Inspection

1. Ignition "OFF"
2. Disconnect HECU connector.
3. Ignition "ON" & Engine "OFF".
4. Measure voltage between terminal "28(ESC), 18(ABS)" of the HECU harness connector and chassis ground.

Specification : Approx. B+

5. Is the measured voltage within specifications?

▶ Go to "Ground Circuit Inspection" procedure.

▶ Check for damaged harness and poor connection between the battery terminal(+) and terminal "28(ESC), 18(ABS)" of
the HECUharness connector. Check for open or blown 10A ABS fuse referring to "Circuit Diagram". Repair as necessary

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 and then go to "Verification Of Vehicle Repair" procedure.

Ground Circuit Inspection

1. Ignition "OFF".
2. Disconnect HECU connector.
3. Measure resistance between terminal "4" of the HECU harness connector and chassis ground.

Specification : Approx. below 1 Ω

4. Is the measured resistance within specifications?

▶ Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification of Vehicle Repair" procedure.

▶ Check for damaged harness and poor connection between terminal "4" of the HECU harness connector and chassis
ground. Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C1200

COMPONENT LOCATION

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 General Description
The wheel speed sensor is the essential component the ABS ECU uses to calculate vehicle speed and to determine
whether wheel lock occurs. For example, rear wheel speed signal is used as a reference value, for vehicle speed, in front
wheel drive vehicles, and if a difference between front and rear wheel speed occurs, then ABS control is performed. Wheel
speed sensor is active hall IC-sensor type and good at temperature and noise characteristic. Digital waveform is produced
as tone wheel rotate according as hall sensor principle. Frequency of duty waveform is changed in proportion to speed of
the rotation of tone wheel and HECU calculate vehicle speed by this frequency.

DTC Description
The ABS ECU monitors the wheel speed sensor circuit continuously. A direct current is supplied in the wheel-speed sensor
by a power source in the input amplifier of the control unit. If the WSS circuit is broken, in that case a fault is detected by
detecting abnormal input current. HECU cuts off the voltage supply to wheel sensor channel which had a fault and prevent
vehicle's damage due to super heated harness. If one or more defects has detected, DTC code of defected wheel will be
stored. Mutual short between sensors is detected by executing self diagnosis successively at corresponding wheel when
ignition ON. Warning lamp is turned OFF unless additional faults are detected when the IG KEY is turned ON again.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Voltage monitoring
Monitoring
• Once after power up.
Period
• Shorts between WSS lines and shorts to UZ can be detected
by switching single WSS channels in sequence. If there is an
Case1 error after end of test, a failure is recognized.
Enable
In case of a WSS power line short to V_batt, this FSA test will
Conditions
detect an under voltage failure. (ABS only)
※ FSA test : fail save circuit test
※ UZ : Ignition Voltage
Monitoring
• Continuous
Period
Case2
Enable • When the sensor current levels are out of permissible
Conditions range(LOW : 7 mA, HIGH : 14 mA) for 200 ms.

• Sensor failure outside of the ABS control cycle

• Open or short of Wheel
1. Only one wheel failure : Only the ABS/ESC functions are
speed sensor circuit
inhibited. The ABS/ESC warning lamps are activated and
the EBD warning lamp is not activated. • Inoperative Wheel speed
sensor
2. Two wheels failure : Only the ABS/ESC functions are
inhibited. The ABS/ESC warning lamps are activated and • Inoperative HECU
the EBD warning lamp is not activated.
3. More than 3 wheels failure :System down. The
ABS/EBD/ESC functions are inhibited. The ABS/EBD/ESC
warning lamps are activated.
• Sensor failure inside the ABS control cycle
Fail Safe
1. One front wheel failure : Inhibit the ABS/ESC control.
Pressure is increased on a front wheel, Pressure is
decreased on a rear wheel. After the ABS/ESC control, the
ABS/ESC functions are inhibited. The ABS/ESC warning
lamps are activated and the EBD warning lamp is not
activated.
2. Two wheels failure : Inhibit the ABS/ESC control. Pressure is
increased on a front wheel, Pressure is decreased on a rear
wheel. After the ABS/ESC control, the ABS/ESC functions
are inhibited. The ABS/ESC warning lamps are activated
and the EBD warning lamp is not activated.

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 3. More than 3 wheels failure : System down. The
ABS/EBD/ESC functions are inhibited. The ABS/EBD/ESC
warning lamps are activated.

Monitor Scantool Data

1. Engine "ON".
2. Connect scantool to Data Link Connector(DLC).
3. Start and drive vehicle in gear and maintain vehicle speed at or above 10 km/h(6.2 mph)
4. Monitor the "Wheel speed sensor" parameter on the Scantool.

Specification : Compare with another parameters related to wheel speed sensor. If it is the same as
another parameters, it is in normal condition.

5. Is parameter displayed within specifications?

▶ Fault is intermittent caused by poor connection in wheel speed sensor harness and/or HECU's connector or was
repaired and HECU memory was not cleared. Thoroughly check connectors for looseness, poor connection, bending,
corrosion, contamination, deterioration, or damage. Repair or replace as necessary and then go to "Verification Of
Vehicle Repair" procedure.

▶ Go to "W/Harness Inspection" procedure.

Terminal & Connector Inspection

1. Many malfunctions in the electrical system are caused by poor harness(es) and terminals. Faults can also be caused by
interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage.
3. Has a problem been found?

▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Go to "Power Circuit Inspection" procedure.

Power Supply Circuit Inspection

1. Ignition "ON".
2. Measure voltage between terminal (FL, FR : 2, RL, RR : 2) of the wheel speed sensor harness connector and chassis

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 ground.

Specification : Approx. B+

3. Is the measured voltage within specifications?

▶ Go to "Signal Circuit Inspection" procedure.

▶ Check for open or short to GND in wheel speed sensor harness between terminal "FL, FR : 2, RL, RR : 2" of the wheel
speed sensor harness connector and terminal of the HECU harness connector. Repair as necessary and then go to
"Verification Of Vehicle Repair" procedure.
▶ If OK, Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and
then go to "Verification Of Vehicle Repair" procedure.

HECU harness connector (Power supply)

DTC LOCATION
ABS ESC
DTC C1200 Front Left 16 26
DTC C1203 Front Right 9 9
DTC C1206 Rear Left 6 6
DTC C1209 Rear Right 8 8

Signal Circuit Inspection

1. Lift the vehicle.
2. Ignition "ON".
3. Turn the wheel with hand.
4. Measure waveform between terminal of the HECU harness connector and chassis ground.

Specification : Approx. High : 1.05 V , Low : 0.525 V

DTC LOCATION HECU harness connector (Signal)

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 ABS ESC
DTC C1200 Front Left 5 5
DTC C1203 Front Right 10 10
DTC C1206 Rear Left 17 27
DTC C1209 Rear Right 19 29

5. Is the measured waveform within specifications?

▶ Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification Of Vehicle Repair" procedure.

▶ Check for open or short to GND in wheel speed sensor harness between terminal "FL, FR : 1, RL, RR : 1" of the wheel
speed sensor harness connector and terminal of the HECU harness connector. Repair as necessary and then go to
"Verification Of Vehicle Repair" procedure.
▶ If OK, Go to "Component Inspection" procedure.

Component Inspection
1. Lift the vehicle.
2. Ignition "ON".
3. Turn the wheel with hand.
4. Measure waveform between terminal "FL, FR : 1, RL, RR : 1" of the wheel speed sensor harness connector and chassis
ground.

Specification : Approx. High : 1.05 V , Low : 0.525 V

5. Is the measured waveform within specifications?

▶ Fault is intermittent caused by poor connection in wheel speed sensor harness. Go to "Verification Of Vehicle Repair"
procedure.

▶ Substitute with a known-good Wheel speed sensor and check for proper operation. If problem is corrected, replace
Wheel speed sensor and then go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information
4. Are any DTCs present?

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 ▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C1201

COMPONENT LOCATION

General Description
The wheel speed sensor is the essential component the ABS ECU uses to calculate vehicle speed and to determine
whether wheel lock occurs. For example, rear wheel speed signal is used as a reference value, for vehicle speed, in front
wheel drive vehicles, and if a difference between front and rear wheel speed occurs, then ABS control is performed. Wheel
speed sensor is active hall IC-sensor type and good at temperature and noise characteristic. Digital waveform is produced
as tone wheel rotate according as hall sensor principle. Frequency of duty waveform is changed in proportion to speed of
the rotation of tone wheel and HECU calculate vehicle speed by this frequency.

DTC Description
The ABS ECU monitors the wheel speed sensor signal continuously. This code is set when an abnormal signal due to air
gap problem or an abnormal speed change ratio are detected at the vehicle speed between 10 km/h to 80 km/h(6.2 mph to
49.7 mph). Warning lamp is turned OFF unless additional faults are detected when the IG KEY is turned ON again, and
wheel speed is more than 12 Km/h(7.5 mph).

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Signal monitoring

• The monitoring is active from 10 km/h to 80 km/h(6.2 mph to

Monitoring
49.7 mph) and if no ABS-control is active at a front wheel and a
Period
rear wheel.
Case1 • Every time, if a gap in the wheel speed sensor signal occurs • Improper installation of
Enable cyclically with one wheel rotation, a fault counter is increased wheel speed sensor
Conditions by one. If the fault counter exceeds its limit of 6, a wheel • Abnormal Rotor and
specific fault is stored in the EEPROM. wheel bearing
Monitoring • Inoperative Wheel speed
• Continuous
Period sensor
• Exteral noise
• If following interference and signal disturbance is detected, a
Case2 failure is set after 10 s.
Enable non-plausible high frequency received.
Conditions non-plausible high wheel acceleration.
non-plausible high wheel jurk.

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 non-plausible delta T and edges at low speed.
• Sensor failure outside of the ABS control cycle
1. Only one wheel failure : Only the ABS/ESC functions are
inhibited. The ABS/ESC warning lamps are activated and
the EBD warning lamp is not activated.
2. Two wheels failure : Only the ABS/ESC functions are
inhibited. The ABS/ESC warning lamps are activated and
the EBD warning lamp is not activated.
3. More than 3 wheels failure :System down. The
ABS/EBD/ESC functions are inhibited. The ABS/EBD/ESC
warning lamps are activated.
• Sensor failure inside the ABS control cycle
1. One front wheel failure : Inhibit the ABS/ESC control.
Fail Safe Pressure is increased on a front wheel, Pressure is
decreased on a rear wheel. After the ABS/ESC control, the
ABS/ESC functions are inhibited. The ABS/ESC warning
lamps are activated and the EBD warning lamp is not
activated.
2. Two wheels failure : Inhibit the ABS/ESC control. Pressure is
increased on a front wheel, Pressure is decreased on a rear
wheel. After the ABS/ESC control, the ABS/ESC functions
are inhibited. The ABS/ESC warning lamps are activated
and the EBD warning lamp is not activated.
3. More than 3 wheels failure : System down. The
ABS/EBD/ESC functions are inhibited. The ABS/EBD/ESC
warning lamps are activated.

Monitor Scantool Data

1. Engine "ON".
2. Connect scantool to Data Link Connector(DLC).
3. Start and drive vehicle in gear and maintain vehicle speed at or above 12 km/h(7.5 mph)
4. Monitor the "Wheel Speed Sensor" parameter on the Scantool.

Specification : Compare with another parameters related to wheel speed sensor. If it is the same as
another parameters, it is in normal condition

5. Is parameter displayed within specifications?

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 ▶ Fault is intermittent caused by faulty HECU or external noise, was repaired and HECU memory was not cleared.
Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage. Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Go to "Component Inspection" Procedure.

COMPONENT INSPECTION
1. Lift the vehicle.
2. Ignition "ON".
3. Turn the wheel with hand.
4. Measure waveform between terminal "FL, FR : 1, RL, RR : 1" of the wheel speed sensor harness connector and chassis
ground.

Specification : High : 1.05 V , Low : 0.525 V

5. Is the measured waveform within specifications?

▶ Fault is intermittent caused by poor connection in wheel speed sensor harness or external noise, Thoroughly check
connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or damage and external
noise, an interference between harnesses. Repair or replace as necessary and then go to "Verification Of Vehicle Repair"
procedure.
▶ If OK, Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and
then go to "Verification Of Vehicle Repair" procedure.

▶ Check for improper installation of wheel speed sensor. If NG, repair as necessary and then go to "Verification Of
Vehicle Repair" procedure.
▶ Check for damage of rotor teeth or wheel bearing. If NG, repair as necessary and then go to "Verification Of Vehicle
Repair" procedure.
▶ Substitute with a known-good Wheel speed sensor and check for proper operation. If problem is corrected, replace
Wheel speed sensor and then go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information.(Start and drive vehicle in gear and maintain
vehicle speed at or above 12 km/h (7.5 mph))
4. Are any DTCs present ?

▶ Go to the applicable troubleshooting procedure.

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 ▶ System performing to specification at this time.

Brake System > Troubleshooting > C1202

COMPONENT LOCATION

General Description
The wheel speed sensor is the essential component the ABS ECU uses to calculate vehicle speed and to determine
whether wheel lock occurs. For example, rear wheel speed signal is used as a reference value, for vehicle speed, in front
wheel drive vehicles, and if a difference between front and rear wheel speed occurs, then ABS control is performed. Wheel
speed sensor is active hall IC-sensor type and good at temperature and noise characteristic. Digital waveform is produced
as tone wheel rotate according as hall sensor principle. Frequency of duty waveform is changed in proportion to speed of
the rotation of tone wheel and HECU calculate vehicle speed by this frequency.

DTC Description
The ABS ECU monitors the wheel speed sensor signal continuously. This code is set when there is no wheel speed signals
within 10 ms to 20 ms at a vehicle speed > 43.2 km/h(26.8 mph) or a deviation between sensors exceed the threshold or
one or two wheels are at 2.75 km/h(1.7 mph) while the vehicle speed is at 12 km/h(7.5 mph). Warning lamp is turned OFF
unless additional faults are detected when the IG KEY is turned ON again, and wheel speed is more than 12 Km/h(7.5 mph).

DTC Detecting Condition

Item Detecting Condition Possible cause
• Improper installation of wheel
speed sensor
• Abnormal Rotor and wheel
DTC Strategy • Signal monitoring
bearing
• Inoperative Wheel speed
sensor
Monitoring
• Continuous (only no under voltage is not detected)
Period
• If one (or two) wheel are at 2.75 km/h(1.7 mph) and the
other wheels are above 12 km/h(7.5 mph) for longer than
1s.
• During driving, when the vehicle accelerates 18
km/h(11.2 mph) after a particular wheel speed gets to
Case1
Enable 2.75 km/h(1.7 mph) and stays there. At that time, If one
Conditions (or two) wheel are at 2.75 km/h(1.7 mph).
- This monitoring is performed at the following condition.
1. At the time the vehicle is accelerated to 12 km/h(7.5
mph).
2. Once after energizing the system.
3. If the vehicle was stationary for approx. 2s.

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 • If one (or two) wheels are under 5 km/h(3.1 mph) and the
two fastest wheels have a velocity above 12 km/h(7.5
mph) for more than 20s.
• Continuous ( If vehicle speed > 12 m/s)
- but this monitoring is disabled in the following event
Monitoring
1. Aquaplaning.
Period
2. Interference.
3. Supply voltage below 7.6 or above 18 Volts

Case2 • No wheel speed signals within 10 ms to 20 ms at a

vehicle speed > 12 m/s (43.2 km/h(26.8 mph)).
- If the dynamic sensor monitor responses, the failures
Enable
will be stored into failure memory immediately after a
Conditions
waiting period of 60 ms.
- If occurs low voltage active sensors during the waiting
period of 60 ms no failure is stored in the EEPROM.
Monitoring
• Continuous
Period
• Vehicle < 100Km/h
- Difference of two wheel speeds at FL to RL/FR to
RR>1.7m/s (6km/h(3.7mph)).
- Difference of two wheel speeds at FL to FR/RL to
RR>1.7m/s + 1.1m/s.
- Difference of two wheel speeds at FL to RR/FR to
RL>1.7m/s + 2.2m/s.
※ If at least one wheel is at 1.4m/s or lower, a wheel
speed difference of adjoining wheels up to 3.3m/s(or
3.3m/s + 1.1m/s) is permitted.
• Vehicle > 100Km/h
- Difference of two wheel speeds at FL to RL/FR to
RR>(6%×Vref).
- Difference of two wheel speeds at FL to FR/RL to
Case3 RR>(6%×Vref + 1.1m/s).
- ABS Only - Difference of two wheel speeds at FL to RR/FR to
Enable
RL>(6%×Vref + 2.2m/s).
Conditions
※ V_ref : Vehicle Reference Speed
• Detection filter time
- Response and detection filter time depend on the
amount of the speed difference and additional conditions
as shown below.
1. 18s - if fault threshold is exceeding > 1.7m/s resp.6%
2. 9s - if fault threshold is exceeding > 3.3m/s resp. 12%
3. If any wheel shows strong deceleration the fault
detection filter time is not shorter than 18s.
4. If spinning wheel is detected the fault detection filter
time is not shorter than 72s.
• Fault allocation
If the exact fault location can be determined the wheel
specific fault will be set. This is the case if at the time of
detection the faulty wheel speed is at or below 1.4m/s.
Otherwise a general WSS_Generic fauly (C1213) is set.

• Main Monitoring
- The main monitor needs additional information of the
Case4 Monitoring ESC-sensors and is active for a velocity > 20 km/h(12.4
- ESC Only Period mph) and no under voltage is detected.
• Backup Monitoring
- Continuous

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 • Main Monitoring
1. If the maximum difference of wheel speeds related to
maximum wheel speed exceeds 5%.
2. Detection filter time :
- the above conditions apply for 20s for 1 defective
wheel speed sensor.
- the above conditions apply for 40s for 2 defective
wheel speed sensor.
If the faulty wheel is always the same, a wheel specific
wheel speed sensor fault is set, otherwise a generic
Enable
wheel speed sensor fault (C1213) is set.
Conditions
• Backup Monitoring
1. If the deviation between the fastest and the slowest
wheel exceeds 6% related to the fastest wheel when
the velocity is higher than 50 km/h(31.1 mph).
2. When the velocity is below 50 km/h(31.1 mph), if the
deviation exceeds an absolute value of 3km/h(1.9
mph).
3. Detection filter time : normally 20s
- In case of a detected curve, the threshold is
increased with an additional value of 4 km/h(2.5 mph).

• Sensor failure outside of the ABS control cycle

1. Only one wheel failure : Only the ABS/ESC functions
are inhibited. The ABS/ESC warning lamps are
activated and the EBD warning lamp is not activated.
2. Two wheels failure : Only the ABS/ESC functions are
inhibited. The ABS/ESC warning lamps are activated
and the EBD warning lamp is not activated.
3. More than 3 wheels failure :System down. The
ABS/EBD/ESC functions are inhibited. The
ABS/EBD/ESC warning lamps are activated.
• Sensor failure inside the ABS control cycle
1. One front wheel failure : Inhibit the ABS/ESC control.
Fail Safe Pressure is increased on a front wheel, Pressure is
decreased on a rear wheel. After the ABS/ESC control,
the ABS/ESC functions are inhibited. The ABS/ESC
warning lamps are activated and the EBD warning
lamp is not activated.
2. Two wheels failure : Inhibit the ABS/ESC control.
Pressure is increased on a front wheel, Pressure is
decreased on a rear wheel. After the ABS/ESC control,
the ABS/ESC functions are inhibited. The ABS/ESC
warning lamps are activated and the EBD warning
lamp is not activated.
3. More than 3 wheels failure : System down. The
ABS/EBD/ESC functions are inhibited. The
ABS/EBD/ESC warning lamps are activated.

Monitor Scantool Data

1. Engine "ON".
2. Connect scantool to Data Link Connector(DLC).
3. Start and drive vehicle in gear and maintain vehicle speed at or above 50 km/h(31.1 mph)
4. Monitor the "Wheel Speed Sensor" parameter on the Scantool.

Specification : Compare with another parameters related to wheel speed sensor. If it is the same as
another parameters, it is in normal condition.

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 5. Is parameter displayed within specifications?

▶ Fault is intermittent caused by poor connection in wheel speed sensor harness, Thoroughly check connectors for
looseness, poor connection, bending, corrosion, contamination, deterioration, or damage. Repair as necessary and then
go to "Verification Of Vehicle Repair" procedure.

▶ Go to "Component Inspection" Procedure.

COMPONENT INSPECTION
1. Lift the vehicle.
2. Ignition "ON".
3. Turn the wheel with hand.
4. Measure waveform between terminal "FL, FR : , RL, RR : 1" of the wheel speed sensor harness connector and chassis
ground.

Specification : High : 1.05 V , Low : 0.525 V

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 5. Is the measured waveform within specifications?

▶ Fault is intermittent caused by poor connection in wheel speed sensor harness or external noise, Thoroughly check
connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or damage and external
noise, an interference between harnesses. Repair or replace as necessary and then go to "Verification Of Vehicle Repair"
procedure.
▶ If OK, Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and
then go to "Verification Of Vehicle Repair" procedure.

▶ Check for improper installation of wheel speed sensor. If NG, repair as necessary and then go to "Verification Of
Vehicle Repair" procedure.
▶ Check for damage of rotor teeth or wheel bearing. If NG, repair as necessary and then go to "Verification Of Vehicle
Repair" procedure.
▶ Substitute with a known-good Wheel speed sensor and check for proper operation. If problem is corrected, replace
Wheel speed sensor and then go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information.(Start and drive vehicle in gear and maintain
vehicle speed at or above 50 km/h (31.1 mph))
4. Are any DTCs present ?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C1203

COMPONENT LOCATION

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 General Description
The wheel speed sensor is the essential component the ABS ECU uses to calculate vehicle speed and to determine
whether wheel lock occurs. For example, rear wheel speed signal is used as a reference value, for vehicle speed, in front
wheel drive vehicles, and if a difference between front and rear wheel speed occurs, then ABS control is performed. Wheel
speed sensor is active hall IC-sensor type and good at temperature and noise characteristic. Digital waveform is produced
as tone wheel rotate according as hall sensor principle. Frequency of duty waveform is changed in proportion to speed of
the rotation of tone wheel and HECU calculate vehicle speed by this frequency.

DTC Description
The ABS ECU monitors the wheel speed sensor circuit continuously. A direct current is supplied in the wheel-speed sensor
by a power source in the input amplifier of the control unit. If the WSS circuit is broken, in that case a fault is detected by
detecting abnormal input current. HECU cuts off the voltage supply to wheel sensor channel which had a fault and prevent
vehicle's damage due to super heated harness. If one or more defects has detected, DTC code of defected wheel will be
stored. Mutual short between sensors is detected by executing self diagnosis successively at corresponding wheel when
ignition ON. Warning lamp is turned OFF unless additional faults are detected when the IG KEY is turned ON again.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Voltage monitoring
Monitoring
• Once after power up.
Period
• Shorts between WSS lines and shorts to UZ can be detected
by switching single WSS channels in sequence. If there is an
Case1 error after end of test, a failure is recognized.
Enable
In case of a WSS power line short to V_batt, this FSA test will
Conditions
detect an under voltage failure. (ABS only)
※ FSA test : fail save circuit test
※ UZ : Ignition Voltage
• Open or short of Wheel
Monitoring speed sensor circuit
• Continuous
Period • Inoperative Wheel speed
Case2 sensor
Enable • When the sensor current levels are out of permissible
Conditions range(LOW : 7 mA, HIGH : 14 mA) for 200 ms. • Inoperative HECU

• Sensor failure outside of the ABS control cycle

1. Only one wheel failure : Only the ABS/ESC functions are
inhibited. The ABS/ESC warning lamps are activated and
the EBD warning lamp is not activated.
Fail Safe 2. Two wheels failure : Only the ABS/ESC functions are
inhibited. The ABS/ESC warning lamps are activated and
the EBD warning lamp is not activated.
3. More than 3 wheels failure :System down. The
ABS/EBD/ESC functions are inhibited. The ABS/EBD/ESC

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 warning lamps are activated.
• Sensor failure inside the ABS control cycle
1. One front wheel failure : Inhibit the ABS/ESC control.
Pressure is increased on a front wheel, Pressure is
decreased on a rear wheel. After the ABS/ESC control, the
ABS/ESC functions are inhibited. The ABS/ESC warning
lamps are activated and the EBD warning lamp is not
activated.
2. Two wheels failure : Inhibit the ABS/ESC control. Pressure is
increased on a front wheel, Pressure is decreased on a rear
wheel. After the ABS/ESC control, the ABS/ESC functions
are inhibited. The ABS/ESC warning lamps are activated
and the EBD warning lamp is not activated.
3. More than 3 wheels failure : System down. The
ABS/EBD/ESC functions are inhibited. The ABS/EBD/ESC
warning lamps are activated.

Monitor Scantool Data

1. Engine "ON".
2. Connect scantool to Data Link Connector(DLC).
3. Start and drive vehicle in gear and maintain vehicle speed at or above 10 km/h(6.2 mph)
4. Monitor the "Wheel speed sensor" parameter on the Scantool.

Specification : Compare with another parameters related to wheel speed sensor. If it is the same as
another parameters, it is in normal condition.

5. Is parameter displayed within specifications?

▶ Fault is intermittent caused by poor connection in wheel speed sensor harness and/or HECU's connector or was
repaired and HECU memory was not cleared. Thoroughly check connectors for looseness, poor connection, bending,
corrosion, contamination, deterioration, or damage. Repair or replace as necessary and then go to "Verification Of
Vehicle Repair" procedure.

▶ Go to "W/Harness Inspection" procedure.

Terminal & Connector Inspection

1. Many malfunctions in the electrical system are caused by poor harness(es) and terminals. Faults can also be caused by

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 interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage.
3. Has a problem been found?

▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Go to "Power Circuit Inspection" procedure.

Power Supply Circuit Inspection

1. Ignition "ON".
2. Measure voltage between terminal (FL, FR : 2, RL, RR : 2) of the wheel speed sensor harness connector and chassis
ground.

Specification : Approx. B+

3. Is the measured voltage within specifications?

▶ Go to "Signal Circuit Inspection" procedure.

▶ Check for open or short to GND in wheel speed sensor harness between terminal "FL, FR : 2, RL, RR : 2" of the wheel
speed sensor harness connector and terminal of the HECU harness connector. Repair as necessary and then go to
"Verification Of Vehicle Repair" procedure.
▶ If OK, Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and
then go to "Verification Of Vehicle Repair" procedure.

HECU harness connector (Power supply)

DTC LOCATION
ABS ESC
DTC C1200 Front Left 16 26
DTC C1203 Front Right 9 9
DTC C1206 Rear Left 6 6
DTC C1209 Rear Right 8 8

Signal Circuit Inspection

1. Lift the vehicle.
2. Ignition "ON".
3. Turn the wheel with hand.
4. Measure waveform between terminal of the HECU harness connector and chassis ground.

Specification : Approx. High : 1.05 V , Low : 0.525 V

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 HECU harness connector (Signal)
DTC LOCATION
ABS ESC
DTC C1200 Front Left 5 5
DTC C1203 Front Right 10 10
DTC C1206 Rear Left 17 27
DTC C1209 Rear Right 19 29

5. Is the measured waveform within specifications?

▶ Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification Of Vehicle Repair" procedure.

▶ Check for open or short to GND in wheel speed sensor harness between terminal "FL, FR : 1, RL, RR : 1" of the wheel
speed sensor harness connector and terminal of the HECU harness connector. Repair as necessary and then go to
"Verification Of Vehicle Repair" procedure.
▶ If OK, Go to "Component Inspection" procedure.

Component Inspection
1. Lift the vehicle.
2. Ignition "ON".
3. Turn the wheel with hand.
4. Measure waveform between terminal "FL, FR : 1, RL, RR : 1" of the wheel speed sensor harness connector and chassis
ground.

Specification : Approx. High : 1.05 V , Low : 0.525 V

5. Is the measured waveform within specifications?

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 ▶ Fault is intermittent caused by poor connection in wheel speed sensor harness. Go to "Verification Of Vehicle Repair"
procedure.

▶ Substitute with a known-good Wheel speed sensor and check for proper operation. If problem is corrected, replace
Wheel speed sensor and then go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C1204

COMPONENT LOCATION

General Description
The wheel speed sensor is the essential component the ABS ECU uses to calculate vehicle speed and to determine
whether wheel lock occurs. For example, rear wheel speed signal is used as a reference value, for vehicle speed, in front
wheel drive vehicles, and if a difference between front and rear wheel speed occurs, then ABS control is performed. Wheel
speed sensor is active hall IC-sensor type and good at temperature and noise characteristic. Digital waveform is produced
as tone wheel rotate according as hall sensor principle. Frequency of duty waveform is changed in proportion to speed of
the rotation of tone wheel and HECU calculate vehicle speed by this frequency.

DTC Description
The ABS ECU monitors the wheel speed sensor signal continuously. This code is set when an abnormal signal due to air
gap problem or an abnormal speed change ratio are detected at the vehicle speed between 10 km/h to 80 km/h(6.2 mph to
49.7 mph). Warning lamp is turned OFF unless additional faults are detected when the IG KEY is turned ON again, and
wheel speed is more than 12 Km/h(7.5 mph).

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Signal monitoring • Improper installation of

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 • The monitoring is active from 10 km/h to 80 km/h(6.2 mph to
Monitoring
49.7 mph) and if no ABS-control is active at a front wheel and a
Period
rear wheel.
Case1 • Every time, if a gap in the wheel speed sensor signal occurs
Enable cyclically with one wheel rotation, a fault counter is increased
Conditions by one. If the fault counter exceeds its limit of 6, a wheel
specific fault is stored in the EEPROM.
Monitoring
• Continuous
Period
• If following interference and signal disturbance is detected, a
Case2 failure is set after 10 s.
Enable non-plausible high frequency received.
Conditions non-plausible high wheel acceleration.
non-plausible high wheel jurk.
non-plausible delta T and edges at low speed.

• Sensor failure outside of the ABS control cycle

1. Only one wheel failure : Only the ABS/ESC functions are wheel speed sensor
inhibited. The ABS/ESC warning lamps are activated and • Abnormal Rotor and
the EBD warning lamp is not activated. wheel bearing
2. Two wheels failure : Only the ABS/ESC functions are • Inoperative Wheel speed
inhibited. The ABS/ESC warning lamps are activated and sensor
the EBD warning lamp is not activated. • Exteral noise
3. More than 3 wheels failure :System down. The
ABS/EBD/ESC functions are inhibited. The ABS/EBD/ESC
warning lamps are activated.
• Sensor failure inside the ABS control cycle
1. One front wheel failure : Inhibit the ABS/ESC control.
Fail Safe Pressure is increased on a front wheel, Pressure is
decreased on a rear wheel. After the ABS/ESC control, the
ABS/ESC functions are inhibited. The ABS/ESC warning
lamps are activated and the EBD warning lamp is not
activated.
2. Two wheels failure : Inhibit the ABS/ESC control. Pressure is
increased on a front wheel, Pressure is decreased on a rear
wheel. After the ABS/ESC control, the ABS/ESC functions
are inhibited. The ABS/ESC warning lamps are activated
and the EBD warning lamp is not activated.
3. More than 3 wheels failure : System down. The
ABS/EBD/ESC functions are inhibited. The ABS/EBD/ESC
warning lamps are activated.

Monitor Scantool Data

1. Engine "ON".
2. Connect scantool to Data Link Connector(DLC).
3. Start and drive vehicle in gear and maintain vehicle speed at or above 12 km/h(7.5 mph)
4. Monitor the "Wheel Speed Sensor" parameter on the Scantool.

Specification : Compare with another parameters related to wheel speed sensor. If it is the same as
another parameters, it is in normal condition

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 5. Is parameter displayed within specifications?

▶ Fault is intermittent caused by faulty HECU or external noise, was repaired and HECU memory was not cleared.
Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage. Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Go to "Component Inspection" Procedure.

COMPONENT INSPECTION
1. Lift the vehicle.
2. Ignition "ON".
3. Turn the wheel with hand.
4. Measure waveform between terminal "FL, FR : 1, RL, RR : 1" of the wheel speed sensor harness connector and chassis
ground.

Specification : High : 1.05 V , Low : 0.525 V

5. Is the measured waveform within specifications?

▶ Fault is intermittent caused by poor connection in wheel speed sensor harness or external noise, Thoroughly check
connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or damage and external
noise, an interference between harnesses. Repair or replace as necessary and then go to "Verification Of Vehicle Repair"
procedure.
▶ If OK, Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and
then go to "Verification Of Vehicle Repair" procedure.

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 ▶ Check for improper installation of wheel speed sensor. If NG, repair as necessary and then go to "Verification Of
Vehicle Repair" procedure.
▶ Check for damage of rotor teeth or wheel bearing. If NG, repair as necessary and then go to "Verification Of Vehicle
Repair" procedure.
▶ Substitute with a known-good Wheel speed sensor and check for proper operation. If problem is corrected, replace
Wheel speed sensor and then go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information.(Start and drive vehicle in gear and maintain
vehicle speed at or above 12 km/h (7.5 mph))
4. Are any DTCs present ?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C1205

COMPONENT LOCATION

General Description
The wheel speed sensor is the essential component the ABS ECU uses to calculate vehicle speed and to determine
whether wheel lock occurs. For example, rear wheel speed signal is used as a reference value, for vehicle speed, in front
wheel drive vehicles, and if a difference between front and rear wheel speed occurs, then ABS control is performed. Wheel
speed sensor is active hall IC-sensor type and good at temperature and noise characteristic. Digital waveform is produced
as tone wheel rotate according as hall sensor principle. Frequency of duty waveform is changed in proportion to speed of
the rotation of tone wheel and HECU calculate vehicle speed by this frequency.

DTC Description
The ABS ECU monitors the wheel speed sensor signal continuously. This code is set when there is no wheel speed signals
within 10 ms to 20 ms at a vehicle speed > 43.2 km/h(26.8 mph) or a deviation between sensors exceed the threshold or
one or two wheels are at 2.75 km/h(1.7 mph) while the vehicle speed is at 12 km/h(7.5 mph). Warning lamp is turned OFF
unless additional faults are detected when the IG KEY is turned ON again, and wheel speed is more than 12 Km/h(7.5 mph).

DTC Detecting Condition

Item Detecting Condition Possible cause

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 • Improper installation of wheel
speed sensor
• Abnormal Rotor and wheel
DTC Strategy • Signal monitoring
bearing
• Inoperative Wheel speed
sensor
Monitoring
• Continuous (only no under voltage is not detected)
Period
• If one (or two) wheel are at 2.75 km/h(1.7 mph) and the
other wheels are above 12 km/h(7.5 mph) for longer than
1s.
• During driving, when the vehicle accelerates 18
km/h(11.2 mph) after a particular wheel speed gets to
2.75 km/h(1.7 mph) and stays there. At that time, If one
Case1 (or two) wheel are at 2.75 km/h(1.7 mph).
Enable - This monitoring is performed at the following condition.
Conditions
1. At the time the vehicle is accelerated to 12 km/h(7.5
mph).
2. Once after energizing the system.
3. If the vehicle was stationary for approx. 2s.
• If one (or two) wheels are under 5 km/h(3.1 mph) and the
two fastest wheels have a velocity above 12 km/h(7.5
mph) for more than 20s.

• Continuous ( If vehicle speed > 12 m/s)

- but this monitoring is disabled in the following event
Monitoring
1. Aquaplaning.
Period
2. Interference.
3. Supply voltage below 7.6 or above 18 Volts

Case2 • No wheel speed signals within 10 ms to 20 ms at a

vehicle speed > 12 m/s (43.2 km/h(26.8 mph)).
- If the dynamic sensor monitor responses, the failures
Enable
will be stored into failure memory immediately after a
Conditions
waiting period of 60 ms.
- If occurs low voltage active sensors during the waiting
period of 60 ms no failure is stored in the EEPROM.
Monitoring
• Continuous
Period
• Vehicle < 100Km/h
- Difference of two wheel speeds at FL to RL/FR to
RR>1.7m/s (6km/h(3.7mph)).
- Difference of two wheel speeds at FL to FR/RL to
RR>1.7m/s + 1.1m/s.
- Difference of two wheel speeds at FL to RR/FR to
RL>1.7m/s + 2.2m/s.
※ If at least one wheel is at 1.4m/s or lower, a wheel
Case3 speed difference of adjoining wheels up to 3.3m/s(or
- ABS Only 3.3m/s + 1.1m/s) is permitted.
Enable
• Vehicle > 100Km/h
Conditions
- Difference of two wheel speeds at FL to RL/FR to
RR>(6%×Vref).
- Difference of two wheel speeds at FL to FR/RL to
RR>(6%×Vref + 1.1m/s).
- Difference of two wheel speeds at FL to RR/FR to
RL>(6%×Vref + 2.2m/s).
※ V_ref : Vehicle Reference Speed
• Detection filter time
- Response and detection filter time depend on the

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 amount of the speed difference and additional conditions
as shown below.
1. 18s - if fault threshold is exceeding > 1.7m/s resp.6%
2. 9s - if fault threshold is exceeding > 3.3m/s resp. 12%
3. If any wheel shows strong deceleration the fault
detection filter time is not shorter than 18s.
4. If spinning wheel is detected the fault detection filter
time is not shorter than 72s.
• Fault allocation
If the exact fault location can be determined the wheel
specific fault will be set. This is the case if at the time of
detection the faulty wheel speed is at or below 1.4m/s.
Otherwise a general WSS_Generic fauly (C1213) is set.
• Main Monitoring
- The main monitor needs additional information of the
Monitoring ESC-sensors and is active for a velocity > 20 km/h(12.4
Period mph) and no under voltage is detected.
• Backup Monitoring
- Continuous

• Main Monitoring
1. If the maximum difference of wheel speeds related to
maximum wheel speed exceeds 5%.
2. Detection filter time :
- the above conditions apply for 20s for 1 defective
wheel speed sensor.
Case4 - the above conditions apply for 40s for 2 defective
- ESC wheel speed sensor.
Only If the faulty wheel is always the same, a wheel specific
wheel speed sensor fault is set, otherwise a generic
Enable
wheel speed sensor fault (C1213) is set.
Conditions
• Backup Monitoring
1. If the deviation between the fastest and the slowest
wheel exceeds 6% related to the fastest wheel when
the velocity is higher than 50 km/h(31.1 mph).
2. When the velocity is below 50 km/h(31.1 mph), if the
deviation exceeds an absolute value of 3km/h(1.9
mph).
3. Detection filter time : normally 20s
- In case of a detected curve, the threshold is
increased with an additional value of 4 km/h(2.5 mph).

• Sensor failure outside of the ABS control cycle

1. Only one wheel failure : Only the ABS/ESC functions
are inhibited. The ABS/ESC warning lamps are
activated and the EBD warning lamp is not activated.
2. Two wheels failure : Only the ABS/ESC functions are
inhibited. The ABS/ESC warning lamps are activated
and the EBD warning lamp is not activated.
3. More than 3 wheels failure :System down. The
ABS/EBD/ESC functions are inhibited. The
Fail Safe ABS/EBD/ESC warning lamps are activated.
• Sensor failure inside the ABS control cycle
1. One front wheel failure : Inhibit the ABS/ESC control.
Pressure is increased on a front wheel, Pressure is
decreased on a rear wheel. After the ABS/ESC
control, the ABS/ESC functions are inhibited. The
ABS/ESC warning lamps are activated and the EBD
warning lamp is not activated.
2. Two wheels failure : Inhibit the ABS/ESC control.
Pressure is increased on a front wheel, Pressure is

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 decreased on a rear wheel. After the ABS/ESC
control, the ABS/ESC functions are inhibited. The
ABS/ESC warning lamps are activated and the EBD
warning lamp is not activated.
3. More than 3 wheels failure : System down. The
ABS/EBD/ESC functions are inhibited. The
ABS/EBD/ESC warning lamps are activated.

Monitor Scantool Data

1. Engine "ON".
2. Connect scantool to Data Link Connector(DLC).
3. Start and drive vehicle in gear and maintain vehicle speed at or above 50 km/h(31.1 mph)
4. Monitor the "Wheel Speed Sensor" parameter on the Scantool.

Specification : Compare with another parameters related to wheel speed sensor. If it is the same as
another parameters, it is in normal condition.

5. Is parameter displayed within specifications?

▶ Fault is intermittent caused by poor connection in wheel speed sensor harness, Thoroughly check connectors for
looseness, poor connection, bending, corrosion, contamination, deterioration, or damage. Repair as necessary and then
go to "Verification Of Vehicle Repair" procedure.

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 ▶ Go to "Component Inspection" Procedure.

COMPONENT INSPECTION
1. Lift the vehicle.
2. Ignition "ON".
3. Turn the wheel with hand.
4. Measure waveform between terminal "FL, FR : , RL, RR : 1" of the wheel speed sensor harness connector and chassis
ground.

Specification : High : 1.05 V , Low : 0.525 V

5. Is the measured waveform within specifications?

▶ Fault is intermittent caused by poor connection in wheel speed sensor harness or external noise, Thoroughly check
connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or damage and external
noise, an interference between harnesses. Repair or replace as necessary and then go to "Verification Of Vehicle Repair"
procedure.
▶ If OK, Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and
then go to "Verification Of Vehicle Repair" procedure.

▶ Check for improper installation of wheel speed sensor. If NG, repair as necessary and then go to "Verification Of
Vehicle Repair" procedure.
▶ Check for damage of rotor teeth or wheel bearing. If NG, repair as necessary and then go to "Verification Of Vehicle
Repair" procedure.
▶ Substitute with a known-good Wheel speed sensor and check for proper operation. If problem is corrected, replace
Wheel speed sensor and then go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information.(Start and drive vehicle in gear and maintain
vehicle speed at or above 50 km/h (31.1 mph))
4. Are any DTCs present ?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

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 Brake System > Troubleshooting > C1206
COMPONENT LOCATION

General Description
The wheel speed sensor is the essential component the ABS ECU uses to calculate vehicle speed and to determine
whether wheel lock occurs. For example, rear wheel speed signal is used as a reference value, for vehicle speed, in front
wheel drive vehicles, and if a difference between front and rear wheel speed occurs, then ABS control is performed. Wheel
speed sensor is active hall IC-sensor type and good at temperature and noise characteristic. Digital waveform is produced
as tone wheel rotate according as hall sensor principle. Frequency of duty waveform is changed in proportion to speed of
the rotation of tone wheel and HECU calculate vehicle speed by this frequency.

DTC Description
The ABS ECU monitors the wheel speed sensor circuit continuously. A direct current is supplied in the wheel-speed sensor
by a power source in the input amplifier of the control unit. If the WSS circuit is broken, in that case a fault is detected by
detecting abnormal input current. HECU cuts off the voltage supply to wheel sensor channel which had a fault and prevent
vehicle's damage due to super heated harness. If one or more defects has detected, DTC code of defected wheel will be
stored. Mutual short between sensors is detected by executing self diagnosis successively at corresponding wheel when
ignition ON. Warning lamp is turned OFF unless additional faults are detected when the IG KEY is turned ON again.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Voltage monitoring
Monitoring
• Once after power up.
Period
• Shorts between WSS lines and shorts to UZ can be detected
by switching single WSS channels in sequence. If there is an
Case1 error after end of test, a failure is recognized.
Enable
In case of a WSS power line short to V_batt, this FSA test will
Conditions
detect an under voltage failure. (ABS only)
• Open or short of Wheel
※ FSA test : fail save circuit test
speed sensor circuit
※ UZ : Ignition Voltage
• Inoperative Wheel speed
Monitoring sensor
• Continuous
Period • Inoperative HECU
Case2
Enable • When the sensor current levels are out of permissible
Conditions range(LOW : 7 mA, HIGH : 14 mA) for 200 ms.

• Sensor failure outside of the ABS control cycle

1. Only one wheel failure : Only the ABS/ESC functions are
Fail Safe inhibited. The ABS/ESC warning lamps are activated and
the EBD warning lamp is not activated.
2. Two wheels failure : Only the ABS/ESC functions are

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 inhibited. The ABS/ESC warning lamps are activated and
the EBD warning lamp is not activated.
3. More than 3 wheels failure :System down. The
ABS/EBD/ESC functions are inhibited. The ABS/EBD/ESC
warning lamps are activated.
• Sensor failure inside the ABS control cycle
1. One front wheel failure : Inhibit the ABS/ESC control.
Pressure is increased on a front wheel, Pressure is
decreased on a rear wheel. After the ABS/ESC control, the
ABS/ESC functions are inhibited. The ABS/ESC warning
lamps are activated and the EBD warning lamp is not
activated.
2. Two wheels failure : Inhibit the ABS/ESC control. Pressure is
increased on a front wheel, Pressure is decreased on a rear
wheel. After the ABS/ESC control, the ABS/ESC functions
are inhibited. The ABS/ESC warning lamps are activated
and the EBD warning lamp is not activated.
3. More than 3 wheels failure : System down. The
ABS/EBD/ESC functions are inhibited. The ABS/EBD/ESC
warning lamps are activated.

Monitor Scantool Data

1. Engine "ON".
2. Connect scantool to Data Link Connector(DLC).
3. Start and drive vehicle in gear and maintain vehicle speed at or above 10 km/h(6.2 mph)
4. Monitor the "Wheel speed sensor" parameter on the Scantool.

Specification : Compare with another parameters related to wheel speed sensor. If it is the same as
another parameters, it is in normal condition.

5. Is parameter displayed within specifications?

▶ Fault is intermittent caused by poor connection in wheel speed sensor harness and/or HECU's connector or was
repaired and HECU memory was not cleared. Thoroughly check connectors for looseness, poor connection, bending,
corrosion, contamination, deterioration, or damage. Repair or replace as necessary and then go to "Verification Of
Vehicle Repair" procedure.

▶ Go to "W/Harness Inspection" procedure.

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 Terminal & Connector Inspection
1. Many malfunctions in the electrical system are caused by poor harness(es) and terminals. Faults can also be caused by
interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage.
3. Has a problem been found?

▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Go to "Power Circuit Inspection" procedure.

Power Supply Circuit Inspection

1. Ignition "ON".
2. Measure voltage between terminal (FL, FR : 2, RL, RR : 2) of the wheel speed sensor harness connector and chassis
ground.

Specification : Approx. B+

3. Is the measured voltage within specifications?

▶ Go to "Signal Circuit Inspection" procedure.

▶ Check for open or short to GND in wheel speed sensor harness between terminal "FL, FR : 2, RL, RR : 2" of the wheel
speed sensor harness connector and terminal of the HECU harness connector. Repair as necessary and then go to
"Verification Of Vehicle Repair" procedure.
▶ If OK, Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and
then go to "Verification Of Vehicle Repair" procedure.

HECU harness connector (Power supply)

DTC LOCATION
ABS ESC
DTC C1200 Front Left 16 26
DTC C1203 Front Right 9 9
DTC C1206 Rear Left 6 6
DTC C1209 Rear Right 8 8

Signal Circuit Inspection

1. Lift the vehicle.
2. Ignition "ON".
3. Turn the wheel with hand.
4. Measure waveform between terminal of the HECU harness connector and chassis ground.

Specification : Approx. High : 1.05 V , Low : 0.525 V

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 HECU harness connector (Signal)
DTC LOCATION
ABS ESC
DTC C1200 Front Left 5 5
DTC C1203 Front Right 10 10
DTC C1206 Rear Left 17 27
DTC C1209 Rear Right 19 29

5. Is the measured waveform within specifications?

▶ Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification Of Vehicle Repair" procedure.

▶ Check for open or short to GND in wheel speed sensor harness between terminal "FL, FR : 1, RL, RR : 1" of the wheel
speed sensor harness connector and terminal of the HECU harness connector. Repair as necessary and then go to
"Verification Of Vehicle Repair" procedure.
▶ If OK, Go to "Component Inspection" procedure.

Component Inspection
1. Lift the vehicle.
2. Ignition "ON".
3. Turn the wheel with hand.
4. Measure waveform between terminal "FL, FR : 1, RL, RR : 1" of the wheel speed sensor harness connector and chassis
ground.

Specification : Approx. High : 1.05 V , Low : 0.525 V

5. Is the measured waveform within specifications?

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 ▶ Fault is intermittent caused by poor connection in wheel speed sensor harness. Go to "Verification Of Vehicle Repair"
procedure.

▶ Substitute with a known-good Wheel speed sensor and check for proper operation. If problem is corrected, replace
Wheel speed sensor and then go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C1207

COMPONENT LOCATION

General Description
The wheel speed sensor is the essential component the ABS ECU uses to calculate vehicle speed and to determine
whether wheel lock occurs. For example, rear wheel speed signal is used as a reference value, for vehicle speed, in front
wheel drive vehicles, and if a difference between front and rear wheel speed occurs, then ABS control is performed. Wheel
speed sensor is active hall IC-sensor type and good at temperature and noise characteristic. Digital waveform is produced
as tone wheel rotate according as hall sensor principle. Frequency of duty waveform is changed in proportion to speed of
the rotation of tone wheel and HECU calculate vehicle speed by this frequency.

DTC Description
The ABS ECU monitors the wheel speed sensor signal continuously. This code is set when an abnormal signal due to air
gap problem or an abnormal speed change ratio are detected at the vehicle speed between 10 km/h to 80 km/h(6.2 mph to
49.7 mph). Warning lamp is turned OFF unless additional faults are detected when the IG KEY is turned ON again, and
wheel speed is more than 12 Km/h(7.5 mph).

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Signal monitoring • Improper installation of

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 • The monitoring is active from 10 km/h to 80 km/h(6.2 mph to
Monitoring
49.7 mph) and if no ABS-control is active at a front wheel and a
Period
rear wheel.
Case1 • Every time, if a gap in the wheel speed sensor signal occurs
Enable cyclically with one wheel rotation, a fault counter is increased
Conditions by one. If the fault counter exceeds its limit of 6, a wheel
specific fault is stored in the EEPROM.
Monitoring
• Continuous
Period
• If following interference and signal disturbance is detected, a
Case2 failure is set after 10 s.
Enable non-plausible high frequency received.
Conditions non-plausible high wheel acceleration.
non-plausible high wheel jurk.
non-plausible delta T and edges at low speed.

• Sensor failure outside of the ABS control cycle

1. Only one wheel failure : Only the ABS/ESC functions are wheel speed sensor
inhibited. The ABS/ESC warning lamps are activated and • Abnormal Rotor and
the EBD warning lamp is not activated. wheel bearing
2. Two wheels failure : Only the ABS/ESC functions are • Inoperative Wheel speed
inhibited. The ABS/ESC warning lamps are activated and sensor
the EBD warning lamp is not activated. • Exteral noise
3. More than 3 wheels failure :System down. The
ABS/EBD/ESC functions are inhibited. The ABS/EBD/ESC
warning lamps are activated.
• Sensor failure inside the ABS control cycle
1. One front wheel failure : Inhibit the ABS/ESC control.
Fail Safe Pressure is increased on a front wheel, Pressure is
decreased on a rear wheel. After the ABS/ESC control, the
ABS/ESC functions are inhibited. The ABS/ESC warning
lamps are activated and the EBD warning lamp is not
activated.
2. Two wheels failure : Inhibit the ABS/ESC control. Pressure is
increased on a front wheel, Pressure is decreased on a rear
wheel. After the ABS/ESC control, the ABS/ESC functions
are inhibited. The ABS/ESC warning lamps are activated
and the EBD warning lamp is not activated.
3. More than 3 wheels failure : System down. The
ABS/EBD/ESC functions are inhibited. The ABS/EBD/ESC
warning lamps are activated.

Monitor Scantool Data

1. Engine "ON".
2. Connect scantool to Data Link Connector(DLC).
3. Start and drive vehicle in gear and maintain vehicle speed at or above 12 km/h(7.5 mph)
4. Monitor the "Wheel Speed Sensor" parameter on the Scantool.

Specification : Compare with another parameters related to wheel speed sensor. If it is the same as
another parameters, it is in normal condition

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 5. Is parameter displayed within specifications?

▶ Fault is intermittent caused by faulty HECU or external noise, was repaired and HECU memory was not cleared.
Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage. Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Go to "Component Inspection" Procedure.

COMPONENT INSPECTION
1. Lift the vehicle.
2. Ignition "ON".
3. Turn the wheel with hand.
4. Measure waveform between terminal "FL, FR : 1, RL, RR : 1" of the wheel speed sensor harness connector and chassis
ground.

Specification : High : 1.05 V , Low : 0.525 V

5. Is the measured waveform within specifications?

▶ Fault is intermittent caused by poor connection in wheel speed sensor harness or external noise, Thoroughly check
connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or damage and external
noise, an interference between harnesses. Repair or replace as necessary and then go to "Verification Of Vehicle Repair"
procedure.
▶ If OK, Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and
then go to "Verification Of Vehicle Repair" procedure.

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 ▶ Check for improper installation of wheel speed sensor. If NG, repair as necessary and then go to "Verification Of
Vehicle Repair" procedure.
▶ Check for damage of rotor teeth or wheel bearing. If NG, repair as necessary and then go to "Verification Of Vehicle
Repair" procedure.
▶ Substitute with a known-good Wheel speed sensor and check for proper operation. If problem is corrected, replace
Wheel speed sensor and then go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information.(Start and drive vehicle in gear and maintain
vehicle speed at or above 12 km/h (7.5 mph))
4. Are any DTCs present ?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C1208

COMPONENT LOCATION

General Description
The wheel speed sensor is the essential component the ABS ECU uses to calculate vehicle speed and to determine
whether wheel lock occurs. For example, rear wheel speed signal is used as a reference value, for vehicle speed, in front
wheel drive vehicles, and if a difference between front and rear wheel speed occurs, then ABS control is performed. Wheel
speed sensor is active hall IC-sensor type and good at temperature and noise characteristic. Digital waveform is produced
as tone wheel rotate according as hall sensor principle. Frequency of duty waveform is changed in proportion to speed of
the rotation of tone wheel and HECU calculate vehicle speed by this frequency.

DTC Description
The ABS ECU monitors the wheel speed sensor signal continuously. This code is set when there is no wheel speed signals
within 10 ms to 20 ms at a vehicle speed > 43.2 km/h(26.8 mph) or a deviation between sensors exceed the threshold or
one or two wheels are at 2.75 km/h(1.7 mph) while the vehicle speed is at 12 km/h(7.5 mph). Warning lamp is turned OFF
unless additional faults are detected when the IG KEY is turned ON again, and wheel speed is more than 12 Km/h(7.5 mph).

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Signal monitoring • Improper installation of

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 Monitoring wheel speed sensor
• Continuous (only no under voltage is not detected) • Abnormal Rotor and
Period
wheel bearing
• If one (or two) wheel are at 2.75 km/h(1.7 mph) and the other
• Inoperative Wheel speed
wheels are above 12 km/h(7.5 mph) for longer than 1s.
sensor
• During driving, when the vehicle accelerates 18 km/h(11.2 mph)
after a particular wheel speed gets to 2.75 km/h(1.7 mph) and
stays there. At that time, If one (or two) wheel are at 2.75
Case1 km/h(1.7 mph).
Enable - This monitoring is performed at the following condition.
Conditions
1. At the time the vehicle is accelerated to 12 km/h(7.5 mph).
2. Once after energizing the system.
3. If the vehicle was stationary for approx. 2s.
• If one (or two) wheels are under 5 km/h(3.1 mph) and the two
fastest wheels have a velocity above 12 km/h(7.5 mph) for more
than 20s.

• Continuous ( If vehicle speed > 12 m/s)

- but this monitoring is disabled in the following event
Monitoring
1. Aquaplaning.
Period
2. Interference.
3. Supply voltage below 7.6 or above 18 Volts

Case2 • No wheel speed signals within 10 ms to 20 ms at a vehicle

speed > 12 m/s (43.2 km/h(26.8 mph)).
- If the dynamic sensor monitor responses, the failures will be
Enable
stored into failure memory immediately after a waiting period of
Conditions
60 ms.
- If occurs low voltage active sensors during the waiting period
of 60 ms no failure is stored in the EEPROM.
Monitoring
• Continuous
Period
• Vehicle < 100Km/h
- Difference of two wheel speeds at FL to RL/FR to RR>1.7m/s
(6km/h(3.7mph)).
- Difference of two wheel speeds at FL to FR/RL to RR>1.7m/s
+ 1.1m/s.
- Difference of two wheel speeds at FL to RR/FR to RL>1.7m/s
+ 2.2m/s.
※ If at least one wheel is at 1.4m/s or lower, a wheel speed
difference of adjoining wheels up to 3.3m/s(or 3.3m/s + 1.1m/s)
is permitted.
• Vehicle > 100Km/h
- Difference of two wheel speeds at FL to RL/FR to
RR>(6%×Vref).
Case3
- Difference of two wheel speeds at FL to FR/RL to
- ABS Only Enable RR>(6%×Vref + 1.1m/s).
Conditions - Difference of two wheel speeds at FL to RR/FR to
RL>(6%×Vref + 2.2m/s).
※ V_ref : Vehicle Reference Speed
• Detection filter time
- Response and detection filter time depend on the amount of
the speed difference and additional conditions as shown below.
1. 18s - if fault threshold is exceeding > 1.7m/s resp.6%
2. 9s - if fault threshold is exceeding > 3.3m/s resp. 12%
3. If any wheel shows strong deceleration the fault detection
filter time is not shorter than 18s.
4. If spinning wheel is detected the fault detection filter time is
not shorter than 72s.
• Fault allocation
If the exact fault location can be determined the wheel specific

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 fault will be set. This is the case if at the time of detection the
faulty wheel speed is at or below 1.4m/s.
Otherwise a general WSS_Generic fauly (C1213) is set.
• Main Monitoring
- The main monitor needs additional information of the
Monitoring ESC-sensors and is active for a velocity > 20 km/h(12.4 mph)
Period and no under voltage is detected.
• Backup Monitoring
- Continuous

• Main Monitoring
1. If the maximum difference of wheel speeds related to
maximum wheel speed exceeds 5%.
2. Detection filter time :
- the above conditions apply for 20s for 1 defective wheel
speed sensor.
Case4 - the above conditions apply for 40s for 2 defective wheel
- ESC Only speed sensor.
If the faulty wheel is always the same, a wheel specific wheel
Enable speed sensor fault is set, otherwise a generic wheel speed
Conditions sensor fault (C1213) is set.
• Backup Monitoring
1. If the deviation between the fastest and the slowest wheel
exceeds 6% related to the fastest wheel when the velocity is
higher than 50 km/h(31.1 mph).
2. When the velocity is below 50 km/h(31.1 mph), if the
deviation exceeds an absolute value of 3km/h(1.9 mph).
3. Detection filter time : normally 20s
- In case of a detected curve, the threshold is increased with
an additional value of 4 km/h(2.5 mph).

• Sensor failure outside of the ABS control cycle

1. Only one wheel failure : Only the ABS/ESC functions are
inhibited. The ABS/ESC warning lamps are activated and the
EBD warning lamp is not activated.
2. Two wheels failure : Only the ABS/ESC functions are
inhibited. The ABS/ESC warning lamps are activated and the
EBD warning lamp is not activated.
3. More than 3 wheels failure :System down. The
ABS/EBD/ESC functions are inhibited. The ABS/EBD/ESC
warning lamps are activated.
• Sensor failure inside the ABS control cycle
1. One front wheel failure : Inhibit the ABS/ESC control.
Fail Safe Pressure is increased on a front wheel, Pressure is
decreased on a rear wheel. After the ABS/ESC control, the
ABS/ESC functions are inhibited. The ABS/ESC warning
lamps are activated and the EBD warning lamp is not
activated.
2. Two wheels failure : Inhibit the ABS/ESC control. Pressure is
increased on a front wheel, Pressure is decreased on a rear
wheel. After the ABS/ESC control, the ABS/ESC functions
are inhibited. The ABS/ESC warning lamps are activated and
the EBD warning lamp is not activated.
3. More than 3 wheels failure : System down. The
ABS/EBD/ESC functions are inhibited. The ABS/EBD/ESC
warning lamps are activated.

Monitor Scantool Data

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 1. Engine "ON".
2. Connect scantool to Data Link Connector(DLC).
3. Start and drive vehicle in gear and maintain vehicle speed at or above 50 km/h(31.1 mph)
4. Monitor the "Wheel Speed Sensor" parameter on the Scantool.

Specification : Compare with another parameters related to wheel speed sensor. If it is the same as
another parameters, it is in normal condition.

5. Is parameter displayed within specifications?

▶ Fault is intermittent caused by poor connection in wheel speed sensor harness, Thoroughly check connectors for
looseness, poor connection, bending, corrosion, contamination, deterioration, or damage. Repair as necessary and then
go to "Verification Of Vehicle Repair" procedure.

▶ Go to "Component Inspection" Procedure.

COMPONENT INSPECTION
1. Lift the vehicle.
2. Ignition "ON".
3. Turn the wheel with hand.
4. Measure waveform between terminal "FL, FR : , RL, RR : 1" of the wheel speed sensor harness connector and chassis
ground.

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 Specification : High : 1.05 V , Low : 0.525 V

5. Is the measured waveform within specifications?

▶ Fault is intermittent caused by poor connection in wheel speed sensor harness or external noise, Thoroughly check
connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or damage and external
noise, an interference between harnesses. Repair or replace as necessary and then go to "Verification Of Vehicle Repair"
procedure.
▶ If OK, Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and
then go to "Verification Of Vehicle Repair" procedure.

▶ Check for improper installation of wheel speed sensor. If NG, repair as necessary and then go to "Verification Of
Vehicle Repair" procedure.
▶ Check for damage of rotor teeth or wheel bearing. If NG, repair as necessary and then go to "Verification Of Vehicle
Repair" procedure.
▶ Substitute with a known-good Wheel speed sensor and check for proper operation. If problem is corrected, replace
Wheel speed sensor and then go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information.(Start and drive vehicle in gear and maintain
vehicle speed at or above 50 km/h (31.1 mph))
4. Are any DTCs present ?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C1209

COMPONENT LOCATION

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 General Description
The wheel speed sensor is the essential component the ABS ECU uses to calculate vehicle speed and to determine
whether wheel lock occurs. For example, rear wheel speed signal is used as a reference value, for vehicle speed, in front
wheel drive vehicles, and if a difference between front and rear wheel speed occurs, then ABS control is performed. Wheel
speed sensor is active hall IC-sensor type and good at temperature and noise characteristic. Digital waveform is produced
as tone wheel rotate according as hall sensor principle. Frequency of duty waveform is changed in proportion to speed of
the rotation of tone wheel and HECU calculate vehicle speed by this frequency.

DTC Description
The ABS ECU monitors the wheel speed sensor circuit continuously. A direct current is supplied in the wheel-speed sensor
by a power source in the input amplifier of the control unit. If the WSS circuit is broken, in that case a fault is detected by
detecting abnormal input current. HECU cuts off the voltage supply to wheel sensor channel which had a fault and prevent
vehicle's damage due to super heated harness. If one or more defects has detected, DTC code of defected wheel will be
stored. Mutual short between sensors is detected by executing self diagnosis successively at corresponding wheel when
ignition ON. Warning lamp is turned OFF unless additional faults are detected when the IG KEY is turned ON again.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Voltage monitoring
Monitoring
• Once after power up.
Period
• Shorts between WSS lines and shorts to UZ can be detected
by switching single WSS channels in sequence. If there is an
Case1 error after end of test, a failure is recognized.
Enable
In case of a WSS power line short to V_batt, this FSA test will
Conditions
detect an under voltage failure. (ABS only)
※ FSA test : fail save circuit test
※ UZ : Ignition Voltage
• Open or short of Wheel
Monitoring speed sensor circuit
• Continuous
Period • Inoperative Wheel speed
Case2 sensor
Enable • When the sensor current levels are out of permissible
Conditions range(LOW : 7 mA, HIGH : 14 mA) for 200 ms. • Inoperative HECU

• Sensor failure outside of the ABS control cycle

1. Only one wheel failure : Only the ABS/ESC functions are
inhibited. The ABS/ESC warning lamps are activated and
the EBD warning lamp is not activated.
Fail Safe 2. Two wheels failure : Only the ABS/ESC functions are
inhibited. The ABS/ESC warning lamps are activated and
the EBD warning lamp is not activated.
3. More than 3 wheels failure :System down. The
ABS/EBD/ESC functions are inhibited. The ABS/EBD/ESC

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 warning lamps are activated.
• Sensor failure inside the ABS control cycle
1. One front wheel failure : Inhibit the ABS/ESC control.
Pressure is increased on a front wheel, Pressure is
decreased on a rear wheel. After the ABS/ESC control, the
ABS/ESC functions are inhibited. The ABS/ESC warning
lamps are activated and the EBD warning lamp is not
activated.
2. Two wheels failure : Inhibit the ABS/ESC control. Pressure is
increased on a front wheel, Pressure is decreased on a rear
wheel. After the ABS/ESC control, the ABS/ESC functions
are inhibited. The ABS/ESC warning lamps are activated
and the EBD warning lamp is not activated.
3. More than 3 wheels failure : System down. The
ABS/EBD/ESC functions are inhibited. The ABS/EBD/ESC
warning lamps are activated.

Monitor Scantool Data

1. Engine "ON".
2. Connect scantool to Data Link Connector(DLC).
3. Start and drive vehicle in gear and maintain vehicle speed at or above 10 km/h(6.2 mph)
4. Monitor the "Wheel speed sensor" parameter on the Scantool.

Specification : Compare with another parameters related to wheel speed sensor. If it is the same as
another parameters, it is in normal condition.

5. Is parameter displayed within specifications?

▶ Fault is intermittent caused by poor connection in wheel speed sensor harness and/or HECU's connector or was
repaired and HECU memory was not cleared. Thoroughly check connectors for looseness, poor connection, bending,
corrosion, contamination, deterioration, or damage. Repair or replace as necessary and then go to "Verification Of
Vehicle Repair" procedure.

▶ Go to "W/Harness Inspection" procedure.

Terminal & Connector Inspection

1. Many malfunctions in the electrical system are caused by poor harness(es) and terminals. Faults can also be caused by

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 interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage.
3. Has a problem been found?

▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Go to "Power Circuit Inspection" procedure.

Power Supply Circuit Inspection

1. Ignition "ON".
2. Measure voltage between terminal (FL, FR : 2, RL, RR : 2) of the wheel speed sensor harness connector and chassis
ground.

Specification : Approx. B+

3. Is the measured voltage within specifications?

▶ Go to "Signal Circuit Inspection" procedure.

▶ Check for open or short to GND in wheel speed sensor harness between terminal "FL, FR : 2, RL, RR : 2" of the wheel
speed sensor harness connector and terminal of the HECU harness connector. Repair as necessary and then go to
"Verification Of Vehicle Repair" procedure.
▶ If OK, Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and
then go to "Verification Of Vehicle Repair" procedure.

HECU harness connector (Power supply)

DTC LOCATION
ABS ESC
DTC C1200 Front Left 16 26
DTC C1203 Front Right 9 9
DTC C1206 Rear Left 6 6
DTC C1209 Rear Right 8 8

Signal Circuit Inspection

1. Lift the vehicle.
2. Ignition "ON".
3. Turn the wheel with hand.
4. Measure waveform between terminal of the HECU harness connector and chassis ground.

Specification : Approx. High : 1.05 V , Low : 0.525 V

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 HECU harness connector (Signal)
DTC LOCATION
ABS ESC
DTC C1200 Front Left 5 5
DTC C1203 Front Right 10 10
DTC C1206 Rear Left 17 27
DTC C1209 Rear Right 19 29

5. Is the measured waveform within specifications?

▶ Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification Of Vehicle Repair" procedure.

▶ Check for open or short to GND in wheel speed sensor harness between terminal "FL, FR : 1, RL, RR : 1" of the wheel
speed sensor harness connector and terminal of the HECU harness connector. Repair as necessary and then go to
"Verification Of Vehicle Repair" procedure.
▶ If OK, Go to "Component Inspection" procedure.

Component Inspection
1. Lift the vehicle.
2. Ignition "ON".
3. Turn the wheel with hand.
4. Measure waveform between terminal "FL, FR : 1, RL, RR : 1" of the wheel speed sensor harness connector and chassis
ground.

Specification : Approx. High : 1.05 V , Low : 0.525 V

5. Is the measured waveform within specifications?

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 ▶ Fault is intermittent caused by poor connection in wheel speed sensor harness. Go to "Verification Of Vehicle Repair"
procedure.

▶ Substitute with a known-good Wheel speed sensor and check for proper operation. If problem is corrected, replace
Wheel speed sensor and then go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C1210

COMPONENT LOCATION

General Description
The wheel speed sensor is the essential component the ABS ECU uses to calculate vehicle speed and to determine
whether wheel lock occurs. For example, rear wheel speed signal is used as a reference value, for vehicle speed, in front
wheel drive vehicles, and if a difference between front and rear wheel speed occurs, then ABS control is performed. Wheel
speed sensor is active hall IC-sensor type and good at temperature and noise characteristic. Digital waveform is produced
as tone wheel rotate according as hall sensor principle. Frequency of duty waveform is changed in proportion to speed of
the rotation of tone wheel and HECU calculate vehicle speed by this frequency.

DTC Description
The ABS ECU monitors the wheel speed sensor signal continuously. This code is set when an abnormal signal due to air
gap problem or an abnormal speed change ratio are detected at the vehicle speed between 10 km/h to 80 km/h(6.2 mph to
49.7 mph). Warning lamp is turned OFF unless additional faults are detected when the IG KEY is turned ON again, and
wheel speed is more than 12 Km/h(7.5 mph).

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Signal monitoring • Improper installation of

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 • The monitoring is active from 10 km/h to 80 km/h(6.2 mph to
Monitoring
49.7 mph) and if no ABS-control is active at a front wheel and a
Period
rear wheel.
Case1 • Every time, if a gap in the wheel speed sensor signal occurs
Enable cyclically with one wheel rotation, a fault counter is increased
Conditions by one. If the fault counter exceeds its limit of 6, a wheel
specific fault is stored in the EEPROM.
Monitoring
• Continuous
Period
• If following interference and signal disturbance is detected, a
Case2 failure is set after 10 s.
Enable non-plausible high frequency received.
Conditions non-plausible high wheel acceleration.
non-plausible high wheel jurk.
non-plausible delta T and edges at low speed.

• Sensor failure outside of the ABS control cycle

1. Only one wheel failure : Only the ABS/ESC functions are wheel speed sensor
inhibited. The ABS/ESC warning lamps are activated and • Abnormal Rotor and
the EBD warning lamp is not activated. wheel bearing
2. Two wheels failure : Only the ABS/ESC functions are • Inoperative Wheel speed
inhibited. The ABS/ESC warning lamps are activated and sensor
the EBD warning lamp is not activated. • Exteral noise
3. More than 3 wheels failure :System down. The
ABS/EBD/ESC functions are inhibited. The ABS/EBD/ESC
warning lamps are activated.
• Sensor failure inside the ABS control cycle
1. One front wheel failure : Inhibit the ABS/ESC control.
Fail Safe Pressure is increased on a front wheel, Pressure is
decreased on a rear wheel. After the ABS/ESC control, the
ABS/ESC functions are inhibited. The ABS/ESC warning
lamps are activated and the EBD warning lamp is not
activated.
2. Two wheels failure : Inhibit the ABS/ESC control. Pressure is
increased on a front wheel, Pressure is decreased on a rear
wheel. After the ABS/ESC control, the ABS/ESC functions
are inhibited. The ABS/ESC warning lamps are activated
and the EBD warning lamp is not activated.
3. More than 3 wheels failure : System down. The
ABS/EBD/ESC functions are inhibited. The ABS/EBD/ESC
warning lamps are activated.

Monitor Scantool Data

1. Engine "ON".
2. Connect scantool to Data Link Connector(DLC).
3. Start and drive vehicle in gear and maintain vehicle speed at or above 12 km/h(7.5 mph)
4. Monitor the "Wheel Speed Sensor" parameter on the Scantool.

Specification : Compare with another parameters related to wheel speed sensor. If it is the same as
another parameters, it is in normal condition

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 5. Is parameter displayed within specifications?

▶ Fault is intermittent caused by faulty HECU or external noise, was repaired and HECU memory was not cleared.
Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage. Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Go to "Component Inspection" Procedure.

COMPONENT INSPECTION
1. Lift the vehicle.
2. Ignition "ON".
3. Turn the wheel with hand.
4. Measure waveform between terminal "FL, FR : 1, RL, RR : 1" of the wheel speed sensor harness connector and chassis
ground.

Specification : High : 1.05 V , Low : 0.525 V

5. Is the measured waveform within specifications?

▶ Fault is intermittent caused by poor connection in wheel speed sensor harness or external noise, Thoroughly check
connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or damage and external
noise, an interference between harnesses. Repair or replace as necessary and then go to "Verification Of Vehicle Repair"
procedure.
▶ If OK, Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and
then go to "Verification Of Vehicle Repair" procedure.

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 ▶ Check for improper installation of wheel speed sensor. If NG, repair as necessary and then go to "Verification Of
Vehicle Repair" procedure.
▶ Check for damage of rotor teeth or wheel bearing. If NG, repair as necessary and then go to "Verification Of Vehicle
Repair" procedure.
▶ Substitute with a known-good Wheel speed sensor and check for proper operation. If problem is corrected, replace
Wheel speed sensor and then go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information.(Start and drive vehicle in gear and maintain
vehicle speed at or above 12 km/h (7.5 mph))
4. Are any DTCs present ?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C1211

COMPONENT LOCATION

General Description
The wheel speed sensor is the essential component the ABS ECU uses to calculate vehicle speed and to determine
whether wheel lock occurs. For example, rear wheel speed signal is used as a reference value, for vehicle speed, in front
wheel drive vehicles, and if a difference between front and rear wheel speed occurs, then ABS control is performed. Wheel
speed sensor is active hall IC-sensor type and good at temperature and noise characteristic. Digital waveform is produced
as tone wheel rotate according as hall sensor principle. Frequency of duty waveform is changed in proportion to speed of
the rotation of tone wheel and HECU calculate vehicle speed by this frequency.

DTC Description
The ABS ECU monitors the wheel speed sensor signal continuously. This code is set when there is no wheel speed signals
within 10 ms to 20 ms at a vehicle speed > 43.2 km/h(26.8 mph) or a deviation between sensors exceed the threshold or
one or two wheels are at 2.75 km/h(1.7 mph) while the vehicle speed is at 12 km/h(7.5 mph). Warning lamp is turned OFF
unless additional faults are detected when the IG KEY is turned ON again, and wheel speed is more than 12 Km/h(7.5 mph).

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Signal monitoring • Improper installation of

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 Monitoring wheel speed sensor
• Continuous (only no under voltage is not detected) • Abnormal Rotor and
Period
wheel bearing
• If one (or two) wheel are at 2.75 km/h(1.7 mph) and the other
• Inoperative Wheel speed
wheels are above 12 km/h(7.5 mph) for longer than 1s.
sensor
• During driving, when the vehicle accelerates 18 km/h(11.2 mph)
after a particular wheel speed gets to 2.75 km/h(1.7 mph) and
stays there. At that time, If one (or two) wheel are at 2.75
Case1 km/h(1.7 mph).
Enable - This monitoring is performed at the following condition.
Conditions
1. At the time the vehicle is accelerated to 12 km/h(7.5 mph).
2. Once after energizing the system.
3. If the vehicle was stationary for approx. 2s.
• If one (or two) wheels are under 5 km/h(3.1 mph) and the two
fastest wheels have a velocity above 12 km/h(7.5 mph) for more
than 20s.

• Continuous ( If vehicle speed > 12 m/s)

- but this monitoring is disabled in the following event
Monitoring
1. Aquaplaning.
Period
2. Interference.
3. Supply voltage below 7.6 or above 18 Volts

Case2 • No wheel speed signals within 10 ms to 20 ms at a vehicle

speed > 12 m/s (43.2 km/h(26.8 mph)).
- If the dynamic sensor monitor responses, the failures will be
Enable
stored into failure memory immediately after a waiting period of
Conditions
60 ms.
- If occurs low voltage active sensors during the waiting period
of 60 ms no failure is stored in the EEPROM.
Monitoring
• Continuous
Period
• Vehicle < 100Km/h
- Difference of two wheel speeds at FL to RL/FR to RR>1.7m/s
(6km/h(3.7mph)).
- Difference of two wheel speeds at FL to FR/RL to RR>1.7m/s
+ 1.1m/s.
- Difference of two wheel speeds at FL to RR/FR to RL>1.7m/s
+ 2.2m/s.
※ If at least one wheel is at 1.4m/s or lower, a wheel speed
difference of adjoining wheels up to 3.3m/s(or 3.3m/s + 1.1m/s)
is permitted.
• Vehicle > 100Km/h
- Difference of two wheel speeds at FL to RL/FR to
RR>(6%×Vref).
Case3
- Difference of two wheel speeds at FL to FR/RL to
- ABS Only Enable RR>(6%×Vref + 1.1m/s).
Conditions - Difference of two wheel speeds at FL to RR/FR to
RL>(6%×Vref + 2.2m/s).
※ V_ref : Vehicle Reference Speed
• Detection filter time
- Response and detection filter time depend on the amount of
the speed difference and additional conditions as shown below.
1. 18s - if fault threshold is exceeding > 1.7m/s resp.6%
2. 9s - if fault threshold is exceeding > 3.3m/s resp. 12%
3. If any wheel shows strong deceleration the fault detection
filter time is not shorter than 18s.
4. If spinning wheel is detected the fault detection filter time is
not shorter than 72s.
• Fault allocation
If the exact fault location can be determined the wheel specific

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 fault will be set. This is the case if at the time of detection the
faulty wheel speed is at or below 1.4m/s.
Otherwise a general WSS_Generic fauly (C1213) is set.
• Main Monitoring
- The main monitor needs additional information of the
Monitoring ESC-sensors and is active for a velocity > 20 km/h(12.4 mph)
Period and no under voltage is detected.
• Backup Monitoring
- Continuous

• Main Monitoring
1. If the maximum difference of wheel speeds related to
maximum wheel speed exceeds 5%.
2. Detection filter time :
- the above conditions apply for 20s for 1 defective wheel
speed sensor.
Case4 - the above conditions apply for 40s for 2 defective wheel
- ESC Only speed sensor.
If the faulty wheel is always the same, a wheel specific wheel
Enable speed sensor fault is set, otherwise a generic wheel speed
Conditions sensor fault (C1213) is set.
• Backup Monitoring
1. If the deviation between the fastest and the slowest wheel
exceeds 6% related to the fastest wheel when the velocity is
higher than 50 km/h(31.1 mph).
2. When the velocity is below 50 km/h(31.1 mph), if the
deviation exceeds an absolute value of 3km/h(1.9 mph).
3. Detection filter time : normally 20s
- In case of a detected curve, the threshold is increased with
an additional value of 4 km/h(2.5 mph).

• Sensor failure outside of the ABS control cycle

1. Only one wheel failure : Only the ABS/ESC functions are
inhibited. The ABS/ESC warning lamps are activated and the
EBD warning lamp is not activated.
2. Two wheels failure : Only the ABS/ESC functions are
inhibited. The ABS/ESC warning lamps are activated and the
EBD warning lamp is not activated.
3. More than 3 wheels failure :System down. The
ABS/EBD/ESC functions are inhibited. The ABS/EBD/ESC
warning lamps are activated.
• Sensor failure inside the ABS control cycle
1. One front wheel failure : Inhibit the ABS/ESC control.
Fail Safe Pressure is increased on a front wheel, Pressure is
decreased on a rear wheel. After the ABS/ESC control, the
ABS/ESC functions are inhibited. The ABS/ESC warning
lamps are activated and the EBD warning lamp is not
activated.
2. Two wheels failure : Inhibit the ABS/ESC control. Pressure is
increased on a front wheel, Pressure is decreased on a rear
wheel. After the ABS/ESC control, the ABS/ESC functions
are inhibited. The ABS/ESC warning lamps are activated and
the EBD warning lamp is not activated.
3. More than 3 wheels failure : System down. The
ABS/EBD/ESC functions are inhibited. The ABS/EBD/ESC
warning lamps are activated.

Monitor Scantool Data

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 1. Engine "ON".
2. Connect scantool to Data Link Connector(DLC).
3. Start and drive vehicle in gear and maintain vehicle speed at or above 50 km/h(31.1 mph)
4. Monitor the "Wheel Speed Sensor" parameter on the Scantool.

Specification : Compare with another parameters related to wheel speed sensor. If it is the same as
another parameters, it is in normal condition.

5. Is parameter displayed within specifications?

▶ Fault is intermittent caused by poor connection in wheel speed sensor harness, Thoroughly check connectors for
looseness, poor connection, bending, corrosion, contamination, deterioration, or damage. Repair as necessary and then
go to "Verification Of Vehicle Repair" procedure.

▶ Go to "Component Inspection" Procedure.

COMPONENT INSPECTION
1. Lift the vehicle.
2. Ignition "ON".
3. Turn the wheel with hand.
4. Measure waveform between terminal "FL, FR : , RL, RR : 1" of the wheel speed sensor harness connector and chassis
ground.

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 Specification : High : 1.05 V , Low : 0.525 V

5. Is the measured waveform within specifications?

▶ Fault is intermittent caused by poor connection in wheel speed sensor harness or external noise, Thoroughly check
connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or damage and external
noise, an interference between harnesses. Repair or replace as necessary and then go to "Verification Of Vehicle Repair"
procedure.
▶ If OK, Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and
then go to "Verification Of Vehicle Repair" procedure.

▶ Check for improper installation of wheel speed sensor. If NG, repair as necessary and then go to "Verification Of
Vehicle Repair" procedure.
▶ Check for damage of rotor teeth or wheel bearing. If NG, repair as necessary and then go to "Verification Of Vehicle
Repair" procedure.
▶ Substitute with a known-good Wheel speed sensor and check for proper operation. If problem is corrected, replace
Wheel speed sensor and then go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information.(Start and drive vehicle in gear and maintain
vehicle speed at or above 50 km/h (31.1 mph))
4. Are any DTCs present ?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C1213

COMPONENT LOCATION

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 General Description
The wheel speed sensor is the essential component the ABS ECU uses to calculate vehicle speed and to determine
whether wheel lock occurs. For example, rear wheel speed signal is used as a reference value, for vehicle speed, in front
wheel drive vehicles, and if a difference between front and rear wheel speed occurs, then ABS control is performed. Wheel
speed sensor is active hall IC-sensor type and good at temperature and noise characteristic. Digital waveform is produced
as tone wheel rotate according as hall sensor principle. Frequency of duty waveform is changed in proportion to speed of
the rotation of tone wheel and HECU calculate vehicle speed by this frequency.

DTC Description
The ABS ECU monitors the wheel speed sensor signal continuously. This code is set, if the speed difference with adjacent
wheel is out of permissible range or the ABS control cycle is abnormal.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC
• Signal monitorting
Strategy
Monitoring
• Continous
Case 1 Period
Enable • When short cut between the wheel speed sensor supply and
Conditions the battery.
• Improper installation of
Fail Safe • Wheel speed sensor signals are not reliable. wheel speed sensor
DTC • Abnormal Rotor and
• Signal monitoring wheel bearing
Strategy
• Inoperative Wheel speed
Monitoring
• Continous sensor
Period
Case 2 • The monitoring reports a failure if the ABS target slip is
Enable exceeded for a time period >= 10 s at one or more wheels.
Conditions - If the driver brakes or the velocity is lower than 50 km/h the
detection time is enlarged to 60 s.

Fail Safe • Reduced function of the ESC system

Monitor Scantool Data

1. Engine "ON".
2. Connect scantool to Data Link Connector(DLC).
3. Start and drive vehicle in gear and maintain vehicle speed at or above 10 km/h(6.2 mph)
4. Monitor the "Wheel Speed Sensor" parameter on the Scantool.

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 Specification : Compare with another parameters related to wheel speed sensor. If it is the same as
another parameters, it is in normal condition.

5. Is parameter displayed within specifications?

▶ Fault is intermittent caused by poor connection in wheel speed sensor harness, Thoroughly check connectors for
looseness, poor connection, bending, corrosion, contamination, deterioration, or damage. Repair as necessary and then
go to "Verification Of Vehicle Repair" procedure..

▶ Go to "Component Inspection" Procedure.

Component Inspection
1. Lift the vehicle.
2. Ignition "ON".
3. Turn the wheel with hand.
4. Measure waveform between terminal "1" of the wheel speed sensor harness connector and chassis ground.

Specification :
High : 1.05 V , Low : 0.525 V
Compare waveforms of all wheel speed sensors.
If they have same waveform, it is in normal condition.

5. Is the measured waveform within specifications?

▶ Fault is intermittent caused by poor connection in wheel speed sensor harness, Thoroughly check connectors for
looseness, poor connection, bending, corrosion, contamination, deterioration, or damage. Repair or replace as necessary

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 and then go to "Verification Of Vehicle Repair" procedure.
▶ Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification Of Vehicle Repair" procedure.

▶ Check following point at wheel speed sensor which has abnormal waveform.
▶ Check for improper installation of wheel speed sensor. If NG, repair as necessary and then go to "Verification Of
Vehicle Repair" procedure.
▶ Check for damage of rotor teeth or wheel bearing. If NG, repair as necessary and then go to "Verification Of Vehicle
Repair" procedure.
▶ Substitute with a known-good Wheel speed sensor and check for proper operation. If problem is corrected, replace
Wheel speed sensor and then go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes(DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information. (Start and drive vehicle in gear and maintain
vehicle speed is approx. 50km/h or more(31.1mph or more))
4. Are any DTCs present ?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C1235

COMPONENT LOCATION

General Description
The pressure sensor, installed in the HECU, sense the brake oil pressure to judge driver's brake intention when ESC is
operating. If pressure of master cyclinder is applied to pressure sensor, the strain of the piezo element is changed and then
the resistance of bridge circuit is changed according to changed strain. Therefore this changed resistance changes output
voltage of bridge circuit and output voltage changes linearly. The sensor output is a analog signal in proportion to supply
voltage, and the HECU recognizes a pressure value according to signal ratio about supply voltage.

DTC Description
Each unfiltered input signal voltage is monitored to be in the range of 4.7 V < input signal voltage < 5.3 V. A failure is
detected if the output signal value is out of specified range for more than 100 ms or pressure sensor self test form is out of
specification during self test.

DTC Detecting Condition

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 Item Detecting Condition Possible cause
DTC Strategy • Voltage Monitoring
Monitoring
• Continuous
Period
Case 1
Enable • A sensor supply failure is detected if Sensor Supply Voltage >
Conditions 5.3 V or Sensor Supply Voltage < 4.7 V for t >= 60 ms.
Monitoring
• Continuous
Period
Case 2 • A Fault is set if the DSO signal is voltage of DSO > 4.7 V or
Enable
voltage of DSO < 0.3V for a time t >= 100 ms.
Conditions
- DSO : original pressure value.
Monitoring
• Continuous
Period
Case 3 • A Fault is set if the DSI signal is voltage of DSI > 4.7 V or
Enable
voltage of DSI < 0.3V for a time t >= 100 ms.
Conditions
- DSI : inverted pressure value.
Monitoring
• Continuous
Period

Case 4 • A Fault is set if the voltage of DSO + DSI > 5.5V or voltage of
Enable DSO + DSI < 4.5V for a time t >= 100ms. • Open or short of pressure
Conditions - DSO : original pressure value. sensor circuit
- DSI : inverted pressure value. • Inoperative pressure
sensor
Monitoring
• Once during Power Up • Inoperative HECU
Period
• POS detects internal sensor malfunctions (sensor element,
amplification, etc.). The POS is triggered if no low voltage is
present and supply voltage is switched on. The test phase is
divided in two 60 ms parts. DSO signal must be < 0.5 V for 30
Case 5 ms. In phase 2 DSO signal must be between 1.9V and 3.1V for
Enable
also 30 ms then the POS Test is passed. The test phase is
Conditions
divided in two 60 ms parts. DSO and DSI signal must be < 0.5
V for 30 ms. In phase 2 DSO and DSI signal must be between
1.9 V and 3.1 V for also 30 ms then the POS Test is passed. A
fault is set if POS does not satisfy the above conditions
- POS : Power on selftest.

• No Pressure Signal available..

• Sensor failure outside the ABS control cycle
- Only the ABS/ESC functions are inhibited, allow the EBD. The
ABS/ESC warning lamps are activated and the EBD warning
Fail Safe lamp is not activated.
• Sensor failure inside the ABS control cycle
- Inhibit the ESC control, allow the EBD. The ESC warning
lamps are activated. After the control, the ABS functions are
inhibited. The ABS warning lamps are activated.

Monitor Scantool Data

1. Connect scantool to Data Link Connector(DLC).
2. Ignition "ON" & Engine "ON".
3. Press the brake pedal.
4. Monitor the "Pressure Sensor" parameter on the Scantool.

Specification : Approx. 60 bar ~150 bar (There are difference in displayed parameter according to

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 braking force)

5. Whenever brake pedal is pushed down, is the pressure sensor's scantool data changed?

▶ Fault is caused by having been repaired and HECU memory was not cleared. Clear the DTC and then go to
"Verification Of Vehicle Repair" procedure.

▶ Go to "Component Inspection" procedure.

Component Inspection
1. Ignition "OFF".
2. Ignition "ON".
3. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode.
4. Using a scantool, Clear DTC.
5. Select "Diagnostic Trouble Codes (DTCs)" mode again.
6. Are any DTCs present ?

▶ Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification Of Vehicle Repair" procedure.

▶ Fault is intermittent caused by faulty HECU or was repaired and HECU memory was not cleared. go to "Verification Of
Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C1237

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 COMPONENT LOCATION

General Description
The pressure sensor, installed in the HECU, sense the brake oil pressure to judge driver's brake intention when ESC is
operating. If pressure of master cyclinder is applied to pressure sensor, the strain of the piezo element is changed and then
the resistance of bridge circuit is changed according to changed strain. Therefore this changed resistance changes output
voltage of bridge circuit and output voltage changes linearly. The sensor output is a analog signal in proportion to supply
voltage, and the HECU recognizes a pressure value according to signal ratio about supply voltage.

DTC Description
With the driver torque demand and the lateral acceleration a driver braking demand is calculated. Unless the pump motor is
opreating or there is a brake signal, The offset compensation is executed. A failure is detected if offset value exceeded ±15
bar.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Voltage Monitoring

• After Pressure sensor initialization.

Monitoring • No under voltage
Period • No pumps are running.
• No BLS-signal is set.

Enable • The pressure sensor-offset value must be in the range of ± 15 bar. A • Open or short of pressure
Conditions failure is detected if this range is exceeded. sensor circuit
• Reduced function caused by faulty pressure sensor signal. • Inoperative pressure
sensor
• Sensor failure outside the ABS control cycle
- Only the ABS/ESC functions are inhibited, allow the EBD. The • Inoperative HECU
ABS/ESC warning lamps are activated and the EBD warning lamp is
Fail Safe not activated.
• Sensor failure inside the ABS control cycle
- Inhibit the ESC control, allow the EBD. The ESC warning lamps are
activated. After the control, the ABS functions are inhibited. The ABS
warning lamps are activated.

Monitor Scantool Data

1. Connect scantool to Data Link Connector(DLC).
2. Ignition "ON" & Engine "ON".
3. Press the brake pedal.
4. Monitor the "Pressure Sensor" parameter on the Scantool.

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 Specification : Approx. 60 bar ~150 bar (There are difference in displayed parameter according to
braking force)

5. Whenever brake pedal is pushed down, is the pressure sensor's scantool data changed?

▶ Fault is caused by having been repaired and HECU memory was not cleared. Clear the DTC and then go to
"Verification Of Vehicle Repair" procedure.

▶ Go to "Component Inspection" procedure.

Component Inspection
1. Ignition "OFF".
2. Ignition "ON".
3. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode.
4. Using a scantool, Clear DTC.
5. Select "Diagnostic Trouble Codes (DTCs)" mode again.
6. Are any DTCs present ?

▶ Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification Of Vehicle Repair" procedure.

▶ Fault is intermittent caused by faulty HECU or was repaired and HECU memory was not cleared. go to "Verification Of
Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

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 Brake System > Troubleshooting > C1260
COMPONENT LOCATION

General Description
The Steering angle sensor(SAS) is joined to the multi function switch and uses a CAN communication. The SAS is used to
determine turning direction and speed of the steering wheel. The HECU uses the signals from the SAS when performing
ESC-related calculations.

DTC Description
If the SAS signal is different from calculated value by yaw-rate sensor and wheel speed sensor, mechanically impossible
SAS signal is detected, there is a difference between SAS signal and driving condition of the vehicle calculated from
yaw-rate sensor and lateral G sensor, a failure is detected.

DTC Detecting Condition

Item Detecting Condition Possible cause
• Open or short of steering
angle sensor circuit
DTC Strategy • Signal Monitoring • Inoperative steering angle
sensor
• Wrong SAS calibration
Monitoring
• Continuous
Period
• During normal driving conditions the long time filtered driving
direction is straight ahead. The long time filtered SAS-value is
Case 1 equivalent to the offset. If the offset value exceeds a threshold
Enable of approximately 15 deg a SAS-fault is determined. Failure
Conditions detection time depends on the driving distance, vehicle speed
and on the amount of failed SAS signal. Within 30 km(18.6
mile) of symmetrical driving the calculated offset corresponds
to the sensor offset.

• Continous (If the following conditions are satisfied)

1. After SAS-initialization and vehicle reference speed > 1.4
Monitoring m/s (5 km/h(3.1 mph))
Period 2. No under voltage
3. At least one SAS-message was sent in the current 20
Case 2 ms-cycle.

• A SAS-gradient-failure is set, if
Enable 1. Signal gradient (steering angle velocity) from one 20
Conditions ms-cycle to another is higher than 40° or
2. Change of this gradient (steering angle acceleration) is

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 higher than 15° : | (LwInK0K1 . LwInK1K2)| > 15° and |
(LwInK0K1 + LwInK1K2)| > 15°
- LwInK0K1 : Difference of the SAS-signal between the
current 20 ms-cycle and the last 20 ms-cycle.
- LwInK1K2 : Difference of the SAS-signal between the last
20 ms-cycle and 20 ms-cycle before.
Monitoring
• Continuous (After initialization and no under voltage detected)
Period
Case 3
Enable • If value is higher than 665° + 90° tolerance for more than 300
Conditions ms a fault is determined.
Monitoring
• Continuous (during driving)
Period
• Based on a vehicle model a reference SAS signal is build. The
difference between measured SAS signal and SAS signal
calculated from yaw-rate sensor signal is evaluated for fault
detection.
Dependent on the driving conditions failures in size of [10 + 60
m/s / vehicle reference speed] deg at steering angle are
recognized within 400 ~ 4800 ms through three possible
recognition paths:
Case 4 1. Curve Branch (lateral G > 2 m/s² and left and right curve
Enable
driving)
Conditions
2. Stability Branch (no large wheel speed differences and
stable acceleration)
3. Straight ahead Branch (lateral G < 0.5 m/s² and yaw rate < 2
deg/s).
The recognition time depends on the active branch (the time
is shorter in a relation 1):2):3)-4:2:1) and the value of the
permissible time threshold dependent on the deviation
between the compared signals (small deviation → long
detection time, large deviation → small detection time).

• Initialization once in every ignition cycle.

Monitoring
• The monitoring is active until a reset by a change in the SAS
Period
signal or until a right and left cornering can be recognized.

Case 5 • If there is no change in the signal, but a right and left cornering
has been recognized, a fault is determined. (lateral G > 2 m/s²
Enable
in combination with a yaw rate > 6 °/s in both directions).
Conditions
- At a minimum change of e.g. 5° in the signal, the monitoring
is reset.
Monitoring
• Continuous (during driving)
Period
Case 6 • The measured yaw rate and the yaw rates, calculated from the
Enable
wheel speed sensor and SAS are compared. If the signals
Conditions
don’t fit and forwards driving is detected, a fault is determined.
Monitoring
• Continuous (during driving)
Period
• Under normal conditions, two SAS messages are sent in one
Case 7 20 ms cycle, which is shown by an increase of the message
Enable
counter by 2. If the message counter shows an increase higher
Conditions
than 3 or lower than 1 in one 20 ms-cyle, a fault is stored after
160 ms.

• Reduced controller function caused by inoperative SAS signal.

Fail Safe ABS/EBD control is available.
• The ESC warning lamp is activated.

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 Monitor Scantool Data
1. Connect scantool to Data Link Connector(DLC).
2. Ignition "ON" & Engine "ON".
3. Turn the steering wheel to the left or right.
4. Monitor the "Steering Angle Sensor" parameters on the Scantool.

5. Whenever steering wheel is turned, is the steering sensor's scantool data changed?

(1) Connect scantool to Data Link Connector (DLC).

(2) Ignition "ON" & Engine "ON".
(3) Turn the steering wheel to the full left or right position.
(4) Monitor the "steering sensor" parameters on the Scantool.

Specification : difference between two parameters is within ± 15deg

(5) Is parameter displayed within specifications?

▶ Go to "W/Harness Inspection" procedure.

▶ Go to number 6. procedure.

▶ Go to "W/Harness Inspection" procedure.

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 6. Perform steering angle sensor calibration.
(1) Ignition "ON" & Engine "OFF".
(2) Line up the steering wheel in a straight.
(3) Connect scantool to Data Link Connector(DLC).
(4) Go in Anti-Lock brake system. (figure 4).
(5) Perform steering angle sensor calibration. (figure 5).
(6) Go to "Component Inspection" Precedure.

7. Whenever steering wheel is turned, is the steering sensor's scantool data changed HIGH/LOW?

▶ Fault is intermittent caused by poor connection in steering sensor harness and/or HECU's connector or was repaired
and HECU memory was not cleared. Thoroughly check connectors for looseness, poor connection, bending, corrosion,
contamination, deterioration, or damage. Repair or replace as necessary and then go to "Verification of Vehicle Repair"
procedure.

▶ Go to "W/Harness Inspection" procedure.

Terminal and Connector Inspection

1. Many malfunctions in the electrical system are caused by poor harness(es) and terminals. Faults can also be caused by
interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage.
3. Has a problem been found?

▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Go to "Component Inspection" procedure.

Component Inspection
1. Ignition "OFF".
2. Ignition "ON".
3. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode.
4. Using a scantool, Clear DTC.
5. Operate the vehicle within DTC Detecting Condition in General Information. (turn right and left at least 1 time)
6. Select "Diagnostic Trouble Codes (DTCs)" mode again.
7. Are any DTCs present ?

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 (1) Substitute with a known-good steering angle sensor and check for proper operation. If problem is corrected, replace
sensor and then go to "Verification of Vehicle Repair" procedure.
(2) Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification of Vehicle Repair" procedure.

▶ Fault is intermittent caused by faulty HECU or was repaired and HECU memory was not cleared. go to "Verification of
Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C1261

COMPONENT LOCATION

General Description
The Steering angle sensor(SAS) is joined to the multi function switch and uses a CAN communication. The SAS is used to
determine turning direction and speed of the steering wheel. The HECU uses the signals from the SAS when performing
ESC-related calculations.

DTC Description
The SAS used for ESC control needs zero point adjustment because the SAS measures an absolute angle. Zero point
adjustment is done by using the scantool device. If abnormal zero point adjustment is detected, a failure is recognized.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Signal Monitoring
• A fail of SAS zero point
Monitoring adjustment
• During SAS zero point adjustment.
Period

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 Enable • The position of steering wheel is out of specified range (straight
Conditions positon, a max. error ±5°) during SAS zero point adjustment.

• Reduced controller function caused by inoperative SAS signal.

Fail Safe ABS/EBD control is available.
• The ESC warning lamp is activated.

Monitor Scantool Data

1. Connect scantool to Data Link Connector(DLC).
2. Ignition "ON" & Engine "ON".
3. Monitor the "SAS CALIBRATED" parameters on the Scantool.

Specification : YES

4. Is parameter displayed within specifications?

▶ Fault is caused by having been repaired and HECU memory was not cleared. Clear the DTC and then go to
"Verification Of Vehicle Repair" procedure.

▶ Go to "Component Inspection" procedure.

Component Inspection
1. Line up wheels like (figure 1).
(1) Perform the wheel alignment.
(2) Line up the steering wheel in a straight line.
(3) Go ahead and back the vehicle 2~3 times without holding steering wheel.

2. Connect scantool to Data Link Connector(DLC).

3. Go in Anti-Lock brake system. (figure 2).
4. Perform steering angle sensor calibration. (figure 3).
5. Disconnect scantool.
6. Check the condition of SAS zero point adjustment by operating the vehicle (turn right and left at least 1 time)

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 7. Is zero point adjustment completed?

▶ Go to "Verification Of Vehicle Repair" procedure.

▶ Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C1274

COMPONENT LOCATION

General Description
The 4WD vehicle measures the G-sensor signal to solve for 4WD vehicle unique problems. For example all 4 wheels are
locked early on a low-friction road or control response is delayed when road friction coefficients vary. The HECU uses a
filtered signal, as a supplementary value, to determine the road friction coefficient. This value is used for the accurate
calculations of assumed vehicle speed, or precise division of control starting points.

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 DTC Description
The HECU monitors the G-sensor signal continuosly, and sets this code if the abnormal G-sensor signal is detected or the
defference between the value calculated from vehicle speed deviation and measured value is out of range when the vehicle
isn't decelerating (brake switch is OFF).

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Voltage monitoring
Monitoring
• Continous
Period • Open or short of
Enable G-Sensor circuit
• When the voltage of G-sensor signal is > 4.7V or < 0.3V continuously. • Faulty G-Sensor
Conditions
• ABS functions are inhibited, EBD function is allowed and the ABS
Fail Safe
warning lamps are activated.

Monitor Scantool Data

1. Connect scantool to Data Link Connector(DLC)
2. Ignition "ON" & Engine "OFF".
3. Monitor the "G-sensor" parameter on the Scantool.

Specification : Approx. ±0.01G

4. Is parameter displayed within specifications?

▶ Fault is intermittent caused by poor connection in G-sensor harness and/or HECU's connector or was repaired and
HECU memory was not cleared. Thoroughly check connectors for looseness, poor connection, bending, corrosion,
contamination, deterioration, or damage. Repair or replace as necessary and then go to "Verification of Vehicle Repair"
procedure.

▶ Go to "W/Harness Inspection" procedure.

Terminal and Connector Inspection

1. Many malfunctions in the electrical system are caused by poor harness(es) and terminals. Faults can also be caused by
interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or

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 damage.
3. Has a problem been found?

▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Go to "Power Circuit Inspection" procedure.

Power Circuit Inspection

1. Ignition "ON" & Engine "OFF".
2. Measure voltage between terminal "3" of the G-sensor harness connector and chassis ground.

Specification : Approx. B+

3. Is the measured voltage within specifications?

▶ Go to "Signal Circuit Inspection" procedure.

▶ Check for open or short in the power harness between terminal "24" of the HECU harness connector and terminal "3"
of the G-sensor harness connector. Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

Ground Circuit Inspection

1. Ignition "OFF".
2. Disconnect G-sensor connector.
3. Measure resistance between terminal "1" of the G-sensor harness connector and terminal "23" of the HECU harness
connector.

Specification : Approx. below 1Ω

4. Is the measured resistance within specifications?

▶ Go to "Signal Circuit inspection" procedure.

▶ Check for damaged harness and poor connection between terminal "1" of the G-sensor harness connector and
terminal "23" of the HECU harness connector. Repair as necessary and then go to "Verification Of Vehicle Repair"
procedure.

Signal Circuit Inspection

1. Ignition "ON" & Engine "OFF".

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 2. Measure voltage between terminal "21" of the HECU harness connector and chassis ground.

Specification : Approx. 2.5V

3. Is the measured voltage within specifications?

▶ Fault is intermittent caused by open or short G-sensorr and/or faulty G-sensor or was repaired and HECU memory
was not cleared. Go to "Component Inspection" procedure.

▶ Check for open or short in the G-sensor harness between terminal "2" of the G-sensor harness connector and terminal
"21" of the HECU harness connector. Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

Component Inspection
1. Ignition "ON" & Engine "OFF".
2. Measure voltage between terminal "2" of the G sensor harness connector and chassis ground.

Specification : Approx. 2.5V

3. Is the measured voltage within specifications?

▶ Fault is intermittent caused by open or short G-sensor and/or faulty G-sensor or was repaired and HECU memory was
not cleared. Go to "Component Inspection" procedure.

▶ Substitute with a known good G-sensor and check for proper operation. If problem is corrected, replace G-sensor and
then go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

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 ▶ System performing to specification at this time.

Brake System > Troubleshooting > C1275

COMPONENT LOCATION

General Description
The 4WD vehicle measures the G-sensor signal to solve for 4WD vehicle unique problems. For example all 4 wheels are
locked early on a low-friction road or control response is delayed when road friction coefficients vary. The HECU uses a
filtered signal, as a supplementary value, to determine the road friction coefficient. This value is used for the accurate
calculations of assumed vehicle speed, or precise division of control starting points.

DTC Description
The HECU monitors the G-sensor signal continuosly, and sets this code if the abnormal G-sensor signal is detected or the
difference between measured longitudinal acceleration and longitudinal acceleration by differentiating vehicle speed is out of
range when the vehicle isn't decelerating (brake switch is OFF).

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Signal monitoring

Monitoring • Continous (If no under voltage, no BLS, no BLS failure is

Period detected)
Case 1
Enable
• If the G sensor signal is more than 0.4G for more than 20sec.
Conditions • Improper installation of
Monitoring G-Sensor
• Continous (If no under voltage, no ABS control) • Abnormal Rotor and
Period
wheel bearing
Case 2 • the difference between measured longitudinal acceleration and
• Faulty G-Sensor
Enable longitudinal acceleration by differentiating vehicle speed
Conditions exeeds the threshold (Approx. 1.5G).
a fault is recognized after 2s.
• ABS function is inhibited, EBD function is allowed and the ABS
Fail Safe
warning lamps are activated.

Monitor Scantool Data

1. Connect scantool to Data Link Connector(DLC)
2. Engine "ON".
3. Start and drive vehicle in gear and maintain vehicle speed is approx. 10km/h or more (6.2mph or more) and then
accelerate and decelerate the vehicle several times.

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 4. Monitor the "G-sensor" parameter on the Scantool.

Specification : Below 0.4G (at a uniform speed)

It is a normal condition if the data is changed at accelerating or decelerating vehicle

5. Is parameter displayed within specifications?

▶ Fault is intermittent caused by faulty G-Sensor or was repaired and HECU memory was not cleared. Repair or replace
as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Go to "Component Inspection" procedure.

Component Inspection
1. Check improper installation of G-sensor. If NG, repair as necessary and go to "Verification Of Vehicle Repair" procedure.
2. Check damage of rotor teeth or wheel bearing. If NG, repair as necessary and go to "Verification Of Vehicle Repair"
procedure.
3. Ignition "ON" & Engine "OFF".
4. Measure waveform between terminal "2" of the G sensor harness connector and chassis ground by using an oscilloscope.

Specification :
Approx. 2.5V (standstill)
0.3V ~ 4.7V (acceleration or deceleration)

5. Is the measured waveform fixed(standstill) and changing(acceleration or deceleration)?

▶ Fault is intermittent caused by improper installation of G-Sensor, abnormal Rotor and wheel bearing, and/or faulty
G-sensor or was repaired and HECU memory was not cleared. Go to "Verification Of Vehicle Repair" procedure.

▶ Substitute with a known good G-sensor and check for proper operation. If problemis corrected, replace G-sensor and
go to ";Verification Of Vehicle Repair"procedure.

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 Verification of Vehicle Repair
After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information. (Start and drive vehicle in gear and maintain
vehicle speed is approx. 10km/h or more (6.2mph or more))
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C1282

COMPONENT LOCATION

General Description
The yaw-rate and G sensor assembly is installed on the lower floor. The yaw-rate sensor detects acceleration of the vehicle
around its vertical axis, while the G sensor detects lateral acceleration of the vehicle. When the vehicle is not moving, the G
sensor output is approximately 2.5 V.

DTC Description
The HECU monitors a signal voltage of either yaw-rate sensor or lateral G sensor to detect open or short to battery or short
to ground. A failure is detected if the lateral acceleration sensor or yaw rate sensor signal voltage stays in the fault range
longer than 100 ms or the lateral acceleration sensor or yaw rate sensor reference voltage stays in the fault range longer
than 200 ms, or the self test form is against specification during self test.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Voltage Monitoring

Monitoring Period • Continous

• A line fault is detected if V[LG] < • Inoperative Yaw Rate & Lateral G
0.3 V or V[LG] > 4.7 V for a time t sensor
Case 1 >= 100ms. • Open or short of Yaw Rate &
• A line fault is detected if V[YAW] < Lateral G sensor
Enable Conditions
0.225 V OR V[YAW] > 4.774 V for a • Inoperative HECU
time t >= 100 ms.
• A line fault is detected if V[YAW

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 REFERENCE] < 2.1 V OR V[YAW
REFERENCE] > 2.9 V for a time t
>= 200 ms.
DTC Strategy • Selftest Monitoring

• Once after power up and no low

Monitoring Period
voltage.
Case 2
• A line fault is detected if 0.2 V <
V[LG] < 0.8 V isn't continued for a
Enable Conditions
time t >= 60 ms during POS (POS :
power on selftest)

• Reduced controller function.

• Inhibit the ESC control and
Fail Safe ABS/EBD control is available.
• The ESC warning lamps are
activated.

Monitor Scantool Data

1. Connect scantool to Data Link Connector (DLC).
2. Ignition "ON".
3. Monitor the "Yaw rate sensor-lateral & Yaw rate sensor-yaw" parameter on the Scantool.

Specification : Lateral G sensor : ± 0 G, YAW rate Sensor : ± 0 deg/s

4. Is parameter displayed within specifications?

▶ Fault is intermittent caused by poor connection in Yaw Rate & Lateral G sensor harness and/or HECU's connector or
was repaired and HECU memory was not cleared. Thoroughly check connectors for looseness, poor connection,
bending, corrosion, contamination, deterioration, or damage. Repair or replace as necessary and then go to "Verification
Of Vehicle Repair" procedure.

▶ Go to "W/Harness Inspection" procedure.

Terminal & Connector Inspection

1. Many malfunctions in the electrical system are caused by poor harness(es) and terminals. Faults can also be caused by
interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage.

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 3. Has a problem been found?

▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Go to "Power Circuit Inspection" procedure.

Power Supply Circuit Inspection

1. Ignition "ON" & Engine "OFF".
2. Measure voltage between terminal "1" of the Yaw Rate & Lateral G sensor harness connector and chassis ground.

Specification : Approx. 5 V

3. Is the measured voltage within specifications?

▶ Go to "Ground Circuit Inspection" procedure.

▶ Check for open or short to GND in the Yaw Rate & Lateral G sensor harness between terminal "1" of the Yaw Rate &
Lateral G sensor harness connector and battery +. Repair as necessary and then go to "Verification Of Vehicle Repair"
procedure.

Ground Circuit Inspection

1. Ignition "OFF".
2. Disconnect Yaw Rate & Lateral G sensor connector.
3. Measure resistance between terminal "4" of the Yaw Rate & Lateral G sensor harness connector and chassis ground.

Specification : Approx. below 1Ω

4. Is the measured resistance within specifications?

▶ Go to "Signal Circuit Inspection" procedure.

▶ Check for open or short in the Yaw Rate & Lateral G sensor harness between terminal "4" of the Yaw Rate & Lateral G
sensor harness connector and terminal "15" of the HECU harness connector . Repair as necessary and then go to
"Verification Of Vehicle Repair" procedure.

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 Signal Circuit Inspection
1. Ignition "ON" & Engine "OFF".
2. Measure voltage between terminal "16, 18, 20" of the Yaw Rate & Lateral G sensor harness connector and chassis
ground.

Specification : Approx. 2.5V ( Voltage between terminal "16,20" of the HECU harness connector and
chassis ground.)
Specification : Approx. above 2.1V and below 2.9V ( Voltage between terminal "18" of the HECU
harness connector and chassis ground.)

3. Is the measured voltage within specifications?

▶ Go to "Self Test Circuit Inspection" procedure.

▶ Check for open or short in the Yaw Rate & Lateral G sensor harness between terminal "6, 3, 5" of the Yaw Rate &
Lateral G sensor harness connector and terminal "16, 18, 20" of the chassis ground. Repair as necessary and then go to
"Verification Of Vehicle Repair" procedure.
▶ If OK, Go to "Component Inspection" procedure.

Self Test Circuit Inspection

1. Measure waveform between terminal "2" of the Yaw Rate & Lateral G sensor harness connector and chassis ground.

2. Is the measured waveform within specifications?

▶ Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification Of Vehicle Repair" procedure.

▶ Check for open or short to GND in the Yaw Rate & Lateral G sensor harness between terminal "2" of the Yaw Rate &
Lateral G sensor harness connector and terminal "37" of the chassis ground. Repair as necessary and then go to
"Verification Of Vehicle Repair" procedure.

Component Inspection

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 1. Ignition "ON" & Engine "OFF".
2. Measure voltage between terminal "3,5,6" of the Yaw Rate & Lateral G sensor harness connector and chassis ground.

Specification : Approx. 2.5V ( Voltage between terminal "5, 6" of the Yaw Rate & Lateral G sensor
harness connector and chassis ground.)
Specification : Approx. above 2.1 V and below 2.9 V ( Voltage between terminal "3" of the Yaw Rate &
Lateral G sensor harness connector and chassis ground.)

3. Is the measured voltage within specifications?

▶ Fault is intermittent caused by poor connection in Yaw Rate & Lateral G sensor harness. Go to "Verification Of Vehicle
Repair" procedure.

▶ Substitute with a known-good Yaw Rate & Lateral G sensor and check for proper operation. If problem is corrected,
replace Yaw Rate & Lateral G sensor and then go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C1283

COMPONENT LOCATION

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 General Description
The yaw-rate and G sensor assembly is installed on the lower floor. The yaw-rate sensor detects acceleration of the vehicle
around its vertical axis, while the G sensor detects lateral acceleration of the vehicle. When the vehicle is not moving, the G
sensor output is approximately 2.5 V.

DTC Description
A lateral acceleration reference signal is calculated from the wheel speeds, the steering angle and the yaw rate signals to
observe the lateral acceleration sensor signal. The difference between the reference signal and the sensor signal is
evaluated for failure detection. A yaw rate reference signal is calculated from the wheel speeds, the steering angle and the
lateral acceleration signals to observe the yaw rate sensor signal. The difference between the reference signal and the
sensor signal, and the gradient of the measured sensor signal is evaluated for the failure detection. If the difference between
estimated value and measured value of the sensor is larger than predefined value for predefined time, the failure is
recognized. Plausibility faults (signals received which fall outside of the sensor characteristics) are also recognized.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Signal Monitoring • Inoperative Yaw Rate &
Lateral G sensor
Monitoring
• Continuous (during stable driving) • Open or short of Yaw
Period
Rate & Lateral G sensor
• By building a reference lateral G from the yaw-rate sensor,
wheel speed sensor and the SAS it is possible to test the lateral
G Signal on plausibility. If during stable vehicle behavior an
lateral G Failure larger than approximately 2.5 m/s2 occurs, the
ESC controller will disregard the lateral G sensor information so
that a false ESC intervention is prevented. A fault is recognized
after 1.6 s during model validity.
Case 1 • The measured and offset compensated yaw rate signal is
Enable
compared to the reference yaw rate signal calculated from yaw
Conditions
rate sensor, lateral G sensor, SAS and wheel speed sensor. If
the measured yaw rate deviates more than 2.5 °/s plus a
dynamic threshold from the reference yaw rate during model
validity, a failure is recognized after 1.6 s. The dynamic
threshold is between 2.5°/s and more than 5°/s. A typical value
is 3°/s.
- During the possibility to observe the recognition time depends
on the amount of failure.
Monitoring
• Continuous (during driving)
Period
• During normal driving conditions the long time filtered driving
direction is straight ahead. The long time filtered later G value is
Case 2 equivalent to the offset. If the offset value exceeds a threshold
Enable of approximately 2.25 m/s² an later G fault is determined.Failure
Conditions detection time depends on the driving distance, vehicle speed
and on the amount of failed later G signal. Within 30 km of
symmetrical driving the calculated offset corresponds to the
sensor offset.
Monitoring
• Continuous (If no under voltage is detected)
Period
Case 3
Enable • A fault is detected If the lateral G is higher than 15 m/s² for
Conditions more than 800 ms.
Monitoring
• Continuous (during standstill)
Period
Case 4
Enable • If the filtered value of |lateral G| is larger than 7 m/s² for more
Conditions than 400 m/s a fault is set.

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 Monitoring
• Continuous (dependent on driving situation)
Period
• Standstill compensation :
- The offset corresponds to the measured and filtered input
value. Failure threshold 5.25 °/s.
• Fast compensation (during driving if no standstill compensation
could be completed):
- The offset corresponds to the slightly filtered deviation
Case 5 between measured yaw rate and the reference yaw rate
Enable
calculated from SAS, lateral G sensor and wheel speed sensor.
Conditions
Failure threshold is 7.5 °/s.
• Long-term ("normal") compensation (during driving after
successful standstill or fast offset compensation):
- The offset corresponds to the strong filtered deviation between
measured yaw rate and the reference yaw rate calculated from
SAS, lateral G sensor and wheel speed sensor. Failure
threshold is 7.5 °/s
Monitoring
• After every standstill.
Period
• Yaw-rate sensor sensitivity is estimated by comparison of the
measured yaw rate and the yaw rates calculated from the wheel
speed sensor and SAS during cornering. The fault criteria is
approx. 25% sensitivity.
Case 6 • The measured yaw rate and the model yaw rates, calculated
Enable
from the wheel speed sensor and SAS are compared. If the
Conditions
signals doesn't fit and forward driving is reconized, a fault is
determined.
- Driving with a yaw rate of e.g. 10 °/s requires a time of 3s and
additional time to reach a velocity 20 m/s to recognize forward
driving.

Monitoring • Continuous (after initialization of the YRS and if no under

Period voltage is detected)

• The yaw rate sensor BITE logic evaluates the BITE-signal by

Case 7 extraction of the measured yaw rate of the vehicle. The allowed
Enable
range for the BITE-signal is 25 °/s ± 7 °/s. If the BITE-signal is
Conditions
not in the allowed range, a suspected failure bit is set after 200
ms. A failure is set within 400 ms.
Monitoring
• After YRS-initialization, no under voltage
Period
• Depending on the driving conditions a signal gradient higher
Case 8 than 10 ~ 23 °/s / 40 ms sets a suspected failure bit after 280
Enable
ms, unless a single signal peak is recognized by a peakfilter. A
Conditions
failure is set, if the good check is not settled successfully after
10 s.

Monitoring • Continuous (except spinning, use of handbrake, unsteady

Period driving conditions or a detected under voltage)
• During standstill
- The allowed range of the yaw rate sensor signal is ±30 °/s.
Leaving this range for 5 s sets a fault. In case of driving off after
Case 9 the failure was present for longer than 500 ms during standstill,
Enable
the fault is detected immediately.
Conditions
• While driving
- The allowed range of the yaw rate sensor signal is ±94.75 °/s
and a suspected failure bit is set, if the signal is out of this range
for 500 ms. A fault is set after 1 s.

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 Monitoring
• Once after power up and no low voltage.
Period
Case10
Enable • A line fault is detected if 0.2V < VLG < 0.8V isn't continued for a
Conditions time t >= 60ms during POS (POS : power on selftest)

• Reduced controller function.

Fail Safe • Inhibit the ESC control and ABS/EBD control is available.
• The ESC warning lamps are activated.

Monitor Scantool Data

1. Connect scantool to Data Link Connector (DLC).
2. Ignition "ON".
3. Monitor the "Yaw rate sensor-lateral & Yaw rate sensor-yaw" parameter on the Scantool.

Specification : Lateral G sensor : ± 0 G, YAW rate Sensor : ± 0 deg/s

4. Is parameter displayed within specifications?

▶ Fault is intermittent caused by poor connection in Yaw Rate & Lateral G sensor harness and/or HECU's connector or
was repaired and HECU memory was not cleared. Thoroughly check connectors for looseness, poor connection,
bending, corrosion, contamination, deterioration, or damage. Repair or replace as necessary and then go to "Verification
Of Vehicle Repair" procedure.

▶ Go to "W/Harness Inspection" procedure.

Terminal & Connector Inspection

1. Many malfunctions in the electrical system are caused by poor harness(es) and terminals. Faults can also be caused by
interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage.
3. Has a problem been found?

▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Go to "Power Circuit Inspection" procedure.

Signal Circuit Inspection

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 1. Ignition "ON" & Engine "OFF".
2. Measure voltage between terminal "16,18,20" of the HECU harness connector and chassis ground.

Specification : Approx. 2.5 V ( Voltage between terminal "16, 20" of the HECU harness connector and
chassis ground.) If the voltage of the yaw & lateral G sensor is changed within normal voltage range
(approx. 0.1 ~ 4.9 V) during shaking it, it is in normal condition.
Specification : Approx. above 2.1 V and below 2.9 V ( Voltage between terminal "18" of the HECU
harness connector and chassis ground.)

3. Is the measured voltage within specifications?

▶ Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification Of Vehicle Repair" procedure.

▶ Check for open or short in the Yaw Rate & Lateral G sensor harness between terminal "6, 3, 5" of the Yaw Rate &
Lateral G sensor harness connector and terminal "16, 18, 20" of the HECU harness connector . Repair as necessary and
then go to "Verification Of Vehicle Repair" procedure.
▶ If OK, Go to "Component Inspection" procedure.

Component Inspection
1. Ignition "ON" & Engine "OFF".
2. Measure voltage between terminal "3, 5, 6" of the Yaw Rate & Lateral G sensor harness connector and chassis ground.

Specification : Approx. 2.5V ( Voltage between terminal "5, 6" of the Yaw Rate & Lateral G sensor
harness connector and chassis ground.)
If the voltage of the yaw & lateral G sensor is changed within normal voltage range (approx. 0.1~4.9V)
during shaking it, it is in normal condition.
Specification : Approx. above 2.1V and below 2.9V ( Voltage between terminal "3" of the Yaw Rate
&Lateral G sensor harness connector and chassis ground.)

3. Is the measured voltage within specifications?

▶ Fault is intermittent caused by poor connection in Yaw Rate amp;amp; Lateral G sensor harness. Go to "Verification Of
Vehicle Repair" procedure.

▶ Substitute with a known-good Yaw Rate amp;amp; Lateral G sensor and check for proper operation. If problem is

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 corrected, replace Yaw Rate amp;amp; Lateral G sensor and then go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C1503

COMPONENT LOCATION

General Description
Driver can inhibit the ESC control by ESC switch. When switch signal send into HECU, ESC warning lamp go ON and ESC
control is stopped and if next switch signal is inputted again, ESC control is ready. This function is used for sporty driving or
vehicle inspection.

DTC Description
Trouble code is set when the condition that the level of ESC switch is high is continued for 60 sec. When the ESC switch
failure is set there is no signal in the warning lamp and HECU inhibit the ESC control and allow the ABS/EBD control.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Short circuit monitoring
Monitoring
• Continuous
Period
Enable • Open or short ESC switch
• When the ESC switch is ON for 60 sec.
Conditions
• Inhibit the ESC control and allow the ABS/EBD control.
Fail Safe
• The ESC warning lamps are activated.

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 Monitor Scantool Data
1. Connect scantool to Data Link Connector(DLC).
2. Ignition "ON" & Engine "OFF".
3. Press the ESC SWITCH.
4. Monitor the "TCS/ESC SWITCH" parameter on the scantool.

5. Whenever the switch is pushed up/down, is the esc off switch's scantool data changed ON/OFF?

▶ Fault is intermittent caused by poor connection in esc switch line or was repaired and HECU memory was not cleared.
Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage. Repair or replace as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Go to "W/Harness Inspection" procedure.

Terminal & Connector Inspection

1. Many malfunctions in the electrical system are caused by poor harness(es) and terminals. Faults can also be caused by
interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damageage.
3. Has a problem been found?

▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Go to "Signal Circuit Inspection" procedure.

SIGNAL Circuit Inspection

1. Ignition "ON" & Engine "OFF" & ESC Switch"ON".
2. Measure voltage between terminal "31" of the HECU harness connector and chassis ground.

Specification : Approx B+

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 3. Is the measured voltage within specifications?

▶ Go to "Component Inspection" Procedure.

▶ Check for damaged harness and poor connection in the power harness between the battery terminal(+) and the
terminal "31" of the HECU harness connector . Check for open or blown 10 A fuse referring to "Circuit Diagram" . Repair
as necessary and then go to "Verification Of vehicle Repair" procedure.
▶ If OK, Go to "Component Inspection" Procedure.

Component Inspection
1. Ignition "ON".
2. Disconnect ESC switch connector.
3. Press the ESC switch.
4. Measure resistance between terminal "3, 4" of the ESC switch component connector.

Specification :
Approx. below 1 Ω - ESC switch is depressed.
Approx. ∞ Ω - ESC switch is not depressed.

5. Is the measured resistance within specifications?

▶ Fault is intermittent caused by poor connection in ESC switch line or was repaired and HECU memory was not
cleared. Go to "Verification Of Vehicle Repair" procedure.

▶ Substitute with a known-good ESC switch and check for proper operation. If problem is corrected, replace ESC switch
and then go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information

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 4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C1513

COMPONENT LOCATION

General Description
The brake light switch indicates brake pedal status to the ABS control unit. The brake light switch which is dual switch type
send brake light signal to HECU. The switch is turned on when brake is depressed. The brake light switch runs to battery
voltage when brake depressed. The brake light switch doesn't run to battery voltage when brake is not depressed.

DTC Description
The brake light signal is a reference to judge driver's intention for braking and The HECU checks open or short circuit of
brake light switch for normal ABS/ESC control. If an error exists, warning lamp will be turned ON.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Voltage monitoring
Monitoring
• Continuous (only no under voltage is not detected)
Period
• If the BLS-signals is high for 60 s at following condition.
Case 1 1. the gas pedal is stepped
Enable
2. vehicle speed > 10.8km/h(6.7mph)
Conditions
3. offset compensated pressure < 5 bar
4. no control is active • Open circuit in brake
switch line
Monitoring
• Continuous (only normal voltage) • Inoperative brake light
Period
switch
• For redundancy reasons an additional BLSpVor-signal is
created by the pressure sensor signal. If the pressure sensor is
Case 2 compensated, the threshold for generating the BLSpVor signal
Enable is 10 bar. If the pressure sensor is not compensated, the
Conditions threshold is increased by 25 bar. If this signal is set without any
hardware-BLS-signals being set for at least 1s.
• If the pressure signal is higher than 80bar and not both of the
hardware-BLS are set, a fault is stored after 1s.

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 • Inhibit the ESC control and ABS/EBD control is available.
Fail Safe
• The ESC warning lamps are activated.

Monitor Scantool Data

1. Connect scantool to Data Link Connector(DLC).
2. Ignition "ON" & Engine "ON"
3. Press the brake pedal.
4. Monitor the "BRAKE SWITCH" parameter on the scantool.

5. Whenever brake pedal is pushed down, is the brake switch's scantool data changed ON/OFF?

▶ Fault is intermittent caused by poor connection in brake switch line or was repaired and HECU memory was not
cleared. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration,
or damage. Repair or replace as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Go to "W/Harness Inspection" procedure.

Terminal & Connector Inspection

1. Many malfunctions in the electrical system are caused poor harness(es) and terminals condition. Faults can also be
caused by interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage.
3. Has a problem been found?

▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Go to "Power Circuit Inspection" procedure.

Signal circuit inspection (brake pedal isn't depressed)

1. Ignition "ON" & Engine "OFF".
2. Don't press the brake pedal.
3. Measure voltage between the terminal "30" of the HECU harness connector and chassis ground.

Specification : Brake Light Switch - Approx. 0 V

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 4. Is the measured voltage within specifications?

▶ Fault is intermittent caused by a short to power within circuit. Throughlycheck connectors for chafing to other wires and
circuits. Repair or replaceas necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Check for open or blown 20A STOP, 7.5A SNSR fuse referring to "Circuit Diagram". Check for open or short to battery
between the battery terminal(+) and the terminal "30" of the HECU harness connector. Repair as necessary and then go
to "Verification Of Vehicle Repair" procedure.
▶ Check circuit for a short to power. Repair as necessary and then go to "VerificationOf Vehicle Repair" procedure.

Signal circuit inspection (brake pedal is depressed)

1. Ignition "ON" & Engine "OFF".
2. Press the brake pedal.
3. Measure voltage between the terminal "30" of the HECU harness connector and chassis ground.

Specification : Brake Light Switch - Approx. B+

4. Is the measured voltage within specifications?

▶ Fault is intermittent caused by open or short harness in brake light switch, faulty brake light switch or was repaired and
HECU memory was not cleared. Go to "Verification Of Vehicle Repair" procedure.

▶ Check for open or short to ground between the battery terminal(+) and the terminal "30" of the HECU harness
connector. Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.
▶ If OK, Go to "Component Inspection" Precedure.

Component Inspection
1. Ignition "OFF".
2. Disconnect brake switch connector.
3. Measure resistance between the terminal "1", "2" of the brake switch.

Resistance between the terminal "1,2" of the brake switch - ∞Ω (when the plunger is pushed down), 0Ω
(when the plunger isn't pushed down).

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 4. Is the measured voltage within specifications?

▶ Fault is intermittent caused by open or short harness in brake light switch, faulty brake light switch or was repaired and
HECU memory was not cleared. Go to "Verification Of Vehicle Repair" procedure.

▶ Substitute with a known-good brake lamp switch and check for proper operation. If problem is corrected, replace brake
light switch and then go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C1604

COMPONENT LOCATION

General Description
The HECU is composed of an ECU (Electronic Control Unit ) and a HCU( Hydraulic Control Unit) , HCU is composed of a
source of hydraulic pressure and modulator valve block. Increase and decrease of hydraulic pressure is oprerated by
electronic motor, According to a detected signal by wheel speed sensor, The hydraulic pressure which is needed for control
is supplied by pump. The HCU' function which is composed of a accumulator, return pump, solenoid valve is to increase,
decrease or maintain the hydraulic pressure supplied to a brake caliper by operating return pump according to HECU control
signal while ABS control is active.

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 DTC Description
The HECU monitors the operation of the IC components such as memory, register, A/D converter and so on. The ECU sets
this code when the EEPROM data read by the master processor is different than prior data writed, or when the master/slave
processor detects abnormal operation in RAM, Status Register, Interrupt, Timer, A/D converter or cycle time.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Internal monitoring
Monitoring
• Continuous
Period
Case 1
Enable • If Internal control unit failures of the master/slave processor or
Conditions peripheral integrated circuits is detected.
Monitoring
• Directly after ignition on, during reading of EEPROM-values
Period
• Inoperative HECU
• Failure is set if checksum not correct or PSW-EEPROM-
Case 2 Handler reported unknown failure during EEPROM-value
Enable
reading.
Conditions
• If EEPROM reading sequence take longer then 3 s, a failure is
set.

• The ABS/EBD/ESC functions are inhibited.

Fail Safe
• The ABS/EBD/ESC warning lamps are activated.

Terminal and Connector Inspection

1. Many malfunctions in the electrical system are caused by poor harness(es) and terminals. Faults can also be caused by
interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage.
3. Has a problem been found?

▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Go to "Component Inspection" procedure.

Component Inspection
1. Ignition "OFF".
2. Ignition "ON".
3. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode.
4. Using a scantool, Clear DTC.
5. Select "Diagnostic Trouble Codes (DTCs)" mode again.
6. Are any DTCs present ?

▶ Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification Of Vehicle Repair" procedure.

▶ Fault is intermittent caused by faulty HECU or was repaired and HECU memory was not cleared. go to "Verification Of
Vehicle Repair" procedure.

Verification of Vehicle Repair

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 After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C1605

COMPONENT LOCATION

General Description
The HECU send requirement data, such as Torque reduction, the number of fuel cut cylinders, and TCS control requests, to
the PCM(ECM & TCM) through CAN bus line. The PCM(ECM) performs fuel cut functions according to requests from the
HECU and retards ignition timing by torque reduction requests. The PCM(TCM) maintains current gear positions during TCS
control time, in order not to increase power which causes a Kickdown shift.

DTC Description
The HECU checks the CAN control module for normal TCS control, and sets this code if CAN control module malfunction is
detected.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • CAN control module monitoring
Monitoring
• Immediate during start up
Period
• Faults are detected immediately if the initialization software can't • Inoperative HECU
Enable
have write access to the configuration registers of the CAN-controller
Conditions
module.

Fail Safe • Inhibit the ESC control and ABS/EBD control is available.

Terminal and Connector Inspection

1. Many malfunctions in the electrical system are caused by poor harness(es) and terminals. Faults can also be caused by
interference from other electrical systems, and mechanical or chemical damage.

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 2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage.
3. Has a problem been found?

▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Go to "Component Inspection" procedure.

Component Inspection
1. Ignition "OFF".
2. Ignition "ON".
3. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode.
4. Using a scantool, Clear DTC.
5. Select "Diagnostic Trouble Codes (DTCs)" mode again.
6. Are any DTCs present ?

▶ Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification Of Vehicle Repair" procedure.

▶ Fault is intermittent caused by faulty HECU or was repaired and HECU memory was not cleared. go to "Verification Of
Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C1611

COMPONENT LOCATION

General Description

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 The HECU send requirement data, such as Torque reduction, the number of fuel cut cylinders, and TCS control requests, to
the PCM(ECM & TCM) through CAN bus line. The PCM(ECM) performs fuel cut functions according to requests from the
HECU and retards ignition timing by torque reduction requests. The PCM(TCM) maintains current gear positions during TCS
control time, in order not to increase power which causes a Kickdown shift.

DTC Description
The HECU checks the CAN communication lines for normal ESC control, and sets this code if a PCM(ECM) message is not
received within predefined time.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • CAN massage monitoring
Monitoring • Inoperative PCM(ECM)
• Continuous
Period • Bad connection of PCM,
Enable • Faults are detected if PCM(ECM) message was not received or EMS open or short circuit in
Conditions CAN message is abnormal on time by the CAN controller of HECU. PCM line.

Fail Safe • Inhibit the ESC control and ABS/EBD control is available.

Terminal and Connector Inspection

1. Many malfunctions in the electrical system are caused by poor harness(es) and terminals. Faults can also be caused by
interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage.
3. Has a problem been found?

▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Go to "Component Inspection" procedure.

Component Inspection
1. Ignition "OFF".
2. Ignition "ON".
3. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode.
4. Using a scantool, Clear DTC.
5. Select "Diagnostic Trouble Codes(DTCs)" mode again.
6. Are any DTCs present?

▶ Substitute with a known-good AFS(air flow sensor) and TPS(throttle valve sensor),and check for proper operation. If
problem is corrected, replace AFS and TPS,and then go to "Verification Of Vehecle Repair" procedure.
▶ Substitute with a known-good PCM(ECM) and check for proper operation. If problem is corrected, replace PCM(ECM)
and then go to "Verification Of Vehicle Repair" procedure.If NG, replace HECU and then go to "Verification Of Vehicle
Repair" procedure.

▶ Fault is intermittent caused by faulty HECU or was repaired and HECU memory was not cleared. go to "Verification Of
Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.

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 1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C1612

COMPONENT LOCATION

General Description
The HECU send requirement data, such as Torque reduction, the number of fuel cut cylinders, and TCS control requests, to
the PCM(ECM & TCM) through CAN bus line. The PCM(ECM) performs fuel cut functions according to requests from the
HECU and retards ignition timing by torque reduction requests. The PCM(TCM) maintains current gear positions during TCS
control time, in order not to increase power which causes a Kickdown shift.

DTC Description
The HECU checks the CAN communication lines for normal TCS control, and sets this code if a PCM(TCM) message is not
received within predefined time.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • CAN control module monitoring
Monitoring • Inoperative PCM(TCM)
• Continuous
Period • Bad connection of PCM,
Enable • Faults are detected if PCM(TCM) message was not received or TCU open or short circuit in
Conditions CAN message is abnormal on time by the CAN controller of HECU. PCM line.

Fail Safe • Inhibit the ESC control and ABS/EBD control is available.

Terminal and Connector Inspection

1. Many malfunctions in the electrical system are caused by poor harness(es) and terminals. Faults can also be caused by
interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage.

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 3. Has a problem been found?

▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Go to "Component Inspection" procedure.

Component Inspection
1. Ignition "OFF".
2. Ignition "ON".
3. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode.
4. Using a scantool, Clear DTC.
5. Select "Diagnostic Trouble Codes(DTCs)" mode again.
6. Are any DTCs present?

▶ Substitute with a known-good PCM(ECM) and check for proper operation. If problem is corrected, replace PCM(ECM)
and then go to "Verification Of Vehicle Repair" procedure.If NG, replace HECU and then go to "Verification of Vehicle
Repair" procedure.

▶ Fault is intermittent caused by faulty HECU or was repaired and HECU memory was not cleared. go to "Verification Of
Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C1616

COMPONENT LOCATION

General Description
The HECU send requirement data, such as Torque reduction, the number of fuel cut cylinders, and TCS control requests, to

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 the PCM(ECM & TCM) through CAN bus line. The PCM(ECM) performs fuel cut functions according to requests from the
HECU and retards ignition timing by torque reduction requests. The PCM(TCM) maintains current gear positions during TCS
control time, in order not to increase power which causes a Kickdown shift.

DTC Description
The HECU checks the CAN communication lines for normal TCS control, and sets this code if re-initialization is tried for 15
times in sequence without success.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Open or short monitoring
Monitoring
• Continuous
Period
• Open or short circuit in
Enable • A CAN BUS off fault is established if re-initialization is tried for 15 CAN line
Conditions times in sequence without success.

• Inhibit the ESC control and ABS/EBD control is available. Meanwhile,

Fail Safe
stop checking the ESC switch failure under the ESC control.

Terminal & Connector Inspection

1. Many malfunctions in the electrical system are caused by poor harness(es) and terminals. Faults can also be caused by
interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damageage.
3. Has a problem been found?

▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Go to "Signal Circuit Inspection" procedure.

Signal Circuit Inspection

1. Ignition "OFF".
2. Disconnect the HECU harness connector.
3. Measure resistance between terminal "14" of the HECU harness connector and terminal "35" of the HECU harness
connector.

Specification : Approx. 60Ω

4. Is the measured resistance within specifications?

▶ Fault is intermittent caused by open or short in CAN signal harness or was repaired and HECU memory wasnot
cleared. go to "CAN Bus Short (to ground) Inspection" procedure.

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 ▶ Check for open or short in CAN signal harness between terminal "14" of the HECU harness connector and terminal
"35" of the HECU harness connector. Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

CAN Bus Short (to ground) Inspection

1. Ignition "OFF".
2. Disconnect the HECU harness connector.
3. Measure resistance between terminal "14, 35" of the HECU harness connector and chassis ground.

Specification : Approx. ∞ Ω

4. Is the measured resistance within specifications?

▶ Go to "CAN Bus Short (to battery) Inspection" procedure.

▶ Check for short to ground in CAN HIGH signal harness in case of abnormal resistance measured betweenterminal
"35" of the HECU harness connector and chassis ground. Repair as necessary and then go to "Verification Of Vehicle
Repair" procedure.
▶ Check for short to ground in CAN LOW signal harness in case of abnormal resistance measured betweenterminal "14"
of the HECU harness connector and chassis ground. Repair as necessary and then go to "Verification Of Vehicle Repair"
procedure.

CAN Bus Short (to battery) Inspection

1. Ignition "OFF".
2. Disconnect the HECU harness connector.
3. Measure voltage between terminal "14, 35" of the HECU harness connector and chassis ground.

Specification : Below. 0.2 V

4. Is the measured voltage within specifications?

▶ Go to "CAN Bus Short (between HIGH and LOW) Inspection" procedure.

▶ Check for short to battery in CAN HIGH signal harness in case of abnormal resistance measured betweenterminal "14"
of the HECU harness connector and chassis ground. Repair as necessary and then go to "Verification Of Vehicle Repair"

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 procedure.
▶ Check for short to battery in CAN LOW signal harness in case of abnormal resistance measured betweenterminal "35"
of the HECU harness connector and chassis ground. Repair as necessary and then go to "Verification Of Vehicle Repair"
procedure.

CAN Bus Short (between HIGH and LOW) Inspection

1. Ignition "OFF".
2. Disconnect all the connector related to CAN such as HECU, PCU, EPS, ECS harness connector.
3. Measure resistance between terminal "14, 35" of the HECU harness.

Specification : Approx. 120 Ω

4. Is the measured resistance within specifications?

▶ Go to "Component Inspection" procedure.

▶ Check for short in CAN signal harness between terminal "14" of the HECU harness connector and terminal "35" of the
HECU harness connector. Repair as necessary and then go to "Verification of vehicle Repair" procedure.

Component Inspection
1. Ignition "OFF".
2. Ignition "ON".
3. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode.
4. Using a scantool, Clear DTC.
5. Select "Diagnostic Trouble Codes(DTCs)" mode again.
6. Are any DTCs present?

▶ Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification Of Vehicle Repair" procedure.

▶ Fault is intermittent caused by faulty HECU or was repaired and HECU memory was not cleared. go to "Verification of
Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

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 ▶ System performing to specification at this time.

Brake System > Troubleshooting > C1623

COMPONENT LOCATION

General Description
The Steering angle sensor(SAS) is joined to the multi function switch and uses a CAN communication. The SAS is used to
determine turning direction and speed of the steering wheel. The HECU uses the signals from the SAS when performing
ESC-related calculations.

DTC Description
The HECU checks the CAN communication lines for normal ESC control, and sets this code if a SAS message is not
received within predefined time.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • CAN massage monitoring
Monitoring
• Continuous • Inoperative SAS
Period
• Open circuit in SAS line
Enable • Faults are detected if SAS message was not received on time by the
• Bad connection of SAS
Conditions CAN controller of HECU.
Fail Safe • Inhibit the ESC control and ABS/EBD control is available.

Terminal & Connector Inspection

1. Many malfunctions in the electrical system are caused by poor harness(es) and terminals. Faults can also be caused by
interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage.
3. Has a problem been found?

▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Go to "Power Circuit Inspection" procedure.

Power Supply Circuit Inspection

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 1. Ignition "ON".
2. Measure voltage between terminal "2" of the steering angle sensor harness connector and chassis ground.

Specification : Approx. B+

3. Is the measured voltage within specifications?

▶ Go to "Ground Circuit Inspection" procedure.

▶ Check for damaged harness and poor connection between the battery terminal(+) and terminal "2" of the steering
angle sensor harness connector. Check for open or blown 10 A ABS fuse referring to "Circuit Diagram". Repair as
necessary and then go to "Verification Of Vehicle Repair" procedure.

Ground Circuit Inspection

1. Ignition "OFF".
2. Disconnect SAS connector.
3. Measure resistance between terminal "1" of the steering angle sensor harness connector and chassis ground.

Specification : Approx. below 1 Ω

4. Is the measured resistance within specifications?

▶ Go to "CAN Circuit Inspection" procedure.

▶ Check for damaged harness and poor connection between terminal "1" of the steering angle sensor harness connector
and chassis ground. Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

CAN Circuit Inspection

1. Ignition "OFF".
2. Disconnect SAS connector.
3. Measure resistance between terminal "3, 4" of the steering angle sensor harness connector.

Specification : Approx. 60 Ω

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 4. Is the measured resistance within specifications?

▶ Go to "CAN Bus Short (to ground) Inspection" procedure.

▶ Check for damaged harness and poor connection between terminal "3, 4" of the steering angle sensor harness
connector. Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

CAN Bus Short (to ground) Inspection

1. Ignition "OFF".
2. Disconnect the HECU harness connector.
3. Measure resistance between terminal "3, 4" of the HECU harness connector and chassis ground.

Specification : Approx. ∞ Ω

4. Is the measured resistance within specifications?

▶ Go to "CAN Bus Short (between HIGH and LOW) Inspection" procedure.

▶ Check for short to ground in CAN HIGH signal harness in case of abnormal resistance measured between terminal "3"
of the HECU harness connector and chassis ground. Repair as necessary and then go to "Verification Of Vehicle Repair"
procedure.
▶ Check for short to ground in CAN LOW signal harness in case of abnormal resistance measured between terminal "4"
of the HECU harness connector and chassis ground. Repair as necessary and then go to "Verification Of Vehicle Repair"
procedure.

CAN Bus Short (between HIGH and LOW) Inspection

1. Ignition "OFF".
2. Disconnect all the connector related to CAN such as HECU, PCU, EPS, ECS harness connector.
3. Measure resistance between terminal "3, 4" of the HECU harness.

Specification : Approx. 120 Ω

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 4. Is the measured resistance within specifications?

▶ Go to "Component Inspection" procedure.

▶ Check for short in CAN signal harness between terminal "3" of the HECU harness connector and terminal "4" of the
HECU harness connector. Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

Component Inspection
1. Ignition "OFF".
2. Ignition "ON".
3. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode.
4. Using a scantool, retrieve and record all DTC's and refer to the approprietepages. When completed, clear the DTC(s).
5. Select "Diagnostic Trouble Codes (DTCs)" mode again.
6. Are any DTCs present ?

(1) Substitute with a known-good steering angle sensor and check for proper operation. If problem is corrected, replace
sensor and then go to "Verification Of Vehicle Repair" procedure.
(2) Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification Of Vehicle Repair" procedure.

▶ Fault is intermittent caused by poor connection in steering angle sensor harness or faulty steering angle sensor. Go to
"Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C1625

COMPONENT LOCATION

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 General Description
The HECU send requirement data, such as Torque reduction, the number of fuel cut cylinders, and TCS control requests, to
the PCM(ECM & TCM) through CAN bus line. The PCM(ECM) performs fuel cut functions according to requests from the
HECU and retards ignition timing by torque reduction requests. The PCM(TCM) maintains current gear positions during TCS
control time, in order not to increase power which causes a Kickdown shift.

DTC Description
The HECU checks the CAN communication lines for normal ESC control, and sets this code if a CAN message is not
transmitted within predefined time.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • CAN massage monitoring
Monitoring
• Continuous
Period
• Inoperative HECU
Enable • Faults are detected if CAN message was not transmitted on time by
Conditions the CAN controller of HECU.
Fail Safe • Inhibit the ESC control and ABS/EBD control is available.

Terminal and Connector Inspection

1. Many malfunctions in the electrical system are caused by poor harness(es) and terminals. Faults can also be caused by
interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage.
3. Has a problem been found?

▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Go to "Component Inspection" procedure.

Component Inspection
1. Ignition "OFF".
2. Ignition "ON".
3. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode.
4. Using a scantool, Clear DTC.

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 5. Select "Diagnostic Trouble Codes (DTCs)" mode again.
6. Are any DTCs present ?

▶ Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification Of Vehicle Repair" procedure.

▶ Fault is intermittent caused by faulty HECU or was repaired and HECU memory was not cleared. go to "Verification Of
Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C1626

COMPONENT LOCATION

General Description
The ESC is a system to stabilize a car when under steering or over steeringin an emergency by supplying appropriate wheel
braking pressure accordingto signal of Yaw, G-sensor, SAS, WSS, and pressure sensor. ESC system helpsto avoid an
accident.

DTC Description
Under normal conditions, the inlet valves of all four wheels are not closed during control for longer than 1.28s or If the
controller requests pressure-hold or pressure-decrease for longer than 1.28s, a fault is detected. The ABS/ESC warning
lamp is turned ON and the EBD warning lamp is turned OFF.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Signal monitoring • Faulty HECU

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 Monitoring
• Continuous
Period
• If the controller requests pressure-hold or pressure-decrease for
Enable longer than 1.28s, a fault is stored.
Conditions • Under normal conditon, the inlet valves of all four wheels are not
closed during control for longer than 1.28s.

• The ABS/ESC functions are inhibited, allow the EBD control.

Fail Safe
• The ABS/ESC warning lamps are activated.

Component Inspection
1. Ignition "OFF".
2. Ignition "ON".
3. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode.
4. Using a scantool, Clear DTC.
5. Select "Diagnostic Trouble Codes (DTCs)" mode again.
6. Are any DTCs present ?

▶ Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification Of Vehicle Repair" procedure.

▶ Fault is intermittent caused by faulty HECU or was repaired and HECU memory was not cleared. go to "Verification Of
Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C1627

COMPONENT LOCATION

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 General Description
The HECU interchanges requirement data with the 4WD ECU through CAN bus line for normal ABS control. For example
the HECU sends a control inhibition signal to 4WD ECU for normal ABS control in case of the ABS and 4WD control
requested at the same time such as wheel speed difference between front and rear wheel generated due to wheel slip.

DTC Description
The HECU checks absence of the 4WD message from the 4WD ECU for normal ABS control, and sets this code if an 4WD
ECU message is not received within predefined time.The HECU checks the presence and specific contents of the 4WD1
message from the 4WD ECU, and sets this code if there is an error in 4WD ECU message1.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • CAN massage monitoring
Monitoring
• Continuous
Period
• Faults are detected if 4WD message was not received on time by the
CAN controller of HECU.
• If the 4WD ECU detected an following error and informed the HECU • Faulty 4WD ECU
about it via CAN, a fault is determined. • Bad connection of 4WD
Enable - 4WD1 message timeout was detected by HECU ECU, open or short circuit
Conditions - 4WD1 data length code error was detected in 4WD ECU line.
- a failure of the 4WD ECU shift motor or encoder was detected
- a 4WD magnetic clutch failure was detected
- the 4WD ECU does not receive the TCS4 message any more
- the 4WD max cardan shaft torque contains faulty torque information

• Inhibit the ABS/ESC control and allow the EBD control.

Fail Safe
• ABS/ESC warning lamps are activated.

Terminal and Connector Inspection

1. Many malfunctions in the electrical system are caused by poor harness(es) and terminals. Faults can also be caused by
interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage.
3. Has a problem been found?

▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Go to "Component Inspection" procedure.

Component Inspection
1. Ignition "OFF".
2. Ignition "ON".
3. Connect scantool and select "Diagnostic Trouble Codes(DTCs)" mode
4. Using a scantool, retrieve and record all DTC's and refer to the approprietepages. When completed, clear the DTC(s).
5. Select "Diagnostic Trouble Codes(DTCs)" mode again.
6. Are any DTCs present ?

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 ▶ Refer to the 4WD diagnostic part to find a cause of fault.If there is no problem in 4WD, Substitute with a known-good
HECU and check for proper operation. If problem is corrected, replace HECU and then go to "Verification of Vehicle
Repair" procedure.
The ECU mounted in the wrong type of car may be a cause. (2WD ECU in 4WD vehicle)

▶ Fault is intermittent caused by faulty HECU or was repaired and HECU memory was not cleared. go to "Verification Of
Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C1702

COMPONENT LOCATION

General Description
There is no hardware difference of the HECU according to the vehicle's specification,just software changes for different
vehicle parameters used for ESC control.The HECU stores a classified variant code value according to the
receiveddata(engine types, engine displacements, and type of transmission). The HECU reads various parameters
according to the stored variant value in the memoryused by the ESC control.

DTC Description
The HECU checks the variant code after ignition start up. If a inappropriate variant code is detected or there is no variant
code, a fault is detected.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Internal monitoring
• Replacement of PCM
Monitoring • (ECM & TCM)
• Once during startup.
Period

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 • After power on, the HECU does not receive a valid variant code
information during the configuration time.
• HECU has no valid variant code stored in the EEPROM.
Enable • The receieved CAN signals does not lead to a defined and supported
Conditions variant code.
• If an ECU, which has already memorized a valid variant code
information, receives a different variant code information. (at a next
Power on cycle)

• The ABS/EBD/ESC functions are inhibited.

Fail Safe
• The ABS/EBD/ESC warning lamps are activated.

Monitor Scantool Data

Variant Coding
1. Check for improper installation of EMS/PCM(ECM & TCM)/ESC.
2. Connect scantool to Data Link Connector(DLC).
3. Ignition "ON".
4. Go in Anti-Lock brake system (figure 1).
5. Perform variant code checks as per DTC found.
6. Disconnect scantool.
7. Ignition "OFF" and then ignition "ON". Go to "Component Inspection"Procedure.
* For the vehicle equipped 4WD, delete the DTC(s) memorized in 4WD ECU when variant coding is completed.

Component Inspection
1. Ignition "OFF".
2. Ignition "ON".
3. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode.
4. Using a scantool, Clear DTC.
5. Select "Diagnostic Trouble Codes (DTCs)" mode again.
6. Are any DTCs present ?

▶ Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification Of Vehicle Repair" procedure.

▶ Fault is intermittent caused by faulty HECU or was repaired and HECU memory was not cleared. go to "Verification Of
Vehicle Repair" procedure.

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 Verification of Vehicle Repair
After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C2112

COMPONENT LOCATION

General Description
The HECU supplies battery power to all solenoid valves with a valve relay which is controlled by the Electronic Control
UNIT(ECU). The valve relay and all solenoid valves are installed inside the HECU ( Hydraulic and Electronic Control Unit ).

DTC Description
The HECU monitors voltage of the valve relay to check if the HECU can perform ABS control normally. When the valve relay
is switched to ON, the HECU will set this code if the solenoid drive voltage is below permissible voltage ranges for a period
of time. When the valve relay is switched to OFF, the HECU sets this code if the solenoid drive voltage is over the
permissible voltage range for a period of time.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Voltage monitoring
Monitoring
• Once during startup.
Period
• Watchdog and valve relay function is tested during startup.A • Open or short in power
Case 1 failure is detected if the valve relay/Enable remains in off supply circuit (IGN+)
Enable
position when it is turned on and vice versa. Reason could be • Inoperative HECU
Conditions
short to GND or UZ, interrupted lines or a inoperative output
stage etc.
Monitoring
Case 2 • Continuous
Period

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 Enable • A Fault is detected if valve relay voltage < 0.8 * battery voltage
Conditions for a time 500 ms.
Monitoring
• Continuous
Period

Case 3 • If valve relay malfunction and supply solenoid valve short to

Enable battery or supply solenoid valve and medium or high ohm short
Conditions to valve relay (or a valve) to valve relay voltage, solenoid valve
voltage or GND are detected.

• No valve actuation possible.

Fail Safe • The ABS/EBD/ESC functions are inhibited.
• The ABS/EBD/ESC warning lamps are activated.

Monitor Actuation Test

1. Connect scantool to Data Link Connector(DLC)
2. Ignition "ON" & Engine "OFF".
3. Select the "Actuation Test" mode on the scantool.
4. Inspect operating status of all valves with Actuation Test.

Specification : It's normal if operating sound is heard.

5. Do all valves operate normally?

▶ Fault is intermittent caused by poor connection in power harness (ABS2) and/or HECU's connector or was repaired
and HECU memory was not cleared. Thoroughly check connectors for looseness, poor connection, bending, corrosion,
contamination, deterioration, or damage. Repair or replace as necessary and then go to "Verification Of Vehicle Repair"
procedure.

▶ Go to "W/Harness Inspection" procedure.

Terminal & Connector Inspection

1. Many malfunctions in the electrical system are caused by poor harness(es) and terminals. Faults can also be caused by
interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage.
3. Has a problem been found?

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 ▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Go to "Power Circuit Inspection" procedure.

Power Supply Circuit Inspection

1. Ignition "OFF".
2. Disconnect HECU connector.
3. Ignition "ON".
4. Measure voltage between terminal "3" of the HECU harness connector and chassis ground.

Specification : Approx. B+

5. Is the measured voltage within specifications?

▶ Go to "Ground Circuit Inspection" procedure.

▶ Check for damaged harness and open or short to GND between the battery terminal(+) and terminal "3" of the HECU
harness connector. Check for open or blown 20A ABS fuse referring to "Circuit Diagram". Repair as necessary and then
go to "Verification of vehicle Repair" procedure.

Ground Circuit Inspection

1. Ignition "OFF".
2. Disconnect HECU connector.
3. Measure resistance between terminal "4" of the HECU harness connector and chassis ground.

Specification : Approx. below 1 Ω

4. Is the measured resistance within specifications?

▶ Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification of Vehicle Repair" procedure.

▶ Check for damaged harness and poor connection between terminal "4" of the HECU harness connector and chassis

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 ground. Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C2308

COMPONENT LOCATION

General Description
The HECU is composed of an ECU (Electronic Control Unit ) and an HCU( Hydraulic Control Unit), so the HECU hardware
includes all solenoid valves inside the unit as well as the ECU. Solenoid valves are switched to ON, OFF by HECU when the
ABS is activated. Solenoid valves function is to increase, decrease or maintain the hydraulic pressure supplied to a brake
caliper.

DTC Description
The HECU monitors the operation of the valves by checking the drive circuit of the solenoid valves, and then sets this code
when the unexpcted drive voltage is detected. For example, the HECU sets the DTC if the electrical feedback signal does
not match the actuation signal for the corresponding valve.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Voltage monitoring
Monitoring
• Continuous
Period
• Inoperative HECU
Case 1 • The electrical feedback signal does not match the actuation
Enable signal for the corresponding valve for more than 30 ms.
Conditions - Current controlled valves and under voltage conditions
:detection time is 80 ms

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 • Immediately after power on
Monitoring • every 20 s
Period - The Test is canceled if any control, valve actuation takes
place or if the Vehicle is in motion and the BLS is on.
Case 2 • A Fault is found if UVR is not within 0.1*battery voltage < valve
relay voltage < 0.8*battery voltage
Enable
• A Fault is found if valve relay voltage ≥ 0.2*battery voltage.
Conditions
- After that all valves are switched on sequential, valve relay
voltage and valve feedback is measured.
Monitoring • The Valve and Pump motor Test is performed once after
Period ignition on if vehicle speed is >= 30 km/h(18.6 mph).

Case 3 • The valve and pump motor test detects electrical actuation
Enable malfunction of ABS valves. The test actuates all valves in
Conditions series (to detect short cuts or shunts between the valve lines).
Faults are detected if there is an error during the test.

• The drift test executes only once during an ignition Cycle. The
test is triggered if the following conditions are fulfilled : 10min
after power up or end of control
Monitoring 1. No BLS is applied
Period 2. Brake pressure is < 10 bar
Case 4 3. Vehicle speed >15 km/h(9.3 mph).
4. Vehicle acceleration > 0.5 m/s²
5. Supply voltage > 11 volts.
• The drift test is executed only once during an ignition Cycle.If it
Enable
detects partly shorted valve coils,almost inoperative coils or
Conditions
malfunction of the valve driver, a failure is recognized.
• Valve cannot be actuated or valve is incorrectly actuated. This
may result in locked wheels or wheels without pressure.
Fail Safe
• ABS/EBD/ESC function is prohibited.
• ABS/EBD/ESC warning lamp is turned ON.

Monitor Actuation Test

1. Connect scantool to Data Link Connector(DLC)
2. Ignition "ON" & Engine "OFF".
3. Select the "Actuation Test" mode on the scantool.
4. Inspect operating status of inlet valve with Actuation Test.

Specification : It's normal if operating sound is heard.

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 5. Does a inlet valve operate normally?

▶ Fault is intermittent caused by faulty valve or was repaired and HECU memory was not cleared. Go to "Verification Of
Vehicle Repair" procedure.

▶ Go to "W/Harness Inspection" procedure.

Terminal and Connector Inspection

1. Many malfunctions in the electrical system are caused by poor harness(es) and terminals. Faults can also be caused by
interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage.
3. Has a problem been found?

▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information. (Start and drive vehicle in gear and maintain
vehicle speed at or above 30kmh(18.6mph).
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C2312

COMPONENT LOCATION

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 General Description
The HECU is composed of an ECU (Electronic Control Unit ) and an HCU( Hydraulic Control Unit), so the HECU hardware
includes all solenoid valves inside the unit as well as the ECU. Solenoid valves are switched to ON, OFF by HECU when the
ABS is activated. Solenoid valves function is to increase, decrease or maintain the hydraulic pressure supplied to a brake
caliper.

DTC Description
The HECU monitors the operation of the valves by checking the drive circuit of the solenoid valves, and then sets this code
when the unexpcted drive voltage is detected. For example, the HECU sets the DTC if the electrical feedback signal does
not match the actuation signal for the corresponding valve.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Voltage monitoring
Monitoring
• Continuous
Period

Case 1 • The electrical feedback signal does not match the actuation
Enable signal for the corresponding valve for more than 30 ms.
Conditions - Current controlled valves and under voltage conditions
:detection time is 80 ms

• Immediately after power on

Monitoring • every 20 s
Period - The Test is canceled if any control, valve actuation takes
place or if the Vehicle is in motion and the BLS is on.
Case 2 • A Fault is found if UVR is not within 0.1*battery voltage < valve
relay voltage < 0.8*battery voltage
Enable • Inoperative HECU
• A Fault is found if valve relay voltage ≥ 0.2*battery voltage.
Conditions
- After that all valves are switched on sequential, valve relay
voltage and valve feedback is measured.

Monitoring • The Valve and Pump motor Test is performed once after
Period ignition on if vehicle speed is >= 30 km/h(18.6 mph).

Case 3 • The valve and pump motor test detects electrical actuation
Enable malfunction of ABS valves. The test actuates all valves in
Conditions series (to detect short cuts or shunts between the valve lines).
Faults are detected if there is an error during the test.

• The drift test executes only once during an ignition Cycle. The
test is triggered if the following conditions are fulfilled : 10min
Monitoring
Case 4 after power up or end of control
Period
1. No BLS is applied

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 2. Brake pressure is < 10 bar
3. Vehicle speed >15 km/h(9.3 mph).
4. Vehicle acceleration > 0.5 m/s²
5. Supply voltage > 11 volts.
• The drift test is executed only once during an ignition Cycle.If it
Enable
detects partly shorted valve coils,almost inoperative coils or
Conditions
malfunction of the valve driver, a failure is recognized.
• Valve cannot be actuated or valve is incorrectly actuated. This
may result in locked wheels or wheels without pressure.
Fail Safe
• ABS/EBD/ESC function is prohibited.
• ABS/EBD/ESC warning lamp is turned ON.

Monitor Actuation Test

1. Connect scantool to Data Link Connector(DLC)
2. Ignition "ON" & Engine "OFF".
3. Select the "Actuation Test" mode on the scantool.
4. Inspect operating status of outlet valve with Actuation Test.

Specification : It's normal if operating sound is heard.

5. Does a inlet valve operate normally?

▶ Fault is intermittent caused by faulty valve or was repaired and HECU memory was not cleared. Go to "Verification Of
Vehicle Repair" procedure.

▶ Go to "Component Inspection" procedure.

Terminal and Connector Inspection

1. Many malfunctions in the electrical system are caused by poor harness(es) and terminals. Faults can also be caused by
interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage.
3. Has a problem been found?

▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

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 ▶ Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information. (Start and drive vehicle in gear and maintain
vehicle speed at or above 30kmh(18.6mph).
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C2316

COMPONENT LOCATION

General Description
The HECU is composed of an ECU (Electronic Control Unit ) and an HCU( Hydraulic Control Unit), so the HECU hardware
includes all solenoid valves inside the unit as well as the ECU. Solenoid valves are switched to ON, OFF by HECU when the
ABS is activated. Solenoid valves function is to increase, decrease or maintain the hydraulic pressure supplied to a brake
caliper.

DTC Description
The HECU monitors the operation of the valves by checking the drive circuit of the solenoid valves, and then sets this code
when the unexpcted drive voltage is detected. For example, the HECU sets the DTC if the electrical feedback signal does
not match the actuation signal for the corresponding valve.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Voltage monitoring
Monitoring
• Continuous
Period
• Inoperative HECU
Case 1 • The electrical feedback signal does not match the actuation
Enable
signal for the corresponding valve for more than 30 ms.
Conditions

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 - Current controlled valves and under voltage conditions
:detection time is 80 ms
• Immediately after power on
Monitoring • every 20 s
Period - The Test is canceled if any control, valve actuation takes
place or if the Vehicle is in motion and the BLS is on.
Case 2 • A Fault is found if UVR is not within 0.1*battery voltage < valve
relay voltage < 0.8*battery voltage
Enable
• A Fault is found if valve relay voltage ≥ 0.2*battery voltage.
Conditions
- After that all valves are switched on sequential, valve relay
voltage and valve feedback is measured.

Monitoring • The Valve and Pump motor Test is performed once after
Period ignition on if vehicle speed is >= 30 km/h(18.6 mph).

Case 3 • The valve and pump motor test detects electrical actuation
Enable malfunction of ABS valves. The test actuates all valves in
Conditions series (to detect short cuts or shunts between the valve lines).
Faults are detected if there is an error during the test.

• The drift test executes only once during an ignition Cycle. The
test is triggered if the following conditions are fulfilled : 10min
after power up or end of control
Monitoring 1. No BLS is applied
Period 2. Brake pressure is < 10 bar
Case 4 3. Vehicle speed >15 km/h(9.3 mph).
4. Vehicle acceleration > 0.5 m/s²
5. Supply voltage > 11 volts.

• The drift test is executed only once during an ignition Cycle.If it

Enable
detects partly shorted valve coils,almost inoperative coils or
Conditions
malfunction of the valve driver, a failure is recognized.

• Valve cannot be actuated or valve is incorrectly actuated. This

may result in locked wheels or wheels without pressure.
Fail Safe
• ABS/EBD/ESC function is prohibited.
• ABS/EBD/ESC warning lamp is turned ON.

Monitor Actuation Test

1. Connect scantool to Data Link Connector(DLC)
2. Ignition "ON" & Engine "OFF".
3. Select the "Actuation Test" mode on the scantool.
4. Inspect operating status of inlet valve with Actuation Test.

Specification : It's normal if operating sound is heard.

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 5. Does a inlet valve operate normally?

▶ Fault is intermittent caused by faulty valve or was repaired and HECU memory was not cleared. Go to "Verification Of
Vehicle Repair" procedure.

▶ Go to "W/Harness Inspection" procedure.

Terminal and Connector Inspection

1. Many malfunctions in the electrical system are caused by poor harness(es) and terminals. Faults can also be caused by
interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage.
3. Has a problem been found?

▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information. (Start and drive vehicle in gear and maintain
vehicle speed at or above 30kmh(18.6mph).
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C2320

COMPONENT LOCATION

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 General Description
The HECU is composed of an ECU (Electronic Control Unit ) and an HCU( Hydraulic Control Unit), so the HECU hardware
includes all solenoid valves inside the unit as well as the ECU. Solenoid valves are switched to ON, OFF by HECU when the
ABS is activated. Solenoid valves function is to increase, decrease or maintain the hydraulic pressure supplied to a brake
caliper.

DTC Description
The HECU monitors the operation of the valves by checking the drive circuit of the solenoid valves, and then sets this code
when the unexpcted drive voltage is detected. For example, the HECU sets the DTC if the electrical feedback signal does
not match the actuation signal for the corresponding valve.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Voltage monitoring
Monitoring
• Continuous
Period

Case 1 • The electrical feedback signal does not match the actuation
Enable signal for the corresponding valve for more than 30 ms.
Conditions - Current controlled valves and under voltage conditions
:detection time is 80 ms

• Immediately after power on

Monitoring • every 20 s
Period - The Test is canceled if any control, valve actuation takes
place or if the Vehicle is in motion and the BLS is on.
Case 2 • A Fault is found if UVR is not within 0.1*battery voltage < valve
relay voltage < 0.8*battery voltage
Enable • Inoperative HECU
• A Fault is found if valve relay voltage ≥ 0.2*battery voltage.
Conditions
- After that all valves are switched on sequential, valve relay
voltage and valve feedback is measured.

Monitoring • The Valve and Pump motor Test is performed once after
Period ignition on if vehicle speed is >= 30 km/h(18.6 mph).

Case 3 • The valve and pump motor test detects electrical actuation
Enable malfunction of ABS valves. The test actuates all valves in
Conditions series (to detect short cuts or shunts between the valve lines).
Faults are detected if there is an error during the test.

• The drift test executes only once during an ignition Cycle. The
test is triggered if the following conditions are fulfilled : 10min
Monitoring
Case 4 after power up or end of control
Period
1. No BLS is applied

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 2. Brake pressure is < 10 bar
3. Vehicle speed >15 km/h(9.3 mph).
4. Vehicle acceleration > 0.5 m/s²
5. Supply voltage > 11 volts.
• The drift test is executed only once during an ignition Cycle.If it
Enable
detects partly shorted valve coils,almost inoperative coils or
Conditions
malfunction of the valve driver, a failure is recognized.
• Valve cannot be actuated or valve is incorrectly actuated. This
may result in locked wheels or wheels without pressure.
Fail Safe
• ABS/EBD/ESC function is prohibited.
• ABS/EBD/ESC warning lamp is turned ON.

Monitor Actuation Test

1. Connect scantool to Data Link Connector(DLC)
2. Ignition "ON" & Engine "OFF".
3. Select the "Actuation Test" mode on the scantool.
4. Inspect operating status of outlet valve with Actuation Test.

Specification : It's normal if operating sound is heard.

5. Does a inlet valve operate normally?

▶ Fault is intermittent caused by faulty valve or was repaired and HECU memory was not cleared. Go to "Verification Of
Vehicle Repair" procedure.

▶ Go to "Component Inspection" procedure.

Terminal and Connector Inspection

1. Many malfunctions in the electrical system are caused by poor harness(es) and terminals. Faults can also be caused by
interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage.
3. Has a problem been found?

▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

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 ▶ Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information. (Start and drive vehicle in gear and maintain
vehicle speed at or above 30kmh(18.6mph).
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C2324

COMPONENT LOCATION

General Description
The HECU is composed of an ECU (Electronic Control Unit ) and an HCU( Hydraulic Control Unit), so the HECU hardware
includes all solenoid valves inside the unit as well as the ECU. Solenoid valves are switched to ON, OFF by HECU when the
ABS is activated. Solenoid valves function is to increase, decrease or maintain the hydraulic pressure supplied to a brake
caliper.

DTC Description
The HECU monitors the operation of the valves by checking the drive circuit of the solenoid valves, and then sets this code
when the unexpcted drive voltage is detected. For example, the HECU sets the DTC if the electrical feedback signal does
not match the actuation signal for the corresponding valve.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Voltage monitoring
Monitoring
• Continuous
Period
• Inoperative HECU
Case 1 • The electrical feedback signal does not match the actuation
Enable
signal for the corresponding valve for more than 30 ms.
Conditions

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 - Current controlled valves and under voltage conditions
:detection time is 80 ms
• Immediately after power on
Monitoring • every 20 s
Period - The Test is canceled if any control, valve actuation takes
place or if the Vehicle is in motion and the BLS is on.
Case 2 • A Fault is found if UVR is not within 0.1*battery voltage < valve
relay voltage < 0.8*battery voltage
Enable
• A Fault is found if valve relay voltage ≥ 0.2*battery voltage.
Conditions
- After that all valves are switched on sequential, valve relay
voltage and valve feedback is measured.

Monitoring • The Valve and Pump motor Test is performed once after
Period ignition on if vehicle speed is >= 30 km/h(18.6 mph).

Case 3 • The valve and pump motor test detects electrical actuation
Enable malfunction of ABS valves. The test actuates all valves in
Conditions series (to detect short cuts or shunts between the valve lines).
Faults are detected if there is an error during the test.

• The drift test executes only once during an ignition Cycle. The
test is triggered if the following conditions are fulfilled : 10min
after power up or end of control
Monitoring 1. No BLS is applied
Period 2. Brake pressure is < 10 bar
Case 4 3. Vehicle speed >15 km/h(9.3 mph).
4. Vehicle acceleration > 0.5 m/s²
5. Supply voltage > 11 volts.

• The drift test is executed only once during an ignition Cycle.If it

Enable
detects partly shorted valve coils,almost inoperative coils or
Conditions
malfunction of the valve driver, a failure is recognized.

• Valve cannot be actuated or valve is incorrectly actuated. This

may result in locked wheels or wheels without pressure.
Fail Safe
• ABS/EBD/ESC function is prohibited.
• ABS/EBD/ESC warning lamp is turned ON.

Monitor Actuation Test

1. Connect scantool to Data Link Connector(DLC)
2. Ignition "ON" & Engine "OFF".
3. Select the "Actuation Test" mode on the scantool.
4. Inspect operating status of inlet valve with Actuation Test.

Specification : It's normal if operating sound is heard.

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 5. Does a inlet valve operate normally?

▶ Fault is intermittent caused by faulty valve or was repaired and HECU memory was not cleared. Go to "Verification Of
Vehicle Repair" procedure.

▶ Go to "W/Harness Inspection" procedure.

Terminal and Connector Inspection

1. Many malfunctions in the electrical system are caused by poor harness(es) and terminals. Faults can also be caused by
interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage.
3. Has a problem been found?

▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information. (Start and drive vehicle in gear and maintain
vehicle speed at or above 30kmh(18.6mph).
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C2328

COMPONENT LOCATION

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 General Description
The HECU is composed of an ECU (Electronic Control Unit ) and an HCU( Hydraulic Control Unit), so the HECU hardware
includes all solenoid valves inside the unit as well as the ECU. Solenoid valves are switched to ON, OFF by HECU when the
ABS is activated. Solenoid valves function is to increase, decrease or maintain the hydraulic pressure supplied to a brake
caliper.

DTC Description
The HECU monitors the operation of the valves by checking the drive circuit of the solenoid valves, and then sets this code
when the unexpcted drive voltage is detected. For example, the HECU sets the DTC if the electrical feedback signal does
not match the actuation signal for the corresponding valve.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Voltage monitoring
Monitoring
• Continuous
Period

Case 1 • The electrical feedback signal does not match the actuation
Enable signal for the corresponding valve for more than 30 ms.
Conditions - Current controlled valves and under voltage conditions
:detection time is 80 ms

• Immediately after power on

Monitoring • every 20 s
Period - The Test is canceled if any control, valve actuation takes
place or if the Vehicle is in motion and the BLS is on.
Case 2 • A Fault is found if UVR is not within 0.1*battery voltage < valve
relay voltage < 0.8*battery voltage
Enable • Inoperative HECU
• A Fault is found if valve relay voltage ≥ 0.2*battery voltage.
Conditions
- After that all valves are switched on sequential, valve relay
voltage and valve feedback is measured.

Monitoring • The Valve and Pump motor Test is performed once after
Period ignition on if vehicle speed is >= 30 km/h(18.6 mph).

Case 3 • The valve and pump motor test detects electrical actuation
Enable malfunction of ABS valves. The test actuates all valves in
Conditions series (to detect short cuts or shunts between the valve lines).
Faults are detected if there is an error during the test.

• The drift test executes only once during an ignition Cycle. The
test is triggered if the following conditions are fulfilled : 10min
Monitoring
Case 4 after power up or end of control
Period
1. No BLS is applied

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 2. Brake pressure is < 10 bar
3. Vehicle speed >15 km/h(9.3 mph).
4. Vehicle acceleration > 0.5 m/s²
5. Supply voltage > 11 volts.
• The drift test is executed only once during an ignition Cycle.If it
Enable
detects partly shorted valve coils,almost inoperative coils or
Conditions
malfunction of the valve driver, a failure is recognized.
• Valve cannot be actuated or valve is incorrectly actuated. This
may result in locked wheels or wheels without pressure.
Fail Safe
• ABS/EBD/ESC function is prohibited.
• ABS/EBD/ESC warning lamp is turned ON.

Monitor Actuation Test

1. Connect scantool to Data Link Connector(DLC)
2. Ignition "ON" & Engine "OFF".
3. Select the "Actuation Test" mode on the scantool.
4. Inspect operating status of outlet valve with Actuation Test.

Specification : It's normal if operating sound is heard.

5. Does a inlet valve operate normally?

▶ Fault is intermittent caused by faulty valve or was repaired and HECU memory was not cleared. Go to "Verification Of
Vehicle Repair" procedure.

▶ Go to "Component Inspection" procedure.

Terminal and Connector Inspection

1. Many malfunctions in the electrical system are caused by poor harness(es) and terminals. Faults can also be caused by
interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage.
3. Has a problem been found?

▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

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 ▶ Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information. (Start and drive vehicle in gear and maintain
vehicle speed at or above 30kmh(18.6mph).
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C2332

COMPONENT LOCATION

General Description
The HECU is composed of an ECU (Electronic Control Unit ) and an HCU( Hydraulic Control Unit), so the HECU hardware
includes all solenoid valves inside the unit as well as the ECU. Solenoid valves are switched to ON, OFF by HECU when the
ABS is activated. Solenoid valves function is to increase, decrease or maintain the hydraulic pressure supplied to a brake
caliper.

DTC Description
The HECU monitors the operation of the valves by checking the drive circuit of the solenoid valves, and then sets this code
when the unexpcted drive voltage is detected. For example, the HECU sets the DTC if the electrical feedback signal does
not match the actuation signal for the corresponding valve.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Voltage monitoring
Monitoring
• Continuous
Period
• Inoperative HECU
Case 1 • The electrical feedback signal does not match the actuation
Enable
signal for the corresponding valve for more than 30 ms.
Conditions

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 - Current controlled valves and under voltage conditions
:detection time is 80 ms
• Immediately after power on
Monitoring • every 20 s
Period - The Test is canceled if any control, valve actuation takes
place or if the Vehicle is in motion and the BLS is on.
Case 2 • A Fault is found if UVR is not within 0.1*battery voltage < valve
relay voltage < 0.8*battery voltage
Enable
• A Fault is found if valve relay voltage ≥ 0.2*battery voltage.
Conditions
- After that all valves are switched on sequential, valve relay
voltage and valve feedback is measured.

Monitoring • The Valve and Pump motor Test is performed once after
Period ignition on if vehicle speed is >= 30 km/h(18.6 mph).

Case 3 • The valve and pump motor test detects electrical actuation
Enable malfunction of ABS valves. The test actuates all valves in
Conditions series (to detect short cuts or shunts between the valve lines).
Faults are detected if there is an error during the test.

• The drift test executes only once during an ignition Cycle. The
test is triggered if the following conditions are fulfilled : 10min
after power up or end of control
Monitoring 1. No BLS is applied
Period 2. Brake pressure is < 10 bar
Case 4 3. Vehicle speed >15 km/h(9.3 mph).
4. Vehicle acceleration > 0.5 m/s²
5. Supply voltage > 11 volts.

• The drift test is executed only once during an ignition Cycle.If it

Enable
detects partly shorted valve coils,almost inoperative coils or
Conditions
malfunction of the valve driver, a failure is recognized.

• Valve cannot be actuated or valve is incorrectly actuated. This

may result in locked wheels or wheels without pressure.
Fail Safe
• ABS/EBD/ESC function is prohibited.
• ABS/EBD/ESC warning lamp is turned ON.

Monitor Actuation Test

1. Connect scantool to Data Link Connector(DLC)
2. Ignition "ON" & Engine "OFF".
3. Select the "Actuation Test" mode on the scantool.
4. Inspect operating status of inlet valve with Actuation Test.

Specification : It's normal if operating sound is heard.

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 5. Does a inlet valve operate normally?

▶ Fault is intermittent caused by faulty valve or was repaired and HECU memory was not cleared. Go to "Verification Of
Vehicle Repair" procedure.

▶ Go to "W/Harness Inspection" procedure.

Terminal and Connector Inspection

1. Many malfunctions in the electrical system are caused by poor harness(es) and terminals. Faults can also be caused by
interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage.
3. Has a problem been found?

▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information. (Start and drive vehicle in gear and maintain
vehicle speed at or above 30kmh(18.6mph).
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C2336

COMPONENT LOCATION

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 General Description
The HECU is composed of an ECU (Electronic Control Unit ) and an HCU( Hydraulic Control Unit), so the HECU hardware
includes all solenoid valves inside the unit as well as the ECU. Solenoid valves are switched to ON, OFF by HECU when the
ABS is activated. Solenoid valves function is to increase, decrease or maintain the hydraulic pressure supplied to a brake
caliper.

DTC Description
The HECU monitors the operation of the valves by checking the drive circuit of the solenoid valves, and then sets this code
when the unexpcted drive voltage is detected. For example, the HECU sets the DTC if the electrical feedback signal does
not match the actuation signal for the corresponding valve.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Voltage monitoring
Monitoring
• Continuous
Period

Case 1 • The electrical feedback signal does not match the actuation
Enable signal for the corresponding valve for more than 30 ms.
Conditions - Current controlled valves and under voltage conditions
:detection time is 80 ms

• Immediately after power on

Monitoring • every 20 s
Period - The Test is canceled if any control, valve actuation takes
place or if the Vehicle is in motion and the BLS is on.
Case 2 • A Fault is found if UVR is not within 0.1*battery voltage < valve
relay voltage < 0.8*battery voltage
Enable • Inoperative HECU
• A Fault is found if valve relay voltage ≥ 0.2*battery voltage.
Conditions
- After that all valves are switched on sequential, valve relay
voltage and valve feedback is measured.

Monitoring • The Valve and Pump motor Test is performed once after
Period ignition on if vehicle speed is >= 30 km/h(18.6 mph).

Case 3 • The valve and pump motor test detects electrical actuation
Enable malfunction of ABS valves. The test actuates all valves in
Conditions series (to detect short cuts or shunts between the valve lines).
Faults are detected if there is an error during the test.

• The drift test executes only once during an ignition Cycle. The
test is triggered if the following conditions are fulfilled : 10min
Monitoring
Case 4 after power up or end of control
Period
1. No BLS is applied

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 2. Brake pressure is < 10 bar
3. Vehicle speed >15 km/h(9.3 mph).
4. Vehicle acceleration > 0.5 m/s²
5. Supply voltage > 11 volts.
• The drift test is executed only once during an ignition Cycle.If it
Enable
detects partly shorted valve coils,almost inoperative coils or
Conditions
malfunction of the valve driver, a failure is recognized.
• Valve cannot be actuated or valve is incorrectly actuated. This
may result in locked wheels or wheels without pressure.
Fail Safe
• ABS/EBD/ESC function is prohibited.
• ABS/EBD/ESC warning lamp is turned ON.

Monitor Actuation Test

1. Connect scantool to Data Link Connector(DLC)
2. Ignition "ON" & Engine "OFF".
3. Select the "Actuation Test" mode on the scantool.
4. Inspect operating status of outlet valve with Actuation Test.

Specification : It's normal if operating sound is heard.

5. Does a inlet valve operate normally?

▶ Fault is intermittent caused by faulty valve or was repaired and HECU memory was not cleared. Go to "Verification Of
Vehicle Repair" procedure.

▶ Go to "Component Inspection" procedure.

Terminal and Connector Inspection

1. Many malfunctions in the electrical system are caused by poor harness(es) and terminals. Faults can also be caused by
interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage.
3. Has a problem been found?

▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

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 ▶ Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information. (Start and drive vehicle in gear and maintain
vehicle speed at or above 30kmh(18.6mph).
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C2366

COMPONENT LOCATION

General Description
The HECU is composed of an ECU (Electronic Control Unit ) and an HCU( Hydraulic Control Unit), so the HECU hardware
includes all solenoid valves inside the unit as well as the ECU. Solenoid valves are switched to ON, OFF by HECU when the
ABS is activated. Solenoid valves function is to increase, decrease or maintain the hydraulic pressure supplied to a brake
caliper.

DTC Description
The HECU monitors the operation of the valves by checking the drive circuit of the solenoid valves, and then sets this code
when the unexpcted drive voltage is detected. For example, the HECU sets the DTC if the electrical feedback signal does
not match the actuation signal for the corresponding valve.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Voltage monitoring

Monitoring • Once after ignition on at standstill if the BLS is off • Inoperative HECU
Case 1
Period • At vehicle speed ≥ 15 km/h(9.3 mph) if the BLS is on.

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 • The test actuates all valves in series to detect shorts or shunts
Enable
between the valve lines. Faults are detected if there is an error
Conditions
during the test.

• The drift test executes only once during an ignition Cycle. The
test is triggered if the following conditions are fulfilled : 10 min
after power up or end of control
Monitoring 1. No BLS is applied
Period 2. Brake pressure is < 10 bar
Case 2 3. Vehicle speed >15 km/h(9.3 mph)
4. Vehicle acceleration > 0.5 m/s²
5. Supply voltage > 11 volts.

• The drift test is executed only once during an ignition Cycle.If it

Enable
detects partly shorted valve coils,almost inoperative coils or
Conditions
malfunction of the valve driver, a failure is recognized.

• Valve cannot be actuated or valve is incorrectly actuated. This

may result in locked wheels or wheels without pressure.
Fail Safe
• ABS/EBD/ESC function is prohibited.
• ABS/EBD/ESC warning lamp is turned ON.

Monitor Actuation Test

1. Connect scantool to Data Link Connector(DLC)
2. Ignition "ON" & Engine "OFF".
3. Select the "Actuation Test" mode on the scantool.
4. Inspect operating status of inlet valve with Actuation Test.

Specification : It's normal if operating sound is heard.

5. Does a inlet valve operate normally?

▶ Fault is intermittent caused by inoperative valve or was repaired and HECU memory was not cleared. Go to the
pplicable troubleshooting procedure.

▶ Go to "W/Harness Inspection" procedure.

Terminal and Connector Inspection

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 1. Many malfunctions in the electrical system are caused by poor harness(es) and terminals. Faults can also be caused by
interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage.
3. Has a problem been found?

▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information. (Start and drive vehicle in gear and maintain
vehicle speed at or above 30kmh(18.6mph).
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C2370

COMPONENT LOCATION

General Description
The HECU is composed of an ECU (Electronic Control Unit ) and an HCU( Hydraulic Control Unit), so the HECU hardware
includes all solenoid valves inside the unit as well as the ECU. Solenoid valves are switched to ON, OFF by HECU when the
ABS is activated. Solenoid valves function is to increase, decrease or maintain the hydraulic pressure supplied to a brake
caliper.

DTC Description
The HECU monitors the operation of the valves by checking the drive circuit of the solenoid valves, and then sets this code
when the unexpcted drive voltage is detected. For example, the HECU sets the DTC if the electrical feedback signal does
not match the actuation signal for the corresponding valve.

DTC Detecting Condition

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 Item Detecting Condition Possible cause
DTC Strategy • Voltage monitoring

Monitoring • Once after ignition on at standstill if the BLS is off

Period • At vehicle speed ≥ 15 km/h(9.3 mph) if the BLS is on.
Case 1 • The test actuates all valves in series to detect shorts or shunts
Enable
between the valve lines. Faults are detected if there is an error
Conditions
during the test.

• The drift test executes only once during an ignition Cycle. The
test is triggered if the following conditions are fulfilled : 10 min
after power up or end of control
Monitoring 1. No BLS is applied
Period 2. Brake pressure is < 10 bar • Inoperative HECU
Case 2 3. Vehicle speed >15 km/h(9.3 mph)
4. Vehicle acceleration > 0.5 m/s²
5. Supply voltage > 11 volts.
• The drift test is executed only once during an ignition Cycle.If it
Enable
detects partly shorted valve coils,almost inoperative coils or
Conditions
malfunction of the valve driver, a failure is recognized.

• Valve cannot be actuated or valve is incorrectly actuated. This

may result in locked wheels or wheels without pressure.
Fail Safe
• ABS/EBD/ESC function is prohibited.
• ABS/EBD/ESC warning lamp is turned ON.

Monitor Actuation Test

1. Connect scantool to Data Link Connector(DLC)
2. Ignition "ON" & Engine "OFF".
3. Select the "Actuation Test" mode on the scantool.
4. Inspect operating status of inlet valve with Actuation Test.

Specification : It's normal if operating sound is heard.

5. Does a inlet valve operate normally?

▶ Fault is intermittent caused by inoperative valve or was repaired and HECU memory was not cleared. Go to the
pplicable troubleshooting procedure.

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 ▶ Go to "W/Harness Inspection" procedure.

Terminal and Connector Inspection

1. Many malfunctions in the electrical system are caused by poor harness(es) and terminals. Faults can also be caused by
interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage.
3. Has a problem been found?

▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information. (Start and drive vehicle in gear and maintain
vehicle speed at or above 30kmh(18.6mph).
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C2372

COMPONENT LOCATION

General Description
The HECU is composed of an ECU (Electronic Control Unit ) and an HCU( Hydraulic Control Unit), so the HECU hardware
includes all solenoid valves inside the unit as well as the ECU. Solenoid valves are switched to ON, OFF by HECU when the
ABS is activated. Solenoid valves function is to increase, decrease or maintain the hydraulic pressure supplied to a brake
caliper.

DTC Description

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 The HECU monitors the operation of the valves by checking the drive circuit of the solenoid valves, and then sets this code
when the unexpcted drive voltage is detected. For example, the HECU sets the DTC if the electrical feedback signal does
not match the actuation signal for the corresponding valve.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Voltage monitoring

Monitoring • Once after ignition on at standstill if the BLS is off

Period • At vehicle speed ≥ 15 km/h(9.3 mph) if the BLS is on.
Case 1 • The test actuates all valves in series to detect shorts or shunts
Enable
between the valve lines. Faults are detected if there is an error
Conditions
during the test.

• The drift test executes only once during an ignition Cycle. The
test is triggered if the following conditions are fulfilled : 10 min
after power up or end of control
Monitoring 1. No BLS is applied
Period 2. Brake pressure is < 10 bar • Inoperative HECU
Case 2 3. Vehicle speed >15 km/h(9.3 mph)
4. Vehicle acceleration > 0.5 m/s²
5. Supply voltage > 11 volts.
• The drift test is executed only once during an ignition Cycle.If it
Enable
detects partly shorted valve coils,almost inoperative coils or
Conditions
malfunction of the valve driver, a failure is recognized.

• Valve cannot be actuated or valve is incorrectly actuated. This

may result in locked wheels or wheels without pressure.
Fail Safe
• ABS/EBD/ESC function is prohibited.
• ABS/EBD/ESC warning lamp is turned ON.

Monitor Actuation Test

1. Connect scantool to Data Link Connector(DLC)
2. Ignition "ON" & Engine "OFF".
3. Select the "Actuation Test" mode on the scantool.
4. Inspect operating status of inlet valve with Actuation Test.

Specification : It's normal if operating sound is heard.

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 5. Does a inlet valve operate normally?

▶ Fault is intermittent caused by inoperative valve or was repaired and HECU memory was not cleared. Go to the
pplicable troubleshooting procedure.

▶ Go to "W/Harness Inspection" procedure.

Terminal and Connector Inspection

1. Many malfunctions in the electrical system are caused by poor harness(es) and terminals. Faults can also be caused by
interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage.
3. Has a problem been found?

▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information. (Start and drive vehicle in gear and maintain
vehicle speed at or above 30kmh(18.6mph).
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

Brake System > Troubleshooting > C2374

COMPONENT LOCATION

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 General Description
The HECU is composed of an ECU (Electronic Control Unit ) and an HCU( Hydraulic Control Unit), so the HECU hardware
includes all solenoid valves inside the unit as well as the ECU. Solenoid valves are switched to ON, OFF by HECU when the
ABS is activated. Solenoid valves function is to increase, decrease or maintain the hydraulic pressure supplied to a brake
caliper.

DTC Description
The HECU monitors the operation of the valves by checking the drive circuit of the solenoid valves, and then sets this code
when the unexpcted drive voltage is detected. For example, the HECU sets the DTC if the electrical feedback signal does
not match the actuation signal for the corresponding valve.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC Strategy • Voltage monitoring

Monitoring • Once after ignition on at standstill if the BLS is off

Period • At vehicle speed ≥ 15 km/h(9.3 mph) if the BLS is on.
Case 1 • The test actuates all valves in series to detect shorts or shunts
Enable
between the valve lines. Faults are detected if there is an error
Conditions
during the test.

• The drift test executes only once during an ignition Cycle. The
test is triggered if the following conditions are fulfilled : 10 min
after power up or end of control
Monitoring 1. No BLS is applied
Period 2. Brake pressure is < 10 bar • Inoperative HECU
Case 2 3. Vehicle speed >15 km/h(9.3 mph)
4. Vehicle acceleration > 0.5 m/s²
5. Supply voltage > 11 volts.

• The drift test is executed only once during an ignition Cycle.If it

Enable
detects partly shorted valve coils,almost inoperative coils or
Conditions
malfunction of the valve driver, a failure is recognized.
• Valve cannot be actuated or valve is incorrectly actuated. This
may result in locked wheels or wheels without pressure.
Fail Safe
• ABS/EBD/ESC function is prohibited.
• ABS/EBD/ESC warning lamp is turned ON.

Monitor Actuation Test

1. Connect scantool to Data Link Connector(DLC)

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 2. Ignition "ON" & Engine "OFF".
3. Select the "Actuation Test" mode on the scantool.
4. Inspect operating status of inlet valve with Actuation Test.

Specification : It's normal if operating sound is heard.

5. Does a inlet valve operate normally?

▶ Fault is intermittent caused by inoperative valve or was repaired and HECU memory was not cleared. Go to the
pplicable troubleshooting procedure.

▶ Go to "W/Harness Inspection" procedure.

Terminal and Connector Inspection

1. Many malfunctions in the electrical system are caused by poor harness(es) and terminals. Faults can also be caused by
interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage.
3. Has a problem been found?

▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification Of Vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information. (Start and drive vehicle in gear and maintain
vehicle speed at or above 30kmh(18.6mph).
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

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 Brake System > Troubleshooting > C2402
COMPONENT LOCATION

General Description
The HECU supplies battery power to the electric motor with a motor relay which is controlled by the Electronic Control
Unit(ECU). The electric motor pump supplies hydraulic pressure to all wheel brake calipers by operating the piston inside the
pump.

DTC Description
The ABS ECU monitors the pump motor relay or fuse open, open or short in motor or motor lock and then sets this code if a
malfunction is detected.

DTC Detecting Condition

Item Detecting Condition Possible cause
DTC
• Voltage Monitoring
Strategy
Detect
• Continuous (If the pump is switched on (FET on))
Mode

Case1 • If the motor relay is switched ON and motor voltage < (IGN
Enable
(Motor Relay Conditions voltage – 4.0V) continued for 100msec, the failure is
continous detected.
off,Open,Fuse • Pressure decrease is no longer possible. (wheels block)
blown)
• The ABS/ESC functions are inhibited and the EBD function is
Fail Safe
reduced.
• The ABS/EBD/ESC warning lamps are activated.
• Open or short of power
Detect supply circuit (ESC2)
• Continuous (If the pump is in the transition "on → off")
Mode • Faulty HECU
• After the end of the actuation of the motor relay, the pump
motor is still in motion and is generating a voltage during it's
slowdown. The generated mortor voltage is monitored for a
certain time on high level. The time depends on the supply
Case2 voltage and is in the range of 300ms to 125ms. If the slow
(Motor Lock) Enable down condition isn't met, the pump is activated again and the
Conditions slowdown time is measured again. This is repeated for
maximum 3times. If, after the last pump activation, the pump
motor slowdown time is still to short, a failure is detected.
1st actuation : 200ms
2st actuation : 1000ms
3st actuation : 3000ms

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 • Pressure decrease is no longer possible. (wheels block)
• The ABS/ESC functions are inhibited and the EBD function is
Fail Safe
reduced.
• The ABS/EBD/ESC warning lamps are activated.

Detect • Continuous (If the pump is switched off i.e. not actuation and
Case3 Mode no slowdown)
(Grond
Enable • Motor relay is switched OFF, VMR > 2.0V continued for 1sec,
loss,Motor
Conditions the failure is detected.
relay
continous on, • The return pump does not work correct.
Motor Short • The ABS/ESC functions are inhibited and the EBD function is
Fail Safe
to BATT) reduced.
• The ABS/EBD/ESC warning lamps are activated.

Monitor Actuation Test

1. Connect scantool to Data Link Connector(DLC)
2. Ignition "ON" & Engine "OFF".
3. Select the "Actuation Test" mode on the scantool.
4. Inspect operating status of inlet valve with Actuation Test.

Specification : It's normal if operating sound is heard.

5. Does a inlet valve operate normally?

▶ Fault is intermittent caused by poor connection in motor circuit or was repaired and HECU memory was not cleared.
Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage. Repair or replace as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Go to "W/Harness Inspection" procedure.

Terminal & Connector Inspection

1. Many malfunctions in the electrical system are caused by poor harness(es) and terminals. Faults can also be caused by
interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage.
3. Has a problem been found?

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 ▶ Repair as necessary and then go to "Verification Of Vehicle Repair" procedure.

▶ Go to "Power Circuit Inspection" procedure.

Power Supply Circuit Inspection

1. Ignition "OFF".
2. Disconnect HECU connector.
3. Ignition "ON".
4. Measure voltage between terminal "2" of the HECU harness connector and chassis ground.

Specification : Approx. B+

5. Is the measured voltage within specifications?

▶ Go to "Ground Circuit Inspection" procedure.

▶ Check for damaged harness and open or short to GND between the battery terminal(+) and terminal "2" of the HECU
harness connector. Check for open or blown 40A ABS fuse referring to "Circuit Diagram". Repair as necessary and then
go to "Verification Of vehicle Repair" procedure.

Ground Circuit Inspection

1. Ignition "OFF".
2. Disconnect HECU connector.
3. Measure resistance between terminal "1" of the HECU harness connector and chassis ground.

Specification : Approx. below 1 Ω

4. Is the measured resistance within specifications?

▶ Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then
go to "Verification Of Vehicle Repair" procedure.

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 ▶ Check for damaged harness and poor connection between terminal "1" of the HECU harness connector and chassis
ground. Repair as necessary and then go to "Verification Of vehicle Repair" procedure.

Verification of Vehicle Repair

After a repair, it is essential to verify that the fault has been corrected.
1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode
2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information. (Start and drive vehicle in gear and maintain
vehicle speed at or above 30kmh(18.6mph).
4. Are any DTCs present?

▶ Go to the applicable troubleshooting procedure.

▶ System performing to specification at this time.

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